diff --git a/include/Nazara/Physics3D.hpp b/include/Nazara/Physics3D.hpp index c726ff5a4..28340548a 100644 --- a/include/Nazara/Physics3D.hpp +++ b/include/Nazara/Physics3D.hpp @@ -31,6 +31,7 @@ #include #include +#include #include #include #include diff --git a/include/Nazara/Physics3D/Constraint3D.hpp b/include/Nazara/Physics3D/Constraint3D.hpp new file mode 100644 index 000000000..e039319aa --- /dev/null +++ b/include/Nazara/Physics3D/Constraint3D.hpp @@ -0,0 +1,74 @@ +// Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com) +// This file is part of the "Nazara Engine - Physics3D module" +// For conditions of distribution and use, see copyright notice in Config.hpp + +#pragma once + +#ifndef NAZARA_PHYSICS3D_CONSTRAINT3D_HPP +#define NAZARA_PHYSICS3D_CONSTRAINT3D_HPP + +#include +#include +#include +#include +#include +#include + +class btTypedConstraint; + +namespace Nz +{ + class Constraint3D; + + using Constraint3DHandle = ObjectHandle; + + class NAZARA_PHYSICS3D_API Constraint3D : public HandledObject + { + public: + Constraint3D(const Constraint3D&) = delete; + Constraint3D(Constraint3D&& constraint) noexcept; + virtual ~Constraint3D(); + + RigidBody3D& GetBodyA(); + const RigidBody3D& GetBodyA() const; + RigidBody3D& GetBodyB(); + const RigidBody3D& GetBodyB() const; + PhysWorld3D& GetWorld(); + const PhysWorld3D& GetWorld() const; + + inline bool IsBodyCollisionEnabled() const; + bool IsSingleBody() const; + + Constraint3D& operator=(const Constraint3D&) = delete; + Constraint3D& operator=(Constraint3D&& constraint) noexcept; + + protected: + Constraint3D(std::unique_ptr constraint, bool disableCollisions = false); + + template T* GetConstraint(); + template const T* GetConstraint() const; + + private: + std::unique_ptr m_constraint; + bool m_bodyCollisionEnabled; + }; + + class NAZARA_PHYSICS3D_API PivotConstraint3D : public Constraint3D + { + public: + PivotConstraint3D(RigidBody3D& first, const Vector3f& pivot); + PivotConstraint3D(RigidBody3D& first, RigidBody3D& second, const Vector3f& pivot, bool disableCollisions = false); + PivotConstraint3D(RigidBody3D& first, RigidBody3D& second, const Vector3f& firstAnchor, const Vector3f& secondAnchor, bool disableCollisions = false); + ~PivotConstraint3D() = default; + + Vector3f GetFirstAnchor() const; + Vector3f GetSecondAnchor() const; + + void SetFirstAnchor(const Vector3f& firstAnchor); + void SetSecondAnchor(const Vector3f& secondAnchor); + }; +} + +#include + +#endif // NAZARA_PHYSICS3D_CONSTRAINT3D_HPP diff --git a/include/Nazara/Physics3D/Constraint3D.inl b/include/Nazara/Physics3D/Constraint3D.inl new file mode 100644 index 000000000..69f5e3b88 --- /dev/null +++ b/include/Nazara/Physics3D/Constraint3D.inl @@ -0,0 +1,29 @@ +// Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com) +// This file is part of the "Nazara Engine - Physics3D module" +// For conditions of distribution and use, see copyright notice in Config.hpp + +#include +#include +#include + +namespace Nz +{ + inline bool Constraint3D::IsBodyCollisionEnabled() const + { + return m_bodyCollisionEnabled; + } + + template + T* Constraint3D::GetConstraint() + { + return SafeCast(m_constraint.get()); + } + + template + const T* Constraint3D::GetConstraint() const + { + return SafeCast(m_constraint.get()); + } +} + +#include diff --git a/include/Nazara/Physics3D/RigidBody3D.hpp b/include/Nazara/Physics3D/RigidBody3D.hpp index 76911587b..09a5bd78f 100644 --- a/include/Nazara/Physics3D/RigidBody3D.hpp +++ b/include/Nazara/Physics3D/RigidBody3D.hpp @@ -43,16 +43,17 @@ namespace Nz Boxf GetAABB() const; float GetAngularDamping() const; Vector3f GetAngularVelocity() const; - const std::shared_ptr& GetGeom() const; + inline const std::shared_ptr& GetGeom() const; float GetLinearDamping() const; Vector3f GetLinearVelocity() const; float GetMass() const; Vector3f GetMassCenter(CoordSys coordSys = CoordSys::Local) const; Matrix4f GetMatrix() const; Vector3f GetPosition() const; - btRigidBody* GetRigidBody() const; + inline btRigidBody* GetRigidBody() const; Quaternionf GetRotation() const; - PhysWorld3D* GetWorld() const; + inline std::size_t GetUniqueIndex() const; + inline PhysWorld3D* GetWorld() const; bool IsSimulationEnabled() const; bool IsSleeping() const; @@ -68,6 +69,11 @@ namespace Nz void SetPosition(const Vector3f& position); void SetRotation(const Quaternionf& rotation); + Quaternionf ToLocal(const Quaternionf& worldRotation); + Vector3f ToLocal(const Vector3f& worldPosition); + Quaternionf ToWorld(const Quaternionf& localRotation); + Vector3f ToWorld(const Vector3f& localPosition); + void WakeUp(); RigidBody3D& operator=(const RigidBody3D& object) = delete; diff --git a/include/Nazara/Physics3D/RigidBody3D.inl b/include/Nazara/Physics3D/RigidBody3D.inl index 92b62f12d..d49c5d4d9 100644 --- a/include/Nazara/Physics3D/RigidBody3D.inl +++ b/include/Nazara/Physics3D/RigidBody3D.inl @@ -10,6 +10,25 @@ namespace Nz { return EnableSleeping(false); } + + inline const std::shared_ptr& RigidBody3D::GetGeom() const + { + return m_geom; + } + + inline btRigidBody* RigidBody3D::GetRigidBody() const + { + return m_body; + } + inline std::size_t RigidBody3D::GetUniqueIndex() const + { + return m_bodyPoolIndex; + } + + inline PhysWorld3D* RigidBody3D::GetWorld() const + { + return m_world; + } } #include diff --git a/src/Nazara/Physics3D/BulletHelper.inl b/src/Nazara/Physics3D/BulletHelper.inl index 4b09924f3..b5fc0869e 100644 --- a/src/Nazara/Physics3D/BulletHelper.inl +++ b/src/Nazara/Physics3D/BulletHelper.inl @@ -2,7 +2,6 @@ // This file is part of the "Nazara Engine - Physics3D module" // For conditions of distribution and use, see copyright notice in Config.hpp -#include #include namespace Nz diff --git a/src/Nazara/Physics3D/Constraint3D.cpp b/src/Nazara/Physics3D/Constraint3D.cpp new file mode 100644 index 000000000..4eb7b9656 --- /dev/null +++ b/src/Nazara/Physics3D/Constraint3D.cpp @@ -0,0 +1,123 @@ +// Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com) +// This file is part of the "Nazara Engine - Physics3D module" +// For conditions of distribution and use, see copyright notice in Config.hpp + +#include +#include +#include +#include +#include + +namespace Nz +{ + Constraint3D::Constraint3D(std::unique_ptr constraint, bool disableCollisions) : + m_constraint(std::move(constraint)), + m_bodyCollisionEnabled(!disableCollisions) + { + btDynamicsWorld* world = GetWorld().GetDynamicsWorld(); + world->addConstraint(m_constraint.get(), disableCollisions); + } + + Constraint3D::Constraint3D(Constraint3D&& constraint) noexcept : + m_constraint(std::move(constraint.m_constraint)), + m_bodyCollisionEnabled(constraint.m_bodyCollisionEnabled) + { + if (m_constraint) + m_constraint->setUserConstraintPtr(this); + } + + Constraint3D::~Constraint3D() + { + if (m_constraint) + { + btDynamicsWorld* world = GetWorld().GetDynamicsWorld(); + world->removeConstraint(m_constraint.get()); + } + } + + RigidBody3D& Constraint3D::GetBodyA() + { + return *static_cast(m_constraint->getRigidBodyA().getUserPointer()); + } + + const RigidBody3D& Constraint3D::GetBodyA() const + { + return *static_cast(m_constraint->getRigidBodyA().getUserPointer()); + } + + RigidBody3D& Constraint3D::GetBodyB() + { + NazaraAssert(!IsSingleBody(), "constraint is not attached to a second body"); + return *static_cast(m_constraint->getRigidBodyB().getUserPointer()); + } + + const RigidBody3D& Constraint3D::GetBodyB() const + { + NazaraAssert(!IsSingleBody(), "constraint is not attached to a second body"); + return *static_cast(m_constraint->getRigidBodyB().getUserPointer()); + } + + PhysWorld3D& Constraint3D::GetWorld() + { + return *GetBodyA().GetWorld(); + } + + const PhysWorld3D& Constraint3D::GetWorld() const + { + return *GetBodyA().GetWorld(); + } + + bool Constraint3D::IsSingleBody() const + { + return &m_constraint->getRigidBodyB() == &btTypedConstraint::getFixedBody(); + } + + Constraint3D& Constraint3D::operator=(Constraint3D&& constraint) noexcept + { + m_constraint.reset(); + + m_constraint = std::move(constraint.m_constraint); + m_bodyCollisionEnabled = constraint.m_bodyCollisionEnabled; + + if (m_constraint) + m_constraint->setUserConstraintPtr(this); + + return *this; + } + + + PivotConstraint3D::PivotConstraint3D(RigidBody3D& first, const Vector3f& pivot) : + Constraint3D(std::make_unique(*first.GetRigidBody(), ToBullet(first.ToLocal(pivot)))) + { + } + + PivotConstraint3D::PivotConstraint3D(RigidBody3D& first, RigidBody3D& second, const Vector3f& pivot, bool disableCollisions) : + Constraint3D(std::make_unique(*first.GetRigidBody(), *second.GetRigidBody(), ToBullet(first.ToLocal(pivot)), ToBullet(second.ToLocal(pivot))), disableCollisions) + { + } + + PivotConstraint3D::PivotConstraint3D(RigidBody3D& first, RigidBody3D& second, const Vector3f& firstAnchor, const Vector3f& secondAnchor, bool disableCollisions) : + Constraint3D(std::make_unique(*first.GetRigidBody(), *second.GetRigidBody(), ToBullet(firstAnchor), ToBullet(secondAnchor)), disableCollisions) + { + } + + Vector3f PivotConstraint3D::GetFirstAnchor() const + { + return FromBullet(GetConstraint()->getPivotInA()); + } + + Vector3f PivotConstraint3D::GetSecondAnchor() const + { + return FromBullet(GetConstraint()->getPivotInB()); + } + + void PivotConstraint3D::SetFirstAnchor(const Vector3f& firstAnchor) + { + GetConstraint()->setPivotA(ToBullet(firstAnchor)); + } + + void PivotConstraint3D::SetSecondAnchor(const Vector3f& secondAnchor) + { + GetConstraint()->setPivotB(ToBullet(secondAnchor)); + } +} diff --git a/src/Nazara/Physics3D/RigidBody3D.cpp b/src/Nazara/Physics3D/RigidBody3D.cpp index 77dca71c1..3ee0a8046 100644 --- a/src/Nazara/Physics3D/RigidBody3D.cpp +++ b/src/Nazara/Physics3D/RigidBody3D.cpp @@ -147,11 +147,6 @@ namespace Nz return FromBullet(m_body->getAngularVelocity()); } - const std::shared_ptr& RigidBody3D::GetGeom() const - { - return m_geom; - } - float RigidBody3D::GetLinearDamping() const { return m_body->getLinearDamping(); @@ -182,21 +177,11 @@ namespace Nz return FromBullet(m_body->getWorldTransform().getOrigin()); } - btRigidBody* RigidBody3D::GetRigidBody() const - { - return m_body; - } - Quaternionf RigidBody3D::GetRotation() const { return FromBullet(m_body->getWorldTransform().getRotation()); } - PhysWorld3D* RigidBody3D::GetWorld() const - { - return m_world; - } - bool RigidBody3D::IsSimulationEnabled() const { return m_body->isActive(); @@ -290,12 +275,30 @@ namespace Nz m_body->setWorldTransform(worldTransform); } + Quaternionf RigidBody3D::ToLocal(const Quaternionf& worldRotation) + { + return GetRotation().Conjugate() * worldRotation; + } + + Vector3f RigidBody3D::ToLocal(const Vector3f& worldPosition) + { + btTransform worldTransform = m_body->getWorldTransform(); + return GetMatrix().InverseTransform() * worldPosition; + } + + Quaternionf RigidBody3D::ToWorld(const Quaternionf& localRotation) + { + return GetRotation() * localRotation; + } + + Vector3f RigidBody3D::ToWorld(const Vector3f& localPosition) + { + return GetMatrix() * localPosition; + } + void RigidBody3D::WakeUp() { - m_body->setDeactivationTime(0); - - if (m_body->getActivationState() == ISLAND_SLEEPING) - m_body->setActivationState(ACTIVE_TAG); + m_body->activate(); } RigidBody3D& RigidBody3D::operator=(RigidBody3D&& object) noexcept