Collision tester that tests collision using a sphere cast. More...

#include <VehicleCollisionTester.h>

Inheritance diagram for VehicleCollisionTesterCastSphere:

Public Member Functions
JPH_OVERRIDE_NEW_DELETE	VehicleCollisionTesterCastSphere (ObjectLayer inObjectLayer, float inRadius, Vec3Arg inUp=Vec3::sAxisY(), float inMaxSlopeAngle=DegreesToRadians(80.0f))

virtual bool	Collide (PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&outBody, SubShapeID &outSubShapeID, RVec3 &outContactPosition, Vec3 &outContactNormal, float &outSuspensionLength) const override

virtual void	PredictContactProperties (PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&ioBody, SubShapeID &ioSubShapeID, RVec3 &ioContactPosition, Vec3 &ioContactNormal, float &ioSuspensionLength) const override

Public Member Functions inherited from VehicleCollisionTester
JPH_OVERRIDE_NEW_DELETE	VehicleCollisionTester ()=default
	Constructors.

	VehicleCollisionTester (ObjectLayer inObjectLayer)

virtual	~VehicleCollisionTester ()=default
	Virtual destructor.

ObjectLayer	GetObjectLayer () const
	Object layer to use for collision detection, this is used when the filters are not overridden.

void	SetObjectLayer (ObjectLayer inObjectLayer)

void	SetBroadPhaseLayerFilter (const BroadPhaseLayerFilter *inFilter)
	Access to the broad phase layer filter, when set this overrides the object layer supplied in the constructor.

const BroadPhaseLayerFilter *	GetBroadPhaseLayerFilter () const

void	SetObjectLayerFilter (const ObjectLayerFilter *inFilter)
	Access to the object layer filter, when set this overrides the object layer supplied in the constructor.

const ObjectLayerFilter *	GetObjectLayerFilter () const

void	SetBodyFilter (const BodyFilter *inFilter)
	Access to the body filter, when set this overrides the default filter that filters out the vehicle body.

const BodyFilter *	GetBodyFilter () const

Public Member Functions inherited from RefTarget< VehicleCollisionTester >
	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

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

Protected Attributes inherited from VehicleCollisionTester
const BroadPhaseLayerFilter *	mBroadPhaseLayerFilter = nullptr

const ObjectLayerFilter *	mObjectLayerFilter = nullptr

const BodyFilter *	mBodyFilter = nullptr

ObjectLayer	mObjectLayer = cObjectLayerInvalid

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

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

Detailed Description

Collision tester that tests collision using a sphere cast.

Constructor & Destructor Documentation

◆ VehicleCollisionTesterCastSphere()

JPH_OVERRIDE_NEW_DELETE VehicleCollisionTesterCastSphere::VehicleCollisionTesterCastSphere	(	ObjectLayer	inObjectLayer,
		float	inRadius,
		Vec3Arg	inUp = `Vec3::sAxisY()`,
		float	inMaxSlopeAngle = `DegreesToRadians(80.0f)`
	)

inline

Constructor

Parameters

inObjectLayer	Object layer to test collision with
inUp	World space up vector, used to avoid colliding with vertical walls.
inRadius	Radius of sphere
inMaxSlopeAngle	Max angle (rad) that is considered for colliding wheels. This is to avoid colliding with vertical walls.

Member Function Documentation

◆ Collide()

bool VehicleCollisionTesterCastSphere::Collide	(	PhysicsSystem &	inPhysicsSystem,
		const VehicleConstraint &	inVehicleConstraint,
		uint	inWheelIndex,
		RVec3Arg	inOrigin,
		Vec3Arg	inDirection,
		const BodyID &	inVehicleBodyID,
		Body *&	outBody,
		SubShapeID &	outSubShapeID,
		RVec3 &	outContactPosition,
		Vec3 &	outContactNormal,
		float &	outSuspensionLength
	)		const

overridevirtual

Do a collision test with the world

Parameters

inPhysicsSystem	The physics system that should be tested against
inVehicleConstraint	The vehicle constraint
inWheelIndex	Index of the wheel that we're testing collision for
inOrigin	Origin for the test, corresponds to the world space position for the suspension attachment point
inDirection	Direction for the test (unit vector, world space)
inVehicleBodyID	This body should be filtered out during collision detection to avoid self collisions
outBody	Body that the wheel collided with
outSubShapeID	Sub shape ID that the wheel collided with
outContactPosition	Contact point between wheel and floor, in world space
outContactNormal	Contact normal between wheel and floor, pointing away from the floor
outSuspensionLength	New length of the suspension [0, inSuspensionMaxLength]

Returns: True when collision found, false if not

Implements VehicleCollisionTester.

◆ PredictContactProperties()

void VehicleCollisionTesterCastSphere::PredictContactProperties	(	PhysicsSystem &	inPhysicsSystem,
		const VehicleConstraint &	inVehicleConstraint,
		uint	inWheelIndex,
		RVec3Arg	inOrigin,
		Vec3Arg	inDirection,
		const BodyID &	inVehicleBodyID,
		Body *&	ioBody,
		SubShapeID &	ioSubShapeID,
		RVec3 &	ioContactPosition,
		Vec3 &	ioContactNormal,
		float &	ioSuspensionLength
	)		const

overridevirtual

Do a cheap contact properties prediction based on the contact properties from the last collision test (provided as input parameters)

Parameters

inPhysicsSystem	The physics system that should be tested against
inVehicleConstraint	The vehicle constraint
inWheelIndex	Index of the wheel that we're testing collision for
inOrigin	Origin for the test, corresponds to the world space position for the suspension attachment point
inDirection	Direction for the test (unit vector, world space)
inVehicleBodyID	The body ID for the vehicle itself
ioBody	Body that the wheel previously collided with
ioSubShapeID	Sub shape ID that the wheel collided with during the last check
ioContactPosition	Contact point between wheel and floor during the last check, in world space
ioContactNormal	Contact normal between wheel and floor during the last check, pointing away from the floor
ioSuspensionLength	New length of the suspension [0, inSuspensionMaxLength]

Implements VehicleCollisionTester.

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

Jolt/Physics/Vehicle/VehicleCollisionTester.h
Jolt/Physics/Vehicle/VehicleCollisionTester.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VehicleCollisionTesterCastSphere()

Member Function Documentation

◆ Collide()

◆ PredictContactProperties()