// 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/OffsetCenterOfMassShape.h>
#include <Jolt/Physics/Collision/CollisionDispatch.h>
#include <Jolt/Physics/Collision/RayCast.h>
#include <Jolt/Physics/Collision/ShapeCast.h>
#include <Jolt/Physics/Collision/TransformedShape.h>
#include <Jolt/Core/StreamIn.h>
#include <Jolt/Core/StreamOut.h>
#include <Jolt/ObjectStream/TypeDeclarations.h>
JPH_NAMESPACE_BEGIN
JPH_IMPLEMENT_SERIALIZABLE_VIRTUAL(OffsetCenterOfMassShapeSettings)
{
JPH_ADD_BASE_CLASS(OffsetCenterOfMassShapeSettings, DecoratedShapeSettings)
JPH_ADD_ATTRIBUTE(OffsetCenterOfMassShapeSettings, mOffset)
}
ShapeSettings::ShapeResult OffsetCenterOfMassShapeSettings::Create() const
{
if (mCachedResult.IsEmpty())
Ref<Shape> shape = new OffsetCenterOfMassShape(*this, mCachedResult);
return mCachedResult;
}
OffsetCenterOfMassShape::OffsetCenterOfMassShape(const OffsetCenterOfMassShapeSettings &inSettings, ShapeResult &outResult) :
DecoratedShape(EShapeSubType::OffsetCenterOfMass, inSettings, outResult),
mOffset(inSettings.mOffset)
{
if (outResult.HasError())
return;
outResult.Set(this);
}
AABox OffsetCenterOfMassShape::GetLocalBounds() const
{
AABox bounds = mInnerShape->GetLocalBounds();
bounds.mMin -= mOffset;
bounds.mMax -= mOffset;
return bounds;
}
AABox OffsetCenterOfMassShape::GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const
{
return mInnerShape->GetWorldSpaceBounds(inCenterOfMassTransform.PreTranslated(-inScale * mOffset), inScale);
}
TransformedShape OffsetCenterOfMassShape::GetSubShapeTransformedShape(const SubShapeID &inSubShapeID, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, SubShapeID &outRemainder) const
{
// We don't use any bits in the sub shape ID
outRemainder = inSubShapeID;
TransformedShape ts(RVec3(inPositionCOM - inRotation * (inScale * mOffset)), inRotation, mInnerShape, BodyID());
ts.SetShapeScale(inScale);
return ts;
}
Vec3 OffsetCenterOfMassShape::GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const
{
// Transform surface position to local space and pass call on
return mInnerShape->GetSurfaceNormal(inSubShapeID, inLocalSurfacePosition + mOffset);
}
void OffsetCenterOfMassShape::GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const
{
mInnerShape->GetSupportingFace(inSubShapeID, inDirection, inScale, inCenterOfMassTransform.PreTranslated(-inScale * mOffset), outVertices);
}
void OffsetCenterOfMassShape::GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) const
{
mInnerShape->GetSubmergedVolume(inCenterOfMassTransform.PreTranslated(-inScale * mOffset), inScale, inSurface, outTotalVolume, outSubmergedVolume, outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, inBaseOffset));
}
#ifdef JPH_DEBUG_RENDERER
void OffsetCenterOfMassShape::Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const
{
mInnerShape->Draw(inRenderer, inCenterOfMassTransform.PreTranslated(-inScale * mOffset), inScale, inColor, inUseMaterialColors, inDrawWireframe);
}
void OffsetCenterOfMassShape::DrawGetSupportFunction(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inDrawSupportDirection) const
{
mInnerShape->DrawGetSupportFunction(inRenderer, inCenterOfMassTransform.PreTranslated(-inScale * mOffset), inScale, inColor, inDrawSupportDirection);
}
void OffsetCenterOfMassShape::DrawGetSupportingFace(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale) const
{
mInnerShape->DrawGetSupportingFace(inRenderer, inCenterOfMassTransform.PreTranslated(-inScale * mOffset), inScale);
}
#endif // JPH_DEBUG_RENDERER
bool OffsetCenterOfMassShape::CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const
{
// Transform the ray to local space
RayCast ray = inRay;
ray.mOrigin += mOffset;
return mInnerShape->CastRay(ray, inSubShapeIDCreator, ioHit);
}
void OffsetCenterOfMassShape::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;
// Transform the ray to local space
RayCast ray = inRay;
ray.mOrigin += mOffset;
return mInnerShape->CastRay(ray, inRayCastSettings, inSubShapeIDCreator, ioCollector, inShapeFilter);
}
void OffsetCenterOfMassShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) const
{
// Test shape filter
if (!inShapeFilter.ShouldCollide(this, inSubShapeIDCreator.GetID()))
return;
// Pass the point on to the inner shape in local space
mInnerShape->CollidePoint(inPoint + mOffset, inSubShapeIDCreator, ioCollector, inShapeFilter);
}
void OffsetCenterOfMassShape::CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const
{
mInnerShape->CollideSoftBodyVertices(inCenterOfMassTransform.PreTranslated(-inScale * mOffset), inScale, inVertices, inNumVertices, inCollidingShapeIndex);
}
void OffsetCenterOfMassShape::CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const
{
// Test shape filter
if (!inShapeFilter.ShouldCollide(this, inSubShapeIDCreator.GetID()))
return;
mInnerShape->CollectTransformedShapes(inBox, inPositionCOM - inRotation * (inScale * mOffset), inRotation, inScale, inSubShapeIDCreator, ioCollector, inShapeFilter);
}
void OffsetCenterOfMassShape::TransformShape(Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const
{
mInnerShape->TransformShape(inCenterOfMassTransform.PreTranslated(-mOffset), ioCollector);
}
void OffsetCenterOfMassShape::sCollideOffsetCenterOfMassVsShape(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)
{
JPH_ASSERT(inShape1->GetSubType() == EShapeSubType::OffsetCenterOfMass);
const OffsetCenterOfMassShape *shape1 = static_cast<const OffsetCenterOfMassShape *>(inShape1);
CollisionDispatch::sCollideShapeVsShape(shape1->mInnerShape, inShape2, inScale1, inScale2, inCenterOfMassTransform1.PreTranslated(-inScale1 * shape1->mOffset), inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector, inShapeFilter);
}
void OffsetCenterOfMassShape::sCollideShapeVsOffsetCenterOfMass(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)
{
JPH_ASSERT(inShape2->GetSubType() == EShapeSubType::OffsetCenterOfMass);
const OffsetCenterOfMassShape *shape2 = static_cast<const OffsetCenterOfMassShape *>(inShape2);
CollisionDispatch::sCollideShapeVsShape(inShape1, shape2->mInnerShape, inScale1, inScale2, inCenterOfMassTransform1, inCenterOfMassTransform2.PreTranslated(-inScale2 * shape2->mOffset), inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector, inShapeFilter);
}
void OffsetCenterOfMassShape::sCastOffsetCenterOfMassVsShape(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector)
{
// Fetch offset center of mass shape from cast shape
JPH_ASSERT(inShapeCast.mShape->GetSubType() == EShapeSubType::OffsetCenterOfMass);
const OffsetCenterOfMassShape *shape1 = static_cast<const OffsetCenterOfMassShape *>(inShapeCast.mShape);
// Transform the shape cast and update the shape
ShapeCast shape_cast(shape1->mInnerShape, inShapeCast.mScale, inShapeCast.mCenterOfMassStart.PreTranslated(-inShapeCast.mScale * shape1->mOffset), inShapeCast.mDirection);
CollisionDispatch::sCastShapeVsShapeLocalSpace(shape_cast, inShapeCastSettings, inShape, inScale, inShapeFilter, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, ioCollector);
}
void OffsetCenterOfMassShape::sCastShapeVsOffsetCenterOfMass(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector)
{
JPH_ASSERT(inShape->GetSubType() == EShapeSubType::OffsetCenterOfMass);
const OffsetCenterOfMassShape *shape = static_cast<const OffsetCenterOfMassShape *>(inShape);
// Transform the shape cast
ShapeCast shape_cast = inShapeCast.PostTransformed(Mat44::sTranslation(inScale * shape->mOffset));
CollisionDispatch::sCastShapeVsShapeLocalSpace(shape_cast, inShapeCastSettings, shape->mInnerShape, inScale, inShapeFilter, inCenterOfMassTransform2.PreTranslated(-inScale * shape->mOffset), inSubShapeIDCreator1, inSubShapeIDCreator2, ioCollector);
}
void OffsetCenterOfMassShape::SaveBinaryState(StreamOut &inStream) const
{
DecoratedShape::SaveBinaryState(inStream);
inStream.Write(mOffset);
}
void OffsetCenterOfMassShape::RestoreBinaryState(StreamIn &inStream)
{
DecoratedShape::RestoreBinaryState(inStream);
inStream.Read(mOffset);
}
void OffsetCenterOfMassShape::sRegister()
{
ShapeFunctions &f = ShapeFunctions::sGet(EShapeSubType::OffsetCenterOfMass);
f.mConstruct = []() -> Shape * { return new OffsetCenterOfMassShape; };
f.mColor = Color::sCyan;
for (EShapeSubType s : sAllSubShapeTypes)
{
CollisionDispatch::sRegisterCollideShape(EShapeSubType::OffsetCenterOfMass, s, sCollideOffsetCenterOfMassVsShape);
CollisionDispatch::sRegisterCollideShape(s, EShapeSubType::OffsetCenterOfMass, sCollideShapeVsOffsetCenterOfMass);
CollisionDispatch::sRegisterCastShape(EShapeSubType::OffsetCenterOfMass, s, sCastOffsetCenterOfMassVsShape);
CollisionDispatch::sRegisterCastShape(s, EShapeSubType::OffsetCenterOfMass, sCastShapeVsOffsetCenterOfMass);
}
}
JPH_NAMESPACE_END