@bloomengine/engine 0.3.1

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

@@ -0,0 +1,453 @@
+// 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/TaperedCapsuleShape.h>
+#include <Jolt/Physics/Collision/Shape/SphereShape.h>
+#include <Jolt/Physics/Collision/Shape/RotatedTranslatedShape.h>
+#include <Jolt/Physics/Collision/Shape/ScaleHelpers.h>
+#include <Jolt/Physics/Collision/TransformedShape.h>
+#include <Jolt/Physics/Collision/CollideSoftBodyVertexIterator.h>
+#include <Jolt/Geometry/RayCapsule.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(TaperedCapsuleShapeSettings)
+{
+	JPH_ADD_BASE_CLASS(TaperedCapsuleShapeSettings, ConvexShapeSettings)
+
+	JPH_ADD_ATTRIBUTE(TaperedCapsuleShapeSettings, mHalfHeightOfTaperedCylinder)
+	JPH_ADD_ATTRIBUTE(TaperedCapsuleShapeSettings, mTopRadius)
+	JPH_ADD_ATTRIBUTE(TaperedCapsuleShapeSettings, mBottomRadius)
+}
+
+bool TaperedCapsuleShapeSettings::IsSphere() const
+{
+	return max(mTopRadius, mBottomRadius) >= 2.0f * mHalfHeightOfTaperedCylinder + min(mTopRadius, mBottomRadius);
+}
+
+ShapeSettings::ShapeResult TaperedCapsuleShapeSettings::Create() const
+{
+	if (mCachedResult.IsEmpty())
+	{
+		Ref<Shape> shape;
+		if (IsValid() && IsSphere())
+		{
+			// Determine sphere center and radius
+			float radius, center;
+			if (mTopRadius > mBottomRadius)
+			{
+				radius = mTopRadius;
+				center = mHalfHeightOfTaperedCylinder;
+			}
+			else
+			{
+				radius = mBottomRadius;
+				center = -mHalfHeightOfTaperedCylinder;
+			}
+
+			// Create sphere
+			shape = new SphereShape(radius, mMaterial);
+
+			// Offset sphere if needed
+			if (abs(center) > 1.0e-6f)
+			{
+				RotatedTranslatedShapeSettings rot_trans(Vec3(0, center, 0), Quat::sIdentity(), shape);
+				mCachedResult = rot_trans.Create();
+			}
+			else
+				mCachedResult.Set(shape);
+		}
+		else
+		{
+			// Normal tapered capsule shape
+			shape = new TaperedCapsuleShape(*this, mCachedResult);
+		}
+	}
+	return mCachedResult;
+}
+
+TaperedCapsuleShapeSettings::TaperedCapsuleShapeSettings(float inHalfHeightOfTaperedCylinder, float inTopRadius, float inBottomRadius, const PhysicsMaterial *inMaterial) :
+	ConvexShapeSettings(inMaterial),
+	mHalfHeightOfTaperedCylinder(inHalfHeightOfTaperedCylinder),
+	mTopRadius(inTopRadius),
+	mBottomRadius(inBottomRadius)
+{
+}
+
+TaperedCapsuleShape::TaperedCapsuleShape(const TaperedCapsuleShapeSettings &inSettings, ShapeResult &outResult) :
+	ConvexShape(EShapeSubType::TaperedCapsule, inSettings, outResult),
+	mTopRadius(inSettings.mTopRadius),
+	mBottomRadius(inSettings.mBottomRadius)
+{
+	if (mTopRadius <= 0.0f)
+	{
+		outResult.SetError("Invalid top radius");
+		return;
+	}
+
+	if (mBottomRadius <= 0.0f)
+	{
+		outResult.SetError("Invalid bottom radius");
+		return;
+	}
+
+	if (inSettings.mHalfHeightOfTaperedCylinder <= 0.0f)
+	{
+		outResult.SetError("Invalid height");
+		return;
+	}
+
+	// If this goes off one of the sphere ends falls totally inside the other and you should use a sphere instead
+	if (inSettings.IsSphere())
+	{
+		outResult.SetError("One sphere embedded in other sphere, please use sphere shape instead");
+		return;
+	}
+
+	// Approximation: The center of mass is exactly half way between the top and bottom cap of the tapered capsule
+	mTopCenter = inSettings.mHalfHeightOfTaperedCylinder + 0.5f * (mBottomRadius - mTopRadius);
+	mBottomCenter = -inSettings.mHalfHeightOfTaperedCylinder + 0.5f * (mBottomRadius - mTopRadius);
+
+	// Calculate center of mass
+	mCenterOfMass = Vec3(0, inSettings.mHalfHeightOfTaperedCylinder - mTopCenter, 0);
+
+	// Calculate convex radius
+	mConvexRadius = min(mTopRadius, mBottomRadius);
+	JPH_ASSERT(mConvexRadius > 0.0f);
+
+	// Calculate the sin and tan of the angle that the cone surface makes with the Y axis
+	// See: TaperedCapsuleShape.gliffy
+	mSinAlpha = (mBottomRadius - mTopRadius) / (mTopCenter - mBottomCenter);
+	JPH_ASSERT(mSinAlpha >= -1.0f && mSinAlpha <= 1.0f);
+	mTanAlpha = Tan(ASin(mSinAlpha));
+
+	outResult.Set(this);
+}
+
+class TaperedCapsuleShape::TaperedCapsule final : public Support
+{
+public:
+					TaperedCapsule(Vec3Arg inTopCenter, Vec3Arg inBottomCenter, float inTopRadius, float inBottomRadius, float inConvexRadius) :
+		mTopCenter(inTopCenter),
+		mBottomCenter(inBottomCenter),
+		mTopRadius(inTopRadius),
+		mBottomRadius(inBottomRadius),
+		mConvexRadius(inConvexRadius)
+	{
+		static_assert(sizeof(TaperedCapsule) <= sizeof(SupportBuffer), "Buffer size too small");
+		JPH_ASSERT(IsAligned(this, alignof(TaperedCapsule)));
+	}
+
+	virtual Vec3	GetSupport(Vec3Arg inDirection) const override
+	{
+		// Check zero vector
+		float len = inDirection.Length();
+		if (len == 0.0f)
+			return mTopCenter + Vec3(0, mTopRadius, 0); // Return top
+
+		// Check if the support of the top sphere or bottom sphere is bigger
+		Vec3 support_top = mTopCenter + (mTopRadius / len) * inDirection;
+		Vec3 support_bottom = mBottomCenter + (mBottomRadius / len) * inDirection;
+		if (support_top.Dot(inDirection) > support_bottom.Dot(inDirection))
+			return support_top;
+		else
+			return support_bottom;
+	}
+
+	virtual float	GetConvexRadius() const override
+	{
+		return mConvexRadius;
+	}
+
+private:
+	Vec3			mTopCenter;
+	Vec3			mBottomCenter;
+	float			mTopRadius;
+	float			mBottomRadius;
+	float			mConvexRadius;
+};
+
+const ConvexShape::Support *TaperedCapsuleShape::GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const
+{
+	JPH_ASSERT(IsValidScale(inScale));
+
+	// Get scaled tapered capsule
+	Vec3 abs_scale = inScale.Abs();
+	float scale_xz = abs_scale.GetX();
+	float scale_y = inScale.GetY(); // The sign of y is important as it flips the tapered capsule
+	Vec3 scaled_top_center = Vec3(0, scale_y * mTopCenter, 0);
+	Vec3 scaled_bottom_center = Vec3(0, scale_y * mBottomCenter, 0);
+	float scaled_top_radius = scale_xz * mTopRadius;
+	float scaled_bottom_radius = scale_xz * mBottomRadius;
+	float scaled_convex_radius = scale_xz * mConvexRadius;
+
+	switch (inMode)
+	{
+	case ESupportMode::IncludeConvexRadius:
+		return new (&inBuffer) TaperedCapsule(scaled_top_center, scaled_bottom_center, scaled_top_radius, scaled_bottom_radius, 0.0f);
+
+	case ESupportMode::ExcludeConvexRadius:
+	case ESupportMode::Default:
+		{
+			// Get radii reduced by convex radius
+			float tr = scaled_top_radius - scaled_convex_radius;
+			float br = scaled_bottom_radius - scaled_convex_radius;
+			JPH_ASSERT(tr >= 0.0f && br >= 0.0f);
+			JPH_ASSERT(tr == 0.0f || br == 0.0f, "Convex radius should be that of the smallest sphere");
+			return new (&inBuffer) TaperedCapsule(scaled_top_center, scaled_bottom_center, tr, br, scaled_convex_radius);
+		}
+	}
+
+	JPH_ASSERT(false);
+	return nullptr;
+}
+
+void TaperedCapsuleShape::GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const
+{
+	JPH_ASSERT(inSubShapeID.IsEmpty(), "Invalid subshape ID");
+	JPH_ASSERT(IsValidScale(inScale));
+
+	// Check zero vector
+	float len = inDirection.Length();
+	if (len == 0.0f)
+		return;
+
+	// Get scaled tapered capsule
+	Vec3 abs_scale = inScale.Abs();
+	float scale_xz = abs_scale.GetX();
+	float scale_y = inScale.GetY(); // The sign of y is important as it flips the tapered capsule
+	Vec3 scaled_top_center = Vec3(0, scale_y * mTopCenter, 0);
+	Vec3 scaled_bottom_center = Vec3(0, scale_y * mBottomCenter, 0);
+	float scaled_top_radius = scale_xz * mTopRadius;
+	float scaled_bottom_radius = scale_xz * mBottomRadius;
+
+	// Get support point for top and bottom sphere in the opposite of inDirection (including convex radius)
+	Vec3 support_top = scaled_top_center - (scaled_top_radius / len) * inDirection;
+	Vec3 support_bottom = scaled_bottom_center - (scaled_bottom_radius / len) * inDirection;
+
+	// Get projection on inDirection
+	float proj_top = support_top.Dot(inDirection);
+	float proj_bottom = support_bottom.Dot(inDirection);
+
+	// If projection is roughly equal then return line, otherwise we return nothing as there's only 1 point
+	if (abs(proj_top - proj_bottom) < cCapsuleProjectionSlop * len)
+	{
+		outVertices.push_back(inCenterOfMassTransform * support_top);
+		outVertices.push_back(inCenterOfMassTransform * support_bottom);
+	}
+}
+
+MassProperties TaperedCapsuleShape::GetMassProperties() const
+{
+	AABox box = GetInertiaApproximation();
+
+	MassProperties p;
+	p.SetMassAndInertiaOfSolidBox(box.GetSize(), GetDensity());
+	return p;
+}
+
+Vec3 TaperedCapsuleShape::GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const
+{
+	JPH_ASSERT(inSubShapeID.IsEmpty(), "Invalid subshape ID");
+
+	// See: TaperedCapsuleShape.gliffy
+	// We need to calculate ty and by in order to see if the position is on the top or bottom sphere
+	// sin(alpha) = by / br = ty / tr
+	// => by = sin(alpha) * br, ty = sin(alpha) * tr
+
+	if (inLocalSurfacePosition.GetY() > mTopCenter + mSinAlpha * mTopRadius)
+		return (inLocalSurfacePosition - Vec3(0, mTopCenter, 0)).Normalized();
+	else if (inLocalSurfacePosition.GetY() < mBottomCenter + mSinAlpha * mBottomRadius)
+		return (inLocalSurfacePosition - Vec3(0, mBottomCenter, 0)).Normalized();
+	else
+	{
+		// Get perpendicular vector to the surface in the xz plane
+		Vec3 perpendicular = Vec3(inLocalSurfacePosition.GetX(), 0, inLocalSurfacePosition.GetZ()).NormalizedOr(Vec3::sAxisX());
+
+		// We know that the perpendicular has length 1 and that it needs a y component where tan(alpha) = y / 1 in order to align it to the surface
+		perpendicular.SetY(mTanAlpha);
+		return perpendicular.Normalized();
+	}
+}
+
+AABox TaperedCapsuleShape::GetLocalBounds() const
+{
+	float max_radius = max(mTopRadius, mBottomRadius);
+	return AABox(Vec3(-max_radius, mBottomCenter - mBottomRadius, -max_radius), Vec3(max_radius, mTopCenter + mTopRadius, max_radius));
+}
+
+AABox TaperedCapsuleShape::GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const
+{
+	JPH_ASSERT(IsValidScale(inScale));
+
+	Vec3 abs_scale = inScale.Abs();
+	float scale_xz = abs_scale.GetX();
+	float scale_y = inScale.GetY(); // The sign of y is important as it flips the tapered capsule
+	Vec3 bottom_extent = Vec3::sReplicate(scale_xz * mBottomRadius);
+	Vec3 bottom_center = inCenterOfMassTransform * Vec3(0, scale_y * mBottomCenter, 0);
+	Vec3 top_extent = Vec3::sReplicate(scale_xz * mTopRadius);
+	Vec3 top_center = inCenterOfMassTransform * Vec3(0, scale_y * mTopCenter, 0);
+	Vec3 p1 = Vec3::sMin(top_center - top_extent, bottom_center - bottom_extent);
+	Vec3 p2 = Vec3::sMax(top_center + top_extent, bottom_center + bottom_extent);
+	return AABox(p1, p2);
+}
+
+void TaperedCapsuleShape::CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const
+{
+	JPH_ASSERT(IsValidScale(inScale));
+
+	Mat44 inverse_transform = inCenterOfMassTransform.InversedRotationTranslation();
+
+	// Get scaled tapered capsule
+	Vec3 abs_scale = inScale.Abs();
+	float scale_y = abs_scale.GetY();
+	float scale_xz = abs_scale.GetX();
+	Vec3 scale_y_flip(1, Sign(inScale.GetY()), 1);
+	Vec3 scaled_top_center(0, scale_y * mTopCenter, 0);
+	Vec3 scaled_bottom_center(0, scale_y * mBottomCenter, 0);
+	float scaled_top_radius = scale_xz * mTopRadius;
+	float scaled_bottom_radius = scale_xz * mBottomRadius;
+
+	for (CollideSoftBodyVertexIterator v = inVertices, sbv_end = inVertices + inNumVertices; v != sbv_end; ++v)
+		if (v.GetInvMass() > 0.0f)
+		{
+			Vec3 local_pos = scale_y_flip * (inverse_transform * v.GetPosition());
+
+			Vec3 position, normal;
+
+			// If the vertex is inside the cone starting at the top center pointing along the y-axis with angle PI/2 - alpha then the closest point is on the top sphere
+			// This corresponds to: Dot(y-axis, (local_pos - top_center) / |local_pos - top_center|) >= cos(PI/2 - alpha)
+			// <=> (local_pos - top_center).y >= sin(alpha) * |local_pos - top_center|
+			Vec3 top_center_to_local_pos = local_pos - scaled_top_center;
+			float top_center_to_local_pos_len = top_center_to_local_pos.Length();
+			if (top_center_to_local_pos.GetY() >= mSinAlpha * top_center_to_local_pos_len)
+			{
+				// Top sphere
+				normal = top_center_to_local_pos_len != 0.0f? top_center_to_local_pos / top_center_to_local_pos_len : Vec3::sAxisY();
+				position = scaled_top_center + scaled_top_radius * normal;
+			}
+			else
+			{
+				// If the vertex is outside the cone starting at the bottom center pointing along the y-axis with angle PI/2 - alpha then the closest point is on the bottom sphere
+				// This corresponds to: Dot(y-axis, (local_pos - bottom_center) / |local_pos - bottom_center|) <= cos(PI/2 - alpha)
+				// <=> (local_pos - bottom_center).y <= sin(alpha) * |local_pos - bottom_center|
+				Vec3 bottom_center_to_local_pos = local_pos - scaled_bottom_center;
+				float bottom_center_to_local_pos_len = bottom_center_to_local_pos.Length();
+				if (bottom_center_to_local_pos.GetY() <= mSinAlpha * bottom_center_to_local_pos_len)
+				{
+					// Bottom sphere
+					normal = bottom_center_to_local_pos_len != 0.0f? bottom_center_to_local_pos / bottom_center_to_local_pos_len : -Vec3::sAxisY();
+				}
+				else
+				{
+					// Tapered cylinder
+					normal = Vec3(local_pos.GetX(), 0, local_pos.GetZ()).NormalizedOr(Vec3::sAxisX());
+					normal.SetY(mTanAlpha);
+					normal = normal.NormalizedOr(Vec3::sAxisX());
+				}
+				position = scaled_bottom_center + scaled_bottom_radius * normal;
+			}
+
+			Plane plane = Plane::sFromPointAndNormal(position, normal);
+			float penetration = -plane.SignedDistance(local_pos);
+			if (v.UpdatePenetration(penetration))
+			{
+				// Need to flip the normal's y if capsule is flipped (this corresponds to flipping both the point and the normal around y)
+				plane.SetNormal(scale_y_flip * plane.GetNormal());
+
+				// Store collision
+				v.SetCollision(plane.GetTransformed(inCenterOfMassTransform), inCollidingShapeIndex);
+			}
+		}
+}
+
+#ifdef JPH_DEBUG_RENDERER
+void TaperedCapsuleShape::Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const
+{
+	if (mGeometry == nullptr)
+	{
+		SupportBuffer buffer;
+		const Support *support = GetSupportFunction(ESupportMode::IncludeConvexRadius, buffer, Vec3::sOne());
+		mGeometry = inRenderer->CreateTriangleGeometryForConvex([support](Vec3Arg inDirection) { return support->GetSupport(inDirection); });
+	}
+
+	// Preserve flip along y axis but make sure we're not inside out
+	Vec3 scale = ScaleHelpers::IsInsideOut(inScale)? inScale.FlipSign<-1, 1, 1>() : inScale;
+	RMat44 world_transform = inCenterOfMassTransform * Mat44::sScale(scale);
+
+	AABox bounds = Shape::GetWorldSpaceBounds(inCenterOfMassTransform, inScale);
+
+	float lod_scale_sq = Square(max(mTopRadius, mBottomRadius));
+
+	Color color = inUseMaterialColors? GetMaterial()->GetDebugColor() : inColor;
+
+	DebugRenderer::EDrawMode draw_mode = inDrawWireframe? DebugRenderer::EDrawMode::Wireframe : DebugRenderer::EDrawMode::Solid;
+
+	inRenderer->DrawGeometry(world_transform, bounds, lod_scale_sq, color, mGeometry, DebugRenderer::ECullMode::CullBackFace, DebugRenderer::ECastShadow::On, draw_mode);
+}
+#endif // JPH_DEBUG_RENDERER
+
+AABox TaperedCapsuleShape::GetInertiaApproximation() const
+{
+	// TODO: For now the mass and inertia is that of a box
+	float avg_radius = 0.5f * (mTopRadius + mBottomRadius);
+	return AABox(Vec3(-avg_radius, mBottomCenter - mBottomRadius, -avg_radius), Vec3(avg_radius, mTopCenter + mTopRadius, avg_radius));
+}
+
+void TaperedCapsuleShape::SaveBinaryState(StreamOut &inStream) const
+{
+	ConvexShape::SaveBinaryState(inStream);
+
+	inStream.Write(mCenterOfMass);
+	inStream.Write(mTopRadius);
+	inStream.Write(mBottomRadius);
+	inStream.Write(mTopCenter);
+	inStream.Write(mBottomCenter);
+	inStream.Write(mConvexRadius);
+	inStream.Write(mSinAlpha);
+	inStream.Write(mTanAlpha);
+}
+
+void TaperedCapsuleShape::RestoreBinaryState(StreamIn &inStream)
+{
+	ConvexShape::RestoreBinaryState(inStream);
+
+	inStream.Read(mCenterOfMass);
+	inStream.Read(mTopRadius);
+	inStream.Read(mBottomRadius);
+	inStream.Read(mTopCenter);
+	inStream.Read(mBottomCenter);
+	inStream.Read(mConvexRadius);
+	inStream.Read(mSinAlpha);
+	inStream.Read(mTanAlpha);
+}
+
+bool TaperedCapsuleShape::IsValidScale(Vec3Arg inScale) const
+{
+	return ConvexShape::IsValidScale(inScale) && ScaleHelpers::IsUniformScale(inScale.Abs());
+}
+
+Vec3 TaperedCapsuleShape::MakeScaleValid(Vec3Arg inScale) const
+{
+	Vec3 scale = ScaleHelpers::MakeNonZeroScale(inScale);
+
+	return scale.GetSign() * ScaleHelpers::MakeUniformScale(scale.Abs());
+}
+
+void TaperedCapsuleShape::sRegister()
+{
+	ShapeFunctions &f = ShapeFunctions::sGet(EShapeSubType::TaperedCapsule);
+	f.mConstruct = []() -> Shape * { return new TaperedCapsuleShape; };
+	f.mColor = Color::sGreen;
+}
+
+JPH_NAMESPACE_END

package/native/third_party/JoltPhysics/Jolt/Physics/Collision/Shape/TaperedCapsuleShape.gliffy

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

@@ -0,0 +1,135 @@
+// 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>
+#ifdef JPH_DEBUG_RENDERER
+	#include <Jolt/Renderer/DebugRenderer.h>
+#endif // JPH_DEBUG_RENDERER
+
+JPH_NAMESPACE_BEGIN
+
+/// Class that constructs a TaperedCapsuleShape
+class JPH_EXPORT TaperedCapsuleShapeSettings final : public ConvexShapeSettings
+{
+	JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, TaperedCapsuleShapeSettings)
+
+public:
+	/// Default constructor for deserialization
+							TaperedCapsuleShapeSettings() = default;
+
+	/// Create a tapered capsule centered around the origin with one sphere cap at (0, -inHalfHeightOfTaperedCylinder, 0) with radius inBottomRadius and the other at (0, inHalfHeightOfTaperedCylinder, 0) with radius inTopRadius
+							TaperedCapsuleShapeSettings(float inHalfHeightOfTaperedCylinder, float inTopRadius, float inBottomRadius, const PhysicsMaterial *inMaterial = nullptr);
+
+	/// Check if the settings are valid
+	bool					IsValid() const															{ return mTopRadius > 0.0f && mBottomRadius > 0.0f && mHalfHeightOfTaperedCylinder >= 0.0f; }
+
+	/// Checks if the settings of this tapered capsule make this shape a sphere
+	bool					IsSphere() const;
+
+	// See: ShapeSettings
+	virtual ShapeResult		Create() const override;
+
+	float					mHalfHeightOfTaperedCylinder = 0.0f;
+	float					mTopRadius = 0.0f;
+	float					mBottomRadius = 0.0f;
+};
+
+/// A capsule with different top and bottom radii
+class JPH_EXPORT TaperedCapsuleShape final : public ConvexShape
+{
+public:
+	JPH_OVERRIDE_NEW_DELETE
+
+	/// Constructor
+							TaperedCapsuleShape() : ConvexShape(EShapeSubType::TaperedCapsule) { }
+							TaperedCapsuleShape(const TaperedCapsuleShapeSettings &inSettings, ShapeResult &outResult);
+
+	/// Get top radius of the tapered capsule
+	inline float			GetTopRadius() const													{ return mTopRadius; }
+
+	/// Get bottom radius of the tapered capsule
+	inline float			GetBottomRadius() const													{ return mBottomRadius; }
+
+	/// Get half height between the top and bottom sphere center
+	inline float			GetHalfHeight() const													{ return 0.5f * (mTopCenter - mBottomCenter); }
+
+	// See Shape::GetCenterOfMass
+	virtual Vec3			GetCenterOfMass() const override										{ return mCenterOfMass; }
+
+	// 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 min(mTopRadius, mBottomRadius); }
+
+	// 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(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override;
+
+	// See ConvexShape::GetSupportFunction
+	virtual const Support *	GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const override;
+
+	// See: Shape::CollideSoftBodyVertices
+	virtual void			CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) 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
+	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 GetLocalBounds().GetVolume(); } // Volume is approximate!
+
+	// 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:
+	// Class for GetSupportFunction
+	class					TaperedCapsule;
+
+	/// Returns box that approximates the inertia
+	AABox					GetInertiaApproximation() const;
+
+	Vec3					mCenterOfMass = Vec3::sZero();
+	float					mTopRadius = 0.0f;
+	float					mBottomRadius = 0.0f;
+	float					mTopCenter = 0.0f;
+	float					mBottomCenter = 0.0f;
+	float					mConvexRadius = 0.0f;
+	float					mSinAlpha = 0.0f;
+	float					mTanAlpha = 0.0f;
+
+#ifdef JPH_DEBUG_RENDERER
+	mutable DebugRenderer::GeometryRef mGeometry;
+#endif // JPH_DEBUG_RENDERER
+};
+
+JPH_NAMESPACE_END