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godotengine
GitHub Repository: godotengine/godot
 Path: blob/master/thirdparty/jolt_physics/Jolt/Physics/SoftBody/SoftBodyShape.h
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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)

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// SPDX-FileCopyrightText: 2023 Jorrit Rouwe

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// SPDX-License-Identifier: MIT

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#pragma once

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#include <Jolt/Physics/Collision/Shape/Shape.h>

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JPH_NAMESPACE_BEGIN

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class SoftBodyMotionProperties;

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class CollideShapeSettings;

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/// Shape used exclusively for soft bodies. Adds the ability to perform collision checks against soft bodies.

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class JPH_EXPORT SoftBodyShape final : public Shape

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{

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public:

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	JPH_OVERRIDE_NEW_DELETE

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	/// Constructor

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									SoftBodyShape()											: Shape(EShapeType::SoftBody, EShapeSubType::SoftBody) { }

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	/// Determine amount of bits needed to encode sub shape id

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	uint							GetSubShapeIDBits() const;

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	/// Convert a sub shape ID back to a face index

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	uint32							GetFaceIndex(const SubShapeID &inSubShapeID) const;

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	// See Shape

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	virtual bool					MustBeStatic() const override							{ return false; }

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	virtual Vec3					GetCenterOfMass() const override						{ return Vec3::sZero(); }

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	virtual AABox					GetLocalBounds() const override;

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	virtual uint					GetSubShapeIDBitsRecursive() const override				{ return GetSubShapeIDBits(); }

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	virtual float					GetInnerRadius() const override							{ return 0.0f; }

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	virtual MassProperties			GetMassProperties() const override						{ return MassProperties(); }

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	virtual const PhysicsMaterial *	GetMaterial(const SubShapeID &inSubShapeID) const override;

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	virtual Vec3					GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override;

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	virtual void					GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override;

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	virtual void					GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy

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#ifdef JPH_DEBUG_RENDERER // Not using JPH_IF_DEBUG_RENDERER for Doxygen

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		, RVec3Arg inBaseOffset

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#endif

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		) const override;

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#ifdef JPH_DEBUG_RENDERER

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	virtual void					Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const override;

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#endif // JPH_DEBUG_RENDERER

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	virtual bool					CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;

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	virtual void					CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;

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	virtual void					CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;

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	virtual void					CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const override;

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	virtual void					GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override;

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	virtual int						GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override;

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	virtual Stats					GetStats() const override;

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	virtual float					GetVolume() const override;

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	// Register shape functions with the registry

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	static void						sRegister();

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private:

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	// Helper functions called by CollisionDispatch

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	static void						sCollideConvexVsSoftBody(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, const ShapeFilter &inShapeFilter);

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	static void						sCollideSphereVsSoftBody(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, const ShapeFilter &inShapeFilter);

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	static void						sCastConvexVsSoftBody(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);

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	static void						sCastSphereVsSoftBody(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);

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	struct SBSGetTrianglesContext;

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	friend class BodyManager;

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	const SoftBodyMotionProperties *mSoftBodyMotionProperties;

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};

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JPH_NAMESPACE_END

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