CapsuleShape.h

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
 
#pragma once
 
#include <Jolt/Physics/Collision/Shape/ConvexShape.h>
 
JPH_NAMESPACE_BEGIN

class JPH_EXPORT CapsuleShapeSettings final : public ConvexShapeSettings
{
    JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, CapsuleShapeSettings)
 
public:
                            CapsuleShapeSettings() = default;

                            CapsuleShapeSettings(float inHalfHeightOfCylinder, float inRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShapeSettings(inMaterial), mRadius(inRadius), mHalfHeightOfCylinder(inHalfHeightOfCylinder) { }

    bool                    IsValid() const                                                         { return mRadius > 0.0f && mHalfHeightOfCylinder >= 0.0f; }

    bool                    IsSphere() const                                                        { return mHalfHeightOfCylinder == 0.0f; }
 
    // See: ShapeSettings
    virtual ShapeResult     Create() const override;
 
    float                   mRadius = 0.0f;
    float                   mHalfHeightOfCylinder = 0.0f;
};

class JPH_EXPORT CapsuleShape final : public ConvexShape
{
public:
    JPH_OVERRIDE_NEW_DELETE

                            CapsuleShape() : ConvexShape(EShapeSubType::Capsule) { }
                            CapsuleShape(const CapsuleShapeSettings &inSettings, ShapeResult &outResult);

                            CapsuleShape(float inHalfHeightOfCylinder, float inRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShape(EShapeSubType::Capsule, inMaterial), mRadius(inRadius), mHalfHeightOfCylinder(inHalfHeightOfCylinder) { JPH_ASSERT(inHalfHeightOfCylinder > 0.0f); JPH_ASSERT(inRadius > 0.0f); }

    float                   GetRadius() const                                                       { return mRadius; }

    float                   GetHalfHeightOfCylinder() const                                         { return mHalfHeightOfCylinder; }
 
    // See Shape::GetLocalBounds
    virtual AABox           GetLocalBounds() const override;
 
    // See Shape::GetWorldSpaceBounds
    virtual AABox           GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
    using Shape::GetWorldSpaceBounds;
 
    // See Shape::GetInnerRadius
    virtual float           GetInnerRadius() const override                                         { return mRadius; }
 
    // See Shape::GetMassProperties
    virtual MassProperties  GetMassProperties() const override;
 
    // See Shape::GetSurfaceNormal
    virtual Vec3            GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override;
 
    // See Shape::GetSupportingFace
    virtual void            GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override;
 
    // See ConvexShape::GetSupportFunction
    virtual const Support * GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const override;
 
#ifdef JPH_DEBUG_RENDERER
    // See Shape::Draw
    virtual void            Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const override;
#endif // JPH_DEBUG_RENDERER
 
    // See Shape::CastRay
    using ConvexShape::CastRay;
    virtual bool            CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
 
    // See: Shape::CollidePoint
    virtual void            CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
 
    // See: Shape::CollideSoftBodyVertices
    virtual void            CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const override;
 
    // See Shape::GetTrianglesStart
    virtual void            GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override;
 
    // See Shape::GetTrianglesNext
    virtual int             GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override;
 
    // See Shape
    virtual void            SaveBinaryState(StreamOut &inStream) const override;
 
    // See Shape::GetStats
    virtual Stats           GetStats() const override                                               { return Stats(sizeof(*this), 0); }
 
    // See Shape::GetVolume
    virtual float           GetVolume() const override                                              { return 4.0f / 3.0f * JPH_PI * Cubed(mRadius) + 2.0f * JPH_PI * mHalfHeightOfCylinder * Square(mRadius); }
 
    // See Shape::IsValidScale
    virtual bool            IsValidScale(Vec3Arg inScale) const override;
 
    // See Shape::MakeScaleValid
    virtual Vec3            MakeScaleValid(Vec3Arg inScale) const override;
 
    // Register shape functions with the registry
    static void             sRegister();
 
protected:
    // See: Shape::RestoreBinaryState
    virtual void            RestoreBinaryState(StreamIn &inStream) override;
 
private:
    // Classes for GetSupportFunction
    class                   CapsuleNoConvex;
    class                   CapsuleWithConvex;
 
    float                   mRadius = 0.0f;
    float                   mHalfHeightOfCylinder = 0.0f;
};
 
JPH_NAMESPACE_END