#include <MutableCompoundShape.h>

Inheritance diagram for MutableCompoundShape:

Public Member Functions
JPH_OVERRIDE_NEW_DELETE	MutableCompoundShape ()
	Constructor.

	MutableCompoundShape (const MutableCompoundShapeSettings &inSettings, ShapeResult &outResult)

virtual bool	CastRay (const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override

virtual void	CastRay (const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter={ }) const override

virtual void	CollidePoint (Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter={ }) const override

virtual void	CollectTransformedShapes (const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const override

virtual int	GetIntersectingSubShapes (const AABox &inBox, uint *outSubShapeIndices, int inMaxSubShapeIndices) const override

virtual int	GetIntersectingSubShapes (const OrientedBox &inBox, uint *outSubShapeIndices, int inMaxSubShapeIndices) const override

virtual void	SaveBinaryState (StreamOut &inStream) const override
	Saves the contents of the shape in binary form to inStream.

virtual Stats	GetStats () const override
	Get stats of this shape. Use for logging / data collection purposes only. Does not add values from child shapes, use GetStatsRecursive for this.

template<class Visitor >
void	WalkSubShapes (Visitor &ioVisitor) const

Mutating shapes. Note that this is not thread safe, so you need to ensure that any bodies that use this shape are locked at the time of modification using BodyLockWrite. After modification you need to call BodyInterface::NotifyShapeChanged to update the broadphase and collision caches.
uint	AddShape (Vec3Arg inPosition, QuatArg inRotation, const Shape *inShape, uint32 inUserData=0)

void	RemoveShape (uint inIndex)
	Remove a shape by index.

void	ModifyShape (uint inIndex, Vec3Arg inPosition, QuatArg inRotation)
	Modify the position / orientation of a shape.

void	ModifyShape (uint inIndex, Vec3Arg inPosition, QuatArg inRotation, const Shape *inShape)
	Modify the position / orientation and shape at the same time.

void	ModifyShapes (uint inStartIndex, uint inNumber, const Vec3 inPositions, const Quat inRotations, uint inPositionStride=sizeof(Vec3), uint inRotationStride=sizeof(Quat))
	Batch set positions / orientations, this avoids duplicate work due to bounding box calculation.

void	AdjustCenterOfMass ()

Public Member Functions inherited from CompoundShape
JPH_OVERRIDE_NEW_DELETE	CompoundShape (EShapeSubType inSubType)
	Constructor.

	CompoundShape (EShapeSubType inSubType, const ShapeSettings &inSettings, ShapeResult &outResult)

virtual Vec3	GetCenterOfMass () const override
	All shapes are centered around their center of mass. This function returns the center of mass position that needs to be applied to transform the shape to where it was created.

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.

virtual AABox	GetLocalBounds () const override
	Get local bounding box including convex radius, this box is centered around the center of mass rather than the world transform.

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 shape. Used mainly for checking that it is smaller or equal than SubShapeID::MaxBits.

virtual AABox	GetWorldSpaceBounds (Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override

virtual float	GetInnerRadius () const override

virtual MassProperties	GetMassProperties () const override
	Calculate the mass and inertia of this shape.

virtual const PhysicsMaterial *	GetMaterial (const SubShapeID &inSubShapeID) const override
	Get the material assigned to a particular sub shape ID.

virtual uint64	GetSubShapeUserData (const SubShapeID &inSubShapeID) const override
	Get the user data of a particular sub shape ID.

virtual TransformedShape	GetSubShapeTransformedShape (const SubShapeID &inSubShapeID, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, SubShapeID &outRemainder) const override

virtual Vec3	GetSurfaceNormal (const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override

virtual void	GetSupportingFace (const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override

virtual void	GetSubmergedVolume (Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) const override

virtual void	Draw (DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const override
	Draw the shape at a particular location with a particular color (debugging purposes)

virtual void	DrawGetSupportFunction (DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inDrawSupportDirection) const override
	Draw the results of the GetSupportFunction with the convex radius added back on to show any errors introduced by this process (only relevant for convex shapes)

virtual void	DrawGetSupportingFace (DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override
	Draw the results of the GetSupportingFace function to show any errors introduced by this process (only relevant for convex shapes)

virtual void	CollideSoftBodyVertices (Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, SoftBodyVertex *ioVertices, uint inNumVertices, float inDeltaTime, Vec3Arg inDisplacementDueToGravity, int inCollidingShapeIndex) const override

virtual void	TransformShape (Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const override

virtual void	GetTrianglesStart (GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override

virtual int	GetTrianglesNext (GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 outTriangleVertices, const PhysicsMaterial *outMaterials=nullptr) const override

const SubShapes &	GetSubShapes () const
	Access to the sub shapes of this compound.

uint	GetNumSubShapes () const
	Get the total number of sub shapes.

const SubShape &	GetSubShape (uint inIdx) const
	Access to a particular sub shape.

uint32	GetCompoundUserData (uint inIdx) const
	Get the user data associated with a shape in this compound.

void	SetCompoundUserData (uint inIdx, uint32 inUserData)
	Set the user data associated with a shape in this compound.

bool	IsSubShapeIDValid (SubShapeID inSubShapeID) const

uint32	GetSubShapeIndexFromID (SubShapeID inSubShapeID, SubShapeID &outRemainder) const

SubShapeIDCreator	GetSubShapeIDFromIndex (int inIdx, const SubShapeIDCreator &inParentSubShapeID) const
	Convert a sub shape index to a sub shape ID.

virtual void	SaveSubShapeState (ShapeList &outSubShapes) const override
	Outputs the shape references that this shape has to outSubShapes.

virtual void	RestoreSubShapeState (const ShapeRefC *inSubShapes, uint inNumShapes) override
	Restore the shape references after calling sRestoreFromBinaryState. Note that the exact same shapes need to be provided in the same order as returned by SaveSubShapeState.

virtual Stats	GetStatsRecursive (VisitedShapes &ioVisitedShapes) const override
	Volume of this shape (m^3). Note that for compound shapes the volume may be incorrect since child shapes can overlap which is not accounted for.

virtual float	GetVolume () const override

virtual bool	IsValidScale (Vec3Arg inScale) const override

virtual AABox	GetWorldSpaceBounds (Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const

AABox	GetWorldSpaceBounds (DMat44Arg inCenterOfMassTransform, Vec3Arg inScale) const
	Get world space bounds including convex radius.

Public Member Functions inherited from Shape
	Shape (EShapeType inType, EShapeSubType inSubType)
	Constructor.

	Shape (EShapeType inType, EShapeSubType inSubType, const ShapeSettings &inSettings, ShapeResult &outResult)

virtual	~Shape ()=default
	Destructor.

EShapeType	GetType () const
	Get type.

EShapeSubType	GetSubType () const

uint64	GetUserData () const
	User data (to be used freely by the application)

void	SetUserData (uint64 inUserData)

AABox	GetWorldSpaceBounds (DMat44Arg inCenterOfMassTransform, Vec3Arg inScale) const
	Get world space bounds including convex radius.

virtual void	GetSubmergedVolume (Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy, RVec3Arg inBaseOffset) const =0

ShapeResult	ScaleShape (Vec3Arg inScale) const

virtual void	SaveMaterialState (PhysicsMaterialList &outMaterials) const
	Outputs the material references that this shape has to outMaterials.

virtual void	RestoreMaterialState (const PhysicsMaterialRefC *inMaterials, uint inNumMaterials)
	Restore the material references after calling sRestoreFromBinaryState. Note that the exact same materials need to be provided in the same order as returned by SaveMaterialState.

void	SaveWithChildren (StreamOut &inStream, ShapeToIDMap &ioShapeMap, MaterialToIDMap &ioMaterialMap) const
	Save this shape, all its children and its materials. Pass in an empty map in ioShapeMap / ioMaterialMap or reuse the same map while saving multiple shapes to the same stream in order to avoid writing duplicates.

Public Member Functions inherited from RefTarget< Shape >
	RefTarget ()=default
	Constructor.

	RefTarget (const RefTarget &)

	~RefTarget ()
	assert no one is referencing us

void	SetEmbedded () const

RefTarget &	operator= (const RefTarget &)
	Assignment operator.

uint32	GetRefCount () const
	Get current refcount of this object.

void	AddRef () const
	Add or release a reference to this object.

void	Release () const

Public Member Functions inherited from NonCopyable
	NonCopyable ()=default

	NonCopyable (const NonCopyable &)=delete

void	operator= (const NonCopyable &)=delete

Static Public Member Functions
static void	sRegister ()

Static Public Member Functions inherited from CompoundShape
static void	sRegister ()

Static Public Member Functions inherited from Shape
static ShapeResult	sRestoreFromBinaryState (StreamIn &inStream)
	Creates a Shape of the correct type and restores its contents from the binary stream inStream.

static ShapeResult	sRestoreWithChildren (StreamIn &inStream, IDToShapeMap &ioShapeMap, IDToMaterialMap &ioMaterialMap)
	Restore a shape, all its children and materials. Pass in an empty map in ioShapeMap / ioMaterialMap or reuse the same map while reading multiple shapes from the same stream in order to restore duplicates.

Static Public Member Functions inherited from RefTarget< Shape >
static int	sInternalGetRefCountOffset ()
	INTERNAL HELPER FUNCTION USED BY SERIALIZATION.

Protected Member Functions
virtual void	RestoreBinaryState (StreamIn &inStream) override
	This function should not be called directly, it is used by sRestoreFromBinaryState.

Protected Member Functions inherited from CompoundShape
uint	GetSubShapeIDBits () const
	Determine amount of bits needed to encode sub shape id.

void	CalculateInnerRadius ()
	Determine the inner radius of this shape.

Additional Inherited Members
Public Types inherited from CompoundShape
using	SubShapes = Array< SubShape >

Public Types inherited from Shape
using	ShapeResult = ShapeSettings::ShapeResult

using	SupportingFace = StaticArray< Vec3, 32 >
	Type definition for a supporting face.

using	VisitedShapes = UnorderedSet< const Shape * >

using	ShapeToIDMap = StreamUtils::ObjectToIDMap< Shape >

using	IDToShapeMap = StreamUtils::IDToObjectMap< Shape >

using	MaterialToIDMap = StreamUtils::ObjectToIDMap< PhysicsMaterial >

using	IDToMaterialMap = StreamUtils::IDToObjectMap< PhysicsMaterial >

Static Public Attributes inherited from Shape
static constexpr int	cGetTrianglesMinTrianglesRequested = 32
	This is the minimum amount of triangles that should be requested through GetTrianglesNext.

static bool	sDrawSubmergedVolumes = false
	Debug helper which draws the intersection between water and the shapes, the center of buoyancy and the submerged volume.

Static Protected Member Functions inherited from Shape
static void	sCollidePointUsingRayCast (const Shape &inShape, Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter)
	A fallback version of CollidePoint that uses a ray cast and counts the number of hits to determine if the point is inside the shape. Odd number of hits means inside, even number of hits means outside.

Protected Attributes inherited from CompoundShape
Vec3	mCenterOfMass { Vec3::sZero() }
	Center of mass of the compound.

AABox	mLocalBounds

SubShapes	mSubShapes

float	mInnerRadius = FLT_MAX
	Smallest radius of GetInnerRadius() of child shapes.

Protected Attributes inherited from RefTarget< Shape >
atomic< uint32 >	mRefCount
	Current reference count.

Static Protected Attributes inherited from RefTarget< Shape >
static constexpr uint32	cEmbedded
	A large value that gets added to the refcount to mark the object as embedded.

Detailed Description

A compound shape, sub shapes can be rotated and translated. This shape is optimized for adding / removing and changing the rotation / translation of sub shapes but is less efficient in querying. Shifts all child objects so that they're centered around the center of mass (which needs to be kept up to date by calling AdjustCenterOfMass).

Note: If you're using MutableCompoundShapes and are querying data while modifying the shape you'll have a race condition. In this case it is best to create a new MutableCompoundShape and set the new shape on the body using BodyInterface::SetShape. If a query is still working on the old shape, it will have taken a reference and keep the old shape alive until the query finishes.

Constructor & Destructor Documentation

◆ MutableCompoundShape() [1/2]

JPH_OVERRIDE_NEW_DELETE MutableCompoundShape::MutableCompoundShape ( )

inline

Constructor.

◆ MutableCompoundShape() [2/2]

MutableCompoundShape::MutableCompoundShape	(	const MutableCompoundShapeSettings &	inSettings,
		ShapeResult &	outResult
	)

Member Function Documentation

◆ AddShape()

uint MutableCompoundShape::AddShape	(	Vec3Arg	inPosition,
		QuatArg	inRotation,
		const Shape *	inShape,
		uint32	inUserData = `0`
	)

Adding a new shape

Returns: The index of the newly added shape

◆ AdjustCenterOfMass()

void MutableCompoundShape::AdjustCenterOfMass ( )

Recalculate the center of mass and shift all objects so they're centered around it (this needs to be done of dynamic bodies and if the center of mass changes significantly due to adding / removing / repositioning sub shapes or else the simulation will look unnatural) Note that after adjusting the center of mass of an object you need to call BodyInterface::NotifyShapeChanged and Constraint::NotifyShapeChanged on the relevant bodies / constraints.

◆ CastRay() [1/2]

void MutableCompoundShape::CastRay	(	const RayCast &	inRay,
		const RayCastSettings &	inRayCastSettings,
		const SubShapeIDCreator &	inSubShapeIDCreator,
		CastRayCollector &	ioCollector,
		const ShapeFilter &	inShapeFilter = `{ }`
	)		const

overridevirtual

Cast a ray against this shape. Allows returning multiple hits through ioCollector. Note that this version is more flexible but also slightly slower than the CastRay function that returns only a single hit. If you want the surface normal of the hit use GetSurfaceNormal(collected sub shape ID, inRay.GetPointOnRay(collected faction)).

Implements Shape.

◆ CastRay() [2/2]

bool MutableCompoundShape::CastRay	(	const RayCast &	inRay,
		const SubShapeIDCreator &	inSubShapeIDCreator,
		RayCastResult &	ioHit
	)		const

overridevirtual

Cast a ray against this shape, returns true if it finds a hit closer than ioHit.mFraction and updates that fraction. Otherwise ioHit is left untouched and the function returns false. Note that the ray should be relative to the center of mass of this shape (i.e. subtract Shape::GetCenterOfMass() from RayCast::mOrigin if you want to cast against the shape in the space it was created). Convex objects will be treated as solid (meaning if the ray starts inside, you'll get a hit fraction of 0) and back face hits against triangles are returned. If you want the surface normal of the hit use GetSurfaceNormal(ioHit.mSubShapeID2, inRay.GetPointOnRay(ioHit.mFraction)).

Implements Shape.

◆ CollectTransformedShapes()

void MutableCompoundShape::CollectTransformedShapes	(	const AABox &	inBox,
		Vec3Arg	inPositionCOM,
		QuatArg	inRotation,
		Vec3Arg	inScale,
		const SubShapeIDCreator &	inSubShapeIDCreator,
		TransformedShapeCollector &	ioCollector,
		const ShapeFilter &	inShapeFilter
	)		const

overridevirtual

Collect the leaf transformed shapes of all leaf shapes of this shape. inBox is the world space axis aligned box which leaf shapes should collide with. inPositionCOM/inRotation/inScale describes the transform of this shape. inSubShapeIDCeator represents the current sub shape ID of this shape.

Reimplemented from Shape.

◆ CollidePoint()

void MutableCompoundShape::CollidePoint	(	Vec3Arg	inPoint,
		const SubShapeIDCreator &	inSubShapeIDCreator,
		CollidePointCollector &	ioCollector,
		const ShapeFilter &	inShapeFilter = `{ }`
	)		const

overridevirtual

Check if inPoint is inside this shape. For this tests all shapes are treated as if they were solid. Note that inPoint should be relative to the center of mass of this shape (i.e. subtract Shape::GetCenterOfMass() from inPoint if you want to test against the shape in the space it was created). For a mesh shape, this test will only provide sensible information if the mesh is a closed manifold. For each shape that collides, ioCollector will receive a hit.

Implements Shape.

◆ GetIntersectingSubShapes() [1/2]

int MutableCompoundShape::GetIntersectingSubShapes	(	const AABox &	inBox,
		uint *	outSubShapeIndices,
		int	inMaxSubShapeIndices
	)		const

overridevirtual

Get which sub shape's bounding boxes overlap with an axis aligned box

Parameters

inBox	The axis aligned box to test against (relative to the center of mass of this shape)
outSubShapeIndices	Buffer where to place the indices of the sub shapes that intersect
inMaxSubShapeIndices	How many indices will fit in the buffer (normally you'd provide a buffer of GetNumSubShapes() indices)

Returns: How many indices were placed in outSubShapeIndices

Implements CompoundShape.

◆ GetIntersectingSubShapes() [2/2]

int MutableCompoundShape::GetIntersectingSubShapes	(	const OrientedBox &	inBox,
		uint *	outSubShapeIndices,
		int	inMaxSubShapeIndices
	)		const

overridevirtual

Get which sub shape's bounding boxes overlap with an axis aligned box

Parameters

inBox	The axis aligned box to test against (relative to the center of mass of this shape)
outSubShapeIndices	Buffer where to place the indices of the sub shapes that intersect
inMaxSubShapeIndices	How many indices will fit in the buffer (normally you'd provide a buffer of GetNumSubShapes() indices)

Returns: How many indices were placed in outSubShapeIndices

Implements CompoundShape.

◆ GetStats()

virtual Stats MutableCompoundShape::GetStats ( ) const

inlineoverridevirtual

Get stats of this shape. Use for logging / data collection purposes only. Does not add values from child shapes, use GetStatsRecursive for this.

Implements Shape.

◆ ModifyShape() [1/2]

void MutableCompoundShape::ModifyShape	(	uint	inIndex,
		Vec3Arg	inPosition,
		QuatArg	inRotation
	)

Modify the position / orientation of a shape.

◆ ModifyShape() [2/2]

void MutableCompoundShape::ModifyShape	(	uint	inIndex,
		Vec3Arg	inPosition,
		QuatArg	inRotation,
		const Shape *	inShape
	)

Modify the position / orientation and shape at the same time.

◆ ModifyShapes()

void MutableCompoundShape::ModifyShapes	(	uint	inStartIndex,
		uint	inNumber,
		const Vec3 *	inPositions,
		const Quat *	inRotations,
		uint	inPositionStride = `sizeof(Vec3)`,
		uint	inRotationStride = `sizeof(Quat)`
	)

Batch set positions / orientations, this avoids duplicate work due to bounding box calculation.

Parameters

inStartIndex	Index of first shape to update
inNumber	Number of shapes to update
inPositions	A list of positions with arbitrary stride
inRotations	A list of orientations with arbitrary stride
inPositionStride	The position stride (the number of bytes between the first and second element)
inRotationStride	The orientation stride (the number of bytes between the first and second element)

◆ RemoveShape()

void MutableCompoundShape::RemoveShape ( uint inIndex )

Remove a shape by index.

◆ RestoreBinaryState()

void MutableCompoundShape::RestoreBinaryState ( StreamIn & inStream )

overrideprotectedvirtual

This function should not be called directly, it is used by sRestoreFromBinaryState.

Reimplemented from CompoundShape.

◆ SaveBinaryState()

void MutableCompoundShape::SaveBinaryState ( StreamOut & inStream ) const

overridevirtual

Saves the contents of the shape in binary form to inStream.

Reimplemented from CompoundShape.

◆ sRegister()

void MutableCompoundShape::sRegister ( )

static

◆ WalkSubShapes()

template<class Visitor >

void MutableCompoundShape::WalkSubShapes ( Visitor & ioVisitor ) const

inline

The documentation for this class was generated from the following files:

Jolt/Physics/Collision/Shape/MutableCompoundShape.h
Jolt/Physics/Collision/Shape/MutableCompoundShape.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MutableCompoundShape() [1/2]

◆ MutableCompoundShape() [2/2]

Member Function Documentation

◆ AddShape()

◆ AdjustCenterOfMass()

◆ CastRay() [1/2]

◆ CastRay() [2/2]

◆ CollectTransformedShapes()

◆ CollidePoint()

◆ GetIntersectingSubShapes() [1/2]

◆ GetIntersectingSubShapes() [2/2]

◆ GetStats()

◆ ModifyShape() [1/2]

◆ ModifyShape() [2/2]

◆ ModifyShapes()

◆ RemoveShape()

◆ RestoreBinaryState()

◆ SaveBinaryState()

◆ sRegister()

◆ WalkSubShapes()