CollisionOneShotManifolds.h

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// Copyright Epic Games, Inc. All Rights Reserved.
 
#pragma once
 
#include "Chaos/Collision/PBDCollisionConstraint.h"
#include "Chaos/Convex.h"
#include "Chaos/ImplicitFwd.h"
#include "Chaos/Defines.h"
#include "Chaos/Transform.h"
 
namespace Chaos
{
    namespace Collisions
    {
        uint32 BoxBoxClipVerticesAgainstPlane(const FVec3* InputVertexBuffer, FVec3* outputVertexBuffer, uint32 ClipPointCount, int32 ClippingAxis, FReal Distance);
        uint32 ReduceManifoldContactPoints(FVec3* Points, uint32 PointCount);
        uint32 ClipVerticesAgainstPlane(const FVec3* InputVertexBuffer, FVec3* OutputVertexBuffer, const uint32 ClipPointCount, const uint32 MaxNumberOfOutputPoints, const FVec3 ClippingPlaneNormal, const FReal PlaneDistance);
 
        void ConstructBoxBoxOneShotManifold(
            const FImplicitBox3& Box1,
            const FRigidTransform3& Box1Transform, //world
            const FImplicitBox3& Box2,
            const FRigidTransform3& Box2Transform, //world
            const FReal Dt,
            FPBDCollisionConstraint& Constraint);
 
        template <typename ConvexImplicitType1, typename ConvexImplicitType2>
        void ConstructConvexConvexOneShotManifold(
            const ConvexImplicitType1& Implicit1,
            const FRigidTransform3& Convex1Transform, //world
            const ConvexImplicitType2& Implicit2,
            const FRigidTransform3& Convex2Transform, //world
            const FReal Dt,
            FPBDCollisionConstraint& Constraint);
 
        template <typename ConvexType>
        void ConstructCapsuleConvexOneShotManifold(
            const FImplicitCapsule3& Capsule,
            const FRigidTransform3& CapsuleTransform,
            const ConvexType& Convex,
            const FRigidTransform3& ConvexTransform,
            const FReal CullDistance,
            FContactPointManifold& OutContactPoints);
 
        void ConstructCapsuleTriangleOneShotManifold(
            const FImplicitCapsule3& Capsule,
            const FTriangle& Triangle,
            const FReal CullDistance,
            FContactPointManifold& OutContactPoints);
 
        template <typename ConvexType>
        void ConstructPlanarConvexTriangleOneShotManifold(
            const ConvexType& Convex, 
            const FTriangle& Triangle, 
            const FReal CullDistance, 
            FContactPointManifold& OutContactPoints);
    }
}
 
 
#if 0
DECLARE_STATS_GROUP(TEXT("ChaosManifold"), STATGROUP_ChaosManifold, STATCAT_Advanced);
 
DECLARE_CYCLE_STAT(TEXT("Manifold::Manifold"), STAT_Collisions_Manifold, STATGROUP_ChaosManifold);
DECLARE_CYCLE_STAT(TEXT("Manifold::ManifoldGJK"), STAT_Collisions_ManifoldGJK, STATGROUP_ChaosManifold);
DECLARE_CYCLE_STAT(TEXT("Manifold::ManifoldEdgeEdge"), STAT_Collisions_ManifoldEdgeEdge, STATGROUP_ChaosManifold);
DECLARE_CYCLE_STAT(TEXT("Manifold::ManifoldClip"), STAT_Collisions_ManifoldClip, STATGROUP_ChaosManifold);
DECLARE_CYCLE_STAT(TEXT("Manifold::ManifoldReduce"), STAT_Collisions_ManifoldReduce, STATGROUP_ChaosManifold);
DECLARE_CYCLE_STAT(TEXT("Manifold::ManifoldFaceVertex"), STAT_Collisions_ManifoldFaceVertex, STATGROUP_ChaosManifold);
#define SCOPE_CYCLE_COUNTER_MANIFOLD() SCOPE_CYCLE_COUNTER(STAT_Collisions_Manifold)\
    PHYSICS_CSV_SCOPED_EXPENSIVE(PhysicsVerbose, NarrowPhase_Manifold)
#define SCOPE_CYCLE_COUNTER_MANIFOLD_GJK() SCOPE_CYCLE_COUNTER(STAT_Collisions_ManifoldGJK)\
    PHYSICS_CSV_SCOPED_EXPENSIVE(PhysicsVerbose, Manifold_GJK)
#define SCOPE_CYCLE_COUNTER_MANIFOLD_ADDEDGEEDGE() SCOPE_CYCLE_COUNTER(STAT_Collisions_ManifoldEdgeEdge)\
    PHYSICS_CSV_SCOPED_EXPENSIVE(PhysicsVerbose, Manifold_EdgeEdge)
#define SCOPE_CYCLE_COUNTER_MANIFOLD_CLIP() SCOPE_CYCLE_COUNTER(STAT_Collisions_ManifoldClip)\
    PHYSICS_CSV_SCOPED_EXPENSIVE(PhysicsVerbose, Manifold_Clip)
#define SCOPE_CYCLE_COUNTER_MANIFOLD_REDUCE() SCOPE_CYCLE_COUNTER(STAT_Collisions_ManifoldReduce)\
    PHYSICS_CSV_SCOPED_EXPENSIVE(PhysicsVerbose, Manifold_Reduce)
#define SCOPE_CYCLE_COUNTER_MANIFOLD_ADDFACEVERTEX() SCOPE_CYCLE_COUNTER(STAT_Collisions_ManifoldFaceVertex)\
    PHYSICS_CSV_SCOPED_EXPENSIVE(PhysicsVerbose, Manifold_FaceVertex)
#elif 1
#define SCOPE_CYCLE_COUNTER_MANIFOLD() PHYSICS_CSV_SCOPED_EXPENSIVE(PhysicsVerbose, NarrowPhase_Manifold)
#define SCOPE_CYCLE_COUNTER_MANIFOLD_GJK() PHYSICS_CSV_SCOPED_EXPENSIVE(PhysicsVerbose, Manifold_GJK)
#define SCOPE_CYCLE_COUNTER_MANIFOLD_ADDEDGEEDGE() PHYSICS_CSV_SCOPED_EXPENSIVE(PhysicsVerbose, Manifold_EdgeEdge)
#define SCOPE_CYCLE_COUNTER_MANIFOLD_CLIP() PHYSICS_CSV_SCOPED_EXPENSIVE(PhysicsVerbose, Manifold_Clip)
#define SCOPE_CYCLE_COUNTER_MANIFOLD_REDUCE() PHYSICS_CSV_SCOPED_EXPENSIVE(PhysicsVerbose, Manifold_Reduce)
#define SCOPE_CYCLE_COUNTER_MANIFOLD_ADDFACEVERTEX() PHYSICS_CSV_SCOPED_EXPENSIVE(PhysicsVerbose, Manifold_FaceVertex)
#else
#define SCOPE_CYCLE_COUNTER_MANIFOLD()
#define SCOPE_CYCLE_COUNTER_MANIFOLD_GJK()
#define SCOPE_CYCLE_COUNTER_MANIFOLD_ADDEDGEEDGE()
#define SCOPE_CYCLE_COUNTER_MANIFOLD_CLIP()
#define SCOPE_CYCLE_COUNTER_MANIFOLD_REDUCE()
#define SCOPE_CYCLE_COUNTER_MANIFOLD_ADDFACEVERTEX()
#endif