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@@ -18,10 +18,10 @@ class CollideShapeResult
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{
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public:
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/// Default constructor
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- CollideShapeResult() = default;
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+ CollideShapeResult() = default;
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/// Constructor
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- CollideShapeResult(Vec3Arg inContactPointOn1, Vec3Arg inContactPointOn2, Vec3Arg inPenetrationAxis, float inPenetrationDepth, const SubShapeID &inSubShapeID1, const SubShapeID &inSubShapeID2, const BodyID &inBodyID2) :
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+ CollideShapeResult(Vec3Arg inContactPointOn1, Vec3Arg inContactPointOn2, Vec3Arg inPenetrationAxis, float inPenetrationDepth, const SubShapeID &inSubShapeID1, const SubShapeID &inSubShapeID2, const BodyID &inBodyID2) :
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mContactPointOn1(inContactPointOn1),
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mContactPointOn2(inContactPointOn2),
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mPenetrationAxis(inPenetrationAxis),
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@@ -33,19 +33,35 @@ public:
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}
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/// Function required by the CollisionCollector. A smaller fraction is considered to be a 'better hit'. We use -penetration depth to get the hit with the biggest penetration depth
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- inline float GetEarlyOutFraction() const { return -mPenetrationDepth; }
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+ inline float GetEarlyOutFraction() const { return -mPenetrationDepth; }
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+
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+ /// Reverses the hit result, swapping contact point 1 with contact point 2 etc.
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+ inline CollideShapeResult Reversed() const
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+ {
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+ CollideShapeResult result;
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+ result.mContactPointOn2 = mContactPointOn1;
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+ result.mContactPointOn1 = mContactPointOn2;
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+ result.mPenetrationAxis = -mPenetrationAxis;
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+ result.mPenetrationDepth = mPenetrationDepth;
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+ result.mSubShapeID2 = mSubShapeID1;
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+ result.mSubShapeID1 = mSubShapeID2;
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+ result.mBodyID2 = mBodyID2;
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+ result.mShape2Face = mShape1Face;
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+ result.mShape1Face = mShape2Face;
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+ return result;
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+ }
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using Face = StaticArray<Vec3, 32>;
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- Vec3 mContactPointOn1; ///< Contact point on the surface of shape 1 (in world space)
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- Vec3 mContactPointOn2; ///< Contact point on the surface of shape 2 (in world space). If the penetration depth is 0, this will be the same as mContactPointOn1.
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- Vec3 mPenetrationAxis; ///< Direction to move shape 2 out of collision along the shortest path (magnitude is meaningless, in world space). You can use -mPenetrationAxis.Normalized() as contact normal.
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- float mPenetrationDepth; ///< Penetration depth (move shape 2 by this distance to resolve the collision)
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- SubShapeID mSubShapeID1; ///< Sub shape ID that identifies the face on shape 1
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- SubShapeID mSubShapeID2; ///< Sub shape ID that identifies the face on shape 2
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- BodyID mBodyID2; ///< BodyID to which shape 2 belongs to
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- Face mShape1Face; ///< Colliding face on shape 1 (optional result, in world space)
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- Face mShape2Face; ///< Colliding face on shape 2 (optional result, in world space)
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+ Vec3 mContactPointOn1; ///< Contact point on the surface of shape 1 (in world space)
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+ Vec3 mContactPointOn2; ///< Contact point on the surface of shape 2 (in world space). If the penetration depth is 0, this will be the same as mContactPointOn1.
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+ Vec3 mPenetrationAxis; ///< Direction to move shape 2 out of collision along the shortest path (magnitude is meaningless, in world space). You can use -mPenetrationAxis.Normalized() as contact normal.
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+ float mPenetrationDepth; ///< Penetration depth (move shape 2 by this distance to resolve the collision)
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+ SubShapeID mSubShapeID1; ///< Sub shape ID that identifies the face on shape 1
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+ SubShapeID mSubShapeID2; ///< Sub shape ID that identifies the face on shape 2
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+ BodyID mBodyID2; ///< BodyID to which shape 2 belongs to
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+ Face mShape1Face; ///< Colliding face on shape 1 (optional result, in world space)
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+ Face mShape2Face; ///< Colliding face on shape 2 (optional result, in world space)
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};
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/// Settings to be passed with a collision query
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@@ -53,19 +69,19 @@ class CollideSettingsBase
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{
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public:
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/// How active edges (edges that a moving object should bump into) are handled
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- EActiveEdgeMode mActiveEdgeMode = EActiveEdgeMode::CollideOnlyWithActive;
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+ EActiveEdgeMode mActiveEdgeMode = EActiveEdgeMode::CollideOnlyWithActive;
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/// If colliding faces should be collected or only the collision point
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- ECollectFacesMode mCollectFacesMode = ECollectFacesMode::NoFaces;
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+ ECollectFacesMode mCollectFacesMode = ECollectFacesMode::NoFaces;
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/// If objects are closer than this distance, they are considered to be colliding (used for GJK) (unit: meter)
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- float mCollisionTolerance = cDefaultCollisionTolerance;
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+ float mCollisionTolerance = cDefaultCollisionTolerance;
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/// A factor that determines the accuracy of the penetration depth calculation. If the change of the squared distance is less than tolerance * current_penetration_depth^2 the algorithm will terminate. (unit: dimensionless)
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- float mPenetrationTolerance = cDefaultPenetrationTolerance;
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+ float mPenetrationTolerance = cDefaultPenetrationTolerance;
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/// When mActiveEdgeMode is CollideOnlyWithActive a movement direction can be provided. When hitting an inactive edge, the system will select the triangle normal as penetration depth only if it impedes the movement less than with the calculated penetration depth.
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- Vec3 mActiveEdgeMovementDirection = Vec3::sZero();
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+ Vec3 mActiveEdgeMovementDirection = Vec3::sZero();
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};
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/// Settings to be passed with a collision query
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@@ -73,10 +89,10 @@ class CollideShapeSettings : public CollideSettingsBase
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{
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public:
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/// When > 0 contacts in the vicinity of the query shape can be found. All nearest contacts that are not further away than this distance will be found (uint: meter)
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- float mMaxSeparationDistance = 0.0f;
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+ float mMaxSeparationDistance = 0.0f;
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/// How backfacing triangles should be treated
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- EBackFaceMode mBackFaceMode = EBackFaceMode::IgnoreBackFaces;
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+ EBackFaceMode mBackFaceMode = EBackFaceMode::IgnoreBackFaces;
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};
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JPH_NAMESPACE_END
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Jorrit Rouwe