sid/NazaraEngine
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

JoltPhysics3D: Add JoltConvexHullCollider3D

Browse Source
This commit is contained in:
SirLynix
2023-04-06 18:57:00 +02:00
committed by Jérôme Leclercq
parent 60ed70d3fd
commit 1415dcbf1a
5 changed files with 175 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files

67
src/Nazara/JoltPhysics3D/JoltCollider3D.cpp
View File

@@ -11,9 +11,11 @@
#include <Nazara/Utility/StaticMesh.hpp>
#include <Nazara/Utility/VertexBuffer.hpp>
#include <NazaraUtils/MemoryHelper.hpp>
#include <tsl/ordered_map.h>
#include <Jolt/Core/Core.h>
#include <Jolt/Physics/Collision/Shape/BoxShape.h>
#include <Jolt/Physics/Collision/Shape/CapsuleShape.h>
#include <Jolt/Physics/Collision/Shape/ConvexHullShape.h>
#include <Jolt/Physics/Collision/Shape/RotatedTranslatedShape.h>
#include <Jolt/Physics/Collision/Shape/StaticCompoundShape.h>
#include <Jolt/Physics/Collision/Shape/SphereShape.h>
@@ -67,7 +69,17 @@ namespace Nz
{
m_shapeSettings.reset();
}
void JoltCollider3D::SetupShapeSettings(std::unique_ptr<JPH::ShapeSettings>&& shapeSettings)
{
assert(!m_shapeSettings);
m_shapeSettings = std::move(shapeSettings);
m_shapeSettings->SetEmbedded();
if (auto result = m_shapeSettings->Create(); result.HasError())
throw std::runtime_error(std::string("shape creation failed: ") + result.GetError().c_str());
}
std::shared_ptr<JoltCollider3D> JoltCollider3D::CreateGeomFromPrimitive(const Primitive& primitive)
{
switch (primitive.type)
@@ -272,6 +284,57 @@ namespace Nz
return JoltColliderType3D::Compound;
}
/******************************** JoltConvexHullCollider3D *********************************/
JoltConvexHullCollider3D::JoltConvexHullCollider3D(SparsePtr<const Vector3f> vertices, std::size_t vertexCount, float hullTolerance, float convexRadius, float maxErrorConvexRadius)
{
std::unique_ptr<JPH::ConvexHullShapeSettings> settings = std::make_unique<JPH::ConvexHullShapeSettings>();
settings->mHullTolerance = hullTolerance;
settings->mMaxConvexRadius = convexRadius;
settings->mMaxErrorConvexRadius = maxErrorConvexRadius;
settings->mPoints.resize(vertexCount);
for (std::size_t i = 0; i < vertexCount; ++i)
settings->mPoints[i] = ToJolt(vertices[i]);
SetupShapeSettings(std::move(settings));
}
void JoltConvexHullCollider3D::BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const
{
tsl::ordered_map<Vector3f, UInt16> vertexCache;
auto InsertVertex = [&](const Vector3f& position) -> UInt16
{
auto it = vertexCache.find(position);
if (it != vertexCache.end())
return it->second;
UInt16 index = SafeCast<UInt16>(vertices.size());
vertices.push_back(position);
vertexCache.emplace(position, index);
return index;
};
const JPH::ConvexHullShapeSettings* settings = GetShapeSettingsAs<JPH::ConvexHullShapeSettings>();
const JPH::ConvexHullShape* shape = SafeCast<const JPH::ConvexHullShape*>(settings->Create().Get().GetPtr());
unsigned int pointCount = shape->GetNumPoints();
for (int i = 1; i < pointCount; ++i)
{
indices.push_back(InsertVertex(offsetMatrix * FromJolt(shape->GetPoint(i - 1))));
indices.push_back(InsertVertex(offsetMatrix * FromJolt(shape->GetPoint(i))));
}
indices.push_back(InsertVertex(offsetMatrix* FromJolt(shape->GetPoint(pointCount - 1))));
indices.push_back(InsertVertex(offsetMatrix* FromJolt(shape->GetPoint(0))));
}
JoltColliderType3D JoltConvexHullCollider3D::GetType() const
{
return JoltColliderType3D::Convex;
}
/******************************** JoltSphereCollider3D *********************************/
JoltSphereCollider3D::JoltSphereCollider3D(float radius)
@@ -293,6 +356,8 @@ namespace Nz
return JoltColliderType3D::Sphere;
}
/******************************** JoltTranslatedRotatedCollider3D *********************************/
JoltTranslatedRotatedCollider3D::JoltTranslatedRotatedCollider3D(std::shared_ptr<JoltCollider3D> collider, const Vector3f& translation, const Quaternionf& rotation) :
m_collider(std::move(collider))
{