#include <TransformedShape.h>

Public Types
using	GetTrianglesContext = Shape::GetTrianglesContext
	Use the context from Shape.

Public Member Functions
JPH_OVERRIDE_NEW_DELETE	TransformedShape ()=default
	Constructor.

	TransformedShape (RVec3Arg inPositionCOM, QuatArg inRotation, const Shape *inShape, const BodyID &inBodyID, const SubShapeIDCreator &inSubShapeIDCreator=SubShapeIDCreator())

bool	CastRay (const RRayCast &inRay, RayCastResult &ioHit) const

void	CastRay (const RRayCast &inRay, const RayCastSettings &inRayCastSettings, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter={ }) const

void	CollidePoint (RVec3Arg inPoint, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter={ }) const

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

void	CastShape (const RShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, RVec3Arg inBaseOffset, CastShapeCollector &ioCollector, const ShapeFilter &inShapeFilter={ }) const

void	CollectTransformedShapes (const AABox &inBox, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter={ }) const

void	GetTrianglesStart (GetTrianglesContext &ioContext, const AABox &inBox, RVec3Arg inBaseOffset) const

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

Vec3	GetShapeScale () const
	Get/set the scale of the shape as a Vec3.

void	SetShapeScale (Vec3Arg inScale)

RMat44	GetCenterOfMassTransform () const
	Calculates the transform for this shapes's center of mass (excluding scale)

RMat44	GetInverseCenterOfMassTransform () const
	Calculates the inverse of the transform for this shape's center of mass (excluding scale)

void	SetWorldTransform (RVec3Arg inPosition, QuatArg inRotation, Vec3Arg inScale)
	Sets the world transform (including scale) of this transformed shape (not from the center of mass but in the space the shape was created)

void	SetWorldTransform (RMat44Arg inTransform)
	Sets the world transform (including scale) of this transformed shape (not from the center of mass but in the space the shape was created)

RMat44	GetWorldTransform () const
	Calculates the world transform including scale of this shape (not from the center of mass but in the space the shape was created)

AABox	GetWorldSpaceBounds () const
	Get the world space bounding box for this transformed shape.

SubShapeID	MakeSubShapeIDRelativeToShape (const SubShapeID &inSubShapeID) const
	Make inSubShapeID relative to mShape. When mSubShapeIDCreator is not empty, this is needed in order to get the correct path to the sub shape.

Vec3	GetWorldSpaceSurfaceNormal (const SubShapeID &inSubShapeID, RVec3Arg inPosition) const

void	GetSupportingFace (const SubShapeID &inSubShapeID, Vec3Arg inDirection, RVec3Arg inBaseOffset, Shape::SupportingFace &outVertices) const

const PhysicsMaterial *	GetMaterial (const SubShapeID &inSubShapeID) const
	Get material of a particular sub shape.

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

TransformedShape	GetSubShapeTransformedShape (const SubShapeID &inSubShapeID, SubShapeID &outRemainder) const

Static Public Member Functions
static BodyID	sGetBodyID (const TransformedShape *inTS)
	Helper function to return the body id from a transformed shape. If the transformed shape is null an invalid body ID will be returned.

Public Attributes
RVec3	mShapePositionCOM
	Center of mass world position of the shape.

Quat	mShapeRotation
	Rotation of the shape.

RefConst< Shape >	mShape
	The shape itself.

Float3	mShapeScale { 1, 1, 1 }
	Not stored as Vec3 to get a nicely packed structure.

BodyID	mBodyID
	Optional body ID from which this shape comes.

SubShapeIDCreator	mSubShapeIDCreator
	Optional sub shape ID creator for the shape (can be used when expanding compound shapes into multiple transformed shapes)

Detailed Description

Temporary data structure that contains a shape and a transform. This structure can be obtained from a body (e.g. after a broad phase query) under lock protection. The lock can then be released and collision detection operations can be safely performed since the class takes a reference on the shape and does not use anything from the body anymore.

Member Typedef Documentation

◆ GetTrianglesContext

using TransformedShape::GetTrianglesContext = Shape::GetTrianglesContext

Use the context from Shape.

Constructor & Destructor Documentation

◆ TransformedShape() [1/2]

JPH_OVERRIDE_NEW_DELETE TransformedShape::TransformedShape ( )

default

Constructor.

◆ TransformedShape() [2/2]

TransformedShape::TransformedShape	(	RVec3Arg	inPositionCOM,
		QuatArg	inRotation,
		const Shape *	inShape,
		const BodyID &	inBodyID,
		const SubShapeIDCreator &	inSubShapeIDCreator = `SubShapeIDCreator()`
	)

inline

Member Function Documentation

◆ CastRay() [1/2]

void TransformedShape::CastRay	(	const RRayCast &	inRay,
		const RayCastSettings &	inRayCastSettings,
		CastRayCollector &	ioCollector,
		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 GetWorldSpaceSurfaceNormal(collected sub shape ID, inRay.GetPointOnRay(collected fraction)) on this object.

◆ CastRay() [2/2]

JPH_NAMESPACE_BEGIN bool TransformedShape::CastRay	(	const RRayCast &	inRay,
		RayCastResult &	ioHit
	)		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 are returned. If you want the surface normal of the hit use GetWorldSpaceSurfaceNormal(ioHit.mSubShapeID2, inRay.GetPointOnRay(ioHit.mFraction)) on this object.

◆ CastShape()

void TransformedShape::CastShape	(	const RShapeCast &	inShapeCast,
		const ShapeCastSettings &	inShapeCastSettings,
		RVec3Arg	inBaseOffset,
		CastShapeCollector &	ioCollector,
		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. mShapePositionCOM or inShapeCast.mCenterOfMassStart.GetTranslation() since floats are most accurate near the origin
ioCollector	Collector that receives the hits
inShapeFilter	Filter that allows you to reject collisions

◆ CollectTransformedShapes()

void TransformedShape::CollectTransformedShapes	(	const AABox &	inBox,
		TransformedShapeCollector &	ioCollector,
		const ShapeFilter &	inShapeFilter = `{ }`
	)		const

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

◆ CollidePoint()

void TransformedShape::CollidePoint	(	RVec3Arg	inPoint,
		CollidePointCollector &	ioCollector,
		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 TransformedShape::CollideShape	(	const Shape *	inShape,
		Vec3Arg	inShapeScale,
		RMat44Arg	inCenterOfMassTransform,
		const CollideShapeSettings &	inCollideShapeSettings,
		RVec3Arg	inBaseOffset,
		CollideShapeCollector &	ioCollector,
		const ShapeFilter &	inShapeFilter = `{ }`
	)		const

Collide a shape and report any hits to ioCollector

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. mShapePositionCOM since floats are most accurate near the origin
ioCollector	Collector that receives the hits
inShapeFilter	Filter that allows you to reject collisions

◆ GetCenterOfMassTransform()

RMat44 TransformedShape::GetCenterOfMassTransform ( ) const

inline

Calculates the transform for this shapes's center of mass (excluding scale)

◆ GetInverseCenterOfMassTransform()

RMat44 TransformedShape::GetInverseCenterOfMassTransform ( ) const

inline

Calculates the inverse of the transform for this shape's center of mass (excluding scale)

◆ GetMaterial()

const PhysicsMaterial * TransformedShape::GetMaterial ( const SubShapeID & inSubShapeID ) const

inline

Get material of a particular sub shape.

◆ GetShapeScale()

Vec3 TransformedShape::GetShapeScale ( ) const

inline

Get/set the scale of the shape as a Vec3.

◆ GetSubShapeTransformedShape()

TransformedShape TransformedShape::GetSubShapeTransformedShape	(	const SubShapeID &	inSubShapeID,
		SubShapeID &	outRemainder
	)		const

inline

Get the direct child sub shape and its transform for a sub shape ID.

Parameters

inSubShapeID	Sub shape ID that indicates the path to the leaf shape
outRemainder	The remainder of the sub shape ID after removing the sub shape

Returns: Direct child sub shape and its transform, note that the body ID and sub shape ID will be invalid

◆ GetSubShapeUserData()

uint64 TransformedShape::GetSubShapeUserData ( const SubShapeID & inSubShapeID ) const

inline

Get the user data of a particular sub shape.

◆ GetSupportingFace()

void TransformedShape::GetSupportingFace	(	const SubShapeID &	inSubShapeID,
		Vec3Arg	inDirection,
		RVec3Arg	inBaseOffset,
		Shape::SupportingFace &	outVertices
	)		const

inline

Get the vertices of the face that faces inDirection the most (includes any convex radius). Note that this function can only return faces of convex shapes or triangles, which is why a sub shape ID to get to that leaf must be provided.

Parameters

inSubShapeID	Sub shape ID of target shape
inDirection	Direction that the face should be facing (in world space)
inBaseOffset	The vertices 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. mShapePositionCOM since floats are most accurate near the origin
outVertices	Resulting face. Note the returned face can have a single point if the shape doesn't have polygons to return (e.g. because it's a sphere). The face will be returned in world space.

◆ GetTrianglesNext()

int TransformedShape::GetTrianglesNext	(	GetTrianglesContext &	ioContext,
		int	inMaxTrianglesRequested,
		Float3 *	outTriangleVertices,
		const PhysicsMaterial **	outMaterials = `nullptr`
	)		const

Call this repeatedly to get all triangles in the box. outTriangleVertices should be large enough to hold 3 * inMaxTriangleRequested entries outMaterials (if it is not null) should contain inMaxTrianglesRequested entries The function returns the amount of triangles that it found (which will be <= inMaxTrianglesRequested), or 0 if there are no more triangles. Note that the function can return a value < inMaxTrianglesRequested and still have more triangles to process (triangles can be returned in blocks) Note that the function may return triangles outside of the requested box, only coarse culling is performed on the returned triangles

◆ GetTrianglesStart()

void TransformedShape::GetTrianglesStart	(	GetTrianglesContext &	ioContext,
		const AABox &	inBox,
		RVec3Arg	inBaseOffset
	)		const

To start iterating over triangles, call this function first. To get the actual triangles call GetTrianglesNext.

Parameters

ioContext	A temporary buffer and should remain untouched until the last call to GetTrianglesNext.
inBox	The world space bounding in which you want to get the triangles.
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. inBox.GetCenter() since floats are most accurate near the origin

◆ GetWorldSpaceBounds()

AABox TransformedShape::GetWorldSpaceBounds ( ) const

inline

Get the world space bounding box for this transformed shape.

◆ GetWorldSpaceSurfaceNormal()

Vec3 TransformedShape::GetWorldSpaceSurfaceNormal	(	const SubShapeID &	inSubShapeID,
		RVec3Arg	inPosition
	)		const

inline

Get surface normal of a particular sub shape and its world space surface position on this body. Note: When you have a CollideShapeResult or ShapeCastResult you should use -mPenetrationAxis.Normalized() as contact normal as GetWorldSpaceSurfaceNormal will only return face normals (and not vertex or edge normals).

◆ GetWorldTransform()

RMat44 TransformedShape::GetWorldTransform ( ) const

inline

Calculates the world transform including scale of this shape (not from the center of mass but in the space the shape was created)

◆ MakeSubShapeIDRelativeToShape()

SubShapeID TransformedShape::MakeSubShapeIDRelativeToShape ( const SubShapeID & inSubShapeID ) const

inline

Make inSubShapeID relative to mShape. When mSubShapeIDCreator is not empty, this is needed in order to get the correct path to the sub shape.

◆ SetShapeScale()

void TransformedShape::SetShapeScale ( Vec3Arg inScale )

inline

◆ SetWorldTransform() [1/2]

void TransformedShape::SetWorldTransform ( RMat44Arg inTransform )

inline

Sets the world transform (including scale) of this transformed shape (not from the center of mass but in the space the shape was created)

◆ SetWorldTransform() [2/2]

void TransformedShape::SetWorldTransform	(	RVec3Arg	inPosition,
		QuatArg	inRotation,
		Vec3Arg	inScale
	)

inline

Sets the world transform (including scale) of this transformed shape (not from the center of mass but in the space the shape was created)

◆ sGetBodyID()

static BodyID TransformedShape::sGetBodyID ( const TransformedShape * inTS )

inlinestatic

Helper function to return the body id from a transformed shape. If the transformed shape is null an invalid body ID will be returned.

Member Data Documentation

◆ mBodyID

BodyID TransformedShape::mBodyID

Optional body ID from which this shape comes.

◆ mShape

RefConst<Shape> TransformedShape::mShape

The shape itself.

◆ mShapePositionCOM

RVec3 TransformedShape::mShapePositionCOM

Center of mass world position of the shape.

◆ mShapeRotation

Quat TransformedShape::mShapeRotation

Rotation of the shape.

◆ mShapeScale

Float3 TransformedShape::mShapeScale { 1, 1, 1 }

Not stored as Vec3 to get a nicely packed structure.

◆ mSubShapeIDCreator

SubShapeIDCreator TransformedShape::mSubShapeIDCreator

Optional sub shape ID creator for the shape (can be used when expanding compound shapes into multiple transformed shapes)

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

Jolt/Physics/Collision/TransformedShape.h
Jolt/Physics/Collision/TransformedShape.cpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ GetTrianglesContext

Constructor & Destructor Documentation

◆ TransformedShape() [1/2]

◆ TransformedShape() [2/2]

Member Function Documentation

◆ CastRay() [1/2]

◆ CastRay() [2/2]

◆ CastShape()

◆ CollectTransformedShapes()

◆ CollidePoint()

◆ CollideShape()

◆ GetCenterOfMassTransform()

◆ GetInverseCenterOfMassTransform()

◆ GetMaterial()

◆ GetShapeScale()

◆ GetSubShapeTransformedShape()

◆ GetSubShapeUserData()

◆ GetSupportingFace()

◆ GetTrianglesNext()

◆ GetTrianglesStart()

◆ GetWorldSpaceBounds()

◆ GetWorldSpaceSurfaceNormal()

◆ GetWorldTransform()

◆ MakeSubShapeIDRelativeToShape()

◆ SetShapeScale()

◆ SetWorldTransform() [1/2]

◆ SetWorldTransform() [2/2]

◆ sGetBodyID()

Member Data Documentation

◆ mBodyID

◆ mShape

◆ mShapePositionCOM

◆ mShapeRotation

◆ mShapeScale

◆ mSubShapeIDCreator