Rename Physics3D to BulletPhysics3D
This commit is contained in:
SirLynix
committed by
Jérôme Leclercq
Jérôme Leclercq
parent
5cbc435e1a
commit
bd4c2d6ee7
331
src/Nazara/BulletPhysics3D/BulletRigidBody3D.cpp
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331
src/Nazara/BulletPhysics3D/BulletRigidBody3D.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/BulletRigidBody3D.hpp>
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#include <Nazara/BulletPhysics3D/BulletHelper.hpp>
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#include <Nazara/BulletPhysics3D/BulletPhysWorld3D.hpp>
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#include <Nazara/Utils/MemoryHelper.hpp>
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#include <BulletDynamics/Dynamics/btDynamicsWorld.h>
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#include <BulletDynamics/Dynamics/btRigidBody.h>
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#include <algorithm>
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#include <array>
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#include <cmath>
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#include <Nazara/BulletPhysics3D/Debug.hpp>
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namespace Nz
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{
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BulletRigidBody3D::BulletRigidBody3D(BulletPhysWorld3D* world, const Matrix4f& mat) :
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BulletRigidBody3D(world, nullptr, mat)
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{
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}
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BulletRigidBody3D::BulletRigidBody3D(BulletPhysWorld3D* world, std::shared_ptr<BulletCollider3D> geom, const Matrix4f& mat) :
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m_geom(std::move(geom)),
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m_world(world)
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{
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NazaraAssert(m_world, "Invalid world");
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if (!m_geom)
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m_geom = std::make_shared<NullCollider3D>();
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Vector3f inertia;
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m_geom->ComputeInertia(1.f, &inertia);
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btRigidBody::btRigidBodyConstructionInfo constructionInfo(1.f, nullptr, m_geom->GetShape(), ToBullet(inertia));
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constructionInfo.m_startWorldTransform = ToBullet(mat);
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m_body = m_world->AddRigidBody(m_bodyPoolIndex, [&](btRigidBody* body)
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{
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PlacementNew(body, constructionInfo);
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});
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m_body->setUserPointer(this);
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}
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BulletRigidBody3D::BulletRigidBody3D(BulletRigidBody3D&& object) noexcept :
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m_geom(std::move(object.m_geom)),
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m_bodyPoolIndex(object.m_bodyPoolIndex),
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m_body(object.m_body),
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m_world(object.m_world)
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{
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if (m_body)
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m_body->setUserPointer(this);
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object.m_body = nullptr;
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}
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BulletRigidBody3D::~BulletRigidBody3D()
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{
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Destroy();
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}
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void BulletRigidBody3D::AddForce(const Vector3f& force, CoordSys coordSys)
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{
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switch (coordSys)
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{
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case CoordSys::Global:
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WakeUp();
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m_body->applyCentralForce(ToBullet(force));
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break;
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case CoordSys::Local:
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WakeUp();
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m_body->applyCentralForce(ToBullet(GetRotation() * force));
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break;
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}
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}
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void BulletRigidBody3D::AddForce(const Vector3f& force, const Vector3f& point, CoordSys coordSys)
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{
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switch (coordSys)
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{
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case CoordSys::Global:
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WakeUp();
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m_body->applyForce(ToBullet(force), ToBullet(point));
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break;
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case CoordSys::Local:
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{
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Matrix4f transformMatrix = GetMatrix();
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return AddForce(transformMatrix.Transform(force, 0.f), point, CoordSys::Global);
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}
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}
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}
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void BulletRigidBody3D::AddTorque(const Vector3f& torque, CoordSys coordSys)
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{
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switch (coordSys)
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{
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case CoordSys::Global:
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WakeUp();
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m_body->applyTorque(ToBullet(torque));
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break;
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case CoordSys::Local:
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Matrix4f transformMatrix = GetMatrix();
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WakeUp();
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m_body->applyTorque(ToBullet(transformMatrix.Transform(torque, 0.f)));
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break;
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}
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}
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void BulletRigidBody3D::EnableSleeping(bool enable)
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{
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if (enable)
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{
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if (m_body->getActivationState() == DISABLE_DEACTIVATION)
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m_body->setActivationState(ACTIVE_TAG);
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}
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else
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{
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if (m_body->getActivationState() != DISABLE_DEACTIVATION)
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m_body->setActivationState(DISABLE_DEACTIVATION);
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}
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}
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void BulletRigidBody3D::FallAsleep()
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{
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if (m_body->getActivationState() != DISABLE_DEACTIVATION)
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m_body->setActivationState(ISLAND_SLEEPING);
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}
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Boxf BulletRigidBody3D::GetAABB() const
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{
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btVector3 min, max;
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m_body->getAabb(min, max);
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return Boxf(FromBullet(min), FromBullet(max));
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}
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float BulletRigidBody3D::GetAngularDamping() const
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{
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return m_body->getAngularDamping();
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}
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Vector3f BulletRigidBody3D::GetAngularVelocity() const
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{
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return FromBullet(m_body->getAngularVelocity());
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}
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float BulletRigidBody3D::GetLinearDamping() const
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{
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return m_body->getLinearDamping();
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}
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Vector3f BulletRigidBody3D::GetLinearVelocity() const
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{
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return FromBullet(m_body->getLinearVelocity());
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}
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float BulletRigidBody3D::GetMass() const
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{
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return m_body->getMass();
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}
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Vector3f BulletRigidBody3D::GetMassCenter(CoordSys coordSys) const
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{
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return FromBullet(m_body->getCenterOfMassPosition());
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}
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Matrix4f BulletRigidBody3D::GetMatrix() const
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{
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return FromBullet(m_body->getWorldTransform());
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}
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Vector3f BulletRigidBody3D::GetPosition() const
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{
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return FromBullet(m_body->getWorldTransform().getOrigin());
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}
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Quaternionf BulletRigidBody3D::GetRotation() const
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{
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return FromBullet(m_body->getWorldTransform().getRotation());
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}
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bool BulletRigidBody3D::IsSimulationEnabled() const
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{
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return m_body->isActive();
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}
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bool BulletRigidBody3D::IsSleeping() const
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{
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return m_body->getActivationState() == ISLAND_SLEEPING;
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}
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bool BulletRigidBody3D::IsSleepingEnabled() const
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{
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return m_body->getActivationState() != DISABLE_DEACTIVATION;
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}
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void BulletRigidBody3D::SetAngularDamping(float angularDamping)
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{
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m_body->setDamping(m_body->getLinearDamping(), angularDamping);
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}
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void BulletRigidBody3D::SetAngularVelocity(const Vector3f& angularVelocity)
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{
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m_body->setAngularVelocity(ToBullet(angularVelocity));
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}
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void BulletRigidBody3D::SetGeom(std::shared_ptr<BulletCollider3D> geom, bool recomputeInertia)
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{
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if (m_geom != geom)
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{
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if (geom)
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m_geom = std::move(geom);
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else
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m_geom = std::make_shared<NullCollider3D>();
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m_body->setCollisionShape(m_geom->GetShape());
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if (recomputeInertia)
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{
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float mass = GetMass();
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Vector3f inertia;
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m_geom->ComputeInertia(mass, &inertia);
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m_body->setMassProps(mass, ToBullet(inertia));
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}
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}
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}
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void BulletRigidBody3D::SetLinearDamping(float damping)
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{
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m_body->setDamping(damping, m_body->getAngularDamping());
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}
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void BulletRigidBody3D::SetLinearVelocity(const Vector3f& velocity)
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{
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m_body->setLinearVelocity(ToBullet(velocity));
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}
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void BulletRigidBody3D::SetMass(float mass)
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{
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NazaraAssert(mass >= 0.f, "Mass must be positive and finite");
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NazaraAssert(std::isfinite(mass), "Mass must be positive and finite");
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Vector3f inertia;
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m_geom->ComputeInertia(mass, &inertia);
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m_body->setMassProps(mass, ToBullet(inertia));
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}
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void BulletRigidBody3D::SetMassCenter(const Vector3f& center)
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{
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btTransform centerTransform;
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centerTransform.setIdentity();
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centerTransform.setOrigin(ToBullet(center));
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m_body->setCenterOfMassTransform(centerTransform);
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}
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void BulletRigidBody3D::SetPosition(const Vector3f& position)
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{
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btTransform worldTransform = m_body->getWorldTransform();
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worldTransform.setOrigin(ToBullet(position));
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m_body->setWorldTransform(worldTransform);
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}
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void BulletRigidBody3D::SetRotation(const Quaternionf& rotation)
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{
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btTransform worldTransform = m_body->getWorldTransform();
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worldTransform.setRotation(ToBullet(rotation));
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m_body->setWorldTransform(worldTransform);
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}
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Quaternionf BulletRigidBody3D::ToLocal(const Quaternionf& worldRotation)
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{
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return GetRotation().Conjugate() * worldRotation;
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}
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Vector3f BulletRigidBody3D::ToLocal(const Vector3f& worldPosition)
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{
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btTransform worldTransform = m_body->getWorldTransform();
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return GetMatrix().InverseTransform() * worldPosition;
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}
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Quaternionf BulletRigidBody3D::ToWorld(const Quaternionf& localRotation)
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{
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return GetRotation() * localRotation;
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}
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Vector3f BulletRigidBody3D::ToWorld(const Vector3f& localPosition)
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{
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return GetMatrix() * localPosition;
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}
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void BulletRigidBody3D::WakeUp()
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{
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m_body->activate();
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}
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BulletRigidBody3D& BulletRigidBody3D::operator=(BulletRigidBody3D&& object) noexcept
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{
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Destroy();
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m_body = object.m_body;
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m_bodyPoolIndex = object.m_bodyPoolIndex;
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m_geom = std::move(object.m_geom);
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m_world = object.m_world;
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if (m_body)
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m_body->setUserPointer(this);
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object.m_body = nullptr;
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return *this;
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}
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void BulletRigidBody3D::Destroy()
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{
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if (m_body)
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{
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m_world->RemoveRigidBody(m_body, m_bodyPoolIndex);
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m_body = nullptr;
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}
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m_geom.reset();
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}
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}
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