Add JoltPhysics3D for a performance test

include/Nazara/BulletPhysics3D.hpp

@@ -26,16 +26,16 @@
 
 #pragma once
 
-#ifndef NAZARA_GLOBAL_PHYSICS3D_HPP
-#define NAZARA_GLOBAL_PHYSICS3D_HPP
+#ifndef NAZARA_GLOBAL_BULLETPHYSICS3D_HPP
+#define NAZARA_GLOBAL_BULLETPHYSICS3D_HPP
 
 #include <Nazara/BulletPhysics3D/BulletCollider3D.hpp>
-#include <Nazara/BulletPhysics3D/Config.hpp>
 #include <Nazara/BulletPhysics3D/BulletConstraint3D.hpp>
-#include <Nazara/BulletPhysics3D/Enums.hpp>
 #include <Nazara/BulletPhysics3D/BulletPhysics3D.hpp>
 #include <Nazara/BulletPhysics3D/BulletPhysWorld3D.hpp>
 #include <Nazara/BulletPhysics3D/BulletRigidBody3D.hpp>
+#include <Nazara/BulletPhysics3D/Config.hpp>
+#include <Nazara/BulletPhysics3D/Enums.hpp>
 
 #ifdef NAZARA_ENTT
 
@@ -44,4 +44,4 @@
 
 #endif
 
-#endif // NAZARA_GLOBAL_PHYSICS3D_HPP
+#endif // NAZARA_GLOBAL_BULLETPHYSICS3D_HPP

include/Nazara/BulletPhysics3D/BulletCollider3D.hpp

@@ -62,11 +62,11 @@ namespace Nz
 			static std::shared_ptr<BulletCollider3D> CreateGeomFromPrimitive(const Primitive& primitive);
 	};
 
-	class NAZARA_BULLETPHYSICS3D_API BoxCollider3D final : public BulletCollider3D
+	class NAZARA_BULLETPHYSICS3D_API BulletBoxCollider3D final : public BulletCollider3D
 	{
 		public:
-			BoxCollider3D(const Vector3f& lengths);
-			~BoxCollider3D();
+			BulletBoxCollider3D(const Vector3f& lengths);
+			~BulletBoxCollider3D();
 
 			void BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const override;
 
@@ -79,11 +79,11 @@ namespace Nz
 			Vector3f m_lengths;
 	};
 
-	class NAZARA_BULLETPHYSICS3D_API CapsuleCollider3D final : public BulletCollider3D
+	class NAZARA_BULLETPHYSICS3D_API BulletCapsuleCollider3D final : public BulletCollider3D
 	{
 		public:
-			CapsuleCollider3D(float length, float radius);
-			~CapsuleCollider3D();
+			BulletCapsuleCollider3D(float length, float radius);
+			~BulletCapsuleCollider3D();
 
 			void BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const override;
 
@@ -98,13 +98,13 @@ namespace Nz
 			float m_radius;
 	};
 
-	class NAZARA_BULLETPHYSICS3D_API CompoundCollider3D final : public BulletCollider3D
+	class NAZARA_BULLETPHYSICS3D_API BulletCompoundCollider3D final : public BulletCollider3D
 	{
 		public:
 			struct ChildCollider;
 
-			CompoundCollider3D(std::vector<ChildCollider> childs);
-			~CompoundCollider3D();
+			BulletCompoundCollider3D(std::vector<ChildCollider> childs);
+			~BulletCompoundCollider3D();
 
 			void BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const override;
 
@@ -123,11 +123,11 @@ namespace Nz
 			std::vector<ChildCollider> m_childs;
 	};
 
-	class NAZARA_BULLETPHYSICS3D_API ConeCollider3D final : public BulletCollider3D
+	class NAZARA_BULLETPHYSICS3D_API BulletConeCollider3D final : public BulletCollider3D
 	{
 		public:
-			ConeCollider3D(float length, float radius);
-			~ConeCollider3D();
+			BulletConeCollider3D(float length, float radius);
+			~BulletConeCollider3D();
 
 			void BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const override;
 
@@ -142,11 +142,11 @@ namespace Nz
 			float m_radius;
 	};
 
-	class NAZARA_BULLETPHYSICS3D_API ConvexCollider3D final : public BulletCollider3D
+	class NAZARA_BULLETPHYSICS3D_API BulletConvexCollider3D final : public BulletCollider3D
 	{
 		public:
-			ConvexCollider3D(SparsePtr<const Vector3f> vertices, unsigned int vertexCount);
-			~ConvexCollider3D();
+			BulletConvexCollider3D(SparsePtr<const Vector3f> vertices, unsigned int vertexCount);
+			~BulletConvexCollider3D();
 
 			void BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const override;
 
@@ -157,11 +157,11 @@ namespace Nz
 			std::unique_ptr<btConvexHullShape> m_shape;
 	};
 
-	class NAZARA_BULLETPHYSICS3D_API CylinderCollider3D final : public BulletCollider3D
+	class NAZARA_BULLETPHYSICS3D_API BulletCylinderCollider3D final : public BulletCollider3D
 	{
 		public:
-			CylinderCollider3D(float length, float radius);
-			~CylinderCollider3D();
+			BulletCylinderCollider3D(float length, float radius);
+			~BulletCylinderCollider3D();
 
 			void BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const override;
 
@@ -177,11 +177,11 @@ namespace Nz
 			float m_radius;
 	};
 
-	class NAZARA_BULLETPHYSICS3D_API NullCollider3D final : public BulletCollider3D
+	class NAZARA_BULLETPHYSICS3D_API BulletNullCollider3D final : public BulletCollider3D
 	{
 		public:
-			NullCollider3D();
-			~NullCollider3D();
+			BulletNullCollider3D();
+			~BulletNullCollider3D();
 
 			void BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const override;
 
@@ -194,11 +194,11 @@ namespace Nz
 			std::unique_ptr<btEmptyShape> m_shape;
 	};
 
-	class NAZARA_BULLETPHYSICS3D_API SphereCollider3D final : public BulletCollider3D
+	class NAZARA_BULLETPHYSICS3D_API BulletSphereCollider3D final : public BulletCollider3D
 	{
 		public:
-			SphereCollider3D(float radius);
-			~SphereCollider3D();
+			BulletSphereCollider3D(float radius);
+			~BulletSphereCollider3D();
 
 			void BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const override;
 

include/Nazara/BulletPhysics3D/BulletRigidBody3D.hpp

@@ -67,6 +67,7 @@ namespace Nz
 			void SetMass(float mass);
 			void SetMassCenter(const Vector3f& center);
 			void SetPosition(const Vector3f& position);
+			void SetPositionAndRotation(const Vector3f& position, const Quaternionf& rotation);
 			void SetRotation(const Quaternionf& rotation);
 
 			Quaternionf ToLocal(const Quaternionf& worldRotation);

include/Nazara/BulletPhysics3D/Systems/BulletPhysics3DSystem.hpp

@@ -8,6 +8,7 @@
 #define NAZARA_BULLETPHYSICS3D_SYSTEMS_BULLETPHYSICS3DSYSTEM_HPP
 
 #include <Nazara/Prerequisites.hpp>
+#include <Nazara/Core/Clock.hpp>
 #include <Nazara/BulletPhysics3D/BulletPhysWorld3D.hpp>
 #include <Nazara/BulletPhysics3D/Components/BulletRigidBody3DComponent.hpp>
 #include <Nazara/Core/Time.hpp>
@@ -32,6 +33,8 @@ namespace Nz
 
 			template<typename... Args> BulletRigidBody3DComponent CreateRigidBody(Args&&... args);
 
+			void Dump();
+
 			inline BulletPhysWorld3D& GetPhysWorld();
 			inline const BulletPhysWorld3D& GetPhysWorld() const;
 
@@ -51,12 +54,15 @@ namespace Nz
 			void OnConstruct(entt::registry& registry, entt::entity entity);
 			void OnDestruct(entt::registry& registry, entt::entity entity);
 
+			std::size_t m_stepCount;
 			std::vector<entt::entity> m_physicsEntities;
 			entt::registry& m_registry;
 			entt::observer m_physicsConstructObserver;
 			entt::scoped_connection m_constructConnection;
 			entt::scoped_connection m_destructConnection;
 			BulletPhysWorld3D m_physWorld;
+			Time m_physicsTime;
+			Time m_updateTime;
 	};
 }
 

include/Nazara/JoltPhysics3D.hpp

@@ -0,0 +1,47 @@
+// this file was automatically generated and should not be edited
+
+/*
+	Nazara Engine - BulletPhysics3D module
+
+	Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
+
+	Permission is hereby granted, free of charge, to any person obtaining a copy of
+	this software and associated documentation files (the "Software"), to deal in
+	the Software without restriction, including without limitation the rights to
+	use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+	of the Software, and to permit persons to whom the Software is furnished to do
+	so, subject to the following conditions:
+
+	The above copyright notice and this permission notice shall be included in all
+	copies or substantial portions of the Software.
+
+	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+	SOFTWARE.
+*/
+
+#pragma once
+
+#ifndef NAZARA_GLOBAL_JOLTPHYSICS3D_HPP
+#define NAZARA_GLOBAL_JOLTPHYSICS3D_HPP
+
+#include <Nazara/JoltPhysics3D/Config.hpp>
+#include <Nazara/JoltPhysics3D/Enums.hpp>
+#include <Nazara/JoltPhysics3D/JoltCollider3D.hpp>
+#include <Nazara/JoltPhysics3D/JoltConstraint3D.hpp>
+#include <Nazara/JoltPhysics3D/JoltPhysics3D.hpp>
+#include <Nazara/JoltPhysics3D/JoltPhysWorld3D.hpp>
+#include <Nazara/JoltPhysics3D/JoltRigidBody3D.hpp>
+
+#ifdef NAZARA_ENTT
+
+#include <Nazara/JoltPhysics3D/Components.hpp>
+#include <Nazara/JoltPhysics3D/Systems.hpp>
+
+#endif
+
+#endif // NAZARA_GLOBAL_JOLTPHYSICS3D_HPP

include/Nazara/JoltPhysics3D/Components.hpp

@@ -0,0 +1,34 @@
+// this file was automatically generated and should not be edited
+
+/*
+	Nazara Engine - BulletPhysics3D module
+
+	Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
+
+	Permission is hereby granted, free of charge, to any person obtaining a copy of
+	this software and associated documentation files (the "Software"), to deal in
+	the Software without restriction, including without limitation the rights to
+	use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+	of the Software, and to permit persons to whom the Software is furnished to do
+	so, subject to the following conditions:
+
+	The above copyright notice and this permission notice shall be included in all
+	copies or substantial portions of the Software.
+
+	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+	SOFTWARE.
+*/
+
+#pragma once
+
+#ifndef NAZARA_JOLTPHYSICS3D_COMPONENTS_HPP
+#define NAZARA_JOLTPHYSICS3D_COMPONENTS_HPP
+
+#include <Nazara/JoltPhysics3D/Components/JoltRigidBody3DComponent.hpp>
+
+#endif // NAZARA_JOLTPHYSICS3D_COMPONENTS_HPP

include/Nazara/JoltPhysics3D/Components/JoltRigidBody3DComponent.hpp

@@ -0,0 +1,32 @@
+// Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
+// This file is part of the "Nazara Engine - JoltPhysics3D module"
+// For conditions of distribution and use, see copyright notice in Config.hpp
+
+#pragma once
+
+#ifndef NAZARA_JOLTPHYSICS3D_COMPONENTS_JOLTRIGIDBODY3DCOMPONENT_HPP
+#define NAZARA_JOLTPHYSICS3D_COMPONENTS_JOLTRIGIDBODY3DCOMPONENT_HPP
+
+#include <Nazara/Prerequisites.hpp>
+#include <Nazara/JoltPhysics3D/JoltRigidBody3D.hpp>
+
+namespace Nz
+{
+	class NAZARA_JOLTPHYSICS3D_API JoltRigidBody3DComponent : public JoltRigidBody3D
+	{
+		friend class JoltPhysics3DSystem;
+
+		public:
+			using JoltRigidBody3D::JoltRigidBody3D;
+			JoltRigidBody3DComponent(const JoltRigidBody3DComponent&) = default;
+			JoltRigidBody3DComponent(JoltRigidBody3DComponent&&) noexcept = default;
+			~JoltRigidBody3DComponent() = default;
+
+			JoltRigidBody3DComponent& operator=(const JoltRigidBody3DComponent&) = default;
+			JoltRigidBody3DComponent& operator=(JoltRigidBody3DComponent&&) noexcept = default;
+	};
+}
+
+#include <Nazara/JoltPhysics3D/Components/JoltRigidBody3DComponent.inl>
+
+#endif // NAZARA_JOLTPHYSICS3D_COMPONENTS_JOLTRIGIDBODY3DCOMPONENT_HPP

include/Nazara/JoltPhysics3D/Components/JoltRigidBody3DComponent.inl

@@ -0,0 +1,11 @@
+// Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
+// This file is part of the "Nazara Engine - JoltPhysics3D module"
+// For conditions of distribution and use, see copyright notice in Config.hpp
+
+#include <Nazara/JoltPhysics3D/Debug.hpp>
+
+namespace Nz
+{
+}
+
+#include <Nazara/JoltPhysics3D/DebugOff.hpp>

include/Nazara/JoltPhysics3D/Config.hpp

@@ -0,0 +1,48 @@
+/*
+	Nazara Engine - BulletPhysics3D module
+
+	Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
+
+	Permission is hereby granted, free of charge, to any person obtaining a copy of
+	this software and associated documentation files (the "Software"), to deal in
+	the Software without restriction, including without limitation the rights to
+	use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+	of the Software, and to permit persons to whom the Software is furnished to do
+	so, subject to the following conditions:
+
+	The above copyright notice and this permission notice shall be included in all
+	copies or substantial portions of the Software.
+
+	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+	SOFTWARE.
+*/
+
+#pragma once
+
+#ifndef NAZARA_JOLTPHYSICS3D_CONFIG_HPP
+#define NAZARA_JOLTPHYSICS3D_CONFIG_HPP
+
+/// Chaque modification d'un paramètre du module nécessite une recompilation de celui-ci
+
+// Active les tests de sécurité basés sur le code (Conseillé pour le développement)
+#define NAZARA_JOLTPHYSICS3D_SAFE 1
+
+/// Vérification des valeurs et types de certaines constantes
+#include <Nazara/JoltPhysics3D/ConfigCheck.hpp>
+
+#if defined(NAZARA_STATIC)
+	#define NAZARA_JOLTPHYSICS3D_API
+#else
+	#ifdef NAZARA_JOLTPHYSICS3D_BUILD
+		#define NAZARA_JOLTPHYSICS3D_API NAZARA_EXPORT
+	#else
+		#define NAZARA_JOLTPHYSICS3D_API NAZARA_IMPORT
+	#endif
+#endif
+
+#endif // NAZARA_JOLTPHYSICS3D_CONFIG_HPP

include/Nazara/JoltPhysics3D/ConfigCheck.hpp

@@ -0,0 +1,10 @@
+// Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
+// This file is part of the "Nazara Engine - JoltPhysics3D module"
+// For conditions of distribution and use, see copyright notice in Config.hpp
+
+#pragma once
+
+#ifndef NAZARA_JOLTPHYSICS3D_CONFIGCHECK_HPP
+#define NAZARA_JOLTPHYSICS3D_CONFIGCHECK_HPP
+
+#endif // NAZARA_JOLTPHYSICS3D_CONFIGCHECK_HPP

include/Nazara/JoltPhysics3D/Debug.hpp

@@ -0,0 +1,5 @@
+// Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
+// This file is part of the "Nazara Engine - JoltPhysics3D module"
+// For conditions of distribution and use, see copyright notice in Config.hpp
+
+// no header guards

include/Nazara/JoltPhysics3D/DebugOff.hpp

@@ -0,0 +1,5 @@
+// Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
+// This file is part of the "Nazara Engine - JoltPhysics3D module"
+// For conditions of distribution and use, see copyright notice in Config.hpp
+
+// no header guards

include/Nazara/JoltPhysics3D/Enums.hpp

@@ -0,0 +1,22 @@
+// Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
+// This file is part of the "Nazara Engine - JoltPhysics3D module"
+// For conditions of distribution and use, see copyright notice in Config.hpp
+
+#pragma once
+
+#ifndef NAZARA_JOLTPHYSICS3D_ENUMS_HPP
+#define NAZARA_JOLTPHYSICS3D_ENUMS_HPP
+
+namespace Nz
+{
+	enum class JoltColliderType3D
+	{
+		Box,
+		Compound,
+		Sphere,
+
+		Max = Sphere
+	};
+}
+
+#endif // NAZARA_JOLTPHYSICS3D_ENUMS_HPP

include/Nazara/JoltPhysics3D/JoltCollider3D.hpp

@@ -0,0 +1,123 @@
+// Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
+// This file is part of the "Nazara Engine - JoltPhysics3D module"
+// For conditions of distribution and use, see copyright notice in Config.hpp
+
+#pragma once
+
+#ifndef NAZARA_JOLTPHYSICS3D_JOLTCOLLIDER3D_HPP
+#define NAZARA_JOLTPHYSICS3D_JOLTCOLLIDER3D_HPP
+
+#include <Nazara/Prerequisites.hpp>
+#include <Nazara/Core/ObjectLibrary.hpp>
+#include <Nazara/JoltPhysics3D/Config.hpp>
+#include <Nazara/JoltPhysics3D/Enums.hpp>
+#include <Nazara/Math/Box.hpp>
+#include <Nazara/Math/Quaternion.hpp>
+#include <Nazara/Math/Vector3.hpp>
+#include <Nazara/Utils/Signal.hpp>
+#include <Nazara/Utils/SparsePtr.hpp>
+#include <memory>
+
+namespace JPH
+{
+	class ShapeSettings;
+	class BoxShapeSettings;
+	class CompoundShapeSettings;
+	class SphereShapeSettings;
+}
+
+namespace Nz
+{
+	class PrimitiveList;
+	class StaticMesh;
+	struct Primitive;
+
+	class NAZARA_JOLTPHYSICS3D_API JoltCollider3D
+	{
+		public:
+			JoltCollider3D() = default;
+			JoltCollider3D(const JoltCollider3D&) = delete;
+			JoltCollider3D(JoltCollider3D&&) = delete;
+			virtual ~JoltCollider3D();
+
+			virtual void BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix = Matrix4f::Identity()) const = 0;
+
+			virtual std::shared_ptr<StaticMesh> GenerateDebugMesh() const;
+
+			virtual JPH::ShapeSettings* GetShapeSettings() const = 0;
+			virtual JoltColliderType3D GetType() const = 0;
+
+			JoltCollider3D& operator=(const JoltCollider3D&) = delete;
+			JoltCollider3D& operator=(JoltCollider3D&&) = delete;
+
+			static std::shared_ptr<JoltCollider3D> Build(const PrimitiveList& list);
+
+		private:
+			static std::shared_ptr<JoltCollider3D> CreateGeomFromPrimitive(const Primitive& primitive);
+	};
+
+	class NAZARA_JOLTPHYSICS3D_API JoltBoxCollider3D final : public JoltCollider3D
+	{
+		public:
+			JoltBoxCollider3D(const Vector3f& lengths, float convexRadius = 0.f);
+			~JoltBoxCollider3D();
+
+			void BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const override;
+
+			Vector3f GetLengths() const;
+			JPH::ShapeSettings* GetShapeSettings() const override;
+			JoltColliderType3D GetType() const override;
+
+		private:
+			std::unique_ptr<JPH::BoxShapeSettings> m_shapeSettings;
+			Vector3f m_lengths;
+	};
+	
+	class NAZARA_JOLTPHYSICS3D_API JoltCompoundCollider3D final : public JoltCollider3D
+	{
+		public:
+			struct ChildCollider;
+
+			JoltCompoundCollider3D(std::vector<ChildCollider> childs);
+			~JoltCompoundCollider3D();
+
+			void BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const override;
+
+			const std::vector<ChildCollider>& GetGeoms() const;
+			JPH::ShapeSettings* GetShapeSettings() const override;
+			JoltColliderType3D GetType() const override;
+
+			struct ChildCollider
+			{
+				std::shared_ptr<JoltCollider3D> collider;
+				Quaternionf rotation = Quaternionf::Identity();
+				Vector3f offset = Vector3f::Zero();
+			};
+
+		private:
+			std::unique_ptr<JPH::CompoundShapeSettings> m_shapeSettings;
+			std::vector<ChildCollider> m_childs;
+	};
+
+	class NAZARA_JOLTPHYSICS3D_API JoltSphereCollider3D final : public JoltCollider3D
+	{
+		public:
+			JoltSphereCollider3D(float radius);
+			~JoltSphereCollider3D();
+
+			void BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const override;
+
+			float GetRadius() const;
+			JPH::ShapeSettings* GetShapeSettings() const override;
+			JoltColliderType3D GetType() const override;
+
+		private:
+			std::unique_ptr<JPH::SphereShapeSettings> m_shapeSettings;
+			Vector3f m_position;
+			float m_radius;
+	};
+}
+
+#include <Nazara/JoltPhysics3D/JoltCollider3D.inl>
+
+#endif // NAZARA_JOLTPHYSICS3D_JOLTCOLLIDER3D_HPP

include/Nazara/JoltPhysics3D/JoltCollider3D.inl

@@ -0,0 +1,12 @@
+// Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
+// This file is part of the "Nazara Engine - JoltPhysics3D module"
+// For conditions of distribution and use, see copyright notice in Config.hpp
+
+#include <memory>
+#include <Nazara/JoltPhysics3D/Debug.hpp>
+
+namespace Nz
+{
+}
+
+#include <Nazara/JoltPhysics3D/DebugOff.hpp>

include/Nazara/JoltPhysics3D/JoltConstraint3D.hpp

@@ -0,0 +1,75 @@
+// Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
+// This file is part of the "Nazara Engine - JoltPhysics3D module"
+// For conditions of distribution and use, see copyright notice in Config.hpp
+
+#pragma once
+#if 0
+#ifndef NAZARA_JOLTPHYSICS3D_JOLTCONSTRAINT3D_HPP
+#define NAZARA_JOLTPHYSICS3D_JOLTCONSTRAINT3D_HPP
+
+#include <Nazara/Prerequisites.hpp>
+#include <Nazara/BulletPhysics3D/BulletPhysWorld3D.hpp>
+#include <Nazara/BulletPhysics3D/BulletRigidBody3D.hpp>
+#include <Nazara/BulletPhysics3D/Config.hpp>
+#include <Nazara/Core/HandledObject.hpp>
+#include <Nazara/Core/ObjectHandle.hpp>
+
+class btTypedConstraint;
+
+namespace Nz
+{
+	class BulletConstraint3D;
+
+	using BulletConstraint3DHandle = ObjectHandle<BulletConstraint3D>;
+
+	class NAZARA_BULLETPHYSICS3D_API BulletConstraint3D : public HandledObject<BulletConstraint3D>
+	{
+		public:
+			BulletConstraint3D(const BulletConstraint3D&) = delete;
+			BulletConstraint3D(BulletConstraint3D&& constraint) noexcept;
+			virtual ~BulletConstraint3D();
+
+			BulletRigidBody3D& GetBodyA();
+			const BulletRigidBody3D& GetBodyA() const;
+			BulletRigidBody3D& GetBodyB();
+			const BulletRigidBody3D& GetBodyB() const;
+			BulletPhysWorld3D& GetWorld();
+			const BulletPhysWorld3D& GetWorld() const;
+
+			inline bool IsBodyCollisionEnabled() const;
+			bool IsSingleBody() const;
+
+			BulletConstraint3D& operator=(const BulletConstraint3D&) = delete;
+			BulletConstraint3D& operator=(BulletConstraint3D&& constraint) noexcept;
+
+		protected:
+			BulletConstraint3D(std::unique_ptr<btTypedConstraint> constraint, bool disableCollisions = false);
+
+			template<typename T> T* GetConstraint();
+			template<typename T> const T* GetConstraint() const;
+
+		private:
+			std::unique_ptr<btTypedConstraint> m_constraint;
+			bool m_bodyCollisionEnabled;
+	};
+
+	class NAZARA_BULLETPHYSICS3D_API BulletPivotConstraint3D : public BulletConstraint3D
+	{
+		public:
+			BulletPivotConstraint3D(BulletRigidBody3D& first, const Vector3f& pivot);
+			BulletPivotConstraint3D(BulletRigidBody3D& first, BulletRigidBody3D& second, const Vector3f& pivot, bool disableCollisions = false);
+			BulletPivotConstraint3D(BulletRigidBody3D& first, BulletRigidBody3D& second, const Vector3f& firstAnchor, const Vector3f& secondAnchor, bool disableCollisions = false);
+			~BulletPivotConstraint3D() = default;
+
+			Vector3f GetFirstAnchor() const;
+			Vector3f GetSecondAnchor() const;
+
+			void SetFirstAnchor(const Vector3f& firstAnchor);
+			void SetSecondAnchor(const Vector3f& secondAnchor);
+	};
+}
+
+#include <Nazara/BulletPhysics3D/BulletConstraint3D.inl>
+
+#endif // NAZARA_BULLETPHYSICS3D_BULLETCONSTRAINT3D_HPP
+#endif // NAZARA_JOLTPHYSICS3D_JOLTCONSTRAINT3D_HPP

include/Nazara/JoltPhysics3D/JoltConstraint3D.inl

@@ -0,0 +1,27 @@
+// Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
+// This file is part of the "Nazara Engine - JoltPhysics3D module"
+// For conditions of distribution and use, see copyright notice in Config.hpp
+
+#include <Nazara/JoltPhysics3D/Debug.hpp>
+
+namespace Nz
+{
+	inline bool BulletConstraint3D::IsBodyCollisionEnabled() const
+	{
+		return m_bodyCollisionEnabled;
+	}
+
+	template<typename T>
+	T* BulletConstraint3D::GetConstraint()
+	{
+		return SafeCast<T*>(m_constraint.get());
+	}
+
+	template<typename T>
+	const T* BulletConstraint3D::GetConstraint() const
+	{
+		return SafeCast<const T*>(m_constraint.get());
+	}
+}
+
+#include <Nazara/JoltPhysics3D/DebugOff.hpp>

include/Nazara/JoltPhysics3D/JoltPhysWorld3D.hpp

@@ -0,0 +1,72 @@
+// Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
+// This file is part of the "Nazara Engine - JoltPhysics3D module"
+// For conditions of distribution and use, see copyright notice in Config.hpp
+
+#pragma once
+
+#ifndef NAZARA_JOLTPHYSICS3D_JOLTPHYSWORLD3D_HPP
+#define NAZARA_JOLTPHYSICS3D_JOLTPHYSWORLD3D_HPP
+
+#include <Nazara/Prerequisites.hpp>
+#include <Nazara/JoltPhysics3D/Config.hpp>
+#include <Nazara/Core/Time.hpp>
+#include <Nazara/Math/Box.hpp>
+#include <Nazara/Math/Vector3.hpp>
+#include <Nazara/Utils/FunctionRef.hpp>
+#include <Nazara/Utils/MovablePtr.hpp>
+
+namespace JPH
+{
+	class PhysicsSystem;
+}
+
+namespace Nz
+{
+	class JoltRigidBody3D;
+
+	class NAZARA_JOLTPHYSICS3D_API JoltPhysWorld3D
+	{
+		public:
+			struct RaycastHit;
+
+			JoltPhysWorld3D();
+			JoltPhysWorld3D(const JoltPhysWorld3D&) = delete;
+			JoltPhysWorld3D(JoltPhysWorld3D&& ph) = delete;
+			~JoltPhysWorld3D();
+
+			Vector3f GetGravity() const;
+			std::size_t GetMaxStepCount() const;
+			JPH::PhysicsSystem* GetPhysicsSystem();
+			Time GetStepSize() const;
+
+			bool RaycastQueryFirst(const Vector3f& from, const Vector3f& to, RaycastHit* hitInfo = nullptr);
+
+			void SetGravity(const Vector3f& gravity);
+			void SetMaxStepCount(std::size_t maxStepCount);
+			void SetStepSize(Time stepSize);
+
+			void Step(Time timestep);
+
+			JoltPhysWorld3D& operator=(const JoltPhysWorld3D&) = delete;
+			JoltPhysWorld3D& operator=(JoltPhysWorld3D&&) = delete;
+
+			struct RaycastHit
+			{
+				float fraction;
+				JoltRigidBody3D* hitBody = nullptr;
+				Vector3f hitPosition;
+				Vector3f hitNormal;
+			};
+
+		private:
+			struct JoltWorld;
+
+			std::size_t m_maxStepCount;
+			std::unique_ptr<JoltWorld> m_world;
+			Vector3f m_gravity;
+			Time m_stepSize;
+			Time m_timestepAccumulator;
+	};
+}
+
+#endif // NAZARA_JOLTPHYSICS3D_JOLTPHYSWORLD3D_HPP

include/Nazara/JoltPhysics3D/JoltPhysics3D.hpp

@@ -0,0 +1,44 @@
+// Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
+// This file is part of the "Nazara Engine - JoltPhysics3D module"
+// For conditions of distribution and use, see copyright notice in Config.hpp
+
+#pragma once
+
+#ifndef NAZARA_JOLTPHYSICS3D_HPP
+#define NAZARA_JOLTPHYSICS3D_HPP
+
+#include <Nazara/Prerequisites.hpp>
+#include <Nazara/JoltPhysics3D/Config.hpp>
+#include <Nazara/Core/Core.hpp>
+#include <memory>
+
+namespace JPH
+{
+	class JobSystem;
+	class JobSystemThreadPool;
+}
+
+namespace Nz
+{
+	class NAZARA_JOLTPHYSICS3D_API JoltPhysics3D : public ModuleBase<JoltPhysics3D>
+	{
+		friend ModuleBase;
+
+		public:
+			using Dependencies = TypeList<Core>;
+
+			struct Config {};
+
+			JoltPhysics3D(Config /*config*/);
+			~JoltPhysics3D();
+
+			JPH::JobSystem& GetThreadPool();
+
+		private:
+			std::unique_ptr<JPH::JobSystemThreadPool> m_threadPool;
+
+			static JoltPhysics3D* s_instance;
+	};
+}
+
+#endif // NAZARA_JOLTPHYSICS3D_HPP

include/Nazara/JoltPhysics3D/JoltRigidBody3D.hpp

@@ -0,0 +1,90 @@
+// Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
+// This file is part of the "Nazara Engine - JoltPhysics3D module"
+// For conditions of distribution and use, see copyright notice in Config.hpp
+
+#pragma once
+
+#ifndef NAZARA_JOLTPHYSICS3D_JOLTRIGIDBODY3D_HPP
+#define NAZARA_JOLTPHYSICS3D_JOLTRIGIDBODY3D_HPP
+
+#include <Nazara/Prerequisites.hpp>
+#include <Nazara/JoltPhysics3D/JoltCollider3D.hpp>
+#include <Nazara/JoltPhysics3D/Config.hpp>
+#include <Nazara/Core/Enums.hpp>
+#include <Nazara/Math/Matrix4.hpp>
+#include <Nazara/Math/Quaternion.hpp>
+#include <Nazara/Math/Vector3.hpp>
+#include <Nazara/Utils/MovablePtr.hpp>
+
+namespace Nz
+{
+	class JoltPhysWorld3D;
+
+	class NAZARA_JOLTPHYSICS3D_API JoltRigidBody3D
+	{
+		public:
+			JoltRigidBody3D(JoltPhysWorld3D* world, const Matrix4f& mat = Matrix4f::Identity());
+			JoltRigidBody3D(JoltPhysWorld3D* world, std::shared_ptr<JoltCollider3D> geom, const Matrix4f& mat = Matrix4f::Identity());
+			JoltRigidBody3D(const JoltRigidBody3D& object) = delete;
+			JoltRigidBody3D(JoltRigidBody3D&& object) noexcept;
+			~JoltRigidBody3D();
+
+			void AddForce(const Vector3f& force, CoordSys coordSys = CoordSys::Global);
+			void AddForce(const Vector3f& force, const Vector3f& point, CoordSys coordSys = CoordSys::Global);
+			void AddTorque(const Vector3f& torque, CoordSys coordSys = CoordSys::Global);
+
+			inline void DisableSleeping();
+			void EnableSleeping(bool enable);
+
+			void FallAsleep();
+
+			Boxf GetAABB() const;
+			float GetAngularDamping() const;
+			Vector3f GetAngularVelocity() const;
+			inline const std::shared_ptr<JoltCollider3D>& GetGeom() const;
+			float GetLinearDamping() const;
+			Vector3f GetLinearVelocity() const;
+			float GetMass() const;
+			Vector3f GetMassCenter(CoordSys coordSys = CoordSys::Local) const;
+			Matrix4f GetMatrix() const;
+			Vector3f GetPosition() const;
+			Quaternionf GetRotation() const;
+			inline JoltPhysWorld3D* GetWorld() const;
+
+			bool IsSimulationEnabled() const;
+			bool IsSleeping() const;
+			bool IsSleepingEnabled() const;
+
+			void SetAngularDamping(float angularDamping);
+			void SetAngularVelocity(const Vector3f& angularVelocity);
+			void SetGeom(std::shared_ptr<JoltCollider3D> geom, bool recomputeInertia = true);
+			void SetLinearDamping(float damping);
+			void SetLinearVelocity(const Vector3f& velocity);
+			void SetMass(float mass);
+			void SetMassCenter(const Vector3f& center);
+			void SetPosition(const Vector3f& position);
+			void SetRotation(const Quaternionf& rotation);
+
+			Quaternionf ToLocal(const Quaternionf& worldRotation);
+			Vector3f ToLocal(const Vector3f& worldPosition);
+			Quaternionf ToWorld(const Quaternionf& localRotation);
+			Vector3f ToWorld(const Vector3f& localPosition);
+
+			void WakeUp();
+
+			JoltRigidBody3D& operator=(const JoltRigidBody3D& object) = delete;
+			JoltRigidBody3D& operator=(JoltRigidBody3D&& object) noexcept;
+
+		protected:
+			void Destroy();
+
+		private:
+			std::shared_ptr<JoltCollider3D> m_geom;
+			JoltPhysWorld3D* m_world;
+			UInt32 m_bodyIndex;
+	};
+}
+
+#include <Nazara/JoltPhysics3D/JoltRigidBody3D.inl>
+
+#endif // NAZARA_JOLTPHYSICS3D_JOLTRIGIDBODY3D_HPP

include/Nazara/JoltPhysics3D/JoltRigidBody3D.inl

@@ -0,0 +1,25 @@
+// Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
+// This file is part of the "Nazara Engine - JoltPhysics3D module"
+// For conditions of distribution and use, see copyright notice in Config.hpp
+
+#include <Nazara/JoltPhysics3D/Debug.hpp>
+
+namespace Nz
+{
+	inline void JoltRigidBody3D::DisableSleeping()
+	{
+		return EnableSleeping(false);
+	}
+
+	inline const std::shared_ptr<JoltCollider3D>& JoltRigidBody3D::GetGeom() const
+	{
+		return m_geom;
+	}
+
+	inline JoltPhysWorld3D* JoltRigidBody3D::GetWorld() const
+	{
+		return m_world;
+	}
+}
+
+#include <Nazara/JoltPhysics3D/DebugOff.hpp>

include/Nazara/JoltPhysics3D/Systems.hpp

@@ -0,0 +1,34 @@
+// this file was automatically generated and should not be edited
+
+/*
+	Nazara Engine - BulletPhysics3D module
+
+	Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
+
+	Permission is hereby granted, free of charge, to any person obtaining a copy of
+	this software and associated documentation files (the "Software"), to deal in
+	the Software without restriction, including without limitation the rights to
+	use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+	of the Software, and to permit persons to whom the Software is furnished to do
+	so, subject to the following conditions:
+
+	The above copyright notice and this permission notice shall be included in all
+	copies or substantial portions of the Software.
+
+	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+	SOFTWARE.
+*/
+
+#pragma once
+
+#ifndef NAZARA_JOLTPHYSICS3D_SYSTEMS_HPP
+#define NAZARA_JOLTPHYSICS3D_SYSTEMS_HPP
+
+#include <Nazara/JoltPhysics3D/Systems/JoltPhysics3DSystem.hpp>
+
+#endif // NAZARA_JOLTPHYSICS3D_SYSTEMS_HPP

include/Nazara/JoltPhysics3D/Systems/JoltPhysics3DSystem.hpp

@@ -0,0 +1,71 @@
+// Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
+// This file is part of the "Nazara Engine - JoltPhysics3D module"
+// For conditions of distribution and use, see copyright notice in Config.hpp
+
+#pragma once
+
+#ifndef NAZARA_JOLTPHYSICS3D_SYSTEMS_JOLTPHYSICS3DSYSTEM_HPP
+#define NAZARA_JOLTPHYSICS3D_SYSTEMS_JOLTPHYSICS3DSYSTEM_HPP
+
+#include <Nazara/Prerequisites.hpp>
+#include <Nazara/Core/Clock.hpp>
+#include <Nazara/JoltPhysics3D/JoltPhysWorld3D.hpp>
+#include <Nazara/JoltPhysics3D/Components/JoltRigidBody3DComponent.hpp>
+#include <Nazara/Core/Time.hpp>
+#include <Nazara/Utils/TypeList.hpp>
+#include <entt/entt.hpp>
+#include <vector>
+
+namespace Nz
+{
+	class NAZARA_JOLTPHYSICS3D_API JoltPhysics3DSystem
+	{
+		public:
+			static constexpr Int64 ExecutionOrder = 0;
+			using Components = TypeList<JoltRigidBody3DComponent, class NodeComponent>;
+
+			struct RaycastHit;
+
+			JoltPhysics3DSystem(entt::registry& registry);
+			JoltPhysics3DSystem(const JoltPhysics3DSystem&) = delete;
+			JoltPhysics3DSystem(JoltPhysics3DSystem&&) = delete;
+			~JoltPhysics3DSystem();
+
+			template<typename... Args> JoltRigidBody3DComponent CreateRigidBody(Args&&... args);
+
+			void Dump();
+
+			inline JoltPhysWorld3D& GetPhysWorld();
+			inline const JoltPhysWorld3D& GetPhysWorld() const;
+
+			bool RaycastQueryFirst(const Vector3f& from, const Vector3f& to, RaycastHit* hitInfo = nullptr);
+
+			void Update(Time elapsedTime);
+
+			JoltPhysics3DSystem& operator=(const JoltPhysics3DSystem&) = delete;
+			JoltPhysics3DSystem& operator=(JoltPhysics3DSystem&&) = delete;
+
+			struct RaycastHit : JoltPhysWorld3D::RaycastHit
+			{
+				entt::handle hitEntity;
+			};
+
+		private:
+			void OnConstruct(entt::registry& registry, entt::entity entity);
+			void OnDestruct(entt::registry& registry, entt::entity entity);
+
+			std::size_t m_stepCount;
+			std::vector<entt::entity> m_physicsEntities;
+			entt::registry& m_registry;
+			entt::observer m_physicsConstructObserver;
+			entt::scoped_connection m_constructConnection;
+			entt::scoped_connection m_destructConnection;
+			JoltPhysWorld3D m_physWorld;
+			Time m_physicsTime;
+			Time m_updateTime;
+	};
+}
+
+#include <Nazara/JoltPhysics3D/Systems/JoltPhysics3DSystem.inl>
+
+#endif // NAZARA_JOLTPHYSICS3D_SYSTEMS_JOLTPHYSICS3DSYSTEM_HPP

include/Nazara/JoltPhysics3D/Systems/JoltPhysics3DSystem.inl

@@ -0,0 +1,26 @@
+// Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
+// This file is part of the "Nazara Engine - JoltPhysics3D module"
+// For conditions of distribution and use, see copyright notice in Config.hpp
+
+#include <Nazara/JoltPhysics3D/Debug.hpp>
+
+namespace Nz
+{
+	template<typename... Args>
+	JoltRigidBody3DComponent JoltPhysics3DSystem::CreateRigidBody(Args&&... args)
+	{
+		return JoltRigidBody3DComponent(&m_physWorld, std::forward<Args>(args)...);
+	}
+
+	inline JoltPhysWorld3D& JoltPhysics3DSystem::GetPhysWorld()
+	{
+		return m_physWorld;
+	}
+
+	inline const JoltPhysWorld3D& JoltPhysics3DSystem::GetPhysWorld() const
+	{
+		return m_physWorld;
+	}
+}
+
+#include <Nazara/JoltPhysics3D/DebugOff.hpp>