Jolt Physics
A multi core friendly Game Physics Engine
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MutableCompoundShape.h
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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
8
10
12
15{
16public:
18
19 // See: ShapeSettings
20 virtual ShapeResult Create() const override;
21};
22
31{
32public:
34
37 MutableCompoundShape(const MutableCompoundShapeSettings &inSettings, ShapeResult &outResult);
38
39 // See Shape::CastRay
40 virtual bool CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
41 virtual void CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
42
43 // See: Shape::CollidePoint
44 virtual void CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
45
46 // See Shape::CollectTransformedShapes
47 virtual void CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const override;
48
49 // See: CompoundShape::GetIntersectingSubShapes
50 virtual int GetIntersectingSubShapes(const AABox &inBox, uint *outSubShapeIndices, int inMaxSubShapeIndices) const override;
51
52 // See: CompoundShape::GetIntersectingSubShapes
53 virtual int GetIntersectingSubShapes(const OrientedBox &inBox, uint *outSubShapeIndices, int inMaxSubShapeIndices) const override;
54
55 // See Shape
56 virtual void SaveBinaryState(StreamOut &inStream) const override;
57
58 // See Shape::GetStats
59 virtual Stats GetStats() const override { return Stats(sizeof(*this) + mSubShapes.size() * sizeof(SubShape) + mSubShapeBounds.size() * sizeof(Bounds), 0); }
60
63
66 uint AddShape(Vec3Arg inPosition, QuatArg inRotation, const Shape *inShape, uint32 inUserData = 0);
67
69 void RemoveShape(uint inIndex);
70
72 void ModifyShape(uint inIndex, Vec3Arg inPosition, QuatArg inRotation);
73
75 void ModifyShape(uint inIndex, Vec3Arg inPosition, QuatArg inRotation, const Shape *inShape);
76
84 void ModifyShapes(uint inStartIndex, uint inNumber, const Vec3 *inPositions, const Quat *inRotations, uint inPositionStride = sizeof(Vec3), uint inRotationStride = sizeof(Quat));
85
89 void AdjustCenterOfMass();
90
92
93 // Register shape functions with the registry
94 static void sRegister();
95
96protected:
97 // See: Shape::RestoreBinaryState
98 virtual void RestoreBinaryState(StreamIn &inStream) override;
99
100private:
101 // Visitor for GetIntersectingSubShapes
102 template <class BoxType>
103 struct GetIntersectingSubShapesVisitorMC : public GetIntersectingSubShapesVisitor<BoxType>
104 {
105 using GetIntersectingSubShapesVisitor<BoxType>::GetIntersectingSubShapesVisitor;
106
107 using Result = UVec4;
108
109 JPH_INLINE Result TestBlock(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ) const
110 {
111 return GetIntersectingSubShapesVisitor<BoxType>::TestBounds(inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ);
112 }
113
114 JPH_INLINE bool ShouldVisitBlock(UVec4Arg inResult) const
115 {
116 return inResult.TestAnyTrue();
117 }
118
119 JPH_INLINE bool ShouldVisitSubShape(UVec4Arg inResult, uint inIndexInBlock) const
120 {
121 return inResult[inIndexInBlock] != 0;
122 }
123 };
124
126 inline uint GetNumBlocks() const { return ((uint)mSubShapes.size() + 3) >> 2; }
127
129 void EnsureSubShapeBoundsCapacity();
130
134 void CalculateSubShapeBounds(uint inStartIdx, uint inNumber);
135
137 void CalculateLocalBounds();
138
139 template <class Visitor>
140 JPH_INLINE void WalkSubShapes(Visitor &ioVisitor) const;
141
142 // Helper functions called by CollisionDispatch
143 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);
144 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);
145 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);
146
147 struct Bounds
148 {
149 Vec4 mMinX;
150 Vec4 mMinY;
151 Vec4 mMinZ;
152 Vec4 mMaxX;
153 Vec4 mMaxY;
154 Vec4 mMaxZ;
155 };
156
157 Array<Bounds> mSubShapeBounds;
158};
159
#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_NAMESPACE_BEGIN
Definition: Core.h:361
#define JPH_OVERRIDE_NEW_DELETE
Macro to override the new and delete functions.
Definition: Memory.h:29
std::vector< T, STLAllocator< T > > Array
Definition: STLAllocator.h:81
#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
Axis aligned box.
Definition: AABox.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
Base class for a compound shape.
Definition: CompoundShape.h:49
Base class settings to construct a compound shape.
Definition: CompoundShape.h:18
void AddShape(Vec3Arg inPosition, QuatArg inRotation, const ShapeSettings *inShape, uint32 inUserData=0)
Add a shape to the compound.
Definition: CompoundShape.cpp:37
Holds a 4x4 matrix of floats, but supports also operations on the 3x3 upper left part of the matrix.
Definition: Mat44.h:13
Definition: MutableCompoundShape.h:31
JPH_OVERRIDE_NEW_DELETE MutableCompoundShape()
Constructor.
Definition: MutableCompoundShape.h:36
virtual Stats GetStats() const override
Get stats of this shape. Use for logging / data collection purposes only. Does not add values from ch...
Definition: MutableCompoundShape.h:59
Class that constructs a MutableCompoundShape.
Definition: MutableCompoundShape.h:15
Oriented box.
Definition: OrientedBox.h:18
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
virtual ShapeResult Create() const =0
Create a shape according to the settings specified by this object.
Simple binary input stream.
Definition: StreamIn.h:13
Simple binary output stream.
Definition: StreamOut.h:13
Definition: SubShapeID.h:108
Definition: UVec4.h:12
JPH_INLINE bool TestAnyTrue() const
Test if any of the components are true (true is when highest bit of component is set)
Definition: UVec4.inl:390
Definition: Vec3.h:16
Definition: Vec4.h:14
Definition: CompoundShape.h:135
Definition: RayCast.h:47
Class that holds information about the shape that can be used for logging / data collection purposes.
Definition: Shape.h:396
Definition: ShapeCast.h:69