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

include/Nazara/JoltPhysics3D/Enums.hpp

@@ -21,6 +21,12 @@ namespace Nz
 
 		Max = TranslatedRotatedDecoration
 	};
+
+	enum class JoltMotionQuality
+	{
+		Discrete,
+		LinearCast
+	};
 }
 
 #endif // NAZARA_JOLTPHYSICS3D_ENUMS_HPP

include/Nazara/JoltPhysics3D/JoltPhysWorld3D.hpp

@@ -20,7 +20,9 @@
 
 namespace JPH
 {
+	class BodyID;
 	class PhysicsSystem;
+	class Shape;
 }
 
 namespace Nz
@@ -31,6 +33,7 @@ namespace Nz
 	class NAZARA_JOLTPHYSICS3D_API JoltPhysWorld3D
 	{
 		friend JoltCharacter;
+		friend JoltRigidBody3D;
 
 		public:
 			struct RaycastHit;
@@ -47,10 +50,13 @@ namespace Nz
 			Time GetStepSize() const;
 
 			inline bool IsBodyActive(UInt32 bodyIndex) const;
+			inline bool IsBodyRegistered(UInt32 bodyIndex) const;
 
 			bool RaycastQuery(const Vector3f& from, const Vector3f& to, const FunctionRef<std::optional<float>(const RaycastHit& hitInfo)>& callback);
 			bool RaycastQueryFirst(const Vector3f& from, const Vector3f& to, const FunctionRef<void(const RaycastHit& hitInfo)>& callback);
 
+			void RefreshBodies();
+
 			void SetGravity(const Vector3f& gravity);
 			void SetMaxStepCount(std::size_t maxStepCount);
 			void SetStepSize(Time stepSize);
@@ -77,13 +83,19 @@ namespace Nz
 
 			struct JoltWorld;
 
+			const JPH::Shape* GetNullShape() const;
+
 			void OnPreStep(float deltatime);
 
+			void RegisterBody(const JPH::BodyID& bodyID, bool activate, bool removeFromDeactivationList);
 			inline void RegisterCharacter(JoltCharacter* character);
+
+			void UnregisterBody(const JPH::BodyID& bodyID, bool destroy, bool removeFromRegisterList);
 			inline void UnregisterCharacter(JoltCharacter* character);
 
 			std::size_t m_maxStepCount;
 			std::unique_ptr<std::atomic_uint64_t[]> m_activeBodies;
+			std::unique_ptr<std::uint64_t[]> m_registeredBodies;
 			std::unique_ptr<JoltWorld> m_world;
 			std::vector<JoltCharacter*> m_characters;
 			Vector3f m_gravity;

include/Nazara/JoltPhysics3D/JoltPhysWorld3D.inl

@@ -14,6 +14,14 @@ namespace Nz
 		return m_activeBodies[blockIndex] & (UInt64(1u) << localIndex);
 	}
 
+	inline bool JoltPhysWorld3D::IsBodyRegistered(UInt32 bodyIndex) const
+	{
+		UInt32 blockIndex = bodyIndex / 64;
+		UInt32 localIndex = bodyIndex % 64;
+
+		return m_registeredBodies[blockIndex] & (UInt64(1u) << localIndex);
+	}
+
 	inline void JoltPhysWorld3D::RegisterCharacter(JoltCharacter* character)
 	{
 		auto it = std::lower_bound(m_characters.begin(), m_characters.end(), character);

include/Nazara/JoltPhysics3D/JoltRigidBody3D.hpp

@@ -19,6 +19,7 @@
 namespace JPH
 {
 	class Body;
+	class BodyCreationSettings;
 }
 
 namespace Nz
@@ -28,8 +29,11 @@ namespace Nz
 	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());
+			struct DynamicSettings;
+			struct StaticSettings;
+
+			JoltRigidBody3D(JoltPhysWorld3D& world, const DynamicSettings& settings);
+			JoltRigidBody3D(JoltPhysWorld3D& world, const StaticSettings& settings);
 			JoltRigidBody3D(const JoltRigidBody3D& object) = delete;
 			JoltRigidBody3D(JoltRigidBody3D&& object) noexcept;
 			~JoltRigidBody3D();
@@ -38,7 +42,9 @@ namespace Nz
 			void AddForce(const Vector3f& force, const Vector3f& point, CoordSys coordSys = CoordSys::Global);
 			void AddTorque(const Vector3f& torque, CoordSys coordSys = CoordSys::Global);
 
+			inline void DisableSimulation();
 			inline void DisableSleeping();
+			void EnableSimulation(bool enable);
 			void EnableSleeping(bool enable);
 
 			void FallAsleep();
@@ -53,16 +59,16 @@ namespace Nz
 			float GetLinearDamping() const;
 			Vector3f GetLinearVelocity() const;
 			float GetMass() const;
-			Vector3f GetMassCenter(CoordSys coordSys = CoordSys::Local) const;
 			Matrix4f GetMatrix() const;
 			Vector3f GetPosition() const;
 			std::pair<Vector3f, Quaternionf> GetPositionAndRotation() const;
 			Quaternionf GetRotation() const;
-			inline JoltPhysWorld3D* GetWorld() const;
+			inline JoltPhysWorld3D& GetWorld() const;
 
-			bool IsSimulationEnabled() const;
+			inline bool IsSimulationEnabled() const;
 			bool IsSleeping() const;
 			bool IsSleepingEnabled() const;
+			bool IsStatic() const;
 
 			void SetAngularDamping(float angularDamping);
 			void SetAngularVelocity(const Vector3f& angularVelocity);
@@ -70,7 +76,6 @@ namespace Nz
 			void SetLinearDamping(float damping);
 			void SetLinearVelocity(const Vector3f& velocity);
 			void SetMass(float mass, bool recomputeInertia = true);
-			void SetMassCenter(const Vector3f& center);
 			void SetPosition(const Vector3f& position);
 			void SetRotation(const Quaternionf& rotation);
 
@@ -86,14 +91,53 @@ namespace Nz
 			JoltRigidBody3D& operator=(const JoltRigidBody3D& object) = delete;
 			JoltRigidBody3D& operator=(JoltRigidBody3D&& object) noexcept;
 
+			struct CommonSettings
+			{
+				std::shared_ptr<JoltCollider3D> geom;
+				Quaternionf rotation = Quaternionf::Identity();
+				Vector3f position = Vector3f::Zero();
+				bool initiallySleeping = false;
+				bool isSimulationEnabled = true;
+				bool isTrigger = false;
+			};
+
+			struct DynamicSettings : CommonSettings
+			{
+				// Default values from Jolt
+				JoltMotionQuality motionQuality = JoltMotionQuality::Discrete;
+				Vector3f angularVelocity = Vector3f::Zero();
+				Vector3f linearVelocity = Vector3f::Zero();
+				bool allowSleeping = true;
+				float angularDamping = 0.05f;
+				float friction = 0.2f;
+				float gravityFactor = 1.f;
+				float linearDamping = 0.05f;
+				float mass = 1.f;
+				float maxAngularVelocity = 0.25f * Pi<float> * 60.f;
+				float maxLinearVelocity = 500.f;
+				float restitution = 0.f;
+			};
+
+			struct StaticSettings : CommonSettings
+			{
+			};
+
 		protected:
-			void Destroy();
+			void Destroy(bool worldDestruction = false);
 
 		private:
+			void BuildSettings(const CommonSettings& settings, JPH::BodyCreationSettings& creationSettings);
+			void BuildSettings(const DynamicSettings& settings, JPH::BodyCreationSettings& creationSettings);
+			void BuildSettings(const StaticSettings& settings, JPH::BodyCreationSettings& creationSettings);
+
+			bool ShouldActivate() const;
+
 			std::shared_ptr<JoltCollider3D> m_geom;
 			JPH::Body* m_body;
 			JoltPhysWorld3D* m_world;
 			UInt32 m_bodyIndex;
+			bool m_isSimulationEnabled;
+			bool m_isTrigger;
 	};
 }
 

include/Nazara/JoltPhysics3D/JoltRigidBody3D.inl

@@ -6,6 +6,11 @@
 
 namespace Nz
 {
+	inline void JoltRigidBody3D::DisableSimulation()
+	{
+		return EnableSimulation(false);
+	}
+
 	inline void JoltRigidBody3D::DisableSleeping()
 	{
 		return EnableSleeping(false);
@@ -31,9 +36,14 @@ namespace Nz
 		return m_geom;
 	}
 
-	inline JoltPhysWorld3D* JoltRigidBody3D::GetWorld() const
+	inline JoltPhysWorld3D& JoltRigidBody3D::GetWorld() const
 	{
-		return m_world;
+		return *m_world;
+	}
+
+	inline bool JoltRigidBody3D::IsSimulationEnabled() const
+	{
+		return m_isSimulationEnabled;
 	}
 }
 

include/Nazara/JoltPhysics3D/Systems/JoltPhysics3DSystem.inl

@@ -9,7 +9,7 @@ namespace Nz
 	template<typename... Args>
 	JoltRigidBody3DComponent JoltPhysics3DSystem::CreateRigidBody(Args&&... args)
 	{
-		return JoltRigidBody3DComponent(&m_physWorld, std::forward<Args>(args)...);
+		return JoltRigidBody3DComponent(m_physWorld, std::forward<Args>(args)...);
 	}
 
 	inline JoltPhysWorld3D& JoltPhysics3DSystem::GetPhysWorld()