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Collision

Unreal Engine C++ API Reference > Runtime > Chaos > Chaos

Classes

  Type Name Description
Public class FBasicBroadPhase Run through a list of particle pairs and pass them onto the collision detector if their AABBs overlap.  
Public class FBasicCollisionDetector    
Public class FBroadPhaseContext Per-thread context for the broadphase.  
Public class FBroadPhaseOverlap Output element from the broadphase  
Public class FCollisionConstraintAllocator An allocator and container of collision constraints that supports reuse of constraints from the previous tick.  
Public class FCollisionContext Data passed down into the collision detection functions.  
Public class FCollisionContextAllocator Container the storage for the FCollisionConstraintAllocator, as well as the API to create new midphases and collision constraints.  
Public class FCollisionDetector    
Public class FCollisionDetectorSettings    
Public class FCollisionParticlePairConstraintKey A key which uniquely identifes a collision constraint within a particle pair  
Public class FCollisionParticlePairKey A key which uniquely identifes a particle pair for use by the collision detection system.  
Public struct FContactEdgeID    
Public class FContactTriangle Data held alongside contact points when generating contacts against a (likely non-convex) mesh of triangles.  
Public class FContactTriangleCollector Holds the contacts produced when colliding a convex shape against a non-convex triangular mesh, and provides methods to reduce the total set of contact points down to a minimum manifold.  
Public class FGenericParticlePairMidPhase A midphase for a particle pair where one or both have a large number of collisions shapes, or a non-flat hierarchy of shapes.  
Public class FIgnoreCollisionManager    
Public class FManifoldPoint A single point in a contact manifold. Each Collision Constraint will have up to 4 of these.  
Public class FManifoldPointResult    
Public class FParticleCollisions Knows about all the collisions detectors associated with a particular particle. Used when particles are destroyed to remove perisstent collisions from the system, or when Islands are woken to restore the collisions.  
Public class FParticleEdgeCollisionPruner Utility to remove edge contacts on a particle if those edge contacts are "hidden" by a face contact.  
Public class FParticlePairMidPhase Produce collisions for a particle pair A FParticlePairMidPhase object is created for every particle pair whose bounds overlap. It is responsible for building a set of potentially colliding shape pairs and running collision detection on those pairs each tick.  
Public class FParticleSubSurfaceCollisionPruner Utility to attempt to remove sub-surface contacts on a particle when those edge contacts are "hidden" by other contacts This is not 100% effective and may occasionally remove contacts that it shouldn't! Ideally you would just use this pruning policy in specific locations in the world where sub-surface contacts are a problem.  
Public class FPBDCollisionConstraint A contact constraint.  
Public class FPBDCollisionConstraintContainerCookie Information used by the constraint allocator This includes any information used for optimizations like array indexes etc as well as data for managing lifetime and pruning.  
Public class FPBDCollisionConstraintHandle A handle to a contact constraint.  
Public class FPBDCollisionConstraintMaterial Material properties for a collision constraint.  
Public class FPBDCollisionContainerSolver The solver for a set of collision constraints.  
Public class FPBDCollisionContainerSolverJacobi The solver for a set of collision constraints.  
Public class FPBDCollisionContainerSolverSimd The solver for a set of collision constraints.  
Public class FPBDCollisionSolver    
Public class FPBDCollisionSolverHelperSimd A helper for solving arrays of constraints. Only works with 4 SIMD lanes for now.  
Public class FPBDCollisionSolverJacobi A Jocobi solver for the contact manifold between two shapes.  
Public class FPBDCollisionSolverJacobiHelper A helper for solving arrays of constraints  
Public class FPBDCollisionSolverJacobiManifoldPoints A set of 4 manifold points in a FPBDCollisionSolver.  
Public class FPBDCollisionSolverManifoldPoint A single contact point in a FPBDCollisionSolver.  
Public class FPBDCollisionSolverSettings Settings to control the low-level collision solver behaviour.  
Public class FSavedManifoldPoint The friction data for a manifold point This is the information that needs to be stored between ticks to implement static friction.  
Public class FShapePairParticlePairMidPhase A midphase for a particle pair that pre-builds a set of all potentially colliding shape pairs.  
Public class FSimOverlapParticleShape Results from SimOverlapBounds test  
Public struct FSimOverlapVisitor A visitor for the spatial partitioning system used to build the set of objects overlapping a bounding box.  
Public class FSimSweepCollectorFirstHit A hit collector for SimSweepParticle that just keeps the first hit, except for initial overlaps where the sweep is already moving us away from the contact.  
Public class FSimSweepParticleFilterBroadPhase The default particle pair filter for sim sweeps that uses the same test as in the broadphase.  
Public class FSimSweepParticleHit Results from a SimSweepParticle.  
Public class FSimSweepShapeFilterNarrowPhase The default shape pair filter for sim sweeps that uses the same test as in the narrowphase.  
Public class FSingleShapePairCollisionDetector Handles collision detection for a pair of simple shapes (i.e., not compound shapes)  
Public class FSolverRealSOA    
Public class FSolverVec3SOA    
Public class FSpatialAccelerationBroadPhase A broad phase that iterates over particle and uses a spatial acceleration structure to output potentially overlapping SpatialAccelerationHandles.  
Public class FSpatialAccelerationCollisionDetector    
Public struct FStatData    
Public struct FStatDataImp    
Public struct FStatHelper    
Public class FTriangleContactPoint Extended data used when processing contactpoints on a triangle mesh. Adds information about which triangle we hit (in the local array of FoOntactTriangles) as well as which mesh edge or vertex we hit if appropriate (used for pruning).  
Public class FWorldContactPoint World-space contact point data  
Public class TPBDCollisionSolverManifoldPointsSimd A SIMD row of contact points from a set of FPBDCollisionSolverSimd.  
Public class TPBDCollisionSolverSimd Holds the solver  
Public class TSimSweepSQVisitor A spatial acceleration visitor that forwards callbacks to a functor  
Public struct TSolverBodyPtrPairSimd    

Constants

Name Description
Chaos::CollisionStats::BucketSizes2  

Typedefs

Name Description
FCollisionConstraintBase  
FContactVertexID  
FMaskFilter  
FRigidBodyPointContactConstraint  
FRigidBodySweptPointContactConstraint  
TConstraintPtrSimd  
TSolverBodyPtrSimd  

Enums

  Type Name Description
Public enum Chaos:: Default settings implementation.  
Public enum Chaos:: Default settings implementation.  
Public enum Chaos::ECollisionCCDType Whether we should run CCD (swept collision) or not.  
Public enum Chaos::ECollisionConstraintDirection The resting directionality of a contact constraint for use in constraint solver ordering.  
Public enum Chaos::ECollisionConstraintFlags Flags for user-control over per-particle collision behaviour.  
Public enum Chaos::ECollisionVisitorResult Return value in collision visitors to indicate whether we should continue visiting for stop.  
Public enum Chaos::EContactPointType Used in FContactPoint to indicate whether the contact is vertex-plane, edge-edge, etc.  
Public enum Chaos::EParticlePairMidPhaseType The type of the particle pair midphase.  

Functions

  Type Name Description
Public function bool Return true if the particles are in the preferred order (the first one has the lower ID)
Public function bool

Chaos::DoCollide ( EImplicitObjectType Implicit0Type,
const FPerShapeData* Shape0,
EImplicitObjectType Implicit1Type,
const FPerShapeData* Shape1
)

 Sim Collision filter (i.e., not Query collision filter)
Public function bool Does the shape collide with anything at all in the Sim? (else it is query-only)
Public function constexpr T The value used for Phi (contact separation) to indicate that it is unset/invalid.
Public function bool A filter set to all zeroes means we do not filter
Public function uint32

Chaos::OrderIndependentHashCombine ( const uint32 A,
const uint32 B
)

 Combine two hashes in an order-independent way so that Hash(A, B) == Hash(B, A)
Public function bool

Chaos::ParticlePairBroadPhaseFilter ( const FGeometryParticleHandle* Particle1,
const FGeometryParticleHandle* Particle2,
const FIgnoreCollisionManager* IgnoreCollisionManager
)

 Check whether the two particles need to be considered in the broadphase.
Public function Const *tparam TShapeFilter A custom filter functor with the signature

Chaos::Private::bool ( const FPerShapeData* SweptShape,
const FImplicitObject* SweptImplicit,
const FPerShapeData* OtherShape,
const FImplicitObject* OtherImplicit
)

 Sweep a particle against all other particles that it may hit.
Public function Const *TParam TShapeFilter a shape that returns true to check a particle for overlaps Signature Produce a set of particles and their shapes that overlap the query bounds and pass the particle and shape filters.
Public function bool

Chaos::Private::CalculateBodyShockPropagation ( const FSolverBody& Body0,
const FSolverBody& Body1,
const FSolverReal ShockPropagation,
FSolverReal& OutShockPropagation0,
FSolverReal& OutShockPropagation1
)

  
Public function void

Chaos::Private::GatherBodyPositionCorrections ( const TSolverBodyPtrSimd< 4 >& Body0,
const TSolverBodyPtrSimd< 4 >& Body1,
TSimdVec3f< 4 >& DP0,
TSimdVec3f< 4 >& DQ0,
TSimdVec3f< 4 >& DP1,
TSimdVec3f< 4 >& DQ1
)

  
Public function void

Chaos::Private::GatherBodyVelocities ( const TSolverBodyPtrSimd< 4 >& Body0,
const TSolverBodyPtrSimd< 4 >& Body1,
TSimdVec3f< 4 >& V0,
TSimdVec3f< 4 >& W0,
TSimdVec3f< 4 >& V1,
TSimdVec3f< 4 >& W1
)

  
Public function bool

Chaos::Private::ParticlePairCollisionAllowed ( const FGeometryParticleHandle* Particle1,
const FGeometryParticleHandle* Particle2,
const FIgnoreCollisionManager& IgnoreCollisionManager,
const bool bIsResimming,
bool& bOutSwapOrder
)

 Check whether the two particles are allowed to collide, and also whether we should flip their order.
Public function void

Chaos::Private::ScatterBodyPositionCorrections ( const TSimdVec3f< 4 >& DP0,
const TSimdVec3f< 4 >& DQ0,
const TSimdVec3f< 4 >& DP1,
const TSimdVec3f< 4 >& DQ1,
const TSolverBodyPtrSimd< 4 >& Body0,
const TSolverBodyPtrSimd< 4 >& Body1
)

  
Public function void

Chaos::Private::ScatterBodyVelocities ( const TSimdVec3f< 4 >& V0,
const TSimdVec3f< 4 >& W0,
const TSimdVec3f< 4 >& V1,
const TSimdVec3f< 4 >& W1,
const TSolverBodyPtrSimd< 4 >& Body0,
const TSolverBodyPtrSimd< 4 >& Body1
)

  
Public function *TParam TShapeFilter a shape that returns true to check a particle for overlaps Signature TOverl...

Chaos::Private::SimOverlapBounds ( ISpatialAcceleration< FAccelerationStructureHandle, FReal, 3 >* SpatialAcceleration,
const FAABB3& QueryBounds,
TParticleFilter& ParticleFilter,
TShapeFilter& ShapeFilter,
TOverlapCollector& OverlapCollector
)

  
Public function *tparam TShapeFilter A custom filter functor with the signature const FReal const FSimSweepParti...

Chaos::Private::SimSweepParticle ( ISpatialAcceleration< FAccelerationStructureHandle, FReal, 3 >* SpatialAcceleration,
const FGeometryParticleHandle* SweptParticle,
const FVec3& StartPos,
const FRotation3& Rot,
const FVec3& Dir,
const FReal Length,
TParticleFilter& ParticleFilter,
TShapeFilter& ShapeFilter,
THitCollector& HitCollector
)

  
Public function void

Chaos::Private::SimSweepParticlePair ( const FGeometryParticleHandle* SweptParticle,
const FGeometryParticleHandle* OtherParticle,
const FVec3& StartPos,
const FRotation3& Rot,
const FVec3& Dir,
const FReal Length,
TShapeFilter& ShapeFilter,
THitCollector& HitCollector
)

 Sweep SweptParticle against OtherParticle.
Public function *tparam TShapeFilter A custom filter functor with the signature const FReal const FSimSweepParti...

Chaos::Private::sweep ( must be normalized
)

  
Public function void

Chaos::ProjectOntoAxis ( const FTriangle& Triangle,
const FVec3& AxisN,
const FVec3& AxisX,
FReal& PMin,
FReal& PMax,
int32& MinVertexIndex,
int32& MaxVertexIndex
)

 Project a triangle onto an axis and return the projected range as well as the vertex indices that bound the range.
Public function void

Chaos::ProjectOntoAxis ( const FCapsule& Capsule,
const FVec3& AxisN,
const FVec3& AxisX,
FReal& PMin,
FReal& PMax,
int32& MinVertexIndex,
int32& MaxVertexIndex
)

 Project a capsule segment onto an axis and return the projected range as well as the vertex indices that bound the range.
Public function void

Chaos::ProjectOntoAxis ( const ConvexType& Convex,
const FVec3& AxisN,
const FVec3& AxisX,
FReal& PMin,
FReal& PMax,
int32& MinVertexIndex,
int32& MaxVertexIndex,
TArrayView< FReal >* VertexDs
)

 Project a convex onto an axis and return the projected range as well as the vertex indices that bound the range.
Public function bool

Chaos::ShapePairNarrowPhaseFilter ( EImplicitObjectType Implicit0Type,
const FPerShapeData* Shape0,
EImplicitObjectType Implicit1Type,
const FPerShapeData* Shape1
)

 Check whether the two particles need to be considered in the broadphase NOTE: Implicit0Type and Implicit1Type must be the inner type of the implicit, with any decorators removed (scaled, instanced, transformed).
Public function bool  
Public function bool

Chaos::ShouldSwapParticleOrder ( const bool bIsDynamicOrSleeping0,
const bool bIsDynamicOrSleeping1,
const bool bIsParticle0Preferred
)

 Used to order particles in a consistent way in Broadphase and Resim.

Variables

  Type Name Description
Public variable *tparam TShapeFilter A custom filter functor with the signature const FReal Length  
Public variable *tparam TShapeFilter A custom filter functor with the signature const FReal const FSimSweepParti... objects  
Public variable *TParam TShapeFilter a shape that returns true to check a particle for overlaps Signature TShapeFilter  

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