Added Physics module

Former-commit-id: acc3ffe119ebfae9c0199eb878a621325c28844a
2013-05-23 23:16:36 +02:00
parent 50e8ce3658
commit 8014f67eb8
14 changed files with 926 additions and 0 deletions
--- a/src/Nazara/Physics/PhysObject.cpp
+++ b/src/Nazara/Physics/PhysObject.cpp
@@ -0,0 +1,157 @@
+// Copyright (C) 2013 Jérôme Leclercq
+// This file is part of the "Nazara Engine - Physics module"
+// For conditions of distribution and use, see copyright notice in Config.hpp
+
+#include <Nazara/Physics/PhysObject.hpp>
+#include <Nazara/Physics/Config.hpp>
+#include <Nazara/Physics/Geom.hpp>
+#include <Nazara/Physics/PhysWorld.hpp>
+#include <Newton/Newton.h>
+#include <Nazara/Physics/Debug.hpp>
+
+NzPhysObject::NzPhysObject(NzPhysWorld* world, const NzMatrix4f& mat) :
+m_matrix(mat),
+m_forceAccumulator(NzVector3f::Zero()),
+m_world(world),
+m_ownsGeom(true),
+m_gravityFactor(1.f),
+m_mass(0.f)
+{
+	#if NAZARA_PHYSICS_SAFE
+	if (!world)
+		NazaraError("Invalid physics world"); ///TODO: Unexcepted
+	#endif
+
+	m_geom = new NzNullGeom(world);
+	m_body = NewtonCreateBody(world->GetHandle(), m_geom->GetHandle(), mat);
+	NewtonBodySetUserData(m_body, this);
+}
+
+NzPhysObject::NzPhysObject(NzPhysWorld* world, const NzBaseGeom* geom, const NzMatrix4f& mat) :
+m_matrix(mat),
+m_forceAccumulator(NzVector3f::Zero()),
+m_geom(geom),
+m_world(world),
+m_ownsGeom(false),
+m_gravityFactor(1.f),
+m_mass(0.f)
+{
+	#if NAZARA_PHYSICS_SAFE
+	if (!world)
+		NazaraError("Invalid physics world"); ///TODO: Unexcepted
+	#endif
+
+	m_body = NewtonCreateBody(world->GetHandle(), geom->GetHandle(), mat);
+	NewtonBodySetUserData(m_body, this);
+}
+
+NzPhysObject::~NzPhysObject()
+{
+	NewtonDestroyBody(m_world->GetHandle(), m_body);
+
+	if (m_ownsGeom)
+		delete m_geom;
+}
+
+float NzPhysObject::GetGravityFactor() const
+{
+	return m_gravityFactor;
+}
+
+float NzPhysObject::GetMass() const
+{
+	return m_mass;
+}
+
+NzVector3f NzPhysObject::GetMassCenter() const
+{
+	NzVector3f center;
+	NewtonBodyGetCentreOfMass(m_body, center);
+
+	return center;
+}
+
+NzVector3f NzPhysObject::GetPosition() const
+{
+	return m_matrix.GetTranslation();
+}
+
+NzQuaternionf NzPhysObject::GetRotation() const
+{
+	return m_matrix.GetRotation();
+}
+
+NzVector3f NzPhysObject::GetVelocity() const
+{
+	NzVector3f velocity;
+	NewtonBodyGetVelocity(m_body, velocity);
+
+	return velocity;
+}
+
+bool NzPhysObject::IsMoveable() const
+{
+	return m_mass > 0.f;
+}
+
+void NzPhysObject::SetMass(float mass)
+{
+	if (m_mass > 0.f)
+	{
+		float Ix, Iy, Iz;
+		NewtonBodyGetMassMatrix(m_body, &m_mass, &Ix, &Iy, &Iz);
+		float scale = mass/m_mass;
+		NewtonBodySetMassMatrix(m_body, mass, Ix*scale, Iy*scale, Iz*scale);
+	}
+	else if (mass > 0.f)
+	{
+		NzVector3f inertia, origin;
+		m_geom->ComputeInertialMatrix(&inertia, &origin);
+
+		NewtonBodySetCentreOfMass(m_body, &origin.x);
+		NewtonBodySetMassMatrix(m_body, mass, inertia.x*mass, inertia.y*mass, inertia.z*mass);
+		NewtonBodySetForceAndTorqueCallback(m_body, &ForceAndTorqueCallback);
+		NewtonBodySetTransformCallback(m_body, &TransformCallback);
+	}
+
+	m_mass = mass;
+}
+
+void NzPhysObject::SetMassCenter(NzVector3f center)
+{
+	if (m_mass > 0.f)
+		NewtonBodySetCentreOfMass(m_body, center);
+}
+
+void NzPhysObject::ForceAndTorqueCallback(const NewtonBody* body, float timeStep, int threadIndex)
+{
+	NazaraUnused(timeStep);
+	NazaraUnused(threadIndex);
+
+	NzPhysObject* me = static_cast<NzPhysObject*>(NewtonBodyGetUserData(body));
+
+	if (!NzNumberEquals(me->m_gravityFactor, 0.f))
+		me->m_forceAccumulator += me->m_world->GetGravity() * me->m_gravityFactor * me->m_mass;
+
+	/*for (std::set<PhysObjectListener*>::iterator it = me->m_listeners.begin(); it != me->m_listeners.end(); ++it)
+		(*it)->PhysObjectApplyForce(me);*/
+
+	NewtonBodySetForce(body, me->m_forceAccumulator);
+	me->m_forceAccumulator.Set(0.f);
+
+	/*NewtonBodyAddTorque(body, &me->m_torqueAccumulator.x);
+	me->m_torqueAccumulator = 0.f;*/
+
+	///TODO: Implanter la force gyroscopique?
+}
+
+void NzPhysObject::TransformCallback(const NewtonBody* body, const float* matrix, int threadIndex)
+{
+	NazaraUnused(threadIndex);
+
+	NzPhysObject* me = static_cast<NzPhysObject*>(NewtonBodyGetUserData(body));
+	me->m_matrix.Set(matrix);
+
+	/*for (std::set<PhysObjectListener*>::iterator it = me->m_listeners.begin(); it != me->m_listeners.end(); ++it)
+		(*it)->PhysObjectOnUpdate(me);*/
+}