Rename Physics3D to BulletPhysics3D
This commit is contained in:
SirLynix
committed by
Jérôme Leclercq
Jérôme Leclercq
parent
5cbc435e1a
commit
bd4c2d6ee7
429
src/Nazara/BulletPhysics3D/BulletCollider3D.cpp
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429
src/Nazara/BulletPhysics3D/BulletCollider3D.cpp
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// Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
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// This file is part of the "Nazara Engine - BulletPhysics3D module"
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// For conditions of distribution and use, see copyright notice in Config.hpp
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#include <Nazara/BulletPhysics3D/BulletCollider3D.hpp>
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#include <Nazara/BulletPhysics3D/BulletHelper.hpp>
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#include <Nazara/Core/PrimitiveList.hpp>
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#include <Nazara/Utility/Algorithm.hpp>
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#include <Nazara/Utility/IndexBuffer.hpp>
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#include <Nazara/Utility/SoftwareBuffer.hpp>
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#include <Nazara/Utility/StaticMesh.hpp>
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#include <Nazara/Utility/VertexBuffer.hpp>
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#include <Nazara/Utils/MemoryHelper.hpp>
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#include <tsl/ordered_map.h>
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#include <BulletCollision/CollisionShapes/btBoxShape.h>
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#include <BulletCollision/CollisionShapes/btCapsuleShape.h>
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#include <BulletCollision/CollisionShapes/btCompoundShape.h>
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#include <BulletCollision/CollisionShapes/btConeShape.h>
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#include <BulletCollision/CollisionShapes/btConvexHullShape.h>
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#include <BulletCollision/CollisionShapes/btCylinderShape.h>
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#include <BulletCollision/CollisionShapes/btEmptyShape.h>
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#include <BulletCollision/CollisionShapes/btSphereShape.h>
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#include <Nazara/BulletPhysics3D/Debug.hpp>
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namespace Nz
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{
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BulletCollider3D::~BulletCollider3D() = default;
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Boxf BulletCollider3D::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 BulletCollider3D::ComputeAABB(const Matrix4f& offsetMatrix, const Vector3f& scale) const
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{
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btTransform transform = ToBullet(offsetMatrix);
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btVector3 min, max;
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GetShape()->getAabb(transform, min, max);
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return Boxf(scale * FromBullet(min), scale * FromBullet(max));
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}
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void BulletCollider3D::ComputeInertia(float mass, Vector3f* inertia) const
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{
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NazaraAssert(inertia, "invalid inertia pointer");
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btVector3 inertiaVec;
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GetShape()->calculateLocalInertia(mass, inertiaVec);
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*inertia = FromBullet(inertiaVec);
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}
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std::shared_ptr<StaticMesh> BulletCollider3D::GenerateDebugMesh() const
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{
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std::vector<Vector3f> colliderVertices;
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std::vector<UInt16> colliderIndices;
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BuildDebugMesh(colliderVertices, colliderIndices);
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std::shared_ptr<VertexBuffer> colliderVB = std::make_shared<VertexBuffer>(VertexDeclaration::Get(VertexLayout::XYZ), SafeCast<UInt32>(colliderVertices.size()), BufferUsage::Write, SoftwareBufferFactory, colliderVertices.data());
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std::shared_ptr<IndexBuffer> colliderIB = std::make_shared<IndexBuffer>(IndexType::U16, colliderIndices.size(), BufferUsage::Write, SoftwareBufferFactory, colliderIndices.data());
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std::shared_ptr<StaticMesh> colliderSubMesh = std::make_shared<StaticMesh>(std::move(colliderVB), std::move(colliderIB));
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colliderSubMesh->GenerateAABB();
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colliderSubMesh->SetPrimitiveMode(PrimitiveMode::LineList);
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return colliderSubMesh;
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}
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std::shared_ptr<BulletCollider3D> BulletCollider3D::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<CompoundCollider3D::ChildCollider> childColliders(primitiveCount);
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for (unsigned int i = 0; i < primitiveCount; ++i)
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{
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const Primitive& primitive = list.GetPrimitive(i);
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childColliders[i].collider = CreateGeomFromPrimitive(primitive);
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childColliders[i].offsetMatrix = primitive.matrix;
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}
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return std::make_shared<CompoundCollider3D>(std::move(childColliders));
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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 std::make_shared<NullCollider3D>();
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}
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std::shared_ptr<BulletCollider3D> BulletCollider3D::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 std::make_shared<BoxCollider3D>(primitive.box.lengths);
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case PrimitiveType::Cone:
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return std::make_shared<ConeCollider3D>(primitive.cone.length, primitive.cone.radius);
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case PrimitiveType::Plane:
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return std::make_shared<BoxCollider3D>(Vector3f(primitive.plane.size.x, 0.01f, primitive.plane.size.y));
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///TODO: PlaneGeom?
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case PrimitiveType::Sphere:
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return std::make_shared<SphereCollider3D>(primitive.sphere.size);
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}
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NazaraError("Primitive type not handled (0x" + NumberToString(UnderlyingCast(primitive.type), 16) + ')');
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return std::shared_ptr<BulletCollider3D>();
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}
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/********************************** BoxCollider3D **********************************/
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BoxCollider3D::BoxCollider3D(const Vector3f& lengths) :
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m_lengths(lengths)
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{
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m_shape = std::make_unique<btBoxShape>(ToBullet(m_lengths * 0.5f));
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}
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BoxCollider3D::~BoxCollider3D() = default;
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void BoxCollider3D::BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const
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{
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auto InsertVertex = [&](float x, float y, float z) -> UInt16
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{
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UInt16 index = SafeCast<UInt16>(vertices.size());
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vertices.push_back(offsetMatrix * Vector3f(x, y, z));
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return index;
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};
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Vector3f halfLengths = m_lengths * 0.5f;
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UInt16 v0 = InsertVertex(-halfLengths.x, -halfLengths.y, -halfLengths.z);
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UInt16 v1 = InsertVertex(halfLengths.x, -halfLengths.y, -halfLengths.z);
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UInt16 v2 = InsertVertex(halfLengths.x, -halfLengths.y, halfLengths.z);
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UInt16 v3 = InsertVertex(-halfLengths.x, -halfLengths.y, halfLengths.z);
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UInt16 v4 = InsertVertex(-halfLengths.x, halfLengths.y, -halfLengths.z);
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UInt16 v5 = InsertVertex(halfLengths.x, halfLengths.y, -halfLengths.z);
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UInt16 v6 = InsertVertex(halfLengths.x, halfLengths.y, halfLengths.z);
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UInt16 v7 = InsertVertex(-halfLengths.x, halfLengths.y, halfLengths.z);
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auto InsertEdge = [&](UInt16 from, UInt16 to)
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{
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indices.push_back(from);
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indices.push_back(to);
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};
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InsertEdge(v0, v1);
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InsertEdge(v1, v2);
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InsertEdge(v2, v3);
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InsertEdge(v3, v0);
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InsertEdge(v4, v5);
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InsertEdge(v5, v6);
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InsertEdge(v6, v7);
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InsertEdge(v7, v4);
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InsertEdge(v0, v4);
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InsertEdge(v1, v5);
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InsertEdge(v2, v6);
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InsertEdge(v3, v7);
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}
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btCollisionShape* BoxCollider3D::GetShape() const
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{
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return m_shape.get();
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}
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Vector3f BoxCollider3D::GetLengths() const
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{
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return m_lengths;
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}
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ColliderType3D BoxCollider3D::GetType() const
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{
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return ColliderType3D::Box;
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}
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/******************************** CapsuleCollider3D ********************************/
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CapsuleCollider3D::CapsuleCollider3D(float length, float radius) :
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m_length(length),
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m_radius(radius)
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{
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m_shape = std::make_unique<btCapsuleShape>(radius, length);
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}
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CapsuleCollider3D::~CapsuleCollider3D() = default;
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void CapsuleCollider3D::BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const
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{
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}
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float CapsuleCollider3D::GetLength() const
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{
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return m_length;
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}
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float CapsuleCollider3D::GetRadius() const
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{
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return m_radius;
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}
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btCollisionShape* CapsuleCollider3D::GetShape() const
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{
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return m_shape.get();
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}
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ColliderType3D CapsuleCollider3D::GetType() const
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{
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return ColliderType3D::Capsule;
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}
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/******************************* CompoundCollider3D ********************************/
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CompoundCollider3D::CompoundCollider3D(std::vector<ChildCollider> childs) :
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m_childs(std::move(childs))
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{
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m_shape = std::make_unique<btCompoundShape>();
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for (const auto& child : m_childs)
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{
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btTransform transform = ToBullet(child.offsetMatrix);
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m_shape->addChildShape(transform, child.collider->GetShape());
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}
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}
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CompoundCollider3D::~CompoundCollider3D() = default;
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void CompoundCollider3D::BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const
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{
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for (const auto& child : m_childs)
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child.collider->BuildDebugMesh(vertices, indices, offsetMatrix * child.offsetMatrix);
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}
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auto CompoundCollider3D::GetGeoms() const -> const std::vector<ChildCollider>&
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{
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return m_childs;
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}
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btCollisionShape* CompoundCollider3D::GetShape() const
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{
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return m_shape.get();
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}
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ColliderType3D CompoundCollider3D::GetType() const
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{
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return ColliderType3D::Compound;
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}
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/********************************* ConeCollider3D **********************************/
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ConeCollider3D::ConeCollider3D(float length, float radius) :
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m_length(length),
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m_radius(radius)
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{
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m_shape = std::make_unique<btConeShape>(radius, length);
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}
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ConeCollider3D::~ConeCollider3D() = default;
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void ConeCollider3D::BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const
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{
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}
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float ConeCollider3D::GetLength() const
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{
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return m_length;
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}
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float ConeCollider3D::GetRadius() const
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{
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return m_radius;
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}
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btCollisionShape* ConeCollider3D::GetShape() const
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{
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return m_shape.get();
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}
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ColliderType3D ConeCollider3D::GetType() const
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{
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return ColliderType3D::Cone;
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}
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/****************************** ConvexCollider3D *******************************/
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ConvexCollider3D::ConvexCollider3D(SparsePtr<const Vector3f> vertices, unsigned int vertexCount)
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{
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static_assert(std::is_same_v<btScalar, float>);
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m_shape = std::make_unique<btConvexHullShape>(reinterpret_cast<const float*>(vertices.GetPtr()), vertexCount, vertices.GetStride());
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m_shape->optimizeConvexHull();
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}
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ConvexCollider3D::~ConvexCollider3D() = default;
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void ConvexCollider3D::BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const
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{
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tsl::ordered_map<Vector3f, UInt16> vertexCache;
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auto InsertVertex = [&](const Vector3f& position) -> UInt16
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{
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auto it = vertexCache.find(position);
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if (it != vertexCache.end())
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return it->second;
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UInt16 index = SafeCast<UInt16>(vertices.size());
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vertices.push_back(position);
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vertexCache.emplace(position, index);
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return index;
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};
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int edgeCount = m_shape->getNumEdges();
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for (int i = 0; i < edgeCount; ++i)
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{
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btVector3 from, to;
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m_shape->getEdge(i, from, to);
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indices.push_back(InsertVertex(offsetMatrix * FromBullet(from)));
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indices.push_back(InsertVertex(offsetMatrix * FromBullet(to)));
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}
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}
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btCollisionShape* ConvexCollider3D::GetShape() const
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{
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return m_shape.get();
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}
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ColliderType3D ConvexCollider3D::GetType() const
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{
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return ColliderType3D::ConvexHull;
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}
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/******************************* CylinderCollider3D ********************************/
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CylinderCollider3D::CylinderCollider3D(float length, float radius) :
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m_length(length),
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m_radius(radius)
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{
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// TODO: Allow to use two different radius
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m_shape = std::make_unique<btCylinderShape>(btVector3{ radius, length, radius });
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}
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CylinderCollider3D::~CylinderCollider3D() = default;
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void CylinderCollider3D::BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const
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{
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}
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float CylinderCollider3D::GetLength() const
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{
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return m_length;
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}
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float CylinderCollider3D::GetRadius() const
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{
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return m_radius;
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}
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btCollisionShape* CylinderCollider3D::GetShape() const
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{
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return m_shape.get();
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}
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ColliderType3D CylinderCollider3D::GetType() const
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{
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return ColliderType3D::Cylinder;
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}
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/********************************* NullCollider3D **********************************/
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NullCollider3D::NullCollider3D()
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{
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m_shape = std::make_unique<btEmptyShape>();
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}
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NullCollider3D::~NullCollider3D() = default;
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void NullCollider3D::BuildDebugMesh(std::vector<Vector3f>& /*vertices*/, std::vector<UInt16>& /*indices*/, const Matrix4f& /*offsetMatrix*/) const
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{
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}
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void NullCollider3D::ComputeInertia(float /*mass*/, Vector3f* inertia) const
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{
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inertia->Set(1.f, 1.f, 1.f);
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}
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btCollisionShape* NullCollider3D::GetShape() const
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{
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return m_shape.get();
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}
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ColliderType3D NullCollider3D::GetType() const
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{
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return ColliderType3D::Null;
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}
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/******************************** SphereCollider3D *********************************/
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SphereCollider3D::SphereCollider3D(float radius) :
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m_radius(radius)
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{
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m_shape = std::make_unique<btSphereShape>(radius);
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}
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SphereCollider3D::~SphereCollider3D() = default;
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void SphereCollider3D::BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const
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{
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}
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float SphereCollider3D::GetRadius() const
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{
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return m_radius;
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}
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btCollisionShape* SphereCollider3D::GetShape() const
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{
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return m_shape.get();
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}
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ColliderType3D SphereCollider3D::GetType() const
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{
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return ColliderType3D::Sphere;
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}
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}
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