Method computeMiddlePhase

src/systems/CollisionDetectionSystem.cpp:346–459

Compute the middle-phase collision detection

// Compute the middle-phase collision detection
void CollisionDetectionSystem::computeMiddlePhase(NarrowPhaseInput& narrowPhaseInput, bool needToReportContacts, bool isWorldQuery) {

    RP3D_PROFILE("CollisionDetectionSystem::computeMiddlePhase()", mProfiler);

    // Reserve memory for the narrow-phase input using cached capacity from previous frame
    narrowPhaseInput.reserveMemory();

    // Remove the obsolete last frame collision infos and mark all the others as obsolete
    mOverlappingPairs.clearObsoleteLastFrameCollisionInfos();

    const uint32 nbEnabledColliderComponents = mCollidersComponents.getNbEnabledComponents();

    // For each possible convex vs convex pair of bodies
    const uint64 nbConvexVsConvexPairs = mOverlappingPairs.mConvexPairs.size();
    for (uint64 i=0; i < nbConvexVsConvexPairs; i++) {

        OverlappingPairs::ConvexOverlappingPair& overlappingPair = mOverlappingPairs.mConvexPairs[i];

        assert(mCollidersComponents.getBroadPhaseId(overlappingPair.collider1) != -1);
        assert(mCollidersComponents.getBroadPhaseId(overlappingPair.collider2) != -1);
        assert(mCollidersComponents.getBroadPhaseId(overlappingPair.collider1) != mCollidersComponents.getBroadPhaseId(overlappingPair.collider2));

        const Entity collider1Entity = overlappingPair.collider1;
        const Entity collider2Entity = overlappingPair.collider2;

        const uint32 collider1Index = mCollidersComponents.getEntityIndex(collider1Entity);
        const uint32 collider2Index = mCollidersComponents.getEntityIndex(collider2Entity);

        CollisionShape* collisionShape1 = mCollidersComponents.mCollisionShapes[collider1Index];
        CollisionShape* collisionShape2 = mCollidersComponents.mCollisionShapes[collider2Index];

        NarrowPhaseAlgorithmType algorithmType = overlappingPair.narrowPhaseAlgorithmType;

        const bool isCollider1Trigger = mCollidersComponents.mIsTrigger[collider1Index];
        const bool isCollider2Trigger = mCollidersComponents.mIsTrigger[collider2Index];
        const bool isWorldQueryCollider1 = mCollidersComponents.mIsWorldQueryCollider[collider1Index];
        const bool isWorldQueryCollider2 = mCollidersComponents.mIsWorldQueryCollider[collider2Index];
        const bool isCollider1SimulationCollider = mCollidersComponents.mIsSimulationCollider[collider1Index];
        const bool isCollider2SimulationCollider = mCollidersComponents.mIsSimulationCollider[collider2Index];

        const bool isCollider1SimulationColliderOrTrigger = isCollider1SimulationCollider || isCollider1Trigger;
        const bool isCollider2SimulationColliderOrTrigger = isCollider2SimulationCollider || isCollider2Trigger;

        overlappingPair.collidingInCurrentFrame = false;

        const bool isBody1Enabled = collider1Index < nbEnabledColliderComponents;
        const bool isBody2Enabled = collider2Index < nbEnabledColliderComponents;

        // Only test for collision for a world query and both colliders are world query colliders or
        // if it is not a world query and both colliders are either triggers or simulation colliders
        if ((isWorldQuery && isWorldQueryCollider1 && isWorldQueryCollider2) ||
            (!isWorldQuery && isCollider1SimulationColliderOrTrigger && isCollider2SimulationColliderOrTrigger)) {

            // If it is not a world query, we make sure that the two bodies are enabled
            if (isWorldQuery || (!isWorldQuery && (isBody1Enabled || isBody2Enabled))) {

                const bool reportContacts = needToReportContacts && !isCollider1Trigger && !isCollider2Trigger;