JoltPhysics/Jolt/Physics/Collision/Shape/CylinderShape.cpp

// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT

#include <Jolt/Jolt.h>

#include <Jolt/Physics/Collision/Shape/CylinderShape.h>
#include <Jolt/Physics/Collision/Shape/ScaleHelpers.h>
#include <Jolt/Physics/Collision/Shape/GetTrianglesContext.h>
#include <Jolt/Physics/Collision/RayCast.h>
#include <Jolt/Physics/Collision/CastResult.h>
#include <Jolt/Physics/Collision/CollidePointResult.h>
#include <Jolt/Physics/Collision/TransformedShape.h>
#include <Jolt/Physics/Collision/CollideSoftBodyVertexIterator.h>
#include <Jolt/Geometry/RayCylinder.h>
#include <Jolt/ObjectStream/TypeDeclarations.h>
#include <Jolt/Core/StreamIn.h>
#include <Jolt/Core/StreamOut.h>
#ifdef JPH_DEBUG_RENDERER
	#include <Jolt/Renderer/DebugRenderer.h>
#endif // JPH_DEBUG_RENDERER

JPH_NAMESPACE_BEGIN

JPH_IMPLEMENT_SERIALIZABLE_VIRTUAL(CylinderShapeSettings)
{
	JPH_ADD_BASE_CLASS(CylinderShapeSettings, ConvexShapeSettings)

	JPH_ADD_ATTRIBUTE(CylinderShapeSettings, mHalfHeight)
	JPH_ADD_ATTRIBUTE(CylinderShapeSettings, mRadius)
	JPH_ADD_ATTRIBUTE(CylinderShapeSettings, mConvexRadius)
}

// Approximation of top face with 8 vertices
static const Vec3 cCylinderTopFace[] =
{
	Vec3(0.0f,			1.0f,	1.0f),
	Vec3(0.707106769f,	1.0f,	0.707106769f),
	Vec3(1.0f,			1.0f,	0.0f),
	Vec3(0.707106769f,	1.0f,	-0.707106769f),
	Vec3(-0.0f,			1.0f,	-1.0f),
	Vec3(-0.707106769f,	1.0f,	-0.707106769f),
	Vec3(-1.0f,			1.0f,	0.0f),
	Vec3(-0.707106769f,	1.0f,	0.707106769f)
};

static const StaticArray<Vec3, 96> sUnitCylinderTriangles = []() {
	StaticArray<Vec3, 96> verts;

	const Vec3 bottom_offset(0.0f, -2.0f, 0.0f);

	int num_verts = sizeof(cCylinderTopFace) / sizeof(Vec3);
	for (int i = 0; i < num_verts; ++i)
	{
		Vec3 t1 = cCylinderTopFace[i];
		Vec3 t2 = cCylinderTopFace[(i + 1) % num_verts];
		Vec3 b1 = cCylinderTopFace[i] + bottom_offset;
		Vec3 b2 = cCylinderTopFace[(i + 1) % num_verts] + bottom_offset;

		// Top
		verts.emplace_back(0.0f, 1.0f, 0.0f);
		verts.push_back(t1);
		verts.push_back(t2);

		// Bottom
		verts.emplace_back(0.0f, -1.0f, 0.0f);
		verts.push_back(b2);
		verts.push_back(b1);

		// Side
		verts.push_back(t1);
		verts.push_back(b1);
		verts.push_back(t2);

		verts.push_back(t2);
		verts.push_back(b1);
		verts.push_back(b2);
	}

	return verts;
}();

ShapeSettings::ShapeResult CylinderShapeSettings::Create() const
{
	if (mCachedResult.IsEmpty())
		Ref<Shape> shape = new CylinderShape(*this, mCachedResult);
	return mCachedResult;
}

CylinderShape::CylinderShape(const CylinderShapeSettings &inSettings, ShapeResult &outResult) :
	ConvexShape(EShapeSubType::Cylinder, inSettings, outResult),
	mHalfHeight(inSettings.mHalfHeight),
	mRadius(inSettings.mRadius),
	mConvexRadius(inSettings.mConvexRadius)
{
	if (inSettings.mHalfHeight < inSettings.mConvexRadius)
	{
		outResult.SetError("Invalid height");
		return;
	}

	if (inSettings.mRadius < inSettings.mConvexRadius)
	{
		outResult.SetError("Invalid radius");
		return;
	}

	if (inSettings.mConvexRadius < 0.0f)
	{
		outResult.SetError("Invalid convex radius");
		return;
	}

	outResult.Set(this);
}

CylinderShape::CylinderShape(float inHalfHeight, float inRadius, float inConvexRadius, const PhysicsMaterial *inMaterial) :
	ConvexShape(EShapeSubType::Cylinder, inMaterial),
	mHalfHeight(inHalfHeight),
	mRadius(inRadius),
	mConvexRadius(inConvexRadius)
{
	JPH_ASSERT(inHalfHeight >= inConvexRadius);
	JPH_ASSERT(inRadius >= inConvexRadius);
	JPH_ASSERT(inConvexRadius >= 0.0f);
}

class CylinderShape::Cylinder final : public Support
{
public:
					Cylinder(float inHalfHeight, float inRadius, float inConvexRadius) :
		mHalfHeight(inHalfHeight),
		mRadius(inRadius),
		mConvexRadius(inConvexRadius)
	{
		static_assert(sizeof(Cylinder) <= sizeof(SupportBuffer), "Buffer size too small");
		JPH_ASSERT(IsAligned(this, alignof(Cylinder)));
	}

	virtual Vec3	GetSupport(Vec3Arg inDirection) const override
	{
		// Support mapping, taken from:
		// A Fast and Robust GJK Implementation for Collision Detection of Convex Objects - Gino van den Bergen
		// page 8
		float x = inDirection.GetX(), y = inDirection.GetY(), z = inDirection.GetZ();
		float o = sqrt(Square(x) + Square(z));
		if (o > 0.0f)
			return Vec3((mRadius * x) / o, Sign(y) * mHalfHeight, (mRadius * z) / o);
		else
			return Vec3(0, Sign(y) * mHalfHeight, 0);
	}

	virtual float	GetConvexRadius() const override
	{
		return mConvexRadius;
	}

private:
	float			mHalfHeight;
	float			mRadius;
	float			mConvexRadius;
};

const ConvexShape::Support *CylinderShape::GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const
{
	JPH_ASSERT(IsValidScale(inScale));

	// Get scaled cylinder
	Vec3 abs_scale = inScale.Abs();
	float scale_xz = abs_scale.GetX();
	float scale_y = abs_scale.GetY();
	float scaled_half_height = scale_y * mHalfHeight;
	float scaled_radius = scale_xz * mRadius;
	float scaled_convex_radius = ScaleHelpers::ScaleConvexRadius(mConvexRadius, inScale);

	switch (inMode)
	{
	case ESupportMode::IncludeConvexRadius:
	case ESupportMode::Default:
		return new (&inBuffer) Cylinder(scaled_half_height, scaled_radius, 0.0f);

	case ESupportMode::ExcludeConvexRadius:
		return new (&inBuffer) Cylinder(scaled_half_height - scaled_convex_radius, scaled_radius - scaled_convex_radius, scaled_convex_radius);
	}

	JPH_ASSERT(false);
	return nullptr;
}

void CylinderShape::GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const
{
	JPH_ASSERT(inSubShapeID.IsEmpty(), "Invalid subshape ID");
	JPH_ASSERT(IsValidScale(inScale));

	// Get scaled cylinder
	Vec3 abs_scale = inScale.Abs();
	float scale_xz = abs_scale.GetX();
	float scale_y = abs_scale.GetY();
	float scaled_half_height = scale_y * mHalfHeight;
	float scaled_radius = scale_xz * mRadius;

	float x = inDirection.GetX(), y = inDirection.GetY(), z = inDirection.GetZ();
	float xz_sq = Square(x) + Square(z);
	float y_sq = Square(y);

	// Check which component is bigger
	if (xz_sq > y_sq)
	{
		// Hitting side
		float f = -scaled_radius / sqrt(xz_sq);
		float vx = x * f;
		float vz = z * f;
		outVertices.push_back(inCenterOfMassTransform * Vec3(vx, scaled_half_height, vz));
		outVertices.push_back(inCenterOfMassTransform * Vec3(vx, -scaled_half_height, vz));
	}
	else
	{
		// Hitting top or bottom

		// When the inDirection is more than 5 degrees from vertical, align the vertices so that 1 of the vertices
		// points towards inDirection in the XZ plane. This ensures that we always have a vertex towards max penetration depth.
		Mat44 transform = inCenterOfMassTransform;
		if (xz_sq > 0.00765427f * y_sq)
		{
			Vec4 base_x = Vec4(x, 0, z, 0) / sqrt(xz_sq);
			Vec4 base_z = base_x.Swizzle<SWIZZLE_Z, SWIZZLE_Y, SWIZZLE_X, SWIZZLE_W>() * Vec4(-1, 0, 1, 0);
			transform = transform * Mat44(base_x, Vec4(0, 1, 0, 0), base_z, Vec4(0, 0, 0, 1));
		}

		// Adjust for scale and height
		Vec3 multiplier = y < 0.0f? Vec3(scaled_radius, scaled_half_height, scaled_radius) : Vec3(-scaled_radius, -scaled_half_height, scaled_radius);
		transform = transform.PreScaled(multiplier);

		for (const Vec3 &v : cCylinderTopFace)
			outVertices.push_back(transform * v);
	}
}

MassProperties CylinderShape::GetMassProperties() const
{
	MassProperties p;

	// Mass is surface of circle * height
	float radius_sq = Square(mRadius);
	float height = 2.0f * mHalfHeight;
	p.mMass = JPH_PI * radius_sq * height * GetDensity();

	// Inertia according to https://en.wikipedia.org/wiki/List_of_moments_of_inertia:
	float inertia_y = radius_sq * p.mMass * 0.5f;
	float inertia_x = inertia_y * 0.5f + p.mMass * height * height / 12.0f;
	float inertia_z = inertia_x;

	// Set inertia
	p.mInertia = Mat44::sScale(Vec3(inertia_x, inertia_y, inertia_z));

	return p;
}

Vec3 CylinderShape::GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const
{
	JPH_ASSERT(inSubShapeID.IsEmpty(), "Invalid subshape ID");

	// Calculate distance to infinite cylinder surface
	Vec3 local_surface_position_xz(inLocalSurfacePosition.GetX(), 0, inLocalSurfacePosition.GetZ());
	float local_surface_position_xz_len = local_surface_position_xz.Length();
	float distance_to_curved_surface = abs(local_surface_position_xz_len - mRadius);

	// Calculate distance to top or bottom plane
	float distance_to_top_or_bottom = abs(abs(inLocalSurfacePosition.GetY()) - mHalfHeight);

	// Return normal according to closest surface
	if (distance_to_curved_surface < distance_to_top_or_bottom)
		return local_surface_position_xz / local_surface_position_xz_len;
	else
		return inLocalSurfacePosition.GetY() > 0.0f? Vec3::sAxisY() : -Vec3::sAxisY();
}

AABox CylinderShape::GetLocalBounds() const
{
	Vec3 extent = Vec3(mRadius, mHalfHeight, mRadius);
	return AABox(-extent, extent);
}

#ifdef JPH_DEBUG_RENDERER
void CylinderShape::Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const
{
	DebugRenderer::EDrawMode draw_mode = inDrawWireframe? DebugRenderer::EDrawMode::Wireframe : DebugRenderer::EDrawMode::Solid;
	inRenderer->DrawCylinder(inCenterOfMassTransform * Mat44::sScale(inScale.Abs()), mHalfHeight, mRadius, inUseMaterialColors? GetMaterial()->GetDebugColor() : inColor, DebugRenderer::ECastShadow::On, draw_mode);
}
#endif // JPH_DEBUG_RENDERER

bool CylinderShape::CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const
{
	// Test ray against capsule
	float fraction = RayCylinder(inRay.mOrigin, inRay.mDirection, mHalfHeight, mRadius);
	if (fraction < ioHit.mFraction)
	{
		ioHit.mFraction = fraction;
		ioHit.mSubShapeID2 = inSubShapeIDCreator.GetID();
		return true;
	}
	return false;
}

void CylinderShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) const
{
	// Test shape filter
	if (!inShapeFilter.ShouldCollide(this, inSubShapeIDCreator.GetID()))
		return;

	// Check if the point is in the cylinder
	if (abs(inPoint.GetY()) <= mHalfHeight											// Within the height
		&& Square(inPoint.GetX()) + Square(inPoint.GetZ()) <= Square(mRadius))		// Within the radius
		ioCollector.AddHit({ TransformedShape::sGetBodyID(ioCollector.GetContext()), inSubShapeIDCreator.GetID() });
}

void CylinderShape::CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const
{
	JPH_ASSERT(IsValidScale(inScale));

	Mat44 inverse_transform = inCenterOfMassTransform.InversedRotationTranslation();

	// Get scaled cylinder
	Vec3 abs_scale = inScale.Abs();
	float half_height = abs_scale.GetY() * mHalfHeight;
	float radius = abs_scale.GetX() * mRadius;

	for (CollideSoftBodyVertexIterator v = inVertices, sbv_end = inVertices + inNumVertices; v != sbv_end; ++v)
		if (v.GetInvMass() > 0.0f)
		{
			Vec3 local_pos = inverse_transform * v.GetPosition();

			// Calculate penetration into side surface
			Vec3 side_normal = local_pos;
			side_normal.SetY(0.0f);
			float side_normal_length = side_normal.Length();
			float side_penetration = radius - side_normal_length;

			// Calculate penetration into top or bottom plane
			float top_penetration = half_height - abs(local_pos.GetY());

			Vec3 point, normal;
			if (side_penetration < 0.0f && top_penetration < 0.0f)
			{
				// We're outside the cylinder height and radius
				point = side_normal * (radius / side_normal_length) + Vec3(0, half_height * Sign(local_pos.GetY()), 0);
				normal = (local_pos - point).NormalizedOr(Vec3::sAxisY());
			}
			else if (side_penetration < top_penetration)
			{
				// Side surface is closest
				normal = side_normal_length > 0.0f? side_normal / side_normal_length : Vec3::sAxisX();
				point = radius * normal;
			}
			else
			{
				// Top or bottom plane is closest
				normal = Vec3(0, Sign(local_pos.GetY()), 0);
				point = half_height * normal;
			}

			// Calculate penetration
			Plane plane = Plane::sFromPointAndNormal(point, normal);
			float penetration = -plane.SignedDistance(local_pos);
			if (v.UpdatePenetration(penetration))
				v.SetCollision(plane.GetTransformed(inCenterOfMassTransform), inCollidingShapeIndex);
		}
}

void CylinderShape::GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const
{
	Mat44 unit_cylinder_transform(Vec4(mRadius, 0, 0, 0), Vec4(0, mHalfHeight, 0, 0), Vec4(0, 0, mRadius, 0), Vec4(0, 0, 0, 1));
	new (&ioContext) GetTrianglesContextVertexList(inPositionCOM, inRotation, inScale, unit_cylinder_transform, sUnitCylinderTriangles.data(), sUnitCylinderTriangles.size(), GetMaterial());
}

int CylinderShape::GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials) const
{
	return ((GetTrianglesContextVertexList &)ioContext).GetTrianglesNext(inMaxTrianglesRequested, outTriangleVertices, outMaterials);
}

void CylinderShape::SaveBinaryState(StreamOut &inStream) const
{
	ConvexShape::SaveBinaryState(inStream);

	inStream.Write(mHalfHeight);
	inStream.Write(mRadius);
	inStream.Write(mConvexRadius);
}

void CylinderShape::RestoreBinaryState(StreamIn &inStream)
{
	ConvexShape::RestoreBinaryState(inStream);

	inStream.Read(mHalfHeight);
	inStream.Read(mRadius);
	inStream.Read(mConvexRadius);
}

bool CylinderShape::IsValidScale(Vec3Arg inScale) const
{
	return ConvexShape::IsValidScale(inScale) && ScaleHelpers::IsUniformScaleXZ(inScale.Abs());
}

Vec3 CylinderShape::MakeScaleValid(Vec3Arg inScale) const
{
	Vec3 scale = ScaleHelpers::MakeNonZeroScale(inScale);

	return scale.GetSign() * ScaleHelpers::MakeUniformScaleXZ(scale.Abs());
}

void CylinderShape::sRegister()
{
	ShapeFunctions &f = ShapeFunctions::sGet(EShapeSubType::Cylinder);
	f.mConstruct = []() -> Shape * { return new CylinderShape; };
	f.mColor = Color::sGreen;
}

JPH_NAMESPACE_END