Havok: Fix hkpCapsuleShape class layout

lib/hkStubs/Havok/Geometry/Collide/Shapes/hkcdShape.h

@@ -91,6 +91,9 @@ public:
 
     explicit hkcdShape(hkFinishLoadedObjectFlag flag);
 
+    HK_FORCE_INLINE hkcdShape::ShapeType getType() const { return m_type; }
+    HK_FORCE_INLINE void setType(ShapeType newType) { m_type = newType; }
+
     hkEnum<ShapeType, hkUint8> m_type;
     hkEnum<DispatchType, hkUint8> m_dispatchType;
     hkUint8 m_bitsPerKey;

lib/hkStubs/Havok/Physics2012/Collide/Shape/Convex/Capsule/hkpCapsuleShape.h

@@ -1,10 +1,59 @@
 #pragma once
 
 #include <Havok/Common/Base/hkBase.h>
-#include <Havok/Physics2012/Collide/Shape/hkpShape.h>
+#include <Havok/Physics2012/Collide/Shape/Convex/hkpConvexShape.h>
 
-class hkpCapsuleShape : public hkpShape {
+class hkpCapsuleShape : public hkpConvexShape {
 public:
+    HK_DECLARE_CLASS_ALLOCATOR(hkpCapsuleShape)
+    HKCD_DECLARE_SHAPE_TYPE(hkcdShapeType::CAPSULE)
+
+    enum RayHitType {
+        HIT_CAP0,
+        HIT_CAP1,
+        HIT_BODY,
+    };
+
+    hkpCapsuleShape() = default;
     hkpCapsuleShape(const hkVector4& vertexA, const hkVector4& vertexB, hkReal radius);
+    explicit hkpCapsuleShape(hkFinishLoadedObjectFlag flag);
     virtual ~hkpCapsuleShape();
+
+    HK_FORCE_INLINE void getSupportingVertex(hkVector4Parameter direction,
+                                             hkcdVertex& supportingVertexOut) const override;
+
+    HK_FORCE_INLINE void convertVertexIdsToVertices(const hkpVertexId* ids, int numIds,
+                                                    hkcdVertex* verticesOut) const override;
+
+    HK_FORCE_INLINE 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);
+
+    void getFirstVertex(hkVector4& v) const override;
+
+    static void closestPointLineSeg(const hkVector4& A, const hkVector4& B, const hkVector4& B2,
+                                    hkVector4& pt);
+    static void closestInfLineSegInfLineSeg(const hkVector4& A, const hkVector4& dA,
+                                            const hkVector4& B, const hkVector4& dB,
+                                            hkReal& distSquared, hkReal& t, hkReal& u, hkVector4& p,
+                                            hkVector4& q);
+
+protected:
+    // The line's first point.
+    hkVector4 m_vertexA;
+    // The line's second point.
+    hkVector4 m_vertexB;
 };

lib/hkStubs/Havok/Physics2012/Collide/Shape/Convex/hkpConvexShape.h

@@ -1,6 +1,58 @@
 #pragma once
 
+#include <Havok/Common/Base/hkBase.h>
+#include <Havok/Physics2012/Collide/Shape/HeightField/hkpSphereRepShape.h>
 #include <Havok/Physics2012/Collide/Shape/hkpShape.h>
 
-// TODO
-class hkpConvexShape {};
+class hkpConvexShape : public hkpSphereRepShape {
+public:
+    HK_DECLARE_CLASS_ALLOCATOR(hkpConvexShape)
+    HKCD_DECLARE_SHAPE_TYPE(hkcdShapeType::CONVEX)
+
+    using VertexId = hkpVertexId;
+
+    enum WeldResult {
+        WELD_RESULT_REJECT_CONTACT_POINT,
+        WELD_RESULT_ACCEPT_CONTACT_POINT_MODIFIED,
+        WELD_RESULT_ACCEPT_CONTACT_POINT_UNMODIFIED
+    };
+
+    HK_FORCE_INLINE hkpConvexShape() = default;
+    hkpConvexShape(hkFinishLoadedObjectFlag flag);
+
+    void getCentre(hkVector4& centreOut) const override;
+    int weldContactPoint(hkpVertexId* featurePoints, hkUint8& numFeaturePoints,
+                         hkVector4& contactPointWs, const hkTransform* thisObjTransform,
+                         const hkpConvexShape* collidingShape,
+                         const hkTransform* collidingTransform,
+                         hkVector4& separatingNormalInOut) const override;
+    void castRayWithCollector(const hkpShapeRayCastInput& input, const hkpCdBody& cdBody,
+                              hkpRayHitCollector& collector) const override;
+    virtual void getFirstVertex(hkVector4& v) const = 0;
+    bool isConvex() const override { return true; }
+    hkReal getMaximumProjection(const hkVector4& direction) const override;
+    virtual int getSize() const { return 0; }
+
+    inline const hkReal& getRadius() const;
+    inline void setRadius(hkReal radius);
+    inline void setRadiusUnchecked(hkReal radius);
+
+protected:
+    inline hkpConvexShape(ShapeType type, hkReal radius) : hkpSphereRepShape(type) {
+        m_radius = radius;
+    }
+
+    hkReal m_radius;
+};
+
+inline const hkReal& hkpConvexShape::getRadius() const {
+    return m_radius;
+}
+
+inline void hkpConvexShape::setRadius(hkReal radius) {
+    setRadiusUnchecked(radius);
+}
+
+inline void hkpConvexShape::setRadiusUnchecked(hkReal radius) {
+    m_radius = radius;
+}

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

@@ -1,6 +1,16 @@
 #pragma once
 
+#include <Havok/Common/Base/hkBase.h>
 #include <Havok/Physics2012/Collide/Shape/hkpShape.h>
 
-// TODO
-class hkpSphereRepShape {};
+class hkpSphereRepShape : public hkpShape {
+public:
+    HK_DECLARE_CLASS_ALLOCATOR(hkpSphereRepShape)
+    HKCD_DECLARE_SHAPE_TYPE(hkcdShapeType::SPHERE_REP)
+
+    HK_FORCE_INLINE hkpSphereRepShape() = default;
+    explicit hkpSphereRepShape(ShapeType type) : hkpShape(type) {}
+    explicit hkpSphereRepShape(hkFinishLoadedObjectFlag flag) : hkpShape(flag) {
+        setType(HKCD_SHAPE_TYPE_FROM_CLASS(hkpSphereRepShape));
+    }
+};