Added optional shape filter function to multiple query functions (#168)

* CastRay
* CollideShape
* CollidePoint
* CollectTransformedShapes

Jolt/Physics/Collision/CollisionDispatch.h

@@ -28,11 +28,14 @@ public:
 	/// @param inSubShapeIDCreator2 Class that tracks the current sub shape ID for shape 2
 	/// @param inCollideShapeSettings Options for the CollideShape test
 	/// @param ioCollector The collector that receives the results.
-	static inline void		sCollideShapeVsShape(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)
+	/// @param inShapeFilter allows selectively disabling collisions between pairs of (sub) shapes.
+	static inline void		sCollideShapeVsShape(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_IF_TRACK_NARROWPHASE_STATS(TrackNarrowPhaseStat track(NarrowPhaseStat::sCollideShape[(int)inShape1->GetSubType()][(int)inShape2->GetSubType()]);)
 
-		sCollideShape[(int)inShape1->GetSubType()][(int)inShape2->GetSubType()](inShape1, inShape2, inScale1, inScale2, inCenterOfMassTransform1, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector);
+		// Only test shape if it passes the shape filter
+		if (inShapeFilter.ShouldCollide(inSubShapeIDCreator1.GetID(), inSubShapeIDCreator2.GetID()))
+			sCollideShape[(int)inShape1->GetSubType()][(int)inShape2->GetSubType()](inShape1, inShape2, inScale1, inScale2, inCenterOfMassTransform1, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector, inShapeFilter);
 	}
 
 	/// Cast a shape againt this shape, passes any hits found to ioCollector.
@@ -65,7 +68,7 @@ public:
 	}
 
 	/// Function that collides 2 shapes (see sCollideShapeVsShape) 
-	using CollideShape = void (*)(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);
+	using CollideShape = void (*)(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);
 
 	/// Function that casts a shape vs another shape (see sCastShapeVsShapeLocalSpace)
 	using CastShape = void (*)(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);

Jolt/Physics/Collision/NarrowPhaseQuery.cpp

@@ -78,19 +78,20 @@ bool NarrowPhaseQuery::CastRay(const RayCast &inRay, RayCastResult &ioHit, const
 	return ioHit.mFraction <= 1.0f;
 }
 
-void NarrowPhaseQuery::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, CastRayCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter) const
+void NarrowPhaseQuery::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, CastRayCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter) const
 {
 	JPH_PROFILE_FUNCTION();
 
 	class MyCollector : public RayCastBodyCollector
 	{
 	public:
-							MyCollector(const RayCast &inRay, const RayCastSettings &inRayCastSettings, CastRayCollector &ioCollector, const BodyLockInterface &inBodyLockInterface, const BodyFilter &inBodyFilter) :
+							MyCollector(const RayCast &inRay, const RayCastSettings &inRayCastSettings, CastRayCollector &ioCollector, const BodyLockInterface &inBodyLockInterface, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter) :
 			mRay(inRay),
 			mRayCastSettings(inRayCastSettings),
 			mCollector(ioCollector),
 			mBodyLockInterface(inBodyLockInterface),
-			mBodyFilter(inBodyFilter)
+			mBodyFilter(inBodyFilter),
+			mShapeFilter(inShapeFilter)
 		{
 			UpdateEarlyOutFraction(ioCollector.GetEarlyOutFraction());
 		}
@@ -121,7 +122,7 @@ void NarrowPhaseQuery::CastRay(const RayCast &inRay, const RayCastSettings &inRa
 						lock.ReleaseLock();
 
 						// Do narrow phase collision check
-						ts.CastRay(mRay, mRayCastSettings, mCollector);
+						ts.CastRay(mRay, mRayCastSettings, mCollector, mShapeFilter);
 
 						// Update early out fraction based on narrow phase collector
 						UpdateEarlyOutFraction(mCollector.GetEarlyOutFraction());
@@ -135,25 +136,27 @@ void NarrowPhaseQuery::CastRay(const RayCast &inRay, const RayCastSettings &inRa
 		CastRayCollector &			mCollector;
 		const BodyLockInterface &	mBodyLockInterface;
 		const BodyFilter &			mBodyFilter;
+		const ShapeFilter &			mShapeFilter;
 	};
 
 	// Do broadphase test
-	MyCollector collector(inRay, inRayCastSettings, ioCollector, *mBodyLockInterface, inBodyFilter);
+	MyCollector collector(inRay, inRayCastSettings, ioCollector, *mBodyLockInterface, inBodyFilter, inShapeFilter);
 	mBroadPhase->CastRay(inRay, collector, inBroadPhaseLayerFilter, inObjectLayerFilter);
 }
 
-void NarrowPhaseQuery::CollidePoint(Vec3Arg inPoint, CollidePointCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter) const
+void NarrowPhaseQuery::CollidePoint(Vec3Arg inPoint, CollidePointCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter) const
 {
 	JPH_PROFILE_FUNCTION();
 
 	class MyCollector : public CollideShapeBodyCollector
 	{
 	public:
-							MyCollector(Vec3Arg inPoint, CollidePointCollector &ioCollector, const BodyLockInterface &inBodyLockInterface, const BodyFilter &inBodyFilter) :
+							MyCollector(Vec3Arg inPoint, CollidePointCollector &ioCollector, const BodyLockInterface &inBodyLockInterface, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter) :
 			mPoint(inPoint),
 			mCollector(ioCollector),
 			mBodyLockInterface(inBodyLockInterface),
-			mBodyFilter(inBodyFilter)
+			mBodyFilter(inBodyFilter),
+			mShapeFilter(inShapeFilter)
 		{
 		}
 
@@ -181,7 +184,7 @@ void NarrowPhaseQuery::CollidePoint(Vec3Arg inPoint, CollidePointCollector &ioCo
 						lock.ReleaseLock();
 
 						// Do narrow phase collision check
-						ts.CollidePoint(mPoint, mCollector);
+						ts.CollidePoint(mPoint, mCollector, mShapeFilter);
 
 						// Update early out fraction based on narrow phase collector
 						UpdateEarlyOutFraction(mCollector.GetEarlyOutFraction());
@@ -194,28 +197,30 @@ void NarrowPhaseQuery::CollidePoint(Vec3Arg inPoint, CollidePointCollector &ioCo
 		CollidePointCollector &			mCollector;
 		const BodyLockInterface &		mBodyLockInterface;
 		const BodyFilter &				mBodyFilter;
+		const ShapeFilter &				mShapeFilter;
 	};
 
 	// Do broadphase test
-	MyCollector collector(inPoint, ioCollector, *mBodyLockInterface, inBodyFilter);
+	MyCollector collector(inPoint, ioCollector, *mBodyLockInterface, inBodyFilter, inShapeFilter);
 	mBroadPhase->CollidePoint(inPoint, collector, inBroadPhaseLayerFilter, inObjectLayerFilter);
 }
 
-void NarrowPhaseQuery::CollideShape(const Shape *inShape, Vec3Arg inShapeScale, Mat44Arg inCenterOfMassTransform, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter) const
+void NarrowPhaseQuery::CollideShape(const Shape *inShape, Vec3Arg inShapeScale, Mat44Arg inCenterOfMassTransform, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter) const
 {
 	JPH_PROFILE_FUNCTION();
 
 	class MyCollector : public CollideShapeBodyCollector
 	{
 	public:
-							MyCollector(const Shape *inShape, Vec3Arg inShapeScale, Mat44Arg inCenterOfMassTransform, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector, const BodyLockInterface &inBodyLockInterface, const BodyFilter &inBodyFilter) :
+							MyCollector(const Shape *inShape, Vec3Arg inShapeScale, Mat44Arg inCenterOfMassTransform, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector, const BodyLockInterface &inBodyLockInterface, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter) :
 			mShape(inShape),
 			mShapeScale(inShapeScale),
 			mCenterOfMassTransform(inCenterOfMassTransform),
 			mCollideShapeSettings(inCollideShapeSettings),
 			mCollector(ioCollector),
 			mBodyLockInterface(inBodyLockInterface),
-			mBodyFilter(inBodyFilter)
+			mBodyFilter(inBodyFilter),
+			mShapeFilter(inShapeFilter)
 		{
 		}
 
@@ -243,7 +248,7 @@ void NarrowPhaseQuery::CollideShape(const Shape *inShape, Vec3Arg inShapeScale,
 						lock.ReleaseLock();
 
 						// Do narrow phase collision check
-						ts.CollideShape(mShape, mShapeScale, mCenterOfMassTransform, mCollideShapeSettings, mCollector);
+						ts.CollideShape(mShape, mShapeScale, mCenterOfMassTransform, mCollideShapeSettings, mCollector, mShapeFilter);
 
 						// Update early out fraction based on narrow phase collector
 						UpdateEarlyOutFraction(mCollector.GetEarlyOutFraction());
@@ -259,6 +264,7 @@ void NarrowPhaseQuery::CollideShape(const Shape *inShape, Vec3Arg inShapeScale,
 		CollideShapeCollector &			mCollector;
 		const BodyLockInterface &		mBodyLockInterface;
 		const BodyFilter &				mBodyFilter;
+		const ShapeFilter &				mShapeFilter;
 	};
 
 	// Calculate bounds for shape and expand by max separation distance
@@ -266,7 +272,7 @@ void NarrowPhaseQuery::CollideShape(const Shape *inShape, Vec3Arg inShapeScale,
 	bounds.ExpandBy(Vec3::sReplicate(inCollideShapeSettings.mMaxSeparationDistance));
 
 	// Do broadphase test
-	MyCollector collector(inShape, inShapeScale, inCenterOfMassTransform, inCollideShapeSettings, ioCollector, *mBodyLockInterface, inBodyFilter);
+	MyCollector collector(inShape, inShapeScale, inCenterOfMassTransform, inCollideShapeSettings, ioCollector, *mBodyLockInterface, inBodyFilter, inShapeFilter);
 	mBroadPhase->CollideAABox(bounds, collector, inBroadPhaseLayerFilter, inObjectLayerFilter);
 }
 
@@ -347,16 +353,17 @@ void NarrowPhaseQuery::CastShape(const ShapeCast &inShapeCast, const ShapeCastSe
 	mBroadPhase->CastAABox({ inShapeCast.mShapeWorldBounds, inShapeCast.mDirection }, collector, inBroadPhaseLayerFilter, inObjectLayerFilter);
 }
 
-void NarrowPhaseQuery::CollectTransformedShapes(const AABox &inBox, TransformedShapeCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter) const
+void NarrowPhaseQuery::CollectTransformedShapes(const AABox &inBox, TransformedShapeCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter) const
 {
 	class MyCollector : public CollideShapeBodyCollector
 	{
 	public:
-							MyCollector(const AABox &inBox, TransformedShapeCollector &ioCollector, const BodyLockInterface &inBodyLockInterface, const BodyFilter &inBodyFilter) :
+							MyCollector(const AABox &inBox, TransformedShapeCollector &ioCollector, const BodyLockInterface &inBodyLockInterface, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter) :
 			mBox(inBox),
 			mCollector(ioCollector),
 			mBodyLockInterface(inBodyLockInterface),
-			mBodyFilter(inBodyFilter)
+			mBodyFilter(inBodyFilter),
+			mShapeFilter(inShapeFilter)
 		{
 		}
 
@@ -384,7 +391,7 @@ void NarrowPhaseQuery::CollectTransformedShapes(const AABox &inBox, TransformedS
 						lock.ReleaseLock();
 
 						// Do narrow phase collision check
-						ts.CollectTransformedShapes(mBox, mCollector);
+						ts.CollectTransformedShapes(mBox, mCollector, mShapeFilter);
 
 						// Update early out fraction based on narrow phase collector
 						UpdateEarlyOutFraction(mCollector.GetEarlyOutFraction());
@@ -397,10 +404,11 @@ void NarrowPhaseQuery::CollectTransformedShapes(const AABox &inBox, TransformedS
 		TransformedShapeCollector &		mCollector;
 		const BodyLockInterface &		mBodyLockInterface;
 		const BodyFilter &				mBodyFilter;
+		const ShapeFilter &				mShapeFilter;
 	};
 
 	// Do broadphase test
-	MyCollector collector(inBox, ioCollector, *mBodyLockInterface, inBodyFilter);
+	MyCollector collector(inBox, ioCollector, *mBodyLockInterface, inBodyFilter, inShapeFilter);
 	mBroadPhase->CollideAABox(inBox, collector, inBroadPhaseLayerFilter, inObjectLayerFilter);
 }
 

Jolt/Physics/Collision/NarrowPhaseQuery.h

@@ -30,21 +30,21 @@ public:
 
 	/// Cast a ray, allows collecting multiple hits. Note that this version is more flexible but also slightly slower than the CastRay function that returns only a single hit.
 	/// If you want the surface normal of the hit use Body::GetWorldSpaceSurfaceNormal(collected sub shape ID, inRay.GetPointOnRay(collected fraction)) on body with collected body ID.
-	void						CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, CastRayCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter = { }, const ObjectLayerFilter &inObjectLayerFilter = { }, const BodyFilter &inBodyFilter = { }) const;
+	void						CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, CastRayCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter = { }, const ObjectLayerFilter &inObjectLayerFilter = { }, const BodyFilter &inBodyFilter = { }, const ShapeFilter &inShapeFilter = { }) const;
 
 	/// Check if inPoint is inside any shapes. For this tests all shapes are treated as if they were solid. 
 	/// For a mesh shape, this test will only provide sensible information if the mesh is a closed manifold.
 	/// For each shape that collides, ioCollector will receive a hit
-	void						CollidePoint(Vec3Arg inPoint, CollidePointCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter = { }, const ObjectLayerFilter &inObjectLayerFilter = { }, const BodyFilter &inBodyFilter = { }) const;
+	void						CollidePoint(Vec3Arg inPoint, CollidePointCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter = { }, const ObjectLayerFilter &inObjectLayerFilter = { }, const BodyFilter &inBodyFilter = { }, const ShapeFilter &inShapeFilter = { }) const;
 
 	/// Collide a shape with the system
-	void						CollideShape(const Shape *inShape, Vec3Arg inShapeScale, Mat44Arg inCenterOfMassTransform, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter = { }, const ObjectLayerFilter &inObjectLayerFilter = { }, const BodyFilter &inBodyFilter = { }) const;
+	void						CollideShape(const Shape *inShape, Vec3Arg inShapeScale, Mat44Arg inCenterOfMassTransform, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter = { }, const ObjectLayerFilter &inObjectLayerFilter = { }, const BodyFilter &inBodyFilter = { }, const ShapeFilter &inShapeFilter = { }) const;
 
 	/// Cast a shape and report any hits to ioCollector
 	void						CastShape(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, CastShapeCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter = { }, const ObjectLayerFilter &inObjectLayerFilter = { }, const BodyFilter &inBodyFilter = { }, const ShapeFilter &inShapeFilter = { }) const;
 
 	/// Collect all leaf transformed shapes that fall inside world space box inBox
-	void						CollectTransformedShapes(const AABox &inBox, TransformedShapeCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter = { }, const ObjectLayerFilter &inObjectLayerFilter = { }, const BodyFilter &inBodyFilter = { }) const;
+	void						CollectTransformedShapes(const AABox &inBox, TransformedShapeCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter = { }, const ObjectLayerFilter &inObjectLayerFilter = { }, const BodyFilter &inBodyFilter = { }, const ShapeFilter &inShapeFilter = { }) const;
 
 private:
 	BodyLockInterface *			mBodyLockInterface = nullptr;

Jolt/Physics/Collision/Shape/BoxShape.cpp

@@ -172,8 +172,12 @@ bool BoxShape::CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShape
 	return false;
 }
 
-void BoxShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector) const
+void BoxShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
 	float min_fraction, max_fraction;
 	RayAABox(inRay.mOrigin, RayInvDirection(inRay.mDirection), -mHalfExtent, mHalfExtent, min_fraction, max_fraction);
 	if (min_fraction <= max_fraction // Ray should intersect
@@ -202,8 +206,12 @@ void BoxShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSet
 	}
 }
 
-void BoxShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector) const
+void BoxShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
 	if (Vec3::sLessOrEqual(inPoint.Abs(), mHalfExtent).TestAllXYZTrue())
 		ioCollector.AddHit({ TransformedShape::sGetBodyID(ioCollector.GetContext()), inSubShapeIDCreator.GetID() });
 }

Jolt/Physics/Collision/Shape/BoxShape.h

@@ -68,10 +68,10 @@ public:
 
 	// 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 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 override;
+	virtual void			CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
 
 	// See Shape::GetTrianglesStart
 	virtual void			GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override;

Jolt/Physics/Collision/Shape/CapsuleShape.cpp

@@ -295,8 +295,12 @@ bool CapsuleShape::CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubS
 	return false;
 }
 
-void CapsuleShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector) const
+void CapsuleShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
 	float radius_sq = Square(mRadius);
 
 	// Get vertical distance to the top/bottom sphere centers

Jolt/Physics/Collision/Shape/CapsuleShape.h

@@ -79,7 +79,7 @@ public:
 	virtual bool			CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
 
 	// See: Shape::CollidePoint
-	virtual void			CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector) const override;
+	virtual void			CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
 
 	// See Shape::TransformShape
 	virtual void			TransformShape(Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const override;

Jolt/Physics/Collision/Shape/CompoundShapeVisitors.h

@@ -63,12 +63,13 @@ struct CompoundShape::CastRayVisitor
 
 struct CompoundShape::CastRayVisitorCollector
 {
-	JPH_INLINE 			CastRayVisitorCollector(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const CompoundShape *inShape, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector) : 
+	JPH_INLINE 			CastRayVisitorCollector(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const CompoundShape *inShape, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter) : 
 		mRay(inRay),
 		mCollector(ioCollector),
 		mSubShapeIDCreator(inSubShapeIDCreator),
 		mSubShapeBits(inShape->GetSubShapeIDBits()),
-		mRayCastSettings(inRayCastSettings)
+		mRayCastSettings(inRayCastSettings),
+		mShapeFilter(inShapeFilter)
 	{ 
 		// Determine ray properties of cast
 		mInvDirection.Set(inRay.mDirection);
@@ -95,7 +96,7 @@ struct CompoundShape::CastRayVisitorCollector
 		// Transform the ray
 		Mat44 transform = Mat44::sInverseRotationTranslation(inSubShape.GetRotation(), inSubShape.GetPositionCOM());
 		RayCast ray = mRay.Transformed(transform);
-		inSubShape.mShape->CastRay(ray, mRayCastSettings, shape2_sub_shape_id, mCollector);
+		inSubShape.mShape->CastRay(ray, mRayCastSettings, shape2_sub_shape_id, mCollector, mShapeFilter);
 	}
 
 	RayInvDirection		mInvDirection;
@@ -104,15 +105,17 @@ struct CompoundShape::CastRayVisitorCollector
 	SubShapeIDCreator	mSubShapeIDCreator;
 	uint				mSubShapeBits;
 	RayCastSettings		mRayCastSettings;
+	const ShapeFilter &	mShapeFilter;
 };
 
 struct CompoundShape::CollidePointVisitor
 {
-	JPH_INLINE			CollidePointVisitor(Vec3Arg inPoint, const CompoundShape *inShape, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector) : 
+	JPH_INLINE			CollidePointVisitor(Vec3Arg inPoint, const CompoundShape *inShape, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) : 
 		mPoint(inPoint),
 		mSubShapeIDCreator(inSubShapeIDCreator),
 		mCollector(ioCollector),
-		mSubShapeBits(inShape->GetSubShapeIDBits())
+		mSubShapeBits(inShape->GetSubShapeIDBits()),
+		mShapeFilter(inShapeFilter)
 	{ 
 	}
 
@@ -136,13 +139,14 @@ struct CompoundShape::CollidePointVisitor
 
 		// Transform the point
 		Mat44 transform = Mat44::sInverseRotationTranslation(inSubShape.GetRotation(), inSubShape.GetPositionCOM());
-		inSubShape.mShape->CollidePoint(transform * mPoint, shape2_sub_shape_id, mCollector);
+		inSubShape.mShape->CollidePoint(transform * mPoint, shape2_sub_shape_id, mCollector, mShapeFilter);
 	}
 
 	Vec3						mPoint;
 	SubShapeIDCreator			mSubShapeIDCreator;
 	CollidePointCollector &		mCollector;
 	uint						mSubShapeBits;
+	const ShapeFilter &			mShapeFilter;
 };
 
 struct CompoundShape::CastShapeVisitor
@@ -220,7 +224,7 @@ struct CompoundShape::CastShapeVisitor
 
 struct CompoundShape::CollectTransformedShapesVisitor
 {
-	JPH_INLINE 			CollectTransformedShapesVisitor(const AABox &inBox, const CompoundShape *inShape, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector) :
+	JPH_INLINE 			CollectTransformedShapesVisitor(const AABox &inBox, const CompoundShape *inShape, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) :
 		mBox(inBox),
 		mLocalBox(Mat44::sInverseRotationTranslation(inRotation, inPositionCOM), inBox),
 		mPositionCOM(inPositionCOM),
@@ -228,7 +232,8 @@ struct CompoundShape::CollectTransformedShapesVisitor
 		mScale(inScale),
 		mSubShapeIDCreator(inSubShapeIDCreator),
 		mCollector(ioCollector),
-		mSubShapeBits(inShape->GetSubShapeIDBits())
+		mSubShapeBits(inShape->GetSubShapeIDBits()),
+		mShapeFilter(inShapeFilter)
 	{
 	}
 
@@ -262,7 +267,7 @@ struct CompoundShape::CollectTransformedShapesVisitor
 		Quat rotation = mRotation * inSubShape.GetRotation();
 
 		// Recurse to sub shape
-		inSubShape.mShape->CollectTransformedShapes(mBox, position, rotation, inSubShape.TransformScale(mScale), sub_shape_id, mCollector);
+		inSubShape.mShape->CollectTransformedShapes(mBox, position, rotation, inSubShape.TransformScale(mScale), sub_shape_id, mCollector, mShapeFilter);
 	}
 
 	AABox 							mBox;
@@ -273,11 +278,12 @@ struct CompoundShape::CollectTransformedShapesVisitor
 	SubShapeIDCreator				mSubShapeIDCreator;
 	TransformedShapeCollector &		mCollector;
 	uint							mSubShapeBits;
+	const ShapeFilter &				mShapeFilter;
 };
 
 struct CompoundShape::CollideCompoundVsShapeVisitor
 {
-	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) :
+	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) :
 		mCollideShapeSettings(inCollideShapeSettings),
 		mCollector(ioCollector),
 		mShape2(inShape2),
@@ -287,7 +293,8 @@ struct CompoundShape::CollideCompoundVsShapeVisitor
 		mTransform2(inCenterOfMassTransform2),
 		mSubShapeIDCreator1(inSubShapeIDCreator1),
 		mSubShapeIDCreator2(inSubShapeIDCreator2),
-		mSubShapeBits(inShape1->GetSubShapeIDBits())
+		mSubShapeBits(inShape1->GetSubShapeIDBits()),
+		mShapeFilter(inShapeFilter)
 	{
 		// Get transform from shape 2 to shape 1
 		Mat44 transform2_to_1 = inCenterOfMassTransform1.InversedRotationTranslation() * inCenterOfMassTransform2;
@@ -322,7 +329,7 @@ struct CompoundShape::CollideCompoundVsShapeVisitor
 		// 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);
+		CollisionDispatch::sCollideShapeVsShape(inSubShape.mShape, mShape2, inSubShape.TransformScale(mScale1), mScale2, transform1, mTransform2, shape1_sub_shape_id, mSubShapeIDCreator2, mCollideShapeSettings, mCollector, mShapeFilter);
 	}
 
 	const CollideShapeSettings &	mCollideShapeSettings;
@@ -336,11 +343,12 @@ struct CompoundShape::CollideCompoundVsShapeVisitor
 	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) :
+	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),
@@ -350,7 +358,8 @@ struct CompoundShape::CollideShapeVsCompoundVisitor
 		mTransform2(inCenterOfMassTransform2),
 		mSubShapeIDCreator1(inSubShapeIDCreator1),
 		mSubShapeIDCreator2(inSubShapeIDCreator2),
-		mSubShapeBits(inShape2->GetSubShapeIDBits())
+		mSubShapeBits(inShape2->GetSubShapeIDBits()),
+		mShapeFilter(inShapeFilter)
 	{
 		// Get transform from shape 1 to shape 2
 		Mat44 transform1_to_2 = inCenterOfMassTransform2.InversedRotationTranslation() * inCenterOfMassTransform1;
@@ -386,7 +395,7 @@ struct CompoundShape::CollideShapeVsCompoundVisitor
 		// 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);
+		CollisionDispatch::sCollideShapeVsShape(mShape1, inSubShape.mShape, mScale1, inSubShape.TransformScale(mScale2), mTransform1, transform2, mSubShapeIDCreator1, shape2_sub_shape_id, mCollideShapeSettings, mCollector, mShapeFilter);
 	}
 
 	const CollideShapeSettings &	mCollideShapeSettings;
@@ -400,6 +409,7 @@ struct CompoundShape::CollideShapeVsCompoundVisitor
 	SubShapeIDCreator				mSubShapeIDCreator1;
 	SubShapeIDCreator				mSubShapeIDCreator2;
 	uint							mSubShapeBits;
+	const ShapeFilter &				mShapeFilter;
 };
 
 template <class BoxType>

Jolt/Physics/Collision/Shape/ConvexHullShape.cpp

@@ -991,8 +991,12 @@ bool ConvexHullShape::CastRay(const RayCast &inRay, const SubShapeIDCreator &inS
 	return false;
 }
 
-void ConvexHullShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector) const
+void ConvexHullShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
 	// Determine if ray hits the shape
 	float min_fraction, max_fraction;
 	if (CastRayHelper(inRay, min_fraction, max_fraction)
@@ -1020,8 +1024,12 @@ void ConvexHullShape::CastRay(const RayCast &inRay, const RayCastSettings &inRay
 	}
 }
 
-void ConvexHullShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector) const
+void ConvexHullShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
 	// Check if point is behind all planes
 	for (const Plane &p : mPlanes)
 		if (p.SignedDistance(inPoint) > 0.0f)

Jolt/Physics/Collision/Shape/ConvexHullShape.h

@@ -81,10 +81,10 @@ public:
 
 	// 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 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 override;
+	virtual void			CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
 
 	// See Shape::GetTrianglesStart
 	virtual void			GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override;

Jolt/Physics/Collision/Shape/ConvexShape.cpp

@@ -41,7 +41,7 @@ const vector<Vec3> ConvexShape::sUnitSphereTriangles = []() {
 	return verts;
 }();
 
-void ConvexShape::sCollideConvexVsConvex(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)
+void ConvexShape::sCollideConvexVsConvex(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, [[maybe_unused]] const ShapeFilter &inShapeFilter)
 {
 	JPH_PROFILE_FUNCTION();
 
@@ -184,10 +184,14 @@ bool ConvexShape::CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubSh
 	return false;
 }
 
-void ConvexShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector) const
+void ConvexShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
 	// Note: This is a fallback routine, most convex shapes should implement a more performant version!
 
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
 	// First do a normal raycast, limited to the early out fraction
 	RayCastResult hit;
 	hit.mFraction = ioCollector.GetEarlyOutFraction();
@@ -226,8 +230,12 @@ void ConvexShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCast
 	}
 }
 
-void ConvexShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector) const
+void ConvexShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
 	// First test bounding box
 	if (GetLocalBounds().Contains(inPoint))
 	{

Jolt/Physics/Collision/Shape/ConvexShape.h

@@ -54,10 +54,10 @@ public:
 
 	// 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 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 override;
+	virtual void					CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
 
 	// See Shape::GetTrianglesStart
 	virtual void					GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override;
@@ -149,7 +149,7 @@ private:
 	class							CSGetTrianglesContext;
 
 	// Helper functions called by CollisionDispatch
-	static void						sCollideConvexVsConvex(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);
+	static void						sCollideConvexVsConvex(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						sCastConvexVsConvex(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
 
 	// Properties

Jolt/Physics/Collision/Shape/CylinderShape.cpp

@@ -284,8 +284,12 @@ bool CylinderShape::CastRay(const RayCast &inRay, const SubShapeIDCreator &inSub
 	return false;
 }
 
-void CylinderShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector) const
+void CylinderShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
 	// Check if the point is in the cylinder
 	if (abs(inPoint.GetY()) <= mHalfHeight											// Within the height
 		&& Square(inPoint.GetX()) + Square(inPoint.GetZ()) <= Square(mRadius))		// Within the radius

Jolt/Physics/Collision/Shape/CylinderShape.h

@@ -75,7 +75,7 @@ public:
 	virtual bool			CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
 
 	// See: Shape::CollidePoint
-	virtual void			CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector) const override;
+	virtual void			CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
 
 	// See Shape::TransformShape
 	virtual void			TransformShape(Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const override;

Jolt/Physics/Collision/Shape/HeightFieldShape.cpp

@@ -1435,10 +1435,14 @@ bool HeightFieldShape::CastRay(const RayCast &inRay, const SubShapeIDCreator &in
 	return visitor.mReturnValue;
 }
 
-void HeightFieldShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector) const
+void HeightFieldShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
 	JPH_PROFILE_FUNCTION();
 
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
 	struct Visitor
 	{
 		JPH_INLINE explicit		Visitor(const HeightFieldShape *inShape, const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector) : 
@@ -1503,7 +1507,7 @@ void HeightFieldShape::CastRay(const RayCast &inRay, const RayCastSettings &inRa
 	WalkHeightField(visitor);
 }
 
-void HeightFieldShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector) const
+void HeightFieldShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
 	// A height field doesn't have volume, so we can't test insideness
 }
@@ -1743,7 +1747,7 @@ int HeightFieldShape::GetTrianglesNext(GetTrianglesContext &ioContext, int inMax
 	return context.mNumTrianglesFound;
 }
 
-void HeightFieldShape::sCollideConvexVsHeightField(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)
+void HeightFieldShape::sCollideConvexVsHeightField(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, [[maybe_unused]] const ShapeFilter &inShapeFilter)
 {
 	JPH_PROFILE_FUNCTION();
 
@@ -1799,7 +1803,7 @@ void HeightFieldShape::sCollideConvexVsHeightField(const Shape *inShape1, const
 	shape2->WalkHeightField(visitor);
 }
 
-void HeightFieldShape::sCollideSphereVsHeightField(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)
+void HeightFieldShape::sCollideSphereVsHeightField(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, [[maybe_unused]] const ShapeFilter &inShapeFilter)
 {
 	JPH_PROFILE_FUNCTION();
 

Jolt/Physics/Collision/Shape/HeightFieldShape.h

@@ -129,10 +129,10 @@ public:
 
 	// 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 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 override;
+	virtual void					CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
 
 	// See Shape::GetTrianglesStart
 	virtual void					GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override;
@@ -216,8 +216,8 @@ private:
 	inline uint8					GetEdgeFlags(uint inX, uint inY, uint inTriangle) const;
 
 	// Helper functions called by CollisionDispatch
-	static void						sCollideConvexVsHeightField(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);
-	static void						sCollideSphereVsHeightField(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);
+	static void						sCollideConvexVsHeightField(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						sCollideSphereVsHeightField(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						sCastConvexVsHeightField(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						sCastSphereVsHeightField(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
 

Jolt/Physics/Collision/Shape/MeshShape.cpp

@@ -679,10 +679,14 @@ bool MeshShape::CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShap
 	return visitor.mReturnValue;
 }
 
-void MeshShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector) const
+void MeshShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
 	JPH_PROFILE_FUNCTION();
 
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
 	struct Visitor
 	{
 		JPH_INLINE explicit	Visitor(CastRayCollector &ioCollector) : 
@@ -743,7 +747,7 @@ void MeshShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSe
 	WalkTreePerTriangle(inSubShapeIDCreator, visitor);
 }
 
-void MeshShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector) const
+void MeshShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
 	// First test if we're inside our bounding box
 	AABox bounds = GetLocalBounds();
@@ -771,7 +775,7 @@ void MeshShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShap
 		settings.mBackFaceMode = EBackFaceMode::CollideWithBackFaces;
 
 		// Cast a ray that's 10% longer than the heigth of our bounding box
-		CastRay(RayCast { inPoint, 1.1f * bounds.GetSize().GetY() * Vec3::sAxisY() }, settings, inSubShapeIDCreator, collector);
+		CastRay(RayCast { inPoint, 1.1f * bounds.GetSize().GetY() * Vec3::sAxisY() }, settings, inSubShapeIDCreator, collector, inShapeFilter);
 
 		// Odd amount of hits means inside
 		if ((collector.mHitCount & 1) == 1)
@@ -1020,7 +1024,7 @@ int MeshShape::GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTriangl
 	return context.mNumTrianglesFound;
 }
 
-void MeshShape::sCollideConvexVsMesh(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)
+void MeshShape::sCollideConvexVsMesh(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, [[maybe_unused]] const ShapeFilter &inShapeFilter)
 {
 	JPH_PROFILE_FUNCTION();
 
@@ -1065,7 +1069,7 @@ void MeshShape::sCollideConvexVsMesh(const Shape *inShape1, const Shape *inShape
 	shape2->WalkTreePerTriangle(inSubShapeIDCreator2, visitor);
 }
 
-void MeshShape::sCollideSphereVsMesh(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)
+void MeshShape::sCollideSphereVsMesh(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, [[maybe_unused]] const ShapeFilter &inShapeFilter)
 {
 	JPH_PROFILE_FUNCTION();
 

Jolt/Physics/Collision/Shape/MeshShape.h

@@ -91,12 +91,12 @@ public:
 
 	// 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 override;
+	virtual void					CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
 
 	/// See: Shape::CollidePoint
 	/// Note that for CollidePoint to work for a mesh shape, the mesh needs to be closed (a manifold) or multiple non-intersecting manifolds. Triangles may be facing the interior of the manifold. 
 	/// Insideness is tested by counting the amount of triangles encountered when casting an infinite ray from inPoint. If the number of hits is odd we're inside, if it's even we're outside.
-	virtual void					CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector) const override;
+	virtual void					CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
 
 	// See Shape::GetTrianglesStart
 	virtual void					GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override;
@@ -152,8 +152,8 @@ private:
 	inline void						DecodeSubShapeID(const SubShapeID &inSubShapeID, const void *&outTriangleBlock, uint32 &outTriangleIndex) const;
 
 	// Helper functions called by CollisionDispatch
-	static void						sCollideConvexVsMesh(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);
-	static void						sCollideSphereVsMesh(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);
+	static void						sCollideConvexVsMesh(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						sCollideSphereVsMesh(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						sCastConvexVsMesh(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						sCastSphereVsMesh(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
 

Jolt/Physics/Collision/Shape/MutableCompoundShape.cpp

@@ -300,10 +300,14 @@ bool MutableCompoundShape::CastRay(const RayCast &inRay, const SubShapeIDCreator
 	return visitor.mReturnValue;
 }
 
-void MutableCompoundShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector) const
+void MutableCompoundShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
 	JPH_PROFILE_FUNCTION();
 
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
 	struct Visitor : public CastRayVisitorCollector
 	{
 		using CastRayVisitorCollector::CastRayVisitorCollector;
@@ -327,14 +331,18 @@ void MutableCompoundShape::CastRay(const RayCast &inRay, const RayCastSettings &
 		}
 	};
 
-	Visitor visitor(inRay, inRayCastSettings, this, inSubShapeIDCreator, ioCollector);
+	Visitor visitor(inRay, inRayCastSettings, this, inSubShapeIDCreator, ioCollector, inShapeFilter);
 	WalkSubShapes(visitor);
 }
 
-void MutableCompoundShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector) const
+void MutableCompoundShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
 	JPH_PROFILE_FUNCTION();
 
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
 	struct Visitor : public CollidePointVisitor
 	{
 		using CollidePointVisitor::CollidePointVisitor;
@@ -357,7 +365,7 @@ void MutableCompoundShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator
 		}
 	};
 
-	Visitor visitor(inPoint, this, inSubShapeIDCreator, ioCollector);
+	Visitor visitor(inPoint, this, inSubShapeIDCreator, ioCollector, inShapeFilter);
 	WalkSubShapes(visitor);
 }
 
@@ -395,10 +403,14 @@ void MutableCompoundShape::sCastShapeVsCompound(const ShapeCast &inShapeCast, co
 	shape->WalkSubShapes(visitor);
 }
 
-void MutableCompoundShape::CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector) const
+void MutableCompoundShape::CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
 	JPH_PROFILE_FUNCTION();
 
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
 	struct Visitor : public CollectTransformedShapesVisitor
 	{
 		using CollectTransformedShapesVisitor::CollectTransformedShapesVisitor;
@@ -421,7 +433,7 @@ void MutableCompoundShape::CollectTransformedShapes(const AABox &inBox, Vec3Arg
 		}
 	};
 
-	Visitor visitor(inBox, this, inPositionCOM, inRotation, inScale, inSubShapeIDCreator, ioCollector);
+	Visitor visitor(inBox, this, inPositionCOM, inRotation, inScale, inSubShapeIDCreator, ioCollector, inShapeFilter);
 	WalkSubShapes(visitor);
 }
 
@@ -443,7 +455,7 @@ int MutableCompoundShape::GetIntersectingSubShapes(const OrientedBox &inBox, uin
 	return visitor.GetNumResults();
 }
 
-void MutableCompoundShape::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)
+void MutableCompoundShape::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)
 {	
 	JPH_PROFILE_FUNCTION();
 
@@ -472,11 +484,11 @@ void MutableCompoundShape::sCollideCompoundVsShape(const Shape *inShape1, const
 		}
 	};
 
-	Visitor visitor(shape1, inShape2, inScale1, inScale2, inCenterOfMassTransform1, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector);
+	Visitor visitor(shape1, inShape2, inScale1, inScale2, inCenterOfMassTransform1, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector, inShapeFilter);
 	shape1->WalkSubShapes(visitor);
 }
 
-void MutableCompoundShape::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)
+void MutableCompoundShape::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)
 {
 	JPH_PROFILE_FUNCTION();
 
@@ -505,7 +517,7 @@ void MutableCompoundShape::sCollideShapeVsCompound(const Shape *inShape1, const
 		}
 	};
 
-	Visitor visitor(inShape1, shape2, inScale1, inScale2, inCenterOfMassTransform1, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector);
+	Visitor visitor(inShape1, shape2, inScale1, inScale2, inCenterOfMassTransform1, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector, inShapeFilter);
 	shape2->WalkSubShapes(visitor);
 }
 

Jolt/Physics/Collision/Shape/MutableCompoundShape.h

@@ -35,13 +35,13 @@ public:
 		
 	// 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 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 override;
+	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 override;
+	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;
@@ -136,8 +136,8 @@ private:
 	JPH_INLINE void					WalkSubShapes(Visitor &ioVisitor) const;					///< Walk the sub shapes and call Visitor::VisitShape for each sub shape encountered
 
 	// 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);
-	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);
+	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);
 
 	struct Bounds

Jolt/Physics/Collision/Shape/OffsetCenterOfMassShape.cpp

@@ -98,24 +98,36 @@ bool OffsetCenterOfMassShape::CastRay(const RayCast &inRay, const SubShapeIDCrea
 	return mInnerShape->CastRay(ray, inSubShapeIDCreator, ioHit);
 }
 
-void OffsetCenterOfMassShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector) const
+void OffsetCenterOfMassShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
 	// Transform the ray to local space
 	RayCast ray = inRay;
 	ray.mOrigin += mOffset;
 
-	return mInnerShape->CastRay(ray, inRayCastSettings, inSubShapeIDCreator, ioCollector);
+	return mInnerShape->CastRay(ray, inRayCastSettings, inSubShapeIDCreator, ioCollector, inShapeFilter);
 }
 
-void OffsetCenterOfMassShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector) const
+void OffsetCenterOfMassShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
 	// Pass the point on to the inner shape in local space
-	mInnerShape->CollidePoint(inPoint + mOffset, inSubShapeIDCreator, ioCollector);
+	mInnerShape->CollidePoint(inPoint + mOffset, inSubShapeIDCreator, ioCollector, inShapeFilter);
 }
 
-void OffsetCenterOfMassShape::CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector) const
+void OffsetCenterOfMassShape::CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
-	mInnerShape->CollectTransformedShapes(inBox, inPositionCOM - inRotation * mOffset, inRotation, inScale, inSubShapeIDCreator, ioCollector);
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
+	mInnerShape->CollectTransformedShapes(inBox, inPositionCOM - inRotation * mOffset, inRotation, inScale, inSubShapeIDCreator, ioCollector, inShapeFilter);
 }
 
 void OffsetCenterOfMassShape::TransformShape(Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const
@@ -123,20 +135,20 @@ void OffsetCenterOfMassShape::TransformShape(Mat44Arg inCenterOfMassTransform, T
 	mInnerShape->TransformShape(inCenterOfMassTransform.PreTranslated(-mOffset), ioCollector);
 }
 
-void OffsetCenterOfMassShape::sCollideOffsetCenterOfMassVsShape(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)
+void OffsetCenterOfMassShape::sCollideOffsetCenterOfMassVsShape(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::OffsetCenterOfMass);
 	const OffsetCenterOfMassShape *shape1 = static_cast<const OffsetCenterOfMassShape *>(inShape1);
 
-	CollisionDispatch::sCollideShapeVsShape(shape1->mInnerShape, inShape2, inScale1, inScale2, inCenterOfMassTransform1.PreTranslated(-shape1->mOffset), inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector);
+	CollisionDispatch::sCollideShapeVsShape(shape1->mInnerShape, inShape2, inScale1, inScale2, inCenterOfMassTransform1.PreTranslated(-shape1->mOffset), inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector, inShapeFilter);
 }
 
-void OffsetCenterOfMassShape::sCollideShapeVsOffsetCenterOfMass(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)
+void OffsetCenterOfMassShape::sCollideShapeVsOffsetCenterOfMass(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(inShape2->GetSubType() == EShapeSubType::OffsetCenterOfMass);
 	const OffsetCenterOfMassShape *shape2 = static_cast<const OffsetCenterOfMassShape *>(inShape2);
 
-	CollisionDispatch::sCollideShapeVsShape(inShape1, shape2->mInnerShape, inScale1, inScale2, inCenterOfMassTransform1, inCenterOfMassTransform2.PreTranslated(-shape2->mOffset), inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector);
+	CollisionDispatch::sCollideShapeVsShape(inShape1, shape2->mInnerShape, inScale1, inScale2, inCenterOfMassTransform1, inCenterOfMassTransform2.PreTranslated(-shape2->mOffset), inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector, inShapeFilter);
 }
 
 void OffsetCenterOfMassShape::sCastOffsetCenterOfMassVsShape(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector)

Jolt/Physics/Collision/Shape/OffsetCenterOfMassShape.h

@@ -78,13 +78,13 @@ public:
 
 	// 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 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 override;
+	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 override;
+	virtual void					CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const override;
 
 	// See Shape::TransformShape
 	virtual void					TransformShape(Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const override;
@@ -116,8 +116,8 @@ protected:
 
 private:
 	// Helper functions called by CollisionDispatch
-	static void						sCollideOffsetCenterOfMassVsShape(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);
-	static void						sCollideShapeVsOffsetCenterOfMass(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);
+	static void						sCollideOffsetCenterOfMassVsShape(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						sCollideShapeVsOffsetCenterOfMass(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						sCastOffsetCenterOfMassVsShape(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						sCastShapeVsOffsetCenterOfMass(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
 

Jolt/Physics/Collision/Shape/RotatedTranslatedShape.cpp

@@ -119,25 +119,37 @@ bool RotatedTranslatedShape::CastRay(const RayCast &inRay, const SubShapeIDCreat
 	return mInnerShape->CastRay(ray, inSubShapeIDCreator, ioHit);
 }
 
-void RotatedTranslatedShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector) const
+void RotatedTranslatedShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
 	// Transform the ray
 	Mat44 transform = Mat44::sRotation(mRotation.Conjugated());
 	RayCast ray = inRay.Transformed(transform);
 
-	return mInnerShape->CastRay(ray, inRayCastSettings, inSubShapeIDCreator, ioCollector);
+	return mInnerShape->CastRay(ray, inRayCastSettings, inSubShapeIDCreator, ioCollector, inShapeFilter);
 }
 
-void RotatedTranslatedShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector) const
+void RotatedTranslatedShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
 	// Transform the point
 	Mat44 transform = Mat44::sRotation(mRotation.Conjugated());
-	mInnerShape->CollidePoint(transform * inPoint, inSubShapeIDCreator, ioCollector);
+	mInnerShape->CollidePoint(transform * inPoint, inSubShapeIDCreator, ioCollector, inShapeFilter);
 }
 
-void RotatedTranslatedShape::CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector) const
+void RotatedTranslatedShape::CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
-	mInnerShape->CollectTransformedShapes(inBox, inPositionCOM, inRotation * mRotation, TransformScale(inScale), inSubShapeIDCreator, ioCollector);
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
+	mInnerShape->CollectTransformedShapes(inBox, inPositionCOM, inRotation * mRotation, TransformScale(inScale), inSubShapeIDCreator, ioCollector, inShapeFilter);
 }
 
 void RotatedTranslatedShape::TransformShape(Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const
@@ -145,7 +157,7 @@ void RotatedTranslatedShape::TransformShape(Mat44Arg inCenterOfMassTransform, Tr
 	mInnerShape->TransformShape(inCenterOfMassTransform * Mat44::sRotation(mRotation), ioCollector);
 }
 
-void RotatedTranslatedShape::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)
+void RotatedTranslatedShape::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)
 {	
 	JPH_ASSERT(inShape1->GetSubType() == EShapeSubType::RotatedTranslated);
 	const RotatedTranslatedShape *shape1 = static_cast<const RotatedTranslatedShape *>(inShape1);
@@ -153,10 +165,10 @@ void RotatedTranslatedShape::sCollideRotatedTranslatedVsShape(const Shape *inSha
 	// Get world transform of 1
 	Mat44 transform1 = inCenterOfMassTransform1 * Mat44::sRotation(shape1->mRotation);
 
-	CollisionDispatch::sCollideShapeVsShape(shape1->mInnerShape, inShape2, shape1->TransformScale(inScale1), inScale2, transform1, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector);
+	CollisionDispatch::sCollideShapeVsShape(shape1->mInnerShape, inShape2, shape1->TransformScale(inScale1), inScale2, transform1, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector, inShapeFilter);
 }
 
-void RotatedTranslatedShape::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)
+void RotatedTranslatedShape::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)
 {
 	JPH_ASSERT(inShape2->GetSubType() == EShapeSubType::RotatedTranslated);
 	const RotatedTranslatedShape *shape2 = static_cast<const RotatedTranslatedShape *>(inShape2);
@@ -164,7 +176,7 @@ void RotatedTranslatedShape::sCollideShapeVsRotatedTranslated(const Shape *inSha
 	// Get world transform of 2
 	Mat44 transform2 = inCenterOfMassTransform2 * Mat44::sRotation(shape2->mRotation);
 
-	CollisionDispatch::sCollideShapeVsShape(inShape1, shape2->mInnerShape, inScale1, shape2->TransformScale(inScale2), inCenterOfMassTransform1, transform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector);
+	CollisionDispatch::sCollideShapeVsShape(inShape1, shape2->mInnerShape, inScale1, shape2->TransformScale(inScale2), inCenterOfMassTransform1, 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)

Jolt/Physics/Collision/Shape/RotatedTranslatedShape.h

@@ -84,13 +84,13 @@ public:
 
 	// 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 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 override;
+	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 override;
+	virtual void					CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const override;
 
 	// See Shape::TransformShape
 	virtual void					TransformShape(Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const override;
@@ -122,8 +122,8 @@ protected:
 
 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);
-	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);
+	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						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);
 

Jolt/Physics/Collision/Shape/ScaledShape.cpp

@@ -105,22 +105,34 @@ bool ScaledShape::CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubSh
 	return mInnerShape->CastRay(scaled_ray, inSubShapeIDCreator, ioHit);
 }
 
-void ScaledShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector) const
+void ScaledShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
 	Vec3 inv_scale = mScale.Reciprocal();
 	RayCast scaled_ray { inv_scale * inRay.mOrigin, inv_scale * inRay.mDirection };
-	return mInnerShape->CastRay(scaled_ray, inRayCastSettings, inSubShapeIDCreator, ioCollector);
+	return mInnerShape->CastRay(scaled_ray, inRayCastSettings, inSubShapeIDCreator, ioCollector, inShapeFilter);
 }
 
-void ScaledShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector) const
+void ScaledShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
 	Vec3 inv_scale = mScale.Reciprocal();
-	mInnerShape->CollidePoint(inv_scale * inPoint, inSubShapeIDCreator, ioCollector);
+	mInnerShape->CollidePoint(inv_scale * inPoint, inSubShapeIDCreator, ioCollector, inShapeFilter);
 }
 
-void ScaledShape::CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector) const 
+void ScaledShape::CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const 
 {
-	mInnerShape->CollectTransformedShapes(inBox, inPositionCOM, inRotation, inScale * mScale, inSubShapeIDCreator, ioCollector);
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
+	mInnerShape->CollectTransformedShapes(inBox, inPositionCOM, inRotation, inScale * mScale, inSubShapeIDCreator, ioCollector, inShapeFilter);
 }
 
 void ScaledShape::TransformShape(Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const
@@ -152,20 +164,20 @@ bool ScaledShape::IsValidScale(Vec3Arg inScale) const
 	return mInnerShape->IsValidScale(inScale * mScale);
 }
 
-void ScaledShape::sCollideScaledVsShape(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)
+void ScaledShape::sCollideScaledVsShape(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::Scaled);
 	const ScaledShape *shape1 = static_cast<const ScaledShape *>(inShape1);
 
-	CollisionDispatch::sCollideShapeVsShape(shape1->GetInnerShape(), inShape2, inScale1 * shape1->GetScale(), inScale2, inCenterOfMassTransform1, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector);
+	CollisionDispatch::sCollideShapeVsShape(shape1->GetInnerShape(), inShape2, inScale1 * shape1->GetScale(), inScale2, inCenterOfMassTransform1, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector, inShapeFilter);
 }
 
-void ScaledShape::sCollideShapeVsScaled(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)
+void ScaledShape::sCollideShapeVsScaled(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(inShape2->GetSubType() == EShapeSubType::Scaled);
 	const ScaledShape *shape2 = static_cast<const ScaledShape *>(inShape2);
 
-	CollisionDispatch::sCollideShapeVsShape(inShape1, shape2->GetInnerShape(), inScale1, inScale2 * shape2->GetScale(), inCenterOfMassTransform1, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector);
+	CollisionDispatch::sCollideShapeVsShape(inShape1, shape2->GetInnerShape(), inScale1, inScale2 * shape2->GetScale(), inCenterOfMassTransform1, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector, inShapeFilter);
 }
 
 void ScaledShape::sCastScaledVsShape(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector)

Jolt/Physics/Collision/Shape/ScaledShape.h

@@ -78,13 +78,13 @@ public:
 
 	// 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 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 override;
+	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 override;
+	virtual void					CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const override;
 
 	// See Shape::TransformShape
 	virtual void					TransformShape(Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const override;
@@ -116,8 +116,8 @@ protected:
 
 private:
 	// Helper functions called by CollisionDispatch
-	static void						sCollideScaledVsShape(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);
-	static void						sCollideShapeVsScaled(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);
+	static void						sCollideScaledVsShape(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						sCollideShapeVsScaled(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						sCastScaledVsShape(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						sCastShapeVsScaled(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
 

Jolt/Physics/Collision/Shape/Shape.cpp

@@ -39,8 +39,12 @@ TransformedShape Shape::GetSubShapeTransformedShape(const SubShapeID &inSubShape
 	return ts;
 }
 
-void Shape::CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector) const
+void Shape::CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
 	TransformedShape ts(inPositionCOM, inRotation, this, TransformedShape::sGetBodyID(ioCollector.GetContext()), inSubShapeIDCreator);
 	ts.SetShapeScale(inScale);
 	ioCollector.AddHit(ts);

Jolt/Physics/Collision/Shape/Shape.h

@@ -6,6 +6,7 @@
 #include <Jolt/Physics/Body/MassProperties.h>
 #include <Jolt/Physics/Collision/BackFaceMode.h>
 #include <Jolt/Physics/Collision/CollisionCollector.h>
+#include <Jolt/Physics/Collision/ShapeFilter.h>
 #include <Jolt/Geometry/AABox.h>
 #include <Jolt/Core/Reference.h>
 #include <Jolt/Core/Color.h>
@@ -23,7 +24,6 @@ class RayCastResult;
 class ShapeCastResult;
 class CollidePointResult;
 class CollideShapeResult;
-class ShapeFilter;
 class SubShapeIDCreator;
 class SubShapeID;
 class PhysicsMaterial;
@@ -244,19 +244,19 @@ public:
 
 	/// Cast a ray against this shape. Allows returning multiple hits through ioCollector. Note that this version is more flexible but also slightly slower than the CastRay function that returns only a single hit.
 	/// If you want the surface normal of the hit use GetSurfaceNormal(collected sub shape ID, inRay.GetPointOnRay(collected faction)).
-	virtual void					CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector) const = 0;
+	virtual void					CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const = 0;
 
 	/// Check if inPoint is inside this shape. For this tests all shapes are treated as if they were solid. 
 	/// Note that inPoint should be relative to the center of mass of this shape (i.e. subtract Shape::GetCenterOfMass() from inPoint if you want to test against the shape in the space it was created).
 	/// For a mesh shape, this test will only provide sensible information if the mesh is a closed manifold.
 	/// For each shape that collides, ioCollector will receive a hit.
-	virtual void					CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector) const = 0;
+	virtual void					CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const = 0;
 
 	/// Collect the leaf transformed shapes of all leaf shapes of this shape.
 	/// inBox is the world space axis aligned box which leaf shapes should collide with.
 	/// inPositionCOM/inRotation/inScale describes the transform of this shape.
 	/// inSubShapeIDCeator represents the current sub shape ID of this shape.
-	virtual void					CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector) const;
+	virtual void					CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const;
 	   
 	/// Transforms this shape and all of its children with inTransform, resulting shape(s) are passed to ioCollector.
 	/// Note that not all shapes support all transforms (especially true for scaling), the resulting shape will try to match the transform as accurately as possible.

Jolt/Physics/Collision/Shape/SphereShape.cpp

@@ -228,8 +228,12 @@ bool SphereShape::CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubSh
 	return false;
 }
 
-void SphereShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector) const
+void SphereShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
 	float min_fraction, max_fraction;
 	int num_results = RaySphere(inRay.mOrigin, inRay.mDirection, Vec3::sZero(), mRadius, min_fraction, max_fraction);
 	if (num_results > 0 // Ray should intersect
@@ -259,8 +263,12 @@ void SphereShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCast
 	}
 }
 
-void SphereShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector) const
+void SphereShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
 	if (inPoint.LengthSq() <= Square(mRadius))
 		ioCollector.AddHit({ TransformedShape::sGetBodyID(ioCollector.GetContext()), inSubShapeIDCreator.GetID() });
 }

Jolt/Physics/Collision/Shape/SphereShape.h

@@ -71,10 +71,10 @@ public:
 
 	// 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 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 override;
+	virtual void			CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
 
 	// See Shape::TransformShape
 	virtual void			TransformShape(Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const override;

Jolt/Physics/Collision/Shape/StaticCompoundShape.cpp

@@ -435,8 +435,12 @@ bool StaticCompoundShape::CastRay(const RayCast &inRay, const SubShapeIDCreator
 	return visitor.mReturnValue;
 }
 
-void StaticCompoundShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector) const
+void StaticCompoundShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
 	JPH_PROFILE_FUNCTION();
 
 	struct Visitor : public CastRayVisitorCollector
@@ -460,11 +464,11 @@ void StaticCompoundShape::CastRay(const RayCast &inRay, const RayCastSettings &i
 		float				mDistanceStack[cStackSize];
 	};
 
-	Visitor visitor(inRay, inRayCastSettings, this, inSubShapeIDCreator, ioCollector);
+	Visitor visitor(inRay, inRayCastSettings, this, inSubShapeIDCreator, ioCollector, inShapeFilter);
 	WalkTree(visitor);
 }
 
-void StaticCompoundShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector) const
+void StaticCompoundShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
 	JPH_PROFILE_FUNCTION();
 
@@ -485,7 +489,7 @@ void StaticCompoundShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator
 		}
 	};
 
-	Visitor visitor(inPoint, this, inSubShapeIDCreator, ioCollector);
+	Visitor visitor(inPoint, this, inSubShapeIDCreator, ioCollector, inShapeFilter);
 	WalkTree(visitor);
 }
 
@@ -521,10 +525,14 @@ void StaticCompoundShape::sCastShapeVsCompound(const ShapeCast &inShapeCast, con
 	shape->WalkTree(visitor);
 }
 
-void StaticCompoundShape::CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector) const
+void StaticCompoundShape::CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
 	JPH_PROFILE_FUNCTION();
 
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
 	struct Visitor : public CollectTransformedShapesVisitor
 	{
 		using CollectTransformedShapesVisitor::CollectTransformedShapesVisitor;
@@ -542,7 +550,7 @@ void StaticCompoundShape::CollectTransformedShapes(const AABox &inBox, Vec3Arg i
 		}
 	};
 
-	Visitor visitor(inBox, this, inPositionCOM, inRotation, inScale, inSubShapeIDCreator, ioCollector);
+	Visitor visitor(inBox, this, inPositionCOM, inRotation, inScale, inSubShapeIDCreator, ioCollector, inShapeFilter);
 	WalkTree(visitor);
 }
 
@@ -564,7 +572,7 @@ int StaticCompoundShape::GetIntersectingSubShapes(const OrientedBox &inBox, uint
 	return visitor.GetNumResults();
 }
 
-void StaticCompoundShape::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)
+void StaticCompoundShape::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)
 {	
 	JPH_PROFILE_FUNCTION();
 
@@ -588,11 +596,11 @@ void StaticCompoundShape::sCollideCompoundVsShape(const Shape *inShape1, const S
 		}
 	};
 
-	Visitor visitor(shape1, inShape2, inScale1, inScale2, inCenterOfMassTransform1, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector);
+	Visitor visitor(shape1, inShape2, inScale1, inScale2, inCenterOfMassTransform1, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector, inShapeFilter);
 	shape1->WalkTree(visitor);
 }
 
-void StaticCompoundShape::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)
+void StaticCompoundShape::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)
 {
 	JPH_PROFILE_FUNCTION();
 
@@ -616,7 +624,7 @@ void StaticCompoundShape::sCollideShapeVsCompound(const Shape *inShape1, const S
 	JPH_ASSERT(inShape2->GetSubType() == EShapeSubType::StaticCompound);
 	const StaticCompoundShape *shape2 = static_cast<const StaticCompoundShape *>(inShape2);
 
-	Visitor visitor(inShape1, shape2, inScale1, inScale2, inCenterOfMassTransform1, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector);
+	Visitor visitor(inShape1, shape2, inScale1, inScale2, inCenterOfMassTransform1, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector, inShapeFilter);
 	shape2->WalkTree(visitor);
 }
 

Jolt/Physics/Collision/Shape/StaticCompoundShape.h

@@ -37,13 +37,13 @@ public:
 
 	// 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 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 override;
+	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 override;
+	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;
@@ -94,8 +94,8 @@ private:
 	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);
-	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);
+	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

Jolt/Physics/Collision/Shape/TriangleShape.cpp

@@ -213,8 +213,12 @@ bool TriangleShape::CastRay(const RayCast &inRay, const SubShapeIDCreator &inSub
 	return false;
 }
 
-void TriangleShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector) const
+void TriangleShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(inSubShapeIDCreator.GetID()))
+		return;
+
 	// Back facing check
 	if (inRayCastSettings.mBackFaceMode == EBackFaceMode::IgnoreBackFaces && (mV2 - mV1).Cross(mV3 - mV1).Dot(inRay.mDirection) > 0.0f)
 		return;
@@ -232,12 +236,12 @@ void TriangleShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCa
 	}
 }
 
-void TriangleShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector) const
+void TriangleShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
 	// Can't be inside a triangle
 }
 
-void TriangleShape::sCollideConvexVsTriangle(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)
+void TriangleShape::sCollideConvexVsTriangle(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, [[maybe_unused]] const ShapeFilter &inShapeFilter)
 {
 	JPH_ASSERT(inShape1->GetType() == EShapeType::Convex);
 	const ConvexShape *shape1 = static_cast<const ConvexShape *>(inShape1);
@@ -248,7 +252,7 @@ void TriangleShape::sCollideConvexVsTriangle(const Shape *inShape1, const Shape
 	collider.Collide(shape2->mV1, shape2->mV2, shape2->mV3, 0b111, inSubShapeIDCreator2.GetID());
 }
 
-void TriangleShape::sCollideSphereVsTriangle(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)
+void TriangleShape::sCollideSphereVsTriangle(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, [[maybe_unused]] const ShapeFilter &inShapeFilter)
 {
 	JPH_ASSERT(inShape1->GetSubType() == EShapeSubType::Sphere);
 	const SphereShape *shape1 = static_cast<const SphereShape *>(inShape1);

Jolt/Physics/Collision/Shape/TriangleShape.h

@@ -75,10 +75,10 @@ public:
 
 	// 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 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 override;
+	virtual void			CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
 
 	// See Shape::TransformShape
 	virtual void			TransformShape(Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const override;
@@ -110,8 +110,8 @@ protected:
 
 private:
 	// Helper functions called by CollisionDispatch
-	static void				sCollideConvexVsTriangle(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);
-	static void				sCollideSphereVsTriangle(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);
+	static void				sCollideConvexVsTriangle(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				sCollideSphereVsTriangle(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				sCastConvexVsTriangle(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				sCastSphereVsTriangle(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
 

Jolt/Physics/Collision/ShapeFilter.h

@@ -17,7 +17,15 @@ public:
 	/// Destructor
 	virtual					~ShapeFilter() = default;
 
+	/// Filter function to determine if we should collide with a shape. Returns true if the filter passes.
+	/// This overload is called when the query doesn't have a source shape (e.g. ray cast / collide point)
+	virtual bool			ShouldCollide(const SubShapeID &inSubShapeID2) const
+	{
+		return true;
+	}
+
 	/// Filter function to determine if two shapes should collide. Returns true if the filter passes.
+	/// This overload is called when querying a shape vs a shape (e.g. collide object / cast object)
 	virtual bool			ShouldCollide(const SubShapeID &inSubShapeID1, const SubShapeID &inSubShapeID2) const
 	{
 		return true;

Jolt/Physics/Collision/TransformedShape.cpp

@@ -39,12 +39,13 @@ bool TransformedShape::CastRay(const RayCast &inRay, RayCastResult &ioHit) const
 	return false;
 }
 
-void TransformedShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, CastRayCollector &ioCollector) const
+void TransformedShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
 	if (mShape != nullptr)
 	{
-		// Set the context on the collector
+		// Set the context on the collector and filter
 		ioCollector.SetContext(this);
+		inShapeFilter.mBodyID2 = mBodyID;
 
 		// Transform and scale the ray to local space
 		RayCast ray = inRay.Transformed(GetInverseCenterOfMassTransform());
@@ -56,35 +57,37 @@ void TransformedShape::CastRay(const RayCast &inRay, const RayCastSettings &inRa
 
 		// Cast the ray on the shape
 		SubShapeIDCreator sub_shape_id(mSubShapeIDCreator);
-		mShape->CastRay(ray, inRayCastSettings, sub_shape_id, ioCollector);
+		mShape->CastRay(ray, inRayCastSettings, sub_shape_id, ioCollector, inShapeFilter);
 	}
 }
 
-void TransformedShape::CollidePoint(Vec3Arg inPoint, CollidePointCollector &ioCollector) const
+void TransformedShape::CollidePoint(Vec3Arg inPoint, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
 	if (mShape != nullptr)
 	{
-		// Set the context on the collector
+		// Set the context on the collector and filter
 		ioCollector.SetContext(this);
+		inShapeFilter.mBodyID2 = mBodyID;
 
 		// Transform and scale the point to local space
 		Vec3 point = (GetInverseCenterOfMassTransform() * inPoint) / GetShapeScale();
 
 		// Do point collide on the shape
 		SubShapeIDCreator sub_shape_id(mSubShapeIDCreator);
-		mShape->CollidePoint(point, sub_shape_id, ioCollector);
+		mShape->CollidePoint(point, sub_shape_id, ioCollector, inShapeFilter);
 	}
 }
 
-void TransformedShape::CollideShape(const Shape *inShape, Vec3Arg inShapeScale, Mat44Arg inCenterOfMassTransform, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector) const
+void TransformedShape::CollideShape(const Shape *inShape, Vec3Arg inShapeScale, Mat44Arg inCenterOfMassTransform, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
 	if (mShape != nullptr)
 	{
-		// Set the context on the collector
+		// Set the context on the collector and filter
 		ioCollector.SetContext(this);
+		inShapeFilter.mBodyID2 = mBodyID;
 
 		SubShapeIDCreator sub_shape_id1, sub_shape_id2(mSubShapeIDCreator);
-		CollisionDispatch::sCollideShapeVsShape(inShape, mShape, inShapeScale, GetShapeScale(), inCenterOfMassTransform, GetCenterOfMassTransform(), sub_shape_id1, sub_shape_id2, inCollideShapeSettings, ioCollector);
+		CollisionDispatch::sCollideShapeVsShape(inShape, mShape, inShapeScale, GetShapeScale(), inCenterOfMassTransform, GetCenterOfMassTransform(), sub_shape_id1, sub_shape_id2, inCollideShapeSettings, ioCollector, inShapeFilter);
 	}
 }
 
@@ -104,14 +107,14 @@ void TransformedShape::CastShape(const ShapeCast &inShapeCast, const ShapeCastSe
 	}
 }
 
-void TransformedShape::CollectTransformedShapes(const AABox &inBox, TransformedShapeCollector &ioCollector) const
+void TransformedShape::CollectTransformedShapes(const AABox &inBox, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const
 {
 	if (mShape != nullptr)
 	{
 		// Set the context on the collector
 		ioCollector.SetContext(this);
 
-		mShape->CollectTransformedShapes(inBox, mShapePositionCOM, mShapeRotation, GetShapeScale(), mSubShapeIDCreator, ioCollector);
+		mShape->CollectTransformedShapes(inBox, mShapePositionCOM, mShapeRotation, GetShapeScale(), mSubShapeIDCreator, ioCollector, inShapeFilter);
 	}
 }
 

Jolt/Physics/Collision/TransformedShape.h

@@ -34,22 +34,22 @@ public:
 
 	/// Cast a ray, allows collecting multiple hits. Note that this version is more flexible but also slightly slower than the CastRay function that returns only a single hit.
 	/// If you want the surface normal of the hit use GetWorldSpaceSurfaceNormal(collected sub shape ID, inRay.GetPointOnRay(collected fraction)) on this object.
-	void						CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, CastRayCollector &ioCollector) const;
+	void						CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const;
 
 	/// Check if inPoint is inside any shapes. For this tests all shapes are treated as if they were solid. 
 	/// For a mesh shape, this test will only provide sensible information if the mesh is a closed manifold.
 	/// For each shape that collides, ioCollector will receive a hit
-	void						CollidePoint(Vec3Arg inPoint, CollidePointCollector &ioCollector) const;
+	void						CollidePoint(Vec3Arg inPoint, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const;
 
 	/// Collide a shape and report any hits to ioCollector
-	void						CollideShape(const Shape *inShape, Vec3Arg inShapeScale, Mat44Arg inCenterOfMassTransform, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector) const;
+	void						CollideShape(const Shape *inShape, Vec3Arg inShapeScale, Mat44Arg inCenterOfMassTransform, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const;
 
 	/// Cast a shape and report any hits to ioCollector
 	void						CastShape(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, CastShapeCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const;
 
 	/// Collect the leaf transformed shapes of all leaf shapes of this shape
 	/// inBox is the world space axis aligned box which leaf shapes should collide with
-	void						CollectTransformedShapes(const AABox &inBox, TransformedShapeCollector &ioCollector) const;
+	void						CollectTransformedShapes(const AABox &inBox, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const;
 
 	/// Use the context from Shape
 	using GetTrianglesContext = Shape::GetTrianglesContext;