CollideShapeVsShapePerLeaf.h

Go to the documentation of this file.

// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2025 Jorrit Rouwe
// SPDX-License-Identifier: MIT
 
#pragma once
 
#include <Jolt/Physics/Collision/CollideShape.h>
#include <Jolt/Physics/Collision/CollisionDispatch.h>
#include <Jolt/Physics/Collision/TransformedShape.h>
#include <Jolt/Core/STLLocalAllocator.h>
 
JPH_NAMESPACE_BEGIN
 
template <class LeafCollector>
void CollideShapeVsShapePerLeaf(const Shape *inShape1, const Shape *inShape2, Vec3Arg inScale1, Vec3Arg inScale2, Mat44Arg inCenterOfMassTransform1, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector, const ShapeFilter &inShapeFilter = { })
{
    // Tracks information we need about a leaf shape
    struct LeafShape
    {
                            LeafShape() = default;
 
                            LeafShape(const AABox &inBounds, Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Shape *inShape, const SubShapeIDCreator &inSubShapeIDCreator) :
            mBounds(inBounds),
            mCenterOfMassTransform(inCenterOfMassTransform),
            mScale(inScale),
            mShape(inShape),
            mSubShapeIDCreator(inSubShapeIDCreator)
        {
        }
 
        AABox               mBounds;
        Mat44               mCenterOfMassTransform;
        Vec3                mScale;
        const Shape *       mShape;
        SubShapeIDCreator   mSubShapeIDCreator;
    };
 
    constexpr uint cMaxLocalLeafShapes = 32;
 
    // A collector that stores the information we need from a leaf shape in an array that is usually on the stack but can fall back to the heap if needed
    class MyCollector : public TransformedShapeCollector
    {
    public:
                            MyCollector()
        {
            mHits.reserve(cMaxLocalLeafShapes);
        }
 
        void                AddHit(const TransformedShape &inShape) override
        {
            mHits.emplace_back(inShape.GetWorldSpaceBounds(), inShape.GetCenterOfMassTransform().ToMat44(), inShape.GetShapeScale(), inShape.mShape, inShape.mSubShapeIDCreator);
        }
 
        Array<LeafShape, STLLocalAllocator<LeafShape, cMaxLocalLeafShapes>> mHits;
    };
 
    // Get bounds of both shapes
    AABox bounds1 = inShape1->GetWorldSpaceBounds(inCenterOfMassTransform1, inScale1);
    AABox bounds2 = inShape2->GetWorldSpaceBounds(inCenterOfMassTransform2, inScale2);
 
    // Get leaf shapes that overlap with the bounds of the other shape
    MyCollector leaf_shapes1, leaf_shapes2;
    inShape1->CollectTransformedShapes(bounds2, inCenterOfMassTransform1.GetTranslation(), inCenterOfMassTransform1.GetQuaternion(), inScale1, inSubShapeIDCreator1, leaf_shapes1, inShapeFilter);
    inShape2->CollectTransformedShapes(bounds1, inCenterOfMassTransform2.GetTranslation(), inCenterOfMassTransform2.GetQuaternion(), inScale2, inSubShapeIDCreator2, leaf_shapes2, inShapeFilter);
 
    // Now test each leaf shape against each other leaf
    for (const LeafShape &leaf1 : leaf_shapes1.mHits)
        for (const LeafShape &leaf2 : leaf_shapes2.mHits)
            if (leaf1.mBounds.Overlaps(leaf2.mBounds))
            {
                // Use the leaf collector to collect max 1 hit for this pair and pass it on to ioCollector
                LeafCollector collector;
                CollisionDispatch::sCollideShapeVsShape(leaf1.mShape, leaf2.mShape, leaf1.mScale, leaf2.mScale, leaf1.mCenterOfMassTransform, leaf2.mCenterOfMassTransform, leaf1.mSubShapeIDCreator, leaf2.mSubShapeIDCreator, inCollideShapeSettings, collector, inShapeFilter);
                if (collector.HadHit())
                    ioCollector.AddHit(collector.mHit);
            }
}
 
JPH_NAMESPACE_END