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Physics/Geom: Improved Geom class 

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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115
include/Nazara/Physics/Geom.hpp
View File

@ -8,8 +8,12 @@
#define NAZARA_GEOM_HPP #define NAZARA_GEOM_HPP
#include <Nazara/Prerequesites.hpp> #include <Nazara/Prerequesites.hpp>
#include <Nazara/Core/PrimitiveList.hpp>
#include <Nazara/Core/NonCopyable.hpp> #include <Nazara/Core/NonCopyable.hpp>
#include <Nazara/Core/PrimitiveList.hpp>
#include <Nazara/Core/ObjectLibrary.hpp>
#include <Nazara/Core/ObjectListenerWrapper.hpp>
#include <Nazara/Core/ObjectRef.hpp>
#include <Nazara/Core/RefCounted.hpp>
#include <Nazara/Math/Box.hpp> #include <Nazara/Math/Box.hpp>
#include <Nazara/Math/Quaternion.hpp> #include <Nazara/Math/Quaternion.hpp>
#include <Nazara/Math/Vector3.hpp> #include <Nazara/Math/Vector3.hpp>
@ -21,14 +25,21 @@
///TODO: SceneGeom ///TODO: SceneGeom
///TODO: TreeGeom ///TODO: TreeGeom
class NzPhysGeom;
class NzPhysWorld; class NzPhysWorld;
struct NewtonCollision; struct NewtonCollision;
class NAZARA_API NzBaseGeom : NzNonCopyable using NzPhysGeomConstListener = NzObjectListenerWrapper<const NzPhysGeom>;
using NzPhysGeomConstRef = NzObjectRef<const NzPhysGeom>;
using NzPhysGeomLibrary = NzObjectLibrary<NzPhysGeom>;
using NzPhysGeomListener = NzObjectListenerWrapper<NzPhysGeom>;
using NzPhysGeomRef = NzObjectRef<NzPhysGeom>;
class NAZARA_API NzPhysGeom : public NzRefCounted, NzNonCopyable
{ {
public: public:
NzBaseGeom(NzPhysWorld* physWorld); NzPhysGeom(NzPhysWorld* physWorld);
virtual ~NzBaseGeom(); virtual ~NzPhysGeom();
virtual NzBoxf ComputeAABB(const NzVector3f& translation, const NzQuaternionf& rotation, const NzVector3f& scale) const; virtual NzBoxf ComputeAABB(const NzVector3f& translation, const NzQuaternionf& rotation, const NzVector3f& scale) const;
virtual NzBoxf ComputeAABB(const NzMatrix4f& offsetMatrix = NzMatrix4f::Identity()) const; virtual NzBoxf ComputeAABB(const NzMatrix4f& offsetMatrix = NzMatrix4f::Identity()) const;
@ -40,14 +51,23 @@ class NAZARA_API NzBaseGeom : NzNonCopyable
NzPhysWorld* GetWorld() const; NzPhysWorld* GetWorld() const;
static NzBaseGeom* Build(NzPhysWorld* physWorld, const NzPrimitiveList& list); static NzPhysGeomRef Build(NzPhysWorld* physWorld, const NzPrimitiveList& list);
protected: protected:
NewtonCollision* m_collision; NewtonCollision* m_collision;
NzPhysWorld* m_world; NzPhysWorld* m_world;
static NzPhysGeomLibrary::LibraryMap s_library;
}; };
class NAZARA_API NzBoxGeom : public NzBaseGeom class NzBoxGeom;
using NzBoxGeomConstListener = NzObjectListenerWrapper<const NzBoxGeom>;
using NzBoxGeomConstRef = NzObjectRef<const NzBoxGeom>;
using NzBoxGeomListener = NzObjectListenerWrapper<NzBoxGeom>;
using NzBoxGeomRef = NzObjectRef<NzBoxGeom>;
class NAZARA_API NzBoxGeom : public NzPhysGeom
{ {
public: public:
NzBoxGeom(NzPhysWorld* physWorld, const NzVector3f& lengths, const NzMatrix4f& transformMatrix = NzMatrix4f::Identity()); NzBoxGeom(NzPhysWorld* physWorld, const NzVector3f& lengths, const NzMatrix4f& transformMatrix = NzMatrix4f::Identity());
@ -56,11 +76,20 @@ class NAZARA_API NzBoxGeom : public NzBaseGeom
NzVector3f GetLengths() const; NzVector3f GetLengths() const;
nzGeomType GetType() const override; nzGeomType GetType() const override;
template<typename... Args> static NzBoxGeomRef New(Args&&... args);
private: private:
NzVector3f m_lengths; NzVector3f m_lengths;
}; };
class NAZARA_API NzCapsuleGeom : public NzBaseGeom class NzCapsuleGeom;
using NzCapsuleGeomConstListener = NzObjectListenerWrapper<const NzCapsuleGeom>;
using NzCapsuleGeomConstRef = NzObjectRef<const NzCapsuleGeom>;
using NzCapsuleGeomListener = NzObjectListenerWrapper<NzCapsuleGeom>;
using NzCapsuleGeomRef = NzObjectRef<NzCapsuleGeom>;
class NAZARA_API NzCapsuleGeom : public NzPhysGeom
{ {
public: public:
NzCapsuleGeom(NzPhysWorld* physWorld, float length, float radius, const NzMatrix4f& transformMatrix = NzMatrix4f::Identity()); NzCapsuleGeom(NzPhysWorld* physWorld, float length, float radius, const NzMatrix4f& transformMatrix = NzMatrix4f::Identity());
@ -70,20 +99,38 @@ class NAZARA_API NzCapsuleGeom : public NzBaseGeom
float GetRadius() const; float GetRadius() const;
nzGeomType GetType() const override; nzGeomType GetType() const override;
template<typename... Args> static NzCapsuleGeomRef New(Args&&... args);
private: private:
float m_length; float m_length;
float m_radius; float m_radius;
}; };
class NAZARA_API NzCompoundGeom : public NzBaseGeom class NzCompoundGeom;
using NzCompoundGeomConstListener = NzObjectListenerWrapper<const NzCompoundGeom>;
using NzCompoundGeomConstRef = NzObjectRef<const NzCompoundGeom>;
using NzCompoundGeomListener = NzObjectListenerWrapper<NzCompoundGeom>;
using NzCompoundGeomRef = NzObjectRef<NzCompoundGeom>;
class NAZARA_API NzCompoundGeom : public NzPhysGeom
{ {
public: public:
NzCompoundGeom(NzPhysWorld* physWorld, NzBaseGeom** geoms, unsigned int geomCount); NzCompoundGeom(NzPhysWorld* physWorld, NzPhysGeom** geoms, unsigned int geomCount);
nzGeomType GetType() const override; nzGeomType GetType() const override;
template<typename... Args> static NzCompoundGeomRef New(Args&&... args);
}; };
class NAZARA_API NzConeGeom : public NzBaseGeom class NzConeGeom;
using NzConeGeomConstListener = NzObjectListenerWrapper<const NzConeGeom>;
using NzConeGeomConstRef = NzObjectRef<const NzConeGeom>;
using NzConeGeomListener = NzObjectListenerWrapper<NzConeGeom>;
using NzConeGeomRef = NzObjectRef<NzConeGeom>;
class NAZARA_API NzConeGeom : public NzPhysGeom
{ {
public: public:
NzConeGeom(NzPhysWorld* physWorld, float length, float radius, const NzMatrix4f& transformMatrix = NzMatrix4f::Identity()); NzConeGeom(NzPhysWorld* physWorld, float length, float radius, const NzMatrix4f& transformMatrix = NzMatrix4f::Identity());
@ -93,21 +140,39 @@ class NAZARA_API NzConeGeom : public NzBaseGeom
float GetRadius() const; float GetRadius() const;
nzGeomType GetType() const override; nzGeomType GetType() const override;
template<typename... Args> static NzConeGeomRef New(Args&&... args);
private: private:
float m_length; float m_length;
float m_radius; float m_radius;
}; };
class NAZARA_API NzConvexHullGeom : public NzBaseGeom class NzConvexHullGeom;
using NzConvexHullGeomConstListener = NzObjectListenerWrapper<const NzConvexHullGeom>;
using NzConvexHullGeomConstRef = NzObjectRef<const NzConvexHullGeom>;
using NzConvexHullGeomListener = NzObjectListenerWrapper<NzConvexHullGeom>;
using NzConvexHullGeomRef = NzObjectRef<NzConvexHullGeom>;
class NAZARA_API NzConvexHullGeom : public NzPhysGeom
{ {
public: public:
NzConvexHullGeom(NzPhysWorld* physWorld, const void* vertices, unsigned int vertexCount, unsigned int stride = sizeof(NzVector3f), float tolerance = 0.002f, const NzMatrix4f& transformMatrix = NzMatrix4f::Identity()); NzConvexHullGeom(NzPhysWorld* physWorld, const void* vertices, unsigned int vertexCount, unsigned int stride = sizeof(NzVector3f), float tolerance = 0.002f, const NzMatrix4f& transformMatrix = NzMatrix4f::Identity());
NzConvexHullGeom(NzPhysWorld* physWorld, const void* vertices, unsigned int vertexCount, unsigned int stride, float tolerance, const NzVector3f& translation, const NzQuaternionf& rotation = NzQuaternionf::Identity()); NzConvexHullGeom(NzPhysWorld* physWorld, const void* vertices, unsigned int vertexCount, unsigned int stride, float tolerance, const NzVector3f& translation, const NzQuaternionf& rotation = NzQuaternionf::Identity());
nzGeomType GetType() const override; nzGeomType GetType() const override;
template<typename... Args> static NzConvexHullGeomRef New(Args&&... args);
}; };
class NAZARA_API NzCylinderGeom : public NzBaseGeom class NzCylinderGeom;
using NzCylinderGeomConstListener = NzObjectListenerWrapper<const NzCylinderGeom>;
using NzCylinderGeomConstRef = NzObjectRef<const NzCylinderGeom>;
using NzCylinderGeomListener = NzObjectListenerWrapper<NzCylinderGeom>;
using NzCylinderGeomRef = NzObjectRef<NzCylinderGeom>;
class NAZARA_API NzCylinderGeom : public NzPhysGeom
{ {
public: public:
NzCylinderGeom(NzPhysWorld* physWorld, float length, float radius, const NzMatrix4f& transformMatrix = NzMatrix4f::Identity()); NzCylinderGeom(NzPhysWorld* physWorld, float length, float radius, const NzMatrix4f& transformMatrix = NzMatrix4f::Identity());
@ -117,20 +182,38 @@ class NAZARA_API NzCylinderGeom : public NzBaseGeom
float GetRadius() const; float GetRadius() const;
nzGeomType GetType() const override; nzGeomType GetType() const override;
template<typename... Args> static NzCylinderGeomRef New(Args&&... args);
private: private:
float m_length; float m_length;
float m_radius; float m_radius;
}; };
class NAZARA_API NzNullGeom : public NzBaseGeom class NzNullGeom;
using NzNullGeomConstListener = NzObjectListenerWrapper<const NzNullGeom>;
using NzNullGeomConstRef = NzObjectRef<const NzNullGeom>;
using NzNullGeomListener = NzObjectListenerWrapper<NzNullGeom>;
using NzNullGeomRef = NzObjectRef<NzNullGeom>;
class NAZARA_API NzNullGeom : public NzPhysGeom
{ {
public: public:
NzNullGeom(NzPhysWorld* physWorld); NzNullGeom(NzPhysWorld* physWorld);
nzGeomType GetType() const override; nzGeomType GetType() const override;
template<typename... Args> static NzNullGeomRef New(Args&&... args);
}; };
class NAZARA_API NzSphereGeom : public NzBaseGeom class NzSphereGeom;
using NzSphereGeomConstListener = NzObjectListenerWrapper<const NzSphereGeom>;
using NzSphereGeomConstRef = NzObjectRef<const NzSphereGeom>;
using NzSphereGeomListener = NzObjectListenerWrapper<NzSphereGeom>;
using NzSphereGeomRef = NzObjectRef<NzSphereGeom>;
class NAZARA_API NzSphereGeom : public NzPhysGeom
{ {
public: public:
NzSphereGeom(NzPhysWorld* physWorld, float radius, const NzMatrix4f& transformMatrix = NzMatrix4f::Identity()); NzSphereGeom(NzPhysWorld* physWorld, float radius, const NzMatrix4f& transformMatrix = NzMatrix4f::Identity());
@ -139,8 +222,12 @@ class NAZARA_API NzSphereGeom : public NzBaseGeom
NzVector3f GetRadius() const; NzVector3f GetRadius() const;
nzGeomType GetType() const override; nzGeomType GetType() const override;
template<typename... Args> static NzSphereGeomRef New(Args&&... args);
private: private:
NzVector3f m_radius; NzVector3f m_radius;
}; };
#include <Nazara/Physics/Geom.inl>
#endif // NAZARA_PHYSWORLD_HPP #endif // NAZARA_PHYSWORLD_HPP

80
include/Nazara/Physics/Geom.inl Normal file
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@ -0,0 +1,80 @@
// Copyright (C) 2015 Jérôme Leclercq
// This file is part of the "Nazara Engine - Physics module"
// For conditions of distribution and use, see copyright notice in Config.hpp
#include <memory>
#include <Nazara/Physics/Debug.hpp>
template<typename... Args>
NzBoxGeomRef NzBoxGeom::New(Args&&... args)
{
std::unique_ptr<NzBoxGeom> object(new NzBoxGeom(std::forward<Args>(args)...));
object->SetPersistent(false);
return object.release();
}
template<typename... Args>
NzCapsuleGeomRef NzCapsuleGeom::New(Args&&... args)
{
std::unique_ptr<NzCapsuleGeom> object(new NzCapsuleGeom(std::forward<Args>(args)...));
object->SetPersistent(false);
return object.release();
}
template<typename... Args>
NzCompoundGeomRef NzCompoundGeom::New(Args&&... args)
{
std::unique_ptr<NzCompoundGeom> object(new NzCompoundGeom(std::forward<Args>(args)...));
object->SetPersistent(false);
return object.release();
}
template<typename... Args>
NzConeGeomRef NzConeGeom::New(Args&&... args)
{
std::unique_ptr<NzConeGeom> object(new NzConeGeom(std::forward<Args>(args)...));
object->SetPersistent(false);
return object.release();
}
template<typename... Args>
NzConvexHullGeomRef NzConvexHullGeom::New(Args&&... args)
{
std::unique_ptr<NzConvexHullGeom> object(new NzConvexHullGeom(std::forward<Args>(args)...));
object->SetPersistent(false);
return object.release();
}
template<typename... Args>
NzCylinderGeomRef NzCylinderGeom::New(Args&&... args)
{
std::unique_ptr<NzCylinderGeom> object(new NzCylinderGeom(std::forward<Args>(args)...));
object->SetPersistent(false);
return object.release();
}
template<typename... Args>
NzNullGeomRef NzNullGeom::New(Args&&... args)
{
std::unique_ptr<NzNullGeom> object(new NzNullGeom(std::forward<Args>(args)...));
object->SetPersistent(false);
return object.release();
}
template<typename... Args>
NzSphereGeomRef NzSphereGeom::New(Args&&... args)
{
std::unique_ptr<NzSphereGeom> object(new NzSphereGeom(std::forward<Args>(args)...));
object->SetPersistent(false);
return object.release();
}
#include <Nazara/Physics/DebugOff.hpp>

10
include/Nazara/Physics/PhysObject.hpp
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@ -13,8 +13,8 @@
#include <Nazara/Math/Matrix4.hpp> #include <Nazara/Math/Matrix4.hpp>
#include <Nazara/Math/Quaternion.hpp> #include <Nazara/Math/Quaternion.hpp>
#include <Nazara/Math/Vector3.hpp> #include <Nazara/Math/Vector3.hpp>
#include <Nazara/Physics/Geom.hpp>
class NzBaseGeom;
class NzPhysWorld; class NzPhysWorld;
struct NewtonBody; struct NewtonBody;
@ -22,7 +22,7 @@ class NAZARA_API NzPhysObject : NzNonCopyable
{ {
public: public:
NzPhysObject(NzPhysWorld* world, const NzMatrix4f& mat = NzMatrix4f::Identity()); NzPhysObject(NzPhysWorld* world, const NzMatrix4f& mat = NzMatrix4f::Identity());
NzPhysObject(NzPhysWorld* world, const NzBaseGeom* geom, const NzMatrix4f& mat = NzMatrix4f::Identity()); NzPhysObject(NzPhysWorld* world, NzPhysGeomRef geom, const NzMatrix4f& mat = NzMatrix4f::Identity());
~NzPhysObject(); ~NzPhysObject();
void AddForce(const NzVector3f& force, nzCoordSys coordSys = nzCoordSys_Global); void AddForce(const NzVector3f& force, nzCoordSys coordSys = nzCoordSys_Global);
@ -31,7 +31,9 @@ class NAZARA_API NzPhysObject : NzNonCopyable
void EnableAutoSleep(bool autoSleep); void EnableAutoSleep(bool autoSleep);
NzBoxf GetAABB() const;
NzVector3f GetAngularVelocity() const; NzVector3f GetAngularVelocity() const;
const NzPhysGeomRef& GetGeom() const;
float GetGravityFactor() const; float GetGravityFactor() const;
NewtonBody* GetHandle() const; NewtonBody* GetHandle() const;
float GetMass() const; float GetMass() const;
@ -45,6 +47,7 @@ class NAZARA_API NzPhysObject : NzNonCopyable
bool IsMoveable() const; bool IsMoveable() const;
bool IsSleeping() const; bool IsSleeping() const;
void SetGeom(NzPhysGeomRef geom);
void SetGravityFactor(float gravityFactor); void SetGravityFactor(float gravityFactor);
void SetMass(float mass); void SetMass(float mass);
void SetMassCenter(const NzVector3f& center); void SetMassCenter(const NzVector3f& center);
@ -60,9 +63,8 @@ class NAZARA_API NzPhysObject : NzNonCopyable
NzVector3f m_forceAccumulator; NzVector3f m_forceAccumulator;
NzVector3f m_torqueAccumulator; NzVector3f m_torqueAccumulator;
NewtonBody* m_body; NewtonBody* m_body;
const NzBaseGeom* m_geom; NzPhysGeomRef m_geom;
NzPhysWorld* m_world; NzPhysWorld* m_world;
bool m_ownsGeom;
float m_gravityFactor; float m_gravityFactor;
float m_mass; float m_mass;
}; };

52
src/Nazara/Physics/Geom.cpp
View File

@ -10,22 +10,22 @@
namespace namespace
{ {
NzBaseGeom* CreateGeomFromPrimitive(NzPhysWorld* physWorld, const NzPrimitive& primitive) NzPhysGeom* CreateGeomFromPrimitive(NzPhysWorld* physWorld, const NzPrimitive& primitive)
{ {
switch (primitive.type) switch (primitive.type)
{ {
case nzPrimitiveType_Box: case nzPrimitiveType_Box:
return new NzBoxGeom(physWorld, primitive.box.lengths, primitive.matrix); return NzBoxGeom::New(physWorld, primitive.box.lengths, primitive.matrix);
case nzPrimitiveType_Cone: 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: 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? ///TODO: PlaneGeom?
case nzPrimitiveType_Sphere: 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) + ')'); 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) m_world(physWorld)
{ {
} }
NzBaseGeom::~NzBaseGeom() NzPhysGeom::~NzPhysGeom()
{ {
NewtonDestroyCollision(m_collision); 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; NzVector3f min, max;
NewtonCollisionCalculateAABB(m_collision, NzMatrix4f::Transform(translation, rotation), 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); return NzBoxf(scale*min, scale*max);
} }
NzBoxf NzBaseGeom::ComputeAABB(const NzMatrix4f& offsetMatrix) const NzBoxf NzPhysGeom::ComputeAABB(const NzMatrix4f& offsetMatrix) const
{ {
NzVector3f min, max; NzVector3f min, max;
NewtonCollisionCalculateAABB(m_collision, offsetMatrix, min, max); NewtonCollisionCalculateAABB(m_collision, offsetMatrix, min, max);
@ -60,7 +60,7 @@ NzBoxf NzBaseGeom::ComputeAABB(const NzMatrix4f& offsetMatrix) const
return NzBoxf(min, max); return NzBoxf(min, max);
} }
void NzBaseGeom::ComputeInertialMatrix(NzVector3f* inertia, NzVector3f* center) const void NzPhysGeom::ComputeInertialMatrix(NzVector3f* inertia, NzVector3f* center) const
{ {
float inertiaMatrix[3]; float inertiaMatrix[3];
float origin[3]; float origin[3];
@ -74,22 +74,22 @@ void NzBaseGeom::ComputeInertialMatrix(NzVector3f* inertia, NzVector3f* center)
center->Set(origin); center->Set(origin);
} }
float NzBaseGeom::ComputeVolume() const float NzPhysGeom::ComputeVolume() const
{ {
return NewtonConvexCollisionCalculateVolume(m_collision); return NewtonConvexCollisionCalculateVolume(m_collision);
} }
NewtonCollision* NzBaseGeom::GetHandle() const NewtonCollision* NzPhysGeom::GetHandle() const
{ {
return m_collision; return m_collision;
} }
NzPhysWorld* NzBaseGeom::GetWorld() const NzPhysWorld* NzPhysGeom::GetWorld() const
{ {
return m_world; return m_world;
} }
NzBaseGeom* NzBaseGeom::Build(NzPhysWorld* physWorld, const NzPrimitiveList& list) NzPhysGeomRef NzPhysGeom::Build(NzPhysWorld* physWorld, const NzPrimitiveList& list)
{ {
unsigned int primitiveCount = list.GetSize(); unsigned int primitiveCount = list.GetSize();
@ -103,21 +103,23 @@ NzBaseGeom* NzBaseGeom::Build(NzPhysWorld* physWorld, const NzPrimitiveList& lis
if (primitiveCount > 1) if (primitiveCount > 1)
{ {
std::vector<NzBaseGeom*> geoms(primitiveCount); std::vector<NzPhysGeom*> geoms(primitiveCount);
for (unsigned int i = 0; i < primitiveCount; ++i) for (unsigned int i = 0; i < primitiveCount; ++i)
geoms[i] = CreateGeomFromPrimitive(physWorld, list.GetPrimitive(i)); geoms[i] = CreateGeomFromPrimitive(physWorld, list.GetPrimitive(i));
return new NzCompoundGeom(physWorld, &geoms[0], primitiveCount); return NzCompoundGeom::New(physWorld, &geoms[0], primitiveCount);
} }
else else
return CreateGeomFromPrimitive(physWorld, list.GetPrimitive(0)); return CreateGeomFromPrimitive(physWorld, list.GetPrimitive(0));
} }
NzPhysGeomLibrary::LibraryMap NzPhysGeom::s_library;
/********************************** BoxGeom **********************************/ /********************************** BoxGeom **********************************/
NzBoxGeom::NzBoxGeom(NzPhysWorld* physWorld, const NzVector3f& lengths, const NzMatrix4f& transformMatrix) : NzBoxGeom::NzBoxGeom(NzPhysWorld* physWorld, const NzVector3f& lengths, const NzMatrix4f& transformMatrix) :
NzBaseGeom(physWorld), NzPhysGeom(physWorld),
m_lengths(lengths) m_lengths(lengths)
{ {
m_collision = NewtonCreateBox(physWorld->GetHandle(), lengths.x, lengths.y, lengths.z, 0, transformMatrix); m_collision = NewtonCreateBox(physWorld->GetHandle(), lengths.x, lengths.y, lengths.z, 0, transformMatrix);
@ -141,7 +143,7 @@ nzGeomType NzBoxGeom::GetType() const
/******************************** CapsuleGeom ********************************/ /******************************** CapsuleGeom ********************************/
NzCapsuleGeom::NzCapsuleGeom(NzPhysWorld* physWorld, float length, float radius, const NzMatrix4f& transformMatrix) : NzCapsuleGeom::NzCapsuleGeom(NzPhysWorld* physWorld, float length, float radius, const NzMatrix4f& transformMatrix) :
NzBaseGeom(physWorld), NzPhysGeom(physWorld),
m_length(length), m_length(length),
m_radius(radius) m_radius(radius)
{ {
@ -170,8 +172,8 @@ nzGeomType NzCapsuleGeom::GetType() const
/******************************* CompoundGeom ********************************/ /******************************* CompoundGeom ********************************/
NzCompoundGeom::NzCompoundGeom(NzPhysWorld* physWorld, NzBaseGeom** geoms, unsigned int geomCount) : NzCompoundGeom::NzCompoundGeom(NzPhysWorld* physWorld, NzPhysGeom** geoms, unsigned int geomCount) :
NzBaseGeom(physWorld) NzPhysGeom(physWorld)
{ {
m_collision = NewtonCreateCompoundCollision(physWorld->GetHandle(), 0); m_collision = NewtonCreateCompoundCollision(physWorld->GetHandle(), 0);
NewtonCompoundCollisionBeginAddRemove(m_collision); NewtonCompoundCollisionBeginAddRemove(m_collision);
@ -195,7 +197,7 @@ nzGeomType NzCompoundGeom::GetType() const
/********************************* ConeGeom **********************************/ /********************************* ConeGeom **********************************/
NzConeGeom::NzConeGeom(NzPhysWorld* physWorld, float length, float radius, const NzMatrix4f& transformMatrix) : NzConeGeom::NzConeGeom(NzPhysWorld* physWorld, float length, float radius, const NzMatrix4f& transformMatrix) :
NzBaseGeom(physWorld), NzPhysGeom(physWorld),
m_length(length), m_length(length),
m_radius(radius) m_radius(radius)
{ {
@ -225,7 +227,7 @@ nzGeomType NzConeGeom::GetType() const
/****************************** ConvexHullGeom *******************************/ /****************************** ConvexHullGeom *******************************/
NzConvexHullGeom::NzConvexHullGeom(NzPhysWorld* physWorld, const void* vertices, unsigned int vertexCount, unsigned int stride, float tolerance, const NzMatrix4f& transformMatrix) : 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); m_collision = NewtonCreateConvexHull(physWorld->GetHandle(), vertexCount, reinterpret_cast<const float*>(vertices), stride, tolerance, 0, transformMatrix);
} }
@ -243,7 +245,7 @@ nzGeomType NzConvexHullGeom::GetType() const
/******************************* CylinderGeom ********************************/ /******************************* CylinderGeom ********************************/
NzCylinderGeom::NzCylinderGeom(NzPhysWorld* physWorld, float length, float radius, const NzMatrix4f& transformMatrix) : NzCylinderGeom::NzCylinderGeom(NzPhysWorld* physWorld, float length, float radius, const NzMatrix4f& transformMatrix) :
NzBaseGeom(physWorld), NzPhysGeom(physWorld),
m_length(length), m_length(length),
m_radius(radius) m_radius(radius)
{ {
@ -273,7 +275,7 @@ nzGeomType NzCylinderGeom::GetType() const
/********************************* NullGeom **********************************/ /********************************* NullGeom **********************************/
NzNullGeom::NzNullGeom(NzPhysWorld* physWorld) : NzNullGeom::NzNullGeom(NzPhysWorld* physWorld) :
NzBaseGeom(physWorld) NzPhysGeom(physWorld)
{ {
m_collision = NewtonCreateNull(physWorld->GetHandle()); m_collision = NewtonCreateNull(physWorld->GetHandle());
} }
@ -286,7 +288,7 @@ nzGeomType NzNullGeom::GetType() const
/******************************** SphereGeom *********************************/ /******************************** SphereGeom *********************************/
NzSphereGeom::NzSphereGeom(NzPhysWorld* physWorld, float radius, const NzMatrix4f& transformMatrix) : NzSphereGeom::NzSphereGeom(NzPhysWorld* physWorld, float radius, const NzMatrix4f& transformMatrix) :
NzBaseGeom(physWorld), NzPhysGeom(physWorld),
m_radius(radius) m_radius(radius)
{ {
m_collision = NewtonCreateSphere(physWorld->GetHandle(), radius, 0, transformMatrix); 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/PhysObject.hpp>
#include <Nazara/Physics/Config.hpp> #include <Nazara/Physics/Config.hpp>
#include <Nazara/Physics/Geom.hpp>
#include <Nazara/Physics/PhysWorld.hpp> #include <Nazara/Physics/PhysWorld.hpp>
#include <Newton/Newton.h> #include <Newton/Newton.h>
#include <algorithm>
#include <Nazara/Physics/Debug.hpp> #include <Nazara/Physics/Debug.hpp>
NzPhysObject::NzPhysObject(NzPhysWorld* world, const NzMatrix4f& mat) : NzPhysObject::NzPhysObject(NzPhysWorld* world, const NzMatrix4f& mat) :
m_matrix(mat), NzPhysObject(world, NzNullGeom::New(world), mat)
m_forceAccumulator(NzVector3f::Zero()),
m_torqueAccumulator(NzVector3f::Zero()),
m_world(world),
m_ownsGeom(true),
m_gravityFactor(1.f),
m_mass(0.f)
{ {
#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_matrix(mat),
m_forceAccumulator(NzVector3f::Zero()), m_forceAccumulator(NzVector3f::Zero()),
m_torqueAccumulator(NzVector3f::Zero()), m_torqueAccumulator(NzVector3f::Zero()),
m_geom(geom), m_geom(std::move(geom)),
m_world(world), m_world(world),
m_ownsGeom(false),
m_gravityFactor(1.f), m_gravityFactor(1.f),
m_mass(0.f) m_mass(0.f)
{ {
#if NAZARA_PHYSICS_SAFE NazaraAssert(m_world, "Invalid world");
if (!world) NazaraAssert(m_geom, "Invalid geometry");
NazaraError("Invalid physics world"); ///TODO: Unexcepted
#endif
m_body = NewtonCreateDynamicBody(world->GetHandle(), geom->GetHandle(), mat); m_body = NewtonCreateDynamicBody(world->GetHandle(), m_geom->GetHandle(), mat);
NewtonBodySetUserData(m_body, this); NewtonBodySetUserData(m_body, this);
} }
NzPhysObject::~NzPhysObject() NzPhysObject::~NzPhysObject()
{ {
NewtonDestroyBody(m_world->GetHandle(), m_body); NewtonDestroyBody(m_world->GetHandle(), m_body);
if (m_ownsGeom)
delete m_geom;
} }
void NzPhysObject::AddForce(const NzVector3f& force, nzCoordSys coordSys) void NzPhysObject::AddForce(const NzVector3f& force, nzCoordSys coordSys)
@ -112,6 +92,14 @@ void NzPhysObject::EnableAutoSleep(bool autoSleep)
NewtonBodySetAutoSleep(m_body, 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 NzPhysObject::GetAngularVelocity() const
{ {
NzVector3f angularVelocity; NzVector3f angularVelocity;
@ -120,6 +108,11 @@ NzVector3f NzPhysObject::GetAngularVelocity() const
return angularVelocity; return angularVelocity;
} }
const NzPhysGeomRef& NzPhysObject::GetGeom() const
{
return m_geom;
}
float NzPhysObject::GetGravityFactor() const float NzPhysObject::GetGravityFactor() const
{ {
return m_gravityFactor; return m_gravityFactor;
@ -191,6 +184,14 @@ bool NzPhysObject::IsSleeping() const
return NewtonBodyGetSleepState(m_body) != 0; 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) void NzPhysObject::SetGravityFactor(float gravityFactor)
{ {
m_gravityFactor = gravityFactor; m_gravityFactor = gravityFactor;
@ -240,6 +241,7 @@ void NzPhysObject::SetRotation(const NzQuaternionf& rotation)
void NzPhysObject::UpdateBody() void NzPhysObject::UpdateBody()
{ {
NewtonBodySetMatrix(m_body, m_matrix); NewtonBodySetMatrix(m_body, m_matrix);
/*for (std::set<PhysObjectListener*>::iterator it = m_listeners.begin(); it != m_listeners.end(); ++it) /*for (std::set<PhysObjectListener*>::iterator it = m_listeners.begin(); it != m_listeners.end(); ++it)
(*it)->PhysObjectOnUpdate(this);*/ (*it)->PhysObjectOnUpdate(this);*/
} }