@bloomengine/engine 0.4.0 → 0.4.1

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

@@ -1,674 +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/Collision/Shape/StaticCompoundShape.h>
-#include <Jolt/Physics/Collision/Shape/RotatedTranslatedShape.h>
-#include <Jolt/Physics/Collision/Shape/CompoundShapeVisitors.h>
-#include <Jolt/Core/Profiler.h>
-#include <Jolt/Core/StreamIn.h>
-#include <Jolt/Core/StreamOut.h>
-#include <Jolt/Core/TempAllocator.h>
-#include <Jolt/Core/ScopeExit.h>
-#include <Jolt/ObjectStream/TypeDeclarations.h>
-
-JPH_NAMESPACE_BEGIN
-
-JPH_IMPLEMENT_SERIALIZABLE_VIRTUAL(StaticCompoundShapeSettings)
-{
-	JPH_ADD_BASE_CLASS(StaticCompoundShapeSettings, CompoundShapeSettings)
-}
-
-ShapeSettings::ShapeResult StaticCompoundShapeSettings::Create(TempAllocator &inTempAllocator) const
-{
-	if (mCachedResult.IsEmpty())
-	{
-		if (mSubShapes.size() == 0)
-		{
-			// It's an error to create a compound with no subshapes (the compound cannot encode this)
-			mCachedResult.SetError("Compound needs a sub shape!");
-		}
-		else if (mSubShapes.size() == 1)
-		{
-			// If there's only 1 part we don't need a StaticCompoundShape
-			const SubShapeSettings &s = mSubShapes[0];
-			if (s.mPosition == Vec3::sZero()
-				&& s.mRotation == Quat::sIdentity())
-			{
-				// No rotation or translation, we can use the shape directly
-				if (s.mShapePtr != nullptr)
-					mCachedResult.Set(const_cast<Shape *>(s.mShapePtr.GetPtr()));
-				else if (s.mShape != nullptr)
-					mCachedResult = s.mShape->Create();
-				else
-					mCachedResult.SetError("Sub shape is null!");
-			}
-			else
-			{
-				// We can use a RotatedTranslatedShape instead
-				RotatedTranslatedShapeSettings settings;
-				settings.mPosition = s.mPosition;
-				settings.mRotation = s.mRotation;
-				settings.mInnerShape = s.mShape;
-				settings.mInnerShapePtr = s.mShapePtr;
-				Ref<Shape> shape = new RotatedTranslatedShape(settings, mCachedResult);
-			}
-		}
-		else
-		{
-			// Build a regular compound shape
-			Ref<Shape> shape = new StaticCompoundShape(*this, inTempAllocator, mCachedResult);
-		}
-	}
-	return mCachedResult;
-}
-
-ShapeSettings::ShapeResult StaticCompoundShapeSettings::Create() const
-{
-	TempAllocatorMalloc allocator;
-	return Create(allocator);
-}
-
-void StaticCompoundShape::Node::SetChildInvalid(uint inIndex)
-{
-	// Make this an invalid node
-	mNodeProperties[inIndex] = INVALID_NODE;
-
-	// Make bounding box invalid
-	mBoundsMinX[inIndex] = HALF_FLT_MAX;
-	mBoundsMinY[inIndex] = HALF_FLT_MAX;
-	mBoundsMinZ[inIndex] = HALF_FLT_MAX;
-	mBoundsMaxX[inIndex] = HALF_FLT_MAX;
-	mBoundsMaxY[inIndex] = HALF_FLT_MAX;
-	mBoundsMaxZ[inIndex] = HALF_FLT_MAX;
-}
-
-void StaticCompoundShape::Node::SetChildBounds(uint inIndex, const AABox &inBounds)
-{
-	mBoundsMinX[inIndex] = HalfFloatConversion::FromFloat<HalfFloatConversion::ROUND_TO_NEG_INF>(inBounds.mMin.GetX());
-	mBoundsMinY[inIndex] = HalfFloatConversion::FromFloat<HalfFloatConversion::ROUND_TO_NEG_INF>(inBounds.mMin.GetY());
-	mBoundsMinZ[inIndex] = HalfFloatConversion::FromFloat<HalfFloatConversion::ROUND_TO_NEG_INF>(inBounds.mMin.GetZ());
-	mBoundsMaxX[inIndex] = HalfFloatConversion::FromFloat<HalfFloatConversion::ROUND_TO_POS_INF>(inBounds.mMax.GetX());
-	mBoundsMaxY[inIndex] = HalfFloatConversion::FromFloat<HalfFloatConversion::ROUND_TO_POS_INF>(inBounds.mMax.GetY());
-	mBoundsMaxZ[inIndex] = HalfFloatConversion::FromFloat<HalfFloatConversion::ROUND_TO_POS_INF>(inBounds.mMax.GetZ());
-}
-
-void StaticCompoundShape::sPartition(uint *ioBodyIdx, AABox *ioBounds, int inNumber, int &outMidPoint)
-{
-	// Handle trivial case
-	if (inNumber <= 4)
-	{
-		outMidPoint = inNumber / 2;
-		return;
-	}
-
-	// Calculate bounding box of box centers
-	Vec3 center_min = Vec3::sReplicate(FLT_MAX);
-	Vec3 center_max = Vec3::sReplicate(-FLT_MAX);
-	for (const AABox *b = ioBounds, *b_end = ioBounds + inNumber; b < b_end; ++b)
-	{
-		Vec3 center = b->GetCenter();
-		center_min = Vec3::sMin(center_min, center);
-		center_max = Vec3::sMax(center_max, center);
-	}
-
-	// Calculate split plane
-	int dimension = (center_max - center_min).GetHighestComponentIndex();
-	float split = 0.5f * (center_min + center_max)[dimension];
-
-	// Divide bodies
-	int start = 0, end = inNumber;
-	while (start < end)
-	{
-		// Search for first element that is on the right hand side of the split plane
-		while (start < end && ioBounds[start].GetCenter()[dimension] < split)
-			++start;
-
-		// Search for the first element that is on the left hand side of the split plane
-		while (start < end && ioBounds[end - 1].GetCenter()[dimension] >= split)
-			--end;
-
-		if (start < end)
-		{
-			// Swap the two elements
-			std::swap(ioBodyIdx[start], ioBodyIdx[end - 1]);
-			std::swap(ioBounds[start], ioBounds[end - 1]);
-			++start;
-			--end;
-		}
-	}
-	JPH_ASSERT(start == end);
-
-	if (start > 0 && start < inNumber)
-	{
-		// Success!
-		outMidPoint = start;
-	}
-	else
-	{
-		// Failed to divide bodies
-		outMidPoint = inNumber / 2;
-	}
-}
-
-void StaticCompoundShape::sPartition4(uint *ioBodyIdx, AABox *ioBounds, int inBegin, int inEnd, int *outSplit)
-{
-	uint *body_idx = ioBodyIdx + inBegin;
-	AABox *node_bounds = ioBounds + inBegin;
-	int number = inEnd - inBegin;
-
-	// Partition entire range
-	sPartition(body_idx, node_bounds, number, outSplit[2]);
-
-	// Partition lower half
-	sPartition(body_idx, node_bounds, outSplit[2], outSplit[1]);
-
-	// Partition upper half
-	sPartition(body_idx + outSplit[2], node_bounds + outSplit[2], number - outSplit[2], outSplit[3]);
-
-	// Convert to proper range
-	outSplit[0] = inBegin;
-	outSplit[1] += inBegin;
-	outSplit[2] += inBegin;
-	outSplit[3] += outSplit[2];
-	outSplit[4] = inEnd;
-}
-
-StaticCompoundShape::StaticCompoundShape(const StaticCompoundShapeSettings &inSettings, TempAllocator &inTempAllocator, ShapeResult &outResult) :
-	CompoundShape(EShapeSubType::StaticCompound, inSettings, outResult)
-{
-	// Check that there's at least 1 shape
-	uint num_subshapes = (uint)inSettings.mSubShapes.size();
-	if (num_subshapes < 2)
-	{
-		outResult.SetError("Compound needs at least 2 sub shapes, otherwise you should use a RotatedTranslatedShape!");
-		return;
-	}
-
-	// Keep track of total mass to calculate center of mass
-	float mass = 0.0f;
-
-	mSubShapes.resize(num_subshapes);
-	for (uint i = 0; i < num_subshapes; ++i)
-	{
-		const CompoundShapeSettings::SubShapeSettings &shape = inSettings.mSubShapes[i];
-
-		// Start constructing the runtime sub shape
-		SubShape &out_shape = mSubShapes[i];
-		if (!out_shape.FromSettings(shape, outResult))
-			return;
-
-		// Calculate mass properties of child
-		MassProperties child = out_shape.mShape->GetMassProperties();
-
-		// Accumulate center of mass
-		mass += child.mMass;
-		mCenterOfMass += out_shape.GetPositionCOM() * child.mMass;
-	}
-
-	if (mass > 0.0f)
-		mCenterOfMass /= mass;
-
-	// Cache the inner radius as it can take a while to recursively iterate over all sub shapes
-	CalculateInnerRadius();
-
-	// Temporary storage for the bounding boxes of all shapes
-	uint bounds_size = num_subshapes * sizeof(AABox);
-	AABox *bounds = (AABox *)inTempAllocator.Allocate(bounds_size);
-	JPH_SCOPE_EXIT([&inTempAllocator, bounds, bounds_size]{ inTempAllocator.Free(bounds, bounds_size); });
-
-	// Temporary storage for body indexes (we're shuffling them)
-	uint body_idx_size = num_subshapes * sizeof(uint);
-	uint *body_idx = (uint *)inTempAllocator.Allocate(body_idx_size);
-	JPH_SCOPE_EXIT([&inTempAllocator, body_idx, body_idx_size]{ inTempAllocator.Free(body_idx, body_idx_size); });
-
-	// Shift all shapes so that the center of mass is now at the origin and calculate bounds
-	for (uint i = 0; i < num_subshapes; ++i)
-	{
-		SubShape &shape = mSubShapes[i];
-
-		// Shift the shape so it's centered around our center of mass
-		shape.SetPositionCOM(shape.GetPositionCOM() - mCenterOfMass);
-
-		// Transform the shape's bounds into our local space
-		Mat44 transform = Mat44::sRotationTranslation(shape.GetRotation(), shape.GetPositionCOM());
-		AABox shape_bounds = shape.mShape->GetWorldSpaceBounds(transform, Vec3::sOne());
-
-		// Store bounds and body index for tree construction
-		bounds[i] = shape_bounds;
-		body_idx[i] = i;
-
-		// Update our local bounds
-		mLocalBounds.Encapsulate(shape_bounds);
-	}
-
-	// The algorithm is a recursive tree build, but to avoid the call overhead we keep track of a stack here
-	struct StackEntry
-	{
-		uint32			mNodeIdx;					// Node index of node that is generated
-		int				mChildIdx;					// Index of child that we're currently processing
-		int				mSplit[5];					// Indices where the node ID's have been split to form 4 partitions
-		AABox			mBounds;					// Bounding box of this node
-	};
-	uint stack_size = num_subshapes * sizeof(StackEntry);
-	StackEntry *stack = (StackEntry *)inTempAllocator.Allocate(stack_size);
-	JPH_SCOPE_EXIT([&inTempAllocator, stack, stack_size]{ inTempAllocator.Free(stack, stack_size); });
-	int top = 0;
-
-	// Reserve enough space so that every sub shape gets its own leaf node
-	uint next_node_idx = 0;
-	mNodes.resize(num_subshapes + (num_subshapes + 2) / 3); // = Sum(num_subshapes * 4^-i) with i = [0, Inf].
-
-	// Create root node
-	stack[0].mNodeIdx = next_node_idx++;
-	stack[0].mChildIdx = -1;
-	stack[0].mBounds = AABox();
-	sPartition4(body_idx, bounds, 0, num_subshapes, stack[0].mSplit);
-
-	for (;;)
-	{
-		StackEntry &cur_stack = stack[top];
-
-		// Next child
-		cur_stack.mChildIdx++;
-
-		// Check if all children processed
-		if (cur_stack.mChildIdx >= 4)
-		{
-			// Terminate if there's nothing left to pop
-			if (top <= 0)
-				break;
-
-			// Add our bounds to our parents bounds
-			StackEntry &prev_stack = stack[top - 1];
-			prev_stack.mBounds.Encapsulate(cur_stack.mBounds);
-
-			// Store this node's properties in the parent node
-			Node &parent_node = mNodes[prev_stack.mNodeIdx];
-			parent_node.mNodeProperties[prev_stack.mChildIdx] = cur_stack.mNodeIdx;
-			parent_node.SetChildBounds(prev_stack.mChildIdx, cur_stack.mBounds);
-
-			// Pop entry from stack
-			--top;
-		}
-		else
-		{
-			// Get low and high index to bodies to process
-			int low = cur_stack.mSplit[cur_stack.mChildIdx];
-			int high = cur_stack.mSplit[cur_stack.mChildIdx + 1];
-			int num_bodies = high - low;
-
-			if (num_bodies == 0)
-			{
-				// Mark invalid
-				Node &node = mNodes[cur_stack.mNodeIdx];
-				node.SetChildInvalid(cur_stack.mChildIdx);
-			}
-			else if (num_bodies == 1)
-			{
-				// Get body info
-				uint child_node_idx = body_idx[low];
-				const AABox &child_bounds = bounds[low];
-
-				// Update node
-				Node &node = mNodes[cur_stack.mNodeIdx];
-				node.mNodeProperties[cur_stack.mChildIdx] = child_node_idx | IS_SUBSHAPE;
-				node.SetChildBounds(cur_stack.mChildIdx, child_bounds);
-
-				// Encapsulate bounding box in parent
-				cur_stack.mBounds.Encapsulate(child_bounds);
-			}
-			else
-			{
-				// Allocate new node
-				StackEntry &new_stack = stack[++top];
-				JPH_ASSERT(top < (int)num_subshapes);
-				new_stack.mNodeIdx = next_node_idx++;
-				new_stack.mChildIdx = -1;
-				new_stack.mBounds = AABox();
-				sPartition4(body_idx, bounds, low, high, new_stack.mSplit);
-			}
-		}
-	}
-
-	// Resize nodes to actual size
-	JPH_ASSERT(next_node_idx <= mNodes.size());
-	mNodes.resize(next_node_idx);
-	mNodes.shrink_to_fit();
-
-	// Check if we ran out of bits for addressing a node
-	if (next_node_idx > IS_SUBSHAPE)
-	{
-		outResult.SetError("Compound hierarchy has too many nodes");
-		return;
-	}
-
-	// Check if we're not exceeding the amount of sub shape id bits
-	if (GetSubShapeIDBitsRecursive() > SubShapeID::MaxBits)
-	{
-		outResult.SetError("Compound hierarchy is too deep and exceeds the amount of available sub shape ID bits");
-		return;
-	}
-
-	outResult.Set(this);
-}
-
-template <class Visitor>
-inline void StaticCompoundShape::WalkTree(Visitor &ioVisitor) const
-{
-	uint32 node_stack[cStackSize];
-	node_stack[0] = 0;
-	int top = 0;
-	do
-	{
-		// Test if the node is valid, the node should rarely be invalid but it is possible when testing
-		// a really large box against the tree that the invalid nodes will intersect with the box
-		uint32 node_properties = node_stack[top];
-		if (node_properties != INVALID_NODE)
-		{
-			// Test if node contains triangles
-			bool is_node = (node_properties & IS_SUBSHAPE) == 0;
-			if (is_node)
-			{
-				const Node &node = mNodes[node_properties];
-
-				// Unpack bounds
-				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>());
-
-				// 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, top);
-
-				// Push them onto the stack
-				JPH_ASSERT(top + 4 < cStackSize);
-				properties.StoreInt4(&node_stack[top]);
-				top += num_results;
-			}
-			else
-			{
-				// Points to a sub shape
-				uint32 sub_shape_idx = node_properties ^ IS_SUBSHAPE;
-				const SubShape &sub_shape = mSubShapes[sub_shape_idx];
-
-				ioVisitor.VisitShape(sub_shape, sub_shape_idx);
-			}
-
-			// Check if we're done
-			if (ioVisitor.ShouldAbort())
-				break;
-		}
-
-		// Fetch next node until we find one that the visitor wants to see
-		do
-			--top;
-		while (top >= 0 && !ioVisitor.ShouldVisitNode(top));
-	}
-	while (top >= 0);
-}
-
-bool StaticCompoundShape::CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const
-{
-	JPH_PROFILE_FUNCTION();
-
-	struct Visitor : public CastRayVisitor
-	{
-		using CastRayVisitor::CastRayVisitor;
-
-		JPH_INLINE bool		ShouldVisitNode(int inStackTop) const
-		{
-			return mDistanceStack[inStackTop] < mHit.mFraction;
-		}
-
-		JPH_INLINE int		VisitNodes(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ, UVec4 &ioProperties, int inStackTop)
-		{
-			// Test bounds of 4 children
-			Vec4 distance = TestBounds(inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ);
-
-			// Sort so that highest values are first (we want to first process closer hits and we process stack top to bottom)
-			return SortReverseAndStore(distance, mHit.mFraction, ioProperties, &mDistanceStack[inStackTop]);
-		}
-
-		float				mDistanceStack[cStackSize];
-	};
-
-	Visitor visitor(inRay, this, inSubShapeIDCreator, ioHit);
-	WalkTree(visitor);
-	return visitor.mReturnValue;
-}
-
-void StaticCompoundShape::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;
-
-	JPH_PROFILE_FUNCTION();
-
-	struct Visitor : public CastRayVisitorCollector
-	{
-		using CastRayVisitorCollector::CastRayVisitorCollector;
-
-		JPH_INLINE bool		ShouldVisitNode(int inStackTop) const
-		{
-			return mDistanceStack[inStackTop] < mCollector.GetEarlyOutFraction();
-		}
-
-		JPH_INLINE int		VisitNodes(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ, UVec4 &ioProperties, int inStackTop)
-		{
-			// Test bounds of 4 children
-			Vec4 distance = TestBounds(inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ);
-
-			// Sort so that highest values are first (we want to first process closer hits and we process stack top to bottom)
-			return SortReverseAndStore(distance, mCollector.GetEarlyOutFraction(), ioProperties, &mDistanceStack[inStackTop]);
-		}
-
-		float				mDistanceStack[cStackSize];
-	};
-
-	Visitor visitor(inRay, inRayCastSettings, this, inSubShapeIDCreator, ioCollector, inShapeFilter);
-	WalkTree(visitor);
-}
-
-void StaticCompoundShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) const
-{
-	JPH_PROFILE_FUNCTION();
-
-	struct Visitor : public CollidePointVisitor
-	{
-		using CollidePointVisitor::CollidePointVisitor;
-
-		JPH_INLINE bool		ShouldVisitNode([[maybe_unused]] int inStackTop) const
-		{
-			return true;
-		}
-
-		JPH_INLINE int		VisitNodes(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ, UVec4 &ioProperties, [[maybe_unused]] int inStackTop) const
-		{
-			// Test if point overlaps with box
-			UVec4 collides = TestBounds(inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ);
-			return CountAndSortTrues(collides, ioProperties);
-		}
-	};
-
-	Visitor visitor(inPoint, this, inSubShapeIDCreator, ioCollector, inShapeFilter);
-	WalkTree(visitor);
-}
-
-void StaticCompoundShape::sCastShapeVsCompound(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector)
-{
-	JPH_PROFILE_FUNCTION();
-
-	struct Visitor : public CastShapeVisitor
-	{
-		using CastShapeVisitor::CastShapeVisitor;
-
-		JPH_INLINE bool		ShouldVisitNode(int inStackTop) const
-		{
-			return mDistanceStack[inStackTop] < mCollector.GetPositiveEarlyOutFraction();
-		}
-
-		JPH_INLINE int		VisitNodes(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ, UVec4 &ioProperties, int inStackTop)
-		{
-			// Test bounds of 4 children
-			Vec4 distance = TestBounds(inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ);
-
-			// Sort so that highest values are first (we want to first process closer hits and we process stack top to bottom)
-			return SortReverseAndStore(distance, mCollector.GetPositiveEarlyOutFraction(), ioProperties, &mDistanceStack[inStackTop]);
-		}
-
-		float				mDistanceStack[cStackSize];
-	};
-
-	JPH_ASSERT(inShape->GetSubType() == EShapeSubType::StaticCompound);
-	const StaticCompoundShape *shape = static_cast<const StaticCompoundShape *>(inShape);
-
-	Visitor visitor(inShapeCast, inShapeCastSettings, shape, inScale, inShapeFilter, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, ioCollector);
-	shape->WalkTree(visitor);
-}
-
-void StaticCompoundShape::CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const
-{
-	JPH_PROFILE_FUNCTION();
-
-	// Test shape filter
-	if (!inShapeFilter.ShouldCollide(this, inSubShapeIDCreator.GetID()))
-		return;
-
-	struct Visitor : public CollectTransformedShapesVisitor
-	{
-		using CollectTransformedShapesVisitor::CollectTransformedShapesVisitor;
-
-		JPH_INLINE bool		ShouldVisitNode([[maybe_unused]] int inStackTop) const
-		{
-			return true;
-		}
-
-		JPH_INLINE int		VisitNodes(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ, UVec4 &ioProperties, [[maybe_unused]] int inStackTop) const
-		{
-			// Test which nodes collide
-			UVec4 collides = TestBounds(inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ);
-			return CountAndSortTrues(collides, ioProperties);
-		}
-	};
-
-	Visitor visitor(inBox, this, inPositionCOM, inRotation, inScale, inSubShapeIDCreator, ioCollector, inShapeFilter);
-	WalkTree(visitor);
-}
-
-int StaticCompoundShape::GetIntersectingSubShapes(const AABox &inBox, uint *outSubShapeIndices, int inMaxSubShapeIndices) const
-{
-	JPH_PROFILE_FUNCTION();
-
-	GetIntersectingSubShapesVisitorSC<AABox> visitor(inBox, outSubShapeIndices, inMaxSubShapeIndices);
-	WalkTree(visitor);
-	return visitor.GetNumResults();
-}
-
-int StaticCompoundShape::GetIntersectingSubShapes(const OrientedBox &inBox, uint *outSubShapeIndices, int inMaxSubShapeIndices) const
-{
-	JPH_PROFILE_FUNCTION();
-
-	GetIntersectingSubShapesVisitorSC<OrientedBox> visitor(inBox, outSubShapeIndices, inMaxSubShapeIndices);
-	WalkTree(visitor);
-	return visitor.GetNumResults();
-}
-
-void StaticCompoundShape::sCollideCompoundVsShape(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_PROFILE_FUNCTION();
-
-	JPH_ASSERT(inShape1->GetSubType() == EShapeSubType::StaticCompound);
-	const StaticCompoundShape *shape1 = static_cast<const StaticCompoundShape *>(inShape1);
-
-	struct Visitor : public CollideCompoundVsShapeVisitor
-	{
-		using CollideCompoundVsShapeVisitor::CollideCompoundVsShapeVisitor;
-
-		JPH_INLINE bool		ShouldVisitNode([[maybe_unused]] int inStackTop) const
-		{
-			return true;
-		}
-
-		JPH_INLINE int		VisitNodes(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ, UVec4 &ioProperties, [[maybe_unused]] int inStackTop) const
-		{
-			// Test which nodes collide
-			UVec4 collides = TestBounds(inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ);
-			return CountAndSortTrues(collides, ioProperties);
-		}
-	};
-
-	Visitor visitor(shape1, inShape2, inScale1, inScale2, inCenterOfMassTransform1, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector, inShapeFilter);
-	shape1->WalkTree(visitor);
-}
-
-void StaticCompoundShape::sCollideShapeVsCompound(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_PROFILE_FUNCTION();
-
-	struct Visitor : public CollideShapeVsCompoundVisitor
-	{
-		using CollideShapeVsCompoundVisitor::CollideShapeVsCompoundVisitor;
-
-		JPH_INLINE bool		ShouldVisitNode([[maybe_unused]] int inStackTop) const
-		{
-			return true;
-		}
-
-		JPH_INLINE int		VisitNodes(Vec4Arg inBoundsMinX, Vec4Arg inBoundsMinY, Vec4Arg inBoundsMinZ, Vec4Arg inBoundsMaxX, Vec4Arg inBoundsMaxY, Vec4Arg inBoundsMaxZ, UVec4 &ioProperties, [[maybe_unused]] int inStackTop) const
-		{
-			// Test which nodes collide
-			UVec4 collides = TestBounds(inBoundsMinX, inBoundsMinY, inBoundsMinZ, inBoundsMaxX, inBoundsMaxY, inBoundsMaxZ);
-			return CountAndSortTrues(collides, ioProperties);
-		}
-	};
-
-	JPH_ASSERT(inShape2->GetSubType() == EShapeSubType::StaticCompound);
-	const StaticCompoundShape *shape2 = static_cast<const StaticCompoundShape *>(inShape2);
-
-	Visitor visitor(inShape1, shape2, inScale1, inScale2, inCenterOfMassTransform1, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector, inShapeFilter);
-	shape2->WalkTree(visitor);
-}
-
-void StaticCompoundShape::SaveBinaryState(StreamOut &inStream) const
-{
-	CompoundShape::SaveBinaryState(inStream);
-
-	inStream.Write(mNodes);
-}
-
-void StaticCompoundShape::RestoreBinaryState(StreamIn &inStream)
-{
-	CompoundShape::RestoreBinaryState(inStream);
-
-	inStream.Read(mNodes);
-}
-
-void StaticCompoundShape::sRegister()
-{
-	ShapeFunctions &f = ShapeFunctions::sGet(EShapeSubType::StaticCompound);
-	f.mConstruct = []() -> Shape * { return new StaticCompoundShape; };
-	f.mColor = Color::sOrange;
-
-	for (EShapeSubType s : sAllSubShapeTypes)
-	{
-		CollisionDispatch::sRegisterCollideShape(EShapeSubType::StaticCompound, s, sCollideCompoundVsShape);
-		CollisionDispatch::sRegisterCollideShape(s, EShapeSubType::StaticCompound, sCollideShapeVsCompound);
-		CollisionDispatch::sRegisterCastShape(s, EShapeSubType::StaticCompound, sCastShapeVsCompound);
-	}
-}
-
-JPH_NAMESPACE_END