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This commit is contained in:
460
thirdparty/jolt_physics/Jolt/Physics/Collision/Shape/CompoundShapeVisitors.h
vendored
Normal file
460
thirdparty/jolt_physics/Jolt/Physics/Collision/Shape/CompoundShapeVisitors.h
vendored
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@@ -0,0 +1,460 @@
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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
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// SPDX-License-Identifier: MIT
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#pragma once
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#include <Jolt/Physics/Collision/Shape/CompoundShape.h>
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#include <Jolt/Physics/Collision/Shape/SubShapeID.h>
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#include <Jolt/Physics/Collision/RayCast.h>
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#include <Jolt/Physics/Collision/CastResult.h>
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#include <Jolt/Physics/Collision/ShapeCast.h>
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#include <Jolt/Physics/Collision/TransformedShape.h>
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#include <Jolt/Physics/Collision/CollisionDispatch.h>
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#include <Jolt/Geometry/RayAABox.h>
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#include <Jolt/Geometry/AABox4.h>
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#include <Jolt/Geometry/OrientedBox.h>
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JPH_NAMESPACE_BEGIN
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struct CompoundShape::CastRayVisitor
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{
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JPH_INLINE CastRayVisitor(const RayCast &inRay, const CompoundShape *inShape, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) :
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mRay(inRay),
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mHit(ioHit),
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mSubShapeIDCreator(inSubShapeIDCreator),
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mSubShapeBits(inShape->GetSubShapeIDBits())
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{
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// Determine ray properties of cast
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mInvDirection.Set(inRay.mDirection);
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}
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/// Returns true when collision detection should abort because it's not possible to find a better hit
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JPH_INLINE bool ShouldAbort() const
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{
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return mHit.mFraction <= 0.0f;
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}
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/// Test ray against 4 bounding boxes and returns the distance where the ray enters the bounding box
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JPH_INLINE Vec4 TestBounds(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ) const
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{
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return RayAABox4(mRay.mOrigin, mInvDirection, inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ);
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}
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/// Test the ray against a single subshape
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JPH_INLINE void VisitShape(const SubShape &inSubShape, uint32 inSubShapeIndex)
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{
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// Create ID for sub shape
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SubShapeIDCreator shape2_sub_shape_id = mSubShapeIDCreator.PushID(inSubShapeIndex, mSubShapeBits);
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// Transform the ray
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Mat44 transform = Mat44::sInverseRotationTranslation(inSubShape.GetRotation(), inSubShape.GetPositionCOM());
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RayCast ray = mRay.Transformed(transform);
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if (inSubShape.mShape->CastRay(ray, shape2_sub_shape_id, mHit))
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mReturnValue = true;
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}
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RayInvDirection mInvDirection;
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const RayCast & mRay;
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RayCastResult & mHit;
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SubShapeIDCreator mSubShapeIDCreator;
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uint mSubShapeBits;
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bool mReturnValue = false;
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};
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struct CompoundShape::CastRayVisitorCollector
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{
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JPH_INLINE CastRayVisitorCollector(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const CompoundShape *inShape, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter) :
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mRay(inRay),
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mCollector(ioCollector),
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mSubShapeIDCreator(inSubShapeIDCreator),
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mSubShapeBits(inShape->GetSubShapeIDBits()),
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mRayCastSettings(inRayCastSettings),
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mShapeFilter(inShapeFilter)
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{
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// Determine ray properties of cast
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mInvDirection.Set(inRay.mDirection);
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}
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/// Returns true when collision detection should abort because it's not possible to find a better hit
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JPH_INLINE bool ShouldAbort() const
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{
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return mCollector.ShouldEarlyOut();
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}
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/// Test ray against 4 bounding boxes and returns the distance where the ray enters the bounding box
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JPH_INLINE Vec4 TestBounds(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ) const
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{
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return RayAABox4(mRay.mOrigin, mInvDirection, inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ);
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}
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/// Test the ray against a single subshape
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JPH_INLINE void VisitShape(const SubShape &inSubShape, uint32 inSubShapeIndex)
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{
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// Create ID for sub shape
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SubShapeIDCreator shape2_sub_shape_id = mSubShapeIDCreator.PushID(inSubShapeIndex, mSubShapeBits);
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// Transform the ray
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Mat44 transform = Mat44::sInverseRotationTranslation(inSubShape.GetRotation(), inSubShape.GetPositionCOM());
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RayCast ray = mRay.Transformed(transform);
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inSubShape.mShape->CastRay(ray, mRayCastSettings, shape2_sub_shape_id, mCollector, mShapeFilter);
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}
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RayInvDirection mInvDirection;
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const RayCast & mRay;
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CastRayCollector & mCollector;
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SubShapeIDCreator mSubShapeIDCreator;
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uint mSubShapeBits;
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RayCastSettings mRayCastSettings;
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const ShapeFilter & mShapeFilter;
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};
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struct CompoundShape::CollidePointVisitor
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{
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JPH_INLINE CollidePointVisitor(Vec3Arg inPoint, const CompoundShape *inShape, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) :
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mPoint(inPoint),
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mSubShapeIDCreator(inSubShapeIDCreator),
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mCollector(ioCollector),
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mSubShapeBits(inShape->GetSubShapeIDBits()),
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mShapeFilter(inShapeFilter)
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{
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}
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/// Returns true when collision detection should abort because it's not possible to find a better hit
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JPH_INLINE bool ShouldAbort() const
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{
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return mCollector.ShouldEarlyOut();
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}
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/// Test if point overlaps with 4 boxes, returns true for the ones that do
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JPH_INLINE UVec4 TestBounds(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ) const
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{
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return AABox4VsPoint(mPoint, inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ);
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}
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/// Test the point against a single subshape
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JPH_INLINE void VisitShape(const SubShape &inSubShape, uint32 inSubShapeIndex)
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{
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// Create ID for sub shape
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SubShapeIDCreator shape2_sub_shape_id = mSubShapeIDCreator.PushID(inSubShapeIndex, mSubShapeBits);
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// Transform the point
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Mat44 transform = Mat44::sInverseRotationTranslation(inSubShape.GetRotation(), inSubShape.GetPositionCOM());
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inSubShape.mShape->CollidePoint(transform * mPoint, shape2_sub_shape_id, mCollector, mShapeFilter);
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}
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Vec3 mPoint;
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SubShapeIDCreator mSubShapeIDCreator;
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CollidePointCollector & mCollector;
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uint mSubShapeBits;
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const ShapeFilter & mShapeFilter;
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};
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struct CompoundShape::CastShapeVisitor
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{
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JPH_INLINE CastShapeVisitor(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const CompoundShape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector) :
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mBoxCenter(inShapeCast.mShapeWorldBounds.GetCenter()),
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mBoxExtent(inShapeCast.mShapeWorldBounds.GetExtent()),
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mScale(inScale),
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mShapeCast(inShapeCast),
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mShapeCastSettings(inShapeCastSettings),
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mShapeFilter(inShapeFilter),
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mCollector(ioCollector),
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mCenterOfMassTransform2(inCenterOfMassTransform2),
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mSubShapeIDCreator1(inSubShapeIDCreator1),
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mSubShapeIDCreator2(inSubShapeIDCreator2),
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mSubShapeBits(inShape->GetSubShapeIDBits())
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{
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// Determine ray properties of cast
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mInvDirection.Set(inShapeCast.mDirection);
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}
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/// Returns true when collision detection should abort because it's not possible to find a better hit
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JPH_INLINE bool ShouldAbort() const
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{
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return mCollector.ShouldEarlyOut();
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}
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/// Tests the shape cast against 4 bounding boxes, returns the distance along the shape cast where the shape first enters the bounding box
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JPH_INLINE Vec4 TestBounds(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ) const
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{
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// Scale the bounding boxes
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Vec4 bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z;
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AABox4Scale(mScale, inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ, bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z);
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// Enlarge them by the casted shape's box extents
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AABox4EnlargeWithExtent(mBoxExtent, bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z);
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// Test ray against the bounding boxes
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return RayAABox4(mBoxCenter, mInvDirection, bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z);
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}
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/// Test the cast shape against a single subshape
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JPH_INLINE void VisitShape(const SubShape &inSubShape, uint32 inSubShapeIndex)
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{
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JPH_ASSERT(inSubShape.IsValidScale(mScale));
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// Create ID for sub shape
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SubShapeIDCreator shape2_sub_shape_id = mSubShapeIDCreator2.PushID(inSubShapeIndex, mSubShapeBits);
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// Calculate the local transform for this sub shape
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Mat44 local_transform = Mat44::sRotationTranslation(inSubShape.GetRotation(), mScale * inSubShape.GetPositionCOM());
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// Transform the center of mass of 2
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Mat44 center_of_mass_transform2 = mCenterOfMassTransform2 * local_transform;
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// Transform the shape cast
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ShapeCast shape_cast = mShapeCast.PostTransformed(local_transform.InversedRotationTranslation());
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CollisionDispatch::sCastShapeVsShapeLocalSpace(shape_cast, mShapeCastSettings, inSubShape.mShape, inSubShape.TransformScale(mScale), mShapeFilter, center_of_mass_transform2, mSubShapeIDCreator1, shape2_sub_shape_id, mCollector);
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}
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RayInvDirection mInvDirection;
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Vec3 mBoxCenter;
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Vec3 mBoxExtent;
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Vec3 mScale;
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const ShapeCast & mShapeCast;
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const ShapeCastSettings & mShapeCastSettings;
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const ShapeFilter & mShapeFilter;
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CastShapeCollector & mCollector;
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Mat44 mCenterOfMassTransform2;
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SubShapeIDCreator mSubShapeIDCreator1;
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SubShapeIDCreator mSubShapeIDCreator2;
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uint mSubShapeBits;
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};
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struct CompoundShape::CollectTransformedShapesVisitor
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{
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JPH_INLINE CollectTransformedShapesVisitor(const AABox &inBox, const CompoundShape *inShape, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) :
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mBox(inBox),
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mLocalBox(Mat44::sInverseRotationTranslation(inRotation, inPositionCOM), inBox),
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mPositionCOM(inPositionCOM),
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mRotation(inRotation),
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mScale(inScale),
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mSubShapeIDCreator(inSubShapeIDCreator),
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mCollector(ioCollector),
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mSubShapeBits(inShape->GetSubShapeIDBits()),
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mShapeFilter(inShapeFilter)
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{
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}
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/// Returns true when collision detection should abort because it's not possible to find a better hit
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JPH_INLINE bool ShouldAbort() const
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{
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return mCollector.ShouldEarlyOut();
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}
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/// Tests 4 bounding boxes against the query box, returns true for the ones that collide
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JPH_INLINE UVec4 TestBounds(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ) const
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{
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// Scale the bounding boxes of this node
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Vec4 bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z;
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AABox4Scale(mScale, inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ, bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z);
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// Test which nodes collide
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return AABox4VsBox(mLocalBox, bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z);
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}
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/// Collect the transformed sub shapes for a single subshape
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JPH_INLINE void VisitShape(const SubShape &inSubShape, uint32 inSubShapeIndex)
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{
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JPH_ASSERT(inSubShape.IsValidScale(mScale));
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// Create ID for sub shape
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SubShapeIDCreator sub_shape_id = mSubShapeIDCreator.PushID(inSubShapeIndex, mSubShapeBits);
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// Calculate world transform for sub shape
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Vec3 position = mPositionCOM + mRotation * (mScale * inSubShape.GetPositionCOM());
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Quat rotation = mRotation * inSubShape.GetRotation();
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// Recurse to sub shape
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inSubShape.mShape->CollectTransformedShapes(mBox, position, rotation, inSubShape.TransformScale(mScale), sub_shape_id, mCollector, mShapeFilter);
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}
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AABox mBox;
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OrientedBox mLocalBox;
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Vec3 mPositionCOM;
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Quat mRotation;
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Vec3 mScale;
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SubShapeIDCreator mSubShapeIDCreator;
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TransformedShapeCollector & mCollector;
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uint mSubShapeBits;
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const ShapeFilter & mShapeFilter;
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};
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struct CompoundShape::CollideCompoundVsShapeVisitor
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{
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JPH_INLINE CollideCompoundVsShapeVisitor(const CompoundShape *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) :
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mCollideShapeSettings(inCollideShapeSettings),
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mCollector(ioCollector),
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mShape2(inShape2),
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mScale1(inScale1),
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mScale2(inScale2),
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mTransform1(inCenterOfMassTransform1),
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mTransform2(inCenterOfMassTransform2),
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mSubShapeIDCreator1(inSubShapeIDCreator1),
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mSubShapeIDCreator2(inSubShapeIDCreator2),
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mSubShapeBits(inShape1->GetSubShapeIDBits()),
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mShapeFilter(inShapeFilter)
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{
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||||
// Get transform from shape 2 to shape 1
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Mat44 transform2_to_1 = inCenterOfMassTransform1.InversedRotationTranslation() * inCenterOfMassTransform2;
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||||
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// Convert bounding box of 2 into space of 1
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||||
mBoundsOf2InSpaceOf1 = inShape2->GetLocalBounds().Scaled(inScale2).Transformed(transform2_to_1);
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||||
}
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||||
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/// Returns true when collision detection should abort because it's not possible to find a better hit
|
||||
JPH_INLINE bool ShouldAbort() const
|
||||
{
|
||||
return mCollector.ShouldEarlyOut();
|
||||
}
|
||||
|
||||
/// Tests the bounds of shape 2 vs 4 bounding boxes, returns true for the ones that intersect
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||||
JPH_INLINE UVec4 TestBounds(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ) const
|
||||
{
|
||||
// Scale the bounding boxes
|
||||
Vec4 bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z;
|
||||
AABox4Scale(mScale1, inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ, bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z);
|
||||
|
||||
// Test which boxes collide
|
||||
return AABox4VsBox(mBoundsOf2InSpaceOf1, bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z);
|
||||
}
|
||||
|
||||
/// Test the shape against a single subshape
|
||||
JPH_INLINE void VisitShape(const SubShape &inSubShape, uint32 inSubShapeIndex)
|
||||
{
|
||||
// Get world transform of 1
|
||||
Mat44 transform1 = mTransform1 * inSubShape.GetLocalTransformNoScale(mScale1);
|
||||
|
||||
// Create ID for sub shape
|
||||
SubShapeIDCreator shape1_sub_shape_id = mSubShapeIDCreator1.PushID(inSubShapeIndex, mSubShapeBits);
|
||||
|
||||
CollisionDispatch::sCollideShapeVsShape(inSubShape.mShape, mShape2, inSubShape.TransformScale(mScale1), mScale2, transform1, mTransform2, shape1_sub_shape_id, mSubShapeIDCreator2, mCollideShapeSettings, mCollector, mShapeFilter);
|
||||
}
|
||||
|
||||
const CollideShapeSettings & mCollideShapeSettings;
|
||||
CollideShapeCollector & mCollector;
|
||||
const Shape * mShape2;
|
||||
Vec3 mScale1;
|
||||
Vec3 mScale2;
|
||||
Mat44 mTransform1;
|
||||
Mat44 mTransform2;
|
||||
AABox mBoundsOf2InSpaceOf1;
|
||||
SubShapeIDCreator mSubShapeIDCreator1;
|
||||
SubShapeIDCreator mSubShapeIDCreator2;
|
||||
uint mSubShapeBits;
|
||||
const ShapeFilter & mShapeFilter;
|
||||
};
|
||||
|
||||
struct CompoundShape::CollideShapeVsCompoundVisitor
|
||||
{
|
||||
JPH_INLINE CollideShapeVsCompoundVisitor(const Shape *inShape1, const CompoundShape *inShape2, Vec3Arg inScale1, Vec3Arg inScale2, Mat44Arg inCenterOfMassTransform1, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) :
|
||||
mCollideShapeSettings(inCollideShapeSettings),
|
||||
mCollector(ioCollector),
|
||||
mShape1(inShape1),
|
||||
mScale1(inScale1),
|
||||
mScale2(inScale2),
|
||||
mTransform1(inCenterOfMassTransform1),
|
||||
mTransform2(inCenterOfMassTransform2),
|
||||
mSubShapeIDCreator1(inSubShapeIDCreator1),
|
||||
mSubShapeIDCreator2(inSubShapeIDCreator2),
|
||||
mSubShapeBits(inShape2->GetSubShapeIDBits()),
|
||||
mShapeFilter(inShapeFilter)
|
||||
{
|
||||
// Get transform from shape 1 to shape 2
|
||||
Mat44 transform1_to_2 = inCenterOfMassTransform2.InversedRotationTranslation() * inCenterOfMassTransform1;
|
||||
|
||||
// Convert bounding box of 1 into space of 2
|
||||
mBoundsOf1InSpaceOf2 = inShape1->GetLocalBounds().Scaled(inScale1).Transformed(transform1_to_2);
|
||||
mBoundsOf1InSpaceOf2.ExpandBy(Vec3::sReplicate(inCollideShapeSettings.mMaxSeparationDistance));
|
||||
}
|
||||
|
||||
/// Returns true when collision detection should abort because it's not possible to find a better hit
|
||||
JPH_INLINE bool ShouldAbort() const
|
||||
{
|
||||
return mCollector.ShouldEarlyOut();
|
||||
}
|
||||
|
||||
/// Tests the bounds of shape 1 vs 4 bounding boxes, returns true for the ones that intersect
|
||||
JPH_INLINE UVec4 TestBounds(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ) const
|
||||
{
|
||||
// Scale the bounding boxes
|
||||
Vec4 bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z;
|
||||
AABox4Scale(mScale2, inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ, bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z);
|
||||
|
||||
// Test which bounding boxes collide
|
||||
return AABox4VsBox(mBoundsOf1InSpaceOf2, bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z);
|
||||
}
|
||||
|
||||
/// Test the shape against a single subshape
|
||||
JPH_INLINE void VisitShape(const SubShape &inSubShape, uint32 inSubShapeIndex)
|
||||
{
|
||||
// Create ID for sub shape
|
||||
SubShapeIDCreator shape2_sub_shape_id = mSubShapeIDCreator2.PushID(inSubShapeIndex, mSubShapeBits);
|
||||
|
||||
// Get world transform of 2
|
||||
Mat44 transform2 = mTransform2 * inSubShape.GetLocalTransformNoScale(mScale2);
|
||||
|
||||
CollisionDispatch::sCollideShapeVsShape(mShape1, inSubShape.mShape, mScale1, inSubShape.TransformScale(mScale2), mTransform1, transform2, mSubShapeIDCreator1, shape2_sub_shape_id, mCollideShapeSettings, mCollector, mShapeFilter);
|
||||
}
|
||||
|
||||
const CollideShapeSettings & mCollideShapeSettings;
|
||||
CollideShapeCollector & mCollector;
|
||||
const Shape * mShape1;
|
||||
Vec3 mScale1;
|
||||
Vec3 mScale2;
|
||||
Mat44 mTransform1;
|
||||
Mat44 mTransform2;
|
||||
AABox mBoundsOf1InSpaceOf2;
|
||||
SubShapeIDCreator mSubShapeIDCreator1;
|
||||
SubShapeIDCreator mSubShapeIDCreator2;
|
||||
uint mSubShapeBits;
|
||||
const ShapeFilter & mShapeFilter;
|
||||
};
|
||||
|
||||
template <class BoxType>
|
||||
struct CompoundShape::GetIntersectingSubShapesVisitor
|
||||
{
|
||||
JPH_INLINE GetIntersectingSubShapesVisitor(const BoxType &inBox, uint *outSubShapeIndices, int inMaxSubShapeIndices) :
|
||||
mBox(inBox),
|
||||
mSubShapeIndices(outSubShapeIndices),
|
||||
mMaxSubShapeIndices(inMaxSubShapeIndices)
|
||||
{
|
||||
}
|
||||
|
||||
/// Returns true when collision detection should abort because the buffer is full
|
||||
JPH_INLINE bool ShouldAbort() const
|
||||
{
|
||||
return mNumResults >= mMaxSubShapeIndices;
|
||||
}
|
||||
|
||||
/// Tests the box vs 4 bounding boxes, returns true for the ones that intersect
|
||||
JPH_INLINE UVec4 TestBounds(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ) const
|
||||
{
|
||||
// Test which bounding boxes collide
|
||||
return AABox4VsBox(mBox, inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ);
|
||||
}
|
||||
|
||||
/// Records a hit
|
||||
JPH_INLINE void VisitShape([[maybe_unused]] const SubShape &inSubShape, uint32 inSubShapeIndex)
|
||||
{
|
||||
JPH_ASSERT(mNumResults < mMaxSubShapeIndices);
|
||||
*mSubShapeIndices++ = inSubShapeIndex;
|
||||
mNumResults++;
|
||||
}
|
||||
|
||||
/// Get the number of indices that were found
|
||||
JPH_INLINE int GetNumResults() const
|
||||
{
|
||||
return mNumResults;
|
||||
}
|
||||
|
||||
private:
|
||||
BoxType mBox;
|
||||
uint * mSubShapeIndices;
|
||||
int mMaxSubShapeIndices;
|
||||
int mNumResults = 0;
|
||||
};
|
||||
|
||||
JPH_NAMESPACE_END
|
||||
Reference in New Issue
Block a user