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ksys/phys: Implement SphereShape and SphereRigidBody (#92)

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ConorB
2022-04-13 22:35:04 +00:00
committed by GitHub
parent 0127ac2064
commit 6ca1c6fd5a
7 changed files with 389 additions and 40 deletions
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lib/hkStubs/CMakeLists.txt
+1
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@@ -150,6 +150,7 @@ add_library(hkStubs OBJECT
Havok/Physics2012/Collide/Shape/Convex/Box/hkpBoxShape.h
Havok/Physics2012/Collide/Shape/Convex/Capsule/hkpCapsuleShape.h
Havok/Physics2012/Collide/Shape/Convex/ConvexTransform/hkpConvexTransformShape.h
Havok/Physics2012/Collide/Shape/Convex/ConvexTranslate/hkpConvexTranslateShape.h
Havok/Physics2012/Collide/Shape/Convex/ConvexVertices/hkpConvexVerticesShape.h
Havok/Physics2012/Collide/Shape/Convex/Cylinder/hkpCylinderShape.h
Havok/Physics2012/Collide/Shape/Convex/Sphere/hkpSphereShape.h
lib/hkStubs/Havok/Physics2012/Collide/Shape/Convex/ConvexTranslate/hkpConvexTranslateShape.h
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@@ -0,0 +1,69 @@
#pragma once
#include <Havok/Physics2012/Collide/Shape/Convex/hkpConvexShape.h>
class hkpConvexTranslateShape : public hkpConvexTransformShapeBase {
public:
HK_DECLARE_CLASS_ALLOCATOR(hkpConvexTranslateShape)
HK_DECLARE_REFLECTION()
HKCD_DECLARE_SHAPE_TYPE(hkcdShapeType::CONVEX_TRANSLATE)
HK_FORCE_INLINE hkpConvexTranslateShape() {}
HK_FORCE_INLINE hkpConvexTranslateShape(
const hkpConvexShape* childShape, const hkVector4& translation,
hkpShapeContainer::ReferencePolicy ref = hkpShapeContainer::REFERENCE_POLICY_INCREMENT);
void getSupportingVertex(hkVector4Parameter direction,
hkcdVertex& supportingVertexOut) const override;
void convertVertexIdsToVertices(const hkpVertexId* ids, int numIds,
hkcdVertex* verticesOut) const override;
void getCentre(hkVector4& centreOut) const override;
HK_FORCE_INLINE int getNumCollisionSpheres() const override;
const hkSphere* getCollisionSpheres(hkSphere* sphereBuffer) const override;
void getAabb(const hkTransform& localToWorld, hkReal tolerance, hkAabb& out) const override;
hkBool castRay(const hkpShapeRayCastInput& input,
hkpShapeRayCastOutput& results) const override;
void castRayWithCollector(const hkpShapeRayCastInput& input, const hkpCdBody& cdBody,
hkpRayHitCollector& collector) const override;
void getFirstVertex(hkVector4& v) const override;
hkReal getMaximumProjection(const hkVector4& direction) const override;
const hkpShapeContainer* getContainer() const override;
int calcSizeForSpu(const CalcSizeForSpuInput& input, int spuBufferSizeLeft) const override;
inline const hkpConvexShape* getChildShape() const;
inline hkVector4& getTranslation();
inline const hkVector4& getTranslation() const;
hkpConvexTranslateShape(class hkFinishLoadedObjectFlag flag);
protected:
hkVector4 m_translation;
};
HK_FORCE_INLINE
hkpConvexTranslateShape::hkpConvexTranslateShape(const hkpConvexShape* childShape,
const hkVector4& translation,
hkpShapeContainer::ReferencePolicy ref)
: hkpConvexTransformShapeBase(HKCD_SHAPE_TYPE_FROM_CLASS(hkpConvexTranslateShape),
childShape->getRadius(), childShape, ref) {
hkVector4 t = translation;
t.setW(0);
m_translation = t;
m_childShapeSizeForSpu = 0;
}
inline const hkpConvexShape* hkpConvexTranslateShape::getChildShape() const {
return static_cast<const hkpConvexShape*>(m_childShape.getChild());
}
inline const hkVector4& hkpConvexTranslateShape::getTranslation() const {
return m_translation;
}
inline hkVector4& hkpConvexTranslateShape::getTranslation() {
return m_translation;
}
HK_FORCE_INLINE int hkpConvexTranslateShape::getNumCollisionSpheres() const {
return getChildShape()->getNumCollisionSpheres();
}