#include <NarrowPhaseQuery.h>

Inheritance diagram for NarrowPhaseQuery:

Public Member Functions
void	Init (BodyLockInterface &inBodyLockInterface, BroadPhaseQuery &inBroadPhaseQuery)
	Initialize the interface (should only be called by PhysicsSystem)

bool	CastRay (const RRayCast &inRay, RayCastResult &ioHit, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter={ }, const ObjectLayerFilter &inObjectLayerFilter={ }, const BodyFilter &inBodyFilter={ }) const

void	CastRay (const RRayCast &inRay, const RayCastSettings &inRayCastSettings, CastRayCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter={ }, const ObjectLayerFilter &inObjectLayerFilter={ }, const BodyFilter &inBodyFilter={ }, const ShapeFilter &inShapeFilter={ }) const

void	CollidePoint (RVec3Arg inPoint, CollidePointCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter={ }, const ObjectLayerFilter &inObjectLayerFilter={ }, const BodyFilter &inBodyFilter={ }, const ShapeFilter &inShapeFilter={ }) const

void	CollideShape (const Shape *inShape, Vec3Arg inShapeScale, RMat44Arg inCenterOfMassTransform, const CollideShapeSettings &inCollideShapeSettings, RVec3Arg inBaseOffset, CollideShapeCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter={ }, const ObjectLayerFilter &inObjectLayerFilter={ }, const BodyFilter &inBodyFilter={ }, const ShapeFilter &inShapeFilter={ }) const

void	CollideShapeWithInternalEdgeRemoval (const Shape *inShape, Vec3Arg inShapeScale, RMat44Arg inCenterOfMassTransform, const CollideShapeSettings &inCollideShapeSettings, RVec3Arg inBaseOffset, CollideShapeCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter={ }, const ObjectLayerFilter &inObjectLayerFilter={ }, const BodyFilter &inBodyFilter={ }, const ShapeFilter &inShapeFilter={ }) const
	Same as CollideShape, but uses InternalEdgeRemovingCollector to remove internal edges from the collision results (a.k.a. ghost collisions)

void	CastShape (const RShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, RVec3Arg inBaseOffset, CastShapeCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter={ }, const ObjectLayerFilter &inObjectLayerFilter={ }, const BodyFilter &inBodyFilter={ }, const ShapeFilter &inShapeFilter={ }) const

void	CollectTransformedShapes (const AABox &inBox, TransformedShapeCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter={ }, const ObjectLayerFilter &inObjectLayerFilter={ }, const BodyFilter &inBodyFilter={ }, const ShapeFilter &inShapeFilter={ }) const
	Collect all leaf transformed shapes that fall inside world space box inBox.

Public Member Functions inherited from NonCopyable
	NonCopyable ()=default

	NonCopyable (const NonCopyable &)=delete

void	operator= (const NonCopyable &)=delete

Detailed Description

Class that provides an interface for doing precise collision detection against the broad and then the narrow phase. Unlike a BroadPhaseQuery, the NarrowPhaseQuery will test against shapes and will return collision information against triangles, spheres etc.

Member Function Documentation

◆ CastRay() [1/2]

void NarrowPhaseQuery::CastRay	(	const RRayCast &	inRay,
		const RayCastSettings &	inRayCastSettings,
		CastRayCollector &	ioCollector,
		const BroadPhaseLayerFilter &	inBroadPhaseLayerFilter = `{ }`,
		const ObjectLayerFilter &	inObjectLayerFilter = `{ }`,
		const BodyFilter &	inBodyFilter = `{ }`,
		const ShapeFilter &	inShapeFilter = `{ }`
	)		const

Cast a ray, allows collecting multiple hits. 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 Body::GetWorldSpaceSurfaceNormal(collected sub shape ID, inRay.GetPointOnRay(collected fraction)) on body with collected body ID.

◆ CastRay() [2/2]

JPH_NAMESPACE_BEGIN bool NarrowPhaseQuery::CastRay	(	const RRayCast &	inRay,
		RayCastResult &	ioHit,
		const BroadPhaseLayerFilter &	inBroadPhaseLayerFilter = `{ }`,
		const ObjectLayerFilter &	inObjectLayerFilter = `{ }`,
		const BodyFilter &	inBodyFilter = `{ }`
	)		const

Cast a ray and find the closest hit. Returns true if it finds a hit. Hits further than ioHit.mFraction will not be considered and in this case ioHit will remain unmodified (and the function will return false). 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 Body::GetWorldSpaceSurfaceNormal(ioHit.mSubShapeID2, inRay.GetPointOnRay(ioHit.mFraction)) on body with ID ioHit.mBodyID.

◆ CastShape()

void NarrowPhaseQuery::CastShape	(	const RShapeCast &	inShapeCast,
		const ShapeCastSettings &	inShapeCastSettings,
		RVec3Arg	inBaseOffset,
		CastShapeCollector &	ioCollector,
		const BroadPhaseLayerFilter &	inBroadPhaseLayerFilter = `{ }`,
		const ObjectLayerFilter &	inObjectLayerFilter = `{ }`,
		const BodyFilter &	inBodyFilter = `{ }`,
		const ShapeFilter &	inShapeFilter = `{ }`
	)		const

Cast a shape and report any hits to ioCollector

Parameters

inShapeCast	The shape cast and its position and direction
inShapeCastSettings	Settings for the shape cast
inBaseOffset	All hit results will be returned relative to this offset, can be zero to get results in world position, but when you're testing far from the origin you get better precision by picking a position that's closer e.g. inShapeCast.mCenterOfMassStart.GetTranslation() since floats are most accurate near the origin
ioCollector	Collector that receives the hits
inBroadPhaseLayerFilter	Filter that filters at broadphase level
inObjectLayerFilter	Filter that filters at layer level
inBodyFilter	Filter that filters at body level
inShapeFilter	Filter that filters at shape level

◆ CollectTransformedShapes()

void NarrowPhaseQuery::CollectTransformedShapes	(	const AABox &	inBox,
		TransformedShapeCollector &	ioCollector,
		const BroadPhaseLayerFilter &	inBroadPhaseLayerFilter = `{ }`,
		const ObjectLayerFilter &	inObjectLayerFilter = `{ }`,
		const BodyFilter &	inBodyFilter = `{ }`,
		const ShapeFilter &	inShapeFilter = `{ }`
	)		const

Collect all leaf transformed shapes that fall inside world space box inBox.

◆ CollidePoint()

void NarrowPhaseQuery::CollidePoint	(	RVec3Arg	inPoint,
		CollidePointCollector &	ioCollector,
		const BroadPhaseLayerFilter &	inBroadPhaseLayerFilter = `{ }`,
		const ObjectLayerFilter &	inObjectLayerFilter = `{ }`,
		const BodyFilter &	inBodyFilter = `{ }`,
		const ShapeFilter &	inShapeFilter = `{ }`
	)		const

Check if inPoint is inside any shapes. For this tests all shapes are treated as if they were solid. 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

◆ CollideShape()

void NarrowPhaseQuery::CollideShape	(	const Shape *	inShape,
		Vec3Arg	inShapeScale,
		RMat44Arg	inCenterOfMassTransform,
		const CollideShapeSettings &	inCollideShapeSettings,
		RVec3Arg	inBaseOffset,
		CollideShapeCollector &	ioCollector,
		const BroadPhaseLayerFilter &	inBroadPhaseLayerFilter = `{ }`,
		const ObjectLayerFilter &	inObjectLayerFilter = `{ }`,
		const BodyFilter &	inBodyFilter = `{ }`,
		const ShapeFilter &	inShapeFilter = `{ }`
	)		const

Collide a shape with the system

Parameters

inShape	Shape to test
inShapeScale	Scale in local space of shape
inCenterOfMassTransform	Center of mass transform for the shape
inCollideShapeSettings	Settings
inBaseOffset	All hit results will be returned relative to this offset, can be zero to get results in world position, but when you're testing far from the origin you get better precision by picking a position that's closer e.g. inCenterOfMassTransform.GetTranslation() since floats are most accurate near the origin
ioCollector	Collector that receives the hits
inBroadPhaseLayerFilter	Filter that filters at broadphase level
inObjectLayerFilter	Filter that filters at layer level
inBodyFilter	Filter that filters at body level
inShapeFilter	Filter that filters at shape level

◆ CollideShapeWithInternalEdgeRemoval()

void NarrowPhaseQuery::CollideShapeWithInternalEdgeRemoval	(	const Shape *	inShape,
		Vec3Arg	inShapeScale,
		RMat44Arg	inCenterOfMassTransform,
		const CollideShapeSettings &	inCollideShapeSettings,
		RVec3Arg	inBaseOffset,
		CollideShapeCollector &	ioCollector,
		const BroadPhaseLayerFilter &	inBroadPhaseLayerFilter = `{ }`,
		const ObjectLayerFilter &	inObjectLayerFilter = `{ }`,
		const BodyFilter &	inBodyFilter = `{ }`,
		const ShapeFilter &	inShapeFilter = `{ }`
	)		const

Same as CollideShape, but uses InternalEdgeRemovingCollector to remove internal edges from the collision results (a.k.a. ghost collisions)

◆ Init()

void NarrowPhaseQuery::Init	(	BodyLockInterface &	inBodyLockInterface,
		BroadPhaseQuery &	inBroadPhaseQuery
	)

inline

Initialize the interface (should only be called by PhysicsSystem)

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

Jolt/Physics/Collision/NarrowPhaseQuery.h
Jolt/Physics/Collision/NarrowPhaseQuery.cpp

Public Member Functions