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- // SPDX-FileCopyrightText: 2021 Jorrit Rouwe
- // SPDX-License-Identifier: MIT
- #pragma once
- #include <Jolt/Physics/Collision/Shape/DecoratedShape.h>
- JPH_NAMESPACE_BEGIN
- class CollideShapeSettings;
- /// Class that constructs an OffsetCenterOfMassShape
- class OffsetCenterOfMassShapeSettings final : public DecoratedShapeSettings
- {
- public:
- JPH_DECLARE_SERIALIZABLE_VIRTUAL(OffsetCenterOfMassShapeSettings)
- /// Constructor
- OffsetCenterOfMassShapeSettings() = default;
- /// Construct with shape settings, can be serialized.
- OffsetCenterOfMassShapeSettings(Vec3Arg inOffset, const ShapeSettings *inShape) : DecoratedShapeSettings(inShape), mOffset(inOffset) { }
- /// Variant that uses a concrete shape, which means this object cannot be serialized.
- OffsetCenterOfMassShapeSettings(Vec3Arg inOffset, const Shape *inShape): DecoratedShapeSettings(inShape), mOffset(inOffset) { }
- // See: ShapeSettings
- virtual ShapeResult Create() const override;
- Vec3 mOffset; ///< Offset to be applied to the center of mass of the child shape
- };
- /// This shape will shift the center of mass of a child shape, it can e.g. be used to lower the center of mass of an unstable object like a boat to make it stable
- class OffsetCenterOfMassShape final : public DecoratedShape
- {
- public:
- /// Constructor
- OffsetCenterOfMassShape() : DecoratedShape(EShapeSubType::OffsetCenterOfMass) { }
- OffsetCenterOfMassShape(const OffsetCenterOfMassShapeSettings &inSettings, ShapeResult &outResult);
- /// Access the offset that is applied to the center of mass
- Vec3 GetOffset() const { return mOffset; }
- // See Shape::GetCenterOfMass
- virtual Vec3 GetCenterOfMass() const override { return mInnerShape->GetCenterOfMass() + mOffset; }
- // See Shape::GetLocalBounds
- virtual AABox GetLocalBounds() const override;
-
- // See Shape::GetWorldSpaceBounds
- virtual AABox GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
- // See Shape::GetInnerRadius
- virtual float GetInnerRadius() const override { return mInnerShape->GetInnerRadius(); }
- // See Shape::GetMassProperties
- virtual MassProperties GetMassProperties() const override { return mInnerShape->GetMassProperties(); }
- // See Shape::GetSubShapeTransformedShape
- virtual TransformedShape GetSubShapeTransformedShape(const SubShapeID &inSubShapeID, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, SubShapeID &outRemainder) const override;
- // See Shape::GetSurfaceNormal
- virtual Vec3 GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override;
- // See Shape::GetSubmergedVolume
- virtual void GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy) const override;
- #ifdef JPH_DEBUG_RENDERER
- // See Shape::Draw
- virtual void Draw(DebugRenderer *inRenderer, Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const override;
- // See Shape::DrawGetSupportFunction
- virtual void DrawGetSupportFunction(DebugRenderer *inRenderer, Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inDrawSupportDirection) const override;
- // See Shape::DrawGetSupportingFace
- virtual void DrawGetSupportingFace(DebugRenderer *inRenderer, Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
- #endif // JPH_DEBUG_RENDERER
- // See Shape::CastRay
- virtual bool CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
- virtual void CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector) const override;
- // See: Shape::CollidePoint
- virtual void CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector) const override;
- // See Shape::CollectTransformedShapes
- virtual void CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector) const override;
- // See Shape::TransformShape
- virtual void TransformShape(Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const override;
- // See Shape::GetTrianglesStart
- virtual void GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override { JPH_ASSERT(false, "Cannot call on non-leaf shapes, use CollectTransformedShapes to collect the leaves first!"); }
- // See Shape::GetTrianglesNext
- virtual int GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override { JPH_ASSERT(false, "Cannot call on non-leaf shapes, use CollectTransformedShapes to collect the leaves first!"); return 0; }
- // 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 mInnerShape->GetVolume(); }
- // See Shape::IsValidScale
- virtual bool IsValidScale(Vec3Arg inScale) const override { return mInnerShape->IsValidScale(inScale); }
- // Register shape functions with the registry
- static void sRegister();
- protected:
- // See: Shape::RestoreBinaryState
- virtual void RestoreBinaryState(StreamIn &inStream) override;
- private:
- // Helper functions called by CollisionDispatch
- static void sCollideOffsetCenterOfMassVsShape(const Shape *inShape1, const Shape *inShape2, Vec3Arg inScale1, Vec3Arg inScale2, Mat44Arg inCenterOfMassTransform1, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector);
- static void sCollideShapeVsOffsetCenterOfMass(const Shape *inShape1, const Shape *inShape2, Vec3Arg inScale1, Vec3Arg inScale2, Mat44Arg inCenterOfMassTransform1, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector);
- static void sCastOffsetCenterOfMassVsShape(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
- static void sCastShapeVsOffsetCenterOfMass(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
- Vec3 mOffset; ///< Offset of the center of mass
- };
- JPH_NAMESPACE_END
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