Physics/Geom: Geoms no longer need a pointer to PhysWorld
Former-commit-id: 7f9372e3ec13525208b49bc3fd07787657f64acb
This commit is contained in:
Lynix
parent
1c7c1de3e7
commit
06b2651264
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@ -1,4 +1,4 @@
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// Copyright (C) 2015 Jérôme Leclercq
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// Copyright (C) 2015 Jérôme Leclercq
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// This file is part of the "Nazara Engine - Physics module"
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// For conditions of distribution and use, see copyright notice in Config.hpp
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@ -18,6 +18,7 @@
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#include <Nazara/Math/Quaternion.hpp>
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#include <Nazara/Math/Vector3.hpp>
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#include <Nazara/Physics/Enums.hpp>
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#include <unordered_map>
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///TODO: CollisionModifier
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///TODO: HeightfieldGeom
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@ -38,24 +39,23 @@ using NzPhysGeomRef = NzObjectRef<NzPhysGeom>;
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class NAZARA_API NzPhysGeom : public NzRefCounted, NzNonCopyable
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{
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public:
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NzPhysGeom(NzPhysWorld* physWorld);
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NzPhysGeom() = default;
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virtual ~NzPhysGeom();
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virtual NzBoxf ComputeAABB(const NzVector3f& translation, const NzQuaternionf& rotation, const NzVector3f& scale) const;
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virtual NzBoxf ComputeAABB(const NzMatrix4f& offsetMatrix = NzMatrix4f::Identity()) const;
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NzBoxf ComputeAABB(const NzVector3f& translation, const NzQuaternionf& rotation, const NzVector3f& scale) const;
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virtual NzBoxf ComputeAABB(const NzMatrix4f& offsetMatrix = NzMatrix4f::Identity(), const NzVector3f& scale = NzVector3f::Unit()) const;
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virtual void ComputeInertialMatrix(NzVector3f* inertia, NzVector3f* center) const;
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virtual float ComputeVolume() const;
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NewtonCollision* GetHandle() const;
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NewtonCollision* GetHandle(NzPhysWorld* world) const;
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virtual nzGeomType GetType() const = 0;
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NzPhysWorld* GetWorld() const;
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static NzPhysGeomRef Build(NzPhysWorld* physWorld, const NzPrimitiveList& list);
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static NzPhysGeomRef Build(const NzPrimitiveList& list);
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protected:
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NewtonCollision* m_collision;
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NzPhysWorld* m_world;
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virtual NewtonCollision* CreateHandle(NzPhysWorld* world) const = 0;
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mutable std::unordered_map<NzPhysWorld*, NewtonCollision*> m_handles;
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static NzPhysGeomLibrary::LibraryMap s_library;
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};
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@ -70,8 +70,11 @@ using NzBoxGeomRef = NzObjectRef<NzBoxGeom>;
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class NAZARA_API NzBoxGeom : public NzPhysGeom
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{
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public:
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NzBoxGeom(NzPhysWorld* physWorld, const NzVector3f& lengths, const NzMatrix4f& transformMatrix = NzMatrix4f::Identity());
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NzBoxGeom(NzPhysWorld* physWorld, const NzVector3f& lengths, const NzVector3f& translation, const NzQuaternionf& rotation = NzQuaternionf::Identity());
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NzBoxGeom(const NzVector3f& lengths, const NzMatrix4f& transformMatrix = NzMatrix4f::Identity());
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NzBoxGeom(const NzVector3f& lengths, const NzVector3f& translation, const NzQuaternionf& rotation = NzQuaternionf::Identity());
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NzBoxf ComputeAABB(const NzMatrix4f& offsetMatrix = NzMatrix4f::Identity(), const NzVector3f& scale = NzVector3f::Unit()) const override;
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float ComputeVolume() const override;
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NzVector3f GetLengths() const;
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nzGeomType GetType() const override;
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@ -79,6 +82,9 @@ class NAZARA_API NzBoxGeom : public NzPhysGeom
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template<typename... Args> static NzBoxGeomRef New(Args&&... args);
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private:
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NewtonCollision* CreateHandle(NzPhysWorld* world) const override;
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NzMatrix4f m_matrix;
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NzVector3f m_lengths;
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};
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@ -92,8 +98,8 @@ using NzCapsuleGeomRef = NzObjectRef<NzCapsuleGeom>;
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class NAZARA_API NzCapsuleGeom : public NzPhysGeom
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{
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public:
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NzCapsuleGeom(NzPhysWorld* physWorld, float length, float radius, const NzMatrix4f& transformMatrix = NzMatrix4f::Identity());
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NzCapsuleGeom(NzPhysWorld* physWorld, float length, float radius, const NzVector3f& translation, const NzQuaternionf& rotation = NzQuaternionf::Identity());
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NzCapsuleGeom(float length, float radius, const NzMatrix4f& transformMatrix = NzMatrix4f::Identity());
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NzCapsuleGeom(float length, float radius, const NzVector3f& translation, const NzQuaternionf& rotation = NzQuaternionf::Identity());
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float GetLength() const;
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float GetRadius() const;
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@ -102,6 +108,9 @@ class NAZARA_API NzCapsuleGeom : public NzPhysGeom
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template<typename... Args> static NzCapsuleGeomRef New(Args&&... args);
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private:
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NewtonCollision* CreateHandle(NzPhysWorld* world) const override;
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NzMatrix4f m_matrix;
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float m_length;
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float m_radius;
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};
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@ -116,7 +125,7 @@ using NzCompoundGeomRef = NzObjectRef<NzCompoundGeom>;
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class NAZARA_API NzCompoundGeom : public NzPhysGeom
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{
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public:
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NzCompoundGeom(NzPhysWorld* physWorld, NzPhysGeom** geoms, unsigned int geomCount);
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NzCompoundGeom(NzPhysGeom** geoms, unsigned int geomCount);
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const std::vector<NzPhysGeomRef>& GetGeoms() const;
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nzGeomType GetType() const override;
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@ -124,6 +133,8 @@ class NAZARA_API NzCompoundGeom : public NzPhysGeom
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template<typename... Args> static NzCompoundGeomRef New(Args&&... args);
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private:
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NewtonCollision* CreateHandle(NzPhysWorld* world) const override;
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std::vector<NzPhysGeomRef> m_geoms;
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};
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@ -137,8 +148,8 @@ using NzConeGeomRef = NzObjectRef<NzConeGeom>;
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class NAZARA_API NzConeGeom : public NzPhysGeom
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{
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public:
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NzConeGeom(NzPhysWorld* physWorld, float length, float radius, const NzMatrix4f& transformMatrix = NzMatrix4f::Identity());
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NzConeGeom(NzPhysWorld* physWorld, float length, float radius, const NzVector3f& translation, const NzQuaternionf& rotation = NzQuaternionf::Identity());
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NzConeGeom(float length, float radius, const NzMatrix4f& transformMatrix = NzMatrix4f::Identity());
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NzConeGeom(float length, float radius, const NzVector3f& translation, const NzQuaternionf& rotation = NzQuaternionf::Identity());
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float GetLength() const;
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float GetRadius() const;
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@ -147,6 +158,9 @@ class NAZARA_API NzConeGeom : public NzPhysGeom
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template<typename... Args> static NzConeGeomRef New(Args&&... args);
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private:
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NewtonCollision* CreateHandle(NzPhysWorld* world) const override;
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NzMatrix4f m_matrix;
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float m_length;
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float m_radius;
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};
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@ -161,12 +175,20 @@ using NzConvexHullGeomRef = NzObjectRef<NzConvexHullGeom>;
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class NAZARA_API NzConvexHullGeom : public NzPhysGeom
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{
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public:
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NzConvexHullGeom(NzPhysWorld* physWorld, const void* vertices, unsigned int vertexCount, unsigned int stride = sizeof(NzVector3f), float tolerance = 0.002f, const NzMatrix4f& transformMatrix = NzMatrix4f::Identity());
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NzConvexHullGeom(NzPhysWorld* physWorld, const void* vertices, unsigned int vertexCount, unsigned int stride, float tolerance, const NzVector3f& translation, const NzQuaternionf& rotation = NzQuaternionf::Identity());
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NzConvexHullGeom(const void* vertices, unsigned int vertexCount, unsigned int stride = sizeof(NzVector3f), float tolerance = 0.002f, const NzMatrix4f& transformMatrix = NzMatrix4f::Identity());
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NzConvexHullGeom(const void* vertices, unsigned int vertexCount, unsigned int stride, float tolerance, const NzVector3f& translation, const NzQuaternionf& rotation = NzQuaternionf::Identity());
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nzGeomType GetType() const override;
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template<typename... Args> static NzConvexHullGeomRef New(Args&&... args);
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private:
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NewtonCollision* CreateHandle(NzPhysWorld* world) const override;
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std::vector<NzVector3f> m_vertices;
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NzMatrix4f m_matrix;
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float m_tolerance;
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unsigned int m_vertexStride;
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};
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class NzCylinderGeom;
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@ -179,8 +201,8 @@ using NzCylinderGeomRef = NzObjectRef<NzCylinderGeom>;
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class NAZARA_API NzCylinderGeom : public NzPhysGeom
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{
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public:
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NzCylinderGeom(NzPhysWorld* physWorld, float length, float radius, const NzMatrix4f& transformMatrix = NzMatrix4f::Identity());
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NzCylinderGeom(NzPhysWorld* physWorld, float length, float radius, const NzVector3f& translation, const NzQuaternionf& rotation = NzQuaternionf::Identity());
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NzCylinderGeom(float length, float radius, const NzMatrix4f& transformMatrix = NzMatrix4f::Identity());
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NzCylinderGeom(float length, float radius, const NzVector3f& translation, const NzQuaternionf& rotation = NzQuaternionf::Identity());
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float GetLength() const;
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float GetRadius() const;
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@ -189,6 +211,9 @@ class NAZARA_API NzCylinderGeom : public NzPhysGeom
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template<typename... Args> static NzCylinderGeomRef New(Args&&... args);
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private:
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NewtonCollision* CreateHandle(NzPhysWorld* world) const override;
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NzMatrix4f m_matrix;
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float m_length;
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float m_radius;
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};
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@ -203,11 +228,14 @@ using NzNullGeomRef = NzObjectRef<NzNullGeom>;
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class NAZARA_API NzNullGeom : public NzPhysGeom
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{
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public:
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NzNullGeom(NzPhysWorld* physWorld);
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NzNullGeom();
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nzGeomType GetType() const override;
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template<typename... Args> static NzNullGeomRef New(Args&&... args);
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private:
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NewtonCollision* CreateHandle(NzPhysWorld* world) const override;
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};
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class NzSphereGeom;
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@ -220,16 +248,22 @@ using NzSphereGeomRef = NzObjectRef<NzSphereGeom>;
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class NAZARA_API NzSphereGeom : public NzPhysGeom
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{
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public:
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NzSphereGeom(NzPhysWorld* physWorld, float radius, const NzMatrix4f& transformMatrix = NzMatrix4f::Identity());
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NzSphereGeom(NzPhysWorld* physWorld, float radius, const NzVector3f& translation, const NzQuaternionf& rotation = NzQuaternionf::Identity());
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NzSphereGeom(float radius, const NzMatrix4f& transformMatrix = NzMatrix4f::Identity());
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NzSphereGeom(float radius, const NzVector3f& translation, const NzQuaternionf& rotation = NzQuaternionf::Identity());
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NzVector3f GetRadius() const;
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NzBoxf ComputeAABB(const NzMatrix4f& offsetMatrix = NzMatrix4f::Identity(), const NzVector3f& scale = NzVector3f::Unit()) const override;
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float ComputeVolume() const override;
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float GetRadius() const;
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nzGeomType GetType() const override;
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template<typename... Args> static NzSphereGeomRef New(Args&&... args);
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private:
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NzVector3f m_radius;
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NewtonCollision* CreateHandle(NzPhysWorld* world) const override;
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NzVector3f m_position;
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float m_radius;
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};
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#include <Nazara/Physics/Geom.inl>
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@ -10,54 +10,59 @@
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namespace
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{
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NzPhysGeom* CreateGeomFromPrimitive(NzPhysWorld* physWorld, const NzPrimitive& primitive)
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NzPhysGeomRef CreateGeomFromPrimitive(const NzPrimitive& primitive)
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{
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switch (primitive.type)
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{
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case nzPrimitiveType_Box:
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return NzBoxGeom::New(physWorld, primitive.box.lengths, primitive.matrix);
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return NzBoxGeom::New(primitive.box.lengths, primitive.matrix);
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case nzPrimitiveType_Cone:
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return NzConeGeom::New(physWorld, primitive.cone.length, primitive.cone.radius, primitive.matrix);
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return NzConeGeom::New(primitive.cone.length, primitive.cone.radius, primitive.matrix);
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case nzPrimitiveType_Plane:
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return NzBoxGeom::New(physWorld, NzVector3f(primitive.plane.size.x, 0.01f, primitive.plane.size.y), primitive.matrix);
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return NzBoxGeom::New(NzVector3f(primitive.plane.size.x, 0.01f, primitive.plane.size.y), primitive.matrix);
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///TODO: PlaneGeom?
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case nzPrimitiveType_Sphere:
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return NzSphereGeom::New(physWorld, primitive.sphere.size, primitive.matrix.GetTranslation());
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return NzSphereGeom::New(primitive.sphere.size, primitive.matrix.GetTranslation());
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}
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NazaraError("Primitive type not handled (0x" + NzString::Number(primitive.type, 16) + ')');
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return nullptr;
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return NzPhysGeomRef();
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}
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}
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NzPhysGeom::NzPhysGeom(NzPhysWorld* physWorld) :
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m_world(physWorld)
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{
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}
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NzPhysGeom::~NzPhysGeom()
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{
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NewtonDestroyCollision(m_collision);
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for (auto& pair : m_handles)
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NewtonDestroyCollision(pair.second);
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}
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NzBoxf NzPhysGeom::ComputeAABB(const NzVector3f& translation, const NzQuaternionf& rotation, const NzVector3f& scale) const
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{
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NzVector3f min, max;
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NewtonCollisionCalculateAABB(m_collision, NzMatrix4f::Transform(translation, rotation), min, max);
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// Et on applique le scale à la fin
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return NzBoxf(scale*min, scale*max);
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return ComputeAABB(NzMatrix4f::Transform(translation, rotation), scale);
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}
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NzBoxf NzPhysGeom::ComputeAABB(const NzMatrix4f& offsetMatrix) const
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NzBoxf NzPhysGeom::ComputeAABB(const NzMatrix4f& offsetMatrix, const NzVector3f& scale) const
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{
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NzVector3f min, max;
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NewtonCollisionCalculateAABB(m_collision, offsetMatrix, min, max);
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return NzBoxf(min, max);
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// Si nous n'avons aucune instance, nous en créons une temporaire
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if (m_handles.empty())
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{
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NzPhysWorld world;
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NewtonCollision* collision = CreateHandle(&world);
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{
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NewtonCollisionCalculateAABB(collision, offsetMatrix, min, max);
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}
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NewtonDestroyCollision(collision);
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}
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else // Sinon on utilise une instance au hasard (elles sont toutes identiques de toute façon)
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NewtonCollisionCalculateAABB(m_handles.begin()->second, offsetMatrix, min, max);
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return NzBoxf(scale * min, scale * max);
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}
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void NzPhysGeom::ComputeInertialMatrix(NzVector3f* inertia, NzVector3f* center) const
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@ -65,7 +70,19 @@ void NzPhysGeom::ComputeInertialMatrix(NzVector3f* inertia, NzVector3f* center)
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float inertiaMatrix[3];
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float origin[3];
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NewtonConvexCollisionCalculateInertialMatrix(m_collision, inertiaMatrix, origin);
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// Si nous n'avons aucune instance, nous en créons une temporaire
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if (m_handles.empty())
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{
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NzPhysWorld world;
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NewtonCollision* collision = CreateHandle(&world);
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{
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NewtonConvexCollisionCalculateInertialMatrix(collision, inertiaMatrix, origin);
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}
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NewtonDestroyCollision(collision);
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}
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else // Sinon on utilise une instance au hasard (elles sont toutes identiques de toute façon)
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NewtonConvexCollisionCalculateInertialMatrix(m_handles.begin()->second, inertiaMatrix, origin);
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if (inertia)
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inertia->Set(inertiaMatrix);
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@ -76,20 +93,35 @@ void NzPhysGeom::ComputeInertialMatrix(NzVector3f* inertia, NzVector3f* center)
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float NzPhysGeom::ComputeVolume() const
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{
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return NewtonConvexCollisionCalculateVolume(m_collision);
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float volume;
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// Si nous n'avons aucune instance, nous en créons une temporaire
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if (m_handles.empty())
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{
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NzPhysWorld world;
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NewtonCollision* collision = CreateHandle(&world);
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{
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volume = NewtonConvexCollisionCalculateVolume(collision);
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}
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NewtonDestroyCollision(collision);
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}
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else // Sinon on utilise une instance au hasard (elles sont toutes identiques de toute façon)
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volume = NewtonConvexCollisionCalculateVolume(m_handles.begin()->second);
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return volume;
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}
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NewtonCollision* NzPhysGeom::GetHandle() const
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NewtonCollision* NzPhysGeom::GetHandle(NzPhysWorld* world) const
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{
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return m_collision;
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auto it = m_handles.find(world);
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if (it == m_handles.end())
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it = m_handles.insert(std::make_pair(world, CreateHandle(world))).first;
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return it->second;
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}
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NzPhysWorld* NzPhysGeom::GetWorld() const
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{
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return m_world;
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}
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NzPhysGeomRef NzPhysGeom::Build(NzPhysWorld* physWorld, const NzPrimitiveList& list)
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NzPhysGeomRef NzPhysGeom::Build(const NzPrimitiveList& list)
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{
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unsigned int primitiveCount = list.GetSize();
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@ -106,30 +138,45 @@ NzPhysGeomRef NzPhysGeom::Build(NzPhysWorld* physWorld, const NzPrimitiveList& l
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std::vector<NzPhysGeom*> geoms(primitiveCount);
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for (unsigned int i = 0; i < primitiveCount; ++i)
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geoms[i] = CreateGeomFromPrimitive(physWorld, list.GetPrimitive(i));
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geoms[i] = CreateGeomFromPrimitive(list.GetPrimitive(i));
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return NzCompoundGeom::New(physWorld, &geoms[0], primitiveCount);
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return NzCompoundGeom::New(&geoms[0], primitiveCount);
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}
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else
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return CreateGeomFromPrimitive(physWorld, list.GetPrimitive(0));
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return CreateGeomFromPrimitive(list.GetPrimitive(0));
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}
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||||
NzPhysGeomLibrary::LibraryMap NzPhysGeom::s_library;
|
||||
|
||||
/********************************** BoxGeom **********************************/
|
||||
|
||||
NzBoxGeom::NzBoxGeom(NzPhysWorld* physWorld, const NzVector3f& lengths, const NzMatrix4f& transformMatrix) :
|
||||
NzPhysGeom(physWorld),
|
||||
NzBoxGeom::NzBoxGeom(const NzVector3f& lengths, const NzMatrix4f& transformMatrix) :
|
||||
m_matrix(transformMatrix),
|
||||
m_lengths(lengths)
|
||||
{
|
||||
m_collision = NewtonCreateBox(physWorld->GetHandle(), lengths.x, lengths.y, lengths.z, 0, transformMatrix);
|
||||
}
|
||||
|
||||
NzBoxGeom::NzBoxGeom(NzPhysWorld* physWorld, const NzVector3f& lengths, const NzVector3f& translation, const NzQuaternionf& rotation) :
|
||||
NzBoxGeom(physWorld, lengths, NzMatrix4f::Transform(translation, rotation))
|
||||
NzBoxGeom::NzBoxGeom(const NzVector3f& lengths, const NzVector3f& translation, const NzQuaternionf& rotation) :
|
||||
NzBoxGeom(lengths, NzMatrix4f::Transform(translation, rotation))
|
||||
{
|
||||
}
|
||||
|
||||
NzBoxf NzBoxGeom::ComputeAABB(const NzMatrix4f& offsetMatrix, const NzVector3f& scale) const
|
||||
{
|
||||
NzVector3f halfLengths(m_lengths * 0.5f);
|
||||
|
||||
NzBoxf aabb(-halfLengths.x, -halfLengths.y, -halfLengths.z, m_lengths.x, m_lengths.y, m_lengths.z);
|
||||
aabb.Transform(offsetMatrix, true);
|
||||
aabb *= scale;
|
||||
|
||||
return aabb;
|
||||
}
|
||||
|
||||
float NzBoxGeom::ComputeVolume() const
|
||||
{
|
||||
return m_lengths.x * m_lengths.y * m_lengths.z;
|
||||
}
|
||||
|
||||
NzVector3f NzBoxGeom::GetLengths() const
|
||||
{
|
||||
return m_lengths;
|
||||
|
|
@ -140,18 +187,22 @@ nzGeomType NzBoxGeom::GetType() const
|
|||
return nzGeomType_Box;
|
||||
}
|
||||
|
||||
NewtonCollision* NzBoxGeom::CreateHandle(NzPhysWorld* world) const
|
||||
{
|
||||
return NewtonCreateBox(world->GetHandle(), m_lengths.x, m_lengths.y, m_lengths.z, 0, m_matrix);
|
||||
}
|
||||
|
||||
/******************************** CapsuleGeom ********************************/
|
||||
|
||||
NzCapsuleGeom::NzCapsuleGeom(NzPhysWorld* physWorld, float length, float radius, const NzMatrix4f& transformMatrix) :
|
||||
NzPhysGeom(physWorld),
|
||||
NzCapsuleGeom::NzCapsuleGeom(float length, float radius, const NzMatrix4f& transformMatrix) :
|
||||
m_matrix(transformMatrix),
|
||||
m_length(length),
|
||||
m_radius(radius)
|
||||
{
|
||||
m_collision = NewtonCreateCapsule(physWorld->GetHandle(), radius, length, 0, transformMatrix);
|
||||
}
|
||||
|
||||
NzCapsuleGeom::NzCapsuleGeom(NzPhysWorld* physWorld, float length, float radius, const NzVector3f& translation, const NzQuaternionf& rotation) :
|
||||
NzCapsuleGeom(physWorld, length, radius, NzMatrix4f::Transform(translation, rotation))
|
||||
NzCapsuleGeom::NzCapsuleGeom(float length, float radius, const NzVector3f& translation, const NzQuaternionf& rotation) :
|
||||
NzCapsuleGeom(length, radius, NzMatrix4f::Transform(translation, rotation))
|
||||
{
|
||||
}
|
||||
|
||||
|
|
@ -170,30 +221,18 @@ nzGeomType NzCapsuleGeom::GetType() const
|
|||
return nzGeomType_Capsule;
|
||||
}
|
||||
|
||||
NewtonCollision* NzCapsuleGeom::CreateHandle(NzPhysWorld* world) const
|
||||
{
|
||||
return NewtonCreateCapsule(world->GetHandle(), m_radius, m_length, 0, m_matrix);
|
||||
}
|
||||
|
||||
/******************************* CompoundGeom ********************************/
|
||||
|
||||
NzCompoundGeom::NzCompoundGeom(NzPhysWorld* physWorld, NzPhysGeom** geoms, unsigned int geomCount) :
|
||||
NzPhysGeom(physWorld)
|
||||
NzCompoundGeom::NzCompoundGeom(NzPhysGeom** geoms, unsigned int geomCount)
|
||||
{
|
||||
m_collision = NewtonCreateCompoundCollision(physWorld->GetHandle(), 0);
|
||||
NewtonCompoundCollisionBeginAddRemove(m_collision);
|
||||
|
||||
m_geoms.reserve(geomCount);
|
||||
for (unsigned int i = 0; i < geomCount; ++i)
|
||||
{
|
||||
if (geoms[i]->GetType() == nzGeomType_Compound)
|
||||
{
|
||||
NzCompoundGeom* compoundGeom = static_cast<NzCompoundGeom*>(geoms[i]);
|
||||
for (const NzPhysGeomRef& geom : compoundGeom->GetGeoms())
|
||||
NewtonCompoundCollisionAddSubCollision(m_collision, geom->GetHandle());
|
||||
}
|
||||
else
|
||||
NewtonCompoundCollisionAddSubCollision(m_collision, geoms[i]->GetHandle());
|
||||
|
||||
m_geoms.emplace_back(geoms[i]);
|
||||
}
|
||||
|
||||
NewtonCompoundCollisionEndAddRemove(m_collision);
|
||||
}
|
||||
|
||||
const std::vector<NzPhysGeomRef>& NzCompoundGeom::GetGeoms() const
|
||||
|
|
@ -206,18 +245,38 @@ nzGeomType NzCompoundGeom::GetType() const
|
|||
return nzGeomType_Compound;
|
||||
}
|
||||
|
||||
NewtonCollision* NzCompoundGeom::CreateHandle(NzPhysWorld* world) const
|
||||
{
|
||||
NewtonCollision* compoundCollision = NewtonCreateCompoundCollision(world->GetHandle(), 0);
|
||||
|
||||
NewtonCompoundCollisionBeginAddRemove(compoundCollision);
|
||||
for (const NzPhysGeomRef& geom : m_geoms)
|
||||
{
|
||||
if (geom->GetType() == nzGeomType_Compound)
|
||||
{
|
||||
NzCompoundGeom* compoundGeom = static_cast<NzCompoundGeom*>(geom.Get());
|
||||
for (const NzPhysGeomRef& piece : compoundGeom->GetGeoms())
|
||||
NewtonCompoundCollisionAddSubCollision(compoundCollision, piece->GetHandle(world));
|
||||
}
|
||||
else
|
||||
NewtonCompoundCollisionAddSubCollision(compoundCollision, geom->GetHandle(world));
|
||||
}
|
||||
NewtonCompoundCollisionEndAddRemove(compoundCollision);
|
||||
|
||||
return compoundCollision;
|
||||
}
|
||||
|
||||
/********************************* ConeGeom **********************************/
|
||||
|
||||
NzConeGeom::NzConeGeom(NzPhysWorld* physWorld, float length, float radius, const NzMatrix4f& transformMatrix) :
|
||||
NzPhysGeom(physWorld),
|
||||
NzConeGeom::NzConeGeom(float length, float radius, const NzMatrix4f& transformMatrix) :
|
||||
m_matrix(transformMatrix),
|
||||
m_length(length),
|
||||
m_radius(radius)
|
||||
{
|
||||
m_collision = NewtonCreateCone(physWorld->GetHandle(), radius, length, 0, transformMatrix);
|
||||
}
|
||||
|
||||
NzConeGeom::NzConeGeom(NzPhysWorld* physWorld, float length, float radius, const NzVector3f& translation, const NzQuaternionf& rotation) :
|
||||
NzConeGeom(physWorld, length, radius, NzMatrix4f::Transform(translation, rotation))
|
||||
NzConeGeom::NzConeGeom(float length, float radius, const NzVector3f& translation, const NzQuaternionf& rotation) :
|
||||
NzConeGeom(length, radius, NzMatrix4f::Transform(translation, rotation))
|
||||
{
|
||||
}
|
||||
|
||||
|
|
@ -236,16 +295,32 @@ nzGeomType NzConeGeom::GetType() const
|
|||
return nzGeomType_Cone;
|
||||
}
|
||||
|
||||
/****************************** ConvexHullGeom *******************************/
|
||||
|
||||
NzConvexHullGeom::NzConvexHullGeom(NzPhysWorld* physWorld, const void* vertices, unsigned int vertexCount, unsigned int stride, float tolerance, const NzMatrix4f& transformMatrix) :
|
||||
NzPhysGeom(physWorld)
|
||||
NewtonCollision* NzConeGeom::CreateHandle(NzPhysWorld* world) const
|
||||
{
|
||||
m_collision = NewtonCreateConvexHull(physWorld->GetHandle(), vertexCount, reinterpret_cast<const float*>(vertices), stride, tolerance, 0, transformMatrix);
|
||||
return NewtonCreateCone(world->GetHandle(), m_radius, m_length, 0, m_matrix);
|
||||
}
|
||||
|
||||
NzConvexHullGeom::NzConvexHullGeom(NzPhysWorld* physWorld, const void* vertices, unsigned int vertexCount, unsigned int stride, float tolerance, const NzVector3f& translation, const NzQuaternionf& rotation) :
|
||||
NzConvexHullGeom(physWorld, vertices, vertexCount, stride, tolerance, NzMatrix4f::Transform(translation, rotation))
|
||||
/****************************** ConvexHullGeom *******************************/
|
||||
|
||||
NzConvexHullGeom::NzConvexHullGeom(const void* vertices, unsigned int vertexCount, unsigned int stride, float tolerance, const NzMatrix4f& transformMatrix) :
|
||||
m_matrix(transformMatrix),
|
||||
m_tolerance(tolerance),
|
||||
m_vertexStride(stride)
|
||||
{
|
||||
const nzUInt8* ptr = static_cast<const nzUInt8*>(vertices);
|
||||
|
||||
m_vertices.resize(vertexCount);
|
||||
if (stride != sizeof(NzVector3f))
|
||||
{
|
||||
for (unsigned int i = 0; i < vertexCount; ++i)
|
||||
m_vertices[i] = *reinterpret_cast<const NzVector3f*>(ptr + stride*i);
|
||||
}
|
||||
else // Fast path
|
||||
std::memcpy(m_vertices.data(), vertices, vertexCount*sizeof(NzVector3f));
|
||||
}
|
||||
|
||||
NzConvexHullGeom::NzConvexHullGeom(const void* vertices, unsigned int vertexCount, unsigned int stride, float tolerance, const NzVector3f& translation, const NzQuaternionf& rotation) :
|
||||
NzConvexHullGeom(vertices, vertexCount, stride, tolerance, NzMatrix4f::Transform(translation, rotation))
|
||||
{
|
||||
}
|
||||
|
||||
|
|
@ -254,18 +329,22 @@ nzGeomType NzConvexHullGeom::GetType() const
|
|||
return nzGeomType_Compound;
|
||||
}
|
||||
|
||||
NewtonCollision* NzConvexHullGeom::CreateHandle(NzPhysWorld* world) const
|
||||
{
|
||||
return NewtonCreateConvexHull(world->GetHandle(), m_vertices.size(), reinterpret_cast<const float*>(m_vertices.data()), sizeof(NzVector3f), m_tolerance, 0, m_matrix);
|
||||
}
|
||||
|
||||
/******************************* CylinderGeom ********************************/
|
||||
|
||||
NzCylinderGeom::NzCylinderGeom(NzPhysWorld* physWorld, float length, float radius, const NzMatrix4f& transformMatrix) :
|
||||
NzPhysGeom(physWorld),
|
||||
NzCylinderGeom::NzCylinderGeom(float length, float radius, const NzMatrix4f& transformMatrix) :
|
||||
m_matrix(transformMatrix),
|
||||
m_length(length),
|
||||
m_radius(radius)
|
||||
{
|
||||
m_collision = NewtonCreateCylinder(physWorld->GetHandle(), radius, length, 0, transformMatrix);
|
||||
}
|
||||
|
||||
NzCylinderGeom::NzCylinderGeom(NzPhysWorld* physWorld, float length, float radius, const NzVector3f& translation, const NzQuaternionf& rotation) :
|
||||
NzCylinderGeom(physWorld, length, radius, NzMatrix4f::Transform(translation, rotation))
|
||||
NzCylinderGeom::NzCylinderGeom(float length, float radius, const NzVector3f& translation, const NzQuaternionf& rotation) :
|
||||
NzCylinderGeom(length, radius, NzMatrix4f::Transform(translation, rotation))
|
||||
{
|
||||
}
|
||||
|
||||
|
|
@ -284,12 +363,15 @@ nzGeomType NzCylinderGeom::GetType() const
|
|||
return nzGeomType_Cylinder;
|
||||
}
|
||||
|
||||
NewtonCollision* NzCylinderGeom::CreateHandle(NzPhysWorld* world) const
|
||||
{
|
||||
return NewtonCreateCylinder(world->GetHandle(), m_radius, m_length, 0, m_matrix);
|
||||
}
|
||||
|
||||
/********************************* NullGeom **********************************/
|
||||
|
||||
NzNullGeom::NzNullGeom(NzPhysWorld* physWorld) :
|
||||
NzPhysGeom(physWorld)
|
||||
NzNullGeom::NzNullGeom()
|
||||
{
|
||||
m_collision = NewtonCreateNull(physWorld->GetHandle());
|
||||
}
|
||||
|
||||
nzGeomType NzNullGeom::GetType() const
|
||||
|
|
@ -297,21 +379,39 @@ nzGeomType NzNullGeom::GetType() const
|
|||
return nzGeomType_Null;
|
||||
}
|
||||
|
||||
NewtonCollision* NzNullGeom::CreateHandle(NzPhysWorld* world) const
|
||||
{
|
||||
return NewtonCreateNull(world->GetHandle());
|
||||
}
|
||||
|
||||
/******************************** SphereGeom *********************************/
|
||||
|
||||
NzSphereGeom::NzSphereGeom(NzPhysWorld* physWorld, float radius, const NzMatrix4f& transformMatrix) :
|
||||
NzPhysGeom(physWorld),
|
||||
NzSphereGeom::NzSphereGeom(float radius, const NzMatrix4f& transformMatrix) :
|
||||
NzSphereGeom(radius, transformMatrix.GetTranslation())
|
||||
{
|
||||
}
|
||||
|
||||
NzSphereGeom::NzSphereGeom(float radius, const NzVector3f& translation, const NzQuaternionf& rotation) :
|
||||
m_position(translation),
|
||||
m_radius(radius)
|
||||
{
|
||||
m_collision = NewtonCreateSphere(physWorld->GetHandle(), radius, 0, transformMatrix);
|
||||
NazaraUnused(rotation);
|
||||
}
|
||||
|
||||
NzSphereGeom::NzSphereGeom(NzPhysWorld* physWorld, float radius, const NzVector3f& translation, const NzQuaternionf& rotation) :
|
||||
NzSphereGeom(physWorld, radius, NzMatrix4f::Transform(translation, rotation))
|
||||
NzBoxf NzSphereGeom::ComputeAABB(const NzMatrix4f& offsetMatrix, const NzVector3f& scale) const
|
||||
{
|
||||
NzVector3f size(m_radius * scale);
|
||||
NzVector3f position(offsetMatrix.GetTranslation());
|
||||
|
||||
return NzBoxf(position - size, position + size);
|
||||
}
|
||||
|
||||
NzVector3f NzSphereGeom::GetRadius() const
|
||||
float NzSphereGeom::ComputeVolume() const
|
||||
{
|
||||
return M_PI * m_radius * m_radius * m_radius / 3.f;
|
||||
}
|
||||
|
||||
float NzSphereGeom::GetRadius() const
|
||||
{
|
||||
return m_radius;
|
||||
}
|
||||
|
|
@ -320,3 +420,8 @@ nzGeomType NzSphereGeom::GetType() const
|
|||
{
|
||||
return nzGeomType_Sphere;
|
||||
}
|
||||
|
||||
NewtonCollision* NzSphereGeom::CreateHandle(NzPhysWorld* world) const
|
||||
{
|
||||
return NewtonCreateSphere(world->GetHandle(), m_radius, 0, NzMatrix4f::Translate(m_position));
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue