JoltPhysics3D: Add JoltPivotConstraint3D
This commit is contained in:
SirLynix
Jérôme Leclercq
parent
d697450a60
commit
6447686ad9
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@ -3,63 +3,68 @@
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// For conditions of distribution and use, see copyright notice in Config.hpp
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#pragma once
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#if 0
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#ifndef NAZARA_JOLTPHYSICS3D_JOLTCONSTRAINT3D_HPP
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#define NAZARA_JOLTPHYSICS3D_JOLTCONSTRAINT3D_HPP
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#include <NazaraUtils/Prerequisites.hpp>
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#include <Nazara/BulletPhysics3D/BulletPhysWorld3D.hpp>
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#include <Nazara/BulletPhysics3D/BulletRigidBody3D.hpp>
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#include <Nazara/BulletPhysics3D/Config.hpp>
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#include <Nazara/JoltPhysics3D/JoltPhysWorld3D.hpp>
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#include <Nazara/JoltPhysics3D/JoltRigidBody3D.hpp>
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#include <Nazara/JoltPhysics3D/Config.hpp>
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#include <Nazara/Core/HandledObject.hpp>
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#include <Nazara/Core/ObjectHandle.hpp>
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class btTypedConstraint;
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namespace JPH
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{
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class TwoBodyConstraint;
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}
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namespace Nz
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{
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class BulletConstraint3D;
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class JoltConstraint3D;
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using BulletConstraint3DHandle = ObjectHandle<BulletConstraint3D>;
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using JoltConstraint3DHandle = ObjectHandle<JoltConstraint3D>;
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class NAZARA_BULLETPHYSICS3D_API BulletConstraint3D : public HandledObject<BulletConstraint3D>
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class NAZARA_JOLTPHYSICS3D_API JoltConstraint3D : public HandledObject<JoltConstraint3D>
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{
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public:
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BulletConstraint3D(const BulletConstraint3D&) = delete;
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BulletConstraint3D(BulletConstraint3D&& constraint) noexcept;
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virtual ~BulletConstraint3D();
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JoltConstraint3D(const JoltConstraint3D&) = delete;
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JoltConstraint3D(JoltConstraint3D&& constraint) noexcept;
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virtual ~JoltConstraint3D();
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BulletRigidBody3D& GetBodyA();
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const BulletRigidBody3D& GetBodyA() const;
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BulletRigidBody3D& GetBodyB();
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const BulletRigidBody3D& GetBodyB() const;
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BulletPhysWorld3D& GetWorld();
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const BulletPhysWorld3D& GetWorld() const;
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JoltRigidBody3D& GetBodyA();
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const JoltRigidBody3D& GetBodyA() const;
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JoltRigidBody3D& GetBodyB();
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const JoltRigidBody3D& GetBodyB() const;
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JoltPhysWorld3D& GetWorld();
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const JoltPhysWorld3D& GetWorld() const;
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inline bool IsBodyCollisionEnabled() const;
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bool IsSingleBody() const;
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BulletConstraint3D& operator=(const BulletConstraint3D&) = delete;
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BulletConstraint3D& operator=(BulletConstraint3D&& constraint) noexcept;
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JoltConstraint3D& operator=(const JoltConstraint3D&) = delete;
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JoltConstraint3D& operator=(JoltConstraint3D&& constraint) noexcept;
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protected:
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BulletConstraint3D(std::unique_ptr<btTypedConstraint> constraint, bool disableCollisions = false);
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JoltConstraint3D();
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template<typename T> T* GetConstraint();
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template<typename T> const T* GetConstraint() const;
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void SetupConstraint(std::unique_ptr<JPH::TwoBodyConstraint> constraint);
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private:
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std::unique_ptr<btTypedConstraint> m_constraint;
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bool m_bodyCollisionEnabled;
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void Destroy();
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std::unique_ptr<JPH::TwoBodyConstraint> m_constraint;
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};
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class NAZARA_BULLETPHYSICS3D_API BulletPivotConstraint3D : public BulletConstraint3D
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class NAZARA_JOLTPHYSICS3D_API JoltPivotConstraint3D : public JoltConstraint3D
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{
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public:
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BulletPivotConstraint3D(BulletRigidBody3D& first, const Vector3f& pivot);
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BulletPivotConstraint3D(BulletRigidBody3D& first, BulletRigidBody3D& second, const Vector3f& pivot, bool disableCollisions = false);
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BulletPivotConstraint3D(BulletRigidBody3D& first, BulletRigidBody3D& second, const Vector3f& firstAnchor, const Vector3f& secondAnchor, bool disableCollisions = false);
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~BulletPivotConstraint3D() = default;
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JoltPivotConstraint3D(JoltRigidBody3D& first, const Vector3f& pivot);
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JoltPivotConstraint3D(JoltRigidBody3D& first, JoltRigidBody3D& second, const Vector3f& pivot);
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JoltPivotConstraint3D(JoltRigidBody3D& first, JoltRigidBody3D& second, const Vector3f& firstAnchor, const Vector3f& secondAnchor);
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~JoltPivotConstraint3D() = default;
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Vector3f GetFirstAnchor() const;
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Vector3f GetSecondAnchor() const;
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@ -69,7 +74,6 @@ namespace Nz
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};
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}
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#include <Nazara/BulletPhysics3D/BulletConstraint3D.inl>
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#include <Nazara/JoltPhysics3D/JoltConstraint3D.inl>
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#endif // NAZARA_BULLETPHYSICS3D_BULLETCONSTRAINT3D_HPP
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#endif // NAZARA_JOLTPHYSICS3D_JOLTCONSTRAINT3D_HPP
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@ -6,19 +6,14 @@
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namespace Nz
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{
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inline bool BulletConstraint3D::IsBodyCollisionEnabled() const
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{
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return m_bodyCollisionEnabled;
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}
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template<typename T>
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T* BulletConstraint3D::GetConstraint()
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T* JoltConstraint3D::GetConstraint()
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{
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return SafeCast<T*>(m_constraint.get());
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}
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template<typename T>
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const T* BulletConstraint3D::GetConstraint() const
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const T* JoltConstraint3D::GetConstraint() const
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{
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return SafeCast<const T*>(m_constraint.get());
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}
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@ -46,6 +46,8 @@ namespace Nz
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Boxf GetAABB() const;
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float GetAngularDamping() const;
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Vector3f GetAngularVelocity() const;
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inline JPH::Body* GetBody();
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inline const JPH::Body* GetBody() const;
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inline UInt32 GetBodyIndex() const;
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inline const std::shared_ptr<JoltCollider3D>& GetGeom() const;
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float GetLinearDamping() const;
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@ -11,6 +11,16 @@ namespace Nz
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return EnableSleeping(false);
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}
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inline JPH::Body* JoltRigidBody3D::GetBody()
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{
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return m_body;
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}
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inline const JPH::Body* JoltRigidBody3D::GetBody() const
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{
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return m_body;
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}
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inline UInt32 JoltRigidBody3D::GetBodyIndex() const
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{
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return m_bodyIndex;
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@ -1,125 +1,156 @@
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// Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
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// This file is part of the "Nazara Engine - JoltPhysics3D module"
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// For conditions of distribution and use, see copyright notice in Config.hpp
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#if 0
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#include <Nazara/JoltPhysics3D/JoltConstraint3D.hpp>
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#include <Nazara/BulletPhysics3D/BulletConstraint3D.hpp>
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#include <Nazara/BulletPhysics3D/BulletHelper.hpp>
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#include <BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h>
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#include <BulletDynamics/Dynamics/btDynamicsWorld.h>
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#include <Nazara/JoltPhysics3D/JoltConstraint3D.hpp>
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#include <Nazara/JoltPhysics3D/JoltHelper.hpp>
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#include <Jolt/Jolt.h>
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#include <Jolt/Physics/PhysicsSystem.h>
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#include <Jolt/Physics/Constraints/PointConstraint.h>
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#include <cassert>
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#include <Nazara/JoltPhysics3D/Debug.hpp>
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namespace Nz
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{
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BulletConstraint3D::BulletConstraint3D(std::unique_ptr<btTypedConstraint> constraint, bool disableCollisions) :
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m_constraint(std::move(constraint)),
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m_bodyCollisionEnabled(!disableCollisions)
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{
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btDynamicsWorld* world = GetWorld().GetDynamicsWorld();
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world->addConstraint(m_constraint.get(), disableCollisions);
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}
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JoltConstraint3D::JoltConstraint3D() = default;
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BulletConstraint3D::BulletConstraint3D(BulletConstraint3D&& constraint) noexcept :
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m_constraint(std::move(constraint.m_constraint)),
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m_bodyCollisionEnabled(constraint.m_bodyCollisionEnabled)
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JoltConstraint3D::JoltConstraint3D(JoltConstraint3D&& constraint) noexcept :
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m_constraint(std::move(constraint.m_constraint))
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{
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if (m_constraint)
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m_constraint->setUserConstraintPtr(this);
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m_constraint->SetUserData(SafeCast<UInt64>(reinterpret_cast<std::uintptr_t>(this)));
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}
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BulletConstraint3D::~BulletConstraint3D()
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JoltConstraint3D::~JoltConstraint3D()
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{
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if (m_constraint)
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{
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btDynamicsWorld* world = GetWorld().GetDynamicsWorld();
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world->removeConstraint(m_constraint.get());
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}
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Destroy();
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}
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BulletRigidBody3D& BulletConstraint3D::GetBodyA()
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JoltRigidBody3D& JoltConstraint3D::GetBodyA()
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{
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return *static_cast<BulletRigidBody3D*>(m_constraint->getRigidBodyA().getUserPointer());
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return *reinterpret_cast<JoltRigidBody3D*>(static_cast<std::uintptr_t>(m_constraint->GetBody1()->GetUserData()));
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}
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const BulletRigidBody3D& BulletConstraint3D::GetBodyA() const
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const JoltRigidBody3D& JoltConstraint3D::GetBodyA() const
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{
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return *static_cast<BulletRigidBody3D*>(m_constraint->getRigidBodyA().getUserPointer());
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return *reinterpret_cast<JoltRigidBody3D*>(static_cast<std::uintptr_t>(m_constraint->GetBody1()->GetUserData()));
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}
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BulletRigidBody3D& BulletConstraint3D::GetBodyB()
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JoltRigidBody3D& JoltConstraint3D::GetBodyB()
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{
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NazaraAssert(!IsSingleBody(), "constraint is not attached to a second body");
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return *static_cast<BulletRigidBody3D*>(m_constraint->getRigidBodyB().getUserPointer());
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return *reinterpret_cast<JoltRigidBody3D*>(static_cast<std::uintptr_t>(m_constraint->GetBody2()->GetUserData()));
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}
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const BulletRigidBody3D& BulletConstraint3D::GetBodyB() const
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const JoltRigidBody3D& JoltConstraint3D::GetBodyB() const
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{
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NazaraAssert(!IsSingleBody(), "constraint is not attached to a second body");
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return *static_cast<BulletRigidBody3D*>(m_constraint->getRigidBodyB().getUserPointer());
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return *reinterpret_cast<JoltRigidBody3D*>(static_cast<std::uintptr_t>(m_constraint->GetBody2()->GetUserData()));
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}
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BulletPhysWorld3D& BulletConstraint3D::GetWorld()
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JoltPhysWorld3D& JoltConstraint3D::GetWorld()
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{
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return *GetBodyA().GetWorld();
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}
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const BulletPhysWorld3D& BulletConstraint3D::GetWorld() const
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const JoltPhysWorld3D& JoltConstraint3D::GetWorld() const
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{
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return *GetBodyA().GetWorld();
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}
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bool BulletConstraint3D::IsSingleBody() const
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bool JoltConstraint3D::IsSingleBody() const
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{
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return &m_constraint->getRigidBodyB() == &btTypedConstraint::getFixedBody();
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return m_constraint->GetBody2() == &JPH::Body::sFixedToWorld;
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}
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BulletConstraint3D& BulletConstraint3D::operator=(BulletConstraint3D&& constraint) noexcept
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JoltConstraint3D& JoltConstraint3D::operator=(JoltConstraint3D&& constraint) noexcept
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{
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m_constraint.reset();
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Destroy();
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m_constraint = std::move(constraint.m_constraint);
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m_bodyCollisionEnabled = constraint.m_bodyCollisionEnabled;
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if (m_constraint)
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m_constraint->setUserConstraintPtr(this);
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m_constraint->SetUserData(SafeCast<UInt64>(reinterpret_cast<std::uintptr_t>(this)));
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return *this;
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}
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BulletPivotConstraint3D::BulletPivotConstraint3D(BulletRigidBody3D& first, const Vector3f& pivot) :
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BulletConstraint3D(std::make_unique<btPoint2PointConstraint>(*first.GetRigidBody(), ToBullet(first.ToLocal(pivot))))
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void JoltConstraint3D::Destroy()
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{
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if (m_constraint)
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{
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JPH::PhysicsSystem* physicsSystem = GetWorld().GetPhysicsSystem();
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physicsSystem->RemoveConstraint(m_constraint.get());
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m_constraint.reset();
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}
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}
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BulletPivotConstraint3D::BulletPivotConstraint3D(BulletRigidBody3D& first, BulletRigidBody3D& second, const Vector3f& pivot, bool disableCollisions) :
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BulletConstraint3D(std::make_unique<btPoint2PointConstraint>(*first.GetRigidBody(), *second.GetRigidBody(), ToBullet(first.ToLocal(pivot)), ToBullet(second.ToLocal(pivot))), disableCollisions)
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void JoltConstraint3D::SetupConstraint(std::unique_ptr<JPH::TwoBodyConstraint> constraint)
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{
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assert(!m_constraint);
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m_constraint = std::move(constraint);
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m_constraint->SetEmbedded();
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m_constraint->SetUserData(SafeCast<UInt64>(reinterpret_cast<std::uintptr_t>(this)));
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JPH::PhysicsSystem* physicsSystem = GetWorld().GetPhysicsSystem();
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physicsSystem->AddConstraint(m_constraint.get());
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}
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BulletPivotConstraint3D::BulletPivotConstraint3D(BulletRigidBody3D& first, BulletRigidBody3D& second, const Vector3f& firstAnchor, const Vector3f& secondAnchor, bool disableCollisions) :
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BulletConstraint3D(std::make_unique<btPoint2PointConstraint>(*first.GetRigidBody(), *second.GetRigidBody(), ToBullet(firstAnchor), ToBullet(secondAnchor)), disableCollisions)
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JoltPivotConstraint3D::JoltPivotConstraint3D(JoltRigidBody3D& first, const Vector3f& pivot)
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{
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JPH::PointConstraintSettings settings;
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settings.mPoint1 = ToJolt(pivot);
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settings.mPoint2 = ToJolt(pivot);
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settings.mSpace = JPH::EConstraintSpace::WorldSpace;
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SetupConstraint(std::make_unique<JPH::PointConstraint>(*first.GetBody(), JPH::Body::sFixedToWorld, settings));
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}
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Vector3f BulletPivotConstraint3D::GetFirstAnchor() const
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JoltPivotConstraint3D::JoltPivotConstraint3D(JoltRigidBody3D& first, JoltRigidBody3D& second, const Vector3f& pivot)
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{
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return FromBullet(GetConstraint<btPoint2PointConstraint>()->getPivotInA());
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JPH::PointConstraintSettings settings;
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settings.mPoint1 = ToJolt(pivot);
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settings.mPoint2 = ToJolt(pivot);
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settings.mSpace = JPH::EConstraintSpace::WorldSpace;
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SetupConstraint(std::make_unique<JPH::PointConstraint>(*first.GetBody(), *second.GetBody(), settings));
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}
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Vector3f BulletPivotConstraint3D::GetSecondAnchor() const
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JoltPivotConstraint3D::JoltPivotConstraint3D(JoltRigidBody3D& first, JoltRigidBody3D& second, const Vector3f& firstAnchor, const Vector3f& secondAnchor)
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{
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return FromBullet(GetConstraint<btPoint2PointConstraint>()->getPivotInB());
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JPH::PointConstraintSettings settings;
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settings.mPoint1 = ToJolt(firstAnchor);
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settings.mPoint2 = ToJolt(secondAnchor);
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settings.mSpace = JPH::EConstraintSpace::WorldSpace;
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SetupConstraint(std::make_unique<JPH::PointConstraint>(*first.GetBody(), *second.GetBody(), settings));
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}
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void BulletPivotConstraint3D::SetFirstAnchor(const Vector3f& firstAnchor)
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Vector3f JoltPivotConstraint3D::GetFirstAnchor() const
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{
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GetConstraint<btPoint2PointConstraint>()->setPivotA(ToBullet(firstAnchor));
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const JPH::PointConstraint* constraint = GetConstraint<JPH::PointConstraint>();
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return FromJolt(constraint->GetBody1()->GetCenterOfMassTransform() * constraint->GetLocalSpacePoint1());
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}
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void BulletPivotConstraint3D::SetSecondAnchor(const Vector3f& secondAnchor)
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Vector3f JoltPivotConstraint3D::GetSecondAnchor() const
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{
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GetConstraint<btPoint2PointConstraint>()->setPivotB(ToBullet(secondAnchor));
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const JPH::PointConstraint* constraint = GetConstraint<JPH::PointConstraint>();
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return FromJolt(constraint->GetBody2()->GetCenterOfMassTransform() * constraint->GetLocalSpacePoint2());
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}
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void JoltPivotConstraint3D::SetFirstAnchor(const Vector3f& firstAnchor)
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{
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GetConstraint<JPH::PointConstraint>()->SetPoint1(JPH::EConstraintSpace::WorldSpace, ToJolt(firstAnchor));
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GetConstraint<JPH::PointConstraint>()->SetPoint2(JPH::EConstraintSpace::WorldSpace, ToJolt(firstAnchor));
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}
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void JoltPivotConstraint3D::SetSecondAnchor(const Vector3f& secondAnchor)
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{
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GetConstraint<JPH::PointConstraint>()->SetPoint2(JPH::EConstraintSpace::WorldSpace, ToJolt(secondAnchor));
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}
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}
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#endif
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