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Continue Jolt integration

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This commit is contained in:
SirLynix
2023-03-21 13:31:52 +01:00
committed by Jérôme Leclercq
parent 21e08798ce
commit 021801f02e
35 changed files with 612 additions and 214 deletions
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16
include/Nazara/JoltPhysics3D/JoltRigidBody3D.hpp
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@@ -7,14 +7,19 @@
#ifndef NAZARA_JOLTPHYSICS3D_JOLTRIGIDBODY3D_HPP
#define NAZARA_JOLTPHYSICS3D_JOLTRIGIDBODY3D_HPP
#include <Nazara/Prerequisites.hpp>
#include <NazaraUtils/Prerequisites.hpp>
#include <Nazara/JoltPhysics3D/JoltCollider3D.hpp>
#include <Nazara/JoltPhysics3D/Config.hpp>
#include <Nazara/Core/Enums.hpp>
#include <Nazara/Math/Matrix4.hpp>
#include <Nazara/Math/Quaternion.hpp>
#include <Nazara/Math/Vector3.hpp>
#include <Nazara/Utils/MovablePtr.hpp>
#include <NazaraUtils/MovablePtr.hpp>
namespace JPH
{
class Body;
}
namespace Nz
{
@@ -41,6 +46,7 @@ namespace Nz
Boxf GetAABB() const;
float GetAngularDamping() const;
Vector3f GetAngularVelocity() const;
inline UInt32 GetBodyIndex() const;
inline const std::shared_ptr<JoltCollider3D>& GetGeom() const;
float GetLinearDamping() const;
Vector3f GetLinearVelocity() const;
@@ -48,6 +54,7 @@ namespace Nz
Vector3f GetMassCenter(CoordSys coordSys = CoordSys::Local) const;
Matrix4f GetMatrix() const;
Vector3f GetPosition() const;
std::pair<Vector3f, Quaternionf> GetPositionAndRotation() const;
Quaternionf GetRotation() const;
inline JoltPhysWorld3D* GetWorld() const;
@@ -60,11 +67,13 @@ namespace Nz
void SetGeom(std::shared_ptr<JoltCollider3D> geom, bool recomputeInertia = true);
void SetLinearDamping(float damping);
void SetLinearVelocity(const Vector3f& velocity);
void SetMass(float mass);
void SetMass(float mass, bool recomputeInertia = true);
void SetMassCenter(const Vector3f& center);
void SetPosition(const Vector3f& position);
void SetRotation(const Quaternionf& rotation);
void TeleportTo(const Vector3f& position, const Quaternionf& rotation);
Quaternionf ToLocal(const Quaternionf& worldRotation);
Vector3f ToLocal(const Vector3f& worldPosition);
Quaternionf ToWorld(const Quaternionf& localRotation);
@@ -80,6 +89,7 @@ namespace Nz
private:
std::shared_ptr<JoltCollider3D> m_geom;
JPH::Body* m_body;
JoltPhysWorld3D* m_world;
UInt32 m_bodyIndex;
};