@bloomengine/engine 0.4.0 → 0.4.2

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

@@ -1,347 +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/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

@@ -1,125 +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 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