forked from hertog/godot-module-template
140 lines
7.1 KiB
C++
140 lines
7.1 KiB
C++
// 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/SortReverseAndStore.h>
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#include <Jolt/Math/HalfFloat.h>
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JPH_NAMESPACE_BEGIN
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class CollideShapeSettings;
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class TempAllocator;
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/// Class that constructs a StaticCompoundShape. Note that if you only want a compound of 1 shape, use a RotatedTranslatedShape instead.
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class JPH_EXPORT StaticCompoundShapeSettings final : public CompoundShapeSettings
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{
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JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, StaticCompoundShapeSettings)
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public:
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// See: ShapeSettings
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virtual ShapeResult Create() const override;
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/// Specialization of Create() function that allows specifying a temp allocator to avoid temporary memory allocations on the heap
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ShapeResult Create(TempAllocator &inTempAllocator) const;
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};
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/// A compound shape, sub shapes can be rotated and translated.
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/// Sub shapes cannot be modified once the shape is constructed.
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/// Shifts all child objects so that they're centered around the center of mass.
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class JPH_EXPORT StaticCompoundShape final : public CompoundShape
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{
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public:
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JPH_OVERRIDE_NEW_DELETE
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/// Constructor
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StaticCompoundShape() : CompoundShape(EShapeSubType::StaticCompound) { }
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StaticCompoundShape(const StaticCompoundShapeSettings &inSettings, TempAllocator &inTempAllocator, ShapeResult &outResult);
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// See Shape::CastRay
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virtual bool CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
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virtual void CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
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// See: Shape::CollidePoint
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virtual void CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
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// See Shape::CollectTransformedShapes
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virtual void CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const override;
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// See: CompoundShape::GetIntersectingSubShapes
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virtual int GetIntersectingSubShapes(const AABox &inBox, uint *outSubShapeIndices, int inMaxSubShapeIndices) const override;
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// See: CompoundShape::GetIntersectingSubShapes
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virtual int GetIntersectingSubShapes(const OrientedBox &inBox, uint *outSubShapeIndices, int inMaxSubShapeIndices) const override;
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// See Shape
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virtual void SaveBinaryState(StreamOut &inStream) const override;
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// See Shape::GetStats
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virtual Stats GetStats() const override { return Stats(sizeof(*this) + mSubShapes.size() * sizeof(SubShape) + mNodes.size() * sizeof(Node), 0); }
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// Register shape functions with the registry
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static void sRegister();
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protected:
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// See: Shape::RestoreBinaryState
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virtual void RestoreBinaryState(StreamIn &inStream) override;
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private:
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// Visitor for GetIntersectingSubShapes
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template <class BoxType>
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struct GetIntersectingSubShapesVisitorSC : public GetIntersectingSubShapesVisitor<BoxType>
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{
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using GetIntersectingSubShapesVisitor<BoxType>::GetIntersectingSubShapesVisitor;
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JPH_INLINE bool ShouldVisitNode(int inStackTop) const
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{
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return true;
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}
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JPH_INLINE int VisitNodes(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ, UVec4 &ioProperties, int inStackTop)
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{
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// Test if point overlaps with box
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UVec4 collides = GetIntersectingSubShapesVisitor<BoxType>::TestBounds(inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ);
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return CountAndSortTrues(collides, ioProperties);
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}
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};
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/// Sorts ioBodyIdx spatially into 2 groups. Second groups starts at ioBodyIdx + outMidPoint.
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/// After the function returns ioBodyIdx and ioBounds will be shuffled
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static void sPartition(uint *ioBodyIdx, AABox *ioBounds, int inNumber, int &outMidPoint);
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/// Sorts ioBodyIdx from inBegin to (but excluding) inEnd spatially into 4 groups.
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/// outSplit needs to be 5 ints long, when the function returns each group runs from outSplit[i] to (but excluding) outSplit[i + 1]
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/// After the function returns ioBodyIdx and ioBounds will be shuffled
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static void sPartition4(uint *ioBodyIdx, AABox *ioBounds, int inBegin, int inEnd, int *outSplit);
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// Helper functions called by CollisionDispatch
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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);
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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);
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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);
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// Maximum size of the stack during tree walk
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static constexpr int cStackSize = 128;
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template <class Visitor>
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JPH_INLINE void WalkTree(Visitor &ioVisitor) const; ///< Walk the node tree calling the Visitor::VisitNodes for each node encountered and Visitor::VisitShape for each sub shape encountered
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/// Bits used in Node::mNodeProperties
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enum : uint32
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{
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IS_SUBSHAPE = 0x80000000, ///< If this bit is set, the other bits index in mSubShape, otherwise in mNodes
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INVALID_NODE = 0x7fffffff, ///< Signifies an invalid node
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};
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/// Node structure
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struct Node
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{
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void SetChildBounds(uint inIndex, const AABox &inBounds); ///< Set bounding box for child inIndex to inBounds
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void SetChildInvalid(uint inIndex); ///< Mark the child inIndex as invalid and set its bounding box to invalid
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HalfFloat mBoundsMinX[4]; ///< 4 child bounding boxes
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HalfFloat mBoundsMinY[4];
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HalfFloat mBoundsMinZ[4];
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HalfFloat mBoundsMaxX[4];
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HalfFloat mBoundsMaxY[4];
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HalfFloat mBoundsMaxZ[4];
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uint32 mNodeProperties[4]; ///< 4 child node properties
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};
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static_assert(sizeof(Node) == 64, "Node should be 64 bytes");
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using Nodes = Array<Node>;
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Nodes mNodes; ///< Quad tree node structure
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};
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JPH_NAMESPACE_END
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