ksys/phys: Start implementing HavokCylinderWaterShape

lib/hkStubs/CMakeLists.txt

@@ -63,6 +63,7 @@ add_library(hkStubs OBJECT
   Havok/Common/Base/Types/hkRefPtr.h
   Havok/Common/Base/Types/hkRefVariant.h
   Havok/Common/Base/Types/Geometry/Aabb/hkAabb.h
+  Havok/Common/Base/Types/Geometry/Aabb/hkAabbUtil.h
   Havok/Common/Base/Types/Geometry/Sphere/hkSphere.h
   Havok/Common/Base/Types/Physics/hkStepInfo.h
   Havok/Common/Base/Types/Physics/ContactPoint/hkContactPointMaterial.h
@@ -103,6 +104,7 @@ add_library(hkStubs OBJECT
   Havok/Physics2012/Collide/Filter/hkpShapeCollectionFilter.h
   Havok/Physics2012/Collide/Filter/Group/hkpGroupFilter.cpp
   Havok/Physics2012/Collide/Filter/Group/hkpGroupFilter.h
+  Havok/Physics2012/Collide/Query/hkpRayHitCollector.h
   Havok/Physics2012/Collide/Query/CastUtil/hkpWorldRayCastInput.h
   Havok/Physics2012/Collide/Shape/hkpShape.h
   Havok/Physics2012/Collide/Shape/hkpShapeBase.h

lib/hkStubs/Havok/Common/Base/Types/Geometry/Aabb/hkAabbUtil.h

@@ -0,0 +1,36 @@
+#pragma once
+
+#include <Havok/Common/Base/Types/Geometry/Aabb/hkAabb.h>
+
+namespace hkAabbUtil {
+
+void calcAabb(const hkTransform& localToWorld, const hkVector4& halfExtents,
+              hkSimdRealParameter extraRadius, hkAabb& aabbOut);
+
+inline void calcAabb(const hkTransform& localToWorld, const hkVector4& halfExtents,
+                     hkSimdRealParameter extraRadius, hkAabb& aabbOut) {
+    hkVector4 x, y, z;
+    x.setMul(halfExtents.getComponent<0>(), localToWorld.getRotation().getColumn<0>());
+    y.setMul(halfExtents.getComponent<1>(), localToWorld.getRotation().getColumn<1>());
+    z.setMul(halfExtents.getComponent<2>(), localToWorld.getRotation().getColumn<2>());
+
+    x.setAbs(x);
+    y.setAbs(y);
+    z.setAbs(z);
+
+    hkVector4 max;
+    z.setAdd(z, extraRadius);
+    max.setAdd(x, y);
+    max.add(z);
+
+    hkVector4 min;
+    min.setNeg<4>(max);
+
+    max.add(localToWorld.getTranslation());
+    min.add(localToWorld.getTranslation());
+
+    aabbOut.m_max = max;
+    aabbOut.m_min = min;
+}
+
+}  // namespace hkAabbUtil

lib/hkStubs/Havok/Physics2012/Collide/Query/hkpRayHitCollector.h

@@ -0,0 +1,31 @@
+#pragma once
+
+#include <Havok/Common/Base/hkBase.h>
+#include <Havok/Physics2012/Collide/Shape/hkpShapeBase.h>
+
+class hkpCdBody;
+struct hkpShapeRayCastCollectorOutput;
+
+class hkpRayHitCollector {
+public:
+    inline hkpRayHitCollector();
+
+    virtual void addRayHit(const hkpCdBody& cdBody,
+                           const hkpShapeRayCastCollectorOutput& hitInfo) = 0;
+
+    inline void reset();
+
+    virtual ~hkpRayHitCollector() = default;
+
+    static int shapeKeysFromCdBody(hkpShapeKey* buf, int maxKeys, const hkpCdBody& body);
+
+    hkReal m_earlyOutHitFraction;
+};
+
+inline hkpRayHitCollector::hkpRayHitCollector() {
+    reset();
+}
+
+inline void hkpRayHitCollector::reset() {
+    m_earlyOutHitFraction = 1.f;
+}