Havok: Add hkpCylinderShape

lib/hkStubs/CMakeLists.txt

@@ -116,6 +116,7 @@ add_library(hkStubs OBJECT
   Havok/Physics2012/Collide/Shape/Convex/Box/hkpBoxShape.h
   Havok/Physics2012/Collide/Shape/Convex/Capsule/hkpCapsuleShape.h
   Havok/Physics2012/Collide/Shape/Convex/ConvexTransform/hkpConvexTransformShape.h
+  Havok/Physics2012/Collide/Shape/Convex/Cylinder/hkpCylinderShape.h
   Havok/Physics2012/Collide/Shape/HeightField/hkpHeightFieldShape.h
   Havok/Physics2012/Collide/Shape/HeightField/hkpSphereRepShape.h
   Havok/Physics2012/Collide/Shape/HeightField/Plane/hkpPlaneShape.h

lib/hkStubs/Havok/Physics2012/Collide/Shape/Convex/Cylinder/hkpCylinderShape.h

@@ -0,0 +1,121 @@
+#pragma once
+
+#include <Havok/Common/Base/hkBase.h>
+#include <Havok/Physics2012/Collide/Shape/Convex/hkpConvexShape.h>
+
+class hkpCylinderShape : public hkpConvexShape {
+public:
+    HK_DECLARE_CLASS_ALLOCATOR(hkpCylinderShape)
+    HK_DECLARE_REFLECTION()
+    HKCD_DECLARE_SHAPE_TYPE(hkcdShapeType::CYLINDER)
+
+    enum VertexIdEncoding {
+        VERTEX_ID_ENCODING_IS_BASE_A_SHIFT = 7,
+        VERTEX_ID_ENCODING_SIN_SIGN_SHIFT = 6,
+        VERTEX_ID_ENCODING_COS_SIGN_SHIFT = 5,
+        VERTEX_ID_ENCODING_IS_SIN_LESSER_SHIFT = 4,
+        VERTEX_ID_ENCODING_VALUE_MASK = 0x0f
+    };
+
+    HK_FORCE_INLINE hkpCylinderShape() {}
+
+    hkpCylinderShape(const hkVector4& vertexA, const hkVector4& vertexB, hkReal cylinderRadius,
+                     hkReal paddingRadius = hkConvexShapeDefaultRadius);
+
+    explicit hkpCylinderShape(hkFinishLoadedObjectFlag flag);
+
+    void getSupportingVertex(hkVector4Parameter direction,
+                             hkcdVertex& supportingVertexOut) const override;
+    void convertVertexIdsToVertices(const hkpVertexId* ids, int numIds,
+                                    hkcdVertex* verticesOut) const override;
+    void getCentre(hkVector4& centreOut) const override;
+    HK_FORCE_INLINE int getNumCollisionSpheres() const override;
+    const hkSphere* getCollisionSpheres(hkSphere* sphereBuffer) const override;
+    void getAabb(const hkTransform& localToWorld, hkReal tolerance, hkAabb& out) const override;
+    hkBool castRay(const hkpShapeRayCastInput& input,
+                   hkpShapeRayCastOutput& results) const override;
+
+    inline const hkVector4* getVertices() const;
+
+    HK_FORCE_INLINE const hkVector4& getVertex(int i) const;
+    template <int I>
+    HK_FORCE_INLINE const hkVector4& getVertex() const;
+
+    HK_FORCE_INLINE void setVertex(int i, const hkVector4& position);
+    template <int I>
+    HK_FORCE_INLINE void setVertex(hkVector4Parameter position);
+
+    hkReal getCylinderRadius() const;
+    void setCylinderRadius(hkReal radius);
+
+    hkReal getCylinderBaseRadiusFactorForHeightfieldCollisions() {
+        return m_cylBaseRadiusFactorForHeightFieldCollisions;
+    }
+
+    inline void setCylinderBaseRadiusFactorForHeightfieldCollisions(hkReal radiusFactor) {
+        m_cylBaseRadiusFactorForHeightFieldCollisions = radiusFactor;
+    }
+
+    void presetPerpendicularVector();
+
+    static void setNumberOfVirtualSideSegments(int numSegments);
+
+    void getFirstVertex(hkVector4& v) const override;
+
+    HK_FORCE_INLINE static void initRoundUpThreshold();
+
+protected:
+    hkReal m_cylRadius;
+    hkReal m_cylBaseRadiusFactorForHeightFieldCollisions;
+    hkVector4 m_vertexA;
+    hkVector4 m_vertexB;
+    hkVector4 m_perpendicular1;
+    hkVector4 m_perpendicular2;
+
+private:
+    void decodeVertexId(hkpVertexId code, hkVector4& result) const;
+
+    static hkReal s_virtualTesselationParameter;
+    static hkReal s_virtualTesselationParameterInv;
+    static hkReal s_intRoundUpThreshold;
+};
+
+inline int hkpCylinderShape::getNumCollisionSpheres() const {
+    return 16 + 2;
+}
+
+inline const hkVector4* hkpCylinderShape::getVertices() const {
+    return &m_vertexA;
+}
+
+inline const hkVector4& hkpCylinderShape::getVertex(int i) const {
+    return getVertices()[i];
+}
+
+template <int I>
+inline const hkVector4& hkpCylinderShape::getVertex() const {
+    static_assert(I == 0 || I == 1, "invalid index");
+    return getVertices()[I];
+}
+
+inline void hkpCylinderShape::setVertex(int i, const hkVector4& position) {
+    (&m_vertexA)[i] = position;
+}
+
+template <int I>
+inline void hkpCylinderShape::setVertex(const hkVector4f& position) {
+    static_assert(I == 0 || I == 1, "invalid index");
+    (&m_vertexA)[I] = position;
+}
+
+inline void hkpCylinderShape::initRoundUpThreshold() {
+    if (s_intRoundUpThreshold < 0.0f) {
+        for (hkReal value = 0.0f; value < 1.1f; value += 0.01f) {
+            if (hkMath::hkToIntFast(value) != 0) {
+                s_intRoundUpThreshold = 1.0f - value;
+                return;
+            }
+        }
+        s_intRoundUpThreshold = 0.0f;
+    }
+}