StaticCompoundShape.h

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
 
#pragma once
 
#include <Jolt/Physics/Collision/Shape/CompoundShape.h>
#include <Jolt/Physics/Collision/SortReverseAndStore.h>
#include <Jolt/Math/HalfFloat.h>
 
JPH_NAMESPACE_BEGIN
 
class CollideShapeSettings;
class TempAllocator;
 
class StaticCompoundShapeSettings final : public CompoundShapeSettings
{
public:
    JPH_DECLARE_SERIALIZABLE_VIRTUAL(StaticCompoundShapeSettings)
 
    // See: ShapeSettings
    virtual ShapeResult             Create() const override;
 
    ShapeResult                     Create(TempAllocator &inTempAllocator) const;
};
 
class StaticCompoundShape final : public CompoundShape
{
public:
    JPH_OVERRIDE_NEW_DELETE
 
                                    StaticCompoundShape() : CompoundShape(EShapeSubType::StaticCompound) { }
                                    StaticCompoundShape(const StaticCompoundShapeSettings &inSettings, TempAllocator &inTempAllocator, ShapeResult &outResult);
 
    // See Shape::CastRay
    virtual bool                    CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
    virtual void                    CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
 
    // See: Shape::CollidePoint
    virtual void                    CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
 
    // See Shape::CollectTransformedShapes
    virtual void                    CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const override;
 
    // See: CompoundShape::GetIntersectingSubShapes
    virtual int                     GetIntersectingSubShapes(const AABox &inBox, uint *outSubShapeIndices, int inMaxSubShapeIndices) const override;
 
    // See: CompoundShape::GetIntersectingSubShapes
    virtual int                     GetIntersectingSubShapes(const OrientedBox &inBox, uint *outSubShapeIndices, int inMaxSubShapeIndices) const override;
 
    // See Shape
    virtual void                    SaveBinaryState(StreamOut &inStream) const override;
 
    // See Shape::GetStats
    virtual Stats                   GetStats() const override                               { return Stats(sizeof(*this) + mSubShapes.size() * sizeof(SubShape) + mNodes.size() * sizeof(Node), 0); }
 
    // Register shape functions with the registry
    static void                     sRegister();
 
protected:
    // See: Shape::RestoreBinaryState
    virtual void                    RestoreBinaryState(StreamIn &inStream) override;
 
private:
    // Visitor for GetIntersectingSubShapes
    template <class BoxType>
    struct GetIntersectingSubShapesVisitorSC : public GetIntersectingSubShapesVisitor<BoxType>
    {
        using GetIntersectingSubShapesVisitor<BoxType>::GetIntersectingSubShapesVisitor;
 
        JPH_INLINE bool             ShouldVisitNode(int inStackTop) const
        {
            return true;
        }
 
        JPH_INLINE int              VisitNodes(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ, UVec4 &ioProperties, int inStackTop) 
        {
            // Test if point overlaps with box
            UVec4 collides = GetIntersectingSubShapesVisitor<BoxType>::TestBounds(inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ);
            return CountAndSortTrues(collides, ioProperties);
        }
    };
 
    static void                     sPartition(uint *ioBodyIdx, AABox *ioBounds, int inNumber, int &outMidPoint);
 
    static void                     sPartition4(uint *ioBodyIdx, AABox *ioBounds, int inBegin, int inEnd, int *outSplit);
 
    // Helper functions called by CollisionDispatch
    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);
    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);
    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);
 
    // Maximum size of the stack during tree walk
    static constexpr int            cStackSize = 128;
 
    template <class Visitor>
    JPH_INLINE void                 WalkTree(Visitor &ioVisitor) const;                     
 
    enum : uint32
    {
        IS_SUBSHAPE                 = 0x80000000,                                           
        INVALID_NODE                = 0x7fffffff,                                           
    };
 
    struct Node
    {
        void                        SetChildBounds(uint inIndex, const AABox &inBounds);    
        void                        SetChildInvalid(uint inIndex);                          
 
        HalfFloat                   mBoundsMinX[4];                                         
        HalfFloat                   mBoundsMinY[4];
        HalfFloat                   mBoundsMinZ[4];
        HalfFloat                   mBoundsMaxX[4];
        HalfFloat                   mBoundsMaxY[4];
        HalfFloat                   mBoundsMaxZ[4];
        uint32                      mNodeProperties[4];                                     
    };
    
    static_assert(sizeof(Node) == 64, "Node should be 64 bytes");
 
    using Nodes = Array<Node>;
 
    Nodes                           mNodes;                                                 
};
 
JPH_NAMESPACE_END