ConvexContactPoint.h

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// Copyright Epic Games, Inc.All Rights Reserved.
#pragma once
 
#include "Chaos/Core.h"
#include "Chaos/Collision/ContactPoint.h"
#include "Chaos/Collision/ConvexFeature.h"
 
namespace Chaos::Private
{
    // A contact point between two convex features
    template<typename T>
    class TConvexContactPoint
    {
    public:
        using FRealType = T;
 
        TConvexContactPoint()
        {
            Reset();
        }
 
        inline void Reset()
        {
            Phi = InvalidPhi<FRealType>();
        }
 
        inline bool IsSet() const
        {
            return Phi != InvalidPhi<FRealType>();
        }
 
        // Convert a feature pair into a contact type (used by callbacks, events, etc)
        inline EContactPointType GetContactPointType() const
        {
            if (!IsSet())
            {
                return EContactPointType::Unknown;
            }
 
            // Both features should be set to something
            if ((Features[0].FeatureType == EConvexFeatureType::Unknown) || (Features[1].FeatureType == EConvexFeatureType::Unknown))
            {
                return EContactPointType::Unknown;
            }
 
            // Plane-Plane, Edge-Plane and Vertex-Plane are treated as Vertex-Plane
            if (Features[1].FeatureType == EConvexFeatureType::Plane)
            {
                return EContactPointType::VertexPlane;
            }
 
            // Plane-Vertex and Plane-Edge are treated as Plane-Vertex
            if (Features[0].FeatureType == EConvexFeatureType::Plane)
            {
                return EContactPointType::PlaneVertex;
            }
 
            // Vertex-Vertex, Edge-Vertex and Edge-Edge are treated as Edge-Edge
            return EContactPointType::EdgeEdge;
        }
 
        FConvexFeature Features[2];
        TVec3<FRealType> ShapeContactPoints[2];
        TVec3<FRealType> ShapeContactNormal;
        FRealType Phi;
    };
 
    using FConvexContactPoint = TConvexContactPoint<FReal>;
    using FConvexContactPointf = TConvexContactPoint<FRealSingle>;
}