@bloomengine/engine 0.4.0 → 0.4.2

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

@@ -1,438 +0,0 @@
-// 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/CapsuleShape.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/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(CapsuleShapeSettings)
-{
-	JPH_ADD_BASE_CLASS(CapsuleShapeSettings, ConvexShapeSettings)
-
-	JPH_ADD_ATTRIBUTE(CapsuleShapeSettings, mRadius)
-	JPH_ADD_ATTRIBUTE(CapsuleShapeSettings, mHalfHeightOfCylinder)
-}
-
-static const int cCapsuleDetailLevel = 2;
-
-static const StaticArray<Vec3, 192> sCapsuleTopTriangles = []() {
-	StaticArray<Vec3, 192> verts;
-	GetTrianglesContextVertexList::sCreateHalfUnitSphereTop(verts, cCapsuleDetailLevel);
-	return verts;
-}();
-
-static const StaticArray<Vec3, 96> sCapsuleMiddleTriangles = []() {
-	StaticArray<Vec3, 96> verts;
-	GetTrianglesContextVertexList::sCreateUnitOpenCylinder(verts, cCapsuleDetailLevel);
-	return verts;
-}();
-
-static const StaticArray<Vec3, 192> sCapsuleBottomTriangles = []() {
-	StaticArray<Vec3, 192> verts;
-	GetTrianglesContextVertexList::sCreateHalfUnitSphereBottom(verts, cCapsuleDetailLevel);
-	return verts;
-}();
-
-ShapeSettings::ShapeResult CapsuleShapeSettings::Create() const
-{
-	if (mCachedResult.IsEmpty())
-	{
-		Ref<Shape> shape;
-		if (IsValid() && IsSphere())
-		{
-			// If the capsule has no height, use a sphere instead
-			shape = new SphereShape(mRadius, mMaterial);
-			mCachedResult.Set(shape);
-		}
-		else
-			shape = new CapsuleShape(*this, mCachedResult);
-	}
-	return mCachedResult;
-}
-
-CapsuleShape::CapsuleShape(const CapsuleShapeSettings &inSettings, ShapeResult &outResult) :
-	ConvexShape(EShapeSubType::Capsule, inSettings, outResult),
-	mRadius(inSettings.mRadius),
-	mHalfHeightOfCylinder(inSettings.mHalfHeightOfCylinder)
-{
-	if (inSettings.mHalfHeightOfCylinder <= 0.0f)
-	{
-		outResult.SetError("Invalid height");
-		return;
-	}
-
-	if (inSettings.mRadius <= 0.0f)
-	{
-		outResult.SetError("Invalid radius");
-		return;
-	}
-
-	outResult.Set(this);
-}
-
-class CapsuleShape::CapsuleNoConvex final : public Support
-{
-public:
-					CapsuleNoConvex(Vec3Arg inHalfHeightOfCylinder, float inConvexRadius) :
-		mHalfHeightOfCylinder(inHalfHeightOfCylinder),
-		mConvexRadius(inConvexRadius)
-	{
-		static_assert(sizeof(CapsuleNoConvex) <= sizeof(SupportBuffer), "Buffer size too small");
-		JPH_ASSERT(IsAligned(this, alignof(CapsuleNoConvex)));
-	}
-
-	virtual Vec3	GetSupport(Vec3Arg inDirection) const override
-	{
-		if (inDirection.GetY() > 0)
-			return mHalfHeightOfCylinder;
-		else
-			return -mHalfHeightOfCylinder;
-	}
-
-	virtual float	GetConvexRadius() const override
-	{
-		return mConvexRadius;
-	}
-
-private:
-	Vec3			mHalfHeightOfCylinder;
-	float			mConvexRadius;
-};
-
-class CapsuleShape::CapsuleWithConvex final : public Support
-{
-public:
-					CapsuleWithConvex(Vec3Arg inHalfHeightOfCylinder, float inRadius) :
-		mHalfHeightOfCylinder(inHalfHeightOfCylinder),
-		mRadius(inRadius)
-	{
-		static_assert(sizeof(CapsuleWithConvex) <= sizeof(SupportBuffer), "Buffer size too small");
-		JPH_ASSERT(IsAligned(this, alignof(CapsuleWithConvex)));
-	}
-
-	virtual Vec3	GetSupport(Vec3Arg inDirection) const override
-	{
-		float len = inDirection.Length();
-		Vec3 radius = len > 0.0f? inDirection * (mRadius / len) : Vec3::sZero();
-
-		if (inDirection.GetY() > 0)
-			return radius + mHalfHeightOfCylinder;
-		else
-			return radius - mHalfHeightOfCylinder;
-	}
-
-	virtual float	GetConvexRadius() const override
-	{
-		return 0.0f;
-	}
-
-private:
-	Vec3			mHalfHeightOfCylinder;
-	float			mRadius;
-};
-
-const ConvexShape::Support *CapsuleShape::GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const
-{
-	JPH_ASSERT(IsValidScale(inScale));
-
-	// Get scaled capsule
-	Vec3 abs_scale = inScale.Abs();
-	float scale = abs_scale.GetX();
-	Vec3 scaled_half_height_of_cylinder = Vec3(0, scale * mHalfHeightOfCylinder, 0);
-	float scaled_radius = scale * mRadius;
-
-	switch (inMode)
-	{
-	case ESupportMode::IncludeConvexRadius:
-		return new (&inBuffer) CapsuleWithConvex(scaled_half_height_of_cylinder, scaled_radius);
-
-	case ESupportMode::ExcludeConvexRadius:
-	case ESupportMode::Default:
-		return new (&inBuffer) CapsuleNoConvex(scaled_half_height_of_cylinder, scaled_radius);
-	}
-
-	JPH_ASSERT(false);
-	return nullptr;
-}
-
-void CapsuleShape::GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const
-{
-	JPH_ASSERT(inSubShapeID.IsEmpty(), "Invalid subshape ID");
-	JPH_ASSERT(IsValidScale(inScale));
-
-	// Get direction in horizontal plane
-	Vec3 direction = inDirection;
-	direction.SetComponent(1, 0.0f);
-
-	// Check zero vector, in this case we're hitting from top/bottom so there's no supporting face
-	float len = direction.Length();
-	if (len == 0.0f)
-		return;
-
-	// Get scaled capsule
-	Vec3 abs_scale = inScale.Abs();
-	float scale = abs_scale.GetX();
-	Vec3 scaled_half_height_of_cylinder = Vec3(0, scale * mHalfHeightOfCylinder, 0);
-	float scaled_radius = scale * mRadius;
-
-	// Get support point for top and bottom sphere in the opposite of 'direction' (including convex radius)
-	Vec3 support = (scaled_radius / len) * direction;
-	Vec3 support_top = scaled_half_height_of_cylinder - support;
-	Vec3 support_bottom = -scaled_half_height_of_cylinder - support;
-
-	// Get projection on inDirection
-	// Note that inDirection is not normalized, so we need to divide by inDirection.Length() to get the actual projection
-	// We've multiplied both sides of the if below with inDirection.Length()
-	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 * inDirection.Length())
-	{
-		outVertices.push_back(inCenterOfMassTransform * support_top);
-		outVertices.push_back(inCenterOfMassTransform * support_bottom);
-	}
-}
-
-MassProperties CapsuleShape::GetMassProperties() const
-{
-	MassProperties p;
-
-	float density = GetDensity();
-
-	// Calculate inertia and mass according to:
-	// https://www.gamedev.net/resources/_/technical/math-and-physics/capsule-inertia-tensor-r3856
-	// Note that there is an error in eq 14, H^2/2 should be H^2/4 in Ixx and Izz, eq 12 does contain the correct value
-	float radius_sq = Square(mRadius);
-	float height = 2.0f * mHalfHeightOfCylinder;
-	float cylinder_mass = JPH_PI * height * radius_sq * density;
-	float hemisphere_mass = (2.0f * JPH_PI / 3.0f) * radius_sq * mRadius * density;
-
-	// From cylinder
-	float height_sq = Square(height);
-	float inertia_y = radius_sq * cylinder_mass * 0.5f;
-	float inertia_xz = inertia_y * 0.5f + cylinder_mass * height_sq / 12.0f;
-
-	// From hemispheres
-	float temp = hemisphere_mass * 4.0f * radius_sq / 5.0f;
-	inertia_y += temp;
-	inertia_xz += temp + hemisphere_mass * (0.5f * height_sq + (3.0f / 4.0f) * height * mRadius);
-
-	// Mass is cylinder + hemispheres
-	p.mMass = cylinder_mass + hemisphere_mass * 2.0f;
-
-	// Set inertia
-	p.mInertia = Mat44::sScale(Vec3(inertia_xz, inertia_y, inertia_xz));
-
-	return p;
-}
-
-Vec3 CapsuleShape::GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const
-{
-	JPH_ASSERT(inSubShapeID.IsEmpty(), "Invalid subshape ID");
-
-	if (inLocalSurfacePosition.GetY() > mHalfHeightOfCylinder)
-		return (inLocalSurfacePosition - Vec3(0, mHalfHeightOfCylinder, 0)).Normalized();
-	else if (inLocalSurfacePosition.GetY() < -mHalfHeightOfCylinder)
-		return (inLocalSurfacePosition - Vec3(0, -mHalfHeightOfCylinder, 0)).Normalized();
-	else
-		return Vec3(inLocalSurfacePosition.GetX(), 0, inLocalSurfacePosition.GetZ()).NormalizedOr(Vec3::sAxisX());
-}
-
-AABox CapsuleShape::GetLocalBounds() const
-{
-	Vec3 extent = Vec3::sReplicate(mRadius) + Vec3(0, mHalfHeightOfCylinder, 0);
-	return AABox(-extent, extent);
-}
-
-AABox CapsuleShape::GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const
-{
-	JPH_ASSERT(IsValidScale(inScale));
-
-	Vec3 abs_scale = inScale.Abs();
-	float scale = abs_scale.GetX();
-	Vec3 extent = Vec3::sReplicate(scale * mRadius);
-	Vec3 height = Vec3(0, scale * mHalfHeightOfCylinder, 0);
-	Vec3 p1 = inCenterOfMassTransform * -height;
-	Vec3 p2 = inCenterOfMassTransform * height;
-	return AABox(Vec3::sMin(p1, p2) - extent, Vec3::sMax(p1, p2) + extent);
-}
-
-#ifdef JPH_DEBUG_RENDERER
-void CapsuleShape::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->DrawCapsule(inCenterOfMassTransform * Mat44::sScale(inScale.Abs().GetX()), mHalfHeightOfCylinder, mRadius, inUseMaterialColors? GetMaterial()->GetDebugColor() : inColor, DebugRenderer::ECastShadow::On, draw_mode);
-}
-#endif // JPH_DEBUG_RENDERER
-
-bool CapsuleShape::CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const
-{
-	// Test ray against capsule
-	float fraction = RayCapsule(inRay.mOrigin, inRay.mDirection, mHalfHeightOfCylinder, mRadius);
-	if (fraction < ioHit.mFraction)
-	{
-		ioHit.mFraction = fraction;
-		ioHit.mSubShapeID2 = inSubShapeIDCreator.GetID();
-		return true;
-	}
-	return false;
-}
-
-void CapsuleShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) const
-{
-	// Test shape filter
-	if (!inShapeFilter.ShouldCollide(this, inSubShapeIDCreator.GetID()))
-		return;
-
-	float radius_sq = Square(mRadius);
-
-	// Get vertical distance to the top/bottom sphere centers
-	float delta_y = abs(inPoint.GetY()) - mHalfHeightOfCylinder;
-
-	// Get distance in horizontal plane
-	float xz_sq = Square(inPoint.GetX()) + Square(inPoint.GetZ());
-
-	// Check if the point is in one of the two spheres
-	bool in_sphere = xz_sq + Square(delta_y) <= radius_sq;
-
-	// Check if the point is in the cylinder in the middle
-	bool in_cylinder = delta_y <= 0.0f && xz_sq <= radius_sq;
-
-	if (in_sphere || in_cylinder)
-		ioCollector.AddHit({ TransformedShape::sGetBodyID(ioCollector.GetContext()), inSubShapeIDCreator.GetID() });
-}
-
-void CapsuleShape::CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const
-{
-	JPH_ASSERT(IsValidScale(inScale));
-
-	Mat44 inverse_transform = inCenterOfMassTransform.InversedRotationTranslation();
-
-	// Get scaled capsule
-	float scale = abs(inScale.GetX());
-	float half_height_of_cylinder = scale * mHalfHeightOfCylinder;
-	float radius = scale * mRadius;
-
-	for (CollideSoftBodyVertexIterator v = inVertices, sbv_end = inVertices + inNumVertices; v != sbv_end; ++v)
-		if (v.GetInvMass() > 0.0f)
-		{
-			// Calculate penetration
-			Vec3 local_pos = inverse_transform * v.GetPosition();
-			if (abs(local_pos.GetY()) <= half_height_of_cylinder)
-			{
-				// Near cylinder
-				Vec3 normal = local_pos;
-				normal.SetY(0.0f);
-				float normal_length = normal.Length();
-				float penetration = radius - normal_length;
-				if (v.UpdatePenetration(penetration))
-				{
-					// Calculate contact point and normal
-					normal = normal_length > 0.0f? normal / normal_length : Vec3::sAxisX();
-					Vec3 point = radius * normal;
-
-					// Store collision
-					v.SetCollision(Plane::sFromPointAndNormal(point, normal).GetTransformed(inCenterOfMassTransform), inCollidingShapeIndex);
-				}
-			}
-			else
-			{
-				// Near cap
-				Vec3 center = Vec3(0, Sign(local_pos.GetY()) * half_height_of_cylinder, 0);
-				Vec3 delta = local_pos - center;
-				float distance = delta.Length();
-				float penetration = radius - distance;
-				if (v.UpdatePenetration(penetration))
-				{
-					// Calculate contact point and normal
-					Vec3 normal = delta / distance;
-					Vec3 point = center + radius * normal;
-
-					// Store collision
-					v.SetCollision(Plane::sFromPointAndNormal(point, normal).GetTransformed(inCenterOfMassTransform), inCollidingShapeIndex);
-				}
-			}
-		}
-}
-
-void CapsuleShape::GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const
-{
-	JPH_ASSERT(IsValidScale(inScale));
-
-	Vec3 abs_scale = inScale.Abs();
-	float scale = abs_scale.GetX();
-
-	GetTrianglesContextMultiVertexList *context = new (&ioContext) GetTrianglesContextMultiVertexList(false, GetMaterial());
-
-	Mat44 world_matrix = Mat44::sRotationTranslation(inRotation, inPositionCOM) * Mat44::sScale(scale);
-
-	Mat44 top_matrix = world_matrix * Mat44(Vec4(mRadius, 0, 0, 0), Vec4(0, mRadius, 0, 0), Vec4(0, 0, mRadius, 0), Vec4(0, mHalfHeightOfCylinder, 0, 1));
-	context->AddPart(top_matrix, sCapsuleTopTriangles.data(), sCapsuleTopTriangles.size());
-
-	Mat44 middle_matrix = world_matrix * Mat44::sScale(Vec3(mRadius, mHalfHeightOfCylinder, mRadius));
-	context->AddPart(middle_matrix, sCapsuleMiddleTriangles.data(), sCapsuleMiddleTriangles.size());
-
-	Mat44 bottom_matrix = world_matrix * Mat44(Vec4(mRadius, 0, 0, 0), Vec4(0, mRadius, 0, 0), Vec4(0, 0, mRadius, 0), Vec4(0, -mHalfHeightOfCylinder, 0, 1));
-	context->AddPart(bottom_matrix, sCapsuleBottomTriangles.data(), sCapsuleBottomTriangles.size());
-}
-
-int CapsuleShape::GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials) const
-{
-	return ((GetTrianglesContextMultiVertexList &)ioContext).GetTrianglesNext(inMaxTrianglesRequested, outTriangleVertices, outMaterials);
-}
-
-void CapsuleShape::SaveBinaryState(StreamOut &inStream) const
-{
-	ConvexShape::SaveBinaryState(inStream);
-
-	inStream.Write(mRadius);
-	inStream.Write(mHalfHeightOfCylinder);
-}
-
-void CapsuleShape::RestoreBinaryState(StreamIn &inStream)
-{
-	ConvexShape::RestoreBinaryState(inStream);
-
-	inStream.Read(mRadius);
-	inStream.Read(mHalfHeightOfCylinder);
-}
-
-bool CapsuleShape::IsValidScale(Vec3Arg inScale) const
-{
-	return ConvexShape::IsValidScale(inScale) && ScaleHelpers::IsUniformScale(inScale.Abs());
-}
-
-Vec3 CapsuleShape::MakeScaleValid(Vec3Arg inScale) const
-{
-	Vec3 scale = ScaleHelpers::MakeNonZeroScale(inScale);
-
-	return scale.GetSign() * ScaleHelpers::MakeUniformScale(scale.Abs());
-}
-
-void CapsuleShape::sRegister()
-{
-	ShapeFunctions &f = ShapeFunctions::sGet(EShapeSubType::Capsule);
-	f.mConstruct = []() -> Shape * { return new CapsuleShape; };
-	f.mColor = Color::sGreen;
-}
-
-JPH_NAMESPACE_END

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

@@ -1,129 +0,0 @@
-// 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 CapsuleShape
-class JPH_EXPORT CapsuleShapeSettings final : public ConvexShapeSettings
-{
-	JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, CapsuleShapeSettings)
-
-public:
-	/// Default constructor for deserialization
-							CapsuleShapeSettings() = default;
-
-	/// Create a capsule centered around the origin with one sphere cap at (0, -inHalfHeightOfCylinder, 0) and the other at (0, inHalfHeightOfCylinder, 0)
-							CapsuleShapeSettings(float inHalfHeightOfCylinder, float inRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShapeSettings(inMaterial), mRadius(inRadius), mHalfHeightOfCylinder(inHalfHeightOfCylinder) { }
-
-	/// Check if this is a valid capsule shape
-	bool					IsValid() const															{ return mRadius > 0.0f && mHalfHeightOfCylinder >= 0.0f; }
-
-	/// Checks if the settings of this capsule make this shape a sphere
-	bool					IsSphere() const														{ return mHalfHeightOfCylinder == 0.0f; }
-
-	// See: ShapeSettings
-	virtual ShapeResult		Create() const override;
-
-	float					mRadius = 0.0f;
-	float					mHalfHeightOfCylinder = 0.0f;
-};
-
-/// A capsule, implemented as a line segment with convex radius
-class JPH_EXPORT CapsuleShape final : public ConvexShape
-{
-public:
-	JPH_OVERRIDE_NEW_DELETE
-
-	/// Constructor
-							CapsuleShape() : ConvexShape(EShapeSubType::Capsule) { }
-							CapsuleShape(const CapsuleShapeSettings &inSettings, ShapeResult &outResult);
-
-	/// Create a capsule centered around the origin with one sphere cap at (0, -inHalfHeightOfCylinder, 0) and the other at (0, inHalfHeightOfCylinder, 0)
-							CapsuleShape(float inHalfHeightOfCylinder, float inRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShape(EShapeSubType::Capsule, inMaterial), mRadius(inRadius), mHalfHeightOfCylinder(inHalfHeightOfCylinder) { JPH_ASSERT(inHalfHeightOfCylinder > 0.0f); JPH_ASSERT(inRadius > 0.0f); }
-
-	/// Radius of the cylinder
-	float					GetRadius() const														{ return mRadius; }
-
-	/// Get half of the height of the cylinder
-	float					GetHalfHeightOfCylinder() const											{ return mHalfHeightOfCylinder; }
-
-	// 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(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;
-
-#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
-	using ConvexShape::CastRay;
-	virtual bool			CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) 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) + 2.0f * JPH_PI * mHalfHeightOfCylinder * Square(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:
-	// Classes for GetSupportFunction
-	class					CapsuleNoConvex;
-	class					CapsuleWithConvex;
-
-	float					mRadius = 0.0f;
-	float					mHalfHeightOfCylinder = 0.0f;
-};
-
-JPH_NAMESPACE_END