Jolt Physics
A multi core friendly Game Physics Engine
Loading...
Searching...
No Matches
StaticCompoundShape.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
10
12
14class TempAllocator;
15
18{
19public:
21
22 // See: ShapeSettings
23 virtual ShapeResult Create() const override;
24
26 ShapeResult Create(TempAllocator &inTempAllocator) const;
27};
28
33{
34public:
36
39 StaticCompoundShape(const StaticCompoundShapeSettings &inSettings, TempAllocator &inTempAllocator, ShapeResult &outResult);
40
41 // See Shape::CastRay
42 virtual bool CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
43 virtual void CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
44
45 // See: Shape::CollidePoint
46 virtual void CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
47
48 // See Shape::CollectTransformedShapes
49 virtual void CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const override;
50
51 // See: CompoundShape::GetIntersectingSubShapes
52 virtual int GetIntersectingSubShapes(const AABox &inBox, uint *outSubShapeIndices, int inMaxSubShapeIndices) const override;
53
54 // See: CompoundShape::GetIntersectingSubShapes
55 virtual int GetIntersectingSubShapes(const OrientedBox &inBox, uint *outSubShapeIndices, int inMaxSubShapeIndices) const override;
56
57 // See Shape
58 virtual void SaveBinaryState(StreamOut &inStream) const override;
59
60 // See Shape::GetStats
61 virtual Stats GetStats() const override { return Stats(sizeof(*this) + mSubShapes.size() * sizeof(SubShape) + mNodes.size() * sizeof(Node), 0); }
62
63 // Register shape functions with the registry
64 static void sRegister();
65
66protected:
67 // See: Shape::RestoreBinaryState
68 virtual void RestoreBinaryState(StreamIn &inStream) override;
69
70private:
71 // Visitor for GetIntersectingSubShapes
72 template <class BoxType>
73 struct GetIntersectingSubShapesVisitorSC : public GetIntersectingSubShapesVisitor<BoxType>
74 {
75 using GetIntersectingSubShapesVisitor<BoxType>::GetIntersectingSubShapesVisitor;
76
77 JPH_INLINE bool ShouldVisitNode(int inStackTop) const
78 {
79 return true;
80 }
81
82 JPH_INLINE int VisitNodes(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ, UVec4 &ioProperties, int inStackTop)
83 {
84 // Test if point overlaps with box
85 UVec4 collides = GetIntersectingSubShapesVisitor<BoxType>::TestBounds(inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ);
86 return CountAndSortTrues(collides, ioProperties);
87 }
88 };
89
92 static void sPartition(uint *ioBodyIdx, AABox *ioBounds, int inNumber, int &outMidPoint);
93
97 static void sPartition4(uint *ioBodyIdx, AABox *ioBounds, int inBegin, int inEnd, int *outSplit);
98
99 // Helper functions called by CollisionDispatch
100 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);
101 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);
102 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);
103
104 // Maximum size of the stack during tree walk
105 static constexpr int cStackSize = 128;
106
107 template <class Visitor>
108 JPH_INLINE void WalkTree(Visitor &ioVisitor) const;
109
111 enum : uint32
112 {
113 IS_SUBSHAPE = 0x80000000,
114 INVALID_NODE = 0x7fffffff,
115 };
116
118 struct Node
119 {
120 void SetChildBounds(uint inIndex, const AABox &inBounds);
121 void SetChildInvalid(uint inIndex);
122
123 HalfFloat mBoundsMinX[4];
124 HalfFloat mBoundsMinY[4];
125 HalfFloat mBoundsMinZ[4];
126 HalfFloat mBoundsMaxX[4];
127 HalfFloat mBoundsMaxY[4];
128 HalfFloat mBoundsMaxZ[4];
129 uint32 mNodeProperties[4];
130 };
131
132 static_assert(sizeof(Node) == 64, "Node should be 64 bytes");
133
134 using Nodes = Array<Node>;
135
136 Nodes mNodes;
137};
138
#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
uint16 HalfFloat
Definition: HalfFloat.h:11
#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
JPH_INLINE int CountAndSortTrues(UVec4Arg inValue, UVec4 &ioIdentifiers)
Definition: SortReverseAndStore.h:39
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
Holds a 4x4 matrix of floats, but supports also operations on the 3x3 upper left part of the matrix.
Definition: Mat44.h:13
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.
Definition: StaticCompoundShape.h:33
JPH_OVERRIDE_NEW_DELETE StaticCompoundShape()
Constructor.
Definition: StaticCompoundShape.h:38
virtual Stats GetStats() const override
Get stats of this shape. Use for logging / data collection purposes only. Does not add values from ch...
Definition: StaticCompoundShape.h:61
Class that constructs a StaticCompoundShape. Note that if you only want a compound of 1 shape,...
Definition: StaticCompoundShape.h:18
Simple binary input stream.
Definition: StreamIn.h:13
Simple binary output stream.
Definition: StreamOut.h:13
Definition: SubShapeID.h:108
Definition: TempAllocator.h:16
Definition: UVec4.h:12
Definition: Vec3.h:16
Definition: Vec4.h:14
constexpr int cStackSize
Stack size to use during WalkHeightField.
Definition: HeightFieldShape.h:26
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