Havok: Add hkpPlaneShape

lib/hkStubs/CMakeLists.txt

@@ -115,7 +115,9 @@ 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/HeightField/hkpHeightFieldShape.h
   Havok/Physics2012/Collide/Shape/HeightField/hkpSphereRepShape.h
+  Havok/Physics2012/Collide/Shape/HeightField/Plane/hkpPlaneShape.h
   Havok/Physics2012/Collide/Shape/Query/hkpRayShapeCollectionFilter.h
   Havok/Physics2012/Collide/Shape/Query/hkpShapeRayCastInput.h
   Havok/Physics2012/Collide/Util/Welding/hkpWeldingUtility.h

lib/hkStubs/Havok/Physics2012/Collide/Shape/HeightField/Plane/hkpPlaneShape.h

@@ -0,0 +1,36 @@
+#pragma once
+
+#include <Havok/Physics2012/Collide/Shape/HeightField/hkpHeightFieldShape.h>
+
+class hkpPlaneShape : public hkpHeightFieldShape {
+public:
+    HK_DECLARE_CLASS_ALLOCATOR(hkpPlaneShape)
+    HK_DECLARE_REFLECTION()
+    HKCD_DECLARE_SHAPE_TYPE(hkcdShapeType::PLANE)
+
+    hkpPlaneShape(const hkVector4& plane, const hkAabb& aabb);
+
+    hkpPlaneShape(const hkVector4& direction, const hkVector4& center,
+                  const hkVector4& halfExtents);
+
+    explicit hkpPlaneShape(hkFinishLoadedObjectFlag flag);
+
+    const hkVector4& getPlane() const { return m_plane; }
+    const hkVector4& getAabbCenter() const { return m_aabbCenter; }
+    const hkVector4& getAabbHalfExtents() const { return m_aabbHalfExtents; }
+
+    void getAabb(const hkTransform& localToWorld, hkReal tolerance, hkAabb& out) const override;
+    hkBool castRay(const hkpShapeRayCastInput& input,
+                   hkpShapeRayCastOutput& results) const override;
+    void castRayWithCollector(const hkpShapeRayCastInput& input, const hkpCdBody& cdBody,
+                              hkpRayHitCollector& collector) const override;
+    void castSphere(const hkpSphereCastInput& input, const hkpCdBody& cdBody,
+                    hkpRayHitCollector& collector) const override;
+    void collideSpheres(const CollideSpheresInput& input,
+                        SphereCollisionOutput* outputArray) const override;
+
+protected:
+    hkVector4 m_plane;
+    hkVector4 m_aabbCenter;
+    hkVector4 m_aabbHalfExtents;
+};

lib/hkStubs/Havok/Physics2012/Collide/Shape/HeightField/hkpHeightFieldShape.h

@@ -0,0 +1,40 @@
+#pragma once
+
+#include <Havok/Common/Base/hkBase.h>
+#include <Havok/Physics2012/Collide/Shape/Query/hkpShapeRayCastInput.h>
+#include <Havok/Physics2012/Collide/Shape/hkpShape.h>
+
+class hkpHeightFieldShape : public hkpShape {
+public:
+    HK_DECLARE_CLASS_ALLOCATOR(hkpHeightFieldShape)
+    HK_DECLARE_REFLECTION()
+    HKCD_DECLARE_SHAPE_TYPE(hkcdShapeType::HEIGHT_FIELD);
+
+    struct CollideSpheresInput {
+        HK_DECLARE_CLASS_ALLOCATOR(CollideSpheresInput)
+
+        hkSphere* m_spheres;
+        int m_numSpheres;
+        hkReal m_tolerance;
+    };
+
+    using SphereCollisionOutput = hkVector4;
+
+    struct hkpSphereCastInput : public hkpShapeRayCastInput {
+        HK_DECLARE_CLASS_ALLOCATOR(hkpSphereCastInput)
+
+        hkReal m_radius;
+        hkReal m_maxExtraPenetration;
+    };
+
+    explicit hkpHeightFieldShape(ShapeType type) : hkpShape(type) {}
+
+    explicit hkpHeightFieldShape(hkFinishLoadedObjectFlag flag) : hkpShape(flag) {
+        setType(HKCD_SHAPE_TYPE_FROM_CLASS(hkpHeightFieldShape));
+    }
+
+    virtual void collideSpheres(const CollideSpheresInput& input,
+                                SphereCollisionOutput* outputArray) const = 0;
+    virtual void castSphere(const hkpSphereCastInput& input, const hkpCdBody& cdBody,
+                            hkpRayHitCollector& collector) const = 0;
+};