Rename ChipmunkPhysics2D and JoltPhysics3D to Physics[2D|3D]

2024-02-09 20:59:53 +01:00
parent 139bed2b0a
commit e336c8a514
116 changed files with 3044 additions and 3042 deletions
--- a/include/Nazara/Physics3D/RigidBody3D.hpp
+++ b/include/Nazara/Physics3D/RigidBody3D.hpp
@@ -0,0 +1,162 @@
+// Copyright (C) 2024 Jérôme "SirLynix" Leclercq (lynix680@gmail.com)
+// This file is part of the "Nazara Engine - Physics3D module"
+// For conditions of distribution and use, see copyright notice in Config.hpp
+
+#pragma once
+
+#ifndef NAZARA_PHYSICS3D_RIGIDBODY3D_HPP
+#define NAZARA_PHYSICS3D_RIGIDBODY3D_HPP
+
+#include <NazaraUtils/Prerequisites.hpp>
+#include <Nazara/Core/Enums.hpp>
+#include <Nazara/Math/Matrix4.hpp>
+#include <Nazara/Math/Quaternion.hpp>
+#include <Nazara/Math/Vector3.hpp>
+#include <Nazara/Physics3D/Collider3D.hpp>
+#include <Nazara/Physics3D/Config.hpp>
+#include <Nazara/Physics3D/Physics3DBody.hpp>
+#include <NazaraUtils/MovablePtr.hpp>
+
+namespace JPH
+{
+	class Body;
+	class BodyCreationSettings;
+}
+
+namespace Nz
+{
+	class PhysWorld3D;
+
+	class NAZARA_PHYSICS3D_API RigidBody3D : public Physics3DBody
+	{
+		public:
+			struct DynamicSettings;
+			struct StaticSettings;
+
+			inline RigidBody3D(PhysWorld3D& world, const DynamicSettings& settings);
+			inline RigidBody3D(PhysWorld3D& world, const StaticSettings& settings);
+			RigidBody3D(const RigidBody3D& object) = delete;
+			RigidBody3D(RigidBody3D&& object) noexcept;
+			~RigidBody3D();
+
+			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 DisableSimulation();
+			inline void DisableSleeping();
+			void EnableSimulation(bool enable);
+			void EnableSleeping(bool enable);
+
+			void FallAsleep();
+
+			Boxf GetAABB() const;
+			float GetAngularDamping() const;
+			Vector3f GetAngularVelocity() const;
+			inline JPH::Body* GetBody();
+			inline const JPH::Body* GetBody() const;
+			UInt32 GetBodyIndex() const override;
+			inline const std::shared_ptr<Collider3D>& GetGeom() const;
+			float GetLinearDamping() const;
+			Vector3f GetLinearVelocity() const;
+			float GetMass() const;
+			Matrix4f GetMatrix() const;
+			Vector3f GetPosition() const;
+			std::pair<Vector3f, Quaternionf> GetPositionAndRotation() const;
+			Quaternionf GetRotation() const;
+			inline PhysWorld3D& GetWorld() const;
+
+			inline bool IsSimulationEnabled() const;
+			bool IsSleeping() const;
+			bool IsSleepingEnabled() const;
+			bool IsStatic() const;
+
+			void SetAngularDamping(float angularDamping);
+			void SetAngularVelocity(const Vector3f& angularVelocity);
+			void SetGeom(std::shared_ptr<Collider3D> geom, bool recomputeInertia = true);
+			void SetLinearDamping(float damping);
+			void SetLinearVelocity(const Vector3f& velocity);
+			void SetMass(float mass, bool recomputeInertia = true);
+			void SetPosition(const Vector3f& position);
+			void SetRotation(const Quaternionf& rotation);
+
+			void TeleportTo(const Vector3f& position, 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();
+
+			RigidBody3D& operator=(const RigidBody3D& object) = delete;
+			RigidBody3D& operator=(RigidBody3D&& object) noexcept;
+
+			struct CommonSettings
+			{
+				std::shared_ptr<Collider3D> geom;
+				Quaternionf rotation = Quaternionf::Identity();
+				Vector3f position = Vector3f::Zero();
+				bool initiallySleeping = false;
+				bool isSimulationEnabled = true;
+				bool isTrigger = false;
+			};
+
+			struct DynamicSettings : CommonSettings
+			{
+				DynamicSettings() = default;
+				DynamicSettings(std::shared_ptr<Collider3D> collider, float mass_) :
+				mass(mass_)
+				{
+					geom = std::move(collider);
+				}
+
+				// Default values from Jolt
+				PhysMotionQuality3D motionQuality = PhysMotionQuality3D::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
+			{
+				StaticSettings() = default;
+				StaticSettings(std::shared_ptr<Collider3D> collider)
+				{
+					geom = std::move(collider);
+				}
+			};
+
+		protected:
+			RigidBody3D() = default;
+			void Create(PhysWorld3D& world, const DynamicSettings& settings);
+			void Create(PhysWorld3D& world, const StaticSettings& settings);
+			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<Collider3D> m_geom;
+			MovablePtr<JPH::Body> m_body;
+			MovablePtr<PhysWorld3D> m_world;
+			UInt32 m_bodyIndex;
+			bool m_isSimulationEnabled;
+			bool m_isTrigger;
+	};
+}
+
+#include <Nazara/Physics3D/RigidBody3D.inl>
+
+#endif // NAZARA_PHYSICS3D_RIGIDBODY3D_HPP