// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
#pragma once
#include <Jolt/Physics/Body/Body.h>
#include <Jolt/Core/NonCopyable.h>
JPH_NAMESPACE_BEGIN
class PhysicsSystem;
class VehicleConstraint;
class BroadPhaseLayerFilter;
class ObjectLayerFilter;
class BodyFilter;
/// Class that does collision detection between wheels and ground
class JPH_EXPORT VehicleCollisionTester : public RefTarget<VehicleCollisionTester>, public NonCopyable
{
public:
JPH_OVERRIDE_NEW_DELETE
/// Constructors
VehicleCollisionTester() = default;
explicit VehicleCollisionTester(ObjectLayer inObjectLayer) : mObjectLayer(inObjectLayer) { }
/// Virtual destructor
virtual ~VehicleCollisionTester() = default;
/// Object layer to use for collision detection, this is used when the filters are not overridden
ObjectLayer GetObjectLayer() const { return mObjectLayer; }
void SetObjectLayer(ObjectLayer inObjectLayer) { mObjectLayer = inObjectLayer; }
/// Access to the broad phase layer filter, when set this overrides the object layer supplied in the constructor
void SetBroadPhaseLayerFilter(const BroadPhaseLayerFilter *inFilter) { mBroadPhaseLayerFilter = inFilter; }
const BroadPhaseLayerFilter * GetBroadPhaseLayerFilter() const { return mBroadPhaseLayerFilter; }
/// Access to the object layer filter, when set this overrides the object layer supplied in the constructor
void SetObjectLayerFilter(const ObjectLayerFilter *inFilter) { mObjectLayerFilter = inFilter; }
const ObjectLayerFilter * GetObjectLayerFilter() const { return mObjectLayerFilter; }
/// Access to the body filter, when set this overrides the default filter that filters out the vehicle body
void SetBodyFilter(const BodyFilter *inFilter) { mBodyFilter = inFilter; }
const BodyFilter * GetBodyFilter() const { return mBodyFilter; }
/// Do a collision test with the world
/// @param inPhysicsSystem The physics system that should be tested against
/// @param inVehicleConstraint The vehicle constraint
/// @param inWheelIndex Index of the wheel that we're testing collision for
/// @param inOrigin Origin for the test, corresponds to the world space position for the suspension attachment point
/// @param inDirection Direction for the test (unit vector, world space)
/// @param inVehicleBodyID This body should be filtered out during collision detection to avoid self collisions
/// @param outBody Body that the wheel collided with
/// @param outSubShapeID Sub shape ID that the wheel collided with
/// @param outContactPosition Contact point between wheel and floor, in world space
/// @param outContactNormal Contact normal between wheel and floor, pointing away from the floor
/// @param outSuspensionLength New length of the suspension [0, inSuspensionMaxLength]
/// @return True when collision found, false if not
virtual bool Collide(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&outBody, SubShapeID &outSubShapeID, RVec3 &outContactPosition, Vec3 &outContactNormal, float &outSuspensionLength) const = 0;
/// Do a cheap contact properties prediction based on the contact properties from the last collision test (provided as input parameters)
/// @param inPhysicsSystem The physics system that should be tested against
/// @param inVehicleConstraint The vehicle constraint
/// @param inWheelIndex Index of the wheel that we're testing collision for
/// @param inOrigin Origin for the test, corresponds to the world space position for the suspension attachment point
/// @param inDirection Direction for the test (unit vector, world space)
/// @param inVehicleBodyID The body ID for the vehicle itself
/// @param ioBody Body that the wheel previously collided with
/// @param ioSubShapeID Sub shape ID that the wheel collided with during the last check
/// @param ioContactPosition Contact point between wheel and floor during the last check, in world space
/// @param ioContactNormal Contact normal between wheel and floor during the last check, pointing away from the floor
/// @param ioSuspensionLength New length of the suspension [0, inSuspensionMaxLength]
virtual void PredictContactProperties(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&ioBody, SubShapeID &ioSubShapeID, RVec3 &ioContactPosition, Vec3 &ioContactNormal, float &ioSuspensionLength) const = 0;
protected:
const BroadPhaseLayerFilter * mBroadPhaseLayerFilter = nullptr;
const ObjectLayerFilter * mObjectLayerFilter = nullptr;
const BodyFilter * mBodyFilter = nullptr;
ObjectLayer mObjectLayer = cObjectLayerInvalid;
};
/// Collision tester that tests collision using a raycast
class JPH_EXPORT VehicleCollisionTesterRay : public VehicleCollisionTester
{
public:
JPH_OVERRIDE_NEW_DELETE
/// Constructor
/// @param inObjectLayer Object layer to test collision with
/// @param inUp World space up vector, used to avoid colliding with vertical walls.
/// @param inMaxSlopeAngle Max angle (rad) that is considered for colliding wheels. This is to avoid colliding with vertical walls.
explicit VehicleCollisionTesterRay(ObjectLayer inObjectLayer, Vec3Arg inUp = Vec3::sAxisY(), float inMaxSlopeAngle = DegreesToRadians(80.0f)) : VehicleCollisionTester(inObjectLayer), mUp(inUp), mCosMaxSlopeAngle(Cos(inMaxSlopeAngle)) { }
// See: VehicleCollisionTester
virtual bool Collide(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&outBody, SubShapeID &outSubShapeID, RVec3 &outContactPosition, Vec3 &outContactNormal, float &outSuspensionLength) const override;
virtual void PredictContactProperties(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&ioBody, SubShapeID &ioSubShapeID, RVec3 &ioContactPosition, Vec3 &ioContactNormal, float &ioSuspensionLength) const override;
private:
Vec3 mUp;
float mCosMaxSlopeAngle;
};
/// Collision tester that tests collision using a sphere cast
class JPH_EXPORT VehicleCollisionTesterCastSphere : public VehicleCollisionTester
{
public:
JPH_OVERRIDE_NEW_DELETE
/// Constructor
/// @param inObjectLayer Object layer to test collision with
/// @param inUp World space up vector, used to avoid colliding with vertical walls.
/// @param inRadius Radius of sphere
/// @param inMaxSlopeAngle Max angle (rad) that is considered for colliding wheels. This is to avoid colliding with vertical walls.
VehicleCollisionTesterCastSphere(ObjectLayer inObjectLayer, float inRadius, Vec3Arg inUp = Vec3::sAxisY(), float inMaxSlopeAngle = DegreesToRadians(80.0f)) : VehicleCollisionTester(inObjectLayer), mRadius(inRadius), mUp(inUp), mCosMaxSlopeAngle(Cos(inMaxSlopeAngle)) { }
// See: VehicleCollisionTester
virtual bool Collide(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&outBody, SubShapeID &outSubShapeID, RVec3 &outContactPosition, Vec3 &outContactNormal, float &outSuspensionLength) const override;
virtual void PredictContactProperties(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&ioBody, SubShapeID &ioSubShapeID, RVec3 &ioContactPosition, Vec3 &ioContactNormal, float &ioSuspensionLength) const override;
private:
float mRadius;
Vec3 mUp;
float mCosMaxSlopeAngle;
};
/// Collision tester that tests collision using a cylinder shape
class JPH_EXPORT VehicleCollisionTesterCastCylinder : public VehicleCollisionTester
{
public:
JPH_OVERRIDE_NEW_DELETE
/// Constructor
/// @param inObjectLayer Object layer to test collision with
/// @param inConvexRadiusFraction Fraction of half the wheel width (or wheel radius if it is smaller) that is used as the convex radius
explicit VehicleCollisionTesterCastCylinder(ObjectLayer inObjectLayer, float inConvexRadiusFraction = 0.1f) : VehicleCollisionTester(inObjectLayer), mConvexRadiusFraction(inConvexRadiusFraction) { JPH_ASSERT(mConvexRadiusFraction >= 0.0f && mConvexRadiusFraction <= 1.0f); }
// See: VehicleCollisionTester
virtual bool Collide(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&outBody, SubShapeID &outSubShapeID, RVec3 &outContactPosition, Vec3 &outContactNormal, float &outSuspensionLength) const override;
virtual void PredictContactProperties(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&ioBody, SubShapeID &ioSubShapeID, RVec3 &ioContactPosition, Vec3 &ioContactNormal, float &ioSuspensionLength) const override;
private:
float mConvexRadiusFraction;
};
JPH_NAMESPACE_END