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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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44
include/Nazara/Physics3D/RigidBody3D.hpp
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@@ -16,7 +16,7 @@
#include <Nazara/Physics3D/Config.hpp>
#include <NazaraUtils/MovablePtr.hpp>
class NewtonBody;
class btRigidBody;
namespace Nz
{
@@ -27,7 +27,7 @@ namespace Nz
public:
RigidBody3D(PhysWorld3D* world, const Matrix4f& mat = Matrix4f::Identity());
RigidBody3D(PhysWorld3D* world, std::shared_ptr<Collider3D> geom, const Matrix4f& mat = Matrix4f::Identity());
RigidBody3D(const RigidBody3D& object);
RigidBody3D(const RigidBody3D& object) = delete;
RigidBody3D(RigidBody3D&& object) noexcept;
~RigidBody3D();
@@ -35,64 +35,54 @@ namespace Nz
void AddForce(const Vector3f& force, const Vector3f& point, CoordSys coordSys = CoordSys::Global);
void AddTorque(const Vector3f& torque, CoordSys coordSys = CoordSys::Global);
void EnableAutoSleep(bool autoSleep);
void EnableSimulation(bool simulation);
inline void DisableSleeping();
void EnableSleeping(bool enable);
void FallAsleep();
Boxf GetAABB() const;
Vector3f GetAngularDamping() const;
float GetAngularDamping() const;
Vector3f GetAngularVelocity() const;
const std::shared_ptr<Collider3D>& GetGeom() const;
float GetGravityFactor() const;
NewtonBody* GetHandle() const;
float GetLinearDamping() const;
Vector3f GetLinearVelocity() const;
float GetMass() const;
Vector3f GetMassCenter(CoordSys coordSys = CoordSys::Local) const;
int GetMaterial() const;
Matrix4f GetMatrix() const;
Vector3f GetPosition() const;
btRigidBody* GetRigidBody() const;
Quaternionf GetRotation() const;
void* GetUserdata() const;
PhysWorld3D* GetWorld() const;
bool IsAutoSleepEnabled() const;
bool IsMoveable() const;
bool IsSimulationEnabled() const;
bool IsSleeping() const;
bool IsSleepingEnabled() const;
void SetAngularDamping(const Vector3f& angularDamping);
void SetAngularDamping(float angularDamping);
void SetAngularVelocity(const Vector3f& angularVelocity);
void SetGeom(std::shared_ptr<Collider3D> geom);
void SetGravityFactor(float gravityFactor);
void SetGeom(std::shared_ptr<Collider3D> geom, bool recomputeInertia = true);
void SetLinearDamping(float damping);
void SetLinearVelocity(const Vector3f& velocity);
void SetMass(float mass);
void SetMassCenter(const Vector3f& center);
void SetMaterial(const std::string& materialName);
void SetMaterial(int materialIndex);
void SetPosition(const Vector3f& position);
void SetRotation(const Quaternionf& rotation);
void SetUserdata(void* ud);
RigidBody3D& operator=(const RigidBody3D& object);
void WakeUp();
RigidBody3D& operator=(const RigidBody3D& object) = delete;
RigidBody3D& operator=(RigidBody3D&& object) noexcept;
protected:
void Destroy();
private:
void UpdateBody(const Matrix4f& transformMatrix);
static void ForceAndTorqueCallback(const NewtonBody* body, float timeStep, int threadIndex);
std::shared_ptr<Collider3D> m_geom;
MovablePtr<NewtonBody> m_body;
Vector3f m_forceAccumulator;
Vector3f m_torqueAccumulator;
std::unique_ptr<btRigidBody> m_body;
PhysWorld3D* m_world;
void* m_userdata;
float m_gravityFactor;
float m_mass;
};
}
#include <Nazara/Physics3D/RigidBody3D.inl>
#endif // NAZARA_PHYSICS3D_RIGIDBODY3D_HPP