Physics: Rename PhysGeom to Collider3D
This commit is contained in:
Lynix
448
src/Nazara/Physics3D/Collider3D.cpp
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448
src/Nazara/Physics3D/Collider3D.cpp
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// Copyright (C) 2015 Jérôme Leclercq
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// This file is part of the "Nazara Engine - Physics module"
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// For conditions of distribution and use, see copyright notice in Config.hpp
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#include <Nazara/Physics3D/Geom.hpp>
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#include <Nazara/Physics3D/PhysWorld.hpp>
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#include <Newton/Newton.h>
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#include <memory>
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#include <Nazara/Physics3D/Debug.hpp>
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namespace Nz
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{
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namespace
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{
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PhysGeomRef CreateGeomFromPrimitive(const Primitive& primitive)
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{
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switch (primitive.type)
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{
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case PrimitiveType_Box:
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return BoxGeom::New(primitive.box.lengths, primitive.matrix);
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case PrimitiveType_Cone:
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return ConeGeom::New(primitive.cone.length, primitive.cone.radius, primitive.matrix);
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case PrimitiveType_Plane:
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return BoxGeom::New(Vector3f(primitive.plane.size.x, 0.01f, primitive.plane.size.y), primitive.matrix);
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///TODO: PlaneGeom?
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case PrimitiveType_Sphere:
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return SphereGeom::New(primitive.sphere.size, primitive.matrix.GetTranslation());
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}
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NazaraError("Primitive type not handled (0x" + String::Number(primitive.type, 16) + ')');
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return PhysGeomRef();
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}
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}
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Collider3D::~Collider3D()
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{
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for (auto& pair : m_handles)
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NewtonDestroyCollision(pair.second);
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}
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Boxf Collider3D::ComputeAABB(const Vector3f& translation, const Quaternionf& rotation, const Vector3f& scale) const
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{
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return ComputeAABB(Matrix4f::Transform(translation, rotation), scale);
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}
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Boxf Collider3D::ComputeAABB(const Matrix4f& offsetMatrix, const Vector3f& scale) const
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{
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Vector3f min, max;
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// Si nous n'avons aucune instance, nous en créons une temporaire
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if (m_handles.empty())
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{
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PhysWorld world;
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NewtonCollision* collision = CreateHandle(&world);
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{
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NewtonCollisionCalculateAABB(collision, offsetMatrix, min, max);
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}
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NewtonDestroyCollision(collision);
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}
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else // Sinon on utilise une instance au hasard (elles sont toutes identiques de toute façon)
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NewtonCollisionCalculateAABB(m_handles.begin()->second, offsetMatrix, min, max);
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return Boxf(scale * min, scale * max);
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}
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void Collider3D::ComputeInertialMatrix(Vector3f* inertia, Vector3f* center) const
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{
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float inertiaMatrix[3];
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float origin[3];
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// Si nous n'avons aucune instance, nous en créons une temporaire
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if (m_handles.empty())
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{
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PhysWorld world;
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NewtonCollision* collision = CreateHandle(&world);
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{
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NewtonConvexCollisionCalculateInertialMatrix(collision, inertiaMatrix, origin);
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}
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NewtonDestroyCollision(collision);
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}
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else // Sinon on utilise une instance au hasard (elles sont toutes identiques de toute façon)
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NewtonConvexCollisionCalculateInertialMatrix(m_handles.begin()->second, inertiaMatrix, origin);
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if (inertia)
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inertia->Set(inertiaMatrix);
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if (center)
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center->Set(origin);
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}
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float Collider3D::ComputeVolume() const
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{
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float volume;
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// Si nous n'avons aucune instance, nous en créons une temporaire
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if (m_handles.empty())
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{
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PhysWorld world;
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NewtonCollision* collision = CreateHandle(&world);
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{
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volume = NewtonConvexCollisionCalculateVolume(collision);
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}
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NewtonDestroyCollision(collision);
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}
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else // Sinon on utilise une instance au hasard (elles sont toutes identiques de toute façon)
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volume = NewtonConvexCollisionCalculateVolume(m_handles.begin()->second);
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return volume;
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}
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NewtonCollision* Collider3D::GetHandle(PhysWorld* world) const
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{
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auto it = m_handles.find(world);
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if (it == m_handles.end())
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it = m_handles.insert(std::make_pair(world, CreateHandle(world))).first;
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return it->second;
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}
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PhysGeomRef Collider3D::Build(const PrimitiveList& list)
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{
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std::size_t primitiveCount = list.GetSize();
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if (primitiveCount > 1)
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{
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std::vector<Collider3D*> geoms(primitiveCount);
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for (unsigned int i = 0; i < primitiveCount; ++i)
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geoms[i] = CreateGeomFromPrimitive(list.GetPrimitive(i));
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return CompoundGeom::New(&geoms[0], primitiveCount);
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}
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else if (primitiveCount > 0)
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return CreateGeomFromPrimitive(list.GetPrimitive(0));
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else
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return NullGeom::New();
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}
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bool Collider3D::Initialize()
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{
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if (!PhysGeomLibrary::Initialize())
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{
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NazaraError("Failed to initialise library");
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return false;
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}
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return true;
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}
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void Collider3D::Uninitialize()
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{
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PhysGeomLibrary::Uninitialize();
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}
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PhysGeomLibrary::LibraryMap Collider3D::s_library;
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/********************************** BoxGeom **********************************/
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BoxGeom::BoxGeom(const Vector3f& lengths, const Matrix4f& transformMatrix) :
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m_matrix(transformMatrix),
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m_lengths(lengths)
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{
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}
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BoxGeom::BoxGeom(const Vector3f& lengths, const Vector3f& translation, const Quaternionf& rotation) :
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BoxGeom(lengths, Matrix4f::Transform(translation, rotation))
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{
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}
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Boxf BoxGeom::ComputeAABB(const Matrix4f& offsetMatrix, const Vector3f& scale) const
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{
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Vector3f halfLengths(m_lengths * 0.5f);
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Boxf aabb(-halfLengths.x, -halfLengths.y, -halfLengths.z, m_lengths.x, m_lengths.y, m_lengths.z);
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aabb.Transform(offsetMatrix, true);
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aabb *= scale;
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return aabb;
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}
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float BoxGeom::ComputeVolume() const
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{
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return m_lengths.x * m_lengths.y * m_lengths.z;
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}
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Vector3f BoxGeom::GetLengths() const
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{
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return m_lengths;
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}
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GeomType BoxGeom::GetType() const
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{
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return GeomType_Box;
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}
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NewtonCollision* BoxGeom::CreateHandle(PhysWorld* world) const
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{
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return NewtonCreateBox(world->GetHandle(), m_lengths.x, m_lengths.y, m_lengths.z, 0, m_matrix);
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}
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/******************************** CapsuleGeom ********************************/
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CapsuleGeom::CapsuleGeom(float length, float radius, const Matrix4f& transformMatrix) :
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m_matrix(transformMatrix),
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m_length(length),
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m_radius(radius)
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{
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}
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CapsuleGeom::CapsuleGeom(float length, float radius, const Vector3f& translation, const Quaternionf& rotation) :
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CapsuleGeom(length, radius, Matrix4f::Transform(translation, rotation))
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{
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}
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float CapsuleGeom::GetLength() const
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{
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return m_length;
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}
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float CapsuleGeom::GetRadius() const
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{
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return m_radius;
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}
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GeomType CapsuleGeom::GetType() const
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{
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return GeomType_Capsule;
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}
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NewtonCollision* CapsuleGeom::CreateHandle(PhysWorld* world) const
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{
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return NewtonCreateCapsule(world->GetHandle(), m_radius, m_length, 0, m_matrix);
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}
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/******************************* CompoundGeom ********************************/
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CompoundGeom::CompoundGeom(Collider3D** geoms, std::size_t geomCount)
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{
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m_geoms.reserve(geomCount);
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for (std::size_t i = 0; i < geomCount; ++i)
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m_geoms.emplace_back(geoms[i]);
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}
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const std::vector<PhysGeomRef>& CompoundGeom::GetGeoms() const
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{
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return m_geoms;
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}
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GeomType CompoundGeom::GetType() const
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{
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return GeomType_Compound;
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}
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NewtonCollision* CompoundGeom::CreateHandle(PhysWorld* world) const
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{
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NewtonCollision* compoundCollision = NewtonCreateCompoundCollision(world->GetHandle(), 0);
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NewtonCompoundCollisionBeginAddRemove(compoundCollision);
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for (const PhysGeomRef& geom : m_geoms)
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{
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if (geom->GetType() == GeomType_Compound)
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{
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CompoundGeom* compoundGeom = static_cast<CompoundGeom*>(geom.Get());
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for (const PhysGeomRef& piece : compoundGeom->GetGeoms())
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NewtonCompoundCollisionAddSubCollision(compoundCollision, piece->GetHandle(world));
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}
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else
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NewtonCompoundCollisionAddSubCollision(compoundCollision, geom->GetHandle(world));
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}
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NewtonCompoundCollisionEndAddRemove(compoundCollision);
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return compoundCollision;
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}
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/********************************* ConeGeom **********************************/
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ConeGeom::ConeGeom(float length, float radius, const Matrix4f& transformMatrix) :
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m_matrix(transformMatrix),
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m_length(length),
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m_radius(radius)
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{
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}
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ConeGeom::ConeGeom(float length, float radius, const Vector3f& translation, const Quaternionf& rotation) :
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ConeGeom(length, radius, Matrix4f::Transform(translation, rotation))
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{
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}
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float ConeGeom::GetLength() const
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{
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return m_length;
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}
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float ConeGeom::GetRadius() const
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{
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return m_radius;
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}
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GeomType ConeGeom::GetType() const
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{
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return GeomType_Cone;
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}
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NewtonCollision* ConeGeom::CreateHandle(PhysWorld* world) const
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{
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return NewtonCreateCone(world->GetHandle(), m_radius, m_length, 0, m_matrix);
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}
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/****************************** ConvexHullGeom *******************************/
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ConvexHullGeom::ConvexHullGeom(const void* vertices, unsigned int vertexCount, unsigned int stride, float tolerance, const Matrix4f& transformMatrix) :
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m_matrix(transformMatrix),
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m_tolerance(tolerance),
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m_vertexStride(stride)
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{
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const UInt8* ptr = static_cast<const UInt8*>(vertices);
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m_vertices.resize(vertexCount);
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if (stride != sizeof(Vector3f))
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{
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for (unsigned int i = 0; i < vertexCount; ++i)
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m_vertices[i] = *reinterpret_cast<const Vector3f*>(ptr + stride*i);
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}
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else // Fast path
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std::memcpy(m_vertices.data(), vertices, vertexCount*sizeof(Vector3f));
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}
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ConvexHullGeom::ConvexHullGeom(const void* vertices, unsigned int vertexCount, unsigned int stride, float tolerance, const Vector3f& translation, const Quaternionf& rotation) :
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ConvexHullGeom(vertices, vertexCount, stride, tolerance, Matrix4f::Transform(translation, rotation))
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{
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}
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GeomType ConvexHullGeom::GetType() const
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{
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return GeomType_Compound;
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}
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NewtonCollision* ConvexHullGeom::CreateHandle(PhysWorld* world) const
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{
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return NewtonCreateConvexHull(world->GetHandle(), static_cast<int>(m_vertices.size()), reinterpret_cast<const float*>(m_vertices.data()), sizeof(Vector3f), m_tolerance, 0, m_matrix);
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}
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/******************************* CylinderGeom ********************************/
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CylinderGeom::CylinderGeom(float length, float radius, const Matrix4f& transformMatrix) :
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m_matrix(transformMatrix),
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m_length(length),
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m_radius(radius)
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{
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}
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CylinderGeom::CylinderGeom(float length, float radius, const Vector3f& translation, const Quaternionf& rotation) :
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CylinderGeom(length, radius, Matrix4f::Transform(translation, rotation))
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{
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}
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float CylinderGeom::GetLength() const
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{
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return m_length;
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}
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float CylinderGeom::GetRadius() const
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{
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return m_radius;
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}
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GeomType CylinderGeom::GetType() const
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{
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return GeomType_Cylinder;
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}
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NewtonCollision* CylinderGeom::CreateHandle(PhysWorld* world) const
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{
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return NewtonCreateCylinder(world->GetHandle(), m_radius, m_length, 0, m_matrix);
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}
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/********************************* NullGeom **********************************/
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NullGeom::NullGeom()
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{
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}
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GeomType NullGeom::GetType() const
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{
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return GeomType_Null;
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}
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void NullGeom::ComputeInertialMatrix(Vector3f* inertia, Vector3f* center) const
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{
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if (inertia)
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inertia->MakeUnit();
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if (center)
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center->MakeZero();
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}
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NewtonCollision* NullGeom::CreateHandle(PhysWorld* world) const
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{
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return NewtonCreateNull(world->GetHandle());
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}
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/******************************** SphereGeom *********************************/
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SphereGeom::SphereGeom(float radius, const Matrix4f& transformMatrix) :
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SphereGeom(radius, transformMatrix.GetTranslation())
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{
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}
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SphereGeom::SphereGeom(float radius, const Vector3f& translation, const Quaternionf& rotation) :
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m_position(translation),
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m_radius(radius)
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{
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NazaraUnused(rotation);
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}
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Boxf SphereGeom::ComputeAABB(const Matrix4f& offsetMatrix, const Vector3f& scale) const
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{
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Vector3f size(m_radius * NazaraSuffixMacro(M_SQRT3, f) * scale);
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Vector3f position(offsetMatrix.GetTranslation());
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return Boxf(position - size, position + size);
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}
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float SphereGeom::ComputeVolume() const
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{
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return float(M_PI) * m_radius * m_radius * m_radius / 3.f;
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}
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float SphereGeom::GetRadius() const
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{
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return m_radius;
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}
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GeomType SphereGeom::GetType() const
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{
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return GeomType_Sphere;
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}
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NewtonCollision* SphereGeom::CreateHandle(PhysWorld* world) const
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{
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return NewtonCreateSphere(world->GetHandle(), m_radius, 0, Matrix4f::Translate(m_position));
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}
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}
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