Physics3D: Switch from Newton Dynamics to Bullet3
This commit is contained in:
SirLynix
committed by
Jérôme Leclercq
Jérôme Leclercq
parent
ec1efb5e56
commit
795efae3a0
@@ -18,40 +18,38 @@
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#include <NazaraUtils/SparsePtr.hpp>
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#include <unordered_map>
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class NewtonCollision;
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class btBoxShape;
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class btCapsuleShape;
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class btCompoundShape;
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class btCollisionShape;
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class btConeShape;
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class btConvexHullShape;
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class btCylinderShape;
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class btSphereShape;
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namespace Nz
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{
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///TODO: CollisionModifier
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///TODO: HeightfieldGeom
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///TODO: PlaneGeom ?
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///TODO: SceneGeom
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///TODO: TreeGeom
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class PrimitiveList;
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class PhysWorld3D;
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class StaticMesh;
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struct Primitive;
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class NAZARA_PHYSICS3D_API Collider3D
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{
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friend class Physics3D;
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public:
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Collider3D() = default;
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Collider3D(const Collider3D&) = delete;
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Collider3D(Collider3D&&) = delete;
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virtual ~Collider3D();
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virtual void BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix = Matrix4f::Identity()) const = 0;
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Boxf ComputeAABB(const Vector3f& translation, const Quaternionf& rotation, const Vector3f& scale) const;
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virtual Boxf ComputeAABB(const Matrix4f& offsetMatrix = Matrix4f::Identity(), const Vector3f& scale = Vector3f::Unit()) const;
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virtual void ComputeInertialMatrix(Vector3f* inertia, Vector3f* center) const;
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virtual float ComputeVolume() const;
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virtual void ComputeInertia(float mass, Vector3f* inertia) const;
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virtual void ForEachPolygon(const std::function<void(const Vector3f* vertices, std::size_t vertexCount)>& callback) const;
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virtual std::shared_ptr<StaticMesh> GenerateDebugMesh() const;
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virtual std::shared_ptr<StaticMesh> GenerateMesh() const;
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NewtonCollision* GetHandle(PhysWorld3D* world) const;
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virtual btCollisionShape* GetShape() const = 0;
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virtual ColliderType3D GetType() const = 0;
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Collider3D& operator=(const Collider3D&) = delete;
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@@ -59,146 +57,153 @@ namespace Nz
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static std::shared_ptr<Collider3D> Build(const PrimitiveList& list);
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// Signals:
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NazaraSignal(OnColliderRelease, const Collider3D* /*collider*/);
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protected:
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virtual NewtonCollision* CreateHandle(PhysWorld3D* world) const = 0;
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mutable std::unordered_map<PhysWorld3D*, NewtonCollision*> m_handles;
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private:
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static std::shared_ptr<Collider3D> CreateGeomFromPrimitive(const Primitive& primitive);
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};
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class NAZARA_PHYSICS3D_API BoxCollider3D : public Collider3D
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class NAZARA_PHYSICS3D_API BoxCollider3D final : public Collider3D
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{
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public:
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BoxCollider3D(const Vector3f& lengths, const Matrix4f& transformMatrix = Matrix4f::Identity());
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BoxCollider3D(const Vector3f& lengths, const Vector3f& translation, const Quaternionf& rotation = Quaternionf::Identity());
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BoxCollider3D(const Vector3f& lengths);
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~BoxCollider3D();
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Boxf ComputeAABB(const Matrix4f& offsetMatrix = Matrix4f::Identity(), const Vector3f& scale = Vector3f::Unit()) const override;
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float ComputeVolume() const override;
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void BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const override;
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Vector3f GetLengths() const;
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btCollisionShape* GetShape() const override;
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ColliderType3D GetType() const override;
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private:
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NewtonCollision* CreateHandle(PhysWorld3D* world) const override;
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Matrix4f m_matrix;
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std::unique_ptr<btBoxShape> m_shape;
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Vector3f m_lengths;
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};
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class NAZARA_PHYSICS3D_API CapsuleCollider3D : public Collider3D
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class NAZARA_PHYSICS3D_API CapsuleCollider3D final : public Collider3D
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{
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public:
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CapsuleCollider3D(float length, float radius, const Matrix4f& transformMatrix = Matrix4f::Identity());
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CapsuleCollider3D(float length, float radius, const Vector3f& translation, const Quaternionf& rotation = Quaternionf::Identity());
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CapsuleCollider3D(float length, float radius);
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~CapsuleCollider3D();
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void BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const override;
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float GetLength() const;
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float GetRadius() const;
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btCollisionShape* GetShape() const override;
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ColliderType3D GetType() const override;
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private:
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NewtonCollision* CreateHandle(PhysWorld3D* world) const override;
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std::unique_ptr<btCapsuleShape> m_shape;
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float m_length;
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float m_radius;
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};
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class NAZARA_PHYSICS3D_API CompoundCollider3D final : public Collider3D
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{
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public:
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struct ChildCollider;
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CompoundCollider3D(std::vector<ChildCollider> childs);
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~CompoundCollider3D();
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void BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const override;
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const std::vector<ChildCollider>& GetGeoms() const;
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btCollisionShape* GetShape() const override;
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ColliderType3D GetType() const override;
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struct ChildCollider
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{
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std::shared_ptr<Collider3D> collider;
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Matrix4f offsetMatrix;
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};
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private:
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std::unique_ptr<btCompoundShape> m_shape;
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std::vector<ChildCollider> m_childs;
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};
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class NAZARA_PHYSICS3D_API ConeCollider3D final : public Collider3D
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{
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public:
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ConeCollider3D(float length, float radius);
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~ConeCollider3D();
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void BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const override;
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float GetLength() const;
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float GetRadius() const;
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btCollisionShape* GetShape() const override;
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ColliderType3D GetType() const override;
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private:
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std::unique_ptr<btConeShape> m_shape;
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float m_length;
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float m_radius;
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};
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class NAZARA_PHYSICS3D_API ConvexCollider3D final : public Collider3D
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{
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public:
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ConvexCollider3D(SparsePtr<const Vector3f> vertices, unsigned int vertexCount);
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~ConvexCollider3D();
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void BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const override;
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btCollisionShape* GetShape() const override;
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ColliderType3D GetType() const override;
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private:
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std::unique_ptr<btConvexHullShape> m_shape;
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};
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class NAZARA_PHYSICS3D_API CylinderCollider3D final : public Collider3D
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{
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public:
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CylinderCollider3D(float length, float radius);
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~CylinderCollider3D();
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void BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const override;
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float GetLength() const;
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float GetRadius() const;
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btCollisionShape* GetShape() const override;
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ColliderType3D GetType() const override;
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private:
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std::unique_ptr<btCylinderShape> m_shape;
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Matrix4f m_matrix;
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float m_length;
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float m_radius;
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};
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class NAZARA_PHYSICS3D_API CompoundCollider3D : public Collider3D
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class NAZARA_PHYSICS3D_API NullCollider3D final : public Collider3D
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{
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public:
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CompoundCollider3D(std::vector<std::shared_ptr<Collider3D>> geoms);
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NullCollider3D() = default;
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~NullCollider3D() = default;
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const std::vector<std::shared_ptr<Collider3D>>& GetGeoms() const;
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void BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const override;
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void ComputeInertia(float mass, Vector3f* inertia) const override;
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btCollisionShape* GetShape() const override;
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ColliderType3D GetType() const override;
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private:
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NewtonCollision* CreateHandle(PhysWorld3D* world) const override;
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std::vector<std::shared_ptr<Collider3D>> m_geoms;
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};
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class NAZARA_PHYSICS3D_API ConeCollider3D : public Collider3D
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class NAZARA_PHYSICS3D_API SphereCollider3D final : public Collider3D
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{
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public:
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ConeCollider3D(float length, float radius, const Matrix4f& transformMatrix = Matrix4f::Identity());
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ConeCollider3D(float length, float radius, const Vector3f& translation, const Quaternionf& rotation = Quaternionf::Identity());
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SphereCollider3D(float radius);
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~SphereCollider3D();
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float GetLength() const;
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float GetRadius() const;
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ColliderType3D GetType() const override;
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private:
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NewtonCollision* CreateHandle(PhysWorld3D* world) const override;
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Matrix4f m_matrix;
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float m_length;
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float m_radius;
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};
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class NAZARA_PHYSICS3D_API ConvexCollider3D : public Collider3D
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{
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public:
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ConvexCollider3D(SparsePtr<const Vector3f> vertices, unsigned int vertexCount, float tolerance = 0.002f, const Matrix4f& transformMatrix = Matrix4f::Identity());
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ConvexCollider3D(SparsePtr<const Vector3f> vertices, unsigned int vertexCount, float tolerance, const Vector3f& translation, const Quaternionf& rotation = Quaternionf::Identity());
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ColliderType3D GetType() const override;
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private:
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NewtonCollision* CreateHandle(PhysWorld3D* world) const override;
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std::vector<Vector3f> m_vertices;
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Matrix4f m_matrix;
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float m_tolerance;
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};
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class NAZARA_PHYSICS3D_API CylinderCollider3D : public Collider3D
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{
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public:
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CylinderCollider3D(float length, float radius, const Matrix4f& transformMatrix = Matrix4f::Identity());
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CylinderCollider3D(float length, float radius, const Vector3f& translation, const Quaternionf& rotation = Quaternionf::Identity());
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float GetLength() const;
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float GetRadius() const;
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ColliderType3D GetType() const override;
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private:
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NewtonCollision* CreateHandle(PhysWorld3D* world) const override;
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Matrix4f m_matrix;
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float m_length;
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float m_radius;
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};
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class NAZARA_PHYSICS3D_API NullCollider3D : public Collider3D
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{
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public:
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NullCollider3D();
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void ComputeInertialMatrix(Vector3f* inertia, Vector3f* center) const override;
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ColliderType3D GetType() const override;
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private:
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NewtonCollision* CreateHandle(PhysWorld3D* world) const override;
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};
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class NAZARA_PHYSICS3D_API SphereCollider3D : public Collider3D
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{
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public:
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SphereCollider3D(float radius, const Matrix4f& transformMatrix = Matrix4f::Identity());
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SphereCollider3D(float radius, const Vector3f& translation, const Quaternionf& rotation = Quaternionf::Identity());
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Boxf ComputeAABB(const Matrix4f& offsetMatrix = Matrix4f::Identity(), const Vector3f& scale = Vector3f::Unit()) const override;
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float ComputeVolume() const override;
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void BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const override;
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float GetRadius() const;
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btCollisionShape* GetShape() const override;
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ColliderType3D GetType() const override;
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private:
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NewtonCollision* CreateHandle(PhysWorld3D* world) const override;
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std::unique_ptr<btSphereShape> m_shape;
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Vector3f m_position;
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float m_radius;
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};
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