ContactPointsMiscShapes.h

Go to the documentation of this file.

// Copyright Epic Games, Inc. All Rights Reserved.
#pragma once
 
#include "Chaos/Core.h"
#include "Chaos/CollisionResolutionTypes.h"
#include "Chaos/ImplicitFwd.h"
#include "Chaos/TriangleMeshImplicitObject.h"
 
namespace Chaos
{
    class FHeightField;
    
    bool ComputeSweptContactTOIAndPhiAtTargetPenetration(const FReal DirDotNormal, const FReal SweepLength, const FReal HitDistance, const FReal IgnorePenetration, const FReal TargetPenetration, FReal& OutTOI, FReal& OutPhi);
    bool ComputeSweptContactTOIAndPhiAtTargetPenetration(const FVec3& ContactNormal, const FVec3& Dir, const FReal SweepLength, const FReal HitDistance, const FReal IgnorePenetration, const FReal TargetPenetration, FReal& OutTOI, FReal& OutPhi);
    void LegacyComputeSweptContactTOIAndPhiAtTargetPenetration(const FReal DirDotNormal, const FReal Length, const FReal IgnorePenetration, const FReal TargetPenetration, FReal& InOutTOI, FReal& InOutPhi);
 
 
    template <typename GeometryB>
    FContactPoint GJKImplicitSweptContactPoint(const FImplicitObject& A, const FRigidTransform3& AStartTransform, const GeometryB& B, const FRigidTransform3& BTransform, const FVec3& Dir, const FReal Length, const FReal IgnorePenetration, const FReal TargetPenetration, FReal& TOI);
 
    
    template <typename GeometryA, typename GeometryB>
    FContactPoint GJKImplicitContactPoint(const FImplicitObject& A, const FRigidTransform3& ATransform, const GeometryB& B, const FRigidTransform3& BTransform, const FReal CullDistance);
 
    FContactPoint SphereSphereContactPoint(const FSphere& Sphere1, const FRigidTransform3& Sphere1Transform, const FSphere& Sphere2, const FRigidTransform3& Sphere2Transform, const FRealSingle CullDistance);
    FContactPoint SpherePlaneContactPoint(const FSphere& Sphere, const FRigidTransform3& SphereTransform, const TPlane<FReal, 3>& Plane, const FRigidTransform3& PlaneTransform);
    FContactPoint SphereBoxContactPoint(const FSphere& Sphere, const FRigidTransform3& SphereTransform, const FImplicitBox3& Box, const FRigidTransform3& BoxTransform);
    FContactPoint SphereCapsuleContactPoint(const FSphere& A, const FRigidTransform3& ATransform, const FCapsule& B, const FRigidTransform3& BTransform);
 
    template <typename TriMeshType>
    FContactPoint SphereTriangleMeshContactPoint(const FSphere& A, const FRigidTransform3& ATransform, const TriMeshType& B, const FRigidTransform3& BTransform, const FReal CullDistance);
 
    template<typename TriMeshType>
    FContactPoint SphereTriangleMeshSweptContactPoint(const FSphere& A, const FRigidTransform3& ATransform, const TriMeshType& B, const FRigidTransform3& BStartTransform, const FVec3& Dir, const FReal Length, const FReal IgnorePenetration, const FReal TargetPenetration, FReal& TOI);
 
    FContactPoint BoxHeightFieldContactPoint(const FImplicitBox3& A, const FRigidTransform3& ATransform, const FHeightField& B, const FRigidTransform3& BTransform, const FReal CullDistance);
 
    template <typename TriMeshType>
    FContactPoint BoxTriangleMeshContactPoint(const FImplicitBox3& A, const FRigidTransform3& ATransform, const TriMeshType& B, const FRigidTransform3& BTransform, const FReal CullDistance);
 
    FContactPoint SphereHeightFieldContactPoint(const FSphere& A, const FRigidTransform3& ATransform, const FHeightField& B, const FRigidTransform3& BTransform, const FReal CullDistance);
    FContactPoint CapsuleHeightFieldContactPoint(const FCapsule& A, const FRigidTransform3& ATransform, const FHeightField& B, const FRigidTransform3& BTransform, const FReal CullDistance);
    template <typename TriMeshType>
    FContactPoint CapsuleTriangleMeshContactPoint(const FCapsule& A, const FRigidTransform3& ATransform, const TriMeshType& B, const FRigidTransform3& BTransform, const FReal CullDistance);
    template <typename TriMeshType>
    FContactPoint CapsuleTriangleMeshSweptContactPoint(const FCapsule& A, const FRigidTransform3& ATransform, const TriMeshType& B, const FRigidTransform3& BStartTransform, const FVec3& Dir, const FReal Length, const FReal IgnorePenetration, const FReal TargetPenetration, FReal& TOI);
 
    FContactPoint ConvexHeightFieldContactPoint(const FImplicitObject& A, const FRigidTransform3& ATransform, const FHeightField& B, const FRigidTransform3& BTransform, const FReal CullDistance);
    FContactPoint ConvexTriangleMeshContactPoint(const FImplicitObject& A, const FRigidTransform3& ATransform, const FImplicitObject& B, const FRigidTransform3& BTransform, const FReal CullDistance);
    template <typename TriMeshType>
    FContactPoint ConvexTriangleMeshSweptContactPoint(const FImplicitObject& A, const FRigidTransform3& ATransform, const TriMeshType& B, const FRigidTransform3& BStartTransform, const FVec3& Dir, const FReal Length, const FReal IgnorePenetration, const FReal TargetPenetration, FReal& TOI);
 
    FContactPoint CapsuleCapsuleContactPoint(const FCapsule& A, const FRigidTransform3& ATransform, const FCapsule& B, const FRigidTransform3& BTransform);
    FContactPoint CapsuleBoxContactPoint(const FCapsule& A, const FRigidTransform3& ATransform, const FImplicitBox3& B, const FRigidTransform3& BTransform, const FVec3& InitialDir);
    
    
}