@bloomengine/engine 0.4.0 → 0.4.2

package/native/third_party/JoltPhysics/Jolt/Physics/SoftBody/SoftBodyShape.cpp

@@ -1,354 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2023 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#include <Jolt/Jolt.h>
-
-#include <Jolt/Physics/SoftBody/SoftBodyShape.h>
-#include <Jolt/Core/Profiler.h>
-#include <Jolt/Geometry/RayTriangle.h>
-#include <Jolt/Physics/Collision/RayCast.h>
-#include <Jolt/Physics/Collision/CastResult.h>
-#include <Jolt/Physics/Collision/TransformedShape.h>
-#include <Jolt/Physics/SoftBody/SoftBodyMotionProperties.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>
-#ifdef JPH_DEBUG_RENDERER
-	#include <Jolt/Renderer/DebugRenderer.h>
-#endif // JPH_DEBUG_RENDERER
-
-JPH_NAMESPACE_BEGIN
-
-uint SoftBodyShape::GetSubShapeIDBits() const
-{
-	// Ensure we have enough bits to encode our shape [0, n - 1]
-	uint32 n = (uint32)mSoftBodyMotionProperties->GetFaces().size() - 1;
-	return 32 - CountLeadingZeros(n);
-}
-
-uint32 SoftBodyShape::GetFaceIndex(const SubShapeID &inSubShapeID) const
-{
-	SubShapeID remainder;
-	uint32 face_index = inSubShapeID.PopID(GetSubShapeIDBits(), remainder);
-	JPH_ASSERT(remainder.IsEmpty());
-	return face_index;
-}
-
-AABox SoftBodyShape::GetLocalBounds() const
-{
-	return mSoftBodyMotionProperties->GetLocalBounds();
-}
-
-bool SoftBodyShape::CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const
-{
-	JPH_PROFILE_FUNCTION();
-
-	uint num_triangle_bits = GetSubShapeIDBits();
-	uint triangle_idx = uint(-1);
-
-	const Array<SoftBodyVertex> &vertices = mSoftBodyMotionProperties->GetVertices();
-	for (const SoftBodyMotionProperties::Face &f : mSoftBodyMotionProperties->GetFaces())
-	{
-		Vec3 x1 = vertices[f.mVertex[0]].mPosition;
-		Vec3 x2 = vertices[f.mVertex[1]].mPosition;
-		Vec3 x3 = vertices[f.mVertex[2]].mPosition;
-
-		float fraction = RayTriangle(inRay.mOrigin, inRay.mDirection, x1, x2, x3);
-		if (fraction < ioHit.mFraction)
-		{
-			// Store fraction
-			ioHit.mFraction = fraction;
-
-			// Store triangle index
-			triangle_idx = uint(&f - mSoftBodyMotionProperties->GetFaces().data());
-		}
-	}
-
-	if (triangle_idx == uint(-1))
-		return false;
-
-	ioHit.mSubShapeID2 = inSubShapeIDCreator.PushID(triangle_idx, num_triangle_bits).GetID();
-	return true;
-}
-
-void SoftBodyShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter) const
-{
-	JPH_PROFILE_FUNCTION();
-
-	// Test shape filter
-	if (!inShapeFilter.ShouldCollide(this, inSubShapeIDCreator.GetID()))
-		return;
-
-	uint num_triangle_bits = GetSubShapeIDBits();
-	bool check_backfaces = inRayCastSettings.mBackFaceModeTriangles == EBackFaceMode::IgnoreBackFaces && !mSoftBodyMotionProperties->GetFacesDoubleSided();
-
-	const Array<SoftBodyVertex> &vertices = mSoftBodyMotionProperties->GetVertices();
-	for (const SoftBodyMotionProperties::Face &f : mSoftBodyMotionProperties->GetFaces())
-	{
-		Vec3 x1 = vertices[f.mVertex[0]].mPosition;
-		Vec3 x2 = vertices[f.mVertex[1]].mPosition;
-		Vec3 x3 = vertices[f.mVertex[2]].mPosition;
-
-		// Back facing check
-		if (check_backfaces && (x2 - x1).Cross(x3 - x1).Dot(inRay.mDirection) > 0.0f)
-			continue;
-
-		// Test ray against triangle
-		float fraction = RayTriangle(inRay.mOrigin, inRay.mDirection, x1, x2, x3);
-		if (fraction < ioCollector.GetEarlyOutFraction())
-		{
-			// Better hit than the current hit
-			RayCastResult hit;
-			hit.mBodyID = TransformedShape::sGetBodyID(ioCollector.GetContext());
-			hit.mFraction = fraction;
-			hit.mSubShapeID2 = inSubShapeIDCreator.PushID(uint(&f - mSoftBodyMotionProperties->GetFaces().data()), num_triangle_bits).GetID();
-			ioCollector.AddHit(hit);
-		}
-	}
-}
-
-void SoftBodyShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) const
-{
-	sCollidePointUsingRayCast(*this, inPoint, inSubShapeIDCreator, ioCollector, inShapeFilter);
-}
-
-void SoftBodyShape::CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const
-{
-	/* Not implemented */
-}
-
-const PhysicsMaterial *SoftBodyShape::GetMaterial(const SubShapeID &inSubShapeID) const
-{
-	SubShapeID remainder;
-	uint triangle_idx = inSubShapeID.PopID(GetSubShapeIDBits(), remainder);
-	JPH_ASSERT(remainder.IsEmpty());
-
-	const SoftBodyMotionProperties::Face &f = mSoftBodyMotionProperties->GetFace(triangle_idx);
-	return mSoftBodyMotionProperties->GetMaterials()[f.mMaterialIndex];
-}
-
-Vec3 SoftBodyShape::GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const
-{
-	SubShapeID remainder;
-	uint triangle_idx = inSubShapeID.PopID(GetSubShapeIDBits(), remainder);
-	JPH_ASSERT(remainder.IsEmpty());
-
-	const SoftBodyMotionProperties::Face &f = mSoftBodyMotionProperties->GetFace(triangle_idx);
-	const Array<SoftBodyVertex> &vertices = mSoftBodyMotionProperties->GetVertices();
-
-	Vec3 x1 = vertices[f.mVertex[0]].mPosition;
-	Vec3 x2 = vertices[f.mVertex[1]].mPosition;
-	Vec3 x3 = vertices[f.mVertex[2]].mPosition;
-
-	return (x2 - x1).Cross(x3 - x1).NormalizedOr(Vec3::sAxisY());
-}
-
-void SoftBodyShape::GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const
-{
-	SubShapeID remainder;
-	uint triangle_idx = inSubShapeID.PopID(GetSubShapeIDBits(), remainder);
-	JPH_ASSERT(remainder.IsEmpty());
-
-	const SoftBodyMotionProperties::Face &f = mSoftBodyMotionProperties->GetFace(triangle_idx);
-	const Array<SoftBodyVertex> &vertices = mSoftBodyMotionProperties->GetVertices();
-
-	for (uint32 i : f.mVertex)
-		outVertices.push_back(inCenterOfMassTransform * (inScale * vertices[i].mPosition));
-}
-
-void SoftBodyShape::GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) const
-{
-	outSubmergedVolume = 0.0f;
-	outTotalVolume = mSoftBodyMotionProperties->GetVolume();
-	outCenterOfBuoyancy = Vec3::sZero();
-}
-
-#ifdef JPH_DEBUG_RENDERER
-
-void SoftBodyShape::Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const
-{
-	const Array<SoftBodyVertex> &vertices = mSoftBodyMotionProperties->GetVertices();
-	for (const SoftBodyMotionProperties::Face &f : mSoftBodyMotionProperties->GetFaces())
-	{
-		RVec3 x1 = inCenterOfMassTransform * vertices[f.mVertex[0]].mPosition;
-		RVec3 x2 = inCenterOfMassTransform * vertices[f.mVertex[1]].mPosition;
-		RVec3 x3 = inCenterOfMassTransform * vertices[f.mVertex[2]].mPosition;
-
-		inRenderer->DrawTriangle(x1, x2, x3, inColor, DebugRenderer::ECastShadow::On);
-	}
-}
-
-#endif // JPH_DEBUG_RENDERER
-
-struct SoftBodyShape::SBSGetTrianglesContext
-{
-	Mat44		mCenterOfMassTransform;
-	int			mTriangleIndex;
-};
-
-void SoftBodyShape::GetTrianglesStart(GetTrianglesContext &ioContext, [[maybe_unused]] const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const
-{
-	SBSGetTrianglesContext &context = reinterpret_cast<SBSGetTrianglesContext &>(ioContext);
-	context.mCenterOfMassTransform = Mat44::sRotationTranslation(inRotation, inPositionCOM) * Mat44::sScale(inScale);
-	context.mTriangleIndex = 0;
-}
-
-int SoftBodyShape::GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials) const
-{
-	SBSGetTrianglesContext &context = reinterpret_cast<SBSGetTrianglesContext &>(ioContext);
-
-	const Array<SoftBodyMotionProperties::Face> &faces = mSoftBodyMotionProperties->GetFaces();
-	const Array<SoftBodyVertex> &vertices = mSoftBodyMotionProperties->GetVertices();
-	const PhysicsMaterialList &materials = mSoftBodyMotionProperties->GetMaterials();
-
-	int num_triangles = min(inMaxTrianglesRequested, (int)faces.size() - context.mTriangleIndex);
-	for (int i = 0; i < num_triangles; ++i)
-	{
-		const SoftBodyMotionProperties::Face &f = faces[context.mTriangleIndex + i];
-
-		Vec3 x1 = context.mCenterOfMassTransform * vertices[f.mVertex[0]].mPosition;
-		Vec3 x2 = context.mCenterOfMassTransform * vertices[f.mVertex[1]].mPosition;
-		Vec3 x3 = context.mCenterOfMassTransform * vertices[f.mVertex[2]].mPosition;
-
-		x1.StoreFloat3(outTriangleVertices++);
-		x2.StoreFloat3(outTriangleVertices++);
-		x3.StoreFloat3(outTriangleVertices++);
-
-		if (outMaterials != nullptr)
-			*outMaterials++ = materials[f.mMaterialIndex];
-	}
-
-	context.mTriangleIndex += num_triangles;
-	return num_triangles;
-}
-
-Shape::Stats SoftBodyShape::GetStats() const
-{
-	return Stats(sizeof(*this), (uint)mSoftBodyMotionProperties->GetFaces().size());
-}
-
-float SoftBodyShape::GetVolume() const
-{
-	return mSoftBodyMotionProperties->GetVolume();
-}
-
-void SoftBodyShape::sCollideConvexVsSoftBody(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::SoftBody);
-	const SoftBodyShape *shape2 = static_cast<const SoftBodyShape *>(inShape2);
-
-	const Array<SoftBodyVertex> &vertices = shape2->mSoftBodyMotionProperties->GetVertices();
-	const Array<SoftBodyMotionProperties::Face> &faces = shape2->mSoftBodyMotionProperties->GetFaces();
-	uint num_triangle_bits = shape2->GetSubShapeIDBits();
-
-	CollideShapeSettings settings(inCollideShapeSettings);
-	if (shape2->mSoftBodyMotionProperties->GetFacesDoubleSided())
-		settings.mBackFaceMode = EBackFaceMode::CollideWithBackFaces;
-	CollideConvexVsTriangles collider(shape1, inScale1, inScale2, inCenterOfMassTransform1, inCenterOfMassTransform2, inSubShapeIDCreator1.GetID(), settings, ioCollector);
-	for (const SoftBodyMotionProperties::Face &f : faces)
-	{
-		Vec3 x1 = vertices[f.mVertex[0]].mPosition;
-		Vec3 x2 = vertices[f.mVertex[1]].mPosition;
-		Vec3 x3 = vertices[f.mVertex[2]].mPosition;
-
-		collider.Collide(x1, x2, x3, 0b111, inSubShapeIDCreator2.PushID(uint(&f - faces.data()), num_triangle_bits).GetID());
-	}
-}
-
-void SoftBodyShape::sCollideSphereVsSoftBody(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::SoftBody);
-	const SoftBodyShape *shape2 = static_cast<const SoftBodyShape *>(inShape2);
-
-	const Array<SoftBodyVertex> &vertices = shape2->mSoftBodyMotionProperties->GetVertices();
-	const Array<SoftBodyMotionProperties::Face> &faces = shape2->mSoftBodyMotionProperties->GetFaces();
-	uint num_triangle_bits = shape2->GetSubShapeIDBits();
-
-	CollideShapeSettings settings(inCollideShapeSettings);
-	if (shape2->mSoftBodyMotionProperties->GetFacesDoubleSided())
-		settings.mBackFaceMode = EBackFaceMode::CollideWithBackFaces;
-	CollideSphereVsTriangles collider(shape1, inScale1, inScale2, inCenterOfMassTransform1, inCenterOfMassTransform2, inSubShapeIDCreator1.GetID(), settings, ioCollector);
-	for (const SoftBodyMotionProperties::Face &f : faces)
-	{
-		Vec3 x1 = vertices[f.mVertex[0]].mPosition;
-		Vec3 x2 = vertices[f.mVertex[1]].mPosition;
-		Vec3 x3 = vertices[f.mVertex[2]].mPosition;
-
-		collider.Collide(x1, x2, x3, 0b111, inSubShapeIDCreator2.PushID(uint(&f - faces.data()), num_triangle_bits).GetID());
-	}
-}
-
-void SoftBodyShape::sCastConvexVsSoftBody(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::SoftBody);
-	const SoftBodyShape *shape = static_cast<const SoftBodyShape *>(inShape);
-
-	const Array<SoftBodyVertex> &vertices = shape->mSoftBodyMotionProperties->GetVertices();
-	const Array<SoftBodyMotionProperties::Face> &faces = shape->mSoftBodyMotionProperties->GetFaces();
-	uint num_triangle_bits = shape->GetSubShapeIDBits();
-
-	ShapeCastSettings settings(inShapeCastSettings);
-	if (shape->mSoftBodyMotionProperties->GetFacesDoubleSided())
-		settings.mBackFaceModeTriangles = EBackFaceMode::CollideWithBackFaces;
-	CastConvexVsTriangles caster(inShapeCast, settings, inScale, inCenterOfMassTransform2, inSubShapeIDCreator1, ioCollector);
-	for (const SoftBodyMotionProperties::Face &f : faces)
-	{
-		Vec3 x1 = vertices[f.mVertex[0]].mPosition;
-		Vec3 x2 = vertices[f.mVertex[1]].mPosition;
-		Vec3 x3 = vertices[f.mVertex[2]].mPosition;
-
-		caster.Cast(x1, x2, x3, 0b111, inSubShapeIDCreator2.PushID(uint(&f - faces.data()), num_triangle_bits).GetID());
-	}
-}
-
-void SoftBodyShape::sCastSphereVsSoftBody(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::SoftBody);
-	const SoftBodyShape *shape = static_cast<const SoftBodyShape *>(inShape);
-
-	const Array<SoftBodyVertex> &vertices = shape->mSoftBodyMotionProperties->GetVertices();
-	const Array<SoftBodyMotionProperties::Face> &faces = shape->mSoftBodyMotionProperties->GetFaces();
-	uint num_triangle_bits = shape->GetSubShapeIDBits();
-
-	ShapeCastSettings settings(inShapeCastSettings);
-	if (shape->mSoftBodyMotionProperties->GetFacesDoubleSided())
-		settings.mBackFaceModeTriangles = EBackFaceMode::CollideWithBackFaces;
-	CastSphereVsTriangles caster(inShapeCast, settings, inScale, inCenterOfMassTransform2, inSubShapeIDCreator1, ioCollector);
-	for (const SoftBodyMotionProperties::Face &f : faces)
-	{
-		Vec3 x1 = vertices[f.mVertex[0]].mPosition;
-		Vec3 x2 = vertices[f.mVertex[1]].mPosition;
-		Vec3 x3 = vertices[f.mVertex[2]].mPosition;
-
-		caster.Cast(x1, x2, x3, 0b111, inSubShapeIDCreator2.PushID(uint(&f - faces.data()), num_triangle_bits).GetID());
-	}
-}
-
-void SoftBodyShape::sRegister()
-{
-	ShapeFunctions &f = ShapeFunctions::sGet(EShapeSubType::SoftBody);
-	f.mConstruct = nullptr; // Not supposed to be constructed by users!
-	f.mColor = Color::sDarkGreen;
-
-	for (EShapeSubType s : sConvexSubShapeTypes)
-	{
-		CollisionDispatch::sRegisterCollideShape(s, EShapeSubType::SoftBody, sCollideConvexVsSoftBody);
-		CollisionDispatch::sRegisterCastShape(s, EShapeSubType::SoftBody, sCastConvexVsSoftBody);
-
-		CollisionDispatch::sRegisterCollideShape(EShapeSubType::SoftBody, s, CollisionDispatch::sReversedCollideShape);
-		CollisionDispatch::sRegisterCastShape(EShapeSubType::SoftBody, s, CollisionDispatch::sReversedCastShape);
-	}
-
-	// Specialized collision functions
-	CollisionDispatch::sRegisterCollideShape(EShapeSubType::Sphere, EShapeSubType::SoftBody, sCollideSphereVsSoftBody);
-	CollisionDispatch::sRegisterCastShape(EShapeSubType::Sphere, EShapeSubType::SoftBody, sCastSphereVsSoftBody);
-}
-
-JPH_NAMESPACE_END

package/native/third_party/JoltPhysics/Jolt/Physics/SoftBody/SoftBodyShape.h

@@ -1,73 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2023 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#pragma once
-
-#include <Jolt/Physics/Collision/Shape/Shape.h>
-
-JPH_NAMESPACE_BEGIN
-
-class SoftBodyMotionProperties;
-class CollideShapeSettings;
-
-/// Shape used exclusively for soft bodies. Adds the ability to perform collision checks against soft bodies.
-class JPH_EXPORT SoftBodyShape final : public Shape
-{
-public:
-	JPH_OVERRIDE_NEW_DELETE
-
-	/// Constructor
-									SoftBodyShape()											: Shape(EShapeType::SoftBody, EShapeSubType::SoftBody) { }
-
-	/// Determine amount of bits needed to encode sub shape id
-	uint							GetSubShapeIDBits() const;
-
-	/// Convert a sub shape ID back to a face index
-	uint32							GetFaceIndex(const SubShapeID &inSubShapeID) const;
-
-	// See Shape
-	virtual bool					MustBeStatic() const override							{ return false; }
-	virtual Vec3					GetCenterOfMass() const override						{ return Vec3::sZero(); }
-	virtual AABox					GetLocalBounds() const override;
-	virtual uint					GetSubShapeIDBitsRecursive() const override				{ return GetSubShapeIDBits(); }
-	virtual float					GetInnerRadius() const override							{ return 0.0f; }
-	virtual MassProperties			GetMassProperties() const override						{ return MassProperties(); }
-	virtual const PhysicsMaterial *	GetMaterial(const SubShapeID &inSubShapeID) const override;
-	virtual Vec3					GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override;
-	virtual void					GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override;
-	virtual void					GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy
-#ifdef JPH_DEBUG_RENDERER // Not using JPH_IF_DEBUG_RENDERER for Doxygen
-		, RVec3Arg inBaseOffset
-#endif
-		) const override;
-#ifdef JPH_DEBUG_RENDERER
-	virtual void					Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const override;
-#endif // JPH_DEBUG_RENDERER
-	virtual bool					CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
-	virtual void					CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
-	virtual void					CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
-	virtual void					CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const override;
-	virtual void					GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override;
-	virtual int						GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override;
-	virtual Stats					GetStats() const override;
-	virtual float					GetVolume() const override;
-
-	// Register shape functions with the registry
-	static void						sRegister();
-
-private:
-	// Helper functions called by CollisionDispatch
-	static void						sCollideConvexVsSoftBody(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);
-	static void						sCollideSphereVsSoftBody(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);
-	static void						sCastConvexVsSoftBody(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
-	static void						sCastSphereVsSoftBody(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
-
-	struct SBSGetTrianglesContext;
-
-	friend class BodyManager;
-
-	const SoftBodyMotionProperties *mSoftBodyMotionProperties;
-};
-
-JPH_NAMESPACE_END