Added CollisionCollector::OnBodyEnd and deduplicated some code

jrouwe · Jan 19, 2025 · 005d4c0 · 005d4c0
1 parent 6ae6658
commit 005d4c0
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Showing 3 changed files with 34 additions and 75 deletions.
diff --git a/Jolt/Physics/Collision/CollisionCollector.h b/Jolt/Physics/Collision/CollisionCollector.h
@@ -66,6 +66,9 @@ class CollisionCollector
 	/// before AddHit is called (e.g. the user data pointer or the velocity of the body).
 	virtual void			OnBody([[maybe_unused]] const Body &inBody)		{ /* Collects nothing by default */ }
 
+	/// When running a query through the NarrowPhaseQuery class, this will be called after all AddHit calls have been made for a particular body.
+	virtual void			OnBodyEnd()										{ /* Does nothing by default */ }
+
 	/// Set by the collision detection functions to the current TransformedShape that we're colliding against before calling the AddHit function
 	void					SetContext(const TransformedShape *inContext)	{ mContext = inContext; }
 	const TransformedShape *GetContext() const								{ return mContext; }

diff --git a/Jolt/Physics/Collision/InternalEdgeRemovingCollector.h b/Jolt/Physics/Collision/InternalEdgeRemovingCollector.h
@@ -17,6 +17,9 @@ JPH_NAMESPACE_BEGIN
 
 /// Removes internal edges from collision results. Can be used to filter out 'ghost collisions'.
 /// Based on: Contact generation for meshes - Pierre Terdiman (https://www.codercorner.com/MeshContacts.pdf)
+///
+/// Note that this class requires that CollideSettingsBase::mActiveEdgeMode == EActiveEdgeMode::CollideWithAll
+/// and CollideSettingsBase::mCollectFacesMode == ECollectFacesMode::CollectFaces.
 class InternalEdgeRemovingCollector : public CollideShapeCollector
 {
 	static constexpr uint cMaxDelayedResults = 16;
@@ -221,6 +224,13 @@ class InternalEdgeRemovingCollector : public CollideShapeCollector
 		mDelayedResults.clear();
 	}
 
+	// See: CollideShapeCollector::OnBodyEnd
+	virtual void			OnBodyEnd() override
+	{
+		Flush();
+		mChainedCollector.OnBodyEnd();
+	}
+
 	/// Version of CollisionDispatch::sCollideShapeVsShape that removes internal edges
 	static 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 = { })
 	{

diff --git a/Jolt/Physics/Collision/NarrowPhaseQuery.cpp b/Jolt/Physics/Collision/NarrowPhaseQuery.cpp
@@ -126,6 +126,9 @@ void NarrowPhaseQuery::CastRay(const RRayCast &inRay, const RayCastSettings &inR
 						// Do narrow phase collision check
 						ts.CastRay(mRay, mRayCastSettings, mCollector, mShapeFilter);
 
+						// Notify collector of the end of this body
+						mCollector.OnBodyEnd();
+
 						// Update early out fraction based on narrow phase collector
 						UpdateEarlyOutFraction(mCollector.GetEarlyOutFraction());
 					}
@@ -189,6 +192,9 @@ void NarrowPhaseQuery::CollidePoint(RVec3Arg inPoint, CollidePointCollector &ioC
 						// Do narrow phase collision check
 						ts.CollidePoint(mPoint, mCollector, mShapeFilter);
 
+						// Notify collector of the end of this body
+						mCollector.OnBodyEnd();
+
 						// Update early out fraction based on narrow phase collector
 						UpdateEarlyOutFraction(mCollector.GetEarlyOutFraction());
 					}
@@ -255,6 +261,9 @@ void NarrowPhaseQuery::CollideShape(const Shape *inShape, Vec3Arg inShapeScale,
 						// Do narrow phase collision check
 						ts.CollideShape(mShape, mShapeScale, mCenterOfMassTransform, mCollideShapeSettings, mBaseOffset, mCollector, mShapeFilter);
 
+						// Notify collector of the end of this body
+						mCollector.OnBodyEnd();
+
 						// Update early out fraction based on narrow phase collector
 						UpdateEarlyOutFraction(mCollector.GetEarlyOutFraction());
 					}
@@ -284,82 +293,13 @@ void NarrowPhaseQuery::CollideShape(const Shape *inShape, Vec3Arg inShapeScale,
 
 void NarrowPhaseQuery::CollideShapeWithInternalEdgeRemoval(const Shape *inShape, Vec3Arg inShapeScale, RMat44Arg inCenterOfMassTransform, const CollideShapeSettings &inCollideShapeSettings, RVec3Arg inBaseOffset, 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, RMat44Arg inCenterOfMassTransform, const CollideShapeSettings &inCollideShapeSettings, RVec3Arg inBaseOffset, CollideShapeCollector &ioCollector, const BodyLockInterface &inBodyLockInterface, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter) :
-			CollideShapeBodyCollector(ioCollector),
-			mShape(inShape),
-			mShapeScale(inShapeScale),
-			mCenterOfMassTransform(inCenterOfMassTransform),
-			mBaseOffset(inBaseOffset),
-			mBodyLockInterface(inBodyLockInterface),
-			mBodyFilter(inBodyFilter),
-			mShapeFilter(inShapeFilter),
-			mCollideShapeSettings(inCollideShapeSettings),
-			mCollector(ioCollector)
-		{
-			// We require these settings for internal edge removal to work
-			mCollideShapeSettings.mActiveEdgeMode = EActiveEdgeMode::CollideWithAll;
-			mCollideShapeSettings.mCollectFacesMode = ECollectFacesMode::CollectFaces;
-		}
-
-		virtual void		AddHit(const ResultType &inResult) override
-		{
-			// Only test shape if it passes the body filter
-			if (mBodyFilter.ShouldCollide(inResult))
-			{
-				// Lock the body
-				BodyLockRead lock(mBodyLockInterface, inResult);
-				if (lock.SucceededAndIsInBroadPhase()) // Race condition: body could have been removed since it has been found in the broadphase, ensures body is in the broadphase while we call the callbacks
-				{
-					const Body &body = lock.GetBody();
-
-					// Check body filter again now that we've locked the body
-					if (mBodyFilter.ShouldCollideLocked(body))
-					{
-						// Collect the transformed shape
-						TransformedShape ts = body.GetTransformedShape();
+	// We require these settings for internal edge removal to work
+	CollideShapeSettings settings = inCollideShapeSettings;
+	settings.mActiveEdgeMode = EActiveEdgeMode::CollideWithAll;
+	settings.mCollectFacesMode = ECollectFacesMode::CollectFaces;
 
-						// Notify collector of new body
-						mCollector.OnBody(body);
-
-						// Release the lock now, we have all the info we need in the transformed shape
-						lock.ReleaseLock();
-
-						// Do narrow phase collision check
-						ts.CollideShape(mShape, mShapeScale, mCenterOfMassTransform, mCollideShapeSettings, mBaseOffset, mCollector, mShapeFilter);
-
-						// After each body, we need to flush the InternalEdgeRemovingCollector because it uses 'ts' as context and it will go out of scope at the end of this block
-						mCollector.Flush();
-
-						// Update early out fraction based on narrow phase collector
-						UpdateEarlyOutFraction(mCollector.GetEarlyOutFraction());
-					}
-				}
-			}
-		}
-
-		const Shape *					mShape;
-		Vec3							mShapeScale;
-		RMat44							mCenterOfMassTransform;
-		RVec3							mBaseOffset;
-		const BodyLockInterface &		mBodyLockInterface;
-		const BodyFilter &				mBodyFilter;
-		const ShapeFilter &				mShapeFilter;
-		CollideShapeSettings			mCollideShapeSettings;
-		InternalEdgeRemovingCollector	mCollector;
-	};
-
-	// Calculate bounds for shape and expand by max separation distance
-	AABox bounds = inShape->GetWorldSpaceBounds(inCenterOfMassTransform, inShapeScale);
-	bounds.ExpandBy(Vec3::sReplicate(inCollideShapeSettings.mMaxSeparationDistance));
-
-	// Do broadphase test
-	MyCollector collector(inShape, inShapeScale, inCenterOfMassTransform, inCollideShapeSettings, inBaseOffset, ioCollector, *mBodyLockInterface, inBodyFilter, inShapeFilter);
-	mBroadPhaseQuery->CollideAABox(bounds, collector, inBroadPhaseLayerFilter, inObjectLayerFilter);
+	InternalEdgeRemovingCollector wrapper(ioCollector);
+	CollideShape(inShape, inShapeScale, inCenterOfMassTransform, settings, inBaseOffset, wrapper, inBroadPhaseLayerFilter, inObjectLayerFilter, inBodyFilter, inShapeFilter);
 }
 
 void NarrowPhaseQuery::CastShape(const RShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, RVec3Arg inBaseOffset, CastShapeCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter) const
@@ -409,6 +349,9 @@ void NarrowPhaseQuery::CastShape(const RShapeCast &inShapeCast, const ShapeCastS
 						// Do narrow phase collision check
 						ts.CastShape(mShapeCast, mShapeCastSettings, mBaseOffset, mCollector, mShapeFilter);
 
+						// Notify collector of the end of this body
+						mCollector.OnBodyEnd();
+
 						// Update early out fraction based on narrow phase collector
 						UpdateEarlyOutFraction(mCollector.GetEarlyOutFraction());
 					}
@@ -471,6 +414,9 @@ void NarrowPhaseQuery::CollectTransformedShapes(const AABox &inBox, TransformedS
 						// Do narrow phase collision check
 						ts.CollectTransformedShapes(mBox, mCollector, mShapeFilter);
 
+						// Notify collector of the end of this body
+						mCollector.OnBodyEnd();
+
 						// Update early out fraction based on narrow phase collector
 						UpdateEarlyOutFraction(mCollector.GetEarlyOutFraction());
 					}