WIP on materials

src/Nazara/Physics3D/PhysWorld3D.cpp

@@ -3,7 +3,9 @@
 // For conditions of distribution and use, see copyright notice in Config.hpp
 
 #include <Nazara/Physics3D/PhysWorld3D.hpp>
+#include <Nazara/Core/MemoryHelper.hpp>
 #include <Newton/Newton.h>
+#include <cassert>
 #include <Nazara/Physics3D/Debug.hpp>
 
 namespace Nz
@@ -15,6 +17,8 @@ namespace Nz
 	{
 		m_world = NewtonCreate();
 		NewtonWorldSetUserData(m_world, this);
+
+		m_materialIds.emplace("default", NewtonMaterialGetDefaultGroupID(m_world));
 	}
 
 	PhysWorld3D::~PhysWorld3D()
@@ -22,6 +26,16 @@ namespace Nz
 		NewtonDestroy(m_world);
 	}
 
+	int PhysWorld3D::CreateMaterial(Nz::String name)
+	{
+		NazaraAssert(m_materialIds.find(name) == m_materialIds.end(), "Material \"" + name + "\" already exists");
+
+		int materialId = NewtonMaterialCreateGroupID(m_world);
+		m_materialIds.emplace(std::move(name), materialId);
+
+		return materialId;
+	}
+
 	Vector3f PhysWorld3D::GetGravity() const
 	{
 		return m_gravity;
@@ -32,6 +46,14 @@ namespace Nz
 		return m_world;
 	}
 
+	int PhysWorld3D::GetMaterial(const Nz::String& name)
+	{
+		auto it = m_materialIds.find(name);
+		NazaraAssert(it != m_materialIds.end(), "Material \"" + name + "\" does not exists");
+
+		return it->second;
+	}
+
 	float PhysWorld3D::GetStepSize() const
 	{
 		return m_stepSize;
@@ -52,6 +74,22 @@ namespace Nz
 		m_stepSize = stepSize;
 	}
 
+	void PhysWorld3D::SetMaterialCollisionCallback(int firstMaterial, int secondMaterial, CollisionCallback callback)
+	{
+		static_assert(sizeof(Nz::UInt64) >= 2 * sizeof(int), "Oops");
+
+		auto callbackPtr = std::make_unique<Callback>();
+		callbackPtr->collisionCallback = std::move(callback);
+
+		NewtonMaterialSetCollisionCallback(m_world, firstMaterial, secondMaterial, callbackPtr.get(), nullptr, ProcessContact);
+
+		Nz::UInt64 firstMaterialId(firstMaterial);
+		Nz::UInt64 secondMaterialId(secondMaterial);
+
+		Nz::UInt64 callbackIndex = firstMaterialId << 32 | secondMaterialId;
+		m_callbacks[callbackIndex] = std::move(callbackPtr);
+	}
+
 	void PhysWorld3D::Step(float timestep)
 	{
 		m_timestepAccumulator += timestep;
@@ -62,4 +100,32 @@ namespace Nz
 			m_timestepAccumulator -= m_stepSize;
 		}
 	}
+
+	void PhysWorld3D::ProcessContact(const NewtonJoint* const contactJoint, float timestep, int threadIndex)
+	{
+		Nz::RigidBody3D* bodyA = static_cast<Nz::RigidBody3D*>(NewtonBodyGetUserData(NewtonJointGetBody0(contactJoint)));
+		Nz::RigidBody3D* bodyB = static_cast<Nz::RigidBody3D*>(NewtonBodyGetUserData(NewtonJointGetBody1(contactJoint)));
+		assert(bodyA && bodyB);
+
+		using ContactJoint = void*;
+
+		// Query all joints first, to prevent removing a joint from the list while iterating on it
+		Nz::StackArray<ContactJoint> contacts = NazaraStackAllocationNoInit(ContactJoint, NewtonContactJointGetContactCount(contactJoint));
+		std::size_t contactIndex = 0;
+		for (ContactJoint contact = NewtonContactJointGetFirstContact(contactJoint); contact; contact = NewtonContactJointGetNextContact(contactJoint, contact))
+		{
+			assert(contactIndex < contacts.size());
+			contacts[contactIndex++] = contact;
+		}
+
+		for (ContactJoint contact : contacts)
+		{
+			NewtonMaterial* material = NewtonContactGetMaterial(contact);
+			Callback* callbackData = static_cast<Callback*>(NewtonMaterialGetMaterialPairUserData(material));
+			assert(callbackData);
+
+			if (!callbackData->collisionCallback(*bodyA, *bodyB))
+				NewtonContactJointRemoveContact(contactJoint, contact);
+		}
+	}
 }

src/Nazara/Physics3D/RigidBody3D.cpp

@@ -213,6 +213,11 @@ namespace Nz
 		return center;
 	}
 
+	int RigidBody3D::GetMaterial() const
+	{
+		return NewtonBodyGetMaterialGroupID(m_body);
+	}
+
 	const Matrix4f& RigidBody3D::GetMatrix() const
 	{
 		return m_matrix;
@@ -228,6 +233,11 @@ namespace Nz
 		return m_matrix.GetRotation();
 	}
 
+	void* RigidBody3D::GetUserdata() const
+	{
+		return m_userdata;
+	}
+
 	PhysWorld3D* RigidBody3D::GetWorld() const
 	{
 		return m_world;
@@ -322,6 +332,16 @@ namespace Nz
 			NewtonBodySetCentreOfMass(m_body, center);
 	}
 
+	void RigidBody3D::SetMaterial(const Nz::String& materialName)
+	{
+		SetMaterial(m_world->GetMaterial(materialName));
+	}
+
+	void RigidBody3D::SetMaterial(int materialIndex)
+	{
+		NewtonBodySetMaterialGroupID(m_body, materialIndex);
+	}
+
 	void RigidBody3D::SetPosition(const Vector3f& position)
 	{
 		m_matrix.SetTranslation(position);
@@ -336,6 +356,11 @@ namespace Nz
 		UpdateBody();
 	}
 
+	void RigidBody3D::SetUserdata(void* ud)
+	{
+		m_userdata = ud;
+	}
+
 	RigidBody3D& RigidBody3D::operator=(const RigidBody3D& object)
 	{
 		RigidBody3D physObj(object);