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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>
- #include <Jolt/Physics/Collision/ShapeCast.h>
- JPH_NAMESPACE_BEGIN
- /// Collision detection helper that casts a convex object vs one or more triangles
- class JPH_EXPORT CastConvexVsTriangles
- {
- public:
- /// Constructor
- /// @param inShapeCast The shape to cast against the triangles and its start and direction
- /// @param inShapeCastSettings Settings for performing the cast
- /// @param inScale Local space scale for the shape to cast against.
- /// @param inCenterOfMassTransform2 Is the center of mass transform of shape 2 (excluding scale), this is used to provide a transform to the shape cast result so that local quantities can be transformed into world space.
- /// @param inSubShapeIDCreator1 Class that tracks the current sub shape ID for the casting shape
- /// @param ioCollector The collector that receives the results.
- CastConvexVsTriangles(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, CastShapeCollector &ioCollector);
- /// Cast convex object with a single triangle
- /// @param inV0 , inV1 , inV2: CCW triangle vertices
- /// @param inActiveEdges bit 0 = edge v0..v1 is active, bit 1 = edge v1..v2 is active, bit 2 = edge v2..v0 is active
- /// An active edge is an edge that is not connected to another triangle in such a way that it is impossible to collide with the edge
- /// @param inSubShapeID2 The sub shape ID for the triangle
- void Cast(Vec3Arg inV0, Vec3Arg inV1, Vec3Arg inV2, uint8 inActiveEdges, const SubShapeID &inSubShapeID2);
- protected:
- const ShapeCast & mShapeCast;
- const ShapeCastSettings & mShapeCastSettings;
- const Mat44 & mCenterOfMassTransform2;
- Vec3 mScale;
- SubShapeIDCreator mSubShapeIDCreator1;
- CastShapeCollector & mCollector;
- private:
- ConvexShape::SupportBuffer mSupportBuffer; ///< Buffer that holds the support function of the cast shape
- const ConvexShape::Support * mSupport = nullptr; ///< Support function of the cast shape
- float mScaleSign; ///< Sign of the scale, -1 if object is inside out, 1 if not
- };
- JPH_NAMESPACE_END
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