Add JoltPhysics3D for a performance test
This commit is contained in:
SirLynix
committed by
Jérôme Leclercq
Jérôme Leclercq
parent
bd4c2d6ee7
commit
c5ac142888
325
src/Nazara/JoltPhysics3D/JoltRigidBody3D.cpp
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325
src/Nazara/JoltPhysics3D/JoltRigidBody3D.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 - JoltPhysics3D module"
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// For conditions of distribution and use, see copyright notice in Config.hpp
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#include <Nazara/JoltPhysics3D/JoltRigidBody3D.hpp>
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#include <Nazara/JoltPhysics3D/JoltHelper.hpp>
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#include <Nazara/JoltPhysics3D/JoltPhysWorld3D.hpp>
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#include <Nazara/JoltPhysics3D/JoltRigidBody3D.hpp>
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#include <Nazara/Utils/MemoryHelper.hpp>
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#include <Jolt/Jolt.h>
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#include <Jolt/Physics/PhysicsSystem.h>
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#include <Jolt/Physics/Body/BodyCreationSettings.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/JoltPhysics3D/Debug.hpp>
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namespace Nz
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{
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JoltRigidBody3D::JoltRigidBody3D(JoltPhysWorld3D* world, const Matrix4f& mat) :
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JoltRigidBody3D(world, nullptr, mat)
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{
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}
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JoltRigidBody3D::JoltRigidBody3D(JoltPhysWorld3D* world, std::shared_ptr<JoltCollider3D> 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<JoltSphereCollider3D>(1.f);
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JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterface();
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JPH::Vec3 position = ToJolt(mat.GetTranslation());
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JPH::Quat rotation = ToJolt(mat.GetRotation().Normalize());
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JPH::BodyCreationSettings settings(m_geom->GetShapeSettings(), position, rotation, JPH::EMotionType::Dynamic, 1);
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settings.mAllowSleeping = false;
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JPH::Body* body = body_interface.CreateBody(settings);
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body->SetUserData(SafeCast<UInt64>(reinterpret_cast<std::uintptr_t>(this)));
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body_interface.AddBody(body->GetID(), JPH::EActivation::Activate);
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m_bodyIndex = body->GetID().GetIndexAndSequenceNumber();
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}
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JoltRigidBody3D::JoltRigidBody3D(JoltRigidBody3D&& object) noexcept :
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m_geom(std::move(object.m_geom)),
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m_bodyIndex(object.m_bodyIndex),
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m_world(object.m_world)
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{
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object.m_bodyIndex = JPH::BodyID::cInvalidBodyID;
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}
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JoltRigidBody3D::~JoltRigidBody3D()
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{
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Destroy();
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}
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#if 0
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void JoltRigidBody3D::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(ToJolt(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(ToJolt(GetRotation() * force));
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break;
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}
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}
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void JoltRigidBody3D::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(ToJolt(force), ToJolt(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 JoltRigidBody3D::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(ToJolt(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(ToJolt(transformMatrix.Transform(torque, 0.f)));
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break;
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}
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}
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#endif
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void JoltRigidBody3D::EnableSleeping(bool enable)
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{
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}
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#if 0
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void JoltRigidBody3D::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 JoltRigidBody3D::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(FromJolt(min), FromJolt(max));
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}
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float JoltRigidBody3D::GetAngularDamping() const
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{
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return m_body->getAngularDamping();
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}
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Vector3f JoltRigidBody3D::GetAngularVelocity() const
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{
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return FromJolt(m_body->getAngularVelocity());
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}
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float JoltRigidBody3D::GetLinearDamping() const
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{
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return m_body->getLinearDamping();
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}
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Vector3f JoltRigidBody3D::GetLinearVelocity() const
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{
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return FromJolt(m_body->getLinearVelocity());
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}
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float JoltRigidBody3D::GetMass() const
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{
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return m_body->getMass();
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}
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Vector3f JoltRigidBody3D::GetMassCenter(CoordSys coordSys) const
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{
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return FromJolt(m_body->getCenterOfMassPosition());
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}
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Matrix4f JoltRigidBody3D::GetMatrix() const
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{
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return FromJolt(m_body->getWorldTransform());
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}
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#endif
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Vector3f JoltRigidBody3D::GetPosition() const
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{
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JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterface();
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return FromJolt(body_interface.GetPosition(JPH::BodyID(m_bodyIndex)));
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}
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Quaternionf JoltRigidBody3D::GetRotation() const
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{
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JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterface();
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return FromJolt(body_interface.GetRotation(JPH::BodyID(m_bodyIndex)));
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}
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#if 0
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bool JoltRigidBody3D::IsSimulationEnabled() const
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{
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return m_body->isActive();
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}
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#endif
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bool JoltRigidBody3D::IsSleeping() const
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{
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JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterface();
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return !body_interface.IsActive(JPH::BodyID(m_bodyIndex));
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}
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#if 0
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bool JoltRigidBody3D::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 JoltRigidBody3D::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 JoltRigidBody3D::SetAngularVelocity(const Vector3f& angularVelocity)
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{
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m_body->setAngularVelocity(ToJolt(angularVelocity));
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}
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void JoltRigidBody3D::SetGeom(std::shared_ptr<JoltCollider3D> 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, ToJolt(inertia));
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}
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}
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}
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void JoltRigidBody3D::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 JoltRigidBody3D::SetLinearVelocity(const Vector3f& velocity)
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{
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m_body->setLinearVelocity(ToJolt(velocity));
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}
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#endif 0
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void JoltRigidBody3D::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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JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterface();
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body_interface.SetMotionType(JPH::BodyID(m_bodyIndex), (mass > 0.f) ? JPH::EMotionType::Dynamic : JPH::EMotionType::Static, JPH::EActivation::Activate);
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}
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#if 0
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void JoltRigidBody3D::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(ToJolt(center));
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m_body->setCenterOfMassTransform(centerTransform);
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}
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#endif 0
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void JoltRigidBody3D::SetPosition(const Vector3f& position)
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{
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JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterface();
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body_interface.SetPosition(JPH::BodyID(m_bodyIndex), ToJolt(position), JPH::EActivation::Activate);
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}
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void JoltRigidBody3D::SetRotation(const Quaternionf& rotation)
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{
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JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterface();
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body_interface.SetRotation(JPH::BodyID(m_bodyIndex), ToJolt(rotation), JPH::EActivation::Activate);
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}
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#if 0
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Quaternionf JoltRigidBody3D::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 JoltRigidBody3D::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 JoltRigidBody3D::ToWorld(const Quaternionf& localRotation)
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{
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return GetRotation() * localRotation;
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}
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Vector3f JoltRigidBody3D::ToWorld(const Vector3f& localPosition)
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{
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return GetMatrix() * localPosition;
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}
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void JoltRigidBody3D::WakeUp()
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{
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m_body->activate();
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}
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#endif
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JoltRigidBody3D& JoltRigidBody3D::operator=(JoltRigidBody3D&& object) noexcept
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{
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Destroy();
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m_bodyIndex = object.m_bodyIndex;
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m_geom = std::move(object.m_geom);
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m_world = object.m_world;
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object.m_bodyIndex = JPH::BodyID::cInvalidBodyID;
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return *this;
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}
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void JoltRigidBody3D::Destroy()
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{
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if (m_bodyIndex != JPH::BodyID::cInvalidBodyID)
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{
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JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterface();
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body_interface.RemoveBody(JPH::BodyID(m_bodyIndex));
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body_interface.DestroyBody(JPH::BodyID(m_bodyIndex));
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m_bodyIndex = JPH::BodyID::cInvalidBodyID;
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}
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m_geom.reset();
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}
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}
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