@bloomengine/engine 0.4.0 → 0.4.2

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

@@ -1,150 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#pragma once
-
-#include <Jolt/Core/StaticArray.h>
-#include <Jolt/Physics/Collision/Shape/Shape.h>
-#include <Jolt/Physics/Collision/Shape/SubShapeID.h>
-#include <Jolt/Physics/Collision/PhysicsMaterial.h>
-
-JPH_NAMESPACE_BEGIN
-
-class CollideShapeSettings;
-
-/// Class that constructs a ConvexShape (abstract)
-class JPH_EXPORT ConvexShapeSettings : public ShapeSettings
-{
-	JPH_DECLARE_SERIALIZABLE_ABSTRACT(JPH_EXPORT, ConvexShapeSettings)
-
-public:
-	/// Constructor
-									ConvexShapeSettings() = default;
-	explicit						ConvexShapeSettings(const PhysicsMaterial *inMaterial)		: mMaterial(inMaterial) { }
-
-	/// Set the density of the object in kg / m^3
-	void							SetDensity(float inDensity)									{ mDensity = inDensity; }
-
-	// Properties
-	RefConst<PhysicsMaterial>		mMaterial;													///< Material assigned to this shape
-	float							mDensity = 1000.0f;											///< Uniform density of the interior of the convex object (kg / m^3)
-};
-
-/// Base class for all convex shapes. Defines a virtual interface.
-class JPH_EXPORT ConvexShape : public Shape
-{
-public:
-	JPH_OVERRIDE_NEW_DELETE
-
-	/// Constructor
-	explicit						ConvexShape(EShapeSubType inSubType) : Shape(EShapeType::Convex, inSubType) { }
-									ConvexShape(EShapeSubType inSubType, const ConvexShapeSettings &inSettings, ShapeResult &outResult) : Shape(EShapeType::Convex, inSubType, inSettings, outResult), mMaterial(inSettings.mMaterial), mDensity(inSettings.mDensity) { }
-									ConvexShape(EShapeSubType inSubType, const PhysicsMaterial *inMaterial) : Shape(EShapeType::Convex, inSubType), mMaterial(inMaterial) { }
-
-	// See Shape::GetSubShapeIDBitsRecursive
-	virtual uint					GetSubShapeIDBitsRecursive() const override					{ return 0; } // Convex shapes don't have sub shapes
-
-	// See Shape::GetMaterial
-	virtual const PhysicsMaterial *	GetMaterial([[maybe_unused]] const SubShapeID &inSubShapeID) const override	{ JPH_ASSERT(inSubShapeID.IsEmpty(), "Invalid subshape ID"); return GetMaterial(); }
-
-	// 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::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::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;
-
-	/// Function that provides an interface for GJK
-	class Support
-	{
-	public:
-		/// Warning: Virtual destructor will not be called on this object!
-		virtual						~Support() = default;
-
-		/// Calculate the support vector for this convex shape (includes / excludes the convex radius depending on how this was obtained).
-		/// Support vector is relative to the center of mass of the shape.
-		virtual Vec3				GetSupport(Vec3Arg inDirection) const = 0;
-
-		/// Convex radius of shape. Collision detection on penetrating shapes is much more expensive,
-		/// so you can add a radius around objects to increase the shape. This makes it far less likely that they will actually penetrate.
-		virtual float				GetConvexRadius() const = 0;
-	};
-
-	/// Buffer to hold a Support object, used to avoid dynamic memory allocations
-	class alignas(16) SupportBuffer
-	{
-	public:
-		uint8						mData[4160];
-	};
-
-	/// How the GetSupport function should behave
-	enum class ESupportMode
-	{
-		ExcludeConvexRadius,		///< Return the shape excluding the convex radius, Support::GetConvexRadius will return the convex radius if there is one, but adding this radius may not result in the most accurate/efficient representation of shapes with sharp edges
-		IncludeConvexRadius,		///< Return the shape including the convex radius, Support::GetSupport includes the convex radius if there is one, Support::GetConvexRadius will return 0
-		Default,					///< Use both Support::GetSupport add Support::GetConvexRadius to get a support point that matches the original shape as accurately/efficiently as possible
-	};
-
-	/// Returns an object that provides the GetSupport function for this shape.
-	/// inMode determines if this support function includes or excludes the convex radius.
-	/// of the values returned by the GetSupport function. This improves numerical accuracy of the results.
-	/// inScale scales this shape in local space.
-	virtual const Support *			GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const = 0;
-
-	/// Material of the shape
-	void							SetMaterial(const PhysicsMaterial *inMaterial)				{ mMaterial = inMaterial; }
-	const PhysicsMaterial *			GetMaterial() const											{ return mMaterial != nullptr? mMaterial : PhysicsMaterial::sDefault; }
-
-	/// Set density of the shape (kg / m^3)
-	void							SetDensity(float inDensity)									{ mDensity = inDensity; }
-
-	/// Get density of the shape (kg / m^3)
-	float							GetDensity() const											{ return mDensity; }
-
-#ifdef JPH_DEBUG_RENDERER
-	// See Shape::DrawGetSupportFunction
-	virtual void					DrawGetSupportFunction(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inDrawSupportDirection) const override;
-
-	// See Shape::DrawGetSupportingFace
-	virtual void					DrawGetSupportingFace(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
-#endif // JPH_DEBUG_RENDERER
-
-	// See Shape
-	virtual void					SaveBinaryState(StreamOut &inStream) const override;
-	virtual void					SaveMaterialState(PhysicsMaterialList &outMaterials) const override;
-	virtual void					RestoreMaterialState(const PhysicsMaterialRefC *inMaterials, uint inNumMaterials) override;
-
-	// Register shape functions with the registry
-	static void						sRegister();
-
-protected:
-	// See: Shape::RestoreBinaryState
-	virtual void					RestoreBinaryState(StreamIn &inStream) override;
-
-	/// Vertex list that forms a unit sphere
-	static const StaticArray<Vec3, 384> sUnitSphereTriangles;
-
-private:
-	// Class for GetTrianglesStart/Next
-	class							CSGetTrianglesContext;
-
-	// Helper functions called by CollisionDispatch
-	static void						sCollideConvexVsConvex(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);
-	static void						sCastConvexVsConvex(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
-
-	// Properties
-	RefConst<PhysicsMaterial>		mMaterial;													///< Material assigned to this shape
-	float							mDensity = 1000.0f;											///< Uniform density of the interior of the convex object (kg / m^3)
-};
-
-JPH_NAMESPACE_END

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

@@ -1,418 +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/CylinderShape.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/RayCylinder.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(CylinderShapeSettings)
-{
-	JPH_ADD_BASE_CLASS(CylinderShapeSettings, ConvexShapeSettings)
-
-	JPH_ADD_ATTRIBUTE(CylinderShapeSettings, mHalfHeight)
-	JPH_ADD_ATTRIBUTE(CylinderShapeSettings, mRadius)
-	JPH_ADD_ATTRIBUTE(CylinderShapeSettings, mConvexRadius)
-}
-
-// Approximation of top face with 8 vertices
-static const Vec3 cCylinderTopFace[] =
-{
-	Vec3(0.0f,			1.0f,	1.0f),
-	Vec3(0.707106769f,	1.0f,	0.707106769f),
-	Vec3(1.0f,			1.0f,	0.0f),
-	Vec3(0.707106769f,	1.0f,	-0.707106769f),
-	Vec3(-0.0f,			1.0f,	-1.0f),
-	Vec3(-0.707106769f,	1.0f,	-0.707106769f),
-	Vec3(-1.0f,			1.0f,	0.0f),
-	Vec3(-0.707106769f,	1.0f,	0.707106769f)
-};
-
-static const StaticArray<Vec3, 96> sUnitCylinderTriangles = []() {
-	StaticArray<Vec3, 96> verts;
-
-	const Vec3 bottom_offset(0.0f, -2.0f, 0.0f);
-
-	int num_verts = sizeof(cCylinderTopFace) / sizeof(Vec3);
-	for (int i = 0; i < num_verts; ++i)
-	{
-		Vec3 t1 = cCylinderTopFace[i];
-		Vec3 t2 = cCylinderTopFace[(i + 1) % num_verts];
-		Vec3 b1 = cCylinderTopFace[i] + bottom_offset;
-		Vec3 b2 = cCylinderTopFace[(i + 1) % num_verts] + bottom_offset;
-
-		// Top
-		verts.emplace_back(0.0f, 1.0f, 0.0f);
-		verts.push_back(t1);
-		verts.push_back(t2);
-
-		// Bottom
-		verts.emplace_back(0.0f, -1.0f, 0.0f);
-		verts.push_back(b2);
-		verts.push_back(b1);
-
-		// Side
-		verts.push_back(t1);
-		verts.push_back(b1);
-		verts.push_back(t2);
-
-		verts.push_back(t2);
-		verts.push_back(b1);
-		verts.push_back(b2);
-	}
-
-	return verts;
-}();
-
-ShapeSettings::ShapeResult CylinderShapeSettings::Create() const
-{
-	if (mCachedResult.IsEmpty())
-		Ref<Shape> shape = new CylinderShape(*this, mCachedResult);
-	return mCachedResult;
-}
-
-CylinderShape::CylinderShape(const CylinderShapeSettings &inSettings, ShapeResult &outResult) :
-	ConvexShape(EShapeSubType::Cylinder, inSettings, outResult),
-	mHalfHeight(inSettings.mHalfHeight),
-	mRadius(inSettings.mRadius),
-	mConvexRadius(min(inSettings.mConvexRadius, min(inSettings.mHalfHeight, inSettings.mRadius)))
-{
-	if (inSettings.mHalfHeight < 0.0f)
-	{
-		outResult.SetError("Invalid height");
-		return;
-	}
-
-	if (inSettings.mRadius < 0.0f)
-	{
-		outResult.SetError("Invalid radius");
-		return;
-	}
-
-	if (inSettings.mConvexRadius < 0.0f)
-	{
-		outResult.SetError("Invalid convex radius");
-		return;
-	}
-
-	outResult.Set(this);
-}
-
-CylinderShape::CylinderShape(float inHalfHeight, float inRadius, float inConvexRadius, const PhysicsMaterial *inMaterial) :
-	ConvexShape(EShapeSubType::Cylinder, inMaterial),
-	mHalfHeight(inHalfHeight),
-	mRadius(inRadius),
-	mConvexRadius(min(inConvexRadius, min(inHalfHeight, inRadius)))
-{
-	JPH_ASSERT(inHalfHeight >= 0.0f);
-	JPH_ASSERT(inRadius >= 0.0f);
-	JPH_ASSERT(inConvexRadius >= 0.0f);
-}
-
-class CylinderShape::Cylinder final : public Support
-{
-public:
-					Cylinder(float inHalfHeight, float inRadius, float inConvexRadius) :
-		mHalfHeight(inHalfHeight),
-		mRadius(inRadius),
-		mConvexRadius(inConvexRadius)
-	{
-		static_assert(sizeof(Cylinder) <= sizeof(SupportBuffer), "Buffer size too small");
-		JPH_ASSERT(IsAligned(this, alignof(Cylinder)));
-	}
-
-	virtual Vec3	GetSupport(Vec3Arg inDirection) const override
-	{
-		// Support mapping, taken from:
-		// A Fast and Robust GJK Implementation for Collision Detection of Convex Objects - Gino van den Bergen
-		// page 8
-		float x = inDirection.GetX(), y = inDirection.GetY(), z = inDirection.GetZ();
-		float o = sqrt(Square(x) + Square(z));
-		if (o > 0.0f)
-			return Vec3((mRadius * x) / o, Sign(y) * mHalfHeight, (mRadius * z) / o);
-		else
-			return Vec3(0, Sign(y) * mHalfHeight, 0);
-	}
-
-	virtual float	GetConvexRadius() const override
-	{
-		return mConvexRadius;
-	}
-
-private:
-	float			mHalfHeight;
-	float			mRadius;
-	float			mConvexRadius;
-};
-
-const ConvexShape::Support *CylinderShape::GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const
-{
-	JPH_ASSERT(IsValidScale(inScale));
-
-	// Get scaled cylinder
-	Vec3 abs_scale = inScale.Abs();
-	float scale_xz = abs_scale.GetX();
-	float scale_y = abs_scale.GetY();
-	float scaled_half_height = scale_y * mHalfHeight;
-	float scaled_radius = scale_xz * mRadius;
-	float scaled_convex_radius = ScaleHelpers::ScaleConvexRadius(mConvexRadius, inScale);
-
-	switch (inMode)
-	{
-	case ESupportMode::IncludeConvexRadius:
-	case ESupportMode::Default:
-		return new (&inBuffer) Cylinder(scaled_half_height, scaled_radius, 0.0f);
-
-	case ESupportMode::ExcludeConvexRadius:
-		return new (&inBuffer) Cylinder(scaled_half_height - scaled_convex_radius, scaled_radius - scaled_convex_radius, scaled_convex_radius);
-	}
-
-	JPH_ASSERT(false);
-	return nullptr;
-}
-
-void CylinderShape::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 scaled cylinder
-	Vec3 abs_scale = inScale.Abs();
-	float scale_xz = abs_scale.GetX();
-	float scale_y = abs_scale.GetY();
-	float scaled_half_height = scale_y * mHalfHeight;
-	float scaled_radius = scale_xz * mRadius;
-
-	float x = inDirection.GetX(), y = inDirection.GetY(), z = inDirection.GetZ();
-	float xz_sq = Square(x) + Square(z);
-	float y_sq = Square(y);
-
-	// Check which component is bigger
-	if (xz_sq > y_sq)
-	{
-		// Hitting side
-		float f = -scaled_radius / sqrt(xz_sq);
-		float vx = x * f;
-		float vz = z * f;
-		outVertices.push_back(inCenterOfMassTransform * Vec3(vx, scaled_half_height, vz));
-		outVertices.push_back(inCenterOfMassTransform * Vec3(vx, -scaled_half_height, vz));
-	}
-	else
-	{
-		// Hitting top or bottom
-
-		// When the inDirection is more than 5 degrees from vertical, align the vertices so that 1 of the vertices
-		// points towards inDirection in the XZ plane. This ensures that we always have a vertex towards max penetration depth.
-		Mat44 transform = inCenterOfMassTransform;
-		if (xz_sq > 0.00765427f * y_sq)
-		{
-			Vec4 base_x = Vec4(x, 0, z, 0) / sqrt(xz_sq);
-			Vec4 base_z = base_x.Swizzle<SWIZZLE_Z, SWIZZLE_Y, SWIZZLE_X, SWIZZLE_W>() * Vec4(-1, 0, 1, 0);
-			transform = transform * Mat44(base_x, Vec4(0, 1, 0, 0), base_z, Vec4(0, 0, 0, 1));
-		}
-
-		// Adjust for scale and height
-		Vec3 multiplier = y < 0.0f? Vec3(scaled_radius, scaled_half_height, scaled_radius) : Vec3(-scaled_radius, -scaled_half_height, scaled_radius);
-		transform = transform.PreScaled(multiplier);
-
-		for (const Vec3 &v : cCylinderTopFace)
-			outVertices.push_back(transform * v);
-	}
-}
-
-MassProperties CylinderShape::GetMassProperties() const
-{
-	MassProperties p;
-
-	// Mass is surface of circle * height
-	float radius_sq = Square(mRadius);
-	float height = 2.0f * mHalfHeight;
-	p.mMass = JPH_PI * radius_sq * height * GetDensity();
-
-	// Inertia according to https://en.wikipedia.org/wiki/List_of_moments_of_inertia:
-	float inertia_y = radius_sq * p.mMass * 0.5f;
-	float inertia_x = inertia_y * 0.5f + p.mMass * height * height / 12.0f;
-	float inertia_z = inertia_x;
-
-	// Set inertia
-	p.mInertia = Mat44::sScale(Vec3(inertia_x, inertia_y, inertia_z));
-
-	return p;
-}
-
-Vec3 CylinderShape::GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const
-{
-	JPH_ASSERT(inSubShapeID.IsEmpty(), "Invalid subshape ID");
-
-	// Calculate distance to infinite cylinder surface
-	Vec3 local_surface_position_xz(inLocalSurfacePosition.GetX(), 0, inLocalSurfacePosition.GetZ());
-	float local_surface_position_xz_len = local_surface_position_xz.Length();
-	float distance_to_curved_surface = abs(local_surface_position_xz_len - mRadius);
-
-	// Calculate distance to top or bottom plane
-	float distance_to_top_or_bottom = abs(abs(inLocalSurfacePosition.GetY()) - mHalfHeight);
-
-	// Return normal according to closest surface
-	if (distance_to_curved_surface < distance_to_top_or_bottom)
-		return local_surface_position_xz / local_surface_position_xz_len;
-	else
-		return inLocalSurfacePosition.GetY() > 0.0f? Vec3::sAxisY() : -Vec3::sAxisY();
-}
-
-AABox CylinderShape::GetLocalBounds() const
-{
-	Vec3 extent = Vec3(mRadius, mHalfHeight, mRadius);
-	return AABox(-extent, extent);
-}
-
-#ifdef JPH_DEBUG_RENDERER
-void CylinderShape::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->DrawCylinder(inCenterOfMassTransform * Mat44::sScale(inScale.Abs()), mHalfHeight, mRadius, inUseMaterialColors? GetMaterial()->GetDebugColor() : inColor, DebugRenderer::ECastShadow::On, draw_mode);
-}
-#endif // JPH_DEBUG_RENDERER
-
-bool CylinderShape::CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const
-{
-	// Test ray against capsule
-	float fraction = RayCylinder(inRay.mOrigin, inRay.mDirection, mHalfHeight, mRadius);
-	if (fraction < ioHit.mFraction)
-	{
-		ioHit.mFraction = fraction;
-		ioHit.mSubShapeID2 = inSubShapeIDCreator.GetID();
-		return true;
-	}
-	return false;
-}
-
-void CylinderShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) const
-{
-	// Test shape filter
-	if (!inShapeFilter.ShouldCollide(this, inSubShapeIDCreator.GetID()))
-		return;
-
-	// Check if the point is in the cylinder
-	if (abs(inPoint.GetY()) <= mHalfHeight											// Within the height
-		&& Square(inPoint.GetX()) + Square(inPoint.GetZ()) <= Square(mRadius))		// Within the radius
-		ioCollector.AddHit({ TransformedShape::sGetBodyID(ioCollector.GetContext()), inSubShapeIDCreator.GetID() });
-}
-
-void CylinderShape::CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const
-{
-	JPH_ASSERT(IsValidScale(inScale));
-
-	Mat44 inverse_transform = inCenterOfMassTransform.InversedRotationTranslation();
-
-	// Get scaled cylinder
-	Vec3 abs_scale = inScale.Abs();
-	float half_height = abs_scale.GetY() * mHalfHeight;
-	float radius = abs_scale.GetX() * mRadius;
-
-	for (CollideSoftBodyVertexIterator v = inVertices, sbv_end = inVertices + inNumVertices; v != sbv_end; ++v)
-		if (v.GetInvMass() > 0.0f)
-		{
-			Vec3 local_pos = inverse_transform * v.GetPosition();
-
-			// Calculate penetration into side surface
-			Vec3 side_normal = local_pos;
-			side_normal.SetY(0.0f);
-			float side_normal_length = side_normal.Length();
-			float side_penetration = radius - side_normal_length;
-
-			// Calculate penetration into top or bottom plane
-			float top_penetration = half_height - abs(local_pos.GetY());
-
-			Vec3 point, normal;
-			if (side_penetration < 0.0f && top_penetration < 0.0f)
-			{
-				// We're outside the cylinder height and radius
-				point = side_normal * (radius / side_normal_length) + Vec3(0, half_height * Sign(local_pos.GetY()), 0);
-				normal = (local_pos - point).NormalizedOr(Vec3::sAxisY());
-			}
-			else if (side_penetration < top_penetration)
-			{
-				// Side surface is closest
-				normal = side_normal_length > 0.0f? side_normal / side_normal_length : Vec3::sAxisX();
-				point = radius * normal;
-			}
-			else
-			{
-				// Top or bottom plane is closest
-				normal = Vec3(0, Sign(local_pos.GetY()), 0);
-				point = half_height * normal;
-			}
-
-			// Calculate penetration
-			Plane plane = Plane::sFromPointAndNormal(point, normal);
-			float penetration = -plane.SignedDistance(local_pos);
-			if (v.UpdatePenetration(penetration))
-				v.SetCollision(plane.GetTransformed(inCenterOfMassTransform), inCollidingShapeIndex);
-		}
-}
-
-void CylinderShape::GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const
-{
-	Mat44 unit_cylinder_transform(Vec4(mRadius, 0, 0, 0), Vec4(0, mHalfHeight, 0, 0), Vec4(0, 0, mRadius, 0), Vec4(0, 0, 0, 1));
-	new (&ioContext) GetTrianglesContextVertexList(inPositionCOM, inRotation, inScale, unit_cylinder_transform, sUnitCylinderTriangles.data(), sUnitCylinderTriangles.size(), GetMaterial());
-}
-
-int CylinderShape::GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials) const
-{
-	return ((GetTrianglesContextVertexList &)ioContext).GetTrianglesNext(inMaxTrianglesRequested, outTriangleVertices, outMaterials);
-}
-
-void CylinderShape::SaveBinaryState(StreamOut &inStream) const
-{
-	ConvexShape::SaveBinaryState(inStream);
-
-	inStream.Write(mHalfHeight);
-	inStream.Write(mRadius);
-	inStream.Write(mConvexRadius);
-}
-
-void CylinderShape::RestoreBinaryState(StreamIn &inStream)
-{
-	ConvexShape::RestoreBinaryState(inStream);
-
-	inStream.Read(mHalfHeight);
-	inStream.Read(mRadius);
-	inStream.Read(mConvexRadius);
-}
-
-bool CylinderShape::IsValidScale(Vec3Arg inScale) const
-{
-	return ConvexShape::IsValidScale(inScale) && ScaleHelpers::IsUniformScaleXZ(inScale.Abs());
-}
-
-Vec3 CylinderShape::MakeScaleValid(Vec3Arg inScale) const
-{
-	Vec3 scale = ScaleHelpers::MakeNonZeroScale(inScale);
-
-	return scale.GetSign() * ScaleHelpers::MakeUniformScaleXZ(scale.Abs());
-}
-
-void CylinderShape::sRegister()
-{
-	ShapeFunctions &f = ShapeFunctions::sGet(EShapeSubType::Cylinder);
-	f.mConstruct = []() -> Shape * { return new CylinderShape; };
-	f.mColor = Color::sGreen;
-}
-
-JPH_NAMESPACE_END

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

@@ -1,126 +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>
-
-JPH_NAMESPACE_BEGIN
-
-/// Class that constructs a CylinderShape
-class JPH_EXPORT CylinderShapeSettings final : public ConvexShapeSettings
-{
-	JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, CylinderShapeSettings)
-
-public:
-	/// Default constructor for deserialization
-							CylinderShapeSettings() = default;
-
-	/// Create a shape centered around the origin with one top at (0, -inHalfHeight, 0) and the other at (0, inHalfHeight, 0) and radius inRadius.
-	/// (internally the convex radius will be subtracted from the cylinder the total cylinder will not grow with the convex radius, but the edges of the cylinder will be rounded a bit).
-							CylinderShapeSettings(float inHalfHeight, float inRadius, float inConvexRadius = cDefaultConvexRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShapeSettings(inMaterial), mHalfHeight(inHalfHeight), mRadius(inRadius), mConvexRadius(inConvexRadius) { }
-
-	// See: ShapeSettings
-	virtual ShapeResult		Create() const override;
-
-	float					mHalfHeight = 0.0f;
-	float					mRadius = 0.0f;
-	float					mConvexRadius = 0.0f;
-};
-
-/// A cylinder
-class JPH_EXPORT CylinderShape final : public ConvexShape
-{
-public:
-	JPH_OVERRIDE_NEW_DELETE
-
-	/// Constructor
-							CylinderShape() : ConvexShape(EShapeSubType::Cylinder) { }
-							CylinderShape(const CylinderShapeSettings &inSettings, ShapeResult &outResult);
-
-	/// Create a shape centered around the origin with one top at (0, -inHalfHeight, 0) and the other at (0, inHalfHeight, 0) and radius inRadius.
-	/// (internally the convex radius will be subtracted from the cylinder the total cylinder will not grow with the convex radius, but the edges of the cylinder will be rounded a bit).
-							CylinderShape(float inHalfHeight, float inRadius, float inConvexRadius = cDefaultConvexRadius, const PhysicsMaterial *inMaterial = nullptr);
-
-	/// Get half height of cylinder
-	float					GetHalfHeight() const														{ return mHalfHeight; }
-
-	/// Get radius of cylinder
-	float					GetRadius() const															{ return mRadius; }
-
-	// See Shape::GetLocalBounds
-	virtual AABox			GetLocalBounds() const override;
-
-	// See Shape::GetInnerRadius
-	virtual float			GetInnerRadius() const override												{ return min(mHalfHeight, 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 2.0f * JPH_PI * mHalfHeight * Square(mRadius); }
-
-	/// Get the convex radius of this cylinder
-	float					GetConvexRadius() const													{ return mConvexRadius; }
-
-	// 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					Cylinder;
-
-	float					mHalfHeight = 0.0f;
-	float					mRadius = 0.0f;
-	float					mConvexRadius = 0.0f;
-};
-
-JPH_NAMESPACE_END