JoltPhysics3D/JoltPhysWorld3D: Add CollisionQuery for points and shapes
This commit is contained in:
SirLynix
parent
26dbdef50d
commit
3fd696385d
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@ -40,13 +40,19 @@ namespace Nz
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friend JoltRigidBody3D;
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public:
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struct PointCollisionInfo;
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struct RaycastHit;
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struct ShapeCollisionInfo;
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JoltPhysWorld3D();
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JoltPhysWorld3D(const JoltPhysWorld3D&) = delete;
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JoltPhysWorld3D(JoltPhysWorld3D&& ph) = delete;
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~JoltPhysWorld3D();
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bool CollisionQuery(const Vector3f& point, const FunctionRef<std::optional<float>(const PointCollisionInfo& collisionInfo)>& callback);
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bool CollisionQuery(const JoltCollider3D& collider, const Matrix4f& colliderTransform, const FunctionRef<std::optional<float>(const ShapeCollisionInfo& hitInfo)>& callback);
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bool CollisionQuery(const JoltCollider3D& collider, const Matrix4f& colliderTransform, const Vector3f& colliderScale, const FunctionRef<std::optional<float>(const ShapeCollisionInfo& hitInfo)>& callback);
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UInt32 GetActiveBodyCount() const;
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Vector3f GetGravity() const;
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std::size_t GetMaxStepCount() const;
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@ -74,6 +80,11 @@ namespace Nz
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JoltPhysWorld3D& operator=(const JoltPhysWorld3D&) = delete;
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JoltPhysWorld3D& operator=(JoltPhysWorld3D&&) = delete;
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struct PointCollisionInfo
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{
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JoltAbstractBody* hitBody = nullptr;
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};
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struct RaycastHit
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{
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float fraction;
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@ -82,6 +93,15 @@ namespace Nz
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Vector3f hitPosition;
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};
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struct ShapeCollisionInfo
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{
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JoltAbstractBody* hitBody = nullptr;
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Vector3f collisionPosition1;
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Vector3f collisionPosition2;
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Vector3f penetrationAxis;
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float penetrationDepth;
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};
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private:
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class BodyActivationListener;
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friend BodyActivationListener;
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@ -25,13 +25,19 @@ namespace Nz
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static constexpr Int64 ExecutionOrder = 0;
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using Components = TypeList<JoltCharacterComponent, JoltRigidBody3DComponent, class NodeComponent>;
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struct PointCollisionInfo;
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struct RaycastHit;
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struct ShapeCollisionInfo;
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JoltPhysics3DSystem(entt::registry& registry);
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JoltPhysics3DSystem(const JoltPhysics3DSystem&) = delete;
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JoltPhysics3DSystem(JoltPhysics3DSystem&&) = delete;
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~JoltPhysics3DSystem();
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bool CollisionQuery(const Vector3f& point, const FunctionRef<std::optional<float>(const PointCollisionInfo& collisionInfo)>& callback);
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bool CollisionQuery(const JoltCollider3D& collider, const Matrix4f& colliderTransform, const FunctionRef<std::optional<float>(const ShapeCollisionInfo& hitInfo)>& callback);
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bool CollisionQuery(const JoltCollider3D& collider, const Matrix4f& colliderTransform, const Vector3f& colliderScale, const FunctionRef<std::optional<float>(const ShapeCollisionInfo& hitInfo)>& callback);
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inline JoltPhysWorld3D& GetPhysWorld();
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inline const JoltPhysWorld3D& GetPhysWorld() const;
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inline entt::handle GetRigidBodyEntity(UInt32 bodyIndex) const;
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@ -44,11 +50,21 @@ namespace Nz
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JoltPhysics3DSystem& operator=(const JoltPhysics3DSystem&) = delete;
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JoltPhysics3DSystem& operator=(JoltPhysics3DSystem&&) = delete;
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struct PointCollisionInfo : JoltPhysWorld3D::PointCollisionInfo
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{
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entt::handle hitEntity;
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};
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struct RaycastHit : JoltPhysWorld3D::RaycastHit
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{
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entt::handle hitEntity;
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};
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struct ShapeCollisionInfo : JoltPhysWorld3D::ShapeCollisionInfo
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{
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entt::handle hitEntity;
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};
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private:
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void OnBodyConstruct(entt::registry& registry, entt::entity entity);
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void OnBodyDestruct(entt::registry& registry, entt::entity entity);
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@ -4,6 +4,7 @@
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#include <Nazara/JoltPhysics3D/JoltPhysWorld3D.hpp>
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#include <Nazara/JoltPhysics3D/JoltCharacter.hpp>
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#include <Nazara/JoltPhysics3D/JoltCollider3D.hpp>
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#include <Nazara/JoltPhysics3D/JoltHelper.hpp>
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#include <Nazara/JoltPhysics3D/JoltPhysics3D.hpp>
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#include <Nazara/JoltPhysics3D/JoltPhysicsStepListener.hpp>
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@ -16,6 +17,8 @@
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#include <Jolt/Physics/PhysicsSystem.h>
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#include <Jolt/Physics/Body/BodyActivationListener.h>
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#include <Jolt/Physics/Collision/CastResult.h>
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#include <Jolt/Physics/Collision/CollidePointResult.h>
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#include <Jolt/Physics/Collision/CollideShape.h>
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#include <Jolt/Physics/Collision/CollisionCollectorImpl.h>
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#include <Jolt/Physics/Collision/ObjectLayer.h>
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#include <Jolt/Physics/Collision/RayCast.h>
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@ -162,10 +165,106 @@ namespace Nz
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{
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namespace NAZARA_ANONYMOUS_NAMESPACE
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{
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class CallbackHitResult : public JPH::CastRayCollector
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class PointCallbackHitResult : public JPH::CollidePointCollector
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{
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public:
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CallbackHitResult(const JPH::BodyLockInterface& bodyLockInterface, const Vector3f& from, const Vector3f& to, const FunctionRef<std::optional<float>(const JoltPhysWorld3D::RaycastHit& hitInfo)>& callback) :
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PointCallbackHitResult(const JPH::BodyLockInterface& bodyLockInterface, const FunctionRef<std::optional<float>(const JoltPhysWorld3D::PointCollisionInfo& hitInfo)>& callback) :
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m_bodyLockInterface(bodyLockInterface),
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m_callback(callback),
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m_didHit(false)
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{
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}
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void AddHit(const JPH::CollidePointResult& result)
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{
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JoltPhysWorld3D::PointCollisionInfo hitInfo;
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JPH::BodyLockWrite lock(m_bodyLockInterface, result.mBodyID);
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if (!lock.Succeeded())
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return; //< body was destroyed
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JPH::Body& body = lock.GetBody();
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hitInfo.hitBody = reinterpret_cast<JoltAbstractBody*>(static_cast<std::uintptr_t>(body.GetUserData()));
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if (auto fractionOpt = m_callback(hitInfo))
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{
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float fraction = fractionOpt.value();
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if (fraction > 0.f)
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{
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m_didHit = true;
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UpdateEarlyOutFraction(fraction);
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}
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else
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ForceEarlyOut();
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}
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}
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bool DidHit() const
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{
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return m_didHit;
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}
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private:
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const JPH::BodyLockInterface& m_bodyLockInterface;
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const FunctionRef<std::optional<float>(const JoltPhysWorld3D::PointCollisionInfo& hitInfo)>& m_callback;
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bool m_didHit;
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};
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class ShapeCallbackHitResult : public JPH::CollideShapeCollector
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{
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public:
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ShapeCallbackHitResult(const JPH::BodyLockInterface& bodyLockInterface, const FunctionRef<std::optional<float>(const JoltPhysWorld3D::ShapeCollisionInfo& hitInfo)>& callback) :
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m_bodyLockInterface(bodyLockInterface),
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m_callback(callback),
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m_didHit(false)
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{
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}
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void AddHit(const JPH::CollideShapeResult& result)
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{
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JoltPhysWorld3D::ShapeCollisionInfo hitInfo;
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hitInfo.collisionPosition1 = FromJolt(result.mContactPointOn1);
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hitInfo.collisionPosition2 = FromJolt(result.mContactPointOn2);
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hitInfo.penetrationAxis = FromJolt(result.mPenetrationAxis);
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hitInfo.penetrationDepth = result.mPenetrationDepth;
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JPH::BodyLockWrite lock(m_bodyLockInterface, result.mBodyID2);
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if (!lock.Succeeded())
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return; //< body was destroyed
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JPH::Body& body = lock.GetBody();
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hitInfo.hitBody = reinterpret_cast<JoltAbstractBody*>(static_cast<std::uintptr_t>(body.GetUserData()));
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if (auto fractionOpt = m_callback(hitInfo))
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{
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float fraction = fractionOpt.value();
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if (fraction > 0.f)
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{
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m_didHit = true;
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UpdateEarlyOutFraction(fraction);
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}
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else
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ForceEarlyOut();
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}
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}
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bool DidHit() const
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{
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return m_didHit;
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}
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private:
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const JPH::BodyLockInterface& m_bodyLockInterface;
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const FunctionRef<std::optional<float>(const JoltPhysWorld3D::ShapeCollisionInfo& hitInfo)>& m_callback;
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bool m_didHit;
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};
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class RaycastCallbackHitResult : public JPH::CastRayCollector
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{
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public:
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RaycastCallbackHitResult(const JPH::BodyLockInterface& bodyLockInterface, const Vector3f& from, const Vector3f& to, const FunctionRef<std::optional<float>(const JoltPhysWorld3D::RaycastHit& hitInfo)>& callback) :
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m_bodyLockInterface(bodyLockInterface),
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m_callback(callback),
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m_from(from),
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@ -323,6 +422,35 @@ namespace Nz
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JoltPhysWorld3D::~JoltPhysWorld3D() = default;
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bool JoltPhysWorld3D::CollisionQuery(const Vector3f& point, const FunctionRef<std::optional<float>(const PointCollisionInfo& collisionInfo)>& callback)
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{
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NAZARA_USE_ANONYMOUS_NAMESPACE
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PointCallbackHitResult collector(m_world->physicsSystem.GetBodyLockInterface(), callback);
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m_world->physicsSystem.GetNarrowPhaseQuery().CollidePoint(ToJolt(point), collector);
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return collector.DidHit();
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}
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bool JoltPhysWorld3D::CollisionQuery(const JoltCollider3D& collider, const Matrix4f& colliderTransform, const FunctionRef<std::optional<float>(const ShapeCollisionInfo& hitInfo)>& callback)
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{
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return CollisionQuery(collider, colliderTransform, Vector3f::Unit(), callback);
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}
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bool JoltPhysWorld3D::CollisionQuery(const JoltCollider3D& collider, const Matrix4f& colliderTransform, const Vector3f& colliderScale, const FunctionRef<std::optional<float>(const ShapeCollisionInfo& hitInfo)>& callback)
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{
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NAZARA_USE_ANONYMOUS_NAMESPACE
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JPH::Shape* shape = collider.GetShapeSettings()->Create().Get();
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JPH::CollideShapeSettings collideShapeSettings;
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ShapeCallbackHitResult collector(m_world->physicsSystem.GetBodyLockInterface(), callback);
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m_world->physicsSystem.GetNarrowPhaseQuery().CollideShape(shape, ToJolt(colliderScale), ToJolt(colliderTransform), collideShapeSettings, JPH::Vec3::sZero(), collector);
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return collector.DidHit();
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}
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UInt32 JoltPhysWorld3D::GetActiveBodyCount() const
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{
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return m_world->physicsSystem.GetNumActiveBodies(JPH::EBodyType::RigidBody);
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@ -358,7 +486,7 @@ namespace Nz
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JPH::RayCastSettings rayCastSettings;
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CallbackHitResult collector(m_world->physicsSystem.GetBodyLockInterface(), from, to, callback);
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RaycastCallbackHitResult collector(m_world->physicsSystem.GetBodyLockInterface(), from, to, callback);
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m_world->physicsSystem.GetNarrowPhaseQuery().CastRay(rayCast, rayCastSettings, collector);
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return collector.DidHit();
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@ -3,6 +3,7 @@
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// For conditions of distribution and use, see copyright notice in Config.hpp
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#include <Nazara/JoltPhysics3D/Systems/JoltPhysics3DSystem.hpp>
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#include <Nazara/JoltPhysics3D/JoltAbstractBody.hpp>
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#include <Nazara/Core/Components/DisabledComponent.hpp>
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#include <Nazara/Utility/Components/NodeComponent.hpp>
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#include <Nazara/JoltPhysics3D/Debug.hpp>
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@ -15,8 +16,9 @@ namespace Nz
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m_rigidBodyConstructObserver(m_registry, entt::collector.group<JoltRigidBody3DComponent, NodeComponent>(entt::exclude<DisabledComponent, JoltCharacterComponent>))
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{
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m_bodyConstructConnection = registry.on_construct<JoltRigidBody3DComponent>().connect<&JoltPhysics3DSystem::OnBodyConstruct>(this);
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m_characterConstructConnection = registry.on_construct<JoltCharacterComponent>().connect<&JoltPhysics3DSystem::OnCharacterConstruct>(this);
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m_bodyDestructConnection = registry.on_destroy<JoltRigidBody3DComponent>().connect<&JoltPhysics3DSystem::OnBodyDestruct>(this);
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m_characterConstructConnection = registry.on_construct<JoltCharacterComponent>().connect<&JoltPhysics3DSystem::OnCharacterConstruct>(this);
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m_characterDestructConnection = registry.on_destroy<JoltCharacterComponent>().connect<&JoltPhysics3DSystem::OnCharacterDestruct>(this);
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}
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JoltPhysics3DSystem::~JoltPhysics3DSystem()
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@ -34,6 +36,47 @@ namespace Nz
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rigidBodyComponent.Destroy(true);
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}
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bool JoltPhysics3DSystem::CollisionQuery(const Vector3f& point, const FunctionRef<std::optional<float>(const PointCollisionInfo& collisionInfo)>& callback)
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{
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return m_physWorld.CollisionQuery(point, [&](const JoltPhysWorld3D::PointCollisionInfo& hitInfo)
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{
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PointCollisionInfo extendedHitInfo;
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static_cast<JoltPhysWorld3D::PointCollisionInfo&>(extendedHitInfo) = hitInfo;
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if (extendedHitInfo.hitBody)
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{
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std::size_t bodyIndex = extendedHitInfo.hitBody->GetBodyIndex();
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if (bodyIndex < m_bodyIndicesToEntity.size())
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extendedHitInfo.hitEntity = entt::handle(m_registry, m_bodyIndicesToEntity[bodyIndex]);
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}
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return callback(extendedHitInfo);
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});
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}
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bool JoltPhysics3DSystem::CollisionQuery(const JoltCollider3D& collider, const Matrix4f& shapeTransform, const FunctionRef<std::optional<float>(const ShapeCollisionInfo& hitInfo)>& callback)
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{
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return CollisionQuery(collider, shapeTransform, Vector3f::Unit(), callback);
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}
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bool JoltPhysics3DSystem::CollisionQuery(const JoltCollider3D& collider, const Matrix4f& colliderTransform, const Vector3f& colliderScale, const FunctionRef<std::optional<float>(const ShapeCollisionInfo& hitInfo)>& callback)
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{
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return m_physWorld.CollisionQuery(collider, colliderTransform, colliderScale, [&](const JoltPhysWorld3D::ShapeCollisionInfo& hitInfo)
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{
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ShapeCollisionInfo extendedHitInfo;
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static_cast<JoltPhysWorld3D::ShapeCollisionInfo&>(extendedHitInfo) = hitInfo;
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if (extendedHitInfo.hitBody)
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{
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std::size_t bodyIndex = extendedHitInfo.hitBody->GetBodyIndex();
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if (bodyIndex < m_bodyIndicesToEntity.size())
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extendedHitInfo.hitEntity = entt::handle(m_registry, m_bodyIndicesToEntity[bodyIndex]);
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}
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return callback(extendedHitInfo);
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});
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}
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bool JoltPhysics3DSystem::RaycastQuery(const Vector3f& from, const Vector3f& to, const FunctionRef<std::optional<float>(const RaycastHit& hitInfo)>& callback)
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{
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return m_physWorld.RaycastQuery(from, to, [&](const JoltPhysWorld3D::RaycastHit& hitInfo)
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@ -139,12 +182,6 @@ namespace Nz
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m_bodyIndicesToEntity[uniqueIndex] = entity;
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}
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void JoltPhysics3DSystem::OnCharacterConstruct(entt::registry& registry, entt::entity entity)
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{
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JoltCharacterComponent& character = registry.get<JoltCharacterComponent>(entity);
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character.Construct(m_physWorld);
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}
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void JoltPhysics3DSystem::OnBodyDestruct(entt::registry& registry, entt::entity entity)
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{
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// Unregister owning entity
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@ -154,4 +191,26 @@ namespace Nz
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m_bodyIndicesToEntity[uniqueIndex] = entt::null;
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}
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void JoltPhysics3DSystem::OnCharacterConstruct(entt::registry& registry, entt::entity entity)
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{
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JoltCharacterComponent& character = registry.get<JoltCharacterComponent>(entity);
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character.Construct(m_physWorld);
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UInt32 uniqueIndex = character.GetBodyIndex();
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if (uniqueIndex >= m_bodyIndicesToEntity.size())
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m_bodyIndicesToEntity.resize(uniqueIndex + 1);
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m_bodyIndicesToEntity[uniqueIndex] = entity;
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}
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void JoltPhysics3DSystem::OnCharacterDestruct(entt::registry& registry, entt::entity entity)
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{
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// Unregister owning entity
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JoltCharacterComponent& character = registry.get<JoltCharacterComponent>(entity);
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UInt32 uniqueIndex = character.GetBodyIndex();
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assert(uniqueIndex <= m_bodyIndicesToEntity.size());
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m_bodyIndicesToEntity[uniqueIndex] = entt::null;
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}
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}
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