TaperedCapsuleShape.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>
#ifdef JPH_DEBUG_RENDERER
    #include <Jolt/Renderer/DebugRenderer.h>
#endif // JPH_DEBUG_RENDERER
 
JPH_NAMESPACE_BEGIN

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

                            TaperedCapsuleShapeSettings(float inHalfHeightOfTaperedCylinder, float inTopRadius, float inBottomRadius, const PhysicsMaterial *inMaterial = nullptr);

    bool                    IsValid() const                                                         { return mTopRadius > 0.0f && mBottomRadius > 0.0f && mHalfHeightOfTaperedCylinder >= 0.0f; }

    bool                    IsSphere() const;

    virtual ShapeResult     Create() const override;
 
    float                   mHalfHeightOfTaperedCylinder = 0.0f;
    float                   mTopRadius = 0.0f;
    float                   mBottomRadius = 0.0f;
};

class JPH_EXPORT TaperedCapsuleShape final : public ConvexShape
{
public:
    JPH_OVERRIDE_NEW_DELETE

                            TaperedCapsuleShape() : ConvexShape(EShapeSubType::TaperedCapsule) { }
                            TaperedCapsuleShape(const TaperedCapsuleShapeSettings &inSettings, ShapeResult &outResult);

    inline float            GetTopRadius() const                                                    { return mTopRadius; }

    inline float            GetBottomRadius() const                                                 { return mBottomRadius; }

    inline float            GetHalfHeight() const                                                   { return 0.5f * (mTopCenter - mBottomCenter); }
 
    // See Shape::GetCenterOfMass
    virtual Vec3            GetCenterOfMass() const override                                        { return mCenterOfMass; }
 
    // 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 min(mTopRadius, mBottomRadius); }
 
    // 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;
 
    // See: Shape::CollideSoftBodyVertices
    virtual void            CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) 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
    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 GetLocalBounds().GetVolume(); } // Volume is approximate!
 
    // 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:
    // Class for GetSupportFunction
    class                   TaperedCapsule;

    AABox                   GetInertiaApproximation() const;
 
    Vec3                    mCenterOfMass = Vec3::sZero();
    float                   mTopRadius = 0.0f;
    float                   mBottomRadius = 0.0f;
    float                   mTopCenter = 0.0f;
    float                   mBottomCenter = 0.0f;
    float                   mConvexRadius = 0.0f;
    float                   mSinAlpha = 0.0f;
    float                   mTanAlpha = 0.0f;
 
#ifdef JPH_DEBUG_RENDERER
    mutable DebugRenderer::GeometryRef mGeometry;
#endif // JPH_DEBUG_RENDERER
};
 
JPH_NAMESPACE_END