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JoltPhysics3D: Rework RigidBody wrapper

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- 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
2023-04-05 08:50:39 +02:00
committed by Jérôme Leclercq
parent 67b1710adb
commit d610baf920
14 changed files with 472 additions and 157 deletions
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58
include/Nazara/JoltPhysics3D/JoltRigidBody3D.hpp
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@@ -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;
};
}