Jolt Physics
A multi core friendly Game Physics Engine
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CompoundShape.h
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1// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
2// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
3// SPDX-License-Identifier: MIT
4
5#pragma once
6
10
12
14class OrientedBox;
15
18{
20
21public:
24
26 void AddShape(Vec3Arg inPosition, QuatArg inRotation, const ShapeSettings *inShape, uint32 inUserData = 0);
27
29 void AddShape(Vec3Arg inPosition, QuatArg inRotation, const Shape *inShape, uint32 inUserData = 0);
30
32 {
34
36 RefConst<Shape> mShapePtr;
37 Vec3 mPosition;
38 Quat mRotation;
39
43 uint32 mUserData = 0;
44 };
45
47
48 SubShapes mSubShapes;
49};
50
53{
54public:
56
58 explicit CompoundShape(EShapeSubType inSubType) : Shape(EShapeType::Compound, inSubType) { }
59 CompoundShape(EShapeSubType inSubType, const ShapeSettings &inSettings, ShapeResult &outResult) : Shape(EShapeType::Compound, inSubType, inSettings, outResult) { }
60
61 // See Shape::GetCenterOfMass
62 virtual Vec3 GetCenterOfMass() const override { return mCenterOfMass; }
63
64 // See Shape::MustBeStatic
65 virtual bool MustBeStatic() const override;
66
67 // See Shape::GetLocalBounds
68 virtual AABox GetLocalBounds() const override { return mLocalBounds; }
69
70 // See Shape::GetSubShapeIDBitsRecursive
71 virtual uint GetSubShapeIDBitsRecursive() const override;
72
73 // See Shape::GetWorldSpaceBounds
74 virtual AABox GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
76
77 // See Shape::GetInnerRadius
78 virtual float GetInnerRadius() const override { return mInnerRadius; }
79
80 // See Shape::GetMassProperties
81 virtual MassProperties GetMassProperties() const override;
82
83 // See Shape::GetMaterial
84 virtual const PhysicsMaterial * GetMaterial(const SubShapeID &inSubShapeID) const override;
85
86 // See Shape::GetLeafShape
87 virtual const Shape * GetLeafShape(const SubShapeID &inSubShapeID, SubShapeID &outRemainder) const override;
88
89 // See Shape::GetSubShapeUserData
90 virtual uint64 GetSubShapeUserData(const SubShapeID &inSubShapeID) const override;
91
92 // See Shape::GetSubShapeTransformedShape
93 virtual TransformedShape GetSubShapeTransformedShape(const SubShapeID &inSubShapeID, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, SubShapeID &outRemainder) const override;
94
95 // See Shape::GetSurfaceNormal
96 virtual Vec3 GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override;
97
98 // See Shape::GetSupportingFace
99 virtual void GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override;
100
101 // See Shape::GetSubmergedVolume
102 virtual void GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) const override;
103
104#ifdef JPH_DEBUG_RENDERER
105 // See Shape::Draw
106 virtual void Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const override;
107
108 // See Shape::DrawGetSupportFunction
109 virtual void DrawGetSupportFunction(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inDrawSupportDirection) const override;
110
111 // See Shape::DrawGetSupportingFace
112 virtual void DrawGetSupportingFace(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
113#endif // JPH_DEBUG_RENDERER
114
115 // See: Shape::CollideSoftBodyVertices
116 virtual void CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const override;
117
118 // See Shape::TransformShape
119 virtual void TransformShape(Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const override;
120
121 // See Shape::GetTrianglesStart
122 virtual void GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override { JPH_ASSERT(false, "Cannot call on non-leaf shapes, use CollectTransformedShapes to collect the leaves first!"); }
123
124 // See Shape::GetTrianglesNext
125 virtual int GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override { JPH_ASSERT(false, "Cannot call on non-leaf shapes, use CollectTransformedShapes to collect the leaves first!"); return 0; }
126
132 virtual int GetIntersectingSubShapes(const AABox &inBox, uint *outSubShapeIndices, int inMaxSubShapeIndices) const = 0;
133
139 virtual int GetIntersectingSubShapes(const OrientedBox &inBox, uint *outSubShapeIndices, int inMaxSubShapeIndices) const = 0;
140
141 struct SubShape
142 {
148 {
149 if (inSettings.mShapePtr != nullptr)
150 {
151 // Use provided shape
152 mShape = inSettings.mShapePtr;
153 }
154 else
155 {
156 // Create child shape
157 ShapeResult child_result = inSettings.mShape->Create();
158 if (!child_result.IsValid())
159 {
160 outResult = child_result;
161 return false;
162 }
163 mShape = child_result.Get();
164 }
165
166 // Copy user data
167 mUserData = inSettings.mUserData;
168
169 SetTransform(inSettings.mPosition, inSettings.mRotation, Vec3::sZero() /* Center of mass not yet calculated */);
170 return true;
171 }
172
177 JPH_INLINE void SetTransform(Vec3Arg inPosition, QuatArg inRotation, Vec3Arg inCenterOfMass)
178 {
179 SetPositionCOM(inPosition - inCenterOfMass + inRotation * mShape->GetCenterOfMass());
180
181 mIsRotationIdentity = inRotation.IsClose(Quat::sIdentity()) || inRotation.IsClose(-Quat::sIdentity());
182 SetRotation(mIsRotationIdentity? Quat::sIdentity() : inRotation);
183 }
184
188 JPH_INLINE Mat44 GetLocalTransformNoScale(Vec3Arg inScale) const
189 {
190 JPH_ASSERT(IsValidScale(inScale));
191 return Mat44::sRotationTranslation(GetRotation(), inScale * GetPositionCOM());
192 }
193
195 inline bool IsValidScale(Vec3Arg inScale) const
196 {
197 // We can always handle uniform scale or identity rotations
198 if (mIsRotationIdentity || ScaleHelpers::IsUniformScale(inScale))
199 return true;
200
201 return ScaleHelpers::CanScaleBeRotated(GetRotation(), inScale);
202 }
203
205 inline Vec3 TransformScale(Vec3Arg inScale) const
206 {
207 // We don't need to transform uniform scale or if the rotation is identity
208 if (mIsRotationIdentity || ScaleHelpers::IsUniformScale(inScale))
209 return inScale;
210
211 return ScaleHelpers::RotateScale(GetRotation(), inScale);
212 }
213
215 JPH_INLINE void SetPositionCOM(Vec3Arg inPositionCOM)
216 {
217 inPositionCOM.StoreFloat3(&mPositionCOM);
218 }
219
221 JPH_INLINE Vec3 GetPositionCOM() const
222 {
223 return Vec3::sLoadFloat3Unsafe(mPositionCOM);
224 }
225
227 JPH_INLINE void SetRotation(QuatArg inRotation)
228 {
229 inRotation.StoreFloat3(&mRotation);
230 }
231
233 JPH_INLINE Quat GetRotation() const
234 {
235 return mIsRotationIdentity? Quat::sIdentity() : Quat::sLoadFloat3Unsafe(mRotation);
236 }
237
243 // 3 padding bytes left
244 };
245
246 static_assert(sizeof(SubShape) == (JPH_CPU_ADDRESS_BITS == 64? 40 : 36), "Compiler added unexpected padding");
247
249
251 const SubShapes & GetSubShapes() const { return mSubShapes; }
252
254 uint GetNumSubShapes() const { return uint(mSubShapes.size()); }
255
257 const SubShape & GetSubShape(uint inIdx) const { return mSubShapes[inIdx]; }
258
260 uint32 GetCompoundUserData(uint inIdx) const { return mSubShapes[inIdx].mUserData; }
261
263 void SetCompoundUserData(uint inIdx, uint32 inUserData) { mSubShapes[inIdx].mUserData = inUserData; }
264
268 inline bool IsSubShapeIDValid(SubShapeID inSubShapeID) const
269 {
270 SubShapeID remainder;
271 return inSubShapeID.PopID(GetSubShapeIDBits(), remainder) < mSubShapes.size();
272 }
273
278 inline uint32 GetSubShapeIndexFromID(SubShapeID inSubShapeID, SubShapeID &outRemainder) const
279 {
280 uint32 idx = inSubShapeID.PopID(GetSubShapeIDBits(), outRemainder);
281 JPH_ASSERT(idx < mSubShapes.size(), "Invalid SubShapeID");
282 return idx;
283 }
284
289 inline SubShapeIDCreator GetSubShapeIDFromIndex(int inIdx, const SubShapeIDCreator &inParentSubShapeID) const
290 {
291 return inParentSubShapeID.PushID(inIdx, GetSubShapeIDBits());
292 }
293
294 // See Shape
295 virtual void SaveBinaryState(StreamOut &inStream) const override;
296 virtual void SaveSubShapeState(ShapeList &outSubShapes) const override;
297 virtual void RestoreSubShapeState(const ShapeRefC *inSubShapes, uint inNumShapes) override;
298
299 // See Shape::GetStatsRecursive
300 virtual Stats GetStatsRecursive(VisitedShapes &ioVisitedShapes) const override;
301
302 // See Shape::GetVolume
303 virtual float GetVolume() const override;
304
305 // See Shape::IsValidScale
306 virtual bool IsValidScale(Vec3Arg inScale) const override;
307
308 // See Shape::MakeScaleValid
309 virtual Vec3 MakeScaleValid(Vec3Arg inScale) const override;
310
311 // Register shape functions with the registry
312 static void sRegister();
313
314protected:
315 // See: Shape::RestoreBinaryState
316 virtual void RestoreBinaryState(StreamIn &inStream) override;
317
318 // Visitors for collision detection
319 struct CastRayVisitor;
320 struct CastRayVisitorCollector;
321 struct CollidePointVisitor;
322 struct CastShapeVisitor;
323 struct CollectTransformedShapesVisitor;
324 struct CollideCompoundVsShapeVisitor;
325 struct CollideShapeVsCompoundVisitor;
326 template <class BoxType> struct GetIntersectingSubShapesVisitor;
327
329 inline uint GetSubShapeIDBits() const
330 {
331 // Ensure we have enough bits to encode our shape [0, n - 1]
332 uint32 n = uint32(mSubShapes.size()) - 1;
333 return 32 - CountLeadingZeros(n);
334 }
335
338 {
339 mInnerRadius = FLT_MAX;
340 for (const SubShape &s : mSubShapes)
341 mInnerRadius = min(mInnerRadius, s.mShape->GetInnerRadius());
342 }
343
344 Vec3 mCenterOfMass { Vec3::sZero() };
345 AABox mLocalBounds { Vec3::sZero(), Vec3::sZero() };
347 float mInnerRadius = FLT_MAX;
348
349private:
350 // Helper functions called by CollisionDispatch
351 static void sCastCompoundVsShape(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
352};
353
#define JPH_EXPORT
Definition Core.h:275
std::uint64_t uint64
Definition Core.h:490
unsigned int uint
Definition Core.h:486
#define JPH_NAMESPACE_END
Definition Core.h:418
std::uint32_t uint32
Definition Core.h:489
#define JPH_IF_DEBUG_RENDERER(...)
Definition Core.h:570
#define JPH_NAMESPACE_BEGIN
Definition Core.h:412
#define JPH_ASSERT(...)
Definition IssueReporting.h:33
uint CountLeadingZeros(uint32 inValue)
Compute the number of leading zero bits (how many high bits are zero)
Definition Math.h:134
#define JPH_OVERRIDE_NEW_DELETE
Macro to override the new and delete functions.
Definition Memory.h:31
#define JPH_DECLARE_SERIALIZABLE_ABSTRACT(linkage, class_name)
Definition SerializableObject.h:120
#define JPH_DECLARE_SERIALIZABLE_NON_VIRTUAL(linkage, class_name)
Definition SerializableObject.h:80
EShapeSubType
This enumerates all shape types, each shape can return its type through Shape::GetSubType.
Definition Shape.h:77
EShapeType
Shapes are categorized in groups, each shape can return which group it belongs to through its Shape::...
Definition Shape.h:57
@ Compound
Used by CompoundShape.
Axis aligned box.
Definition AABox.h:16
size_type size() const
Returns amount of elements in the array.
Definition Array.h:320
Settings to be passed with a collision query.
Definition CollideShape.h:94
Definition CollideSoftBodyVertexIterator.h:15
Virtual interface that allows collecting multiple collision results.
Definition CollisionCollector.h:45
Class that holds an RGBA color with 8-bits per component.
Definition Color.h:16
Base class for a compound shape.
Definition CompoundShape.h:53
virtual void GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override
Definition CompoundShape.h:122
const SubShapes & GetSubShapes() const
Access to the sub shapes of this compound.
Definition CompoundShape.h:251
virtual int GetIntersectingSubShapes(const OrientedBox &inBox, uint *outSubShapeIndices, int inMaxSubShapeIndices) const =0
uint GetSubShapeIDBits() const
Determine amount of bits needed to encode sub shape id.
Definition CompoundShape.h:329
bool IsSubShapeIDValid(SubShapeID inSubShapeID) const
Definition CompoundShape.h:268
uint32 GetCompoundUserData(uint inIdx) const
Get the user data associated with a shape in this compound.
Definition CompoundShape.h:260
SubShapeIDCreator GetSubShapeIDFromIndex(int inIdx, const SubShapeIDCreator &inParentSubShapeID) const
Convert a sub shape index to a sub shape ID.
Definition CompoundShape.h:289
JPH_OVERRIDE_NEW_DELETE CompoundShape(EShapeSubType inSubType)
Constructor.
Definition CompoundShape.h:58
uint32 GetSubShapeIndexFromID(SubShapeID inSubShapeID, SubShapeID &outRemainder) const
Definition CompoundShape.h:278
void SetCompoundUserData(uint inIdx, uint32 inUserData)
Set the user data associated with a shape in this compound.
Definition CompoundShape.h:263
virtual int GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials=nullptr) const override
Definition CompoundShape.h:125
void CalculateInnerRadius()
Determine the inner radius of this shape.
Definition CompoundShape.h:337
uint GetNumSubShapes() const
Get the total number of sub shapes.
Definition CompoundShape.h:254
virtual int GetIntersectingSubShapes(const AABox &inBox, uint *outSubShapeIndices, int inMaxSubShapeIndices) const =0
CompoundShape(EShapeSubType inSubType, const ShapeSettings &inSettings, ShapeResult &outResult)
Definition CompoundShape.h:59
SubShapes mSubShapes
Definition CompoundShape.h:346
virtual float GetInnerRadius() const override
Definition CompoundShape.h:78
virtual AABox GetLocalBounds() const override
Get local bounding box including convex radius, this box is centered around the center of mass rather...
Definition CompoundShape.h:68
virtual Vec3 GetCenterOfMass() const override
All shapes are centered around their center of mass. This function returns the center of mass positio...
Definition CompoundShape.h:62
const SubShape & GetSubShape(uint inIdx) const
Access to a particular sub shape.
Definition CompoundShape.h:257
Base class settings to construct a compound shape.
Definition CompoundShape.h:18
CompoundShapeSettings()=default
Constructor. Use AddShape to add the parts.
Definition DebugRenderer.h:47
Class that holds 3 floats. Used as a storage class. Convert to Vec3 for calculations.
Definition Float3.h:13
Describes the mass and inertia properties of a body. Used during body construction only.
Definition MassProperties.h:16
Holds a 4x4 matrix of floats, but supports also operations on the 3x3 upper left part of the matrix.
Definition Mat44.h:13
static JPH_INLINE Mat44 sRotationTranslation(QuatArg inR, Vec3Arg inT)
Get matrix that rotates and translates.
Definition Mat44.inl:149
Oriented box.
Definition OrientedBox.h:18
Definition PhysicsMaterial.h:23
An infinite plane described by the formula X . Normal + Constant = 0.
Definition Plane.h:11
Definition Quat.h:33
static JPH_INLINE Quat sLoadFloat3Unsafe(const Float3 &inV)
Load 3 floats from memory (X, Y and Z component and then calculates W) reads 32 bits extra which it d...
Definition Quat.inl:321
static JPH_INLINE Quat sIdentity()
Definition Quat.h:103
bool IsClose(QuatArg inRHS, float inMaxDistSq=1.0e-12f) const
If this quaternion is close to inRHS. Note that q and -q represent the same rotation,...
Definition Quat.h:56
JPH_INLINE void StoreFloat3(Float3 *outV) const
Store 3 as floats to memory (X, Y and Z component)
Definition Quat.inl:315
Definition Reference.h:163
bool IsValid() const
Checks if the result is valid.
Definition Result.h:134
const Type & Get() const
Get the result value.
Definition Result.h:137
Settings to be passed with a shape cast.
Definition ShapeCast.h:92
Filter class.
Definition ShapeFilter.h:17
Base class for all shapes (collision volume of a body). Defines a virtual interface for collision det...
Definition Shape.h:186
virtual AABox GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const
Definition Shape.h:222
Definition Shape.h:147
virtual ShapeResult Create() const =0
Create a shape according to the settings specified by this object.
Simple binary input stream.
Definition StreamIn.h:13
Simple binary output stream.
Definition StreamOut.h:13
Definition SubShapeID.h:108
SubShapeIDCreator PushID(uint inValue, uint inBits) const
Add a new id to the chain of id's and return it.
Definition SubShapeID.h:111
A sub shape id contains a path to an element (usually a triangle or other primitive type) of a compou...
Definition SubShapeID.h:23
Type PopID(uint inBits, SubShapeID &outRemainder) const
Get the next id in the chain of ids (pops parents before children)
Definition SubShapeID.h:42
Definition TransformedShape.h:26
Definition Vec3.h:17
JPH_INLINE void StoreFloat3(Float3 *outV) const
Store 3 floats to memory.
Definition Vec3.inl:772
static JPH_INLINE Vec3 sZero()
Vector with all zeros.
Definition Vec3.inl:103
static JPH_INLINE Vec3 sLoadFloat3Unsafe(const Float3 &inV)
Load 3 floats from memory (reads 32 bits extra which it doesn't use)
Definition Vec3.inl:135
bool CanScaleBeRotated(QuatArg inRotation, Vec3Arg inScale)
Definition ScaleHelpers.h:51
Vec3 RotateScale(QuatArg inRotation, Vec3Arg inScale)
Definition ScaleHelpers.h:75
bool IsUniformScale(Vec3Arg inScale)
Test if a scale is uniform.
Definition ScaleHelpers.h:24
Definition CompoundShape.h:142
JPH_INLINE Quat GetRotation() const
Uncompress the rotation.
Definition CompoundShape.h:233
Float3 mPositionCOM
Note: Position of center of mass of sub shape!
Definition CompoundShape.h:239
JPH_INLINE Mat44 GetLocalTransformNoScale(Vec3Arg inScale) const
Definition CompoundShape.h:188
bool mIsRotationIdentity
If mRotation is close to identity (put here because it falls in padding bytes)
Definition CompoundShape.h:242
bool FromSettings(const CompoundShapeSettings::SubShapeSettings &inSettings, ShapeResult &outResult)
Definition CompoundShape.h:147
bool IsValidScale(Vec3Arg inScale) const
Test if inScale is valid for this sub shape.
Definition CompoundShape.h:195
JPH_INLINE void SetTransform(Vec3Arg inPosition, QuatArg inRotation, Vec3Arg inCenterOfMass)
Definition CompoundShape.h:177
Float3 mRotation
Note: X, Y, Z of rotation quaternion - note we read 4 bytes beyond this so make sure there's somethin...
Definition CompoundShape.h:240
uint32 mUserData
User data value (put here because it falls in padding bytes)
Definition CompoundShape.h:241
Vec3 TransformScale(Vec3Arg inScale) const
Transform the scale to the local space of the child shape.
Definition CompoundShape.h:205
JPH_INLINE Vec3 GetPositionCOM() const
Uncompress the center of mass position.
Definition CompoundShape.h:221
JPH_INLINE void SetPositionCOM(Vec3Arg inPositionCOM)
Compress the center of mass position.
Definition CompoundShape.h:215
JPH_INLINE void SetRotation(QuatArg inRotation)
Compress the rotation.
Definition CompoundShape.h:227
RefConst< Shape > mShape
Definition CompoundShape.h:238
Definition CompoundShape.h:32
uint32 mUserData
Definition CompoundShape.h:43
Quat mRotation
Rotation of the sub shape.
Definition CompoundShape.h:38
RefConst< ShapeSettings > mShape
Sub shape (either this or mShapePtr needs to be filled up)
Definition CompoundShape.h:35
Vec3 mPosition
Position of the sub shape.
Definition CompoundShape.h:37
RefConst< Shape > mShapePtr
Sub shape (either this or mShape needs to be filled up)
Definition CompoundShape.h:36
An opaque buffer that holds shape specific information during GetTrianglesStart/Next.
Definition Shape.h:348
Definition ShapeCast.h:69