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  108.   <div class="headertitle"><div class="title">CollideShapeVsShapePerLeaf.h</div></div>
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  110. <div class="contents">
    111. 

  111. <a href="_collide_shape_vs_shape_per_leaf_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="comment">// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)</span></div>
    112. 

  112. <div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="comment">// SPDX-FileCopyrightText: 2025 Jorrit Rouwe</span></div>
    113. 

  113. <div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="comment">// SPDX-License-Identifier: MIT</span></div>
    114. 

  114. <div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
    115. 

  115. <div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#pragma once</span></div>
    116. 

  116. <div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
    117. 

  117. <div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;<a class="code" href="_collide_shape_8h.html">Jolt/Physics/Collision/CollideShape.h</a>&gt;</span></div>
    118. 

  118. <div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;<a class="code" href="_collision_dispatch_8h.html">Jolt/Physics/Collision/CollisionDispatch.h</a>&gt;</span></div>
    119. 

  119. <div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;<a class="code" href="_transformed_shape_8h.html">Jolt/Physics/Collision/TransformedShape.h</a>&gt;</span></div>
    120. 

  120. <div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;<a class="code" href="_s_t_l_local_allocator_8h.html">Jolt/Core/STLLocalAllocator.h</a>&gt;</span></div>
    121. 

  121. <div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
    122. 

  122. <div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><a class="code hl_define" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div>
    123. 

  123. <div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span> </div>
    124. 

  124. <div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> LeafCollector&gt;</div>
    125. 

  125. <div class="foldopen" id="foldopen00030" data-start="{" data-end="}">
    126. 

  126. <div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="_collide_shape_vs_shape_per_leaf_8h.html#a78921979ac4a2f3e4d5b6ded9cea4d3d">   30</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="_collide_shape_vs_shape_per_leaf_8h.html#a78921979ac4a2f3e4d5b6ded9cea4d3d">CollideShapeVsShapePerLeaf</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_shape.html">Shape</a> *inShape1, <span class="keyword">const</span> <a class="code hl_class" href="class_shape.html">Shape</a> *inShape2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inScale1, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inScale2, <a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inCenterOfMassTransform1, <a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inCenterOfMassTransform2, <span class="keyword">const</span> <a class="code hl_class" href="class_sub_shape_i_d_creator.html">SubShapeIDCreator</a> &amp;inSubShapeIDCreator1, <span class="keyword">const</span> <a class="code hl_class" href="class_sub_shape_i_d_creator.html">SubShapeIDCreator</a> &amp;inSubShapeIDCreator2, <span class="keyword">const</span> <a class="code hl_class" href="class_collide_shape_settings.html">CollideShapeSettings</a> &amp;inCollideShapeSettings, <a class="code hl_class" href="class_collision_collector.html">CollideShapeCollector</a> &amp;ioCollector, <span class="keyword">const</span> <a class="code hl_class" href="class_shape_filter.html">ShapeFilter</a> &amp;inShapeFilter = { })</div>
    127. 

  127. <div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>{</div>
    128. 

  128. <div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    <span class="comment">// Tracks information we need about a leaf shape</span></div>
    129. 

  129. <div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <span class="keyword">struct </span>LeafShape</div>
    130. 

  130. <div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    {</div>
    131. 

  131. <div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>                            LeafShape() = <span class="keywordflow">default</span>;</div>
    132. 

  132. <div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span> </div>
    133. 

  133. <div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>                            LeafShape(<span class="keyword">const</span> <a class="code hl_class" href="class_a_a_box.html">AABox</a> &amp;inBounds, <a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inCenterOfMassTransform, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inScale, <span class="keyword">const</span> <a class="code hl_class" href="class_shape.html">Shape</a> *inShape, <span class="keyword">const</span> <a class="code hl_class" href="class_sub_shape_i_d_creator.html">SubShapeIDCreator</a> &amp;inSubShapeIDCreator) :</div>
    134. 

  134. <div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>            mBounds(inBounds),</div>
    135. 

  135. <div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>            mCenterOfMassTransform(inCenterOfMassTransform),</div>
    136. 

  136. <div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>            mScale(inScale),</div>
    137. 

  137. <div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>            mShape(inShape),</div>
    138. 

  138. <div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>            mSubShapeIDCreator(inSubShapeIDCreator)</div>
    139. 

  139. <div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>        {</div>
    140. 

  140. <div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>        }</div>
    141. 

  141. <div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
    142. 

  142. <div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>        <a class="code hl_class" href="class_a_a_box.html">AABox</a>               mBounds;</div>
    143. 

  143. <div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>        <a class="code hl_class" href="class_mat44.html">Mat44</a>               mCenterOfMassTransform;</div>
    144. 

  144. <div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a>                mScale;</div>
    145. 

  145. <div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>        <span class="keyword">const</span> <a class="code hl_class" href="class_shape.html">Shape</a> *       mShape;</div>
    146. 

  146. <div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>        <a class="code hl_class" href="class_sub_shape_i_d_creator.html">SubShapeIDCreator</a>   mSubShapeIDCreator;</div>
    147. 

  147. <div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    };</div>
    148. 

  148. <div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
    149. 

  149. <div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    <span class="keyword">constexpr</span> <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> cMaxLocalLeafShapes = 32;</div>
    150. 

  150. <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
    151. 

  151. <div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    <span class="comment">// A collector that stores the information we need from a leaf shape in an array that is usually on the stack but can fall back to the heap if needed</span></div>
    152. 

  152. <div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    <span class="keyword">class </span>MyCollector : <span class="keyword">public</span> <a class="code hl_class" href="class_collision_collector.html">TransformedShapeCollector</a></div>
    153. 

  153. <div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    {</div>
    154. 

  154. <div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    <span class="keyword">public</span>:</div>
    155. 

  155. <div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>                            MyCollector()</div>
    156. 

  156. <div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>        {</div>
    157. 

  157. <div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>            mHits.reserve(cMaxLocalLeafShapes);</div>
    158. 

  158. <div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>        }</div>
    159. 

  159. <div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span> </div>
    160. 

  160. <div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>        <span class="keywordtype">void</span>                <a class="code hl_function" href="class_collision_collector.html#a762c35402676662897e50dd8224e496e">AddHit</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_transformed_shape.html">TransformedShape</a> &amp;inShape)<span class="keyword"> override</span></div>
    161. 

  161. <div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span><span class="keyword">        </span>{</div>
    162. 

  162. <div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>            mHits.emplace_back(inShape.<a class="code hl_function" href="class_transformed_shape.html#a33b12d09ebaf2071dd49a3873978ac0a">GetWorldSpaceBounds</a>(), inShape.<a class="code hl_function" href="class_transformed_shape.html#afba760db30ccff8c59547cce78bd97a4">GetCenterOfMassTransform</a>().<a class="code hl_function" href="class_mat44.html#a3445a728646fe8ad80381a0e55ea2289">ToMat44</a>(), inShape.<a class="code hl_function" href="class_transformed_shape.html#a9f0559c4106b9b17becd5f401389b354">GetShapeScale</a>(), inShape.<a class="code hl_variable" href="class_transformed_shape.html#ac6aaf976fee41c402c791012e4a2a3f9">mShape</a>, inShape.<a class="code hl_variable" href="class_transformed_shape.html#a3d0b38db0aacff1c3188a0c20f45e713">mSubShapeIDCreator</a>);</div>
    163. 

  163. <div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>        }</div>
    164. 

  164. <div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
    165. 

  165. <div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        <a class="code hl_class" href="class_array.html">Array&lt;LeafShape, STLLocalAllocator&lt;LeafShape, cMaxLocalLeafShapes&gt;</a>&gt; mHits;</div>
    166. 

  166. <div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    };</div>
    167. 

  167. <div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
    168. 

  168. <div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    <span class="comment">// Get bounds of both shapes</span></div>
    169. 

  169. <div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    <a class="code hl_class" href="class_a_a_box.html">AABox</a> bounds1 = inShape1-&gt;<a class="code hl_function" href="class_shape.html#a9f8379fa338802436700b86a07fab3be">GetWorldSpaceBounds</a>(inCenterOfMassTransform1, inScale1);</div>
    170. 

  170. <div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    <a class="code hl_class" href="class_a_a_box.html">AABox</a> bounds2 = inShape2-&gt;<a class="code hl_function" href="class_shape.html#a9f8379fa338802436700b86a07fab3be">GetWorldSpaceBounds</a>(inCenterOfMassTransform2, inScale2);</div>
    171. 

  171. <div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span> </div>
    172. 

  172. <div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="comment">// Get leaf shapes that overlap with the bounds of the other shape</span></div>
    173. 

  173. <div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    MyCollector leaf_shapes1, leaf_shapes2;</div>
    174. 

  174. <div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    inShape1-&gt;<a class="code hl_function" href="class_shape.html#a3ed865e7eb30221b418cfd61d1430173">CollectTransformedShapes</a>(bounds2, inCenterOfMassTransform1.<a class="code hl_function" href="class_mat44.html#abd89da8ac7b4e4c5b87c02caabbf10b8">GetTranslation</a>(), inCenterOfMassTransform1.<a class="code hl_function" href="class_mat44.html#a1e977c53b5f6a0c03f8da33ebef2c05a">GetQuaternion</a>(), inScale1, inSubShapeIDCreator1, leaf_shapes1, inShapeFilter);</div>
    175. 

  175. <div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    inShape2-&gt;<a class="code hl_function" href="class_shape.html#a3ed865e7eb30221b418cfd61d1430173">CollectTransformedShapes</a>(bounds1, inCenterOfMassTransform2.<a class="code hl_function" href="class_mat44.html#abd89da8ac7b4e4c5b87c02caabbf10b8">GetTranslation</a>(), inCenterOfMassTransform2.<a class="code hl_function" href="class_mat44.html#a1e977c53b5f6a0c03f8da33ebef2c05a">GetQuaternion</a>(), inScale2, inSubShapeIDCreator2, leaf_shapes2, inShapeFilter);</div>
    176. 

  176. <div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span> </div>
    177. 

  177. <div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    <span class="comment">// Now test each leaf shape against each other leaf</span></div>
    178. 

  178. <div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> LeafShape &amp;leaf1 : leaf_shapes1.mHits)</div>
    179. 

  179. <div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>        <span class="keywordflow">for</span> (<span class="keyword">const</span> LeafShape &amp;leaf2 : leaf_shapes2.mHits)</div>
    180. 

  180. <div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>            <span class="keywordflow">if</span> (leaf1.mBounds.Overlaps(leaf2.mBounds))</div>
    181. 

  181. <div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>            {</div>
    182. 

  182. <div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>                <span class="comment">// Use the leaf collector to collect max 1 hit for this pair and pass it on to ioCollector</span></div>
    183. 

  183. <div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>                LeafCollector collector;</div>
    184. 

  184. <div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>                <a class="code hl_function" href="class_collision_dispatch.html#a29634d08db5d24ce7c0d5c44b547c075">CollisionDispatch::sCollideShapeVsShape</a>(leaf1.mShape, leaf2.mShape, leaf1.mScale, leaf2.mScale, leaf1.mCenterOfMassTransform, leaf2.mCenterOfMassTransform, leaf1.mSubShapeIDCreator, leaf2.mSubShapeIDCreator, inCollideShapeSettings, collector, inShapeFilter);</div>
    185. 

  185. <div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>                <span class="keywordflow">if</span> (collector.HadHit())</div>
    186. 

  186. <div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>                    ioCollector.<a class="code hl_function" href="class_collision_collector.html#a762c35402676662897e50dd8224e496e">AddHit</a>(collector.mHit);</div>
    187. 

  187. <div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>            }</div>
    188. 

  188. <div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>}</div>
    189. 

  189. </div>
    190. 

  190. <div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span> </div>
    191. 

  191. <div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
    192. 

  192. <div class="ttc" id="a_collide_shape_8h_html"><div class="ttname"><a href="_collide_shape_8h.html">CollideShape.h</a></div></div>
    193. 

  193. <div class="ttc" id="a_collide_shape_vs_shape_per_leaf_8h_html_a78921979ac4a2f3e4d5b6ded9cea4d3d"><div class="ttname"><a href="_collide_shape_vs_shape_per_leaf_8h.html#a78921979ac4a2f3e4d5b6ded9cea4d3d">CollideShapeVsShapePerLeaf</a></div><div class="ttdeci">JPH_NAMESPACE_BEGIN void CollideShapeVsShapePerLeaf(const Shape *inShape1, const Shape *inShape2, Vec3Arg inScale1, Vec3Arg inScale2, Mat44Arg inCenterOfMassTransform1, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &amp;inSubShapeIDCreator1, const SubShapeIDCreator &amp;inSubShapeIDCreator2, const CollideShapeSettings &amp;inCollideShapeSettings, CollideShapeCollector &amp;ioCollector, const ShapeFilter &amp;inShapeFilter={ })</div><div class="ttdef"><b>Definition</b> CollideShapeVsShapePerLeaf.h:30</div></div>
    194. 

  194. <div class="ttc" id="a_collision_dispatch_8h_html"><div class="ttname"><a href="_collision_dispatch_8h.html">CollisionDispatch.h</a></div></div>
    195. 

  195. <div class="ttc" id="a_core_8h_html_a69aa29b598b851b0640aa225a9e5d61d"><div class="ttname"><a href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a></div><div class="ttdeci">unsigned int uint</div><div class="ttdef"><b>Definition</b> Core.h:500</div></div>
    196. 

  196. <div class="ttc" id="a_core_8h_html_a73da8725998b00321a9db341202d650d"><div class="ttname"><a href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div><div class="ttdeci">#define JPH_NAMESPACE_END</div><div class="ttdef"><b>Definition</b> Core.h:425</div></div>
    197. 

  197. <div class="ttc" id="a_core_8h_html_ad14098b68b8c44ea6112601031268405"><div class="ttname"><a href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div><div class="ttdeci">#define JPH_NAMESPACE_BEGIN</div><div class="ttdef"><b>Definition</b> Core.h:419</div></div>
    198. 

  198. <div class="ttc" id="a_s_t_l_local_allocator_8h_html"><div class="ttname"><a href="_s_t_l_local_allocator_8h.html">STLLocalAllocator.h</a></div></div>
    199. 

  199. <div class="ttc" id="a_transformed_shape_8h_html"><div class="ttname"><a href="_transformed_shape_8h.html">TransformedShape.h</a></div></div>
    200. 

  200. <div class="ttc" id="aclass_a_a_box_html"><div class="ttname"><a href="class_a_a_box.html">AABox</a></div><div class="ttdoc">Axis aligned box.</div><div class="ttdef"><b>Definition</b> AABox.h:16</div></div>
    201. 

  201. <div class="ttc" id="aclass_array_html"><div class="ttname"><a href="class_array.html">Array</a></div><div class="ttdef"><b>Definition</b> Array.h:36</div></div>
    202. 

  202. <div class="ttc" id="aclass_collide_shape_settings_html"><div class="ttname"><a href="class_collide_shape_settings.html">CollideShapeSettings</a></div><div class="ttdoc">Settings to be passed with a collision query.</div><div class="ttdef"><b>Definition</b> CollideShape.h:94</div></div>
    203. 

  203. <div class="ttc" id="aclass_collision_collector_html"><div class="ttname"><a href="class_collision_collector.html">CollisionCollector</a></div><div class="ttdoc">Virtual interface that allows collecting multiple collision results.</div><div class="ttdef"><b>Definition</b> CollisionCollector.h:45</div></div>
    204. 

  204. <div class="ttc" id="aclass_collision_collector_html_a762c35402676662897e50dd8224e496e"><div class="ttname"><a href="class_collision_collector.html#a762c35402676662897e50dd8224e496e">CollisionCollector::AddHit</a></div><div class="ttdeci">virtual void AddHit(const ResultType &amp;inResult)=0</div><div class="ttdoc">This function will be called for every hit found, it's up to the application to decide how to store t...</div></div>
    205. 

  205. <div class="ttc" id="aclass_collision_dispatch_html_a29634d08db5d24ce7c0d5c44b547c075"><div class="ttname"><a href="class_collision_dispatch.html#a29634d08db5d24ce7c0d5c44b547c075">CollisionDispatch::sCollideShapeVsShape</a></div><div class="ttdeci">static void sCollideShapeVsShape(const Shape *inShape1, const Shape *inShape2, Vec3Arg inScale1, Vec3Arg inScale2, Mat44Arg inCenterOfMassTransform1, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &amp;inSubShapeIDCreator1, const SubShapeIDCreator &amp;inSubShapeIDCreator2, const CollideShapeSettings &amp;inCollideShapeSettings, CollideShapeCollector &amp;ioCollector, const ShapeFilter &amp;inShapeFilter={ })</div><div class="ttdef"><b>Definition</b> CollisionDispatch.h:33</div></div>
    206. 

  206. <div class="ttc" id="aclass_mat44_html"><div class="ttname"><a href="class_mat44.html">Mat44</a></div><div class="ttdoc">Holds a 4x4 matrix of floats, but supports also operations on the 3x3 upper left part of the matrix.</div><div class="ttdef"><b>Definition</b> Mat44.h:13</div></div>
    207. 

  207. <div class="ttc" id="aclass_mat44_html_a1e977c53b5f6a0c03f8da33ebef2c05a"><div class="ttname"><a href="class_mat44.html#a1e977c53b5f6a0c03f8da33ebef2c05a">Mat44::GetQuaternion</a></div><div class="ttdeci">JPH_INLINE Quat GetQuaternion() const</div><div class="ttdoc">Convert to quaternion.</div><div class="ttdef"><b>Definition</b> Mat44.inl:783</div></div>
    208. 

  208. <div class="ttc" id="aclass_mat44_html_a3445a728646fe8ad80381a0e55ea2289"><div class="ttname"><a href="class_mat44.html#a3445a728646fe8ad80381a0e55ea2289">Mat44::ToMat44</a></div><div class="ttdeci">JPH_INLINE Mat44 ToMat44() const</div><div class="ttdoc">In single precision mode just return the matrix itself.</div><div class="ttdef"><b>Definition</b> Mat44.h:225</div></div>
    209. 

  209. <div class="ttc" id="aclass_mat44_html_abd89da8ac7b4e4c5b87c02caabbf10b8"><div class="ttname"><a href="class_mat44.html#abd89da8ac7b4e4c5b87c02caabbf10b8">Mat44::GetTranslation</a></div><div class="ttdeci">JPH_INLINE Vec3 GetTranslation() const</div><div class="ttdef"><b>Definition</b> Mat44.h:152</div></div>
    210. 

  210. <div class="ttc" id="aclass_shape_filter_html"><div class="ttname"><a href="class_shape_filter.html">ShapeFilter</a></div><div class="ttdoc">Filter class.</div><div class="ttdef"><b>Definition</b> ShapeFilter.h:17</div></div>
    211. 

  211. <div class="ttc" id="aclass_shape_html"><div class="ttname"><a href="class_shape.html">Shape</a></div><div class="ttdoc">Base class for all shapes (collision volume of a body). Defines a virtual interface for collision det...</div><div class="ttdef"><b>Definition</b> Shape.h:186</div></div>
    212. 

  212. <div class="ttc" id="aclass_shape_html_a3ed865e7eb30221b418cfd61d1430173"><div class="ttname"><a href="class_shape.html#a3ed865e7eb30221b418cfd61d1430173">Shape::CollectTransformedShapes</a></div><div class="ttdeci">virtual void CollectTransformedShapes(const AABox &amp;inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &amp;inSubShapeIDCreator, TransformedShapeCollector &amp;ioCollector, const ShapeFilter &amp;inShapeFilter) const</div><div class="ttdef"><b>Definition</b> Shape.cpp:52</div></div>
    213. 

  213. <div class="ttc" id="aclass_shape_html_a9f8379fa338802436700b86a07fab3be"><div class="ttname"><a href="class_shape.html#a9f8379fa338802436700b86a07fab3be">Shape::GetWorldSpaceBounds</a></div><div class="ttdeci">virtual AABox GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const</div><div class="ttdef"><b>Definition</b> Shape.h:222</div></div>
    214. 

  214. <div class="ttc" id="aclass_sub_shape_i_d_creator_html"><div class="ttname"><a href="class_sub_shape_i_d_creator.html">SubShapeIDCreator</a></div><div class="ttdef"><b>Definition</b> SubShapeID.h:108</div></div>
    215. 

  215. <div class="ttc" id="aclass_transformed_shape_html"><div class="ttname"><a href="class_transformed_shape.html">TransformedShape</a></div><div class="ttdef"><b>Definition</b> TransformedShape.h:26</div></div>
    216. 

  216. <div class="ttc" id="aclass_transformed_shape_html_a33b12d09ebaf2071dd49a3873978ac0a"><div class="ttname"><a href="class_transformed_shape.html#a33b12d09ebaf2071dd49a3873978ac0a">TransformedShape::GetWorldSpaceBounds</a></div><div class="ttdeci">AABox GetWorldSpaceBounds() const</div><div class="ttdoc">Get the world space bounding box for this transformed shape.</div><div class="ttdef"><b>Definition</b> TransformedShape.h:123</div></div>
    217. 

  217. <div class="ttc" id="aclass_transformed_shape_html_a3d0b38db0aacff1c3188a0c20f45e713"><div class="ttname"><a href="class_transformed_shape.html#a3d0b38db0aacff1c3188a0c20f45e713">TransformedShape::mSubShapeIDCreator</a></div><div class="ttdeci">SubShapeIDCreator mSubShapeIDCreator</div><div class="ttdoc">Optional sub shape ID creator for the shape (can be used when expanding compound shapes into multiple...</div><div class="ttdef"><b>Definition</b> TransformedShape.h:188</div></div>
    218. 

  218. <div class="ttc" id="aclass_transformed_shape_html_a9f0559c4106b9b17becd5f401389b354"><div class="ttname"><a href="class_transformed_shape.html#a9f0559c4106b9b17becd5f401389b354">TransformedShape::GetShapeScale</a></div><div class="ttdeci">Vec3 GetShapeScale() const</div><div class="ttdoc">Get/set the scale of the shape as a Vec3.</div><div class="ttdef"><b>Definition</b> TransformedShape.h:89</div></div>
    219. 

  219. <div class="ttc" id="aclass_transformed_shape_html_ac6aaf976fee41c402c791012e4a2a3f9"><div class="ttname"><a href="class_transformed_shape.html#ac6aaf976fee41c402c791012e4a2a3f9">TransformedShape::mShape</a></div><div class="ttdeci">RefConst&lt; Shape &gt; mShape</div><div class="ttdoc">The shape itself.</div><div class="ttdef"><b>Definition</b> TransformedShape.h:185</div></div>
    220. 

  220. <div class="ttc" id="aclass_transformed_shape_html_afba760db30ccff8c59547cce78bd97a4"><div class="ttname"><a href="class_transformed_shape.html#afba760db30ccff8c59547cce78bd97a4">TransformedShape::GetCenterOfMassTransform</a></div><div class="ttdeci">RMat44 GetCenterOfMassTransform() const</div><div class="ttdoc">Calculates the transform for this shape's center of mass (excluding scale)</div><div class="ttdef"><b>Definition</b> TransformedShape.h:93</div></div>
    221. 

  221. <div class="ttc" id="aclass_vec3_html"><div class="ttname"><a href="class_vec3.html">Vec3</a></div><div class="ttdef"><b>Definition</b> Vec3.h:17</div></div>
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