ChaosVDCollisionDataWrappers.h

Go to the documentation of this file.

// Copyright Epic Games, Inc. All Rights Reserved.
 
#pragma once
#include "ChaosVDDataSerializationMacros.h"
#include "HAL/Platform.h"
 
#include "ChaosVDCollisionDataWrappers.generated.h"
 
namespace Chaos
{
    enum class EParticleType : uint8;
    class FChaosArchive;
}
 
UENUM()
enum class EChaosVDContactShapesType
{
    Unknown,
    SphereSphere,
    SphereCapsule,
    SphereBox,
    SphereConvex,
    SphereTriMesh,
    SphereHeightField,
    SpherePlane,
    CapsuleCapsule,
    CapsuleBox,
    CapsuleConvex,
    CapsuleTriMesh,
    CapsuleHeightField,
    BoxBox,
    BoxConvex,
    BoxTriMesh,
    BoxHeightField,
    BoxPlane,
    ConvexConvex,
    ConvexTriMesh,
    ConvexHeightField,
    GenericConvexConvex,
    LevelSetLevelSet,
 
    NumShapesTypes
};
 
UENUM()
enum class EChaosVDContactPointType : int8
{
    Unknown,
    VertexPlane,
    EdgeEdge,
    PlaneVertex,
    VertexVertex,
};
 
USTRUCT()
struct FChaosVDContactPoint
{
    GENERATED_BODY()
 
    // Shape-space contact points on the two bodies
    UPROPERTY(VisibleAnywhere, Category=Contact)
    FVector ShapeContactPoints[2] = { FVector(ForceInit), FVector(ForceInit) };
 
    // Shape-space contact normal on the second shape with direction that points away from shape 1
    UPROPERTY(VisibleAnywhere, Category=Contact)
    FVector  ShapeContactNormal = FVector(ForceInit);
 
    // Contact separation (negative for overlap)
    UPROPERTY(VisibleAnywhere, Category=Contact)
    float Phi = 0.f;
 
    // Face index of the shape we hit. Only valid for Heightfield and Trimesh contact points, otherwise INDEX_NONE
    UPROPERTY(VisibleAnywhere, Category=Contact)
    int32 FaceIndex = 0;
 
    // Whether this is a vertex-plane contact, edge-edge contact etc.
    UPROPERTY(VisibleAnywhere, Category=Contact)
    EChaosVDContactPointType ContactType = EChaosVDContactPointType::Unknown;
 
    CHAOSVDRUNTIME_API bool Serialize(FArchive& Ar);
};
 
CVD_IMPLEMENT_SERIALIZER(FChaosVDContactPoint)
 
UENUM()
enum class EChaosVDManifoldPointFlags : uint8
{
    None = 0,
    Disabled = 1 << 0,
    WasRestored = 1 << 1,
    WasReplaced = 1 << 2,
    HasStaticFrictionAnchor = 1 << 3,
    IsValid = 1 << 4,
    InsideStaticFrictionCone = 1 << 5,
};
ENUM_CLASS_FLAGS(EChaosVDManifoldPointFlags)
 
USTRUCT()
struct FChaosVDManifoldPoint
{
    GENERATED_BODY()
 
    UPROPERTY(VisibleAnywhere, Category=ContactData)
    uint8 bDisabled:1 = false;
    UPROPERTY()
    uint8 bWasRestored:1 = false;
    UPROPERTY()
    uint8 bWasReplaced:1 = false;
    UPROPERTY(VisibleAnywhere, Category=ContactData)
    uint8 bHasStaticFrictionAnchor:1 = false;
 
    UPROPERTY()
    uint8 bIsValid:1 = false;
    UPROPERTY(VisibleAnywhere, Category=ContactData)
    uint8 bInsideStaticFrictionCone:1 = false;
 
    UPROPERTY(VisibleAnywhere, Category=ContactData)
    FVector NetPushOut = FVector(ForceInit);
    UPROPERTY(VisibleAnywhere, Category=ContactData)
    FVector NetImpulse = FVector(ForceInit);
 
    UPROPERTY(VisibleAnywhere, Category=ContactData)
    float TargetPhi = 0.f;
    UPROPERTY(VisibleAnywhere, Category=ContactData)
    float InitialPhi = 0.f;
    UPROPERTY()
    FVector ShapeAnchorPoints[2] = { FVector(ForceInit), FVector(ForceInit) };
    UPROPERTY()
    FVector InitialShapeContactPoints[2] = { FVector(ForceInit), FVector(ForceInit) };
    UPROPERTY(VisibleAnywhere, Category=ContactData)
    FChaosVDContactPoint ContactPoint;
 
    UPROPERTY()
    FVector ShapeContactPoints[2] =  { FVector(ForceInit), FVector(ForceInit) };
 
    bool bIsSelectedInEditor = false;
 
    CHAOSVDRUNTIME_API bool Serialize(FArchive& Ar);
};
 
CVD_IMPLEMENT_SERIALIZER(FChaosVDManifoldPoint)
 
USTRUCT()
struct FChaosVDCollisionMaterial
{
    GENERATED_BODY()
 
    UPROPERTY(VisibleAnywhere, Category = MaterialData)
    int32 FaceIndex = INDEX_NONE;
 
    UPROPERTY(VisibleAnywhere, Category = MaterialData)
    float MaterialDynamicFriction = 0.0f;
    
    UPROPERTY(VisibleAnywhere, Category = MaterialData)
    float MaterialStaticFriction = 0.0f;
    
    UPROPERTY(VisibleAnywhere, Category = MaterialData)
    float MaterialRestitution = 0.0f;
 
    UPROPERTY(VisibleAnywhere, Category = MaterialData)
    float DynamicFriction = 0.0f;
    
    UPROPERTY(VisibleAnywhere, Category = MaterialData)
    float StaticFriction = 0.0f;
    
    UPROPERTY(VisibleAnywhere, Category = MaterialData)
    float Restitution = 0.0f;
    
    UPROPERTY(VisibleAnywhere, Category = MaterialData)
    float RestitutionThreshold = 0.0f;
    
    UPROPERTY(VisibleAnywhere, Category = MaterialData)
    float InvMassScale0 = 0.0f;
    
    UPROPERTY(VisibleAnywhere, Category = MaterialData)
    float InvMassScale1 = 0.0f;
    
    UPROPERTY(VisibleAnywhere, Category = MaterialData)
    float InvInertiaScale0 = 0.0f;
    
    UPROPERTY(VisibleAnywhere, Category = MaterialData)
    float InvInertiaScale1 = 0.0f;
 
    bool Serialize(FArchive& Ar);
};
 
CVD_IMPLEMENT_SERIALIZER(FChaosVDCollisionMaterial)
 
UENUM()
enum class EChaosVDConstraintFlags : uint16
{
    None = 0,
    IsCurrent = 1 << 0,
    Disabled = 1 << 1,
    UseManifold = 1 << 2,
    UseIncrementalManifold = 1 << 3,
    CanRestoreManifold = 1 << 4,
    WasManifoldRestored = 1 << 5,
    IsQuadratic0 = 1 << 6,
    IsQuadratic1 = 1 << 7,
    IsProbe = 1 << 8,
    CCDEnabled = 1 << 9,
    CCDSweepEnabled = 1 << 10,
    ModifierApplied = 1 << 11,
    MaterialSet = 1 << 12,
};
 
USTRUCT()
struct FChaosVDConstraint
{
    GENERATED_BODY()
 
    CHAOSVDRUNTIME_API static FStringView WrapperTypeName;
 
    UPROPERTY()
    uint8 bIsCurrent:1 = false;
    UPROPERTY(VisibleAnywhere, Category=ConstraintData)
    uint8 bDisabled:1 = false;
    UPROPERTY()
    uint8 bUseManifold:1 = false;
    UPROPERTY()
    uint8 bUseIncrementalManifold:1 = false;
    UPROPERTY()
    uint8 bCanRestoreManifold:1 = false;
    UPROPERTY()
    uint8 bWasManifoldRestored:1 = false;
    UPROPERTY()
    uint8 bIsQuadratic0:1 = false;
    UPROPERTY()
    uint8 bIsQuadratic1:1 = false;
    UPROPERTY(VisibleAnywhere, Category=ConstraintData)
    uint8 bIsProbe:1 = false;
    UPROPERTY(VisibleAnywhere, Category=ConstraintData)
    uint8 bCCDEnabled:1 = false;
    UPROPERTY(VisibleAnywhere, Category=ConstraintData)
    uint8 bCCDSweepEnabled:1 = false;
    UPROPERTY(VisibleAnywhere, Category=ConstraintData)
    uint8 bModifierApplied:1 = false;
    UPROPERTY(VisibleAnywhere, Category=ConstraintData)
    uint8 bMaterialSet:1 = false;
    
    UPROPERTY(VisibleAnywhere, Category = ConstraintData)
    FChaosVDCollisionMaterial Material;
 
    UPROPERTY(VisibleAnywhere, Category=ConstraintData)
    FVector AccumulatedImpulse = FVector(ForceInit);
    
    UPROPERTY(VisibleAnywhere, Category=ConstraintData)
    EChaosVDContactShapesType ShapesType = EChaosVDContactShapesType::Unknown;
    
    UPROPERTY(VisibleAnywhere, Category=ConstraintData)
    FTransform ShapeWorldTransforms[2] = { FTransform::Identity, FTransform::Identity };
 
    UPROPERTY(VisibleAnywhere, Category=ConstraintData)
    FTransform ImplicitTransforms[2] = { FTransform::Identity, FTransform::Identity };
    
    UPROPERTY(VisibleAnywhere, Category=ConstraintData)
    float CullDistance = 0.f;
    
    UPROPERTY(VisibleAnywhere, Category=ConstraintData)
    TArray<float> CollisionMargins;
    
    UPROPERTY(VisibleAnywhere, Category=ConstraintData)
    float CollisionTolerance = 0.f;
    
    UPROPERTY()
    int32 ClosestManifoldPointIndex = 0;
    
    UPROPERTY()
    int32 ExpectedNumManifoldPoints = 0;
    
    UPROPERTY()
    FVector LastShapeWorldPositionDelta = FVector(ForceInit);
    
    UPROPERTY()
    FQuat LastShapeWorldRotationDelta = FQuat(ForceInit);
    
    UPROPERTY(VisibleAnywhere, Category=ConstraintData)
    float Stiffness = 0.f;
 
    UPROPERTY(VisibleAnywhere, Category = ConstraintData)
    float MinInitialPhi = 0.f;
 
    UPROPERTY(VisibleAnywhere, Category = ConstraintData)
    float InitialOverlapDepenetrationVelocity = -1.f;
    
    UPROPERTY(VisibleAnywhere, Category=ConstraintData)
    float CCDTimeOfImpact = 0.f;
    
    UPROPERTY(VisibleAnywhere, Category=ConstraintData)
    float CCDEnablePenetration = 0.f;
    
    UPROPERTY(VisibleAnywhere, Category=ConstraintData)
    float CCDTargetPenetration = 0.f;
 
    UPROPERTY(VisibleAnywhere, Category=ConstraintData)
    TArray<FChaosVDManifoldPoint> ManifoldPoints;
 
    UPROPERTY()
    int32 Particle0Index = INDEX_NONE;
    UPROPERTY()
    int32 Particle1Index = INDEX_NONE;
 
    UPROPERTY()
    int32 SolverID = INDEX_NONE;
 
    CHAOSVDRUNTIME_API bool Serialize(FArchive& Ar);
};
 
CVD_IMPLEMENT_SERIALIZER(FChaosVDConstraint)
 
UENUM()
enum class EChaosVDMidPhaseFlags : uint8
{
    None = 0,
    IsActive = 1 << 0,
    IsCCD = 1 << 1,
    IsCCDActive = 1 << 2,
    IsSleeping = 1 << 3,
    IsModified = 1 << 4,
};
 
UENUM()
enum class EChaosVDMidPhaseType : int8
{
    // A general purpose midphase that handle BVHs, Meshes, 
    // Unions of Unions, etc in the geometry hierarchy.
    Generic,
 
    // A midphase optimized for particle pairs with a small
    // number of shapes. Pre-expands the set of potentially
    // colliding shape pairs.
    ShapePair,
 
    // A midphase used to collide particles as sphere approximations
    SphereApproximation,
 
    Unknown
};
 
USTRUCT()
struct FChaosVDParticlePairMidPhase
{
    GENERATED_BODY()
 
    CHAOSVDRUNTIME_API static FStringView WrapperTypeName;
 
    UPROPERTY()
    int32 SolverID = INDEX_NONE;
 
    UPROPERTY(VisibleAnywhere, Category=General)
    EChaosVDMidPhaseType MidPhaseType = EChaosVDMidPhaseType::Unknown;
 
    UPROPERTY(VisibleAnywhere, Category=Flags)
    uint8 bIsActive:1 = false;
    UPROPERTY(VisibleAnywhere, Category=Flags)
    uint8 bIsCCD:1 = false;
    UPROPERTY(VisibleAnywhere, Category=Flags)
    uint8 bIsCCDActive:1 = false;
    UPROPERTY(VisibleAnywhere, Category=Flags)
    uint8 bIsSleeping:1 = false;
    UPROPERTY(VisibleAnywhere, Category=Flags)
    uint8 bIsModified:1 = false;
 
    UPROPERTY(VisibleAnywhere, Category=Misc)
    int32 LastUsedEpoch = 0;
 
    UPROPERTY(VisibleAnywhere, Category=Particle)
    int32 Particle0Idx = 0;
    UPROPERTY(VisibleAnywhere, Category=Particle)
    int32 Particle1Idx = 0;
 
    UPROPERTY(VisibleAnywhere, Category=Constraints)
    TArray<FChaosVDConstraint> Constraints;
 
    CHAOSVDRUNTIME_API bool Serialize(FArchive& Ar);
};
 
CVD_IMPLEMENT_SERIALIZER(FChaosVDParticlePairMidPhase)
 
UENUM()
enum class EChaosVDCollisionTraceFlag
{
    UseDefault,
    UseSimpleAndComplex,
    UseSimpleAsComplex,
    UseComplexAsSimple,
    MAX,
};
 
USTRUCT()
struct FChaosVDCollisionFilterData
{
    GENERATED_BODY()
 
    UPROPERTY(VisibleAnywhere, Category=CollisionData)
    uint32 Word0 = 0;
    UPROPERTY(VisibleAnywhere, Category=CollisionData)
    uint32 Word1 = 0;
    UPROPERTY(VisibleAnywhere, Category=CollisionData)
    uint32 Word2 = 0;
    UPROPERTY(VisibleAnywhere, Category=CollisionData)
    uint32 Word3 = 0;
 
    CHAOSVDRUNTIME_API bool Serialize(FArchive& Ar);
 
    bool operator==(const FChaosVDCollisionFilterData& Other) const = default;
};
 
template <>
struct TTypeTraits<FChaosVDCollisionFilterData> : public TTypeTraitsBase <FChaosVDCollisionFilterData>
{
    enum { IsBytewiseComparable = true };
};
 
CVD_IMPLEMENT_SERIALIZER(FChaosVDCollisionFilterData)
 
UENUM()
enum class EChaosVDCollisionShapeDataFlags : uint8
{
    None = 0,
    SimCollision = 1 << 0,
    QueryCollision = 1 << 1,
    IsProbe = 1 << 2,
};
 
USTRUCT()
struct FChaosVDShapeCollisionData
{
    GENERATED_BODY()
 
    UPROPERTY(VisibleAnywhere, Category=CollisionData)
    EChaosVDCollisionTraceFlag CollisionTraceType = EChaosVDCollisionTraceFlag::UseDefault;
 
    UPROPERTY()
    uint8 bSimCollision : 1 = false;
    UPROPERTY()
    uint8 bQueryCollision : 1 = false;
    UPROPERTY()
    uint8 bIsProbe : 1 = false;
 
    UPROPERTY(VisibleAnywhere, Category=FilterData)
    FChaosVDCollisionFilterData QueryData;
 
    UPROPERTY(VisibleAnywhere, Category=SimData)
    FChaosVDCollisionFilterData SimData;
 
    UPROPERTY(VisibleAnywhere, Category="CVD Data")
    bool bIsComplex = false;
 
    UPROPERTY(VisibleAnywhere, Category="CVD Data")
    bool bIsValid = false;
 
    CHAOSVDRUNTIME_API bool Serialize(FArchive& Ar);
 
    CHAOSVDRUNTIME_API bool operator==(const FChaosVDShapeCollisionData& Other) const;
};
 
template <>
struct TTypeTraits<FChaosVDShapeCollisionData> : public TTypeTraitsBase <FChaosVDShapeCollisionData>
{
    enum { IsBytewiseComparable = true };
};
 
CVD_IMPLEMENT_SERIALIZER(FChaosVDShapeCollisionData)
 
 
USTRUCT()
struct FChaosVDCollisionChannelInfo
{
    GENERATED_BODY()
 
    UPROPERTY()
    FString DisplayName;
 
    UPROPERTY()
    int32 CollisionChannel = INDEX_NONE;
 
    UPROPERTY()
    bool bIsTraceType = false;
    
    CHAOSVDRUNTIME_API bool Serialize(FArchive& Ar);
};
 
CVD_IMPLEMENT_SERIALIZER(FChaosVDCollisionChannelInfo)
 
USTRUCT()
struct FChaosVDCollisionChannelsInfoContainer
{
    GENERATED_BODY()
 
    CHAOSVDRUNTIME_API static FStringView WrapperTypeName;
 
    UPROPERTY(VisibleAnywhere, Category=CollisionData)
    FChaosVDCollisionChannelInfo CustomChannelsNames[32] = {};
 
    CHAOSVDRUNTIME_API bool Serialize(FArchive& Ar);
};
 
CVD_IMPLEMENT_SERIALIZER(FChaosVDCollisionChannelsInfoContainer)