Jolt Physics
A multi core friendly Game Physics Engine
Loading...
Searching...
No Matches
MeshShape.h
Go to the documentation of this file.
1// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
2// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
3// SPDX-License-Identifier: MIT
4
5#pragma once
6
12#ifdef JPH_DEBUG_RENDERER
14#endif // JPH_DEBUG_RENDERER
15
17
18class ConvexShape;
20
23{
24public:
26
27
28 MeshShapeSettings() = default;
29
31 MeshShapeSettings(const TriangleList &inTriangles, PhysicsMaterialList inMaterials = PhysicsMaterialList());
33
35 void Sanitize();
36
37 // See: ShapeSettings
38 virtual ShapeResult Create() const override;
39
41 VertexList mTriangleVertices;
42
48 IndexedTriangleList mIndexedTriangles;
49
52
55 uint mMaxTrianglesPerLeaf = 8;
56
60 float mActiveEdgeCosThresholdAngle = 0.996195f; // cos(5 degrees)
61};
62
66class JPH_EXPORT MeshShape final : public Shape
67{
68public:
70
73 MeshShape(const MeshShapeSettings &inSettings, ShapeResult &outResult);
74
75 // See Shape::MustBeStatic
76 virtual bool MustBeStatic() const override { return true; }
77
78 // See Shape::GetLocalBounds
79 virtual AABox GetLocalBounds() const override;
80
81 // See Shape::GetSubShapeIDBitsRecursive
82 virtual uint GetSubShapeIDBitsRecursive() const override;
83
84 // See Shape::GetInnerRadius
85 virtual float GetInnerRadius() const override { return 0.0f; }
86
87 // See Shape::GetMassProperties
88 virtual MassProperties GetMassProperties() const override;
89
90 // See Shape::GetMaterial
91 virtual const PhysicsMaterial * GetMaterial(const SubShapeID &inSubShapeID) const override;
92
94 const PhysicsMaterialList & GetMaterialList() const { return mMaterials; }
95
98 uint GetMaterialIndex(const SubShapeID &inSubShapeID) const;
99
100 // See Shape::GetSurfaceNormal
101 virtual Vec3 GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override;
102
103 // See Shape::GetSupportingFace
104 virtual void GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override;
105
106#ifdef JPH_DEBUG_RENDERER
107 // See Shape::Draw
108 virtual void Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const override;
109#endif // JPH_DEBUG_RENDERER
110
111 // See Shape::CastRay
112 virtual bool CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
113 virtual void CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
114
118 virtual void CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
119
120 // See: Shape::CollideSoftBodyVertices
121 virtual void CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, SoftBodyVertex *ioVertices, uint inNumVertices, float inDeltaTime, Vec3Arg inDisplacementDueToGravity, int inCollidingShapeIndex) const override;
122
123 // See Shape::GetTrianglesStart
124 virtual void GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override;
125
126 // See Shape::GetTrianglesNext
127 virtual int GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override;
128
129 // See Shape::GetSubmergedVolume
130 virtual void GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) const override { JPH_ASSERT(false, "Not supported"); }
131
132 // See Shape
133 virtual void SaveBinaryState(StreamOut &inStream) const override;
134 virtual void SaveMaterialState(PhysicsMaterialList &outMaterials) const override;
135 virtual void RestoreMaterialState(const PhysicsMaterialRefC *inMaterials, uint inNumMaterials) override;
136
137 // See Shape::GetStats
138 virtual Stats GetStats() const override;
139
140 // See Shape::GetVolume
141 virtual float GetVolume() const override { return 0; }
142
143#ifdef JPH_DEBUG_RENDERER
144 // Settings
147#endif // JPH_DEBUG_RENDERER
148
149 // Register shape functions with the registry
150 static void sRegister();
151
152protected:
153 // See: Shape::RestoreBinaryState
154 virtual void RestoreBinaryState(StreamIn &inStream) override;
155
156private:
157 struct MSGetTrianglesContext;
158
159 static constexpr int NumTriangleBits = 3;
160 static constexpr int MaxTrianglesPerLeaf = 1 << NumTriangleBits;
161
163 static void sFindActiveEdges(const MeshShapeSettings &inSettings, IndexedTriangleList &ioIndices);
164
166 template <class Visitor>
167 void WalkTree(Visitor &ioVisitor) const;
168
170 template <class Visitor>
171 void WalkTreePerTriangle(const SubShapeIDCreator &inSubShapeIDCreator2, Visitor &ioVisitor) const;
172
174 inline void DecodeSubShapeID(const SubShapeID &inSubShapeID, const void *&outTriangleBlock, uint32 &outTriangleIndex) const;
175
176 // Helper functions called by CollisionDispatch
177 static void sCollideConvexVsMesh(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);
178 static void sCollideSphereVsMesh(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);
179 static void sCastConvexVsMesh(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
180 static void sCastSphereVsMesh(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
181
183 PhysicsMaterialList mMaterials;
184
185 ByteBuffer mTree;
186
188 enum ETriangleFlags
189 {
191 FLAGS_MATERIAL_BITS = 5,
192 FLAGS_MATERIAL_MASK = (1 << FLAGS_MATERIAL_BITS) - 1,
193
195 FLAGS_ACTIVE_EGDE_SHIFT = FLAGS_MATERIAL_BITS,
196 FLAGS_ACTIVE_EDGE_BITS = 3,
197 FLAGS_ACTIVE_EDGE_MASK = (1 << FLAGS_ACTIVE_EDGE_BITS) - 1
198 };
199
200#ifdef JPH_DEBUG_RENDERER
201 mutable DebugRenderer::GeometryRef mGeometry;
202 mutable bool mCachedTrianglesColoredPerGroup = false;
203 mutable bool mCachedUseMaterialColors = false;
204#endif // JPH_DEBUG_RENDERER
205};
206
#define JPH_EXPORT
Definition: Core.h:227
unsigned int uint
Definition: Core.h:439
#define JPH_NAMESPACE_END
Definition: Core.h:367
std::uint32_t uint32
Definition: Core.h:442
#define JPH_IF_DEBUG_RENDERER(...)
Definition: Core.h:510
#define JPH_NAMESPACE_BEGIN
Definition: Core.h:361
Array< Float3 > VertexList
Definition: Float3.h:43
Array< IndexedTriangle > IndexedTriangleList
Definition: IndexedTriangle.h:109
#define JPH_ASSERT(...)
Definition: IssueReporting.h:33
#define JPH_OVERRIDE_NEW_DELETE
Macro to override the new and delete functions.
Definition: Memory.h:29
Array< RefConst< PhysicsMaterial > > PhysicsMaterialList
Definition: PhysicsMaterial.h:50
#define JPH_DECLARE_SERIALIZABLE_VIRTUAL(linkage, class_name)
Definition: SerializableObject.h:100
EShapeSubType
This enumerates all shape types, each shape can return its type through Shape::GetSubType.
Definition: Shape.h:74
EShapeType
Shapes are categorized in groups, each shape can return which group it belongs to through its Shape::...
Definition: Shape.h:57
@ Mesh
Used by MeshShape.
Array< Triangle > TriangleList
Definition: Triangle.h:32
Axis aligned box.
Definition: AABox.h:16
Simple byte buffer, aligned to a cache line.
Definition: ByteBuffer.h:16
Settings to be passed with a collision query.
Definition: CollideShape.h:94
Virtual interface that allows collecting multiple collision results.
Definition: CollisionCollector.h:45
Class that holds an RGBA color with 8-bits per component.
Definition: Color.h:16
Base class for all convex shapes. Defines a virtual interface.
Definition: ConvexShape.h:36
Definition: DebugRenderer.h:47
Class that holds 3 floats. Used as a storage class. Convert to Vec3 for calculations.
Definition: Float3.h:13
Describes the mass and inertia properties of a body. Used during body construction only.
Definition: MassProperties.h:16
Holds a 4x4 matrix of floats, but supports also operations on the 3x3 upper left part of the matrix.
Definition: Mat44.h:13
Definition: MeshShape.h:67
virtual void GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) const override
Definition: MeshShape.h:130
JPH_OVERRIDE_NEW_DELETE MeshShape()
Constructor.
Definition: MeshShape.h:72
static bool sDrawTriangleGroups
Definition: MeshShape.h:145
virtual float GetVolume() const override
Definition: MeshShape.h:141
virtual float GetInnerRadius() const override
Definition: MeshShape.h:85
static bool sDrawTriangleOutlines
Definition: MeshShape.h:146
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.
Definition: MeshShape.h:76
const PhysicsMaterialList & GetMaterialList() const
Get the list of all materials.
Definition: MeshShape.h:94
Class that constructs a MeshShape.
Definition: MeshShape.h:23
Definition: PhysicsMaterial.h:23
An infinite plane described by the formula X . Normal + Constant = 0.
Definition: Plane.h:11
Definition: Quat.h:33
Specialization of cast result against a shape.
Definition: CastResult.h:30
Settings to be passed with a ray cast.
Definition: RayCast.h:70
Settings to be passed with a shape cast.
Definition: ShapeCast.h:92
Filter class.
Definition: ShapeFilter.h:17
Base class for all shapes (collision volume of a body). Defines a virtual interface for collision det...
Definition: Shape.h:178
Definition: Shape.h:139
Definition: SoftBodyVertex.h:16
Simple binary input stream.
Definition: StreamIn.h:13
Simple binary output stream.
Definition: StreamOut.h:13
Definition: SubShapeID.h:108
A sub shape id contains a path to an element (usually a triangle or other primitive type) of a compou...
Definition: SubShapeID.h:23
Definition: Vec3.h:16
Definition: MeshShape.cpp:940
Definition: RayCast.h:47
Definition: ShapeCast.h:69