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Upgrade to Newton 3.14 and make it a thirdparty lib

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This commit is contained in:
Jérôme Leclercq
2020-09-06 17:09:19 +02:00
parent 8913d5c1d1
commit 67b0d70b7c
240 changed files with 103390 additions and 311 deletions
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4
src/Nazara/Physics3D/Collider3D.cpp
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@@ -259,7 +259,7 @@ namespace Nz
NewtonCollision* CapsuleCollider3D::CreateHandle(PhysWorld3D* world) const
{
return NewtonCreateCapsule(world->GetHandle(), m_radius, m_length, 0, m_matrix);
return NewtonCreateCapsule(world->GetHandle(), m_radius, m_radius, m_length, 0, m_matrix);
}
/******************************* CompoundCollider3D ********************************/
@@ -396,7 +396,7 @@ namespace Nz
NewtonCollision* CylinderCollider3D::CreateHandle(PhysWorld3D* world) const
{
return NewtonCreateCylinder(world->GetHandle(), m_radius, m_length, 0, m_matrix);
return NewtonCreateCylinder(world->GetHandle(), m_radius, m_radius, m_length, 0, m_matrix);
}
/********************************* NullCollider3D **********************************/

36
src/Nazara/Physics3D/PhysWorld3D.cpp
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@@ -91,11 +91,6 @@ namespace Nz
m_maxStepCount = maxStepCount;
}
void PhysWorld3D::SetSolverModel(unsigned int model)
{
NewtonSetSolverModel(m_world, model);
}
void PhysWorld3D::SetStepSize(float stepSize)
{
m_stepSize = stepSize;
@@ -114,7 +109,8 @@ namespace Nz
callbackPtr->aabbOverlapCallback = std::move(aabbOverlapCallback);
callbackPtr->collisionCallback = std::move(collisionCallback);
NewtonMaterialSetCollisionCallback(m_world, firstMaterial, secondMaterial, callbackPtr.get(), (callbackPtr->aabbOverlapCallback) ? OnAABBOverlap : nullptr, (callbackPtr->collisionCallback) ? ProcessContact : nullptr);
NewtonMaterialSetCollisionCallback(m_world, firstMaterial, secondMaterial, (callbackPtr->aabbOverlapCallback) ? OnAABBOverlap : nullptr, (callbackPtr->collisionCallback) ? ProcessContact : nullptr);
NewtonMaterialSetCallbackUserData(m_world, firstMaterial, secondMaterial, callbackPtr.get());
UInt64 firstMaterialId(firstMaterial);
UInt64 secondMaterialId(secondMaterial);
@@ -161,17 +157,31 @@ namespace Nz
}
}
int PhysWorld3D::OnAABBOverlap(const NewtonMaterial* const material, const NewtonBody* const body0, const NewtonBody* const body1, int threadIndex)
int PhysWorld3D::OnAABBOverlap(const NewtonJoint* const contactJoint, dFloat timestep, int threadIndex)
{
RigidBody3D* bodyA = static_cast<RigidBody3D*>(NewtonBodyGetUserData(body0));
RigidBody3D* bodyB = static_cast<RigidBody3D*>(NewtonBodyGetUserData(body1));
RigidBody3D* bodyA = static_cast<RigidBody3D*>(NewtonBodyGetUserData(NewtonJointGetBody0(contactJoint)));
RigidBody3D* bodyB = static_cast<RigidBody3D*>(NewtonBodyGetUserData(NewtonJointGetBody1(contactJoint)));
assert(bodyA && bodyB);
Callback* callbackData = static_cast<Callback*>(NewtonMaterialGetMaterialPairUserData(material));
assert(callbackData);
assert(callbackData->aabbOverlapCallback);
using ContactJoint = void*;
return callbackData->aabbOverlapCallback(*bodyA, *bodyB);
// Query all joints first, to prevent removing a joint from the list while iterating on it
StackVector<ContactJoint> contacts = NazaraStackVector(ContactJoint, NewtonContactJointGetContactCount(contactJoint));
for (ContactJoint contact = NewtonContactJointGetFirstContact(contactJoint); contact; contact = NewtonContactJointGetNextContact(contactJoint, contact))
contacts.push_back(contact);
for (ContactJoint contact : contacts)
{
NewtonMaterial* material = NewtonContactGetMaterial(contact);
Callback* callbackData = static_cast<Callback*>(NewtonMaterialGetMaterialPairUserData(material));
assert(callbackData);
assert(callbackData->collisionCallback);
if (!callbackData->collisionCallback(*bodyA, *bodyB))
return 0;
}
return 1;
}
void PhysWorld3D::ProcessContact(const NewtonJoint* const contactJoint, float timestep, int threadIndex)

2
src/Nazara/Physics3D/RigidBody3D.cpp
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@@ -315,7 +315,7 @@ namespace Nz
{
// 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);
NewtonBodyGetMass(m_body, &m_mass, &Ix, &Iy, &Iz);
float scale = mass / m_mass;
NewtonBodySetMassMatrix(m_body, mass, Ix*scale, Iy*scale, Iz*scale);