@bloomengine/engine 0.4.0 → 0.4.2

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

@@ -1,202 +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>
-#include <Jolt/Physics/PhysicsSettings.h>
-#include <Jolt/Geometry/Plane.h>
-#ifdef JPH_DEBUG_RENDERER
-	#include <Jolt/Renderer/DebugRenderer.h>
-#endif // JPH_DEBUG_RENDERER
-
-JPH_NAMESPACE_BEGIN
-
-/// Class that constructs a ConvexHullShape
-class JPH_EXPORT ConvexHullShapeSettings final : public ConvexShapeSettings
-{
-	JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, ConvexHullShapeSettings)
-
-public:
-	/// Default constructor for deserialization
-							ConvexHullShapeSettings() = default;
-
-	/// Create a convex hull from inPoints and maximum convex radius inMaxConvexRadius, the radius is automatically lowered if the hull requires it.
-	/// (internally this will be subtracted so the total size will not grow with the convex radius).
-							ConvexHullShapeSettings(const Vec3 *inPoints, int inNumPoints, float inMaxConvexRadius = cDefaultConvexRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShapeSettings(inMaterial), mPoints(inPoints, inPoints + inNumPoints), mMaxConvexRadius(inMaxConvexRadius) { }
-	explicit				ConvexHullShapeSettings(const Array<Vec3> &inPoints, float inConvexRadius = cDefaultConvexRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShapeSettings(inMaterial), mPoints(inPoints), mMaxConvexRadius(inConvexRadius) { }
-
-	// See: ShapeSettings
-	virtual ShapeResult		Create() const override;
-
-	Array<Vec3>				mPoints;															///< Points to create the hull from. Note that these points don't need to be the vertices of the convex hull, they can contain interior points or points on faces/edges.
-	float					mMaxConvexRadius = 0.0f;											///< Convex radius as supplied by the constructor. Note that during hull creation the convex radius can be made smaller if the value is too big for the hull.
-	float					mMaxErrorConvexRadius = 0.05f;										///< Maximum distance between the shrunk hull + convex radius and the actual hull.
-	float					mHullTolerance = 1.0e-3f;											///< Points are allowed this far outside of the hull (increasing this yields a hull with less vertices). Note that the actual used value can be larger if the points of the hull are far apart.
-};
-
-/// A convex hull
-class JPH_EXPORT ConvexHullShape final : public ConvexShape
-{
-public:
-	JPH_OVERRIDE_NEW_DELETE
-
-	/// Maximum amount of points supported in a convex hull. Note that while constructing a hull, interior points are discarded so you can provide more points.
-	/// The ConvexHullShapeSettings::Create function will return an error when too many points are provided.
-	static constexpr int	cMaxPointsInHull = 256;
-
-	/// Constructor
-							ConvexHullShape() : ConvexShape(EShapeSubType::ConvexHull) { }
-							ConvexHullShape(const ConvexHullShapeSettings &inSettings, ShapeResult &outResult);
-
-	// See Shape::GetCenterOfMass
-	virtual Vec3			GetCenterOfMass() const override									{ return mCenterOfMass; }
-
-	// See Shape::GetLocalBounds
-	virtual AABox			GetLocalBounds() const override										{ return mLocalBounds; }
-
-	// See Shape::GetInnerRadius
-	virtual float			GetInnerRadius() const override										{ return mInnerRadius; }
-
-	// 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::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;
-
-	/// Debugging helper draw function that draws how all points are moved when a shape is shrunk by the convex radius
-	void					DrawShrunkShape(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale) const;
-#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;
-
-	// See Shape::GetVolume
-	virtual float			GetVolume() const override											{ return mVolume; }
-
-	/// Get the convex radius of this convex hull
-	float					GetConvexRadius() const												{ return mConvexRadius; }
-
-	/// Get the planes of this convex hull
-	const Array<Plane> &	GetPlanes() const													{ return mPlanes; }
-
-	/// Get the number of vertices in this convex hull
-	inline uint				GetNumPoints() const												{ return uint(mPoints.size()); }
-
-	/// Get a vertex of this convex hull relative to the center of mass
-	inline Vec3				GetPoint(uint inIndex) const										{ return mPoints[inIndex].mPosition; }
-
-	/// Get the number of faces in this convex hull
-	inline uint				GetNumFaces() const													{ return uint(mFaces.size()); }
-
-	/// Get the number of vertices in a face
-	inline uint				GetNumVerticesInFace(uint inFaceIndex) const						{ return mFaces[inFaceIndex].mNumVertices; }
-
-	/// Get the vertices indices of a face
-	/// @param inFaceIndex Index of the face.
-	/// @param inMaxVertices Maximum number of vertices to return.
-	/// @param outVertices Array of vertices indices, must be at least inMaxVertices in size, the vertices are returned in counter clockwise order and the positions can be obtained using GetPoint(index).
-	/// @return Number of vertices in face, if this is bigger than inMaxVertices, not all vertices were retrieved.
-	inline uint				GetFaceVertices(uint inFaceIndex, uint inMaxVertices, uint *outVertices) const
-	{
-		const Face &face = mFaces[inFaceIndex];
-		const uint8 *first_vertex = mVertexIdx.data() + face.mFirstVertex;
-		uint num_vertices = min<uint>(face.mNumVertices, inMaxVertices);
-		for (uint i = 0; i < num_vertices; ++i)
-			outVertices[i] = first_vertex[i];
-		return face.mNumVertices;
-	}
-
-	// Register shape functions with the registry
-	static void				sRegister();
-
-#ifdef JPH_DEBUG_RENDERER
-	/// Draw the outlines of the faces of the convex hull when drawing the shape
-	inline static bool		sDrawFaceOutlines = false;
-#endif // JPH_DEBUG_RENDERER
-
-protected:
-	// See: Shape::RestoreBinaryState
-	virtual void			RestoreBinaryState(StreamIn &inStream) override;
-
-private:
-	/// Helper function that returns the min and max fraction along the ray that hits the convex hull. Returns false if there is no hit.
-	bool					CastRayHelper(const RayCast &inRay, float &outMinFraction, float &outMaxFraction) const;
-
-	/// Class for GetTrianglesStart/Next
-	class					CHSGetTrianglesContext;
-
-	/// Classes for GetSupportFunction
-	class					HullNoConvex;
-	class					HullWithConvex;
-	class					HullWithConvexScaled;
-
-	struct Face
-	{
-		uint16				mFirstVertex;				///< First index in mVertexIdx to use
-		uint16				mNumVertices = 0;			///< Number of vertices in the mVertexIdx to use
-	};
-
-	static_assert(sizeof(Face) == 4, "Unexpected size");
-	static_assert(alignof(Face) == 2, "Unexpected alignment");
-
-	struct Point
-	{
-		Vec3				mPosition;					///< Position of vertex
-		int					mNumFaces = 0;				///< Number of faces in the face array below
-		int					mFaces[3] = { -1, -1, -1 };	///< Indices of 3 neighboring faces with the biggest difference in normal (used to shift vertices for convex radius)
-	};
-
-	static_assert(sizeof(Point) == 32, "Unexpected size");
-	static_assert(alignof(Point) == JPH_VECTOR_ALIGNMENT, "Unexpected alignment");
-
-	Vec3					mCenterOfMass;				///< Center of mass of this convex hull
-	Mat44					mInertia;					///< Inertia matrix assuming density is 1 (needs to be multiplied by density)
-	AABox					mLocalBounds;				///< Local bounding box for the convex hull
-	Array<Point>			mPoints;					///< Points on the convex hull surface
-	Array<Face>				mFaces;						///< Faces of the convex hull surface
-	Array<Plane>			mPlanes;					///< Planes for the faces (1-on-1 with mFaces array, separate because they need to be 16 byte aligned)
-	Array<uint8>			mVertexIdx;					///< A list of vertex indices (indexing in mPoints) for each of the faces
-	float					mConvexRadius = 0.0f;		///< Convex radius
-	float					mVolume;					///< Total volume of the convex hull
-	float					mInnerRadius = FLT_MAX;		///< Radius of the biggest sphere that fits entirely in the convex hull
-
-#ifdef JPH_DEBUG_RENDERER
-	mutable DebugRenderer::GeometryRef mGeometry;
-#endif // JPH_DEBUG_RENDERER
-};
-
-JPH_NAMESPACE_END