@bloomengine/engine 0.4.0 → 0.4.1

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

@@ -1,132 +0,0 @@
-// 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

@@ -1,430 +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/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