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Physics3D: Rename PhysObject to RigidBody3D

This commit is contained in:
Lynix 2016-10-13 08:06:14 +02:00
parent 3c4d084b27
commit 3765cba046
9 changed files with 74 additions and 77 deletions
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6
SDK/include/NDK/Components/CollisionComponent.hpp
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@ -13,7 +13,7 @@
namespace Nz
{
class PhysObject;
class RigidBody3D;
}
namespace Ndk
@ -41,14 +41,14 @@ namespace Ndk
private:
void InitializeStaticBody();
Nz::PhysObject* GetStaticBody();
Nz::RigidBody3D* GetStaticBody();
void OnAttached() override;
void OnComponentAttached(BaseComponent& component) override;
void OnComponentDetached(BaseComponent& component) override;
void OnDetached() override;
std::unique_ptr<Nz::PhysObject> m_staticBody;
std::unique_ptr<Nz::RigidBody3D> m_staticBody;
Nz::Collider3DRef m_geom;
bool m_bodyUpdated;
};

2
SDK/include/NDK/Components/CollisionComponent.inl
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@ -62,7 +62,7 @@ namespace Ndk
* \return A pointer to the entity
*/
inline Nz::PhysObject* CollisionComponent::GetStaticBody()
inline Nz::RigidBody3D* CollisionComponent::GetStaticBody()
{
return m_staticBody.get();
}

4
SDK/include/NDK/Components/PhysicsComponent.hpp
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@ -56,14 +56,14 @@ namespace Ndk
static ComponentIndex componentIndex;
private:
Nz::PhysObject& GetPhysObject();
Nz::RigidBody3D& GetPhysObject();
void OnAttached() override;
void OnComponentAttached(BaseComponent& component) override;
void OnComponentDetached(BaseComponent& component) override;
void OnDetached() override;
std::unique_ptr<Nz::PhysObject> m_object;
std::unique_ptr<Nz::RigidBody3D> m_object;
};
}

2
SDK/include/NDK/Components/PhysicsComponent.inl
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@ -350,7 +350,7 @@ namespace Ndk
* \return A reference to the physics object
*/
inline Nz::PhysObject& PhysicsComponent::GetPhysObject()
inline Nz::RigidBody3D& PhysicsComponent::GetPhysObject()
{
return *m_object.get();
}

2
SDK/src/NDK/Components/CollisionComponent.cpp
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@ -58,7 +58,7 @@ namespace Ndk
NazaraAssert(entityWorld->HasSystem<PhysicsSystem>(), "World must have a physics system");
Nz::PhysWorld& physWorld = entityWorld->GetSystem<PhysicsSystem>().GetWorld();
m_staticBody.reset(new Nz::PhysObject(&physWorld, m_geom));
m_staticBody.reset(new Nz::RigidBody3D(&physWorld, m_geom));
m_staticBody->EnableAutoSleep(false);
}

2
SDK/src/NDK/Components/PhysicsComponent.cpp
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@ -41,7 +41,7 @@ namespace Ndk
else
matrix.MakeIdentity();
m_object.reset(new Nz::PhysObject(&world, geom, matrix));
m_object.reset(new Nz::RigidBody3D(&world, geom, matrix));
m_object->SetMass(1.f);
}

4
SDK/src/NDK/Systems/PhysicsSystem.cpp
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@ -83,7 +83,7 @@ namespace Ndk
NodeComponent& node = entity->GetComponent<NodeComponent>();
PhysicsComponent& phys = entity->GetComponent<PhysicsComponent>();
Nz::PhysObject& physObj = phys.GetPhysObject();
Nz::RigidBody3D& physObj = phys.GetPhysObject();
node.SetRotation(physObj.GetRotation(), Nz::CoordSys_Global);
node.SetPosition(physObj.GetPosition(), Nz::CoordSys_Global);
}
@ -94,7 +94,7 @@ namespace Ndk
CollisionComponent& collision = entity->GetComponent<CollisionComponent>();
NodeComponent& node = entity->GetComponent<NodeComponent>();
Nz::PhysObject* physObj = collision.GetStaticBody();
Nz::RigidBody3D* physObj = collision.GetStaticBody();
Nz::Quaternionf oldRotation = physObj->GetRotation();
Nz::Vector3f oldPosition = physObj->GetPosition();

24
include/Nazara/Physics3D/PhysObject.hpp → include/Nazara/Physics3D/RigidBody3D.hpp
View File

@ -4,8 +4,8 @@
#pragma once
#ifndef NAZARA_PHYSOBJECT_HPP
#define NAZARA_PHYSOBJECT_HPP
#ifndef NAZARA_RIGIDBODY3D_HPP
#define NAZARA_RIGIDBODY3D_HPP
#include <Nazara/Prerequesites.hpp>
#include <Nazara/Core/Enums.hpp>
@ -21,14 +21,14 @@ namespace Nz
{
class PhysWorld;
class NAZARA_PHYSICS3D_API PhysObject
class NAZARA_PHYSICS3D_API RigidBody3D
{
public:
PhysObject(PhysWorld* world, const Matrix4f& mat = Matrix4f::Identity());
PhysObject(PhysWorld* world, Collider3DRef geom, const Matrix4f& mat = Matrix4f::Identity());
PhysObject(const PhysObject& object);
PhysObject(PhysObject&& object);
~PhysObject();
RigidBody3D(PhysWorld* world, const Matrix4f& mat = Matrix4f::Identity());
RigidBody3D(PhysWorld* world, Collider3DRef geom, const Matrix4f& mat = Matrix4f::Identity());
RigidBody3D(const RigidBody3D& object);
RigidBody3D(RigidBody3D&& object);
~RigidBody3D();
void AddForce(const Vector3f& force, CoordSys coordSys = CoordSys_Global);
void AddForce(const Vector3f& force, const Vector3f& point, CoordSys coordSys = CoordSys_Global);
@ -61,16 +61,16 @@ namespace Nz
void SetRotation(const Quaternionf& rotation);
void SetVelocity(const Vector3f& velocity);
PhysObject& operator=(const PhysObject& object);
PhysObject& operator=(PhysObject&& object);
RigidBody3D& operator=(const RigidBody3D& object);
RigidBody3D& operator=(RigidBody3D&& object);
private:
void UpdateBody();
static void ForceAndTorqueCallback(const NewtonBody* body, float timeStep, int threadIndex);
static void TransformCallback(const NewtonBody* body, const float* matrix, int threadIndex);
Matrix4f m_matrix;
Collider3DRef m_geom;
Matrix4f m_matrix;
Vector3f m_forceAccumulator;
Vector3f m_torqueAccumulator;
NewtonBody* m_body;
@ -80,4 +80,4 @@ namespace Nz
};
}
#endif // NAZARA_PHYSOBJECT_HPP
#endif // NAZARA_RIGIDBODY3D_HPP

105
src/Nazara/Physics3D/PhysObject.cpp → src/Nazara/Physics3D/RigidBody3D.cpp
View File

@ -2,7 +2,7 @@
// This file is part of the "Nazara Engine - Physics 3D module"
// For conditions of distribution and use, see copyright notice in Config.hpp
#include <Nazara/Physics3D/PhysObject.hpp>
#include <Nazara/Physics3D/RigidBody3D.hpp>
#include <Nazara/Math/Algorithm.hpp>
#include <Nazara/Physics3D/Config.hpp>
#include <Nazara/Physics3D/PhysWorld.hpp>
@ -12,14 +12,14 @@
namespace Nz
{
PhysObject::PhysObject(PhysWorld* world, const Matrix4f& mat) :
PhysObject(world, NullCollider3D::New(), mat)
RigidBody3D::RigidBody3D(PhysWorld* world, const Matrix4f& mat) :
RigidBody3D(world, NullCollider3D::New(), mat)
{
}
PhysObject::PhysObject(PhysWorld* world, Collider3DRef geom, const Matrix4f& mat) :
m_matrix(mat),
RigidBody3D::RigidBody3D(PhysWorld* world, Collider3DRef geom, const Matrix4f& mat) :
m_geom(std::move(geom)),
m_matrix(mat),
m_forceAccumulator(Vector3f::Zero()),
m_torqueAccumulator(Vector3f::Zero()),
m_world(world),
@ -35,9 +35,9 @@ namespace Nz
NewtonBodySetUserData(m_body, this);
}
PhysObject::PhysObject(const PhysObject& object) :
m_matrix(object.m_matrix),
RigidBody3D::RigidBody3D(const RigidBody3D& object) :
m_geom(object.m_geom),
m_matrix(object.m_matrix),
m_forceAccumulator(Vector3f::Zero()),
m_torqueAccumulator(Vector3f::Zero()),
m_world(object.m_world),
@ -52,9 +52,9 @@ namespace Nz
SetMass(object.m_mass);
}
PhysObject::PhysObject(PhysObject&& object) :
m_matrix(std::move(object.m_matrix)),
RigidBody3D::RigidBody3D(RigidBody3D&& object) :
m_geom(std::move(object.m_geom)),
m_matrix(std::move(object.m_matrix)),
m_forceAccumulator(std::move(object.m_forceAccumulator)),
m_torqueAccumulator(std::move(object.m_torqueAccumulator)),
m_body(object.m_body),
@ -65,13 +65,13 @@ namespace Nz
object.m_body = nullptr;
}
PhysObject::~PhysObject()
RigidBody3D::~RigidBody3D()
{
if (m_body)
NewtonDestroyBody(m_body);
}
void PhysObject::AddForce(const Vector3f& force, CoordSys coordSys)
void RigidBody3D::AddForce(const Vector3f& force, CoordSys coordSys)
{
switch (coordSys)
{
@ -88,7 +88,7 @@ namespace Nz
NewtonBodySetSleepState(m_body, 0);
}
void PhysObject::AddForce(const Vector3f& force, const Vector3f& point, CoordSys coordSys)
void RigidBody3D::AddForce(const Vector3f& force, const Vector3f& point, CoordSys coordSys)
{
switch (coordSys)
{
@ -105,7 +105,7 @@ namespace Nz
NewtonBodySetSleepState(m_body, 0);
}
void PhysObject::AddTorque(const Vector3f& torque, CoordSys coordSys)
void RigidBody3D::AddTorque(const Vector3f& torque, CoordSys coordSys)
{
switch (coordSys)
{
@ -122,12 +122,12 @@ namespace Nz
NewtonBodySetSleepState(m_body, 0);
}
void PhysObject::EnableAutoSleep(bool autoSleep)
void RigidBody3D::EnableAutoSleep(bool autoSleep)
{
NewtonBodySetAutoSleep(m_body, autoSleep);
}
Boxf PhysObject::GetAABB() const
Boxf RigidBody3D::GetAABB() const
{
Vector3f min, max;
NewtonBodyGetAABB(m_body, min, max);
@ -135,7 +135,7 @@ namespace Nz
return Boxf(min, max);
}
Vector3f PhysObject::GetAngularVelocity() const
Vector3f RigidBody3D::GetAngularVelocity() const
{
Vector3f angularVelocity;
NewtonBodyGetOmega(m_body, angularVelocity);
@ -143,27 +143,27 @@ namespace Nz
return angularVelocity;
}
const Collider3DRef& PhysObject::GetGeom() const
const Collider3DRef& RigidBody3D::GetGeom() const
{
return m_geom;
}
float PhysObject::GetGravityFactor() const
float RigidBody3D::GetGravityFactor() const
{
return m_gravityFactor;
}
NewtonBody* PhysObject::GetHandle() const
NewtonBody* RigidBody3D::GetHandle() const
{
return m_body;
}
float PhysObject::GetMass() const
float RigidBody3D::GetMass() const
{
return m_mass;
}
Vector3f PhysObject::GetMassCenter(CoordSys coordSys) const
Vector3f RigidBody3D::GetMassCenter(CoordSys coordSys) const
{
Vector3f center;
NewtonBodyGetCentreOfMass(m_body, center);
@ -181,22 +181,22 @@ namespace Nz
return center;
}
const Matrix4f& PhysObject::GetMatrix() const
const Matrix4f& RigidBody3D::GetMatrix() const
{
return m_matrix;
}
Vector3f PhysObject::GetPosition() const
Vector3f RigidBody3D::GetPosition() const
{
return m_matrix.GetTranslation();
}
Quaternionf PhysObject::GetRotation() const
Quaternionf RigidBody3D::GetRotation() const
{
return m_matrix.GetRotation();
}
Vector3f PhysObject::GetVelocity() const
Vector3f RigidBody3D::GetVelocity() const
{
Vector3f velocity;
NewtonBodyGetVelocity(m_body, velocity);
@ -204,27 +204,27 @@ namespace Nz
return velocity;
}
bool PhysObject::IsAutoSleepEnabled() const
bool RigidBody3D::IsAutoSleepEnabled() const
{
return NewtonBodyGetAutoSleep(m_body) != 0;
}
bool PhysObject::IsMoveable() const
bool RigidBody3D::IsMoveable() const
{
return m_mass > 0.f;
}
bool PhysObject::IsSleeping() const
bool RigidBody3D::IsSleeping() const
{
return NewtonBodyGetSleepState(m_body) != 0;
}
void PhysObject::SetAngularVelocity(const Vector3f& angularVelocity)
void RigidBody3D::SetAngularVelocity(const Vector3f& angularVelocity)
{
NewtonBodySetOmega(m_body, angularVelocity);
}
void PhysObject::SetGeom(Collider3DRef geom)
void RigidBody3D::SetGeom(Collider3DRef geom)
{
if (m_geom.Get() != geom)
{
@ -237,17 +237,19 @@ namespace Nz
}
}
void PhysObject::SetGravityFactor(float gravityFactor)
void RigidBody3D::SetGravityFactor(float gravityFactor)
{
m_gravityFactor = gravityFactor;
}
void PhysObject::SetMass(float mass)
void RigidBody3D::SetMass(float mass)
{
if (m_mass > 0.f)
{
// If we already have a mass, we already have an inertial matrix as well, just rescale it
float Ix, Iy, Iz;
NewtonBodyGetMassMatrix(m_body, &m_mass, &Ix, &Iy, &Iz);
float scale = mass/m_mass;
NewtonBodySetMassMatrix(m_body, mass, Ix*scale, Iy*scale, Iz*scale);
}
@ -265,41 +267,44 @@ namespace Nz
m_mass = mass;
}
void PhysObject::SetMassCenter(const Vector3f& center)
void RigidBody3D::SetMassCenter(const Vector3f& center)
{
if (m_mass > 0.f)
NewtonBodySetCentreOfMass(m_body, center);
}
void PhysObject::SetPosition(const Vector3f& position)
void RigidBody3D::SetPosition(const Vector3f& position)
{
m_matrix.SetTranslation(position);
UpdateBody();
}
void PhysObject::SetRotation(const Quaternionf& rotation)
void RigidBody3D::SetRotation(const Quaternionf& rotation)
{
m_matrix.SetRotation(rotation);
UpdateBody();
}
void PhysObject::SetVelocity(const Vector3f& velocity)
void RigidBody3D::SetVelocity(const Vector3f& velocity)
{
NewtonBodySetVelocity(m_body, velocity);
}
PhysObject& PhysObject::operator=(const PhysObject& object)
RigidBody3D& RigidBody3D::operator=(const RigidBody3D& object)
{
PhysObject physObj(object);
RigidBody3D physObj(object);
return operator=(std::move(physObj));
}
void PhysObject::UpdateBody()
void RigidBody3D::UpdateBody()
{
NewtonBodySetMatrix(m_body, m_matrix);
if (NumberEquals(m_mass, 0.f))
{
// Moving a static body in Newton does not update bodies at the target location
// http://newtondynamics.com/wiki/index.php5?title=Can_i_dynamicly_move_a_TriMesh%3F
Vector3f min, max;
NewtonBodyGetAABB(m_body, min, max);
@ -312,11 +317,9 @@ namespace Nz
},
nullptr);
}
/*for (std::set<PhysObjectListener*>::iterator it = m_listeners.begin(); it != m_listeners.end(); ++it)
(*it)->PhysObjectOnUpdate(this);*/
}
PhysObject& PhysObject::operator=(PhysObject&& object)
RigidBody3D& RigidBody3D::operator=(RigidBody3D&& object)
{
if (m_body)
NewtonDestroyBody(m_body);
@ -335,36 +338,30 @@ namespace Nz
return *this;
}
void PhysObject::ForceAndTorqueCallback(const NewtonBody* body, float timeStep, int threadIndex)
void RigidBody3D::ForceAndTorqueCallback(const NewtonBody* body, float timeStep, int threadIndex)
{
NazaraUnused(timeStep);
NazaraUnused(threadIndex);
PhysObject* me = static_cast<PhysObject*>(NewtonBodyGetUserData(body));
RigidBody3D* me = static_cast<RigidBody3D*>(NewtonBodyGetUserData(body));
if (!NumberEquals(me->m_gravityFactor, 0.f))
me->m_forceAccumulator += me->m_world->GetGravity() * me->m_gravityFactor * me->m_mass;
/*for (std::set<PhysObjectListener*>::iterator it = me->m_listeners.begin(); it != me->m_listeners.end(); ++it)
(*it)->PhysObjectApplyForce(me);*/
NewtonBodySetForce(body, me->m_forceAccumulator);
NewtonBodySetTorque(body, me->m_torqueAccumulator);
me->m_torqueAccumulator.Set(0.f);
me->m_forceAccumulator.Set(0.f);
///TODO: Implanter la force gyroscopique?
///TODO: Implement gyroscopic force?
}
void PhysObject::TransformCallback(const NewtonBody* body, const float* matrix, int threadIndex)
void RigidBody3D::TransformCallback(const NewtonBody* body, const float* matrix, int threadIndex)
{
NazaraUnused(threadIndex);
PhysObject* me = static_cast<PhysObject*>(NewtonBodyGetUserData(body));
RigidBody3D* me = static_cast<RigidBody3D*>(NewtonBodyGetUserData(body));
me->m_matrix.Set(matrix);
/*for (std::set<PhysObjectListener*>::iterator it = me->m_listeners.begin(); it != me->m_listeners.end(); ++it)
(*it)->PhysObjectOnUpdate(me);*/
}
}
}