@bloomengine/engine 0.3.1

package/native/third_party/JoltPhysics/Jolt/Physics/Collision/Shape/CompoundShapeVisitors.h

@@ -0,0 +1,461 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Physics/Collision/Shape/CompoundShape.h>
+#include <Jolt/Physics/Collision/Shape/SubShapeID.h>
+#include <Jolt/Physics/Collision/RayCast.h>
+#include <Jolt/Physics/Collision/CastResult.h>
+#include <Jolt/Physics/Collision/ShapeCast.h>
+#include <Jolt/Physics/Collision/TransformedShape.h>
+#include <Jolt/Physics/Collision/CollisionDispatch.h>
+#include <Jolt/Geometry/RayAABox.h>
+#include <Jolt/Geometry/AABox4.h>
+#include <Jolt/Geometry/OrientedBox.h>
+
+JPH_NAMESPACE_BEGIN
+
+struct CompoundShape::CastRayVisitor
+{
+	JPH_INLINE			CastRayVisitor(const RayCast &inRay, const CompoundShape *inShape, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) :
+		mRay(inRay),
+		mHit(ioHit),
+		mSubShapeIDCreator(inSubShapeIDCreator),
+		mSubShapeBits(inShape->GetSubShapeIDBits())
+	{
+		// Determine ray properties of cast
+		mInvDirection.Set(inRay.mDirection);
+	}
+
+	/// Returns true when collision detection should abort because it's not possible to find a better hit
+	JPH_INLINE bool		ShouldAbort() const
+	{
+		return mHit.mFraction <= 0.0f;
+	}
+
+	/// Test ray against 4 bounding boxes and returns the distance where the ray enters the bounding box
+	JPH_INLINE Vec4		TestBounds(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ) const
+	{
+		return RayAABox4(mRay.mOrigin, mInvDirection, inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ);
+	}
+
+	/// Test the ray against a single subshape
+	JPH_INLINE void		VisitShape(const SubShape &inSubShape, uint32 inSubShapeIndex)
+	{
+		// Create ID for sub shape
+		SubShapeIDCreator shape2_sub_shape_id = mSubShapeIDCreator.PushID(inSubShapeIndex, mSubShapeBits);
+
+		// Transform the ray
+		Mat44 transform = Mat44::sInverseRotationTranslation(inSubShape.GetRotation(), inSubShape.GetPositionCOM());
+		RayCast ray = mRay.Transformed(transform);
+		if (inSubShape.mShape->CastRay(ray, shape2_sub_shape_id, mHit))
+			mReturnValue = true;
+	}
+
+	RayInvDirection		mInvDirection;
+	const RayCast &		mRay;
+	RayCastResult &		mHit;
+	SubShapeIDCreator	mSubShapeIDCreator;
+	uint				mSubShapeBits;
+	bool				mReturnValue = false;
+};
+
+struct CompoundShape::CastRayVisitorCollector
+{
+	JPH_INLINE			CastRayVisitorCollector(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const CompoundShape *inShape, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter) :
+		mRay(inRay),
+		mCollector(ioCollector),
+		mSubShapeIDCreator(inSubShapeIDCreator),
+		mSubShapeBits(inShape->GetSubShapeIDBits()),
+		mRayCastSettings(inRayCastSettings),
+		mShapeFilter(inShapeFilter)
+	{
+		// Determine ray properties of cast
+		mInvDirection.Set(inRay.mDirection);
+	}
+
+	/// Returns true when collision detection should abort because it's not possible to find a better hit
+	JPH_INLINE bool		ShouldAbort() const
+	{
+		return mCollector.ShouldEarlyOut();
+	}
+
+	/// Test ray against 4 bounding boxes and returns the distance where the ray enters the bounding box
+	JPH_INLINE Vec4		TestBounds(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ) const
+	{
+		return RayAABox4(mRay.mOrigin, mInvDirection, inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ);
+	}
+
+	/// Test the ray against a single subshape
+	JPH_INLINE void		VisitShape(const SubShape &inSubShape, uint32 inSubShapeIndex)
+	{
+		// Create ID for sub shape
+		SubShapeIDCreator shape2_sub_shape_id = mSubShapeIDCreator.PushID(inSubShapeIndex, mSubShapeBits);
+
+		// Transform the ray
+		Mat44 transform = Mat44::sInverseRotationTranslation(inSubShape.GetRotation(), inSubShape.GetPositionCOM());
+		RayCast ray = mRay.Transformed(transform);
+		inSubShape.mShape->CastRay(ray, mRayCastSettings, shape2_sub_shape_id, mCollector, mShapeFilter);
+	}
+
+	RayInvDirection		mInvDirection;
+	const RayCast &		mRay;
+	CastRayCollector &	mCollector;
+	SubShapeIDCreator	mSubShapeIDCreator;
+	uint				mSubShapeBits;
+	RayCastSettings		mRayCastSettings;
+	const ShapeFilter &	mShapeFilter;
+};
+
+struct CompoundShape::CollidePointVisitor
+{
+	JPH_INLINE			CollidePointVisitor(Vec3Arg inPoint, const CompoundShape *inShape, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) :
+		mPoint(inPoint),
+		mSubShapeIDCreator(inSubShapeIDCreator),
+		mCollector(ioCollector),
+		mSubShapeBits(inShape->GetSubShapeIDBits()),
+		mShapeFilter(inShapeFilter)
+	{
+	}
+
+	/// Returns true when collision detection should abort because it's not possible to find a better hit
+	JPH_INLINE bool		ShouldAbort() const
+	{
+		return mCollector.ShouldEarlyOut();
+	}
+
+	/// Test if point overlaps with 4 boxes, returns true for the ones that do
+	JPH_INLINE UVec4	TestBounds(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ) const
+	{
+		return AABox4VsPoint(mPoint, inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ);
+	}
+
+	/// Test the point against a single subshape
+	JPH_INLINE void		VisitShape(const SubShape &inSubShape, uint32 inSubShapeIndex)
+	{
+		// Create ID for sub shape
+		SubShapeIDCreator shape2_sub_shape_id = mSubShapeIDCreator.PushID(inSubShapeIndex, mSubShapeBits);
+
+		// Transform the point
+		Mat44 transform = Mat44::sInverseRotationTranslation(inSubShape.GetRotation(), inSubShape.GetPositionCOM());
+		inSubShape.mShape->CollidePoint(transform * mPoint, shape2_sub_shape_id, mCollector, mShapeFilter);
+	}
+
+	Vec3						mPoint;
+	SubShapeIDCreator			mSubShapeIDCreator;
+	CollidePointCollector &		mCollector;
+	uint						mSubShapeBits;
+	const ShapeFilter &			mShapeFilter;
+};
+
+struct CompoundShape::CastShapeVisitor
+{
+	JPH_INLINE			CastShapeVisitor(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const CompoundShape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector) :
+		mBoxCenter(inShapeCast.mShapeWorldBounds.GetCenter()),
+		mBoxExtent(inShapeCast.mShapeWorldBounds.GetExtent()),
+		mScale(inScale),
+		mShapeCast(inShapeCast),
+		mShapeCastSettings(inShapeCastSettings),
+		mShapeFilter(inShapeFilter),
+		mCollector(ioCollector),
+		mCenterOfMassTransform2(inCenterOfMassTransform2),
+		mSubShapeIDCreator1(inSubShapeIDCreator1),
+		mSubShapeIDCreator2(inSubShapeIDCreator2),
+		mSubShapeBits(inShape->GetSubShapeIDBits())
+	{
+		// Determine ray properties of cast
+		mInvDirection.Set(inShapeCast.mDirection);
+	}
+
+	/// Returns true when collision detection should abort because it's not possible to find a better hit
+	JPH_INLINE bool		ShouldAbort() const
+	{
+		return mCollector.ShouldEarlyOut();
+	}
+
+	/// Tests the shape cast against 4 bounding boxes, returns the distance along the shape cast where the shape first enters the bounding box
+	JPH_INLINE Vec4		TestBounds(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ) const
+	{
+		// Scale the bounding boxes
+		Vec4 bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z;
+		AABox4Scale(mScale, inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ, bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z);
+
+		// Enlarge them by the casted shape's box extents
+		AABox4EnlargeWithExtent(mBoxExtent, bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z);
+
+		// Test ray against the bounding boxes
+		return RayAABox4(mBoxCenter, mInvDirection, bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z);
+	}
+
+	/// Test the cast shape against a single subshape
+	JPH_INLINE void		VisitShape(const SubShape &inSubShape, uint32 inSubShapeIndex)
+	{
+		JPH_ASSERT(inSubShape.IsValidScale(mScale));
+
+		// Create ID for sub shape
+		SubShapeIDCreator shape2_sub_shape_id = mSubShapeIDCreator2.PushID(inSubShapeIndex, mSubShapeBits);
+
+		// Calculate the local transform for this sub shape
+		Mat44 local_transform = Mat44::sRotationTranslation(inSubShape.GetRotation(), mScale * inSubShape.GetPositionCOM());
+
+		// Transform the center of mass of 2
+		Mat44 center_of_mass_transform2 = mCenterOfMassTransform2 * local_transform;
+
+		// Transform the shape cast
+		ShapeCast shape_cast = mShapeCast.PostTransformed(local_transform.InversedRotationTranslation());
+
+		CollisionDispatch::sCastShapeVsShapeLocalSpace(shape_cast, mShapeCastSettings, inSubShape.mShape, inSubShape.TransformScale(mScale), mShapeFilter, center_of_mass_transform2, mSubShapeIDCreator1, shape2_sub_shape_id, mCollector);
+	}
+
+	RayInvDirection				mInvDirection;
+	Vec3						mBoxCenter;
+	Vec3						mBoxExtent;
+	Vec3						mScale;
+	const ShapeCast &			mShapeCast;
+	const ShapeCastSettings &	mShapeCastSettings;
+	const ShapeFilter &			mShapeFilter;
+	CastShapeCollector &		mCollector;
+	Mat44						mCenterOfMassTransform2;
+	SubShapeIDCreator			mSubShapeIDCreator1;
+	SubShapeIDCreator			mSubShapeIDCreator2;
+	uint						mSubShapeBits;
+};
+
+struct CompoundShape::CollectTransformedShapesVisitor
+{
+	JPH_INLINE			CollectTransformedShapesVisitor(const AABox &inBox, const CompoundShape *inShape, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) :
+		mBox(inBox),
+		mLocalBox(Mat44::sInverseRotationTranslation(inRotation, inPositionCOM), inBox),
+		mPositionCOM(inPositionCOM),
+		mRotation(inRotation),
+		mScale(inScale),
+		mSubShapeIDCreator(inSubShapeIDCreator),
+		mCollector(ioCollector),
+		mSubShapeBits(inShape->GetSubShapeIDBits()),
+		mShapeFilter(inShapeFilter)
+	{
+	}
+
+	/// Returns true when collision detection should abort because it's not possible to find a better hit
+	JPH_INLINE bool		ShouldAbort() const
+	{
+		return mCollector.ShouldEarlyOut();
+	}
+
+	/// Tests 4 bounding boxes against the query box, returns true for the ones that collide
+	JPH_INLINE UVec4	TestBounds(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ) const
+	{
+		// Scale the bounding boxes of this node
+		Vec4 bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z;
+		AABox4Scale(mScale, inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ, bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z);
+
+		// Test which nodes collide
+		return AABox4VsBox(mLocalBox, bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z);
+	}
+
+	/// Collect the transformed sub shapes for a single subshape
+	JPH_INLINE void		VisitShape(const SubShape &inSubShape, uint32 inSubShapeIndex)
+	{
+		JPH_ASSERT(inSubShape.IsValidScale(mScale));
+
+		// Create ID for sub shape
+		SubShapeIDCreator sub_shape_id = mSubShapeIDCreator.PushID(inSubShapeIndex, mSubShapeBits);
+
+		// Calculate world transform for sub shape
+		Vec3 position = mPositionCOM + mRotation * (mScale * inSubShape.GetPositionCOM());
+		Quat rotation = mRotation * inSubShape.GetRotation();
+
+		// Recurse to sub shape
+		inSubShape.mShape->CollectTransformedShapes(mBox, position, rotation, inSubShape.TransformScale(mScale), sub_shape_id, mCollector, mShapeFilter);
+	}
+
+	AABox							mBox;
+	OrientedBox						mLocalBox;
+	Vec3							mPositionCOM;
+	Quat							mRotation;
+	Vec3							mScale;
+	SubShapeIDCreator				mSubShapeIDCreator;
+	TransformedShapeCollector &		mCollector;
+	uint							mSubShapeBits;
+	const ShapeFilter &				mShapeFilter;
+};
+
+struct CompoundShape::CollideCompoundVsShapeVisitor
+{
+	JPH_INLINE			CollideCompoundVsShapeVisitor(const CompoundShape *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) :
+		mCollideShapeSettings(inCollideShapeSettings),
+		mCollector(ioCollector),
+		mShape2(inShape2),
+		mScale1(inScale1),
+		mScale2(inScale2),
+		mTransform1(inCenterOfMassTransform1),
+		mTransform2(inCenterOfMassTransform2),
+		mSubShapeIDCreator1(inSubShapeIDCreator1),
+		mSubShapeIDCreator2(inSubShapeIDCreator2),
+		mSubShapeBits(inShape1->GetSubShapeIDBits()),
+		mShapeFilter(inShapeFilter)
+	{
+		// Get transform from shape 2 to shape 1
+		Mat44 transform2_to_1 = inCenterOfMassTransform1.InversedRotationTranslation() * inCenterOfMassTransform2;
+
+		// Convert bounding box of 2 into space of 1
+		mBoundsOf2InSpaceOf1 = inShape2->GetLocalBounds().Scaled(inScale2).Transformed(transform2_to_1);
+		mBoundsOf2InSpaceOf1.ExpandBy(Vec3::sReplicate(inCollideShapeSettings.mMaxSeparationDistance));
+	}
+
+	/// Returns true when collision detection should abort because it's not possible to find a better hit
+	JPH_INLINE bool		ShouldAbort() const
+	{
+		return mCollector.ShouldEarlyOut();
+	}
+
+	/// Tests the bounds of shape 2 vs 4 bounding boxes, returns true for the ones that intersect
+	JPH_INLINE UVec4	TestBounds(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ) const
+	{
+		// Scale the bounding boxes
+		Vec4 bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z;
+		AABox4Scale(mScale1, inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ, bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z);
+
+		// Test which boxes collide
+		return AABox4VsBox(mBoundsOf2InSpaceOf1, bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z);
+	}
+
+	/// Test the shape against a single subshape
+	JPH_INLINE void		VisitShape(const SubShape &inSubShape, uint32 inSubShapeIndex)
+	{
+		// Get world transform of 1
+		Mat44 transform1 = mTransform1 * inSubShape.GetLocalTransformNoScale(mScale1);
+
+		// Create ID for sub shape
+		SubShapeIDCreator shape1_sub_shape_id = mSubShapeIDCreator1.PushID(inSubShapeIndex, mSubShapeBits);
+
+		CollisionDispatch::sCollideShapeVsShape(inSubShape.mShape, mShape2, inSubShape.TransformScale(mScale1), mScale2, transform1, mTransform2, shape1_sub_shape_id, mSubShapeIDCreator2, mCollideShapeSettings, mCollector, mShapeFilter);
+	}
+
+	const CollideShapeSettings &	mCollideShapeSettings;
+	CollideShapeCollector &			mCollector;
+	const Shape *					mShape2;
+	Vec3							mScale1;
+	Vec3							mScale2;
+	Mat44							mTransform1;
+	Mat44							mTransform2;
+	AABox							mBoundsOf2InSpaceOf1;
+	SubShapeIDCreator				mSubShapeIDCreator1;
+	SubShapeIDCreator				mSubShapeIDCreator2;
+	uint							mSubShapeBits;
+	const ShapeFilter &				mShapeFilter;
+};
+
+struct CompoundShape::CollideShapeVsCompoundVisitor
+{
+	JPH_INLINE			CollideShapeVsCompoundVisitor(const Shape *inShape1, const CompoundShape *inShape2, Vec3Arg inScale1, Vec3Arg inScale2, Mat44Arg inCenterOfMassTransform1, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) :
+		mCollideShapeSettings(inCollideShapeSettings),
+		mCollector(ioCollector),
+		mShape1(inShape1),
+		mScale1(inScale1),
+		mScale2(inScale2),
+		mTransform1(inCenterOfMassTransform1),
+		mTransform2(inCenterOfMassTransform2),
+		mSubShapeIDCreator1(inSubShapeIDCreator1),
+		mSubShapeIDCreator2(inSubShapeIDCreator2),
+		mSubShapeBits(inShape2->GetSubShapeIDBits()),
+		mShapeFilter(inShapeFilter)
+	{
+		// Get transform from shape 1 to shape 2
+		Mat44 transform1_to_2 = inCenterOfMassTransform2.InversedRotationTranslation() * inCenterOfMassTransform1;
+
+		// Convert bounding box of 1 into space of 2
+		mBoundsOf1InSpaceOf2 = inShape1->GetLocalBounds().Scaled(inScale1).Transformed(transform1_to_2);
+		mBoundsOf1InSpaceOf2.ExpandBy(Vec3::sReplicate(inCollideShapeSettings.mMaxSeparationDistance));
+	}
+
+	/// Returns true when collision detection should abort because it's not possible to find a better hit
+	JPH_INLINE bool		ShouldAbort() const
+	{
+		return mCollector.ShouldEarlyOut();
+	}
+
+	/// Tests the bounds of shape 1 vs 4 bounding boxes, returns true for the ones that intersect
+	JPH_INLINE UVec4	TestBounds(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ) const
+	{
+		// Scale the bounding boxes
+		Vec4 bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z;
+		AABox4Scale(mScale2, inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ, bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z);
+
+		// Test which bounding boxes collide
+		return AABox4VsBox(mBoundsOf1InSpaceOf2, bounds_min_x, bounds_min_y, bounds_min_z, bounds_max_x, bounds_max_y, bounds_max_z);
+	}
+
+	/// Test the shape against a single subshape
+	JPH_INLINE void		VisitShape(const SubShape &inSubShape, uint32 inSubShapeIndex)
+	{
+		// Create ID for sub shape
+		SubShapeIDCreator shape2_sub_shape_id = mSubShapeIDCreator2.PushID(inSubShapeIndex, mSubShapeBits);
+
+		// Get world transform of 2
+		Mat44 transform2 = mTransform2 * inSubShape.GetLocalTransformNoScale(mScale2);
+
+		CollisionDispatch::sCollideShapeVsShape(mShape1, inSubShape.mShape, mScale1, inSubShape.TransformScale(mScale2), mTransform1, transform2, mSubShapeIDCreator1, shape2_sub_shape_id, mCollideShapeSettings, mCollector, mShapeFilter);
+	}
+
+	const CollideShapeSettings &	mCollideShapeSettings;
+	CollideShapeCollector &			mCollector;
+	const Shape *					mShape1;
+	Vec3							mScale1;
+	Vec3							mScale2;
+	Mat44							mTransform1;
+	Mat44							mTransform2;
+	AABox							mBoundsOf1InSpaceOf2;
+	SubShapeIDCreator				mSubShapeIDCreator1;
+	SubShapeIDCreator				mSubShapeIDCreator2;
+	uint							mSubShapeBits;
+	const ShapeFilter &				mShapeFilter;
+};
+
+template <class BoxType>
+struct CompoundShape::GetIntersectingSubShapesVisitor
+{
+	JPH_INLINE			GetIntersectingSubShapesVisitor(const BoxType &inBox, uint *outSubShapeIndices, int inMaxSubShapeIndices) :
+		mBox(inBox),
+		mSubShapeIndices(outSubShapeIndices),
+		mMaxSubShapeIndices(inMaxSubShapeIndices)
+	{
+	}
+
+	/// Returns true when collision detection should abort because the buffer is full
+	JPH_INLINE bool		ShouldAbort() const
+	{
+		return mNumResults >= mMaxSubShapeIndices;
+	}
+
+	/// Tests the box vs 4 bounding boxes, returns true for the ones that intersect
+	JPH_INLINE UVec4	TestBounds(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ) const
+	{
+		// Test which bounding boxes collide
+		return AABox4VsBox(mBox, inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ);
+	}
+
+	/// Records a hit
+	JPH_INLINE void		VisitShape([[maybe_unused]] const SubShape &inSubShape, uint32 inSubShapeIndex)
+	{
+		JPH_ASSERT(mNumResults < mMaxSubShapeIndices);
+		*mSubShapeIndices++ = inSubShapeIndex;
+		mNumResults++;
+	}
+
+	/// Get the number of indices that were found
+	JPH_INLINE int		GetNumResults() const
+	{
+		return mNumResults;
+	}
+
+private:
+	BoxType				mBox;
+	uint *				mSubShapeIndices;
+	int					mMaxSubShapeIndices;
+	int					mNumResults = 0;
+};
+
+JPH_NAMESPACE_END