Rename ChipmunkPhysics2D and JoltPhysics3D to Physics[2D|3D]
This commit is contained in:
Lynix
216
src/Nazara/Physics3D/Systems/Physics3DSystem.cpp
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216
src/Nazara/Physics3D/Systems/Physics3DSystem.cpp
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// Copyright (C) 2024 Jérôme "SirLynix" Leclercq (lynix680@gmail.com)
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// This file is part of the "Nazara Engine - Physics3D module"
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// For conditions of distribution and use, see copyright notice in Config.hpp
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#include <Nazara/Physics3D/Systems/Physics3DSystem.hpp>
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#include <Nazara/Core/Components/DisabledComponent.hpp>
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#include <Nazara/Physics3D/Physics3DBody.hpp>
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#include <Nazara/Utility/Components/NodeComponent.hpp>
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#include <Nazara/Physics3D/Debug.hpp>
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namespace Nz
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{
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Physics3DSystem::Physics3DSystem(entt::registry& registry) :
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m_registry(registry),
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m_characterConstructObserver(m_registry, entt::collector.group<PhysCharacter3DComponent, NodeComponent>(entt::exclude<DisabledComponent, RigidBody3DComponent>)),
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m_rigidBodyConstructObserver(m_registry, entt::collector.group<RigidBody3DComponent, NodeComponent>(entt::exclude<DisabledComponent, PhysCharacter3DComponent>))
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{
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m_bodyConstructConnection = registry.on_construct<RigidBody3DComponent>().connect<&Physics3DSystem::OnBodyConstruct>(this);
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m_bodyDestructConnection = registry.on_destroy<RigidBody3DComponent>().connect<&Physics3DSystem::OnBodyDestruct>(this);
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m_characterConstructConnection = registry.on_construct<PhysCharacter3DComponent>().connect<&Physics3DSystem::OnCharacterConstruct>(this);
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m_characterDestructConnection = registry.on_destroy<PhysCharacter3DComponent>().connect<&Physics3DSystem::OnCharacterDestruct>(this);
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}
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Physics3DSystem::~Physics3DSystem()
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{
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m_characterConstructObserver.disconnect();
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m_rigidBodyConstructObserver.disconnect();
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// Ensure every RigidBody3D is destroyed before world is
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auto characterView = m_registry.view<PhysCharacter3DComponent>();
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for (auto [entity, characterComponent] : characterView.each())
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characterComponent.Destroy();
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auto rigidBodyView = m_registry.view<RigidBody3DComponent>();
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for (auto [entity, rigidBodyComponent] : rigidBodyView.each())
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rigidBodyComponent.Destroy(true);
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}
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bool Physics3DSystem::CollisionQuery(const Vector3f& point, const FunctionRef<std::optional<float>(const PointCollisionInfo& collisionInfo)>& callback)
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{
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return m_physWorld.CollisionQuery(point, [&](const PhysWorld3D::PointCollisionInfo& hitInfo)
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{
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PointCollisionInfo extendedHitInfo;
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static_cast<PhysWorld3D::PointCollisionInfo&>(extendedHitInfo) = hitInfo;
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if (extendedHitInfo.hitBody)
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{
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std::size_t bodyIndex = extendedHitInfo.hitBody->GetBodyIndex();
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if (bodyIndex < m_bodyIndicesToEntity.size())
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extendedHitInfo.hitEntity = entt::handle(m_registry, m_bodyIndicesToEntity[bodyIndex]);
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}
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return callback(extendedHitInfo);
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});
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}
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bool Physics3DSystem::CollisionQuery(const Collider3D& collider, const Matrix4f& shapeTransform, const FunctionRef<std::optional<float>(const ShapeCollisionInfo& hitInfo)>& callback)
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{
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return CollisionQuery(collider, shapeTransform, Vector3f::Unit(), callback);
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}
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bool Physics3DSystem::CollisionQuery(const Collider3D& collider, const Matrix4f& colliderTransform, const Vector3f& colliderScale, const FunctionRef<std::optional<float>(const ShapeCollisionInfo& hitInfo)>& callback)
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{
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return m_physWorld.CollisionQuery(collider, colliderTransform, colliderScale, [&](const PhysWorld3D::ShapeCollisionInfo& hitInfo)
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{
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ShapeCollisionInfo extendedHitInfo;
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static_cast<PhysWorld3D::ShapeCollisionInfo&>(extendedHitInfo) = hitInfo;
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if (extendedHitInfo.hitBody)
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{
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std::size_t bodyIndex = extendedHitInfo.hitBody->GetBodyIndex();
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if (bodyIndex < m_bodyIndicesToEntity.size())
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extendedHitInfo.hitEntity = entt::handle(m_registry, m_bodyIndicesToEntity[bodyIndex]);
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}
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return callback(extendedHitInfo);
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});
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}
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bool Physics3DSystem::RaycastQuery(const Vector3f& from, const Vector3f& to, const FunctionRef<std::optional<float>(const RaycastHit& hitInfo)>& callback)
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{
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return m_physWorld.RaycastQuery(from, to, [&](const PhysWorld3D::RaycastHit& hitInfo)
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{
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RaycastHit extendedHitInfo;
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static_cast<PhysWorld3D::RaycastHit&>(extendedHitInfo) = hitInfo;
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if (extendedHitInfo.hitBody)
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{
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std::size_t bodyIndex = extendedHitInfo.hitBody->GetBodyIndex();
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if (bodyIndex < m_bodyIndicesToEntity.size())
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extendedHitInfo.hitEntity = entt::handle(m_registry, m_bodyIndicesToEntity[bodyIndex]);
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}
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return callback(extendedHitInfo);
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});
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}
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bool Physics3DSystem::RaycastQueryFirst(const Vector3f& from, const Vector3f& to, const FunctionRef<void(const RaycastHit& hitInfo)>& callback)
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{
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return m_physWorld.RaycastQueryFirst(from, to, [&](const PhysWorld3D::RaycastHit& hitInfo)
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{
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RaycastHit extendedHitInfo;
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static_cast<PhysWorld3D::RaycastHit&>(extendedHitInfo) = hitInfo;
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if (extendedHitInfo.hitBody)
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{
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std::size_t bodyIndex = extendedHitInfo.hitBody->GetBodyIndex();
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if (bodyIndex < m_bodyIndicesToEntity.size())
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extendedHitInfo.hitEntity = entt::handle(m_registry, m_bodyIndicesToEntity[bodyIndex]);
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}
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callback(extendedHitInfo);
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});
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}
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void Physics3DSystem::Update(Time elapsedTime)
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{
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// Move newly-created physics entities to their node position/rotation
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m_characterConstructObserver.each([this](entt::entity entity)
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{
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PhysCharacter3DComponent& entityCharacter = m_registry.get<PhysCharacter3DComponent>(entity);
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NodeComponent& entityNode = m_registry.get<NodeComponent>(entity);
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entityCharacter.TeleportTo(entityNode.GetPosition(), entityNode.GetRotation());
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});
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m_rigidBodyConstructObserver.each([this](entt::entity entity)
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{
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RigidBody3DComponent& entityBody = m_registry.get<RigidBody3DComponent>(entity);
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NodeComponent& entityNode = m_registry.get<NodeComponent>(entity);
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entityBody.TeleportTo(entityNode.GetPosition(), entityNode.GetRotation());
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});
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// Update the physics world
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if (!m_physWorld.Step(elapsedTime))
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return; // No physics step took place
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// Replicate characters to their NodeComponent
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{
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auto view = m_registry.view<NodeComponent, const PhysCharacter3DComponent>(entt::exclude<DisabledComponent>);
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for (auto entity : view)
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{
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auto& characterComponent = view.get<const PhysCharacter3DComponent>(entity);
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if (!m_physWorld.IsBodyActive(characterComponent.GetBodyIndex()))
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continue;
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auto& nodeComponent = view.get<NodeComponent>(entity);
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auto [position, rotation] = characterComponent.GetPositionAndRotation();
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nodeComponent.SetTransform(position, rotation);
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}
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}
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// Replicate active rigid body position to their node components
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{
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auto view = m_registry.view<NodeComponent, const RigidBody3DComponent>(entt::exclude<DisabledComponent>);
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for (auto entity : m_registry.view<NodeComponent, const RigidBody3DComponent>(entt::exclude<DisabledComponent>))
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{
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auto& rigidBodyComponent = view.get<const RigidBody3DComponent>(entity);
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if (!m_physWorld.IsBodyActive(rigidBodyComponent.GetBodyIndex()))
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continue;
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auto& nodeComponent = view.get<NodeComponent>(entity);
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auto [position, rotation] = rigidBodyComponent.GetPositionAndRotation();
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nodeComponent.SetTransform(position, rotation);
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}
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}
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}
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void Physics3DSystem::OnBodyConstruct(entt::registry& registry, entt::entity entity)
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{
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// Register rigid body owning entity
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RigidBody3DComponent& rigidBody = registry.get<RigidBody3DComponent>(entity);
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rigidBody.Construct(m_physWorld);
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UInt32 uniqueIndex = rigidBody.GetBodyIndex();
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if (uniqueIndex >= m_bodyIndicesToEntity.size())
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m_bodyIndicesToEntity.resize(uniqueIndex + 1);
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m_bodyIndicesToEntity[uniqueIndex] = entity;
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}
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void Physics3DSystem::OnBodyDestruct(entt::registry& registry, entt::entity entity)
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{
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// Unregister owning entity
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RigidBody3DComponent& rigidBody = registry.get<RigidBody3DComponent>(entity);
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UInt32 uniqueIndex = rigidBody.GetBodyIndex();
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assert(uniqueIndex <= m_bodyIndicesToEntity.size());
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m_bodyIndicesToEntity[uniqueIndex] = entt::null;
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}
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void Physics3DSystem::OnCharacterConstruct(entt::registry& registry, entt::entity entity)
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{
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PhysCharacter3DComponent& character = registry.get<PhysCharacter3DComponent>(entity);
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character.Construct(m_physWorld);
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UInt32 uniqueIndex = character.GetBodyIndex();
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if (uniqueIndex >= m_bodyIndicesToEntity.size())
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m_bodyIndicesToEntity.resize(uniqueIndex + 1);
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m_bodyIndicesToEntity[uniqueIndex] = entity;
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}
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void Physics3DSystem::OnCharacterDestruct(entt::registry& registry, entt::entity entity)
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{
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// Unregister owning entity
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PhysCharacter3DComponent& character = registry.get<PhysCharacter3DComponent>(entity);
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UInt32 uniqueIndex = character.GetBodyIndex();
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assert(uniqueIndex <= m_bodyIndicesToEntity.size());
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m_bodyIndicesToEntity[uniqueIndex] = entt::null;
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}
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}
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