@bloomengine/engine 0.3.3 → 0.4.1

package/native/third_party/JoltPhysics/Jolt/Physics/Vehicle/TrackedVehicleController.h

@@ -1,169 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#pragma once
-
-#include <Jolt/Physics/Vehicle/VehicleConstraint.h>
-#include <Jolt/Physics/Vehicle/VehicleController.h>
-#include <Jolt/Physics/Vehicle/VehicleEngine.h>
-#include <Jolt/Physics/Vehicle/VehicleTransmission.h>
-#include <Jolt/Physics/Vehicle/VehicleTrack.h>
-
-JPH_NAMESPACE_BEGIN
-
-class PhysicsSystem;
-
-/// WheelSettings object specifically for TrackedVehicleController
-class JPH_EXPORT WheelSettingsTV : public WheelSettings
-{
-	JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, WheelSettingsTV)
-
-public:
-	// See: WheelSettings
-	virtual void				SaveBinaryState(StreamOut &inStream) const override;
-	virtual void				RestoreBinaryState(StreamIn &inStream) override;
-
-	float						mLongitudinalFriction = 4.0f;				///< Friction in forward direction of tire
-	float						mLateralFriction = 2.0f;					///< Friction in sideways direction of tire
-};
-
-/// Wheel object specifically for TrackedVehicleController
-class JPH_EXPORT WheelTV : public Wheel
-{
-public:
-	JPH_OVERRIDE_NEW_DELETE
-
-	/// Constructor
-	explicit					WheelTV(const WheelSettingsTV &inWheel);
-
-	/// Override GetSettings and cast to the correct class
-	const WheelSettingsTV *		GetSettings() const							{ return StaticCast<WheelSettingsTV>(mSettings); }
-
-	/// Update the angular velocity of the wheel based on the angular velocity of the track
-	void						CalculateAngularVelocity(const VehicleConstraint &inConstraint);
-
-	/// Update the wheel rotation based on the current angular velocity
-	void						Update(uint inWheelIndex, float inDeltaTime, const VehicleConstraint &inConstraint);
-
-	int							mTrackIndex = -1;							///< Index in mTracks to which this wheel is attached (calculated on initialization)
-	float						mCombinedLongitudinalFriction = 0.0f;		///< Combined friction coefficient in longitudinal direction (combines terrain and track)
-	float						mCombinedLateralFriction = 0.0f;			///< Combined friction coefficient in lateral direction (combines terrain and track)
-	float						mBrakeImpulse = 0.0f;						///< Amount of impulse that the brakes can apply to the floor (excluding friction), spread out from brake impulse applied on track
-};
-
-/// Settings of a vehicle with tank tracks
-///
-/// Default settings are based around what I could find about the M1 Abrams tank.
-/// Note to avoid issues with very heavy objects vs very light objects the mass of the tank should be a lot lower (say 10x) than that of a real tank. That means that the engine/brake torque is also 10x less.
-class JPH_EXPORT TrackedVehicleControllerSettings : public VehicleControllerSettings
-{
-	JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, TrackedVehicleControllerSettings)
-
-public:
-	// Constructor
-								TrackedVehicleControllerSettings();
-
-	// See: VehicleControllerSettings
-	virtual VehicleController *	ConstructController(VehicleConstraint &inConstraint) const override;
-	virtual void				SaveBinaryState(StreamOut &inStream) const override;
-	virtual void				RestoreBinaryState(StreamIn &inStream) override;
-
-	VehicleEngineSettings		mEngine;									///< The properties of the engine
-	VehicleTransmissionSettings	mTransmission;								///< The properties of the transmission (aka gear box)
-	VehicleTrackSettings		mTracks[(int)ETrackSide::Num];				///< List of tracks and their properties
-};
-
-/// Runtime controller class for vehicle with tank tracks
-class JPH_EXPORT TrackedVehicleController : public VehicleController
-{
-public:
-	JPH_OVERRIDE_NEW_DELETE
-
-	/// Constructor
-								TrackedVehicleController(const TrackedVehicleControllerSettings &inSettings, VehicleConstraint &inConstraint);
-
-	/// Set input from driver
-	/// @param inForward Value between -1 and 1 for auto transmission and value between 0 and 1 indicating desired driving direction and amount the gas pedal is pressed
-	/// @param inLeftRatio Value between -1 and 1 indicating an extra multiplier to the rotation rate of the left track (used for steering)
-	/// @param inRightRatio Value between -1 and 1 indicating an extra multiplier to the rotation rate of the right track (used for steering)
-	/// @param inBrake Value between 0 and 1 indicating how strong the brake pedal is pressed
-	void						SetDriverInput(float inForward, float inLeftRatio, float inRightRatio, float inBrake) { JPH_ASSERT(inLeftRatio != 0.0f && inRightRatio != 0.0f); mForwardInput = inForward; mLeftRatio = inLeftRatio; mRightRatio = inRightRatio; mBrakeInput = inBrake; }
-
-	/// Value between -1 and 1 for auto transmission and value between 0 and 1 indicating desired driving direction and amount the gas pedal is pressed
-	void						SetForwardInput(float inForward)			{ mForwardInput = inForward; }
-	float						GetForwardInput() const						{ return mForwardInput; }
-
-	/// Value between -1 and 1 indicating an extra multiplier to the rotation rate of the left track (used for steering)
-	void						SetLeftRatio(float inLeftRatio)				{ JPH_ASSERT(inLeftRatio != 0.0f); mLeftRatio = inLeftRatio; }
-	float						GetLeftRatio() const						{ return mLeftRatio; }
-
-	/// Value between -1 and 1 indicating an extra multiplier to the rotation rate of the right track (used for steering)
-	void						SetRightRatio(float inRightRatio)			{ JPH_ASSERT(inRightRatio != 0.0f); mRightRatio = inRightRatio; }
-	float						GetRightRatio() const						{ return mRightRatio; }
-
-	/// Value between 0 and 1 indicating how strong the brake pedal is pressed
-	void						SetBrakeInput(float inBrake)				{ mBrakeInput = inBrake; }
-	float						GetBrakeInput() const						{ return mBrakeInput; }
-
-	/// Get current engine state
-	const VehicleEngine &		GetEngine() const							{ return mEngine; }
-
-	/// Get current engine state (writable interface, allows you to make changes to the configuration which will take effect the next time step)
-	VehicleEngine &				GetEngine()									{ return mEngine; }
-
-	/// Get current transmission state
-	const VehicleTransmission &	GetTransmission() const						{ return mTransmission; }
-
-	/// Get current transmission state (writable interface, allows you to make changes to the configuration which will take effect the next time step)
-	VehicleTransmission &		GetTransmission()							{ return mTransmission; }
-
-	/// Get the tracks this vehicle has
-	const VehicleTracks	&		GetTracks() const							{ return mTracks; }
-
-	/// Get the tracks this vehicle has (writable interface, allows you to make changes to the configuration which will take effect the next time step)
-	VehicleTracks &				GetTracks()									{ return mTracks; }
-
-#ifdef JPH_DEBUG_RENDERER
-	/// Debug drawing of RPM meter
-	void						SetRPMMeter(Vec3Arg inPosition, float inSize) { mRPMMeterPosition = inPosition; mRPMMeterSize = inSize; }
-#endif // JPH_DEBUG_RENDERER
-
-	// See: VehicleController
-	virtual Ref<VehicleControllerSettings> GetSettings() const override;
-
-protected:
-	/// Synchronize angular velocities of left and right tracks according to their ratios
-	void						SyncLeftRightTracks();
-
-	// See: VehicleController
-	virtual Wheel *				ConstructWheel(const WheelSettings &inWheel) const override { JPH_ASSERT(IsKindOf(&inWheel, JPH_RTTI(WheelSettingsTV))); return new WheelTV(static_cast<const WheelSettingsTV &>(inWheel)); }
-	virtual bool				AllowSleep() const override;
-	virtual void				PreCollide(float inDeltaTime, PhysicsSystem &inPhysicsSystem) override;
-	virtual void				PostCollide(float inDeltaTime, PhysicsSystem &inPhysicsSystem) override;
-	virtual bool				SolveLongitudinalAndLateralConstraints(float inDeltaTime) override;
-	virtual void				SaveState(StateRecorder &inStream) const override;
-	virtual void				RestoreState(StateRecorder &inStream) override;
-#ifdef JPH_DEBUG_RENDERER
-	virtual void				Draw(DebugRenderer *inRenderer) const override;
-#endif // JPH_DEBUG_RENDERER
-
-	// Control information
-	float						mForwardInput = 0.0f;						///< Value between -1 and 1 for auto transmission and value between 0 and 1 indicating desired driving direction and amount the gas pedal is pressed
-	float						mLeftRatio = 1.0f;							///< Value between -1 and 1 indicating an extra multiplier to the rotation rate of the left track (used for steering)
-	float						mRightRatio = 1.0f;							///< Value between -1 and 1 indicating an extra multiplier to the rotation rate of the right track (used for steering)
-	float						mBrakeInput = 0.0f;							///< Value between 0 and 1 indicating how strong the brake pedal is pressed
-
-	// Simulation information
-	VehicleEngine				mEngine;									///< Engine state of the vehicle
-	VehicleTransmission			mTransmission;								///< Transmission state of the vehicle
-	VehicleTracks				mTracks;									///< Tracks of the vehicle
-
-#ifdef JPH_DEBUG_RENDERER
-	// Debug settings
-	Vec3						mRPMMeterPosition { 0, 1, 0 };				///< Position (in local space of the body) of the RPM meter when drawing the constraint
-	float						mRPMMeterSize = 0.5f;						///< Size of the RPM meter when drawing the constraint
-#endif // JPH_DEBUG_RENDERER
-};
-
-JPH_NAMESPACE_END

package/native/third_party/JoltPhysics/Jolt/Physics/Vehicle/VehicleAntiRollBar.cpp

@@ -1,33 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#include <Jolt/Jolt.h>
-
-#include <Jolt/Physics/Vehicle/VehicleAntiRollBar.h>
-#include <Jolt/ObjectStream/TypeDeclarations.h>
-
-JPH_NAMESPACE_BEGIN
-
-JPH_IMPLEMENT_SERIALIZABLE_NON_VIRTUAL(VehicleAntiRollBar)
-{
-	JPH_ADD_ATTRIBUTE(VehicleAntiRollBar, mLeftWheel)
-	JPH_ADD_ATTRIBUTE(VehicleAntiRollBar, mRightWheel)
-	JPH_ADD_ATTRIBUTE(VehicleAntiRollBar, mStiffness)
-}
-
-void VehicleAntiRollBar::SaveBinaryState(StreamOut &inStream) const
-{
-	inStream.Write(mLeftWheel);
-	inStream.Write(mRightWheel);
-	inStream.Write(mStiffness);
-}
-
-void VehicleAntiRollBar::RestoreBinaryState(StreamIn &inStream)
-{
-	inStream.Read(mLeftWheel);
-	inStream.Read(mRightWheel);
-	inStream.Read(mStiffness);
-}
-
-JPH_NAMESPACE_END

package/native/third_party/JoltPhysics/Jolt/Physics/Vehicle/VehicleAntiRollBar.h

@@ -1,33 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#pragma once
-
-#include <Jolt/ObjectStream/SerializableObject.h>
-#include <Jolt/Core/StreamIn.h>
-#include <Jolt/Core/StreamOut.h>
-
-JPH_NAMESPACE_BEGIN
-
-/// An anti rollbar is a stiff spring that connects two wheels to reduce the amount of roll the vehicle makes in sharp corners
-/// See: https://en.wikipedia.org/wiki/Anti-roll_bar
-class JPH_EXPORT VehicleAntiRollBar
-{
-	JPH_DECLARE_SERIALIZABLE_NON_VIRTUAL(JPH_EXPORT, VehicleAntiRollBar)
-
-public:
-	/// Saves the contents in binary form to inStream.
-	void					SaveBinaryState(StreamOut &inStream) const;
-
-	/// Restores the contents in binary form to inStream.
-	void					RestoreBinaryState(StreamIn &inStream);
-
-	int						mLeftWheel = 0;								///< Index (in mWheels) that represents the left wheel of this anti-rollbar
-	int						mRightWheel = 1;							///< Index (in mWheels) that represents the right wheel of this anti-rollbar
-	float					mStiffness = 1000.0f;						///< Stiffness (spring constant in N/m) of anti rollbar, can be 0 to disable the anti-rollbar
-};
-
-using VehicleAntiRollBars = Array<VehicleAntiRollBar>;
-
-JPH_NAMESPACE_END

package/native/third_party/JoltPhysics/Jolt/Physics/Vehicle/VehicleCollisionTester.cpp

@@ -1,376 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#include <Jolt/Jolt.h>
-
-#include <Jolt/Physics/Vehicle/VehicleCollisionTester.h>
-#include <Jolt/Physics/Vehicle/VehicleConstraint.h>
-#include <Jolt/Physics/Collision/RayCast.h>
-#include <Jolt/Physics/Collision/ShapeCast.h>
-#include <Jolt/Physics/Collision/CastResult.h>
-#include <Jolt/Physics/Collision/Shape/SphereShape.h>
-#include <Jolt/Physics/Collision/Shape/CylinderShape.h>
-#include <Jolt/Physics/Collision/CollisionCollectorImpl.h>
-#include <Jolt/Physics/PhysicsSystem.h>
-
-JPH_NAMESPACE_BEGIN
-
-bool VehicleCollisionTesterRay::Collide(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&outBody, SubShapeID &outSubShapeID, RVec3 &outContactPosition, Vec3 &outContactNormal, float &outSuspensionLength) const
-{
-	const DefaultBroadPhaseLayerFilter default_broadphase_layer_filter = inPhysicsSystem.GetDefaultBroadPhaseLayerFilter(mObjectLayer);
-	const BroadPhaseLayerFilter &broadphase_layer_filter = mBroadPhaseLayerFilter != nullptr? *mBroadPhaseLayerFilter : default_broadphase_layer_filter;
-
-	const DefaultObjectLayerFilter default_object_layer_filter = inPhysicsSystem.GetDefaultLayerFilter(mObjectLayer);
-	const ObjectLayerFilter &object_layer_filter = mObjectLayerFilter != nullptr? *mObjectLayerFilter : default_object_layer_filter;
-
-	const IgnoreSingleBodyFilter default_body_filter(inVehicleBodyID);
-	const BodyFilter &body_filter = mBodyFilter != nullptr? *mBodyFilter : default_body_filter;
-
-	const WheelSettings *wheel_settings = inVehicleConstraint.GetWheel(inWheelIndex)->GetSettings();
-	float wheel_radius = wheel_settings->mRadius;
-	float ray_length = wheel_settings->mSuspensionMaxLength + wheel_radius;
-	RRayCast ray { inOrigin, ray_length * inDirection };
-
-	class MyCollector : public CastRayCollector
-	{
-	public:
-							MyCollector(PhysicsSystem &inPhysicsSystem, const RRayCast &inRay, Vec3Arg inUpDirection, float inCosMaxSlopeAngle) :
-			mPhysicsSystem(inPhysicsSystem),
-			mRay(inRay),
-			mUpDirection(inUpDirection),
-			mCosMaxSlopeAngle(inCosMaxSlopeAngle)
-		{
-		}
-
-		virtual void		AddHit(const RayCastResult &inResult) override
-		{
-			// Test if this collision is closer than the previous one
-			if (inResult.mFraction < GetEarlyOutFraction())
-			{
-				// Lock the body
-				BodyLockRead lock(mPhysicsSystem.GetBodyLockInterfaceNoLock(), inResult.mBodyID);
-				JPH_ASSERT(lock.Succeeded()); // When this runs all bodies are locked so this should not fail
-				const Body *body = &lock.GetBody();
-
-				if (body->IsSensor())
-					return;
-
-				// Test that we're not hitting a vertical wall
-				RVec3 contact_pos = mRay.GetPointOnRay(inResult.mFraction);
-				Vec3 normal = body->GetWorldSpaceSurfaceNormal(inResult.mSubShapeID2, contact_pos);
-				if (normal.Dot(mUpDirection) > mCosMaxSlopeAngle)
-				{
-					// Update early out fraction to this hit
-					UpdateEarlyOutFraction(inResult.mFraction);
-
-					// Get the contact properties
-					mBody = body;
-					mSubShapeID2 = inResult.mSubShapeID2;
-					mContactPosition = contact_pos;
-					mContactNormal = normal;
-				}
-			}
-		}
-
-		// Configuration
-		PhysicsSystem &		mPhysicsSystem;
-		RRayCast			mRay;
-		Vec3				mUpDirection;
-		float				mCosMaxSlopeAngle;
-
-		// Resulting closest collision
-		const Body *		mBody = nullptr;
-		SubShapeID			mSubShapeID2;
-		RVec3				mContactPosition;
-		Vec3				mContactNormal;
-	};
-
-	RayCastSettings settings;
-
-	MyCollector collector(inPhysicsSystem, ray, mUp, mCosMaxSlopeAngle);
-	inPhysicsSystem.GetNarrowPhaseQueryNoLock().CastRay(ray, settings, collector, broadphase_layer_filter, object_layer_filter, body_filter);
-	if (collector.mBody == nullptr)
-		return false;
-
-	outBody = const_cast<Body *>(collector.mBody);
-	outSubShapeID = collector.mSubShapeID2;
-	outContactPosition = collector.mContactPosition;
-	outContactNormal = collector.mContactNormal;
-	outSuspensionLength = max(0.0f, ray_length * collector.GetEarlyOutFraction() - wheel_radius);
-
-	return true;
-}
-
-void VehicleCollisionTesterRay::PredictContactProperties(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&ioBody, SubShapeID &ioSubShapeID, RVec3 &ioContactPosition, Vec3 &ioContactNormal, float &ioSuspensionLength) const
-{
-	// Recalculate the contact points assuming the contact point is on an infinite plane
-	const WheelSettings *wheel_settings = inVehicleConstraint.GetWheel(inWheelIndex)->GetSettings();
-	float d_dot_n = inDirection.Dot(ioContactNormal);
-	if (d_dot_n < -1.0e-6f)
-	{
-		// Reproject the contact position using the suspension ray and the plane formed by the contact position and normal
-		ioContactPosition = inOrigin + Vec3(ioContactPosition - inOrigin).Dot(ioContactNormal) / d_dot_n * inDirection;
-
-		// The suspension length is simply the distance between the contact position and the suspension origin excluding the wheel radius
-		ioSuspensionLength = Clamp(Vec3(ioContactPosition - inOrigin).Dot(inDirection) - wheel_settings->mRadius, 0.0f, wheel_settings->mSuspensionMaxLength);
-	}
-	else
-	{
-		// If the normal is pointing away we assume there's no collision anymore
-		ioSuspensionLength = wheel_settings->mSuspensionMaxLength;
-	}
-}
-
-bool VehicleCollisionTesterCastSphere::Collide(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&outBody, SubShapeID &outSubShapeID, RVec3 &outContactPosition, Vec3 &outContactNormal, float &outSuspensionLength) const
-{
-	const DefaultBroadPhaseLayerFilter default_broadphase_layer_filter = inPhysicsSystem.GetDefaultBroadPhaseLayerFilter(mObjectLayer);
-	const BroadPhaseLayerFilter &broadphase_layer_filter = mBroadPhaseLayerFilter != nullptr? *mBroadPhaseLayerFilter : default_broadphase_layer_filter;
-
-	const DefaultObjectLayerFilter default_object_layer_filter = inPhysicsSystem.GetDefaultLayerFilter(mObjectLayer);
-	const ObjectLayerFilter &object_layer_filter = mObjectLayerFilter != nullptr? *mObjectLayerFilter : default_object_layer_filter;
-
-	const IgnoreSingleBodyFilter default_body_filter(inVehicleBodyID);
-	const BodyFilter &body_filter = mBodyFilter != nullptr? *mBodyFilter : default_body_filter;
-
-	SphereShape sphere(mRadius);
-	sphere.SetEmbedded();
-
-	const WheelSettings *wheel_settings = inVehicleConstraint.GetWheel(inWheelIndex)->GetSettings();
-	float wheel_radius = wheel_settings->mRadius;
-	float shape_cast_length = wheel_settings->mSuspensionMaxLength + wheel_radius - mRadius;
-	RShapeCast shape_cast(&sphere, Vec3::sOne(), RMat44::sTranslation(inOrigin), inDirection * shape_cast_length);
-
-	ShapeCastSettings settings;
-	settings.mUseShrunkenShapeAndConvexRadius = true;
-	settings.mReturnDeepestPoint = true;
-
-	class MyCollector : public CastShapeCollector
-	{
-	public:
-							MyCollector(PhysicsSystem &inPhysicsSystem, const RShapeCast &inShapeCast, Vec3Arg inUpDirection, float inCosMaxSlopeAngle) :
-			mPhysicsSystem(inPhysicsSystem),
-			mShapeCast(inShapeCast),
-			mUpDirection(inUpDirection),
-			mCosMaxSlopeAngle(inCosMaxSlopeAngle)
-		{
-		}
-
-		virtual void		AddHit(const ShapeCastResult &inResult) override
-		{
-			// Test if this collision is closer/deeper than the previous one
-			float early_out = inResult.GetEarlyOutFraction();
-			if (early_out < GetEarlyOutFraction())
-			{
-				// Lock the body
-				BodyLockRead lock(mPhysicsSystem.GetBodyLockInterfaceNoLock(), inResult.mBodyID2);
-				JPH_ASSERT(lock.Succeeded()); // When this runs all bodies are locked so this should not fail
-				const Body *body = &lock.GetBody();
-
-				if (body->IsSensor())
-					return;
-
-				// Test that we're not hitting a vertical wall
-				Vec3 normal = -inResult.mPenetrationAxis.Normalized();
-				if (normal.Dot(mUpDirection) > mCosMaxSlopeAngle)
-				{
-					// Update early out fraction to this hit
-					UpdateEarlyOutFraction(early_out);
-
-					// Get the contact properties
-					mBody = body;
-					mSubShapeID2 = inResult.mSubShapeID2;
-					mContactPosition = mShapeCast.mCenterOfMassStart.GetTranslation() + inResult.mContactPointOn2;
-					mContactNormal = normal;
-					mFraction = inResult.mFraction;
-				}
-			}
-		}
-
-		// Configuration
-		PhysicsSystem &		mPhysicsSystem;
-		const RShapeCast &	mShapeCast;
-		Vec3				mUpDirection;
-		float				mCosMaxSlopeAngle;
-
-		// Resulting closest collision
-		const Body *		mBody = nullptr;
-		SubShapeID			mSubShapeID2;
-		RVec3				mContactPosition;
-		Vec3				mContactNormal;
-		float				mFraction;
-	};
-
-	MyCollector collector(inPhysicsSystem, shape_cast, mUp, mCosMaxSlopeAngle);
-	inPhysicsSystem.GetNarrowPhaseQueryNoLock().CastShape(shape_cast, settings, shape_cast.mCenterOfMassStart.GetTranslation(), collector, broadphase_layer_filter, object_layer_filter, body_filter);
-	if (collector.mBody == nullptr)
-		return false;
-
-	outBody = const_cast<Body *>(collector.mBody);
-	outSubShapeID = collector.mSubShapeID2;
-	outContactPosition = collector.mContactPosition;
-	outContactNormal = collector.mContactNormal;
-	outSuspensionLength = max(0.0f, shape_cast_length * collector.mFraction + mRadius - wheel_radius);
-
-	return true;
-}
-
-void VehicleCollisionTesterCastSphere::PredictContactProperties(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&ioBody, SubShapeID &ioSubShapeID, RVec3 &ioContactPosition, Vec3 &ioContactNormal, float &ioSuspensionLength) const
-{
-	// Recalculate the contact points assuming the contact point is on an infinite plane
-	const WheelSettings *wheel_settings = inVehicleConstraint.GetWheel(inWheelIndex)->GetSettings();
-	float d_dot_n = inDirection.Dot(ioContactNormal);
-	if (d_dot_n < -1.0e-6f)
-	{
-		// Reproject the contact position using the suspension cast sphere and the plane formed by the contact position and normal
-		// This solves x = inOrigin + fraction * inDirection and (x - ioContactPosition) . ioContactNormal = mRadius for fraction
-		float oc_dot_n = Vec3(ioContactPosition - inOrigin).Dot(ioContactNormal);
-		float fraction = (mRadius + oc_dot_n) / d_dot_n;
-		ioContactPosition = inOrigin + fraction * inDirection - mRadius * ioContactNormal;
-
-		// Calculate the new suspension length in the same way as the cast sphere normally does
-		ioSuspensionLength = Clamp(fraction + mRadius - wheel_settings->mRadius, 0.0f, wheel_settings->mSuspensionMaxLength);
-	}
-	else
-	{
-		// If the normal is pointing away we assume there's no collision anymore
-		ioSuspensionLength = wheel_settings->mSuspensionMaxLength;
-	}
-}
-
-bool VehicleCollisionTesterCastCylinder::Collide(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&outBody, SubShapeID &outSubShapeID, RVec3 &outContactPosition, Vec3 &outContactNormal, float &outSuspensionLength) const
-{
-	const DefaultBroadPhaseLayerFilter default_broadphase_layer_filter = inPhysicsSystem.GetDefaultBroadPhaseLayerFilter(mObjectLayer);
-	const BroadPhaseLayerFilter &broadphase_layer_filter = mBroadPhaseLayerFilter != nullptr? *mBroadPhaseLayerFilter : default_broadphase_layer_filter;
-
-	const DefaultObjectLayerFilter default_object_layer_filter = inPhysicsSystem.GetDefaultLayerFilter(mObjectLayer);
-	const ObjectLayerFilter &object_layer_filter = mObjectLayerFilter != nullptr? *mObjectLayerFilter : default_object_layer_filter;
-
-	const IgnoreSingleBodyFilter default_body_filter(inVehicleBodyID);
-	const BodyFilter &body_filter = mBodyFilter != nullptr? *mBodyFilter : default_body_filter;
-
-	const WheelSettings *wheel_settings = inVehicleConstraint.GetWheel(inWheelIndex)->GetSettings();
-	float max_suspension_length = wheel_settings->mSuspensionMaxLength;
-
-	// Get the wheel transform given that the cylinder rotates around the Y axis
-	RMat44 shape_cast_start = inVehicleConstraint.GetWheelWorldTransform(inWheelIndex, Vec3::sAxisY(), Vec3::sAxisX());
-	shape_cast_start.SetTranslation(inOrigin);
-
-	// Construct a cylinder with the dimensions of the wheel
-	float wheel_half_width = 0.5f * wheel_settings->mWidth;
-	CylinderShape cylinder(wheel_half_width, wheel_settings->mRadius, min(wheel_half_width, wheel_settings->mRadius) * mConvexRadiusFraction);
-	cylinder.SetEmbedded();
-
-	RShapeCast shape_cast(&cylinder, Vec3::sOne(), shape_cast_start, inDirection * max_suspension_length);
-
-	ShapeCastSettings settings;
-	settings.mUseShrunkenShapeAndConvexRadius = true;
-	settings.mReturnDeepestPoint = true;
-
-	class MyCollector : public CastShapeCollector
-	{
-	public:
-							MyCollector(PhysicsSystem &inPhysicsSystem, const RShapeCast &inShapeCast) :
-			mPhysicsSystem(inPhysicsSystem),
-			mShapeCast(inShapeCast)
-		{
-		}
-
-		virtual void		AddHit(const ShapeCastResult &inResult) override
-		{
-			// Test if this collision is closer/deeper than the previous one
-			float early_out = inResult.GetEarlyOutFraction();
-			if (early_out < GetEarlyOutFraction())
-			{
-				// Lock the body
-				BodyLockRead lock(mPhysicsSystem.GetBodyLockInterfaceNoLock(), inResult.mBodyID2);
-				JPH_ASSERT(lock.Succeeded()); // When this runs all bodies are locked so this should not fail
-				const Body *body = &lock.GetBody();
-
-				if (body->IsSensor())
-					return;
-
-				// Update early out fraction to this hit
-				UpdateEarlyOutFraction(early_out);
-
-				// Get the contact properties
-				mBody = body;
-				mSubShapeID2 = inResult.mSubShapeID2;
-				mContactPosition = mShapeCast.mCenterOfMassStart.GetTranslation() + inResult.mContactPointOn2;
-				mContactNormal = -inResult.mPenetrationAxis.Normalized();
-				mFraction = inResult.mFraction;
-			}
-		}
-
-		// Configuration
-		PhysicsSystem &		mPhysicsSystem;
-		const RShapeCast &	mShapeCast;
-
-		// Resulting closest collision
-		const Body *		mBody = nullptr;
-		SubShapeID			mSubShapeID2;
-		RVec3				mContactPosition;
-		Vec3				mContactNormal;
-		float				mFraction;
-	};
-
-	MyCollector collector(inPhysicsSystem, shape_cast);
-	inPhysicsSystem.GetNarrowPhaseQueryNoLock().CastShape(shape_cast, settings, shape_cast.mCenterOfMassStart.GetTranslation(), collector, broadphase_layer_filter, object_layer_filter, body_filter);
-	if (collector.mBody == nullptr)
-		return false;
-
-	outBody = const_cast<Body *>(collector.mBody);
-	outSubShapeID = collector.mSubShapeID2;
-	outContactPosition = collector.mContactPosition;
-	outContactNormal = collector.mContactNormal;
-	outSuspensionLength = max_suspension_length * collector.mFraction;
-
-	return true;
-}
-
-void VehicleCollisionTesterCastCylinder::PredictContactProperties(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&ioBody, SubShapeID &ioSubShapeID, RVec3 &ioContactPosition, Vec3 &ioContactNormal, float &ioSuspensionLength) const
-{
-	// Recalculate the contact points assuming the contact point is on an infinite plane
-	const WheelSettings *wheel_settings = inVehicleConstraint.GetWheel(inWheelIndex)->GetSettings();
-	float d_dot_n = inDirection.Dot(ioContactNormal);
-	if (d_dot_n < -1.0e-6f)
-	{
-		// Wheel size
-		float half_width = 0.5f * wheel_settings->mWidth;
-		float radius = wheel_settings->mRadius;
-
-		// Get the inverse local space contact normal for a cylinder pointing along Y
-		RMat44 wheel_transform = inVehicleConstraint.GetWheelWorldTransform(inWheelIndex, Vec3::sAxisY(), Vec3::sAxisX());
-		Vec3 inverse_local_normal = -wheel_transform.Multiply3x3Transposed(ioContactNormal);
-
-		// Get the support point of this normal in local space of the cylinder
-		// See CylinderShape::Cylinder::GetSupport
-		float x = inverse_local_normal.GetX(), y = inverse_local_normal.GetY(), z = inverse_local_normal.GetZ();
-		float o = sqrt(Square(x) + Square(z));
-		Vec3 support_point;
-		if (o > 0.0f)
-			support_point = Vec3((radius * x) / o, Sign(y) * half_width, (radius * z) / o);
-		else
-			support_point = Vec3(0, Sign(y) * half_width, 0);
-
-		// Rotate back to world space
-		support_point = wheel_transform.Multiply3x3(support_point);
-
-		// Now we can use inOrigin + support_point as the start of a ray of our suspension to the contact plane
-		// as know that it is the first point on the wheel that will hit the plane
-		RVec3 origin = inOrigin + support_point;
-
-		// Calculate contact position and suspension length, the is the same as VehicleCollisionTesterRay
-		// but we don't need to take the radius into account anymore
-		Vec3 oc(ioContactPosition - origin);
-		ioContactPosition = origin + oc.Dot(ioContactNormal) / d_dot_n * inDirection;
-		ioSuspensionLength = Clamp(oc.Dot(inDirection), 0.0f, wheel_settings->mSuspensionMaxLength);
-	}
-	else
-	{
-		// If the normal is pointing away we assume there's no collision anymore
-		ioSuspensionLength = wheel_settings->mSuspensionMaxLength;
-	}
-}
-
-JPH_NAMESPACE_END