Created specialized path for RotatedTranslated vs RotatedTranslated shape (#813)

This avoids the overhead of a call to the dispatch table and improves the performance for the ragdoll performance test by about 2%.

Build/cmake_vs2022_cl_cross_platform_deterministic.bat

@@ -0,0 +1,3 @@
+@echo off
+cmake -S . -B VS2022_CL_CPD -G "Visual Studio 17 2022" -A x64 -DCROSS_PLATFORM_DETERMINISTIC=ON %*
+echo Open VS2022_CL_CPD\JoltPhysics.sln to build the project.

Jolt/Physics/Collision/Shape/RotatedTranslatedShape.cpp

@@ -202,6 +202,20 @@ void RotatedTranslatedShape::sCollideShapeVsRotatedTranslated(const Shape *inSha
 	CollisionDispatch::sCollideShapeVsShape(inShape1, shape2->mInnerShape, inScale1, shape2->TransformScale(inScale2), inCenterOfMassTransform1, transform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector, inShapeFilter);
 }
 
+void RotatedTranslatedShape::sCollideRotatedTranslatedVsRotatedTranslated(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)
+{
+	JPH_ASSERT(inShape1->GetSubType() == EShapeSubType::RotatedTranslated);
+	const RotatedTranslatedShape *shape1 = static_cast<const RotatedTranslatedShape *>(inShape1);
+	JPH_ASSERT(inShape2->GetSubType() == EShapeSubType::RotatedTranslated);
+	const RotatedTranslatedShape *shape2 = static_cast<const RotatedTranslatedShape *>(inShape2);
+
+	// Get world transform of 1 and 2
+	Mat44 transform1 = inCenterOfMassTransform1 * Mat44::sRotation(shape1->mRotation);
+	Mat44 transform2 = inCenterOfMassTransform2 * Mat44::sRotation(shape2->mRotation);
+
+	CollisionDispatch::sCollideShapeVsShape(shape1->mInnerShape, shape2->mInnerShape, shape1->TransformScale(inScale1), shape2->TransformScale(inScale2), transform1, transform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector, inShapeFilter);
+}
+
 void RotatedTranslatedShape::sCastRotatedTranslatedVsShape(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector)
 {
 	// Fetch rotated translated shape from cast shape
@@ -230,6 +244,25 @@ void RotatedTranslatedShape::sCastShapeVsRotatedTranslated(const ShapeCast &inSh
 	CollisionDispatch::sCastShapeVsShapeLocalSpace(shape_cast, inShapeCastSettings, shape->mInnerShape, shape->TransformScale(inScale), inShapeFilter, inCenterOfMassTransform2 * local_transform, inSubShapeIDCreator1, inSubShapeIDCreator2, ioCollector);
 }
 
+void RotatedTranslatedShape::sCastRotatedTranslatedVsRotatedTranslated(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector)
+{
+	JPH_ASSERT(inShapeCast.mShape->GetSubType() == EShapeSubType::RotatedTranslated);
+	const RotatedTranslatedShape *shape1 = static_cast<const RotatedTranslatedShape *>(inShapeCast.mShape);
+	JPH_ASSERT(inShape->GetSubType() == EShapeSubType::RotatedTranslated);
+	const RotatedTranslatedShape *shape2 = static_cast<const RotatedTranslatedShape *>(inShape);
+
+	// Determine the local transform of shape 2
+	Mat44 local_transform2 = Mat44::sRotation(shape2->mRotation);
+	Mat44 local_transform2_transposed = local_transform2.Transposed3x3();
+
+	// Transform the shape cast and update the shape
+	Mat44 transform = (local_transform2_transposed * inShapeCast.mCenterOfMassStart) * Mat44::sRotation(shape1->mRotation);
+	Vec3 scale = shape1->TransformScale(inShapeCast.mScale);
+	ShapeCast shape_cast(shape1->mInnerShape, scale, transform, local_transform2_transposed.Multiply3x3(inShapeCast.mDirection));
+
+	CollisionDispatch::sCastShapeVsShapeLocalSpace(shape_cast, inShapeCastSettings, shape2->mInnerShape, shape2->TransformScale(inScale), inShapeFilter, inCenterOfMassTransform2 * local_transform2, inSubShapeIDCreator1, inSubShapeIDCreator2, ioCollector);
+}
+
 void RotatedTranslatedShape::SaveBinaryState(StreamOut &inStream) const
 {
 	DecoratedShape::SaveBinaryState(inStream);
@@ -274,6 +307,9 @@ void RotatedTranslatedShape::sRegister()
 		CollisionDispatch::sRegisterCastShape(EShapeSubType::RotatedTranslated, s, sCastRotatedTranslatedVsShape);
 		CollisionDispatch::sRegisterCastShape(s, EShapeSubType::RotatedTranslated, sCastShapeVsRotatedTranslated);
 	}
+
+	CollisionDispatch::sRegisterCollideShape(EShapeSubType::RotatedTranslated, EShapeSubType::RotatedTranslated, sCollideRotatedTranslatedVsRotatedTranslated);
+	CollisionDispatch::sRegisterCastShape(EShapeSubType::RotatedTranslated, EShapeSubType::RotatedTranslated, sCastRotatedTranslatedVsRotatedTranslated);
 }
 
 JPH_NAMESPACE_END

Jolt/Physics/Collision/Shape/RotatedTranslatedShape.h

@@ -135,8 +135,10 @@ private:
 	// Helper functions called by CollisionDispatch
 	static void						sCollideRotatedTranslatedVsShape(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						sCollideShapeVsRotatedTranslated(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						sCollideRotatedTranslatedVsRotatedTranslated(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						sCastRotatedTranslatedVsShape(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
 	static void						sCastShapeVsRotatedTranslated(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
+	static void						sCastRotatedTranslatedVsRotatedTranslated(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
 
 	/// Transform the scale to the local space of the child shape
 	inline Vec3						TransformScale(Vec3Arg inScale) const

Samples/SamplesApp.cpp

@@ -33,6 +33,7 @@
 #include <Jolt/Physics/Collision/Shape/TaperedCapsuleShape.h>
 #include <Jolt/Physics/Collision/Shape/CylinderShape.h>
 #include <Jolt/Physics/Collision/Shape/TriangleShape.h>
+#include <Jolt/Physics/Collision/Shape/RotatedTranslatedShape.h>
 #include <Jolt/Physics/Collision/Shape/StaticCompoundShape.h>
 #include <Jolt/Physics/Collision/Shape/MutableCompoundShape.h>
 #include <Jolt/Physics/Collision/Shape/ScaledShape.h>
@@ -505,7 +506,7 @@ SamplesApp::SamplesApp()
 		mDebugUI->CreateTextButton(main_menu, "Mouse Probe", [this]() {
 			UIElement *probe_options = mDebugUI->CreateMenu();
 			mDebugUI->CreateComboBox(probe_options, "Mode", { "Pick", "Ray", "RayCollector", "CollidePoint", "CollideShape", "CastShape", "CollideSoftBody", "TransfShape", "GetTriangles", "BP Ray", "BP Box", "BP Sphere", "BP Point", "BP OBox", "BP Cast Box" }, (int)mProbeMode, [this](int inItem) { mProbeMode = (EProbeMode)inItem; });
-			mDebugUI->CreateComboBox(probe_options, "Shape", { "Sphere", "Box", "ConvexHull", "Capsule", "TaperedCapsule", "Cylinder", "Triangle", "StaticCompound", "StaticCompound2", "MutableCompound", "Mesh" }, (int)mProbeShape, [this](int inItem) { mProbeShape = (EProbeShape)inItem; });
+			mDebugUI->CreateComboBox(probe_options, "Shape", { "Sphere", "Box", "ConvexHull", "Capsule", "TaperedCapsule", "Cylinder", "Triangle", "RotatedTranslated", "StaticCompound", "StaticCompound2", "MutableCompound", "Mesh" }, (int)mProbeShape, [this](int inItem) { mProbeShape = (EProbeShape)inItem; });
 			mDebugUI->CreateCheckBox(probe_options, "Scale Shape", mScaleShape, [this](UICheckBox::EState inState) { mScaleShape = inState == UICheckBox::STATE_CHECKED; });
 			mDebugUI->CreateSlider(probe_options, "Scale X", mShapeScale.GetX(), -5.0f, 5.0f, 0.1f, [this](float inValue) { mShapeScale.SetX(inValue); });
 			mDebugUI->CreateSlider(probe_options, "Scale Y", mShapeScale.GetY(), -5.0f, 5.0f, 0.1f, [this](float inValue) { mShapeScale.SetY(inValue); });
@@ -814,6 +815,11 @@ RefConst<Shape> SamplesApp::CreateProbeShape()
 		shape = new TriangleShape(Vec3(0.1f, 0.9f, 0.3f), Vec3(-0.9f, -0.5f, 0.2f), Vec3(0.7f, -0.3f, -0.1f));
 		break;
 
+	case EProbeShape::RotatedTranslated:
+		scale = scale.Swizzle<SWIZZLE_X, SWIZZLE_Y, SWIZZLE_X>(); // Can freely scale around y but x and z must be the same
+		shape = new RotatedTranslatedShape(Vec3(0.1f, 0.2f, 0.3f), Quat::sRotation(Vec3::sAxisY(), 0.25f * JPH_PI), new BoxShape(Vec3(0.1f, 0.2f, 0.3f)));
+		break;
+
 	case EProbeShape::StaticCompound:
 		{
 			Array<Vec3> tetrahedron;

Samples/SamplesApp.h

@@ -178,6 +178,7 @@ private:
 		TaperedCapsule,
 		Cylinder,
 		Triangle,
+		RotatedTranslated,
 		StaticCompound,
 		StaticCompound2,
 		MutableCompound,