Collision.h

Go to the documentation of this file.

// Copyright Epic Games, Inc. All Rights Reserved.
 
/*=============================================================================
    Collision.h: Common collision code.
=============================================================================*/
 
#pragma once
 
#if UE_ENABLE_INCLUDE_ORDER_DEPRECATED_IN_5_4
#include "CoreMinimal.h"
#endif // UE_ENABLE_INCLUDE_ORDER_DEPRECATED_IN_5_4
#include "Math/Vector.h"
#include "Stats/Stats.h"
#if UE_ENABLE_INCLUDE_ORDER_DEPRECATED_IN_5_4
#include "Engine/HitResult.h"
#endif // UE_ENABLE_INCLUDE_ORDER_DEPRECATED_IN_5_4
#include "EngineDefines.h"
 
struct FHitResult;
 
DECLARE_CYCLE_STAT_EXTERN(TEXT("SceneQueryTotal"), STAT_Collision_SceneQueryTotal, STATGROUP_Collision, );
DECLARE_CYCLE_STAT_EXTERN(TEXT("RaycastAny"),STAT_Collision_RaycastAny,STATGROUP_Collision, );
DECLARE_CYCLE_STAT_EXTERN(TEXT("RaycastSingle"),STAT_Collision_RaycastSingle,STATGROUP_Collision, );
DECLARE_CYCLE_STAT_EXTERN(TEXT("RaycastMultiple"),STAT_Collision_RaycastMultiple,STATGROUP_Collision, );
DECLARE_CYCLE_STAT_EXTERN(TEXT("GeomSweepAny"),STAT_Collision_GeomSweepAny,STATGROUP_Collision, );
DECLARE_CYCLE_STAT_EXTERN(TEXT("GeomSweepSingle"),STAT_Collision_GeomSweepSingle,STATGROUP_Collision, );
DECLARE_CYCLE_STAT_EXTERN(TEXT("GeomSweepMultiple"),STAT_Collision_GeomSweepMultiple,STATGROUP_Collision, );
DECLARE_CYCLE_STAT_EXTERN(TEXT("GeomOverlapMultiple"),STAT_Collision_GeomOverlapMultiple,STATGROUP_Collision, );
DECLARE_CYCLE_STAT_EXTERN(TEXT("GeomOverlapBlocking"), STAT_Collision_GeomOverlapBlocking, STATGROUP_Collision, );
DECLARE_CYCLE_STAT_EXTERN(TEXT("GeomOverlapAny"), STAT_Collision_GeomOverlapAny, STATGROUP_Collision, );
DECLARE_CYCLE_STAT_EXTERN(TEXT("BodyInstanceOverlapMulti"), STAT_Collision_FBodyInstance_OverlapMulti, STATGROUP_Collision, );
DECLARE_CYCLE_STAT_EXTERN(TEXT("BodyInstanceOverlapTest"), STAT_Collision_FBodyInstance_OverlapTest, STATGROUP_Collision, );
DECLARE_CYCLE_STAT_EXTERN(TEXT("BodyInstanceLineTrace"), STAT_Collision_FBodyInstance_LineTrace, STATGROUP_Collision, );
DECLARE_CYCLE_STAT_EXTERN(TEXT("PreFilter"), STAT_Collision_PreFilter, STATGROUP_CollisionVerbose, );
DECLARE_CYCLE_STAT_EXTERN(TEXT("SpherecastMultipleInternal"), STAT_Collision_SpherecastMultiple_Internal, STATGROUP_Collision, );
DECLARE_CYCLE_STAT_EXTERN(TEXT("GeomSweepMultipleInternal"), STAT_Collision_GeomSweepMultiple_Internal, STATGROUP_Collision, );
DECLARE_CYCLE_STAT_EXTERN(TEXT("RaycastMultipleInternal"), STAT_Collision_RaycastMultiple_Internal, STATGROUP_Collision, );
 
#if (1 && !(UE_BUILD_SHIPPING || UE_BUILD_TEST) && WITH_EDITOR && WITH_UNREAL_DEVELOPER_TOOLS)
    #define ENABLE_COLLISION_ANALYZER 1
#else
    #define ENABLE_COLLISION_ANALYZER 0
#endif
 
//
//  FSeparatingAxisPointCheck - Checks for intersection between an AABB and a convex polygon.
//
 
class FSeparatingAxisPointCheck
{
public:
    FVector HitNormal;
 
    float BestDist;
 
    bool bHit;
 
    FSeparatingAxisPointCheck(
        const TArray<FVector>& InPolyVertices,
        const FVector& InBoxCenter,
        const FVector& InBoxExtent,
        bool bInCalcLeastPenetration = true
        )
        : HitNormal(FVector::ZeroVector),
          BestDist(TNumericLimits<float>::Max()),
          PolyVertices(InPolyVertices),
          BoxCenter(InBoxCenter),
          BoxExtent(InBoxExtent),
          bCalcLeastPenetration(bInCalcLeastPenetration)
    {
        // Optimization: if the poly is a triangle, use a more optimized code path
        bHit = (PolyVertices.Num() == 3) ? FindSeparatingAxisTriangle() : FindSeparatingAxisGeneric();
    }
 
private:
 
    ENGINE_API bool TestSeparatingAxisCommon(const FVector& Axis, float ProjectedPolyMin, float ProjectedPolyMax);
 
    ENGINE_API bool TestSeparatingAxisTriangle(const FVector& Axis);
 
    ENGINE_API bool TestSeparatingAxisGeneric(const FVector& Axis);
 
    ENGINE_API bool FindSeparatingAxisTriangle();
 
    ENGINE_API bool FindSeparatingAxisGeneric();
 
    const TArray<FVector>& PolyVertices;
 
    FVector BoxCenter;
 
    FVector BoxExtent;
 
    bool bCalcLeastPenetration;
};
 
ENGINE_API bool LineCheckWithTriangle(FHitResult& Result,const FVector& V1,const FVector& V2,const FVector& V3,const FVector& Start,const FVector& End,const FVector& Direction);