CastingUtilities.h

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// Copyright Epic Games, Inc. All Rights Reserved.
#pragma once
 
#include "Chaos/ImplicitObject.h"
 
#include "Chaos/ImplicitObjectScaled.h"
#include "Chaos/ImplicitObjectTransformed.h"
#include "Chaos/ImplicitObjectUnion.h"
#include "Chaos/Sphere.h"
#include "Chaos/Capsule.h"
#include "Chaos/Convex.h"
#include "Chaos/TriangleMeshImplicitObject.h"
#include "Chaos/Box.h"
 
namespace Chaos
{
    namespace Utilities
    {
        // Call the lambda with concrete shape type. Unwraps shapes contained in Instanced (e.g., Instanced-Sphere will be called with Sphere. Note that this will effectively discard any instance properties like the margin)
        template <typename Lambda>
        FORCEINLINE_DEBUGGABLE decltype(auto) CastHelper(const FImplicitObject& Geom, const Lambda& Func)
        {
            const EImplicitObjectType Type = Geom.GetType();
            switch (Type)
            {
            case ImplicitObjectType::Sphere:
            {
                return Func(Geom.template GetObjectChecked<FSphere>());
            }
            case ImplicitObjectType::Box:
            {
                return Func(Geom.template GetObjectChecked<TBox<FReal, 3>>());
            }
            case ImplicitObjectType::Capsule:
            {
                return Func(Geom.template GetObjectChecked<FCapsule>());
            }
            case ImplicitObjectType::Convex:
            {
                return Func(Geom.template GetObjectChecked<FConvex>());
            }
            case ImplicitObjectType::IsScaled | ImplicitObjectType::Sphere:
            {
                return Func(Geom.template GetObjectChecked<TImplicitObjectScaled<FSphere>>());
            }
            case ImplicitObjectType::IsScaled | ImplicitObjectType::Box:
            {
                return Func(Geom.template GetObjectChecked< TImplicitObjectScaled<TBox<FReal, 3>>>());
            }
            case ImplicitObjectType::IsScaled | ImplicitObjectType::Capsule:
            {
                return Func(Geom.template GetObjectChecked< TImplicitObjectScaled<FCapsule>>());
            }
            case ImplicitObjectType::IsScaled | ImplicitObjectType::Convex:
            {
                return Func(Geom.template GetObjectChecked< TImplicitObjectScaled<FConvex>>());
            }
            case ImplicitObjectType::IsInstanced | ImplicitObjectType::Sphere:
            {
                return Func(Geom.template GetObjectChecked< TImplicitObjectInstanced<FSphere>>().GetInstancedObject()->template GetObjectChecked<FSphere>());
            }
            case ImplicitObjectType::IsInstanced | ImplicitObjectType::Box:
            {
                return Func(Geom.template GetObjectChecked< TImplicitObjectInstanced<TBox<FReal, 3>>>().GetInstancedObject()->template GetObjectChecked<TBox<FReal, 3>>());
            }
            case ImplicitObjectType::IsInstanced | ImplicitObjectType::Capsule:
            {
                return Func(Geom.template GetObjectChecked< TImplicitObjectInstanced<FCapsule>>().GetInstancedObject()->template GetObjectChecked<FCapsule>());
            }
            case ImplicitObjectType::IsInstanced | ImplicitObjectType::Convex:
            {
                return Func(Geom.template GetObjectChecked< TImplicitObjectInstanced<FConvex>>().GetInstancedObject()->template GetObjectChecked<FConvex>());
            }
            case ImplicitObjectType::Transformed:
            {
                const auto& ImplicitObjectTransformed = (Geom.template GetObjectChecked<TImplicitObjectTransformed<FReal, 3>>());
                return CastHelper(*ImplicitObjectTransformed.GetTransformedObject(), Func);
            }
            default: 
                check(false);
            }
            return Func(Geom.template GetObjectChecked<FSphere>()); //needed for return type
        }
 
        // Call the lambda with concrete shape type. Unwraps shapes contained in Instanced (e.g., Instanced-Sphere will be called with Sphere. Note that this will effectively discard any instance properties like the margin)
        template <typename Lambda>
        FORCEINLINE_DEBUGGABLE decltype(auto) CastHelper(const FImplicitObject& Geom, const FRigidTransform3& TM, const Lambda& Func)
        {
            const EImplicitObjectType Type = Geom.GetType();
            switch (Type)
            {
            case ImplicitObjectType::Sphere: return Func(Geom.template GetObjectChecked<FSphere>(), TM);
            case ImplicitObjectType::Box: return Func(Geom.template GetObjectChecked<TBox<FReal, 3>>(), TM);
            case ImplicitObjectType::Capsule: return Func(Geom.template GetObjectChecked<FCapsule>(), TM);
            case ImplicitObjectType::Convex: return Func(Geom.template GetObjectChecked<FConvex>(), TM);
            case ImplicitObjectType::IsScaled | ImplicitObjectType::Sphere: return Func(Geom.template GetObjectChecked<TImplicitObjectScaled<FSphere>>(), TM);
            case ImplicitObjectType::IsScaled | ImplicitObjectType::Box: return Func(Geom.template GetObjectChecked< TImplicitObjectScaled<TBox<FReal, 3>>>(), TM);
            case ImplicitObjectType::IsScaled | ImplicitObjectType::Capsule: return Func(Geom.template GetObjectChecked< TImplicitObjectScaled<FCapsule>>(), TM);
            case ImplicitObjectType::IsScaled | ImplicitObjectType::Convex: return Func(Geom.template GetObjectChecked< TImplicitObjectScaled<FConvex>>(), TM);
            case ImplicitObjectType::IsInstanced | ImplicitObjectType::Sphere:
            {
                return Func(Geom.template GetObjectChecked< TImplicitObjectInstanced<FSphere>>().GetInstancedObject()->template GetObjectChecked<FSphere>(), TM);
            }
            case ImplicitObjectType::IsInstanced | ImplicitObjectType::Box:
            {
                return Func(Geom.template GetObjectChecked< TImplicitObjectInstanced<TBox<FReal, 3>>>().GetInstancedObject()->template GetObjectChecked<TBox<FReal, 3>>(), TM);
            }
            case ImplicitObjectType::IsInstanced | ImplicitObjectType::Capsule:
            {
                return Func(Geom.template GetObjectChecked< TImplicitObjectInstanced<FCapsule>>().GetInstancedObject()->template GetObjectChecked<FCapsule>(), TM);
            }
            case ImplicitObjectType::IsInstanced | ImplicitObjectType::Convex:
            {
                return Func(Geom.template GetObjectChecked< TImplicitObjectInstanced<FConvex>>().GetInstancedObject()->template GetObjectChecked<FConvex>(), TM);
            }
            case ImplicitObjectType::Transformed:
            {
                const auto& ImplicitObjectTransformed = (Geom.template GetObjectChecked<TImplicitObjectTransformed<FReal, 3>>());
                return CastHelper(*ImplicitObjectTransformed.GetTransformedObject(), ImplicitObjectTransformed.GetTransform() * TM, Func);
            }
 
            default: check(false);
            }
            return Func(Geom.template GetObjectChecked<FSphere>(), TM); //needed for return type
        }
 
        // Call the lambda with concrete shape type. This version does NOT unwrap shapes contained in Instanced or Scaled.
        template <typename Lambda>
        FORCEINLINE_DEBUGGABLE decltype(auto) CastHelperNoUnwrap(const FImplicitObject& Geom, const FRigidTransform3& TM, const Lambda& Func)
        {
            const EImplicitObjectType Type = Geom.GetType();
            switch (Type)
            {
            case ImplicitObjectType::Sphere: return Func(Geom.template GetObjectChecked<FSphere>(), TM);
            case ImplicitObjectType::Box: return Func(Geom.template GetObjectChecked<TBox<FReal, 3>>(), TM);
            case ImplicitObjectType::Capsule: return Func(Geom.template GetObjectChecked<FCapsule>(), TM);
            case ImplicitObjectType::Convex: return Func(Geom.template GetObjectChecked<FConvex>(), TM);
            case ImplicitObjectType::IsScaled | ImplicitObjectType::Sphere: return Func(Geom.template GetObjectChecked<TImplicitObjectScaled<FSphere>>(), TM);
            case ImplicitObjectType::IsScaled | ImplicitObjectType::Box: return Func(Geom.template GetObjectChecked< TImplicitObjectScaled<TBox<FReal, 3>>>(), TM);
            case ImplicitObjectType::IsScaled | ImplicitObjectType::Capsule: return Func(Geom.template GetObjectChecked< TImplicitObjectScaled<FCapsule>>(), TM);
            case ImplicitObjectType::IsScaled | ImplicitObjectType::Convex: return Func(Geom.template GetObjectChecked< TImplicitObjectScaled<FConvex>>(), TM);
            case ImplicitObjectType::IsInstanced | ImplicitObjectType::Sphere: return Func(Geom.template GetObjectChecked< TImplicitObjectInstanced<FSphere>>(), TM);
            case ImplicitObjectType::IsInstanced | ImplicitObjectType::Box: return Func(Geom.template GetObjectChecked< TImplicitObjectInstanced<TBox<FReal, 3>>>(), TM);
            case ImplicitObjectType::IsInstanced | ImplicitObjectType::Capsule: return Func(Geom.template GetObjectChecked< TImplicitObjectInstanced<FCapsule>>(), TM);
            case ImplicitObjectType::IsInstanced | ImplicitObjectType::Convex: return Func(Geom.template GetObjectChecked< TImplicitObjectInstanced<FConvex>>(), TM);
            case ImplicitObjectType::Transformed:
            {
                const auto& ImplicitObjectTransformed = (Geom.template GetObjectChecked<TImplicitObjectTransformed<FReal, 3>>());
                return CastHelper(*ImplicitObjectTransformed.GetTransformedObject(), ImplicitObjectTransformed.GetTransform() * TM, Func);
            }
 
            default: check(false);
            }
            return Func(Geom.template GetObjectChecked<FSphere>(), TM); //needed for return type
        }
 
        template <typename Lambda>
        FORCEINLINE_DEBUGGABLE decltype(auto) CastHelperNoUnwrap(const FImplicitObject& Geom, const FRigidTransform3& TM0, const FRigidTransform3& TM1, const Lambda& Func)
        {
            const EImplicitObjectType Type = Geom.GetType();
            switch (Type)
            {
            case ImplicitObjectType::Sphere: return Func(Geom.template GetObjectChecked<FSphere>(), TM0, TM1);
            case ImplicitObjectType::Box: return Func(Geom.template GetObjectChecked<TBox<FReal, 3>>(), TM0, TM1);
            case ImplicitObjectType::Capsule: return Func(Geom.template GetObjectChecked<FCapsule>(), TM0, TM1);
            case ImplicitObjectType::Convex: return Func(Geom.template GetObjectChecked<FConvex>(), TM0, TM1);
            case ImplicitObjectType::IsScaled | ImplicitObjectType::Sphere: return Func(Geom.template GetObjectChecked<TImplicitObjectScaled<FSphere>>(), TM0, TM1);
            case ImplicitObjectType::IsScaled | ImplicitObjectType::Box: return Func(Geom.template GetObjectChecked< TImplicitObjectScaled<TBox<FReal, 3>>>(), TM0, TM1);
            case ImplicitObjectType::IsScaled | ImplicitObjectType::Capsule: return Func(Geom.template GetObjectChecked< TImplicitObjectScaled<FCapsule>>(), TM0, TM1);
            case ImplicitObjectType::IsScaled | ImplicitObjectType::Convex: return Func(Geom.template GetObjectChecked< TImplicitObjectScaled<FConvex>>(), TM0, TM1);
            case ImplicitObjectType::IsInstanced | ImplicitObjectType::Sphere: return Func(Geom.template GetObjectChecked< TImplicitObjectInstanced<FSphere>>(), TM0, TM1);
            case ImplicitObjectType::IsInstanced | ImplicitObjectType::Box: return Func(Geom.template GetObjectChecked< TImplicitObjectInstanced<TBox<FReal, 3>>>(), TM0, TM1);
            case ImplicitObjectType::IsInstanced | ImplicitObjectType::Capsule: return Func(Geom.template GetObjectChecked< TImplicitObjectInstanced<FCapsule>>(), TM0, TM1);
            case ImplicitObjectType::IsInstanced | ImplicitObjectType::Convex: return Func(Geom.template GetObjectChecked< TImplicitObjectInstanced<FConvex>>(), TM0, TM1);
            case ImplicitObjectType::Transformed:
            {
                const auto& ImplicitObjectTransformed = (Geom.template GetObjectChecked<TImplicitObjectTransformed<FReal, 3>>());
                return CastHelperNoUnwrap(*ImplicitObjectTransformed.GetTransformedObject(), ImplicitObjectTransformed.GetTransform() * TM0, ImplicitObjectTransformed.GetTransform() * TM1, Func);
            }
 
            default: check(false);
            }
            return Func(Geom.template GetObjectChecked<FSphere>(), TM0, TM1);   //needed for return type
        }
 
        inline
        const FImplicitObject* ImplicitChildHelper(const FImplicitObject* ImplicitObject)
        {
            EImplicitObjectType ImplicitType = ImplicitObject->GetType();
            if (ImplicitType == TImplicitObjectTransformed<FReal, 3>::StaticType())
            {
                return ImplicitObject->template GetObject<const TImplicitObjectTransformed<FReal, 3>>()->GetTransformedObject();
            }
 
            else if (ImplicitType == TImplicitObjectScaled<FConvex>::StaticType())
            {
                return ImplicitObject->template GetObject<const TImplicitObjectScaled<FConvex>>()->GetUnscaledObject();
            }
            else if (ImplicitType == TImplicitObjectScaled<TBox<FReal, 3>>::StaticType())
            {
                return ImplicitObject->template GetObject<const TImplicitObjectScaled<TBox<FReal, 3>>>()->GetUnscaledObject();
            }
            else if (ImplicitType == TImplicitObjectScaled<FCapsule>::StaticType())
            {
                return ImplicitObject->template GetObject<const TImplicitObjectScaled<FCapsule>>()->GetUnscaledObject();
            }
            else if (ImplicitType == TImplicitObjectScaled<FSphere>::StaticType())
            {
                return ImplicitObject->template GetObject<const TImplicitObjectScaled<FSphere>>()->GetUnscaledObject();
            }
            else if (ImplicitType == TImplicitObjectScaled<FTriangleMeshImplicitObject>::StaticType())
            {
                return ImplicitObject->template GetObject<const TImplicitObjectScaled<FTriangleMeshImplicitObject>>()->GetUnscaledObject();
            }
 
            else if (ImplicitType == TImplicitObjectInstanced<FConvex>::StaticType())
            {
                return ImplicitObject->template GetObject<const TImplicitObjectInstanced<FConvex>>()->GetInstancedObject();
            }
            else if (ImplicitType == TImplicitObjectInstanced<TBox<FReal, 3>>::StaticType())
            {
                return ImplicitObject->template GetObject<const TImplicitObjectInstanced<TBox<FReal, 3>>>()->GetInstancedObject();
            }
            else if (ImplicitType == TImplicitObjectInstanced<FCapsule>::StaticType())
            {
                return ImplicitObject->template GetObject<const TImplicitObjectInstanced<FCapsule>>()->GetInstancedObject();
            }
            else if (ImplicitType == TImplicitObjectInstanced<FSphere>::StaticType())
            {
                return ImplicitObject->template GetObject<const TImplicitObjectInstanced<FSphere>>()->GetInstancedObject();
            }
            else if (ImplicitType == TImplicitObjectInstanced<FTriangleMeshImplicitObject>::StaticType())
            {
                return ImplicitObject->template GetObject<const TImplicitObjectInstanced<FTriangleMeshImplicitObject>>()->GetInstancedObject();
            }
            return nullptr;
        }
 
        template <typename T, typename Lambda>
        FORCEINLINE_DEBUGGABLE decltype(auto) CastWrapped(const FImplicitObject& A, const Lambda& Func)
        {
            if (const TImplicitObjectScaled<T>* ScaledImplicit = A.template GetObject<TImplicitObjectScaled<T>>())
            {
                return Func(ScaledImplicit);
            }
            else if (const TImplicitObjectInstanced<T>* InstancedImplicit = A.template GetObject<TImplicitObjectInstanced<T>>())
            {
                return Func(InstancedImplicit);
            }
            else if(const T* RawImplicit = A.template GetObject<T>())
            {
                return Func(RawImplicit);
            }
            else
            {
                return Func((T*)nullptr);
            }
        }
 
        template <typename Lambda, bool bRootObject>
        FORCEINLINE_DEBUGGABLE void VisitConcreteObjectsImpl(const FImplicitObject& Geom, const Lambda& Func, int32 RootObjectIndex)
        {
            if (const FImplicitObjectUnion* Union = Geom.AsA<FImplicitObjectUnion>())
            {
                for (const FImplicitObjectPtr& ObjectPtr : Union->GetObjects())
                {
                    if (const FImplicitObject* Object = ObjectPtr.GetReference())
                    {
                        VisitConcreteObjectsImpl<Lambda, false>(*Object, Func, RootObjectIndex);
                    }
 
                    if constexpr (bRootObject)
                    {
                        ++RootObjectIndex;
                    }
                }
            }
            else
            {
                CastHelper(Geom, [&Func, RootObjectIndex](const auto& Concrete)
                {
                    Func(Concrete, RootObjectIndex);
                });
            }
        }
 
        template <typename Lambda>
        FORCEINLINE_DEBUGGABLE void VisitConcreteObjects(const FImplicitObject& Geom, const Lambda& Func)
        {
            VisitConcreteObjectsImpl<Lambda, true>(Geom, Func, 0);
        }
 
    } // namespace Utilities
 
} // namespace Chaos