Program Listing for File CoalScenePart.h

↰ Return to documentation for file (include/Karana/CoalScene/CoalScenePart.h)

/*
 * Copyright (c) 2024-2026 Karana Dynamics Pty Ltd. All rights reserved.
 *
 * NOTICE TO USER:
 *
 * This source code and/or documentation (the "Licensed Materials") is
 * the confidential and proprietary information of Karana Dynamics Inc.
 * Use of these Licensed Materials is governed by the terms and conditions
 * of a separate software license agreement between Karana Dynamics and the
 * Licensee ("License Agreement"). Unless expressly permitted under that
 * agreement, any reproduction, modification, distribution, or disclosure
 * of the Licensed Materials, in whole or in part, to any third party
 * without the prior written consent of Karana Dynamics is strictly prohibited.
 *
 * THE LICENSED MATERIALS ARE PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND.
 * KARANA DYNAMICS DISCLAIMS ALL WARRANTIES, EXPRESS OR IMPLIED, INCLUDING
 * BUT NOT LIMITED TO WARRANTIES OF MERCHANTABILITY, NON-INFRINGEMENT, AND
 * FITNESS FOR A PARTICULAR PURPOSE.
 *
 * IN NO EVENT SHALL KARANA DYNAMICS BE LIABLE FOR ANY DAMAGES WHATSOEVER,
 * INCLUDING BUT NOT LIMITED TO LOSS OF PROFITS, DATA, OR USE, EVEN IF
 * ADVISED OF THE POSSIBILITY OF SUCH DAMAGES, WHETHER IN CONTRACT, TORT,
 * OR OTHERWISE ARISING OUT OF OR IN CONNECTION WITH THE LICENSED MATERIALS.
 *
 * U.S. Government End Users: The Licensed Materials are a "commercial item"
 * as defined at 48 C.F.R. 2.101, and are provided to the U.S. Government
 * only as a commercial end item under the terms of this license.
 *
 * Any use of the Licensed Materials in individual or commercial software must
 * include, in the user documentation and internal source code comments,
 * this Notice, Disclaimer, and U.S. Government Use Provision.
 */

/**
 * @file
 * @brief Contains the declarations for the CoalScenePart class.
 */

#pragma once
#include "Karana/CoalScene/CoalSceneNode.h"
#include "Karana/KCore/SharedPointer.h"
#include "Karana/KCore/SideEffect.h"
#include "Karana/Scene/CollisionInfo.h"
#include "Karana/Scene/CollisionScenePart.h"
#include "Karana/Scene/Material.h"
#include "Karana/Scene/StaticGeometry.h"

namespace coal {
    class CollisionObject; // forward declaration. Full class included in the cc file.
    class Halfspace;
} // namespace coal

namespace Karana::Scene {
    class CoalGeometryCache;

    /**
     * @class CoalScenePart
     * @brief CollisionScenePart implementation for CoalScene
     *
     * See \sref{scene_layer_sec} for more discussion on
     * the scene layer.
     */
    class CoalScenePart : public CoalSceneNode, public CollisionScenePart {
      public:
        /**
         * @brief CoalScenePart constructor.
         * @param name - Name of the CoalScenePart.
         * @param scene - CoalScene to add the part to.
         * @param geometry - Geometry of the CoalScenePart.
         * @param material - Material for the CoalScenePart.
         * @param layers - Layers to use for the CoalScenePart.
         * @param geometry_cache - Scene-owned cache used to construct the initial native geometry.
         */
        CoalScenePart(std::string_view name,
                      const kc::ks_ptr<Scene> &scene,
                      const VarStaticGeometry &geometry,
                      const VarMaterial &material,
                      layer_t layers,
                      const CoalGeometryCache &geometry_cache);

        /**
         * @brief Destructor.
         */
        ~CoalScenePart();

        /**
         * @brief Create a CoalScenePart.
         * @param name - Name of the CoalScenePart.
         * @param scene - The GraphicalScene to add the CoalScenePart to.
         * @param geometry - Geometry of the CoalScenePart.
         * @param material - Material for the CoalScenePart.
         * @param layers - Layers to use for the CoalScenePart.
         * @return The new CoalScene part.
         */
        static kc::ks_ptr<CoalScenePart> create(std::string_view name,
                                                const kc::ks_ptr<CoalScene> &scene,
                                                const VarStaticGeometry &geometry,
                                                const VarMaterial &material = defaultMaterial(),
                                                layer_t layers = LAYER_PHYSICAL);

        const CollisionInfo &
        collide(const CollisionScenePart &other,
                CollisionInfo &result = CollisionInfo::singleton()) const override;

        const DistanceInfo &
        distance(const CollisionScenePart &other,
                 DistanceInfo &result = DistanceInfo::singleton()) const override;

        /**
         * @brief Set the intrinsic geometry scale supported by CoalScene.
         * @param scale Positive uniform intrinsic scale.
         * @throws std::invalid_argument if the scale is non-positive, non-finite,
         * or nonuniform.
         */
        void setIntrinsicScale(const Karana::Math::Vec3 &scale) override;

      private:
        void _syncTransform();

        /// The maximum number of contacts that can be returned in a single query.
        /// Passed through directly to coal backend
        size_t _num_max_contacts;

        /// Tolerance shared by the GJK and EPA narrowphase solvers.
        double _gjk_epa_tolerance;

        /// Whether to refine each raw COAL contact to its patch centroid.
        bool _use_contact_patch_refinement;

        /// Thickness of the separating-plane support sets used to build patches.
        double _contact_patch_tolerance;

        /// Native geometry classification, unchanged by pose or uniform scale updates.
        bool _is_heightfield = false;

        /// Scene-selected switch for togglinh local plane approximation on heightfields.
        bool _use_local_plane_approximation = false;

        /// Scaling factor for the bounding ellipsoid used to fit a plane to the local terrain.
        /// A value of 1 wraps an ellipsoid around the collider's AABB. Must be positive and finite.
        double _local_plane_approximation_support = 1.0;

        // For access to collision object and _transform_sync
        friend class CoalScene;
        Karana::Math::UnitQuaternion _primitive_quat_correction;

        /// Translation from the ScenePart origin to the centered Coal geometry origin,
        /// expressed in the ScenePart's local frame. Only used for height fields.
        Karana::Math::Vec3 _coal_origin_offset;

        /// Effective scale currently baked into _collision_object's geometry.
        double _effective_scale;

        /// Holds the halfspace data structures for the local plane approximation.
        std::shared_ptr<coal::Halfspace> _local_plane_approximation_halfspace;

        /// Collision object wrapper for local plane approximation. We allocate this once and set
        /// its transform every collide() call, rather than reallocating on-the-fly in the hot loop.
        std::unique_ptr<coal::CollisionObject> _local_plane_approximation_plane;

        mutable std::unique_ptr<coal::CollisionObject> _collision_object;
        Karana::Core::ks_ptr<Karana::Core::SideEffect> _transform_sync;
    };
} // namespace Karana::Scene