JoltPhysics3D: Rework RigidBody wrapper
- Add a clear way to setup dynamic/kinematic or static bodies - Body registration to the world is batched (all bodies created before a physics step are added together, which is what Jolt is optimized for) - Added support for empty shapes (= rigid bodies without collision) using a very small shape and tagging the body as sensor
This commit is contained in:
SirLynix
committed by
Jérôme Leclercq
Jérôme Leclercq
parent
67b1710adb
commit
d610baf920
@@ -31,7 +31,7 @@ int main()
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#endif
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auto& windowing = app.AddComponent<Nz::AppWindowingComponent>();
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Nz::Window& mainWindow = windowing.CreateWindow(Nz::VideoMode(1920, 1080), "Physics playground");
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Nz::Window& mainWindow = windowing.CreateWindow(Nz::VideoMode(1280, 720), "Physics playground");
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auto& fs = app.AddComponent<Nz::AppFilesystemComponent>();
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{
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@@ -86,7 +86,8 @@ int main()
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boxEntity.emplace<Nz::NodeComponent>();
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#if USE_JOLT
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std::shared_ptr<Nz::JoltBoxCollider3D> wallCollider = std::make_shared<Nz::JoltBoxCollider3D>(Nz::Vector3f(BoxDims, BoxDims, 1.f));
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float thickness = 1.f;
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std::shared_ptr<Nz::JoltBoxCollider3D> wallCollider = std::make_shared<Nz::JoltBoxCollider3D>(Nz::Vector3f(BoxDims + thickness * 2.f, BoxDims + thickness * 2.f, thickness));
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#else
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std::shared_ptr<Nz::BulletBoxCollider3D> wallCollider = std::make_shared<Nz::BulletBoxCollider3D>(Nz::Vector3f(BoxDims, BoxDims, 1.f));
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#endif
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@@ -116,11 +117,13 @@ int main()
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#endif
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#if USE_JOLT
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auto& ballPhysics = boxEntity.emplace<Nz::JoltRigidBody3DComponent>(physSystem.CreateRigidBody(boxCollider));
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Nz::JoltRigidBody3D::StaticSettings settings;
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settings.geom = boxCollider;
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auto& boxBody = boxEntity.emplace<Nz::JoltRigidBody3DComponent>(physSystem.CreateRigidBody(settings));
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#else
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auto& ballPhysics = boxEntity.emplace<Nz::BulletRigidBody3DComponent>(physSystem.CreateRigidBody(boxCollider));
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auto& boxBody = boxEntity.emplace<Nz::BulletRigidBody3DComponent>(physSystem.CreateRigidBody(boxCollider));
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#endif
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ballPhysics.SetMass(0.f);
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std::shared_ptr<Nz::Model> colliderModel;
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{
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@@ -132,14 +135,14 @@ int main()
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return true;
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});
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/*std::shared_ptr<Nz::Mesh> colliderMesh = Nz::Mesh::Build(boxCollider->GenerateDebugMesh());
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std::shared_ptr<Nz::Mesh> colliderMesh = Nz::Mesh::Build(boxCollider->GenerateDebugMesh());
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std::shared_ptr<Nz::GraphicalMesh> colliderGraphicalMesh = Nz::GraphicalMesh::BuildFromMesh(*colliderMesh);
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colliderModel = std::make_shared<Nz::Model>(colliderGraphicalMesh);
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for (std::size_t i = 0; i < colliderModel->GetSubMeshCount(); ++i)
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colliderModel->SetMaterial(i, colliderMat);
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boxGfx.AttachRenderable(std::move(colliderModel));*/
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boxGfx.AttachRenderable(std::move(colliderModel));
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}
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}
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@@ -178,11 +181,14 @@ int main()
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ballNode.SetScale(radius);
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#if USE_JOLT
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auto& ballPhysics = ballEntity.emplace<Nz::JoltRigidBody3DComponent>(physSystem.CreateRigidBody(sphereCollider));
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Nz::JoltRigidBody3D::DynamicSettings settings;
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settings.geom = sphereCollider;
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settings.mass = 4.f / 3.f * Nz::Pi<float> * Nz::IntegralPow(radius, 3);
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auto& ballPhysics = ballEntity.emplace<Nz::JoltRigidBody3DComponent>(physSystem.CreateRigidBody(settings));
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#else
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auto& ballPhysics = ballEntity.emplace<Nz::BulletRigidBody3DComponent>(physSystem.CreateRigidBody(sphereCollider));
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#endif
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ballPhysics.SetMass(4.f / 3.f * Nz::Pi<float> * Nz::IntegralPow(radius, 3));
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//ballPhysics.DisableSleeping();
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}
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@@ -222,12 +228,14 @@ int main()
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#endif
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#if USE_JOLT
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auto& ballPhysics = ballEntity.emplace<Nz::JoltRigidBody3DComponent>(physSystem.CreateRigidBody(boxCollider));
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Nz::JoltRigidBody3D::DynamicSettings settings;
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settings.geom = boxCollider;
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settings.mass = width * height * depth;
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ballEntity.emplace<Nz::JoltRigidBody3DComponent>(physSystem.CreateRigidBody(settings));
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#else
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auto& ballPhysics = ballEntity.emplace<Nz::BulletRigidBody3DComponent>(physSystem.CreateRigidBody(boxCollider));
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ballEntity.emplace<Nz::BulletRigidBody3DComponent>(physSystem.CreateRigidBody(boxCollider));
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#endif
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ballPhysics.SetMass(width * height * depth);
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//ballPhysics.DisableSleeping();
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}
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// Lumière
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@@ -273,7 +281,43 @@ int main()
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NazaraSlot(Nz::WindowEventHandler, OnMouseMoved, cameraMove);
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NazaraSlot(Nz::WindowEventHandler, OnMouseMoved, grabbedObjectMove);
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#if USE_JOLT
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std::optional<Nz::JoltPivotConstraint3D> grabConstraint;
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struct GrabConstraint
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{
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GrabConstraint(Nz::JoltRigidBody3D& body, const Nz::Vector3f& grabPos) :
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grabBody(body.GetWorld(), BodySettings(grabPos)),
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grabConstraint(body, grabBody, grabPos)
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{
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body.WakeUp();
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body.EnableSleeping(false);
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grabConstraint.SetDamping(1.f);
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grabConstraint.SetFrequency(5.f);
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}
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~GrabConstraint()
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{
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grabConstraint.GetBodyA().EnableSleeping(true);
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}
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void SetPosition(const Nz::Vector3f& pos)
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{
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grabBody.SetPosition(pos);
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}
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static Nz::JoltRigidBody3D::DynamicSettings BodySettings(const Nz::Vector3f& pos)
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{
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Nz::JoltRigidBody3D::DynamicSettings settings;
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settings.mass = 0.f; //< kinematic
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settings.isSimulationEnabled = false;
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settings.position = pos;
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return settings;
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}
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Nz::JoltRigidBody3D grabBody;
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Nz::JoltDistanceConstraint3D grabConstraint;
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};
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std::optional<GrabConstraint> grabConstraint;
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#else
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std::optional<Nz::BulletPivotConstraint3D> grabConstraint;
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#endif
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@@ -328,8 +372,12 @@ int main()
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{
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if (lastHitInfo.hitBody && lastHitInfo.hitEntity != boxEntity)
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{
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#if USE_JOLT
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grabConstraint.emplace(*lastHitInfo.hitBody, lastHitInfo.hitPosition);
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//grabConstraint->SetImpulseClamp(30.f);
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#else
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grabConstraint.emplace(*lastHitInfo.hitBody, lastHitInfo.hitPosition);
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grabConstraint->SetImpulseClamp(30.f);
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#endif
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grabbedObjectMove.Connect(eventHandler.OnMouseMoved, [&, body = lastHitInfo.hitBody, distance = Nz::Vector3f::Distance(from, lastHitInfo.hitPosition)](const Nz::WindowEventHandler*, const Nz::WindowEvent::MouseMoveEvent& event)
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{
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@@ -337,7 +385,11 @@ int main()
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Nz::Vector3f to = cameraComponent.Unproject({ float(event.x), float(event.y), 1.f });
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Nz::Vector3f newPosition = from + (to - from).Normalize() * distance;
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#if USE_JOLT
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grabConstraint->SetPosition(newPosition);
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#else
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grabConstraint->SetSecondAnchor(newPosition);
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#endif
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});
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}
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else
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