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initial commit jolt

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marauder2k7 2026-05-17 17:34:15 +01:00
parent 0c2aa5328c
commit 8acf7da95b
1086 changed files with 214612 additions and 4 deletions
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10
Engine/lib/CMakeLists.txt
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@ -286,6 +286,16 @@ if(TORQUE_TESTING)
endif()
#endif()
set(JOLT_DEBUG OFF)
if(WIN32)
set(JOLT_DEBUG ON)
endif()
advanced_option(DEBUG_RENDERER_IN_DEBUG_AND_RELEASE "Debug Renderer currently windows only" ${JOLT_DEBUG})
advanced_option(USE_STATIC_MSVC_RUNTIME_LIBRARY "Static MSVC Runtimes" OFF)
advanced_option(USE_STATIC_CRT "Static MSVC Runtimes MTd" OFF)
add_subdirectory(JoltPhysics/Build ${TORQUE_LIB_TARG_DIRECTORY}/JoltPhysics EXCLUDE_FROM_ALL)
#misc randoms
mark_as_advanced(WINDRES)
mark_as_advanced(AUDIOUNIT_INCLUDE_DIR)

1
Engine/lib/JoltPhysics/.clang-format Normal file
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@ -0,0 +1 @@
DisableFormat: true

15
Engine/lib/JoltPhysics/.editorconfig Normal file
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@ -0,0 +1,15 @@
root = true
[*.{cpp,h,inl,cmake,sh,bat,hlsl}]
indent_style = tab
indent_size = 4
tab_width = 4
trim_trailing_whitespace = true
insert_final_newline = true
[CMakeLists.txt]
indent_style = tab
indent_size = 4
tab_width = 4
trim_trailing_whitespace = true
insert_final_newline = true

18
Engine/lib/JoltPhysics/.gitattributes vendored Normal file
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@ -0,0 +1,18 @@
# Convert LF to CRLF on windows on checkout and convert back before submitting to the repository
* text=auto
# Explicitly declare text files to always be normalized and converted to native line endings on checkout
*.cpp text
*.inl text
*.h text
*.tof text
*.bat text
# Force shell files to use LF only
*.sh text eol=lf
gradlew text eol=lf
# Declare binary file types
*.tga binary
*.bof binary
*.bin binary

9
Engine/lib/JoltPhysics/.github/dependabot.yml vendored Normal file
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@ -0,0 +1,9 @@
# Please see the documentation for all configuration options:
# https://docs.github.com/github/administering-a-repository/configuration-options-for-dependency-updates
version: 2
updates:
- package-ecosystem: "github-actions"
directory: "/"
schedule:
interval: "weekly"

435
Engine/lib/JoltPhysics/.github/workflows/build.yml vendored Normal file
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@ -0,0 +1,435 @@
name: Build
on:
push:
branches: [ master ]
paths-ignore:
- 'Docs/**'
- '**.md'
pull_request:
branches: [ master ]
paths-ignore:
- 'Docs/**'
- '**.md'
env:
EMSCRIPTEN_VERSION: 3.1.64
UBUNTU_CLANG_VERSION: clang++-18
UBUNTU_GCC_VERSION: g++-14
jobs:
linux-clang:
runs-on: ubuntu-latest
name: Linux Clang
strategy:
fail-fast: false
matrix:
build_type: [Debug, Release, Distribution]
double_precision: [No, Yes]
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Install Vulkan
run: ${{github.workspace}}/Build/ubuntu24_install_vulkan_sdk.sh
- name: Configure CMake
working-directory: ${{github.workspace}}/Build
run: ./cmake_linux_clang_gcc.sh ${{matrix.build_type}} ${{env.UBUNTU_CLANG_VERSION}} -DDOUBLE_PRECISION=${{matrix.double_precision}}
- name: Build
run: cmake --build ${{github.workspace}}/Build/Linux_${{matrix.build_type}} -j $(nproc)
- name: Test
working-directory: ${{github.workspace}}/Build/Linux_${{matrix.build_type}}
run: ctest --output-on-failure --verbose
linux_clang_tsan:
runs-on: ubuntu-24.04
name: Linux Clang Sanitizers
strategy:
fail-fast: false
matrix:
build_type: [ReleaseASAN, ReleaseUBSAN, ReleaseTSAN]
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Configure CMake
working-directory: ${{github.workspace}}/Build
run: ./cmake_linux_clang_gcc.sh ${{matrix.build_type}} ${{env.UBUNTU_CLANG_VERSION}} -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
- name: Build
run: cmake --build ${{github.workspace}}/Build/Linux_${{matrix.build_type}} -j $(nproc)
- name: Unit Tests
working-directory: ${{github.workspace}}/Build/Linux_${{matrix.build_type}}
run: ctest --output-on-failure --verbose
- name: Test ConvexVsMesh
working-directory: ${{github.workspace}}/Build/Linux_${{matrix.build_type}}
run: ./PerformanceTest -q=LinearCast -t=max -s=ConvexVsMesh
- name: Test Ragdoll
working-directory: ${{github.workspace}}/Build/Linux_${{matrix.build_type}}
run: ./PerformanceTest -q=LinearCast -t=max -s=Ragdoll
linux-clang-so:
runs-on: ubuntu-24.04
name: Linux Clang Shared Library
strategy:
fail-fast: false
matrix:
build_type: [Debug, Release, Distribution]
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Configure CMake
working-directory: ${{github.workspace}}/Build
run: ./cmake_linux_clang_gcc.sh ${{matrix.build_type}} ${{env.UBUNTU_CLANG_VERSION}} -DBUILD_SHARED_LIBS=YES
- name: Build
run: cmake --build ${{github.workspace}}/Build/Linux_${{matrix.build_type}} -j $(nproc)
- name: Test
working-directory: ${{github.workspace}}/Build/Linux_${{matrix.build_type}}
run: ctest --output-on-failure --verbose
linux-clang-32-bit:
runs-on: ubuntu-24.04
name: Linux Clang 32-bit
strategy:
fail-fast: false
matrix:
build_type: [Debug, Release, Distribution]
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Update APT
run: sudo apt update
- name: Install G++-Multilib
run: sudo apt -y install g++-multilib
- name: Configure CMake
working-directory: ${{github.workspace}}/Build
run: ./cmake_linux_clang_gcc.sh ${{matrix.build_type}} ${{env.UBUNTU_CLANG_VERSION}} -DCMAKE_CXX_FLAGS=-m32 -DUSE_SSE4_1=OFF -DUSE_SSE4_2=OFF -DUSE_AVX=OFF -DUSE_AVX2=OFF -DUSE_AVX512=OFF -DUSE_LZCNT=OFF -DUSE_TZCNT=OFF -DUSE_F16C=OFF -DUSE_FMADD=OFF
- name: Build
run: cmake --build ${{github.workspace}}/Build/Linux_${{matrix.build_type}} -j $(nproc)
- name: Test
working-directory: ${{github.workspace}}/Build/Linux_${{matrix.build_type}}
run: ctest --output-on-failure --verbose
linux-clang-use-std-vector:
runs-on: ubuntu-24.04
name: Linux Clang using std::vector
strategy:
fail-fast: false
matrix:
build_type: [Debug, ReleaseASAN]
double_precision: [Yes]
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Configure CMake
working-directory: ${{github.workspace}}/Build
run: ./cmake_linux_clang_gcc.sh ${{matrix.build_type}} ${{env.UBUNTU_CLANG_VERSION}} -DDOUBLE_PRECISION=${{matrix.double_precision}} -DUSE_STD_VECTOR=ON
- name: Build
run: cmake --build ${{github.workspace}}/Build/Linux_${{matrix.build_type}} -j $(nproc)
- name: Test
working-directory: ${{github.workspace}}/Build/Linux_${{matrix.build_type}}
run: ctest --output-on-failure --verbose
linux-gcc:
runs-on: ubuntu-24.04
name: Linux GCC
strategy:
fail-fast: false
matrix:
build_type: [Debug, Release, Distribution]
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Install Vulkan
run: ${{github.workspace}}/Build/ubuntu24_install_vulkan_sdk.sh
- name: Configure CMake
working-directory: ${{github.workspace}}/Build
run: ./cmake_linux_clang_gcc.sh ${{matrix.build_type}} ${{env.UBUNTU_GCC_VERSION}}
- name: Build
run: cmake --build ${{github.workspace}}/Build/Linux_${{matrix.build_type}} -j $(nproc)
- name: Test
working-directory: ${{github.workspace}}/Build/Linux_${{matrix.build_type}}
run: ctest --output-on-failure --verbose
linux-gcc-so:
runs-on: ubuntu-24.04
name: Linux GCC Shared Library
strategy:
fail-fast: false
matrix:
build_type: [Debug, Release, Distribution]
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Configure CMake
working-directory: ${{github.workspace}}/Build
run: ./cmake_linux_clang_gcc.sh ${{matrix.build_type}} ${{env.UBUNTU_GCC_VERSION}} -DBUILD_SHARED_LIBS=Yes
- name: Build
run: cmake --build ${{github.workspace}}/Build/Linux_${{matrix.build_type}} -j $(nproc)
- name: Test
working-directory: ${{github.workspace}}/Build/Linux_${{matrix.build_type}}
run: ctest --output-on-failure --verbose
msys2_mingw_gcc:
runs-on: windows-latest
defaults:
run:
shell: msys2 {0}
name: MSYS2 MinGW GCC
strategy:
fail-fast: false
matrix:
build_type: [Debug, Release]
shared_lib: [No, Yes]
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Setup MSYS2
uses: msys2/setup-msys2@v2
with:
msystem: mingw64
install: mingw-w64-x86_64-toolchain mingw-w64-x86_64-cmake
update: true
- name: Configure CMake
working-directory: ${{github.workspace}}/Build
run: ./cmake_linux_mingw.sh ${{matrix.build_type}} -DBUILD_SHARED_LIBS=${{matrix.shared_lib}}
- name: Build
run: cmake --build Build/MinGW_${{matrix.build_type}} -j $(nproc)
- name: Test
working-directory: Build/MinGW_${{matrix.build_type}}
run: ctest --output-on-failure --verbose
msvc_cl:
runs-on: windows-latest
name: Visual Studio CL
strategy:
fail-fast: false
matrix:
build_type: [Debug, Release, Distribution]
double_precision: [No, Yes]
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Add msbuild to PATH
uses: microsoft/setup-msbuild@v2
- name: Configure CMake
run: cmake -B ${{github.workspace}}/Build/VS2022_CL -G "Visual Studio 17 2022" -A x64 Build -DDOUBLE_PRECISION=${{matrix.double_precision}}
- name: Build
run: msbuild Build\VS2022_CL\JoltPhysics.sln /property:Configuration=${{matrix.build_type}} -m
- name: Test
working-directory: ${{github.workspace}}/Build/VS2022_CL/${{matrix.build_type}}
run: ./UnitTests.exe
msvc_cl_no_object_stream:
runs-on: windows-latest
name: Visual Studio CL - No Object Stream
strategy:
fail-fast: false
matrix:
build_type: [Debug, Distribution]
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Add msbuild to PATH
uses: microsoft/setup-msbuild@v2
- name: Configure CMake
run: cmake -B ${{github.workspace}}/Build/VS2022_CL -G "Visual Studio 17 2022" -A x64 Build -DENABLE_OBJECT_STREAM=NO
- name: Build
run: msbuild Build\VS2022_CL\JoltPhysics.sln /property:Configuration=${{matrix.build_type}} -m
- name: Test
working-directory: ${{github.workspace}}/Build/VS2022_CL/${{matrix.build_type}}
run: ./UnitTests.exe
msvc_cl_dll:
runs-on: windows-latest
name: Visual Studio CL Shared Library
strategy:
fail-fast: false
matrix:
build_type: [Debug, Release, Distribution]
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Add msbuild to PATH
uses: microsoft/setup-msbuild@v2
- name: Configure CMake
run: cmake -B ${{github.workspace}}/Build/VS2022_CL -G "Visual Studio 17 2022" -A x64 Build -DBUILD_SHARED_LIBS=Yes
- name: Build
run: msbuild Build\VS2022_CL\JoltPhysics.sln /property:Configuration=${{matrix.build_type}} -m
- name: Test
working-directory: ${{github.workspace}}/Build/VS2022_CL/${{matrix.build_type}}
run: ./UnitTests.exe
msvc_cl_32_bit:
runs-on: windows-latest
name: Visual Studio CL 32-bit
strategy:
fail-fast: false
matrix:
build_type: [Debug, Release]
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Add msbuild to PATH
uses: microsoft/setup-msbuild@v2
- name: Configure CMake
run: cmake -B ${{github.workspace}}/Build/VS2022_CL_32_BIT -G "Visual Studio 17 2022" -A Win32 -DUSE_SSE4_1=OFF -DUSE_SSE4_2=OFF -DUSE_AVX=OFF -DUSE_AVX2=OFF -DUSE_AVX512=OFF -DUSE_LZCNT=OFF -DUSE_TZCNT=OFF -DUSE_F16C=OFF -DUSE_FMADD=OFF Build
- name: Build
run: msbuild Build\VS2022_CL_32_BIT\JoltPhysics.sln /property:Configuration=${{matrix.build_type}} -m
- name: Test
working-directory: ${{github.workspace}}/Build/VS2022_CL_32_BIT/${{matrix.build_type}}
run: ./UnitTests.exe
msvc_cl_arm:
runs-on: windows-latest
name: Visual Studio CL ARM
strategy:
fail-fast: false
matrix:
build_type: [Debug, Release]
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Add msbuild to PATH
uses: microsoft/setup-msbuild@v2
- name: Configure CMake
run: cmake -B ${{github.workspace}}/Build/VS2022_CL_ARM -G "Visual Studio 17 2022" -A ARM64 Build
- name: Build
run: msbuild Build\VS2022_CL_ARM\JoltPhysics.sln /property:Configuration=${{matrix.build_type}} -m
msvc_cl_arm_32_bit:
runs-on: windows-latest
name: Visual Studio CL ARM 32-bit
strategy:
fail-fast: false
matrix:
build_type: [Debug, Release]
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Add msbuild to PATH
uses: microsoft/setup-msbuild@v2
- name: Install Windows 11 SDK (10.0.22621.0)
# Alternative: Start-Process -wait -FilePath "C:\Program Files (x86)\Microsoft Visual Studio\Installer\vs_installer.exe" -ArgumentList "modify", "--installPath", """C:\Program Files\Microsoft Visual Studio\2022\Enterprise""", "--quiet", "--norestart", "--nocache", "--add", "Microsoft.VisualStudio.Component.Windows11SDK.22621" -Verb RunAs
run: choco install windows-sdk-11-version-22H2-all -y
- name: Configure CMake
# Windows 11 SDK 10.0.22621.0 is the last SDK to support 32-bit ARM
run: cmake -B ${{github.workspace}}/Build/VS2022_CL_ARM_32_BIT -G "Visual Studio 17 2022" -A ARM -DCMAKE_SYSTEM_VERSION="10.0.22621.0" -DCMAKE_CXX_COMPILER_WORKS=1 Build
- name: Build
run: msbuild Build\VS2022_CL_ARM_32_BIT\JoltPhysics.sln /property:Configuration=${{matrix.build_type}} -m
msvc_clang:
runs-on: windows-latest
name: Visual Studio Clang
strategy:
fail-fast: false
matrix:
build_type: [Debug, Release, Distribution]
double_precision: [No, Yes]
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Add msbuild to PATH
uses: microsoft/setup-msbuild@v2
- name: Configure CMake
run: cmake -B ${{github.workspace}}/Build/VS2022_Clang -G "Visual Studio 17 2022" -A x64 -T ClangCL Build -DDOUBLE_PRECISION=${{matrix.double_precision}}
- name: Build
run: msbuild Build\VS2022_Clang\JoltPhysics.sln /property:Configuration=${{matrix.build_type}} -m
- name: Test
working-directory: ${{github.workspace}}/Build/VS2022_Clang/${{matrix.build_type}}
run: ./UnitTests.exe
macos:
runs-on: macos-latest
name: macOS
env:
VULKAN_SDK_INSTALL: ${{github.workspace}}/vulkan_sdk
strategy:
fail-fast: false
matrix:
build_type: [Debug, Release, Distribution]
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Install Vulkan
run: ${{github.workspace}}/Build/macos_install_vulkan_sdk.sh ${VULKAN_SDK_INSTALL}
- name: Configure CMake
run: |
source ${VULKAN_SDK_INSTALL}/setup-env.sh
cmake -B ${{github.workspace}}/Build/MacOS_${{matrix.build_type}} -DCMAKE_BUILD_TYPE=${{matrix.build_type}} -DCMAKE_CXX_COMPILER=clang++ Build
- name: Build
run: cmake --build ${{github.workspace}}/Build/MacOS_${{matrix.build_type}} -j $(nproc)
- name: Test
working-directory: ${{github.workspace}}/Build/MacOS_${{matrix.build_type}}
run: ctest --output-on-failure --verbose
android:
runs-on: ubuntu-latest
name: Android
strategy:
fail-fast: false
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Setup Java
uses: actions/setup-java@v5
with:
distribution: 'temurin'
java-version: '17'
- name: Gradle Build
working-directory: ${{github.workspace}}/Build/Android
run: ./gradlew build --no-daemon
ios:
runs-on: macos-latest
name: iOS
strategy:
fail-fast: false
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Configure CMake
run: cmake -B ${{github.workspace}}/Build/XCode_iOS -DTARGET_HELLO_WORLD=OFF -DTARGET_PERFORMANCE_TEST=OFF -DCMAKE_SYSTEM_NAME=iOS -GXcode Build
- name: Build
run: cmake --build ${{github.workspace}}/Build/XCode_iOS -- -sdk iphonesimulator -arch x86_64
emscripten:
runs-on: ubuntu-latest
name: Emscripten
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Setup emsdk
uses: mymindstorm/setup-emsdk@v14
with:
version: ${{env.EMSCRIPTEN_VERSION}}
- name: Verify emsdk
run: emcc -v
- name: Setup Node.js 18.x
uses: actions/setup-node@v6
with:
node-version: 18.x
- name: Configure CMake
working-directory: ${{github.workspace}}/Build
run: ./cmake_linux_emscripten.sh Distribution -DTARGET_HELLO_WORLD=OFF -DTARGET_PERFORMANCE_TEST=OFF
- name: Build
run: cmake --build ${{github.workspace}}/Build/WASM_Distribution -j $(nproc)
- name: Test
working-directory: ${{github.workspace}}/Build/WASM_Distribution
run: node UnitTests.js

430
Engine/lib/JoltPhysics/.github/workflows/determinism_check.yml vendored Normal file
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@ -0,0 +1,430 @@
name: Determinism Check
env:
CONVEX_VS_MESH_HASH: '0xa7348cad585544bf'
RAGDOLL_HASH: '0xc392d8f867b0be5b'
PYRAMID_HASH: '0xafd93b295e75e3f6'
CHARACTER_VIRTUAL_HASH: '0x19c55223035a8f1a'
EMSCRIPTEN_VERSION: 4.0.2
NODE_VERSION: 23.x
UBUNTU_CLANG_VERSION: clang++-18
UBUNTU_GCC_VERSION: g++-14
UBUNTU_GCC_AARCH64_VERSION: aarch64-linux-gnu-g++-14
UBUNTU_GCC_RISCV_VERSION: riscv64-linux-gnu-g++-14
UBUNTU_GCC_POWERPC_VERSION: powerpc64le-linux-gnu-g++-14
UBUNTU_GCC_LOONGARCH_VERSION: loongarch64-linux-gnu-g++-14
on:
push:
branches: [ master ]
paths-ignore:
- 'Docs/**'
- '**.md'
pull_request:
branches: [ master ]
paths-ignore:
- 'Docs/**'
- '**.md'
jobs:
linux_clang:
runs-on: ubuntu-latest
name: Linux Clang Determinism Check
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Configure CMake
working-directory: ${{github.workspace}}/Build
run: ./cmake_linux_clang_gcc.sh Distribution ${{env.UBUNTU_CLANG_VERSION}} -DCROSS_PLATFORM_DETERMINISTIC=ON -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
- name: Build
run: cmake --build ${{github.workspace}}/Build/Linux_Distribution -j $(nproc)
- name: Unit Tests
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: ctest --output-on-failure --verbose
- name: Test ConvexVsMesh
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: ./PerformanceTest -q=LinearCast -t=max -s=ConvexVsMesh -validate_hash=${CONVEX_VS_MESH_HASH}
- name: Test Ragdoll
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: ./PerformanceTest -q=LinearCast -t=max -s=Ragdoll -validate_hash=${RAGDOLL_HASH}
- name: Test Pyramid
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: ./PerformanceTest -q=LinearCast -t=max -s=Pyramid -validate_hash=${PYRAMID_HASH}
- name: Test CharacterVirtual
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: ./PerformanceTest -q=Discrete -t=max -s=CharacterVirtual -validate_hash=${CHARACTER_VIRTUAL_HASH}
linux_gcc:
runs-on: ubuntu-latest
name: Linux GCC Determinism Check
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Configure CMake
working-directory: ${{github.workspace}}/Build
run: ./cmake_linux_clang_gcc.sh Distribution ${{env.UBUNTU_GCC_VERSION}} -DCROSS_PLATFORM_DETERMINISTIC=ON -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
- name: Build
run: cmake --build ${{github.workspace}}/Build/Linux_Distribution -j $(nproc)
- name: Unit Tests
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: ctest --output-on-failure --verbose
- name: Test ConvexVsMesh
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: ./PerformanceTest -q=LinearCast -t=max -s=ConvexVsMesh -validate_hash=${CONVEX_VS_MESH_HASH}
- name: Test Ragdoll
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: ./PerformanceTest -q=LinearCast -t=max -s=Ragdoll -validate_hash=${RAGDOLL_HASH}
- name: Test Pyramid
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: ./PerformanceTest -q=LinearCast -t=max -s=Pyramid -validate_hash=${PYRAMID_HASH}
- name: Test CharacterVirtual
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: ./PerformanceTest -q=Discrete -t=max -s=CharacterVirtual -validate_hash=${CHARACTER_VIRTUAL_HASH}
msvc_cl:
runs-on: windows-latest
name: Visual Studio CL Determinism Check
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Add msbuild to PATH
uses: microsoft/setup-msbuild@v2
- name: Configure CMake
working-directory: ${{github.workspace}}/Build
run: ./cmake_vs2022_cl.bat -DCROSS_PLATFORM_DETERMINISTIC=ON -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
- name: Build
run: msbuild Build\VS2022_CL\JoltPhysics.sln /property:Configuration=Distribution
- name: Unit Tests
working-directory: ${{github.workspace}}/Build/VS2022_CL/Distribution
run: ./UnitTests.exe
- name: Test ConvexVsMesh
working-directory: ${{github.workspace}}/Build/VS2022_CL/Distribution
run: ./PerformanceTest -q=LinearCast -t=max -s=ConvexVsMesh "-validate_hash=$env:CONVEX_VS_MESH_HASH"
- name: Test Ragdoll
working-directory: ${{github.workspace}}/Build/VS2022_CL/Distribution
run: ./PerformanceTest -q=LinearCast -t=max -s=Ragdoll "-validate_hash=$env:RAGDOLL_HASH"
- name: Test Pyramid
working-directory: ${{github.workspace}}/Build/VS2022_CL/Distribution
run: ./PerformanceTest -q=LinearCast -t=max -s=Pyramid "-validate_hash=$env:PYRAMID_HASH"
- name: Test CharacterVirtual
working-directory: ${{github.workspace}}/Build/VS2022_CL/Distribution
run: ./PerformanceTest -q=Discrete -t=max -s=CharacterVirtual "-validate_hash=$env:CHARACTER_VIRTUAL_HASH"
msvc_cl_32:
runs-on: windows-latest
name: Visual Studio CL 32-bit Determinism Check
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Add msbuild to PATH
uses: microsoft/setup-msbuild@v2
- name: Configure CMake
working-directory: ${{github.workspace}}/Build
run: ./cmake_vs2022_cl_32bit.bat -DCROSS_PLATFORM_DETERMINISTIC=ON -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
- name: Build
run: msbuild Build\VS2022_CL_32BIT\JoltPhysics.sln /property:Configuration=Distribution
- name: Unit Tests
working-directory: ${{github.workspace}}/Build/VS2022_CL_32BIT/Distribution
run: ./UnitTests.exe
- name: Test ConvexVsMesh
working-directory: ${{github.workspace}}/Build/VS2022_CL_32BIT/Distribution
run: ./PerformanceTest -q=LinearCast -t=max -s=ConvexVsMesh "-validate_hash=$env:CONVEX_VS_MESH_HASH"
- name: Test Ragdoll
working-directory: ${{github.workspace}}/Build/VS2022_CL_32BIT/Distribution
run: ./PerformanceTest -q=LinearCast -t=max -s=Ragdoll "-validate_hash=$env:RAGDOLL_HASH"
- name: Test Pyramid
working-directory: ${{github.workspace}}/Build/VS2022_CL_32BIT/Distribution
run: ./PerformanceTest -q=LinearCast -t=max -s=Pyramid "-validate_hash=$env:PYRAMID_HASH"
- name: Test CharacterVirtual
working-directory: ${{github.workspace}}/Build/VS2022_CL_32BIT/Distribution
run: ./PerformanceTest -q=Discrete -t=max -s=CharacterVirtual "-validate_hash=$env:CHARACTER_VIRTUAL_HASH"
macos:
runs-on: macos-latest
name: macOS Determinism Check
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Configure CMake
working-directory: ${{github.workspace}}/Build
run: ./cmake_linux_clang_gcc.sh Distribution clang++ -DCROSS_PLATFORM_DETERMINISTIC=ON -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
- name: Build
run: cmake --build ${{github.workspace}}/Build/Linux_Distribution -j $(nproc)
- name: Unit Tests
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: ctest --output-on-failure --verbose
- name: Test ConvexVsMesh
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: ./PerformanceTest -q=LinearCast -t=max -s=ConvexVsMesh -validate_hash=${CONVEX_VS_MESH_HASH}
- name: Test Ragdoll
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: ./PerformanceTest -q=LinearCast -t=max -s=Ragdoll -validate_hash=${RAGDOLL_HASH}
- name: Test Pyramid
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: ./PerformanceTest -q=LinearCast -t=max -s=Pyramid -validate_hash=${PYRAMID_HASH}
- name: Test CharacterVirtual
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: ./PerformanceTest -q=Discrete -t=max -s=CharacterVirtual -validate_hash=${CHARACTER_VIRTUAL_HASH}
arm_clang:
runs-on: ubuntu-latest
name: ARM Clang Determinism Check
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Update index
run: sudo apt-get update
- name: Install Cross Compiler
run: sudo apt-get install gcc-14-aarch64-linux-gnu gcc-14-multilib g++-14-multilib libstdc++-14-dev-arm64-cross qemu-user -y
- name: Configure CMake
working-directory: ${{github.workspace}}/Build
run: ./cmake_linux_clang_gcc.sh Distribution ${{env.UBUNTU_CLANG_VERSION}} -DCROSS_COMPILE_ARM=ON -DCROSS_PLATFORM_DETERMINISTIC=ON -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
- name: Build
run: cmake --build ${{github.workspace}}/Build/Linux_Distribution -j $(nproc)
- name: Unit Tests
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: qemu-aarch64 -L /usr/aarch64-linux-gnu/ ./UnitTests
- name: Test ConvexVsMesh
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: qemu-aarch64 -L /usr/aarch64-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=ConvexVsMesh -validate_hash=${CONVEX_VS_MESH_HASH}
- name: Test Ragdoll
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: qemu-aarch64 -L /usr/aarch64-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=Ragdoll -validate_hash=${RAGDOLL_HASH}
- name: Test Pyramid
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: qemu-aarch64 -L /usr/aarch64-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=Pyramid -validate_hash=${PYRAMID_HASH}
- name: Test CharacterVirtual
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: qemu-aarch64 -L /usr/aarch64-linux-gnu/ ./PerformanceTest -q=Discrete -t=max -s=CharacterVirtual -validate_hash=${CHARACTER_VIRTUAL_HASH}
arm_clang_32:
runs-on: ubuntu-latest
name: ARM Clang 32-bit Determinism Check
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Update index
run: sudo apt-get update
- name: Install Cross Compiler
run: sudo apt-get install g++-14-arm-linux-gnueabihf qemu-user -y
- name: Configure CMake
working-directory: ${{github.workspace}}/Build
run: ./cmake_linux_clang_gcc.sh Distribution ${{env.UBUNTU_CLANG_VERSION}} -DCROSS_COMPILE_ARM=ON -DCROSS_COMPILE_ARM_TARGET="arm-linux-gnueabihf" -DCROSS_PLATFORM_DETERMINISTIC=ON -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
- name: Build
run: cmake --build ${{github.workspace}}/Build/Linux_Distribution -j $(nproc)
- name: Unit Tests
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: qemu-arm -L /usr/arm-linux-gnueabihf/ ./UnitTests
- name: Test ConvexVsMesh
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: qemu-arm -L /usr/arm-linux-gnueabihf/ ./PerformanceTest -q=LinearCast -t=max -s=ConvexVsMesh -validate_hash=${CONVEX_VS_MESH_HASH}
- name: Test Ragdoll
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: qemu-arm -L /usr/arm-linux-gnueabihf/ ./PerformanceTest -q=LinearCast -t=max -s=Ragdoll -validate_hash=${RAGDOLL_HASH}
- name: Test Pyramid
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: qemu-arm -L /usr/arm-linux-gnueabihf/ ./PerformanceTest -q=LinearCast -t=max -s=Pyramid -validate_hash=${PYRAMID_HASH}
- name: Test CharacterVirtual
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: qemu-arm -L /usr/arm-linux-gnueabihf/ ./PerformanceTest -q=Discrete -t=max -s=CharacterVirtual -validate_hash=${CHARACTER_VIRTUAL_HASH}
arm_gcc:
runs-on: ubuntu-latest
name: ARM GCC Determinism Check
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Update index
run: sudo apt-get update
- name: Install Cross Compiler
run: sudo apt-get install g++-14-aarch64-linux-gnu gcc-14-multilib g++-14-multilib libstdc++-14-dev-arm64-cross qemu-user -y
- name: Configure CMake
working-directory: ${{github.workspace}}/Build
run: ./cmake_linux_clang_gcc.sh Distribution ${{env.UBUNTU_GCC_AARCH64_VERSION}} -DCROSS_COMPILE_ARM=ON -DCROSS_PLATFORM_DETERMINISTIC=ON -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
- name: Build
run: cmake --build ${{github.workspace}}/Build/Linux_Distribution -j $(nproc)
- name: Unit Tests
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: qemu-aarch64 -L /usr/aarch64-linux-gnu/ ./UnitTests
- name: Test ConvexVsMesh
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: qemu-aarch64 -L /usr/aarch64-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=ConvexVsMesh -validate_hash=${CONVEX_VS_MESH_HASH}
- name: Test Ragdoll
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: qemu-aarch64 -L /usr/aarch64-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=Ragdoll -validate_hash=${RAGDOLL_HASH}
- name: Test Pyramid
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: qemu-aarch64 -L /usr/aarch64-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=Pyramid -validate_hash=${PYRAMID_HASH}
- name: Test CharacterVirtual
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: qemu-aarch64 -L /usr/aarch64-linux-gnu/ ./PerformanceTest -q=Discrete -t=max -s=CharacterVirtual -validate_hash=${CHARACTER_VIRTUAL_HASH}
riscv_gcc:
runs-on: ubuntu-latest
name: RISC-V GCC Determinism Check
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Update index
run: sudo apt-get update
- name: Install Cross Compiler
run: sudo apt-get install g++-14-riscv64-linux-gnu gcc-14-multilib g++-14-multilib qemu-user -y
- name: Configure CMake
working-directory: ${{github.workspace}}/Build
run: ./cmake_linux_clang_gcc.sh Distribution ${{env.UBUNTU_GCC_RISCV_VERSION}} -DCROSS_COMPILE_ARM=ON -DCROSS_PLATFORM_DETERMINISTIC=ON -DCROSS_COMPILE_ARM_TARGET="" -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
- name: Build
run: cmake --build ${{github.workspace}}/Build/Linux_Distribution -j $(nproc)
- name: Unit Tests
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: qemu-riscv64 -L /usr/riscv64-linux-gnu/ ./UnitTests
- name: Test ConvexVsMesh
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: qemu-riscv64 -L /usr/riscv64-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=ConvexVsMesh -validate_hash=${CONVEX_VS_MESH_HASH}
- name: Test Ragdoll
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: qemu-riscv64 -L /usr/riscv64-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=Ragdoll -validate_hash=${RAGDOLL_HASH}
- name: Test Pyramid
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: qemu-riscv64 -L /usr/riscv64-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=Pyramid -validate_hash=${PYRAMID_HASH}
- name: Test CharacterVirtual
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: qemu-riscv64 -L /usr/riscv64-linux-gnu/ ./PerformanceTest -q=Discrete -t=max -s=CharacterVirtual -validate_hash=${CHARACTER_VIRTUAL_HASH}
powerpcle_gcc:
runs-on: ubuntu-latest
name: PowerPC Little Endian GCC Determinism Check
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Update index
run: sudo apt-get update
- name: Install Cross Compiler
run: sudo apt-get install g++-14-powerpc64le-linux-gnu gcc-14-multilib g++-14-multilib qemu-user -y
- name: Configure CMake
working-directory: ${{github.workspace}}/Build
run: ./cmake_linux_clang_gcc.sh Distribution ${{env.UBUNTU_GCC_POWERPC_VERSION}} -DCROSS_COMPILE_ARM=ON -DCROSS_PLATFORM_DETERMINISTIC=ON -DCROSS_COMPILE_ARM_TARGET="" -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
- name: Build
run: cmake --build ${{github.workspace}}/Build/Linux_Distribution -j $(nproc)
- name: Unit Tests
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: qemu-ppc64le -L /usr/powerpc64le-linux-gnu/ ./UnitTests
- name: Test ConvexVsMesh
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: qemu-ppc64le -L /usr/powerpc64le-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=ConvexVsMesh -validate_hash=${CONVEX_VS_MESH_HASH}
# This is really slow so disabled for the moment
# - name: Test Ragdoll
# working-directory: ${{github.workspace}}/Build/Linux_Distribution
# run: qemu-ppc64le -L /usr/powerpc64le-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=Ragdoll -validate_hash=${RAGDOLL_HASH}
# - name: Test Pyramid
# working-directory: ${{github.workspace}}/Build/Linux_Distribution
# run: qemu-ppc64le -L /usr/powerpc64le-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=Pyramid -validate_hash=${PYRAMID_HASH}
loongarch_gcc:
runs-on: ubuntu-latest
name: LoongArch GCC Determinism Check
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Update index
run: sudo apt-get update
- name: Install Cross Compiler
run: sudo apt-get install g++-14-loongarch64-linux-gnu gcc-14-multilib g++-14-multilib qemu-user -y
- name: Configure CMake
working-directory: ${{github.workspace}}/Build
run: ./cmake_linux_clang_gcc.sh Distribution ${{env.UBUNTU_GCC_LOONGARCH_VERSION}} -DCROSS_COMPILE_ARM=ON -DCROSS_PLATFORM_DETERMINISTIC=ON -DCROSS_COMPILE_ARM_TARGET="" -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
- name: Build
run: cmake --build ${{github.workspace}}/Build/Linux_Distribution -j $(nproc)
- name: Unit Tests
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: qemu-loongarch64 -L /usr/loongarch64-linux-gnu/ ./UnitTests
- name: Test ConvexVsMesh
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: qemu-loongarch64 -L /usr/loongarch64-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=ConvexVsMesh -validate_hash=${CONVEX_VS_MESH_HASH}
- name: Test Ragdoll
working-directory: ${{github.workspace}}/Build/Linux_Distribution
run: qemu-loongarch64 -L /usr/loongarch64-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=Ragdoll -validate_hash=${RAGDOLL_HASH}
# This is slow so disabled for the moment
# - name: Test Pyramid
# working-directory: ${{github.workspace}}/Build/Linux_Distribution
# run: qemu-loongarch64 -L /usr/loongarch64-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=Pyramid -validate_hash=${PYRAMID_HASH}
emscripten:
runs-on: ubuntu-latest
name: Emscripten WASM32 Determinism Check
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Setup emsdk
uses: mymindstorm/setup-emsdk@v14
with:
version: ${{env.EMSCRIPTEN_VERSION}}
- name: Verify emsdk
run: emcc -v
- name: Setup Node.js ${{env.NODE_VERSION}}
uses: actions/setup-node@v6
with:
node-version: ${{env.NODE_VERSION}}
- name: Configure CMake
working-directory: ${{github.workspace}}/Build
run: ./cmake_linux_emscripten.sh Distribution -DCROSS_PLATFORM_DETERMINISTIC=ON -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
- name: Build
run: cmake --build ${{github.workspace}}/Build/WASM_Distribution -j $(nproc)
- name: Unit Tests
working-directory: ${{github.workspace}}/Build/WASM_Distribution
run: node UnitTests.js
- name: Test ConvexVsMesh
working-directory: ${{github.workspace}}/Build/WASM_Distribution
run: node PerformanceTest.js -q=LinearCast -t=max -s=ConvexVsMesh -validate_hash=${CONVEX_VS_MESH_HASH}
- name: Test Ragdoll
working-directory: ${{github.workspace}}/Build/WASM_Distribution
run: node PerformanceTest.js -q=LinearCast -t=max -s=Ragdoll -validate_hash=${RAGDOLL_HASH}
- name: Test Pyramid
working-directory: ${{github.workspace}}/Build/WASM_Distribution
run: node PerformanceTest.js -q=LinearCast -t=max -s=Pyramid -validate_hash=${PYRAMID_HASH}
- name: Test CharacterVirtual
working-directory: ${{github.workspace}}/Build/WASM_Distribution
run: node PerformanceTest.js -q=Discrete -t=max -s=CharacterVirtual -validate_hash=${CHARACTER_VIRTUAL_HASH}
emscripten64:
runs-on: ubuntu-latest
name: Emscripten WASM64 Determinism Check
steps:
- name: Checkout Code
uses: actions/checkout@v6
- name: Setup emsdk
uses: mymindstorm/setup-emsdk@v14
with:
version: ${{env.EMSCRIPTEN_VERSION}}
- name: Verify emsdk
run: emcc -v
- name: Setup Node.js ${{env.NODE_VERSION}}
uses: actions/setup-node@v6
with:
node-version: ${{env.NODE_VERSION}}
- name: Configure CMake
working-directory: ${{github.workspace}}/Build
run: ./cmake_linux_emscripten.sh Distribution -DCROSS_PLATFORM_DETERMINISTIC=ON -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON -DJPH_USE_WASM64=ON
- name: Build
run: cmake --build ${{github.workspace}}/Build/WASM_Distribution -j $(nproc)
- name: Unit Tests
working-directory: ${{github.workspace}}/Build/WASM_Distribution
run: node --experimental-wasm-memory64 UnitTests.js
- name: Test ConvexVsMesh
working-directory: ${{github.workspace}}/Build/WASM_Distribution
run: node --experimental-wasm-memory64 PerformanceTest.js -q=LinearCast -t=max -s=ConvexVsMesh -validate_hash=${CONVEX_VS_MESH_HASH}
- name: Test Ragdoll
working-directory: ${{github.workspace}}/Build/WASM_Distribution
run: node --experimental-wasm-memory64 PerformanceTest.js -q=LinearCast -t=max -s=Ragdoll -validate_hash=${RAGDOLL_HASH}
- name: Test Pyramid
working-directory: ${{github.workspace}}/Build/WASM_Distribution
run: node --experimental-wasm-memory64 PerformanceTest.js -q=LinearCast -t=max -s=Pyramid -validate_hash=${PYRAMID_HASH}
- name: Test CharacterVirtual
working-directory: ${{github.workspace}}/Build/WASM_Distribution
run: node --experimental-wasm-memory64 PerformanceTest.js -q=Discrete -t=max -s=CharacterVirtual -validate_hash=${CHARACTER_VIRTUAL_HASH}

26
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name: Doxygen Action
on:
push:
branches: [ master ]
# Builds and deploys doxygen documentation
jobs:
build:
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v6
- name: Doxygen Action
uses: mattnotmitt/doxygen-action@v1.12.0
with:
doxyfile-path: "./Doxyfile"
working-directory: "."
- name: Deploy
uses: peaceiris/actions-gh-pages@v4
with:
github_token: ${{ secrets.GITHUB_TOKEN }}
publish_dir: ./Build/Doxygen
force_orphan: true

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name: Sonar Cloud
on:
push:
branches: [ master ]
paths-ignore:
- 'Docs/**'
- '**.md'
pull_request:
branches: [ master ]
paths-ignore:
- 'Docs/**'
- '**.md'
jobs:
check-secret:
runs-on: ubuntu-latest
outputs:
sonar-token: ${{ steps.sonar-token.outputs.defined }}
steps:
- id: sonar-token
if: ${{ env.SONAR_TOKEN != '' }}
run: echo "defined=true" >> $GITHUB_OUTPUT
env:
SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
build:
name: Build
needs: [check-secret]
if: needs.check-secret.outputs.sonar-token == 'true'
runs-on: ubuntu-latest
env:
BUILD_WRAPPER_OUT_DIR: build_wrapper_output_directory # Directory where build-wrapper output will be placed
CLANG_VERSION: 18
steps:
- uses: actions/checkout@v6
with:
fetch-depth: 0 # Shallow clones should be disabled for a better relevancy of analysis
- name: Install build-wrapper
uses: SonarSource/sonarqube-scan-action/install-build-wrapper@v7
- name: Configure CMake
working-directory: ${{github.workspace}}/Build
run: ./cmake_linux_clang_gcc.sh ReleaseCoverage clang++-${{ env.CLANG_VERSION }}
- name: Run build-wrapper
run: build-wrapper-linux-x86-64 --out-dir ${{ env.BUILD_WRAPPER_OUT_DIR }} cmake --build ${{github.workspace}}/Build/Linux_ReleaseCoverage -j $(nproc)
- name: Run unit tests and create coverage report
working-directory: ${{github.workspace}}/Build/Linux_ReleaseCoverage
run: |
cmake --build . --target test -j $(nproc)
llvm-profdata-${{ env.CLANG_VERSION }} merge -sparse default.profraw -o default.profdata
llvm-cov-${{ env.CLANG_VERSION }} show -format=text UnitTests -instr-profile=default.profdata > coverage.txt
- name: Run sonar-scanner
uses: SonarSource/sonarqube-scan-action@v7
env:
SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
with:
args: >
--define sonar.cfamily.compile-commands=${{ env.BUILD_WRAPPER_OUT_DIR }}/compile_commands.json --define sonar.cfamily.llvm-cov.reportPath=${{github.workspace}}/Build/Linux_ReleaseCoverage/coverage.txt

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.cache/
.clangd/
.fleet/
.idea/
.vs
.vscode
.DS_Store
/profile_chart_*.html
/stats*.html
/snapshot.bin
/*.jor
/detlog.txt
/Assets/Shaders/VK/*.spv
/Assets/Shaders/MTL/*.metallib

BIN
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TOS 1.00
declare SkeletalAnimation 1
mAnimatedJoints array instance SkeletalAnimation::AnimatedJoint
declare SkeletalAnimation::AnimatedJoint 2
mJointName string
mKeyframes array instance SkeletalAnimation::Keyframe
declare SkeletalAnimation::Keyframe 3
mRotation quat
mTranslation vec3
mTime float
object SkeletalAnimation 00000001
23
"hipsBone"
1
-0.580907 0.662465 0.472926 -0.005293
-0.511629 0.123338 0.102563
0.000000
"R_Leg_sjnt_0"
1
0.994683 0.029515 -0.098649 -0.001901
-0.104854 -0.000224 0.000080
0.000000
"R_Leg_sjnt_1"
1
0.558236 0.082819 0.102170 0.819191
-0.000000 0.461809 0.000000
0.000000
"R_Foot_sjnt_0"
1
-0.415795 -0.025903 -0.285547 0.863080
0.000000 0.388174 0.000000
0.000000
"L_Leg_sjnt_0"
1
-0.096847 0.200302 0.053881 0.973446
0.104854 -0.000225 0.000080
0.000000
"L_Leg_sjnt_1"
1
0.625317 0.040626 -0.068376 0.776307
0.000000 -0.461808 0.000000
0.000000
"L_Foot_sjnt_0"
1
0.448028 0.016552 0.068711 -0.891222
-0.000001 -0.388173 -0.000000
0.000000
"C_Spine_sjnt_0"
1
0.031433 -0.000518 -0.001091 0.999505
-0.000000 0.055442 -0.000000
0.000000
"C_Spine_sjnt_1"
1
0.062272 0.003369 -0.006740 0.998031
-0.000000 0.049000 0.000000
0.000000
"C_Spine_sjnt_2"
1
0.093196 0.002904 -0.011009 0.995583
0.000000 0.049000 -0.000000
0.000000
"C_Spine_sjnt_4"
1
0.092643 0.004648 -0.011669 0.995620
0.000000 0.098001 0.000000
0.000000
"L_Clavicle_sjnt_0"
1
0.856473 -0.498143 0.097625 0.093688
0.007299 0.208857 0.030677
0.000000
"L_Arm_sjnt_0"
1
0.051326 0.583453 0.540585 0.603918
0.070455 -0.150703 0.005819
0.000000
"L_Arm_sjnt_1"
1
0.749181 -0.055037 -0.190752 0.631912
-0.000001 -0.260631 0.000000
0.000000
"L_Wrist_sjnt_0"
1
0.000688 -0.106898 0.049180 -0.993053
0.000007 -0.242273 0.000003
0.000000
"R_Clavicle_sjnt_0"
1
-0.076883 -0.107965 0.509223 0.850367
-0.007299 0.208857 0.030677
0.000000
"R_Arm_sjnt_0"
1
0.622778 -0.313061 0.547977 0.462453
-0.070458 0.150703 -0.005820
0.000000
"R_Arm_sjnt_1"
1
0.570264 -0.066970 -0.307114 0.758944
-0.000001 0.260632 -0.000000
0.000000
"R_Wrist_sjnt_0"
1
-0.107633 -0.182094 -0.068157 -0.974993
0.000000 0.242268 -0.000000
0.000000
"C_Neck_sjnt_0"
1
0.148132 0.042497 -0.052729 0.986646
0.000000 0.206349 -0.038118
0.000000
"C_Neck_sjnt_1"
1
-0.272572 0.021316 -0.048793 0.960661
-0.000000 0.054000 0.000000
0.000000
"C_Neck_sjnt_2"
1
-0.054183 -0.008292 -0.029041 0.998074
0.000000 0.054001 0.000000
0.000000
"C_Head_sjnt_0"
1
0.029305 0.088480 -0.137100 0.986162
0.000000 0.054000 -0.000000
0.000000

131
Engine/lib/JoltPhysics/Assets/Human/dead_pose2.tof Normal file
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@ -0,0 +1,131 @@
TOS 1.00
declare SkeletalAnimation 1
mAnimatedJoints array instance SkeletalAnimation::AnimatedJoint
declare SkeletalAnimation::AnimatedJoint 2
mJointName string
mKeyframes array instance SkeletalAnimation::Keyframe
declare SkeletalAnimation::Keyframe 3
mRotation quat
mTranslation vec3
mTime float
object SkeletalAnimation 00000001
23
"hipsBone"
1
0.580969 0.662434 0.472893 0.005230
0.778002 0.123338 0.121363
0.000000
"R_Leg_sjnt_0"
1
-0.979544 0.029720 -0.196361 -0.032433
-0.104854 -0.000224 0.000080
0.000000
"R_Leg_sjnt_1"
1
0.607629 0.107933 -0.014707 0.786715
-0.000000 0.461809 0.000000
0.000000
"R_Foot_sjnt_0"
1
-0.601232 0.033798 -0.038697 0.797421
0.000000 0.388174 0.000000
0.000000
"L_Leg_sjnt_0"
1
0.047909 -0.102469 -0.016701 0.993441
0.104854 -0.000225 0.000080
0.000000
"L_Leg_sjnt_1"
1
-0.491497 -0.068754 -0.078845 -0.864573
0.000000 -0.461808 0.000000
0.000000
"L_Foot_sjnt_0"
1
0.390997 -0.045090 0.421830 -0.816791
-0.000001 -0.388173 -0.000000
0.000000
"C_Spine_sjnt_0"
1
0.031433 0.000503 0.001038 0.999505
-0.000000 0.055442 0.000000
0.000000
"C_Spine_sjnt_1"
1
0.062272 -0.003358 0.006714 0.998031
-0.000000 0.049000 0.000000
0.000000
"C_Spine_sjnt_2"
1
0.093197 -0.002900 0.010957 0.995583
0.000000 0.049000 -0.000000
0.000000
"C_Spine_sjnt_4"
1
-0.092643 0.004635 -0.011603 -0.995621
0.000000 0.098001 -0.000000
0.000000
"L_Clavicle_sjnt_0"
1
-0.850361 0.509199 0.108046 -0.077000
0.007299 0.208857 0.030677
0.000000
"L_Arm_sjnt_0"
1
0.622797 -0.313095 0.547896 0.462500
0.070455 -0.150703 0.005820
0.000000
"L_Arm_sjnt_1"
1
-0.570276 0.066909 0.307092 -0.758948
-0.000001 -0.260631 -0.000000
0.000000
"L_Wrist_sjnt_0"
1
0.107622 0.182086 0.068178 0.974994
0.000007 -0.242273 0.000002
0.000000
"R_Clavicle_sjnt_0"
1
-0.093524 0.097713 0.498124 0.856492
-0.007299 0.208857 0.030677
0.000000
"R_Arm_sjnt_0"
1
0.051326 0.583528 0.540453 0.603963
-0.070458 0.150703 -0.005820
0.000000
"R_Arm_sjnt_1"
1
-0.749170 0.055080 0.190723 -0.631930
-0.000001 0.260632 0.000000
0.000000
"R_Wrist_sjnt_0"
1
-0.000687 0.106883 -0.049184 0.993054
0.000000 0.242268 -0.000000
0.000000
"C_Neck_sjnt_0"
1
0.148136 -0.042494 0.052637 0.986651
-0.000000 0.206349 -0.038118
0.000000
"C_Neck_sjnt_1"
1
-0.272569 -0.021317 0.048735 0.960665
0.000000 0.054001 0.000000
0.000000
"C_Neck_sjnt_2"
1
-0.054186 0.008273 0.028994 0.998076
0.000000 0.054001 0.000000
0.000000
"C_Head_sjnt_0"
1
0.029319 -0.088467 0.137075 0.986167
0.000000 0.054000 -0.000000
0.000000

131
Engine/lib/JoltPhysics/Assets/Human/dead_pose3.tof Normal file
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@ -0,0 +1,131 @@
TOS 1.00
declare SkeletalAnimation 1
mAnimatedJoints array instance SkeletalAnimation::AnimatedJoint
declare SkeletalAnimation::AnimatedJoint 2
mJointName string
mKeyframes array instance SkeletalAnimation::Keyframe
declare SkeletalAnimation::Keyframe 3
mRotation quat
mTranslation vec3
mTime float
object SkeletalAnimation 00000001
23
"hipsBone"
1
-0.253414 0.715602 -0.639670 0.120488
-0.113085 0.196785 -0.745374
0.000000
"R_Leg_sjnt_0"
1
-0.940855 0.027320 -0.183670 -0.283391
-0.104854 -0.000224 0.000080
0.000000
"R_Leg_sjnt_1"
1
0.732582 0.147108 -0.159629 0.645136
0.000000 0.461808 0.000000
0.000000
"R_Foot_sjnt_0"
1
-0.543008 -0.043463 0.072346 0.835476
0.000000 0.388174 0.000000
0.000000
"L_Leg_sjnt_0"
1
0.068071 -0.118484 0.183975 0.973386
0.104854 -0.000225 0.000080
0.000000
"L_Leg_sjnt_1"
1
0.258573 0.111198 0.041401 0.958677
0.000000 -0.461808 0.000000
0.000000
"L_Foot_sjnt_0"
1
-0.388386 -0.112771 -0.101140 0.908961
-0.000001 -0.388173 -0.000000
0.000000
"C_Spine_sjnt_0"
1
0.055573 0.116937 0.111430 0.985302
0.000000 0.055442 0.000000
0.000000
"C_Spine_sjnt_1"
1
0.037873 -0.006875 0.039870 0.998463
0.000000 0.049000 0.000000
0.000000
"C_Spine_sjnt_2"
1
0.057513 -0.003345 0.060246 0.996520
-0.000000 0.049000 -0.000000
0.000000
"C_Spine_sjnt_4"
1
0.058450 0.004523 0.059058 0.996532
0.000000 0.098001 0.000000
0.000000
"L_Clavicle_sjnt_0"
1
-0.788890 0.552170 0.262911 0.060331
0.007299 0.208857 0.030677
0.000000
"L_Arm_sjnt_0"
1
-0.242065 -0.166972 -0.682243 -0.669381
0.070455 -0.150703 0.005819
0.000000
"L_Arm_sjnt_1"
1
0.293529 -0.405618 0.091549 0.860775
-0.000001 -0.260631 0.000000
0.000000
"L_Wrist_sjnt_0"
1
-0.018010 -0.348798 0.050741 0.935650
0.000007 -0.242273 0.000002
0.000000
"R_Clavicle_sjnt_0"
1
0.006775 0.017839 0.047960 0.998667
-0.007299 0.208857 0.030677
0.000000
"R_Arm_sjnt_0"
1
-0.057684 0.616002 0.098229 0.779464
-0.070458 0.150703 -0.005820
0.000000
"R_Arm_sjnt_1"
1
0.360633 -0.148932 -0.172766 0.904387
-0.000001 0.260632 -0.000000
0.000000
"R_Wrist_sjnt_0"
1
-0.073581 -0.376053 0.364024 -0.848915
0.000000 0.242268 -0.000000
0.000000
"C_Neck_sjnt_0"
1
0.208406 0.070974 -0.020180 0.975255
-0.000000 0.206349 -0.038118
0.000000
"C_Neck_sjnt_1"
1
-0.214167 0.070851 -0.015228 0.974105
-0.000000 0.054000 0.000000
0.000000
"C_Neck_sjnt_2"
1
0.013069 0.069734 0.004440 0.997470
0.000000 0.054001 0.000000
0.000000
"C_Head_sjnt_0"
1
-0.011944 -0.296295 0.045126 0.953955
0.000000 0.054000 0.000000
0.000000

131
Engine/lib/JoltPhysics/Assets/Human/dead_pose4.tof Normal file
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@ -0,0 +1,131 @@
TOS 1.00
declare SkeletalAnimation 1
mAnimatedJoints array instance SkeletalAnimation::AnimatedJoint
declare SkeletalAnimation::AnimatedJoint 2
mJointName string
mKeyframes array instance SkeletalAnimation::Keyframe
declare SkeletalAnimation::Keyframe 3
mRotation quat
mTranslation vec3
mTime float
object SkeletalAnimation 00000001
23
"hipsBone"
1
-0.006100 0.596243 0.801570 0.044078
0.158819 0.119626 0.352148
0.000000
"R_Leg_sjnt_0"
1
0.987181 -0.088292 0.091403 0.096563
-0.104854 -0.000224 0.000080
0.000000
"R_Leg_sjnt_1"
1
0.518738 0.091591 -0.028278 0.849542
-0.000000 0.461809 -0.000000
0.000000
"R_Foot_sjnt_0"
1
-0.446222 -0.027605 0.081585 0.890768
0.000000 0.388174 0.000000
0.000000
"L_Leg_sjnt_0"
1
-0.004252 0.099688 0.099358 0.990036
0.104854 -0.000225 0.000080
0.000000
"L_Leg_sjnt_1"
1
0.332849 0.214890 0.078034 0.914847
0.000000 -0.461808 0.000000
0.000000
"L_Foot_sjnt_0"
1
-0.353947 -0.242590 0.059009 0.901326
-0.000001 -0.388173 -0.000000
0.000000
"C_Spine_sjnt_0"
1
0.040410 -0.000191 -0.035615 0.998548
0.000000 0.055442 -0.000000
0.000000
"C_Spine_sjnt_1"
1
0.078135 -0.005104 -0.037889 0.996210
0.000000 0.049000 0.000000
0.000000
"C_Spine_sjnt_2"
1
0.117588 0.001930 -0.056543 0.991450
-0.000000 0.049000 0.000000
0.000000
"C_Spine_sjnt_4"
1
0.116613 0.022537 -0.060157 0.991098
0.000000 0.098001 -0.000000
0.000000
"L_Clavicle_sjnt_0"
1
0.820798 -0.461866 -0.218872 0.255080
0.007299 0.208857 0.030677
0.000000
"L_Arm_sjnt_0"
1
-0.018640 0.550280 0.313113 0.773825
0.070455 -0.150703 0.005819
0.000000
"L_Arm_sjnt_1"
1
0.502820 -0.083351 -0.423467 0.748933
-0.000001 -0.260631 0.000000
0.000000
"L_Wrist_sjnt_0"
1
-0.127266 -0.436122 0.115708 -0.883296
0.000007 -0.242273 0.000002
0.000000
"R_Clavicle_sjnt_0"
1
-0.254409 -0.049344 0.561585 0.785789
-0.007299 0.208857 0.030677
0.000000
"R_Arm_sjnt_0"
1
-0.297704 0.588370 -0.433881 -0.613954
-0.070457 0.150703 -0.005820
0.000000
"R_Arm_sjnt_1"
1
0.300035 -0.109892 -0.134453 0.937990
-0.000001 0.260632 -0.000000
0.000000
"R_Wrist_sjnt_0"
1
-0.074182 0.083861 -0.170265 0.979017
0.000000 0.242268 -0.000000
0.000000
"C_Neck_sjnt_0"
1
0.095959 0.024101 0.021582 0.994859
0.000000 0.206349 -0.038118
0.000000
"C_Neck_sjnt_1"
1
-0.330366 0.030108 0.013511 0.943276
0.000000 0.054001 0.000000
0.000000
"C_Neck_sjnt_2"
1
-0.116595 0.020825 0.025026 0.992646
0.000000 0.054001 0.000000
0.000000
"C_Head_sjnt_0"
1
-0.225003 0.005643 -0.043020 0.973392
-0.000000 0.054000 0.000000
0.000000

12514
Engine/lib/JoltPhysics/Assets/Human/jog_hd.tof Normal file
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131
Engine/lib/JoltPhysics/Assets/Human/neutral.tof Normal file
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@ -0,0 +1,131 @@
TOS 1.00
declare SkeletalAnimation 1
mAnimatedJoints array instance SkeletalAnimation::AnimatedJoint
declare SkeletalAnimation::AnimatedJoint 2
mJointName string
mKeyframes array instance SkeletalAnimation::Keyframe
declare SkeletalAnimation::Keyframe 3
mRotation quat
mTranslation vec3
mTime float
object SkeletalAnimation 00000001
23
"hipsBone"
1
0.000000 1.000000 0.000000 0.000000
0.000000 0.931122 -0.023035
0.000000
"R_Leg_sjnt_0"
1
0.999643 -0.023767 -0.000290 0.012213
-0.104854 -0.000224 0.000080
0.000000
"R_Leg_sjnt_1"
1
0.060151 0.000000 -0.000000 0.998189
-0.000000 0.461809 -0.000000
0.000000
"R_Foot_sjnt_0"
1
-0.546992 0.011039 -0.021050 0.836800
0.000000 0.388174 0.000000
0.000000
"L_Leg_sjnt_0"
1
-0.012213 -0.000290 0.023767 0.999643
0.104854 -0.000225 0.000080
0.000000
"L_Leg_sjnt_1"
1
0.060151 0.000000 -0.000000 0.998189
0.000000 -0.461807 0.000000
0.000000
"L_Foot_sjnt_0"
1
-0.546992 0.011039 -0.021050 0.836800
-0.000001 -0.388173 -0.000000
0.000000
"C_Spine_sjnt_0"
1
0.000000 0.000000 0.000000 1.000000
0.000000 0.055442 -0.000000
0.000000
"C_Spine_sjnt_1"
1
0.000000 0.000000 0.000000 1.000000
0.000000 0.049000 0.000000
0.000000
"C_Spine_sjnt_2"
1
0.000000 0.000000 0.000000 1.000000
0.000000 0.049000 -0.000000
0.000000
"C_Spine_sjnt_4"
1
0.000000 0.000000 0.000000 1.000000
0.000000 0.098001 0.000000
0.000000
"L_Clavicle_sjnt_0"
1
0.761695 -0.617813 -0.144681 0.131128
0.007299 0.208857 0.030677
0.000000
"L_Arm_sjnt_0"
1
0.199254 -0.056730 0.463827 0.861362
0.070456 -0.150703 0.005820
0.000000
"L_Arm_sjnt_1"
1
0.184809 -0.000000 -0.000000 0.982774
-0.000001 -0.260631 0.000000
0.000000
"L_Wrist_sjnt_0"
1
-0.000000 0.000000 0.000000 1.000000
0.000007 -0.242273 0.000002
0.000000
"R_Clavicle_sjnt_0"
1
-0.131128 -0.144681 0.617813 0.761696
-0.007299 0.208857 0.030677
0.000000
"R_Arm_sjnt_0"
1
0.199254 -0.056730 0.463827 0.861362
-0.070458 0.150703 -0.005820
0.000000
"R_Arm_sjnt_1"
1
0.184809 0.000000 0.000000 0.982774
-0.000001 0.260632 -0.000000
0.000000
"R_Wrist_sjnt_0"
1
-0.000000 0.000000 -0.000000 1.000000
0.000000 0.242268 -0.000000
0.000000
"C_Neck_sjnt_0"
1
0.216440 0.000000 0.000000 0.976296
0.000000 0.206349 -0.038118
0.000000
"C_Neck_sjnt_1"
1
-0.216440 0.000000 0.000000 0.976296
0.000000 0.054001 0.000000
0.000000
"C_Neck_sjnt_2"
1
0.000000 0.000000 0.000000 1.000000
0.000000 0.054001 0.000000
0.000000
"C_Head_sjnt_0"
1
0.000000 0.000000 0.000000 1.000000
0.000000 0.054000 -0.000000
0.000000

373
Engine/lib/JoltPhysics/Assets/Human/neutral_hd.tof Normal file
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@ -0,0 +1,373 @@
TOS 1.00
declare SkeletalAnimation 2
mAnimatedJoints array instance SkeletalAnimation::AnimatedJoint
mIsLooping bool
declare SkeletalAnimation::AnimatedJoint 2
mJointName string
mKeyframes array instance SkeletalAnimation::Keyframe
declare SkeletalAnimation::Keyframe 3
mRotation quat
mTranslation vec3
mTime float
object SkeletalAnimation 00000001
71
"rootBone"
1
-0.707106829 0 0 0.707106769
0 0 0
0
"C_Neck_sjnt_2"
1
0 0 0 1
6.31036857e-18 0.0540000014 0
0
"R_Clavicle_sjnt_0"
1
-0.131128147 -0.144681439 0.617813051 0.761695385
-0.00729848538 0.20885624 0.0306759924
0
"R_Leg_sjnt_0"
1
0.999642909 -0.0237673745 -0.000290388998 0.0122136045
-0.104853801 -0.000224408359 7.95794331e-05
0
"C_Spine_sjnt_4"
1
0 0 0 1
4.77984621e-18 0.0489999987 3.10862448e-17
0
"L_Middle_sjnt_3"
1
0 0 0 1
5.85307589e-07 -0.0180757623 3.17060227e-07
0
"C_Neck_sjnt_0"
1
0.21643962 0 0 0.976296008
-6.33361028e-18 0.206347629 -0.0381180719
0
"C_Head_sjnt_0"
1
0 0 0 1
6.31036857e-18 0.0540000014 2.8532731e-16
0
"C_Spine_sjnt_1"
1
0 0 0 1
4.77984621e-18 0.0489999987 0
0
"L_Ring_sjnt_0"
1
0.119370371 -0.698211312 0.204397932 0.675628006
-0.006254646 -0.0797718689 0.0093988115
0
"R_Index_sjnt_2"
1
0.175203487 0 0 0.984532237
3.01980666e-16 0.0204999987 0
0
"R_Ring_sjnt_0"
1
0.119370371 -0.698211312 0.204397932 0.675628006
0.00625085598 0.0797746703 -0.00940056238
0
"R_Index_sjnt_0"
1
-0.19517909 0.755869865 -0.161748767 -0.603658199
-0.00134941039 0.0782186612 0.028039448
0
"R_Pinky_sjnt_1"
1
0.22303848 0 0 0.974809647
-3.55271347e-16 0.0372027382 0
0
"L_Pinky_sjnt_1"
1
0.22303848 0 0 0.974809647
3.70620683e-07 -0.0372028351 1.38079258e-07
0
"R_Middle_sjnt_0"
1
0.156041026 -0.732423544 0.191366434 0.63449657
0.00616463134 0.0818372741 0.0097120041
0
"R_Arm_sjnt_1"
1
0.184809059 0 0 0.982774496
-1.42108544e-16 0.260629684 4.440892e-18
0
"L_Foot_sjnt_2"
1
0 0 0 1
-1.7763568e-17 -0.0488719977 4.88498128e-17
0
"L_Pinky_sjnt_2"
1
0.0992502794 0 0 0.99506253
-1.85520605e-07 -0.0186209753 6.46735657e-07
0
"L_Ring_sjnt_3"
1
0 0 0 1
4.95807114e-07 -0.0159507934 1.36332858e-07
0
"L_Clavicle_sjnt_0"
1
0.761695385 -0.617813051 -0.144681439 0.131128147
0.00729848957 0.208856419 0.0306760129
0
"L_Pinky_sjnt_3"
1
0 0 0 1
3.66131957e-07 -0.0121525498 -7.50564652e-07
0
"R_Thumb_sjnt_3"
1
0 0 0 1
7.1054272e-17 0.0181292463 -2.62012622e-16
0
"R_Foot_sjnt_2"
1
0 0 0 1
3.5527136e-17 0.0488717034 -3.99680272e-17
0
"L_Leg_sjnt_0"
1
-0.0122135505 -0.000290387718 0.0237673745 0.999642909
0.104854003 -0.000224642019 7.96136592e-05
0
"L_Middle_sjnt_1"
1
0.184680417 0 0 0.982798636
-2.44896114e-07 -0.0481087901 -7.74885621e-07
0
"L_Pinky_sjnt_0"
1
0.105012663 -0.656231523 0.23035267 0.710823596
-0.00242854073 -0.0733879432 0.0260373093
0
"L_Wrist_sjnt_0"
1
0 0 0 1
6.57227065e-06 -0.242271721 2.52947029e-06
0
"R_Ring_sjnt_1"
1
0.251216322 0 0 0.967930973
-5.3290704e-17 0.0443951264 -5.68434176e-16
0
"R_Pinky_sjnt_2"
1
0.0992502794 0 0 0.99506253
-1.06581408e-16 0.0186204202 -7.1054272e-17
0
"L_Prop_fjnt_0"
1
0 1 0 -4.37113883e-08
0.0276746862 -0.0656316727 -0.000328583526
0
"L_Middle_sjnt_2"
1
0.157416984 0 0 0.987532258
-6.02384603e-07 -0.0248495787 6.76881555e-08
0
"R_Middle_sjnt_1"
1
0.184680417 0 0 0.982798636
-6.39488435e-16 0.048108764 1.42108544e-16
0
"L_Leg_sjnt_1"
1
0.060151346 0 0 0.99818927
2.61005539e-07 -0.461806506 -3.93129014e-08
0
"L_Thumb_sjnt_2"
1
-0.0012165627 0 0 0.999999285
5.15941792e-07 -0.0251661409 -5.85450152e-07
0
"L_Ring_sjnt_1"
1
0.251216322 0 0 0.967930973
3.12667623e-07 -0.0443952158 -5.95922245e-07
0
"R_Foot_sjnt_1"
1
-0.251680881 0 0 0.967810273
-8.88178367e-17 0.133286357 -0.00287180441
0
"C_Neck_sjnt_1"
1
-0.21643962 0 0 0.976296008
5.18627479e-18 0.0540000014 0
0
"R_Ring_sjnt_3"
1
0 0 0 1
-5.3290704e-17 0.0159499999 -7.1054272e-17
0
"L_Index_sjnt_0"
1
-0.19517909 0.755869865 -0.161748767 -0.603658199
0.00134612026 -0.0782155693 -0.0280411374
0
"L_Index_sjnt_1"
1
0.229845911 0 0 0.973227024
7.62208856e-07 -0.041899953 -1.70619145e-07
0
"R_Thumb_sjnt_1"
1
0.0813905671 0 0 0.996682286
-2.13162816e-16 0.0301780477 1.42108544e-16
0
"L_Thumb_sjnt_3"
1
0 0 0 1
-7.5862016e-07 -0.0181290414 5.47535365e-07
0
"R_Index_sjnt_3"
1
0 0 0 1
3.10862442e-16 0.019439999 5.3290704e-17
0
"R_Middle_sjnt_2"
1
0.157416984 0 0 0.987532258
-1.7763568e-17 0.0248499978 7.1054272e-17
0
"hipsBone"
1
3.09086232e-08 0.707106829 0.707106829 3.09086232e-08
0 0.0230353847 0.931121647
0
"R_Pinky_sjnt_3"
1
0 0 0 1
7.1054272e-17 0.0121525582 3.5527136e-17
0
"L_Foot_sjnt_0"
1
-0.546992362 0.0110395309 -0.0210499652 0.836800098
-9.25209633e-07 -0.388170779 2.78088415e-08
0
"L_Index_sjnt_2"
1
0.175203487 0 0 0.984532237
8.53871498e-08 -0.0204997063 3.77475885e-07
0
"C_Spine_sjnt_3"
1
0 0 0 1
4.77984621e-18 0.0489999987 1.7763568e-17
0
"R_Foot_sjnt_0"
1
-0.546992362 0.0110395309 -0.0210499652 0.836800098
0 0.38817063 0
0
"R_Ring_sjnt_2"
1
0.121089756 0 0 0.992641568
-5.3290704e-17 0.0234420039 1.42108544e-16
0
"R_Wrist_sjnt_0"
1
0 0 0 1
4.26325632e-16 0.24226594 -3.90798503e-16
0
"L_Middle_sjnt_0"
1
0.156041026 -0.732423544 0.191366434 0.63449657
-0.00616830075 -0.0818345174 -0.0097129494
0
"L_Ring_sjnt_2"
1
0.121089756 0 0 0.992641568
1.66412786e-08 -0.0234416053 4.04103446e-07
0
"L_Index_sjnt_3"
1
0 0 0 1
-2.39056641e-09 -0.0194404367 -1.39765135e-07
0
"C_Spine_sjnt_0"
1
0 0 0 1
3.76215184e-18 0.0554419272 8.881784e-18
0
"L_Arm_sjnt_1"
1
0.184809059 0 0 0.982774496
-1.14686986e-06 -0.260628074 -4.16461354e-08
0
"R_Leg_sjnt_1"
1
0.060151346 0 0 0.99818927
3.5527136e-17 0.461806893 8.881784e-18
0
"R_Thumb_sjnt_2"
1
-0.0012165627 0 0 0.999999285
4.26325632e-16 0.0251665488 5.10702581e-16
0
"L_Foot_sjnt_1"
1
-0.251680881 0 0 0.967810273
5.3290704e-17 -0.133285969 0.00287160906
0
"R_Pinky_sjnt_0"
1
0.105012663 -0.656231523 0.23035267 0.710823596
0.00242519076 0.0733913928 -0.0260387883
0
"R_Middle_sjnt_3"
1
0 0 0 1
2.48689959e-16 0.0180759132 -7.1054272e-17
0
"L_Thumb_sjnt_1"
1
0.0813905671 0 0 0.996682286
-5.24074721e-07 -0.0301787555 -2.92531354e-07
0
"C_Spine_sjnt_2"
1
0 0 0 1
4.7798458e-18 0.0489999987 -2.22044592e-17
0
"R_Prop_fjnt_0"
1
0 0 0 1
-0.0276775807 0.0656346902 0.000327039947
0
"L_Thumb_sjnt_0"
1
0.416852266 -0.817598581 -0.284677148 -0.27699402
0.020829184 -0.0239574499 -0.0221176092
0
"R_Thumb_sjnt_0"
1
0.416852266 -0.817598581 -0.284677148 -0.27699402
-0.0208326261 0.0239606146 0.0221159924
0
"L_Arm_sjnt_0"
1
0.199253842 -0.0567296185 0.463827372 0.861361623
0.0704552606 -0.150702849 0.00581921311
0
"R_Arm_sjnt_0"
1
0.199253842 -0.0567296185 0.463827372 0.861361623
-0.0704575405 0.150702029 -0.00581940683
0
"R_Index_sjnt_1"
1
0.229845911 0 0 0.973227024
-5.3290704e-17 0.0419000015 1.42108544e-16
0
true

153
Engine/lib/JoltPhysics/Assets/Human/skeleton_hd.tof Normal file
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TOS 1.00
declare Skeleton 1
mJoints array instance Skeleton::Joint
declare Skeleton::Joint 2
mName string
mParentName string
object Skeleton 00000001
71
"rootBone"
""
"hipsBone"
"rootBone"
"C_Spine_sjnt_0"
"hipsBone"
"C_Spine_sjnt_1"
"C_Spine_sjnt_0"
"C_Spine_sjnt_2"
"C_Spine_sjnt_1"
"C_Spine_sjnt_3"
"C_Spine_sjnt_2"
"C_Spine_sjnt_4"
"C_Spine_sjnt_3"
"R_Clavicle_sjnt_0"
"C_Spine_sjnt_4"
"R_Arm_sjnt_0"
"R_Clavicle_sjnt_0"
"R_Arm_sjnt_1"
"R_Arm_sjnt_0"
"R_Wrist_sjnt_0"
"R_Arm_sjnt_1"
"R_Thumb_sjnt_0"
"R_Wrist_sjnt_0"
"R_Thumb_sjnt_1"
"R_Thumb_sjnt_0"
"R_Thumb_sjnt_2"
"R_Thumb_sjnt_1"
"R_Thumb_sjnt_3"
"R_Thumb_sjnt_2"
"R_Index_sjnt_0"
"R_Wrist_sjnt_0"
"R_Index_sjnt_1"
"R_Index_sjnt_0"
"R_Index_sjnt_2"
"R_Index_sjnt_1"
"R_Index_sjnt_3"
"R_Index_sjnt_2"
"R_Middle_sjnt_0"
"R_Wrist_sjnt_0"
"R_Middle_sjnt_1"
"R_Middle_sjnt_0"
"R_Middle_sjnt_2"
"R_Middle_sjnt_1"
"R_Middle_sjnt_3"
"R_Middle_sjnt_2"
"R_Ring_sjnt_0"
"R_Wrist_sjnt_0"
"R_Ring_sjnt_1"
"R_Ring_sjnt_0"
"R_Ring_sjnt_2"
"R_Ring_sjnt_1"
"R_Ring_sjnt_3"
"R_Ring_sjnt_2"
"R_Pinky_sjnt_0"
"R_Wrist_sjnt_0"
"R_Pinky_sjnt_1"
"R_Pinky_sjnt_0"
"R_Pinky_sjnt_2"
"R_Pinky_sjnt_1"
"R_Pinky_sjnt_3"
"R_Pinky_sjnt_2"
"R_Prop_fjnt_0"
"R_Wrist_sjnt_0"
"C_Neck_sjnt_0"
"C_Spine_sjnt_4"
"C_Neck_sjnt_1"
"C_Neck_sjnt_0"
"C_Neck_sjnt_2"
"C_Neck_sjnt_1"
"C_Head_sjnt_0"
"C_Neck_sjnt_2"
"L_Clavicle_sjnt_0"
"C_Spine_sjnt_4"
"L_Arm_sjnt_0"
"L_Clavicle_sjnt_0"
"L_Arm_sjnt_1"
"L_Arm_sjnt_0"
"L_Wrist_sjnt_0"
"L_Arm_sjnt_1"
"L_Thumb_sjnt_0"
"L_Wrist_sjnt_0"
"L_Thumb_sjnt_1"
"L_Thumb_sjnt_0"
"L_Thumb_sjnt_2"
"L_Thumb_sjnt_1"
"L_Thumb_sjnt_3"
"L_Thumb_sjnt_2"
"L_Index_sjnt_0"
"L_Wrist_sjnt_0"
"L_Index_sjnt_1"
"L_Index_sjnt_0"
"L_Index_sjnt_2"
"L_Index_sjnt_1"
"L_Index_sjnt_3"
"L_Index_sjnt_2"
"L_Middle_sjnt_0"
"L_Wrist_sjnt_0"
"L_Middle_sjnt_1"
"L_Middle_sjnt_0"
"L_Middle_sjnt_2"
"L_Middle_sjnt_1"
"L_Middle_sjnt_3"
"L_Middle_sjnt_2"
"L_Ring_sjnt_0"
"L_Wrist_sjnt_0"
"L_Ring_sjnt_1"
"L_Ring_sjnt_0"
"L_Ring_sjnt_2"
"L_Ring_sjnt_1"
"L_Ring_sjnt_3"
"L_Ring_sjnt_2"
"L_Pinky_sjnt_0"
"L_Wrist_sjnt_0"
"L_Pinky_sjnt_1"
"L_Pinky_sjnt_0"
"L_Pinky_sjnt_2"
"L_Pinky_sjnt_1"
"L_Pinky_sjnt_3"
"L_Pinky_sjnt_2"
"L_Prop_fjnt_0"
"L_Wrist_sjnt_0"
"R_Leg_sjnt_0"
"hipsBone"
"R_Leg_sjnt_1"
"R_Leg_sjnt_0"
"R_Foot_sjnt_0"
"R_Leg_sjnt_1"
"R_Foot_sjnt_1"
"R_Foot_sjnt_0"
"R_Foot_sjnt_2"
"R_Foot_sjnt_1"
"L_Leg_sjnt_0"
"hipsBone"
"L_Leg_sjnt_1"
"L_Leg_sjnt_0"
"L_Foot_sjnt_0"
"L_Leg_sjnt_1"
"L_Foot_sjnt_1"
"L_Foot_sjnt_0"
"L_Foot_sjnt_2"
"L_Foot_sjnt_1"

3443
Engine/lib/JoltPhysics/Assets/Human/sprint.tof Normal file
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5927
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8
Engine/lib/JoltPhysics/Assets/LICENSE Normal file
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@ -0,0 +1,8 @@
The following assets were taken from Horizon Zero Dawn:
terrain1.bof and terrain2.bof contain the 'Mothers Heart' scene
convex_hulls.bin contains point clouds used as the source for convex hulls
heightfield1.bin contains a single 'tile' of terrain data
Human.tof and Human/*.tof contain the Aloy ragdoll setup and a couple of sample animations mapped onto the ragdoll
Permission was granted by Guerrilla Games to release this under the same MIT license as the rest of the project.

165
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@ -0,0 +1,165 @@
GNU LESSER GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
This version of the GNU Lesser General Public License incorporates
the terms and conditions of version 3 of the GNU General Public
License, supplemented by the additional permissions listed below.
0. Additional Definitions.
As used herein, "this License" refers to version 3 of the GNU Lesser
General Public License, and the "GNU GPL" refers to version 3 of the GNU
General Public License.
"The Library" refers to a covered work governed by this License,
other than an Application or a Combined Work as defined below.
An "Application" is any work that makes use of an interface provided
by the Library, but which is not otherwise based on the Library.
Defining a subclass of a class defined by the Library is deemed a mode
of using an interface provided by the Library.
A "Combined Work" is a work produced by combining or linking an
Application with the Library. The particular version of the Library
with which the Combined Work was made is also called the "Linked
Version".
The "Minimal Corresponding Source" for a Combined Work means the
Corresponding Source for the Combined Work, excluding any source code
for portions of the Combined Work that, considered in isolation, are
based on the Application, and not on the Linked Version.
The "Corresponding Application Code" for a Combined Work means the
object code and/or source code for the Application, including any data
and utility programs needed for reproducing the Combined Work from the
Application, but excluding the System Libraries of the Combined Work.
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You may convey a covered work under sections 3 and 4 of this License
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2. Conveying Modified Versions.
If you modify a copy of the Library, and, in your modifications, a
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a) under this License, provided that you make a good faith effort to
ensure that, in the event an Application does not supply the
function or data, the facility still operates, and performs
whatever part of its purpose remains meaningful, or
b) under the GNU GPL, with none of the additional permissions of
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3. Object Code Incorporating Material from Library Header Files.
The object code form of an Application may incorporate material from
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a) Give prominent notice with each copy of the object code that the
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4. Combined Works.
You may convey a Combined Work under terms of your choice that,
taken together, effectively do not restrict modification of the
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the following:
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the Library is used in it and that the Library and its use are
covered by this License.
b) Accompany the Combined Work with a copy of the GNU GPL and this license
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c) For a Combined Work that displays copyright notices during
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these notices, as well as a reference directing the user to the
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d) Do one of the following:
0) Convey the Minimal Corresponding Source under the terms of this
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the Linked Version to produce a modified Combined Work, in the
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1) Use a suitable shared library mechanism for linking with the
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5. Combined Libraries.
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facilities that are not Applications and are not covered by this
License, and convey such a combined library under terms of your
choice, if you do both of the following:
a) Accompany the combined library with a copy of the same work based
on the Library, uncombined with any other library facilities,
conveyed under the terms of this License.
b) Give prominent notice with the combined library that part of it
is a work based on the Library, and explaining where to find the
accompanying uncombined form of the same work.
6. Revised Versions of the GNU Lesser General Public License.
The Free Software Foundation may publish revised and/or new versions
of the GNU Lesser General Public License from time to time. Such new
versions will be similar in spirit to the present version, but may
differ in detail to address new problems or concerns.
Each version is given a distinguishing version number. If the
Library as you received it specifies that a certain numbered version
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applies to it, you have the option of following the terms and
conditions either of that published version or of any later version
published by the Free Software Foundation. If the Library as you
received it does not specify a version number of the GNU Lesser
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3
Engine/lib/JoltPhysics/Assets/Racetracks/README.md Normal file
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@ -0,0 +1,3 @@
Race tracks taken from: https://github.com/TUMFTM/racetrack-database
See LICENSE.txt for license for these race tracks.

865
Engine/lib/JoltPhysics/Assets/Racetracks/Zandvoort.csv Normal file
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@ -0,0 +1,865 @@
# x_m,y_m,w_tr_right_m,w_tr_left_m
-1.683339,-1.878198,5.074,5.271
0.151452,2.772507,5.099,5.295
1.986397,7.423128,5.125,5.319
3.821455,12.073677,5.150,5.343
5.656587,16.724166,5.175,5.367
7.491752,21.374607,5.200,5.391
9.326909,26.025014,5.226,5.415
11.162019,30.675397,5.251,5.439
12.997042,35.325770,5.276,5.462
14.831936,39.976144,5.301,5.486
16.666662,44.626532,5.327,5.510
18.501180,49.276946,5.352,5.534
20.335449,53.927398,5.377,5.558
22.169429,58.577901,5.402,5.582
24.003080,63.228467,5.428,5.606
25.836362,67.879107,5.453,5.630
27.669244,72.529833,5.478,5.654
29.501738,77.180644,5.503,5.678
31.333865,81.831537,5.529,5.702
33.165645,86.482511,5.554,5.726
34.997100,91.133563,5.579,5.750
36.828251,95.784691,5.604,5.774
38.659117,100.435894,5.630,5.798
40.489721,105.087167,5.655,5.822
42.320083,109.738510,5.680,5.845
44.150224,114.389921,5.706,5.869
45.980165,119.041396,5.731,5.893
47.809927,123.692934,5.756,5.917
49.639531,128.344532,5.781,5.941
51.468997,132.996189,5.807,5.965
53.298346,137.647901,5.832,5.989
55.127600,142.299668,5.857,6.013
56.956780,146.951486,5.882,6.037
58.785905,151.603353,5.908,6.061
60.614998,156.255268,5.933,6.085
62.444078,160.907227,5.958,6.109
64.273168,165.559229,5.983,6.133
66.102287,170.211271,6.009,6.157
67.931458,174.863352,6.034,6.181
69.760699,179.515468,6.059,6.205
71.590034,184.167619,6.084,6.229
73.419481,188.819800,6.110,6.252
75.249063,193.472011,6.135,6.276
77.078801,198.124249,6.160,6.300
78.908714,202.776512,6.185,6.324
80.738825,207.428798,6.211,6.348
82.569153,212.081104,6.236,6.372
84.399720,216.733428,6.261,6.396
86.230547,221.385768,6.286,6.420
88.061655,226.038121,6.312,6.444
89.893064,230.690486,6.337,6.468
91.724795,235.342861,6.362,6.492
93.556870,239.995242,6.388,6.516
95.389309,244.647628,6.413,6.540
97.222133,249.300016,6.438,6.564
99.055363,253.952405,6.463,6.588
100.889021,258.604792,6.489,6.612
102.723126,263.257175,6.514,6.635
104.557699,267.909552,6.539,6.659
106.392763,272.561920,6.564,6.683
108.228337,277.214277,6.590,6.707
110.064442,281.866621,6.615,6.731
111.901100,286.518949,6.640,6.755
113.738331,291.171261,6.665,6.779
115.576156,295.823552,6.691,6.803
117.414596,300.475821,6.716,6.827
119.253672,305.128067,6.741,6.851
121.093405,309.780286,6.766,6.875
122.933816,314.432476,6.792,6.899
124.774925,319.084635,6.816,6.923
126.651699,323.714334,6.669,7.006
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-9.020162,-20.482105,4.973,5.175
-7.186388,-15.830941,4.998,5.199
-5.352300,-11.179909,5.024,5.223
-3.517937,-6.528999,5.049,5.247
1 # x_m y_m w_tr_right_m w_tr_left_m
2 -1.683339 -1.878198 5.074 5.271
3 0.151452 2.772507 5.099 5.295
4 1.986397 7.423128 5.125 5.319
5 3.821455 12.073677 5.150 5.343
6 5.656587 16.724166 5.175 5.367
7 7.491752 21.374607 5.200 5.391
8 9.326909 26.025014 5.226 5.415
9 11.162019 30.675397 5.251 5.439
10 12.997042 35.325770 5.276 5.462
11 14.831936 39.976144 5.301 5.486
12 16.666662 44.626532 5.327 5.510
13 18.501180 49.276946 5.352 5.534
14 20.335449 53.927398 5.377 5.558
15 22.169429 58.577901 5.402 5.582
16 24.003080 63.228467 5.428 5.606
17 25.836362 67.879107 5.453 5.630
18 27.669244 72.529833 5.478 5.654
19 29.501738 77.180644 5.503 5.678
20 31.333865 81.831537 5.529 5.702
21 33.165645 86.482511 5.554 5.726
22 34.997100 91.133563 5.579 5.750
23 36.828251 95.784691 5.604 5.774
24 38.659117 100.435894 5.630 5.798
25 40.489721 105.087167 5.655 5.822
26 42.320083 109.738510 5.680 5.845
27 44.150224 114.389921 5.706 5.869
28 45.980165 119.041396 5.731 5.893
29 47.809927 123.692934 5.756 5.917
30 49.639531 128.344532 5.781 5.941
31 51.468997 132.996189 5.807 5.965
32 53.298346 137.647901 5.832 5.989
33 55.127600 142.299668 5.857 6.013
34 56.956780 146.951486 5.882 6.037
35 58.785905 151.603353 5.908 6.061
36 60.614998 156.255268 5.933 6.085
37 62.444078 160.907227 5.958 6.109
38 64.273168 165.559229 5.983 6.133
39 66.102287 170.211271 6.009 6.157
40 67.931458 174.863352 6.034 6.181
41 69.760699 179.515468 6.059 6.205
42 71.590034 184.167619 6.084 6.229
43 73.419481 188.819800 6.110 6.252
44 75.249063 193.472011 6.135 6.276
45 77.078801 198.124249 6.160 6.300
46 78.908714 202.776512 6.185 6.324
47 80.738825 207.428798 6.211 6.348
48 82.569153 212.081104 6.236 6.372
49 84.399720 216.733428 6.261 6.396
50 86.230547 221.385768 6.286 6.420
51 88.061655 226.038121 6.312 6.444
52 89.893064 230.690486 6.337 6.468
53 91.724795 235.342861 6.362 6.492
54 93.556870 239.995242 6.388 6.516
55 95.389309 244.647628 6.413 6.540
56 97.222133 249.300016 6.438 6.564
57 99.055363 253.952405 6.463 6.588
58 100.889021 258.604792 6.489 6.612
59 102.723126 263.257175 6.514 6.635
60 104.557699 267.909552 6.539 6.659
61 106.392763 272.561920 6.564 6.683
62 108.228337 277.214277 6.590 6.707
63 110.064442 281.866621 6.615 6.731
64 111.901100 286.518949 6.640 6.755
65 113.738331 291.171261 6.665 6.779
66 115.576156 295.823552 6.691 6.803
67 117.414596 300.475821 6.716 6.827
68 119.253672 305.128067 6.741 6.851
69 121.093405 309.780286 6.766 6.875
70 122.933816 314.432476 6.792 6.899
71 124.774925 319.084635 6.816 6.923
72 126.651699 323.714334 6.669 7.006
73 128.738887 328.209430 6.522 7.089
74 131.246183 332.435357 6.522 6.226
75 134.379060 336.257639 6.092 6.062
76 138.182494 339.545392 5.677 6.289
77 142.495039 342.172347 5.848 6.230
78 147.141834 344.013044 6.038 6.065
79 151.981474 345.037089 5.885 6.029
80 156.945280 345.420747 6.132 5.821
81 161.974127 345.367418 6.058 5.924
82 167.008204 345.065211 5.807 6.178
83 171.977944 344.482774 5.789 6.230
84 176.806475 343.424482 5.869 6.193
85 181.417183 341.694720 5.987 6.121
86 185.749365 339.242190 5.914 6.218
87 189.762356 336.197440 5.948 6.207
88 193.416775 332.702620 6.070 6.105
89 196.666967 328.885936 6.207 5.965
90 199.423062 324.777280 5.742 6.233
91 201.576184 320.364273 5.591 6.084
92 203.023502 315.640256 5.646 5.825
93 203.748491 310.681493 5.785 5.710
94 203.798453 305.625580 5.801 5.643
95 203.222189 300.611552 5.651 5.577
96 202.092240 295.744077 5.363 5.608
97 200.571389 290.997188 5.182 5.600
98 198.843858 286.313886 5.142 5.539
99 197.076965 281.642398 5.102 5.479
100 195.319515 276.967602 5.062 5.418
101 193.569611 272.290054 5.022 5.358
102 191.825166 267.610371 4.982 5.297
103 190.084090 262.929171 4.942 5.236
104 188.344295 258.247069 4.903 5.176
105 186.603693 253.564683 4.863 5.115
106 184.860195 248.882630 4.823 5.055
107 183.111713 244.201525 4.783 4.994
108 181.356158 239.521985 4.743 4.934
109 179.591443 234.844628 4.703 4.873
110 177.815478 230.170070 4.664 4.813
111 176.026175 225.498928 4.624 4.752
112 174.221466 220.831812 4.584 4.692
113 172.402865 216.168291 4.544 4.631
114 170.579569 211.505702 4.504 4.571
115 168.761766 206.841091 4.464 4.510
116 166.959647 202.171505 4.424 4.450
117 165.183399 197.493991 4.385 4.389
118 163.443211 192.805596 4.345 4.329
119 161.749274 188.103367 4.305 4.268
120 160.111775 183.384351 4.190 4.272
121 158.540904 178.645594 4.021 4.323
122 157.046851 173.884144 4.128 4.318
123 155.639803 169.097048 4.247 4.300
124 154.329950 164.281352 4.406 4.212
125 153.127482 159.434104 4.493 4.107
126 152.040841 154.553794 4.555 3.996
127 151.071739 149.644481 4.460 4.003
128 150.220267 144.711567 4.332 4.045
129 149.486513 139.760453 4.374 4.113
130 148.870566 134.796540 4.291 4.230
131 148.372516 129.825230 4.183 4.336
132 147.992434 124.851911 4.140 4.294
133 147.726990 119.879465 4.200 4.285
134 147.565511 114.905358 4.313 4.294
135 147.496360 109.926350 4.273 4.313
136 147.507905 104.939200 4.175 4.335
137 147.588509 99.940667 4.077 4.357
138 147.726539 94.927512 4.132 4.316
139 147.909661 89.896706 4.206 4.266
140 148.099958 84.853004 4.281 4.217
141 148.227166 79.811000 4.355 4.167
142 148.218945 74.785923 4.352 4.137
143 148.002954 69.792997 4.281 4.126
144 147.506854 64.847451 4.275 4.132
145 146.658303 59.964509 4.310 4.205
146 145.388472 55.160670 4.205 4.498
147 143.678977 50.470695 4.146 4.624
148 141.549258 45.943039 4.172 4.747
149 139.019670 41.626490 4.262 4.889
150 136.110565 37.569834 4.418 4.983
151 132.842300 33.821858 4.451 4.599
152 129.235227 30.431348 4.451 4.398
153 125.312766 27.436881 4.418 4.409
154 121.120144 24.804331 4.355 4.278
155 116.712056 22.468034 4.270 4.348
156 112.143230 20.362198 4.184 4.427
157 107.468396 18.421033 4.099 4.507
158 102.742286 16.578745 4.048 4.545
159 98.019629 14.769545 4.095 4.463
160 93.342513 12.942394 4.142 4.381
161 88.704216 11.103219 4.189 4.300
162 84.086235 9.271696 4.236 4.218
163 79.470070 7.467499 4.284 4.136
164 74.837217 5.710302 4.331 4.055
165 70.169176 4.019780 4.278 4.105
166 65.447529 2.415476 4.160 4.240
167 60.669630 0.892412 4.042 4.375
168 55.866984 -0.607489 4.038 4.423
169 51.075564 -2.149247 4.236 4.314
170 46.331341 -3.797882 4.434 4.205
171 41.670287 -5.618416 4.632 4.096
172 37.128373 -7.675868 4.635 4.242
173 32.743211 -10.035645 4.623 4.392
174 28.612354 -12.777269 4.606 4.509
175 24.909111 -15.998105 4.888 4.185
176 21.811325 -19.796169 4.673 4.211
177 19.439269 -24.181707 4.222 4.435
178 17.789594 -28.976489 4.444 4.545
179 16.842948 -33.977887 4.564 4.573
180 16.579252 -39.007227 4.818 4.705
181 16.975636 -43.977492 5.060 4.754
182 18.008569 -48.823586 5.137 4.584
183 19.654514 -53.480415 4.896 4.452
184 21.889938 -57.882883 4.802 4.511
185 24.691308 -61.965894 4.744 4.612
186 28.034938 -65.664418 4.670 4.685
187 31.872160 -68.924115 4.762 4.498
188 36.101648 -71.713185 4.797 4.469
189 40.615402 -74.002680 4.672 4.788
190 45.309127 -75.747824 4.864 4.612
191 50.128975 -76.688113 5.130 4.321
192 55.040283 -76.579563 4.952 4.341
193 59.946477 -75.810565 4.752 4.290
194 64.789826 -74.708054 4.543 4.150
195 69.577538 -73.344400 4.460 4.132
196 74.320695 -71.776786 4.424 4.159
197 79.030380 -70.062396 4.388 4.186
198 83.717677 -68.258412 4.352 4.213
199 88.393668 -66.422017 4.316 4.240
200 93.068996 -64.607786 4.280 4.268
201 97.748404 -62.835178 4.244 4.295
202 102.432408 -61.098522 4.208 4.322
203 107.121432 -59.391600 4.172 4.349
204 111.815902 -57.708192 4.136 4.377
205 116.516242 -56.042081 4.100 4.404
206 121.222878 -54.387047 4.064 4.431
207 125.936245 -52.737906 4.028 4.458
208 130.656867 -51.096499 3.992 4.485
209 135.385298 -49.467589 3.956 4.513
210 140.122098 -47.855949 4.007 4.456
211 144.867821 -46.266353 4.087 4.372
212 149.623025 -44.703573 4.167 4.288
213 154.388268 -43.172382 4.247 4.203
214 159.164104 -41.677554 4.298 4.120
215 163.951092 -40.223862 4.334 4.036
216 168.749789 -38.816079 4.370 3.953
217 173.560750 -37.458978 4.405 3.869
218 178.384534 -36.157332 4.254 4.031
219 183.221696 -34.915914 4.064 4.244
220 188.072792 -33.739486 3.874 4.456
221 192.938144 -32.630868 3.876 4.512
222 197.817589 -31.588837 3.951 4.510
223 202.710900 -30.611665 4.026 4.507
224 207.617853 -29.697620 4.115 4.497
225 212.538223 -28.844975 4.216 4.481
226 217.471784 -28.052000 4.345 4.438
227 222.418294 -27.317078 4.570 4.297
228 227.376885 -26.642445 4.794 4.157
229 232.345927 -26.035039 4.806 4.423
230 237.323747 -25.502088 4.795 4.733
231 242.308667 -25.050816 4.804 4.968
232 247.299013 -24.688449 4.870 4.985
233 252.293109 -24.422213 4.936 5.003
234 257.289037 -24.259478 4.961 5.020
235 262.283974 -24.208158 4.971 5.038
236 267.274885 -24.276290 4.800 5.101
237 272.258736 -24.471913 4.628 5.164
238 277.232491 -24.803068 4.505 5.156
239 282.193116 -25.277793 4.486 5.000
240 287.137588 -25.904062 4.466 4.845
241 292.064716 -26.679188 4.474 4.579
242 296.977157 -27.578124 4.488 4.286
243 301.878054 -28.573005 4.503 3.993
244 306.770548 -29.635967 4.404 3.982
245 311.657780 -30.739145 4.285 4.017
246 316.542892 -31.854674 4.167 4.051
247 321.428992 -32.955036 4.096 4.095
248 326.318026 -34.024611 4.133 4.158
249 331.210506 -35.062414 4.169 4.222
250 336.106862 -36.068357 4.205 4.286
251 341.007518 -37.042351 4.225 4.300
252 345.912902 -37.984309 4.219 4.240
253 350.823442 -38.894142 4.214 4.181
254 355.739563 -39.771763 4.209 4.121
255 360.661693 -40.617082 4.204 4.062
256 365.590258 -41.430014 4.198 4.003
257 370.525686 -42.210468 4.181 3.995
258 375.468403 -42.958358 4.141 4.092
259 380.418836 -43.673594 4.100 4.190
260 385.377412 -44.356090 4.194 4.121
261 390.344264 -45.001791 4.371 3.948
262 395.317475 -45.579028 4.443 3.916
263 400.294259 -46.044395 4.418 4.015
264 405.271826 -46.354443 4.385 4.118
265 410.247385 -46.465723 4.282 4.258
266 415.218148 -46.334784 4.178 4.398
267 420.181323 -45.918177 4.224 4.298
268 425.133987 -45.197781 4.323 4.108
269 430.072713 -44.251288 4.344 4.070
270 434.993954 -43.179046 4.316 4.125
271 439.894009 -42.078959 4.281 4.177
272 444.763823 -40.963691 4.231 4.223
273 449.587719 -39.740469 4.201 4.249
274 454.349640 -38.310236 4.266 4.175
275 459.038639 -36.617037 4.326 4.089
276 463.654604 -34.696295 4.371 3.972
277 468.198805 -32.595092 4.383 3.886
278 472.673103 -30.359601 3.976 4.184
279 477.087549 -28.023365 3.990 4.182
280 481.458197 -25.610672 4.119 4.098
281 485.800998 -23.145258 4.249 4.014
282 490.123304 -20.638911 4.379 3.930
283 494.421825 -18.088632 4.371 3.952
284 498.692612 -15.490497 4.249 4.062
285 502.931711 -12.840586 4.126 4.173
286 507.135172 -10.134977 4.004 4.283
287 511.299044 -7.369750 4.089 4.144
288 515.423163 -4.546296 4.176 4.003
289 519.521744 -1.686182 4.263 3.862
290 523.612415 1.184239 4.166 3.903
291 527.712803 4.038614 3.966 4.047
292 531.840536 6.850589 3.819 4.161
293 536.013241 9.593812 3.869 4.167
294 540.248511 12.241964 4.004 4.106
295 544.557752 14.774904 4.127 4.031
296 548.939186 17.185655 4.102 4.026
297 553.389343 19.468929 4.048 4.004
298 557.904756 21.619437 3.997 4.001
299 562.481955 23.631891 3.949 4.032
300 567.117471 25.501002 3.951 4.119
301 571.807805 27.221672 3.978 4.235
302 576.548384 28.795486 4.095 4.320
303 581.333297 30.232374 4.258 4.389
304 586.156546 31.542788 4.369 4.434
305 591.012137 32.737181 4.398 4.439
306 595.894073 33.826004 4.428 4.443
307 600.796359 34.819711 4.342 4.407
308 605.713335 35.726460 4.185 4.346
309 610.644123 36.522011 4.027 4.284
310 615.591378 37.158137 4.053 4.379
311 620.557840 37.586044 4.089 4.483
312 625.544317 37.776802 4.175 4.408
313 630.544207 37.777603 4.261 4.331
314 635.549133 37.653867 4.305 4.272
315 640.551532 37.465775 4.266 4.246
316 645.549590 37.236469 4.228 4.220
317 650.543968 36.973127 4.189 4.195
318 655.535339 36.682867 4.151 4.169
319 660.524373 36.372805 4.113 4.143
320 665.511744 36.050057 4.205 4.209
321 670.498122 35.721741 4.298 4.277
322 675.484179 35.394973 4.392 4.344
323 680.470588 35.076869 4.485 4.411
324 685.458019 34.774546 4.578 4.478
325 690.447146 34.495121 4.672 4.545
326 695.438639 34.245711 4.765 4.612
327 700.433170 34.033432 4.859 4.679
328 705.431408 33.865362 4.912 4.711
329 710.433423 33.741608 4.827 4.620
330 715.437997 33.647216 4.743 4.530
331 720.443740 33.565270 4.658 4.439
332 725.449265 33.478855 4.574 4.348
333 730.453184 33.371056 4.489 4.258
334 735.454108 33.224956 4.405 4.167
335 740.450587 33.023502 4.286 4.211
336 745.438840 32.744590 4.134 4.392
337 750.412147 32.359732 3.981 4.572
338 755.363599 31.840032 3.878 4.650
339 760.286286 31.156595 3.899 4.616
340 765.173300 30.280525 4.058 4.459
341 770.017731 29.182924 4.231 4.252
342 774.811717 27.841028 4.260 4.180
343 779.543702 26.255866 4.236 4.158
344 784.201230 24.434244 4.119 4.268
345 788.771846 22.382966 4.080 4.251
346 793.243097 20.108838 4.203 3.975
347 797.602526 17.618665 4.216 4.021
348 801.837680 14.919252 4.222 4.103
349 805.936103 12.017403 4.226 4.225
350 809.885342 8.919924 4.235 4.237
351 813.672940 5.633620 4.249 4.191
352 817.286445 2.165295 4.283 4.160
353 820.713399 -1.478244 4.332 4.094
354 823.941350 -5.290194 4.351 4.032
355 826.957948 -9.263686 3.868 4.384
356 829.754717 -13.389548 3.924 4.341
357 832.328095 -17.655687 4.092 4.272
358 834.674835 -22.049819 4.085 4.457
359 836.791692 -26.559662 4.044 4.341
360 838.675419 -31.172934 3.951 4.294
361 840.322770 -35.877353 3.873 4.297
362 841.730499 -40.660635 3.942 4.140
363 842.895359 -45.510499 4.032 4.063
364 843.814104 -50.414663 4.113 4.038
365 844.483488 -55.360842 4.079 4.147
366 844.900265 -60.336757 4.221 4.148
367 845.061188 -65.330123 4.272 4.158
368 844.963011 -70.328658 4.222 4.184
369 844.603481 -75.319993 4.123 4.224
370 843.987444 -80.291123 4.229 4.096
371 843.122839 -85.228773 4.214 4.084
372 842.017620 -90.119662 4.126 4.175
373 840.679739 -94.950513 4.017 4.390
374 839.117149 -99.708047 4.070 4.387
375 837.337803 -104.378985 4.045 4.431
376 835.352725 -108.954255 4.002 4.435
377 833.184895 -113.441146 3.951 4.377
378 830.860195 -117.850926 3.900 4.319
379 828.404511 -122.194866 3.849 4.261
380 825.843726 -126.484231 3.798 4.204
381 823.203724 -130.730292 3.811 4.173
382 820.510358 -134.944303 3.852 4.154
383 817.783350 -139.135229 3.894 4.135
384 815.029104 -143.307047 3.935 4.115
385 812.252270 -147.463082 3.976 4.096
386 809.457503 -151.606658 4.018 4.077
387 806.649452 -155.741097 4.043 4.067
388 803.832772 -159.869725 4.035 4.073
389 801.012113 -163.995864 4.028 4.078
390 798.192128 -168.122838 4.021 4.084
391 795.377469 -172.253972 4.014 4.090
392 792.572788 -176.392589 4.006 4.096
393 789.782738 -180.542012 4.016 4.084
394 787.011970 -184.705566 4.062 4.035
395 784.265137 -188.886574 4.108 3.985
396 781.548155 -193.088638 4.154 3.936
397 778.871892 -197.316448 4.187 3.912
398 776.248431 -201.574960 4.213 3.905
399 773.689850 -205.869131 4.226 3.963
400 771.208232 -210.203916 4.218 4.136
401 768.815657 -214.584272 4.326 4.338
402 766.524154 -219.015133 4.587 4.577
403 764.335653 -223.497073 4.847 4.816
404 762.229923 -228.021102 5.174 5.141
405 760.183793 -232.576960 5.514 5.484
406 758.174091 -237.154385 5.854 5.826
407 756.177647 -241.743118 6.194 6.169
408 754.171288 -246.332898 6.534 6.512
409 752.132210 -250.913573 6.875 6.854
410 750.051474 -255.479086 6.929 6.928
411 747.937913 -260.028628 6.935 6.955
412 745.801525 -264.561735 6.941 6.983
413 743.652310 -269.077941 6.947 7.011
414 741.500266 -273.576782 6.953 7.038
415 739.355392 -278.057794 6.959 7.062
416 737.227192 -282.522008 6.957 6.995
417 735.117889 -286.992512 6.954 6.927
418 733.024156 -291.509202 6.952 6.860
419 730.942527 -296.112395 6.949 6.793
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829 -69.094771 -174.125528 4.486 4.624
830 -67.293958 -169.463089 4.473 4.622
831 -65.491502 -164.801187 4.459 4.619
832 -63.687444 -160.139812 4.446 4.617
833 -61.881823 -155.478949 4.433 4.614
834 -60.074681 -150.818588 4.420 4.611
835 -58.266057 -146.158715 4.407 4.609
836 -56.455991 -141.499319 4.393 4.606
837 -54.644524 -136.840387 4.380 4.603
838 -52.831697 -132.181907 4.367 4.601
839 -51.017548 -127.523866 4.392 4.625
840 -49.202119 -122.866254 4.417 4.649
841 -47.385450 -118.209056 4.443 4.672
842 -45.567581 -113.552261 4.468 4.696
843 -43.748552 -108.895857 4.493 4.720
844 -41.928403 -104.239831 4.518 4.744
845 -40.107175 -99.584172 4.544 4.768
846 -38.284908 -94.928866 4.569 4.792
847 -36.461642 -90.273902 4.594 4.816
848 -34.637418 -85.619267 4.619 4.840
849 -32.812275 -80.964950 4.645 4.864
850 -30.986254 -76.310937 4.670 4.888
851 -29.159396 -71.657217 4.695 4.912
852 -27.331740 -67.003778 4.720 4.936
853 -25.503326 -62.350606 4.746 4.960
854 -23.674195 -57.697691 4.771 4.984
855 -21.844388 -53.045019 4.796 5.008
856 -20.013943 -48.392578 4.821 5.032
857 -18.182903 -43.740356 4.847 5.055
858 -16.351306 -39.088341 4.872 5.079
859 -14.519193 -34.436521 4.897 5.103
860 -12.686605 -29.784883 4.923 5.127
861 -10.853581 -25.133415 4.948 5.151
862 -9.020162 -20.482105 4.973 5.175
863 -7.186388 -15.830941 4.998 5.199
864 -5.352300 -11.179909 5.024 5.223
865 -3.517937 -6.528999 5.049 5.247

27
Engine/lib/JoltPhysics/Assets/Shaders/DX/FontPixelShader.hlsl Normal file
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Texture2D ShaderTexture : register(t2);
SamplerState SampleType : register(s0);
struct PS_INPUT
{
float4 Position : SV_POSITION;
float2 Tex : TEXCOORD0;
float4 Color : COLOR0;
};
struct PS_OUTPUT
{
float4 RGBColor : SV_TARGET;
};
PS_OUTPUT main(PS_INPUT In)
{
PS_OUTPUT Output;
float t = ShaderTexture.Sample(SampleType, In.Tex).r;
if (t < 0.5)
discard;
Output.RGBColor = float4(In.Color.rgb, t);
return Output;
}

35
Engine/lib/JoltPhysics/Assets/Shaders/DX/FontVertexShader.hlsl Normal file
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#include "VertexConstants.h"
struct VS_INPUT
{
float3 vPos : POSITION;
float2 vTex : TEXCOORD0;
float4 vCol : COLOR;
};
struct VS_OUTPUT
{
float4 Position : SV_POSITION;
float2 Tex : TEXCOORD0;
float4 Color : COLOR0;
};
VS_OUTPUT main(VS_INPUT input)
{
VS_OUTPUT Output;
float4 pos = float4(input.vPos, 1.0f);
// Transform the position from object space to homogeneous projection space
pos = mul(View, pos);
pos = mul(Projection, pos);
Output.Position = pos;
// Output texture coordinates
Output.Tex = input.vTex;
// Output color
Output.Color = input.vCol;
return Output;
}

19
Engine/lib/JoltPhysics/Assets/Shaders/DX/LinePixelShader.hlsl Normal file
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struct PS_INPUT
{
float4 Position : SV_POSITION;
float4 Color : COLOR0;
};
struct PS_OUTPUT
{
float4 RGBColor : SV_TARGET;
};
PS_OUTPUT main(PS_INPUT In)
{
PS_OUTPUT Output;
Output.RGBColor = In.Color;
return Output;
}

30
Engine/lib/JoltPhysics/Assets/Shaders/DX/LineVertexShader.hlsl Normal file
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#include "VertexConstants.h"
struct VS_INPUT
{
float3 vPos : POSITION;
float3 vColor : COLOR;
};
struct VS_OUTPUT
{
float4 Position : SV_POSITION;
float4 Color : COLOR0;
};
VS_OUTPUT main(VS_INPUT input)
{
VS_OUTPUT Output;
float4 pos = float4(input.vPos, 1.0f);
// Transform the position from object space to homogeneous projection space
pos = mul(View, pos);
pos = mul(Projection, pos);
Output.Position = pos;
// Output color
Output.Color = float4(input.vColor, 1.0f);
return Output;
}

4
Engine/lib/JoltPhysics/Assets/Shaders/DX/TriangleDepthPixelShader.hlsl Normal file
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// We only write depth, so this shader does nothing
void main()
{
}

43
Engine/lib/JoltPhysics/Assets/Shaders/DX/TriangleDepthVertexShader.hlsl Normal file
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#include "VertexConstants.h"
struct VS_INPUT
{
// Per vertex data
float3 vPos : POSITION;
float3 vNorm : NORMAL;
float2 vTex : TEXCOORD0;
float4 vCol : COLOR;
// Per instance data
matrix iModel : INSTANCE_TRANSFORM; // model matrix
matrix iModelInvTrans : INSTANCE_INV_TRANSFORM; // (model matrix^-1)^T
float4 iCol : INSTANCE_COLOR; // color of the model
};
struct VS_OUTPUT
{
float4 Position : SV_POSITION;
};
VS_OUTPUT main(VS_INPUT input)
{
VS_OUTPUT output;
// Check if the alpha = 0
if (input.vCol.a * input.iCol.a == 0.0)
{
// Don't draw the triangle by moving it to an invalid location
output.Position = float4(0, 0, 0, 0);
}
else
{
// Transform the position from world space to homogeneous projection space for the light
float4 pos = float4(input.vPos, 1.0f);
pos = mul(input.iModel, pos);
pos = mul(LightView, pos);
pos = mul(LightProjection, pos);
output.Position = pos;
}
return output;
}

121
Engine/lib/JoltPhysics/Assets/Shaders/DX/TrianglePixelShader.hlsl Normal file
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// Shader that uses a shadow map for rendering shadows, see:
// http://www.opengl-tutorial.org/intermediate-tutorials/tutorial-16-shadow-mapping/
// https://takinginitiative.wordpress.com/2011/05/25/directx10-tutorial-10-shadow-mapping-part-2/
Texture2D LightDepthTexture : register(t2);
SamplerComparisonState LightDepthSampler : register(s2);
cbuffer PixelShaderConstantBuffer : register(b1)
{
float3 CameraPos;
float3 LightPos;
};
struct PS_INPUT
{
float4 Position : SV_POSITION; // interpolated vertex position
float3 Normal : TEXCOORD0;
float3 WorldPos : TEXCOORD1;
float2 Tex : TEXCOORD2;
float4 PositionL : TEXCOORD3; // interpolated vertex position in light space
float4 Color : COLOR0;
};
struct PS_OUTPUT
{
float4 RGBColor : SV_TARGET;
};
PS_OUTPUT main(PS_INPUT input)
{
// Constants
float AmbientFactor = 0.3;
float3 DiffuseColor = float3(input.Color.r, input.Color.g, input.Color.b);
float3 SpecularColor = float3(1, 1, 1);
float SpecularPower = 100.0;
float bias = 1.0e-7;
// Homogenize position in light space
input.PositionL.xyz /= input.PositionL.w;
// Calculate dot product between direction to light and surface normal and clamp between [0, 1]
float3 view_dir = normalize(CameraPos - input.WorldPos);
float3 world_to_light = LightPos - input.WorldPos;
float3 light_dir = normalize(world_to_light);
float3 normal = normalize(input.Normal);
if (dot(view_dir, normal) < 0) // If we're viewing the triangle from the back side, flip the normal to get the correct lighting
normal = -normal;
float normal_dot_light_dir = saturate(dot(normal, light_dir));
// Calculate texture coordinates in light depth texture
float2 tex_coord;
tex_coord.x = input.PositionL.x / 2.0 + 0.5;
tex_coord.y = -input.PositionL.y / 2.0 + 0.5;
// Check that the texture coordinate is inside the depth texture, if not we don't know if it is lit or not so we assume lit
float shadow_factor = 1.0;
if (input.Color.a > 0 // Alpha = 0 means don't receive shadows
&& tex_coord.x == saturate(tex_coord.x) && tex_coord.y == saturate(tex_coord.y))
{
// Modify shadow bias according to the angle between the normal and the light dir
float modified_bias = bias * tan(acos(normal_dot_light_dir));
modified_bias = min(modified_bias, 10.0 * bias);
// Get texture size
float width, height, levels;
LightDepthTexture.GetDimensions(0, width, height, levels);
width = 1.0 / width;
height = 1.0 / height;
// Samples to take
uint num_samples = 16;
float2 offsets[] = {
float2(-1.5 * width, -1.5 * height),
float2(-0.5 * width, -1.5 * height),
float2(0.5 * width, -1.5 * height),
float2(1.5 * width, -1.5 * height),
float2(-1.5 * width, -0.5 * height),
float2(-0.5 * width, -0.5 * height),
float2(0.5 * width, -0.5 * height),
float2(1.5 * width, -0.5 * height),
float2(-1.5 * width, 0.5 * height),
float2(-0.5 * width, 0.5 * height),
float2(0.5 * width, 0.5 * height),
float2(1.5 * width, 0.5 * height),
float2(-1.5 * width, 1.5 * height),
float2(-0.5 * width, 1.5 * height),
float2(0.5 * width, 1.5 * height),
float2(1.5 * width, 1.5 * height),
};
// Calculate depth of this pixel relative to the light
float light_depth = input.PositionL.z + modified_bias;
// Sample shadow factor
shadow_factor = 0.0;
[unroll] for (uint i = 0; i < num_samples; ++i)
shadow_factor += LightDepthTexture.SampleCmp(LightDepthSampler, tex_coord + offsets[i], light_depth);
shadow_factor /= num_samples;
}
// Calculate diffuse and specular
float diffuse = normal_dot_light_dir;
float specular = diffuse > 0.0? pow(saturate(-dot(reflect(light_dir, normal), view_dir)), SpecularPower) : 0.0;
// Apply procedural pattern based on the uv coordinates
bool2 less_half = input.Tex - floor(input.Tex) < float2(0.5, 0.5);
float darken_factor = less_half.r ^ less_half.g? 0.5 : 1.0;
// Fade out checkerboard pattern when it tiles too often
float2 dx = ddx(input.Tex), dy = ddy(input.Tex);
float texel_distance = sqrt(dot(dx, dx) + dot(dy, dy));
darken_factor = lerp(darken_factor, 0.75, clamp(5.0 * texel_distance - 1.5, 0.0, 1.0));
// Calculate color
PS_OUTPUT output;
output.RGBColor = float4(saturate((AmbientFactor + diffuse * shadow_factor) * darken_factor * DiffuseColor + SpecularColor * specular * shadow_factor), 1);
return output;
}

59
Engine/lib/JoltPhysics/Assets/Shaders/DX/TriangleVertexShader.hlsl Normal file
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#include "VertexConstants.h"
struct VS_INPUT
{
// Per vertex data
float3 vPos : POSITION;
float3 vNorm : NORMAL;
float2 vTex : TEXCOORD0;
float4 vCol : COLOR;
// Per instance data
matrix iModel : INSTANCE_TRANSFORM; // model matrix
matrix iModelInvTrans : INSTANCE_INV_TRANSFORM; // (model matrix^-1)^T
float4 iCol : INSTANCE_COLOR; // color of the model
};
struct VS_OUTPUT
{
float4 Position : SV_POSITION;
float3 Normal : TEXCOORD0;
float3 WorldPos : TEXCOORD1;
float2 Tex : TEXCOORD2;
float4 PositionL : TEXCOORD3;
float4 Color : COLOR0;
};
VS_OUTPUT main(VS_INPUT input)
{
VS_OUTPUT output;
// Get world position
float4 pos = float4(input.vPos, 1.0f);
float4 world_pos = mul(input.iModel, pos);
// Transform the position from world space to homogeneous projection space
float4 proj_pos = mul(View, world_pos);
proj_pos = mul(Projection, proj_pos);
output.Position = proj_pos;
// Transform the position from world space to projection space of the light
float4 proj_lpos = mul(LightView, world_pos);
proj_lpos = mul(LightProjection, proj_lpos);
output.PositionL = proj_lpos;
// output normal
float4 norm = float4(input.vNorm, 0.0f);
output.Normal = normalize(mul(input.iModelInvTrans, norm).xyz);
// output world position of the vertex
output.WorldPos = world_pos.xyz;
// output texture coordinates
output.Tex = input.vTex;
// output color
output.Color = input.vCol * input.iCol;
return output;
}

23
Engine/lib/JoltPhysics/Assets/Shaders/DX/UIPixelShader.hlsl Normal file
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Texture2D ShaderTexture : register(t2);
SamplerState SampleType : register(s1);
struct PS_INPUT
{
float4 Position : SV_POSITION;
float2 Tex : TEXCOORD0;
float4 Color : COLOR0;
};
struct PS_OUTPUT
{
float4 RGBColor : SV_TARGET;
};
PS_OUTPUT main(PS_INPUT In)
{
PS_OUTPUT Output;
Output.RGBColor = In.Color * ShaderTexture.Sample(SampleType, In.Tex);
return Output;
}

20
Engine/lib/JoltPhysics/Assets/Shaders/DX/UIPixelShaderUntextured.hlsl Normal file
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struct PS_INPUT
{
float4 Position : SV_POSITION;
float2 Tex : TEXCOORD0;
float4 Color : COLOR0;
};
struct PS_OUTPUT
{
float4 RGBColor : SV_TARGET;
};
PS_OUTPUT main(PS_INPUT In)
{
PS_OUTPUT Output;
Output.RGBColor = In.Color;
return Output;
}

34
Engine/lib/JoltPhysics/Assets/Shaders/DX/UIVertexShader.hlsl Normal file
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#include "VertexConstants.h"
struct VS_INPUT
{
float3 vPos : POSITION;
float2 vTex : TEXCOORD0;
float4 vCol : COLOR;
};
struct VS_OUTPUT
{
float4 Position : SV_POSITION;
float2 Tex : TEXCOORD0;
float4 Color : COLOR0;
};
VS_OUTPUT main(VS_INPUT input)
{
VS_OUTPUT Output;
float4 pos = float4(input.vPos, 1.0f);
// Transform the position from object space to ortho space
pos = mul(Projection, pos);
Output.Position = pos;
// Output texture coordinates
Output.Tex = input.vTex;
// Output color
Output.Color = input.vCol;
return Output;
}

7
Engine/lib/JoltPhysics/Assets/Shaders/DX/VertexConstants.h Normal file
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cbuffer VertexShaderConstantBuffer : register(b0)
{
matrix View; // view matrix
matrix Projection; // projection matrix
matrix LightView; // view matrix of the light
matrix LightProjection; // projection matrix of the light
};

39
Engine/lib/JoltPhysics/Assets/Shaders/MTL/FontShader.metal Normal file
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#include <metal_stdlib>
using namespace metal;
#include "VertexConstants.h"
constexpr sampler alphaTextureSampler(mag_filter::linear, min_filter::linear);
struct FontVertex
{
float3 vPos [[attribute(0)]];
float2 vTex [[attribute(1)]];
uchar4 vCol [[attribute(2)]];
};
struct FontOut
{
float4 oPosition [[position]];
float2 oTex;
float4 oColor;
};
vertex FontOut FontVertexShader(FontVertex vert [[stage_in]], constant VertexShaderConstantBuffer *constants [[buffer(2)]])
{
FontOut out;
out.oPosition = constants->Projection * constants->View * float4(vert.vPos, 1.0);
out.oTex = vert.vTex;
out.oColor = float4(vert.vCol) / 255.0;
return out;
}
fragment float4 FontPixelShader(FontOut in [[stage_in]], texture2d<float> alphaTexture [[texture(0)]])
{
const float4 sample = alphaTexture.sample(alphaTextureSampler, in.oTex);
if (sample.x < 0.5)
discard_fragment();
return float4(in.oColor.xyz, sample.x);
}

30
Engine/lib/JoltPhysics/Assets/Shaders/MTL/LineShader.metal Normal file
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#include <metal_stdlib>
using namespace metal;
#include "VertexConstants.h"
struct LineVertex
{
float3 iPosition [[attribute(0)]];
uchar4 iColor [[attribute(1)]];
};
struct LineOut
{
float4 oPosition [[position]];
float4 oColor;
};
vertex LineOut LineVertexShader(LineVertex vert [[stage_in]], constant VertexShaderConstantBuffer *constants [[buffer(2)]])
{
LineOut out;
out.oPosition = constants->Projection * constants->View * float4(vert.iPosition, 1.0);
out.oColor = float4(vert.iColor) / 255.0;
return out;
}
fragment float4 LinePixelShader(LineOut in [[stage_in]])
{
return in.oColor;
}

199
Engine/lib/JoltPhysics/Assets/Shaders/MTL/TriangleShader.metal Normal file
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#include <metal_stdlib>
using namespace metal;
#include "VertexConstants.h"
constexpr sampler depthSampler(mag_filter::nearest, min_filter::nearest);
struct Vertex
{
float3 vPos [[attribute(0)]];
float3 vNorm [[attribute(1)]];
float2 vTex [[attribute(2)]];
uchar4 vCol [[attribute(3)]];
float4 iModel0 [[attribute(4)]];
float4 iModel1 [[attribute(5)]];
float4 iModel2 [[attribute(6)]];
float4 iModel3 [[attribute(7)]];
float4 iModelInvTrans0 [[attribute(8)]];
float4 iModelInvTrans1 [[attribute(9)]];
float4 iModelInvTrans2 [[attribute(10)]];
float4 iModelInvTrans3 [[attribute(11)]];
uchar4 iCol [[attribute(12)]];
};
struct TriangleOut
{
float4 oPosition [[position]];
float3 oNormal;
float3 oWorldPos;
float2 oTex;
float4 oPositionL;
float4 oColor;
};
vertex TriangleOut TriangleVertexShader(Vertex vert [[stage_in]], constant VertexShaderConstantBuffer *constants [[buffer(2)]])
{
TriangleOut out;
// Convert input matrices
float4x4 iModel(vert.iModel0, vert.iModel1, vert.iModel2, vert.iModel3);
float4x4 iModelInvTrans(vert.iModelInvTrans0, vert.iModelInvTrans1, vert.iModelInvTrans2, vert.iModelInvTrans3);
// Get world position
float4 pos = float4(vert.vPos, 1.0f);
float4 world_pos = iModel * pos;
// Transform the position from world space to homogeneous projection space
float4 proj_pos = constants->View * world_pos;
proj_pos = constants->Projection * proj_pos;
out.oPosition = proj_pos;
// Transform the position from world space to projection space of the light
float4 proj_lpos = constants->LightView * world_pos;
proj_lpos = constants->LightProjection * proj_lpos;
out.oPositionL = proj_lpos;
// output normal
float4 norm = float4(vert.vNorm, 0.0f);
out.oNormal = normalize(iModelInvTrans * norm).xyz;
// output world position of the vertex
out.oWorldPos = world_pos.xyz;
// output texture coordinates
out.oTex = vert.vTex;
// output color
out.oColor = float4(vert.vCol) * float4(vert.iCol) / (255.0 * 255.0);
return out;
}
fragment float4 TrianglePixelShader(TriangleOut vert [[stage_in]], constant PixelShaderConstantBuffer *constants, texture2d<float> depthTexture [[texture(0)]])
{
// Constants
float AmbientFactor = 0.3;
float3 DiffuseColor = float3(vert.oColor.r, vert.oColor.g, vert.oColor.b);
float3 SpecularColor = float3(1, 1, 1);
float SpecularPower = 100.0;
float bias = 1.0e-7;
// Homogenize position in light space
float3 position_l = vert.oPositionL.xyz / vert.oPositionL.w;
// Calculate dot product between direction to light and surface normal and clamp between [0, 1]
float3 view_dir = normalize(constants->CameraPos - vert.oWorldPos);
float3 world_to_light = constants->LightPos - vert.oWorldPos;
float3 light_dir = normalize(world_to_light);
float3 normal = normalize(vert.oNormal);
if (dot(view_dir, normal) < 0) // If we're viewing the triangle from the back side, flip the normal to get the correct lighting
normal = -normal;
float normal_dot_light_dir = clamp(dot(normal, light_dir), 0.0, 1.0);
// Calculate texture coordinates in light depth texture
float2 tex_coord;
tex_coord.x = position_l.x / 2.0 + 0.5;
tex_coord.y = -position_l.y / 2.0 + 0.5;
// Check that the texture coordinate is inside the depth texture, if not we don't know if it is lit or not so we assume lit
float shadow_factor = 1.0;
if (vert.oColor.a > 0 // Alpha = 0 means don't receive shadows
&& tex_coord.x == clamp(tex_coord.x, 0.0, 1.0) && tex_coord.y == clamp(tex_coord.y, 0.0, 1.0))
{
// Modify shadow bias according to the angle between the normal and the light dir
float modified_bias = bias * tan(acos(normal_dot_light_dir));
modified_bias = min(modified_bias, 10.0 * bias);
// Get texture size
float width = 1.0 / 4096;
float height = 1.0 / 4096;
// Samples to take
uint num_samples = 16;
float2 offsets[] = {
float2(-1.5 * width, -1.5 * height),
float2(-0.5 * width, -1.5 * height),
float2(0.5 * width, -1.5 * height),
float2(1.5 * width, -1.5 * height),
float2(-1.5 * width, -0.5 * height),
float2(-0.5 * width, -0.5 * height),
float2(0.5 * width, -0.5 * height),
float2(1.5 * width, -0.5 * height),
float2(-1.5 * width, 0.5 * height),
float2(-0.5 * width, 0.5 * height),
float2(0.5 * width, 0.5 * height),
float2(1.5 * width, 0.5 * height),
float2(-1.5 * width, 1.5 * height),
float2(-0.5 * width, 1.5 * height),
float2(0.5 * width, 1.5 * height),
float2(1.5 * width, 1.5 * height),
};
// Calculate depth of this pixel relative to the light
float light_depth = position_l.z + modified_bias;
// Sample shadow factor
shadow_factor = 0.0;
for (uint i = 0; i < num_samples; ++i)
shadow_factor += depthTexture.sample(depthSampler, tex_coord + offsets[i]).x <= light_depth? 1.0 : 0.0;
shadow_factor /= num_samples;
}
// Calculate diffuse and specular
float diffuse = normal_dot_light_dir;
float specular = diffuse > 0.0? pow(clamp(-dot(reflect(light_dir, normal), view_dir), 0.0, 1.0), SpecularPower) : 0.0;
// Apply procedural pattern based on the uv coordinates
bool2 less_half = (vert.oTex - floor(vert.oTex)) < float2(0.5, 0.5);
float darken_factor = less_half.r ^ less_half.g? 0.5 : 1.0;
// Fade out checkerboard pattern when it tiles too often
float2 dx = dfdx(vert.oTex), dy = dfdy(vert.oTex);
float texel_distance = sqrt(dot(dx, dx) + dot(dy, dy));
darken_factor = mix(darken_factor, 0.75, clamp(5.0 * texel_distance - 1.5, 0.0, 1.0));
// Calculate color
return float4(clamp((AmbientFactor + diffuse * shadow_factor) * darken_factor * DiffuseColor + SpecularColor * specular * shadow_factor, 0, 1), 1);
}
struct DepthOut
{
float4 oPosition [[position]];
};
vertex DepthOut TriangleDepthVertexShader(Vertex vert [[stage_in]], constant VertexShaderConstantBuffer *constants [[buffer(2)]])
{
DepthOut out;
// Check if the alpha = 0
if (vert.vCol.a * vert.iCol.a == 0.0)
{
// Don't draw the triangle by moving it to an invalid location
out.oPosition = float4(0, 0, 0, 0);
}
else
{
// Convert input matrix
float4x4 iModel(vert.iModel0, vert.iModel1, vert.iModel2, vert.iModel3);
// Transform the position from world space to homogeneous projection space for the light
float4 pos = float4(vert.vPos, 1.0f);
pos = iModel * pos;
pos = constants->LightView * pos;
pos = constants->LightProjection * pos;
out.oPosition = pos;
}
return out;
}
fragment float4 TriangleDepthPixelShader(DepthOut in [[stage_in]])
{
// We only write depth, so this shader does nothing
return float4(0.0, 0.0, 0.0, 1.0);
}

41
Engine/lib/JoltPhysics/Assets/Shaders/MTL/UIShader.metal Normal file
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#include <metal_stdlib>
using namespace metal;
#include "VertexConstants.h"
constexpr sampler uiTextureSampler(mag_filter::linear, min_filter::linear);
struct UIVertex
{
float3 vPos [[attribute(0)]];
float2 vTex [[attribute(1)]];
uchar4 vCol [[attribute(2)]];
};
struct UIOut
{
float4 oPosition [[position]];
float2 oTex;
float4 oColor;
};
vertex UIOut UIVertexShader(UIVertex vert [[stage_in]], constant VertexShaderConstantBuffer *constants [[buffer(2)]])
{
UIOut out;
out.oPosition = constants->Projection * constants->View * float4(vert.vPos, 1.0);
out.oTex = vert.vTex;
out.oColor = float4(vert.vCol) / 255.0;
return out;
}
fragment float4 UIPixelShader(UIOut in [[stage_in]], texture2d<float> uiTexture [[texture(0)]])
{
const float4 sample = uiTexture.sample(uiTextureSampler, in.oTex);
return sample * in.oColor;
}
fragment float4 UIPixelShaderUntextured(UIOut in [[stage_in]])
{
return in.oColor;
}

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struct VertexShaderConstantBuffer
{
float4x4 View; // view matrix
float4x4 Projection; // projection matrix
float4x4 LightView; // view matrix of the light
float4x4 LightProjection; // projection matrix of the light
};
struct PixelShaderConstantBuffer
{
float3 CameraPos;
float3 LightPos;
};

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#version 450
layout(set = 1, binding = 0) uniform sampler2D texSampler;
layout(location = 0) in vec2 iTex;
layout(location = 1) in vec4 iColor;
layout(location = 0) out vec4 oColor;
void main()
{
float t = texture(texSampler, iTex).x;
if (t < 0.5)
discard;
oColor = vec4(iColor.xyz, t);
}

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#version 450
#include "VertexConstants.h"
layout(location = 0) in vec3 vPos;
layout(location = 1) in vec2 vTex;
layout(location = 2) in vec4 vCol;
layout(location = 0) out vec2 oTex;
layout(location = 1) out vec4 oColor;
void main()
{
gl_Position = c.Projection * c.View * vec4(vPos, 1.0f);
oTex = vTex;
oColor = vCol;
}

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#version 450
layout(location = 0) in vec4 iColor;
layout(location = 0) out vec4 oColor;
void main()
{
oColor = iColor;
}

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#version 450
#include "VertexConstants.h"
layout(location = 0) in vec3 iPosition;
layout(location = 1) in vec4 iColor;
layout(location = 0) out vec4 oColor;
void main()
{
gl_Position = c.Projection * c.View * vec4(iPosition, 1.0);
oColor = iColor;
}

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#version 450
// We only write depth, so this shader does nothing
void main()
{
}

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#version 450
#include "VertexConstants.h"
layout(location = 0) in vec3 vPos;
layout(location = 1) in vec3 vNorm;
layout(location = 2) in vec2 vTex;
layout(location = 3) in vec4 vCol;
layout(location = 4) in mat4 iModel;
layout(location = 8) in mat4 iModelInvTrans;
layout(location = 12) in vec4 iCol;
void main()
{
// Check if the alpha = 0
if (vCol.a * iCol.a == 0.0)
{
// Don't draw the triangle by moving it to an invalid location
gl_Position = vec4(0, 0, 0, 0);
}
else
{
// Transform the position from world space to homogeneous projection space for the light
vec4 pos = vec4(vPos, 1.0f);
pos = iModel * pos;
pos = c.LightView * pos;
pos = c.LightProjection * pos;
gl_Position = pos;
}
}

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#version 450
layout(binding = 1) uniform PixelShaderConstantBuffer
{
vec3 CameraPos;
vec3 LightPos;
} c;
layout(location = 0) in vec3 iNormal;
layout(location = 1) in vec3 iWorldPos;
layout(location = 2) in vec2 iTex;
layout(location = 3) in vec4 iPositionL;
layout(location = 4) in vec4 iColor;
layout(location = 0) out vec4 oColor;
layout(set = 1, binding = 0) uniform sampler2D LightDepthSampler;
void main()
{
// Constants
float AmbientFactor = 0.3;
vec3 DiffuseColor = vec3(iColor.r, iColor.g, iColor.b);
vec3 SpecularColor = vec3(1, 1, 1);
float SpecularPower = 100.0;
float bias = 1.0e-7;
// Homogenize position in light space
vec3 position_l = iPositionL.xyz / iPositionL.w;
// Calculate dot product between direction to light and surface normal and clamp between [0, 1]
vec3 view_dir = normalize(c.CameraPos - iWorldPos);
vec3 world_to_light = c.LightPos - iWorldPos;
vec3 light_dir = normalize(world_to_light);
vec3 normal = normalize(iNormal);
if (dot(view_dir, normal) < 0) // If we're viewing the triangle from the back side, flip the normal to get the correct lighting
normal = -normal;
float normal_dot_light_dir = clamp(dot(normal, light_dir), 0, 1);
// Calculate texture coordinates in light depth texture
vec2 tex_coord;
tex_coord.x = position_l.x / 2.0 + 0.5;
tex_coord.y = position_l.y / 2.0 + 0.5;
// Check that the texture coordinate is inside the depth texture, if not we don't know if it is lit or not so we assume lit
float shadow_factor = 1.0;
if (iColor.a > 0 // Alpha = 0 means don't receive shadows
&& tex_coord.x == clamp(tex_coord.x, 0, 1) && tex_coord.y == clamp(tex_coord.y, 0, 1))
{
// Modify shadow bias according to the angle between the normal and the light dir
float modified_bias = bias * tan(acos(normal_dot_light_dir));
modified_bias = min(modified_bias, 10.0 * bias);
// Get texture size
float width = 1.0 / 4096;
float height = 1.0 / 4096;
// Samples to take
uint num_samples = 16;
vec2 offsets[] = {
vec2(-1.5 * width, -1.5 * height),
vec2(-0.5 * width, -1.5 * height),
vec2(0.5 * width, -1.5 * height),
vec2(1.5 * width, -1.5 * height),
vec2(-1.5 * width, -0.5 * height),
vec2(-0.5 * width, -0.5 * height),
vec2(0.5 * width, -0.5 * height),
vec2(1.5 * width, -0.5 * height),
vec2(-1.5 * width, 0.5 * height),
vec2(-0.5 * width, 0.5 * height),
vec2(0.5 * width, 0.5 * height),
vec2(1.5 * width, 0.5 * height),
vec2(-1.5 * width, 1.5 * height),
vec2(-0.5 * width, 1.5 * height),
vec2(0.5 * width, 1.5 * height),
vec2(1.5 * width, 1.5 * height),
};
// Calculate depth of this pixel relative to the light
float light_depth = position_l.z + modified_bias;
// Sample shadow factor
shadow_factor = 0.0;
for (uint i = 0; i < num_samples; ++i)
shadow_factor += texture(LightDepthSampler, tex_coord + offsets[i]).x <= light_depth? 1.0 : 0.0;
shadow_factor /= num_samples;
}
// Calculate diffuse and specular
float diffuse = normal_dot_light_dir;
float specular = diffuse > 0.0? pow(clamp(-dot(reflect(light_dir, normal), view_dir), 0, 1), SpecularPower) : 0.0;
// Apply procedural pattern based on the uv coordinates
bvec2 less_half = lessThan(iTex - floor(iTex), vec2(0.5, 0.5));
float darken_factor = less_half.r ^^ less_half.g? 0.5 : 1.0;
// Fade out checkerboard pattern when it tiles too often
vec2 dx = dFdx(iTex), dy = dFdy(iTex);
float texel_distance = sqrt(dot(dx, dx) + dot(dy, dy));
darken_factor = mix(darken_factor, 0.75, clamp(5.0 * texel_distance - 1.5, 0.0, 1.0));
// Calculate color
oColor = vec4(clamp((AmbientFactor + diffuse * shadow_factor) * darken_factor * DiffuseColor + SpecularColor * specular * shadow_factor, 0, 1), 1);
}

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#version 450
#include "VertexConstants.h"
layout(location = 0) in vec3 vPos;
layout(location = 1) in vec3 vNorm;
layout(location = 2) in vec2 vTex;
layout(location = 3) in vec4 vCol;
layout(location = 4) in mat4 iModel;
layout(location = 8) in mat4 iModelInvTrans;
layout(location = 12) in vec4 iCol;
layout(location = 0) out vec3 oNormal;
layout(location = 1) out vec3 oWorldPos;
layout(location = 2) out vec2 oTex;
layout(location = 3) out vec4 oPositionL;
layout(location = 4) out vec4 oColor;
void main()
{
// Get world position
vec4 pos = vec4(vPos, 1.0f);
vec4 world_pos = iModel * pos;
// Transform the position from world space to homogeneous projection space
vec4 proj_pos = c.View * world_pos;
proj_pos = c.Projection * proj_pos;
gl_Position = proj_pos;
// Transform the position from world space to projection space of the light
vec4 proj_lpos = c.LightView * world_pos;
proj_lpos = c.LightProjection * proj_lpos;
oPositionL = proj_lpos;
// output normal
vec4 norm = vec4(vNorm, 0.0f);
oNormal = normalize(iModelInvTrans * norm).xyz;
// output world position of the vertex
oWorldPos = world_pos.xyz;
// output texture coordinates
oTex = vTex;
// output color
oColor = vCol * iCol;
}

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#version 450
layout(set = 1, binding = 0) uniform sampler2D texSampler;
layout(location = 0) in vec4 iColor;
layout(location = 1) in vec2 iTex;
layout(location = 0) out vec4 oColor;
void main()
{
oColor = iColor * texture(texSampler, iTex);
}

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#version 450
layout(location = 0) in vec4 iColor;
layout(location = 0) out vec4 oColor;
void main()
{
oColor = iColor;
}

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#version 450
#include "VertexConstants.h"
layout(location = 0) in vec3 vPos;
layout(location = 1) in vec2 vTex;
layout(location = 2) in vec4 vCol;
layout(location = 0) out vec4 oColor;
layout(location = 1) out vec2 oTex;
void main()
{
gl_Position = c.Projection * c.View * vec4(vPos, 1.0f);
oTex = vTex;
oColor = vCol;
}

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layout(binding = 0) uniform VertexShaderConstantBuffer
{
mat4 View;
mat4 Projection;
mat4 LightView;
mat4 LightProjection;
} c;

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## Fiduciary License Agreement 2.0
based on the
## Individual Contributor Exclusive License Agreement
## (including the Traditional Patent License OPTION)
Thank you for your interest in contributing to Jolt Physics ("We" or "Us").
The purpose of this contributor agreement ("Agreement") is to clarify and document the rights granted by contributors to Us.
### 0\. Preamble
Software is deeply embedded in all aspects of our lives and it is important that it empower, rather than restrict us. Free Software gives everybody the rights to use, understand, adapt and share software. These rights help support other fundamental freedoms like freedom of speech, press and privacy.
Development of Free Software can follow many patterns. In some cases whole development is handled by a sole programmer or a small group of people. But usually, the creation and maintenance of software is a complex process that requires the contribution of many individuals. This also affects who owns the rights to the software. In the latter case, rights in software are owned jointly by a great number of individuals.
To tackle this issue some projects require a full copyright assignment to be signed by all contributors. The problem with such assignments is that they often lack checks and balances that would protect the contributors from potential abuse of power from the new copyright holder.
FSFE’s Fiduciary License Agreement (FLA) was created by the Free Software Foundation Europe e.V. with just that in mind – to concentrate all deciding power within one entity and prevent fragmentation of rights on one hand, while on the other preventing that single entity from abusing its power. The main aim is to ensure that the software covered under the FLA will forever remain Free Software.
This process only serves for the transfer of economic rights. So-called moral rights (e.g. authors right to be identified as author) remain with the original author(s) and are inalienable.
### How to use this FLA
If You are an employee and have created the Contribution as part of your employment, You need to have Your employer approve this Agreement or sign the Entity version of this document. If You do not own the Copyright in the entire work of authorship, any other author of the Contribution should also sign this – in any event, please contact Us at jorrit@jrouwe.nl
### 1\. Definitions
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**"Legal Entity"** means an entity that is not a natural person.
**"Affiliate"** means any other Legal Entity that controls, is controlled by, or under common control with that Legal Entity. For the purposes of this definition, "control" means (i) the power, direct or indirect, to cause the direction or management of such Legal Entity, whether by contract or otherwise, (ii) ownership of fifty percent (50%) or more of the outstanding shares or securities that vote to elect the management or other persons who direct such Legal Entity or (iii) beneficial ownership of such entity.
**"Contribution"** means any original work of authorship, including any original modifications or additions to an existing work of authorship, Submitted by You to Us, in which You own the Copyright.
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**"Documentation"** means any non-software portion of a Contribution.
### 2\. License grant
#### 2.1 Copyright license to Us
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#### 2.2 Moral rights
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#### 2.3 Copyright license back to You
Upon such grant of rights to Us, We immediately grant to You a worldwide, royalty-free, non-exclusive, perpetual and irrevocable license, with the right to transfer an unlimited number of non-exclusive licenses or to grant sublicenses to third parties, under the Copyright covering the Contribution to use the Contribution by all means, including, but not limited to:
* publish the Contribution,
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* prepare derivative works based upon or containing the Contribution and/or to combine the Contribution with other Materials,
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* distribute, to make the Contribution available to the public, display and publicly perform the Contribution in original or modified form.
This license back is limited to the Contribution and does not provide any rights to the Material.
### 3\. Patents
#### 3.1 Patent license
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#### 3.2 Revocation of patent license
You reserve the right to revoke the patent license stated in section 3.1 if We make any infringement claim that is targeted at your Contribution and not asserted for a Defensive Purpose. An assertion of claims of the Patents shall be considered for a "Defensive Purpose" if the claims are asserted against an entity that has filed, maintained, threatened, or voluntarily participated in a patent infringement lawsuit against Us or any of Our licensees.
### 4\. License obligations by Us
We agree to (sub)license the Contribution or any Materials containing, based on or derived from your Contribution under the terms of any licenses the Free Software Foundation classifies as Free Software License and which are approved by the Open Source Initiative as Open Source licenses.
More specifically and in strict accordance with the above paragraph, we agree to (sub)license the Contribution or any Materials containing, based on or derived from the Contribution only under the terms of the following license(s) MIT (including any right to adopt any future version of a license if permitted).
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### 5. Disclaimer
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9.5 You agree to notify Us of any facts or circumstances of which you become aware that would make this Agreement inaccurate in any respect.

153
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# Breaking API Changes
This document lists all breaking API changes by date and by release tag. Note that not all API changes are listed here, trivial changes (that cause a compile error and require an obvious fix) are not listed.
Changes that make some state saved through SaveBinaryState from a prior version of the library unreadable by the new version is marked as *SBS*. See [Saving Shapes](https://jrouwe.github.io/JoltPhysics/#saving-shapes) for further information.
## Changes between v5.4.0 and v5.5.0
* 20251206 - Renamed `JPH_CPU_ADDRESS_BITS` to `JPH_CPU_ARCH_BITS` because the size of a pointer can be different from the number of bits used by the architecture. (db654de2a6098fd1ad78cb9a3e70f6a8a61c00b5)
* 20251120 - Added BroadPhaseQuery::GetBounds, deprecated PhysicsSystem::GetBounds. (793b3a0dbd978552cc6bf68db1c473b32e8ba1ef)
## Changes between v5.3.0 and v5.4.0
* 20240529 - *SBS* - Added `SoftBodyCreationSettings::mFacesDoubleSided` which treats the faces of the soft body as double sided. This changes the binary serialization format. (3ad037b9262ba81bf7ceda10687f2a07da38f091)
* 20240529 - *SBS* - WheelSettingsTV and WheelSettingsWV were not serializing their base class members. This changes the binary serialization format. (cfefdc669291bd25dd168af95fb32515cc05a78b)
* 20250523 - *SBS* - `SoftBodySharedSettings::mVertexRadius` was moved to `SoftBodyCreationSettings::mVertexRadius`, this also changes the serialization format of soft bodies. (f3d906f8c0a07a6993ecb2ff962c892a04843daa)
* 20250505 - The remap tables in `SoftBodySharedSettings::OptimizationResults` mapped from new to old index instead of from old to new as was documented. The maps now behave as documented. (1ee6eb2f059dab839b0bde02b3c455a7bd24e533)
* 20250505 - *SBS* - The `SoftBodySharedSettings` binary serialization format changed. (1ee6eb2f059dab839b0bde02b3c455a7bd24e533)
## Changes between v5.2.0 and v5.3.0
* 20250131 - `PhysicsSettings::mManifoldToleranceSq` is no longer squared and now called `mManifoldTolerance`. `ManifoldBetweenTwoFaces` now takes `inMaxContactDistance` instead of `inMaxContactDistanceSq`. (7611a4cb33b15fcb9108794ecb6fc5090470a438)
* 20250108 - `CharacterVirtual::Contact::mHadCollision` is now true for sensor contacts (`mIsSensorB`). Make sure you ignore all discarded contacts (`mWasDiscarded`) when using `CharacterVirtual::GetActiveContacts`. (0ce60932501cdadcb8b209b3e03c143fac4cbcd6)
* 20250108 - `CharacterContactListener` now has `OnContactPersisted`, `OnContactRemoved`, `OnCharacterContactPersisted` and `OnCharacterContactRemoved` functions. If you relied on `OnContactAdded`/`OnCharacterContactAdded` callbacks, you may want to call those functions from `OnContactPersisted`/`OnCharacterContactPersisted` to keep the behavior the same. (0ce60932501cdadcb8b209b3e03c143fac4cbcd6)
* 20241221 - `BodyInterface::AddForce` applied a force per soft body vertex rather than to the whole body, this resulted in a soft body accelerating much more compared to a rigid body of the same mass. If you are applying forces to soft bodies, you need to multiply the force by the number of vertices of the soft body to get the same effect as before. (7850b05a97d2079fc52e538507c843026a555ef3)
* 20241125 - *SBS* - Changed the binary serialization format of `MeshShape` to allow for bigger meshes of up to 110M triangles. (c738b3490c72cf868bdd704db7d0191b41541751)
* 20241119 - Removed the use of `std::unordered_map` and `std::unordered_set` and replaced them with our own implementation: `UnorderedMap` and `UnorderedSet`. The public facing interface includes some instances of these, e.g. `Shape::ShapeToIDMap`. Since these are typedeffed and the interface remained the same, applications should not notice the change. (f1420822d39c440492602b670eac8ae2f5821401)
## Changes between v5.1.0 and v5.2.0
* 20240927 - PhysicsStepListener::OnStep now takes a single PhysicsStepListenerContext parameter. The old parameters 'delta time' and 'physics system' are part of this context. The VehicleConstraint step callbacks use the same context. (8153cd854ce0547b2def425118e1e2f68a9e365c)
* 20240922 - SoftBodyManifold now has a separate interface to return collisions with sensors (GetNumSensorContacts/GetSensorContactBodyID), this means they can no longer be retrieved through GetContactBodyID. (4058e6a72edc6e11630b3ec6b67d97e2b9324473)
* 20240922 - The interface of Shape::CollideSoftBodyVertices changed. It no longer takes a list of SoftBodyVertex but instead uses CollideSoftBodyVertexIterator. Also the delta time and displacement due to gravity parameters have been removed. If you have custom shapes, you need to update the signature. (4058e6a72edc6e11630b3ec6b67d97e2b9324473)
* 20240825 - RayCastSettings::mBackFaceMode was split into mBackFaceModeTriangles and mBackFaceModeConvex. Replace `mBackFaceMode = ...` with `SetBackFaceMode(...)` (b3cd9f4846c52a84064b7e5e9a9a9fcbfdf286de)
* 20240823 - Added virtual function Shape::GetLeafShape. If you have custom shapes, you may need to override this function and provide an implementation. (d7f08b83670ea6d0842e231f50ad2a175f56f949)
## Changes between v5.0.0 and v5.1.0
* 20240811 - Added cmake options to toggle exception-handling and RTTI. CPP_EXCEPTIONS_ENABLED enables exceptions, CPP_RTTI_ENABLED enables RTTI. Before this change RTTI was off for MSVC and on for other compilers. Exceptions were on for all builds. You may need to set these options if your build relies on these C++ features. (760974d733ed24ea268a3bb9a8ef391b8ac503c7)
* 20240803 - *SBS* - Removed the use of size_t when saving to binary. This means that the 32 and 64 bit versions of the lib can now read each others streams and that the 64 bit version has been adjusted to match the 32 bit version. (b54a0849e01f9f793fef3a219dfabdc7559f71ed)
* 20240714 - The Reallocate function now takes an additional parameter 'old size' (6a7251d095f4c7e7c1c351d00829a20fa770246e)
* 20240517 - *SBS* - Combined a number of allocations into 1 for HeightFieldShape. This changes the binary serialization format for this class. (bd32df12bb8ab77b37eeedc226f368268c32ae17)
* 20240514 - Added macro JPH_OBJECT_STREAM that controls if ObjectStream is compiled or not. By default this is turned on, so you should not see a change, but if you compile without cmake you may need to define JPH_OBJECT_STREAM. (dc3ea787223d45855987e32b8bef7f9a59f6fcd2)
* 20240504 - Replaced std::vector with a custom Array class. It can be turned off by enabling the JPH_USE_STD_VECTOR define (or the USE_STD_VECTOR cmake option). (bdc1695a643457db86b72119b1393ae69b9a182e)
* 20240504 - Added a Reallocate function that needs to be implemented when you override the memory allocators and a reallocate function that you need to implement if you have a custom array allocator. The behavior is the same as the C realloc function. It is used to reallocate a block of memory for simple types instead of always going through a alloc, copy, free cycle. (bdc1695a643457db86b72119b1393ae69b9a182e)
* 20240413 - *SBS* - Skinned constraints are now processed in parallel, this means that they are reordered when Optimize() is called (see SoftBodySharedSettings::OptimizationResults::mSkinnedRemap). This also caused a change to the binary serialization format of SoftBodySharedSettings. (744900a4becb4dc69ee2bd70d6b26ee46da3e64a)
* 20240407 - *SBS* - The binary format of SoftBodySharedSettings changed due to an optimization pass. Also the results of the Optimize() call are no longer serialized when using an ObjectStream. Finally the Optimize() call will reorder the constraints (see SoftBodySharedSettings::OptimizationResults). (22739d900b4d92905ecccf2d81f18dece4a42595)
## Changes between v4.0.2 and v5.0.0
* 20240327 - *SBS* - SoftBodySharedSettings::CreateEdges was renamed to CreateConstraints and can now also create shear and bend constraints. This also breaks the serialization format for SoftBodySharedSettings. (8e4bf3fa03f59cff6af7394d69cdf62abaf7a1d2)
* 20240310 - *SBS* - Soft body skinned constraints now use a sphere as backstop instead of an infinite plane. This also breaks the serialization format for SoftBodySharedSettings. (17db6d3f245d2198319c3787f62498fe5935b7c8)
* 20240225 - *SBS* - Changes were made to SoftBodySharedSettings that break the binary serialization format of that class. (277b818ffefed4f15477ff1e6d0cc07065899903)
* 20240223 - Added ConvexShape::ESupportMode::Default. If you have custom convex shapes you need to handle this in ConvexShape::GetSupportFunction. (0f67cc2915c5e34a4a38480580dad73888a1952e)
* 20240216 - Restriction angular motion using EAllowedDOFs now works in world space rather than in local space. This change was made to be more in line with other physics engines and to fix some issues with constraints. If you need the old behavior then copy [this](https://github.com/jrouwe/JoltPhysics/blob/9631e217e54b8492ac36471f2aa966df40d6c2ad/Jolt/Physics/Body/MotionProperties.cpp#L33-L118) code into your own code base and call MotionProperties::SetInverseInertia(diagonal, rotation) where diagonal is called mInvInertiaDiagonal and rotation is called mInertiaRotation in the code snippet. (191536d51d71ee29147205aa09d1acab52789e5f)
* 20240210 - Fixed spelling error EPathRotationConstraintType::ConstaintToPath to EPathRotationConstraintType::ConstrainToPath (6c095bbf7906b01f427b52d43212f5ebf760fc81)
* 20240210 - Added extra parameter fraction hint to PathConstraintPath::GetClosestPoint. This can be used to speed up the search along the curve and to disambiguate fractions in case a path reaches the same point multiple times (i.e. a figure-8) (b91e729e6e2c34df16cc03f5ac3b3f6d3fa8b762)
* 20240203 - Longitudinal friction impulse for wheeled/tracked vehicles could become much higher than the calculated max because each iteration it was clamped to the max friction impulse which meant the total friction impulse could be PhysicsSettings::mNumVelocitySteps times too high. In case this breaks your vehicle, the new max tire impulse callback can be used to restore the old behavior, see [the vehicle constraint test](https://github.com/jrouwe/JoltPhysics/blob/a456b244aa2ad2ce0a8124d27823377ed0b1c4b4/Samples/Tests/Vehicle/VehicleConstraintTest.cpp#L156-L164). (a456b244aa2ad2ce0a8124d27823377ed0b1c4b4)
* 20240120 - *SBS* - Implemented enhanced internal edge removal algorithm. This breaks the binary serialization format for BodyCreationSettings. (94c1ad811b95c72f4d3bb6841c73c1c3461caa91)
* 20240113 - VehicleConstraint::CombineFunction now calculates both longitudinal and lateral friction in 1 call so there can be dependencies between the two. (d6ed5b3e7b22904af555088b6ae4770f8fb0e00f)
* 20240105 - CharacterVirtual will now receive an OnContactAdded callback when it collides with a sensor (but will have no further interaction). You may need to update the logic in your CharacterContactListener to ignore those contacts. (fb778c568d3ba14556559324671ffec172957f5c)
* 20240101 - Renamed SensorDetectsStatic to CollideKinematicVsNonDynamic and made it work for non-sensors. This means that kinematic bodies can now get collision callbacks when they collide with other static / kinematic objects. It can also affect the order in which bodies are passed in the ContactListener::OnContactValidate callback. (2d607c4161a65201d66558a2cc76d1265aea527e)
* 20231220 - *SBS* - Added ability to enable gyroscopic forces on BodyCreationSettings. This breaks the binary serialization format for this class. (9d7748eaa91341adc17554f32bf991bfed04e47e)
* 20231219 - *SBS* - Added a 'swing type' attribute to SixDOFConstraint and SwingTwistConstraint. This breaks the binary serialization format. (41016256e2cf1262ec05cff3cfa7645668ee0bf0)
* 20231208 - Changed the meaning of Constraint::mNumVelocity/PositionStepsOverride. Before the number of steps would be the maximum of all constraints and the default value, now an overridden value of 0 means that the constraint uses the default value, otherwise it will use the value as specified. This means that if all constraints in an island have a lower value than the default, we will now use the lower value instead of the default. (0771808a03b850d16f1c64156f0aee827ca3706b)
* 20231208 - *SBS* - Bodies can now also override the default number of solver iterations. This breaks the binary serialization format. (0771808a03b850d16f1c64156f0aee827ca3706b)
* 20231203 - VehicleConstraint::CombineFunction got two additional parameters to identify which wheel is requesting friction. (8d80155f93d0d0c3ffe3dd46550650b9c830d304)
## Changes between v4.0.0 and v4.0.2
* No breaking changes.
## Changes between v3.0.1 and v4.0.0
* 20231003 - *SBS* - Bug fix in serialization of SoftBodySharedSettings breaks binary serialization format. (ccb250747eee4dedebfa02d950775478fb52f786)
* 20230914 - Removed GetProcessorTicksPerSecond as it was not correctly implemented for all platforms. (d44f4bad0872075d5cef2779742c89203d4f4488)
* 20230819 - *SBS* - RagdollSettings got the ability to have constraints that do not follow the skeleton. This changes the binary serialization format for this class. (08fc49d2d7abfa1a69e21971785d37724c748bb6)
* 20230807 - Renamed ContactSettings::mRelativeSurfaceVelocity to mRelativeLinearSurfaceVelocity. (76b809ddb1abf96641acc587fffa70101323d323)
* 20230807 - *SBS* - PhysicsScene is now able to load/save soft bodies. This changes the binary serialization format. (779ba3673beebdc4021842516f4ff6aa7c1e09b4)
* 20230805 - Body::SaveState and MotionProperties::SaveState now only save the state that can be changed by the simulation. Configuration properties like friction, restitution etc. must be saved by the user if desired. (7ff50429abd53f1914fd25a9e80ff47f22bc9f0e)
* 20230801 - *SBS* - Constraint priority was added to all constraints which changes the binary serialization format. (e341bb3e959460fbe196032095c1ab0346d7e746)
* 20230704 - *SBS* - A new flag was added to BodyCreationSettings that changes the binary serialization format. (2dd3a033a41e422eb470484029324cc9bbaf0825)
* 20230629 - Fix for engine RPM being much higher than wheel RPM when measured at clutch. Before we were ignoring bake and wheel torques in engine RPM calculation. Now they're much closer but this unfortunately means that the simulation of the vehicle has changed and mainly the engine torque and clutch strength need to be re-tweaked. (b40090766c545a68dccfac76cde8c6345ca626a6)
* 20230623 - The parameter inIntegrationSubSteps was removed from PhysicsSystem::Update because more and more features didn't support it. If you were using it multiply inCollisionSteps with the value of inIntegrationSubSteps to get roughly the same behavior. (8fcc7a78ec051b215bf13b037b9f975baa803b6f)
* 20230618 - *SBS* - A new flag was added to BodyCreationSettings that changes the binary serialization format. (107b70c7585909f0757a62c318261a18d670ff97)
* 20230610 - A bug was fixed that causes the vehicle suspension to be weaker when driving over low mass objects. This also changes suspension behavior a bit when driving over static objects. (44b82e395697ea553574df3cd806ffe264bfa5c4)
* 20230609 - *SBS* - The MotorcycleController lean controller is now a full PID controller. This changes binary serialization format. (70e7bb3e5808dabc17ee38fb823fbfa7e9140a91)
* 20230609 - *SBS* - VehicleConstraint uses the new SpringSettings class as a member which contains the mFrequency and mDamping members. This requires minor code changes. (0da97d8f3345f14c5b4b0ee3571c05832c556f98)
* 20230609 - *SBS* - DistanceConstraintSettings, SliderConstraintSettings and MotorSettings now use the new SpringSettings class as a member which contains the mFrequency and mDamping members. This requires minor code changes. (3cabc057c1267fde288c1ab2a23076702c71eb79)
* 20230520 - A bug was fixed in CharacterVirtual that makes mPenetrationRecoverySpeed behave according to the documentation (1 = fully resolve collision in 1 update). With the bug the recovery was too little. If you want the penetration recovery to work as before with the bug multiply it by 1 / delta_time. (8dd93317d66a9a72d3afeff4ecb17c257a7e9d91)
* 20230420 - To support compiling Jolt as a shared library, the RTTI macros were changed to be able to specify if a symbol should be exported or not. If you're using Jolt's RTTI system in your own project you need to change e.g. JPH_DECLARE_RTTI_VIRTUAL(XXX) to JPH_DECLARE_RTTI_VIRTUAL(JPH_NO_EXPORT, XXX). (d2f1d97004d036c6f759203c42e264e401472037)
## Changes between v2.0.1 and v3.0.0
* 20230331 - *SBS* - Vehicle wheels now support specifying the steering axis and wheel forward and up axis separately. This breaks the serialization format and requires setting extra properties on the wheels. (4269d8bbc77b889552a842c2e8476ba7ffc6b9a1)
* 20230328 - Vehicle now supports suspension under an angle. The behavior of the suspension, even if it is under 90 degrees with the vehicle body, changed so this may require tweaking the spring constants. (172a99c718bded5faa169ac440517286684fa2f0)
* 20230316 - The signature of ShapeFilter changed and the ShouldCollide function is no longer called for triangles inside a mesh/heightfield shape (you can use CollisionCollector::AddHit to filter per triangle). The previous implementation didn't pass in enough context for the application to fully determine which sub shapes were colliding. See [#473](https://github.com/jrouwe/JoltPhysics/discussions/473) for more information. (bc4fa997f15f2953dc87ee5c1ba51ecf2077c287)
* 20230313 - VehicleCollisionTester::Collide parameter outSuspensionLength was returning suspension length + wheel radius, now it returns the suspension length. If you have your own implementation of VehicleCollisionTester you need to update your code. (fcd9cb0f1677709e30951f2748aefd5f72ffdae1)
* 20230212 - Sensors are now able to detect other Sensors, make sure you put sensors in an ObjectLayer that doesn't collide with other sensors if you want to preserve the old behavior. (a76f5891ee429ae4fcde659c19f1eb769f9d8a21)
* 20230205 - *SBS* - Added 'IsSensor' and 'UseManifoldReduction' to BodyCreationSettings::SaveBinaryState. (8f6f210f53fc71e43760e20aeb2eae28ea168f4b)
* 20221231 - ObjectLayerPairFilter and ObjectVsBroadPhaseLayerFilter are now objects instead of function pointers. (4315ad53e354f094f753664fcf7a52870f6915e4)
* 20221208 - ContactListener::OnContactValidate is reporting collisions relative to inBaseOffset. Add this to the contact point if you want world space positions. (428611482825e369e60e0a5daf17c69a4d0f2a6f)
* 20221204 - Changes related to double precision support for positions (a2c1c22059fa031faf0208258e654bcff79a63e4)
* In many places in the public API Vec3 has been replaced by RVec3 (a Vec3 of Real values which can either be double or float depending on if JPH_DOUBLE_PRECISION is defined). In the same way RMat44 replaces Mat44. When compiling in single precision mode (the default) you should not notice a change.
* Shape::GetSubmergedVolume now takes a plane that's relative to inCenterOfMassTransform instead of one in world space
* Many of the NarrowPhaseQuery and TransformedShape collision queries now have a 'base offset' that you need to specify. Go to [Big Worlds](https://jrouwe.github.io/JoltPhysics/#big-worlds) for more info.
* The NarrowPhaseQuery/TransformedShape CastRay / CastShape functions now take a RRayCast / RShapeCast struct as input. When compiling in single precision mode this is the same as a RayCast or ShapeCast so only the type name needs to be updated.
* If you implement your own TempAllocator and want to compile in double precision, make sure you align to JPH_RVECTOR_ALIGNMENT bytes (instead of 16)
* The SkeletonPose got a 'root offset' member, this means that the ragdoll will now make the joint transform of the first body zero and put that offset in the 'root offset'.
* ContactManifold now stores the contacts relative to mBaseOffset, the arrays containing the contact points have been renamed from mWorldSpaceContactPointsOn1/2 to mRelativeContactPointsOn1/2 to reflect this.
* The DebugRenderer::DrawLine function now takes RVec3Arg parameters instead of Float3 parameters.
* The format of a recording recorded with DebugRendererRecorder has changed, this invalidates any prior recordings.
* 20221128 - MotionProperties::SetMotionQuality has been removed because changing it for an active body could cause crashes. Use BodyInterface::SetMotionQuality instead. (64802d163a7336e60916365ad9bce764cec4ca70)
## Changes between v1.1.0 and v2.0.0
* 20221027 - *SBS* (vehicles only) - Rewrote engine model for wheeled vehicle. Before engine inertia was only used when the clutch was pressed, now it is always used, so you may want to use a lower value. The way torque is distributed over the wheels has also changed and may require tweaking the vehicle parameters. (5ac751cee9afcc097fd4f884308f5e4dc9fdaeaf)
* 20220903 - *SBS* - Added overrides for number of position/velocity solver iterations. Only affects serialization. (38ec33942ead4968a83409bd13d868f60e6397c4)
* 20220826 - *SBS* - Removed FixedConstraintSettings and SliderConstraintSettings SetPoint functions. If you were calling this function replace it by setting mAutoDetectPoint = true. (d16a0b05bfeed42b1618e3774a9c953e6922d22b)
* 20220614 - It is now possible to override the memory allocator, register the default using RegisterDefaultAllocator(). This means that the public API now takes STL containers that use a custom memory allocator so use Array instead of vector, UnorderedMap instead of unordered_map etc. If you're using placement new, add ```::``` in front of new. Define JPH_DISABLE_CUSTOM_ALLOCATOR to disable this new behavior (b68097f582148d6f66c18a6ff95c5ca9b40b48cc)
* 20220606 - *SBS* - The slider constraint now has frequency and damping for its limits (09d6d9d51c46fbd159bf98abfd43cc639f6c0403)
* 20220606 - *SBS* - The rack and pinion and gear constraints were added (09d6d9d51c46fbd159bf98abfd43cc639f6c0403)
* 20220517 - Note: Superseded by d16a0b05bfeed42b1618e3774a9c953e6922d22b. When constructing a FixedConstraint you now need to call FixedConstraintSettings::SetPoint to configure the point where the bodies attach (4f7c925c31f39eda1d8d68e4e72456b5def93d9b)
* 20220516 - Constraint::GetType was renamed to GetSubType, a new GetType function was introduced (3e2151a009e8f11ca724754b2bd25e14d2654fb6)
* 20220516 - *SBS* - Added possibility to save the current state of the physics world as a scene (3e2151a009e8f11ca724754b2bd25e14d2654fb6)
* 20220510 - Factory::sInstance must now be allocated by the application prior to calling RegisterTypes() and has changed to a pointer (3ca62973dae7cda7a9ceece698438a45b9ad1433)
* 20220503 - Unused function SerializableObject::OnLoaded was removed (388d47254a236c053a472e54c10b264765badc09)
* 20220502 - ContactConstraintManager::CombineFunction has additional parameters: the SubShapeIDs from both bodies (6b873563739dfd3d77263c2c50af2f3f418ec15b)
* 20220415 - Removed Body::GetDebugName / SetDebugName, keep this info in a lookaside table if you need it (6db4d3beac6760e55f65102db00f93dfbc56ac26)
* 20220406 - Renamed CollisionDispatch::sCastShapeVsShape to sCastShapeVsShapeLocalSpace (6ba21f50dcf17bd506080ec30759724a7f3097d8)
* 20220327 - Changed the default include path, ```#include <xxx>``` must be replaced by ```#include <Jolt/xxx>``` (06e9d17d385814cd24d3b77d689c0a29d854e194)
* 20220318 - Added support for SSE2. If you want to use later versions of SSE make sure you have JPH_USE_SSE4_1 and JPH_USE_SSE4_2 defined (28f363856a007d03f657e46e8f6d90ccd7c6487a)
* 20220303 - Note: Partially superseded by d16a0b05bfeed42b1618e3774a9c953e6922d22b. When constructing a SliderConstraint you now need to call SliderConstraintSettings::SetPoint to configure the point where the bodies attach. Also replace mSliderAxis = x with SetSliderAxis(x) (5a327ec182d0436d435c62d0bccb4e76c6324659)
* 20220228 - PointConstraint::mCommonPoint is now mPoint1 / mPoint2. Replace mCommonPoint = x with mPoint1 = mPoint2 = x (066dfb8940ba3e7dbf8ed47e9a1eeb194730e04b)
* 20220226 - ObjectToBroadPhaseLayer and BroadPhaseLayerToString changed to BroadPhaseLayerInterface, this makes mapping a broadphase layer to an object layer more flexible (36dd3f8c8c31ef1aeb7585b2b615c23bc8b76f13)
* 20220222 - Shape and body user data changed from void * / uint32 to uint64 (14e062ac96abd571c6eff5e40b1df4d8b2333f55)
## Changes between v1.0.0 and v1.1.0
* No breaking changes.
## Changes between v0.0.0 and v1.0.0
* 20220107 - PhysicsSettings::mBodyPairCacheCosMaxDeltaRotation was renamed to mBodyPairCacheCosMaxDeltaRotationDiv2
* 20211219 - *SBS* - Now storing 3 components for a Vec3 instead of 4 in SaveBinaryState (23c1b9d9029d74076c0549c8779b3b5ac2179ea3)
* 20211212 - Removed StatCollector (92a117e0f05a08de154e86d3cd0b354783aa5593)
* 20210711 - HeightFieldShapeSettings::mBlockSize is subdivided one more time at run-time, so this is effectively 2x the block size (2aa3b443bf71785616f3140c32e6a04c49516535)
* 20211106 - Mutex class now has its own implementation on Platform Blue, users must implement the JPH_PLATFORM_BLUE_MUTEX_* functions (a61dc67503a87ef0e190f7fb31d495ac51aa43de)
* 20211019 - ShapeCast::mShape no longer keeps a reference, the caller is responsible for keeping the reference now (e2bbdda9110b083b49ba323f8fd0d88c19847c2e)
* 20211004 - Removed RTTI from Shape class, use Shape::GetType / GetSubType now (6d5cafd53501c2c1e313f1b1f29d5161db074fd5)
* 20210930 - Changed RestoreMaterialState and RestoreSubShapeState to use pointers instead of vectors to allow loading shapes with fewer memory allocations (b8953791f35a91fcd12568c7dc4cc2f68f40fb3f)
* 20210918 - PhysicsSystem::Init takes an extra parameter to specify the amount of mutexes to use (ef371411af878023f062b9930db09f17411f01ba)
* 20210827 - BroadPhaseLayerPairFilter was changed to ObjectVsBroadPhaseLayerFilter to avoid testing too many layers during collision queries (33883574bbc6fe208a4b62054d00b582872da6f4)

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[TOC]
# Architecture of Jolt Physics {#architecture-jolt-physics}
# Getting Started {#getting-started}
To get started, look at the [HelloWorld](https://github.com/jrouwe/JoltPhysics/blob/master/HelloWorld/HelloWorld.cpp) example. A [HelloWorld example using CMake FetchContent](https://github.com/jrouwe/JoltPhysicsHelloWorld) is also available to show how you can integrate Jolt Physics in a CMake project.
Every feature in Jolt has its own sample. [Running the Samples application](Samples.md) and browsing through the [code](https://github.com/jrouwe/JoltPhysics/tree/master/Samples/Tests) is a great way to learn about the library!
The rest of this document describes the concepts used in Jolt in more detail.
# Bodies {#bodies}
We use a pretty traditional physics engine setup, so \ref Body "bodies" in our simulation are objects which have attached collision \ref Shape "shapes"
## Types {#body-types}
Bodies can either be:
- [static](@ref EMotionType) (not moving or simulating)
- [dynamic](@ref EMotionType) (moved by forces) or
- [kinematic](@ref EMotionType) (moved by velocities only).
Moving bodies have a [MotionProperties](@ref MotionProperties) object that contains information about the movement of the object. Static bodies do not have this to save space (but they can be configured to have it if a static body needs to become dynamic during its lifetime by setting [BodyCreationSettings::mAllowDynamicOrKinematic](@ref BodyCreationSettings::mAllowDynamicOrKinematic)).
## Creating Bodies {#creating-bodies}
Bodies are inserted into the [PhysicsSystem](@ref PhysicsSystem) and interacted with through the [BodyInterface](@ref BodyInterface).
The general life cycle of a body is:
- BodyInterface::CreateBody - Construct a Body object and initialize it. You cannot use `new` to create a Body.
- BodyInterface::AddBody - Add the body to the PhysicsSystem and make it participate in the simulation.
- BodyInterface::RemoveBody - Remove it from the PhysicsSystem.
- BodyInterface::DestroyBody - Deinitialize and destruct the Body. You cannot use `delete` to delete a Body. This function will not automatically remove the Body from the PhysicsSystem.
If you need to add many bodies at the same time then use the batching functions:
- BodyInterface::AddBodiesPrepare - Prepares bodies to be added to the PhysicsSystem. Doesn't affect simulation and can be done from a background thread.
- BodyInterface::AddBodiesFinalize - Finalize insertion. This atomically adds all bodies to the PhysicsSystem.
- BodyInterface::AddBodiesAbort - If you've called AddBodiesPrepare but changed your mind and no longer want to add the bodies to the PhysicsSystem. Useful when streaming in level sections and the player decides to go the other way.
- BodyInterface::RemoveBodies - Batch remove a lot of bodies from the PhysicsSystem.
Always use the batch adding functions when possible! Adding many bodies, one at a time, results in a really inefficient broadphase (a trace will notify when this happens) and in extreme cases may lead to the broadphase running out of internal nodes (std::abort will be called in that case). If you cannot avoid adding many bodies one at a time, use PhysicsSystem::OptimizeBroadPhase to rebuild the tree.
You can call AddBody, RemoveBody, AddBody, RemoveBody to temporarily remove and later reinsert a body into the simulation.
## Multithreaded Access {#multi-threaded-access}
Jolt is designed to be accessed from multiple threads so the body interface comes in two flavors: A locking and a non-locking variant. The locking variant uses a mutex array (a fixed size array of mutexes, bodies are associated with a mutex through hashing and multiple bodies use the same mutex, see [MutexArray](@ref MutexArray)) to prevent concurrent access to the same body. The non-locking variant doesn't use mutexes, so requires the user to be careful.
In general, body ID's ([BodyID](@ref BodyID)) are used to refer to bodies. You can access a body through the following construct:
JPH::BodyLockInterface lock_interface = physics_system.GetBodyLockInterface(); // Or GetBodyLockInterfaceNoLock
JPH::BodyID body_id = ...; // Obtain ID to body
// Scoped lock
{
JPH::BodyLockRead lock(lock_interface, body_id);
if (lock.Succeeded()) // body_id may no longer be valid
{
const JPH::Body &body = lock.GetBody();
// Do something with body
...
}
}
When another thread has removed the body between the time the body ID was obtained and the lock, the lock will fail. While the lock is taken, other threads cannot modify the body, so it is safe to work with it. Each body ID contains a sequence number, so body ID's will only be reused after many add/remove cycles. To write to a body use [BodyLockWrite](@ref BodyLockWrite).
You cannot use BodyLockRead to lock multiple bodies (if two threads lock the same bodies in opposite order you'll get a deadlock). Use [BodyLockMultiRead](@ref BodyLockMultiRead) or [BodyLockMultiWrite](@ref BodyLockMultiWrite) to lock them in a consistent order.
Note that a lot of convenience functions are exposed through the BodyInterface, but not all functionality is available, so you may need to lock the body to get the pointer and then call the function directly on the body.
## Single Threaded Access {#single-threaded-access}
If you're only accessing the physics system from a single thread, you can use Body pointers instead of BodyID's. In this case you can also use the non-locking variant of the body interface.
Note that there are still some restrictions:
* You cannot read from / write to bodies or constraints while PhysicsSystem::Update is running. As soon as the Update starts, all body / constraint mutexes are locked.
* Collision callbacks (see ContactListener) are called from within the PhysicsSystem::Update call from multiple threads. You can only read the body data during a callback.
* Activation callbacks (see BodyActivationListener) are called in the same way. Again you should only read the body during the callback and not make any modifications.
* Step callbacks (see PhysicsStepListener) are also called from PhysicsSystem::Update from multiple threads. You're responsible for making sure that there are no race conditions. In a step listener you can read/write bodies or constraints but you cannot add/remove them.
If you are accessing the physics system from multiple threads, you should probably use BodyID's and the locking variant of the body interface. It is however still possible to use Body pointers if you're really careful. E.g. if there is a clear owner of a Body and you ensure that this owner does not read/write state during PhysicsSystem::Update or while other threads are reading the Body there will not be any race conditions.
## Shapes {#shapes}
Each body has a shape attached that determines the collision volume. The following shapes are available (in order of computational complexity):
* [SphereShape](@ref SphereShape) - A sphere centered around zero.
* [BoxShape](@ref BoxShape) - A box centered around zero.
* [CapsuleShape](@ref CapsuleShape) - A capsule centered around zero.
* [TaperedCapsuleShape](@ref TaperedCapsuleShape) - A capsule with different radii at the bottom and top.
* [CylinderShape](@ref CylinderShape) - A cylinder shape. Note that cylinders are the least stable of all shapes, so use another shape if possible.
* [TaperedCylinderShape](@ref TaperedCylinderShape) - A cylinder with different radii at the bottom and top. Note that cylinders are the least stable of all shapes, so use another shape if possible.
* [ConvexHullShape](@ref ConvexHullShape) - A convex hull defined by a set of points.
* [TriangleShape](@ref TriangleShape) - A single triangle. Use a MeshShape if you have multiple triangles.
* [PlaneShape](@ref PlaneShape) - An infinite plane. Negative half space is considered solid.
* [StaticCompoundShape](@ref StaticCompoundShape) - A shape containing other shapes. This shape is constructed once and cannot be changed afterwards. Child shapes are organized in a tree to speed up collision detection.
* [MutableCompoundShape](@ref MutableCompoundShape) - A shape containing other shapes. This shape can be constructed/changed at runtime and trades construction time for runtime performance. Child shapes are organized in a list to make modification easy.
* [MeshShape](@ref MeshShape) - A shape consisting of triangles. They are mostly used for static geometry.
* [HeightFieldShape](@ref HeightFieldShape) - A shape consisting of NxN points that define the height at each point, very suitable for representing hilly terrain. Any body that uses this shape needs to be static.
* [EmptyShape](@ref EmptyShape) - A shape that collides with nothing and that can be used as a placeholder or for dummy bodies.
Next to this there are a number of decorator shapes that change the behavior of their children:
* [ScaledShape](@ref ScaledShape) - This shape can scale a child shape. Note that if a shape is rotated first and then scaled, you can introduce shearing which is not supported by the library.
* [RotatedTranslatedShape](@ref RotatedTranslatedShape) - This shape can rotate and translate a child shape, it can e.g. be used to offset a sphere from the origin.
* [OffsetCenterOfMassShape](@ref OffsetCenterOfMassShape) - This shape does not change its child shape but it does shift the calculated center of mass for that shape. It allows you to e.g. shift the center of mass of a vehicle down to improve its handling.
### Dynamic Mesh Shapes {#dynamic-mesh-shapes}
Meshes are usually static, but they can be made kinematic or dynamic provided that they don't collide with other mesh- or heightfield shapes (an assert will trigger when this happens and the collision will be ignored).
Mesh shapes also cannot calculate their mass and inertia, so when you want a dynamic mesh, you need to provide these yourself by setting BodyCreationSettings::mOverrideMassProperties = EOverrideMassProperties::MassAndInertiaProvided and supplying the mass and inertia in BodyCreationSettings::mMassPropertiesOverride.
An example can be found [here](https://github.com/jrouwe/JoltPhysics/blob/master/Samples/Tests/General/DynamicMeshTest.cpp).
Note that you should try to avoid dynamic mesh shapes as they are fairly expensive to simulate. Also, mesh shapes don't have a clear inside/outside so a mesh is only considered to be colliding when one of its triangles intersect with the other object. This can result in objects getting stuck inside the mesh without knowing which way is out.
### Creating Shapes {#creating-shapes}
Simple shapes like spheres and boxes can be constructed immediately by simply new-ing them. Other shapes need to be converted into an optimized format in order to be usable in the physics simulation. The uncooked data is usually stored in a [ShapeSettings](@ref ShapeSettings) object and then converted to cooked format by a [Create](@ref ShapeSettings::Create) function that returns a [Result](@ref Result) object that indicates success or failure and provides the cooked object.
Creating a convex hull for example looks like:
// Shapes are refcounted and can be shared between bodies
JPH::Ref<Shape> shape;
// The ShapeSettings object is only required for building the shape, all information is copied into the Shape class
{
// Create an array of vertices
JPH::Array<JPH::Vec3> vertices = { ... };
// Create the settings object for a convex hull
JPH::ConvexHullShapeSettings settings(vertices, JPH::cDefaultConvexRadius);
// Create shape
JPH::Shape::ShapeResult result = settings.Create();
if (result.IsValid())
shape = result.Get();
else
... // Error handling
}
Note that after you call Create, the shape is cached and ShapeSettings keeps a reference to your shape (see @ref memory-management). If you call Create again, the same shape will be returned regardless of what changed to the settings object (unless you call [ClearCachedResult](@ref ShapeSettings::ClearCachedResult) to clear the cache).
### Saving Shapes {#saving-shapes}
There are two ways of serializing data:
* The uncooked data can be serialized using the [ObjectStream](@ref ObjectStream) system (either in [binary](@ref ObjectStreamBinaryOut) or in [text](@ref ObjectStreamTextOut) format), data stored in this way is likely to be compatible with future versions of the library (although there is no 100% guarantee of this).
* The cooked data can be serialized using the [SaveBinaryState](@ref Shape::SaveBinaryState) interface that various objects provide. Data stored in this way is optimized for simulation performance and loading speed but is very likely to change between versions of the library, so this should never be your primary data format.
An example of saving a shape in binary format:
// Create a sphere of radius 1
JPH::Ref<Shape> sphere = new JPH::SphereShape(1.0f);
// For this example we'll be saving the shape in a STL string stream, but if you implement StreamOut you don't have to use STL.
// Note that this will be storing a binary string of bytes that can contain 0-bytes, it is not an ASCII string!
stringstream data;
JPH::StreamOutWrapper stream_out(data);
// Save the shape (note this function handles CompoundShape too).
// The maps are there to avoid saving the same shape twice (it will assign an ID to each shape the first time it encounters them).
// If you don't want certain shapes to be saved, add them to the map and give them an ID.
// You can save many shapes to the same stream by repeatedly calling SaveWithChildren on different shapes.
JPH::Shape::ShapeToIDMap shape_to_id;
JPH::Shape::MaterialToIDMap material_to_id;
sphere->SaveWithChildren(stream_out, shape_to_id, material_to_id);
// Wrap the STL stream in a StreamIn
JPH::StreamInWrapper stream_in(data);
// Load the shape
// If you have assigned custom ID's on save, you need to ensure that the shapes exist in this map on restore too.
JPH::Shape::IDToShapeMap id_to_shape;
JPH::Shape::IDToMaterialMap id_to_material;
JPH::Shape::ShapeResult result = JPH::Shape::sRestoreWithChildren(stream_in, id_to_shape, id_to_material);
JPH::Ref<Shape> restored_shape;
if (result.IsValid())
restored_shape = result.Get();
else
... // Error handling
As the library does not offer an exporter from content creation packages and since most games will have their own content pipeline, we encourage you to store data in your own format, cook data while cooking the game data and store the result using the SaveBinaryState interface (and provide a way to force a re-cook when the library is updated).
A possible pattern for serializing binary data in your own engine could be:
* EngineBody at runtime creates a Body. Note that the prefix 'Engine' means that it's a class in your own engine.
* It links to an EngineShape, which wraps a Shape.
* EngineShape comes in different flavors, e.g. EngineMeshShape, EngineSphereShape etc.
* EngineMeshShape contains the uncompressed mesh data (in a format that's editable in your tools).
* When 'cooking' the game data:
* Create a MeshShape.
* Save it using Shape::SaveWithChildren in a binary blob that's associated with the EngineMeshShape (could be in an attribute that's an array of bytes).
* Throw away the uncompressed mesh data.
* When loading the EngineMeshShape using your own serialization system, also restore the MeshShape from the binary blob using Shape::sRestoreWithChildren.
* Your serialization system should take care that the pointer between EngineBody and EngineShape is restored.
* There are some tricks for sharing Shapes, e.g. an EngineCompoundShape links to multiple child EngineShapes:
* At cooking time create a StaticCompoundShape.
* Before writing the shape to the binary blob with Shape::SaveWithChildren it inserts all leaf shapes (the Shape associated with the child EngineShape) in the Shape::ShapeToIDMap so they won't be included in the binary blob.
* Before loading the binary blob with Shape::sRestoreWithChildren prepopulate the Shape::IDToShapeMap with the pointers to the restored Shape's from the child EngineShapes (this again assumes that your own serialization system is capable of restoring the pointers between EngineCompoundShape and the child EntityShapes).
### Convex Radius {#convex-radius}
In order to speed up the collision detection system, all convex shapes use a convex radius. The provided shape will first be shrunken by the convex radius and then inflated again by the same amount, resulting in a rounded off shape:
![In this example a box (green) was created with a fairly large convex radius. The shape is shrunken first (dashed green line) and then inflated again equally on all sides. The resulting shape as seen by the collision detection system is shown in blue. A larger convex radius results in better performance but a less accurate simulation. A convex radius of 0 is allowed.](Images/ConvexRadius.jpg)
### Center of Mass {#center-of-mass}
__Beware: When a shape is created, it will automatically recenter itself around its center of mass.__ The center of mass can be obtained by calling [Shape::GetCenterOfMass](@ref Shape::GetCenterOfMass) and most functions operate in this Center of Mass (COM) space. Some functions work in the original space the shape was created in, they usually have World Space (WS) or Shape Space (SS) in their name (or documentation).
![Shape Center of Mass](Images/ShapeCenterOfMass.jpg)
As an example, say we create a box and then translate it:
// Create box of 2x2x2 m (you specify half the side)
JPH::BoxShapeSettings box(JPH::Vec3(1, 1, 1));
JPH::Ref<Shape> box_shape = box.Create().Get();
// Offset it by 10 m
JPH::RotatedTranslatedShapeSettings translated_box(JPH::Vec3(10, 0, 0), JPH::Quat::sIdentity(), box_shape);
JPH::Ref<Shape> translated_box_shape = translated_box.Create().Get();
// Cast a ray against the offset box (WRONG!)
JPH::RayCast ray;
ray.mOrigin = JPH::Vec3(10, 2, 0);
ray.mDirection = JPH::Vec3(0, -2, 0);
// Cast ray
JPH::RayCastResult hit;
bool had_hit = translated_box_shape->CastRay(ray, JPH::SubShapeIDCreator(), hit);
JPH_ASSERT(!had_hit); // There's no hit because we did not correct for COM!
// Convert the ray to center of mass space for the shape (CORRECT!)
ray.mOrigin -= translated_box_shape->GetCenterOfMass();
// Cast ray
had_hit = translated_box_shape->CastRay(ray, JPH::SubShapeIDCreator(), hit);
JPH_ASSERT(had_hit); // Ray was in COM space, now there's a hit!
In the same way calling:
translated_box_shape->GetLocalBounds();
will return a box of size 2x2x2 centered around the origin, so in order to get it back to the space in which it was originally created you need to offset the bounding box:
JPH::AABox shape_bounds = translated_box_shape->GetLocalBounds();
shape_bounds.Translate(translated_box_shape->GetCenterOfMass());
JPH_ASSERT(shape_bounds == JPH::AABox(JPH::Vec3(9, -1, -1), JPH::Vec3(11, 1, 1))); // Now we have the box relative to how we created it
Note that when you work with interface of [BroadPhaseQuery](@ref BroadPhaseQuery), [NarrowPhaseQuery](@ref NarrowPhaseQuery) or [TransformedShape](@ref TransformedShape) this transformation is done for you.
### Scaling Shapes {#scaling-shapes}
Shapes can be scaled using the [ScaledShape](@ref ScaledShape) class. You can scale a shape like:
JPH::RefConst<Shape> my_scaled_shape = new JPH::ScaledShape(my_non_scaled_shape, JPH::Vec3(x_scale, y_scale, z_scale));
Not all scales are valid for every shape. Use Shape::IsValidScale to check if a scale is valid for a particular shape (the documentation for this function also lists the rules for all shape types).
A safer way of scaling shapes is provided by the Shape::ScaleShape function:
JPH::Shape::ShapeResult my_scaled_shape = my_non_scaled_shape->ScaleShape(JPH::Vec3(x_scale, y_scale, z_scale));
This function will check if a scale is valid for a particular shape and if a scale is not valid, it will produce the closest scale that is valid.
For example, if you scale a CompoundShape that has rotated sub shapes, a non-uniform scale would cause shearing. In that case the Shape::ScaleShape function will create a new compound shape and scale the sub shapes (losing the shear) rather than creating a ScaledShape around the entire CompoundShape.
Updating scaling after a body is created is also possible, but should be done with care. Imagine a sphere in a pipe, scaling the sphere so that it becomes bigger than the pipe creates an impossible situation as there is no way to resolve the collision anymore.
Please take a look at the [DynamicScaledShape](https://github.com/jrouwe/JoltPhysics/blob/master/Samples/Tests/ScaledShapes/DynamicScaledShape.cpp) demo. The reason that no ScaledShape::SetScale function exists is to ensure thread safety when collision queries are being executed while shapes are modified.
Note that there are many functions that take a scale in Jolt (e.g. CollisionDispatch::sCollideShapeVsShape), usually the shape is scaled relative to its center of mass. The Shape::ScaleShape function scales the shape relative to the origin of the shape.
### Creating Custom Shapes {#creating-custom-shapes}
If the defined Shape classes are not sufficient, or if your application can make a more efficient implementation because it has specific domain knowledge, it is possible to create a custom collision shape:
* Derive a new class from Shape (e.g. MyShape). If your shape is convex you can consider deriving from ConvexShape, if it contains multiple sub shapes you can derive from CompoundShape or if it wraps a single other shape it can be derived from DecoratedShape.
* Create a settings class that configures your shape (e.g. MyShapeSettings) and inherit it from the corresponding settings class (e.g. ShapeSettings, CompoundShapeSettings or DecoratedShapeSettings).
* Override the ```MyShapeSettings::Create``` function to construct an instance of MyShape.
* If you want to serialize the settings class, register it with the factory: ```Factory::sInstance->Register(RTTI_OF(MyShapeSettings))```
* If you inherited from Shape you need to select a shape type, use e.g. ```EShapeType::User1```
* In all cases you will need to specify a sub shape type, use e.g. ```EShapeSubType::User1```
* If you inherited from ConvexShape you can also specify a convex sub shape type, e.g. ```EShapeSubType::UserConvex1```, in which case you don't need to implement or register the collision detection functions mentioned below.
* Implement the virtual functions that your selected base class exposes. Some functions could be implemented as a dummy if you don't care about the functionality, e.g. if you don't care about buoyancy then GetSubmergedVolume does not need to be implemented.
* Create a ```MyShape::sRegister()``` function to register all collision functions, make sure you call this function after calling ```RegisterTypes()```, see [MeshShape::sRegister](@ref MeshShape::sRegister) for an example.
* Now write collision detection functions to test collision with all other shape types that this shape could collide with and register them with [CollisionDispatch::sRegisterCollideShape](@ref CollisionDispatch::sRegisterCollideShape) and [CollisionDispatch::sRegisterCastShape](@ref CollisionDispatch::sRegisterCastShape). This can be a lot of work, but there are some helper functions that you can use to reduce the work:
* If you have implemented a collision test for type A vs B then you can register [CollisionDispatch::sReversedCastShape](@ref CollisionDispatch::sReversedCastShape) and [CollisionDispatch::sReversedCollideShape](@ref CollisionDispatch::sReversedCollideShape) for B vs A.
* If your shape is triangle based, you can forward the testing of a shape vs a single triangle to the [CollideConvexVsTriangles](@ref CollideConvexVsTriangles) and [CastConvexVsTriangles](@ref CastConvexVsTriangles) classes.
* If your shape contains sub shapes and you have determined that the shape intersects with one of the sub shapes you can forward the sub shape to the collision dispatch again through [CollisionDispatch::sCollideShapeVsShape](@ref CollisionDispatch::sCollideShapeVsShape) and [CollisionDispatch::sCastShapeVsShapeLocalSpace](@ref CollisionDispatch::sCastShapeVsShapeLocalSpace).
## Sensors {#sensors}
Sensors are normal rigid bodies that report contacts with other Dynamic or Kinematic bodies through the [ContactListener](@ref ContactListener) interface. Any detected penetrations will however not be resolved. Sensors can be used to implement triggers that detect when an object enters their area.
The cheapest sensor has a Static motion type. This type of sensor will only detect active bodies entering their area. As soon as a body goes to sleep, the contact will be lost. Note that you can still move a Static sensor around using [BodyInterface::SetPosition](@ref BodyInterface::SetPosition).
When you make a sensor Kinematic or Dynamic and activate it, it will also detect collisions with sleeping bodies, albeit with a higher run-time cost.
To create a sensor, either set [BodyCreationSettings::mIsSensor](@ref BodyCreationSettings::mIsSensor) to true when constructing a body or set it after construction through [Body::SetIsSensor](@ref Body::SetIsSensor). A sensor can only use the discrete motion quality type at this moment.
To make sensors detect collisions with static objects, set the [BodyCreationSettings::mCollideKinematicVsNonDynamic](@ref BodyCreationSettings::mCollideKinematicVsNonDynamic) to true or call [Body::SetCollideKinematicVsNonDynamic](@ref Body::SetCollideKinematicVsNonDynamic). Note that it can place a large burden on the collision detection system if you have a large sensor intersect with e.g. a large mesh terrain or a height field as you will get many contact callbacks and these contacts will take up a lot of space in the contact cache. Ensure that your sensor is in an object layer that collides with as few static bodies as possible.
To temporarily disable a sensor, choose between:
* Remove the sensor by calling BodyInterface::RemoveBody and re-add it later again with BodyInterface::AddBody.
* Change the collision layer using BodyInterface::SetObjectLayer to a layer that doesn't collide with anything (possibly also in a BroadPhaseLayer that doesn't collide with anything)
## Sleeping {#sleeping-bodies}
During the simulation step, bodies are divided in 'islands'. Each island consists of a set of dynamic bodies that are either in contact with each other, or that are connected through a constraint:
![Simulation islands are enclosed by a red box. Note that the floor is static so not part of an island.](Images/SimulationIsland.jpg)
At the end of each step, all the bodies in an island are checked to see if they have come to rest, if this is the case then the entire island is put to sleep. When a body is sleeping, it can still detect collisions with other objects that are not sleeping, but it will not move or otherwise participate in the simulation to conserve CPU cycles. Sleeping bodies wake up automatically when they're in contact with non-sleeping objects or they can be explicitly woken through an API call like BodyInterface::ActivateBody. Unlike some other physics engines, removing a Body from the world doesn't wake up any surrounding bodies. If you want this you can call BodyInterface::ActivateBodiesInAABox with the bounding box of the removed body (or the combined bounding box if you're removing multiple bodies). Also, things like setting the velocity through Body::SetLinearVelocity will not wake up the Body, use BodyInterface::SetLinearVelocity instead. You can configure the definition of a body 'at rest' through PhysicsSettings::mTimeBeforeSleep and PhysicsSettings::mPointVelocitySleepThreshold.
## Soft Bodies {#soft-bodies}
Soft bodies (also known as deformable bodies) can be used to create e.g. a soft ball or a piece of cloth. They are created in a very similar way to normal rigid bodies:
* First allocate a new SoftBodySharedSettings object on the heap. This object will contain the initial positions of all particles and the constraints between the particles. This object can be shared between multiple soft bodies and should remain constant during its lifetime.
* Then create a SoftBodyCreationSettings object (e.g. on the stack) and fill in the desired properties of the soft body.
* Finally construct the body and add it to the world through BodyInterface::CreateAndAddSoftBody.
Soft bodies use the Body class just like rigid bodies but can be identified by checking Body::IsSoftBody. To get to the soft body state, cast the result of Body::GetMotionProperties to SoftBodyMotionProperties and use its API.
Soft bodies try to implement as much as possible of the normal Body interface, but this interface provides a simplified version of reality, e.g. Body::GetLinearVelocity will return the average particle speed and Body::GetPosition returns the average particle position. During simulation, a soft body will never update its rotation. Internally it stores particle velocities in local space, so if you rotate a soft body e.g. by calling BodyInterface::SetRotation, the body will rotate but its velocity will as well.
### Soft Body Contact Listeners {#soft-body-contact-listener}
Soft Bodies provide contacts with other bodies through the SoftBodyContactListener class. This contact listener works a little bit different from the normal contact listener as you will not receive a contact callback per colliding vertex.
After the broad phase has detected an overlap and the normal layer / collision group filters have had a chance to reject the collision, you will receive a SoftBodyContactListener::OnSoftBodyContactValidate callback. This callback allows you to specify how the vertices of the soft body should interact with the other body. You can override the mass for both bodies and you can turn the contact into a sensor contact.
The simulation will then proceed to do all collision detection and response and after that is finished, you will receive a SoftBodyContactListener::OnSoftBodyContactAdded callback that allows you to inspect all collisions that happened during the simulation step. In order to do this a SoftBodyManifold is provided which allows you to loop over the vertices and ask each vertex what it collided with.
Note that at the time of the callback, multiple threads are operating at the same time. The soft body is stable and can be safely read. The other body that is collided with is not stable however, so you cannot safely read its position/orientation and velocity as it may be modified by another soft body collision at the same time.
### Skinning Soft Bodies {#skinning-soft-bodies}
Using the [skinning](@ref SoftBodySharedSettings::Skinned) constraints, a soft body can be (partially) skinned to joints. This can be used e.g. to partially drive cloth with a character animation. The [vertices](@ref SoftBodySharedSettings::Vertex::mPosition) of the soft body need to be placed in the neutral pose of the character and the joints for this pose need to be calculated in model space (relative to these vertices). The inverted matrices of this neutral pose need to be stored as the [inverse bind matrices](@ref SoftBodySharedSettings::InvBind) and the skinning constraints can then be [weighted](@ref SoftBodySharedSettings::SkinWeight) to these joints. SoftBodySharedSettings::CalculateSkinnedConstraintNormals must be called to gather information needed to calculate the face normals at run-time.
At run-time, you need to provide the animated joints every simulation step through the SoftBodyMotionProperties::SkinVertices call. During simulation, each skinned vertex will calculate its position and this position will be used to limit the movement of its simulated counterpart.
![A Skinned Constraint](Images/SoftBodySkinnedConstraint.jpg)
The adjacent faces of the soft body will be used to calculate the normal of each vertex (shown in red), the vertex is then free to move inside the sphere formed by the skinned vertex position with radius [MaxDistance](@ref SoftBodySharedSettings::Skinned::mMaxDistance) (green sphere). To prevent the vertex from intersecting with the character, it is possible to specify a [BackStopDistance](@ref SoftBodySharedSettings::Skinned::mBackStopDistance) and [BackStopRadius](@ref SoftBodySharedSettings::Skinned::mBackStopRadius), together these form the red sphere. The vertex is not allowed to move inside this sphere.
### Soft Body Work In Progress {#soft-body-wip}
Soft bodies are currently in development, please note the following:
* Soft bodies can only collide with rigid bodies, collisions between soft bodies are not implemented yet.
* AddTorque/SetLinearVelocity/SetLinearVelocityClamped/SetAngularVelocity/SetAngularVelocityClamped/AddImpulse/AddAngularImpulse have no effect on soft bodies as the velocity is stored per particle rather than per body.
* Buoyancy calculations have not been implemented yet.
* Constraints cannot operate on soft bodies, set the inverse mass of a particle to zero and move it by setting a velocity to constrain a soft body to something else.
* When calculating friction / restitution an empty SubShapeID will be passed to the ContactConstraintManager::CombineFunction because this is called once per body pair rather than once per sub shape as is common for rigid bodies.
# Constraints {#constraints}
Bodies can be connected to each other using constraints ([Constraint](@ref Constraint)).
The following constraints are available:
* [FixedConstraint](@ref FixedConstraintSettings) - Will attach a body to another without any degrees of freedom.
* [DistanceConstraint](@ref DistanceConstraintSettings) - Will attach two bodies with a stick (removing 1 degree of freedom).
* [PointConstraint](@ref PointConstraintSettings) - Will attach two bodies in a single point (removing 3 degrees of freedom)
* [HingeConstraint](@ref HingeConstraintSettings) - Will attach two bodies through a hinge.
* [ConeConstraint](@ref ConeConstraintSettings) - Attaches two bodies in a point and will limit the rotation within a cone.
* [SliderConstraint](@ref SliderConstraintSettings) - Attaches two bodies and allows only movement in a single translation axis (also known as prismatic constraint).
* [SwingTwistConstraint](@ref SwingTwistConstraintSettings) - Attaches two bodies using a point constraint and a swing-twist constraint which approximates the shoulder joint of a human.
* [SixDOFConstraint](@ref SixDOFConstraintSettings) - The most configurable joint allows specifying per translation axis and rotation axis what the limits are.
* [PathConstraint](@ref PathConstraintSettings) - This constraint allows attaching two bodies connected through a Hermite spline path.
* [GearConstraint](@ref GearConstraintSettings) - This constraint connects to two hinge joints and constrains them to connect two gears.
* [RackAndPinionConstraint](@ref RackAndPinionConstraintSettings) - This constraint connects a hinge and a slider constraint to connect a rack and pinion.
* [PulleyConstraint](@ref PulleyConstraintSettings) - This constraint connects two bodies through two fixed points creating something that behaves like two bodies connected through a rope.
* [VehicleConstraint](@ref VehicleConstraintSettings) - This constraint adds virtual wheels or tracks to a body and allows it to behave as a vehicle.
If you want to constrain a dynamic object to the unmovable 'world' you can use [Body::sFixedToWorld](@ref Body::sFixedToWorld) instead of creating a static body.
Bodies do not keep track of the constraints that are connected to them. This means that you're responsible for removing any constraints attached to a body before removing the body from the PhysicsSystem.
Adding and removing constraints can be done from multiple threads, but the constraints themselves do not have any protection against concurrent access. We assume that constraints are owned by some object (e.g. a Ragdoll) and that object ensures that it only modifies its own constraints and contains its own synchronization logic. Constraints can be freely modified except during the physics simulation step.
Contact constraints (when bodies collide) are not handled through the [Constraint](@ref Constraint) class but through the [ContactConstraintManager](@ref ContactConstraintManager) which is considered an internal class.
## Constraint Motors {#constraint-motors}
Most of the constraints support motors (see [MotorSettings](@ref MotorSettings)) which allow you to apply forces/torques on two constrained bodies to drive them to a relative position/orientation. There are two types of motors:
* Linear motors: These motors drive the relative position between two bodies. A linear motor would, for example, slide a body along a straight line when you use a slider constraint.
* Angular motors: These motors drive the relative rotation between two bodies. An example is a hinge constraint. The motor drives the rotation along the hinge axis.
Motors can have three states (see [EMotorState](@ref EMotorState) or e.g. SliderConstraint::SetMotorState):
* Off: The motor is not doing any work.
* Velocity: This type of motor drives the relative velocity between bodies. For a slider constraint, you would push the bodies towards/away from each other with constant velocity. For a hinge constraint, you would rotate the bodies relative to each other with constant velocity. Set the target velocity through e.g. SliderConstraint::SetTargetVelocity / HingeConstraint::SetTargetAngularVelocity.
* Position: This type of motor drives the relative position between bodies. For a slider constraint, you can specify the relative distance you want to achieve between the bodies. For a hinge constraint you can specify the relative angle you want to achieve between the bodies. Set the target position through e.g. SliderConstraint::SetTargetPosition / HingeConstraint::SetTargetAngle.
Motors apply a force (when driving position) or torque (when driving angle) every simulation step to achieve the desired velocity or position. You can control the maximum force/torque that the motor can apply through MotorSettings::mMinForceLimit, MotorSettings::mMaxForceLimit, MotorSettings::mMinTorqueLimit and MotorSettings::mMaxTorqueLimit. Note that if a motor is driving to a position, the torque limits are not used. If a constraint is driving to an angle, the force limits are not used.
Usually the limits are symmetric, so you would set -mMinForceLimit = mMaxForceLimit. This way the motor can push at an equal rate as it can pull. If you would set the range to e.g. [0, FLT_MAX] then the motor would only be able to push in the positive direction. The units for the force limits are Newtons and the values can get pretty big. If your motor doesn't seem to do anything, chances are that you have set the value too low. Since Force = Mass * Acceleration you can calculate the approximate force that a motor would need to supply in order to be effective. Usually the range is set to [-FLT_MAX, FLT_MAX] which lets the motor achieve its target as fast as possible.
For an angular motor, the units are Newton Meters. The formula is Torque = Inertia * Angular Acceleration. Inertia of a solid sphere is 2/5 * Mass * Radius^2. You can use this to get a sense of the amount of torque needed to get the angular acceleration you want. Again, you'd usually set the range to [-FLT_MAX, FLT_MAX] to not limit the motor.
When settings the force or torque limits to [-FLT_MAX, FLT_MAX] a velocity motor will accelerate the bodies to the desired relative velocity in a single time step (if no other forces act on those bodies).
Position motors have two additional parameters: Frequency (MotorSettings::mSpringSettings.mFrequency, Hz) and damping (MotorSettings::mSpringSettings.mDamping, no units). They are implemented as described in [Soft Constraints: Reinventing The Spring - Erin Catto - GDC 2011](https://box2d.org/files/ErinCatto_SoftConstraints_GDC2011.pdf).
You can see a position motor as a spring between the target position and the rigid body. The force applied to reach the target is linear with the distance between current position and target position. When there is no damping, the position motor will cause the rigid body to oscillate around its target.
![A rigid body on a slider constraint. The body starts at 1 and is driven to 0 with a position motor. Two different motor frequencies are shown. The higher the frequency, the faster the motor will reach its target, but without damping it will overshoot and oscillate forever.](Images/MotorFrequency.jpg)
Valid frequencies are in the range (0, 0.5 * simulation frequency]. A frequency of 0 results in no force being applied, a frequency larger than half of the physics simulation frequency will result in instability. For a 60 Hz physics simulation, 20 is a good value for a stiff spring (without damping it will reach its target in 1/(4 * 20) = 0.0125 s), 2 is good for a soft spring (will reach its target in 1/(4 * 2) = 0.125 s).
In order to prevent the motor from overshooting its target, we use damping.
![A rigid body on a slider constraint. The body starts at 1 and is driven to 0 with a position motor. The frequency of the motor is 2 Hz and the lines correspond to different damping values.](Images/MotorDamping.jpg)
Sensible values for damping are [0, 1] but higher values are also possible. When the damping is below 1, the body will still oscillate around its target, but that oscillation will die out. When the damping is 1 (called critical damping) there is no oscillation at all but it will take longer for the motor to reach its target. When damping is bigger than 1, the system is over dampened. There will not be any oscillation, but it will take even longer for the motor to reach its target.
Because Jolt Physics uses a Symplectic Euler integrator, there will still be a small amount of damping when damping is 0, so you cannot get infinite oscillation (allowing this would make it very likely for the system to become unstable).
## Breakable Constraints {#breakable-constraints}
Constraints can be turned on / off by calling Constraint::SetEnabled. After every simulation step, check the total 'lambda' applied on each constraint and disable the constraint if the value goes over a certain threshold. Use e.g. SliderConstraint::GetTotalLambdaPosition / HingeConstraint::GetTotalLambdaRotation. You can see 'lambda' as the linear/angular impulse applied at the constraint in the last physics step to keep the constraint together.
# Collision Detection {#collision-detection}
Collision detection can be performed through various interfaces:
* Coarse collision detection against the world, using only the bounding box of each body is done through the BroadPhaseQuery interface (see PhysicsSystem::GetBroadPhaseQuery).
* Detailed collision detection against the world is done through NarrowPhaseQuery interface (see PhysicsSystem::GetNarrowPhaseQuery).
* Checking collisions with a single body is done through TransformedShape (see Body::GetTransformedShape)
* Checking collisions against a single shape is done through various interfaces on the Shape class (see e.g. Shape::CastRay) or through the CollisionDispatch interface.
The most common collision tests are:
* Casting a ray: BroadPhaseQuery::CastRay, NarrowPhaseQuery::CastRay, TransformedShape::CastRay, Shape::CastRay.
* Colliding a shape (e.g. a sphere) in a static position: NarrowPhaseQuery::CollideShape, TransformedShape::CollideShape, CollisionDispatch::sCollideShapeVsShape.
* Casting a shape (sweeping it from a start to an end position and finding collisions along the way): NarrowPhaseQuery::CastShape, TransformedShape::CastShape, CollisionDispatch::sCastShapeVsShapeWorldSpace.
* Checking if a shape contains a point: BroadPhaseQuery::CollidePoint, NarrowPhaseQuery::CollidePoint, TransformedShape::CollidePoint, Shape::CollidePoint.
The following sections describe the collision detection system in more detail.
## Broad Phase {#broad-phase}
When bodies are added to the PhysicsSystem, they are inserted in the broad phase ([BroadPhaseQuadTree](@ref BroadPhaseQuadTree)). This provides quick coarse collision detection based on the axis aligned bounding box (AABB) of a body.
![To quickly test if two objects overlap you can check if their axis aligned bounding boxes overlap. If they do, a check between the actual shapes is needed to be sure.](Images/EllipsoidAABB.png)
Our broad phase is a quad tree, which means each node has 4 children. In the following image you see a random collection of spheres and triangles and a possible way to split the tree.
![QuadTree Example](Images/QuadTreeExample.png)
At the highest level we split all objects in 4 mostly disjoint sets. Note that nodes are allowed to overlap, but for efficiency reasons we want the amount of overlap to be minimal. The example split here is indicated by a red, blue, green and yellow box and you can see them appear in the tree on the right. Three out of four nodes: blue, yellow and red, have 4 or less shapes in them, so the tree can directly point at the shapes rather than at a next node. One node: green, has more than 4 shapes in it so needs a further split. The three shapes can be added directly to the node and we need to create a new node, dotted green, to hold the last two shapes. The reason why we pick 4 children is that modern CPUs support doing 4 math operations in a single instruction, so when we walk the tree from top to bottom during a collision query, we can handle 4 children at the same time and quickly get to a minimal set of colliding objects.
Since we want to access bodies concurrently the broad phase has special behavior. When a body moves, all nodes in the AABB tree from root to the node where the body resides will be expanded using a lock-free approach. This way multiple threads can move bodies at the same time without requiring a lock on the broad phase. Nodes that have been expanded are marked and during the next physics step a new tight-fitting tree will be built in the background while the physics step is running. This new tree will replace the old tree before the end of the simulation step. This is possible since no bodies can be added/removed during the physics step. For more information about this see the [GDC 2022 talk](https://jrouwe.nl/architectingjolt/ArchitectingJoltPhysics_Rouwe_Jorrit_Notes.pdf).
The broad phase is divided in layers (BroadPhaseLayer), each broad phase layer has an AABB quad tree associated with it. A standard setup would be to have at least 2 broad phase layers: One for all static bodies (which is infrequently updated but is expensive to update since it usually contains most bodies) and one for all dynamic bodies (which is updated every simulation step but cheaper to update since it contains fewer objects). In general you should only have a few broad phase layers as there is overhead in querying and maintaining many different broad phase trees.
When doing a query against the broad phase ([BroadPhaseQuery](@ref BroadPhaseQuery)), you generally will get a body ID for intersecting objects. If a collision query takes a long time to process the resulting bodies (e.g. across multiple simulation steps), you can safely keep using the body ID's as specified in the @ref bodies section.
## Narrow Phase {#narrow-phase}
A narrow phase query ([NarrowPhaseQuery](@ref NarrowPhaseQuery)) will first query the broad phase for intersecting bodies and will under the protection of a body lock construct a transformed shape ([TransformedShape](@ref TransformedShape)) object. This object contains the transform, a reference counted shape and a body ID. Since the shape will not be deleted until you destroy the TransformedShape object, it is a consistent snapshot of the collision information of the body. This ensures that the body is only locked for a short time frame and makes it possible to do the bulk of the collision detection work outside the protection of a lock.
For very long running jobs (e.g. navigation mesh creation) it is possible to query all transformed shapes in an area and then do the processing work using a long running thread without requiring additional locks (see [NarrowPhaseQuery::CollectTransformedShapes](@ref NarrowPhaseQuery::CollectTransformedShapes)).
The narrow phase queries are all handled through the [GJK](@ref GJKClosestPoint) and [EPA](@ref EPAPenetrationDepth) algorithms.
## Collision Filtering {#collision-filtering}
Each Body is in an [ObjectLayer](@ref ObjectLayer). If two object layers don't collide, the bodies inside those layers cannot collide. You can define object layers in any way you like, it could be a simple number from 0 to N or it could be a bitmask. Jolt supports 16 or 32 bit ObjectLayers through the JPH_OBJECT_LAYER_BITS define and you're free to define as many as you like as they don't incur any overhead in the system.
When constructing the PhysicsSystem you need to provide a number of filtering interfaces:
* BroadPhaseLayerInterface: This class defines a mapping from ObjectLayer to BroadPhaseLayer through the BroadPhaseLayerInterface::GetBroadPhaseLayer function. Each Body can only be in 1 BroadPhaseLayer so an ObjectLayer maps to 1 BroadphaseLayer. In general there will be multiple ObjectLayers mapping to the same BroadPhaseLayer (because each broad phase layer comes at a cost). If there are multiple object layers in a single broad phase layer, they are stored in the same tree. When a query visits the tree it will visit all objects whose AABB overlaps with the query and only when the overlap is detected, the actual object layer will be checked. This means that you should carefully design which object layers end up in which broad phase layer, balancing the requirement of having few broad phase layers with the number of needless objects that are visited because multiple object layers share the same broad phase layer. You can define JPH_TRACK_BROADPHASE_STATS to let Jolt print out some statistics about the query patterns your application is using. In general it is wise to start with only 2 broad phase layers as listed in the \ref broad-phase section.
* ObjectVsBroadPhaseLayerFilter: This class defines a ObjectVsBroadPhaseLayerFilter::ShouldCollide function that checks if an ObjectLayer collides with objects that reside in a particular BroadPhaseLayer. ObjectLayers can collide with as many BroadPhaseLayers as needed, so it is possible for a collision query to visit multiple broad phase trees.
* ObjectLayerPairFilter: This class defines a ObjectLayerPairFilter::ShouldCollide function that checks if an ObjectLayer collides with another ObjectLayer.
As an example we will use a simple enum as ObjectLayer:
* NON_MOVING - Layer for all static objects.
* MOVING - Layer for all regular dynamic bodies.
* DEBRIS - Layer for all debris dynamic bodies, we want to test these only against the static geometry because we want to save some simulation cost.
* BULLET - Layer for high detail collision bodies that we co-locate with regular dynamic bodies. These are bodies that are not used for simulation but are moved to follow the dynamic bodies and provide more precise geometry for ray tests to simulate shooting bullets. See [Level of Detail](@ref level-of-detail) for more information.
* WEAPON - This is a query layer so we don't create any bodies with this layer but we use it when doing ray cast querying for our weapon system.
We define the following object layers to collide:
* MOVING vs NON_MOVING, MOVING vs MOVING - These are for our regular dynamic objects that need to collide with the static world and with each other.
* DEBRIS vs NON_MOVING - As said, we only want debris to collide with the static world and not with anything else.
* WEAPON vs BULLET, WEAPON vs NON_MOVING - We want our weapon ray cast to hit the high detail BULLET collision instead of the normal MOVING collision and we want bullets to be blocked by the static world (obviously the static world could also have a high detail version, but not in this example).
This means that we need to implement a ObjectLayerPairFilter::ShouldCollide that returns true for the permutations listed above. Note that if ShouldCollide(A, B) returns true, ShouldCollide(B, A) should return true too.
We define the following broad phase layers:
* BP_NON_MOVING - For everything static (contains object layer: NON_MOVING).
* BP_MOVING - The default layer for dynamic objects (contains object layers: MOVING, BULLET).
* BP_DEBRIS - An extra layer that contains only debris (contains object layers: DEBRIS).
This means we now implement a BroadPhaseLayerInterface::GetBroadPhaseLayer that maps: NON_MOVING -> BP_NON_MOVING, MOVING -> BP_MOVING, BULLET -> BP_MOVING and DEBRIS -> BP_DEBRIS. We can map WEAPON to anything as we won't create any objects with this layer.
We also need to implement a ObjectVsBroadPhaseLayerFilter::ShouldCollide that determines which object layer should collide with what broad phase layers, these can be deduced from the two lists above:
* NON_MOVING: BP_MOVING, BP_DEBRIS
* MOVING: BP_NON_MOVING, BP_MOVING
* DEBRIS: BP_NON_MOVING
* BULLET: None (these are not simulated so need no collision with other objects)
* WEAPON: BP_NON_MOVING, BP_MOVING
So you can see now that when we simulate DEBRIS we only need to visit a single broad phase tree to check for collision, we did this because in our example we know that there are going to be 1000s of debris objects so it is important that their queries are as fast as possible. We could have moved the BULLET layer to its own broad phase layer too because now BP_MOVING contains a lot of bodies that WEAPON is not interested in, but in this example we didn't because we know that there are not enough of these objects for this to be a performance problem.
For convenience two filtering implementations are provided:
* ObjectLayerPairFilterTable, ObjectVsBroadPhaseLayerFilterTable and BroadPhaseLayerInterfaceTable: These three implement collision layers as a simple table. You construct ObjectLayerPairFilterTable with a fixed number of object layers and then call ObjectLayerPairFilterTable::EnableCollision or ObjectLayerPairFilterTable::DisableCollision to selectively enable or disable collisions between layers. BroadPhaseLayerInterfaceTable is constructed with a number of broad phase layers. You can then map each object layer to a broad phase layer through BroadPhaseLayerInterfaceTable::MapObjectToBroadPhaseLayer.
* ObjectLayerPairFilterMask, ObjectVsBroadPhaseLayerFilterMask and BroadPhaseLayerInterfaceMask: These split an ObjectLayer in an equal amount of bits for group and mask. Two objects collide if (object1.group & object2.mask) != 0 && (object2.group & object1.mask) != 0. This behavior is similar to e.g. Bullet. In order to map groups to broad phase layers, you call BroadPhaseLayerInterfaceMask::ConfigureLayer for each broad phase layer. You determine which groups can be put in that layer and which group must be excluded from that layer. E.g. a broad phase layer could include everything that has the STATIC group but should exclude everything that has the SENSOR group, so that if an object has both STATIC and SENSOR bits set, this broad phase layer will not be used. The broad phase layers are checked one by one and the first one that meets the condition is the one that the body will be put in. If you use this implementation, consider setting the cmake option OBJECT_LAYER_BITS to 32 to get a 32-bit ObjectLayer instead of a 16-bit one.
Now that we know about the basics, we list the order in which the collision detection pipeline goes through the various collision filters:
![Collision engine flow.](Images/CollisionFlow.jpg)
* Broadphase layer: At this stage, the object layer is tested against the broad phase trees that are relevant by checking the [ObjectVsBroadPhaseLayerFilter](@ref ObjectVsBroadPhaseLayerFilter).
* Object layer: Once the broad phase layer test succeeds, we will test object layers vs object layers through [ObjectLayerPairFilter](@ref ObjectLayerPairFilter) (used for simulation) and [ObjectLayerFilter](@ref ObjectLayerFilter) (used for collision queries). The default implementation of ObjectLayerFilter is DefaultObjectLayerFilter and uses ObjectLayerPairFilter so the behavior is consistent between simulation and collision queries.
* [GroupFilter](@ref GroupFilter): Used only during simulation and runs after bounding boxes have found to be overlapping. Allows you fine tune collision e.g. by discarding collisions between bodies connected by a constraint. See e.g. [GroupFilterTable](@ref GroupFilterTable) which implements filtering for bodies within a ragdoll.
* [BodyFilter](@ref BodyFilter): This filter is used instead of the group filter if you do collision queries like CastRay.
* Shape filter: This filter is used both during queries ([ShapeFilter](@ref ShapeFilter)) and simulation ([SimShapeFilter](@ref SimShapeFilter)) and can be used to filter out individual shapes of a compound. To set the shape filter for the simulation use PhysicsSystem::SetSimShapeFilter.
* [ContactListener](@ref ContactListener): During simulation, after all collision detection work has been performed you can still choose to discard a contact point. This is a very expensive way of rejecting collisions as most of the work is already done.
To avoid work, try to filter out collisions as early as possible.
## Level of Detail {#level-of-detail}
Bodies can only exist in a single layer. If you want a body with a low detail collision shape for simulation (in the example above: MOVING layer) and a high detail collision shape for collision detection (BULLET layer), you'll need to create 2 Bodies.
The low detail body should be dynamic. The high detail body should be kinematic, or if it doesn't interact with other dynamic objects it can also be static.
After calling PhysicsSystem::Update, you'll need to loop over these dynamic bodies and call BodyInterface::MoveKinematic in case the high detail body is kinematic, or BodyInterface::SetPositionAndRotation in case the high detail body is static.
Alternatively, you can put a high detail and a low detail shape in a StaticCompoundShape and use PhysicsSystem::SetSimShapeFilter to filter out the high detail shape during simulation.
Another ShapeFilter would filter out the low detail shape during collision queries (e.g. through NarrowPhaseQuery).
You can use Shape::GetUserData to determine if a shape is a high or a low detail shape.
## Continuous Collision Detection {#continuous-collision-detection}
Each body has a motion quality setting ([EMotionQuality](@ref EMotionQuality)). By default the motion quality is [Discrete](@ref EMotionQuality::Discrete). This means that at the beginning of each simulation step we will perform collision detection and if no collision is found, the body is free to move according to its velocity. This usually works fine for big or slow moving objects. Fast and small objects can easily 'tunnel' through thin objects because they can completely move through them in a single time step. For these objects there is the motion quality [LinearCast](@ref EMotionQuality::LinearCast). Objects that have this motion quality setting will do the same collision detection at the beginning of the simulation step, but once their new position is known, they will do an additional CastShape to check for any collisions that may have been missed. If this is the case, the object is placed back to where the collision occurred and will remain there until the next time step. This is called 'time stealing' and has the disadvantage that an object may appear to move much slower for a single time step and then speed up again. The alternative, back stepping the entire simulation, is computationally heavy so was not implemented.
![With the Discrete motion quality the blue object tunnels through the green object in a single time step. With motion quality LinearCast it doesn't.](Images/MotionQuality.jpg)
Fast rotating long objects are also to be avoided, as the LinearCast motion quality will fully rotate the object at the beginning of the time step and from that orientation perform the CastShape, there is a chance that the object misses a collision because it rotated through it.
![Even with the LinearCast motion quality the blue object rotates through the green object in a single time step.](Images/LongAndThin.jpg)
## Ghost Collisions {#ghost-collisions}
A ghost collision can occur when a body slides over another body and hits an internal edge of that body. The most common case is where a body hits an edge of a triangle in a mesh shape but it can also happen on 2 box shapes as shown below.
![A blue box sliding over 2 green boxes. Because the blue box can sink into the green box a little bit, it can hit the edge between the two boxes. This will cause the box to stop or jump up.](Images/GhostCollision.jpg)
There are a couple of ways to avoid ghost collisions in Jolt. MeshShape and HeightFieldShape keep track of active edges during construction.
![An inactive edge (concave) and an active edge (convex, angle > threshold angle).](Images/ActiveEdge.jpg)
Whenever a body hits an inactive edge, the contact normal is the face normal. When it hits an active edge, it can be somewhere in between the connecting face normals so the movement of the body is impeded in the scenario below.
![Contact normal (red) of hitting an active vs an inactive edge.](Images/ActiveVsInactiveContactNormal.jpg)
By tweaking MeshShapeSettings::mActiveEdgeCosThresholdAngle or HeightFieldShapeSettings::mActiveEdgeCosThresholdAngle you can determine the angle at which an edge is considered an active edge. By default this is 5 degrees, making this bigger reduces the amount of ghost collisions but can create simulation artifacts if you hit the edge straight on.
To further reduce ghost collisions, you can turn on BodyCreationSettings::mEnhancedInternalEdgeRemoval. When enabling this setting, additional checks will be made at run-time to detect if an edge is active or inactive based on all of the contact points between the two bodies. Beware that this algorithm only considers 2 bodies at a time, so if the two green boxes above belong to two different bodies, the ghost collision can still occur. Use a StaticCompoundShape to combine the boxes in a single body to allow the system to eliminate ghost collisions between the blue and the two green boxes. You can also use this functionality for your custom collision tests by making use of InternalEdgeRemovingCollector.
# Character Controllers {#character-controllers}
The [Character](@ref Character) and [CharacterVirtual](@ref CharacterVirtual) classes can be used to create a character controller. These are usually used to represent the player as a simple capsule or tall box and perform collision detection while the character navigates through the world.
The Character class is the simplest controller and is essentially a rigid body that has been configured to only allow translation (and no rotation so it stays upright). It is simulated together with the other rigid bodies so it properly reacts to them. Because it is simulated, it is usually not the best solution for a player as the player usually requires a lot of behavior that is non-physical. This character controller is cheap so it is recommended for e.g. simple AI characters. After every PhysicsSystem::Update call you must call Character::PostSimulation to update the ground contacts.
Characters are usually driven in a kinematic way (i.e. by calling Character::SetLinearVelocity or CharacterVirtual::SetLinearVelocity before their update).
The CharacterVirtual class is much more advanced. It is implemented using collision detection functionality only (through NarrowPhaseQuery) and is simulated when CharacterVirtual::Update is called. Since the character is not 'added' to the world, it is not visible to rigid bodies and it only interacts with them during the CharacterVirtual::Update function by applying impulses. This does mean there can be some update order artifacts, like the character slightly hovering above an elevator going down, because the characters moves at a different time than the other rigid bodies. Separating it has the benefit that the update can happen at the appropriate moment in the game code. Multiple CharacterVirtuals can update concurrently, so it is not an issue if the game code is parallelized.
CharacterVirtual has the following extra functionality:
* Sliding along walls
* Interaction with elevators and moving platforms
* Enhanced steep slope detection (standing in a funnel whose sides are too steep to stand on will not be considered as too steep)
* Stair stepping through the CharacterVirtual::ExtendedUpdate call
* Sticking to the ground when walking down a slope through the CharacterVirtual::ExtendedUpdate call
* Support for specifying a local coordinate system that allows e.g. [walking around in a flying space ship](https://github.com/jrouwe/JoltPhysics/blob/master/Samples/Tests/Character/CharacterSpaceShipTest.cpp) that is equipped with 'inertial dampers' (a sci-fi concept often used in games).
CharacterVirtual should provide everything that Character provides. Since it is not a rigid body, it requires some extra consideration:
* Collision callbacks are passed through the CharacterContactListener instead of the ContactListener class
* CharacterVirtual vs sensor contacts are also passed through this listener, you will not receive them through the regular ContactListener
* CharacterVirtual vs CharacterVirtual collisions can be handled through the CharacterVsCharacterCollision interface
* Collision checks (e.g. CastRay) do not collide with CharacterVirtual. Use e.g. `NarrowPhaseQuery::CastRay(..., collector)` followed by `CharacterVirtual::GetTransformedShape().CastRay(..., collector)` to include the collision results.
You can create a hybrid between these two by setting CharacterVirtualSettings::mInnerBodyShape. This will create an inner rigid body that follows the movement of the CharacterVirtual. This inner rigid body will be detected by sensors and regular collision tests.
To get started take a look at the [Character](https://github.com/jrouwe/JoltPhysics/blob/master/Samples/Tests/Character/CharacterTest.cpp) and [CharacterVirtual](https://github.com/jrouwe/JoltPhysics/blob/master/Samples/Tests/Character/CharacterVirtualTest.cpp) examples.
# The Simulation Step {#the-simulation-step}
The simulation step [PhysicsSystem::Update](@ref PhysicsSystem::Update) uses jobs ([JobSystem](@ref JobSystem)) to perform the needed work. This allows spreading the workload across multiple CPU's. We use a Sequential Impulse solver with warm starting as described in [Modeling and Solving Constraints - Erin Catto](https://box2d.org/files/ErinCatto_ModelingAndSolvingConstraints_GDC2009.pdf)
Each physics step can be divided into multiple collision steps. So if you run the simulation at 60 Hz with 2 collision steps we run:
* Collision (1/120s)
* Integration (1/120s)
* Collision (1/120s)
* Integration (1/120s)
In general, the system is stable when running at 60 Hz with 1 collision step.
# Conventions and Limits {#conventions-and-limits}
Jolt Physics uses a right handed coordinate system with Y-up. It is easy to use another axis as up axis by changing the gravity vector using [PhysicsSystem::SetGravity](@ref PhysicsSystem::SetGravity). Some shapes like the [HeightFieldShape](@ref HeightFieldShapeSettings) will need an additional [RotatedTranslatedShape](@ref RotatedTranslatedShapeSettings) to rotate it to the new up axis and vehicles ([VehicleConstraint](@ref VehicleConstraintSettings)) and characters ([CharacterBaseSettings](@ref CharacterBaseSettings)) will need their new up-axis specified too.
We use column-major vectors and matrices, this means that to transform a point you need to multiply it on the right hand side: TransformedPoint = Matrix * Point.
Note that the physics simulation works best if you use SI units (meters, radians, seconds, kg). In order for the simulation to be accurate, dynamic objects should be in the order [0.1, 10] meters long, have speeds in the order of [0, 500] m/s and have gravity in the order of [0, 10] m/s^2. Static object should be in the order [0.1, 2000] meter long. If you are using different units, consider scaling the objects before passing them on to the physics simulation.
# Big Worlds {#big-worlds}
By default the library compiles using floats. This means that the simulation gets less accurate the further you go from the origin. If all simulation takes place within roughly 5 km from the origin, floating point precision is accurate enough.
If you have a bigger world, you may want to compile the library using the JPH_DOUBLE_PRECISION define. When you do this, all positions will be stored as doubles, which will make the simulation accurate even at thousands of kilometers away from the origin.
Calculations with doubles are much slower than calculations with floats. A naive implementation that changes all calculations to doubles has been measured to run more than 2x slower than the same calculations using floats. Because of this, Jolt Physics will only use doubles where necessary and drop down to floats as soon as possible. In order to do this, many of the collision query functions will need a 'base offset'. All collision results will be returned as floats relative to this base offset. By choosing the base offset wisely (i.e. close to where collision results are expected) the results will be accurate. Make sure your base offset is not kilometers away from the collision result.
Keep in mind that:
* There are a lot of 'epsilons' in the code that have been tuned for objects of sizes/speeds as described in the @ref conventions-and-limits section. Try to keep the individual objects to the specified scale even if they're really far from the origin.
* When the collision results of a single query are kilometers apart, precision will suffer as they will be far away from the 'base offset'.
* The effectiveness of the broad phase (which works in floats) will become less at large distances from the origin, e.g. at 10000 km from the origin, the resolution of the broad phase is reduced to 1 m which means that everything that's closer than 1 m will be considered colliding. This will not impact the quality of the simulation but it will result in extra collision tests in the narrow phase so will hurt performance.
Because of the minimal use of doubles, the simulation runs 5-10% slower in double precision mode compared to float precision mode.
# Space Simulations {#space-simulations}
There are a number of things that make Jolt not immediately suitable for space simulations:
* The broadphase uses floats internally so will become less accurate at large distances from the origin. This limits its efficiency.
* Jolt stores velocities in floats, so the large velocities that are common in space will become inaccurate. This will especially be visible if you create an object with constraints (e.g. a ragdoll) and make it move at high speeds. The relative velocities between the bodies will be too low for a float to represent accurately, which means that the constraints will not be solved properly.
* Rotations (Quat) are tracked in floats. If you intend to rotate a planet and expect objects on the surface of the planet to stay on the surface, you'll run into accuracy issues. For this reason it is not possible to rotate a RVec3 by a Quat.
It is possible to work around this limitations to create a space simulation with Jolt as [X4 Foundations](https://store.steampowered.com/app/392160/X4_Foundations/) has demonstrated.
First of all, everything mentioned in the @ref big-worlds section is applicable.
Secondly, split the universe into multiple PhysicsSystems and keep objects in each PhysicsSystem close to the origin and with low velocities. E.g.:
* A ship that is traveling near light speed can happen in a PhysicsSystem that is traveling at near light speed. The ship would be near static in this PhysicsSystem so that any constrained parts move at low velocities. Note that Jolt will be unaware of the speed of the PhysicsSystem.
* A planet exists in its own PhysicsSystem where it is static. Rotation of the planet around its axis or around its sun is not modeled in Jolt but applied as an additional matrix transform when rendering the world. This has the advantage that the objects on the planet are completely static so that there is no constant overhead of updating the transforms of bodies.
* Consider representing objects at different scales in different ways. E.g. a ship can be simplified to a simple shape when flying through an asteroid field, this means it can move at much higher speeds while still providing reasonably accurate collision than when it consists of multiple bodies connected with constraints.
The consequence of this approach is that objects may need to be moved between PhysicsSystems as e.g. a ship enters the atmosphere of a planet. You can use Body::GetBodyCreationSettings to get the settings of a Body and create it in the other world in the normal way. For Constraints there is Constraint::GetConstraintSettings.
# Deterministic Simulation {#deterministic-simulation}
The physics simulation is deterministic provided that:
* The APIs that modify the simulation are called in exactly the same order. For example, bodies and constraints need to be added/removed/modified in exactly the same order so that the state at the beginning of a simulation step is exactly the same for both simulations ([exceptions](@ref sloppy-determinism)).
* The same binary code is used to run the simulation. For example, when you run the simulation on Windows it doesn't matter if you have an AMD or Intel processor.
If you want cross platform determinism then please turn on the CROSS_PLATFORM_DETERMINISTIC option in CMake. This will make the library approximately 8% slower but the simulation will be deterministic regardless of:
* Compiler used to compile the library (tested MSVC2022, clang, gcc and emscripten)
* Configuration (Debug, Release or Distribution)
* OS (tested Windows, macOS, Linux)
* Architecture (x86 or ARM).
Some caveats:
* The same source code must be used to compile the library on all platforms.
* The source code must be compiled with the same defines, e.g. you can't have one platform using JPH_DOUBLE_PRECISION and another not.
* Broadphase queries (BroadPhaseQuery) are NOT deterministic because the broad phase can be modified from multiple threads. As bodies are modified, their bounding boxes get widened until the next maintenance update. This may be several calls to PhysicsSystem::Update later. If you want to do a broadphase query determinisically then create a custom CollisionCollector that in its AddHit function repeats the query against the actual bounding box of the body (Body::GetWorldSpaceBounds) and accept only hits that collide with this bounding box. Also ensure that you order the results consistently.
* Narrowphase queries (NarrowPhaseQuery) will return consistent results, but the order in which the results are received can change. This is again due the fact that the broadphase can be modified from multiple threads.
It is quite difficult to verify cross platform determinism, so this feature is less tested than other features. With every build, the following architectures are verified to produce the same results:
* Windows MSVC x86 64-bit with AVX2
* Windows MSVC x86 32-bit with SSE2
* macOS clang ARM 64-bit with NEON
* Linux clang x86 64-bit with AVX2
* Linux clang ARM 64-bit with NEON
* Linux clang ARM 32-bit
* Linux gcc x86 64-bit with AVX2
* Linux gcc ARM 64-bit with NEON
* Linux gcc RISC-V 64-bit
* Linux gcc PowerPC (Little Endian) 64-bit
* Linux gcc LoongArch 64-bit
* WASM32 emscripten running in nodejs
* WASM64 emscripten running in nodejs
The most important things to look out for in your own application:
* Compile your application mode in Precise mode (clang: -ffp-model=precise, MSVC: /fp:precise)
* Turn off floating point contract operations (clang: -ffp-contract=off)
* Make sure the FPU state is consistent across platforms / threads. Check the floating point rounding behavior (should be nearest). Check that the denormals are zero (DAZ) and flush to zero (FTZ) flags are set consistently.
* Do not use the standard trigonometry functions (`sin`, `cos` etc.) as they have different implementations on different platforms, use Jolt's functions ([Sin](@ref Sin), [Cos](@ref Cos) etc.).
* Do not use `std::sort` as it has a different implementation on different platforms, use [QuickSort](@ref QuickSort) instead.
* Do not use `std::push_heap` and `std::pop_heap` as it has a different implementation on different platforms when elements are equal, use [BinaryHeapPush](@ref BinaryHeapPush)/[BinaryHeapPop](@ref BinaryHeapPop) instead.
* Do not use `std::hash` as it is also platform dependent, use [Hash](@ref Hash) instead.
When running the Samples Application you can press ESC, Physics Settings and check the 'Check Determinism' checkbox. Before every simulation step we will record the state using the [StateRecorder](@ref StateRecorder) interface, rewind the simulation and do the step again to validate that the simulation runs deterministically. Some of the tests (e.g. the MultiThreaded) test will explicitly disable the check because they randomly add/remove bodies from different threads. This violates the rule that the API calls must be done in the same order so will not result in a deterministic simulation.
# Rolling Back a Simulation {#rolling-back-a-simulation}
When synchronizing two simulations via a network, it is possible that a change that needed to be applied at frame N is received at frame N + M. This will require rolling back the simulation to the state of frame N and repeating the simulation with the new inputs. This can be implemented by saving the physics state using [SaveState](@ref PhysicsSystem::SaveState) at every frame. To roll back, call [RestoreState](@ref PhysicsSystem::RestoreState) with the state at frame N. SaveState only records the state that the physics engine modifies during its update step (positions, velocities etc.), so if you change anything else you need to restore this yourself. E.g. if you did a [SetFriction](@ref Body::SetFriction) on frame N + 2 then, when rewinding, you need to restore the friction to what is was on frame N and update it again on frame N + 2 when you replay. If you start adding/removing objects (e.g. bodies or constraints) during these frames, the RestoreState function will not work. If you added a body on frame N + 1, you'll need to remove it when rewinding and then add it back on frame N + 1 again (with the proper initial position/velocity etc. because it won't be contained in the snapshot at frame N). The [SaveState](@ref PhysicsSystem::SaveState) function comes with a StateRecorderFilter interface that you can use to selectively save state. E.g. [ShouldSaveBody](@ref StateRecorderFilter::ShouldSaveBody) could simply return false for all static or inactive bodies which can be used to limit the size of the snapshot.
If you wish to share saved state between server and client, you need to ensure that all APIs that modify the state of the world are called in the exact same order. So if the client creates physics objects for player 1 then 2 and the server creates the objects for 2 then 1 you already have a problem (the body IDs will be different, which will render the save state snapshots incompatible). When rolling back a simulation, you'll also need to ensure that the BodyIDs are kept the same, so you need to remove/add the body from/to the physics system instead of destroy/re-create them or you need to create bodies with the same ID on both sides using [BodyInterface::CreateBodyWithID](@ref BodyInterface::CreateBodyWithID).
# Being Sloppy While Still Being Deterministic {#sloppy-determinism}
If you do things in the same order it is guaranteed to be deterministic, but if you know what you're doing you can take some liberties.
E.g. doing `BodyA.SetFriction(...); BodyB.SetFriction(...);` or `BodyB.SetFriction(...); BodyA.SetFriction(...);` doesn't matter for determinism,
the main thing you need to ensure is that when you do a PhysicsSystem::Update that the binary state is the same.
Also adding body A then B is the same as B then A as long as the BodyIDs of A and B are consistent.
For constraints, adding A then B or B then A is equivalent as long as ConstraintSettings::mConstraintPriority is unique per constraint so that it defines a consistent ordering (in this case all constraints in the system must have a unique number).
Note though that PhysicsSystem::SaveState relies on the ordering of constraints, so you'll have to skip serializing constraints by not setting EStateRecorderState::Constraints and call Constraint::SaveState / Constraint::RestoreState directly yourself.
# Working With Multiple Physics Systems {#working-with-multiple-physics-systems}
You can create, simulate and interact with multiple PhysicsSystems at the same time provided that you do not share any objects (bodies, constraints) between the systems.
When a Body is created it receives a BodyID that is unique for the PhysicsSystem that it was created for, so it cannot be shared. The only object that can be shared between PhysicsSystems is a Shape.
If you want to move a body from one PhysicsSystem to another, use Body::GetBodyCreationSettings to get the settings needed to create the body in the other PhysicsSystem.
PhysicsSystems are not completely independent:
* There is only 1 RTTI factory (Factory::sInstance).
* There is only 1 default material (PhysicsMaterial::sDefault).
* There is only 1 debug renderer (DebugRenderer::sInstance) although many functions take a custom DebugRenderer for drawing.
* Custom shapes and CollisionDispatch functions are shared.
* The custom memory allocation functions (e.g. Allocate), Trace and AssertFailed functions are shared.
These functions / systems need to be registered in advance.
# Debug Rendering {#debug-rendering}
When the define JPH_DEBUG_RENDERER is defined (which by default is defined in Debug and Release but not Distribution), Jolt is able to render its internal state. To integrate this into your own application you must inherit from the DebugRenderer class and implement the pure virtual functions DebugRenderer::DrawLine, DebugRenderer::DrawTriangle, DebugRenderer::CreateTriangleBatch, DebugRenderer::DrawGeometry and DebugRenderer::DrawText3D. The CreateTriangleBatch is used to prepare a batch of triangles to be drawn by a single DrawGeometry call, which means that Jolt can render a complex scene much more efficiently than when each triangle in that scene would have been drawn through DrawTriangle. At run-time create an instance of your DebugRenderer which will internally assign itself to DebugRenderer::sInstance. Finally call for example PhysicsSystem::DrawBodies or PhysicsSystem::DrawConstraints to draw the state of the simulation. For an example implementation see [the DebugRenderer from the Samples application](https://github.com/jrouwe/JoltPhysics/blob/master/TestFramework/Renderer/DebugRendererImp.h) or to get started quickly take a look at DebugRendererSimple.
# Memory Management {#memory-management}
Jolt uses reference counting for a number of its classes (everything that inherits from RefTarget). The most important classes are:
* ShapeSettings
* Shape
* ConstraintSettings
* Constraint
* PhysicsMaterial
* GroupFilter
* PhysicsScene
* SoftBodySharedSettings
* VehicleCollisionTester
* VehicleController
* WheelSettings
* CharacterBaseSettings
* CharacterBase
* RagdollSettings
* Ragdoll
* Skeleton
* SkeletalAnimation
* SkeletonMapper
Reference counting objects start with a reference count of 0. If you want to keep ownership of the object, you need to call [object->AddRef()](@ref RefTarget::AddRef), this will increment the reference count. If you want to release ownership you call [object->ReleaseRef()](@ref RefTarget::Release), this will decrement the reference count and if the reference count reaches 0 the object will be destroyed. If, after newing, you pass a reference counted object on to another object (e.g. a ShapeSettings to a CompoundShapeSettings or a Shape to a Body) then that other object will take a reference, in that case it is not needed take a reference yourself beforehand so you can skip the calls to ```AddRef/Release```. Note that it is also possible to do ```auto x = new XXX``` followed by ```delete x``` for a reference counted object if no one ever took a reference. The safest way of working with reference counting objects is to use the Ref or RefConst classes, these automatically manage the reference count for you when assigning a new value or on destruction:
```
// Calls 'AddRef' to keep a reference the shape
JPH::Ref<Shape> shape = new JPH::SphereShape(1.0f);
// Calls 'Release' to release and delete the shape (note that this also happens if JPH::Ref goes out of scope)
shape = nullptr;
```
The Body class is a special case, it is destroyed through BodyInterface::DestroyBody (which internally destroys the Body).
Jolt also supports routing all of its internal allocations through a custom allocation function. See: [Allocate](@ref Allocate), [Reallocate](@ref Reallocate), [Free](@ref Free), [AlignedAllocate](@ref AlignedAllocate) and [AlignedFree](@ref AlignedFree).
# The Simulation Step in Detail {#the-simulation-step-in-detail}
The job graph looks like this:
![Job Graph Physics Step](PhysicsSystemUpdate.svg)
Note that each job indicates if it reads/writes positions/velocities and if it deactivates/activates bodies. We do not allow jobs to read/write the same data concurrently. The arrows indicate the order in which jobs are executed. Yellow blocks mean that there are multiple jobs of this type. Dotted arrows have special meaning and are explained below.
## Broad Phase Update Prepare {#broad-phase-update-prepare}
This job will refit the AABBs of the broad phase. It does this by building a new tree while keeping the old one available as described in the @ref broad-phase section.
## Broad Phase Update Finalize {#broad-phase-update-finalize}
This job will simply swap the new tree with the old tree. The old tree will be discarded at the beginning of the next PhysicsSystem::Update call so that any broad phase query can continue to run.
## Step Listeners {#step-listeners-update}
You can register one or more step listeners (See [PhysicsSystem::AddStepListener](@ref PhysicsSystem::AddStepListener)). This job will call [PhysicsStepListener::OnStep](@ref PhysicsStepListener::OnStep) for every listener. This can be used to do work that needs to be done at the beginning of each step, e.g. set velocities on ragdoll bodies.
## Apply Gravity {#apply-gravity-update}
A number of these jobs run in parallel. Each job takes a batch of active bodies and applies gravity and damping (updating linear and angular velocity).
## Determine Active Constraints {#determine-active-constraints}
This job will go through all non-contact constraints and determine which constraints are active based on if the bodies that the constraint connects to are active.
## Build Islands from Constraints {#build-islands-from-constraints}
This job will go through all non-contact constraints and assign the involved bodies and constraint to the same island. Since we allow concurrent insertion/removal of bodies we do not want to keep island data across multiple simulation steps, so we recreate the islands from scratch every simulation step. The operation is lock-free and O(N) where N is the number of constraints.
If a constraint connects an active and a non-active body, the non-active body is woken up. One find collisions job will not start until this job has finished in order to pick up any collision testing for newly activated bodies.
## Find Collisions {#find-collisions}
This job will do broad and narrow phase checks. Initially a number of jobs are started based on the amount of active bodies. The job will do the following:
- Take a batch of active bodies and collide them against the broadphase.
- When a collision pair is found it is inserted in a lock free queue to be processed later.
- If the queue is full, it will be processed immediately (more Find Collisions jobs are spawned if not all CPU cores are occupied yet as the queue starts to fill up).
- If there are no more active bodies to process, the job will start to perform narrow phase collision detection and set up contact constraints if any collisions are found.
- As soon as a narrow phase pair is processed it will recheck if there are new active bodies to be processed (active bodies can be generated by an active body colliding with an inactive body) and if so process them.
- When there are no more active bodies to test and no more collision pairs to be processed the job terminates.
Note that this job cannot start until apply gravity is done because the velocity needs to be known for elastic collisions to be calculated properly.
The contact points between the two bodies will be determined by the [GJK](@ref GJKClosestPoint) and [EPA](@ref EPAPenetrationDepth) algorithms. For each contact point we will calculate the face that belongs to that contact point. The faces of both bodies are clipped against each other ([ManifoldBetweenTwoFaces](@ref ManifoldBetweenTwoFaces)) so that we have a polygon (or point / line) that represents the contact between the two bodies (contact manifold).
Multiple contact manifolds with similar normals are merged together (PhysicsSystem::ProcessBodyPair::ReductionCollideShapeCollector). After this the contact constraints are created in the [ContactConstraintManager](@ref ContactConstraintManager) and their Jacobians / effective masses calculated.
Contacting bodies are also linked together to form islands. This is the same operation as described in the @ref build-islands-from-constraints section.
The narrow phase makes use of a lock free contact cache. We have 2 caches, one that is used for reading (which contains the contacts from the previous step) and one for writing new contact pairs. When a contact point is preserved from the last simulation step, it will be copied from the read cache to the write cache.
## Setup Velocity Constraints {#setup-velocity-constraints}
This job will go through all non-contact constraints and prepare them for execution. This involves calculating Jacobians and effective masses for each constraint part.
## Finalize Islands {#finalize-islands}
This job will finalize the building of the simulation islands. Each island contains bodies that interact with each other through a contact point or through a constraint. These islands will be simulated separately in different jobs later. The finalization of the islands is an O(N) operation where N is the amount of active bodies (see [IslandBuilder::Finalize](@ref IslandBuilder::Finalize)).
## Set Body Island Idx {#set-body-island-idx}
This job does some housekeeping work that can be executed concurrent to the solver:
* It will assign the island ID to all bodies (which is mainly used for debugging purposes)
## Solve Velocity Constraints {#solve-velocity-constraints}
A number of these jobs will run in parallel. Each job takes the next unprocessed island and will run the iterative constraint solver for that island. It will first apply the impulses applied from the previous simulation step (which are stored in the contact cache) to warm start the solver. It will then repeatedly iterate over all contact and non-contact constraints until either the applied impulses are too small or a max iteration count is reached ([PhysicsSettings::mNumVelocitySteps](@ref PhysicsSettings::mNumVelocitySteps)). The result will be that the new velocities are known for all active bodies. The applied impulses are stored in the contact cache for the next step.
When an island consists of more than LargeIslandSplitter::cLargeIslandTreshold contacts plus constraints it is considered a large island. In order to not do all work on a single thread, this island will be split up by the LargeIslandSplitter. This follows an algorithm described in High-Performance Physical Simulations on Next-Generation Architecture with Many Cores by Chen et al. This is basically a greedy algorithm that tries to group contacts and constraints into groups where no contact or constraint affects the same body. Within a group, the order of execution does not matter since every memory location is only read/written once, so we can parallelize the update. At the end of each group, we need to synchronize the CPU cores before starting on the next group. When the number of groups becomes too large, a final group is created that contains all other contacts and constraints and these are solved on a single thread. The groups are processed PhysicsSettings::mNumVelocitySteps times so the end result is almost the same as an island that was not split up (only the evaluation order changes in a consistent way).
## Pre Integrate {#pre-integrate}
This job prepares the CCD buffers.
## Integrate & Clamp Velocities {#integrate-and-clamp-velocities}
This job will integrate the velocity and update the position. It will clamp the velocity to the max velocity.
Depending on the motion quality ([EMotionQuality](@ref EMotionQuality)) of the body, it will schedule a body for continuous collision detection (CCD) if its movement is bigger than some threshold based on the [inner radius](@ref Shape::GetInnerRadius)) of the shape.
## Post Integrate {#post-integrate}
Find CCD Contact jobs are created on the fly depending on how many CCD bodies were found. If there are no CCD bodies it will immediately start Resolve CCD Contacts.
## Find CCD Contacts {#find-ccd-contacts}
A number of jobs will run in parallel and pick up bodies that have been scheduled for CCD and will do a linear cast to detect the first collision. It always allows movement of the object by a fraction if its inner radius in order to prevent it from getting fully stuck.
## Resolve CCD Contacts {#resolve-ccd-contacts}
This job will take the collision results from the previous job and update position and velocity of the involved bodies. If an object hits another object, its time will be 'stolen' (it will move less far than it should according to its velocity).
## Finalize Contact Cache, Contact Removed Callbacks {#finalize-contact-cache}
This job will:
* Swap the read/write contact cache and prepare the contact cache for the next step.
* It will detect all contacts that existed previous step and do not exist anymore to fire callbacks for them through the [ContactListener](@ref ContactListener) interface.
## Solve Position Constraints, Update Bodies Broad Phase {#solve-position-constraints}
A number of these jobs will run in parallel. Each job takes the next unprocessed island and run the position based constraint solver. This fixes numerical drift that may have caused constrained bodies to separate (remember that the constraints are solved in the velocity domain, so errors get introduced when doing a linear integration step). It will run until either the applied position corrections are too small or until the max amount of iterations is reached ([PhysicsSettings::mNumPositionSteps](@ref PhysicsSettings::mNumPositionSteps)). Here there is also support for large islands, the island splits that were calculated in the Solve Velocity Constraints job are reused to solve partial islands in the same way as before.
It will also notify the broad phase of the new body positions / AABBs.
When objects move too little the body will be put to sleep. This is detected by taking the biggest two axis of the local space bounding box of the shape together with the center of mass of the shape (all points in world space) and keep track of 3 bounding spheres for those points over time. If the bounding spheres become too big, the bounding spheres are reset and the timer restarted. When the timer reaches a certain time, the object has is considered non-moving and is put to sleep.
## Soft Body Prepare {#soft-body-prepare}
If there are any active soft bodies, this job will create the Soft Body Collide, Simulate and Finalize Jobs. It will also create a list of sorted SoftBodyUpdateContext objects that forms the context for those jobs.
## Soft Body Collide {#soft-body-collide}
These jobs will do broadphase checks for all of the soft bodies. A thread picks up a single soft body and uses the bounding box of the soft body to find intersecting rigid bodies. Once found, information will be collected about that rigid body so that Simulate can run in parallel.
## Soft Body Simulate {#soft-body-simulate}
These jobs will do the actual simulation of the soft bodies. They first collide batches of soft body vertices with the rigid bodies found during the Collide job (multiple threads can work on a single soft body) and then perform the simulation using XPBD (also partially distributing a single soft body on multiple threads).
## Soft Body Finalize {#soft-body-finalize}
This job writes back all the rigid body velocity changes and updates the positions and velocities of the soft bodies. It can activate/deactivate bodies as needed.

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# Performance Test
The performance test application contains a couple of simple scenes to test performance of Jolt Physics. It will output the results to the TTY in CSV format.
## Commandline options
- -s=[scene]: This allows you to select a scene, [scene] can be;
- Ragdoll: A scene with 16 piles of 10 ragdolls (3680 bodies) with motors active dropping on a level section.
- RagdollSinglePile: A single pile of 160 ragdolls (3680 bodies) with motors active dropping on a level section.
- ConvexVsMesh: A simpler scene of 484 convex shapes (sphere, box, convex hull, capsule) falling on a 2000 triangle mesh.
- Pyramid: A pyramid of 1240 boxes stacked on top of each other to profile large island splitting.
- LargeMesh: Searches for the biggest MeshShape that can be created and then drops 4410 boxes on that mesh.
- -i=[iterations]: Number of physics steps before the test finishes.
- -q=[quality]: This limits the motion quality types that the test will run on. By default it will test both. [quality] can be:
- Discrete: Discrete collision detection
- LinearCast: Linear cast continous collision detection
- -t=[num]: This sets the amount of threads the test will run on. By default it will test 1 .. number of virtual processors. Can be 'max' to run on as many thread as the CPU has.
- -no_sleep: Disable sleeping.
- -p: Outputs a profile snapshot every 100 iterations
- -r: Outputs a performance_test_[tag].jor file that contains a recording to be played back with JoltViewer
- -f: Outputs the time taken per frame to per_frame_[tag].csv
- -h: Displays a help text
- -rs: Record the simulation state in state_[tag].bin.
- -vs: Validate the recorded simulation state from state_[tag].bin. This will after every simulation step check that the state is the same as the recorded state and trigger a breakpoint if this is not the case. This is used to validate cross platform determinism.
- -repeat=[num]: Repeats all tests num times.
- -validate_hash=[hash]: Will validate that the hash of the simulation matches the supplied hash. Program terminates with return code 1 if it doesn't. Can be used to automatically validate determinism.
## Output
- Motion Quality: Shows the motion quality for the test.
- Thread Count: The amount of threads used for the test.
- Steps / Second: Average amount of physics steps / second over the entire duration of the test.
- Hash: A hash of all positions and rotations of the bodies at the end of the test. Can be used to verify that the test was deterministic.
## Results
If you're interested in how Jolt scales with multiple CPUs and compares to other physics engines, take a look at [this document](https://jrouwe.nl/jolt/JoltPhysicsMulticoreScaling.pdf).

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# Projects Using Jolt
* [Artillery Eco](https://github.com/OversizedSunCoreDev/ArtilleryEco) - Plugin for Unreal Engine 5 (UE5).
* [Dagor Engine](https://github.com/GaijinEntertainment/DagorEngine) - An open source engine used by [War Thunder](https://warthunder.com/). See [here](https://github.com/GaijinEntertainment/DagorEngine/tree/main/prog/engine/phys/physJolt).
* [Death Stranding 2: On the Beach](https://www.playstation.com/en-us/games/death-stranding-2-on-the-beach/) - A third person action adventure game set in a post-apocalyptic world ravaged by otherworldly creatures.
* [ezEngine](https://github.com/ezEngine/ezEngine) - An open source C++ game engine.
* [GDevelop](https://gdevelop.io/) - An open-source, no-code game engine. See [this](https://blog.blips.fm/articles/gdevelop-55-released-with-enhanced-3d-support) announcement.
* [Godot](https://github.com/godotengine/godot) - Godot Engine – Multi-platform 2D and 3D game engine. See [this](https://godotengine.org/releases/4.4/#jolt-physics-module) announcement.
* [Horizon Forbidden West](https://www.playstation.com/en-us/games/horizon-forbidden-west/) - An open world action RPG adventure.
* [HypeHype](https://www.hypehype.com/) - A mobile app to create, remix and play games. See [this](https://twitter.com/SebAaltonen/status/1726871354228482237) X post.
* [Light Tracer Render](https://lighttracer.org/) - A rendering tool, uses Jolt for object placement. See [this](https://lighttracer.org/blog/light-tracer-render-2-4-0/) announcement.
* [LÖVR](https://lovr.org) - A Lua VR framework. See [this](https://lovr.org/docs/v0.18.0) release announcement.
* [luxe engine](https://luxeengine.com) - A cross platform, rapid development game engine.
* [The Mirror](https://themirror.space/) - A game development platform designed to empower developers and artists with real-time, limitless creativity. See [this](https://twitter.com/themirrorgdp/status/1718019599361323023?s=20) X post.
* [Nazara Engine](https://github.com/NazaraEngine/NazaraEngine) - A cross-platform framework aimed at real-time applications (such as video games) requiring Audio, 2D/3D rendering and physics, network and more.
* [NeoAxis Engine](https://www.neoaxis.com/) - A 3D game engine. See [this](https://www.neoaxis.com/news/neoaxis_engine_2023_1_released) announcement.
* [Blood Line: A Rebel Moon Game](https://www.rebelmoongame.com/) - An online co-op action game set in the rebel moon universe.
* [Sceneri](https://www.sceneri.com/) - A mobile app for creating and sharing 3D games and experiences. See [this](https://www.sceneri.com/blog/2023-07-27-jolt-physics-bringing-sceneris-worlds-to-life) blog post.
* [Substrata](https://substrata.info/) - A metaverse platform.
* [Supernova Engine](https://www.supernovaengine.org/) - Game engine for 2D and 3D projects with entity component system (ECS) and data-oriented design.
* [Traktor Engine](https://github.com/apistol78/traktor/) - An open-source 3d game engine written in C++.
* [Unreal Jolt](https://github.com/Yadhu-S/UnrealJolt) - Plugin for Unreal Engine 5 (UE5).
* [VPhysics Jolt](https://github.com/Joshua-Ashton/VPhysics-Jolt), a replacement for Ipion Virtual Physics in the Source Engine. Can be used in e.g. [Garry's Mod](https://store.steampowered.com/app/4000/Garrys_Mod/).
* [Wicked Engine](https://wickedengine.net/) - 3D engine with modern graphics. See [X post](https://x.com/turanszkij/status/1805979390557528217) and [github](https://github.com/turanszkij/WickedEngine/blob/master/WickedEngine/wiPhysics_Jolt.cpp).
* [X4 Foundations](https://store.steampowered.com/app/392160/X4_Foundations/) - A space simulation game. See [this](https://forum.egosoft.com/viewtopic.php?t=451046) announcement.
If your project is using Jolt, open a discussion or send a PR to add it to the list.

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# Release Notes
For breaking API changes see [this document](https://github.com/jrouwe/JoltPhysics/blob/master/Docs/APIChanges.md).
## v5.5.0
### New functionality
* Added new define `JPH_TRACK_SIMULATION_STATS` which tracks simulation statistics on a per body basis. This can be used to figure out bodies are the most expensive to simulate.
* Added `RagdollSettings::CalculateConstraintPriorities` which calculates constraint priorities that boost the priority of joints towards the root of the ragdoll.
* BoxShape, CylinderShape and TaperedCylinderShape will now automatically reduce the convex radius if the specified value is too big for the shape (instead of erroring out).
* Added ability to configure the thickness of triangles when colliding with soft bodies through `CollideSoftBodyVerticesVsTriangles::sTriangleThickness`.
* Added `JPH_DEFAULT_ALLOCATE_ALIGNMENT` which allows defining the default `Allocate` alignment if your allocator's alignment is different from the alignment as defined by `__STDCPP_DEFAULT_NEW_ALIGNMENT__`.
### Bug Fixes
* Visual Studio 2026 support.
* A 6DOF constraint that constrains all rotation axis in combination with a body that has some of its rotation axis locked would not constrain the rotation in the unlocked axis.
* Added include `type_traits` for `std::is_trivial` to avoid compile error on macOS with clang 21.
* Fixed compilation error when using Jolt in conjunction with the `_CRTDBG_MAP_ALLOC` define on Windows.
* Fixed cast shape possibly not returning a hit when a shape cast starts touching (but not intersecting) another shape and requesting the deepest hit.
* Fixed division by zero when doing a really long (6 KM) sphere cast against a triangle. In this case the floating point accuracy became low enough so that the distance between the sphere center and the triangle (which should be 'radius') became zero instead.
* Fixed memory leak when providing invalid parameters to TaperedCylinderShapeSettings and creating the shape.
* Fixed collision between soft body and `TriangleShape`/`MeshShape`/`HeightFieldShape`. This would not find the closest collision point in case the shape was scaled. It would also make the triangles much thicker than intended causing collisions with back facing triangles that were very far away.
## v5.4.0
### New functionality
* Added Cosserat rods to soft bodies. This is a stick constraint with an orientation that can be used to attach geometry. Can be used e.g. to simulate vegetation in a cheap way. See the new `SoftBodyCosseratRodConstraintTest` demo.
* Added ability to drive hinge constraints with `Ragdoll::DriveToPoseUsingMotors`. This also adds `HingeConstraint::SetTargetOrientationBS` which sets the target angle in body space.
* Added `JPH_USE_EXTERNAL_PROFILE` cmake option that allows overriding the behavior of the profile macros.
* Added `SoftBodyCreationSettings::mFacesDoubleSided` which treats the faces of the soft body as double sided. This can be used to make e.g. flags double sided.
* Added functions to get the `CharacterSettings` from a `Character` and `CharacterVirtualSettings` from a `CharacterVirtual`.
* Added support for compound shapes as character shape in `CharacterVirtual`.
* Added `BodyInterface::SetIsSensor`/`IsSensor` functions.
### Bug Fixes
* Fixed bug in `ManifoldBetweenTwoFaces` which would not find the correct manifold in case face 1 had 3 or more vertices and face 2 only 2. E.g. for a box resting the long edge of a cylinder this would mean that only a single contact point was found instead of 2 (the other way around would work fine).
* Fixed bug in `ConvexHullShape::CollideSoftBodyVertices` where the wrong edge could be reported as the closest edge.
* Fixed bug in `PhysicsSystem::OptimizeBroadPhase`. When calling this function after removing all bodies from the `PhysicsSystem`, the internal nodes would not be freed until bodies are added again. This could lead to running out of internal nodes in rare cases.
* Fixed bug in `MeshShape` active edge calculation which could mark edges of non-manifold meshes as inactive instead of active.
* Fixed passing underestimate of penetration depth in `ContactListener::OnContactPersisted` when the contact comes from the contact cache.
* `QuadTree` will now fall back to the heap when running out of stack space during collision queries. Previously this would trigger an assert and some collisions would not be detected.
* Fixed `BodyInterface::MoveKinematic`, `SetLinearVelocity`, `SetAngularVelocity`, `SetLinearAndAngularVelocity`, `AddLinearVelocity`, `AddLinearAndAngularVelocity`, `SetPositionRotationAndVelocity` and `SetMotionType` when body not added to the physics system yet.
* Fixed UBSAN false positive error that detected a dirty trick in `SimShapeFilter`.
* WheelSettingsTV and WheelSettingsWV were not serializing their base class members.
* The remap tables in `SoftBodySharedSettings::OptimizationResults` mapped from new to old index instead of from old to new as was documented. The maps now behave as documented.
* Fixed an issue where soft body bend constraints could be created with identical vertices. This led to an assert triggering.
* Fixed infinite recursion when colliding a `TriangleShape` vs a `TriangleShape`.
* 32-bit MinGW g++ doesn't call the correct overload for the new operator when a type is 16 bytes aligned. This could cause unaligned read access violations.
* Fixed compiling in double precision and fixed issues with floating point contraction that caused unit test failures on LoongArch architecture.
* Added an epsilon to the `CastRay` / `CastShape` early out condition to avoid dividing by a very small number and overflowing to INF. This can cause a float overflow exception.
* Fixed Samples requiring Vulkan extension `VK_EXT_device_address_binding_report` without checking if it is available.
* Fixed Vulkan warning in Samples: VkSemaphore is being signaled by VkQueue but it may still be in use by VkSwapchainKHR.
* Fixed incorrect RTTI definition of `MotorcycleControllerSettings` which led to the members of `WheeledVehicleControllerSettings` not being serialized.
* Implemented missing `VehicleConstraint::GetConstraintSettings` function.
* Fixed colliding a compound shape vs a regular shape ignoring `CollideShapeSettings::mMaxSeparationDistance`. This potentially led to missed collisions.
## v5.3.0
### New functionality
#### Samples
* The Samples and JoltViewer can run on Linux using Vulkan. Make sure to install the Vulkan SDK before compiling (see: `Build/ubuntu24_install_vulkan_sdk.sh`).
* The Samples and JoltViewer can run on macOS using Metal.
#### MeshShape
* `MeshShape`s of up to 110M triangles are possible now, but the actual maximum is very dependent on how the triangles in the mesh are connected.
* Optimized creation of `MeshShape`. Improves build speed by about 25% and reduces number of allocations by a factor of 1000. Allocations caused contention when building meshes from multiple threads.
* Added `MeshShapeSettings::mBuildQuality` which allows selecting between faster mesh creation or faster run time performance.
#### Character
* Added `OnContactPersisted`, `OnContactRemoved`, `OnCharacterContactPersisted` and `OnCharacterContactRemoved` functions on `CharacterContactListener` to better match the interface of `ContactListener`.
* Every `CharacterVirtual` now has a `CharacterID`. This ID can be used to identify the character after removal and is used to make the simulation deterministic in case a character collides with multiple other virtual characters.
* Added support for `CharacterVirtual` to override the inner rigid body ID. This can be used to make the simulation deterministic in e.g. client/server setups.
#### Collision Detection
* Added `PhysicsSystem::SetSimShapeFilter`. This allows filtering out collisions between sub shapes within a body and can for example be used to have a single body that contains a low detail simulation shape an a high detail collision query shape. An example of a body that's both a sensor and a rigid body can be found in `ContactListenerTest`.
* Added `PhysicsSystem::SetSimCollideBodyVsBody`. This allows overriding the collision detection between two bodies. It can be used to only store the 1st hit for sensor collisions. This makes sensors cheaper if you only need to know if there is an overlap or not. An example can be found in `SimCollideBodyVsBodyTest`.
* Added `ClosestHitPerBodyCollisionCollector` which will report the closest / deepest hit per body that the collision query collides with.
* Added overridable `CollisionCollector::OnBodyEnd` that is called after all hits for a body have been processed when collecting hits through `NarrowPhaseQuery`.
#### New Platforms
* Added support for RISC-V, LoongArch and PowerPC (Little Endian) CPUs.
* Added support for WASM64.
#### Various
* Removed the use of `std::unordered_map` and `std::unordered_set` and replaced them with our own implementation: `UnorderedMap` and `UnorderedSet`.
* Added `MotionProperties::ScaleToMass`. This lets you easily change the mass and inertia tensor of a body after creation.
* Split up `Body::ApplyBuoyancyImpulse` into `Body::GetSubmergedVolume` and `Body::ApplyBuoyancyImpulse`. This allows you to use the calculated submerged volume for other purposes.
* Added binary serialization to `SkeletalAnimation`.
* Added the ability to add a sub shape at a specified index in a `MutableCompoundShape` rather than at the end.
* Added `STLLocalAllocator` which is an allocator that can be used in e.g. the `Array` class. It keeps a fixed size buffer for N elements and only when it runs out of space falls back to the heap.
* Added the following constants on PhysicsSystem: `cMaxBodiesLimit`, `cMaxBodyPairsLimit` and `cMaxContactConstraintsLimit`. These constants are the max allowable values for `PhysicsSystem::Init`. Exceeding these will trigger an assert and the system will clamp the values. Note that on a 32 bit system, you'll run out of memory before you reach these values.
### Bug fixes
* Fixed bodies gaining more energy than intended due to restitution. E.g. A restitution of 1 could lead to bodies bouncing ever higher.
* `BodyInterface::AddForce` applied a force per soft body vertex rather than to the whole body, this resulted in a soft body accelerating much more compared to a rigid body of the same mass.
* `std::push_heap`/`pop_heap` behave differently on macOS vs Windows/Linux when elements compare equal, this made the cross platform deterministic build not deterministic in some cases.
* Removing a sub shape from a `MutableCompoundShape` would not update the bounding box if the last shape was removed, which can result in a small performance loss.
* An empty `MutableCompoundShape` now returns the same local bounding box as `EmptyShape` (a point at (0, 0, 0)). This prevents floating point overflow exceptions.
* VehicleConstraint would override `Body::SetAllowSleeping` every frame, making it impossible for client code to configure a vehicle that cannot go to sleep.
* Fixed `CharacterVirtual::Contact::mIsSensorB` not being persisted in `SaveState`.
* Fixed `CharacterVirtual::Contact::mHadContact` not being true for collisions with sensors. They will still be marked as `mWasDiscarded` to prevent any further interaction.
* Fixed `Character::SetShape` failing to switch when standing inside a sensor / `Character::PostSimulation` finding a sensor as ground collision.
* Fixed numerical inaccuracy in penetration depth calculation when `CollideShapeSettings::mMaxSeparationDistance` was set to a really high value (e.g. 1000).
* Bugfix in `Semaphore::Acquire` for non-windows platform. The count was updated before waiting, meaning that the counter would become -(number of waiting threads) and the semaphore would not wake up until at least the same amount of releases was done. In practice this meant that the main thread had to do the last (number of threads) jobs, slowing down the simulation a bit.
* Fixed a bug in `ManifoldBetweenTwoFaces` that led to incorrect `ContactManifold::mRelativeContactPointsOn2` when the contact normal and the face normal were not roughly parallel. Also it possibly led to jitter in the simulation in that case.
* Fixed `InternalEdgeRemovingCollector` not working when colliding with a very dense triangle grid because it ran out of internal space. Now falling back to memory allocations when this happens to avoid ghost collisions.
* Fixed running out of stack space when simulating a really high number of active rigid bodies.
* Moved the 'broad phase bit' to the highest bit in `BodyID` to avoid running out of `NodeID`s in `BroadPhaseQuadTree` when calling `PhysicsSystem::OptimizeBroadPhase` on a tree with a very high body count.
* `TempAllocatorImpl` uses 64 bit integers internally to allow for a higher max contact constraint count.
* When inserting lots of bodies without using batching, a broad phase tree of depth > 128 can be created. If the `PhysicsSystem` was destructed in this situation, a stack overflow would cause a crash.
* When calling `PhysicsSystem::Update` with a delta time of 0, contact remove callbacks were triggered by accident for all existing contacts.
* Fixed `HingeConstraint` not having limits if `LimitsMin` was set to `-JPH_PI` or `LimitsMax` was set to `JPH_PI`. It should only be turned off if both are.
* Fixed `CylinderShape::GetSupportingFace` returning the wrong face. When the height of a cylinder was small compared to its radius, it would sink more into the ground than needed during simulation.
* When there were no active bodies, the step listeners weren't called. This meant they couldn't wake up bodies. The step listeners are now only skipped if the physics system is updated with zero delta time.
* Fixed a race condition in soft body simulation that could break determinism.
* Added overloads for placement new in the `JPH_OVERRIDE_NEW_DELETE` macro, this means it is no longer needed to do `:: new (address) JPH::class_name(constructor_arguments)` but you can do `new (address) JPH::class_name(constructor_arguments)`.
* Fixed a GCC warning `-Wshadow=global`.
## v5.2.0
### New functionality
* Added PlaneShape. An infinite plane. Negative half space is considered solid.
* Added TaperedCylinderShape. A cylinder with different top and bottom radii.
* Added EmptyShape. A shape that collides with nothing and that can be used as a placeholder or for dummy bodies.
* Use MeshShapeSettings::mPerTriangleUserData at about 25% memory increase to get per triangle user data through MeshShape::GetTriangleUserData
* Added `Shape::GetLeafShape` to be able to get a leaf shape given a sub shape ID
* Added `HeightFieldShape::GetSubShapeCoordinates` to get the triangle coordinates of a particular sub shape ID
* Split back face mode between convex/triangles for ray casts. This allows you to e.g. have meshes that do give back face hits while convex shapes don't.
* SoftBodyManifold now returns sensor contacts separately. Before this change, there was a limit of a single colliding body per soft body vertex. If the closest body happened to be a sensor this effectively disabled the collision with the world and caused artifacts. We can now also detect multiple sensor contacts per soft body and they are returned through a new interface `SoftBodyManifold::GetSensorContactBodyID`.
* Added support for running Jolt with ThreadSanitizer.
* Added support for using ScaledShape inside CharacterVirtual.
* Added ability to save/restore a simulation in parts using `StateRecorder::SetIsLastPart`. Also added `StateRecorderFilter::ShouldRestoreContact` to allow selective restoring of contacts.
* Added `JPH_DEBUG_SYMBOL_FORMAT` cmake option. This allows switching from the default dwarf symbol format to e.g. the source-map format for emscripten, which speeds up compilation.
### Bug fixes
* Fixed an issue where enhanced internal edge removal would throw away valid contacts when a dynamic compound shape is colliding with another mesh / box shape.
* Fixed an issue where the bounding volume of a HeightFieldShape was not properly adjusted when calling SetHeights leading to missed collisions.
* Workaround for CMake error `CMake Error: No output files for WriteBuild!` when using the 'Ninja Multi-Config' generator.
* When a height field was created where SampleCount / BlockSize is not a power of 2 and a soft body touched the right or bottom border of the height field, the application would crash.
* Fixed a link error `ld: error: undefined symbol: pthread_create` on FreeBSD.
* Fixed missing files ConfigurationString.h and SoftBodyUpdateContext.h when running `cmake --install`.
* Fixed various missing header files when running `cmake --install` when `ENABLE_OBJECT_STREAM=OFF`.
* When using `cmake --install` to install a shared library on Windows, the dll is installed in the 'bin' folder now.
* Fixed cmake warning: `Policy CMP0177 is not set: install() DESTINATION paths are normalized.`
* Fixed `unresolved symbol '__emutls_v._ZN3JPH11PhysicsLock6sLocksE'` when compiling Jolt as a shared library with MinGW.
* Added workaround for issue where Firefox has problems with the `_mm_blendv_ps` intrinsic when compiling to WASM.
## v5.1.0
### New functionality
#### Soft Body
* Added support for applying a global force to a soft body through Body::AddForce.
* Implemented better algorithm to split soft body constraints into parallel groups. This makes the soft body simulation 10-20% faster and also enables multithreading LRA, bend, volume and skinned constraints.
* Added approximate ACos function which speeds up dihedral bend constraints by approx. 10%.
* Improved sorting of LRA soft body constraints to improve convergence.
* Added ability to draw soft body constraint evaluation order.
#### HeightField Shape
* Sped up deserialization of HeightFieldShape/MeshShape classes by optimizing reading a vector of data in StreamIn, by switching std::vector out for a custom Array class and by combining a number of allocations into one.
* Added HeightFieldShape::GetMinHeightValue/GetMaxHeightValue that can be used to know which range of heights are accepted by SetHeights.
* Allowing negative stride when getting/setting height field shape heights or materials. This improves performance if your data happens to be layed out the wrong way around.
* Added HeightFieldShapeSettings::mMaterialsCapacity which can enlarge the internal materials array capacity to avoid resizing when HeightFieldShape::SetMaterials is called with materials that weren't in use by the height field yet.
* Added Clone function to HeightFieldShape. This allows creating a copy before modifying the shape.
#### Character
* Added CharacterBaseSettings::mEnhancedInternalEdgeRemoval (default false) that allows smoother movement for both the Character and CharacterVirtual class.
* Added ability for a CharacterVirtual to collide with another CharacterVirtual by using the new CharacterVsCharacterCollision interface.
* Added the option to add an inner rigid body to a CharacterVirtual. This allows it to interact with sensors through the regular ContactListener and to be found by normal collision checks.
#### Vehicles
* Added ability to override the gravity vector per vehicle. This allows creating vehicles that can e.g. stick to the surface of a track and drive upside down. See VehicleConstraint::OverrideGravity.
#### Various
* Replaced std::vector with a custom Array class. std::vector initializes memory to zero which causes an undesired performance overhead.
* Added macro JPH_OBJECT_STREAM that controls if ObjectStream and serialized attributes are compiled into the library or not. This can reduce the size of the library if you're not using this feature.
* Added option to get a callback when a JobSystemThreadPool thread starts/stops. This allows you to e.g. set application specific thread locals.
* Added cmake option USE_ASSERTS to turn on asserts in builds other than the Debug build.
* Switch from using _DEBUG to NDEBUG to detect debug mode. NDEBUG is defined in the standard while _DEBUG is Visual Studio specific.
* The OVERRIDE_CXX_FLAGS cmake flag will now also work for MSVC and allow you to specify your own CMAKE_CXX_FLAGS_DEBUG/CMAKE_CXX_FLAGS_RELEASE flags
* BodyInterface::AddForce/Torque functions now take an optional EActivation parameter that makes it optional to activate the body. This can be used e.g. to not let the body wake up if you're applying custom gravity to a body.
* Activating bodies now resets the sleep timer when the body is already active. This prevents the body from going to sleep in the next frame and can avoid quick 1 frame naps.
* Added Clone function to MutableCompoundShape. This allows creating a copy before modifying the shape.
* QuadTree / FixedSizeFreeList: Reorder variable layout to reduce false sharing & thread syncs to reduce simulation time by approximately 5%.
* Generate a CMake config file when the project is installed. Allows for other projects to import Jolt using the find_package() functionality.
* Added USE_WASM_SIMD cmake option. This will enable SIMD on the emscripten WASM build.
* Emscripten WASM build can now be compiled cross platform deterministic and deliver the same results as Windows, Linux etc.
* Added Shape::MakeScaleValid function. This function will take a scale vector and check it against the scaling rules for the shape. If it is not valid, it will return a scale that is close to the provided scale which is valid.
* Added cmake options to toggle exception-handling and RTTI. CPP_EXCEPTIONS_ENABLED enables exceptions, CPP_RTTI_ENABLED enables RTTI. By default they're both off as Jolt doesn't use these features. In the PerformanceTest this speeds up the simulation by about 5% for MSVC, no difference was measured for clang.
### Bug fixes
* Fix for new warning in MSVC 17.10 in immintrin.h: '__check_isa_support': unreferenced inline function has been removed.
* Fix error in gcc 14. Using always_inline in debug mode causes error: "inlining failed in call to 'always_inline' 'XXX': function not considered for inlining"
* Fixed clang-18 warning "LLVMgold.so: error loading plugin ... cannot open shared object file: No such file or directory", due to https://github.com/llvm/llvm-project/issues/84271 it currently doesn't support LTO.
* Suppress GCC warning: 'XXX' may be used uninitialized in this function [-Werror=maybe-uninitialized].
* Fixed compile errors when compiling with GCC for the ARM platform.
* When calling CharacterVirtual::SetShape, a collision with a sensor would cause the function to abort as if the character was in collision.
* CharacterVirtual stick to floor / stair walk did not trigger a contact added callback on the CharacterContactListener.
* Fixed bug where the the skinned position of a soft body would update in the first sub-iteration, causing a large velocity spike and jittery behavior.
* Fixed bug where the velocity of soft body vertices would increase indefinitely when resting on the back stop of a skinned constraint.
* Fixed bug when SkinVertices for a soft body is not called every frame, the previous position of the skin was still used causing a replay of the motion of the previous frame.
* Fixed bug in cast ray vs soft body which caused missed collisions in case a back facing triangle was hit.
* Fixed handling of mass override from SoftBodyContactListener. Previously if the inverse mass of both of the soft body and the colliding body were set to 0, the soft body would still react.
* Fixed crash in Ragdoll::DriveToPoseUsingMotors when using constraints other than SwingTwistConstraint.
* Fixed -Wunused-parameter warning on GCC when building in Release mode with -Wextra.
* Fixed tolerance in assert in GetPenetrationDepthStepEPA.
* Due to a difference between the used instructions in NEON and SSE -Vec3::sZero() returned different binary results on ARM vs x86. When JPH_CROSS_PLATFORM_DETERMINISTIC is defined, we ensure that the calculation is the same now.
* Forgot to free a temporary allocation on an early out in HeightFieldShape::SetMaterials.
* Fix SSE not being enabled on x86 32-bits.
* Fixed a bug in the enhanced internal edge removal that could cause rigid bodies and characters to be affected by internal edges.
* Fixed a bug in MutableCompoundShape::AdjustCenterOfMass which would fail to update the bounding box of the shape.
* The 32 bit and 64 bit versions of the library now produce the same binary stream when serializing data to a StreamOut. Before some values would be stored as size_t which is platform dependent.
## v5.0.0
### New Functionality
#### Soft Body
* Added soft body skinning constraints. This can be used to limit the movement of soft body vertices based on a skinned mesh. See [documentation](https://jrouwe.github.io/JoltPhysics/index.html#skinning-soft-bodies) for more info or watch this [movie](https://www.youtube.com/watch?v=NXw8yMczHJg).
* Added ability to turn on/off skinning constraints and to update the max distance for all constraints with a distance multiplier.
* Added dihedral bend constraints for soft bodies. See [movie](https://www.youtube.com/watch?v=A1iswelnGH4).
* Added long range attachment constraints (also called tethers) for soft bodies.
* Added SoftBodyContactListener which allows you to get callbacks for collisions between soft bodies and rigid bodies. See [movie](https://www.youtube.com/watch?v=DmS_8d2bdOw).
* Added support for a vertex radius for soft bodies. This keeps the vertices a fixed distance away from the surface which can be used to avoid z-fighting while rendering the soft body.
* Added SoftBodySharedSettings::CreateConstraints function that can automatically generate constraints based on the faces of the soft body.
* Added ability to update a soft body outside of the physics simulation step using SoftBodyMotionProperties::CustomUpdate. This is e.g. useful if the soft body is teleported and needs to 'settle'.
#### Vehicles
* Added support for less than 1 collision test per simulation step for vehicle wheels. This behavior can be configured differently when the vehicle is active / inactive. This can be used for LODding vehicles.
* Added wheel index to VehicleConstraint::CombineFunction friction callback and calculating longitudinal and lateral friction in the same call so you can have more differentiation between wheels.
* Added ability to override the max tire impulse calculations for wheeled vehicles. See WheeledVehicleController::SetTireMaxImpulseCallback.
* Added ability to disable the lean steering limit for the motorcycle, turning this off makes the motorcycle more unstable, but gives you more control over the final steering angle.
#### Character
* CharacterVirtual will now receive an OnContactAdded callback when it collides with a sensor (but will have no further interaction).
* Added user data to CharacterVirtual.
#### Constraints
* Swing limits do not need to be symmetrical anymore for SixDOFConstraints. This requires using the new pyramid shaped swing limits (ESwingType::Pyramid). SwingTwistConstraints still requires symmetrical limits but can use the pyramid swing limits too. These are cheaper to evaluate but are less smooth.
* Twist limits no longer need to be centered around zero for SixDOFConstraints and SwingTwistConstraints, any value between -PI and PI is supported now.
* Changed the meaning of Constraint::mNumVelocity/PositionStepsOverride. Before the number of steps would be the maximum of all constraints and the default value, now an overridden value of 0 means that the constraint uses the default value, otherwise it will use the value as specified. This means that if all constraints in an island have a lower value than the default, we will now use the lower value instead of the default. This allows simulating an island at a lower precision than the default.
* Bodies can now also override the default number of solver iterations. This value is used when the body collides with another body and a contact constraint is created (for constraints, the constraint override is always used).
* Added fraction hint to PathConstraintPath::GetClosestPoint. This can be used to speed up the search along the curve and to disambiguate fractions in case a path reaches the same point multiple times (i.e. a figure-8).
* Added Constraint::ResetWarmStart and Ragdoll::ResetWarmStart. Used to notify the system that the configuration of the bodies and/or constraint has changed enough so that the warm start impulses should not be applied the next frame. You can use this function for example when repositioning a ragdoll through Ragdoll::SetPose in such a way that the orientation of the bodies completely changes so that the previous frame impulses are no longer a good approximation of what the impulses will be in the next frame.
* Multithreading the SetupVelocityConstraints job. This was causing a bottleneck in the case that there are a lot of constraints but very few possible collisions.
#### Collision Detection
* Created an object layer filter implementation that is similar to Bullet's group & mask filtering, see ObjectLayerPairFilterMask.
* Created implementations of BroadPhaseLayerInterface, ObjectVsBroadPhaseLayerFilter and ObjectLayerPairFilter that use a bit table internally. These make it easier to define ObjectLayers and with which object layers they collide.
* Renamed SensorDetectsStatic to CollideKinematicVsNonDynamic and made it work for non-sensors. This means that kinematic bodies can now get collision callbacks when they collide with other static / kinematic objects.
* Added function to query the bounding box of all bodies in the physics system, see PhysicsSystem::GetBounds.
#### Simulation
* Implemented enhanced internal edge removal algorithm. This should help reduce ghost collisions. See BodyCreationSettings::mEnhancedInternalEdgeRemoval and [movie](https://www.youtube.com/watch?v=Wh5MIiiPVDE).
* Added BodyInterface::SetUseManifoldReduction which will clear the contact cache and ensure that you get consistent contact callbacks in case the body that you're changing already has contacts.
#### Various
* Ability to enable gyroscopic forces on bodies to create the [Dzhanibekov effect](https://en.wikipedia.org/wiki/Tennis_racket_theorem).
* Supporting SIMD for WASM build. Use -msimd128 -msse4.2 options with emscripten to enable this.
* Allowing WASM build to use a custom memory allocator.
* Added DebugRendererSimple which can be used to simplify the creation of your own DebugRenderer implementation. It only requires a DrawLine, DrawTriangle and DrawText3D function to be implemented (which can be left empty).
* Added ability to update the height field materials after creation.
### Removed functionality
* Ability to restrict rotational degrees of freedom in local space, instead this is now done in world space.
### Bug fixes
* Fixed a bug in cast sphere vs triangle that could return a false positive hit against a degenerate triangle.
* Fixed bug in soft body vs tapered capsule. The calculations were slightly off causing a normal on the top or bottom sphere to be returned while the tapered part was actually closest.
* Fixed bug where colliding a cyclinder against a large triangle could return an incorrect contact point.
* Fixed bug where soft bodies would collide with sensors as if they were normal bodies.
* Sensors will no longer use speculative contacts, so will no longer report contacts before an actual contact is detected.
* Hinge limit constraint forces were clamped wrongly when the hinge was exactly at the minimum limit, making it harder to push the hinge towards the maximum limit.
* Fixed bug when a body with limited DOFs collides with static. If the resulting contact had an infinite effective mass, we would divide by zero and crash.
* Fixed unit tests failing when compiling for 32-bit Linux. The compiler defaults to using x87 instructions in this case which does not work well with the collision detection pipeline. Now defaulting to the SSE instructions.
* Fixed assert and improved interaction between a fast moving rigid body of quality LinearCast and a soft body.
* When creating a MeshShape with triangles that have near identical positions it was possible that the degenerate check decided that a triangle was not degenerate while the triangle in fact would be degenerate after vertex quantization. The simulation would crash when colliding with this triangle.
* A scaled compound shape with a center of mass of non zero would not apply the correct transform to its sub shapes when colliding with a soft body
* A soft body without any edges would hang the solver
* Fixed GCC 11.4 warning in JobSystemThreadPool.cpp: output may be truncated copying 15 bytes from a string of length 63
* Longitudinal friction impulse for wheeled/tracked vehicles could become much higher than the calculated max because each iteration it was clamped to the max friction impulse which meant the total friction impulse could be PhysicsSettings::mNumVelocitySteps times too high.
* Properly initializing current engine RPM to min RPM for wheeled/tracked vehicles. When min RPM was lower than the default min RPM the engine would not start at min RPM.
* Fixed a possible division by zero in Body::GetBodyCreationSettings when the inverse inertia diagonal had 0's.
* When specifying a -1 for min/max distance of a distance constraint and the calculated distance is incompatible with the other limit, we'll clamp it to that value now instead of ending up with min > max.
* Fixed bug that contact cache was partially uninitialized when colliding two objects with inv mass override of 0. When the contact listener would report a non zero inv mass override the next simulation step this would mean that the simulation would read garbage and potentially crash due to NaNs.
## v4.0.2
### New functionality
* Support for compiling with ninja on Windows.
### Bug fixes
* Fixed bug in Indexify function that caused it to be really slow when passing 10K identical vertices. Also fixed a problem that could have led to some vertices not being welded.
* Fixed bug in SixDOFConstraint::RestoreState that would cause motors to not properly turn on.
* Fixed a determinism issue in CharacterVirtual. The order of the contacts returned by GetActiveContacts() was not deterministic.
* Fixed issue in sample application that mouse is very sensitive when viewing with Parsec.
## v4.0.1
### New functionality
* Ability to stop overriding CMAKE_CXX_FLAGS_DEBUG/CMAKE_CXX_FLAGS_RELEASE which is important for Android as it uses a lot of extra flags. Set the OVERRIDE_CXX_FLAGS=NO cmake flag to enable this.
* Reduced size of a contact constraint which saves a bit of memory during simulation.
* Can now build a linux shared library using GCC.
### Bug fixes
* Fixed mass scaling (as provided by the ContactListener) not applied correctly to CCD objects & during solve position constraints. This led to kinematic objects being pushed by dynamic objects.
* Workaround for MSVC 17.8, limits.h doesn't include corecrt.h and triggers an error that \_\_STDC_WANT_SECURE_LIB\_\_ is not defined.
* Fixed bug in MustIncludeC logic in GetClosestPointOnTriangle.
* Removed the need for specifying -Wno-comment when compiling with GCC.
## v4.0.0
### New functionality
* Added support for soft bodies (feature still in development, see [announcement](https://x.com/jrouwe/status/1687051655898955776?s=20)).
* Support for limiting the degrees of freedom of a body to support 2D simulations (see [announcement](https://x.com/jrouwe/status/1676311800797622279?s=20)).
* Support for setting surface velocity of a body (see [announcement](https://x.com/jrouwe/status/1662727355553443844?s=20)).
* Added ability to update a height field after creation (see [announcement](https://x.com/jrouwe/status/1713670512801390829?s=20)).
* Support for non-power of 2 height fields.
* Expose a function to compare the JOLT_VERSION_ID with the version the library was compiled with to detect mismatches between library and client code.
* Added ability to specify extra ragdoll constraints that are not parent/child related.
* Ability to selectively save the state of a physics system to support replicating state over the network.
* Added constraint priority to control the order of evaluation of constraints (and thereby the most influential constraints).
* Sensors can now detect static objects.
* Ability to override mass and inertia of bodies from the ContactListener.
* Ability to specify stiffness/damping for springs instead of frequency/damping.
* Added option to disable the lean spring controller for motorcycles.
* Added vehicle callbacks at the beginning of the step listener and after wheel checks.
* Ability to override the position where the suspension and tire forces are applied.
* Support for building Jolt as a shared library on Windows.
* Optimized Indexify function from O(N^2) to O(N log(N)).
### Removed functionality
* Removed support for integration sub steps for PhysicsSystem::Update.
### New supported platforms
* 32-bit versions of Android on ARM and x86.
### Bug fixes
* Motor frequency/stiffness of 0 should turn the motor off.
* RotatedTranslatedShape::GetPosition returned the wrong value.
* If a body is removed between the broad phase detecting an overlap and the narrow phase locking the body, callbacks could be called on a body that has already been removed.
* Fixed flipped normals in EPA penetration depth algorithm which could cause the normal to point in the wrong direction for collision tests.
* Respecting the IsSensor flag for CCD bodies.
* Fixed double locking issue that could cause a deadlock while updating the AABB of a body during simulation.
* Fixed a crash when fetching a body using an invalid BodyID.
* Windows 32 vs 64-bit versions produce the same deterministic results now.
* Heightfield vs convex was not filled in in collision dispatch table. This caused sensors to assert and not detect collisions with heightfields.
* The friction applied during continuous collision detection could be sqrt(2) times too large.
* The friction was clamped independently on both tangential axis which meant that the total friction could be larger than the amount of friction that should have been allowed. It also meant that an object would slow down quicker on one axis than on another causing a curved trajectory.
* When an object wasn't moving fast enough to trigger restitution for a speculative contact, the contact was enforced at the current position rather than at the distance of the speculative contact.
* Fixed CharacterVirtual jittering issue when moving down on elevator.
* CharacterVirtual was speeding up beyond the requested speed when sliding along a wall.
* CharacterVirtual reported to be on ground for one more frame after jumping against a wall.
* Added missing delta time term in CharacterVirtual::DetermineConstraints.
* CastShape had incorrect early out condition which could cause it to miss the deepest penetration.
* Pitch/roll limit constraint for vehicles didn't work when local vehicle up did not match world up.
* Wheel contact point did not return deepest point in certain cases.
* Fix for engine RPM being much higher than wheel RPM when measured at clutch. Before we were ignoring bake and wheel torques in engine RPM calculation.
* Don't allow the vehicle to sleep when the transmission is switching.
* Fixed bug that caused suspension to be weaker when driving a vehicle over dynamic bodies.
## v3.0.0
* Support for double precision simulation for large worlds (see [announcement](https://twitter.com/jrouwe/status/1599366630273712128))
* Performance optimization that allows solving large islands on multiple threads (see [announcement](https://twitter.com/jrouwe/status/1633229953775828994))
* Vehicles now support suspensions that are at an angle with the vehicle body (instead of 90 degrees)
* Supporting cylinder based wheels for vehicles
* Experimental motor cycle physics (see [announcement](https://twitter.com/jrouwe/status/1642479907383959553))
* CharacterVirtual can now move relative to a moving object (e.g. a space ship)
* Added 2D physics example
* Added functionality to estimate the collision impulse in the contact added callback
* Added a JobSystemWithBarrier class that makes it easier to integrate with your own job system
* Support for 32-bit object layers to allow easier integration with existing collision filtering systems
## v2.0.1
* Adds ARM 32-bit support to support vcpkg-tool
## v2.0.0
### Major new functionality
* Simulation is now deterministic between Windows, Linux and macOS.
* Support for custom memory allocators.
* A new character class that lives outside the main simulation update and is mainly used for player movement (CharacterVirtual).
* Implemented skeleton mapper that can convert an animated skeleton to a ragdoll skeleton and back.
* Rack and pinion, gear and pulley constraints have been added.
* Ability for sensors to detect collisions with sleeping bodies.
* Improved engine model for wheeled vehicles.
* Most constraints can now also be configured in local space.
### New supported compilers
* MinGW
* GCC
### New supported platforms
* All intel platforms supporting SSE2 and higher (was SSE4.2)
* 32-bit applications (was 64 bit only)
* Windows on ARM
* Windows UWP
* macOS
* iOS
* WebAssembly
## v1.1.0
* Optimizations.
## v1.0.0
* Initial stable release.

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# Jolt Physics Samples
This document describes the demos in the [Samples](https://github.com/jrouwe/JoltPhysics/tree/master/Samples) application. When you run the samples application the application will initially start paused, press P to unpause it. The menu is accessible through pressing ESC, it has the following options:
* Select Test - This allows you to select between the different types of physics tests
* Test Settings - Some tests will allow extra configuration, if not this setting will be greyed out
* Restart Test (R) - When selecting this, the test will go back to its initial state
* Run All Tests - This will run every tests for 10 seconds before proceeding to the next. This is a good way of visually inspecting the simulation before commiting a code change.
* Next Test (N) - When running all tests, this option can be used to quickly skip to the next test.
* Physics Settings - This menu contains all physics configuration.
* Drawing Options - This menu shows all the options for drawing the internal state of the physics simulation.
* Mouse Probe - This allows you to switch between various collision detection modes to test the different collision detection algorithms
* Shoot Object - A sample application is not complete without being able to shoot some balls at the simulation (B key). This menu allows additional settings.
* Help - A quick help text.
## General Controls
* Use the Mouse and WSAD keys to move around, hold Shift to speed up and Ctrl to slow down
* Hold the Space key to pick up an object in the center of the screen and move it around with the mouse and WSAD.
* P - Pause / unpause simulation.
* O - Single step the simulation.
* , - Step back (only when Physics Settings / Record State for Playback is on).
* . - Step forward (only when Physics Settings / Record State for Playback is on).
* Shift + , - Play reverse (only when Physics Settings / Record State for Playback is on).
* Shift + . - Replay forward (only when Physics Settings / Record State for Playback is on).
* T - Dump frame timing information to profile_*.html (when JPH_PROFILE_ENABLED defined).
## The Tests
Note that you can watch all movies below in [a single YouTube playlist](https://www.youtube.com/watch?v=pwyCW0yNKMA&list=PLYXVwtOr1CBxbA50jVg2dKUQvHW_5OOom).
### Vehicles
This categories shows vehicles created through the VehicleConstraint. These vehicles use ray- or shape casts to detect collision with the ground and simulate a vehicle with an engine, gearbox, differentials and suspension.
|[![Vehicle Demo](https://img.youtube.com/vi/A_gvLH4KKDA/hqdefault.jpg)](https://www.youtube.com/watch?v=A_gvLH4KKDA)|
|:-|
|*A wheeled vehicle.*|
|[![Tank Demo](https://img.youtube.com/vi/QwlPOKbxsqU/hqdefault.jpg)](https://www.youtube.com/watch?v=QwlPOKbxsqU)|
|:-|
|*Demonstrates a tracked vehicle with a turret constrained to the main body with hinge constraints.*|
|[![Motorcycle Demo](https://img.youtube.com/vi/umI8FF0gVxs/hqdefault.jpg)](https://www.youtube.com/watch?v=umI8FF0gVxs)|
|:-|
|*Demonstrates a motor cycle.*|
|[![Vehicle Gravity Override](https://img.youtube.com/vi/AJPS31S6ZO8/hqdefault.jpg)](https://www.youtube.com/watch?v=AJPS31S6ZO8)|
|:-|
|*Applying a custom gravity override to a vehicle to create weird gameplay.*|
### Rig (Ragdolls)
This category demonstrates how ragdolls can be made and controlled using keyframing or motors.
|[![Kinematic Ragdoll](https://img.youtube.com/vi/gvq6qdU3ZTs/hqdefault.jpg)](https://www.youtube.com/watch?v=gvq6qdU3ZTs)|
|:-|
|*A ragdoll set to kinematic mode (infinite mass, simulated using velocities only) interacting with dynamic objects.*|
|[![Ragdoll Driven to Animated Pose](https://img.youtube.com/vi/lYHhe6HLbs4/hqdefault.jpg)](https://www.youtube.com/watch?v=lYHhe6HLbs4)|
|:-|
|*Demonstrating a humanoid ragdoll driven by motors which are trying to match a sprint animation in local space (green sticks).*|
|[![Skeleton Mapper](https://img.youtube.com/vi/hrnmgNN-m-U/hqdefault.jpg)](https://www.youtube.com/watch?v=hrnmgNN-m-U)|
|:-|
|*An animation is played back on a high detail skeleton ('Animation') and then mapped onto a low detail ragdoll skeleton ('Reversed Mapped'). This animation is used to drive the motors of the ragdoll. The resulting pose is mapped back to the high detail skeleton ('Mapped'). Note that the skeletons are drawn offset to make them clearer..*|
|[![160 Ragdolls in a Pile](https://img.youtube.com/vi/pwyCW0yNKMA/hqdefault.jpg)](https://www.youtube.com/watch?v=pwyCW0yNKMA)|
|:-|
|*160 Ragdolls being dropped on a scene from Horizon Zero Dawn.*|
|[![160 Ragdolls in a Pile (Sleeping Visualization)](https://img.youtube.com/vi/7ZMm7yObpqs/hqdefault.jpg)](https://www.youtube.com/watch?v=7ZMm7yObpqs)|
|:-|
|*160 Ragdolls dropping on a pile, simulated using the Jolt Physics engine. Yellow means the ragdoll is simulated, red means the simulation is sleeping.*|
|[![160 Ragdolls Driven to Pose](https://img.youtube.com/vi/jhpsIqbsU4I/hqdefault.jpg)](https://www.youtube.com/watch?v=jhpsIqbsU4I)|
|:-|
|*A pile of ragdolls that are driven to a specific animated death pose. This gives the ragdolls 'stiffness'.*|
### Soft Body
|[![Soft Body Demo](https://img.youtube.com/vi/vJX_3FNISkw/hqdefault.jpg)](https://www.youtube.com/watch?v=vJX_3FNISkw)|
|:-|
|*Demonstrates Soft Body physics as simulated by Jolt Physics. Soft body physics can be used for things like cloth and soft balls.*|
|[![Soft Body Contact Listener Demo](https://img.youtube.com/vi/DmS_8d2bdOw/hqdefault.jpg)](https://www.youtube.com/watch?v=DmS_8d2bdOw)|
|:-|
|*Demonstrates the use of soft body contact listeners. You can use these to affect the collision response between a soft body and a rigid body by e.g. artificially making the mass of one of the two higher so that the other is less affected by the collision. Finally you can also turn a contact into a sensor contact which means you get the contact points but there will not be any collision response..*|
|[![Soft Body Bend Constraints Demo](https://img.youtube.com/vi/A1iswelnGH4/hqdefault.jpg)](https://www.youtube.com/watch?v=A1iswelnGH4)|
|:-|
|*This video shows the effect of bend constraints on a wrinkled cloth. The left most patch has no constraints to preserve the wrinkles, the middle uses distance constrains ('sticks') to preserve the wrinkles and the last one uses dihedral angle constraints to preserve the angle between two triangles on their shared edge.*|
|[![Soft Body Skin Constraints Demo](https://img.youtube.com/vi/NXw8yMczHJg/hqdefault.jpg)](https://www.youtube.com/watch?v=NXw8yMczHJg)|
|:-|
|*This demo shows a soft body that is connected to a skinned mesh via distance constraints. Each simulated vertex can deviate from its skinned position by a fixed length. The green lines indicate the animated joints of the skinned mesh.*|
### Character
This category shows how you can simulate a (humanoid) character using a capsule.
|[![Character Demo](https://img.youtube.com/vi/YjaJT9of7UE/hqdefault.jpg)](https://www.youtube.com/watch?v=YjaJT9of7UE)|
|:-|
|*A demonstration of a game Character. Demonstrates moving, sliding against the environment, crouching and jumping.*|
### Water
This category shows how you can implement a water simulation in your game.
|[![Water Simulation](https://img.youtube.com/vi/CEr_LtQLGeg/hqdefault.jpg)](https://www.youtube.com/watch?v=CEr_LtQLGeg)|
|:-|
|*Water buoyancy and friction simulation. Demonstrates how various shapes and compound shapes behave in the water. The right most object has a lowered center of mass.*|
### Constraints
This category shows the various constraints that are supported. Constraints connect two or more bodies together and limit the relative movement.
|[![Path Constraint](https://img.youtube.com/vi/6xMKNMjD5pE/hqdefault.jpg)](https://www.youtube.com/watch?v=6xMKNMjD5pE)|
|:-|
|*Showing the path constraint in action.*|
|[![Swing Twist Constraint](https://img.youtube.com/vi/8aQ9x8SQSuM/hqdefault.jpg)](https://www.youtube.com/watch?v=8aQ9x8SQSuM)|
|:-|
|*Demonstrates a chain of swing-twist constraints (usable for humanoid shoulders). The green cones show the swing limit and the pink pie shows the twist limit.*|
|[![Gear constraint](https://img.youtube.com/vi/3w5SgElroBw/hqdefault.jpg)](https://www.youtube.com/watch?v=3w5SgElroBw)|
|:-|
|*Demonstrates a gear constraint. Note that the gears can be placed at any relative angle of each other, so you could e.g. create a bevel or worm gear.*|
|[![Rack and pinion constraint](https://img.youtube.com/vi/e588KG-ZSxc/hqdefault.jpg)](https://www.youtube.com/watch?v=e588KG-ZSxc)|
|:-|
|*Demonstrates a rack and pinion constraint.*|
|[![Pulley constraint](https://img.youtube.com/vi/9P8OaahtU-4/hqdefault.jpg)](https://www.youtube.com/watch?v=9P8OaahtU-4)|
|:-|
|*Shows two boxes connected through a pulley constraint. In this case the constraint is configured as a block and tackle with and advantage of 2: the right block moves 2x as slow as the left block.*|
### General
This category contains general simulation tests. It demonstrates things like friction, restitution, damping, modifying gravity and continuous collision detection. Some highlights:
|[![Stable Box Stacking](https://img.youtube.com/vi/fTtjBLYBxco/hqdefault.jpg)](https://www.youtube.com/watch?v=fTtjBLYBxco)|
|:-|
|*A YouTube video showing stability of a pile of boxes.*|
|[![Active Edge Detection](https://img.youtube.com/vi/EanFxlkZgcA/hqdefault.jpg)](https://www.youtube.com/watch?v=EanFxlkZgcA)|
|:-|
|*Demonstrates objects sliding along a polygon mesh. Internal mesh edges are ignored and do not cause objects to bounce off.*|
|[![Funnel Test](https://img.youtube.com/vi/Y-UgylH992A/hqdefault.jpg)](https://www.youtube.com/watch?v=Y-UgylH992A)|
|:-|
|*1000 random shapes in a funnel.*|
|[![Multithreaded Island Simulation](https://img.youtube.com/vi/_Lv5xlWtCpM/hqdefault.jpg)](https://www.youtube.com/watch?v=_Lv5xlWtCpM)|
|:-|
|*We will automatically split up the simulation in islands of non-interacting bodies and distribute the work across multiple threads. Each island has its own color.*|
|[![Single vs Double Precision](https://img.youtube.com/vi/KGnlYSW3550/hqdefault.jpg)](https://www.youtube.com/watch?v=KGnlYSW3550)|
|:-|
|*Shows the difference between compiling Jolt Physics in single precision and double precision (define JPH_DOUBLE_PRECISION).*|
|[![Conveyor belt](https://img.youtube.com/vi/p_H6egZzbZE/hqdefault.jpg)](https://www.youtube.com/watch?v=p_H6egZzbZE)|
|:-|
|*A demo of setting the surface velocity of a body to create a conveyor belt. The boxes have decreasing friction from front to back (last one has zero friction so slowly slides down the ramp).*|
### Shapes & Scaled Shapes
These categories show off all of the supported shapes and how they can be scaled at run-time.
|[![Shape Scaling](https://img.youtube.com/vi/u9cPBGUFurc/hqdefault.jpg)](https://www.youtube.com/watch?v=u9cPBGUFurc)|
|:-|
|*A height field shape using various scales in Jolt Physics: Uniform, Non uniform, Mirrored, Inside out*|

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# Root
set(HELLO_WORLD_ROOT ${PHYSICS_REPO_ROOT}/HelloWorld)
# Source files
set(HELLO_WORLD_SRC_FILES
${HELLO_WORLD_ROOT}/HelloWorld.cpp
${HELLO_WORLD_ROOT}/HelloWorld.cmake
)
# Group source files
source_group(TREE ${HELLO_WORLD_ROOT} FILES ${HELLO_WORLD_SRC_FILES})

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2025 Jorrit Rouwe
// SPDX-License-Identifier: CC0-1.0
// This file is in the public domain. It serves as an example to start building your own application using Jolt Physics. Feel free to copy paste without attribution!
// The Jolt headers don't include Jolt.h. Always include Jolt.h before including any other Jolt header.
// You can use Jolt.h in your precompiled header to speed up compilation.
#include <Jolt/Jolt.h>
// Jolt includes
#include <Jolt/RegisterTypes.h>
#include <Jolt/Core/Factory.h>
#include <Jolt/Core/TempAllocator.h>
#include <Jolt/Core/JobSystemThreadPool.h>
#include <Jolt/Physics/PhysicsSettings.h>
#include <Jolt/Physics/PhysicsSystem.h>
#include <Jolt/Physics/Collision/Shape/BoxShape.h>
#include <Jolt/Physics/Collision/Shape/SphereShape.h>
#include <Jolt/Physics/Body/BodyCreationSettings.h>
#include <Jolt/Physics/Body/BodyActivationListener.h>
// STL includes
#include <iostream>
#include <cstdarg>
#include <thread>
// Disable common warnings triggered by Jolt, you can use JPH_SUPPRESS_WARNING_PUSH / JPH_SUPPRESS_WARNING_POP to store and restore the warning state
JPH_SUPPRESS_WARNINGS
// All Jolt symbols are in the JPH namespace
using namespace JPH;
// If you want your code to compile using single or double precision write 0.0_r to get a Real value that compiles to double or float depending if JPH_DOUBLE_PRECISION is set or not.
using namespace JPH::literals;
// We're also using STL classes in this example
using namespace std;
// Callback for traces, connect this to your own trace function if you have one
static void TraceImpl(const char *inFMT, ...)
{
// Format the message
va_list list;
va_start(list, inFMT);
char buffer[1024];
vsnprintf(buffer, sizeof(buffer), inFMT, list);
va_end(list);
// Print to the TTY
cout << buffer << endl;
}
#ifdef JPH_ENABLE_ASSERTS
// Callback for asserts, connect this to your own assert handler if you have one
static bool AssertFailedImpl(const char *inExpression, const char *inMessage, const char *inFile, uint inLine)
{
// Print to the TTY
cout << inFile << ":" << inLine << ": (" << inExpression << ") " << (inMessage != nullptr? inMessage : "") << endl;
// Breakpoint
return true;
};
#endif // JPH_ENABLE_ASSERTS
// Layer that objects can be in, determines which other objects it can collide with
// Typically you at least want to have 1 layer for moving bodies and 1 layer for static bodies, but you can have more
// layers if you want. E.g. you could have a layer for high detail collision (which is not used by the physics simulation
// but only if you do collision testing).
namespace Layers
{
static constexpr ObjectLayer NON_MOVING = 0;
static constexpr ObjectLayer MOVING = 1;
static constexpr ObjectLayer NUM_LAYERS = 2;
};
/// Class that determines if two object layers can collide
class ObjectLayerPairFilterImpl : public ObjectLayerPairFilter
{
public:
virtual bool ShouldCollide(ObjectLayer inObject1, ObjectLayer inObject2) const override
{
switch (inObject1)
{
case Layers::NON_MOVING:
return inObject2 == Layers::MOVING; // Non moving only collides with moving
case Layers::MOVING:
return true; // Moving collides with everything
default:
JPH_ASSERT(false);
return false;
}
}
};
// Each broadphase layer results in a separate bounding volume tree in the broad phase. You at least want to have
// a layer for non-moving and moving objects to avoid having to update a tree full of static objects every frame.
// You can have a 1-on-1 mapping between object layers and broadphase layers (like in this case) but if you have
// many object layers you'll be creating many broad phase trees, which is not efficient. If you want to fine tune
// your broadphase layers define JPH_TRACK_BROADPHASE_STATS and look at the stats reported on the TTY.
namespace BroadPhaseLayers
{
static constexpr BroadPhaseLayer NON_MOVING(0);
static constexpr BroadPhaseLayer MOVING(1);
static constexpr uint NUM_LAYERS(2);
};
// BroadPhaseLayerInterface implementation
// This defines a mapping between object and broadphase layers.
class BPLayerInterfaceImpl final : public BroadPhaseLayerInterface
{
public:
BPLayerInterfaceImpl()
{
// Create a mapping table from object to broad phase layer
mObjectToBroadPhase[Layers::NON_MOVING] = BroadPhaseLayers::NON_MOVING;
mObjectToBroadPhase[Layers::MOVING] = BroadPhaseLayers::MOVING;
}
virtual uint GetNumBroadPhaseLayers() const override
{
return BroadPhaseLayers::NUM_LAYERS;
}
virtual BroadPhaseLayer GetBroadPhaseLayer(ObjectLayer inLayer) const override
{
JPH_ASSERT(inLayer < Layers::NUM_LAYERS);
return mObjectToBroadPhase[inLayer];
}
#if defined(JPH_EXTERNAL_PROFILE) || defined(JPH_PROFILE_ENABLED)
virtual const char * GetBroadPhaseLayerName(BroadPhaseLayer inLayer) const override
{
switch ((BroadPhaseLayer::Type)inLayer)
{
case (BroadPhaseLayer::Type)BroadPhaseLayers::NON_MOVING: return "NON_MOVING";
case (BroadPhaseLayer::Type)BroadPhaseLayers::MOVING: return "MOVING";
default: JPH_ASSERT(false); return "INVALID";
}
}
#endif // JPH_EXTERNAL_PROFILE || JPH_PROFILE_ENABLED
private:
BroadPhaseLayer mObjectToBroadPhase[Layers::NUM_LAYERS];
};
/// Class that determines if an object layer can collide with a broadphase layer
class ObjectVsBroadPhaseLayerFilterImpl : public ObjectVsBroadPhaseLayerFilter
{
public:
virtual bool ShouldCollide(ObjectLayer inLayer1, BroadPhaseLayer inLayer2) const override
{
switch (inLayer1)
{
case Layers::NON_MOVING:
return inLayer2 == BroadPhaseLayers::MOVING;
case Layers::MOVING:
return true;
default:
JPH_ASSERT(false);
return false;
}
}
};
// An example contact listener
class MyContactListener : public ContactListener
{
public:
// See: ContactListener
virtual ValidateResult OnContactValidate(const Body &inBody1, const Body &inBody2, RVec3Arg inBaseOffset, const CollideShapeResult &inCollisionResult) override
{
cout << "Contact validate callback" << endl;
// Allows you to ignore a contact before it is created (using layers to not make objects collide is cheaper!)
return ValidateResult::AcceptAllContactsForThisBodyPair;
}
virtual void OnContactAdded(const Body &inBody1, const Body &inBody2, const ContactManifold &inManifold, ContactSettings &ioSettings) override
{
cout << "A contact was added" << endl;
}
virtual void OnContactPersisted(const Body &inBody1, const Body &inBody2, const ContactManifold &inManifold, ContactSettings &ioSettings) override
{
cout << "A contact was persisted" << endl;
}
virtual void OnContactRemoved(const SubShapeIDPair &inSubShapePair) override
{
cout << "A contact was removed" << endl;
}
};
// An example activation listener
class MyBodyActivationListener : public BodyActivationListener
{
public:
virtual void OnBodyActivated(const BodyID &inBodyID, uint64 inBodyUserData) override
{
cout << "A body got activated" << endl;
}
virtual void OnBodyDeactivated(const BodyID &inBodyID, uint64 inBodyUserData) override
{
cout << "A body went to sleep" << endl;
}
};
// Program entry point
int main(int argc, char** argv)
{
// Register allocation hook. In this example we'll just let Jolt use malloc / free but you can override these if you want (see Memory.h).
// This needs to be done before any other Jolt function is called.
RegisterDefaultAllocator();
// Install trace and assert callbacks
Trace = TraceImpl;
JPH_IF_ENABLE_ASSERTS(AssertFailed = AssertFailedImpl;)
// Create a factory, this class is responsible for creating instances of classes based on their name or hash and is mainly used for deserialization of saved data.
// It is not directly used in this example but still required.
Factory::sInstance = new Factory();
// Register all physics types with the factory and install their collision handlers with the CollisionDispatch class.
// If you have your own custom shape types you probably need to register their handlers with the CollisionDispatch before calling this function.
// If you implement your own default material (PhysicsMaterial::sDefault) make sure to initialize it before this function or else this function will create one for you.
RegisterTypes();
// We need a temp allocator for temporary allocations during the physics update. We're
// pre-allocating 10 MB to avoid having to do allocations during the physics update.
// B.t.w. 10 MB is way too much for this example but it is a typical value you can use.
// If you don't want to pre-allocate you can also use TempAllocatorMalloc to fall back to
// malloc / free.
TempAllocatorImpl temp_allocator(10 * 1024 * 1024);
// We need a job system that will execute physics jobs on multiple threads. Typically
// you would implement the JobSystem interface yourself and let Jolt Physics run on top
// of your own job scheduler. JobSystemThreadPool is an example implementation.
JobSystemThreadPool job_system(cMaxPhysicsJobs, cMaxPhysicsBarriers, thread::hardware_concurrency() - 1);
// This is the max amount of rigid bodies that you can add to the physics system. If you try to add more you'll get an error.
// Note: This value is low because this is a simple test. For a real project use something in the order of 65536.
const uint cMaxBodies = 1024;
// This determines how many mutexes to allocate to protect rigid bodies from concurrent access. Set it to 0 for the default settings.
const uint cNumBodyMutexes = 0;
// This is the max amount of body pairs that can be queued at any time (the broad phase will detect overlapping
// body pairs based on their bounding boxes and will insert them into a queue for the narrowphase). If you make this buffer
// too small the queue will fill up and the broad phase jobs will start to do narrow phase work. This is slightly less efficient.
// Note: This value is low because this is a simple test. For a real project use something in the order of 65536.
const uint cMaxBodyPairs = 1024;
// This is the maximum size of the contact constraint buffer. If more contacts (collisions between bodies) are detected than this
// number then these contacts will be ignored and bodies will start interpenetrating / fall through the world.
// Note: This value is low because this is a simple test. For a real project use something in the order of 10240.
const uint cMaxContactConstraints = 1024;
// Create mapping table from object layer to broadphase layer
// Note: As this is an interface, PhysicsSystem will take a reference to this so this instance needs to stay alive!
// Also have a look at BroadPhaseLayerInterfaceTable or BroadPhaseLayerInterfaceMask for a simpler interface.
BPLayerInterfaceImpl broad_phase_layer_interface;
// Create class that filters object vs broadphase layers
// Note: As this is an interface, PhysicsSystem will take a reference to this so this instance needs to stay alive!
// Also have a look at ObjectVsBroadPhaseLayerFilterTable or ObjectVsBroadPhaseLayerFilterMask for a simpler interface.
ObjectVsBroadPhaseLayerFilterImpl object_vs_broadphase_layer_filter;
// Create class that filters object vs object layers
// Note: As this is an interface, PhysicsSystem will take a reference to this so this instance needs to stay alive!
// Also have a look at ObjectLayerPairFilterTable or ObjectLayerPairFilterMask for a simpler interface.
ObjectLayerPairFilterImpl object_vs_object_layer_filter;
// Now we can create the actual physics system.
PhysicsSystem physics_system;
physics_system.Init(cMaxBodies, cNumBodyMutexes, cMaxBodyPairs, cMaxContactConstraints, broad_phase_layer_interface, object_vs_broadphase_layer_filter, object_vs_object_layer_filter);
// A body activation listener gets notified when bodies activate and go to sleep
// Note that this is called from a job so whatever you do here needs to be thread safe.
// Registering one is entirely optional.
MyBodyActivationListener body_activation_listener;
physics_system.SetBodyActivationListener(&body_activation_listener);
// A contact listener gets notified when bodies (are about to) collide, and when they separate again.
// Note that this is called from a job so whatever you do here needs to be thread safe.
// Registering one is entirely optional.
MyContactListener contact_listener;
physics_system.SetContactListener(&contact_listener);
// The main way to interact with the bodies in the physics system is through the body interface. There is a locking and a non-locking
// variant of this. We're going to use the locking version (even though we're not planning to access bodies from multiple threads)
BodyInterface &body_interface = physics_system.GetBodyInterface();
// Next we can create a rigid body to serve as the floor, we make a large box
// Create the settings for the collision volume (the shape).
// Note that for simple shapes (like boxes) you can also directly construct a BoxShape.
BoxShapeSettings floor_shape_settings(Vec3(100.0f, 1.0f, 100.0f));
floor_shape_settings.SetEmbedded(); // A ref counted object on the stack (base class RefTarget) should be marked as such to prevent it from being freed when its reference count goes to 0.
// Create the shape
ShapeSettings::ShapeResult floor_shape_result = floor_shape_settings.Create();
ShapeRefC floor_shape = floor_shape_result.Get(); // We don't expect an error here, but you can check floor_shape_result for HasError() / GetError()
// Create the settings for the body itself. Note that here you can also set other properties like the restitution / friction.
BodyCreationSettings floor_settings(floor_shape, RVec3(0.0_r, -1.0_r, 0.0_r), Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING);
// Create the actual rigid body
Body *floor = body_interface.CreateBody(floor_settings); // Note that if we run out of bodies this can return nullptr
// Add it to the world
body_interface.AddBody(floor->GetID(), EActivation::DontActivate);
// Now create a dynamic body to bounce on the floor
// Note that this uses the shorthand version of creating and adding a body to the world
BodyCreationSettings sphere_settings(new SphereShape(0.5f), RVec3(0.0_r, 2.0_r, 0.0_r), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING);
BodyID sphere_id = body_interface.CreateAndAddBody(sphere_settings, EActivation::Activate);
// Now you can interact with the dynamic body, in this case we're going to give it a velocity.
// (note that if we had used CreateBody then we could have set the velocity straight on the body before adding it to the physics system)
body_interface.SetLinearVelocity(sphere_id, Vec3(0.0f, -5.0f, 0.0f));
// We simulate the physics world in discrete time steps. 60 Hz is a good rate to update the physics system.
const float cDeltaTime = 1.0f / 60.0f;
// Optional step: Before starting the physics simulation you can optimize the broad phase. This improves collision detection performance (it's pointless here because we only have 2 bodies).
// You should definitely not call this every frame or when e.g. streaming in a new level section as it is an expensive operation.
// Instead insert all new objects in batches instead of 1 at a time to keep the broad phase efficient.
physics_system.OptimizeBroadPhase();
// Now we're ready to simulate the body, keep simulating until it goes to sleep
uint step = 0;
while (body_interface.IsActive(sphere_id))
{
// Next step
++step;
// Output current position and velocity of the sphere
RVec3 position = body_interface.GetCenterOfMassPosition(sphere_id);
Vec3 velocity = body_interface.GetLinearVelocity(sphere_id);
cout << "Step " << step << ": Position = (" << position.GetX() << ", " << position.GetY() << ", " << position.GetZ() << "), Velocity = (" << velocity.GetX() << ", " << velocity.GetY() << ", " << velocity.GetZ() << ")" << endl;
// If you take larger steps than 1 / 60th of a second you need to do multiple collision steps in order to keep the simulation stable. Do 1 collision step per 1 / 60th of a second (round up).
const int cCollisionSteps = 1;
// Step the world
physics_system.Update(cDeltaTime, cCollisionSteps, &temp_allocator, &job_system);
}
// Remove the sphere from the physics system. Note that the sphere itself keeps all of its state and can be re-added at any time.
body_interface.RemoveBody(sphere_id);
// Destroy the sphere. After this the sphere ID is no longer valid.
body_interface.DestroyBody(sphere_id);
// Remove and destroy the floor
body_interface.RemoveBody(floor->GetID());
body_interface.DestroyBody(floor->GetID());
// Unregisters all types with the factory and cleans up the default material
UnregisterTypes();
// Destroy the factory
delete Factory::sInstance;
Factory::sInstance = nullptr;
return 0;
}

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
#include <Jolt/Jolt.h>
#include <Jolt/AABBTree/AABBTreeBuilder.h>
JPH_NAMESPACE_BEGIN
uint AABBTreeBuilder::Node::GetMinDepth(const Array<Node> &inNodes) const
{
if (HasChildren())
{
uint left = inNodes[mChild[0]].GetMinDepth(inNodes);
uint right = inNodes[mChild[1]].GetMinDepth(inNodes);
return min(left, right) + 1;
}
else
return 1;
}
uint AABBTreeBuilder::Node::GetMaxDepth(const Array<Node> &inNodes) const
{
if (HasChildren())
{
uint left = inNodes[mChild[0]].GetMaxDepth(inNodes);
uint right = inNodes[mChild[1]].GetMaxDepth(inNodes);
return max(left, right) + 1;
}
else
return 1;
}
uint AABBTreeBuilder::Node::GetNodeCount(const Array<Node> &inNodes) const
{
if (HasChildren())
return inNodes[mChild[0]].GetNodeCount(inNodes) + inNodes[mChild[1]].GetNodeCount(inNodes) + 1;
else
return 1;
}
uint AABBTreeBuilder::Node::GetLeafNodeCount(const Array<Node> &inNodes) const
{
if (HasChildren())
return inNodes[mChild[0]].GetLeafNodeCount(inNodes) + inNodes[mChild[1]].GetLeafNodeCount(inNodes);
else
return 1;
}
uint AABBTreeBuilder::Node::GetTriangleCountInTree(const Array<Node> &inNodes) const
{
if (HasChildren())
return inNodes[mChild[0]].GetTriangleCountInTree(inNodes) + inNodes[mChild[1]].GetTriangleCountInTree(inNodes);
else
return GetTriangleCount();
}
void AABBTreeBuilder::Node::GetTriangleCountPerNode(const Array<Node> &inNodes, float &outAverage, uint &outMin, uint &outMax) const
{
outMin = INT_MAX;
outMax = 0;
outAverage = 0;
uint avg_divisor = 0;
GetTriangleCountPerNodeInternal(inNodes, outAverage, avg_divisor, outMin, outMax);
if (avg_divisor > 0)
outAverage /= avg_divisor;
}
float AABBTreeBuilder::Node::CalculateSAHCost(const Array<Node> &inNodes, float inCostTraversal, float inCostLeaf) const
{
float surface_area = mBounds.GetSurfaceArea();
return surface_area > 0.0f? CalculateSAHCostInternal(inNodes, inCostTraversal / surface_area, inCostLeaf / surface_area) : 0.0f;
}
void AABBTreeBuilder::Node::GetNChildren(const Array<Node> &inNodes, uint inN, Array<const Node*> &outChildren) const
{
JPH_ASSERT(outChildren.empty());
// Check if there is anything to expand
if (!HasChildren())
return;
// Start with the children of this node
outChildren.push_back(&inNodes[mChild[0]]);
outChildren.push_back(&inNodes[mChild[1]]);
size_t next = 0;
bool all_triangles = true;
while (outChildren.size() < inN)
{
// If we have looped over all nodes, start over with the first node again
if (next >= outChildren.size())
{
// If there only triangle nodes left, we have to terminate
if (all_triangles)
return;
next = 0;
all_triangles = true;
}
// Try to expand this node into its two children
const Node *to_expand = outChildren[next];
if (to_expand->HasChildren())
{
outChildren.erase(outChildren.begin() + next);
outChildren.push_back(&inNodes[to_expand->mChild[0]]);
outChildren.push_back(&inNodes[to_expand->mChild[1]]);
all_triangles = false;
}
else
{
++next;
}
}
}
float AABBTreeBuilder::Node::CalculateSAHCostInternal(const Array<Node> &inNodes, float inCostTraversalDivSurfaceArea, float inCostLeafDivSurfaceArea) const
{
if (HasChildren())
return inCostTraversalDivSurfaceArea * mBounds.GetSurfaceArea()
+ inNodes[mChild[0]].CalculateSAHCostInternal(inNodes, inCostTraversalDivSurfaceArea, inCostLeafDivSurfaceArea)
+ inNodes[mChild[1]].CalculateSAHCostInternal(inNodes, inCostTraversalDivSurfaceArea, inCostLeafDivSurfaceArea);
else
return inCostLeafDivSurfaceArea * mBounds.GetSurfaceArea() * GetTriangleCount();
}
void AABBTreeBuilder::Node::GetTriangleCountPerNodeInternal(const Array<Node> &inNodes, float &outAverage, uint &outAverageDivisor, uint &outMin, uint &outMax) const
{
if (HasChildren())
{
inNodes[mChild[0]].GetTriangleCountPerNodeInternal(inNodes, outAverage, outAverageDivisor, outMin, outMax);
inNodes[mChild[1]].GetTriangleCountPerNodeInternal(inNodes, outAverage, outAverageDivisor, outMin, outMax);
}
else
{
outAverage += GetTriangleCount();
outAverageDivisor++;
outMin = min(outMin, GetTriangleCount());
outMax = max(outMax, GetTriangleCount());
}
}
AABBTreeBuilder::AABBTreeBuilder(TriangleSplitter &inSplitter, uint inMaxTrianglesPerLeaf) :
mTriangleSplitter(inSplitter),
mMaxTrianglesPerLeaf(inMaxTrianglesPerLeaf)
{
}
AABBTreeBuilder::Node *AABBTreeBuilder::Build(AABBTreeBuilderStats &outStats)
{
TriangleSplitter::Range initial = mTriangleSplitter.GetInitialRange();
// Worst case for number of nodes: 1 leaf node per triangle. At each level above, the number of nodes is half that of the level below.
// This means that at most we'll be allocating 2x the number of triangles in nodes.
mNodes.reserve(2 * initial.Count());
mTriangles.reserve(initial.Count());
// Build the tree
Node &root = mNodes[BuildInternal(initial)];
// Collect stats
float avg_triangles_per_leaf;
uint min_triangles_per_leaf, max_triangles_per_leaf;
root.GetTriangleCountPerNode(mNodes, avg_triangles_per_leaf, min_triangles_per_leaf, max_triangles_per_leaf);
mTriangleSplitter.GetStats(outStats.mSplitterStats);
outStats.mSAHCost = root.CalculateSAHCost(mNodes, 1.0f, 1.0f);
outStats.mMinDepth = root.GetMinDepth(mNodes);
outStats.mMaxDepth = root.GetMaxDepth(mNodes);
outStats.mNodeCount = root.GetNodeCount(mNodes);
outStats.mLeafNodeCount = root.GetLeafNodeCount(mNodes);
outStats.mMaxTrianglesPerLeaf = mMaxTrianglesPerLeaf;
outStats.mTreeMinTrianglesPerLeaf = min_triangles_per_leaf;
outStats.mTreeMaxTrianglesPerLeaf = max_triangles_per_leaf;
outStats.mTreeAvgTrianglesPerLeaf = avg_triangles_per_leaf;
return &root;
}
uint AABBTreeBuilder::BuildInternal(const TriangleSplitter::Range &inTriangles)
{
// Check if there are too many triangles left
if (inTriangles.Count() > mMaxTrianglesPerLeaf)
{
// Split triangles in two batches
TriangleSplitter::Range left, right;
if (!mTriangleSplitter.Split(inTriangles, left, right))
{
// When the trace below triggers:
//
// This code builds a tree structure to accelerate collision detection.
// At top level it will start with all triangles in a mesh and then divides the triangles into two batches.
// This process repeats until until the batch size is smaller than mMaxTrianglePerLeaf.
//
// It uses a TriangleSplitter to find a good split. When this warning triggers, the splitter was not able
// to create a reasonable split for the triangles. This usually happens when the triangles in a batch are
// intersecting. They could also be overlapping when projected on the 3 coordinate axis.
//
// To solve this issue, you could try to pass your mesh through a mesh cleaning / optimization algorithm.
// You could also inspect the triangles that cause this issue and see if that part of the mesh can be fixed manually.
//
// When you do not fix this warning, the tree will be less efficient for collision detection, but it will still work.
JPH_IF_DEBUG(Trace("AABBTreeBuilder: Doing random split for %d triangles (max per node: %u)!", (int)inTriangles.Count(), mMaxTrianglesPerLeaf);)
int half = inTriangles.Count() / 2;
JPH_ASSERT(half > 0);
left = TriangleSplitter::Range(inTriangles.mBegin, inTriangles.mBegin + half);
right = TriangleSplitter::Range(inTriangles.mBegin + half, inTriangles.mEnd);
}
// Recursively build
const uint node_index = (uint)mNodes.size();
mNodes.push_back(Node());
uint left_index = BuildInternal(left);
uint right_index = BuildInternal(right);
Node &node = mNodes[node_index];
node.mChild[0] = left_index;
node.mChild[1] = right_index;
node.mBounds = mNodes[node.mChild[0]].mBounds;
node.mBounds.Encapsulate(mNodes[node.mChild[1]].mBounds);
return node_index;
}
// Create leaf node
const uint node_index = (uint)mNodes.size();
mNodes.push_back(Node());
Node &node = mNodes.back();
node.mTrianglesBegin = (uint)mTriangles.size();
node.mNumTriangles = inTriangles.mEnd - inTriangles.mBegin;
const VertexList &v = mTriangleSplitter.GetVertices();
for (uint i = inTriangles.mBegin; i < inTriangles.mEnd; ++i)
{
const IndexedTriangle &t = mTriangleSplitter.GetTriangle(i);
mTriangles.push_back(t);
node.mBounds.Encapsulate(v, t);
}
return node_index;
}
JPH_NAMESPACE_END

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
#pragma once
#include <Jolt/TriangleSplitter/TriangleSplitter.h>
#include <Jolt/Geometry/AABox.h>
#include <Jolt/Core/NonCopyable.h>
JPH_NAMESPACE_BEGIN
struct AABBTreeBuilderStats
{
///@name Splitter stats
TriangleSplitter::Stats mSplitterStats; ///< Stats returned by the triangle splitter algorithm
///@name Tree structure
float mSAHCost = 0.0f; ///< Surface Area Heuristic cost of this tree
int mMinDepth = 0; ///< Minimal depth of tree (number of nodes)
int mMaxDepth = 0; ///< Maximum depth of tree (number of nodes)
int mNodeCount = 0; ///< Number of nodes in the tree
int mLeafNodeCount = 0; ///< Number of leaf nodes (that contain triangles)
///@name Configured stats
int mMaxTrianglesPerLeaf = 0; ///< Configured max triangles per leaf
///@name Actual stats
int mTreeMinTrianglesPerLeaf = 0; ///< Minimal amount of triangles in a leaf
int mTreeMaxTrianglesPerLeaf = 0; ///< Maximal amount of triangles in a leaf
float mTreeAvgTrianglesPerLeaf = 0.0f; ///< Average amount of triangles in leaf nodes
};
/// Helper class to build an AABB tree
class JPH_EXPORT AABBTreeBuilder
{
public:
/// A node in the tree, contains the AABox for the tree and any child nodes or triangles
class Node
{
public:
JPH_OVERRIDE_NEW_DELETE
/// Indicates that there is no child
static constexpr uint cInvalidNodeIndex = ~uint(0);
/// Get number of triangles in this node
inline uint GetTriangleCount() const { return mNumTriangles; }
/// Check if this node has any children
inline bool HasChildren() const { return mChild[0] != cInvalidNodeIndex || mChild[1] != cInvalidNodeIndex; }
/// Get child node
inline const Node * GetChild(uint inIdx, const Array<Node> &inNodes) const { return mChild[inIdx] != cInvalidNodeIndex? &inNodes[mChild[inIdx]] : nullptr; }
/// Min depth of tree
uint GetMinDepth(const Array<Node> &inNodes) const;
/// Max depth of tree
uint GetMaxDepth(const Array<Node> &inNodes) const;
/// Number of nodes in tree
uint GetNodeCount(const Array<Node> &inNodes) const;
/// Number of leaf nodes in tree
uint GetLeafNodeCount(const Array<Node> &inNodes) const;
/// Get triangle count in tree
uint GetTriangleCountInTree(const Array<Node> &inNodes) const;
/// Calculate min and max triangles per node
void GetTriangleCountPerNode(const Array<Node> &inNodes, float &outAverage, uint &outMin, uint &outMax) const;
/// Calculate the total cost of the tree using the surface area heuristic
float CalculateSAHCost(const Array<Node> &inNodes, float inCostTraversal, float inCostLeaf) const;
/// Recursively get children (breadth first) to get in total inN children (or less if there are no more)
void GetNChildren(const Array<Node> &inNodes, uint inN, Array<const Node *> &outChildren) const;
/// Bounding box
AABox mBounds;
/// Triangles (if no child nodes)
uint mTrianglesBegin; // Index into mTriangles
uint mNumTriangles = 0;
/// Child node indices (if no triangles)
uint mChild[2] = { cInvalidNodeIndex, cInvalidNodeIndex };
private:
friend class AABBTreeBuilder;
/// Recursive helper function to calculate cost of the tree
float CalculateSAHCostInternal(const Array<Node> &inNodes, float inCostTraversalDivSurfaceArea, float inCostLeafDivSurfaceArea) const;
/// Recursive helper function to calculate min and max triangles per node
void GetTriangleCountPerNodeInternal(const Array<Node> &inNodes, float &outAverage, uint &outAverageDivisor, uint &outMin, uint &outMax) const;
};
/// Constructor
explicit AABBTreeBuilder(TriangleSplitter &inSplitter, uint inMaxTrianglesPerLeaf = 16);
/// Recursively build tree, returns the root node of the tree
Node * Build(AABBTreeBuilderStats &outStats);
/// Get all nodes
const Array<Node> & GetNodes() const { return mNodes; }
/// Get all triangles
const Array<IndexedTriangle> &GetTriangles() const { return mTriangles; }
private:
uint BuildInternal(const TriangleSplitter::Range &inTriangles);
TriangleSplitter & mTriangleSplitter;
const uint mMaxTrianglesPerLeaf;
Array<Node> mNodes;
Array<IndexedTriangle> mTriangles;
};
JPH_NAMESPACE_END

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
#pragma once
#include <Jolt/AABBTree/AABBTreeBuilder.h>
#include <Jolt/Core/ByteBuffer.h>
#include <Jolt/Geometry/IndexedTriangle.h>
JPH_NAMESPACE_BEGIN
/// Conversion algorithm that converts an AABB tree to an optimized binary buffer
template <class TriangleCodec, class NodeCodec>
class AABBTreeToBuffer
{
public:
/// Header for the tree
using NodeHeader = typename NodeCodec::Header;
/// Size in bytes of the header of the tree
static const int HeaderSize = NodeCodec::HeaderSize;
/// Maximum number of children per node in the tree
static const int NumChildrenPerNode = NodeCodec::NumChildrenPerNode;
/// Header for the triangles
using TriangleHeader = typename TriangleCodec::TriangleHeader;
/// Size in bytes of the header for the triangles
static const int TriangleHeaderSize = TriangleCodec::TriangleHeaderSize;
/// Convert AABB tree. Returns false if failed.
bool Convert(const Array<IndexedTriangle> &inTriangles, const Array<AABBTreeBuilder::Node> &inNodes, const VertexList &inVertices, const AABBTreeBuilder::Node *inRoot, bool inStoreUserData, const char *&outError)
{
typename NodeCodec::EncodingContext node_ctx;
typename TriangleCodec::EncodingContext tri_ctx(inVertices);
// Child nodes out of loop so we don't constantly realloc it
Array<const AABBTreeBuilder::Node *> child_nodes;
child_nodes.reserve(NumChildrenPerNode);
// First calculate how big the tree is going to be.
// Since the tree can be huge for very large meshes, we don't want
// to reallocate the buffer as it may cause out of memory situations.
// This loop mimics the construction loop below.
uint64 total_size = HeaderSize + TriangleHeaderSize;
size_t node_count = 1; // Start with root node
size_t to_process_max_size = 1; // Track size of queues so we can do a single reserve below
size_t to_process_triangles_max_size = 0;
{ // A scope to free the memory associated with to_estimate and to_estimate_triangles
Array<const AABBTreeBuilder::Node *> to_estimate;
Array<const AABBTreeBuilder::Node *> to_estimate_triangles;
to_estimate.push_back(inRoot);
for (;;)
{
while (!to_estimate.empty())
{
// Get the next node to process
const AABBTreeBuilder::Node *node = to_estimate.back();
to_estimate.pop_back();
// Update total size
node_ctx.PrepareNodeAllocate(node, total_size);
if (node->HasChildren())
{
// Collect the first NumChildrenPerNode sub-nodes in the tree
child_nodes.clear(); // Won't free the memory
node->GetNChildren(inNodes, NumChildrenPerNode, child_nodes);
// Increment the number of nodes we're going to store
node_count += child_nodes.size();
// Insert in reverse order so we estimate left child first when taking nodes from the back
for (int idx = int(child_nodes.size()) - 1; idx >= 0; --idx)
{
// Store triangles in separate list so we process them last
const AABBTreeBuilder::Node *child = child_nodes[idx];
if (child->HasChildren())
{
to_estimate.push_back(child);
to_process_max_size = max(to_estimate.size(), to_process_max_size);
}
else
{
to_estimate_triangles.push_back(child);
to_process_triangles_max_size = max(to_estimate_triangles.size(), to_process_triangles_max_size);
}
}
}
else
{
// Update total size
tri_ctx.PreparePack(&inTriangles[node->mTrianglesBegin], node->mNumTriangles, inStoreUserData, total_size);
}
}
// If we've got triangles to estimate, loop again with just the triangles
if (to_estimate_triangles.empty())
break;
else
to_estimate.swap(to_estimate_triangles);
}
}
// Finalize the prepare stage for the triangle context
tri_ctx.FinalizePreparePack(total_size);
// Reserve the buffer
if (size_t(total_size) != total_size)
{
outError = "AABBTreeToBuffer: Out of memory!";
return false;
}
mTree.reserve(size_t(total_size));
// Add headers
NodeHeader *header = HeaderSize > 0? mTree.Allocate<NodeHeader>() : nullptr;
TriangleHeader *triangle_header = TriangleHeaderSize > 0? mTree.Allocate<TriangleHeader>() : nullptr;
struct NodeData
{
const AABBTreeBuilder::Node * mNode = nullptr; // Node that this entry belongs to
Vec3 mNodeBoundsMin; // Quantized node bounds
Vec3 mNodeBoundsMax;
size_t mNodeStart = size_t(-1); // Start of node in mTree
size_t mTriangleStart = size_t(-1); // Start of the triangle data in mTree
size_t mChildNodeStart[NumChildrenPerNode]; // Start of the children of the node in mTree
size_t mChildTrianglesStart[NumChildrenPerNode]; // Start of the triangle data in mTree
size_t * mParentChildNodeStart = nullptr; // Where to store mNodeStart (to patch mChildNodeStart of my parent)
size_t * mParentTrianglesStart = nullptr; // Where to store mTriangleStart (to patch mChildTrianglesStart of my parent)
uint mNumChildren = 0; // Number of children
};
Array<NodeData *> to_process;
to_process.reserve(to_process_max_size);
Array<NodeData *> to_process_triangles;
to_process_triangles.reserve(to_process_triangles_max_size);
Array<NodeData> node_list;
node_list.reserve(node_count); // Needed to ensure that array is not reallocated, so we can keep pointers in the array
NodeData root;
root.mNode = inRoot;
root.mNodeBoundsMin = inRoot->mBounds.mMin;
root.mNodeBoundsMax = inRoot->mBounds.mMax;
node_list.push_back(root);
to_process.push_back(&node_list.back());
for (;;)
{
while (!to_process.empty())
{
// Get the next node to process
NodeData *node_data = to_process.back();
to_process.pop_back();
// Due to quantization box could have become bigger, not smaller
JPH_ASSERT(AABox(node_data->mNodeBoundsMin, node_data->mNodeBoundsMax).Contains(node_data->mNode->mBounds), "AABBTreeToBuffer: Bounding box became smaller!");
// Collect the first NumChildrenPerNode sub-nodes in the tree
child_nodes.clear(); // Won't free the memory
node_data->mNode->GetNChildren(inNodes, NumChildrenPerNode, child_nodes);
node_data->mNumChildren = (uint)child_nodes.size();
// Fill in default child bounds
Vec3 child_bounds_min[NumChildrenPerNode], child_bounds_max[NumChildrenPerNode];
for (size_t i = 0; i < NumChildrenPerNode; ++i)
if (i < child_nodes.size())
{
child_bounds_min[i] = child_nodes[i]->mBounds.mMin;
child_bounds_max[i] = child_nodes[i]->mBounds.mMax;
}
else
{
child_bounds_min[i] = Vec3::sZero();
child_bounds_max[i] = Vec3::sZero();
}
// Start a new node
node_data->mNodeStart = node_ctx.NodeAllocate(node_data->mNode, node_data->mNodeBoundsMin, node_data->mNodeBoundsMax, child_nodes, child_bounds_min, child_bounds_max, mTree, outError);
if (node_data->mNodeStart == size_t(-1))
return false;
if (node_data->mNode->HasChildren())
{
// Insert in reverse order so we process left child first when taking nodes from the back
for (int idx = int(child_nodes.size()) - 1; idx >= 0; --idx)
{
const AABBTreeBuilder::Node *child_node = child_nodes[idx];
// Due to quantization box could have become bigger, not smaller
JPH_ASSERT(AABox(child_bounds_min[idx], child_bounds_max[idx]).Contains(child_node->mBounds), "AABBTreeToBuffer: Bounding box became smaller!");
// Add child to list of nodes to be processed
NodeData child;
child.mNode = child_node;
child.mNodeBoundsMin = child_bounds_min[idx];
child.mNodeBoundsMax = child_bounds_max[idx];
child.mParentChildNodeStart = &node_data->mChildNodeStart[idx];
child.mParentTrianglesStart = &node_data->mChildTrianglesStart[idx];
node_list.push_back(child);
// Store triangles in separate list so we process them last
if (child_node->HasChildren())
to_process.push_back(&node_list.back());
else
to_process_triangles.push_back(&node_list.back());
}
}
else
{
// Add triangles
node_data->mTriangleStart = tri_ctx.Pack(&inTriangles[node_data->mNode->mTrianglesBegin], node_data->mNode->mNumTriangles, inStoreUserData, mTree, outError);
if (node_data->mTriangleStart == size_t(-1))
return false;
}
// Patch offset into parent
if (node_data->mParentChildNodeStart != nullptr)
{
*node_data->mParentChildNodeStart = node_data->mNodeStart;
*node_data->mParentTrianglesStart = node_data->mTriangleStart;
}
}
// If we've got triangles to process, loop again with just the triangles
if (to_process_triangles.empty())
break;
else
to_process.swap(to_process_triangles);
}
// Assert that our reservation was correct (we don't know if we swapped the arrays or not)
JPH_ASSERT(to_process_max_size == to_process.capacity() || to_process_triangles_max_size == to_process.capacity());
JPH_ASSERT(to_process_max_size == to_process_triangles.capacity() || to_process_triangles_max_size == to_process_triangles.capacity());
// Finalize all nodes
for (NodeData &n : node_list)
if (!node_ctx.NodeFinalize(n.mNode, n.mNodeStart, n.mNumChildren, n.mChildNodeStart, n.mChildTrianglesStart, mTree, outError))
return false;
// Finalize the triangles
tri_ctx.Finalize(inVertices, triangle_header, mTree);
// Validate that our reservations were correct
if (node_count != node_list.size())
{
outError = "Internal Error: Node memory estimate was incorrect, memory corruption!";
return false;
}
if (total_size != mTree.size())
{
outError = "Internal Error: Tree memory estimate was incorrect, memory corruption!";
return false;
}
// Finalize the nodes
return node_ctx.Finalize(header, inRoot, node_list[0].mNodeStart, node_list[0].mTriangleStart, outError);
}
/// Get resulting data
inline const ByteBuffer & GetBuffer() const
{
return mTree;
}
/// Get resulting data
inline ByteBuffer & GetBuffer()
{
return mTree;
}
/// Get header for tree
inline const NodeHeader * GetNodeHeader() const
{
return mTree.Get<NodeHeader>(0);
}
/// Get header for triangles
inline const TriangleHeader * GetTriangleHeader() const
{
return mTree.Get<TriangleHeader>(HeaderSize);
}
/// Get root of resulting tree
inline const void * GetRoot() const
{
return mTree.Get<void>(HeaderSize + TriangleHeaderSize);
}
private:
ByteBuffer mTree; ///< Resulting tree structure
};
JPH_NAMESPACE_END

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
#pragma once
#include <Jolt/Core/ByteBuffer.h>
#include <Jolt/Math/HalfFloat.h>
#include <Jolt/AABBTree/AABBTreeBuilder.h>
JPH_NAMESPACE_BEGIN
class NodeCodecQuadTreeHalfFloat
{
public:
/// Number of child nodes of this node
static constexpr int NumChildrenPerNode = 4;
/// Header for the tree
struct Header
{
Float3 mRootBoundsMin;
Float3 mRootBoundsMax;
uint32 mRootProperties;
uint8 mBlockIDBits; ///< Number of bits to address a triangle block
uint8 mPadding[3] = { 0 };
};
/// Size of the header (an empty struct is always > 0 bytes so this needs a separate variable)
static constexpr int HeaderSize = sizeof(Header);
/// Stack size to use during DecodingContext::sWalkTree
static constexpr int StackSize = 128;
/// Node properties
enum : uint32
{
TRIANGLE_COUNT_BITS = 4,
TRIANGLE_COUNT_SHIFT = 28,
TRIANGLE_COUNT_MASK = (1 << TRIANGLE_COUNT_BITS) - 1,
OFFSET_BITS = 28,
OFFSET_MASK = (1 << OFFSET_BITS) - 1,
OFFSET_NON_SIGNIFICANT_BITS = 2,
OFFSET_NON_SIGNIFICANT_MASK = (1 << OFFSET_NON_SIGNIFICANT_BITS) - 1,
};
/// Node structure
struct Node
{
HalfFloat mBoundsMinX[4]; ///< 4 child bounding boxes
HalfFloat mBoundsMinY[4];
HalfFloat mBoundsMinZ[4];
HalfFloat mBoundsMaxX[4];
HalfFloat mBoundsMaxY[4];
HalfFloat mBoundsMaxZ[4];
uint32 mNodeProperties[4]; ///< 4 child node properties
};
static_assert(sizeof(Node) == 64, "Node should be 64 bytes");
/// This class encodes and compresses quad tree nodes
class EncodingContext
{
public:
/// Mimics the size a call to NodeAllocate() would add to the buffer
void PrepareNodeAllocate(const AABBTreeBuilder::Node *inNode, uint64 &ioBufferSize) const
{
// We don't emit nodes for leafs
if (!inNode->HasChildren())
return;
// Add size of node
ioBufferSize += sizeof(Node);
}
/// Allocate a new node for inNode.
/// Algorithm can modify the order of ioChildren to indicate in which order children should be compressed
/// Algorithm can enlarge the bounding boxes of the children during compression and returns these in outChildBoundsMin, outChildBoundsMax
/// inNodeBoundsMin, inNodeBoundsMax is the bounding box if inNode possibly widened by compressing the parent node
/// Returns size_t(-1) on error and reports the error in outError
size_t NodeAllocate(const AABBTreeBuilder::Node *inNode, Vec3Arg inNodeBoundsMin, Vec3Arg inNodeBoundsMax, Array<const AABBTreeBuilder::Node *> &ioChildren, Vec3 outChildBoundsMin[NumChildrenPerNode], Vec3 outChildBoundsMax[NumChildrenPerNode], ByteBuffer &ioBuffer, const char *&outError) const
{
// We don't emit nodes for leafs
if (!inNode->HasChildren())
return ioBuffer.size();
// Remember the start of the node
size_t node_start = ioBuffer.size();
// Fill in bounds
Node *node = ioBuffer.Allocate<Node>();
for (size_t i = 0; i < 4; ++i)
{
if (i < ioChildren.size())
{
const AABBTreeBuilder::Node *this_node = ioChildren[i];
// Copy bounding box
node->mBoundsMinX[i] = HalfFloatConversion::FromFloat<HalfFloatConversion::ROUND_TO_NEG_INF>(this_node->mBounds.mMin.GetX());
node->mBoundsMinY[i] = HalfFloatConversion::FromFloat<HalfFloatConversion::ROUND_TO_NEG_INF>(this_node->mBounds.mMin.GetY());
node->mBoundsMinZ[i] = HalfFloatConversion::FromFloat<HalfFloatConversion::ROUND_TO_NEG_INF>(this_node->mBounds.mMin.GetZ());
node->mBoundsMaxX[i] = HalfFloatConversion::FromFloat<HalfFloatConversion::ROUND_TO_POS_INF>(this_node->mBounds.mMax.GetX());
node->mBoundsMaxY[i] = HalfFloatConversion::FromFloat<HalfFloatConversion::ROUND_TO_POS_INF>(this_node->mBounds.mMax.GetY());
node->mBoundsMaxZ[i] = HalfFloatConversion::FromFloat<HalfFloatConversion::ROUND_TO_POS_INF>(this_node->mBounds.mMax.GetZ());
// Store triangle count
node->mNodeProperties[i] = this_node->GetTriangleCount() << TRIANGLE_COUNT_SHIFT;
if (this_node->GetTriangleCount() >= TRIANGLE_COUNT_MASK)
{
outError = "NodeCodecQuadTreeHalfFloat: Too many triangles";
return size_t(-1);
}
}
else
{
// Make this an invalid triangle node
node->mNodeProperties[i] = uint32(TRIANGLE_COUNT_MASK) << TRIANGLE_COUNT_SHIFT;
// Make bounding box invalid
node->mBoundsMinX[i] = HALF_FLT_MAX;
node->mBoundsMinY[i] = HALF_FLT_MAX;
node->mBoundsMinZ[i] = HALF_FLT_MAX;
node->mBoundsMaxX[i] = HALF_FLT_MAX;
node->mBoundsMaxY[i] = HALF_FLT_MAX;
node->mBoundsMaxZ[i] = HALF_FLT_MAX;
}
}
// Since we don't keep track of the bounding box while descending the tree, we keep the root bounds at all levels for triangle compression
for (int i = 0; i < NumChildrenPerNode; ++i)
{
outChildBoundsMin[i] = inNodeBoundsMin;
outChildBoundsMax[i] = inNodeBoundsMax;
}
return node_start;
}
/// Once all nodes have been added, this call finalizes all nodes by patching in the offsets of the child nodes (that were added after the node itself was added)
bool NodeFinalize(const AABBTreeBuilder::Node *inNode, size_t inNodeStart, uint inNumChildren, const size_t *inChildrenNodeStart, const size_t *inChildrenTrianglesStart, ByteBuffer &ioBuffer, const char *&outError)
{
if (!inNode->HasChildren())
return true;
Node *node = ioBuffer.Get<Node>(inNodeStart);
for (uint i = 0; i < inNumChildren; ++i)
{
size_t offset;
if (node->mNodeProperties[i] != 0)
{
// This is a triangle block
offset = inChildrenTrianglesStart[i];
// Store highest block with triangles so we can count the number of bits we need
mHighestTriangleBlock = max(mHighestTriangleBlock, offset);
}
else
{
// This is a node block
offset = inChildrenNodeStart[i];
}
// Store offset of next node / triangles
if (offset & OFFSET_NON_SIGNIFICANT_MASK)
{
outError = "NodeCodecQuadTreeHalfFloat: Internal Error: Offset has non-significant bits set";
return false;
}
offset >>= OFFSET_NON_SIGNIFICANT_BITS;
if (offset > OFFSET_MASK)
{
outError = "NodeCodecQuadTreeHalfFloat: Offset too large. Too much data.";
return false;
}
node->mNodeProperties[i] |= uint32(offset);
}
return true;
}
/// Once all nodes have been finalized, this will finalize the header of the nodes
bool Finalize(Header *outHeader, const AABBTreeBuilder::Node *inRoot, size_t inRootNodeStart, size_t inRootTrianglesStart, const char *&outError) const
{
// Check if we can address the root node
size_t offset = inRoot->HasChildren()? inRootNodeStart : inRootTrianglesStart;
if (offset & OFFSET_NON_SIGNIFICANT_MASK)
{
outError = "NodeCodecQuadTreeHalfFloat: Internal Error: Offset has non-significant bits set";
return false;
}
offset >>= OFFSET_NON_SIGNIFICANT_BITS;
if (offset > OFFSET_MASK)
{
outError = "NodeCodecQuadTreeHalfFloat: Offset too large. Too much data.";
return false;
}
// If the root has triangles, we need to take that offset instead since the mHighestTriangleBlock will be zero
size_t highest_triangle_block = inRootTrianglesStart != size_t(-1)? inRootTrianglesStart : mHighestTriangleBlock;
highest_triangle_block >>= OFFSET_NON_SIGNIFICANT_BITS;
inRoot->mBounds.mMin.StoreFloat3(&outHeader->mRootBoundsMin);
inRoot->mBounds.mMax.StoreFloat3(&outHeader->mRootBoundsMax);
outHeader->mRootProperties = uint32(offset) + (inRoot->GetTriangleCount() << TRIANGLE_COUNT_SHIFT);
outHeader->mBlockIDBits = uint8(32 - CountLeadingZeros(uint32(highest_triangle_block)));
if (inRoot->GetTriangleCount() >= TRIANGLE_COUNT_MASK)
{
outError = "NodeCodecQuadTreeHalfFloat: Too many triangles";
return false;
}
return true;
}
private:
size_t mHighestTriangleBlock = 0;
};
/// This class decodes and decompresses quad tree nodes
class DecodingContext
{
public:
/// Get the amount of bits needed to store an ID to a triangle block
inline static uint sTriangleBlockIDBits(const Header *inHeader)
{
return inHeader->mBlockIDBits;
}
/// Convert a triangle block ID to the start of the triangle buffer
inline static const void * sGetTriangleBlockStart(const uint8 *inBufferStart, uint inTriangleBlockID)
{
return inBufferStart + (inTriangleBlockID << OFFSET_NON_SIGNIFICANT_BITS);
}
/// Constructor
JPH_INLINE explicit DecodingContext(const Header *inHeader)
{
// Start with the root node on the stack
mNodeStack[0] = inHeader->mRootProperties;
}
/// Walk the node tree calling the Visitor::VisitNodes for each node encountered and Visitor::VisitTriangles for each triangle encountered
template <class TriangleContext, class Visitor>
JPH_INLINE void WalkTree(const uint8 *inBufferStart, const TriangleContext &inTriangleContext, Visitor &ioVisitor)
{
do
{
// Test if node contains triangles
uint32 node_properties = mNodeStack[mTop];
uint32 tri_count = node_properties >> TRIANGLE_COUNT_SHIFT;
if (tri_count == 0)
{
const Node *node = reinterpret_cast<const Node *>(inBufferStart + (node_properties << OFFSET_NON_SIGNIFICANT_BITS));
// Unpack bounds
#ifdef JPH_CPU_BIG_ENDIAN
Vec4 bounds_minx = HalfFloatConversion::ToFloat(UVec4(node->mBoundsMinX[0] + (node->mBoundsMinX[1] << 16), node->mBoundsMinX[2] + (node->mBoundsMinX[3] << 16), 0, 0));
Vec4 bounds_miny = HalfFloatConversion::ToFloat(UVec4(node->mBoundsMinY[0] + (node->mBoundsMinY[1] << 16), node->mBoundsMinY[2] + (node->mBoundsMinY[3] << 16), 0, 0));
Vec4 bounds_minz = HalfFloatConversion::ToFloat(UVec4(node->mBoundsMinZ[0] + (node->mBoundsMinZ[1] << 16), node->mBoundsMinZ[2] + (node->mBoundsMinZ[3] << 16), 0, 0));
Vec4 bounds_maxx = HalfFloatConversion::ToFloat(UVec4(node->mBoundsMaxX[0] + (node->mBoundsMaxX[1] << 16), node->mBoundsMaxX[2] + (node->mBoundsMaxX[3] << 16), 0, 0));
Vec4 bounds_maxy = HalfFloatConversion::ToFloat(UVec4(node->mBoundsMaxY[0] + (node->mBoundsMaxY[1] << 16), node->mBoundsMaxY[2] + (node->mBoundsMaxY[3] << 16), 0, 0));
Vec4 bounds_maxz = HalfFloatConversion::ToFloat(UVec4(node->mBoundsMaxZ[0] + (node->mBoundsMaxZ[1] << 16), node->mBoundsMaxZ[2] + (node->mBoundsMaxZ[3] << 16), 0, 0));
#else
UVec4 bounds_minxy = UVec4::sLoadInt4(reinterpret_cast<const uint32 *>(&node->mBoundsMinX[0]));
Vec4 bounds_minx = HalfFloatConversion::ToFloat(bounds_minxy);
Vec4 bounds_miny = HalfFloatConversion::ToFloat(bounds_minxy.Swizzle<SWIZZLE_Z, SWIZZLE_W, SWIZZLE_UNUSED, SWIZZLE_UNUSED>());
UVec4 bounds_minzmaxx = UVec4::sLoadInt4(reinterpret_cast<const uint32 *>(&node->mBoundsMinZ[0]));
Vec4 bounds_minz = HalfFloatConversion::ToFloat(bounds_minzmaxx);
Vec4 bounds_maxx = HalfFloatConversion::ToFloat(bounds_minzmaxx.Swizzle<SWIZZLE_Z, SWIZZLE_W, SWIZZLE_UNUSED, SWIZZLE_UNUSED>());
UVec4 bounds_maxyz = UVec4::sLoadInt4(reinterpret_cast<const uint32 *>(&node->mBoundsMaxY[0]));
Vec4 bounds_maxy = HalfFloatConversion::ToFloat(bounds_maxyz);
Vec4 bounds_maxz = HalfFloatConversion::ToFloat(bounds_maxyz.Swizzle<SWIZZLE_Z, SWIZZLE_W, SWIZZLE_UNUSED, SWIZZLE_UNUSED>());
#endif
// Load properties for 4 children
UVec4 properties = UVec4::sLoadInt4(&node->mNodeProperties[0]);
// Check which sub nodes to visit
int num_results = ioVisitor.VisitNodes(bounds_minx, bounds_miny, bounds_minz, bounds_maxx, bounds_maxy, bounds_maxz, properties, mTop);
// Push them onto the stack
JPH_ASSERT(mTop + 4 < StackSize);
properties.StoreInt4(&mNodeStack[mTop]);
mTop += num_results;
}
else if (tri_count != TRIANGLE_COUNT_MASK) // TRIANGLE_COUNT_MASK indicates a padding node, normally we shouldn't visit these nodes but when querying with a big enough box you could touch HALF_FLT_MAX (about 65K)
{
// Node contains triangles, do individual tests
uint32 triangle_block_id = node_properties & OFFSET_MASK;
const void *triangles = sGetTriangleBlockStart(inBufferStart, triangle_block_id);
ioVisitor.VisitTriangles(inTriangleContext, triangles, tri_count, triangle_block_id);
}
// Check if we're done
if (ioVisitor.ShouldAbort())
break;
// Fetch next node until we find one that the visitor wants to see
do
--mTop;
while (mTop >= 0 && !ioVisitor.ShouldVisitNode(mTop));
}
while (mTop >= 0);
}
/// This can be used to have the visitor early out (ioVisitor.ShouldAbort() returns true) and later continue again (call WalkTree() again)
bool IsDoneWalking() const
{
return mTop < 0;
}
private:
uint32 mNodeStack[StackSize];
int mTop = 0;
};
};
JPH_NAMESPACE_END

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
#pragma once
#include <Jolt/Geometry/RayTriangle.h>
JPH_NAMESPACE_BEGIN
/// Store vertices in 64 bits and indices in 8 bits + 8 bit of flags per triangle like this:
///
/// TriangleBlockHeader,
/// TriangleBlock (4 triangles and their flags in 16 bytes),
/// TriangleBlock...
/// [Optional] UserData (4 bytes per triangle)
///
/// Vertices are stored:
///
/// VertexData (1 vertex in 64 bits),
/// VertexData...
///
/// They're compressed relative to the bounding box as provided by the node codec.
class TriangleCodecIndexed8BitPackSOA4Flags
{
public:
class TriangleHeader
{
public:
Float3 mOffset; ///< Offset of all vertices
Float3 mScale; ///< Scale of all vertices, vertex_position = mOffset + mScale * compressed_vertex_position
};
/// Size of the header (an empty struct is always > 0 bytes so this needs a separate variable)
static constexpr int TriangleHeaderSize = sizeof(TriangleHeader);
/// If this codec could return a different offset than the current buffer size when calling Pack()
static constexpr bool ChangesOffsetOnPack = false;
/// Amount of bits per component
enum EComponentData : uint32
{
COMPONENT_BITS = 21,
COMPONENT_MASK = (1 << COMPONENT_BITS) - 1,
};
/// Packed X and Y coordinate
enum EVertexXY : uint32
{
COMPONENT_X = 0,
COMPONENT_Y1 = COMPONENT_BITS,
COMPONENT_Y1_BITS = 32 - COMPONENT_BITS,
};
/// Packed Z and Y coordinate
enum EVertexZY : uint32
{
COMPONENT_Z = 0,
COMPONENT_Y2 = COMPONENT_BITS,
COMPONENT_Y2_BITS = 31 - COMPONENT_BITS,
};
/// A single packed vertex
struct VertexData
{
uint32 mVertexXY;
uint32 mVertexZY;
};
static_assert(sizeof(VertexData) == 8, "Compiler added padding");
/// A block of 4 triangles
struct TriangleBlock
{
uint8 mIndices[3][4]; ///< 8 bit indices to triangle vertices for 4 triangles in the form mIndices[vertex][triangle] where vertex in [0, 2] and triangle in [0, 3]
uint8 mFlags[4]; ///< Triangle flags (could contain material and active edges)
};
static_assert(sizeof(TriangleBlock) == 16, "Compiler added padding");
enum ETriangleBlockHeaderFlags : uint32
{
OFFSET_TO_VERTICES_BITS = 29, ///< Offset from current block to start of vertices in bytes
OFFSET_TO_VERTICES_MASK = (1 << OFFSET_TO_VERTICES_BITS) - 1,
OFFSET_NON_SIGNIFICANT_BITS = 2, ///< The offset from the current block to the start of the vertices must be a multiple of 4 bytes
OFFSET_NON_SIGNIFICANT_MASK = (1 << OFFSET_NON_SIGNIFICANT_BITS) - 1,
OFFSET_TO_USERDATA_BITS = 3, ///< When user data is stored, this is the number of blocks to skip to get to the user data (0 = no user data)
OFFSET_TO_USERDATA_MASK = (1 << OFFSET_TO_USERDATA_BITS) - 1,
};
/// A triangle header, will be followed by one or more TriangleBlocks
struct TriangleBlockHeader
{
const VertexData * GetVertexData() const { return reinterpret_cast<const VertexData *>(reinterpret_cast<const uint8 *>(this) + ((mFlags & OFFSET_TO_VERTICES_MASK) << OFFSET_NON_SIGNIFICANT_BITS)); }
const TriangleBlock * GetTriangleBlock() const { return reinterpret_cast<const TriangleBlock *>(reinterpret_cast<const uint8 *>(this) + sizeof(TriangleBlockHeader)); }
const uint32 * GetUserData() const { uint32 offset = mFlags >> OFFSET_TO_VERTICES_BITS; return offset == 0? nullptr : reinterpret_cast<const uint32 *>(GetTriangleBlock() + offset); }
uint32 mFlags;
};
static_assert(sizeof(TriangleBlockHeader) == 4, "Compiler added padding");
/// This class is used to validate that the triangle data will not be degenerate after compression
class ValidationContext
{
public:
/// Constructor
ValidationContext(const IndexedTriangleList &inTriangles, const VertexList &inVertices) :
mVertices(inVertices)
{
// Only used the referenced triangles, just like EncodingContext::Finalize does
for (const IndexedTriangle &i : inTriangles)
for (uint32 idx : i.mIdx)
mBounds.Encapsulate(Vec3(inVertices[idx]));
}
/// Test if a triangle will be degenerate after quantization
bool IsDegenerate(const IndexedTriangle &inTriangle) const
{
// Quantize the triangle in the same way as EncodingContext::Finalize does
UVec4 quantized_vertex[3];
Vec3 compress_scale = Vec3::sReplicate(COMPONENT_MASK) / Vec3::sMax(mBounds.GetSize(), Vec3::sReplicate(1.0e-20f));
for (int i = 0; i < 3; ++i)
quantized_vertex[i] = ((Vec3(mVertices[inTriangle.mIdx[i]]) - mBounds.mMin) * compress_scale + Vec3::sReplicate(0.5f)).ToInt();
return quantized_vertex[0] == quantized_vertex[1] || quantized_vertex[1] == quantized_vertex[2] || quantized_vertex[0] == quantized_vertex[2];
}
private:
const VertexList & mVertices;
AABox mBounds;
};
/// This class is used to encode and compress triangle data into a byte buffer
class EncodingContext
{
public:
/// Indicates a vertex hasn't been seen yet in the triangle list
static constexpr uint32 cNotFound = 0xffffffff;
/// Construct the encoding context
explicit EncodingContext(const VertexList &inVertices) :
mVertexMap(inVertices.size(), cNotFound)
{
}
/// Mimics the size a call to Pack() would add to the buffer
void PreparePack(const IndexedTriangle *inTriangles, uint inNumTriangles, bool inStoreUserData, uint64 &ioBufferSize)
{
// Add triangle block header
ioBufferSize += sizeof(TriangleBlockHeader);
// Compute first vertex that this batch will use (ensuring there's enough room if none of the vertices are shared)
uint start_vertex = Clamp((int)mVertexCount - 256 + (int)inNumTriangles * 3, 0, (int)mVertexCount);
// Pack vertices
uint padded_triangle_count = AlignUp(inNumTriangles, 4);
for (uint t = 0; t < padded_triangle_count; t += 4)
{
// Add triangle block header
ioBufferSize += sizeof(TriangleBlock);
for (uint vertex_nr = 0; vertex_nr < 3; ++vertex_nr)
for (uint block_tri_idx = 0; block_tri_idx < 4; ++block_tri_idx)
{
// Fetch vertex index. Create degenerate triangles for padding triangles.
bool triangle_available = t + block_tri_idx < inNumTriangles;
uint32 src_vertex_index = triangle_available? inTriangles[t + block_tri_idx].mIdx[vertex_nr] : inTriangles[inNumTriangles - 1].mIdx[0];
// Check if we've seen this vertex before and if it is in the range that we can encode
uint32 &vertex_index = mVertexMap[src_vertex_index];
if (vertex_index == cNotFound || vertex_index < start_vertex)
{
// Add vertex
vertex_index = mVertexCount;
mVertexCount++;
}
}
}
// Add user data
if (inStoreUserData)
ioBufferSize += inNumTriangles * sizeof(uint32);
}
/// Mimics the size the Finalize() call would add to ioBufferSize
void FinalizePreparePack(uint64 &ioBufferSize)
{
// Remember where the vertices are going to start in the output buffer
JPH_ASSERT(IsAligned(ioBufferSize, 4));
mVerticesStartIdx = size_t(ioBufferSize);
// Add vertices to buffer
ioBufferSize += uint64(mVertexCount) * sizeof(VertexData);
// Reserve the amount of memory we need for the vertices
mVertices.reserve(mVertexCount);
// Set vertex map back to 'not found'
for (uint32 &v : mVertexMap)
v = cNotFound;
}
/// Pack the triangles in inContainer to ioBuffer. This stores the mMaterialIndex of a triangle in the 8 bit flags.
/// Returns size_t(-1) on error.
size_t Pack(const IndexedTriangle *inTriangles, uint inNumTriangles, bool inStoreUserData, ByteBuffer &ioBuffer, const char *&outError)
{
JPH_ASSERT(inNumTriangles > 0);
// Determine position of triangles start
size_t triangle_block_start = ioBuffer.size();
// Allocate triangle block header
TriangleBlockHeader *header = ioBuffer.Allocate<TriangleBlockHeader>();
// Compute first vertex that this batch will use (ensuring there's enough room if none of the vertices are shared)
uint start_vertex = Clamp((int)mVertices.size() - 256 + (int)inNumTriangles * 3, 0, (int)mVertices.size());
// Store the start vertex offset relative to TriangleBlockHeader
size_t offset_to_vertices = mVerticesStartIdx - triangle_block_start + size_t(start_vertex) * sizeof(VertexData);
if (offset_to_vertices & OFFSET_NON_SIGNIFICANT_MASK)
{
outError = "TriangleCodecIndexed8BitPackSOA4Flags: Internal Error: Offset has non-significant bits set";
return size_t(-1);
}
offset_to_vertices >>= OFFSET_NON_SIGNIFICANT_BITS;
if (offset_to_vertices > OFFSET_TO_VERTICES_MASK)
{
outError = "TriangleCodecIndexed8BitPackSOA4Flags: Offset to vertices doesn't fit. Too much data.";
return size_t(-1);
}
header->mFlags = uint32(offset_to_vertices);
// When we store user data we need to store the offset to the user data in TriangleBlocks
uint padded_triangle_count = AlignUp(inNumTriangles, 4);
if (inStoreUserData)
{
uint32 num_blocks = padded_triangle_count >> 2;
JPH_ASSERT(num_blocks <= OFFSET_TO_USERDATA_MASK);
header->mFlags |= num_blocks << OFFSET_TO_VERTICES_BITS;
}
// Pack vertices
for (uint t = 0; t < padded_triangle_count; t += 4)
{
TriangleBlock *block = ioBuffer.Allocate<TriangleBlock>();
for (uint vertex_nr = 0; vertex_nr < 3; ++vertex_nr)
for (uint block_tri_idx = 0; block_tri_idx < 4; ++block_tri_idx)
{
// Fetch vertex index. Create degenerate triangles for padding triangles.
bool triangle_available = t + block_tri_idx < inNumTriangles;
uint32 src_vertex_index = triangle_available? inTriangles[t + block_tri_idx].mIdx[vertex_nr] : inTriangles[inNumTriangles - 1].mIdx[0];
// Check if we've seen this vertex before and if it is in the range that we can encode
uint32 &vertex_index = mVertexMap[src_vertex_index];
if (vertex_index == cNotFound || vertex_index < start_vertex)
{
// Add vertex
vertex_index = (uint32)mVertices.size();
mVertices.push_back(src_vertex_index);
}
// Store vertex index
uint32 vertex_offset = vertex_index - start_vertex;
if (vertex_offset > 0xff)
{
outError = "TriangleCodecIndexed8BitPackSOA4Flags: Offset doesn't fit in 8 bit";
return size_t(-1);
}
block->mIndices[vertex_nr][block_tri_idx] = (uint8)vertex_offset;
// Store flags
uint32 flags = triangle_available? inTriangles[t + block_tri_idx].mMaterialIndex : 0;
if (flags > 0xff)
{
outError = "TriangleCodecIndexed8BitPackSOA4Flags: Material index doesn't fit in 8 bit";
return size_t(-1);
}
block->mFlags[block_tri_idx] = (uint8)flags;
}
}
// Store user data
if (inStoreUserData)
{
uint32 *user_data = ioBuffer.Allocate<uint32>(inNumTriangles);
for (uint t = 0; t < inNumTriangles; ++t)
user_data[t] = inTriangles[t].mUserData;
}
return triangle_block_start;
}
/// After all triangles have been packed, this finalizes the header and triangle buffer
void Finalize(const VertexList &inVertices, TriangleHeader *ioHeader, ByteBuffer &ioBuffer) const
{
// Assert that our reservations were correct
JPH_ASSERT(mVertices.size() == mVertexCount);
JPH_ASSERT(ioBuffer.size() == mVerticesStartIdx);
// Check if anything to do
if (mVertices.empty())
return;
// Calculate bounding box
AABox bounds;
for (uint32 v : mVertices)
bounds.Encapsulate(Vec3(inVertices[v]));
// Compress vertices
VertexData *vertices = ioBuffer.Allocate<VertexData>(mVertices.size());
Vec3 compress_scale = Vec3::sReplicate(COMPONENT_MASK) / Vec3::sMax(bounds.GetSize(), Vec3::sReplicate(1.0e-20f));
for (uint32 v : mVertices)
{
UVec4 c = ((Vec3(inVertices[v]) - bounds.mMin) * compress_scale + Vec3::sReplicate(0.5f)).ToInt();
JPH_ASSERT(c.GetX() <= COMPONENT_MASK);
JPH_ASSERT(c.GetY() <= COMPONENT_MASK);
JPH_ASSERT(c.GetZ() <= COMPONENT_MASK);
vertices->mVertexXY = c.GetX() + (c.GetY() << COMPONENT_Y1);
vertices->mVertexZY = c.GetZ() + ((c.GetY() >> COMPONENT_Y1_BITS) << COMPONENT_Y2);
++vertices;
}
// Store decompression information
bounds.mMin.StoreFloat3(&ioHeader->mOffset);
(bounds.GetSize() / Vec3::sReplicate(COMPONENT_MASK)).StoreFloat3(&ioHeader->mScale);
}
private:
using VertexMap = Array<uint32>;
uint32 mVertexCount = 0; ///< Number of vertices calculated during PreparePack
size_t mVerticesStartIdx = 0; ///< Start of the vertices in the output buffer, calculated during PreparePack
Array<uint32> mVertices; ///< Output vertices as an index into the original vertex list (inVertices), sorted according to occurrence
VertexMap mVertexMap; ///< Maps from the original mesh vertex index (inVertices) to the index in our output vertices (mVertices)
};
/// This class is used to decode and decompress triangle data packed by the EncodingContext
class DecodingContext
{
private:
/// Private helper function to unpack the 1 vertex of 4 triangles (outX contains the x coordinate of triangle 0 .. 3 etc.)
JPH_INLINE void Unpack(const VertexData *inVertices, UVec4Arg inIndex, Vec4 &outX, Vec4 &outY, Vec4 &outZ) const
{
// Get compressed data
UVec4 c1 = UVec4::sGatherInt4<8>(&inVertices->mVertexXY, inIndex);
UVec4 c2 = UVec4::sGatherInt4<8>(&inVertices->mVertexZY, inIndex);
// Unpack the x y and z component
UVec4 xc = UVec4::sAnd(c1, UVec4::sReplicate(COMPONENT_MASK));
UVec4 yc = UVec4::sOr(c1.LogicalShiftRight<COMPONENT_Y1>(), c2.LogicalShiftRight<COMPONENT_Y2>().LogicalShiftLeft<COMPONENT_Y1_BITS>());
UVec4 zc = UVec4::sAnd(c2, UVec4::sReplicate(COMPONENT_MASK));
// Convert to float
outX = Vec4::sFusedMultiplyAdd(xc.ToFloat(), mScaleX, mOffsetX);
outY = Vec4::sFusedMultiplyAdd(yc.ToFloat(), mScaleY, mOffsetY);
outZ = Vec4::sFusedMultiplyAdd(zc.ToFloat(), mScaleZ, mOffsetZ);
}
/// Private helper function to unpack 4 triangles from a triangle block
JPH_INLINE void Unpack(const TriangleBlock *inBlock, const VertexData *inVertices, Vec4 &outX1, Vec4 &outY1, Vec4 &outZ1, Vec4 &outX2, Vec4 &outY2, Vec4 &outZ2, Vec4 &outX3, Vec4 &outY3, Vec4 &outZ3) const
{
// Get the indices for the three vertices (reads 4 bytes extra, but these are the flags so that's ok)
UVec4 indices = UVec4::sLoadInt4(reinterpret_cast<const uint32 *>(&inBlock->mIndices[0]));
UVec4 iv1 = indices.Expand4Byte0();
UVec4 iv2 = indices.Expand4Byte4();
UVec4 iv3 = indices.Expand4Byte8();
#ifdef JPH_CPU_BIG_ENDIAN
// On big endian systems we need to reverse the bytes
iv1 = iv1.Swizzle<SWIZZLE_W, SWIZZLE_Z, SWIZZLE_Y, SWIZZLE_X>();
iv2 = iv2.Swizzle<SWIZZLE_W, SWIZZLE_Z, SWIZZLE_Y, SWIZZLE_X>();
iv3 = iv3.Swizzle<SWIZZLE_W, SWIZZLE_Z, SWIZZLE_Y, SWIZZLE_X>();
#endif
// Decompress the triangle data
Unpack(inVertices, iv1, outX1, outY1, outZ1);
Unpack(inVertices, iv2, outX2, outY2, outZ2);
Unpack(inVertices, iv3, outX3, outY3, outZ3);
}
public:
JPH_INLINE explicit DecodingContext(const TriangleHeader *inHeader) :
mOffsetX(Vec4::sReplicate(inHeader->mOffset.x)),
mOffsetY(Vec4::sReplicate(inHeader->mOffset.y)),
mOffsetZ(Vec4::sReplicate(inHeader->mOffset.z)),
mScaleX(Vec4::sReplicate(inHeader->mScale.x)),
mScaleY(Vec4::sReplicate(inHeader->mScale.y)),
mScaleZ(Vec4::sReplicate(inHeader->mScale.z))
{
}
/// Unpacks triangles in the format t1v1,t1v2,t1v3, t2v1,t2v2,t2v3, ...
JPH_INLINE void Unpack(const void *inTriangleStart, uint32 inNumTriangles, Vec3 *outTriangles) const
{
JPH_ASSERT(inNumTriangles > 0);
const TriangleBlockHeader *header = reinterpret_cast<const TriangleBlockHeader *>(inTriangleStart);
const VertexData *vertices = header->GetVertexData();
const TriangleBlock *t = header->GetTriangleBlock();
const TriangleBlock *end = t + ((inNumTriangles + 3) >> 2);
int triangles_left = inNumTriangles;
do
{
// Unpack the vertices for 4 triangles
Vec4 v1x, v1y, v1z, v2x, v2y, v2z, v3x, v3y, v3z;
Unpack(t, vertices, v1x, v1y, v1z, v2x, v2y, v2z, v3x, v3y, v3z);
// Transpose it so we get normal vectors
Mat44 v1 = Mat44(v1x, v1y, v1z, Vec4::sZero()).Transposed();
Mat44 v2 = Mat44(v2x, v2y, v2z, Vec4::sZero()).Transposed();
Mat44 v3 = Mat44(v3x, v3y, v3z, Vec4::sZero()).Transposed();
// Store triangle data
for (int i = 0; i < 4 && triangles_left > 0; ++i, --triangles_left)
{
*outTriangles++ = v1.GetColumn3(i);
*outTriangles++ = v2.GetColumn3(i);
*outTriangles++ = v3.GetColumn3(i);
}
++t;
}
while (t < end);
}
/// Tests a ray against the packed triangles
JPH_INLINE float TestRay(Vec3Arg inRayOrigin, Vec3Arg inRayDirection, const void *inTriangleStart, uint32 inNumTriangles, float inClosest, uint32 &outClosestTriangleIndex) const
{
JPH_ASSERT(inNumTriangles > 0);
const TriangleBlockHeader *header = reinterpret_cast<const TriangleBlockHeader *>(inTriangleStart);
const VertexData *vertices = header->GetVertexData();
const TriangleBlock *t = header->GetTriangleBlock();
const TriangleBlock *end = t + ((inNumTriangles + 3) >> 2);
Vec4 closest = Vec4::sReplicate(inClosest);
UVec4 closest_triangle_idx = UVec4::sZero();
UVec4 start_triangle_idx = UVec4::sZero();
do
{
// Unpack the vertices for 4 triangles
Vec4 v1x, v1y, v1z, v2x, v2y, v2z, v3x, v3y, v3z;
Unpack(t, vertices, v1x, v1y, v1z, v2x, v2y, v2z, v3x, v3y, v3z);
// Perform ray vs triangle test
Vec4 distance = RayTriangle4(inRayOrigin, inRayDirection, v1x, v1y, v1z, v2x, v2y, v2z, v3x, v3y, v3z);
// Update closest with the smaller values
UVec4 smaller = Vec4::sLess(distance, closest);
closest = Vec4::sSelect(closest, distance, smaller);
// Update triangle index with the smallest values
UVec4 triangle_idx = start_triangle_idx + UVec4(0, 1, 2, 3);
closest_triangle_idx = UVec4::sSelect(closest_triangle_idx, triangle_idx, smaller);
// Next block
++t;
start_triangle_idx += UVec4::sReplicate(4);
}
while (t < end);
// Get the smallest component
Vec4::sSort4(closest, closest_triangle_idx);
outClosestTriangleIndex = closest_triangle_idx.GetX();
return closest.GetX();
}
/// Decode a single triangle
inline void GetTriangle(const void *inTriangleStart, uint32 inTriangleIdx, Vec3 &outV1, Vec3 &outV2, Vec3 &outV3) const
{
const TriangleBlockHeader *header = reinterpret_cast<const TriangleBlockHeader *>(inTriangleStart);
const VertexData *vertices = header->GetVertexData();
const TriangleBlock *block = header->GetTriangleBlock() + (inTriangleIdx >> 2);
uint32 block_triangle_idx = inTriangleIdx & 0b11;
// Get the 3 vertices
const VertexData &v1 = vertices[block->mIndices[0][block_triangle_idx]];
const VertexData &v2 = vertices[block->mIndices[1][block_triangle_idx]];
const VertexData &v3 = vertices[block->mIndices[2][block_triangle_idx]];
// Pack the vertices
UVec4 c1(v1.mVertexXY, v2.mVertexXY, v3.mVertexXY, 0);
UVec4 c2(v1.mVertexZY, v2.mVertexZY, v3.mVertexZY, 0);
// Unpack the x y and z component
UVec4 xc = UVec4::sAnd(c1, UVec4::sReplicate(COMPONENT_MASK));
UVec4 yc = UVec4::sOr(c1.LogicalShiftRight<COMPONENT_Y1>(), c2.LogicalShiftRight<COMPONENT_Y2>().LogicalShiftLeft<COMPONENT_Y1_BITS>());
UVec4 zc = UVec4::sAnd(c2, UVec4::sReplicate(COMPONENT_MASK));
// Convert to float
Vec4 vx = Vec4::sFusedMultiplyAdd(xc.ToFloat(), mScaleX, mOffsetX);
Vec4 vy = Vec4::sFusedMultiplyAdd(yc.ToFloat(), mScaleY, mOffsetY);
Vec4 vz = Vec4::sFusedMultiplyAdd(zc.ToFloat(), mScaleZ, mOffsetZ);
// Transpose it so we get normal vectors
Mat44 trans = Mat44(vx, vy, vz, Vec4::sZero()).Transposed();
outV1 = trans.GetAxisX();
outV2 = trans.GetAxisY();
outV3 = trans.GetAxisZ();
}
/// Get user data for a triangle
JPH_INLINE uint32 GetUserData(const void *inTriangleStart, uint32 inTriangleIdx) const
{
const TriangleBlockHeader *header = reinterpret_cast<const TriangleBlockHeader *>(inTriangleStart);
const uint32 *user_data = header->GetUserData();
return user_data != nullptr? user_data[inTriangleIdx] : 0;
}
/// Get flags for entire triangle block
JPH_INLINE static void sGetFlags(const void *inTriangleStart, uint32 inNumTriangles, uint8 *outTriangleFlags)
{
JPH_ASSERT(inNumTriangles > 0);
const TriangleBlockHeader *header = reinterpret_cast<const TriangleBlockHeader *>(inTriangleStart);
const TriangleBlock *t = header->GetTriangleBlock();
const TriangleBlock *end = t + ((inNumTriangles + 3) >> 2);
int triangles_left = inNumTriangles;
do
{
for (int i = 0; i < 4 && triangles_left > 0; ++i, --triangles_left)
*outTriangleFlags++ = t->mFlags[i];
++t;
}
while (t < end);
}
/// Get flags for a particular triangle
JPH_INLINE static uint8 sGetFlags(const void *inTriangleStart, int inTriangleIndex)
{
const TriangleBlockHeader *header = reinterpret_cast<const TriangleBlockHeader *>(inTriangleStart);
const TriangleBlock *first_block = header->GetTriangleBlock();
return first_block[inTriangleIndex >> 2].mFlags[inTriangleIndex & 0b11];
}
/// Unpacks triangles and flags, convenience function
JPH_INLINE void Unpack(const void *inTriangleStart, uint32 inNumTriangles, Vec3 *outTriangles, uint8 *outTriangleFlags) const
{
Unpack(inTriangleStart, inNumTriangles, outTriangles);
sGetFlags(inTriangleStart, inNumTriangles, outTriangleFlags);
}
private:
Vec4 mOffsetX;
Vec4 mOffsetY;
Vec4 mOffsetZ;
Vec4 mScaleX;
Vec4 mScaleY;
Vec4 mScaleZ;
};
};
JPH_NAMESPACE_END

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2023 Jorrit Rouwe
// SPDX-License-Identifier: MIT
#pragma once
JPH_NAMESPACE_BEGIN
/// Construct a string that lists the most important configuration settings
inline const char *GetConfigurationString()
{
return JPH_IF_SINGLE_PRECISION_ELSE("Single", "Double") " precision "
#if defined(JPH_CPU_X86)
"x86 "
#elif defined(JPH_CPU_ARM)
"ARM "
#elif defined(JPH_CPU_RISCV)
"RISC-V "
#elif defined(JPH_CPU_PPC)
"PowerPC "
#ifdef JPH_CPU_BIG_ENDIAN
"(Big Endian) "
#else
"(Little Endian) "
#endif
#elif defined(JPH_CPU_LOONGARCH)
"LoongArch "
#elif defined(JPH_CPU_E2K)
"E2K "
#elif defined(JPH_CPU_WASM)
"WASM "
#else
#error Unknown CPU architecture
#endif
#if JPH_CPU_ARCH_BITS == 64
"64-bit "
#elif JPH_CPU_ARCH_BITS == 32
"32-bit "
#endif
"with instructions: "
#ifdef JPH_USE_NEON
"NEON "
#endif
#ifdef JPH_USE_SSE
"SSE2 "
#endif
#ifdef JPH_USE_SSE4_1
"SSE4.1 "
#endif
#ifdef JPH_USE_SSE4_2
"SSE4.2 "
#endif
#ifdef JPH_USE_AVX
"AVX "
#endif
#ifdef JPH_USE_AVX2
"AVX2 "
#endif
#ifdef JPH_USE_AVX512
"AVX512 "
#endif
#ifdef JPH_USE_F16C
"F16C "
#endif
#ifdef JPH_USE_LZCNT
"LZCNT "
#endif
#ifdef JPH_USE_TZCNT
"TZCNT "
#endif
#ifdef JPH_USE_FMADD
"FMADD "
#endif
#ifdef JPH_CROSS_PLATFORM_DETERMINISTIC
"(Cross Platform Deterministic) "
#endif
#ifdef JPH_FLOATING_POINT_EXCEPTIONS_ENABLED
"(FP Exceptions) "
#endif
#ifdef JPH_DEBUG_RENDERER
"(Debug Renderer) "
#endif
#ifdef JPH_PROFILE_ENABLED
"(Profile) "
#endif
#ifdef JPH_EXTERNAL_PROFILE
"(External Profile) "
#endif
#if defined(JPH_OBJECT_LAYER_BITS) && JPH_OBJECT_LAYER_BITS == 32
"(32-bit ObjectLayer) "
#else
"(16-bit ObjectLayer) "
#endif
#ifdef JPH_ENABLE_ASSERTS
"(Assertions) "
#endif
#ifdef JPH_OBJECT_STREAM
"(ObjectStream) "
#endif
#ifdef JPH_DEBUG
"(Debug) "
#endif
#if defined(__cpp_rtti) && __cpp_rtti
"(C++ RTTI) "
#endif
#if defined(__cpp_exceptions) && __cpp_exceptions
"(C++ Exceptions) "
#endif
;
}
JPH_NAMESPACE_END

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2022 Jorrit Rouwe
// SPDX-License-Identifier: MIT
#pragma once
#ifdef JPH_USE_NEON
// Constructing NEON values
#ifdef JPH_COMPILER_MSVC
#define JPH_NEON_INT32x4(v1, v2, v3, v4) { int64_t(v1) + (int64_t(v2) << 32), int64_t(v3) + (int64_t(v4) << 32) }
#define JPH_NEON_UINT32x4(v1, v2, v3, v4) { uint64_t(v1) + (uint64_t(v2) << 32), uint64_t(v3) + (uint64_t(v4) << 32) }
#define JPH_NEON_INT8x16(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16) { int64_t(v1) + (int64_t(v2) << 8) + (int64_t(v3) << 16) + (int64_t(v4) << 24) + (int64_t(v5) << 32) + (int64_t(v6) << 40) + (int64_t(v7) << 48) + (int64_t(v8) << 56), int64_t(v9) + (int64_t(v10) << 8) + (int64_t(v11) << 16) + (int64_t(v12) << 24) + (int64_t(v13) << 32) + (int64_t(v14) << 40) + (int64_t(v15) << 48) + (int64_t(v16) << 56) }
#define JPH_NEON_UINT8x16(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16) { uint64_t(v1) + (uint64_t(v2) << 8) + (uint64_t(v3) << 16) + (uint64_t(v4) << 24) + (uint64_t(v5) << 32) + (uint64_t(v6) << 40) + (uint64_t(v7) << 48) + (uint64_t(v8) << 56), uint64_t(v9) + (uint64_t(v10) << 8) + (uint64_t(v11) << 16) + (uint64_t(v12) << 24) + (uint64_t(v13) << 32) + (uint64_t(v14) << 40) + (uint64_t(v15) << 48) + (uint64_t(v16) << 56) }
#else
#define JPH_NEON_INT32x4(v1, v2, v3, v4) { v1, v2, v3, v4 }
#define JPH_NEON_UINT32x4(v1, v2, v3, v4) { v1, v2, v3, v4 }
#define JPH_NEON_INT8x16(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16) { v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16 }
#define JPH_NEON_UINT8x16(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16) { v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16 }
#endif
// MSVC and GCC prior to version 12 don't define __builtin_shufflevector
#if defined(JPH_COMPILER_MSVC) || (defined(JPH_COMPILER_GCC) && __GNUC__ < 12)
JPH_NAMESPACE_BEGIN
// Generic shuffle vector template
template <unsigned I1, unsigned I2, unsigned I3, unsigned I4>
JPH_INLINE float32x4_t NeonShuffleFloat32x4(float32x4_t inV1, float32x4_t inV2)
{
float32x4_t ret;
ret = vmovq_n_f32(vgetq_lane_f32(I1 >= 4? inV2 : inV1, I1 & 0b11));
ret = vsetq_lane_f32(vgetq_lane_f32(I2 >= 4? inV2 : inV1, I2 & 0b11), ret, 1);
ret = vsetq_lane_f32(vgetq_lane_f32(I3 >= 4? inV2 : inV1, I3 & 0b11), ret, 2);
ret = vsetq_lane_f32(vgetq_lane_f32(I4 >= 4? inV2 : inV1, I4 & 0b11), ret, 3);
return ret;
}
// Specializations
template <>
JPH_INLINE float32x4_t NeonShuffleFloat32x4<0, 1, 2, 2>(float32x4_t inV1, float32x4_t inV2)
{
return vcombine_f32(vget_low_f32(inV1), vdup_lane_f32(vget_high_f32(inV1), 0));
}
template <>
JPH_INLINE float32x4_t NeonShuffleFloat32x4<0, 1, 3, 3>(float32x4_t inV1, float32x4_t inV2)
{
return vcombine_f32(vget_low_f32(inV1), vdup_lane_f32(vget_high_f32(inV1), 1));
}
template <>
JPH_INLINE float32x4_t NeonShuffleFloat32x4<0, 1, 2, 3>(float32x4_t inV1, float32x4_t inV2)
{
return inV1;
}
template <>
JPH_INLINE float32x4_t NeonShuffleFloat32x4<1, 0, 3, 2>(float32x4_t inV1, float32x4_t inV2)
{
return vcombine_f32(vrev64_f32(vget_low_f32(inV1)), vrev64_f32(vget_high_f32(inV1)));
}
template <>
JPH_INLINE float32x4_t NeonShuffleFloat32x4<2, 2, 1, 0>(float32x4_t inV1, float32x4_t inV2)
{
return vcombine_f32(vdup_lane_f32(vget_high_f32(inV1), 0), vrev64_f32(vget_low_f32(inV1)));
}
template <>
JPH_INLINE float32x4_t NeonShuffleFloat32x4<2, 3, 0, 1>(float32x4_t inV1, float32x4_t inV2)
{
return vcombine_f32(vget_high_f32(inV1), vget_low_f32(inV1));
}
// Used extensively by cross product
template <>
JPH_INLINE float32x4_t NeonShuffleFloat32x4<1, 2, 0, 0>(float32x4_t inV1, float32x4_t inV2)
{
static uint8x16_t table = JPH_NEON_UINT8x16(0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0a, 0x0b, 0x00, 0x01, 0x02, 0x03, 0x00, 0x01, 0x02, 0x03);
return vreinterpretq_f32_u8(vqtbl1q_u8(vreinterpretq_u8_f32(inV1), table));
}
// Shuffle a vector
#define JPH_NEON_SHUFFLE_F32x4(vec1, vec2, index1, index2, index3, index4) NeonShuffleFloat32x4<index1, index2, index3, index4>(vec1, vec2)
#define JPH_NEON_SHUFFLE_U32x4(vec1, vec2, index1, index2, index3, index4) vreinterpretq_u32_f32((NeonShuffleFloat32x4<index1, index2, index3, index4>(vreinterpretq_f32_u32(vec1), vreinterpretq_f32_u32(vec2))))
JPH_NAMESPACE_END
#else
// Shuffle a vector
#define JPH_NEON_SHUFFLE_F32x4(vec1, vec2, index1, index2, index3, index4) __builtin_shufflevector(vec1, vec2, index1, index2, index3, index4)
#define JPH_NEON_SHUFFLE_U32x4(vec1, vec2, index1, index2, index3, index4) __builtin_shufflevector(vec1, vec2, index1, index2, index3, index4)
#endif
#endif // JPH_USE_NEON

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2024 Jorrit Rouwe
// SPDX-License-Identifier: MIT
#pragma once
#include <Jolt/Core/STLAllocator.h>
#include <Jolt/Core/HashCombine.h>
#ifdef JPH_USE_STD_VECTOR
JPH_SUPPRESS_WARNINGS_STD_BEGIN
#include <vector>
JPH_SUPPRESS_WARNINGS_STD_END
JPH_NAMESPACE_BEGIN
template <class T, class Allocator = STLAllocator<T>> using Array = std::vector<T, Allocator>;
JPH_NAMESPACE_END
#else
JPH_NAMESPACE_BEGIN
/// Simple replacement for std::vector
///
/// Major differences:
/// - Memory is not initialized to zero (this was causing a lot of page faults when deserializing large MeshShapes / HeightFieldShapes)
/// - Iterators are simple pointers (for now)
/// - No exception safety
/// - No specialization like std::vector<bool> has
/// - Not all functions have been implemented
template <class T, class Allocator = STLAllocator<T>>
class [[nodiscard]] Array : private Allocator
{
public:
using value_type = T;
using allocator_type = Allocator;
using size_type = size_t;
using difference_type = typename Allocator::difference_type;
using pointer = T *;
using const_pointer = const T *;
using reference = T &;
using const_reference = const T &;
using const_iterator = const T *;
using iterator = T *;
/// An iterator that traverses the array in reverse order
class rev_it
{
public:
/// Constructor
rev_it() = default;
explicit rev_it(T *inValue) : mValue(inValue) { }
/// Copying
rev_it(const rev_it &) = default;
rev_it & operator = (const rev_it &) = default;
/// Comparison
bool operator == (const rev_it &inRHS) const { return mValue == inRHS.mValue; }
bool operator != (const rev_it &inRHS) const { return mValue != inRHS.mValue; }
/// Arithmetics
rev_it & operator ++ () { --mValue; return *this; }
rev_it operator ++ (int) { return rev_it(mValue--); }
rev_it & operator -- () { ++mValue; return *this; }
rev_it operator -- (int) { return rev_it(mValue++); }
rev_it operator + (int inValue) const { return rev_it(mValue - inValue); }
rev_it operator - (int inValue) const { return rev_it(mValue + inValue); }
rev_it & operator += (int inValue) { mValue -= inValue; return *this; }
rev_it & operator -= (int inValue) { mValue += inValue; return *this; }
/// Access
T & operator * () const { return *mValue; }
T & operator -> () const { return *mValue; }
private:
T * mValue;
};
/// A const iterator that traverses the array in reverse order
class crev_it
{
public:
/// Constructor
crev_it() = default;
explicit crev_it(const T *inValue) : mValue(inValue) { }
/// Copying
crev_it(const crev_it &) = default;
explicit crev_it(const rev_it &inValue) : mValue(inValue.mValue) { }
crev_it & operator = (const crev_it &) = default;
crev_it & operator = (const rev_it &inRHS) { mValue = inRHS.mValue; return *this; }
/// Comparison
bool operator == (const crev_it &inRHS) const { return mValue == inRHS.mValue; }
bool operator != (const crev_it &inRHS) const { return mValue != inRHS.mValue; }
/// Arithmetics
crev_it & operator ++ () { --mValue; return *this; }
crev_it operator ++ (int) { return crev_it(mValue--); }
crev_it & operator -- () { ++mValue; return *this; }
crev_it operator -- (int) { return crev_it(mValue++); }
crev_it operator + (int inValue) { return crev_it(mValue - inValue); }
crev_it operator - (int inValue) { return crev_it(mValue + inValue); }
crev_it & operator += (int inValue) { mValue -= inValue; return *this; }
crev_it & operator -= (int inValue) { mValue += inValue; return *this; }
/// Access
const T & operator * () const { return *mValue; }
const T & operator -> () const { return *mValue; }
private:
const T * mValue;
};
using reverse_iterator = rev_it;
using const_reverse_iterator = crev_it;
private:
/// Move elements from one location to another
inline void move(pointer inDestination, pointer inSource, size_type inCount)
{
if constexpr (std::is_trivially_copyable<T>())
memmove(inDestination, inSource, inCount * sizeof(T));
else
{
if (inDestination < inSource)
{
for (T *destination_end = inDestination + inCount; inDestination < destination_end; ++inDestination, ++inSource)
{
new (inDestination) T(std::move(*inSource));
inSource->~T();
}
}
else
{
for (T *destination = inDestination + inCount - 1, *source = inSource + inCount - 1; destination >= inDestination; --destination, --source)
{
new (destination) T(std::move(*source));
source->~T();
}
}
}
}
/// Reallocate the data block to inNewCapacity
inline void reallocate(size_type inNewCapacity)
{
JPH_ASSERT(inNewCapacity > 0 && inNewCapacity >= mSize);
pointer ptr;
if constexpr (AllocatorHasReallocate<Allocator>::sValue)
{
// Reallocate data block
ptr = get_allocator().reallocate(mElements, mCapacity, inNewCapacity);
}
else
{
// Copy data to a new location
ptr = get_allocator().allocate(inNewCapacity);
if (mElements != nullptr)
{
move(ptr, mElements, mSize);
get_allocator().deallocate(mElements, mCapacity);
}
}
mElements = ptr;
mCapacity = inNewCapacity;
}
/// Destruct elements [inStart, inEnd - 1]
inline void destruct(size_type inStart, size_type inEnd)
{
if constexpr (!std::is_trivially_destructible<T>())
if (inStart < inEnd)
for (T *element = mElements + inStart, *element_end = mElements + inEnd; element < element_end; ++element)
element->~T();
}
public:
/// Reserve array space
inline void reserve(size_type inNewSize)
{
if (mCapacity < inNewSize)
reallocate(inNewSize);
}
/// Resize array to new length
inline void resize(size_type inNewSize)
{
destruct(inNewSize, mSize);
reserve(inNewSize);
if constexpr (!std::is_trivially_constructible<T>())
for (T *element = mElements + mSize, *element_end = mElements + inNewSize; element < element_end; ++element)
new (element) T;
mSize = inNewSize;
}
/// Resize array to new length and initialize all elements with inValue
inline void resize(size_type inNewSize, const T &inValue)
{
JPH_ASSERT(&inValue < mElements || &inValue >= mElements + mSize, "Can't pass an element from the array to resize");
destruct(inNewSize, mSize);
reserve(inNewSize);
for (T *element = mElements + mSize, *element_end = mElements + inNewSize; element < element_end; ++element)
new (element) T(inValue);
mSize = inNewSize;
}
/// Destruct all elements and set length to zero
inline void clear()
{
destruct(0, mSize);
mSize = 0;
}
private:
/// Grow the array by at least inAmount elements
inline void grow(size_type inAmount = 1)
{
size_type min_size = mSize + inAmount;
if (min_size > mCapacity)
{
size_type new_capacity = max(min_size, mCapacity * 2);
reserve(new_capacity);
}
}
/// Free memory
inline void deallocate()
{
get_allocator().deallocate(mElements, mCapacity);
mElements = nullptr;
mCapacity = 0;
}
/// Destroy all elements and free memory
inline void destroy()
{
if (mElements != nullptr)
{
clear();
deallocate();
}
}
public:
/// Replace the contents of this array with inBegin .. inEnd
template <class Iterator>
inline void assign(Iterator inBegin, Iterator inEnd)
{
clear();
reserve(size_type(std::distance(inBegin, inEnd)));
for (Iterator element = inBegin; element != inEnd; ++element)
new (&mElements[mSize++]) T(*element);
}
/// Replace the contents of this array with inList
inline void assign(std::initializer_list<T> inList)
{
clear();
reserve(size_type(inList.size()));
for (const T &v : inList)
new (&mElements[mSize++]) T(v);
}
/// Default constructor
Array() = default;
/// Constructor with allocator
explicit inline Array(const Allocator &inAllocator) :
Allocator(inAllocator)
{
}
/// Constructor with length
explicit inline Array(size_type inLength, const Allocator &inAllocator = { }) :
Allocator(inAllocator)
{
resize(inLength);
}
/// Constructor with length and value
inline Array(size_type inLength, const T &inValue, const Allocator &inAllocator = { }) :
Allocator(inAllocator)
{
resize(inLength, inValue);
}
/// Constructor from initializer list
inline Array(std::initializer_list<T> inList, const Allocator &inAllocator = { }) :
Allocator(inAllocator)
{
assign(inList);
}
/// Constructor from iterator
inline Array(const_iterator inBegin, const_iterator inEnd, const Allocator &inAllocator = { }) :
Allocator(inAllocator)
{
assign(inBegin, inEnd);
}
/// Copy constructor
inline Array(const Array<T, Allocator> &inRHS) :
Allocator(inRHS.get_allocator())
{
assign(inRHS.begin(), inRHS.end());
}
/// Move constructor
inline Array(Array<T, Allocator> &&inRHS) noexcept :
Allocator(std::move(inRHS.get_allocator())),
mSize(inRHS.mSize),
mCapacity(inRHS.mCapacity),
mElements(inRHS.mElements)
{
inRHS.mSize = 0;
inRHS.mCapacity = 0;
inRHS.mElements = nullptr;
}
/// Destruct all elements
inline ~Array()
{
destroy();
}
/// Get the allocator
inline Allocator & get_allocator()
{
return *this;
}
inline const Allocator &get_allocator() const
{
return *this;
}
/// Add element to the back of the array
inline void push_back(const T &inValue)
{
JPH_ASSERT(&inValue < mElements || &inValue >= mElements + mSize, "Can't pass an element from the array to push_back");
grow();
T *element = mElements + mSize++;
new (element) T(inValue);
}
inline void push_back(T &&inValue)
{
grow();
T *element = mElements + mSize++;
new (element) T(std::move(inValue));
}
/// Construct element at the back of the array
template <class... A>
inline T & emplace_back(A &&... inValue)
{
grow();
T *element = mElements + mSize++;
new (element) T(std::forward<A>(inValue)...);
return *element;
}
/// Remove element from the back of the array
inline void pop_back()
{
JPH_ASSERT(mSize > 0);
mElements[--mSize].~T();
}
/// Returns true if there are no elements in the array
inline bool empty() const
{
return mSize == 0;
}
/// Returns amount of elements in the array
inline size_type size() const
{
return mSize;
}
/// Returns maximum amount of elements the array can hold
inline size_type capacity() const
{
return mCapacity;
}
/// Reduce the capacity of the array to match its size
void shrink_to_fit()
{
if (mElements != nullptr)
{
if (mSize == 0)
deallocate();
else if (mCapacity > mSize)
reallocate(mSize);
}
}
/// Swap the contents of two arrays
void swap(Array<T, Allocator> &inRHS) noexcept
{
std::swap(get_allocator(), inRHS.get_allocator());
std::swap(mSize, inRHS.mSize);
std::swap(mCapacity, inRHS.mCapacity);
std::swap(mElements, inRHS.mElements);
}
template <class Iterator>
void insert(const_iterator inPos, Iterator inBegin, Iterator inEnd)
{
size_type num_elements = size_type(std::distance(inBegin, inEnd));
if (num_elements > 0)
{
// After grow() inPos may be invalid
size_type first_element = inPos - mElements;
grow(num_elements);
T *element_begin = mElements + first_element;
T *element_end = element_begin + num_elements;
move(element_end, element_begin, mSize - first_element);
for (T *element = element_begin; element < element_end; ++element, ++inBegin)
new (element) T(*inBegin);
mSize += num_elements;
}
}
void insert(const_iterator inPos, const T &inValue)
{
JPH_ASSERT(&inValue < mElements || &inValue >= mElements + mSize, "Can't pass an element from the array to insert");
// After grow() inPos may be invalid
size_type first_element = inPos - mElements;
grow();
T *element = mElements + first_element;
move(element + 1, element, mSize - first_element);
new (element) T(inValue);
mSize++;
}
/// Remove one element from the array
iterator erase(const_iterator inIter)
{
size_type p = size_type(inIter - begin());
JPH_ASSERT(p < mSize);
mElements[p].~T();
if (p + 1 < mSize)
move(mElements + p, mElements + p + 1, mSize - p - 1);
--mSize;
return const_cast<iterator>(inIter);
}
/// Remove multiple element from the array
iterator erase(const_iterator inBegin, const_iterator inEnd)
{
size_type p = size_type(inBegin - begin());
size_type n = size_type(inEnd - inBegin);
JPH_ASSERT(inEnd <= end());
destruct(p, p + n);
if (p + n < mSize)
move(mElements + p, mElements + p + n, mSize - p - n);
mSize -= n;
return const_cast<iterator>(inBegin);
}
/// Iterators
inline const_iterator begin() const
{
return mElements;
}
inline const_iterator end() const
{
return mElements + mSize;
}
inline crev_it rbegin() const
{
return crev_it(mElements + mSize - 1);
}
inline crev_it rend() const
{
return crev_it(mElements - 1);
}
inline const_iterator cbegin() const
{
return begin();
}
inline const_iterator cend() const
{
return end();
}
inline crev_it crbegin() const
{
return rbegin();
}
inline crev_it crend() const
{
return rend();
}
inline iterator begin()
{
return mElements;
}
inline iterator end()
{
return mElements + mSize;
}
inline rev_it rbegin()
{
return rev_it(mElements + mSize - 1);
}
inline rev_it rend()
{
return rev_it(mElements - 1);
}
inline const T * data() const
{
return mElements;
}
inline T * data()
{
return mElements;
}
/// Access element
inline T & operator [] (size_type inIdx)
{
JPH_ASSERT(inIdx < mSize);
return mElements[inIdx];
}
inline const T & operator [] (size_type inIdx) const
{
JPH_ASSERT(inIdx < mSize);
return mElements[inIdx];
}
/// Access element
inline T & at(size_type inIdx)
{
JPH_ASSERT(inIdx < mSize);
return mElements[inIdx];
}
inline const T & at(size_type inIdx) const
{
JPH_ASSERT(inIdx < mSize);
return mElements[inIdx];
}
/// First element in the array
inline const T & front() const
{
JPH_ASSERT(mSize > 0);
return mElements[0];
}
inline T & front()
{
JPH_ASSERT(mSize > 0);
return mElements[0];
}
/// Last element in the array
inline const T & back() const
{
JPH_ASSERT(mSize > 0);
return mElements[mSize - 1];
}
inline T & back()
{
JPH_ASSERT(mSize > 0);
return mElements[mSize - 1];
}
/// Assignment operator
Array<T, Allocator> & operator = (const Array<T, Allocator> &inRHS)
{
if (static_cast<const void *>(this) != static_cast<const void *>(&inRHS))
assign(inRHS.begin(), inRHS.end());
return *this;
}
/// Assignment move operator
Array<T, Allocator> & operator = (Array<T, Allocator> &&inRHS) noexcept
{
if (static_cast<const void *>(this) != static_cast<const void *>(&inRHS))
{
destroy();
get_allocator() = std::move(inRHS.get_allocator());
mSize = inRHS.mSize;
mCapacity = inRHS.mCapacity;
mElements = inRHS.mElements;
inRHS.mSize = 0;
inRHS.mCapacity = 0;
inRHS.mElements = nullptr;
}
return *this;
}
/// Assignment operator
Array<T, Allocator> & operator = (std::initializer_list<T> inRHS)
{
assign(inRHS);
return *this;
}
/// Comparing arrays
bool operator == (const Array<T, Allocator> &inRHS) const
{
if (mSize != inRHS.mSize)
return false;
for (size_type i = 0; i < mSize; ++i)
if (!(mElements[i] == inRHS.mElements[i]))
return false;
return true;
}
bool operator != (const Array<T, Allocator> &inRHS) const
{
if (mSize != inRHS.mSize)
return true;
for (size_type i = 0; i < mSize; ++i)
if (mElements[i] != inRHS.mElements[i])
return true;
return false;
}
/// Get hash for this array
uint64 GetHash() const
{
// Hash length first
uint64 ret = Hash<uint32> { } (uint32(size()));
// Then hash elements
for (const T *element = mElements, *element_end = mElements + mSize; element < element_end; ++element)
HashCombine(ret, *element);
return ret;
}
private:
size_type mSize = 0;
size_type mCapacity = 0;
T * mElements = nullptr;
};
JPH_NAMESPACE_END
JPH_SUPPRESS_WARNING_PUSH
JPH_CLANG_SUPPRESS_WARNING("-Wc++98-compat")
namespace std
{
/// Declare std::hash for Array
template <class T, class Allocator>
struct hash<JPH::Array<T, Allocator>>
{
size_t operator () (const JPH::Array<T, Allocator> &inRHS) const
{
return std::size_t(inRHS.GetHash());
}
};
}
JPH_SUPPRESS_WARNING_POP
#endif // JPH_USE_STD_VECTOR

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
#pragma once
JPH_SUPPRESS_WARNINGS_STD_BEGIN
#include <atomic>
JPH_SUPPRESS_WARNINGS_STD_END
JPH_NAMESPACE_BEGIN
// Things we're using from STL
using std::atomic;
using std::memory_order;
using std::memory_order_relaxed;
using std::memory_order_acquire;
using std::memory_order_release;
using std::memory_order_acq_rel;
using std::memory_order_seq_cst;
/// Atomically compute the min(ioAtomic, inValue) and store it in ioAtomic, returns true if value was updated
template <class T>
bool AtomicMin(atomic<T> &ioAtomic, const T inValue, const memory_order inMemoryOrder = memory_order_seq_cst)
{
T cur_value = ioAtomic.load(memory_order_relaxed);
while (cur_value > inValue)
if (ioAtomic.compare_exchange_weak(cur_value, inValue, inMemoryOrder))
return true;
return false;
}
/// Atomically compute the max(ioAtomic, inValue) and store it in ioAtomic, returns true if value was updated
template <class T>
bool AtomicMax(atomic<T> &ioAtomic, const T inValue, const memory_order inMemoryOrder = memory_order_seq_cst)
{
T cur_value = ioAtomic.load(memory_order_relaxed);
while (cur_value < inValue)
if (ioAtomic.compare_exchange_weak(cur_value, inValue, inMemoryOrder))
return true;
return false;
}
JPH_NAMESPACE_END

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2024 Jorrit Rouwe
// SPDX-License-Identifier: MIT
#pragma once
JPH_NAMESPACE_BEGIN
/// Push a new element into a binary max-heap.
/// [inBegin, inEnd - 1) must be a a valid heap. Element inEnd - 1 will be inserted into the heap. The heap will be [inBegin, inEnd) after this call.
/// inPred is a function that returns true if the first element is less or equal than the second element.
/// See: https://en.wikipedia.org/wiki/Binary_heap
template <typename Iterator, typename Pred>
void BinaryHeapPush(Iterator inBegin, Iterator inEnd, Pred inPred)
{
using diff_t = typename std::iterator_traits<Iterator>::difference_type;
using elem_t = typename std::iterator_traits<Iterator>::value_type;
// New heap size
diff_t count = std::distance(inBegin, inEnd);
// Start from the last element
diff_t current = count - 1;
while (current > 0)
{
// Get current element
elem_t &current_elem = *(inBegin + current);
// Get parent element
diff_t parent = (current - 1) >> 1;
elem_t &parent_elem = *(inBegin + parent);
// Sort them so that the parent is larger than the child
if (inPred(parent_elem, current_elem))
{
std::swap(parent_elem, current_elem);
current = parent;
}
else
{
// When there's no change, we're done
break;
}
}
}
/// Pop an element from a binary max-heap.
/// [inBegin, inEnd) must be a valid heap. The largest element will be removed from the heap. The heap will be [inBegin, inEnd - 1) after this call.
/// inPred is a function that returns true if the first element is less or equal than the second element.
/// See: https://en.wikipedia.org/wiki/Binary_heap
template <typename Iterator, typename Pred>
void BinaryHeapPop(Iterator inBegin, Iterator inEnd, Pred inPred)
{
using diff_t = typename std::iterator_traits<Iterator>::difference_type;
// Begin by moving the highest element to the end, this is the popped element
std::swap(*(inEnd - 1), *inBegin);
// New heap size
diff_t count = std::distance(inBegin, inEnd) - 1;
// Start from the root
diff_t largest = 0;
for (;;)
{
// Get first child
diff_t child = (largest << 1) + 1;
// Check if we're beyond the end of the heap, if so the 2nd child is also beyond the end
if (child >= count)
break;
// Remember the largest element from the previous iteration
diff_t prev_largest = largest;
// Check if first child is bigger, if so select it
if (inPred(*(inBegin + largest), *(inBegin + child)))
largest = child;
// Switch to the second child
++child;
// Check if second child is bigger, if so select it
if (child < count && inPred(*(inBegin + largest), *(inBegin + child)))
largest = child;
// If there was no change, we're done
if (prev_largest == largest)
break;
// Swap element
std::swap(*(inBegin + prev_largest), *(inBegin + largest));
}
}
JPH_NAMESPACE_END

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