Added EmptyShape (#1262)

See #1253

Docs/ReleaseNotes.md

@@ -8,6 +8,7 @@ For breaking API changes see [this document](https://github.com/jrouwe/JoltPhysi
 
 * Added PlaneShape. An infinite plane. Negative half space is considered solid.
 * Added TaperedCylinderShape. A cylinder with different top and bottom radii.
+* Added EmptyShape. A shape that collides with nothing and that can be used as a placeholder or for dummy bodies.
 * Use MeshShapeSettings::mPerTriangleUserData at about 25% memory increase to get per triangle user data through MeshShape::GetTriangleUserData
 * Added Shape::GetLeafShape function to be able to get a leaf shape given a sub shape ID
 * Added HeightFieldShape::GetSubShapeCoordinates to get the triangle coordinates of a particular sub shape ID

Jolt/Jolt.cmake

@@ -249,6 +249,8 @@ set(JOLT_PHYSICS_SRC_FILES
 	${JOLT_PHYSICS_ROOT}/Physics/Collision/Shape/CylinderShape.h
 	${JOLT_PHYSICS_ROOT}/Physics/Collision/Shape/DecoratedShape.cpp
 	${JOLT_PHYSICS_ROOT}/Physics/Collision/Shape/DecoratedShape.h
+	${JOLT_PHYSICS_ROOT}/Physics/Collision/Shape/EmptyShape.cpp
+	${JOLT_PHYSICS_ROOT}/Physics/Collision/Shape/EmptyShape.h
 	${JOLT_PHYSICS_ROOT}/Physics/Collision/Shape/GetTrianglesContext.h
 	${JOLT_PHYSICS_ROOT}/Physics/Collision/Shape/HeightFieldShape.cpp
 	${JOLT_PHYSICS_ROOT}/Physics/Collision/Shape/HeightFieldShape.h

Jolt/Physics/Collision/Shape/EmptyShape.cpp

@@ -0,0 +1,65 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2024 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#include <Jolt/Jolt.h>
+
+#include <Jolt/Physics/Collision/Shape/EmptyShape.h>
+#include <Jolt/Physics/Collision/CollisionDispatch.h>
+#include <Jolt/ObjectStream/TypeDeclarations.h>
+#ifdef JPH_DEBUG_RENDERER
+	#include <Jolt/Renderer/DebugRenderer.h>
+#endif // JPH_DEBUG_RENDERER
+
+JPH_NAMESPACE_BEGIN
+
+JPH_IMPLEMENT_SERIALIZABLE_VIRTUAL(EmptyShapeSettings)
+{
+	JPH_ADD_BASE_CLASS(EmptyShapeSettings, ShapeSettings)
+
+	JPH_ADD_ATTRIBUTE(EmptyShapeSettings, mCenterOfMass)
+}
+
+ShapeSettings::ShapeResult EmptyShapeSettings::Create() const
+{
+	if (mCachedResult.IsEmpty())
+		new EmptyShape(*this, mCachedResult);
+
+	return mCachedResult;
+}
+
+MassProperties EmptyShape::GetMassProperties() const
+{
+	MassProperties mass_properties;
+	mass_properties.mMass = 1.0f;
+	mass_properties.mInertia = Mat44::sIdentity();
+	return mass_properties;
+}
+
+#ifdef JPH_DEBUG_RENDERER
+void EmptyShape::Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, [[maybe_unused]] bool inUseMaterialColors, [[maybe_unused]] bool inDrawWireframe) const
+{
+	inRenderer->DrawMarker(inCenterOfMassTransform.GetTranslation(), inColor, abs(inScale.GetX()) * 0.1f);
+}
+#endif // JPH_DEBUG_RENDERER
+
+void EmptyShape::sRegister()
+{
+	ShapeFunctions &f = ShapeFunctions::sGet(EShapeSubType::Empty);
+	f.mConstruct = []() -> Shape * { return new EmptyShape; };
+	f.mColor = Color::sBlack;
+
+	auto collide_empty = []([[maybe_unused]] const Shape *inShape1, [[maybe_unused]] const Shape *inShape2, [[maybe_unused]] Vec3Arg inScale1, [[maybe_unused]] Vec3Arg inScale2, [[maybe_unused]] Mat44Arg inCenterOfMassTransform1, [[maybe_unused]] Mat44Arg inCenterOfMassTransform2, [[maybe_unused]] const SubShapeIDCreator &inSubShapeIDCreator1, [[maybe_unused]] const SubShapeIDCreator &inSubShapeIDCreator2, [[maybe_unused]] const CollideShapeSettings &inCollideShapeSettings, [[maybe_unused]] CollideShapeCollector &ioCollector, [[maybe_unused]] const ShapeFilter &inShapeFilter) { /* Do Nothing */ };
+	auto cast_empty = []([[maybe_unused]] const ShapeCast &inShapeCast, [[maybe_unused]] const ShapeCastSettings &inShapeCastSettings, [[maybe_unused]] const Shape *inShape, [[maybe_unused]] Vec3Arg inScale, [[maybe_unused]] const ShapeFilter &inShapeFilter, [[maybe_unused]] Mat44Arg inCenterOfMassTransform2, [[maybe_unused]] const SubShapeIDCreator &inSubShapeIDCreator1, [[maybe_unused]] const SubShapeIDCreator &inSubShapeIDCreator2, [[maybe_unused]] CastShapeCollector &ioCollector) { /* Do nothing */ };
+
+	for (const EShapeSubType s : sAllSubShapeTypes)
+	{
+		CollisionDispatch::sRegisterCollideShape(EShapeSubType::Empty, s, collide_empty);
+		CollisionDispatch::sRegisterCollideShape(s, EShapeSubType::Empty, collide_empty);
+
+		CollisionDispatch::sRegisterCastShape(EShapeSubType::Empty, s, cast_empty);
+		CollisionDispatch::sRegisterCastShape(s, EShapeSubType::Empty, cast_empty);
+	}
+}
+
+JPH_NAMESPACE_END

Jolt/Physics/Collision/Shape/EmptyShape.h

@@ -0,0 +1,67 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2024 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Physics/Collision/Shape/Shape.h>
+#include <Jolt/Physics/Collision/PhysicsMaterial.h>
+
+JPH_NAMESPACE_BEGIN
+
+/// Class that constructs an EmptyShape
+class JPH_EXPORT EmptyShapeSettings final : public ShapeSettings
+{
+public:
+	JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, EmptyShapeSettings)
+
+							EmptyShapeSettings() = default;
+	explicit				EmptyShapeSettings(Vec3Arg inCenterOfMass) : mCenterOfMass(inCenterOfMass) { }
+
+	ShapeResult				Create() const override;
+
+	Vec3					mCenterOfMass = Vec3::sZero();									///< Determines the center of mass for this shape
+};
+
+/// An empty shape that has no volume and collides with nothing.
+class JPH_EXPORT EmptyShape final : public Shape
+{
+public:
+	// Constructor
+							EmptyShape() : Shape(EShapeType::Empty, EShapeSubType::Empty) { }
+							EmptyShape(const EmptyShapeSettings &inSettings, ShapeResult &outResult) : Shape(EShapeType::Empty, EShapeSubType::Empty, inSettings, outResult), mCenterOfMass(inSettings.mCenterOfMass) { outResult.Set(this); }
+
+	// See: Shape
+	Vec3					GetCenterOfMass() const override								{ return mCenterOfMass; }
+	AABox					GetLocalBounds() const override									{ return { Vec3::sZero(), Vec3::sZero() }; }
+	uint					GetSubShapeIDBitsRecursive() const override						{ return 0; }
+	float					GetInnerRadius() const override									{ return 0.0f; }
+	MassProperties			GetMassProperties() const override;
+	const PhysicsMaterial *	GetMaterial([[maybe_unused]] const SubShapeID &inSubShapeID) const override { return PhysicsMaterial::sDefault; }
+	virtual Vec3			GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override { return Vec3::sZero(); }
+	virtual void			GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy
+#ifdef JPH_DEBUG_RENDERER // Not using JPH_IF_DEBUG_RENDERER for Doxygen
+		, RVec3Arg inBaseOffset
+#endif
+		) const override																	{ outTotalVolume = 0.0f; outSubmergedVolume = 0.0f; outCenterOfBuoyancy = Vec3::sZero(); }
+#ifdef JPH_DEBUG_RENDERER
+	virtual void			Draw([[maybe_unused]] DebugRenderer *inRenderer, [[maybe_unused]] RMat44Arg inCenterOfMassTransform, [[maybe_unused]] Vec3Arg inScale, [[maybe_unused]] ColorArg inColor, [[maybe_unused]] bool inUseMaterialColors, [[maybe_unused]] bool inDrawWireframe) const override;
+#endif // JPH_DEBUG_RENDERER
+	virtual bool			CastRay([[maybe_unused]] const RayCast &inRay, [[maybe_unused]] const SubShapeIDCreator &inSubShapeIDCreator, [[maybe_unused]] RayCastResult &ioHit) const override { return false; }
+	virtual void			CastRay([[maybe_unused]] const RayCast &inRay, [[maybe_unused]] const RayCastSettings &inRayCastSettings, [[maybe_unused]] const SubShapeIDCreator &inSubShapeIDCreator, [[maybe_unused]] CastRayCollector &ioCollector, [[maybe_unused]] const ShapeFilter &inShapeFilter = { }) const override { /* Do nothing */ }
+	virtual void			CollidePoint([[maybe_unused]] Vec3Arg inPoint, [[maybe_unused]] const SubShapeIDCreator &inSubShapeIDCreator, [[maybe_unused]] CollidePointCollector &ioCollector, [[maybe_unused]] const ShapeFilter &inShapeFilter = { }) const override { /* Do nothing */ }
+	virtual void			CollideSoftBodyVertices([[maybe_unused]] Mat44Arg inCenterOfMassTransform, [[maybe_unused]] Vec3Arg inScale, [[maybe_unused]] SoftBodyVertex *ioVertices, [[maybe_unused]] uint inNumVertices, [[maybe_unused]] float inDeltaTime, [[maybe_unused]] Vec3Arg inDisplacementDueToGravity, [[maybe_unused]] int inCollidingShapeIndex) const override { /* Do nothing */ }
+	virtual void			GetTrianglesStart([[maybe_unused]] GetTrianglesContext &ioContext, [[maybe_unused]] const AABox &inBox, [[maybe_unused]] Vec3Arg inPositionCOM, [[maybe_unused]] QuatArg inRotation, [[maybe_unused]] Vec3Arg inScale) const override { /* Do nothing */ }
+	virtual int				GetTrianglesNext([[maybe_unused]] GetTrianglesContext &ioContext, [[maybe_unused]] int inMaxTrianglesRequested, [[maybe_unused]] Float3 *outTriangleVertices, [[maybe_unused]] const PhysicsMaterial **outMaterials = nullptr) const override { return 0; }
+	Stats					GetStats() const override										{ return { sizeof(*this), 0 }; }
+	float					GetVolume() const override										{ return 0.0f; }
+	bool					IsValidScale([[maybe_unused]] Vec3Arg inScale) const override	{ return true; }
+
+	// Register shape functions with the registry
+	static void				sRegister();
+
+private:
+	Vec3					mCenterOfMass = Vec3::sZero();
+};
+
+JPH_NAMESPACE_END

Jolt/Physics/Collision/Shape/Shape.h

@@ -69,6 +69,7 @@ enum class EShapeType : uint8
 	User4,
 
 	Plane,							///< Used by PlaneShape
+	Empty,							///< Used by EmptyShape
 };
 
 /// This enumerates all shape types, each shape can return its type through Shape::GetSubType
@@ -120,10 +121,11 @@ enum class EShapeSubType : uint8
 	// Other shapes
 	Plane,
 	TaperedCylinder,
+	Empty,
 };
 
 // Sets of shape sub types
-static constexpr EShapeSubType sAllSubShapeTypes[] = { EShapeSubType::Sphere, EShapeSubType::Box, EShapeSubType::Triangle, EShapeSubType::Capsule, EShapeSubType::TaperedCapsule, EShapeSubType::Cylinder, EShapeSubType::ConvexHull, EShapeSubType::StaticCompound, EShapeSubType::MutableCompound, EShapeSubType::RotatedTranslated, EShapeSubType::Scaled, EShapeSubType::OffsetCenterOfMass, EShapeSubType::Mesh, EShapeSubType::HeightField, EShapeSubType::SoftBody, EShapeSubType::User1, EShapeSubType::User2, EShapeSubType::User3, EShapeSubType::User4, EShapeSubType::User5, EShapeSubType::User6, EShapeSubType::User7, EShapeSubType::User8, EShapeSubType::UserConvex1, EShapeSubType::UserConvex2, EShapeSubType::UserConvex3, EShapeSubType::UserConvex4, EShapeSubType::UserConvex5, EShapeSubType::UserConvex6, EShapeSubType::UserConvex7, EShapeSubType::UserConvex8, EShapeSubType::Plane, EShapeSubType::TaperedCylinder };
+static constexpr EShapeSubType sAllSubShapeTypes[] = { EShapeSubType::Sphere, EShapeSubType::Box, EShapeSubType::Triangle, EShapeSubType::Capsule, EShapeSubType::TaperedCapsule, EShapeSubType::Cylinder, EShapeSubType::ConvexHull, EShapeSubType::StaticCompound, EShapeSubType::MutableCompound, EShapeSubType::RotatedTranslated, EShapeSubType::Scaled, EShapeSubType::OffsetCenterOfMass, EShapeSubType::Mesh, EShapeSubType::HeightField, EShapeSubType::SoftBody, EShapeSubType::User1, EShapeSubType::User2, EShapeSubType::User3, EShapeSubType::User4, EShapeSubType::User5, EShapeSubType::User6, EShapeSubType::User7, EShapeSubType::User8, EShapeSubType::UserConvex1, EShapeSubType::UserConvex2, EShapeSubType::UserConvex3, EShapeSubType::UserConvex4, EShapeSubType::UserConvex5, EShapeSubType::UserConvex6, EShapeSubType::UserConvex7, EShapeSubType::UserConvex8, EShapeSubType::Plane, EShapeSubType::TaperedCylinder, EShapeSubType::Empty };
 static constexpr EShapeSubType sConvexSubShapeTypes[] = { EShapeSubType::Sphere, EShapeSubType::Box, EShapeSubType::Triangle, EShapeSubType::Capsule, EShapeSubType::TaperedCapsule, EShapeSubType::Cylinder, EShapeSubType::ConvexHull, EShapeSubType::TaperedCylinder, EShapeSubType::UserConvex1, EShapeSubType::UserConvex2, EShapeSubType::UserConvex3, EShapeSubType::UserConvex4, EShapeSubType::UserConvex5, EShapeSubType::UserConvex6, EShapeSubType::UserConvex7, EShapeSubType::UserConvex8 };
 static constexpr EShapeSubType sCompoundSubShapeTypes[] = { EShapeSubType::StaticCompound, EShapeSubType::MutableCompound };
 static constexpr EShapeSubType sDecoratorSubShapeTypes[] = { EShapeSubType::RotatedTranslated, EShapeSubType::Scaled, EShapeSubType::OffsetCenterOfMass };
@@ -132,7 +134,7 @@ static constexpr EShapeSubType sDecoratorSubShapeTypes[] = { EShapeSubType::Rota
 static constexpr uint NumSubShapeTypes = uint(size(sAllSubShapeTypes));
 
 /// Names of sub shape types
-static constexpr const char *sSubShapeTypeNames[] = { "Sphere", "Box", "Triangle", "Capsule", "TaperedCapsule", "Cylinder", "ConvexHull", "StaticCompound", "MutableCompound", "RotatedTranslated", "Scaled", "OffsetCenterOfMass", "Mesh", "HeightField", "SoftBody", "User1", "User2", "User3", "User4", "User5", "User6", "User7", "User8", "UserConvex1", "UserConvex2", "UserConvex3", "UserConvex4", "UserConvex5", "UserConvex6", "UserConvex7", "UserConvex8", "Plane", "TaperedCylinder" };
+static constexpr const char *sSubShapeTypeNames[] = { "Sphere", "Box", "Triangle", "Capsule", "TaperedCapsule", "Cylinder", "ConvexHull", "StaticCompound", "MutableCompound", "RotatedTranslated", "Scaled", "OffsetCenterOfMass", "Mesh", "HeightField", "SoftBody", "User1", "User2", "User3", "User4", "User5", "User6", "User7", "User8", "UserConvex1", "UserConvex2", "UserConvex3", "UserConvex4", "UserConvex5", "UserConvex6", "UserConvex7", "UserConvex8", "Plane", "TaperedCylinder", "Empty" };
 static_assert(size(sSubShapeTypeNames) == NumSubShapeTypes);
 
 /// Class that can construct shapes and that is serializable using the ObjectStream system.

Jolt/RegisterTypes.cpp

@@ -25,28 +25,12 @@
 #include <Jolt/Physics/Collision/Shape/OffsetCenterOfMassShape.h>
 #include <Jolt/Physics/Collision/Shape/MutableCompoundShape.h>
 #include <Jolt/Physics/Collision/Shape/StaticCompoundShape.h>
+#include <Jolt/Physics/Collision/Shape/EmptyShape.h>
 #include <Jolt/Physics/Collision/PhysicsMaterialSimple.h>
 #include <Jolt/Physics/SoftBody/SoftBodyShape.h>
 
 JPH_DECLARE_RTTI_WITH_NAMESPACE_FOR_FACTORY(JPH_EXPORT, JPH, Skeleton)
 JPH_DECLARE_RTTI_WITH_NAMESPACE_FOR_FACTORY(JPH_EXPORT, JPH, SkeletalAnimation)
-JPH_DECLARE_RTTI_WITH_NAMESPACE_FOR_FACTORY(JPH_EXPORT, JPH, CompoundShapeSettings)
-JPH_DECLARE_RTTI_WITH_NAMESPACE_FOR_FACTORY(JPH_EXPORT, JPH, StaticCompoundShapeSettings)
-JPH_DECLARE_RTTI_WITH_NAMESPACE_FOR_FACTORY(JPH_EXPORT, JPH, MutableCompoundShapeSettings)
-JPH_DECLARE_RTTI_WITH_NAMESPACE_FOR_FACTORY(JPH_EXPORT, JPH, TriangleShapeSettings)
-JPH_DECLARE_RTTI_WITH_NAMESPACE_FOR_FACTORY(JPH_EXPORT, JPH, PlaneShapeSettings)
-JPH_DECLARE_RTTI_WITH_NAMESPACE_FOR_FACTORY(JPH_EXPORT, JPH, SphereShapeSettings)
-JPH_DECLARE_RTTI_WITH_NAMESPACE_FOR_FACTORY(JPH_EXPORT, JPH, BoxShapeSettings)
-JPH_DECLARE_RTTI_WITH_NAMESPACE_FOR_FACTORY(JPH_EXPORT, JPH, CapsuleShapeSettings)
-JPH_DECLARE_RTTI_WITH_NAMESPACE_FOR_FACTORY(JPH_EXPORT, JPH, TaperedCapsuleShapeSettings)
-JPH_DECLARE_RTTI_WITH_NAMESPACE_FOR_FACTORY(JPH_EXPORT, JPH, CylinderShapeSettings)
-JPH_DECLARE_RTTI_WITH_NAMESPACE_FOR_FACTORY(JPH_EXPORT, JPH, TaperedCylinderShapeSettings)
-JPH_DECLARE_RTTI_WITH_NAMESPACE_FOR_FACTORY(JPH_EXPORT, JPH, ScaledShapeSettings)
-JPH_DECLARE_RTTI_WITH_NAMESPACE_FOR_FACTORY(JPH_EXPORT, JPH, MeshShapeSettings)
-JPH_DECLARE_RTTI_WITH_NAMESPACE_FOR_FACTORY(JPH_EXPORT, JPH, ConvexHullShapeSettings)
-JPH_DECLARE_RTTI_WITH_NAMESPACE_FOR_FACTORY(JPH_EXPORT, JPH, HeightFieldShapeSettings)
-JPH_DECLARE_RTTI_WITH_NAMESPACE_FOR_FACTORY(JPH_EXPORT, JPH, RotatedTranslatedShapeSettings)
-JPH_DECLARE_RTTI_WITH_NAMESPACE_FOR_FACTORY(JPH_EXPORT, JPH, OffsetCenterOfMassShapeSettings)
 JPH_DECLARE_RTTI_WITH_NAMESPACE_FOR_FACTORY(JPH_EXPORT, JPH, RagdollSettings)
 JPH_DECLARE_RTTI_WITH_NAMESPACE_FOR_FACTORY(JPH_EXPORT, JPH, PointConstraintSettings)
 JPH_DECLARE_RTTI_WITH_NAMESPACE_FOR_FACTORY(JPH_EXPORT, JPH, SixDOFConstraintSettings)
@@ -136,6 +120,7 @@ void RegisterTypesInternal(uint64 inVersionID)
 	RotatedTranslatedShape::sRegister();
 	OffsetCenterOfMassShape::sRegister();
 	ScaledShape::sRegister();
+	EmptyShape::sRegister();
 
 	// Create list of all types
 	const RTTI *types[] = {
@@ -158,6 +143,7 @@ void RegisterTypesInternal(uint64 inVersionID)
 		JPH_RTTI(HeightFieldShapeSettings),
 		JPH_RTTI(RotatedTranslatedShapeSettings),
 		JPH_RTTI(OffsetCenterOfMassShapeSettings),
+		JPH_RTTI(EmptyShapeSettings),
 		JPH_RTTI(RagdollSettings),
 		JPH_RTTI(PointConstraintSettings),
 		JPH_RTTI(SixDOFConstraintSettings),

Samples/Samples.cmake

@@ -225,6 +225,8 @@ set(SAMPLES_SRC_FILES
 	${SAMPLES_ROOT}/Tests/Shapes/CapsuleShapeTest.h
 	${SAMPLES_ROOT}/Tests/Shapes/DeformedHeightFieldShapeTest.cpp
 	${SAMPLES_ROOT}/Tests/Shapes/DeformedHeightFieldShapeTest.h
+	${SAMPLES_ROOT}/Tests/Shapes/EmptyShapeTest.cpp
+	${SAMPLES_ROOT}/Tests/Shapes/EmptyShapeTest.h
 	${SAMPLES_ROOT}/Tests/Shapes/StaticCompoundShapeTest.cpp
 	${SAMPLES_ROOT}/Tests/Shapes/StaticCompoundShapeTest.h
 	${SAMPLES_ROOT}/Tests/Shapes/MutableCompoundShapeTest.cpp

Samples/SamplesApp.cpp

@@ -39,6 +39,7 @@
 #include <Jolt/Physics/Collision/Shape/StaticCompoundShape.h>
 #include <Jolt/Physics/Collision/Shape/MutableCompoundShape.h>
 #include <Jolt/Physics/Collision/Shape/ScaledShape.h>
+#include <Jolt/Physics/Collision/Shape/EmptyShape.h>
 #include <Jolt/Physics/Collision/NarrowPhaseStats.h>
 #include <Jolt/Physics/Constraints/DistanceConstraint.h>
 #include <Jolt/Physics/Constraints/PulleyConstraint.h>
@@ -215,6 +216,7 @@ JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, HeightFieldShapeTest)
 JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, DeformedHeightFieldShapeTest)
 JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, RotatedTranslatedShapeTest)
 JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, OffsetCenterOfMassShapeTest)
+JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, EmptyShapeTest)
 
 static TestNameAndRTTI sShapeTests[] =
 {
@@ -234,7 +236,8 @@ static TestNameAndRTTI sShapeTests[] =
 	{ "Triangle Shape",						JPH_RTTI(TriangleShapeTest) },
 	{ "Plane Shape",						JPH_RTTI(PlaneShapeTest) },
 	{ "Rotated Translated Shape",			JPH_RTTI(RotatedTranslatedShapeTest) },
-	{ "Offset Center Of Mass Shape",		JPH_RTTI(OffsetCenterOfMassShapeTest) }
+	{ "Offset Center Of Mass Shape",		JPH_RTTI(OffsetCenterOfMassShapeTest) },
+	{ "Empty Shape",						JPH_RTTI(EmptyShapeTest) }
 };
 
 JPH_DECLARE_RTTI_FOR_FACTORY(JPH_NO_EXPORT, ScaledSphereShapeTest)

Samples/Tests/General/LoadSaveSceneTest.cpp

@@ -22,6 +22,7 @@
 #include <Jolt/Physics/Collision/Shape/HeightFieldShape.h>
 #include <Jolt/Physics/Collision/Shape/TriangleShape.h>
 #include <Jolt/Physics/Collision/Shape/RotatedTranslatedShape.h>
+#include <Jolt/Physics/Collision/Shape/EmptyShape.h>
 #include <Jolt/Physics/Collision/PhysicsMaterialSimple.h>
 #include <Jolt/Physics/Constraints/DistanceConstraint.h>
 #include <Jolt/Physics/Body/BodyCreationSettings.h>
@@ -151,6 +152,7 @@ Ref<PhysicsScene> LoadSaveSceneTest::sCreateScene()
 	scene->AddBody(BodyCreationSettings(new CylinderShapeSettings(0.5f, 0.2f, cDefaultConvexRadius, new PhysicsMaterialSimple("Cylinder Material", next_color())), next_pos(), Quat::sRotation(Vec3::sAxisX(), 0.5f * JPH_PI), EMotionType::Dynamic, Layers::MOVING));
 	scene->AddBody(BodyCreationSettings(new TaperedCylinderShapeSettings(0.5f, 0.2f, 0.4f, cDefaultConvexRadius, new PhysicsMaterialSimple("Tapered Cylinder Material", next_color())), next_pos(), Quat::sRotation(Vec3::sAxisX(), 0.5f * JPH_PI), EMotionType::Dynamic, Layers::MOVING));
 	scene->AddBody(BodyCreationSettings(new TaperedCylinderShapeSettings(0.5f, 0.4f, 0.0f, 0.0f, new PhysicsMaterialSimple("Cone Material", next_color())), next_pos(), Quat::sRotation(Vec3::sAxisX(), 0.5f * JPH_PI), EMotionType::Dynamic, Layers::MOVING));
+	scene->AddBody(BodyCreationSettings(new EmptyShapeSettings(), next_pos(), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
 
 	// Compound with sub compound and rotation
 	StaticCompoundShapeSettings *sub_compound = new StaticCompoundShapeSettings();

Samples/Tests/Shapes/EmptyShapeTest.cpp

@@ -0,0 +1,24 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2024 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#include <TestFramework.h>
+
+#include <Tests/Shapes/EmptyShapeTest.h>
+#include <Jolt/Physics/Collision/Shape/EmptyShape.h>
+#include <Jolt/Physics/Body/BodyCreationSettings.h>
+#include <Layers.h>
+
+JPH_IMPLEMENT_RTTI_VIRTUAL(EmptyShapeTest)
+{
+	JPH_ADD_BASE_CLASS(EmptyShapeTest, Test)
+}
+
+void EmptyShapeTest::Initialize()
+{
+	// Floor
+	CreateFloor();
+
+	// Empty shape
+	mBodyInterface->CreateAndAddBody(BodyCreationSettings(new EmptyShape(), RVec3(0, 10, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING), EActivation::Activate);
+}

Samples/Tests/Shapes/EmptyShapeTest.h

@@ -0,0 +1,16 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2024 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Tests/Test.h>
+
+class EmptyShapeTest : public Test
+{
+public:
+	JPH_DECLARE_RTTI_VIRTUAL(JPH_NO_EXPORT, EmptyShapeTest)
+
+	// See: Test
+	virtual void	Initialize() override;
+};