Jolt Physics
A multi core friendly Game Physics Engine
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HeightFieldShape.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
9#ifdef JPH_DEBUG_RENDERER
11#endif // JPH_DEBUG_RENDERER
12
14
15class ConvexShape;
17class TempAllocator;
18
21{
23 constexpr float cNoCollisionValue = FLT_MAX;
24
26 constexpr int cStackSize = 128;
27
29 constexpr uint cNumBitsXY = 14;
30 constexpr uint cMaskBitsXY = (1 << cNumBitsXY) - 1;
31 constexpr uint cLevelShift = 2 * cNumBitsXY;
32
34 constexpr uint16 cNoCollisionValue16 = 0xffff;
35 constexpr uint16 cMaxHeightValue16 = 0xfffe;
36};
37
40{
42
43public:
46
53 HeightFieldShapeSettings(const float *inSamples, Vec3Arg inOffset, Vec3Arg inScale, uint32 inSampleCount, const uint8 *inMaterialIndices = nullptr, const PhysicsMaterialList &inMaterialList = PhysicsMaterialList());
54
55 // See: ShapeSettings
56 virtual ShapeResult Create() const override;
57
62 void DetermineMinAndMaxSample(float &outMinValue, float &outMaxValue, float &outQuantizationScale) const;
63
67 uint32 CalculateBitsPerSampleForError(float inMaxError) const;
68
71 Vec3 mOffset = Vec3::sZero();
72 Vec3 mScale = Vec3::sReplicate(1.0f);
73 uint32 mSampleCount = 0;
74
76 float mMinHeightValue = cLargeFloat;
77
79 float mMaxHeightValue = -cLargeFloat;
80
83 uint32 mMaterialsCapacity = 0;
84
88 uint32 mBlockSize = 2;
89
93 uint32 mBitsPerSample = 8;
94
97
100
103
107 float mActiveEdgeCosThresholdAngle = 0.996195f; // cos(5 degrees)
108};
109
116{
117public:
119
122 HeightFieldShape(const HeightFieldShapeSettings &inSettings, ShapeResult &outResult);
123 virtual ~HeightFieldShape() override;
124
126 Ref<HeightFieldShape> Clone() const;
127
128 // See Shape::MustBeStatic
129 virtual bool MustBeStatic() const override { return true; }
130
132 inline uint GetSampleCount() const { return mSampleCount; }
133
135 inline uint GetBlockSize() const { return mBlockSize; }
136
137 // See Shape::GetLocalBounds
138 virtual AABox GetLocalBounds() const override;
139
140 // See Shape::GetSubShapeIDBitsRecursive
141 virtual uint GetSubShapeIDBitsRecursive() const override { return GetSubShapeIDBits(); }
142
143 // See Shape::GetInnerRadius
144 virtual float GetInnerRadius() const override { return 0.0f; }
145
146 // See Shape::GetMassProperties
147 virtual MassProperties GetMassProperties() const override;
148
149 // See Shape::GetMaterial
150 virtual const PhysicsMaterial * GetMaterial(const SubShapeID &inSubShapeID) const override;
151
153 const PhysicsMaterial * GetMaterial(uint inX, uint inY) const;
154
155 // See Shape::GetSurfaceNormal
156 virtual Vec3 GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override;
157
158 // See Shape::GetSupportingFace
159 virtual void GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override;
160
161 // See Shape::GetSubmergedVolume
162 virtual void GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) const override { JPH_ASSERT(false, "Not supported"); }
163
164#ifdef JPH_DEBUG_RENDERER
165 // See Shape::Draw
166 virtual void Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const override;
167#endif // JPH_DEBUG_RENDERER
168
169 // See Shape::CastRay
170 virtual bool CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
171 virtual void CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
172
173 // See: Shape::CollidePoint
174 virtual void CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
175
176 // See: Shape::CollideSoftBodyVertices
177 virtual void CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const override;
178
179 // See Shape::GetTrianglesStart
180 virtual void GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override;
181
182 // See Shape::GetTrianglesNext
183 virtual int GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override;
184
187 Vec3 GetPosition(uint inX, uint inY) const;
188
190 bool IsNoCollision(uint inX, uint inY) const;
191
194 bool ProjectOntoSurface(Vec3Arg inLocalPosition, Vec3 &outSurfacePosition, SubShapeID &outSubShapeID) const;
195
201 void GetSubShapeCoordinates(const SubShapeID &inSubShapeID, uint &outX, uint &outY, uint &outTriangleIndex) const;
202
204 float GetMinHeightValue() const { return mOffset.GetY(); }
205 float GetMaxHeightValue() const { return mOffset.GetY() + mScale.GetY() * HeightFieldShapeConstants::cMaxHeightValue16; }
206
215 void GetHeights(uint inX, uint inY, uint inSizeX, uint inSizeY, float *outHeights, intptr_t inHeightsStride) const;
216
228 void SetHeights(uint inX, uint inY, uint inSizeX, uint inSizeY, const float *inHeights, intptr_t inHeightsStride, TempAllocator &inAllocator, float inActiveEdgeCosThresholdAngle = 0.996195f);
229
231 const PhysicsMaterialList & GetMaterialList() const { return mMaterials; }
232
240 void GetMaterials(uint inX, uint inY, uint inSizeX, uint inSizeY, uint8 *outMaterials, intptr_t inMaterialsStride) const;
241
253 bool SetMaterials(uint inX, uint inY, uint inSizeX, uint inSizeY, const uint8 *inMaterials, intptr_t inMaterialsStride, const PhysicsMaterialList *inMaterialList, TempAllocator &inAllocator);
254
255 // See Shape
256 virtual void SaveBinaryState(StreamOut &inStream) const override;
257 virtual void SaveMaterialState(PhysicsMaterialList &outMaterials) const override;
258 virtual void RestoreMaterialState(const PhysicsMaterialRefC *inMaterials, uint inNumMaterials) override;
259
260 // See Shape::GetStats
261 virtual Stats GetStats() const override;
262
263 // See Shape::GetVolume
264 virtual float GetVolume() const override { return 0; }
265
266#ifdef JPH_DEBUG_RENDERER
267 // Settings
269#endif // JPH_DEBUG_RENDERER
270
271 // Register shape functions with the registry
272 static void sRegister();
273
274protected:
275 // See: Shape::RestoreBinaryState
276 virtual void RestoreBinaryState(StreamIn &inStream) override;
277
278private:
279 class DecodingContext;
280 struct HSGetTrianglesContext;
281
283 void CacheValues();
284
286 void AllocateBuffers();
287
289 void CalculateActiveEdges(uint inX, uint inY, uint inSizeX, uint inSizeY, const float *inHeights, uint inHeightsStartX, uint inHeightsStartY, intptr_t inHeightsStride, float inHeightsScale, float inActiveEdgeCosThresholdAngle, TempAllocator &inAllocator);
290
292 void CalculateActiveEdges(const HeightFieldShapeSettings &inSettings);
293
295 void StoreMaterialIndices(const HeightFieldShapeSettings &inSettings);
296
298 inline uint GetNumBlocks() const { return mSampleCount / mBlockSize; }
299
301 static inline uint sGetMaxLevel(uint inNumBlocks) { return 32 - CountLeadingZeros(inNumBlocks - 1); }
302
304 static inline void sGetRangeBlockOffsetAndStride(uint inNumBlocks, uint inMaxLevel, uint &outRangeBlockOffset, uint &outRangeBlockStride);
305
307 inline void GetBlockOffsetAndScale(uint inBlockX, uint inBlockY, uint inRangeBlockOffset, uint inRangeBlockStride, float &outBlockOffset, float &outBlockScale) const;
308
310 inline uint8 GetHeightSample(uint inX, uint inY) const;
311
313 inline Vec3 GetPosition(uint inX, uint inY, float inBlockOffset, float inBlockScale, bool &outNoCollision) const;
314
316 uint GetSubShapeIDBits() const;
317
319 inline SubShapeID EncodeSubShapeID(const SubShapeIDCreator &inCreator, uint inX, uint inY, uint inTriangle) const;
320 inline void DecodeSubShapeID(const SubShapeID &inSubShapeID, uint &outX, uint &outY, uint &outTriangle) const;
321
323 inline uint8 GetEdgeFlags(uint inX, uint inY, uint inTriangle) const;
324
325 // Helper functions called by CollisionDispatch
326 static void sCollideConvexVsHeightField(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);
327 static void sCollideSphereVsHeightField(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);
328 static void sCastConvexVsHeightField(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
329 static void sCastSphereVsHeightField(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
330
333 template <class Visitor>
334 void WalkHeightField(Visitor &ioVisitor) const;
335
337 struct alignas(16) RangeBlock
338 {
339 uint16 mMin[4];
340 uint16 mMax[4];
341 };
342
344 inline void GetRangeBlock(uint inBlockX, uint inBlockY, uint inRangeBlockOffset, uint inRangeBlockStride, RangeBlock *&outBlock, uint &outIndexInBlock);
345
347 static const uint sGridOffsets[];
348
351 Vec3 mOffset = Vec3::sZero();
352 Vec3 mScale = Vec3::sReplicate(1.0f);
353
355 uint32 mSampleCount = 0;
356 uint32 mBlockSize = 2;
357 uint32 mHeightSamplesSize = 0;
358 uint32 mRangeBlocksSize = 0;
359 uint32 mActiveEdgesSize = 0;
360 uint8 mBitsPerSample = 8;
361 uint8 mSampleMask = 0xff;
364 RangeBlock * mRangeBlocks = nullptr;
365 uint8 * mHeightSamples = nullptr;
366 uint8 * mActiveEdges = nullptr;
367
369 PhysicsMaterialList mMaterials;
370 Array<uint8> mMaterialIndices;
371 uint32 mNumBitsPerMaterialIndex = 0;
372
373#ifdef JPH_DEBUG_RENDERER
375 mutable Array<DebugRenderer::GeometryRef> mGeometry;
376 mutable bool mCachedUseMaterialColors = false;
377#endif // JPH_DEBUG_RENDERER
378};
379
std::uint8_t uint8
Definition Core.h:482
#define JPH_EXPORT
Definition Core.h:271
unsigned int uint
Definition Core.h:481
#define JPH_NAMESPACE_END
Definition Core.h:414
std::uint32_t uint32
Definition Core.h:484
#define JPH_IF_DEBUG_RENDERER(...)
Definition Core.h:565
#define JPH_NAMESPACE_BEGIN
Definition Core.h:408
std::uint16_t uint16
Definition Core.h:483
#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_VIRTUAL(linkage, class_name)
Definition SerializableObject.h:109
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
@ HeightField
Used by HeightFieldShape.
Array< PhysicsMaterialRefC > PhysicsMaterialList
Definition Shape.h:53
Axis aligned box.
Definition AABox.h:16
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 all convex shapes. Defines a virtual interface.
Definition ConvexShape.h:36
Definition DebugRenderer.h:47
Class that holds 3 floats. Used as a storage class. Convert to Vec3 for calculations.
Definition Float3.h:13
Definition HeightFieldShape.cpp:1708
Definition HeightFieldShape.h:116
const PhysicsMaterialList & GetMaterialList() const
Get the current list of materials, the indices returned by GetMaterials() will index into this list.
Definition HeightFieldShape.h:231
uint GetSampleCount() const
Get the size of the height field. Note that this will always be rounded up to the nearest multiple of...
Definition HeightFieldShape.h:132
virtual float GetInnerRadius() const override
Definition HeightFieldShape.h:144
float GetMaxHeightValue() const
Definition HeightFieldShape.h:205
float GetMinHeightValue() const
Get the range of height values that this height field can encode. Can be used to determine the allowe...
Definition HeightFieldShape.h:204
JPH_OVERRIDE_NEW_DELETE HeightFieldShape()
Constructor.
Definition HeightFieldShape.h:121
static bool sDrawTriangleOutlines
Definition HeightFieldShape.h:268
virtual uint GetSubShapeIDBitsRecursive() const override
Get the max number of sub shape ID bits that are needed to be able to address any leaf shape in this ...
Definition HeightFieldShape.h:141
virtual void GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) const override
Definition HeightFieldShape.h:162
virtual bool MustBeStatic() const override
Check if this shape can only be used to create a static body or if it can also be dynamic/kinematic.
Definition HeightFieldShape.h:129
uint GetBlockSize() const
Get the size of a block.
Definition HeightFieldShape.h:135
virtual float GetVolume() const override
Definition HeightFieldShape.h:264
Class that constructs a HeightFieldShape.
Definition HeightFieldShape.h:40
HeightFieldShapeSettings()=default
Default constructor for deserialization.
Array< float > mHeightSamples
An array of mSampleCount^2 height samples. Samples are stored in row major order, so the sample at (x...
Definition HeightFieldShape.h:96
Array< uint8 > mMaterialIndices
An array of (mSampleCount - 1)^2 material indices.
Definition HeightFieldShape.h:99
PhysicsMaterialList mMaterials
The materials of square at (x, y) is: mMaterials[mMaterialIndices[x + y * (mSampleCount - 1)]].
Definition HeightFieldShape.h:102
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
Definition PhysicsMaterial.h:23
An infinite plane described by the formula X . Normal + Constant = 0.
Definition Plane.h:11
Definition Quat.h:33
Specialization of cast result against a shape.
Definition CastResult.h:30
Settings to be passed with a ray cast.
Definition RayCast.h:70
Definition Reference.h:107
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
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
A sub shape id contains a path to an element (usually a triangle or other primitive type) of a compou...
Definition SubShapeID.h:23
Definition TempAllocator.h:16
Definition Vec3.h:17
static JPH_INLINE Vec3 sZero()
Vector with all zeros.
Definition Vec3.inl:103
static JPH_INLINE Vec3 sReplicate(float inV)
Replicate inV across all components.
Definition Vec3.inl:114
Constants for HeightFieldShape, this was moved out of the HeightFieldShape because of a linker bug.
Definition HeightFieldShape.h:21
constexpr uint cNumBitsXY
A position in the hierarchical grid is defined by a level (which grid), x and y position....
Definition HeightFieldShape.h:29
constexpr uint cMaskBitsXY
Definition HeightFieldShape.h:30
constexpr int cStackSize
Stack size to use during WalkHeightField.
Definition HeightFieldShape.h:26
constexpr uint16 cMaxHeightValue16
This is the maximum allowed height value.
Definition HeightFieldShape.h:35
constexpr float cNoCollisionValue
Value used to create gaps in the height field.
Definition HeightFieldShape.h:23
constexpr uint16 cNoCollisionValue16
When height samples are converted to 16 bit:
Definition HeightFieldShape.h:34
constexpr uint cLevelShift
Definition HeightFieldShape.h:31
Definition HeightFieldShape.cpp:2386
Definition RayCast.h:47
Definition ShapeCast.h:69