MutableCompoundShape.h

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
 
#pragma once
 
#include <Jolt/Physics/Collision/Shape/CompoundShape.h>
 
JPH_NAMESPACE_BEGIN
 
class CollideShapeSettings;
 
class JPH_EXPORT MutableCompoundShapeSettings final : public CompoundShapeSettings
{
public:
    JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, MutableCompoundShapeSettings)
 
    // See: ShapeSettings
    virtual ShapeResult             Create() const override;
};
 
class JPH_EXPORT MutableCompoundShape final : public CompoundShape
{
public:
    JPH_OVERRIDE_NEW_DELETE
 
                                    MutableCompoundShape() : CompoundShape(EShapeSubType::MutableCompound) { }
                                    MutableCompoundShape(const MutableCompoundShapeSettings &inSettings, ShapeResult &outResult);
 
    // See Shape::CastRay
    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;
 
    // See: Shape::CollidePoint
    virtual void                    CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
 
    // See Shape::CollectTransformedShapes
    virtual void                    CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const override;
 
    // See: CompoundShape::GetIntersectingSubShapes
    virtual int                     GetIntersectingSubShapes(const AABox &inBox, uint *outSubShapeIndices, int inMaxSubShapeIndices) const override;
 
    // See: CompoundShape::GetIntersectingSubShapes
    virtual int                     GetIntersectingSubShapes(const OrientedBox &inBox, uint *outSubShapeIndices, int inMaxSubShapeIndices) const override;
 
    // See Shape
    virtual void                    SaveBinaryState(StreamOut &inStream) const override;
 
    // See Shape::GetStats
    virtual Stats                   GetStats() const override                               { return Stats(sizeof(*this) + mSubShapes.size() * sizeof(SubShape) + mSubShapeBounds.size() * sizeof(Bounds), 0); }
 
 
    uint                            AddShape(Vec3Arg inPosition, QuatArg inRotation, const Shape *inShape, uint32 inUserData = 0);
 
    void                            RemoveShape(uint inIndex);
 
    void                            ModifyShape(uint inIndex, Vec3Arg inPosition, QuatArg inRotation);
 
    void                            ModifyShape(uint inIndex, Vec3Arg inPosition, QuatArg inRotation, const Shape *inShape);
 
    void                            ModifyShapes(uint inStartIndex, uint inNumber, const Vec3 *inPositions, const Quat *inRotations, uint inPositionStride = sizeof(Vec3), uint inRotationStride = sizeof(Quat));
 
    void                            AdjustCenterOfMass();
 
 
    // Register shape functions with the registry
    static void                     sRegister();
 
protected:
    // See: Shape::RestoreBinaryState
    virtual void                    RestoreBinaryState(StreamIn &inStream) override;
 
private:
    // Visitor for GetIntersectingSubShapes
    template <class BoxType>
    struct GetIntersectingSubShapesVisitorMC : public GetIntersectingSubShapesVisitor<BoxType>
    {
        using GetIntersectingSubShapesVisitor<BoxType>::GetIntersectingSubShapesVisitor;
 
        using Result = UVec4;
 
        JPH_INLINE Result           TestBlock(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ) const
        {
            return GetIntersectingSubShapesVisitor<BoxType>::TestBounds(inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ);
        }
 
        JPH_INLINE bool             ShouldVisitBlock(UVec4Arg inResult) const
        {
            return inResult.TestAnyTrue();
        }
 
        JPH_INLINE bool             ShouldVisitSubShape(UVec4Arg inResult, uint inIndexInBlock) const
        {
            return inResult[inIndexInBlock] != 0;
        }
    };
 
    inline uint                     GetNumBlocks() const                                        { return ((uint)mSubShapes.size() + 3) >> 2; }
 
    void                            EnsureSubShapeBoundsCapacity();
 
    void                            CalculateSubShapeBounds(uint inStartIdx, uint inNumber);
 
    void                            CalculateLocalBounds();
 
    template <class Visitor>
    JPH_INLINE void                 WalkSubShapes(Visitor &ioVisitor) const;                    
 
    // Helper functions called by CollisionDispatch
    static void                     sCollideCompoundVsShape(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);
    static void                     sCollideShapeVsCompound(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);
    static void                     sCastShapeVsCompound(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
 
    struct Bounds
    {
        Vec4                        mMinX;
        Vec4                        mMinY;
        Vec4                        mMinZ;
        Vec4                        mMaxX;
        Vec4                        mMaxY;
        Vec4                        mMaxZ;
    };
 
    Array<Bounds>                   mSubShapeBounds;                                            
};
 
JPH_NAMESPACE_END