// SPDX-FileCopyrightText: 2021 Jorrit Rouwe // SPDX-License-Identifier: MIT #pragma once #include #include #include #include #include namespace JPH { class CollideShapeSettings; /// Dispatch function, main function to handle collisions between shapes class CollisionDispatch { public: /// Collide 2 shapes and pass any collision on to ioCollector /// @param inShape1 The first shape /// @param inShape2 The second shape /// @param inScale1 Local space scale of shape 1 /// @param inScale2 Local space scale of shape 2 /// @param inCenterOfMassTransform1 Transform to transform center of mass of shape 1 into world space /// @param inCenterOfMassTransform2 Transform to transform center of mass of shape 2 into world space /// @param inSubShapeIDCreator1 Class that tracks the current sub shape ID for shape 1 /// @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) { 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); } /// Cast a shape againt this shape, passes any hits found to ioCollector. /// Note that the shape cast should be relative to the center of mass of this shape (i.e. inShapeCast.mCenterOfMassStart = Start * Mat44::sTranslation(mShape->GetCenterOfMass()) if you want to cast the shape in the space it was created). /// @param inShapeCast The shape to cast against the other shape and its start and direction /// @param inShapeCastSettings Settings for performing the cast /// @param inShape The shape to cast against. /// @param inScale Local space scale for the shape to cast against. /// @param inShapeFilter allows selectively disabling collisions between pairs of (sub) shapes. /// @param inCenterOfMassTransform2 Is the center of mass transform of shape 2 (excluding scale), this is used to provide a transform to the shape cast result so that local quantities can be transformed into world space. /// @param inSubShapeIDCreator1 Class that tracks the current sub shape ID for the casting shape /// @param inSubShapeIDCreator2 Class that tracks the current sub shape ID for the shape we're casting against /// @param ioCollector The collector that receives the results. static inline void sCastShapeVsShape(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector) { JPH_IF_TRACK_NARROWPHASE_STATS(TrackNarrowPhaseStat track(NarrowPhaseStat::sCastShape[(int)inShapeCast.mShape->GetSubType()][(int)inShape->GetSubType()]);) // Only test shape if it passes the shape filter if (inShapeFilter.ShouldCollide(inSubShapeIDCreator1.GetID(), inSubShapeIDCreator2.GetID())) sCastShape[(int)inShapeCast.mShape->GetSubType()][(int)inShape->GetSubType()](inShapeCast, inShapeCastSettings, inShape, inScale, inShapeFilter, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, ioCollector); } /// 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); /// Function that casts a shape vs another shape (see sCastShapeVsShape) 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); /// Register a collide shape function in the collision table static void sRegisterCollideShape(EShapeSubType inType1, EShapeSubType inType2, CollideShape inFunction) { sCollideShape[(int)inType1][(int)inType2] = inFunction; } /// Register a cast shape function in the collision table static void sRegisterCastShape(EShapeSubType inType1, EShapeSubType inType2, CastShape inFunction) { sCastShape[(int)inType1][(int)inType2] = inFunction; } private: static CollideShape sCollideShape[NumSubShapeTypes][NumSubShapeTypes]; static CastShape sCastShape[NumSubShapeTypes][NumSubShapeTypes]; }; } // JPH