Added ShapeFilter param to various CharacterVirtual functions (#360)

* Added a parameter to pass a ShapeFilter to various CharacterVirtual functions

Jolt/Physics/Character/CharacterVirtual.cpp

@@ -75,7 +75,7 @@ void CharacterVirtual::ContactCollector::AddHit(const CollideShapeResult &inResu
 }
 
 void CharacterVirtual::ContactCastCollector::AddHit(const ShapeCastResult &inResult)
-{	
+{
 	if (inResult.mFraction > 0.0f // Ignore collisions at fraction = 0
 		&& inResult.mPenetrationAxis.Dot(mDisplacement) > 0.0f) // Ignore penetrations that we're moving away from
 	{
@@ -101,7 +101,7 @@ void CharacterVirtual::ContactCastCollector::AddHit(const ShapeCastResult &inRes
 	}
 }
 
-void CharacterVirtual::CheckCollision(RVec3Arg inPosition, QuatArg inRotation, Vec3Arg inMovementDirection, float inMaxSeparationDistance, const Shape *inShape, RVec3Arg inBaseOffset, CollideShapeCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter) const
+void CharacterVirtual::CheckCollision(RVec3Arg inPosition, QuatArg inRotation, Vec3Arg inMovementDirection, float inMaxSeparationDistance, const Shape *inShape, RVec3Arg inBaseOffset, CollideShapeCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter) const
 {
 	// Query shape transform
 	RMat44 transform = GetCenterOfMassTransform(inPosition, inRotation, inShape);
@@ -114,17 +114,17 @@ void CharacterVirtual::CheckCollision(RVec3Arg inPosition, QuatArg inRotation, V
 	settings.mMaxSeparationDistance = mCharacterPadding + inMaxSeparationDistance;
 
 	// Collide shape
-	mSystem->GetNarrowPhaseQuery().CollideShape(inShape, Vec3::sReplicate(1.0f), transform, settings, inBaseOffset, ioCollector, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter);
+	mSystem->GetNarrowPhaseQuery().CollideShape(inShape, Vec3::sReplicate(1.0f), transform, settings, inBaseOffset, ioCollector, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inShapeFilter);
 }
 
-void CharacterVirtual::GetContactsAtPosition(RVec3Arg inPosition, Vec3Arg inMovementDirection, const Shape *inShape, TempContactList &outContacts, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter) const
+void CharacterVirtual::GetContactsAtPosition(RVec3Arg inPosition, Vec3Arg inMovementDirection, const Shape *inShape, TempContactList &outContacts, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter) const
 {
 	// Remove previous results
 	outContacts.clear();
 
 	// Collide shape
 	ContactCollector collector(mSystem, mMaxNumHits, mUp, mPosition, outContacts);
-	CheckCollision(inPosition, mRotation, inMovementDirection, mPredictiveContactDistance, inShape, mPosition, collector, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter);
+	CheckCollision(inPosition, mRotation, inMovementDirection, mPredictiveContactDistance, inShape, mPosition, collector, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inShapeFilter);
 
 	// Reduce distance to contact by padding to ensure we stay away from the object by a little margin
 	// (this will make collision detection cheaper - especially for sweep tests as they won't hit the surface if we're properly sliding)
@@ -205,7 +205,7 @@ inline static bool sCorrectFractionForCharacterPadding(const Shape *inShape, Mat
 	}
 }
 
-bool CharacterVirtual::GetFirstContactForSweep(RVec3Arg inPosition, Vec3Arg inDisplacement, Contact &outContact, const IgnoredContactList &inIgnoredContacts, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, TempAllocator &inAllocator) const
+bool CharacterVirtual::GetFirstContactForSweep(RVec3Arg inPosition, Vec3Arg inDisplacement, Contact &outContact, const IgnoredContactList &inIgnoredContacts, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter, TempAllocator &inAllocator) const
 {
 	// Too small distance -> skip checking
 	float displacement_len_sq = inDisplacement.LengthSq();
@@ -228,7 +228,7 @@ bool CharacterVirtual::GetFirstContactForSweep(RVec3Arg inPosition, Vec3Arg inDi
 	contacts.reserve(mMaxNumHits);
 	ContactCastCollector collector(mSystem, inDisplacement, mMaxNumHits, mUp, inIgnoredContacts, start.GetTranslation(), contacts);
 	RShapeCast shape_cast(mShape, Vec3::sReplicate(1.0f), start, inDisplacement);
-	mSystem->GetNarrowPhaseQuery().CastShape(shape_cast, settings, start.GetTranslation(), collector, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter);
+	mSystem->GetNarrowPhaseQuery().CastShape(shape_cast, settings, start.GetTranslation(), collector, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inShapeFilter);
 	if (contacts.empty())
 		return false;
 
@@ -440,7 +440,7 @@ void CharacterVirtual::SolveConstraints(Vec3Arg inVelocity, float inDeltaTime, f
 				}
 			}
 		}
-				
+
 		// Sort constraints on proximity
 		QuickSort(sorted_constraints.begin(), sorted_constraints.end(), [](const Constraint *inLHS, const Constraint *inRHS) {
 				// If both constraints hit at t = 0 then order the one that will push the character furthest first
@@ -542,7 +542,7 @@ void CharacterVirtual::SolveConstraints(Vec3Arg inVelocity, float inDeltaTime, f
 				{
 					// We don't want parallel or anti-parallel normals as that will cause our cross product below to become zero. Slack is approx 10 degrees.
 					float dot = other_normal.Dot(plane_normal);
-					if (dot < 0.984f && dot > -0.984f) 
+					if (dot < 0.984f && dot > -0.984f)
 					{
 						highest_penetration = penetration;
 						other_constraint = *c;
@@ -691,7 +691,7 @@ void CharacterVirtual::UpdateSupportingContact(bool inSkipContactVelocityCheck,
 				else
 				{
 					// For keyframed objects that support us calculate the velocity at our position rather than at the contact position so that we properly follow the object
-					// Note that we don't just take the point velocity because a point on an object with angular velocity traces an arc, 
+					// Note that we don't just take the point velocity because a point on an object with angular velocity traces an arc,
 					// so if you just take point velocity * delta time you get an error that accumulates over time
 
 					// Determine center of mass and angular velocity
@@ -817,7 +817,7 @@ void CharacterVirtual::StoreActiveContacts(const TempContactList &inContacts, Te
 	UpdateSupportingContact(true, inAllocator);
 }
 
-void CharacterVirtual::MoveShape(RVec3 &ioPosition, Vec3Arg inVelocity, float inDeltaTime, ContactList *outActiveContacts, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, TempAllocator &inAllocator
+void CharacterVirtual::MoveShape(RVec3 &ioPosition, Vec3Arg inVelocity, float inDeltaTime, ContactList *outActiveContacts, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter, TempAllocator &inAllocator
 #ifdef JPH_DEBUG_RENDERER
 	, bool inDrawConstraints
 #endif // JPH_DEBUG_RENDERER
@@ -831,7 +831,7 @@ void CharacterVirtual::MoveShape(RVec3 &ioPosition, Vec3Arg inVelocity, float in
 		// Determine contacts in the neighborhood
 		TempContactList contacts(inAllocator);
 		contacts.reserve(mMaxNumHits);
-		GetContactsAtPosition(ioPosition, movement_direction, mShape, contacts, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter);
+		GetContactsAtPosition(ioPosition, movement_direction, mShape, contacts, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inShapeFilter);
 
 		// Remove contacts with the same body that have conflicting normals
 		IgnoredContactList ignored_contacts(inAllocator);
@@ -878,7 +878,7 @@ void CharacterVirtual::MoveShape(RVec3 &ioPosition, Vec3Arg inVelocity, float in
 
 		// Do a sweep to test if the path is really unobstructed
 		Contact cast_contact;
-		if (GetFirstContactForSweep(ioPosition, displacement, cast_contact, ignored_contacts, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inAllocator))
+		if (GetFirstContactForSweep(ioPosition, displacement, cast_contact, ignored_contacts, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inShapeFilter, inAllocator))
 		{
 			displacement *= cast_contact.mFraction;
 			time_simulated *= cast_contact.mFraction;
@@ -901,7 +901,7 @@ Vec3 CharacterVirtual::CancelVelocityTowardsSteepSlopes(Vec3Arg inDesiredVelocit
 	if (mGroundState == CharacterVirtual::EGroundState::OnGround
 		|| mGroundState == CharacterVirtual::EGroundState::InAir)
 		return inDesiredVelocity;
-		
+
 	Vec3 desired_velocity = inDesiredVelocity;
 	for (const Contact &c : mActiveContacts)
 		if (c.mHadCollision
@@ -920,7 +920,7 @@ Vec3 CharacterVirtual::CancelVelocityTowardsSteepSlopes(Vec3Arg inDesiredVelocit
 	return desired_velocity;
 }
 
-void CharacterVirtual::Update(float inDeltaTime, Vec3Arg inGravity, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, TempAllocator &inAllocator)
+void CharacterVirtual::Update(float inDeltaTime, Vec3Arg inGravity, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter, TempAllocator &inAllocator)
 {
 	// If there's no delta time, we don't need to do anything
 	if (inDeltaTime <= 0.0f)
@@ -930,7 +930,7 @@ void CharacterVirtual::Update(float inDeltaTime, Vec3Arg inGravity, const BroadP
 	mLastDeltaTime = inDeltaTime;
 
 	// Slide the shape through the world
-	MoveShape(mPosition, mLinearVelocity, inDeltaTime, &mActiveContacts, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inAllocator
+	MoveShape(mPosition, mLinearVelocity, inDeltaTime, &mActiveContacts, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inShapeFilter, inAllocator
 	#ifdef JPH_DEBUG_RENDERER
 		, sDrawConstraints
 	#endif // JPH_DEBUG_RENDERER
@@ -952,17 +952,17 @@ void CharacterVirtual::Update(float inDeltaTime, Vec3Arg inGravity, const BroadP
 	}
 }
 
-void CharacterVirtual::RefreshContacts(const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, TempAllocator &inAllocator)
+void CharacterVirtual::RefreshContacts(const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter, TempAllocator &inAllocator)
 {
 	// Determine the contacts
 	TempContactList contacts(inAllocator);
 	contacts.reserve(mMaxNumHits);
-	GetContactsAtPosition(mPosition, mLinearVelocity.NormalizedOr(Vec3::sZero()), mShape, contacts, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter);
+	GetContactsAtPosition(mPosition, mLinearVelocity.NormalizedOr(Vec3::sZero()), mShape, contacts, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inShapeFilter);
 
 	StoreActiveContacts(contacts, inAllocator);
 }
 
-void CharacterVirtual::MoveToContact(RVec3Arg inPosition, const Contact &inContact, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, TempAllocator &inAllocator)
+void CharacterVirtual::MoveToContact(RVec3Arg inPosition, const Contact &inContact, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter, TempAllocator &inAllocator)
 {
 	// Set the new position
 	SetPosition(inPosition);
@@ -970,7 +970,7 @@ void CharacterVirtual::MoveToContact(RVec3Arg inPosition, const Contact &inConta
 	// Determine the contacts
 	TempContactList contacts(inAllocator);
 	contacts.reserve(mMaxNumHits + 1); // +1 because we can add one extra below
-	GetContactsAtPosition(mPosition, mLinearVelocity.NormalizedOr(Vec3::sZero()), mShape, contacts, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter);
+	GetContactsAtPosition(mPosition, mLinearVelocity.NormalizedOr(Vec3::sZero()), mShape, contacts, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inShapeFilter);
 
 	// Ensure that we mark inContact as colliding
 	bool found_contact = false;
@@ -993,7 +993,7 @@ void CharacterVirtual::MoveToContact(RVec3Arg inPosition, const Contact &inConta
 	JPH_ASSERT(mGroundState != EGroundState::InAir);
 }
 
-bool CharacterVirtual::SetShape(const Shape *inShape, float inMaxPenetrationDepth, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, TempAllocator &inAllocator)
+bool CharacterVirtual::SetShape(const Shape *inShape, float inMaxPenetrationDepth, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter, TempAllocator &inAllocator)
 {
 	if (mShape == nullptr || mSystem == nullptr)
 	{
@@ -1009,7 +1009,7 @@ bool CharacterVirtual::SetShape(const Shape *inShape, float inMaxPenetrationDept
 			// Check collision around the new shape
 			TempContactList contacts(inAllocator);
 			contacts.reserve(mMaxNumHits);
-			GetContactsAtPosition(mPosition, mLinearVelocity.NormalizedOr(Vec3::sZero()), inShape, contacts, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter);
+			GetContactsAtPosition(mPosition, mLinearVelocity.NormalizedOr(Vec3::sZero()), inShape, contacts, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inShapeFilter);
 
 			// Test if this results in penetration, if so cancel the transition
 			for (const Contact &c : contacts)
@@ -1047,13 +1047,13 @@ bool CharacterVirtual::CanWalkStairs(Vec3Arg inLinearVelocity) const
 	return false;
 }
 
-bool CharacterVirtual::WalkStairs(float inDeltaTime, Vec3Arg inStepUp, Vec3Arg inStepForward, Vec3Arg inStepForwardTest, Vec3Arg inStepDownExtra, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, TempAllocator &inAllocator)
+bool CharacterVirtual::WalkStairs(float inDeltaTime, Vec3Arg inStepUp, Vec3Arg inStepForward, Vec3Arg inStepForwardTest, Vec3Arg inStepDownExtra, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter, TempAllocator &inAllocator)
 {
 	// Move up
 	Vec3 up = inStepUp;
 	Contact contact;
 	IgnoredContactList dummy_ignored_contacts(inAllocator);
-	if (GetFirstContactForSweep(mPosition, up, contact, dummy_ignored_contacts, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inAllocator))
+	if (GetFirstContactForSweep(mPosition, up, contact, dummy_ignored_contacts, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inShapeFilter, inAllocator))
 	{
 		if (contact.mFraction < 1.0e-6f)
 			return false; // No movement, cancel
@@ -1071,7 +1071,7 @@ bool CharacterVirtual::WalkStairs(float inDeltaTime, Vec3Arg inStepUp, Vec3Arg i
 
 	// Horizontal movement
 	RVec3 new_position = up_position;
-	MoveShape(new_position, inStepForward / inDeltaTime, inDeltaTime, nullptr, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inAllocator);
+	MoveShape(new_position, inStepForward / inDeltaTime, inDeltaTime, nullptr, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inShapeFilter, inAllocator);
 	float horizontal_movement_sq = Vec3(new_position - up_position).LengthSq();
 	if (horizontal_movement_sq < 1.0e-8f)
 		return false; // No movement, cancel
@@ -1086,14 +1086,14 @@ bool CharacterVirtual::WalkStairs(float inDeltaTime, Vec3Arg inStepUp, Vec3Arg i
 	// Note that we travel the same amount down as we travelled up with the character padding and the specified extra
 	// If we don't add the character padding, we may miss the floor (note that GetFirstContactForSweep will subtract the padding when it finds a hit)
 	Vec3 down = -up - mCharacterPadding * mUp + inStepDownExtra;
-	if (!GetFirstContactForSweep(new_position, down, contact, dummy_ignored_contacts, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inAllocator))
+	if (!GetFirstContactForSweep(new_position, down, contact, dummy_ignored_contacts, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inShapeFilter, inAllocator))
 		return false; // No floor found, we're in mid air, cancel stair walk
 
 #ifdef JPH_DEBUG_RENDERER
 	// Draw sweep down
 	if (sDrawWalkStairs)
 	{
-		RVec3 debug_pos = new_position + contact.mFraction * down; 
+		RVec3 debug_pos = new_position + contact.mFraction * down;
 		DebugRenderer::sInstance->DrawArrow(new_position, debug_pos, Color::sWhite, 0.01f);
 		DebugRenderer::sInstance->DrawArrow(contact.mPosition, contact.mPosition + contact.mSurfaceNormal, Color::sWhite, 0.01f);
 		mShape->Draw(DebugRenderer::sInstance, GetCenterOfMassTransform(debug_pos, mRotation, mShape), Vec3::sReplicate(1.0f), Color::sWhite, false, true);
@@ -1111,7 +1111,7 @@ bool CharacterVirtual::WalkStairs(float inDeltaTime, Vec3Arg inStepUp, Vec3Arg i
 		// In order to judge if the floor is flat further along the sweep, we test again for a floor at inStepForwardTest
 		// and check if the normal is valid there.
 		RVec3 test_position = up_position;
-		MoveShape(test_position, inStepForwardTest / inDeltaTime, inDeltaTime, nullptr, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inAllocator);
+		MoveShape(test_position, inStepForwardTest / inDeltaTime, inDeltaTime, nullptr, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inShapeFilter, inAllocator);
 		float test_horizontal_movement_sq = Vec3(test_position - up_position).LengthSq();
 		if (test_horizontal_movement_sq <= horizontal_movement_sq + 1.0e-8f)
 			return false; // We didn't move any further than in the previous test
@@ -1124,14 +1124,14 @@ bool CharacterVirtual::WalkStairs(float inDeltaTime, Vec3Arg inStepUp, Vec3Arg i
 
 		// Then sweep down
 		Contact test_contact;
-		if (!GetFirstContactForSweep(test_position, down, test_contact, dummy_ignored_contacts, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inAllocator))
+		if (!GetFirstContactForSweep(test_position, down, test_contact, dummy_ignored_contacts, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inShapeFilter, inAllocator))
 			return false;
 
 	#ifdef JPH_DEBUG_RENDERER
 		// Draw 2nd sweep down
 		if (sDrawWalkStairs)
 		{
-			RVec3 debug_pos = test_position + test_contact.mFraction * down; 
+			RVec3 debug_pos = test_position + test_contact.mFraction * down;
 			DebugRenderer::sInstance->DrawArrow(test_position, debug_pos, Color::sCyan, 0.01f);
 			DebugRenderer::sInstance->DrawArrow(test_contact.mPosition, test_contact.mPosition + test_contact.mSurfaceNormal, Color::sCyan, 0.01f);
 			mShape->Draw(DebugRenderer::sInstance, GetCenterOfMassTransform(debug_pos, mRotation, mShape), Vec3::sReplicate(1.0f), Color::sCyan, false, true);
@@ -1147,7 +1147,7 @@ bool CharacterVirtual::WalkStairs(float inDeltaTime, Vec3Arg inStepUp, Vec3Arg i
 	new_position += down;
 
 	// Move the character to the new location
-	MoveToContact(new_position, contact, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inAllocator);
+	MoveToContact(new_position, contact, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inShapeFilter, inAllocator);
 
 	// Override ground state to 'on ground', it is possible that the contact normal is too steep, but in this case the inStepForwardTest has found a contact normal that is not too steep
 	mGroundState = EGroundState::OnGround;
@@ -1155,12 +1155,12 @@ bool CharacterVirtual::WalkStairs(float inDeltaTime, Vec3Arg inStepUp, Vec3Arg i
 	return true;
 }
 
-bool CharacterVirtual::StickToFloor(Vec3Arg inStepDown, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, TempAllocator &inAllocator)
+bool CharacterVirtual::StickToFloor(Vec3Arg inStepDown, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter, TempAllocator &inAllocator)
 {
 	// Try to find the floor
 	Contact contact;
 	IgnoredContactList dummy_ignored_contacts(inAllocator);
-	if (!GetFirstContactForSweep(mPosition, inStepDown, contact, dummy_ignored_contacts, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inAllocator))
+	if (!GetFirstContactForSweep(mPosition, inStepDown, contact, dummy_ignored_contacts, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inShapeFilter, inAllocator))
 		return false; // If no floor found, don't update our position
 
 	// Calculate new position
@@ -1176,16 +1176,16 @@ bool CharacterVirtual::StickToFloor(Vec3Arg inStepDown, const BroadPhaseLayerFil
 #endif // JPH_DEBUG_RENDERER
 
 	// Move the character to the new location
-	MoveToContact(new_position, contact, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inAllocator);
+	MoveToContact(new_position, contact, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inShapeFilter, inAllocator);
 	return true;
 }
 
-void CharacterVirtual::ExtendedUpdate(float inDeltaTime, Vec3Arg inGravity, const ExtendedUpdateSettings &inSettings, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, TempAllocator &inAllocator)
+void CharacterVirtual::ExtendedUpdate(float inDeltaTime, Vec3Arg inGravity, const ExtendedUpdateSettings &inSettings, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter, TempAllocator &inAllocator)
 {
 	// Update the velocity
 	Vec3 desired_velocity = mLinearVelocity;
 	mLinearVelocity = CancelVelocityTowardsSteepSlopes(desired_velocity);
-	
+
 	// Remember old position
 	RVec3 old_position = mPosition;
 
@@ -1193,7 +1193,7 @@ void CharacterVirtual::ExtendedUpdate(float inDeltaTime, Vec3Arg inGravity, cons
 	bool ground_to_air = IsSupported();
 
 	// Update the character position (instant, do not have to wait for physics update)
-	Update(inDeltaTime, inGravity, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inAllocator);
+	Update(inDeltaTime, inGravity, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inShapeFilter, inAllocator);
 
 	// ... and that we got into air after
 	if (IsSupported())
@@ -1205,7 +1205,7 @@ void CharacterVirtual::ExtendedUpdate(float inDeltaTime, Vec3Arg inGravity, cons
 		// If we're not moving up, stick to the floor
 		float velocity = Vec3(mPosition - old_position).Dot(mUp) / inDeltaTime;
 		if (velocity <= 1.0e-6f)
-			StickToFloor(inSettings.mStickToFloorStepDown, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inAllocator);
+			StickToFloor(inSettings.mStickToFloorStepDown, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inShapeFilter, inAllocator);
 	}
 
 	// If walk stairs enabled
@@ -1252,7 +1252,7 @@ void CharacterVirtual::ExtendedUpdate(float inDeltaTime, Vec3Arg inGravity, cons
 				// Calculate the correct magnitude for the test vector
 				step_forward_test *= inSettings.mWalkStairsStepForwardTest;
 
-				WalkStairs(inDeltaTime, inSettings.mWalkStairsStepUp, step_forward, step_forward_test, inSettings.mWalkStairsStepDownExtra, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inAllocator);
+				WalkStairs(inDeltaTime, inSettings.mWalkStairsStepUp, step_forward, step_forward_test, inSettings.mWalkStairsStepDownExtra, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inShapeFilter, inAllocator);
 			}
 		}
 	}

Jolt/Physics/Character/CharacterVirtual.h

@@ -111,7 +111,7 @@ public:
 
 	/// Get the rotation of the character
 	Quat								GetRotation() const										{ return mRotation; }
-	
+
 	/// Set the rotation of the character
 	void								SetRotation(QuatArg inRotation)							{ mRotation = inRotation; }
 
@@ -158,8 +158,9 @@ public:
 	/// @param inBroadPhaseLayerFilter Filter that is used to check if the character collides with something in the broadphase.
 	/// @param inObjectLayerFilter Filter that is used to check if a character collides with a layer.
 	/// @param inBodyFilter Filter that is used to check if a character collides with a body.
+	/// @param inShapeFilter Filter that is used to check if a character collides with a subshape.
 	/// @param inAllocator An allocator for temporary allocations. All memory will be freed by the time this function returns.
-	void								Update(float inDeltaTime, Vec3Arg inGravity, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, TempAllocator &inAllocator);
+	void								Update(float inDeltaTime, Vec3Arg inGravity, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter, TempAllocator &inAllocator);
 
 	/// This function will return true if the character has moved into a slope that is too steep (e.g. a vertical wall).
 	/// You would call WalkStairs to attempt to step up stairs.
@@ -175,9 +176,10 @@ public:
 	/// @param inBroadPhaseLayerFilter Filter that is used to check if the character collides with something in the broadphase.
 	/// @param inObjectLayerFilter Filter that is used to check if a character collides with a layer.
 	/// @param inBodyFilter Filter that is used to check if a character collides with a body.
+	/// @param inShapeFilter Filter that is used to check if a character collides with a subshape.
 	/// @param inAllocator An allocator for temporary allocations. All memory will be freed by the time this function returns.
 	/// @return true if the stair walk was successful
-	bool								WalkStairs(float inDeltaTime, Vec3Arg inStepUp, Vec3Arg inStepForward, Vec3Arg inStepForwardTest, Vec3Arg inStepDownExtra, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, TempAllocator &inAllocator);
+	bool								WalkStairs(float inDeltaTime, Vec3Arg inStepUp, Vec3Arg inStepForward, Vec3Arg inStepForwardTest, Vec3Arg inStepDownExtra, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter, TempAllocator &inAllocator);
 
 	/// This function can be used to artificially keep the character to the floor. Normally when a character is on a small step and starts moving horizontally, the character will
 	/// lose contact with the floor because the initial vertical velocity is zero while the horizontal velocity is quite high. To prevent the character from losing contact with the floor,
@@ -186,9 +188,10 @@ public:
 	/// @param inBroadPhaseLayerFilter Filter that is used to check if the character collides with something in the broadphase.
 	/// @param inObjectLayerFilter Filter that is used to check if a character collides with a layer.
 	/// @param inBodyFilter Filter that is used to check if a character collides with a body.
+	/// @param inShapeFilter Filter that is used to check if a character collides with a subshape.
 	/// @param inAllocator An allocator for temporary allocations. All memory will be freed by the time this function returns.
 	/// @return True if the character was successfully projected onto the floor.
-	bool								StickToFloor(Vec3Arg inStepDown, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, TempAllocator &inAllocator);
+	bool								StickToFloor(Vec3Arg inStepDown, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter, TempAllocator &inAllocator);
 
 	/// Settings struct with settings for ExtendedUpdate
 	struct ExtendedUpdateSettings
@@ -211,11 +214,12 @@ public:
 	/// @param inBroadPhaseLayerFilter Filter that is used to check if the character collides with something in the broadphase.
 	/// @param inObjectLayerFilter Filter that is used to check if a character collides with a layer.
 	/// @param inBodyFilter Filter that is used to check if a character collides with a body.
+	/// @param inShapeFilter Filter that is used to check if a character collides with a subshape.
 	/// @param inAllocator An allocator for temporary allocations. All memory will be freed by the time this function returns.
-	void								ExtendedUpdate(float inDeltaTime, Vec3Arg inGravity, const ExtendedUpdateSettings &inSettings, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, TempAllocator &inAllocator);
+	void								ExtendedUpdate(float inDeltaTime, Vec3Arg inGravity, const ExtendedUpdateSettings &inSettings, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter, TempAllocator &inAllocator);
 
 	/// This function can be used after a character has teleported to determine the new contacts with the world.
-	void								RefreshContacts(const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, TempAllocator &inAllocator);
+	void								RefreshContacts(const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter, TempAllocator &inAllocator);
 
 	/// Switch the shape of the character (e.g. for stance).
 	/// @param inShape The shape to switch to.
@@ -223,9 +227,10 @@ public:
 	/// @param inBroadPhaseLayerFilter Filter that is used to check if the character collides with something in the broadphase.
 	/// @param inObjectLayerFilter Filter that is used to check if a character collides with a layer.
 	/// @param inBodyFilter Filter that is used to check if a character collides with a body.
+	/// @param inShapeFilter Filter that is used to check if a character collides with a subshape.
 	/// @param inAllocator An allocator for temporary allocations. All memory will be freed by the time this function returns.
 	/// @return Returns true if the switch succeeded.
-	bool								SetShape(const Shape *inShape, float inMaxPenetrationDepth, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, TempAllocator &inAllocator);
+	bool								SetShape(const Shape *inShape, float inMaxPenetrationDepth, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter, TempAllocator &inAllocator);
 
 	/// @brief Get all contacts for the character at a particular location
 	/// @param inPosition Position to test, note that this position will be corrected for the character padding.
@@ -238,7 +243,8 @@ public:
 	/// @param inBroadPhaseLayerFilter Filter that is used to check if the character collides with something in the broadphase.
 	/// @param inObjectLayerFilter Filter that is used to check if a character collides with a layer.
 	/// @param inBodyFilter Filter that is used to check if a character collides with a body.
-	void								CheckCollision(RVec3Arg inPosition, QuatArg inRotation, Vec3Arg inMovementDirection, float inMaxSeparationDistance, const Shape *inShape, RVec3Arg inBaseOffset, CollideShapeCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter) const;
+	/// @param inShapeFilter Filter that is used to check if a character collides with a subshape.
+	void								CheckCollision(RVec3Arg inPosition, QuatArg inRotation, Vec3Arg inMovementDirection, float inMaxSeparationDistance, const Shape *inShape, RVec3Arg inBaseOffset, CollideShapeCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter) const;
 
 	// Saving / restoring state for replay
 	virtual void						SaveState(StateRecorder &inStream) const override;
@@ -337,7 +343,7 @@ private:
 	inline static void					sFillContactProperties(Contact &outContact, const Body &inBody, Vec3Arg inUp, RVec3Arg inBaseOffset, const taCollector &inCollector, const CollideShapeResult &inResult);
 
 	// Move the shape from ioPosition and try to displace it by inVelocity * inDeltaTime, this will try to slide the shape along the world geometry
-	void								MoveShape(RVec3 &ioPosition, Vec3Arg inVelocity, float inDeltaTime, ContactList *outActiveContacts, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, TempAllocator &inAllocator
+	void								MoveShape(RVec3 &ioPosition, Vec3Arg inVelocity, float inDeltaTime, ContactList *outActiveContacts, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter, TempAllocator &inAllocator
 	#ifdef JPH_DEBUG_RENDERER
 		, bool inDrawConstraints = false
 	#endif // JPH_DEBUG_RENDERER
@@ -347,7 +353,7 @@ private:
 	bool								ValidateContact(const Contact &inContact) const;
 
 	// Tests the shape for collision around inPosition
-	void								GetContactsAtPosition(RVec3Arg inPosition, Vec3Arg inMovementDirection, const Shape *inShape, TempContactList &outContacts, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter) const;
+	void								GetContactsAtPosition(RVec3Arg inPosition, Vec3Arg inMovementDirection, const Shape *inShape, TempContactList &outContacts, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter) const;
 
 	// Remove penetrating contacts with the same body that have conflicting normals, leaving these will make the character mover get stuck
 	void								RemoveConflictingContacts(TempContactList &ioContacts, IgnoredContactList &outIgnoredContacts) const;
@@ -366,7 +372,7 @@ private:
 	bool								HandleContact(Vec3Arg inVelocity, Constraint &ioConstraint, float inDeltaTime) const;
 
 	// Does a swept test of the shape from inPosition with displacement inDisplacement, returns true if there was a collision
-	bool								GetFirstContactForSweep(RVec3Arg inPosition, Vec3Arg inDisplacement, Contact &outContact, const IgnoredContactList &inIgnoredContacts, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, TempAllocator &inAllocator) const;
+	bool								GetFirstContactForSweep(RVec3Arg inPosition, Vec3Arg inDisplacement, Contact &outContact, const IgnoredContactList &inIgnoredContacts, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter, TempAllocator &inAllocator) const;
 
 	// Store contacts so that we have proper ground information
 	void								StoreActiveContacts(const TempContactList &inContacts, TempAllocator &inAllocator);
@@ -375,7 +381,7 @@ private:
 	void								UpdateSupportingContact(bool inSkipContactVelocityCheck, TempAllocator &inAllocator);
 
 	/// This function can be called after moving the character to a new colliding position
-	void								MoveToContact(RVec3Arg inPosition, const Contact &inContact, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, TempAllocator &inAllocator);
+	void								MoveToContact(RVec3Arg inPosition, const Contact &inContact, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter, TempAllocator &inAllocator);
 
 	// This function returns the actual center of mass of the shape, not corrected for the character padding
 	inline RMat44						GetCenterOfMassTransform(RVec3Arg inPosition, QuatArg inRotation, const Shape *inShape) const

Samples/Tests/Character/CharacterVirtualTest.cpp

@@ -10,8 +10,8 @@
 #include <Renderer/DebugRendererImp.h>
 #include <Application/DebugUI.h>
 
-JPH_IMPLEMENT_RTTI_VIRTUAL(CharacterVirtualTest) 
-{ 
+JPH_IMPLEMENT_RTTI_VIRTUAL(CharacterVirtualTest)
+{
 	JPH_ADD_BASE_CLASS(CharacterVirtualTest, CharacterBaseTest)
 }
 
@@ -68,6 +68,7 @@ void CharacterVirtualTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
 		mPhysicsSystem->GetDefaultBroadPhaseLayerFilter(Layers::MOVING),
 		mPhysicsSystem->GetDefaultLayerFilter(Layers::MOVING),
 		{ },
+		{ },
 		*mTempAllocator);
 
 	// Calculate effective velocity
@@ -99,7 +100,7 @@ void CharacterVirtualTest::HandleInput(Vec3Arg inMovementDirection, bool inJump,
 	{
 		// Assume velocity of ground when on ground
 		new_velocity = ground_velocity;
-		
+
 		// Jump
 		if (inJump)
 			new_velocity += Vec3(0, cJumpSpeed, 0);
@@ -118,7 +119,7 @@ void CharacterVirtualTest::HandleInput(Vec3Arg inMovementDirection, bool inJump,
 
 	// Stance switch
 	if (inSwitchStance)
-		mCharacter->SetShape(mCharacter->GetShape() == mStandingShape? mCrouchingShape : mStandingShape, 1.5f * mPhysicsSystem->GetPhysicsSettings().mPenetrationSlop, mPhysicsSystem->GetDefaultBroadPhaseLayerFilter(Layers::MOVING), mPhysicsSystem->GetDefaultLayerFilter(Layers::MOVING), { }, *mTempAllocator);
+		mCharacter->SetShape(mCharacter->GetShape() == mStandingShape? mCrouchingShape : mStandingShape, 1.5f * mPhysicsSystem->GetPhysicsSettings().mPenetrationSlop, mPhysicsSystem->GetDefaultBroadPhaseLayerFilter(Layers::MOVING), mPhysicsSystem->GetDefaultLayerFilter(Layers::MOVING), { }, { }, *mTempAllocator);
 }
 
 void CharacterVirtualTest::AddConfigurationSettings(DebugUI *inUI, UIElement *inSubMenu)
@@ -152,7 +153,7 @@ void CharacterVirtualTest::RestoreState(StateRecorder &inStream)
 
 	bool is_standing = mCharacter->GetShape() == mStandingShape; // Initialize variable for validation mode
 	inStream.Read(is_standing);
-	mCharacter->SetShape(is_standing? mStandingShape : mCrouchingShape, FLT_MAX, { }, { }, { }, *mTempAllocator);
+	mCharacter->SetShape(is_standing? mStandingShape : mCrouchingShape, FLT_MAX, { }, { }, { }, { }, *mTempAllocator);
 
 	inStream.Read(mDesiredVelocity);
 }

UnitTests/Physics/CharacterVirtualTests.cpp

@@ -76,6 +76,7 @@ TEST_SUITE("CharacterVirtualTests")
 				system->GetDefaultBroadPhaseLayerFilter(Layers::MOVING),
 				system->GetDefaultLayerFilter(Layers::MOVING),
 				{ },
+				{ },
 				allocator);
 
 			// Calculate effective velocity in this step