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Physics/Geom: Improved Geom class

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Renamed BaseGeom to PhysGeom, made it a reference-counted class


Former-commit-id: 5b3a2921addb537c2744346edc9c74eafb3260b0
This commit is contained in:
Lynix
2015-04-19 18:01:45 +02:00
parent 697e6714db
commit 1642536a0e
5 changed files with 243 additions and 70 deletions
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52
src/Nazara/Physics/Geom.cpp
View File

@@ -10,22 +10,22 @@
namespace
{
NzBaseGeom* CreateGeomFromPrimitive(NzPhysWorld* physWorld, const NzPrimitive& primitive)
NzPhysGeom* CreateGeomFromPrimitive(NzPhysWorld* physWorld, const NzPrimitive& primitive)
{
switch (primitive.type)
{
case nzPrimitiveType_Box:
return new NzBoxGeom(physWorld, primitive.box.lengths, primitive.matrix);
return NzBoxGeom::New(physWorld, primitive.box.lengths, primitive.matrix);
case nzPrimitiveType_Cone:
return new NzConeGeom(physWorld, primitive.cone.length, primitive.cone.radius, primitive.matrix);
return NzConeGeom::New(physWorld, primitive.cone.length, primitive.cone.radius, primitive.matrix);
case nzPrimitiveType_Plane:
return new NzBoxGeom(physWorld, NzVector3f(primitive.plane.size.x, 0.01f, primitive.plane.size.y), primitive.matrix);
return NzBoxGeom::New(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());
return NzSphereGeom::New(physWorld, primitive.sphere.size, primitive.matrix.GetTranslation());
}
NazaraError("Primitive type not handled (0x" + NzString::Number(primitive.type, 16) + ')');
@@ -33,17 +33,17 @@ namespace
}
}
NzBaseGeom::NzBaseGeom(NzPhysWorld* physWorld) :
NzPhysGeom::NzPhysGeom(NzPhysWorld* physWorld) :
m_world(physWorld)
{
}
NzBaseGeom::~NzBaseGeom()
NzPhysGeom::~NzPhysGeom()
{
NewtonDestroyCollision(m_collision);
}
NzBoxf NzBaseGeom::ComputeAABB(const NzVector3f& translation, const NzQuaternionf& rotation, const NzVector3f& scale) const
NzBoxf NzPhysGeom::ComputeAABB(const NzVector3f& translation, const NzQuaternionf& rotation, const NzVector3f& scale) const
{
NzVector3f min, max;
NewtonCollisionCalculateAABB(m_collision, NzMatrix4f::Transform(translation, rotation), min, max);
@@ -52,7 +52,7 @@ NzBoxf NzBaseGeom::ComputeAABB(const NzVector3f& translation, const NzQuaternion
return NzBoxf(scale*min, scale*max);
}
NzBoxf NzBaseGeom::ComputeAABB(const NzMatrix4f& offsetMatrix) const
NzBoxf NzPhysGeom::ComputeAABB(const NzMatrix4f& offsetMatrix) const
{
NzVector3f min, max;
NewtonCollisionCalculateAABB(m_collision, offsetMatrix, min, max);
@@ -60,7 +60,7 @@ NzBoxf NzBaseGeom::ComputeAABB(const NzMatrix4f& offsetMatrix) const
return NzBoxf(min, max);
}
void NzBaseGeom::ComputeInertialMatrix(NzVector3f* inertia, NzVector3f* center) const
void NzPhysGeom::ComputeInertialMatrix(NzVector3f* inertia, NzVector3f* center) const
{
float inertiaMatrix[3];
float origin[3];
@@ -74,22 +74,22 @@ void NzBaseGeom::ComputeInertialMatrix(NzVector3f* inertia, NzVector3f* center)
center->Set(origin);
}
float NzBaseGeom::ComputeVolume() const
float NzPhysGeom::ComputeVolume() const
{
return NewtonConvexCollisionCalculateVolume(m_collision);
}
NewtonCollision* NzBaseGeom::GetHandle() const
NewtonCollision* NzPhysGeom::GetHandle() const
{
return m_collision;
}
NzPhysWorld* NzBaseGeom::GetWorld() const
NzPhysWorld* NzPhysGeom::GetWorld() const
{
return m_world;
}
NzBaseGeom* NzBaseGeom::Build(NzPhysWorld* physWorld, const NzPrimitiveList& list)
NzPhysGeomRef NzPhysGeom::Build(NzPhysWorld* physWorld, const NzPrimitiveList& list)
{
unsigned int primitiveCount = list.GetSize();
@@ -103,21 +103,23 @@ NzBaseGeom* NzBaseGeom::Build(NzPhysWorld* physWorld, const NzPrimitiveList& lis
if (primitiveCount > 1)
{
std::vector<NzBaseGeom*> geoms(primitiveCount);
std::vector<NzPhysGeom*> geoms(primitiveCount);
for (unsigned int i = 0; i < primitiveCount; ++i)
geoms[i] = CreateGeomFromPrimitive(physWorld, list.GetPrimitive(i));
return new NzCompoundGeom(physWorld, &geoms[0], primitiveCount);
return NzCompoundGeom::New(physWorld, &geoms[0], primitiveCount);
}
else
return CreateGeomFromPrimitive(physWorld, list.GetPrimitive(0));
}
NzPhysGeomLibrary::LibraryMap NzPhysGeom::s_library;
/********************************** BoxGeom **********************************/
NzBoxGeom::NzBoxGeom(NzPhysWorld* physWorld, const NzVector3f& lengths, const NzMatrix4f& transformMatrix) :
NzBaseGeom(physWorld),
NzPhysGeom(physWorld),
m_lengths(lengths)
{
m_collision = NewtonCreateBox(physWorld->GetHandle(), lengths.x, lengths.y, lengths.z, 0, transformMatrix);
@@ -141,7 +143,7 @@ nzGeomType NzBoxGeom::GetType() const
/******************************** CapsuleGeom ********************************/
NzCapsuleGeom::NzCapsuleGeom(NzPhysWorld* physWorld, float length, float radius, const NzMatrix4f& transformMatrix) :
NzBaseGeom(physWorld),
NzPhysGeom(physWorld),
m_length(length),
m_radius(radius)
{
@@ -170,8 +172,8 @@ nzGeomType NzCapsuleGeom::GetType() const
/******************************* CompoundGeom ********************************/
NzCompoundGeom::NzCompoundGeom(NzPhysWorld* physWorld, NzBaseGeom** geoms, unsigned int geomCount) :
NzBaseGeom(physWorld)
NzCompoundGeom::NzCompoundGeom(NzPhysWorld* physWorld, NzPhysGeom** geoms, unsigned int geomCount) :
NzPhysGeom(physWorld)
{
m_collision = NewtonCreateCompoundCollision(physWorld->GetHandle(), 0);
NewtonCompoundCollisionBeginAddRemove(m_collision);
@@ -195,7 +197,7 @@ nzGeomType NzCompoundGeom::GetType() const
/********************************* ConeGeom **********************************/
NzConeGeom::NzConeGeom(NzPhysWorld* physWorld, float length, float radius, const NzMatrix4f& transformMatrix) :
NzBaseGeom(physWorld),
NzPhysGeom(physWorld),
m_length(length),
m_radius(radius)
{
@@ -225,7 +227,7 @@ nzGeomType NzConeGeom::GetType() const
/****************************** ConvexHullGeom *******************************/
NzConvexHullGeom::NzConvexHullGeom(NzPhysWorld* physWorld, const void* vertices, unsigned int vertexCount, unsigned int stride, float tolerance, const NzMatrix4f& transformMatrix) :
NzBaseGeom(physWorld)
NzPhysGeom(physWorld)
{
m_collision = NewtonCreateConvexHull(physWorld->GetHandle(), vertexCount, reinterpret_cast<const float*>(vertices), stride, tolerance, 0, transformMatrix);
}
@@ -243,7 +245,7 @@ nzGeomType NzConvexHullGeom::GetType() const
/******************************* CylinderGeom ********************************/
NzCylinderGeom::NzCylinderGeom(NzPhysWorld* physWorld, float length, float radius, const NzMatrix4f& transformMatrix) :
NzBaseGeom(physWorld),
NzPhysGeom(physWorld),
m_length(length),
m_radius(radius)
{
@@ -273,7 +275,7 @@ nzGeomType NzCylinderGeom::GetType() const
/********************************* NullGeom **********************************/
NzNullGeom::NzNullGeom(NzPhysWorld* physWorld) :
NzBaseGeom(physWorld)
NzPhysGeom(physWorld)
{
m_collision = NewtonCreateNull(physWorld->GetHandle());
}
@@ -286,7 +288,7 @@ nzGeomType NzNullGeom::GetType() const
/******************************** SphereGeom *********************************/
NzSphereGeom::NzSphereGeom(NzPhysWorld* physWorld, float radius, const NzMatrix4f& transformMatrix) :
NzBaseGeom(physWorld),
NzPhysGeom(physWorld),
m_radius(radius)
{
m_collision = NewtonCreateSphere(physWorld->GetHandle(), radius, 0, transformMatrix);

56
src/Nazara/Physics/PhysObject.cpp
View File

@@ -4,55 +4,35 @@
#include <Nazara/Physics/PhysObject.hpp>
#include <Nazara/Physics/Config.hpp>
#include <Nazara/Physics/Geom.hpp>
#include <Nazara/Physics/PhysWorld.hpp>
#include <Newton/Newton.h>
#include <algorithm>
#include <Nazara/Physics/Debug.hpp>
NzPhysObject::NzPhysObject(NzPhysWorld* world, const NzMatrix4f& mat) :
m_matrix(mat),
m_forceAccumulator(NzVector3f::Zero()),
m_torqueAccumulator(NzVector3f::Zero()),
m_world(world),
m_ownsGeom(true),
m_gravityFactor(1.f),
m_mass(0.f)
NzPhysObject(world, NzNullGeom::New(world), mat)
{
#if NAZARA_PHYSICS_SAFE
if (!world)
NazaraError("Invalid physics world"); ///TODO: Unexcepted
#endif
m_geom = new NzNullGeom(world);
m_body = NewtonCreateDynamicBody(world->GetHandle(), m_geom->GetHandle(), mat);
NewtonBodySetUserData(m_body, this);
}
NzPhysObject::NzPhysObject(NzPhysWorld* world, const NzBaseGeom* geom, const NzMatrix4f& mat) :
NzPhysObject::NzPhysObject(NzPhysWorld* world, NzPhysGeomRef geom, const NzMatrix4f& mat) :
m_matrix(mat),
m_forceAccumulator(NzVector3f::Zero()),
m_torqueAccumulator(NzVector3f::Zero()),
m_geom(geom),
m_geom(std::move(geom)),
m_world(world),
m_ownsGeom(false),
m_gravityFactor(1.f),
m_mass(0.f)
{
#if NAZARA_PHYSICS_SAFE
if (!world)
NazaraError("Invalid physics world"); ///TODO: Unexcepted
#endif
NazaraAssert(m_world, "Invalid world");
NazaraAssert(m_geom, "Invalid geometry");
m_body = NewtonCreateDynamicBody(world->GetHandle(), geom->GetHandle(), mat);
m_body = NewtonCreateDynamicBody(world->GetHandle(), m_geom->GetHandle(), mat);
NewtonBodySetUserData(m_body, this);
}
NzPhysObject::~NzPhysObject()
{
NewtonDestroyBody(m_world->GetHandle(), m_body);
if (m_ownsGeom)
delete m_geom;
}
void NzPhysObject::AddForce(const NzVector3f& force, nzCoordSys coordSys)
@@ -112,6 +92,14 @@ void NzPhysObject::EnableAutoSleep(bool autoSleep)
NewtonBodySetAutoSleep(m_body, autoSleep);
}
NzBoxf NzPhysObject::GetAABB() const
{
NzVector3f min, max;
NewtonBodyGetAABB(m_body, min, max);
return NzBoxf(min, max);
}
NzVector3f NzPhysObject::GetAngularVelocity() const
{
NzVector3f angularVelocity;
@@ -120,6 +108,11 @@ NzVector3f NzPhysObject::GetAngularVelocity() const
return angularVelocity;
}
const NzPhysGeomRef& NzPhysObject::GetGeom() const
{
return m_geom;
}
float NzPhysObject::GetGravityFactor() const
{
return m_gravityFactor;
@@ -191,6 +184,14 @@ bool NzPhysObject::IsSleeping() const
return NewtonBodyGetSleepState(m_body) != 0;
}
void NzPhysObject::SetGeom(NzPhysGeomRef geom)
{
if (geom)
m_geom = geom;
else
m_geom = NzNullGeom::New(m_world);
}
void NzPhysObject::SetGravityFactor(float gravityFactor)
{
m_gravityFactor = gravityFactor;
@@ -240,6 +241,7 @@ void NzPhysObject::SetRotation(const NzQuaternionf& rotation)
void NzPhysObject::UpdateBody()
{
NewtonBodySetMatrix(m_body, m_matrix);
/*for (std::set<PhysObjectListener*>::iterator it = m_listeners.begin(); it != m_listeners.end(); ++it)
(*it)->PhysObjectOnUpdate(this);*/
}