Continue Jolt integration

src/Nazara/JoltPhysics3D/JoltCharacter.cpp

@@ -0,0 +1,78 @@
+// Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
+// This file is part of the "Nazara Engine - JoltPhysics3D module"
+// For conditions of distribution and use, see copyright notice in Config.hpp
+
+#include <Nazara/JoltPhysics3D/JoltCharacter.hpp>
+#include <Nazara/JoltPhysics3D/JoltCollider3D.hpp>
+#include <Nazara/JoltPhysics3D/JoltHelper.hpp>
+#include <Nazara/JoltPhysics3D/JoltPhysWorld3D.hpp>
+#include <Jolt/Jolt.h>
+#include <Jolt/Physics/Collision/ObjectLayer.h>
+#include <Jolt/Physics/Character/Character.h>
+#include <Nazara/JoltPhysics3D/Debug.hpp>
+
+namespace Nz
+{
+	JoltCharacter::JoltCharacter(JoltPhysWorld3D& physWorld, std::shared_ptr<JoltCollider3D> collider, const Vector3f& position, const Quaternionf& rotation) :
+	m_collider(std::move(collider)),
+	m_physicsWorld(physWorld)
+	{
+		auto shapeResult = m_collider->GetShapeSettings()->Create();
+		if (!shapeResult.IsValid())
+			throw std::runtime_error("invalid shape");
+
+		JPH::CharacterSettings settings;
+		settings.mShape = shapeResult.Get();
+
+		m_character = std::make_unique<JPH::Character>(&settings, ToJolt(position), ToJolt(rotation), 0, m_physicsWorld.GetPhysicsSystem());
+		m_character->AddToPhysicsSystem();
+
+		m_physicsWorld.RegisterCharacter(this);
+	}
+
+	JoltCharacter::~JoltCharacter()
+	{
+		m_character->RemoveFromPhysicsSystem();
+
+		m_physicsWorld.UnregisterCharacter(this);
+	}
+
+	Vector3f JoltCharacter::GetLinearVelocity() const
+	{
+		return FromJolt(m_character->GetLinearVelocity());
+	}
+
+	Quaternionf JoltCharacter::GetRotation() const
+	{
+		return FromJolt(m_character->GetRotation());
+	}
+
+	Vector3f JoltCharacter::GetPosition() const
+	{
+		return FromJolt(m_character->GetPosition());
+	}
+
+	std::pair<Vector3f, Quaternionf> JoltCharacter::GetPositionAndRotation() const
+	{
+		JPH::Vec3 position;
+		JPH::Quat rotation;
+		m_character->GetPositionAndRotation(position, rotation);
+
+		return { FromJolt(position), FromJolt(rotation) };
+	}
+
+	bool JoltCharacter::IsOnGround() const
+	{
+		return m_character->IsSupported();
+	}
+
+	void JoltCharacter::SetLinearVelocity(const Vector3f& linearVel)
+	{
+		m_character->SetLinearVelocity(ToJolt(linearVel));
+	}
+
+	void JoltCharacter::PostSimulate()
+	{
+		m_character->PostSimulation(0.05f);
+	}
+}