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Physics3D: Switch from Newton Dynamics to Bullet3

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This commit is contained in:
SirLynix
2023-03-07 19:17:49 +01:00
committed by Jérôme Leclercq
parent ec1efb5e56
commit 795efae3a0
13 changed files with 625 additions and 935 deletions
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42
include/Nazara/Physics3D/PhysWorld3D.hpp
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@@ -13,52 +13,27 @@
#include <Nazara/Math/Vector3.hpp>
#include <Nazara/Physics3D/Config.hpp>
#include <NazaraUtils/MovablePtr.hpp>
#include <string>
#include <unordered_map>
class NewtonBody;
class NewtonJoint;
class NewtonMaterial;
class NewtonWorld;
class btDynamicsWorld;
namespace Nz
{
class RigidBody3D;
class NAZARA_PHYSICS3D_API PhysWorld3D
{
public:
using BodyIterator = std::function<bool(RigidBody3D& body)>;
using AABBOverlapCallback = std::function<bool(const RigidBody3D& firstBody, const RigidBody3D& secondBody)>;
using CollisionCallback = std::function<bool(const RigidBody3D& firstBody, const RigidBody3D& secondBody)>;
PhysWorld3D();
PhysWorld3D(const PhysWorld3D&) = delete;
PhysWorld3D(PhysWorld3D&& ph) noexcept;
~PhysWorld3D();
int CreateMaterial(std::string name = {});
void ForEachBodyInAABB(const Boxf& box, const BodyIterator& iterator);
btDynamicsWorld* GetDynamicsWorld();
Vector3f GetGravity() const;
NewtonWorld* GetHandle() const;
int GetMaterial(const std::string& name);
std::size_t GetMaxStepCount() const;
Time GetStepSize() const;
unsigned int GetThreadCount() const;
void SetGravity(const Vector3f& gravity);
void SetMaxStepCount(std::size_t maxStepCount);
void SetStepSize(Time stepSize);
void SetThreadCount(unsigned int threadCount);
void SetMaterialCollisionCallback(int firstMaterial, int secondMaterial, AABBOverlapCallback aabbOverlapCallback, CollisionCallback collisionCallback);
void SetMaterialDefaultCollidable(int firstMaterial, int secondMaterial, bool collidable);
void SetMaterialDefaultElasticity(int firstMaterial, int secondMaterial, float elasticCoef);
void SetMaterialDefaultFriction(int firstMaterial, int secondMaterial, float staticFriction, float kineticFriction);
void SetMaterialDefaultSoftness(int firstMaterial, int secondMaterial, float softness);
void SetMaterialSurfaceThickness(int firstMaterial, int secondMaterial, float thickness);
void Step(Time timestep);
@@ -66,19 +41,10 @@ namespace Nz
PhysWorld3D& operator=(PhysWorld3D&&) noexcept;
private:
struct Callback
{
AABBOverlapCallback aabbOverlapCallback;
CollisionCallback collisionCallback;
};
struct BulletWorld;
static int OnAABBOverlap(const NewtonJoint* const contact, float timestep, int threadIndex);
static void ProcessContact(const NewtonJoint* const contact, float timestep, int threadIndex);
std::unordered_map<Nz::UInt64, std::unique_ptr<Callback>> m_callbacks;
std::unordered_map<std::string, int> m_materialIds;
std::size_t m_maxStepCount;
MovablePtr<NewtonWorld> m_world;
std::unique_ptr<BulletWorld> m_world;
Vector3f m_gravity;
Time m_stepSize;
Time m_timestepAccumulator;