From a4ba7d6115b07877325b4698596dc294cd7c4f57 Mon Sep 17 00:00:00 2001
From: SirLynix <lynix680@gmail.com>
Date: Sat, 25 Mar 2023 14:27:08 +0100
Subject: [PATCH] JoltPhysics3D:: Improve characters

---
 .../Nazara/JoltPhysics3D/JoltCharacter.hpp    | 10 +++++--
 .../Nazara/JoltPhysics3D/JoltPhysWorld3D.hpp  |  5 ++++
 src/Nazara/JoltPhysics3D/JoltCharacter.cpp    | 29 ++++++++++++++----
 src/Nazara/JoltPhysics3D/JoltPhysWorld3D.cpp  | 30 ++++++++++++++++++-
 4 files changed, 66 insertions(+), 8 deletions(-)

diff --git a/include/Nazara/JoltPhysics3D/JoltCharacter.hpp b/include/Nazara/JoltPhysics3D/JoltCharacter.hpp
index 813fd470f..8b2bfff57 100644
--- a/include/Nazara/JoltPhysics3D/JoltCharacter.hpp
+++ b/include/Nazara/JoltPhysics3D/JoltCharacter.hpp
@@ -41,13 +41,19 @@ namespace Nz
 			bool IsOnGround() const;
 
 			void SetLinearVelocity(const Vector3f& linearVel);
+			void SetRotation(const Quaternionf& rotation);
+			void SetUp(const Vector3f& up);
+
+			void WakeUp();
 
 			JoltCharacter& operator=(const JoltCharacter&) = delete;
 			JoltCharacter& operator=(JoltCharacter&&) = delete;
 
-		private:
-			void PostSimulate();
+		protected:
+			virtual void PreSimulate(float elapsedTime);
+			virtual void PostSimulate();
 
+		private:
 			std::shared_ptr<JoltCollider3D> m_collider;
 			std::unique_ptr<JPH::Character> m_character;
 			JoltPhysWorld3D& m_physicsWorld;
diff --git a/include/Nazara/JoltPhysics3D/JoltPhysWorld3D.hpp b/include/Nazara/JoltPhysics3D/JoltPhysWorld3D.hpp
index 6b78a0c67..549ecac47 100644
--- a/include/Nazara/JoltPhysics3D/JoltPhysWorld3D.hpp
+++ b/include/Nazara/JoltPhysics3D/JoltPhysWorld3D.hpp
@@ -70,8 +70,13 @@ namespace Nz
 			class BodyActivationListener;
 			friend BodyActivationListener;
 
+			class StepListener;
+			friend StepListener;
+
 			struct JoltWorld;
 
+			void OnPreStep(float deltatime);
+
 			inline void RegisterCharacter(JoltCharacter* character);
 			inline void UnregisterCharacter(JoltCharacter* character);
 
diff --git a/src/Nazara/JoltPhysics3D/JoltCharacter.cpp b/src/Nazara/JoltPhysics3D/JoltCharacter.cpp
index 210c7b780..f837d3513 100644
--- a/src/Nazara/JoltPhysics3D/JoltCharacter.cpp
+++ b/src/Nazara/JoltPhysics3D/JoltCharacter.cpp
@@ -39,24 +39,24 @@ namespace Nz
 
 	Vector3f JoltCharacter::GetLinearVelocity() const
 	{
-		return FromJolt(m_character->GetLinearVelocity());
+		return FromJolt(m_character->GetLinearVelocity(false));
 	}
 
 	Quaternionf JoltCharacter::GetRotation() const
 	{
-		return FromJolt(m_character->GetRotation());
+		return FromJolt(m_character->GetRotation(false));
 	}
 
 	Vector3f JoltCharacter::GetPosition() const
 	{
-		return FromJolt(m_character->GetPosition());
+		return FromJolt(m_character->GetPosition(false));
 	}
 
 	std::pair<Vector3f, Quaternionf> JoltCharacter::GetPositionAndRotation() const
 	{
 		JPH::Vec3 position;
 		JPH::Quat rotation;
-		m_character->GetPositionAndRotation(position, rotation);
+		m_character->GetPositionAndRotation(position, rotation, false);
 
 		return { FromJolt(position), FromJolt(rotation) };
 	}
@@ -68,7 +68,26 @@ namespace Nz
 
 	void JoltCharacter::SetLinearVelocity(const Vector3f& linearVel)
 	{
-		m_character->SetLinearVelocity(ToJolt(linearVel));
+		m_character->SetLinearVelocity(ToJolt(linearVel), false);
+	}
+
+	void JoltCharacter::SetRotation(const Quaternionf& rotation)
+	{
+		m_character->SetRotation(ToJolt(rotation), JPH::EActivation::Activate, false);
+	}
+
+	void JoltCharacter::SetUp(const Vector3f& up)
+	{
+		m_character->SetUp(ToJolt(up));
+	}
+
+	void JoltCharacter::WakeUp()
+	{
+		m_character->Activate(false);
+	}
+
+	void JoltCharacter::PreSimulate(float elapsedTime)
+	{
 	}
 
 	void JoltCharacter::PostSimulate()
diff --git a/src/Nazara/JoltPhysics3D/JoltPhysWorld3D.cpp b/src/Nazara/JoltPhysics3D/JoltPhysWorld3D.cpp
index f96d3cd33..cd34d0b36 100644
--- a/src/Nazara/JoltPhysics3D/JoltPhysWorld3D.cpp
+++ b/src/Nazara/JoltPhysics3D/JoltPhysWorld3D.cpp
@@ -18,6 +18,7 @@
 #include <Jolt/Physics/Collision/BroadPhase/BroadPhaseLayer.h>
 #include <Jolt/Physics/PhysicsSettings.h>
 #include <Jolt/Physics/PhysicsSystem.h>
+#include <Jolt/Physics/PhysicsStepListener.h>
 #include <Jolt/Physics/Body/BodyActivationListener.h>
 #include <cassert>
 #include <iostream>
@@ -245,12 +246,30 @@ namespace Nz
 			JoltPhysWorld3D& m_physWorld;
 	};
 
+	class JoltPhysWorld3D::StepListener : public JPH::PhysicsStepListener
+	{
+		public:
+			StepListener(JoltPhysWorld3D& physWorld) :
+			m_physWorld(physWorld)
+			{
+			}
+
+			void OnStep(float inDeltaTime, JPH::PhysicsSystem& /*inPhysicsSystem*/) override
+			{
+				m_physWorld.OnPreStep(inDeltaTime);
+			}
+
+		private:
+			JoltPhysWorld3D& m_physWorld;
+	};
+
 	struct JoltPhysWorld3D::JoltWorld
 	{
 		JPH::TempAllocatorImpl tempAllocator;
 		JPH::PhysicsSystem physicsSystem;
 
 		JoltPhysWorld3D::BodyActivationListener bodyActivationListener;
+		JoltPhysWorld3D::StepListener stepListener;
 
 		DitchMeAsap::BPLayerInterfaceImpl layerInterface;
 		DitchMeAsap::ObjectLayerPairFilterImpl objectLayerFilter;
@@ -258,7 +277,8 @@ namespace Nz
 
 		JoltWorld(JoltPhysWorld3D& world, JPH::uint tempAllocatorSize) :
 		tempAllocator(tempAllocatorSize),
-		bodyActivationListener(world)
+		bodyActivationListener(world),
+		stepListener(world)
 		{
 		}
 
@@ -279,6 +299,8 @@ namespace Nz
 		m_world->physicsSystem.Init(0xFFFF, 0, 0xFFFF, 10 * 1024, m_world->layerInterface, m_world->objectBroadphaseLayerFilter, m_world->objectLayerFilter);
 		m_world->physicsSystem.SetBodyActivationListener(&m_world->bodyActivationListener);
 
+		m_world->physicsSystem.AddStepListener(&m_world->stepListener);
+
 		std::size_t blockCount = (m_world->physicsSystem.GetMaxBodies() - 1) / 64 + 1;
 		m_activeBodies = std::make_unique<std::atomic_uint64_t[]>(blockCount);
 		for (std::size_t i = 0; i < blockCount; ++i)
@@ -390,4 +412,10 @@ namespace Nz
 			stepCount++;
 		}
 	}
+
+	void JoltPhysWorld3D::OnPreStep(float deltatime)
+	{
+		for (JoltCharacter* character : m_characters)
+			character->PreSimulate(deltatime);
+	}
 }