Chaos::Collisions Namespace Reference

Classes
struct	FCapsuleConvexUpdaterCaller
struct	FConvexConvexUpdaterCaller
struct	TCapsuleConvexUpdater
struct	TCapsuleConvexUpdater< true >
struct	TCapsuleImplicitPairTraits
struct	TCapsuleImplicitPairTraits< class TImplicitObjectInstanced< FConvex > >
struct	TCapsuleImplicitPairTraits< FConvex >
struct	TCapsuleImplicitPairTraits< TImplicitObjectScaled< FConvex, 1 > >
struct	TConstructCollisionTraits
struct	TConvexConvexUpdater
struct	TConvexConvexUpdater< true >
struct	TConvexImplicitPairTraits
struct	TConvexImplicitTraits
struct	TConvexImplicitTraits< FImplicitBox3 >
struct	TConvexImplicitTraits< FImplicitConvex3 >
struct	TConvexImplicitTraits< TImplicitObjectInstanced< FImplicitConvex3 > >
struct	TConvexImplicitTraits< TImplicitObjectScaled< FImplicitConvex3 > >

Functions
FContactPoint	BoxBoxContactPoint (const FImplicitBox3 &Box1, const FImplicitBox3 &Box2, const FRigidTransform3 &Box1TM, const FRigidTransform3 &Box2TM)
uint32	BoxBoxClipVerticesAgainstPlane (const FVec3 *InputVertexBuffer, FVec3 *outputVertexBuffer, uint32 ClipPointCount, int32 ClippingAxis, FReal Distance)
void	ConstructBoxBoxOneShotManifold (const FImplicitBox3 &Box1, const FRigidTransform3 &Box1Transform, const FImplicitBox3 &Box2, const FRigidTransform3 &Box2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
uint32	ReduceManifoldContactPoints (FVec3 *Points, uint32 PointCount)
	General Convexes.
uint32	ClipVerticesAgainstPlane (const FVec3 *InputVertexBuffer, FVec3 *OutputVertexBuffer, const uint32 ClipPointCount, const uint32 MaxNumberOfOutputPoints, const FVec3 ClippingPlaneNormal, const FReal PlaneDistance)
template<typename ConvexImplicitType1 , typename ConvexImplicitType2 >
FVec3 *	GenerateConvexManifoldClippedVertices (const ConvexImplicitType1 &RefConvex, const ConvexImplicitType2 &OtherConvex, const FRigidTransform3 &OtherToRefTransform, const int32 RefPlaneIndex, const int32 OtherPlaneIndex, const FVec3 &RefPlaneNormal, FVec3 *VertexBuffer1, FVec3 *VertexBuffer2, uint32 &ContactPointCount, const uint32 MaxContactPointCount)
template<typename ConvexImplicitType >
FVec3 *	GenerateLineConvexManifoldClippedVerticesSameSpace (const ConvexImplicitType &Convex, const TSegment< FReal > &Segment, const int32 ConvexPlaneIndex, const FVec3 &PlaneNormal, FVec3 *VertexBuffer, int32 &ContactPointCount, const int32 MaxContactPointCount, const FReal PlaneTolerance)
template<typename GeometryA , typename GeometryB >
FContactPoint	GJKContactPointMargin (const GeometryA &A, const GeometryB &B, const FRigidTransform3 &BToATM, FReal MarginA, FReal MarginB, FGJKSimplexData &InOutGjkWarmStartData, FReal &OutMaxMarginDelta, int32 &VertexIndexA, int32 &VertexIndexB)
template<typename GJKShapeA , typename GJKShapeB >
FContactPoint	GJKContactPointSameSpace (const GJKShapeA &A, const GJKShapeB &B, FReal &OutMaxMarginDelta, int32 &VertexIndexA, int32 &VertexIndexB, const FVec3 InitialGJKDir=FVec3(-1, 0, 0))
template<typename ConvexImplicitType >
void	FindBestPlane (const ConvexImplicitType &Convex, const FVec3 &X, const FVec3 &N, const FReal MaxDistance, const int32 PlaneIndex, int32 &BestPlaneIndex, FReal &BestPlaneDot)
void	FindBestPlaneScaledConvex (const TImplicitObjectScaled< FConvex > &ScaledConvex, const FConvex::FVec3Type &X, const FConvex::FVec3Type &N, const FConvex::FVec3Type &Scale, const FConvex::FVec3Type &ScaleInv, const FConvex::FRealType MaxDistance, const int32 PlaneIndex, int32 &OutBestPlaneIndex, FConvex::FRealType &InOutBestPlaneDot)
template<typename ConvexImplicitType >
void	CheckPlaneIndex (const int32 PlaneIndex, const ConvexImplicitType &Convex, const FVec3 X, const FVec3 N, const FReal MaxDistance, const int32 VertexIndex)
template<typename ConvexImplicitType >
int32	SelectContactPlane (const ConvexImplicitType &Convex, const FVec3 X, const FVec3 N, const FReal InMaxDistance, const int32 VertexIndex)
template<>
int32	SelectContactPlane< TImplicitObjectScaled< FConvex > > (const TImplicitObjectScaled< FConvex > &ScaledConvex, const FVec3 InX, const FVec3 InN, const FReal InMaxDistance, const int32 VertexIndex)
template<typename ConvexImplicitType >
bool	CheckVertexIndex (const ConvexImplicitType &Convex, const int32 VertexIndex)
template<typename ConvexImplicitType1 , typename ConvexImplicitType2 >
void	ConstructConvexConvexOneShotManifold (const ConvexImplicitType1 &Convex1, const FRigidTransform3 &Convex1Transform, const ConvexImplicitType2 &Convex2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template<typename ConvexType >
void	ConstructCapsuleConvexOneShotManifold (const FImplicitCapsule3 &Capsule, const FRigidTransform3 &CapsuleTransform, const ConvexType &Convex, const FRigidTransform3 &ConvexTransform, const FReal CullDistance, FContactPointManifold &OutContactPoints)
void	ConstructCapsuleTriangleOneShotManifold (const FImplicitCapsule3 &Capsule, const FTriangle &Triangle, const FReal CullDistance, FContactPointManifold &OutContactPoints)
template<typename ConvexType >
void	ConstructPlanarConvexTriangleOneShotManifold (const ConvexType &Convex, const FTriangle &Triangle, const FReal CullDistance, FContactPointManifold &OutContactPoints)
template void	ConstructConvexConvexOneShotManifold< FImplicitBox3, FImplicitBox3 > (const FImplicitBox3 &Implicit1, const FRigidTransform3 &Convex1Transform, const FImplicitBox3 &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< FImplicitBox3, FImplicitConvex3 > (const FImplicitBox3 &Implicit1, const FRigidTransform3 &Convex1Transform, const FImplicitConvex3 &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< FImplicitConvex3, FImplicitBox3 > (const FImplicitConvex3 &Implicit1, const FRigidTransform3 &Convex1Transform, const FImplicitBox3 &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< FImplicitBox3, TImplicitObjectInstanced< FImplicitConvex3 > > (const FImplicitBox3 &Implicit1, const FRigidTransform3 &Convex1Transform, const TImplicitObjectInstanced< FImplicitConvex3 > &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< TImplicitObjectInstanced< FImplicitConvex3 >, FImplicitBox3 > (const TImplicitObjectInstanced< FImplicitConvex3 > &Implicit1, const FRigidTransform3 &Convex1Transform, const FImplicitBox3 &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< FImplicitBox3, TImplicitObjectScaled< FImplicitConvex3 > > (const FImplicitBox3 &Implicit1, const FRigidTransform3 &Convex1Transform, const TImplicitObjectScaled< FImplicitConvex3 > &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< TImplicitObjectScaled< FImplicitConvex3 >, FImplicitBox3 > (const TImplicitObjectScaled< FImplicitConvex3 > &Implicit1, const FRigidTransform3 &Convex1Transform, const FImplicitBox3 &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< FImplicitConvex3, FImplicitConvex3 > (const FImplicitConvex3 &Implicit1, const FRigidTransform3 &Convex1Transform, const FImplicitConvex3 &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< TImplicitObjectInstanced< FImplicitConvex3 >, FImplicitConvex3 > (const TImplicitObjectInstanced< FImplicitConvex3 > &Implicit1, const FRigidTransform3 &Convex1Transform, const FImplicitConvex3 &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< TImplicitObjectScaled< FImplicitConvex3 >, FImplicitConvex3 > (const TImplicitObjectScaled< FImplicitConvex3 > &Implicit1, const FRigidTransform3 &Convex1Transform, const FImplicitConvex3 &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< FImplicitConvex3, TImplicitObjectInstanced< FImplicitConvex3 > > (const FImplicitConvex3 &Implicit1, const FRigidTransform3 &Convex1Transform, const TImplicitObjectInstanced< FImplicitConvex3 > &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< FImplicitConvex3, TImplicitObjectScaled< FImplicitConvex3 > > (const FImplicitConvex3 &Implicit1, const FRigidTransform3 &Convex1Transform, const TImplicitObjectScaled< FImplicitConvex3 > &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< TImplicitObjectInstanced< FImplicitConvex3 >, TImplicitObjectInstanced< FImplicitConvex3 > > (const TImplicitObjectInstanced< FImplicitConvex3 > &Implicit1, const FRigidTransform3 &Convex1Transform, const TImplicitObjectInstanced< FImplicitConvex3 > &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< TImplicitObjectScaled< FImplicitConvex3 >, TImplicitObjectInstanced< FImplicitConvex3 > > (const TImplicitObjectScaled< FImplicitConvex3 > &Implicit1, const FRigidTransform3 &Convex1Transform, const TImplicitObjectInstanced< FImplicitConvex3 > &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< TImplicitObjectInstanced< FImplicitConvex3 >, TImplicitObjectScaled< FImplicitConvex3 > > (const TImplicitObjectInstanced< FImplicitConvex3 > &Implicit1, const FRigidTransform3 &Convex1Transform, const TImplicitObjectScaled< FImplicitConvex3 > &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< TImplicitObjectScaled< FImplicitConvex3 >, TImplicitObjectScaled< FImplicitConvex3 > > (const TImplicitObjectScaled< FImplicitConvex3 > &Implicit1, const FRigidTransform3 &Convex1Transform, const TImplicitObjectScaled< FImplicitConvex3 > &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructCapsuleConvexOneShotManifold (const FImplicitCapsule3 &Capsule, const FRigidTransform3 &CapsuleTransform, const FImplicitConvex3 &Convex, const FRigidTransform3 &ConvexTransform, const FReal CullDistance, FContactPointManifold &OutContactPoints)
template void	ConstructCapsuleConvexOneShotManifold (const FImplicitCapsule3 &Capsule, const FRigidTransform3 &CapsuleTransform, const TImplicitObjectInstanced< FImplicitConvex3 > &Convex, const FRigidTransform3 &ConvexTransform, const FReal CullDistance, FContactPointManifold &OutContactPoints)
template void	ConstructCapsuleConvexOneShotManifold (const FImplicitCapsule3 &Capsule, const FRigidTransform3 &CapsuleTransform, const TImplicitObjectScaled< FImplicitConvex3 > &Convex, const FRigidTransform3 &ConvexTransform, const FReal CullDistance, FContactPointManifold &OutContactPoints)
template void	ConstructCapsuleConvexOneShotManifold (const FImplicitCapsule3 &Capsule, const FRigidTransform3 &CapsuleTransform, const FImplicitBox3 &Convex, const FRigidTransform3 &ConvexTransform, const FReal CullDistance, FContactPointManifold &OutContactPoints)
template void	ConstructPlanarConvexTriangleOneShotManifold (const FImplicitConvex3 &Convex, const FTriangle &Triangle, const FReal CullDistance, FContactPointManifold &OutContactPoints)
template void	ConstructPlanarConvexTriangleOneShotManifold (const TImplicitObjectInstanced< FImplicitConvex3 > &Convex, const FTriangle &Triangle, const FReal CullDistance, FContactPointManifold &OutContactPoints)
template void	ConstructPlanarConvexTriangleOneShotManifold (const TImplicitObjectScaled< FImplicitConvex3 > &Convex, const FTriangle &Triangle, const FReal CullDistance, FContactPointManifold &OutContactPoints)
template void	ConstructPlanarConvexTriangleOneShotManifold (const FImplicitBox3 &Convex, const FTriangle &Triangle, const FReal CullDistance, FContactPointManifold &OutContactPoints)
template void	ConstructPlanarConvexTriangleOneShotManifold (const TImplicitObjectScaled< FImplicitBox3 > &Convex, const FTriangle &Triangle, const FReal CullDistance, FContactPointManifold &OutContactPoints)
template void	ConstructPlanarConvexTriangleOneShotManifold (const TImplicitObjectInstanced< FImplicitBox3 > &Convex, const FTriangle &Triangle, const FReal CullDistance, FContactPointManifold &OutContactPoints)
template void	ConstructConvexConvexOneShotManifold< FCapsule, FTriangle > (const FCapsule &Implicit1, const FRigidTransform3 &Convex1Transform, const FTriangle &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< TImplicitObjectScaled< FCapsule, 1 >, FTriangle > (const TImplicitObjectScaled< class FCapsule, 1 > &Implicit1, const FRigidTransform3 &Convex1Transform, const FTriangle &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< FImplicitBox3, FTriangle > (const FImplicitBox3 &Implicit1, const FRigidTransform3 &Convex1Transform, const FTriangle &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< FImplicitConvex3, FTriangle > (const FImplicitConvex3 &Implicit1, const FRigidTransform3 &Convex1Transform, const FTriangle &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< TImplicitObjectScaled< class TBox< FReal, 3 >, 1 >, FTriangle > (const TImplicitObjectScaled< class Chaos::TBox< FReal, 3 >, 1 > &Implicit1, const FRigidTransform3 &Convex1Transform, const FTriangle &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< TImplicitObjectScaled< class FConvex, 1 >, FTriangle > (const Chaos::TImplicitObjectScaled< class FConvex, 1 > &Implicit1, const FRigidTransform3 &Convex1Transform, const FTriangle &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< class FCapsule, class FConvex > (const FCapsule &Implicit1, const FRigidTransform3 &Convex1Transform, const FConvex &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< class FCapsule, TImplicitObjectScaled< class FConvex, 1 > > (const FCapsule &Implicit1, const FRigidTransform3 &Convex1Transform, const TImplicitObjectScaled< class FConvex, 1 > &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< class FCapsule, class TImplicitObjectInstanced< class FConvex > > (const FCapsule &Implicit1, const FRigidTransform3 &Convex1Transform, const TImplicitObjectInstanced< class FConvex > &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< class FCapsule, class TBox< FReal, 3 > > (const FCapsule &Implicit1, const FRigidTransform3 &Convex1Transform, const TBox< FReal, 3 > &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< class FCapsule, TImplicitObjectScaled< class TBox< FReal, 3 >, 1 > > (const FCapsule &Implicit1, const FRigidTransform3 &Convex1Transform, const TImplicitObjectScaled< class TBox< FReal, 3 >, 1 > &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template void	ConstructConvexConvexOneShotManifold< class FCapsule, class TImplicitObjectInstanced< class TBox< FReal, 3 > > > (const FCapsule &Implicit1, const FRigidTransform3 &Convex1Transform, const TImplicitObjectInstanced< class TBox< FReal, 3 > > &Implicit2, const FRigidTransform3 &Convex2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
FReal	CalculateTriMeshPhiTolerance (const FReal CullDistance)
template<typename TriMeshType >
void	ConstructSphereTriangleMeshOneShotManifold (const FSphere &Sphere, const FRigidTransform3 &SphereWorldTransform, const TriMeshType &TriangleMesh, const FRigidTransform3 &TriMeshWorldTransform, const FReal Dt, FPBDCollisionConstraint &Constraint)
void	ConstructSphereHeightFieldOneShotManifold (const FSphere &Sphere, const FRigidTransform3 &SphereTransform, const FHeightField &Heightfield, const FRigidTransform3 &HeightfieldTransform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template<typename ConvexType >
void	ConstructConvexTriangleOneShotManifold3 (const ConvexType &Convex, const FRigidTransform3 &ConvexTransform, Private::FMeshContactGenerator &ContactGenerator, const int32 TriangleIndex, const FReal CullDistance, FContactPointManifold &OutContactPoints)
template<typename ConvexType >
void	GenerateConvexTriangleOneShotManifold (const ConvexType &Convex, const FTriangle &Triangle, const FReal CullDistance, FContactPointManifold &OutContactPoints)
	Generate a manifold between a convex shape and a single triangle Templated so we can specialize for some shape types.
template<>
void	GenerateConvexTriangleOneShotManifold< FImplicitCapsule3 > (const FImplicitCapsule3 &Capsule, const FTriangle &Triangle, const FReal CullDistance, FContactPointManifold &OutContactPoints)
template<>
void	GenerateConvexTriangleOneShotManifold< FImplicitSphere3 > (const FImplicitSphere3 &Sphere, const FTriangle &Triangle, const FReal CullDistance, FContactPointManifold &OutContactPoints)
template<typename ConvexType >
void	GenerateConvexTriangleOneShotManifold (const ConvexType &Convex, const FRigidTransform3 &ConvexTransform, Private::FMeshContactGenerator &ContactGenerator, const int32 TriangleIndex, const FReal CullDistance, FContactPointManifold &OutContactPoints)
template<>
void	GenerateConvexTriangleOneShotManifold< FImplicitCapsule3 > (const FImplicitCapsule3 &Capsule, const FRigidTransform3 &ConvexTransform, Private::FMeshContactGenerator &ContactGenerator, const int32 TriangleIndex, const FReal CullDistance, FContactPointManifold &OutContactPoints)
template<>
void	GenerateConvexTriangleOneShotManifold< FImplicitSphere3 > (const FImplicitSphere3 &Sphere, const FRigidTransform3 &ConvexTransform, Private::FMeshContactGenerator &ContactGenerator, const int32 TriangleIndex, const FReal CullDistance, FContactPointManifold &OutContactPoints)
template<typename ConvexType , typename MeshType >
void	ConstructConvexMeshOneShotManifold2 (const ConvexType &Convex, const FRigidTransform3 &ConvexTransform, const MeshType &Mesh, const FRigidTransform3 &MeshTransform, const FVec3 &MeshScale, const FReal CullDistance, Private::FMeshContactGenerator &ContactGenerator)
template<typename ConvexType >
void	GenerateConvexTriangleOneShotManifoldMACD_PostManifoldFix (const ConvexType &Convex, const FRigidTransform3 &ConvexTransform, const FVec3 &InConvexRelativeMovement, Private::FMeshContactGenerator &ContactGenerator, const int32 TriangleIndex, const FReal CullDistance, FContactPointManifold &OutContactPoints)
template<typename ConvexType >
void	GenerateConvexTriangleOneShotManifoldMACD_PreManifoldFix (const ConvexType &Convex, const FRigidTransform3 &ConvexTransform, const FVec3 &ConvexRelativeMovement, Private::FMeshContactGenerator &ContactGenerator, const int32 TriangleIndex, const FReal CullDistance, FContactPointManifold &OutContactPoints)
template<typename ConvexType >
void	GenerateConvexTriangleOneShotManifoldMACD (const ConvexType &Convex, const FRigidTransform3 &ConvexTransform, const FVec3 &ConvexRelativeMovement, Private::FMeshContactGenerator &ContactGenerator, const int32 TriangleIndex, const FReal CullDistance, FContactPointManifold &OutContactPoints)
template<>
void	GenerateConvexTriangleOneShotManifoldMACD (const FImplicitSphere3 &Convex, const FRigidTransform3 &ConvexTransform, const FVec3 &InConvexRelativeMovement, Private::FMeshContactGenerator &ContactGenerator, const int32 TriangleIndex, const FReal CullDistance, FContactPointManifold &OutContactPoints)
template<typename ConvexType , typename MeshType >
void	ConstructConvexMeshOneShotManifoldMACD (const ConvexType &Convex, const FRigidTransform3 &ConvexTransform, const MeshType &Mesh, const FRigidTransform3 &MeshTransform, const FVec3 &MeshScale, const FVec3 &RelativeMovement, const FReal InCullDistance, Private::FMeshContactGenerator &ContactGenerator)
template<typename ConvexType , typename MeshType >
void	GenerateConvexMeshContactPoints (const ConvexType &Convex, const MeshType &Mesh, const FAABB3 &MeshQueryBounds, const FRigidTransform3 &MeshToConvexTransform, const FReal CullDistance, FContactTriangleCollector &MeshContacts)
	Create a minimized set of contact points between a convex polyhedron (box, convex) and a non-convex mesh (trimesh, heightfield)
template<typename ConvexType , typename MeshType >
void	ConstructConvexMeshOneShotManifold (const ConvexType &Convex, const FRigidTransform3 &ConvexTransform, const MeshType &Mesh, const FRigidTransform3 &MeshTransform, const FVec3 &MeshScale, const FReal CullDistance, FContactTriangleCollector &MeshContacts)
	Used by all the convex types to generate a manifold against any mesh type.
void	ConstructQuadraticConvexTriMeshOneShotManifold (const FImplicitObject &Quadratic, const FRigidTransform3 &Quadraticransform, const FImplicitObject &TriangleMesh, const FRigidTransform3 &TriMeshTransform, const FReal Dt, FPBDCollisionConstraint &Constraint)
	Build the contact manifold between a Quadratic Convex shape and a TriMesh.
void	ConstructQuadraticConvexHeightFieldOneShotManifold (const FImplicitObject &Quadratic, const FRigidTransform3 &QuadraticTransform, const FHeightField &HeightField, const FRigidTransform3 &HeightFieldTransform, const FReal Dt, FPBDCollisionConstraint &Constraint)
	Build the contact manifold between a Quadratic Convex shape (Sphere, Capsule) and a TriMesh.
void	ConstructPlanarConvexTriMeshOneShotManifold (const FImplicitObject &Convex, const FRigidTransform3 &ConvexTransform, const FImplicitObject &InMesh, const FRigidTransform3 &MeshTransform, FPBDCollisionConstraint &Constraint)
	Populate the Constraint with a manifold of contacts between a Convex and a TriangleMesh.
void	ConstructPlanarConvexHeightFieldOneShotManifold (const FImplicitObject &Convex, const FRigidTransform3 &ConvexTransform, const FHeightField &Mesh, const FRigidTransform3 &MeshTransform, FPBDCollisionConstraint &Constraint)
	Populate the Constraint with a manifold of contacts between a Convex and a HeightField.
void	ConstructSphereSphereOneShotManifold (const FSphere &SphereA, const FRigidTransform3 &SphereATransform, const FSphere &SphereB, const FRigidTransform3 &SphereBTransform, const FReal Dt, FPBDCollisionConstraint &Constraint)
void	ConstructSpherePlaneOneShotManifold (const FSphere &Sphere, const FRigidTransform3 &SphereTransform, const TPlane< FReal, 3 > &Plane, const FRigidTransform3 &PlaneTransform, const FReal Dt, FPBDCollisionConstraint &Constraint)
void	ConstructSphereBoxOneShotManifold (const FSphere &Sphere, const FRigidTransform3 &SphereTransform, const FImplicitBox3 &Box, const FRigidTransform3 &BoxTransform, const FReal Dt, FPBDCollisionConstraint &Constraint)
void	ConstructSphereCapsuleOneShotManifold (const FSphere &Sphere, const FRigidTransform3 &SphereTransform, const FCapsule &Capsule, const FRigidTransform3 &CapsuleTransform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template<typename ConvexType >
void	ConstructSphereConvexManifoldImpl (const FImplicitSphere3 &Sphere, const ConvexType &Convex, const FRigidTransform3 &SphereToConvexTransform, const FReal CullDistance, FContactPointManifold &ContactPoints)
void	ConstructSphereConvexManifold (const FSphere &Sphere, const FRigidTransform3 &SphereTransform, const FImplicitObject3 &Convex, const FRigidTransform3 &ConvexTransform, const FReal Dt, FPBDCollisionConstraint &Constraint)
void	ConstructCapsuleCapsuleOneShotManifold (const FCapsule &CapsuleA, const FRigidTransform3 &CapsuleATransform, const FCapsule &CapsuleB, const FRigidTransform3 &CapsuleBTransform, const FReal Dt, FPBDCollisionConstraint &Constraint)
bool	ShouldUseCCD (const FGeometryParticleHandle *Particle0, const FVec3 &DeltaX0, const FGeometryParticleHandle *Particle1, const FVec3 &DeltaX1, FVec3 &Dir, FReal &Length)
	Whether CCD should be enabled for a contact given the current particle velocities etc.
void	UpdateContactPoint (FPBDCollisionConstraint &Constraint, const FContactPoint &ContactPoint, const FReal Dt)
void	UpdateContactPointNoCull (FPBDCollisionConstraint &Constraint, const FContactPoint &ContactPoint, const FReal Dt, const bool bNoCull=true)
const FImplicitObject *	GetInstancedImplicit (const FImplicitObject *Implicit0)
void	UpdateGenericConvexConvexConstraintHelper (const FImplicitObject &A, const FRigidTransform3 &ATM, const FImplicitObject &B, const FRigidTransform3 &BTM, const FReal Dt, FPBDCollisionConstraint &Constraint)
template<typename TPGeometryClass >
const TPGeometryClass *	GetInnerObject (const FImplicitObject &Geometry)
void	UpdateBoxBoxConstraint (const FImplicitBox3 &Box1, const FRigidTransform3 &Box1Transform, const FImplicitBox3 &Box2, const FRigidTransform3 &Box2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
void	UpdateBoxHeightFieldConstraint (const FImplicitBox3 &A, const FRigidTransform3 &ATransform, const FHeightField &B, const FRigidTransform3 &BTransform, const FReal Dt, FPBDCollisionConstraint &Constraint)
FContactPoint	BoxPlaneContactPoint (const FImplicitBox3 &Box, const FImplicitPlane3 &Plane, const FRigidTransform3 &BoxTransform, const FRigidTransform3 &PlaneTransform)
void	UpdateBoxPlaneConstraint (const FImplicitBox3 &A, const FRigidTransform3 &ATransform, const TPlane< FReal, 3 > &B, const FRigidTransform3 &BTransform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template<typename TriMeshType >
void	UpdateBoxTriangleMeshConstraint (const FImplicitBox3 &Box0, const FRigidTransform3 &WorldTransform0, const TriMeshType &TriangleMesh1, const FRigidTransform3 &WorldTransform1, const FReal Dt, FPBDCollisionConstraint &Constraint)
void	UpdateSphereSphereConstraint (const FSphere &Sphere1, const FRigidTransform3 &Sphere1Transform, const FSphere &Sphere2, const FRigidTransform3 &Sphere2Transform, const FReal Dt, FPBDCollisionConstraint &Constraint)
void	UpdateSphereHeightFieldConstraint (const FSphere &A, const FRigidTransform3 &ATransform, const FHeightField &B, const FRigidTransform3 &BTransform, const FReal Dt, FPBDCollisionConstraint &Constraint)
void	UpdateSphereHeightFieldConstraintSwept (TGeometryParticleHandle< FReal, 3 > *Particle0, const FSphere &A, const FRigidTransform3 &ATransform, const FHeightField &B, const FRigidTransform3 &BTransform, const FVec3 &Dir, const FReal Length, const FReal Dt, FPBDCollisionConstraint &Constraint)
void	UpdateSpherePlaneConstraint (const FSphere &Sphere, const FRigidTransform3 &SphereTransform, const TPlane< FReal, 3 > &Plane, const FRigidTransform3 &PlaneTransform, const FReal Dt, FPBDCollisionConstraint &Constraint)
void	UpdateSphereBoxConstraint (const FSphere &Sphere, const FRigidTransform3 &SphereTransform, const FImplicitBox3 &Box, const FRigidTransform3 &BoxTransform, const FReal Dt, FPBDCollisionConstraint &Constraint)
void	UpdateSphereCapsuleConstraint (const FSphere &A, const FRigidTransform3 &ATransform, const FCapsule &B, const FRigidTransform3 &BTransform, const FReal Dt, FPBDCollisionConstraint &Constraint)
void	UpdateSphereConvexConstraint (const FSphere &A, const FRigidTransform3 &ATransform, const FImplicitObject3 &B, const FRigidTransform3 &BTransform, const FReal Dt, FPBDCollisionConstraint &Constraint)
template<typename TriMeshType >
void	UpdateSphereTriangleMeshConstraint (const FSphere &Sphere0, const FRigidTransform3 &WorldTransform0, const TriMeshType &TriangleMesh1, const FRigidTransform3 &WorldTransform1, const FReal Dt, FPBDCollisionConstraint &Constraint)
template<typename TriMeshType >
void	UpdateSphereTriangleMeshConstraintSwept (TGeometryParticleHandle< FReal, 3 > *Particle0, const FSphere &Sphere0, const FRigidTransform3 &WorldTransform0, const TriMeshType &TriangleMesh1, const FRigidTransform3 &WorldTransform1, const FVec3 &Dir, const FReal Length, const FReal Dt, FPBDCollisionConstraint &Constraint)
void	UpdateCapsuleCapsuleConstraint (const FCapsule &A, const FRigidTransform3 &ATransform, const FCapsule &B, const FRigidTransform3 &BTransform, const FReal Dt, FPBDCollisionConstraint &Constraint)
void	UpdateCapsuleBoxConstraint (const FCapsule &A, const FRigidTransform3 &ATransform, const FImplicitBox3 &B, const FRigidTransform3 &BTransform, const FReal Dt, FPBDCollisionConstraint &Constraint)
void	UpdateCapsuleGenericConvexConstraintHelper (const FCapsule &A, const FRigidTransform3 &ATM, const FImplicitObject &B, const FRigidTransform3 &BTM, const FReal Dt, FPBDCollisionConstraint &Constraint)
void	UpdateCapsuleHeightFieldConstraint (const FCapsule &A, const FRigidTransform3 &ATransform, const FHeightField &B, const FRigidTransform3 &BTransform, const FReal Dt, FPBDCollisionConstraint &Constraint)
void	UpdateCapsuleHeightFieldConstraintSwept (TGeometryParticleHandle< FReal, 3 > *Particle0, const FCapsule &A, const FRigidTransform3 &ATransform, const FHeightField &B, const FRigidTransform3 &BTransform, const FVec3 &Dir, const FReal Length, const FReal Dt, FPBDCollisionConstraint &Constraint)
template<typename TriMeshType >
void	UpdateCapsuleTriangleMeshConstraint (const FCapsule &Capsule0, const FRigidTransform3 &WorldTransform0, const TriMeshType &TriangleMesh1, const FRigidTransform3 &WorldTransform1, const FReal Dt, FPBDCollisionConstraint &Constraint)
template<typename TriMeshType >
void	UpdateCapsuleTriangleMeshConstraintSwept (TGeometryParticleHandle< FReal, 3 > *Particle0, const FCapsule &Capsule0, const FRigidTransform3 &WorldTransform0, const TriMeshType &TriangleMesh1, const FRigidTransform3 &WorldTransform1, const FVec3 &Dir, const FReal Length, const FReal Dt, FPBDCollisionConstraint &Constraint)
void	UpdateGenericConvexConvexConstraint (const FImplicitObject &Implicit0, const FRigidTransform3 &WorldTransform0, const FImplicitObject &Implicit1, const FRigidTransform3 &WorldTransform1, const FReal Dt, FPBDCollisionConstraint &Constraint)
void	UpdateGenericConvexConvexConstraintSwept (TGeometryParticleHandle< FReal, 3 > *Particle0, const FImplicitObject &Implicit0, const FRigidTransform3 &StartWorldTransform0, TGeometryParticleHandle< FReal, 3 > *Particle1, const FImplicitObject &Implicit1, const FRigidTransform3 &StartWorldTransform1, const FVec3 &Dir, const FReal Length, const FReal Dt, FPBDCollisionConstraint &Constraint)
void	UpdateConvexHeightFieldConstraint (const FImplicitObject &A, const FRigidTransform3 &ATransform, const FHeightField &B, const FRigidTransform3 &BTransform, const FReal Dt, FPBDCollisionConstraint &Constraint)
void	UpdateConvexHeightFieldConstraintSwept (TGeometryParticleHandle< FReal, 3 > *Particle0, const FImplicitObject &A, const FRigidTransform3 &ATransform, const FHeightField &B, const FRigidTransform3 &BTransform, const FVec3 &Dir, const FReal Length, const FReal Dt, FPBDCollisionConstraint &Constraint)
void	UpdateConvexTriangleMeshConstraint (const FImplicitObject &Convex0, const FRigidTransform3 &WorldTransform0, const FImplicitObject &TriangleMesh1, const FRigidTransform3 &WorldTransform1, const FReal Dt, FPBDCollisionConstraint &Constraint)
template<typename TriMeshType >
void	UpdateConvexTriangleMeshConstraintSwept (TGeometryParticleHandle< FReal, 3 > *Particle0, const FImplicitObject &Convex0, const FRigidTransform3 &WorldTransform0, const TriMeshType &TriangleMesh1, const FRigidTransform3 &WorldTransform1, const FVec3 &Dir, const FReal Length, const FReal Dt, FPBDCollisionConstraint &Constraint)
void	UpdateLevelsetLevelsetConstraint (const FRigidTransform3 &WorldTransform0, const FRigidTransform3 &WorldTransform1, const FReal Dt, FPBDCollisionConstraint &Constraint)
void	UpdateConstraintFromGeometryImpl (FPBDCollisionConstraint &Constraint, const FRigidTransform3 &WorldTransform0, const FRigidTransform3 &WorldTransform1, const FReal Dt)
bool	UpdateConstraintFromGeometrySweptImpl (FPBDCollisionConstraint &Constraint, const FRigidTransform3 &WorldTransform0, const FRigidTransform3 &WorldTransform1, const FReal Dt)
void	UpdateConstraint (FPBDCollisionConstraint &Constraint, const FRigidTransform3 &ShapeWorldTransform0, const FRigidTransform3 &ShapeWorldTransform1, const FReal Dt)
	Update the contact manifold on the constraint.
bool	UpdateConstraintSwept (FPBDCollisionConstraint &Constraint, const FRigidTransform3 &ShapeStartWorldTransform0, const FRigidTransform3 &ShapeStartWorldTransform1, const FReal Dt)
	Update the contact manifold on the constraint.
EContactShapesType	CalculateShapePairType (const FGeometryParticleHandle *Particle0, const FImplicitObject *Implicit0, const FGeometryParticleHandle *Particle1, const FImplicitObject *Implicit1, bool &bOutSwap)
	Determine the shape pair type for use in UpdateConstraints.
EImplicitObjectType	GetImplicitCollisionType (const FGeometryParticleHandle *Particle, const FImplicitObject *Implicit)
template<ECollisionUpdateType UpdateType>
void	UpdateConstraintFromGeometry (FPBDCollisionConstraint &Constraint, const FRigidTransform3 &ParticleWorldTransform0, const FRigidTransform3 &ParticleWorldTransform1, const FReal Dt)
template void	UpdateConstraintFromGeometry< ECollisionUpdateType::Any > (FPBDCollisionConstraint &ConstraintBase, const FRigidTransform3 &Transform0, const FRigidTransform3 &Transform1, const FReal Dt)
template void	UpdateConstraintFromGeometry< ECollisionUpdateType::Deepest > (FPBDCollisionConstraint &ConstraintBase, const FRigidTransform3 &Transform0, const FRigidTransform3 &Transform1, const FReal Dt)
FRigidTransform3	GetTransform (const TGeometryParticleHandle< FReal, 3 > *Particle)
FVec3	GetEnergyClampedImpulse (const TPBDRigidParticleHandle< FReal, 3 > *PBDRigid0, const TPBDRigidParticleHandle< FReal, 3 > *PBDRigid1, const FVec3 &Impulse, const FVec3 &VectorToPoint1, const FVec3 &VectorToPoint2, const FVec3 &Velocity1, const FVec3 &Velocity2)
FVec3	GetEnergyClampedImpulse (const FVec3 &Impulse, FReal InvM0, const FMatrix33 &InvI0, FReal InvM1, const FMatrix33 &InvI1, const FRotation3 &Q0, const FVec3 &V0, const FVec3 &W0, const FRotation3 &Q1, const FVec3 &V1, const FVec3 &W1, const FVec3 &ContactOffset0, const FVec3 &ContactOffset1, const FVec3 &ContactVelocity0, const FVec3 &ContactVelocity1)
bool	SampleObjectNoNormal (const FImplicitObject &Object, const FRigidTransform3 &ObjectTransform, const FRigidTransform3 &SampleToObjectTransform, const FVec3 &SampleParticle, FReal Thickness, FContactPoint &Contact)
bool	SampleObjectNormalAverageHelper (const FImplicitObject &Object, const FRigidTransform3 &ObjectTransform, const FRigidTransform3 &SampleToObjectTransform, const FVec3 &SampleParticle, FReal Thickness, FReal &TotalThickness, FContactPoint &Contact)
	DECLARE_CYCLE_STAT (TEXT("TPBDCollisionConstraints::UpdateLevelsetPartial"), STAT_UpdateLevelsetPartial, STATGROUP_ChaosWide)
	DECLARE_CYCLE_STAT (TEXT("TPBDCollisionConstraints::UpdateLevelsetFindParticles"), STAT_UpdateLevelsetFindParticles, STATGROUP_ChaosWide)
	DECLARE_CYCLE_STAT (TEXT("TPBDCollisionConstraints::UpdateLevelsetBVHTraversal"), STAT_UpdateLevelsetBVHTraversal, STATGROUP_ChaosWide)
	DECLARE_CYCLE_STAT (TEXT("TPBDCollisionConstraints::UpdateLevelsetSignedDistance"), STAT_UpdateLevelsetSignedDistance, STATGROUP_ChaosWide)
	DECLARE_CYCLE_STAT (TEXT("TPBDCollisionConstraints::UpdateLevelsetAll"), STAT_UpdateLevelsetAll, STATGROUP_ChaosWide)
	DECLARE_CYCLE_STAT (TEXT("TPBDCollisionConstraints::SampleObject"), STAT_SampleObject, STATGROUP_ChaosWide)
template<ECollisionUpdateType UpdateType>
FContactPoint	SampleObject (const FImplicitObject &Object, const FRigidTransform3 &ObjectTransform, const FBVHParticles &SampleParticles, const FRigidTransform3 &SampleParticlesTransform, FReal CullingDistance)
	DECLARE_CYCLE_STAT (TEXT("TPBDCollisionConstraints::FindRelevantShapes"), STAT_FindRelevantShapes, STATGROUP_ChaosWide)
TArray< Pair< const FImplicitObject *, FRigidTransform3 > >	FindRelevantShapes (const FImplicitObject *ParticleObj, const FRigidTransform3 &ParticlesTM, const FImplicitObject &LevelsetObj, const FRigidTransform3 &LevelsetTM, const FReal Thickness)
template FContactPoint	SampleObject< ECollisionUpdateType::Any > (const FImplicitObject &Object, const FRigidTransform3 &ObjectTransform, const FBVHParticles &SampleParticles, const FRigidTransform3 &SampleParticlesTransform, FReal CullingDistance)
template FContactPoint	SampleObject< ECollisionUpdateType::Deepest > (const FImplicitObject &Object, const FRigidTransform3 &ObjectTransform, const FBVHParticles &SampleParticles, const FRigidTransform3 &SampleParticlesTransform, FReal CullingDistance)
void CHAOS_API	ResetChaosCollisionCounters ()
void CHAOS_API	ConstructConstraints (TGeometryParticleHandle< FReal, 3 > *Particle0, TGeometryParticleHandle< FReal, 3 > *Particle1, const FImplicitObject *Implicit0, const FPerShapeData *Shape0, const FBVHParticles *Simplicial0, const int32 ImplicitID0, const FImplicitObject *Implicit1, const FPerShapeData *Shape1, const FBVHParticles *Simplicial1, const int32 ImplicitID1, const FRigidTransform3 &ParticleWorldTransform0, const FRigidTransform3 &Transform0, const FRigidTransform3 &ParticleWorldTransform1, const FRigidTransform3 &Transform1, const FReal CullDistance, const FReal Dt, const bool bEnableSweep, const FCollisionContext &Context)
void CHAOS_API	ConstructConstraints (TGeometryParticleHandle< FReal, 3 > *Particle0, TGeometryParticleHandle< FReal, 3 > *Particle1, const FImplicitObject *Implicit0, const FPerShapeData *Shape0, const FBVHParticles *Simplicial0, const FImplicitObject *Implicit1, const FPerShapeData *Shape1, const FBVHParticles *Simplicial1, const FRigidTransform3 &ParticleWorldTransform0, const FRigidTransform3 &Transform0, const FRigidTransform3 &ParticleWorldTransform1, const FRigidTransform3 &Transform1, const FReal CullDistance, const FReal Dt, const bool bEnableSweep, const FCollisionContext &Context)
void CHAOS_API	ConstructConstraints (TGeometryParticleHandle< FReal, 3 > *Particle0, TGeometryParticleHandle< FReal, 3 > *Particle1, const FImplicitObject *Implicit0, const FPerShapeData *Shape0, const FBVHParticles *Simplicial0, const FImplicitObject *Implicit1, const FPerShapeData *Shape1, const FBVHParticles *Simplicial1, const FRigidTransform3 &ParticleWorldTransform0, const FRigidTransform3 &Transform0, const FRigidTransform3 &ParticleWorldTransform1, const FRigidTransform3 &Transform1, const FReal CullDistance, const FReal Dt, const FCollisionContext &Context)
template<ECollisionUpdateType UpdateType>
void CHAOS_API	UpdateConstraintFromGeometry (FPBDCollisionConstraint &Constraint, const FRigidTransform3 &ParticleTransform0, const FRigidTransform3 &ParticleTransform1, const FReal Dt)
template<typename TRealType >
TMatrix33< TRealType >	ComputeFactorMatrix3 (const TVec3< TRealType > &V, const TMatrix33< TRealType > &M, const TRealType Im)
template<typename TRealType >
TVec3< TRealType >	ComputeFactorDiagonal3 (const TVec3< TRealType > &V, const TMatrix33< TRealType > &M, const TRealType Im)

Variables
int32	NormalAveraging = 0
FAutoConsoleVariableRef	CVarNormalAveraging (TEXT("p.NormalAveraging2"), NormalAveraging, TEXT(""))
int32	SampleMinParticlesForAcceleration = 2048
FAutoConsoleVariableRef	CVarSampleMinParticlesForAcceleration (TEXT("p.SampleMinParticlesForAcceleration"), SampleMinParticlesForAcceleration, TEXT("The minimum number of particles needed before using an acceleration structure when sampling"))

Function Documentation

BoxBoxClipVerticesAgainstPlane()

uint32 Chaos::Collisions::BoxBoxClipVerticesAgainstPlane	(	const FVec3 *	InputVertexBuffer,
		FVec3 *	outputVertexBuffer,
		uint32	ClipPointCount,
		int32	ClippingAxis,
		FReal	Distance
	)

BoxBoxContactPoint()

FContactPoint Chaos::Collisions::BoxBoxContactPoint	(	const FImplicitBox3 &	Box1,
		const FImplicitBox3 &	Box2,
		const FRigidTransform3 &	Box1TM,
		const FRigidTransform3 &	Box2TM
	)

BoxPlaneContactPoint()

FContactPoint Chaos::Collisions::BoxPlaneContactPoint	(	const FImplicitBox3 &	Box,
		const FImplicitPlane3 &	Plane,
		const FRigidTransform3 &	BoxTransform,
		const FRigidTransform3 &	PlaneTransform
	)

CalculateShapePairType()

EContactShapesType CHAOS_API Chaos::Collisions::CalculateShapePairType	(	const FGeometryParticleHandle *	Particle0,
		const FImplicitObject *	Implicit0,
		const FGeometryParticleHandle *	Particle1,
		const FImplicitObject *	Implicit1,
		bool &	bOutSwap
	)

Determine the shape pair type for use in UpdateConstraints.

CalculateTriMeshPhiTolerance()

FReal Chaos::Collisions::CalculateTriMeshPhiTolerance ( const FReal  CullDistance )

inline

CheckPlaneIndex()

template<typename ConvexImplicitType >

void Chaos::Collisions::CheckPlaneIndex	(	const int32	PlaneIndex,
		const ConvexImplicitType &	Convex,
		const FVec3	X,
		const FVec3	N,
		const FReal	MaxDistance,
		const int32	VertexIndex
	)

CheckVertexIndex()

template<typename ConvexImplicitType >

bool Chaos::Collisions::CheckVertexIndex	(	const ConvexImplicitType &	Convex,
		const int32	VertexIndex
	)

ClipVerticesAgainstPlane()

uint32 Chaos::Collisions::ClipVerticesAgainstPlane	(	const FVec3 *	InputVertexBuffer,
		FVec3 *	OutputVertexBuffer,
		const uint32	ClipPointCount,
		const uint32	MaxNumberOfOutputPoints,
		const FVec3	ClippingPlaneNormal,
		const FReal	PlaneDistance
	)

ComputeFactorDiagonal3()

template<typename TRealType >

TVec3< TRealType > Chaos::Collisions::ComputeFactorDiagonal3 ( const TVec3< TRealType > &  V, const TMatrix33< TRealType > &  M, const TRealType  Im  )

inline

Compute the diagonal part of the rigid objects rotational contribution

Parameters

V	Position relative to the center of mass
M	Mass of the particle
Im	Inertia tensor of the particle

ComputeFactorMatrix3()

template<typename TRealType >

TMatrix33< TRealType > Chaos::Collisions::ComputeFactorMatrix3 ( const TVec3< TRealType > &  V, const TMatrix33< TRealType > &  M, const TRealType  Im  )

inline

ConstructBoxBoxOneShotManifold()

void Chaos::Collisions::ConstructBoxBoxOneShotManifold	(	const FImplicitBox3 &	Box1,
		const FRigidTransform3 &	Box1Transform,
		const FImplicitBox3 &	Box2,
		const FRigidTransform3 &	Box2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructCapsuleCapsuleOneShotManifold()

void Chaos::Collisions::ConstructCapsuleCapsuleOneShotManifold	(	const FCapsule &	CapsuleA,
		const FRigidTransform3 &	CapsuleATransform,
		const FCapsule &	CapsuleB,
		const FRigidTransform3 &	CapsuleBTransform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructCapsuleConvexOneShotManifold() [1/5]

template<typename ConvexType >

void Chaos::Collisions::ConstructCapsuleConvexOneShotManifold	(	const FImplicitCapsule3 &	Capsule,
		const FRigidTransform3 &	CapsuleTransform,
		const ConvexType &	Convex,
		const FRigidTransform3 &	ConvexTransform,
		const FReal	CullDistance,
		FContactPointManifold &	OutContactPoints
	)

ConstructCapsuleConvexOneShotManifold() [2/5]

template void Chaos::Collisions::ConstructCapsuleConvexOneShotManifold	(	const FImplicitCapsule3 &	Capsule,
		const FRigidTransform3 &	CapsuleTransform,
		const FImplicitBox3 &	Convex,
		const FRigidTransform3 &	ConvexTransform,
		const FReal	CullDistance,
		FContactPointManifold &	OutContactPoints
	)

ConstructCapsuleConvexOneShotManifold() [3/5]

template void Chaos::Collisions::ConstructCapsuleConvexOneShotManifold	(	const FImplicitCapsule3 &	Capsule,
		const FRigidTransform3 &	CapsuleTransform,
		const FImplicitConvex3 &	Convex,
		const FRigidTransform3 &	ConvexTransform,
		const FReal	CullDistance,
		FContactPointManifold &	OutContactPoints
	)

ConstructCapsuleConvexOneShotManifold() [4/5]

template void Chaos::Collisions::ConstructCapsuleConvexOneShotManifold	(	const FImplicitCapsule3 &	Capsule,
		const FRigidTransform3 &	CapsuleTransform,
		const TImplicitObjectInstanced< FImplicitConvex3 > &	Convex,
		const FRigidTransform3 &	ConvexTransform,
		const FReal	CullDistance,
		FContactPointManifold &	OutContactPoints
	)

ConstructCapsuleConvexOneShotManifold() [5/5]

template void Chaos::Collisions::ConstructCapsuleConvexOneShotManifold	(	const FImplicitCapsule3 &	Capsule,
		const FRigidTransform3 &	CapsuleTransform,
		const TImplicitObjectScaled< FImplicitConvex3 > &	Convex,
		const FRigidTransform3 &	ConvexTransform,
		const FReal	CullDistance,
		FContactPointManifold &	OutContactPoints
	)

ConstructCapsuleTriangleOneShotManifold()

void Chaos::Collisions::ConstructCapsuleTriangleOneShotManifold	(	const FImplicitCapsule3 &	Capsule,
		const FTriangle &	Triangle,
		const FReal	CullDistance,
		FContactPointManifold &	OutContactPoints
	)

ConstructConstraints() [1/3]

void CHAOS_API Chaos::Collisions::ConstructConstraints ( TGeometryParticleHandle< FReal, 3 > *  Particle0, TGeometryParticleHandle< FReal, 3 > *  Particle1, const FImplicitObject *  Implicit0, const FPerShapeData *  Shape0, const FBVHParticles *  Simplicial0, const FImplicitObject *  Implicit1, const FPerShapeData *  Shape1, const FBVHParticles *  Simplicial1, const FRigidTransform3 &  ParticleWorldTransform0, const FRigidTransform3 &  Transform0, const FRigidTransform3 &  ParticleWorldTransform1, const FRigidTransform3 &  Transform1, const FReal  CullDistance, const FReal  Dt, const bool  bEnableSweep, const FCollisionContext &  Context  )

inline

ConstructConstraints() [2/3]

void CHAOS_API Chaos::Collisions::ConstructConstraints ( TGeometryParticleHandle< FReal, 3 > *  Particle0, TGeometryParticleHandle< FReal, 3 > *  Particle1, const FImplicitObject *  Implicit0, const FPerShapeData *  Shape0, const FBVHParticles *  Simplicial0, const FImplicitObject *  Implicit1, const FPerShapeData *  Shape1, const FBVHParticles *  Simplicial1, const FRigidTransform3 &  ParticleWorldTransform0, const FRigidTransform3 &  Transform0, const FRigidTransform3 &  ParticleWorldTransform1, const FRigidTransform3 &  Transform1, const FReal  CullDistance, const FReal  Dt, const FCollisionContext &  Context  )

inline

ConstructConstraints() [3/3]

void CHAOS_API Chaos::Collisions::ConstructConstraints ( TGeometryParticleHandle< FReal, 3 > *  Particle0, TGeometryParticleHandle< FReal, 3 > *  Particle1, const FImplicitObject *  Implicit0, const FPerShapeData *  Shape0, const FBVHParticles *  Simplicial0, const int32  ImplicitID0, const FImplicitObject *  Implicit1, const FPerShapeData *  Shape1, const FBVHParticles *  Simplicial1, const int32  ImplicitID1, const FRigidTransform3 &  ParticleWorldTransform0, const FRigidTransform3 &  Transform0, const FRigidTransform3 &  ParticleWorldTransform1, const FRigidTransform3 &  Transform1, const FReal  CullDistance, const FReal  Dt, const bool  bEnableSweep, const FCollisionContext &  Context  )

inline

ConstructConvexConvexOneShotManifold()

template<typename ConvexImplicitType1 , typename ConvexImplicitType2 >

void Chaos::Collisions::ConstructConvexConvexOneShotManifold	(	const ConvexImplicitType1 &	Convex1,
		const FRigidTransform3 &	Convex1Transform,
		const ConvexImplicitType2 &	Convex2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< class FCapsule, class FConvex >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< class FCapsule, class FConvex >	(	const FCapsule &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const FConvex &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< class FCapsule, class TBox< FReal, 3 > >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< class FCapsule, class TBox< FReal, 3 > >	(	const FCapsule &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const TBox< FReal, 3 > &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< class FCapsule, class TImplicitObjectInstanced< class FConvex > >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< class FCapsule, class TImplicitObjectInstanced< class FConvex > >	(	const FCapsule &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const TImplicitObjectInstanced< class FConvex > &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< class FCapsule, class TImplicitObjectInstanced< class TBox< FReal, 3 > > >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< class FCapsule, class TImplicitObjectInstanced< class TBox< FReal, 3 > > >	(	const FCapsule &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const TImplicitObjectInstanced< class TBox< FReal, 3 > > &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< class FCapsule, TImplicitObjectScaled< class FConvex, 1 > >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< class FCapsule, TImplicitObjectScaled< class FConvex, 1 > >	(	const FCapsule &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const TImplicitObjectScaled< class FConvex, 1 > &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< class FCapsule, TImplicitObjectScaled< class TBox< FReal, 3 >, 1 > >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< class FCapsule, TImplicitObjectScaled< class TBox< FReal, 3 >, 1 > >	(	const FCapsule &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const TImplicitObjectScaled< class TBox< FReal, 3 >, 1 > &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< FCapsule, FTriangle >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< FCapsule, FTriangle >	(	const FCapsule &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const FTriangle &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< FImplicitBox3, FImplicitBox3 >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< FImplicitBox3, FImplicitBox3 >	(	const FImplicitBox3 &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const FImplicitBox3 &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< FImplicitBox3, FImplicitConvex3 >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< FImplicitBox3, FImplicitConvex3 >	(	const FImplicitBox3 &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const FImplicitConvex3 &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< FImplicitBox3, FTriangle >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< FImplicitBox3, FTriangle >	(	const FImplicitBox3 &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const FTriangle &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< FImplicitBox3, TImplicitObjectInstanced< FImplicitConvex3 > >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< FImplicitBox3, TImplicitObjectInstanced< FImplicitConvex3 > >	(	const FImplicitBox3 &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const TImplicitObjectInstanced< FImplicitConvex3 > &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< FImplicitBox3, TImplicitObjectScaled< FImplicitConvex3 > >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< FImplicitBox3, TImplicitObjectScaled< FImplicitConvex3 > >	(	const FImplicitBox3 &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const TImplicitObjectScaled< FImplicitConvex3 > &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< FImplicitConvex3, FImplicitBox3 >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< FImplicitConvex3, FImplicitBox3 >	(	const FImplicitConvex3 &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const FImplicitBox3 &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< FImplicitConvex3, FImplicitConvex3 >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< FImplicitConvex3, FImplicitConvex3 >	(	const FImplicitConvex3 &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const FImplicitConvex3 &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< FImplicitConvex3, FTriangle >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< FImplicitConvex3, FTriangle >	(	const FImplicitConvex3 &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const FTriangle &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< FImplicitConvex3, TImplicitObjectInstanced< FImplicitConvex3 > >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< FImplicitConvex3, TImplicitObjectInstanced< FImplicitConvex3 > >	(	const FImplicitConvex3 &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const TImplicitObjectInstanced< FImplicitConvex3 > &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< FImplicitConvex3, TImplicitObjectScaled< FImplicitConvex3 > >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< FImplicitConvex3, TImplicitObjectScaled< FImplicitConvex3 > >	(	const FImplicitConvex3 &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const TImplicitObjectScaled< FImplicitConvex3 > &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< TImplicitObjectInstanced< FImplicitConvex3 >, FImplicitBox3 >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< TImplicitObjectInstanced< FImplicitConvex3 >, FImplicitBox3 >	(	const TImplicitObjectInstanced< FImplicitConvex3 > &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const FImplicitBox3 &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< TImplicitObjectInstanced< FImplicitConvex3 >, FImplicitConvex3 >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< TImplicitObjectInstanced< FImplicitConvex3 >, FImplicitConvex3 >	(	const TImplicitObjectInstanced< FImplicitConvex3 > &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const FImplicitConvex3 &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< TImplicitObjectInstanced< FImplicitConvex3 >, TImplicitObjectInstanced< FImplicitConvex3 > >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< TImplicitObjectInstanced< FImplicitConvex3 >, TImplicitObjectInstanced< FImplicitConvex3 > >	(	const TImplicitObjectInstanced< FImplicitConvex3 > &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const TImplicitObjectInstanced< FImplicitConvex3 > &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< TImplicitObjectInstanced< FImplicitConvex3 >, TImplicitObjectScaled< FImplicitConvex3 > >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< TImplicitObjectInstanced< FImplicitConvex3 >, TImplicitObjectScaled< FImplicitConvex3 > >	(	const TImplicitObjectInstanced< FImplicitConvex3 > &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const TImplicitObjectScaled< FImplicitConvex3 > &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< TImplicitObjectScaled< class FConvex, 1 >, FTriangle >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< TImplicitObjectScaled< class FConvex, 1 >, FTriangle >	(	const Chaos::TImplicitObjectScaled< class FConvex, 1 > &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const FTriangle &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< TImplicitObjectScaled< class TBox< FReal, 3 >, 1 >, FTriangle >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< TImplicitObjectScaled< class TBox< FReal, 3 >, 1 >, FTriangle >	(	const TImplicitObjectScaled< class Chaos::TBox< FReal, 3 >, 1 > &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const FTriangle &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< TImplicitObjectScaled< FCapsule, 1 >, FTriangle >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< TImplicitObjectScaled< FCapsule, 1 >, FTriangle >	(	const TImplicitObjectScaled< class FCapsule, 1 > &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const FTriangle &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< TImplicitObjectScaled< FImplicitConvex3 >, FImplicitBox3 >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< TImplicitObjectScaled< FImplicitConvex3 >, FImplicitBox3 >	(	const TImplicitObjectScaled< FImplicitConvex3 > &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const FImplicitBox3 &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< TImplicitObjectScaled< FImplicitConvex3 >, FImplicitConvex3 >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< TImplicitObjectScaled< FImplicitConvex3 >, FImplicitConvex3 >	(	const TImplicitObjectScaled< FImplicitConvex3 > &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const FImplicitConvex3 &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< TImplicitObjectScaled< FImplicitConvex3 >, TImplicitObjectInstanced< FImplicitConvex3 > >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< TImplicitObjectScaled< FImplicitConvex3 >, TImplicitObjectInstanced< FImplicitConvex3 > >	(	const TImplicitObjectScaled< FImplicitConvex3 > &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const TImplicitObjectInstanced< FImplicitConvex3 > &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexConvexOneShotManifold< TImplicitObjectScaled< FImplicitConvex3 >, TImplicitObjectScaled< FImplicitConvex3 > >()

template void Chaos::Collisions::ConstructConvexConvexOneShotManifold< TImplicitObjectScaled< FImplicitConvex3 >, TImplicitObjectScaled< FImplicitConvex3 > >	(	const TImplicitObjectScaled< FImplicitConvex3 > &	Implicit1,
		const FRigidTransform3 &	Convex1Transform,
		const TImplicitObjectScaled< FImplicitConvex3 > &	Implicit2,
		const FRigidTransform3 &	Convex2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructConvexMeshOneShotManifold()

template<typename ConvexType , typename MeshType >

void Chaos::Collisions::ConstructConvexMeshOneShotManifold	(	const ConvexType &	Convex,
		const FRigidTransform3 &	ConvexTransform,
		const MeshType &	Mesh,
		const FRigidTransform3 &	MeshTransform,
		const FVec3 &	MeshScale,
		const FReal	CullDistance,
		FContactTriangleCollector &	MeshContacts
	)

Used by all the convex types to generate a manifold against any mesh type.

ConstructConvexMeshOneShotManifold2()

template<typename ConvexType , typename MeshType >

void Chaos::Collisions::ConstructConvexMeshOneShotManifold2	(	const ConvexType &	Convex,
		const FRigidTransform3 &	ConvexTransform,
		const MeshType &	Mesh,
		const FRigidTransform3 &	MeshTransform,
		const FVec3 &	MeshScale,
		const FReal	CullDistance,
		Private::FMeshContactGenerator &	ContactGenerator
	)

ConstructConvexMeshOneShotManifoldMACD()

template<typename ConvexType , typename MeshType >

void Chaos::Collisions::ConstructConvexMeshOneShotManifoldMACD	(	const ConvexType &	Convex,
		const FRigidTransform3 &	ConvexTransform,
		const MeshType &	Mesh,
		const FRigidTransform3 &	MeshTransform,
		const FVec3 &	MeshScale,
		const FVec3 &	RelativeMovement,
		const FReal	InCullDistance,
		Private::FMeshContactGenerator &	ContactGenerator
	)

ConstructConvexTriangleOneShotManifold3()

template<typename ConvexType >

void Chaos::Collisions::ConstructConvexTriangleOneShotManifold3	(	const ConvexType &	Convex,
		const FRigidTransform3 &	ConvexTransform,
		Private::FMeshContactGenerator &	ContactGenerator,
		const int32	TriangleIndex,
		const FReal	CullDistance,
		FContactPointManifold &	OutContactPoints
	)

ConstructPlanarConvexHeightFieldOneShotManifold()

void Chaos::Collisions::ConstructPlanarConvexHeightFieldOneShotManifold	(	const FImplicitObject &	Convex,
		const FRigidTransform3 &	ConvexTransform,
		const FHeightField &	Mesh,
		const FRigidTransform3 &	MeshTransform,
		FPBDCollisionConstraint &	Constraint
	)

Populate the Constraint with a manifold of contacts between a Convex and a HeightField.

Build the contact manifold between a Planar Convex shape and a HeightField.

Parameters

Convex	A convex polyhedron (Box, Convex) that may be wrapped in Scaled or Instanced
Convex	an ImplicitObject that must be a box, convex, or a wrapper around it. Asserts if not

ConstructPlanarConvexTriangleOneShotManifold() [1/7]

template<typename ConvexType >

void Chaos::Collisions::ConstructPlanarConvexTriangleOneShotManifold	(	const ConvexType &	Convex,
		const FTriangle &	Triangle,
		const FReal	CullDistance,
		FContactPointManifold &	OutContactPoints
	)

ConstructPlanarConvexTriangleOneShotManifold() [2/7]

template void Chaos::Collisions::ConstructPlanarConvexTriangleOneShotManifold	(	const FImplicitBox3 &	Convex,
		const FTriangle &	Triangle,
		const FReal	CullDistance,
		FContactPointManifold &	OutContactPoints
	)

ConstructPlanarConvexTriangleOneShotManifold() [3/7]

template void Chaos::Collisions::ConstructPlanarConvexTriangleOneShotManifold	(	const FImplicitConvex3 &	Convex,
		const FTriangle &	Triangle,
		const FReal	CullDistance,
		FContactPointManifold &	OutContactPoints
	)

ConstructPlanarConvexTriangleOneShotManifold() [4/7]

template void Chaos::Collisions::ConstructPlanarConvexTriangleOneShotManifold	(	const TImplicitObjectInstanced< FImplicitBox3 > &	Convex,
		const FTriangle &	Triangle,
		const FReal	CullDistance,
		FContactPointManifold &	OutContactPoints
	)

ConstructPlanarConvexTriangleOneShotManifold() [5/7]

template void Chaos::Collisions::ConstructPlanarConvexTriangleOneShotManifold	(	const TImplicitObjectInstanced< FImplicitConvex3 > &	Convex,
		const FTriangle &	Triangle,
		const FReal	CullDistance,
		FContactPointManifold &	OutContactPoints
	)

ConstructPlanarConvexTriangleOneShotManifold() [6/7]

template void Chaos::Collisions::ConstructPlanarConvexTriangleOneShotManifold	(	const TImplicitObjectScaled< FImplicitBox3 > &	Convex,
		const FTriangle &	Triangle,
		const FReal	CullDistance,
		FContactPointManifold &	OutContactPoints
	)

ConstructPlanarConvexTriangleOneShotManifold() [7/7]

template void Chaos::Collisions::ConstructPlanarConvexTriangleOneShotManifold	(	const TImplicitObjectScaled< FImplicitConvex3 > &	Convex,
		const FTriangle &	Triangle,
		const FReal	CullDistance,
		FContactPointManifold &	OutContactPoints
	)

ConstructPlanarConvexTriMeshOneShotManifold()

void Chaos::Collisions::ConstructPlanarConvexTriMeshOneShotManifold	(	const FImplicitObject &	Convex,
		const FRigidTransform3 &	ConvexTransform,
		const FImplicitObject &	InMesh,
		const FRigidTransform3 &	MeshTransform,
		FPBDCollisionConstraint &	Constraint
	)

Populate the Constraint with a manifold of contacts between a Convex and a TriangleMesh.

Build the contact manifold between a Planar Convex shape and a TriMesh.

Parameters

Convex	A convex polyhedron (Box, Convex) that may be wrapped in Scaled or Instanced
InMesh	A TriangleMesh ImplicitObject that may be wrapped in Scaled or Instaned
Convex	an ImplicitObject that must be a box, convex, or a wrapper around it. Asserts if not
TriMesh	an ImplicitObject that must be FTriangleMeshImplicitObject or a wrapper around it. Asserts if not

ConstructQuadraticConvexHeightFieldOneShotManifold()

void Chaos::Collisions::ConstructQuadraticConvexHeightFieldOneShotManifold	(	const FImplicitObject &	Quadratic,
		const FRigidTransform3 &	QuadraticTransform,
		const FHeightField &	HeightField,
		const FRigidTransform3 &	HeightFieldTransform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

Build the contact manifold between a Quadratic Convex shape (Sphere, Capsule) and a TriMesh.

Parameters

Convex

an ImplicitObject that must be a sphere or capsule. Assert if not

ConstructQuadraticConvexTriMeshOneShotManifold()

void Chaos::Collisions::ConstructQuadraticConvexTriMeshOneShotManifold	(	const FImplicitObject &	Quadratic,
		const FRigidTransform3 &	Quadraticransform,
		const FImplicitObject &	TriangleMesh,
		const FRigidTransform3 &	TriMeshTransform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

Build the contact manifold between a Quadratic Convex shape and a TriMesh.

Parameters

Convex	an ImplicitObject that must be a sphere or capsule. Assert if not
TriMesh	an ImplicitObject that must be FTriangleMeshImplicitObject or a wrapper around it. Asserts if not

ConstructSphereBoxOneShotManifold()

void Chaos::Collisions::ConstructSphereBoxOneShotManifold	(	const FSphere &	Sphere,
		const FRigidTransform3 &	SphereTransform,
		const FImplicitBox3 &	Box,
		const FRigidTransform3 &	BoxTransform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructSphereCapsuleOneShotManifold()

void Chaos::Collisions::ConstructSphereCapsuleOneShotManifold	(	const FSphere &	Sphere,
		const FRigidTransform3 &	SphereTransform,
		const FCapsule &	Capsule,
		const FRigidTransform3 &	CapsuleTransform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructSphereConvexManifold()

void Chaos::Collisions::ConstructSphereConvexManifold	(	const FSphere &	Sphere,
		const FRigidTransform3 &	SphereTransform,
		const FImplicitObject3 &	Convex,
		const FRigidTransform3 &	ConvexTransform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructSphereConvexManifoldImpl()

template<typename ConvexType >

void Chaos::Collisions::ConstructSphereConvexManifoldImpl	(	const FImplicitSphere3 &	Sphere,
		const ConvexType &	Convex,
		const FRigidTransform3 &	SphereToConvexTransform,
		const FReal	CullDistance,
		FContactPointManifold &	ContactPoints
	)

ConstructSphereHeightFieldOneShotManifold()

void Chaos::Collisions::ConstructSphereHeightFieldOneShotManifold	(	const FSphere &	Sphere,
		const FRigidTransform3 &	SphereTransform,
		const FHeightField &	Heightfield,
		const FRigidTransform3 &	HeightfieldTransform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructSpherePlaneOneShotManifold()

void Chaos::Collisions::ConstructSpherePlaneOneShotManifold	(	const FSphere &	Sphere,
		const FRigidTransform3 &	SphereTransform,
		const TPlane< FReal, 3 > &	Plane,
		const FRigidTransform3 &	PlaneTransform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructSphereSphereOneShotManifold()

void Chaos::Collisions::ConstructSphereSphereOneShotManifold	(	const FSphere &	SphereA,
		const FRigidTransform3 &	SphereATransform,
		const FSphere &	SphereB,
		const FRigidTransform3 &	SphereBTransform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

ConstructSphereTriangleMeshOneShotManifold()

template<typename TriMeshType >

void Chaos::Collisions::ConstructSphereTriangleMeshOneShotManifold	(	const FSphere &	Sphere,
		const FRigidTransform3 &	SphereWorldTransform,
		const TriMeshType &	TriangleMesh,
		const FRigidTransform3 &	TriMeshWorldTransform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

DECLARE_CYCLE_STAT() [1/7]

Chaos::Collisions::DECLARE_CYCLE_STAT	(	TEXT("TPBDCollisionConstraints::FindRelevantShapes")	,
		STAT_FindRelevantShapes	,
		STATGROUP_ChaosWide
	)

DECLARE_CYCLE_STAT() [2/7]

Chaos::Collisions::DECLARE_CYCLE_STAT	(	TEXT("TPBDCollisionConstraints::SampleObject")	,
		STAT_SampleObject	,
		STATGROUP_ChaosWide
	)

DECLARE_CYCLE_STAT() [3/7]

Chaos::Collisions::DECLARE_CYCLE_STAT	(	TEXT("TPBDCollisionConstraints::UpdateLevelsetAll")	,
		STAT_UpdateLevelsetAll	,
		STATGROUP_ChaosWide
	)

DECLARE_CYCLE_STAT() [4/7]

Chaos::Collisions::DECLARE_CYCLE_STAT	(	TEXT("TPBDCollisionConstraints::UpdateLevelsetBVHTraversal")	,
		STAT_UpdateLevelsetBVHTraversal	,
		STATGROUP_ChaosWide
	)

DECLARE_CYCLE_STAT() [5/7]

Chaos::Collisions::DECLARE_CYCLE_STAT	(	TEXT("TPBDCollisionConstraints::UpdateLevelsetFindParticles")	,
		STAT_UpdateLevelsetFindParticles	,
		STATGROUP_ChaosWide
	)

DECLARE_CYCLE_STAT() [6/7]

Chaos::Collisions::DECLARE_CYCLE_STAT	(	TEXT("TPBDCollisionConstraints::UpdateLevelsetPartial")	,
		STAT_UpdateLevelsetPartial	,
		STATGROUP_ChaosWide
	)

DECLARE_CYCLE_STAT() [7/7]

Chaos::Collisions::DECLARE_CYCLE_STAT	(	TEXT("TPBDCollisionConstraints::UpdateLevelsetSignedDistance")	,
		STAT_UpdateLevelsetSignedDistance	,
		STATGROUP_ChaosWide
	)

FindBestPlane()

template<typename ConvexImplicitType >

void Chaos::Collisions::FindBestPlane	(	const ConvexImplicitType &	Convex,
		const FVec3 &	X,
		const FVec3 &	N,
		const FReal	MaxDistance,
		const int32	PlaneIndex,
		int32 &	BestPlaneIndex,
		FReal &	BestPlaneDot
	)

FindBestPlaneScaledConvex()

void Chaos::Collisions::FindBestPlaneScaledConvex	(	const TImplicitObjectScaled< FConvex > &	ScaledConvex,
		const FConvex::FVec3Type &	X,
		const FConvex::FVec3Type &	N,
		const FConvex::FVec3Type &	Scale,
		const FConvex::FVec3Type &	ScaleInv,
		const FConvex::FRealType	MaxDistance,
		const int32	PlaneIndex,
		int32 &	OutBestPlaneIndex,
		FConvex::FRealType &	InOutBestPlaneDot
	)

FindRelevantShapes()

TArray< Pair< const FImplicitObject *, FRigidTransform3 > > Chaos::Collisions::FindRelevantShapes	(	const FImplicitObject *	ParticleObj,
		const FRigidTransform3 &	ParticlesTM,
		const FImplicitObject &	LevelsetObj,
		const FRigidTransform3 &	LevelsetTM,
		const FReal	Thickness
	)

GenerateConvexManifoldClippedVertices()

template<typename ConvexImplicitType1 , typename ConvexImplicitType2 >

FVec3 * Chaos::Collisions::GenerateConvexManifoldClippedVertices	(	const ConvexImplicitType1 &	RefConvex,
		const ConvexImplicitType2 &	OtherConvex,
		const FRigidTransform3 &	OtherToRefTransform,
		const int32	RefPlaneIndex,
		const int32	OtherPlaneIndex,
		const FVec3 &	RefPlaneNormal,
		FVec3 *	VertexBuffer1,
		FVec3 *	VertexBuffer2,
		uint32 &	ContactPointCount,
		const uint32	MaxContactPointCount
	)

GenerateConvexMeshContactPoints()

template<typename ConvexType , typename MeshType >

void Chaos::Collisions::GenerateConvexMeshContactPoints	(	const ConvexType &	Convex,
		const MeshType &	Mesh,
		const FAABB3 &	MeshQueryBounds,
		const FRigidTransform3 &	MeshToConvexTransform,
		const FReal	CullDistance,
		FContactTriangleCollector &	MeshContacts
	)

Create a minimized set of contact points between a convex polyhedron (box, convex) and a non-convex mesh (trimesh, heightfield)

Template Parameters

ConvexType	any convex type (Sphere, Capsule, Box, Convex, possibly with a scaled or instanced)
MeshType	any triangle mesh type (HeightField or TriangleMesh, without a scaled or instanced wrapper)

Parameters

MeshQueryBounds	Triangles overlapping this box will be tested. Should be in the space of the mesh.
MeshToConvexTransform	The transform from Mesh space to Convex space. This low-level convex-triangle collision detection is performed in Convex space.

See also

ConstructPlanarConvexTriMeshOneShotManifoldImp, ConstructPlanarConvexHeightfieldOneShotManifoldImp

GenerateConvexTriangleOneShotManifold() [1/2]

template<typename ConvexType >

void Chaos::Collisions::GenerateConvexTriangleOneShotManifold	(	const ConvexType &	Convex,
		const FRigidTransform3 &	ConvexTransform,
		Private::FMeshContactGenerator &	ContactGenerator,
		const int32	TriangleIndex,
		const FReal	CullDistance,
		FContactPointManifold &	OutContactPoints
	)

GenerateConvexTriangleOneShotManifold() [2/2]

template<typename ConvexType >

void Chaos::Collisions::GenerateConvexTriangleOneShotManifold	(	const ConvexType &	Convex,
		const FTriangle &	Triangle,
		const FReal	CullDistance,
		FContactPointManifold &	OutContactPoints
	)

Generate a manifold between a convex shape and a single triangle Templated so we can specialize for some shape types.

GenerateConvexTriangleOneShotManifold< FImplicitCapsule3 >() [1/2]

template<>

void Chaos::Collisions::GenerateConvexTriangleOneShotManifold< FImplicitCapsule3 >	(	const FImplicitCapsule3 &	Capsule,
		const FRigidTransform3 &	ConvexTransform,
		Private::FMeshContactGenerator &	ContactGenerator,
		const int32	TriangleIndex,
		const FReal	CullDistance,
		FContactPointManifold &	OutContactPoints
	)

GenerateConvexTriangleOneShotManifold< FImplicitCapsule3 >() [2/2]

template<>

void Chaos::Collisions::GenerateConvexTriangleOneShotManifold< FImplicitCapsule3 >	(	const FImplicitCapsule3 &	Capsule,
		const FTriangle &	Triangle,
		const FReal	CullDistance,
		FContactPointManifold &	OutContactPoints
	)

GenerateConvexTriangleOneShotManifold< FImplicitSphere3 >() [1/2]

template<>

void Chaos::Collisions::GenerateConvexTriangleOneShotManifold< FImplicitSphere3 >	(	const FImplicitSphere3 &	Sphere,
		const FRigidTransform3 &	ConvexTransform,
		Private::FMeshContactGenerator &	ContactGenerator,
		const int32	TriangleIndex,
		const FReal	CullDistance,
		FContactPointManifold &	OutContactPoints
	)

GenerateConvexTriangleOneShotManifold< FImplicitSphere3 >() [2/2]

template<>

void Chaos::Collisions::GenerateConvexTriangleOneShotManifold< FImplicitSphere3 >	(	const FImplicitSphere3 &	Sphere,
		const FTriangle &	Triangle,
		const FReal	CullDistance,
		FContactPointManifold &	OutContactPoints
	)

GenerateConvexTriangleOneShotManifoldMACD() [1/2]

template<typename ConvexType >

void Chaos::Collisions::GenerateConvexTriangleOneShotManifoldMACD	(	const ConvexType &	Convex,
		const FRigidTransform3 &	ConvexTransform,
		const FVec3 &	ConvexRelativeMovement,
		Private::FMeshContactGenerator &	ContactGenerator,
		const int32	TriangleIndex,
		const FReal	CullDistance,
		FContactPointManifold &	OutContactPoints
	)

GenerateConvexTriangleOneShotManifoldMACD() [2/2]

template<>

void Chaos::Collisions::GenerateConvexTriangleOneShotManifoldMACD	(	const FImplicitSphere3 &	Convex,
		const FRigidTransform3 &	ConvexTransform,
		const FVec3 &	InConvexRelativeMovement,
		Private::FMeshContactGenerator &	ContactGenerator,
		const int32	TriangleIndex,
		const FReal	CullDistance,
		FContactPointManifold &	OutContactPoints
	)

GenerateConvexTriangleOneShotManifoldMACD_PostManifoldFix()

template<typename ConvexType >

void Chaos::Collisions::GenerateConvexTriangleOneShotManifoldMACD_PostManifoldFix	(	const ConvexType &	Convex,
		const FRigidTransform3 &	ConvexTransform,
		const FVec3 &	InConvexRelativeMovement,
		Private::FMeshContactGenerator &	ContactGenerator,
		const int32	TriangleIndex,
		const FReal	CullDistance,
		FContactPointManifold &	OutContactPoints
	)

GenerateConvexTriangleOneShotManifoldMACD_PreManifoldFix()

template<typename ConvexType >

void Chaos::Collisions::GenerateConvexTriangleOneShotManifoldMACD_PreManifoldFix	(	const ConvexType &	Convex,
		const FRigidTransform3 &	ConvexTransform,
		const FVec3 &	ConvexRelativeMovement,
		Private::FMeshContactGenerator &	ContactGenerator,
		const int32	TriangleIndex,
		const FReal	CullDistance,
		FContactPointManifold &	OutContactPoints
	)

GenerateLineConvexManifoldClippedVerticesSameSpace()

template<typename ConvexImplicitType >

FVec3 * Chaos::Collisions::GenerateLineConvexManifoldClippedVerticesSameSpace	(	const ConvexImplicitType &	Convex,
		const TSegment< FReal > &	Segment,
		const int32	ConvexPlaneIndex,
		const FVec3 &	PlaneNormal,
		FVec3 *	VertexBuffer,
		int32 &	ContactPointCount,
		const int32	MaxContactPointCount,
		const FReal	PlaneTolerance
	)

GetEnergyClampedImpulse() [1/2]

FVec3 Chaos::Collisions::GetEnergyClampedImpulse	(	const FVec3 &	Impulse,
		FReal	InvM0,
		const FMatrix33 &	InvI0,
		FReal	InvM1,
		const FMatrix33 &	InvI1,
		const FRotation3 &	Q0,
		const FVec3 &	V0,
		const FVec3 &	W0,
		const FRotation3 &	Q1,
		const FVec3 &	V1,
		const FVec3 &	W1,
		const FVec3 &	ContactOffset0,
		const FVec3 &	ContactOffset1,
		const FVec3 &	ContactVelocity0,
		const FVec3 &	ContactVelocity1
	)

GetEnergyClampedImpulse() [2/2]

FVec3 Chaos::Collisions::GetEnergyClampedImpulse	(	const TPBDRigidParticleHandle< FReal, 3 > *	PBDRigid0,
		const TPBDRigidParticleHandle< FReal, 3 > *	PBDRigid1,
		const FVec3 &	Impulse,
		const FVec3 &	VectorToPoint1,
		const FVec3 &	VectorToPoint2,
		const FVec3 &	Velocity1,
		const FVec3 &	Velocity2
	)

GetImplicitCollisionType()

EImplicitObjectType CHAOS_API Chaos::Collisions::GetImplicitCollisionType	(	const FGeometryParticleHandle *	Particle,
		const FImplicitObject *	Implicit
	)

GetInnerObject()

template<typename TPGeometryClass >

const TPGeometryClass * Chaos::Collisions::GetInnerObject

(

const FImplicitObject &

Geometry

)

GetInstancedImplicit()

const FImplicitObject * Chaos::Collisions::GetInstancedImplicit ( const FImplicitObject *  Implicit0 )

inline

GetTransform()

FRigidTransform3 Chaos::Collisions::GetTransform

(

const TGeometryParticleHandle< FReal, 3 > *

Particle

)

GJKContactPointMargin()

template<typename GeometryA , typename GeometryB >

FContactPoint Chaos::Collisions::GJKContactPointMargin	(	const GeometryA &	A,
		const GeometryB &	B,
		const FRigidTransform3 &	BToATM,
		FReal	MarginA,
		FReal	MarginB,
		FGJKSimplexData &	InOutGjkWarmStartData,
		FReal &	OutMaxMarginDelta,
		int32 &	VertexIndexA,
		int32 &	VertexIndexB
	)

GJKContactPointSameSpace()

template<typename GJKShapeA , typename GJKShapeB >

FContactPoint Chaos::Collisions::GJKContactPointSameSpace	(	const GJKShapeA &	A,
		const GJKShapeB &	B,
		FReal &	OutMaxMarginDelta,
		int32 &	VertexIndexA,
		int32 &	VertexIndexB,
		const FVec3	InitialGJKDir = FVec3(-1,0,0)
	)

ReduceManifoldContactPoints()

uint32 Chaos::Collisions::ReduceManifoldContactPoints	(	FVec3 *	Points,
		uint32	PointCount
	)

General Convexes.

ResetChaosCollisionCounters()

void CHAOS_API Chaos::Collisions::ResetChaosCollisionCounters ( )

inline

SampleObject()

template<ECollisionUpdateType UpdateType>

FContactPoint Chaos::Collisions::SampleObject	(	const FImplicitObject &	Object,
		const FRigidTransform3 &	ObjectTransform,
		const FBVHParticles &	SampleParticles,
		const FRigidTransform3 &	SampleParticlesTransform,
		FReal	CullingDistance
	)

SampleObject< ECollisionUpdateType::Any >()

template FContactPoint Chaos::Collisions::SampleObject< ECollisionUpdateType::Any >	(	const FImplicitObject &	Object,
		const FRigidTransform3 &	ObjectTransform,
		const FBVHParticles &	SampleParticles,
		const FRigidTransform3 &	SampleParticlesTransform,
		FReal	CullingDistance
	)

SampleObject< ECollisionUpdateType::Deepest >()

template FContactPoint Chaos::Collisions::SampleObject< ECollisionUpdateType::Deepest >	(	const FImplicitObject &	Object,
		const FRigidTransform3 &	ObjectTransform,
		const FBVHParticles &	SampleParticles,
		const FRigidTransform3 &	SampleParticlesTransform,
		FReal	CullingDistance
	)

SampleObjectNoNormal()

bool Chaos::Collisions::SampleObjectNoNormal	(	const FImplicitObject &	Object,
		const FRigidTransform3 &	ObjectTransform,
		const FRigidTransform3 &	SampleToObjectTransform,
		const FVec3 &	SampleParticle,
		FReal	Thickness,
		FContactPoint &	Contact
	)

SampleObjectNormalAverageHelper()

bool Chaos::Collisions::SampleObjectNormalAverageHelper	(	const FImplicitObject &	Object,
		const FRigidTransform3 &	ObjectTransform,
		const FRigidTransform3 &	SampleToObjectTransform,
		const FVec3 &	SampleParticle,
		FReal	Thickness,
		FReal &	TotalThickness,
		FContactPoint &	Contact
	)

SelectContactPlane()

template<typename ConvexImplicitType >

int32 Chaos::Collisions::SelectContactPlane	(	const ConvexImplicitType &	Convex,
		const FVec3	X,
		const FVec3	N,
		const FReal	InMaxDistance,
		const int32	VertexIndex
	)

SelectContactPlane< TImplicitObjectScaled< FConvex > >()

template<>

int32 Chaos::Collisions::SelectContactPlane< TImplicitObjectScaled< FConvex > >	(	const TImplicitObjectScaled< FConvex > &	ScaledConvex,
		const FVec3	InX,
		const FVec3	InN,
		const FReal	InMaxDistance,
		const int32	VertexIndex
	)

ShouldUseCCD()

bool CHAOS_API Chaos::Collisions::ShouldUseCCD	(	const FGeometryParticleHandle *	Particle0,
		const FVec3 &	DeltaX0,
		const FGeometryParticleHandle *	Particle1,
		const FVec3 &	DeltaX1,
		FVec3 &	Dir,
		FReal &	Length
	)

Whether CCD should be enabled for a contact given the current particle velocities etc.

Determines if body should use CCD. If using CCD, computes Dir and Length of sweep. If either of the object is CCD-enabled and fast moving, we enable CCD for the constraint. We compare P-X and BoundingBox().Extents().Min() to determine if an object is fast-moving or not. Here is how this works: Think about a box colliding with a static plane. If P-X <= 0.5 * BoundingBox().Extents().Min(), it is impossible for the box to tunnel through the plane. Otherwise, it is possible but not necessary to have tunneling. Now think about two boxes. If P-X <= 0.5 * BoundingBox().Extents().Min() both boxes, it is impossible for one box to tunnel through the other (it is still possible for a box's corner to move through another box's corner). So far this is sufficient for us to determine CCD constraints for our primitives. But the caveat is that for arbitrary objects (think about a rod that is not axis aligned), min of a bounding box extent can be too large and tunneling could still happen if P-X falls below this threshold.

UpdateBoxBoxConstraint()

void Chaos::Collisions::UpdateBoxBoxConstraint	(	const FImplicitBox3 &	Box1,
		const FRigidTransform3 &	Box1Transform,
		const FImplicitBox3 &	Box2,
		const FRigidTransform3 &	Box2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateBoxHeightFieldConstraint()

void Chaos::Collisions::UpdateBoxHeightFieldConstraint	(	const FImplicitBox3 &	A,
		const FRigidTransform3 &	ATransform,
		const FHeightField &	B,
		const FRigidTransform3 &	BTransform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateBoxPlaneConstraint()

void Chaos::Collisions::UpdateBoxPlaneConstraint	(	const FImplicitBox3 &	A,
		const FRigidTransform3 &	ATransform,
		const TPlane< FReal, 3 > &	B,
		const FRigidTransform3 &	BTransform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateBoxTriangleMeshConstraint()

template<typename TriMeshType >

void Chaos::Collisions::UpdateBoxTriangleMeshConstraint	(	const FImplicitBox3 &	Box0,
		const FRigidTransform3 &	WorldTransform0,
		const TriMeshType &	TriangleMesh1,
		const FRigidTransform3 &	WorldTransform1,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateCapsuleBoxConstraint()

void Chaos::Collisions::UpdateCapsuleBoxConstraint	(	const FCapsule &	A,
		const FRigidTransform3 &	ATransform,
		const FImplicitBox3 &	B,
		const FRigidTransform3 &	BTransform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateCapsuleCapsuleConstraint()

void Chaos::Collisions::UpdateCapsuleCapsuleConstraint	(	const FCapsule &	A,
		const FRigidTransform3 &	ATransform,
		const FCapsule &	B,
		const FRigidTransform3 &	BTransform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateCapsuleGenericConvexConstraintHelper()

void Chaos::Collisions::UpdateCapsuleGenericConvexConstraintHelper	(	const FCapsule &	A,
		const FRigidTransform3 &	ATM,
		const FImplicitObject &	B,
		const FRigidTransform3 &	BTM,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateCapsuleHeightFieldConstraint()

void Chaos::Collisions::UpdateCapsuleHeightFieldConstraint	(	const FCapsule &	A,
		const FRigidTransform3 &	ATransform,
		const FHeightField &	B,
		const FRigidTransform3 &	BTransform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateCapsuleHeightFieldConstraintSwept()

void Chaos::Collisions::UpdateCapsuleHeightFieldConstraintSwept	(	TGeometryParticleHandle< FReal, 3 > *	Particle0,
		const FCapsule &	A,
		const FRigidTransform3 &	ATransform,
		const FHeightField &	B,
		const FRigidTransform3 &	BTransform,
		const FVec3 &	Dir,
		const FReal	Length,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateCapsuleTriangleMeshConstraint()

template<typename TriMeshType >

void Chaos::Collisions::UpdateCapsuleTriangleMeshConstraint	(	const FCapsule &	Capsule0,
		const FRigidTransform3 &	WorldTransform0,
		const TriMeshType &	TriangleMesh1,
		const FRigidTransform3 &	WorldTransform1,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateCapsuleTriangleMeshConstraintSwept()

template<typename TriMeshType >

void Chaos::Collisions::UpdateCapsuleTriangleMeshConstraintSwept	(	TGeometryParticleHandle< FReal, 3 > *	Particle0,
		const FCapsule &	Capsule0,
		const FRigidTransform3 &	WorldTransform0,
		const TriMeshType &	TriangleMesh1,
		const FRigidTransform3 &	WorldTransform1,
		const FVec3 &	Dir,
		const FReal	Length,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateConstraint()

void CHAOS_API Chaos::Collisions::UpdateConstraint	(	FPBDCollisionConstraint &	Constraint,
		const FRigidTransform3 &	ShapeWorldTransform0,
		const FRigidTransform3 &	ShapeWorldTransform1,
		const FReal	Dt
	)

Update the contact manifold on the constraint.

Note

Transforms are shape world-space transforms (not particle transforms)

UpdateConstraintFromGeometry() [1/2]

template<ECollisionUpdateType UpdateType>

void CHAOS_API Chaos::Collisions::UpdateConstraintFromGeometry	(	FPBDCollisionConstraint &	Constraint,
		const FRigidTransform3 &	ParticleTransform0,
		const FRigidTransform3 &	ParticleTransform1,
		const FReal	Dt
	)

UpdateConstraintFromGeometry() [2/2]

template<ECollisionUpdateType UpdateType>

void Chaos::Collisions::UpdateConstraintFromGeometry	(	FPBDCollisionConstraint &	Constraint,
		const FRigidTransform3 &	ParticleWorldTransform0,
		const FRigidTransform3 &	ParticleWorldTransform1,
		const FReal	Dt
	)

UpdateConstraintFromGeometry< ECollisionUpdateType::Any >()

template void Chaos::Collisions::UpdateConstraintFromGeometry< ECollisionUpdateType::Any >	(	FPBDCollisionConstraint &	ConstraintBase,
		const FRigidTransform3 &	Transform0,
		const FRigidTransform3 &	Transform1,
		const FReal	Dt
	)

UpdateConstraintFromGeometry< ECollisionUpdateType::Deepest >()

template void Chaos::Collisions::UpdateConstraintFromGeometry< ECollisionUpdateType::Deepest >	(	FPBDCollisionConstraint &	ConstraintBase,
		const FRigidTransform3 &	Transform0,
		const FRigidTransform3 &	Transform1,
		const FReal	Dt
	)

UpdateConstraintFromGeometryImpl()

void Chaos::Collisions::UpdateConstraintFromGeometryImpl ( FPBDCollisionConstraint &  Constraint, const FRigidTransform3 &  WorldTransform0, const FRigidTransform3 &  WorldTransform1, const FReal  Dt  )

inline

UpdateConstraintFromGeometrySweptImpl()

bool Chaos::Collisions::UpdateConstraintFromGeometrySweptImpl ( FPBDCollisionConstraint &  Constraint, const FRigidTransform3 &  WorldTransform0, const FRigidTransform3 &  WorldTransform1, const FReal  Dt  )

inline

UpdateConstraintSwept()

bool CHAOS_API Chaos::Collisions::UpdateConstraintSwept	(	FPBDCollisionConstraint &	Constraint,
		const FRigidTransform3 &	ShapeStartWorldTransform0,
		const FRigidTransform3 &	ShapeStartWorldTransform1,
		const FReal	Dt
	)

Update the contact manifold on the constraint.

Note

Transforms are shape world-space transforms (not particle transforms) at the start of the sweep. The end of the sweep are the transforms stored in the constraint as ShapeWorldTransform0/1

UpdateContactPoint()

void Chaos::Collisions::UpdateContactPoint	(	FPBDCollisionConstraint &	Constraint,
		const FContactPoint &	ContactPoint,
		const FReal	Dt
	)

UpdateContactPointNoCull()

void Chaos::Collisions::UpdateContactPointNoCull	(	FPBDCollisionConstraint &	Constraint,
		const FContactPoint &	ContactPoint,
		const FReal	Dt,
		const bool	bNoCull = true
	)

UpdateConvexHeightFieldConstraint()

void Chaos::Collisions::UpdateConvexHeightFieldConstraint	(	const FImplicitObject &	A,
		const FRigidTransform3 &	ATransform,
		const FHeightField &	B,
		const FRigidTransform3 &	BTransform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateConvexHeightFieldConstraintSwept()

void Chaos::Collisions::UpdateConvexHeightFieldConstraintSwept	(	TGeometryParticleHandle< FReal, 3 > *	Particle0,
		const FImplicitObject &	A,
		const FRigidTransform3 &	ATransform,
		const FHeightField &	B,
		const FRigidTransform3 &	BTransform,
		const FVec3 &	Dir,
		const FReal	Length,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateConvexTriangleMeshConstraint()

void Chaos::Collisions::UpdateConvexTriangleMeshConstraint	(	const FImplicitObject &	Convex0,
		const FRigidTransform3 &	WorldTransform0,
		const FImplicitObject &	TriangleMesh1,
		const FRigidTransform3 &	WorldTransform1,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateConvexTriangleMeshConstraintSwept()

template<typename TriMeshType >

void Chaos::Collisions::UpdateConvexTriangleMeshConstraintSwept	(	TGeometryParticleHandle< FReal, 3 > *	Particle0,
		const FImplicitObject &	Convex0,
		const FRigidTransform3 &	WorldTransform0,
		const TriMeshType &	TriangleMesh1,
		const FRigidTransform3 &	WorldTransform1,
		const FVec3 &	Dir,
		const FReal	Length,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateGenericConvexConvexConstraint()

void Chaos::Collisions::UpdateGenericConvexConvexConstraint	(	const FImplicitObject &	Implicit0,
		const FRigidTransform3 &	WorldTransform0,
		const FImplicitObject &	Implicit1,
		const FRigidTransform3 &	WorldTransform1,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateGenericConvexConvexConstraintHelper()

void Chaos::Collisions::UpdateGenericConvexConvexConstraintHelper	(	const FImplicitObject &	A,
		const FRigidTransform3 &	ATM,
		const FImplicitObject &	B,
		const FRigidTransform3 &	BTM,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateGenericConvexConvexConstraintSwept()

void Chaos::Collisions::UpdateGenericConvexConvexConstraintSwept	(	TGeometryParticleHandle< FReal, 3 > *	Particle0,
		const FImplicitObject &	Implicit0,
		const FRigidTransform3 &	StartWorldTransform0,
		TGeometryParticleHandle< FReal, 3 > *	Particle1,
		const FImplicitObject &	Implicit1,
		const FRigidTransform3 &	StartWorldTransform1,
		const FVec3 &	Dir,
		const FReal	Length,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateLevelsetLevelsetConstraint()

void Chaos::Collisions::UpdateLevelsetLevelsetConstraint	(	const FRigidTransform3 &	WorldTransform0,
		const FRigidTransform3 &	WorldTransform1,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateSphereBoxConstraint()

void Chaos::Collisions::UpdateSphereBoxConstraint	(	const FSphere &	Sphere,
		const FRigidTransform3 &	SphereTransform,
		const FImplicitBox3 &	Box,
		const FRigidTransform3 &	BoxTransform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateSphereCapsuleConstraint()

void Chaos::Collisions::UpdateSphereCapsuleConstraint	(	const FSphere &	A,
		const FRigidTransform3 &	ATransform,
		const FCapsule &	B,
		const FRigidTransform3 &	BTransform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateSphereConvexConstraint()

void Chaos::Collisions::UpdateSphereConvexConstraint	(	const FSphere &	A,
		const FRigidTransform3 &	ATransform,
		const FImplicitObject3 &	B,
		const FRigidTransform3 &	BTransform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateSphereHeightFieldConstraint()

void Chaos::Collisions::UpdateSphereHeightFieldConstraint	(	const FSphere &	A,
		const FRigidTransform3 &	ATransform,
		const FHeightField &	B,
		const FRigidTransform3 &	BTransform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateSphereHeightFieldConstraintSwept()

void Chaos::Collisions::UpdateSphereHeightFieldConstraintSwept	(	TGeometryParticleHandle< FReal, 3 > *	Particle0,
		const FSphere &	A,
		const FRigidTransform3 &	ATransform,
		const FHeightField &	B,
		const FRigidTransform3 &	BTransform,
		const FVec3 &	Dir,
		const FReal	Length,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateSpherePlaneConstraint()

void Chaos::Collisions::UpdateSpherePlaneConstraint	(	const FSphere &	Sphere,
		const FRigidTransform3 &	SphereTransform,
		const TPlane< FReal, 3 > &	Plane,
		const FRigidTransform3 &	PlaneTransform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateSphereSphereConstraint()

void Chaos::Collisions::UpdateSphereSphereConstraint	(	const FSphere &	Sphere1,
		const FRigidTransform3 &	Sphere1Transform,
		const FSphere &	Sphere2,
		const FRigidTransform3 &	Sphere2Transform,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateSphereTriangleMeshConstraint()

template<typename TriMeshType >

void Chaos::Collisions::UpdateSphereTriangleMeshConstraint	(	const FSphere &	Sphere0,
		const FRigidTransform3 &	WorldTransform0,
		const TriMeshType &	TriangleMesh1,
		const FRigidTransform3 &	WorldTransform1,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

UpdateSphereTriangleMeshConstraintSwept()

template<typename TriMeshType >

void Chaos::Collisions::UpdateSphereTriangleMeshConstraintSwept	(	TGeometryParticleHandle< FReal, 3 > *	Particle0,
		const FSphere &	Sphere0,
		const FRigidTransform3 &	WorldTransform0,
		const TriMeshType &	TriangleMesh1,
		const FRigidTransform3 &	WorldTransform1,
		const FVec3 &	Dir,
		const FReal	Length,
		const FReal	Dt,
		FPBDCollisionConstraint &	Constraint
	)

Variable Documentation

CVarNormalAveraging

FAutoConsoleVariableRef Chaos::Collisions::CVarNormalAveraging(TEXT("p.NormalAveraging2"), NormalAveraging, TEXT(""))	(	TEXT("p.NormalAveraging2")	,
		NormalAveraging	,
		TEXT("")
	)

CVarSampleMinParticlesForAcceleration

FAutoConsoleVariableRef Chaos::Collisions::CVarSampleMinParticlesForAcceleration(TEXT("p.SampleMinParticlesForAcceleration"), SampleMinParticlesForAcceleration, TEXT("The minimum number of particles needed before using an acceleration structure when sampling"))	(	TEXT("p.SampleMinParticlesForAcceleration")	,
		SampleMinParticlesForAcceleration	,
		TEXT("The minimum number of particles needed before using an acceleration structure when sampling")
	)

NormalAveraging

int32 Chaos::Collisions::NormalAveraging = 0

SampleMinParticlesForAcceleration

int32 Chaos::Collisions::SampleMinParticlesForAcceleration = 2048