@bloomengine/engine 0.3.1

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

@@ -0,0 +1,132 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2024 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Physics/Collision/Shape/ConvexShape.h>
+#include <Jolt/Physics/PhysicsSettings.h>
+
+JPH_NAMESPACE_BEGIN
+
+/// Class that constructs a TaperedCylinderShape
+class JPH_EXPORT TaperedCylinderShapeSettings final : public ConvexShapeSettings
+{
+	JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, TaperedCylinderShapeSettings)
+
+public:
+	/// Default constructor for deserialization
+							TaperedCylinderShapeSettings() = default;
+
+	/// Create a tapered cylinder centered around the origin with bottom at (0, -inHalfHeightOfTaperedCylinder, 0) with radius inBottomRadius and top at (0, inHalfHeightOfTaperedCylinder, 0) with radius inTopRadius
+							TaperedCylinderShapeSettings(float inHalfHeightOfTaperedCylinder, float inTopRadius, float inBottomRadius, float inConvexRadius = cDefaultConvexRadius, const PhysicsMaterial *inMaterial = nullptr);
+
+	// See: ShapeSettings
+	virtual ShapeResult		Create() const override;
+
+	float					mHalfHeight = 0.0f;
+	float					mTopRadius = 0.0f;
+	float					mBottomRadius = 0.0f;
+	float					mConvexRadius = 0.0f;
+};
+
+/// A cylinder with different top and bottom radii
+class JPH_EXPORT TaperedCylinderShape final : public ConvexShape
+{
+public:
+	JPH_OVERRIDE_NEW_DELETE
+
+	/// Constructor
+							TaperedCylinderShape() : ConvexShape(EShapeSubType::TaperedCylinder) { }
+							TaperedCylinderShape(const TaperedCylinderShapeSettings &inSettings, ShapeResult &outResult);
+
+	/// Get top radius of the tapered cylinder
+	inline float			GetTopRadius() const													{ return mTopRadius; }
+
+	/// Get bottom radius of the tapered cylinder
+	inline float			GetBottomRadius() const													{ return mBottomRadius; }
+
+	/// Get convex radius of the tapered cylinder
+	inline float			GetConvexRadius() const													{ return mConvexRadius; }
+
+	/// Get half height of the tapered cylinder
+	inline float			GetHalfHeight() const													{ return 0.5f * (mTop - mBottom); }
+
+	// See Shape::GetCenterOfMass
+	virtual Vec3			GetCenterOfMass() const override										{ return Vec3(0, -0.5f * (mTop + mBottom), 0); }
+
+	// See Shape::GetLocalBounds
+	virtual AABox			GetLocalBounds() const override;
+
+	// See Shape::GetInnerRadius
+	virtual float			GetInnerRadius() const override											{ return min(mTopRadius, mBottomRadius); }
+
+	// See Shape::GetMassProperties
+	virtual MassProperties	GetMassProperties() const override;
+
+	// See Shape::GetSurfaceNormal
+	virtual Vec3			GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override;
+
+	// See Shape::GetSupportingFace
+	virtual void			GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override;
+
+	// See ConvexShape::GetSupportFunction
+	virtual const Support *	GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const override;
+
+	// See: Shape::CollidePoint
+	virtual void			CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
+
+	// See: Shape::CollideSoftBodyVertices
+	virtual void			CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const override;
+
+	// See Shape::GetTrianglesStart
+	virtual void			GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override;
+
+	// See Shape::GetTrianglesNext
+	virtual int				GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override;
+
+#ifdef JPH_DEBUG_RENDERER
+	// See Shape::Draw
+	virtual void			Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const override;
+#endif // JPH_DEBUG_RENDERER
+
+	// See Shape
+	virtual void			SaveBinaryState(StreamOut &inStream) const override;
+
+	// See Shape::GetStats
+	virtual Stats			GetStats() const override												{ return Stats(sizeof(*this), 0); }
+
+	// See Shape::GetVolume
+	virtual float			GetVolume() const override;
+
+	// See Shape::IsValidScale
+	virtual bool			IsValidScale(Vec3Arg inScale) const override;
+
+	// See Shape::MakeScaleValid
+	virtual Vec3			MakeScaleValid(Vec3Arg inScale) const override;
+
+	// Register shape functions with the registry
+	static void				sRegister();
+
+protected:
+	// See: Shape::RestoreBinaryState
+	virtual void			RestoreBinaryState(StreamIn &inStream) override;
+
+private:
+	// Class for GetSupportFunction
+	class					TaperedCylinder;
+
+	// Class for GetTrianglesTart
+	class					TCSGetTrianglesContext;
+
+	// Scale the cylinder
+	JPH_INLINE void			GetScaled(Vec3Arg inScale, float &outTop, float &outBottom, float &outTopRadius, float &outBottomRadius, float &outConvexRadius) const;
+
+	float					mTop = 0.0f;
+	float					mBottom = 0.0f;
+	float					mTopRadius = 0.0f;
+	float					mBottomRadius = 0.0f;
+	float					mConvexRadius = 0.0f;
+};
+
+JPH_NAMESPACE_END

package/native/third_party/JoltPhysics/Jolt/Physics/Collision/Shape/TriangleShape.cpp

@@ -0,0 +1,430 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#include <Jolt/Jolt.h>
+
+#include <Jolt/Physics/Collision/Shape/TriangleShape.h>
+#include <Jolt/Physics/Collision/Shape/ScaleHelpers.h>
+#include <Jolt/Physics/Collision/Shape/GetTrianglesContext.h>
+#include <Jolt/Physics/Collision/RayCast.h>
+#include <Jolt/Physics/Collision/ShapeCast.h>
+#include <Jolt/Physics/Collision/CastResult.h>
+#include <Jolt/Physics/Collision/CollidePointResult.h>
+#include <Jolt/Physics/Collision/TransformedShape.h>
+#include <Jolt/Physics/Collision/CastConvexVsTriangles.h>
+#include <Jolt/Physics/Collision/CastSphereVsTriangles.h>
+#include <Jolt/Physics/Collision/CollideConvexVsTriangles.h>
+#include <Jolt/Physics/Collision/CollideSphereVsTriangles.h>
+#include <Jolt/Physics/Collision/CollisionDispatch.h>
+#include <Jolt/Physics/Collision/CollideSoftBodyVerticesVsTriangles.h>
+#include <Jolt/Geometry/ConvexSupport.h>
+#include <Jolt/Geometry/RayTriangle.h>
+#include <Jolt/Geometry/ClosestPoint.h>
+#include <Jolt/ObjectStream/TypeDeclarations.h>
+#include <Jolt/Core/StreamIn.h>
+#include <Jolt/Core/StreamOut.h>
+#ifdef JPH_DEBUG_RENDERER
+	#include <Jolt/Renderer/DebugRenderer.h>
+#endif // JPH_DEBUG_RENDERER
+
+JPH_NAMESPACE_BEGIN
+
+JPH_IMPLEMENT_SERIALIZABLE_VIRTUAL(TriangleShapeSettings)
+{
+	JPH_ADD_BASE_CLASS(TriangleShapeSettings, ConvexShapeSettings)
+
+	JPH_ADD_ATTRIBUTE(TriangleShapeSettings, mV1)
+	JPH_ADD_ATTRIBUTE(TriangleShapeSettings, mV2)
+	JPH_ADD_ATTRIBUTE(TriangleShapeSettings, mV3)
+	JPH_ADD_ATTRIBUTE(TriangleShapeSettings, mConvexRadius)
+}
+
+ShapeSettings::ShapeResult TriangleShapeSettings::Create() const
+{
+	if (mCachedResult.IsEmpty())
+		Ref<Shape> shape = new TriangleShape(*this, mCachedResult);
+	return mCachedResult;
+}
+
+TriangleShape::TriangleShape(const TriangleShapeSettings &inSettings, ShapeResult &outResult) :
+	ConvexShape(EShapeSubType::Triangle, inSettings, outResult),
+	mV1(inSettings.mV1),
+	mV2(inSettings.mV2),
+	mV3(inSettings.mV3),
+	mConvexRadius(inSettings.mConvexRadius)
+{
+	if (inSettings.mConvexRadius < 0.0f)
+	{
+		outResult.SetError("Invalid convex radius");
+		return;
+	}
+
+	outResult.Set(this);
+}
+
+AABox TriangleShape::GetLocalBounds() const
+{
+	AABox bounds(mV1, mV1);
+	bounds.Encapsulate(mV2);
+	bounds.Encapsulate(mV3);
+	bounds.ExpandBy(Vec3::sReplicate(mConvexRadius));
+	return bounds;
+}
+
+AABox TriangleShape::GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const
+{
+	JPH_ASSERT(IsValidScale(inScale));
+
+	Vec3 v1 = inCenterOfMassTransform * (inScale * mV1);
+	Vec3 v2 = inCenterOfMassTransform * (inScale * mV2);
+	Vec3 v3 = inCenterOfMassTransform * (inScale * mV3);
+
+	AABox bounds(v1, v1);
+	bounds.Encapsulate(v2);
+	bounds.Encapsulate(v3);
+	bounds.ExpandBy(inScale * mConvexRadius);
+	return bounds;
+}
+
+class TriangleShape::TriangleNoConvex final : public Support
+{
+public:
+							TriangleNoConvex(Vec3Arg inV1, Vec3Arg inV2, Vec3Arg inV3) :
+		mTriangleSupport(inV1, inV2, inV3)
+	{
+		static_assert(sizeof(TriangleNoConvex) <= sizeof(SupportBuffer), "Buffer size too small");
+		JPH_ASSERT(IsAligned(this, alignof(TriangleNoConvex)));
+	}
+
+	virtual Vec3			GetSupport(Vec3Arg inDirection) const override
+	{
+		return mTriangleSupport.GetSupport(inDirection);
+	}
+
+	virtual float			GetConvexRadius() const override
+	{
+		return 0.0f;
+	}
+
+private:
+	TriangleConvexSupport	mTriangleSupport;
+};
+
+class TriangleShape::TriangleWithConvex final : public Support
+{
+public:
+							TriangleWithConvex(Vec3Arg inV1, Vec3Arg inV2, Vec3Arg inV3, float inConvexRadius) :
+		mConvexRadius(inConvexRadius),
+		mTriangleSupport(inV1, inV2, inV3)
+	{
+		static_assert(sizeof(TriangleWithConvex) <= sizeof(SupportBuffer), "Buffer size too small");
+		JPH_ASSERT(IsAligned(this, alignof(TriangleWithConvex)));
+	}
+
+	virtual Vec3			GetSupport(Vec3Arg inDirection) const override
+	{
+		Vec3 support = mTriangleSupport.GetSupport(inDirection);
+		float len = inDirection.Length();
+		if (len > 0.0f)
+			support += (mConvexRadius / len) * inDirection;
+		return support;
+	}
+
+	virtual float			GetConvexRadius() const override
+	{
+		return mConvexRadius;
+	}
+
+private:
+	float					mConvexRadius;
+	TriangleConvexSupport	mTriangleSupport;
+};
+
+const ConvexShape::Support *TriangleShape::GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const
+{
+	switch (inMode)
+	{
+	case ESupportMode::IncludeConvexRadius:
+	case ESupportMode::Default:
+		if (mConvexRadius > 0.0f)
+			return new (&inBuffer) TriangleWithConvex(inScale * mV1, inScale * mV2, inScale * mV3, mConvexRadius);
+		[[fallthrough]];
+
+	case ESupportMode::ExcludeConvexRadius:
+		return new (&inBuffer) TriangleNoConvex(inScale * mV1, inScale * mV2, inScale * mV3);
+	}
+
+	JPH_ASSERT(false);
+	return nullptr;
+}
+
+void TriangleShape::GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const
+{
+	JPH_ASSERT(inSubShapeID.IsEmpty(), "Invalid subshape ID");
+
+	// Calculate transform with scale
+	Mat44 transform = inCenterOfMassTransform.PreScaled(inScale);
+
+	// Flip triangle if scaled inside out
+	if (ScaleHelpers::IsInsideOut(inScale))
+	{
+		outVertices.push_back(transform * mV1);
+		outVertices.push_back(transform * mV3);
+		outVertices.push_back(transform * mV2);
+	}
+	else
+	{
+		outVertices.push_back(transform * mV1);
+		outVertices.push_back(transform * mV2);
+		outVertices.push_back(transform * mV3);
+	}
+}
+
+MassProperties TriangleShape::GetMassProperties() const
+{
+	// We cannot calculate the volume for a triangle, so we return invalid mass properties.
+	// If you want your triangle to be dynamic, then you should provide the mass properties yourself when
+	// creating a Body:
+	//
+	// BodyCreationSettings::mOverrideMassProperties = EOverrideMassProperties::MassAndInertiaProvided;
+	// BodyCreationSettings::mMassPropertiesOverride.SetMassAndInertiaOfSolidBox(Vec3::sOne(), 1000.0f);
+	//
+	// Note that this makes the triangle shape behave the same as a mesh shape with a single triangle.
+	// In practice there is very little use for a dynamic triangle shape as back side collisions will be ignored
+	// so if the triangle falls the wrong way it will sink through the floor.
+	return MassProperties();
+}
+
+Vec3 TriangleShape::GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const
+{
+	JPH_ASSERT(inSubShapeID.IsEmpty(), "Invalid subshape ID");
+
+	Vec3 cross = (mV2 - mV1).Cross(mV3 - mV1);
+	float len = cross.Length();
+	return len != 0.0f? cross / len : Vec3::sAxisY();
+}
+
+void TriangleShape::GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) const
+{
+	// A triangle has no volume
+	outTotalVolume = outSubmergedVolume = 0.0f;
+	outCenterOfBuoyancy = Vec3::sZero();
+}
+
+#ifdef JPH_DEBUG_RENDERER
+void TriangleShape::Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const
+{
+	RVec3 v1 = inCenterOfMassTransform * (inScale * mV1);
+	RVec3 v2 = inCenterOfMassTransform * (inScale * mV2);
+	RVec3 v3 = inCenterOfMassTransform * (inScale * mV3);
+
+	if (ScaleHelpers::IsInsideOut(inScale))
+		std::swap(v1, v2);
+
+	if (inDrawWireframe)
+		inRenderer->DrawWireTriangle(v1, v2, v3, inUseMaterialColors? GetMaterial()->GetDebugColor() : inColor);
+	else
+		inRenderer->DrawTriangle(v1, v2, v3, inUseMaterialColors? GetMaterial()->GetDebugColor() : inColor);
+}
+#endif // JPH_DEBUG_RENDERER
+
+bool TriangleShape::CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const
+{
+	float fraction = RayTriangle(inRay.mOrigin, inRay.mDirection, mV1, mV2, mV3);
+	if (fraction < ioHit.mFraction)
+	{
+		ioHit.mFraction = fraction;
+		ioHit.mSubShapeID2 = inSubShapeIDCreator.GetID();
+		return true;
+	}
+	return false;
+}
+
+void TriangleShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter) const
+{
+	// Test shape filter
+	if (!inShapeFilter.ShouldCollide(this, inSubShapeIDCreator.GetID()))
+		return;
+
+	// Back facing check
+	if (inRayCastSettings.mBackFaceModeTriangles == EBackFaceMode::IgnoreBackFaces && (mV2 - mV1).Cross(mV3 - mV1).Dot(inRay.mDirection) > 0.0f)
+		return;
+
+	// Test ray against triangle
+	float fraction = RayTriangle(inRay.mOrigin, inRay.mDirection, mV1, mV2, mV3);
+	if (fraction < ioCollector.GetEarlyOutFraction())
+	{
+		// Better hit than the current hit
+		RayCastResult hit;
+		hit.mBodyID = TransformedShape::sGetBodyID(ioCollector.GetContext());
+		hit.mFraction = fraction;
+		hit.mSubShapeID2 = inSubShapeIDCreator.GetID();
+		ioCollector.AddHit(hit);
+	}
+}
+
+void TriangleShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) const
+{
+	// Can't be inside a triangle
+}
+
+void TriangleShape::CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const
+{
+	CollideSoftBodyVerticesVsTriangles collider(inCenterOfMassTransform, inScale);
+
+	for (CollideSoftBodyVertexIterator v = inVertices, sbv_end = inVertices + inNumVertices; v != sbv_end; ++v)
+		if (v.GetInvMass() > 0.0f)
+		{
+			collider.StartVertex(v);
+			collider.ProcessTriangle(mV1, mV2, mV3);
+			collider.FinishVertex(v, inCollidingShapeIndex);
+		}
+}
+
+void TriangleShape::sCollideConvexVsTriangle(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, [[maybe_unused]] const ShapeFilter &inShapeFilter)
+{
+	JPH_ASSERT(inShape1->GetType() == EShapeType::Convex);
+	const ConvexShape *shape1 = static_cast<const ConvexShape *>(inShape1);
+	JPH_ASSERT(inShape2->GetSubType() == EShapeSubType::Triangle);
+	const TriangleShape *shape2 = static_cast<const TriangleShape *>(inShape2);
+
+	CollideConvexVsTriangles collider(shape1, inScale1, inScale2, inCenterOfMassTransform1, inCenterOfMassTransform2, inSubShapeIDCreator1.GetID(), inCollideShapeSettings, ioCollector);
+	collider.Collide(shape2->mV1, shape2->mV2, shape2->mV3, 0b111, inSubShapeIDCreator2.GetID());
+}
+
+void TriangleShape::sCollideSphereVsTriangle(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, [[maybe_unused]] const ShapeFilter &inShapeFilter)
+{
+	JPH_ASSERT(inShape1->GetSubType() == EShapeSubType::Sphere);
+	const SphereShape *shape1 = static_cast<const SphereShape *>(inShape1);
+	JPH_ASSERT(inShape2->GetSubType() == EShapeSubType::Triangle);
+	const TriangleShape *shape2 = static_cast<const TriangleShape *>(inShape2);
+
+	CollideSphereVsTriangles collider(shape1, inScale1, inScale2, inCenterOfMassTransform1, inCenterOfMassTransform2, inSubShapeIDCreator1.GetID(), inCollideShapeSettings, ioCollector);
+	collider.Collide(shape2->mV1, shape2->mV2, shape2->mV3, 0b111, inSubShapeIDCreator2.GetID());
+}
+
+void TriangleShape::sCastConvexVsTriangle(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, [[maybe_unused]] const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector)
+{
+	JPH_ASSERT(inShape->GetSubType() == EShapeSubType::Triangle);
+	const TriangleShape *shape = static_cast<const TriangleShape *>(inShape);
+
+	CastConvexVsTriangles caster(inShapeCast, inShapeCastSettings, inScale, inCenterOfMassTransform2, inSubShapeIDCreator1, ioCollector);
+	caster.Cast(shape->mV1, shape->mV2, shape->mV3, 0b111, inSubShapeIDCreator2.GetID());
+}
+
+void TriangleShape::sCastSphereVsTriangle(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, [[maybe_unused]] const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector)
+{
+	JPH_ASSERT(inShape->GetSubType() == EShapeSubType::Triangle);
+	const TriangleShape *shape = static_cast<const TriangleShape *>(inShape);
+
+	CastSphereVsTriangles caster(inShapeCast, inShapeCastSettings, inScale, inCenterOfMassTransform2, inSubShapeIDCreator1, ioCollector);
+	caster.Cast(shape->mV1, shape->mV2, shape->mV3, 0b111, inSubShapeIDCreator2.GetID());
+}
+
+class TriangleShape::TSGetTrianglesContext
+{
+public:
+					TSGetTrianglesContext(Vec3Arg inV1, Vec3Arg inV2, Vec3Arg inV3) : mV1(inV1), mV2(inV2), mV3(inV3) { }
+
+	Vec3			mV1;
+	Vec3			mV2;
+	Vec3			mV3;
+
+	bool			mIsDone = false;
+};
+
+void TriangleShape::GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const
+{
+	static_assert(sizeof(TSGetTrianglesContext) <= sizeof(GetTrianglesContext), "GetTrianglesContext too small");
+	JPH_ASSERT(IsAligned(&ioContext, alignof(TSGetTrianglesContext)));
+
+	Mat44 m = Mat44::sRotationTranslation(inRotation, inPositionCOM) * Mat44::sScale(inScale);
+
+	new (&ioContext) TSGetTrianglesContext(m * mV1, m * mV2, m * mV3);
+}
+
+int TriangleShape::GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials) const
+{
+	static_assert(cGetTrianglesMinTrianglesRequested >= 3, "cGetTrianglesMinTrianglesRequested is too small");
+	JPH_ASSERT(inMaxTrianglesRequested >= cGetTrianglesMinTrianglesRequested);
+
+	TSGetTrianglesContext &context = (TSGetTrianglesContext &)ioContext;
+
+	// Only return the triangle the 1st time
+	if (context.mIsDone)
+		return 0;
+	context.mIsDone = true;
+
+	// Store triangle
+	context.mV1.StoreFloat3(outTriangleVertices);
+	context.mV2.StoreFloat3(outTriangleVertices + 1);
+	context.mV3.StoreFloat3(outTriangleVertices + 2);
+
+	// Store material
+	if (outMaterials != nullptr)
+		*outMaterials = GetMaterial();
+
+	return 1;
+}
+
+void TriangleShape::SaveBinaryState(StreamOut &inStream) const
+{
+	ConvexShape::SaveBinaryState(inStream);
+
+	inStream.Write(mV1);
+	inStream.Write(mV2);
+	inStream.Write(mV3);
+	inStream.Write(mConvexRadius);
+}
+
+void TriangleShape::RestoreBinaryState(StreamIn &inStream)
+{
+	ConvexShape::RestoreBinaryState(inStream);
+
+	inStream.Read(mV1);
+	inStream.Read(mV2);
+	inStream.Read(mV3);
+	inStream.Read(mConvexRadius);
+}
+
+bool TriangleShape::IsValidScale(Vec3Arg inScale) const
+{
+	return ConvexShape::IsValidScale(inScale) && (mConvexRadius == 0.0f || ScaleHelpers::IsUniformScale(inScale.Abs()));
+}
+
+Vec3 TriangleShape::MakeScaleValid(Vec3Arg inScale) const
+{
+	Vec3 scale = ScaleHelpers::MakeNonZeroScale(inScale);
+
+	if (mConvexRadius == 0.0f)
+		return scale;
+
+	return scale.GetSign() * ScaleHelpers::MakeUniformScale(scale.Abs());
+}
+
+void TriangleShape::sRegister()
+{
+	ShapeFunctions &f = ShapeFunctions::sGet(EShapeSubType::Triangle);
+	f.mConstruct = []() -> Shape * { return new TriangleShape; };
+	f.mColor = Color::sGreen;
+
+	for (EShapeSubType s : sConvexSubShapeTypes)
+	{
+		CollisionDispatch::sRegisterCollideShape(s, EShapeSubType::Triangle, sCollideConvexVsTriangle);
+		CollisionDispatch::sRegisterCastShape(s, EShapeSubType::Triangle, sCastConvexVsTriangle);
+
+		// Avoid registering triangle vs triangle as a reversed test to prevent infinite recursion
+		if (s != EShapeSubType::Triangle)
+		{
+			CollisionDispatch::sRegisterCollideShape(EShapeSubType::Triangle, s, CollisionDispatch::sReversedCollideShape);
+			CollisionDispatch::sRegisterCastShape(EShapeSubType::Triangle, s, CollisionDispatch::sReversedCastShape);
+		}
+	}
+
+	// Specialized collision functions
+	CollisionDispatch::sRegisterCollideShape(EShapeSubType::Sphere, EShapeSubType::Triangle, sCollideSphereVsTriangle);
+	CollisionDispatch::sRegisterCastShape(EShapeSubType::Sphere, EShapeSubType::Triangle, sCastSphereVsTriangle);
+}
+
+JPH_NAMESPACE_END