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Fixed bug where scale was ignored for OffsetCenterOfMassShape (#509)
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@jrouwe
jrouwe committed Apr 15, 2023
1 parent f20ce34 commit 3d36f7a
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Showing 2 changed files with 24 additions and 13 deletions.
26 changes: 13 additions & 13 deletions Jolt/Physics/Collision/Shape/OffsetCenterOfMassShape.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,15 +49,15 @@ AABox OffsetCenterOfMassShape::GetLocalBounds() const

AABox OffsetCenterOfMassShape::GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const
{
return mInnerShape->GetWorldSpaceBounds(inCenterOfMassTransform.PreTranslated(-mOffset), inScale);
return mInnerShape->GetWorldSpaceBounds(inCenterOfMassTransform.PreTranslated(-inScale * mOffset), inScale);
}

TransformedShape OffsetCenterOfMassShape::GetSubShapeTransformedShape(const SubShapeID &inSubShapeID, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, SubShapeID &outRemainder) const
{
// We don't use any bits in the sub shape ID
outRemainder = inSubShapeID;

TransformedShape ts(RVec3(inPositionCOM - inRotation * mOffset), inRotation, mInnerShape, BodyID());
TransformedShape ts(RVec3(inPositionCOM - inRotation * (inScale * mOffset)), inRotation, mInnerShape, BodyID());
ts.SetShapeScale(inScale);
return ts;
}
Expand All @@ -70,28 +70,28 @@ Vec3 OffsetCenterOfMassShape::GetSurfaceNormal(const SubShapeID &inSubShapeID, V

void OffsetCenterOfMassShape::GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const
{
mInnerShape->GetSupportingFace(inSubShapeID, inDirection, inScale, inCenterOfMassTransform.PreTranslated(-mOffset), outVertices);
mInnerShape->GetSupportingFace(inSubShapeID, inDirection, inScale, inCenterOfMassTransform.PreTranslated(-inScale * mOffset), outVertices);
}

void OffsetCenterOfMassShape::GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) const
{
mInnerShape->GetSubmergedVolume(inCenterOfMassTransform.PreTranslated(-mOffset), inScale, inSurface, outTotalVolume, outSubmergedVolume, outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, inBaseOffset));
mInnerShape->GetSubmergedVolume(inCenterOfMassTransform.PreTranslated(-inScale * mOffset), inScale, inSurface, outTotalVolume, outSubmergedVolume, outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, inBaseOffset));
}

#ifdef JPH_DEBUG_RENDERER
void OffsetCenterOfMassShape::Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const
{
mInnerShape->Draw(inRenderer, inCenterOfMassTransform.PreTranslated(-mOffset), inScale, inColor, inUseMaterialColors, inDrawWireframe);
mInnerShape->Draw(inRenderer, inCenterOfMassTransform.PreTranslated(-inScale * mOffset), inScale, inColor, inUseMaterialColors, inDrawWireframe);
}

void OffsetCenterOfMassShape::DrawGetSupportFunction(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inDrawSupportDirection) const
{
mInnerShape->DrawGetSupportFunction(inRenderer, inCenterOfMassTransform.PreTranslated(-mOffset), inScale, inColor, inDrawSupportDirection);
mInnerShape->DrawGetSupportFunction(inRenderer, inCenterOfMassTransform.PreTranslated(-inScale * mOffset), inScale, inColor, inDrawSupportDirection);
}

void OffsetCenterOfMassShape::DrawGetSupportingFace(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale) const
{
mInnerShape->DrawGetSupportingFace(inRenderer, inCenterOfMassTransform.PreTranslated(-mOffset), inScale);
mInnerShape->DrawGetSupportingFace(inRenderer, inCenterOfMassTransform.PreTranslated(-inScale * mOffset), inScale);
}
#endif // JPH_DEBUG_RENDERER

Expand Down Expand Up @@ -133,7 +133,7 @@ void OffsetCenterOfMassShape::CollectTransformedShapes(const AABox &inBox, Vec3A
if (!inShapeFilter.ShouldCollide(this, inSubShapeIDCreator.GetID()))
return;

mInnerShape->CollectTransformedShapes(inBox, inPositionCOM - inRotation * mOffset, inRotation, inScale, inSubShapeIDCreator, ioCollector, inShapeFilter);
mInnerShape->CollectTransformedShapes(inBox, inPositionCOM - inRotation * (inScale * mOffset), inRotation, inScale, inSubShapeIDCreator, ioCollector, inShapeFilter);
}

void OffsetCenterOfMassShape::TransformShape(Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const
Expand All @@ -146,15 +146,15 @@ void OffsetCenterOfMassShape::sCollideOffsetCenterOfMassVsShape(const Shape *inS
JPH_ASSERT(inShape1->GetSubType() == EShapeSubType::OffsetCenterOfMass);
const OffsetCenterOfMassShape *shape1 = static_cast<const OffsetCenterOfMassShape *>(inShape1);

CollisionDispatch::sCollideShapeVsShape(shape1->mInnerShape, inShape2, inScale1, inScale2, inCenterOfMassTransform1.PreTranslated(-shape1->mOffset), inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector, inShapeFilter);
CollisionDispatch::sCollideShapeVsShape(shape1->mInnerShape, inShape2, inScale1, inScale2, inCenterOfMassTransform1.PreTranslated(-inScale1 * shape1->mOffset), inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector, inShapeFilter);
}

void OffsetCenterOfMassShape::sCollideShapeVsOffsetCenterOfMass(const Shape *inShape1, const Shape *inShape2, Vec3Arg inScale1, Vec3Arg inScale2, Mat44Arg inCenterOfMassTransform1, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector, const ShapeFilter &inShapeFilter)
{
JPH_ASSERT(inShape2->GetSubType() == EShapeSubType::OffsetCenterOfMass);
const OffsetCenterOfMassShape *shape2 = static_cast<const OffsetCenterOfMassShape *>(inShape2);

CollisionDispatch::sCollideShapeVsShape(inShape1, shape2->mInnerShape, inScale1, inScale2, inCenterOfMassTransform1, inCenterOfMassTransform2.PreTranslated(-shape2->mOffset), inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector, inShapeFilter);
CollisionDispatch::sCollideShapeVsShape(inShape1, shape2->mInnerShape, inScale1, inScale2, inCenterOfMassTransform1, inCenterOfMassTransform2.PreTranslated(-inScale2 * shape2->mOffset), inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector, inShapeFilter);
}

void OffsetCenterOfMassShape::sCastOffsetCenterOfMassVsShape(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector)
Expand All @@ -164,7 +164,7 @@ void OffsetCenterOfMassShape::sCastOffsetCenterOfMassVsShape(const ShapeCast &in
const OffsetCenterOfMassShape *shape1 = static_cast<const OffsetCenterOfMassShape *>(inShapeCast.mShape);

// Transform the shape cast and update the shape
ShapeCast shape_cast(shape1->mInnerShape, inShapeCast.mScale, inShapeCast.mCenterOfMassStart.PreTranslated(-shape1->mOffset), inShapeCast.mDirection);
ShapeCast shape_cast(shape1->mInnerShape, inShapeCast.mScale, inShapeCast.mCenterOfMassStart.PreTranslated(-inShapeCast.mScale * shape1->mOffset), inShapeCast.mDirection);

CollisionDispatch::sCastShapeVsShapeLocalSpace(shape_cast, inShapeCastSettings, inShape, inScale, inShapeFilter, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, ioCollector);
}
Expand All @@ -175,9 +175,9 @@ void OffsetCenterOfMassShape::sCastShapeVsOffsetCenterOfMass(const ShapeCast &in
const OffsetCenterOfMassShape *shape = static_cast<const OffsetCenterOfMassShape *>(inShape);

// Transform the shape cast
ShapeCast shape_cast = inShapeCast.PostTransformed(Mat44::sTranslation(shape->mOffset));
ShapeCast shape_cast = inShapeCast.PostTransformed(Mat44::sTranslation(inScale * shape->mOffset));

CollisionDispatch::sCastShapeVsShapeLocalSpace(shape_cast, inShapeCastSettings, shape->mInnerShape, inScale, inShapeFilter, inCenterOfMassTransform2.PreTranslated(-shape->mOffset), inSubShapeIDCreator1, inSubShapeIDCreator2, ioCollector);
CollisionDispatch::sCastShapeVsShapeLocalSpace(shape_cast, inShapeCastSettings, shape->mInnerShape, inScale, inShapeFilter, inCenterOfMassTransform2.PreTranslated(-inScale * shape->mOffset), inSubShapeIDCreator1, inSubShapeIDCreator2, ioCollector);
}

void OffsetCenterOfMassShape::SaveBinaryState(StreamOut &inStream) const
Expand Down
11 changes: 11 additions & 0 deletions Samples/Tests/ScaledShapes/ScaledOffsetCenterOfMassShapeTest.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@
#include <Jolt/Physics/Collision/Shape/CylinderShape.h>
#include <Jolt/Physics/Collision/Shape/OffsetCenterOfMassShape.h>
#include <Jolt/Physics/Collision/Shape/ScaledShape.h>
#include <Jolt/Physics/Collision/Shape/SphereShape.h>
#include <Jolt/Physics/Body/BodyCreationSettings.h>
#include <Layers.h>

Expand Down Expand Up @@ -43,4 +44,14 @@ void ScaledOffsetCenterOfMassShapeTest::Initialize()
Body &body_bottom = *mBodyInterface->CreateBody(BodyCreationSettings(new ScaledShapeSettings(bottom, Vec3(2.0f, 1.0f, 2.0f)), RVec3(5, 5, 0), rotation, EMotionType::Dynamic, Layers::MOVING));
body_bottom.SetFriction(1.0f);
mBodyInterface->AddBody(body_bottom.GetID(), EActivation::Activate);

// Shape that is scaled before the offset center of mass offset is applied
ShapeRefC pre_scaled = OffsetCenterOfMassShapeSettings(Vec3(0, 0, 5.0f), new ScaledShape(new SphereShape(1.0f), JPH::Vec3::sReplicate(2.0f))).Create().Get();
Body &body_pre_scaled = *mBodyInterface->CreateBody(BodyCreationSettings(pre_scaled, RVec3(0, 5, -15), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
mBodyInterface->AddBody(body_pre_scaled.GetID(), EActivation::Activate);

// Shape that is scaled after the offset center of mass offset is applied
ShapeRefC post_scaled = new ScaledShape(OffsetCenterOfMassShapeSettings(Vec3(0, 0, 5.0f), new SphereShape(1.0f)).Create().Get(), JPH::Vec3::sReplicate(2.0f));
Body &body_post_scaled = *mBodyInterface->CreateBody(BodyCreationSettings(post_scaled, RVec3(5, 5, -15), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
mBodyInterface->AddBody(body_post_scaled.GetID(), EActivation::Activate);
}

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