Several changes to Shape class

PlayRho/Collision/Shapes/ChainShapeConf.cpp

@@ -43,11 +43,7 @@ namespace {
 #endif
 } // anonymous namespace
 
-ChainShapeConf::ChainShapeConf():
-    ShapeBuilder{ShapeConf{ShapeConf{}.UseVertexRadius(GetDefaultVertexRadius())}}
-{
-    // Intentionally empty.
-}
+ChainShapeConf::ChainShapeConf() = default;
 
 ChainShapeConf& ChainShapeConf::Set(std::vector<Length2> vertices)
 {
@@ -104,7 +100,6 @@ MassData ChainShapeConf::GetMassData() const noexcept
     const auto density = this->density;
     if (density > AreaDensity(0))
     {
-        const auto vertexRadius = this->vertexRadius;
         const auto vertexCount = GetVertexCount();
         if (vertexCount > 1)
         {
@@ -147,7 +142,6 @@ DistanceProxy ChainShapeConf::GetChild(ChildCounter index) const
     {
         throw InvalidArgument("index out of range");
     }
-    const auto vertexRadius = this->vertexRadius;
     const auto vertexCount = GetVertexCount();
     if (vertexCount > 1)
     {

PlayRho/Collision/Shapes/ChainShapeConf.hpp

@@ -51,7 +51,7 @@ class ChainShapeConf: public ShapeBuilder<ChainShapeConf>
     /// @brief Gets the default vertex radius.
     static PLAYRHO_CONSTEXPR inline NonNegative<Length> GetDefaultVertexRadius() noexcept
     {
-        return DefaultLinearSlop * 2;
+        return NonNegative<Length>{DefaultLinearSlop * Real{2}};
     }
 
     /// @brief Default constructor.
@@ -77,6 +77,9 @@ class ChainShapeConf: public ShapeBuilder<ChainShapeConf>
     /// @brief Gets the mass data.
     MassData GetMassData() const noexcept;
 
+    /// @brief Uses the given vertex radius.
+    inline ChainShapeConf& UseVertexRadius(NonNegative<Length> value) noexcept;
+
     /// @brief Gets the vertex count.
     ChildCounter GetVertexCount() const noexcept
     {
@@ -112,11 +115,30 @@ class ChainShapeConf: public ShapeBuilder<ChainShapeConf>
         return !(lhs == rhs);
     }
 
+    /// @brief Vertex radius.
+    ///
+    /// @details This is the radius from the vertex that the shape's "skin" should
+    ///   extend outward by. While any edges &mdash; line segments between multiple
+    ///   vertices &mdash; are straight, corners between them (the vertices) are
+    ///   rounded and treated as rounded. Shapes with larger vertex radiuses compared
+    ///   to edge lengths therefore will be more prone to rolling or having other
+    ///   shapes more prone to roll off of them.
+    ///
+    /// @note This should be a non-negative value.
+    ///
+    NonNegative<Length> vertexRadius = GetDefaultVertexRadius();
+
 private:
     std::vector<Length2> m_vertices; ///< Vertices.
     std::vector<UnitVec> m_normals; ///< Normals.
 };
 
+inline ChainShapeConf& ChainShapeConf::UseVertexRadius(NonNegative<Length> value) noexcept
+{
+    vertexRadius = value;
+    return *this;
+}
+
 // Free functions...
 
 /// @brief Gets the child count for a given chain shape configuration.
@@ -150,6 +172,18 @@ inline ChildCounter GetNextIndex(const ChainShapeConf& shape, ChildCounter index
     return GetModuloNext(index, shape.GetVertexCount());
 }
 
+/// @brief Gets the vertex radius of the given shape configuration.
+inline NonNegative<Length> GetVertexRadius(const ChainShapeConf& arg)
+{
+    return arg.vertexRadius;
+}
+
+/// @brief Gets the vertex radius of the given shape configuration.
+inline NonNegative<Length> GetVertexRadius(const ChainShapeConf& arg, ChildCounter)
+{
+    return GetVertexRadius(arg);
+}
+
 } // namespace d2
 } // namespace playrho
 

PlayRho/Collision/Shapes/DiskShapeConf.hpp

@@ -41,18 +41,15 @@ namespace d2 {
 struct DiskShapeConf: ShapeBuilder<DiskShapeConf>
 {
     /// @brief Gets the default radius.
-    static PLAYRHO_CONSTEXPR inline Length GetDefaultRadius() noexcept
+    static PLAYRHO_CONSTEXPR inline NonNegative<Length> GetDefaultRadius() noexcept
     {
-        return DefaultLinearSlop * 2;
+        return NonNegative<Length>{DefaultLinearSlop * 2};
     }
 
-    PLAYRHO_CONSTEXPR inline DiskShapeConf(): ShapeBuilder{ShapeConf{}.UseVertexRadius(GetDefaultRadius())}
-    {
-        // Intentionally empty.
-    }
+    PLAYRHO_CONSTEXPR DiskShapeConf() = default;
 
     /// @brief Initializing constructor.
-    PLAYRHO_CONSTEXPR inline DiskShapeConf(Length radius): ShapeBuilder{ShapeConf{}.UseVertexRadius(radius)}
+    PLAYRHO_CONSTEXPR inline DiskShapeConf(NonNegative<Length> r): vertexRadius{r}
     {
         // Intentionally empty.
     }
@@ -65,9 +62,9 @@ struct DiskShapeConf: ShapeBuilder<DiskShapeConf>
     }
 
     /// @brief Uses the given value as the radius.
-    PLAYRHO_CONSTEXPR inline DiskShapeConf& UseRadius(Length radius) noexcept
+    PLAYRHO_CONSTEXPR inline DiskShapeConf& UseRadius(NonNegative<Length> r) noexcept
     {
-        vertexRadius = radius;
+        vertexRadius = r;
         return *this;
     }
 
@@ -83,6 +80,19 @@ struct DiskShapeConf: ShapeBuilder<DiskShapeConf>
         return location;
     }
 
+    /// @brief Vertex radius.
+    ///
+    /// @details This is the radius from the vertex that the shape's "skin" should
+    ///   extend outward by. While any edges &mdash; line segments between multiple
+    ///   vertices &mdash; are straight, corners between them (the vertices) are
+    ///   rounded and treated as rounded. Shapes with larger vertex radiuses compared
+    ///   to edge lengths therefore will be more prone to rolling or having other
+    ///   shapes more prone to roll off of them.
+    ///
+    /// @note This should be a non-negative value.
+    ///
+    NonNegative<Length> vertexRadius = GetDefaultRadius();
+
     /// @brief Location for the disk shape to be centered at.
     Length2 location = Length2{};
 };
@@ -119,6 +129,19 @@ inline DistanceProxy GetChild(const DiskShapeConf& arg, ChildCounter index)
     return DistanceProxy{arg.vertexRadius, 1, &arg.location, nullptr};
 }
 
+/// @brief Gets the vertex radius of the given shape configuration.
+PLAYRHO_CONSTEXPR inline NonNegative<Length> GetVertexRadius(const DiskShapeConf& arg) noexcept
+{
+    return arg.vertexRadius;
+}
+
+/// @brief Gets the vertex radius of the given shape configuration.
+PLAYRHO_CONSTEXPR inline NonNegative<Length> GetVertexRadius(const DiskShapeConf& arg,
+                                                             ChildCounter) noexcept
+{
+    return GetVertexRadius(arg);
+}
+
 /// @brief Gets the mass data of the given disk shape configuration.
 inline MassData GetMassData(const DiskShapeConf& arg) noexcept
 {

PlayRho/Collision/Shapes/EdgeShapeConf.cpp

@@ -22,14 +22,8 @@
 namespace playrho {
 namespace d2 {
 
-EdgeShapeConf::EdgeShapeConf():
-    ShapeBuilder{ShapeConf{}.UseVertexRadius(GetDefaultVertexRadius())}
-{
-    // Intentionally empty.
-}
-
 EdgeShapeConf::EdgeShapeConf(Length2 vA, Length2 vB, const EdgeShapeConf& conf) noexcept:
-    ShapeBuilder{conf}, m_vertices{vA, vB}
+    ShapeBuilder{conf}, vertexRadius{conf.vertexRadius}, m_vertices{vA, vB}
 {
     const auto normal = GetUnitVector(GetFwdPerpendicular(vB - vA));
     m_normals[0] = normal;

PlayRho/Collision/Shapes/EdgeShapeConf.hpp

@@ -42,9 +42,9 @@ class EdgeShapeConf: public ShapeBuilder<EdgeShapeConf>
 {
 public:
     /// @brief Gets the default vertex radius.
-    static PLAYRHO_CONSTEXPR inline Length GetDefaultVertexRadius() noexcept
+    static PLAYRHO_CONSTEXPR inline NonNegative<Length> GetDefaultVertexRadius() noexcept
     {
-        return DefaultLinearSlop * Real{2};
+        return NonNegative<Length>{DefaultLinearSlop * Real{2}};
     }
 
     /// @brief Gets the default configuration.
@@ -53,14 +53,17 @@ class EdgeShapeConf: public ShapeBuilder<EdgeShapeConf>
         return EdgeShapeConf{};
     }
 
-    EdgeShapeConf();
+    EdgeShapeConf() = default;
 
     /// @brief Initializing constructor.
     EdgeShapeConf(Length2 vA, Length2 vB, const EdgeShapeConf& conf = GetDefaultConf()) noexcept;
 
     /// @brief Sets both vertices in one call.
     EdgeShapeConf& Set(Length2 vA, Length2 vB) noexcept;
 
+    /// @brief Uses the given vertex radius.
+    EdgeShapeConf& UseVertexRadius(NonNegative<Length> value) noexcept;
+
     /// @brief Gets vertex A.
     Length2 GetVertexA() const noexcept
     {
@@ -79,11 +82,30 @@ class EdgeShapeConf: public ShapeBuilder<EdgeShapeConf>
         return DistanceProxy{vertexRadius, 2, m_vertices, m_normals};
     }
 
+    /// @brief Vertex radius.
+    ///
+    /// @details This is the radius from the vertex that the shape's "skin" should
+    ///   extend outward by. While any edges &mdash; line segments between multiple
+    ///   vertices &mdash; are straight, corners between them (the vertices) are
+    ///   rounded and treated as rounded. Shapes with larger vertex radiuses compared
+    ///   to edge lengths therefore will be more prone to rolling or having other
+    ///   shapes more prone to roll off of them.
+    ///
+    /// @note This should be a non-negative value.
+    ///
+    NonNegative<Length> vertexRadius = GetDefaultVertexRadius();
+
 private:
     Length2 m_vertices[2] = {Length2{}, Length2{}}; ///< Vertices
     UnitVec m_normals[2] = {UnitVec{}, UnitVec{}}; ///< Normals.
 };
 
+inline EdgeShapeConf& EdgeShapeConf::UseVertexRadius(NonNegative<Length> value) noexcept
+{
+    vertexRadius = value;
+    return *this;
+}
+
 // Free functions...
 
 /// @brief Equality operator.
@@ -117,6 +139,18 @@ inline DistanceProxy GetChild(const EdgeShapeConf& arg, ChildCounter index)
     return arg.GetChild();
 }
 
+/// @brief Gets the vertex radius of the given shape configuration.
+inline NonNegative<Length> GetVertexRadius(const EdgeShapeConf& arg) noexcept
+{
+    return arg.vertexRadius;
+}
+
+/// @brief Gets the vertex radius of the given shape configuration.
+inline NonNegative<Length> GetVertexRadius(const EdgeShapeConf& arg, ChildCounter) noexcept
+{
+    return GetVertexRadius(arg);
+}
+
 /// @brief Gets the mass data for the given shape configuration.
 inline MassData GetMassData(const EdgeShapeConf& arg) noexcept
 {

PlayRho/Collision/Shapes/MultiShapeConf.cpp

@@ -34,13 +34,12 @@ MassData GetMassData(const MultiShapeConf& arg) noexcept
     const auto origin = Length2{};
     auto weightedCenter = origin * Kilogram;
     auto I = RotInertia(0);
-    const auto vertexRadius = arg.vertexRadius;
     const auto density = arg.density;
 
     std::for_each(std::begin(arg.children), std::end(arg.children),
                   [&](const ConvexHull& ch) {
-        const auto dp = ch.GetDistanceProxy(vertexRadius);
-        const auto md = playrho::d2::GetMassData(vertexRadius, density,
+        const auto dp = ch.GetDistanceProxy();
+        const auto md = playrho::d2::GetMassData(ch.GetVertexRadius(), density,
             Span<const Length2>(dp.GetVertices().begin(), dp.GetVertexCount()));
         mass += Mass{md.mass};
         weightedCenter += md.center * Mass{md.mass};
@@ -51,7 +50,7 @@ MassData GetMassData(const MultiShapeConf& arg) noexcept
     return MassData{center, mass, I};
 }
 
-ConvexHull ConvexHull::Get(const VertexSet& pointSet)
+ConvexHull ConvexHull::Get(const VertexSet& pointSet, NonNegative<Length> vertexRadius)
 {
     auto vertices = GetConvexHullAsVector(pointSet);
     assert(!vertices.empty() && vertices.size() < std::numeric_limits<VertexCounter>::max());
@@ -74,12 +73,13 @@ ConvexHull ConvexHull::Get(const VertexSet& pointSet)
         normals.push_back(UnitVec{});
     }
 
-    return ConvexHull{vertices, normals};
+    return ConvexHull{vertices, normals, vertexRadius};
 }
 
-MultiShapeConf& MultiShapeConf::AddConvexHull(const VertexSet& pointSet) noexcept
+MultiShapeConf& MultiShapeConf::AddConvexHull(const VertexSet& pointSet,
+                                              NonNegative<Length> vertexRadius) noexcept
 {
-    children.emplace_back(ConvexHull::Get(pointSet));
+    children.emplace_back(ConvexHull::Get(pointSet, vertexRadius));
     return *this;
 }