Class that does collision detection between wheels and ground. More...

#include <VehicleCollisionTester.h>

Inheritance diagram for VehicleCollisionTester:

Public Member Functions
JPH_OVERRIDE_NEW_DELETE	VehicleCollisionTester ()=default
	Constructors. More...

	VehicleCollisionTester (ObjectLayer inObjectLayer)

virtual	~VehicleCollisionTester ()=default
	Virtual destructor. More...

ObjectLayer	GetObjectLayer () const
	Object layer to use for collision detection, this is used when the filters are not overridden. More...

void	SetObjectLayer (ObjectLayer inObjectLayer)

void	SetBroadPhaseLayerFilter (const BroadPhaseLayerFilter *inFilter)
	Access to the broad phase layer filter, when set this overrides the object layer supplied in the constructor. More...

const BroadPhaseLayerFilter *	GetBroadPhaseLayerFilter () const

void	SetObjectLayerFilter (const ObjectLayerFilter *inFilter)
	Access to the object layer filter, when set this overrides the object layer supplied in the constructor. More...

const ObjectLayerFilter *	GetObjectLayerFilter () const

void	SetBodyFilter (const BodyFilter *inFilter)
	Access to the body filter, when set this overrides the default filter that filters out the vehicle body. More...

const BodyFilter *	GetBodyFilter () const

virtual bool	Collide (PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&outBody, SubShapeID &outSubShapeID, RVec3 &outContactPosition, Vec3 &outContactNormal, float &outSuspensionLength) const =0

virtual void	PredictContactProperties (PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&ioBody, SubShapeID &ioSubShapeID, RVec3 &ioContactPosition, Vec3 &ioContactNormal, float &ioSuspensionLength) const =0

Public Member Functions inherited from RefTarget< VehicleCollisionTester >
	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

Protected Attributes
const BroadPhaseLayerFilter *	mBroadPhaseLayerFilter = nullptr

const ObjectLayerFilter *	mObjectLayerFilter = nullptr

const BodyFilter *	mBodyFilter = nullptr

ObjectLayer	mObjectLayer = cObjectLayerInvalid

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

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

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

Detailed Description

Class that does collision detection between wheels and ground.

Constructor & Destructor Documentation

◆ VehicleCollisionTester() [1/2]

JPH_OVERRIDE_NEW_DELETE VehicleCollisionTester::VehicleCollisionTester ( )

default

Constructors.

◆ VehicleCollisionTester() [2/2]

VehicleCollisionTester::VehicleCollisionTester ( ObjectLayer inObjectLayer )

inlineexplicit

◆ ~VehicleCollisionTester()

virtual VehicleCollisionTester::~VehicleCollisionTester ( )

virtualdefault

Virtual destructor.

Member Function Documentation

◆ Collide()

virtual bool VehicleCollisionTester::Collide	(	PhysicsSystem &	inPhysicsSystem,
		const VehicleConstraint &	inVehicleConstraint,
		uint	inWheelIndex,
		RVec3Arg	inOrigin,
		Vec3Arg	inDirection,
		const BodyID &	inVehicleBodyID,
		Body *&	outBody,
		SubShapeID &	outSubShapeID,
		RVec3 &	outContactPosition,
		Vec3 &	outContactNormal,
		float &	outSuspensionLength
	)		const

pure virtual

Do a collision test with the world

Parameters

inPhysicsSystem	The physics system that should be tested against
inVehicleConstraint	The vehicle constraint
inWheelIndex	Index of the wheel that we're testing collision for
inOrigin	Origin for the test, corresponds to the world space position for the suspension attachment point
inDirection	Direction for the test (unit vector, world space)
inVehicleBodyID	This body should be filtered out during collision detection to avoid self collisions
outBody	Body that the wheel collided with
outSubShapeID	Sub shape ID that the wheel collided with
outContactPosition	Contact point between wheel and floor, in world space
outContactNormal	Contact normal between wheel and floor, pointing away from the floor
outSuspensionLength	New length of the suspension [0, inSuspensionMaxLength]

Returns: True when collision found, false if not

Implemented in VehicleCollisionTesterRay, VehicleCollisionTesterCastSphere, and VehicleCollisionTesterCastCylinder.

◆ GetBodyFilter()

const BodyFilter * VehicleCollisionTester::GetBodyFilter ( ) const

inline

◆ GetBroadPhaseLayerFilter()

const BroadPhaseLayerFilter * VehicleCollisionTester::GetBroadPhaseLayerFilter ( ) const

inline

◆ GetObjectLayer()

ObjectLayer VehicleCollisionTester::GetObjectLayer ( ) const

inline

Object layer to use for collision detection, this is used when the filters are not overridden.

◆ GetObjectLayerFilter()

const ObjectLayerFilter * VehicleCollisionTester::GetObjectLayerFilter ( ) const

inline

◆ PredictContactProperties()

virtual void VehicleCollisionTester::PredictContactProperties	(	PhysicsSystem &	inPhysicsSystem,
		const VehicleConstraint &	inVehicleConstraint,
		uint	inWheelIndex,
		RVec3Arg	inOrigin,
		Vec3Arg	inDirection,
		const BodyID &	inVehicleBodyID,
		Body *&	ioBody,
		SubShapeID &	ioSubShapeID,
		RVec3 &	ioContactPosition,
		Vec3 &	ioContactNormal,
		float &	ioSuspensionLength
	)		const

pure virtual

Do a cheap contact properties prediction based on the contact properties from the last collision test (provided as input parameters)

Parameters

inPhysicsSystem	The physics system that should be tested against
inVehicleConstraint	The vehicle constraint
inWheelIndex	Index of the wheel that we're testing collision for
inOrigin	Origin for the test, corresponds to the world space position for the suspension attachment point
inDirection	Direction for the test (unit vector, world space)
inVehicleBodyID	The body ID for the vehicle itself
ioBody	Body that the wheel previously collided with
ioSubShapeID	Sub shape ID that the wheel collided with during the last check
ioContactPosition	Contact point between wheel and floor during the last check, in world space
ioContactNormal	Contact normal between wheel and floor during the last check, pointing away from the floor
ioSuspensionLength	New length of the suspension [0, inSuspensionMaxLength]

Implemented in VehicleCollisionTesterRay, VehicleCollisionTesterCastSphere, and VehicleCollisionTesterCastCylinder.

◆ SetBodyFilter()

void VehicleCollisionTester::SetBodyFilter ( const BodyFilter * inFilter )

inline

Access to the body filter, when set this overrides the default filter that filters out the vehicle body.

◆ SetBroadPhaseLayerFilter()

void VehicleCollisionTester::SetBroadPhaseLayerFilter ( const BroadPhaseLayerFilter * inFilter )

inline

Access to the broad phase layer filter, when set this overrides the object layer supplied in the constructor.

◆ SetObjectLayer()

void VehicleCollisionTester::SetObjectLayer ( ObjectLayer inObjectLayer )

inline

◆ SetObjectLayerFilter()

void VehicleCollisionTester::SetObjectLayerFilter ( const ObjectLayerFilter * inFilter )

inline

Access to the object layer filter, when set this overrides the object layer supplied in the constructor.

Member Data Documentation

◆ mBodyFilter

const BodyFilter* VehicleCollisionTester::mBodyFilter = nullptr

protected

◆ mBroadPhaseLayerFilter

const BroadPhaseLayerFilter* VehicleCollisionTester::mBroadPhaseLayerFilter = nullptr

protected

◆ mObjectLayer

ObjectLayer VehicleCollisionTester::mObjectLayer = cObjectLayerInvalid

protected

◆ mObjectLayerFilter

const ObjectLayerFilter* VehicleCollisionTester::mObjectLayerFilter = nullptr

protected

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

Jolt/Physics/Vehicle/VehicleCollisionTester.h

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VehicleCollisionTester() [1/2]

◆ VehicleCollisionTester() [2/2]

◆ ~VehicleCollisionTester()

Member Function Documentation

◆ Collide()

◆ GetBodyFilter()

◆ GetBroadPhaseLayerFilter()

◆ GetObjectLayer()

◆ GetObjectLayerFilter()

◆ PredictContactProperties()

◆ SetBodyFilter()

◆ SetBroadPhaseLayerFilter()

◆ SetObjectLayer()

◆ SetObjectLayerFilter()

Member Data Documentation

◆ mBodyFilter

◆ mBroadPhaseLayerFilter

◆ mObjectLayer

◆ mObjectLayerFilter