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Updated physics module (Still experimental)

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Former-commit-id: 4852b7cf6eca5ba3177397586877fe3d3c39dbd9
This commit is contained in:
Lynix
2013-06-24 13:33:54 +02:00
parent 050f9c2eb7
commit 0e3a4fa90b
6 changed files with 296 additions and 74 deletions
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131
src/Nazara/Physics/Geom.cpp
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@@ -8,6 +8,28 @@
#include <memory>
#include <Nazara/Physics/Debug.hpp>
namespace
{
NzBaseGeom* CreateGeomFromPrimitive(NzPhysWorld* physWorld, const NzPrimitive& primitive)
{
switch (primitive.type)
{
case nzPrimitiveType_Box:
return new NzBoxGeom(physWorld, primitive.box.lengths, primitive.matrix);
case nzPrimitiveType_Plane:
return new NzBoxGeom(physWorld, NzVector3f(primitive.plane.size.x, 0.01f, primitive.plane.size.y), primitive.matrix);
///TODO: PlaneGeom?
case nzPrimitiveType_Sphere:
return new NzSphereGeom(physWorld, primitive.sphere.size, primitive.matrix.GetTranslation());
}
NazaraError("Primitive type not handled (0x" + NzString::Number(primitive.type, 16) + ')');
return nullptr;
}
}
NzBaseGeom::NzBaseGeom(NzPhysWorld* physWorld) :
m_world(physWorld)
{
@@ -15,24 +37,24 @@ m_world(physWorld)
NzBaseGeom::~NzBaseGeom()
{
NewtonReleaseCollision(m_world->GetHandle(), m_collision);
NewtonDestroyCollision(m_collision);
}
NzCubef NzBaseGeom::ComputeAABB(const NzVector3f& translation, const NzQuaternionf& rotation, const NzVector3f& scale) const
NzBoxf NzBaseGeom::ComputeAABB(const NzVector3f& translation, const NzQuaternionf& rotation, const NzVector3f& scale) const
{
NzVector3f min, max;
NewtonCollisionCalculateAABB(m_collision, NzMatrix4f::Transform(translation, rotation), min, max);
// Et on applique le scale à la fin
return NzCubef(scale*min, scale*max);
return NzBoxf(scale*min, scale*max);
}
NzCubef NzBaseGeom::ComputeAABB(const NzMatrix4f& offsetMatrix) const
NzBoxf NzBaseGeom::ComputeAABB(const NzMatrix4f& offsetMatrix) const
{
NzVector3f min, max;
NewtonCollisionCalculateAABB(m_collision, offsetMatrix, min, max);
return NzCubef(min, max);
return NzBoxf(min, max);
}
void NzBaseGeom::ComputeInertialMatrix(NzVector3f* inertia, NzVector3f* center) const
@@ -64,13 +86,43 @@ NzPhysWorld* NzBaseGeom::GetWorld() const
return m_world;
}
NzBaseGeom* NzBaseGeom::Build(NzPhysWorld* physWorld, const NzPrimitiveList& list)
{
unsigned int primitiveCount = list.GetSize();
#if NAZARA_PHYSICS_SAFE
if (primitiveCount == 0)
{
NazaraError("PrimitiveList must have at least one primitive");
return nullptr;
}
#endif
if (primitiveCount > 1)
{
std::vector<NzBaseGeom*> geoms(primitiveCount);
for (unsigned int i = 0; i < primitiveCount; ++i)
geoms[i] = CreateGeomFromPrimitive(physWorld, list.GetPrimitive(i));
return new NzCompoundGeom(physWorld, &geoms[0], primitiveCount);
}
else
return CreateGeomFromPrimitive(physWorld, list.GetPrimitive(0));
}
/********************************** BoxGeom **********************************/
NzBoxGeom::NzBoxGeom(NzPhysWorld* physWorld, const NzVector3f& lengths, const NzVector3f& translation, const NzQuaternionf& rotation) :
NzBoxGeom::NzBoxGeom(NzPhysWorld* physWorld, const NzVector3f& lengths, const NzMatrix4f& transformMatrix) :
NzBaseGeom(physWorld),
m_lengths(lengths)
{
m_collision = NewtonCreateBox(physWorld->GetHandle(), lengths.x, lengths.y, lengths.z, 0, NzMatrix4f::Transform(translation, rotation));
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))
{
}
NzVector3f NzBoxGeom::GetLengths() const
@@ -85,12 +137,17 @@ nzGeomType NzBoxGeom::GetType() const
/******************************** CapsuleGeom ********************************/
NzCapsuleGeom::NzCapsuleGeom(NzPhysWorld* physWorld, float length, float radius, const NzVector3f& translation, const NzQuaternionf& rotation) :
NzCapsuleGeom::NzCapsuleGeom(NzPhysWorld* physWorld, float length, float radius, const NzMatrix4f& transformMatrix) :
NzBaseGeom(physWorld),
m_length(length),
m_radius(radius)
{
m_collision = NewtonCreateCapsule(physWorld->GetHandle(), radius, length, 0, NzMatrix4f::Transform(translation, rotation));
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))
{
}
float NzCapsuleGeom::GetLength() const
@@ -110,28 +167,21 @@ nzGeomType NzCapsuleGeom::GetType() const
/******************************* CompoundGeom ********************************/
NzCompoundGeom::NzCompoundGeom(NzPhysWorld* physWorld, NzBaseGeom* geoms, unsigned int geomCount) :
NzCompoundGeom::NzCompoundGeom(NzPhysWorld* physWorld, NzBaseGeom** geoms, unsigned int geomCount) :
NzBaseGeom(physWorld)
{
std::vector<NewtonCollision*> collisions;
collisions.reserve(geomCount);
m_collision = NewtonCreateCompoundCollision(physWorld->GetHandle(), 0);
NewtonCompoundCollisionBeginAddRemove(m_collision);
for (unsigned int i = 0; i < geomCount; ++i)
{
if (geoms[i].GetType() == nzGeomType_Compound)
{
NewtonCollisionInfoRecord info;
NewtonCollisionGetInfo(geoms[i].GetHandle(), &info);
unsigned int count = info.m_compoundCollision.m_chidrenCount;
for (unsigned int j = 0; j < count; ++j)
collisions.push_back(info.m_compoundCollision.m_chidren[j]);
}
if (geoms[i]->GetType() == nzGeomType_Compound)
NazaraError("Cannot add compound geoms to other compound geoms");
else
collisions.push_back(geoms[i].GetHandle());
NewtonCompoundCollisionAddSubCollision(m_collision, geoms[i]->GetHandle());
}
m_collision = NewtonCreateCompoundCollision(physWorld->GetHandle(), collisions.size(), &collisions[0], 0);
NewtonCompoundCollisionEndAddRemove(m_collision);
}
nzGeomType NzCompoundGeom::GetType() const
@@ -141,12 +191,17 @@ nzGeomType NzCompoundGeom::GetType() const
/********************************* ConeGeom **********************************/
NzConeGeom::NzConeGeom(NzPhysWorld* physWorld, float length, float radius, const NzVector3f& translation, const NzQuaternionf& rotation) :
NzConeGeom::NzConeGeom(NzPhysWorld* physWorld, float length, float radius, const NzMatrix4f& transformMatrix) :
NzBaseGeom(physWorld),
m_length(length),
m_radius(radius)
{
m_collision = NewtonCreateCone(physWorld->GetHandle(), radius, length, 0, NzMatrix4f::Transform(translation, rotation));
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))
{
}
float NzConeGeom::GetLength() const
@@ -166,10 +221,15 @@ nzGeomType NzConeGeom::GetType() const
/****************************** ConvexHullGeom *******************************/
NzConvexHullGeom::NzConvexHullGeom(NzPhysWorld* physWorld, const NzVector3f* vertices, unsigned int vertexCount, unsigned int stride, float tolerance, const NzVector3f& translation, const NzQuaternionf& rotation) :
NzConvexHullGeom::NzConvexHullGeom(NzPhysWorld* physWorld, const void* vertices, unsigned int vertexCount, unsigned int stride, float tolerance, const NzMatrix4f& transformMatrix) :
NzBaseGeom(physWorld)
{
m_collision = NewtonCreateConvexHull(physWorld->GetHandle(), vertexCount, reinterpret_cast<const float*>(vertices), stride, tolerance, 0, NzMatrix4f::Transform(translation, rotation));
m_collision = NewtonCreateConvexHull(physWorld->GetHandle(), vertexCount, reinterpret_cast<const float*>(vertices), stride, tolerance, 0, transformMatrix);
}
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))
{
}
nzGeomType NzConvexHullGeom::GetType() const
@@ -179,12 +239,17 @@ nzGeomType NzConvexHullGeom::GetType() const
/******************************* CylinderGeom ********************************/
NzCylinderGeom::NzCylinderGeom(NzPhysWorld* physWorld, float length, float radius, const NzVector3f& translation, const NzQuaternionf& rotation) :
NzCylinderGeom::NzCylinderGeom(NzPhysWorld* physWorld, float length, float radius, const NzMatrix4f& transformMatrix) :
NzBaseGeom(physWorld),
m_length(length),
m_radius(radius)
{
m_collision = NewtonCreateCylinder(physWorld->GetHandle(), radius, length, 0, NzMatrix4f::Transform(translation, rotation));
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))
{
}
float NzCylinderGeom::GetLength() const
@@ -217,15 +282,15 @@ nzGeomType NzNullGeom::GetType() const
/******************************** SphereGeom *********************************/
NzSphereGeom::NzSphereGeom(NzPhysWorld* physWorld, const NzVector3f& radius, const NzVector3f& translation) :
NzSphereGeom::NzSphereGeom(NzPhysWorld* physWorld, float radius, const NzMatrix4f& transformMatrix) :
NzBaseGeom(physWorld),
m_radius(radius)
{
m_collision = NewtonCreateSphere(physWorld->GetHandle(), radius.x, radius.y, radius.z, 0, NzMatrix4f::Translate(translation));
m_collision = NewtonCreateSphere(physWorld->GetHandle(), radius, 0, transformMatrix);
}
NzSphereGeom::NzSphereGeom(NzPhysWorld* physWorld, float radius, const NzVector3f& translation) :
NzSphereGeom(physWorld, NzVector3f(radius), translation)
NzSphereGeom::NzSphereGeom(NzPhysWorld* physWorld, float radius, const NzVector3f& translation, const NzQuaternionf& rotation) :
NzSphereGeom(physWorld, radius, NzMatrix4f::Transform(translation, rotation))
{
}