@bloomengine/engine 0.3.1

package/native/third_party/JoltPhysics/Jolt/Physics/Collision/Shape/SphereShape.cpp

@@ -0,0 +1,347 @@
+// 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/SphereShape.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/RaySphere.h>
+#include <Jolt/Geometry/Plane.h>
+#include <Jolt/Core/StreamIn.h>
+#include <Jolt/Core/StreamOut.h>
+#include <Jolt/ObjectStream/TypeDeclarations.h>
+#ifdef JPH_DEBUG_RENDERER
+	#include <Jolt/Renderer/DebugRenderer.h>
+#endif // JPH_DEBUG_RENDERER
+
+JPH_NAMESPACE_BEGIN
+
+JPH_IMPLEMENT_SERIALIZABLE_VIRTUAL(SphereShapeSettings)
+{
+	JPH_ADD_BASE_CLASS(SphereShapeSettings, ConvexShapeSettings)
+
+	JPH_ADD_ATTRIBUTE(SphereShapeSettings, mRadius)
+}
+
+ShapeSettings::ShapeResult SphereShapeSettings::Create() const
+{
+	if (mCachedResult.IsEmpty())
+		Ref<Shape> shape = new SphereShape(*this, mCachedResult);
+	return mCachedResult;
+}
+
+SphereShape::SphereShape(const SphereShapeSettings &inSettings, ShapeResult &outResult) :
+	ConvexShape(EShapeSubType::Sphere, inSettings, outResult),
+	mRadius(inSettings.mRadius)
+{
+	if (inSettings.mRadius <= 0.0f)
+	{
+		outResult.SetError("Invalid radius");
+		return;
+	}
+
+	outResult.Set(this);
+}
+
+float SphereShape::GetScaledRadius(Vec3Arg inScale) const
+{
+	JPH_ASSERT(IsValidScale(inScale));
+
+	Vec3 abs_scale = inScale.Abs();
+	return abs_scale.GetX() * mRadius;
+}
+
+AABox SphereShape::GetLocalBounds() const
+{
+	Vec3 half_extent = Vec3::sReplicate(mRadius);
+	return AABox(-half_extent, half_extent);
+}
+
+AABox SphereShape::GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const
+{
+	float scaled_radius = GetScaledRadius(inScale);
+	Vec3 half_extent = Vec3::sReplicate(scaled_radius);
+	AABox bounds(-half_extent, half_extent);
+	bounds.Translate(inCenterOfMassTransform.GetTranslation());
+	return bounds;
+}
+
+class SphereShape::SphereNoConvex final : public Support
+{
+public:
+	explicit		SphereNoConvex(float inRadius) :
+		mRadius(inRadius)
+	{
+		static_assert(sizeof(SphereNoConvex) <= sizeof(SupportBuffer), "Buffer size too small");
+		JPH_ASSERT(IsAligned(this, alignof(SphereNoConvex)));
+	}
+
+	virtual Vec3	GetSupport(Vec3Arg inDirection) const override
+	{
+		return Vec3::sZero();
+	}
+
+	virtual float	GetConvexRadius() const override
+	{
+		return mRadius;
+	}
+
+private:
+	float			mRadius;
+};
+
+class SphereShape::SphereWithConvex final : public Support
+{
+public:
+	explicit		SphereWithConvex(float inRadius) :
+		mRadius(inRadius)
+	{
+		static_assert(sizeof(SphereWithConvex) <= sizeof(SupportBuffer), "Buffer size too small");
+		JPH_ASSERT(IsAligned(this, alignof(SphereWithConvex)));
+	}
+
+	virtual Vec3	GetSupport(Vec3Arg inDirection) const override
+	{
+		float len = inDirection.Length();
+		return len > 0.0f? (mRadius / len) * inDirection : Vec3::sZero();
+	}
+
+	virtual float	GetConvexRadius() const override
+	{
+		return 0.0f;
+	}
+
+private:
+	float			mRadius;
+};
+
+const ConvexShape::Support *SphereShape::GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const
+{
+	float scaled_radius = GetScaledRadius(inScale);
+
+	switch (inMode)
+	{
+	case ESupportMode::IncludeConvexRadius:
+		return new (&inBuffer) SphereWithConvex(scaled_radius);
+
+	case ESupportMode::ExcludeConvexRadius:
+	case ESupportMode::Default:
+		return new (&inBuffer) SphereNoConvex(scaled_radius);
+	}
+
+	JPH_ASSERT(false);
+	return nullptr;
+}
+
+MassProperties SphereShape::GetMassProperties() const
+{
+	MassProperties p;
+
+	// Calculate mass
+	float r2 = mRadius * mRadius;
+	p.mMass = (4.0f / 3.0f * JPH_PI) * mRadius * r2 * GetDensity();
+
+	// Calculate inertia
+	float inertia = (2.0f / 5.0f) * p.mMass * r2;
+	p.mInertia = Mat44::sScale(inertia);
+
+	return p;
+}
+
+Vec3 SphereShape::GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const
+{
+	JPH_ASSERT(inSubShapeID.IsEmpty(), "Invalid subshape ID");
+
+	float len = inLocalSurfacePosition.Length();
+	return len != 0.0f? inLocalSurfacePosition / len : Vec3::sAxisY();
+}
+
+void SphereShape::GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) const
+{
+	float scaled_radius = GetScaledRadius(inScale);
+	outTotalVolume = (4.0f / 3.0f * JPH_PI) * Cubed(scaled_radius);
+
+	float distance_to_surface = inSurface.SignedDistance(inCenterOfMassTransform.GetTranslation());
+	if (distance_to_surface >= scaled_radius)
+	{
+		// Above surface
+		outSubmergedVolume = 0.0f;
+		outCenterOfBuoyancy = Vec3::sZero();
+	}
+	else if (distance_to_surface <= -scaled_radius)
+	{
+		// Under surface
+		outSubmergedVolume = outTotalVolume;
+		outCenterOfBuoyancy = inCenterOfMassTransform.GetTranslation();
+	}
+	else
+	{
+		// Intersecting surface
+
+		// Calculate submerged volume, see: https://en.wikipedia.org/wiki/Spherical_cap
+		float h = scaled_radius - distance_to_surface;
+		outSubmergedVolume = (JPH_PI / 3.0f) * Square(h) * (3.0f * scaled_radius - h);
+
+		// Calculate center of buoyancy, see: http://mathworld.wolfram.com/SphericalCap.html (eq 10)
+		float z = (3.0f / 4.0f) * Square(2.0f * scaled_radius - h) / (3.0f * scaled_radius - h);
+		outCenterOfBuoyancy = inCenterOfMassTransform.GetTranslation() - z * inSurface.GetNormal(); // Negative normal since we want the portion under the water
+
+	#ifdef JPH_DEBUG_RENDERER
+		// Draw intersection between sphere and water plane
+		if (sDrawSubmergedVolumes)
+		{
+			Vec3 circle_center = inCenterOfMassTransform.GetTranslation() - distance_to_surface * inSurface.GetNormal();
+			float circle_radius = sqrt(Square(scaled_radius) - Square(distance_to_surface));
+			DebugRenderer::sInstance->DrawPie(inBaseOffset + circle_center, circle_radius, inSurface.GetNormal(), inSurface.GetNormal().GetNormalizedPerpendicular(), -JPH_PI, JPH_PI, Color::sGreen, DebugRenderer::ECastShadow::Off);
+		}
+	#endif // JPH_DEBUG_RENDERER
+	}
+
+#ifdef JPH_DEBUG_RENDERER
+	// Draw center of buoyancy
+	if (sDrawSubmergedVolumes)
+		DebugRenderer::sInstance->DrawWireSphere(inBaseOffset + outCenterOfBuoyancy, 0.05f, Color::sRed, 1);
+#endif // JPH_DEBUG_RENDERER
+}
+
+#ifdef JPH_DEBUG_RENDERER
+void SphereShape::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->DrawUnitSphere(inCenterOfMassTransform * Mat44::sScale(mRadius * inScale.Abs().GetX()), inUseMaterialColors? GetMaterial()->GetDebugColor() : inColor, DebugRenderer::ECastShadow::On, draw_mode);
+}
+#endif // JPH_DEBUG_RENDERER
+
+bool SphereShape::CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const
+{
+	float fraction = RaySphere(inRay.mOrigin, inRay.mDirection, Vec3::sZero(), mRadius);
+	if (fraction < ioHit.mFraction)
+	{
+		ioHit.mFraction = fraction;
+		ioHit.mSubShapeID2 = inSubShapeIDCreator.GetID();
+		return true;
+	}
+	return false;
+}
+
+void SphereShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter) const
+{
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(this, inSubShapeIDCreator.GetID()))
+		return;
+
+	float min_fraction, max_fraction;
+	int num_results = RaySphere(inRay.mOrigin, inRay.mDirection, Vec3::sZero(), mRadius, min_fraction, max_fraction);
+	if (num_results > 0 // Ray should intersect
+		&& max_fraction >= 0.0f // End of ray should be inside sphere
+		&& min_fraction < ioCollector.GetEarlyOutFraction()) // Start of ray should be before early out fraction
+	{
+		// Better hit than the current hit
+		RayCastResult hit;
+		hit.mBodyID = TransformedShape::sGetBodyID(ioCollector.GetContext());
+		hit.mSubShapeID2 = inSubShapeIDCreator.GetID();
+
+		// Check front side hit
+		if (inRayCastSettings.mTreatConvexAsSolid || min_fraction > 0.0f)
+		{
+			hit.mFraction = max(0.0f, min_fraction);
+			ioCollector.AddHit(hit);
+		}
+
+		// Check back side hit
+		if (inRayCastSettings.mBackFaceModeConvex == EBackFaceMode::CollideWithBackFaces
+			&& num_results > 1 // Ray should have 2 intersections
+			&& max_fraction < ioCollector.GetEarlyOutFraction()) // End of ray should be before early out fraction
+		{
+			hit.mFraction = max_fraction;
+			ioCollector.AddHit(hit);
+		}
+	}
+}
+
+void SphereShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) const
+{
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(this, inSubShapeIDCreator.GetID()))
+		return;
+
+	if (inPoint.LengthSq() <= Square(mRadius))
+		ioCollector.AddHit({ TransformedShape::sGetBodyID(ioCollector.GetContext()), inSubShapeIDCreator.GetID() });
+}
+
+void SphereShape::CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const
+{
+	Vec3 center = inCenterOfMassTransform.GetTranslation();
+	float radius = GetScaledRadius(inScale);
+
+	for (CollideSoftBodyVertexIterator v = inVertices, sbv_end = inVertices + inNumVertices; v != sbv_end; ++v)
+		if (v.GetInvMass() > 0.0f)
+		{
+			// Calculate penetration
+			Vec3 delta = v.GetPosition() - center;
+			float distance = delta.Length();
+			float penetration = radius - distance;
+			if (v.UpdatePenetration(penetration))
+			{
+				// Calculate contact point and normal
+				Vec3 normal = distance > 0.0f? delta / distance : Vec3::sAxisY();
+				Vec3 point = center + radius * normal;
+
+				// Store collision
+				v.SetCollision(Plane::sFromPointAndNormal(point, normal), inCollidingShapeIndex);
+			}
+		}
+}
+
+void SphereShape::GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const
+{
+	float scaled_radius = GetScaledRadius(inScale);
+	new (&ioContext) GetTrianglesContextVertexList(inPositionCOM, inRotation, Vec3::sOne(), Mat44::sScale(scaled_radius), sUnitSphereTriangles.data(), sUnitSphereTriangles.size(), GetMaterial());
+}
+
+int SphereShape::GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials) const
+{
+	return ((GetTrianglesContextVertexList &)ioContext).GetTrianglesNext(inMaxTrianglesRequested, outTriangleVertices, outMaterials);
+}
+
+void SphereShape::SaveBinaryState(StreamOut &inStream) const
+{
+	ConvexShape::SaveBinaryState(inStream);
+
+	inStream.Write(mRadius);
+}
+
+void SphereShape::RestoreBinaryState(StreamIn &inStream)
+{
+	ConvexShape::RestoreBinaryState(inStream);
+
+	inStream.Read(mRadius);
+}
+
+bool SphereShape::IsValidScale(Vec3Arg inScale) const
+{
+	return ConvexShape::IsValidScale(inScale) && ScaleHelpers::IsUniformScale(inScale.Abs());
+}
+
+Vec3 SphereShape::MakeScaleValid(Vec3Arg inScale) const
+{
+	Vec3 scale = ScaleHelpers::MakeNonZeroScale(inScale);
+
+	return scale.GetSign() * ScaleHelpers::MakeUniformScale(scale.Abs());
+}
+
+void SphereShape::sRegister()
+{
+	ShapeFunctions &f = ShapeFunctions::sGet(EShapeSubType::Sphere);
+	f.mConstruct = []() -> Shape * { return new SphereShape; };
+	f.mColor = Color::sGreen;
+}
+
+JPH_NAMESPACE_END

package/native/third_party/JoltPhysics/Jolt/Physics/Collision/Shape/SphereShape.h

@@ -0,0 +1,125 @@
+// 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>
+
+JPH_NAMESPACE_BEGIN
+
+/// Class that constructs a SphereShape
+class JPH_EXPORT SphereShapeSettings final : public ConvexShapeSettings
+{
+	JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, SphereShapeSettings)
+
+public:
+	/// Default constructor for deserialization
+							SphereShapeSettings() = default;
+
+	/// Create a sphere with radius inRadius
+	explicit				SphereShapeSettings(float inRadius, const PhysicsMaterial *inMaterial = nullptr)	: ConvexShapeSettings(inMaterial), mRadius(inRadius) { }
+
+	// See: ShapeSettings
+	virtual ShapeResult		Create() const override;
+
+	float					mRadius = 0.0f;
+};
+
+/// A sphere, centered around the origin.
+/// Note that it is implemented as a point with convex radius.
+class JPH_EXPORT SphereShape final : public ConvexShape
+{
+public:
+	JPH_OVERRIDE_NEW_DELETE
+
+	/// Constructor
+							SphereShape() : ConvexShape(EShapeSubType::Sphere) { }
+							SphereShape(const SphereShapeSettings &inSettings, ShapeResult &outResult);
+
+	/// Create a sphere with radius inRadius
+	explicit				SphereShape(float inRadius, const PhysicsMaterial *inMaterial = nullptr)			: ConvexShape(EShapeSubType::Sphere, inMaterial), mRadius(inRadius) { JPH_ASSERT(inRadius > 0.0f); }
+
+	/// Radius of the sphere
+	float					GetRadius() const																	{ return mRadius; }
+
+	// See Shape::GetLocalBounds
+	virtual AABox			GetLocalBounds() const override;
+
+	// See Shape::GetWorldSpaceBounds
+	virtual AABox			GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
+	using Shape::GetWorldSpaceBounds;
+
+	// See Shape::GetInnerRadius
+	virtual float			GetInnerRadius() const override														{ return mRadius; }
+
+	// See Shape::GetMassProperties
+	virtual MassProperties	GetMassProperties() const override;
+
+	// See Shape::GetSurfaceNormal
+	virtual Vec3			GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override;
+
+	// See Shape::GetSupportingFace
+	virtual void			GetSupportingFace([[maybe_unused]] const SubShapeID &inSubShapeID, [[maybe_unused]] Vec3Arg inDirection, [[maybe_unused]] Vec3Arg inScale, [[maybe_unused]] Mat44Arg inCenterOfMassTransform, [[maybe_unused]] SupportingFace &outVertices) const override { /* Hit is always a single point, no point in returning anything */ }
+
+	// See ConvexShape::GetSupportFunction
+	virtual const Support *	GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const override;
+
+	// See Shape::GetSubmergedVolume
+	virtual void			GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) const override;
+
+#ifdef JPH_DEBUG_RENDERER
+	// See Shape::Draw
+	virtual void			Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) 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 ShapeFilter &inShapeFilter = { }) const override;
+
+	// See: Shape::CollidePoint
+	virtual void			CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
+
+	// See: Shape::CollideSoftBodyVertices
+	virtual void			CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const override;
+
+	// See Shape::GetTrianglesStart
+	virtual void			GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override;
+
+	// See Shape::GetTrianglesNext
+	virtual int				GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override;
+
+	// 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 4.0f / 3.0f * JPH_PI * Cubed(mRadius); }
+
+	// See Shape::IsValidScale
+	virtual bool			IsValidScale(Vec3Arg inScale) const override;
+
+	// See Shape::MakeScaleValid
+	virtual Vec3			MakeScaleValid(Vec3Arg inScale) const override;
+
+	// Register shape functions with the registry
+	static void				sRegister();
+
+protected:
+	// See: Shape::RestoreBinaryState
+	virtual void			RestoreBinaryState(StreamIn &inStream) override;
+
+private:
+	// Get the radius of this sphere scaled by inScale
+	inline float			GetScaledRadius(Vec3Arg inScale) const;
+
+	// Classes for GetSupportFunction
+	class					SphereNoConvex;
+	class					SphereWithConvex;
+
+	float					mRadius = 0.0f;
+};
+
+JPH_NAMESPACE_END