Continue Jolt integration
This commit is contained in:
SirLynix
committed by
Jérôme Leclercq
Jérôme Leclercq
parent
21e08798ce
commit
021801f02e
@@ -6,7 +6,7 @@
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#include <Nazara/JoltPhysics3D/JoltHelper.hpp>
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#include <Nazara/JoltPhysics3D/JoltPhysWorld3D.hpp>
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#include <Nazara/JoltPhysics3D/JoltRigidBody3D.hpp>
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#include <Nazara/Utils/MemoryHelper.hpp>
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#include <NazaraUtils/MemoryHelper.hpp>
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#include <Jolt/Jolt.h>
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#include <Jolt/Physics/PhysicsSystem.h>
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#include <Jolt/Physics/Body/BodyCreationSettings.h>
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@@ -29,28 +29,32 @@ namespace Nz
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NazaraAssert(m_world, "Invalid world");
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if (!m_geom)
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m_geom = std::make_shared<JoltSphereCollider3D>(1.f);
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m_geom = std::make_shared<JoltSphereCollider3D>(std::numeric_limits<float>::epsilon());
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JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterface();
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JPH::BodyInterface& bodyInterface = m_world->GetPhysicsSystem()->GetBodyInterface();
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JPH::Vec3 position = ToJolt(mat.GetTranslation());
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JPH::Quat rotation = ToJolt(mat.GetRotation().Normalize());
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JPH::BodyCreationSettings settings(m_geom->GetShapeSettings(), position, rotation, JPH::EMotionType::Dynamic, 1);
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JPH::Body* body = body_interface.CreateBody(settings);
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body->SetUserData(SafeCast<UInt64>(reinterpret_cast<std::uintptr_t>(this)));
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m_body = bodyInterface.CreateBody(settings);
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m_body->SetUserData(SafeCast<UInt64>(reinterpret_cast<std::uintptr_t>(this)));
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body_interface.AddBody(body->GetID(), JPH::EActivation::Activate);
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m_bodyIndex = body->GetID().GetIndexAndSequenceNumber();
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JPH::BodyID bodyId = m_body->GetID();
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bodyInterface.AddBody(bodyId, JPH::EActivation::Activate);
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m_bodyIndex = bodyId.GetIndex();
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}
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JoltRigidBody3D::JoltRigidBody3D(JoltRigidBody3D&& object) noexcept :
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m_geom(std::move(object.m_geom)),
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m_body(object.m_body),
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m_bodyIndex(object.m_bodyIndex),
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m_world(object.m_world)
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{
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object.m_bodyIndex = JPH::BodyID::cInvalidBodyID;
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object.m_body = nullptr;
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object.m_bodyIndex = std::numeric_limits<UInt32>::max();
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}
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JoltRigidBody3D::~JoltRigidBody3D()
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@@ -64,16 +68,12 @@ namespace Nz
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{
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case CoordSys::Global:
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{
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JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterface();
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body_interface.AddForce(JPH::BodyID(m_bodyIndex), ToJolt(force));
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//WakeUp();
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//m_body->applyCentralForce(ToJolt(force));
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m_body->AddForce(ToJolt(force));
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break;
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}
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case CoordSys::Local:
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//WakeUp();
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//m_body->applyCentralForce(ToJolt(GetRotation() * force));
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m_body->AddForce(m_body->GetRotation() * ToJolt(force));
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break;
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}
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}
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@@ -115,13 +115,7 @@ namespace Nz
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#endif
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void JoltRigidBody3D::EnableSleeping(bool enable)
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{
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auto& body_interface = m_world->GetPhysicsSystem()->GetBodyLockInterface();
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JPH::BodyLockWrite lock(body_interface, JPH::BodyID(m_bodyIndex));
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if (lock.Succeeded())
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{
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JPH::Body& body = lock.GetBody();
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body.SetAllowSleeping(enable);
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}
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m_body->SetAllowSleeping(enable);
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}
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#if 0
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@@ -162,13 +156,7 @@ namespace Nz
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float JoltRigidBody3D::GetMass() const
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{
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auto& body_interface = m_world->GetPhysicsSystem()->GetBodyLockInterface();
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JPH::BodyLockRead lock(body_interface, JPH::BodyID(m_bodyIndex));
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if (!lock.Succeeded())
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return 0.f;
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const JPH::Body& body = lock.GetBody();
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return 1.f / body.GetMotionProperties()->GetInverseMass();
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return 1.f / m_body->GetMotionProperties()->GetInverseMass();
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}
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#if 0
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Vector3f JoltRigidBody3D::GetMassCenter(CoordSys coordSys) const
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@@ -184,14 +172,20 @@ namespace Nz
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Vector3f JoltRigidBody3D::GetPosition() const
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{
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JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterface();
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return FromJolt(body_interface.GetPosition(JPH::BodyID(m_bodyIndex)));
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return FromJolt(m_body->GetPosition());
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}
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std::pair<Vector3f, Quaternionf> JoltRigidBody3D::GetPositionAndRotation() const
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{
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JPH::Vec3 position = m_body->GetPosition();
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JPH::Quat rotation = m_body->GetRotation();
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return { FromJolt(position), FromJolt(rotation) };
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}
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Quaternionf JoltRigidBody3D::GetRotation() const
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{
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JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterface();
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return FromJolt(body_interface.GetRotation(JPH::BodyID(m_bodyIndex)));
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return FromJolt(m_body->GetRotation());
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}
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#if 0
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@@ -203,19 +197,12 @@ namespace Nz
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bool JoltRigidBody3D::IsSleeping() const
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{
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JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterface();
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return !body_interface.IsActive(JPH::BodyID(m_bodyIndex));
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return m_body->IsActive();
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}
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bool JoltRigidBody3D::IsSleepingEnabled() const
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{
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auto& body_interface = m_world->GetPhysicsSystem()->GetBodyLockInterface();
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JPH::BodyLockRead lock(body_interface, JPH::BodyID(m_bodyIndex));
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if (!lock.Succeeded())
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return true;
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const JPH::Body& body = lock.GetBody();
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return body.GetAllowSleeping();
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return m_body->GetAllowSleeping();
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}
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#if 0
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@@ -233,72 +220,79 @@ namespace Nz
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{
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if (m_geom != geom)
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{
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float mass = GetMass();
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if (geom)
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m_geom = std::move(geom);
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else
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m_geom = std::make_shared<JoltSphereCollider3D>(1.f);
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m_geom = std::make_shared<JoltSphereCollider3D>(std::numeric_limits<float>::epsilon());
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JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterface();
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body_interface.SetShape(JPH::BodyID(m_bodyIndex), m_geom->GetShapeSettings()->Create().Get(), true, JPH::EActivation::Activate);
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JPH::BodyInterface& bodyInterface = m_world->GetPhysicsSystem()->GetBodyInterface();
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bodyInterface.SetShape(m_body->GetID(), m_geom->GetShapeSettings()->Create().Get(), false, JPH::EActivation::Activate);
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if (recomputeInertia)
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{
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JPH::MassProperties massProperties = m_body->GetShape()->GetMassProperties();
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massProperties.ScaleToMass(mass);
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m_body->GetMotionProperties()->SetMassProperties(massProperties);
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}
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}
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}
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#if 0
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void JoltRigidBody3D::SetLinearDamping(float damping)
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{
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m_body->setDamping(damping, m_body->getAngularDamping());
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m_body->GetMotionProperties()->SetLinearDamping(damping);
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}
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void JoltRigidBody3D::SetLinearVelocity(const Vector3f& velocity)
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{
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m_body->setLinearVelocity(ToJolt(velocity));
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m_body->SetLinearVelocity(ToJolt(velocity));
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}
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#endif 0
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void JoltRigidBody3D::SetMass(float mass)
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void JoltRigidBody3D::SetMass(float mass, bool recomputeInertia)
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{
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NazaraAssert(mass >= 0.f, "Mass must be positive and finite");
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NazaraAssert(std::isfinite(mass), "Mass must be positive and finite");
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auto& bodyLock = m_world->GetPhysicsSystem()->GetBodyLockInterface();
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JPH::BodyLockWrite lock(bodyLock, JPH::BodyID(m_bodyIndex));
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if (!lock.Succeeded())
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return;
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JPH::Body& body = lock.GetBody();
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if (mass > 0.f)
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{
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body.SetMotionType(JPH::EMotionType::Dynamic);
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body.GetMotionProperties()->SetInverseMass(1.f / mass);
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m_body->SetMotionType(JPH::EMotionType::Dynamic);
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if (recomputeInertia)
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{
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JPH::MassProperties massProperties = m_body->GetShape()->GetMassProperties();
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massProperties.ScaleToMass(mass);
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m_body->GetMotionProperties()->SetMassProperties(massProperties);
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}
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}
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else
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{
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JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterfaceNoLock();
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JPH::BodyInterface& bodyInterface = m_world->GetPhysicsSystem()->GetBodyInterfaceNoLock();
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bodyInterface.DeactivateBody(m_body->GetID());
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body_interface.DeactivateBody(body.GetID());
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body.SetMotionType(JPH::EMotionType::Static);
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m_body->SetMotionType(JPH::EMotionType::Static);
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}
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}
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#if 0
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void JoltRigidBody3D::SetMassCenter(const Vector3f& center)
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{
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btTransform centerTransform;
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centerTransform.setIdentity();
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centerTransform.setOrigin(ToJolt(center));
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m_body->setCenterOfMassTransform(centerTransform);
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//m_body->GetMotionProperties()->set
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}
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#endif 0
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void JoltRigidBody3D::SetPosition(const Vector3f& position)
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{
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JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterface();
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body_interface.SetPosition(JPH::BodyID(m_bodyIndex), ToJolt(position), JPH::EActivation::Activate);
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JPH::BodyInterface& bodyInterface = m_world->GetPhysicsSystem()->GetBodyInterfaceNoLock();
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bodyInterface.SetPosition(m_body->GetID(), ToJolt(position), JPH::EActivation::Activate);
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}
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void JoltRigidBody3D::SetRotation(const Quaternionf& rotation)
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{
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JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterface();
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body_interface.SetRotation(JPH::BodyID(m_bodyIndex), ToJolt(rotation), JPH::EActivation::Activate);
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JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterfaceNoLock();
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body_interface.SetRotation(m_body->GetID(), ToJolt(rotation), JPH::EActivation::Activate);
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}
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void JoltRigidBody3D::TeleportTo(const Vector3f& position, const Quaternionf& rotation)
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{
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JPH::BodyInterface& bodyInterface = m_world->GetPhysicsSystem()->GetBodyInterfaceNoLock();
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bodyInterface.SetPositionAndRotation(m_body->GetID(), ToJolt(position), ToJolt(rotation), JPH::EActivation::Activate);
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}
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#if 0
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@@ -327,30 +321,34 @@ namespace Nz
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void JoltRigidBody3D::WakeUp()
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{
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JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterface();
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body_interface.ActivateBody(JPH::BodyID(m_bodyIndex));
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body_interface.ActivateBody(m_body->GetID());
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}
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JoltRigidBody3D& JoltRigidBody3D::operator=(JoltRigidBody3D&& object) noexcept
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{
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Destroy();
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m_body = object.m_body;
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m_bodyIndex = object.m_bodyIndex;
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m_geom = std::move(object.m_geom);
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m_world = object.m_world;
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object.m_bodyIndex = JPH::BodyID::cInvalidBodyID;
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object.m_body = nullptr;
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object.m_bodyIndex = std::numeric_limits<UInt32>::max();
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return *this;
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}
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void JoltRigidBody3D::Destroy()
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{
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if (m_bodyIndex != JPH::BodyID::cInvalidBodyID)
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if (m_body)
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{
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JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterface();
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body_interface.RemoveBody(JPH::BodyID(m_bodyIndex));
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body_interface.DestroyBody(JPH::BodyID(m_bodyIndex));
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m_bodyIndex = JPH::BodyID::cInvalidBodyID;
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JPH::BodyID bodyId = m_body->GetID();
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JPH::BodyInterface& bodyInterface = m_world->GetPhysicsSystem()->GetBodyInterface();
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bodyInterface.RemoveBody(bodyId);
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bodyInterface.DestroyBody(bodyId);
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m_body = nullptr;
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}
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m_geom.reset();
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