109 lines
3.5 KiB
C++
109 lines
3.5 KiB
C++
// Copyright (c) Wojciech Figat. All rights reserved.
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#include "CapsuleCollider.h"
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CapsuleCollider::CapsuleCollider(const SpawnParams& params)
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: Collider(params)
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, _radius(20.0f)
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, _height(100.0f)
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{
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}
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void CapsuleCollider::SetRadius(const float value)
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{
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if (value == _radius)
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return;
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_radius = value;
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UpdateGeometry();
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UpdateBounds();
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}
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void CapsuleCollider::SetHeight(const float value)
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{
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if (value == _height)
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return;
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_height = value;
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UpdateGeometry();
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UpdateBounds();
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}
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#if USE_EDITOR
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#include "Engine/Debug/DebugDraw.h"
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#include "Engine/Graphics/RenderView.h"
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void CapsuleCollider::DrawPhysicsDebug(RenderView& view)
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{
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const BoundingSphere sphere(_sphere.Center - view.Origin, _sphere.Radius);
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if (!view.CullingFrustum.Intersects(sphere))
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return;
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Quaternion rotation;
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Quaternion::Multiply(_transform.Orientation, Quaternion::Euler(0, 90, 0), rotation);
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const float minSize = 0.001f;
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const float radius = Math::Max(Math::Abs(_radius) * _cachedScale, minSize);
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const float height = Math::Max(Math::Abs(_height) * _cachedScale, minSize);
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if (view.Mode == ViewMode::PhysicsColliders && !GetIsTrigger())
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DEBUG_DRAW_CAPSULE(_transform.LocalToWorld(_center), rotation, radius, height, _staticActor ? Color::CornflowerBlue : Color::Orchid, 0, true);
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else
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DEBUG_DRAW_WIRE_CAPSULE(_transform.LocalToWorld(_center), rotation, radius, height, Color::GreenYellow * 0.8f, 0, true);
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}
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void CapsuleCollider::OnDebugDrawSelf()
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{
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Quaternion rotation;
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Quaternion::Multiply(_transform.Orientation, Quaternion::Euler(0, 90, 0), rotation);
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const float minSize = 0.001f;
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const float radius = Math::Max(Math::Abs(_radius) * _cachedScale, minSize);
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const float height = Math::Max(Math::Abs(_height) * _cachedScale, minSize);
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const Vector3 position = _transform.LocalToWorld(_center);
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DEBUG_DRAW_WIRE_CAPSULE(position, rotation, radius, height, Color::GreenYellow, 0, false);
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}
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void CapsuleCollider::OnDebugDrawSelected()
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{
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Quaternion rotation;
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Quaternion::Multiply(_transform.Orientation, Quaternion::Euler(0, 90, 0), rotation);
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const float minSize = 0.001f;
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const float radius = Math::Max(Math::Abs(_radius) * _cachedScale, minSize);
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const float height = Math::Max(Math::Abs(_height) * _cachedScale, minSize);
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const Vector3 position = _transform.LocalToWorld(_center);
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DEBUG_DRAW_WIRE_CAPSULE(position, rotation, radius, height, Color::GreenYellow, 0, false);
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if (_contactOffset > 0)
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{
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DEBUG_DRAW_WIRE_CAPSULE(position, rotation, radius + _contactOffset, height, Color::Blue.AlphaMultiplied(0.2f), 0, false);
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}
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// Base
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Collider::OnDebugDrawSelected();
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}
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#endif
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bool CapsuleCollider::IntersectsItself(const Ray& ray, Real& distance, Vector3& normal)
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{
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return _orientedBox.Intersects(ray, distance, normal);
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}
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void CapsuleCollider::UpdateBounds()
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{
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// Cache bounds
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const float radiusTwice = _radius * 2.0f;
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OrientedBoundingBox::CreateCentered(_center, Vector3(_height + radiusTwice, radiusTwice, radiusTwice), _orientedBox);
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_orientedBox.Transform(_transform);
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_orientedBox.GetBoundingBox(_box);
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BoundingSphere::FromBox(_box, _sphere);
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}
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void CapsuleCollider::GetGeometry(CollisionShape& collision)
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{
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const float minSize = 0.001f;
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const float radius = Math::Max(Math::Abs(_radius) * _cachedScale, minSize);
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const float height = Math::Max(Math::Abs(_height) * _cachedScale, minSize);
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collision.SetCapsule(radius, height * 0.5f);
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}
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