Base class for all shapes (collision volume of a body). Defines a virtual interface for collision detection. More...

#include <Shape.h>

Inheritance diagram for Shape:

Classes
struct	GetTrianglesContext
	An opaque buffer that holds shape specific information during GetTrianglesStart/Next. More...

struct	Stats
	Class that holds information about the shape that can be used for logging / data collection purposes. More...

Public Types
using	ShapeResult = ShapeSettings::ShapeResult

using	SupportingFace = StaticArray< Vec3, 32 >
	Type definition for a supporting face. More...

using	VisitedShapes = UnorderedSet< const Shape * >

Public Member Functions
	Shape (EShapeType inType, EShapeSubType inSubType)
	Constructor. More...

	Shape (EShapeType inType, EShapeSubType inSubType, const ShapeSettings &inSettings, ShapeResult &outResult)

virtual	~Shape ()=default
	Destructor. More...

EShapeType	GetType () const
	Get type. More...

EShapeSubType	GetSubType () const

uint64	GetUserData () const
	User data (to be used freely by the application) More...

void	SetUserData (uint64 inUserData)

virtual bool	MustBeStatic () const
	Check if this shape can only be used to create a static body or if it can also be dynamic/kinematic. More...

virtual Vec3	GetCenterOfMass () const
	All shapes are centered around their center of mass. This function returns the center of mass position that needs to be applied to transform the shape to where it was created. More...

virtual AABox	GetLocalBounds () const =0
	Get local bounding box including convex radius, this box is centered around the center of mass rather than the world transform. More...

virtual uint	GetSubShapeIDBitsRecursive () const =0
	Get the max number of sub shape ID bits that are needed to be able to address any leaf shape in this shape. Used mainly for checking that it is smaller or equal than SubShapeID::MaxBits. More...

virtual AABox	GetWorldSpaceBounds (Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const

AABox	GetWorldSpaceBounds (DMat44Arg inCenterOfMassTransform, Vec3Arg inScale) const
	Get world space bounds including convex radius. More...

virtual float	GetInnerRadius () const =0

virtual MassProperties	GetMassProperties () const =0
	Calculate the mass and inertia of this shape. More...

virtual const PhysicsMaterial *	GetMaterial (const SubShapeID &inSubShapeID) const =0
	Get the material assigned to a particular sub shape ID. More...

virtual Vec3	GetSurfaceNormal (const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const =0

virtual void	GetSupportingFace (const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const

virtual uint64	GetSubShapeUserData (const SubShapeID &inSubShapeID) const
	Get the user data of a particular sub shape ID. More...

virtual TransformedShape	GetSubShapeTransformedShape (const SubShapeID &inSubShapeID, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, SubShapeID &outRemainder) const

virtual void	GetSubmergedVolume (Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy, RVec3Arg inBaseOffset) const =0

virtual void	Draw (DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const =0
	Draw the shape at a particular location with a particular color (debugging purposes) More...

virtual void	DrawGetSupportFunction (DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inDrawSupportDirection) const
	Draw the results of the GetSupportFunction with the convex radius added back on to show any errors introduced by this process (only relevant for convex shapes) More...

virtual void	DrawGetSupportingFace (DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale) const
	Draw the results of the GetSupportingFace function to show any errors introduced by this process (only relevant for convex shapes) More...

virtual bool	CastRay (const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const =0

virtual void	CastRay (const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter={ }) const =0

virtual void	CollidePoint (Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter={ }) const =0

virtual void	CollideSoftBodyVertices (Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, SoftBodyVertex *ioVertices, uint inNumVertices, float inDeltaTime, Vec3Arg inDisplacementDueToGravity, int inCollidingShapeIndex) const =0

virtual void	CollectTransformedShapes (const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const

virtual void	TransformShape (Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const

ShapeResult	ScaleShape (Vec3Arg inScale) const

virtual void	GetTrianglesStart (GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const =0

virtual int	GetTrianglesNext (GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 outTriangleVertices, const PhysicsMaterial *outMaterials=nullptr) const =0

virtual Stats	GetStats () const =0
	Get stats of this shape. Use for logging / data collection purposes only. Does not add values from child shapes, use GetStatsRecursive for this. More...

virtual Stats	GetStatsRecursive (VisitedShapes &ioVisitedShapes) const
	Volume of this shape (m^3). Note that for compound shapes the volume may be incorrect since child shapes can overlap which is not accounted for. More...

virtual float	GetVolume () const =0

virtual bool	IsValidScale (Vec3Arg inScale) const

virtual Vec3	MakeScaleValid (Vec3Arg inScale) const

Public Member Functions inherited from RefTarget< Shape >
	RefTarget ()=default
	Constructor. More...

	RefTarget (const RefTarget &)

	~RefTarget ()
	assert no one is referencing us More...

void	SetEmbedded () const

RefTarget &	operator= (const RefTarget &)
	Assignment operator. More...

uint32	GetRefCount () const
	Get current refcount of this object. More...

void	AddRef () const
	Add or release a reference to this object. More...

void	Release () const

Public Member Functions inherited from NonCopyable
	NonCopyable ()=default

	NonCopyable (const NonCopyable &)=delete

void	operator= (const NonCopyable &)=delete

Static Public Attributes
static constexpr int	cGetTrianglesMinTrianglesRequested = 32
	This is the minimum amount of triangles that should be requested through GetTrianglesNext. More...

static bool	sDrawSubmergedVolumes = false
	Debug helper which draws the intersection between water and the shapes, the center of buoyancy and the submerged volume. More...

Protected Member Functions
virtual void	RestoreBinaryState (StreamIn &inStream)
	This function should not be called directly, it is used by sRestoreFromBinaryState. More...

Static Protected Member Functions
static void	sCollidePointUsingRayCast (const Shape &inShape, Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter)
	A fallback version of CollidePoint that uses a ray cast and counts the number of hits to determine if the point is inside the shape. Odd number of hits means inside, even number of hits means outside. More...

Binary serialization of the shape. Note that this saves the 'cooked' shape in a format which will not be backwards compatible for newer library versions.
In this case you need to recreate the shape from the ShapeSettings object and save it again. The user is expected to call SaveBinaryState followed by SaveMaterialState and SaveSubShapeState. The stream should be stored as is and the material and shape list should be saved using the applications own serialization system (e.g. by assigning an ID to each pointer). When restoring data, call sRestoreFromBinaryState to get the shape and then call RestoreMaterialState and RestoreSubShapeState to restore the pointers to the external objects. Alternatively you can use SaveWithChildren and sRestoreWithChildren to save and restore the shape and all its child shapes and materials in a single stream.
using	ShapeToIDMap = StreamUtils::ObjectToIDMap< Shape >

using	IDToShapeMap = StreamUtils::IDToObjectMap< Shape >

using	MaterialToIDMap = StreamUtils::ObjectToIDMap< PhysicsMaterial >

using	IDToMaterialMap = StreamUtils::IDToObjectMap< PhysicsMaterial >

virtual void	SaveBinaryState (StreamOut &inStream) const
	Saves the contents of the shape in binary form to inStream. More...

virtual void	SaveMaterialState (PhysicsMaterialList &outMaterials) const
	Outputs the material references that this shape has to outMaterials. More...

virtual void	RestoreMaterialState (const PhysicsMaterialRefC *inMaterials, uint inNumMaterials)
	Restore the material references after calling sRestoreFromBinaryState. Note that the exact same materials need to be provided in the same order as returned by SaveMaterialState. More...

virtual void	SaveSubShapeState (ShapeList &outSubShapes) const
	Outputs the shape references that this shape has to outSubShapes. More...

virtual void	RestoreSubShapeState (const ShapeRefC *inSubShapes, uint inNumShapes)
	Restore the shape references after calling sRestoreFromBinaryState. Note that the exact same shapes need to be provided in the same order as returned by SaveSubShapeState. More...

void	SaveWithChildren (StreamOut &inStream, ShapeToIDMap &ioShapeMap, MaterialToIDMap &ioMaterialMap) const
	Save this shape, all its children and its materials. Pass in an empty map in ioShapeMap / ioMaterialMap or reuse the same map while saving multiple shapes to the same stream in order to avoid writing duplicates. More...

static ShapeResult	sRestoreFromBinaryState (StreamIn &inStream)
	Creates a Shape of the correct type and restores its contents from the binary stream inStream. More...

static ShapeResult	sRestoreWithChildren (StreamIn &inStream, IDToShapeMap &ioShapeMap, IDToMaterialMap &ioMaterialMap)
	Restore a shape, all its children and materials. Pass in an empty map in ioShapeMap / ioMaterialMap or reuse the same map while reading multiple shapes from the same stream in order to restore duplicates. More...

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

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

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

Detailed Description

Base class for all shapes (collision volume of a body). Defines a virtual interface for collision detection.

Member Typedef Documentation

◆ IDToMaterialMap

using Shape::IDToMaterialMap = StreamUtils::IDToObjectMap<PhysicsMaterial>

◆ IDToShapeMap

using Shape::IDToShapeMap = StreamUtils::IDToObjectMap<Shape>

◆ MaterialToIDMap

using Shape::MaterialToIDMap = StreamUtils::ObjectToIDMap<PhysicsMaterial>

◆ ShapeResult

using Shape::ShapeResult = ShapeSettings::ShapeResult

◆ ShapeToIDMap

using Shape::ShapeToIDMap = StreamUtils::ObjectToIDMap<Shape>

◆ SupportingFace

using Shape::SupportingFace = StaticArray<Vec3, 32>

Type definition for a supporting face.

◆ VisitedShapes

using Shape::VisitedShapes = UnorderedSet<const Shape *>

Constructor & Destructor Documentation

◆ Shape() [1/2]

Shape::Shape	(	EShapeType	inType,
		EShapeSubType	inSubType
	)

inline

Constructor.

◆ Shape() [2/2]

Shape::Shape	(	EShapeType	inType,
		EShapeSubType	inSubType,
		const ShapeSettings &	inSettings,
		ShapeResult &	outResult
	)

inline

◆ ~Shape()

virtual Shape::~Shape ( )

virtualdefault

Destructor.

Member Function Documentation

◆ CastRay() [1/2]

virtual void Shape::CastRay	(	const RayCast &	inRay,
		const RayCastSettings &	inRayCastSettings,
		const SubShapeIDCreator &	inSubShapeIDCreator,
		CastRayCollector &	ioCollector,
		const ShapeFilter &	inShapeFilter = `{ }`
	)		const

pure virtual

Cast a ray against this shape. Allows returning multiple hits through ioCollector. Note that this version is more flexible but also slightly slower than the CastRay function that returns only a single hit. If you want the surface normal of the hit use GetSurfaceNormal(collected sub shape ID, inRay.GetPointOnRay(collected faction)).

Implemented in BoxShape, CapsuleShape, ConvexHullShape, ConvexShape, CylinderShape, HeightFieldShape, MeshShape, MutableCompoundShape, OffsetCenterOfMassShape, RotatedTranslatedShape, ScaledShape, SphereShape, StaticCompoundShape, TriangleShape, and SoftBodyShape.

◆ CastRay() [2/2]

virtual bool Shape::CastRay	(	const RayCast &	inRay,
		const SubShapeIDCreator &	inSubShapeIDCreator,
		RayCastResult &	ioHit
	)		const

pure virtual

Cast a ray against this shape, returns true if it finds a hit closer than ioHit.mFraction and updates that fraction. Otherwise ioHit is left untouched and the function returns false. Note that the ray should be relative to the center of mass of this shape (i.e. subtract Shape::GetCenterOfMass() from RayCast::mOrigin if you want to cast against the shape in the space it was created). Convex objects will be treated as solid (meaning if the ray starts inside, you'll get a hit fraction of 0) and back face hits against triangles are returned. If you want the surface normal of the hit use GetSurfaceNormal(ioHit.mSubShapeID2, inRay.GetPointOnRay(ioHit.mFraction)).

Implemented in BoxShape, CapsuleShape, CapsuleShape, ConvexHullShape, ConvexShape, CylinderShape, CylinderShape, HeightFieldShape, MeshShape, MutableCompoundShape, OffsetCenterOfMassShape, RotatedTranslatedShape, ScaledShape, SphereShape, StaticCompoundShape, TriangleShape, and SoftBodyShape.

◆ CollectTransformedShapes()

void Shape::CollectTransformedShapes	(	const AABox &	inBox,
		Vec3Arg	inPositionCOM,
		QuatArg	inRotation,
		Vec3Arg	inScale,
		const SubShapeIDCreator &	inSubShapeIDCreator,
		TransformedShapeCollector &	ioCollector,
		const ShapeFilter &	inShapeFilter
	)		const

virtual

Collect the leaf transformed shapes of all leaf shapes of this shape. inBox is the world space axis aligned box which leaf shapes should collide with. inPositionCOM/inRotation/inScale describes the transform of this shape. inSubShapeIDCeator represents the current sub shape ID of this shape.

Reimplemented in MutableCompoundShape, OffsetCenterOfMassShape, RotatedTranslatedShape, ScaledShape, and StaticCompoundShape.

◆ CollidePoint()

virtual void Shape::CollidePoint	(	Vec3Arg	inPoint,
		const SubShapeIDCreator &	inSubShapeIDCreator,
		CollidePointCollector &	ioCollector,
		const ShapeFilter &	inShapeFilter = `{ }`
	)		const

pure virtual

Check if inPoint is inside this shape. For this tests all shapes are treated as if they were solid. Note that inPoint should be relative to the center of mass of this shape (i.e. subtract Shape::GetCenterOfMass() from inPoint if you want to test against the shape in the space it was created). For a mesh shape, this test will only provide sensible information if the mesh is a closed manifold. For each shape that collides, ioCollector will receive a hit.

Implemented in BoxShape, CapsuleShape, ConvexHullShape, ConvexShape, CylinderShape, HeightFieldShape, MeshShape, MutableCompoundShape, OffsetCenterOfMassShape, RotatedTranslatedShape, ScaledShape, SphereShape, StaticCompoundShape, TriangleShape, and SoftBodyShape.

◆ CollideSoftBodyVertices()

virtual void Shape::CollideSoftBodyVertices	(	Mat44Arg	inCenterOfMassTransform,
		Vec3Arg	inScale,
		SoftBodyVertex *	ioVertices,
		uint	inNumVertices,
		float	inDeltaTime,
		Vec3Arg	inDisplacementDueToGravity,
		int	inCollidingShapeIndex
	)		const

pure virtual

Collides all vertices of a soft body with this shape and updates SoftBodyVertex::mCollisionPlane, SoftBodyVertex::mCollidingShapeIndex and SoftBodyVertex::mLargestPenetration if a collision with more penetration was found.

Parameters

inCenterOfMassTransform	Center of mass transform for this shape relative to the vertices.
inScale	Scale in local space of the shape (scales relative to its center of mass)
ioVertices	The vertices of the soft body
inNumVertices	The number of vertices in ioVertices
inDeltaTime	Delta time of this time step (can be used to extrapolate the position using the velocity of the particle)
inDisplacementDueToGravity	Displacement due to gravity during this time step
inCollidingShapeIndex	Value to store in SoftBodyVertex::mCollidingShapeIndex when a collision was found

Implemented in BoxShape, CapsuleShape, CompoundShape, ConvexHullShape, CylinderShape, HeightFieldShape, MeshShape, OffsetCenterOfMassShape, RotatedTranslatedShape, ScaledShape, SphereShape, TaperedCapsuleShape, TriangleShape, and SoftBodyShape.

◆ Draw()

virtual void Shape::Draw	(	DebugRenderer *	inRenderer,
		RMat44Arg	inCenterOfMassTransform,
		Vec3Arg	inScale,
		ColorArg	inColor,
		bool	inUseMaterialColors,
		bool	inDrawWireframe
	)		const

pure virtual

Draw the shape at a particular location with a particular color (debugging purposes)

Implemented in BoxShape, CapsuleShape, CompoundShape, ConvexHullShape, CylinderShape, HeightFieldShape, MeshShape, OffsetCenterOfMassShape, RotatedTranslatedShape, ScaledShape, SphereShape, TaperedCapsuleShape, TriangleShape, and SoftBodyShape.

◆ DrawGetSupportFunction()

virtual void Shape::DrawGetSupportFunction	(	DebugRenderer *	inRenderer,
		RMat44Arg	inCenterOfMassTransform,
		Vec3Arg	inScale,
		ColorArg	inColor,
		bool	inDrawSupportDirection
	)		const

inlinevirtual

Draw the results of the GetSupportFunction with the convex radius added back on to show any errors introduced by this process (only relevant for convex shapes)

Reimplemented in CompoundShape, ConvexShape, OffsetCenterOfMassShape, RotatedTranslatedShape, and ScaledShape.

◆ DrawGetSupportingFace()

virtual void Shape::DrawGetSupportingFace	(	DebugRenderer *	inRenderer,
		RMat44Arg	inCenterOfMassTransform,
		Vec3Arg	inScale
	)		const

inlinevirtual

Draw the results of the GetSupportingFace function to show any errors introduced by this process (only relevant for convex shapes)

Reimplemented in CompoundShape, ConvexShape, OffsetCenterOfMassShape, RotatedTranslatedShape, and ScaledShape.

◆ GetCenterOfMass()

virtual Vec3 Shape::GetCenterOfMass ( ) const

inlinevirtual

All shapes are centered around their center of mass. This function returns the center of mass position that needs to be applied to transform the shape to where it was created.

Reimplemented in CompoundShape, ConvexHullShape, DecoratedShape, OffsetCenterOfMassShape, RotatedTranslatedShape, ScaledShape, TaperedCapsuleShape, and SoftBodyShape.

◆ GetInnerRadius()

virtual float Shape::GetInnerRadius ( ) const

pure virtual

Returns the radius of the biggest sphere that fits entirely in the shape. In case this shape consists of multiple sub shapes, it returns the smallest sphere of the parts. This can be used as a measure of how far the shape can be moved without risking going through geometry.

Implemented in BoxShape, CapsuleShape, CompoundShape, ConvexHullShape, CylinderShape, HeightFieldShape, MeshShape, OffsetCenterOfMassShape, RotatedTranslatedShape, ScaledShape, SphereShape, TaperedCapsuleShape, TriangleShape, and SoftBodyShape.

◆ GetLocalBounds()

virtual AABox Shape::GetLocalBounds ( ) const

pure virtual

Get local bounding box including convex radius, this box is centered around the center of mass rather than the world transform.

Implemented in BoxShape, CapsuleShape, CompoundShape, ConvexHullShape, CylinderShape, HeightFieldShape, MeshShape, OffsetCenterOfMassShape, RotatedTranslatedShape, ScaledShape, SphereShape, TaperedCapsuleShape, TriangleShape, and SoftBodyShape.

◆ GetMassProperties()

virtual MassProperties Shape::GetMassProperties ( ) const

pure virtual

Calculate the mass and inertia of this shape.

Implemented in BoxShape, CapsuleShape, CompoundShape, ConvexHullShape, CylinderShape, HeightFieldShape, MeshShape, OffsetCenterOfMassShape, RotatedTranslatedShape, ScaledShape, SphereShape, TaperedCapsuleShape, TriangleShape, and SoftBodyShape.

◆ GetMaterial()

virtual const PhysicsMaterial * Shape::GetMaterial ( const SubShapeID & inSubShapeID ) const

pure virtual

Get the material assigned to a particular sub shape ID.

Implemented in CompoundShape, ConvexShape, DecoratedShape, HeightFieldShape, MeshShape, and SoftBodyShape.

◆ GetStats()

virtual Stats Shape::GetStats ( ) const

pure virtual

Get stats of this shape. Use for logging / data collection purposes only. Does not add values from child shapes, use GetStatsRecursive for this.

Implemented in BoxShape, CapsuleShape, ConvexHullShape, CylinderShape, HeightFieldShape, MeshShape, MutableCompoundShape, OffsetCenterOfMassShape, RotatedTranslatedShape, ScaledShape, SphereShape, StaticCompoundShape, TaperedCapsuleShape, TriangleShape, and SoftBodyShape.

◆ GetStatsRecursive()

Shape::Stats Shape::GetStatsRecursive ( VisitedShapes & ioVisitedShapes ) const

virtual

Volume of this shape (m^3). Note that for compound shapes the volume may be incorrect since child shapes can overlap which is not accounted for.

Get the combined stats of this shape and its children.

Parameters

ioVisitedShapes is used to track which shapes have already been visited, to avoid calculating the wrong memory size.

Reimplemented in CompoundShape, and DecoratedShape.

◆ GetSubmergedVolume()

virtual void Shape::GetSubmergedVolume	(	Mat44Arg	inCenterOfMassTransform,
		Vec3Arg	inScale,
		const Plane &	inSurface,
		float &	outTotalVolume,
		float &	outSubmergedVolume,
		Vec3 &	outCenterOfBuoyancy,
		RVec3Arg	inBaseOffset
	)		const

pure virtual

Gets the properties needed to do buoyancy calculations for a body using this shape

Parameters

inCenterOfMassTransform	Transform that takes this shape (centered around center of mass) to world space (or a desired other space)
inScale	Scale in local space of the shape (scales relative to its center of mass)
inSurface	The surface plane of the liquid relative to inCenterOfMassTransform
outTotalVolume	On return this contains the total volume of the shape
outSubmergedVolume	On return this contains the submerged volume of the shape
outCenterOfBuoyancy	On return this contains the world space center of mass of the submerged volume
inBaseOffset	The offset to transform inCenterOfMassTransform to world space (in double precision mode this can be used to shift the whole operation closer to the origin). Only used for debug drawing.

Implemented in SoftBodyShape.

◆ GetSubShapeIDBitsRecursive()

virtual uint Shape::GetSubShapeIDBitsRecursive ( ) const

pure virtual

Get the max number of sub shape ID bits that are needed to be able to address any leaf shape in this shape. Used mainly for checking that it is smaller or equal than SubShapeID::MaxBits.

Implemented in CompoundShape, ConvexShape, DecoratedShape, HeightFieldShape, MeshShape, and SoftBodyShape.

◆ GetSubShapeTransformedShape()

TransformedShape Shape::GetSubShapeTransformedShape	(	const SubShapeID &	inSubShapeID,
		Vec3Arg	inPositionCOM,
		QuatArg	inRotation,
		Vec3Arg	inScale,
		SubShapeID &	outRemainder
	)		const

virtual

Get the direct child sub shape and its transform for a sub shape ID.

Parameters

inSubShapeID	Sub shape ID that indicates the path to the leaf shape
inPositionCOM	The position of the center of mass of this shape
inRotation	The orientation of this shape
inScale	Scale in local space of the shape (scales relative to its center of mass)
outRemainder	The remainder of the sub shape ID after removing the sub shape

Returns: Direct child sub shape and its transform, note that the body ID and sub shape ID will be invalid

Reimplemented in CompoundShape, OffsetCenterOfMassShape, RotatedTranslatedShape, and ScaledShape.

◆ GetSubShapeUserData()

virtual uint64 Shape::GetSubShapeUserData ( const SubShapeID & inSubShapeID ) const

inlinevirtual

Get the user data of a particular sub shape ID.

Reimplemented in CompoundShape, and DecoratedShape.

◆ GetSubType()

EShapeSubType Shape::GetSubType ( ) const

inline

◆ GetSupportingFace()

virtual void Shape::GetSupportingFace	(	const SubShapeID &	inSubShapeID,
		Vec3Arg	inDirection,
		Vec3Arg	inScale,
		Mat44Arg	inCenterOfMassTransform,
		SupportingFace &	outVertices
	)		const

inlinevirtual

Get the vertices of the face that faces inDirection the most (includes any convex radius). Note that this function can only return faces of convex shapes or triangles, which is why a sub shape ID to get to that leaf must be provided.

Parameters

inSubShapeID	Sub shape ID of target shape
inDirection	Direction that the face should be facing (in local space to this shape)
inCenterOfMassTransform	Transform to transform outVertices with
inScale	Scale in local space of the shape (scales relative to its center of mass)
outVertices	Resulting face. The returned face can be empty if the shape doesn't have polygons to return (e.g. because it's a sphere). The face will be returned in world space.

Reimplemented in BoxShape, CapsuleShape, CompoundShape, ConvexHullShape, CylinderShape, DecoratedShape, HeightFieldShape, MeshShape, OffsetCenterOfMassShape, RotatedTranslatedShape, ScaledShape, SphereShape, TaperedCapsuleShape, TriangleShape, and SoftBodyShape.

◆ GetSurfaceNormal()

virtual Vec3 Shape::GetSurfaceNormal	(	const SubShapeID &	inSubShapeID,
		Vec3Arg	inLocalSurfacePosition
	)		const

pure virtual

Get the surface normal of a particular sub shape ID and point on surface (all vectors are relative to center of mass for this shape). Note: When you have a CollideShapeResult or ShapeCastResult you should use -mPenetrationAxis.Normalized() as contact normal as GetSurfaceNormal will only return face normals (and not vertex or edge normals).

Implemented in BoxShape, CapsuleShape, CompoundShape, ConvexHullShape, CylinderShape, HeightFieldShape, MeshShape, OffsetCenterOfMassShape, RotatedTranslatedShape, ScaledShape, SphereShape, TaperedCapsuleShape, TriangleShape, and SoftBodyShape.

◆ GetTrianglesNext()

virtual int Shape::GetTrianglesNext	(	GetTrianglesContext &	ioContext,
		int	inMaxTrianglesRequested,
		Float3 *	outTriangleVertices,
		const PhysicsMaterial **	outMaterials = `nullptr`
	)		const

pure virtual

Call this repeatedly to get all triangles in the box. outTriangleVertices should be large enough to hold 3 * inMaxTriangleRequested entries. outMaterials (if it is not null) should contain inMaxTrianglesRequested entries. The function returns the amount of triangles that it found (which will be <= inMaxTrianglesRequested), or 0 if there are no more triangles. Note that the function can return a value < inMaxTrianglesRequested and still have more triangles to process (triangles can be returned in blocks). Note that the function may return triangles outside of the requested box, only coarse culling is performed on the returned triangles.

Implemented in BoxShape, CapsuleShape, CompoundShape, ConvexHullShape, ConvexShape, CylinderShape, HeightFieldShape, MeshShape, OffsetCenterOfMassShape, RotatedTranslatedShape, ScaledShape, SphereShape, TriangleShape, and SoftBodyShape.

◆ GetTrianglesStart()

virtual void Shape::GetTrianglesStart	(	GetTrianglesContext &	ioContext,
		const AABox &	inBox,
		Vec3Arg	inPositionCOM,
		QuatArg	inRotation,
		Vec3Arg	inScale
	)		const

pure virtual

To start iterating over triangles, call this function first. ioContext is a temporary buffer and should remain untouched until the last call to GetTrianglesNext. inBox is the world space bounding in which you want to get the triangles. inPositionCOM/inRotation/inScale describes the transform of this shape. To get the actual triangles call GetTrianglesNext.

Implemented in BoxShape, CapsuleShape, CompoundShape, ConvexHullShape, ConvexShape, CylinderShape, HeightFieldShape, MeshShape, OffsetCenterOfMassShape, RotatedTranslatedShape, ScaledShape, SphereShape, TriangleShape, and SoftBodyShape.

◆ GetType()

EShapeType Shape::GetType ( ) const

inline

Get type.

◆ GetUserData()

uint64 Shape::GetUserData ( ) const

inline

User data (to be used freely by the application)

◆ GetVolume()

virtual float Shape::GetVolume ( ) const

pure virtual

Implemented in BoxShape, CapsuleShape, CompoundShape, ConvexHullShape, CylinderShape, HeightFieldShape, MeshShape, OffsetCenterOfMassShape, RotatedTranslatedShape, ScaledShape, SphereShape, TaperedCapsuleShape, TriangleShape, and SoftBodyShape.

◆ GetWorldSpaceBounds() [1/2]

AABox Shape::GetWorldSpaceBounds	(	DMat44Arg	inCenterOfMassTransform,
		Vec3Arg	inScale
	)		const

inline

Get world space bounds including convex radius.

◆ GetWorldSpaceBounds() [2/2]

virtual AABox Shape::GetWorldSpaceBounds	(	Mat44Arg	inCenterOfMassTransform,
		Vec3Arg	inScale
	)		const

inlinevirtual

Get world space bounds including convex radius. This shape is scaled by inScale in local space first. This function can be overridden to return a closer fitting world space bounding box, by default it will just transform what GetLocalBounds() returns.

Reimplemented in CapsuleShape, CompoundShape, OffsetCenterOfMassShape, RotatedTranslatedShape, ScaledShape, SphereShape, TaperedCapsuleShape, TriangleShape, CapsuleShape, CompoundShape, OffsetCenterOfMassShape, RotatedTranslatedShape, ScaledShape, SphereShape, TaperedCapsuleShape, and TriangleShape.

◆ IsValidScale()

bool Shape::IsValidScale ( Vec3Arg inScale ) const

virtual

Test if inScale is a valid scale for this shape. Some shapes can only be scaled uniformly, compound shapes cannot handle shapes being rotated and scaled (this would cause shearing), scale can never be zero. When the scale is invalid, the function will return false.

Here's a list of supported scales:

SphereShape: Scale must be uniform (signs of scale are ignored).
BoxShape: Any scale supported (signs of scale are ignored).
TriangleShape: Any scale supported when convex radius is zero, otherwise only uniform scale supported.
CapsuleShape: Scale must be uniform (signs of scale are ignored).
TaperedCapsuleShape: Scale must be uniform (sign of Y scale can be used to flip the capsule).
CylinderShape: Scale must be uniform in XZ plane, Y can scale independently (signs of scale are ignored).
RotatedTranslatedShape: Scale must not cause shear in the child shape.
CompoundShape: Scale must not cause shear in any of the child shapes.

Reimplemented in CapsuleShape, CompoundShape, CylinderShape, DecoratedShape, RotatedTranslatedShape, ScaledShape, SphereShape, TaperedCapsuleShape, and TriangleShape.

◆ MakeScaleValid()

Vec3 Shape::MakeScaleValid ( Vec3Arg inScale ) const

virtual

This function will make sure that if you wrap this shape in a ScaledShape that the scale is valid. Note that this involves discarding components of the scale that are invalid, so the resulting scaled shape may be different than the requested scale. Compare the return value of this function with the scale you passed in to detect major inconsistencies and possibly warn the user.

Parameters

inScale Local space scale for this shape.

Returns: Scale that can be used to wrap this shape in a ScaledShape. IsValidScale will return true for this scale.

Reimplemented in CapsuleShape, CompoundShape, CylinderShape, DecoratedShape, RotatedTranslatedShape, ScaledShape, SphereShape, TaperedCapsuleShape, and TriangleShape.

◆ MustBeStatic()

virtual bool Shape::MustBeStatic ( ) const

inlinevirtual

Check if this shape can only be used to create a static body or if it can also be dynamic/kinematic.

Reimplemented in CompoundShape, DecoratedShape, HeightFieldShape, MeshShape, and SoftBodyShape.

◆ RestoreBinaryState()

void Shape::RestoreBinaryState ( StreamIn & inStream )

protectedvirtual

This function should not be called directly, it is used by sRestoreFromBinaryState.

Reimplemented in BoxShape, CapsuleShape, CompoundShape, ConvexHullShape, ConvexShape, CylinderShape, HeightFieldShape, MeshShape, MutableCompoundShape, OffsetCenterOfMassShape, RotatedTranslatedShape, ScaledShape, SphereShape, StaticCompoundShape, TaperedCapsuleShape, and TriangleShape.

◆ RestoreMaterialState()

virtual void Shape::RestoreMaterialState	(	const PhysicsMaterialRefC *	inMaterials,
		uint	inNumMaterials
	)

inlinevirtual

Restore the material references after calling sRestoreFromBinaryState. Note that the exact same materials need to be provided in the same order as returned by SaveMaterialState.

Reimplemented in ConvexShape, HeightFieldShape, and MeshShape.

◆ RestoreSubShapeState()

virtual void Shape::RestoreSubShapeState	(	const ShapeRefC *	inSubShapes,
		uint	inNumShapes
	)

inlinevirtual

Restore the shape references after calling sRestoreFromBinaryState. Note that the exact same shapes need to be provided in the same order as returned by SaveSubShapeState.

Reimplemented in CompoundShape, and DecoratedShape.

◆ SaveBinaryState()

void Shape::SaveBinaryState ( StreamOut & inStream ) const

virtual

Saves the contents of the shape in binary form to inStream.

Reimplemented in BoxShape, CapsuleShape, CompoundShape, ConvexHullShape, ConvexShape, CylinderShape, HeightFieldShape, MeshShape, MutableCompoundShape, OffsetCenterOfMassShape, RotatedTranslatedShape, ScaledShape, SphereShape, StaticCompoundShape, TaperedCapsuleShape, and TriangleShape.

◆ SaveMaterialState()

virtual void Shape::SaveMaterialState ( PhysicsMaterialList & outMaterials ) const

inlinevirtual

Outputs the material references that this shape has to outMaterials.

◆ SaveSubShapeState()

virtual void Shape::SaveSubShapeState ( ShapeList & outSubShapes ) const

inlinevirtual

Outputs the shape references that this shape has to outSubShapes.

Reimplemented in CompoundShape, and DecoratedShape.

◆ SaveWithChildren()

void Shape::SaveWithChildren	(	StreamOut &	inStream,
		ShapeToIDMap &	ioShapeMap,
		MaterialToIDMap &	ioMaterialMap
	)		const

Save this shape, all its children and its materials. Pass in an empty map in ioShapeMap / ioMaterialMap or reuse the same map while saving multiple shapes to the same stream in order to avoid writing duplicates.

◆ ScaleShape()

Shape::ShapeResult Shape::ScaleShape ( Vec3Arg inScale ) const

Scale this shape. Note that not all shapes support all scales, this will return a shape that matches the scale as accurately as possible. See Shape::IsValidScale for more information.

Parameters

inScale The scale to use for this shape (note: this scale is applied to the entire shape in the space it was created, most other functions apply the scale in the space of the leaf shapes and from the center of mass!)

◆ sCollidePointUsingRayCast()

void Shape::sCollidePointUsingRayCast	(	const Shape &	inShape,
		Vec3Arg	inPoint,
		const SubShapeIDCreator &	inSubShapeIDCreator,
		CollidePointCollector &	ioCollector,
		const ShapeFilter &	inShapeFilter
	)

staticprotected

A fallback version of CollidePoint that uses a ray cast and counts the number of hits to determine if the point is inside the shape. Odd number of hits means inside, even number of hits means outside.

◆ SetUserData()

void Shape::SetUserData ( uint64 inUserData )

inline

◆ sRestoreFromBinaryState()

Shape::ShapeResult Shape::sRestoreFromBinaryState ( StreamIn & inStream )

static

Creates a Shape of the correct type and restores its contents from the binary stream inStream.

◆ sRestoreWithChildren()

Shape::ShapeResult Shape::sRestoreWithChildren	(	StreamIn &	inStream,
		IDToShapeMap &	ioShapeMap,
		IDToMaterialMap &	ioMaterialMap
	)

static

Restore a shape, all its children and materials. Pass in an empty map in ioShapeMap / ioMaterialMap or reuse the same map while reading multiple shapes from the same stream in order to restore duplicates.

◆ TransformShape()

void Shape::TransformShape	(	Mat44Arg	inCenterOfMassTransform,
		TransformedShapeCollector &	ioCollector
	)		const

virtual

Transforms this shape and all of its children with inTransform, resulting shape(s) are passed to ioCollector. Note that not all shapes support all transforms (especially true for scaling), the resulting shape will try to match the transform as accurately as possible.

Parameters

inCenterOfMassTransform	The transform (rotation, translation, scale) that the center of mass of the shape should get
ioCollector	The transformed shapes will be passed to this collector

Reimplemented in CompoundShape, OffsetCenterOfMassShape, RotatedTranslatedShape, and ScaledShape.

Member Data Documentation

◆ cGetTrianglesMinTrianglesRequested

constexpr int Shape::cGetTrianglesMinTrianglesRequested = 32

staticconstexpr

This is the minimum amount of triangles that should be requested through GetTrianglesNext.

◆ sDrawSubmergedVolumes

bool Shape::sDrawSubmergedVolumes = false

static

Debug helper which draws the intersection between water and the shapes, the center of buoyancy and the submerged volume.

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

Jolt/Physics/Collision/Shape/Shape.h
Jolt/Physics/Collision/Shape/Shape.cpp

Classes

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Static Protected Member Functions

Binary serialization of the shape. Note that this saves the 'cooked' shape in a format which will not be backwards compatible for newer library versions.

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ IDToMaterialMap

◆ IDToShapeMap

◆ MaterialToIDMap

◆ ShapeResult

◆ ShapeToIDMap

◆ SupportingFace

◆ VisitedShapes

Constructor & Destructor Documentation

◆ Shape() [1/2]

◆ Shape() [2/2]

◆ ~Shape()

Member Function Documentation

◆ CastRay() [1/2]

◆ CastRay() [2/2]

◆ CollectTransformedShapes()

◆ CollidePoint()

◆ CollideSoftBodyVertices()

◆ Draw()

◆ DrawGetSupportFunction()

◆ DrawGetSupportingFace()

◆ GetCenterOfMass()

◆ GetInnerRadius()

◆ GetLocalBounds()

◆ GetMassProperties()

◆ GetMaterial()

◆ GetStats()

◆ GetStatsRecursive()

◆ GetSubmergedVolume()

◆ GetSubShapeIDBitsRecursive()

◆ GetSubShapeTransformedShape()

◆ GetSubShapeUserData()

◆ GetSubType()

◆ GetSupportingFace()

◆ GetSurfaceNormal()

◆ GetTrianglesNext()

◆ GetTrianglesStart()

◆ GetType()

◆ GetUserData()

◆ GetVolume()

◆ GetWorldSpaceBounds() [1/2]

◆ GetWorldSpaceBounds() [2/2]

◆ IsValidScale()

◆ MakeScaleValid()

◆ MustBeStatic()

◆ RestoreBinaryState()

◆ RestoreMaterialState()

◆ RestoreSubShapeState()

◆ SaveBinaryState()

◆ SaveMaterialState()

◆ SaveSubShapeState()

◆ SaveWithChildren()

◆ ScaleShape()

◆ sCollidePointUsingRayCast()

◆ SetUserData()

◆ sRestoreFromBinaryState()

◆ sRestoreWithChildren()

◆ TransformShape()

Member Data Documentation

◆ cGetTrianglesMinTrianglesRequested

◆ sDrawSubmergedVolumes