ksys/phys: Implement `SphereShape` and `SphereRigidBody` (#92)

2 files changed, 70 insertions, 0 deletions

diff --git a/lib/hkStubs/CMakeLists.txt b/lib/hkStubs/CMakeLists.txt
index b1303f0a..44473760 100644
--- a/lib/hkStubs/CMakeLists.txt
+++ b/lib/hkStubs/CMakeLists.txt
@@ -150,6 +150,7 @@ 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/ConvexTranslate/hkpConvexTranslateShape.h
   Havok/Physics2012/Collide/Shape/Convex/ConvexVertices/hkpConvexVerticesShape.h
   Havok/Physics2012/Collide/Shape/Convex/Cylinder/hkpCylinderShape.h
   Havok/Physics2012/Collide/Shape/Convex/Sphere/hkpSphereShape.h
diff --git a/lib/hkStubs/Havok/Physics2012/Collide/Shape/Convex/ConvexTranslate/hkpConvexTranslateShape.h b/lib/hkStubs/Havok/Physics2012/Collide/Shape/Convex/ConvexTranslate/hkpConvexTranslateShape.h
new file mode 100644
index 00000000..07f70c63
--- /dev/null
+++ b/lib/hkStubs/Havok/Physics2012/Collide/Shape/Convex/ConvexTranslate/hkpConvexTranslateShape.h
@@ -0,0 +1,69 @@
+#pragma once
+
+#include <Havok/Physics2012/Collide/Shape/Convex/hkpConvexShape.h>
+
+class hkpConvexTranslateShape : public hkpConvexTransformShapeBase {
+public:
+    HK_DECLARE_CLASS_ALLOCATOR(hkpConvexTranslateShape)
+    HK_DECLARE_REFLECTION()
+    HKCD_DECLARE_SHAPE_TYPE(hkcdShapeType::CONVEX_TRANSLATE)
+
+    HK_FORCE_INLINE hkpConvexTranslateShape() {}
+    HK_FORCE_INLINE hkpConvexTranslateShape(
+        const hkpConvexShape* childShape, const hkVector4& translation,
+        hkpShapeContainer::ReferencePolicy ref = hkpShapeContainer::REFERENCE_POLICY_INCREMENT);
+
+    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;
+    void castRayWithCollector(const hkpShapeRayCastInput& input, const hkpCdBody& cdBody,
+                              hkpRayHitCollector& collector) const override;
+    void getFirstVertex(hkVector4& v) const override;
+    hkReal getMaximumProjection(const hkVector4& direction) const override;
+    const hkpShapeContainer* getContainer() const override;
+    int calcSizeForSpu(const CalcSizeForSpuInput& input, int spuBufferSizeLeft) const override;
+
+    inline const hkpConvexShape* getChildShape() const;
+    inline hkVector4& getTranslation();
+    inline const hkVector4& getTranslation() const;
+
+    hkpConvexTranslateShape(class hkFinishLoadedObjectFlag flag);
+
+protected:
+    hkVector4 m_translation;
+};
+
+HK_FORCE_INLINE
+hkpConvexTranslateShape::hkpConvexTranslateShape(const hkpConvexShape* childShape,
+                                                 const hkVector4& translation,
+                                                 hkpShapeContainer::ReferencePolicy ref)
+    : hkpConvexTransformShapeBase(HKCD_SHAPE_TYPE_FROM_CLASS(hkpConvexTranslateShape),
+                                  childShape->getRadius(), childShape, ref) {
+    hkVector4 t = translation;
+    t.setW(0);
+    m_translation = t;
+    m_childShapeSizeForSpu = 0;
+}
+
+inline const hkpConvexShape* hkpConvexTranslateShape::getChildShape() const {
+    return static_cast<const hkpConvexShape*>(m_childShape.getChild());
+}
+
+inline const hkVector4& hkpConvexTranslateShape::getTranslation() const {
+    return m_translation;
+}
+
+inline hkVector4& hkpConvexTranslateShape::getTranslation() {
+    return m_translation;
+}
+
+HK_FORCE_INLINE int hkpConvexTranslateShape::getNumCollisionSpheres() const {
+    return getChildShape()->getNumCollisionSpheres();
+}
\ No newline at end of file