Physics3D/RigidBody3D: Remove transform callback
This commit is contained in:
Jérôme Leclercq
parent
1c482bbde6
commit
ffb28a9044
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@ -49,7 +49,7 @@ namespace Nz
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float GetMass() const;
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Vector3f GetMassCenter(CoordSys coordSys = CoordSys::Local) const;
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int GetMaterial() const;
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const Matrix4f& GetMatrix() const;
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Matrix4f GetMatrix() const;
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Vector3f GetPosition() const;
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Quaternionf GetRotation() const;
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void* GetUserdata() const;
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@ -78,12 +78,10 @@ namespace Nz
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RigidBody3D& operator=(RigidBody3D&& object) noexcept;
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private:
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void UpdateBody();
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void UpdateBody(const Matrix4f& transformMatrix);
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static void ForceAndTorqueCallback(const NewtonBody* body, float timeStep, int threadIndex);
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static void TransformCallback(const NewtonBody* body, const float* matrix, int threadIndex);
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std::shared_ptr<Collider3D> m_geom;
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Matrix4f m_matrix;
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MovablePtr<NewtonBody> m_body;
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Vector3f m_forceAccumulator;
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Vector3f m_torqueAccumulator;
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@ -6,6 +6,7 @@
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#include <Nazara/Physics3D/PhysWorld3D.hpp>
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#include <newton/Newton.h>
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#include <algorithm>
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#include <array>
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#include <cmath>
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#include <Nazara/Physics3D/Debug.hpp>
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@ -18,7 +19,6 @@ namespace Nz
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RigidBody3D::RigidBody3D(PhysWorld3D* world, std::shared_ptr<Collider3D> geom, const Matrix4f& mat) :
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m_geom(std::move(geom)),
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m_matrix(mat),
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m_forceAccumulator(Vector3f::Zero()),
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m_torqueAccumulator(Vector3f::Zero()),
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m_world(world),
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@ -30,14 +30,12 @@ namespace Nz
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if (!m_geom)
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m_geom = std::make_shared<NullCollider3D>();
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m_body = NewtonCreateDynamicBody(m_world->GetHandle(), m_geom->GetHandle(m_world), m_matrix);
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m_body = NewtonCreateDynamicBody(m_world->GetHandle(), m_geom->GetHandle(m_world), &mat.m11);
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NewtonBodySetUserData(m_body, this);
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NewtonBodySetTransformCallback(m_body, &TransformCallback);
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}
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RigidBody3D::RigidBody3D(const RigidBody3D& object) :
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m_geom(object.m_geom),
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m_matrix(object.m_matrix),
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m_forceAccumulator(Vector3f::Zero()),
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m_torqueAccumulator(Vector3f::Zero()),
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m_world(object.m_world),
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@ -47,9 +45,11 @@ namespace Nz
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NazaraAssert(m_world, "Invalid world");
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NazaraAssert(m_geom, "Invalid geometry");
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m_body = NewtonCreateDynamicBody(m_world->GetHandle(), m_geom->GetHandle(m_world), m_matrix);
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std::array<float, 16> transformMatrix;
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NewtonBodyGetMatrix(object.GetHandle(), transformMatrix.data());
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m_body = NewtonCreateDynamicBody(m_world->GetHandle(), m_geom->GetHandle(m_world), transformMatrix.data());
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NewtonBodySetUserData(m_body, this);
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NewtonBodySetTransformCallback(m_body, &TransformCallback);
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SetMass(object.m_mass);
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SetAngularDamping(object.GetAngularDamping());
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@ -63,7 +63,6 @@ namespace Nz
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RigidBody3D::RigidBody3D(RigidBody3D&& object) noexcept :
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m_geom(std::move(object.m_geom)),
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m_matrix(std::move(object.m_matrix)),
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m_forceAccumulator(std::move(object.m_forceAccumulator)),
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m_torqueAccumulator(std::move(object.m_torqueAccumulator)),
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m_body(std::move(object.m_body)),
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@ -107,7 +106,10 @@ namespace Nz
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break;
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case CoordSys::Local:
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return AddForce(m_matrix.Transform(force, 0.f), m_matrix.Transform(point), CoordSys::Global);
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{
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Matrix4f transformMatrix = GetMatrix();
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return AddForce(transformMatrix.Transform(force, 0.f), transformMatrix.Transform(point), CoordSys::Global);
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}
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}
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// On réveille le corps pour que le callback soit appelé et que les forces soient appliquées
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@ -123,7 +125,8 @@ namespace Nz
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break;
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case CoordSys::Local:
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m_torqueAccumulator += m_matrix.Transform(torque, 0.f);
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Matrix4f transformMatrix = GetMatrix();
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m_torqueAccumulator += transformMatrix.Transform(torque, 0.f);
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break;
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}
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@ -206,8 +209,11 @@ namespace Nz
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switch (coordSys)
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{
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case CoordSys::Global:
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center = m_matrix.Transform(center);
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{
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Matrix4f transformMatrix = GetMatrix();
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center = transformMatrix.Transform(center);
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break;
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}
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case CoordSys::Local:
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break; // Aucune opération à effectuer sur le centre de rotation
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@ -221,19 +227,29 @@ namespace Nz
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return NewtonBodyGetMaterialGroupID(m_body);
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}
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const Matrix4f& RigidBody3D::GetMatrix() const
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Matrix4f RigidBody3D::GetMatrix() const
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{
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return m_matrix;
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Matrix4f matrix;
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NewtonBodyGetMatrix(m_body, &matrix.m11);
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return matrix;
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}
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Vector3f RigidBody3D::GetPosition() const
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{
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return m_matrix.GetTranslation();
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Vector3f pos;
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NewtonBodyGetPosition(m_body, &pos.x);
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return pos;
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}
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Quaternionf RigidBody3D::GetRotation() const
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{
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return m_matrix.GetRotation();
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// NewtonBodyGetRotation output X, Y, Z, W and Nz::Quaternion stores W, X, Y, Z so we use a temporary array
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std::array<float, 4> rot;
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NewtonBodyGetRotation(m_body, rot.data());
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return Quaternionf(rot[3], rot[0], rot[1], rot[2]);
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}
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void* RigidBody3D::GetUserdata() const
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@ -357,16 +373,18 @@ namespace Nz
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void RigidBody3D::SetPosition(const Vector3f& position)
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{
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m_matrix.SetTranslation(position);
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Matrix4f transformMatrix = GetMatrix();
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transformMatrix.SetTranslation(position);
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UpdateBody();
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UpdateBody(transformMatrix);
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}
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void RigidBody3D::SetRotation(const Quaternionf& rotation)
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{
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m_matrix.SetRotation(rotation);
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Matrix4f transformMatrix = GetMatrix();
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transformMatrix.SetRotation(rotation);
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UpdateBody();
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UpdateBody(transformMatrix);
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}
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void RigidBody3D::SetUserdata(void* ud)
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@ -390,7 +408,6 @@ namespace Nz
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m_geom = std::move(object.m_geom);
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m_gravityFactor = object.m_gravityFactor;
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m_mass = object.m_mass;
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m_matrix = std::move(object.m_matrix);
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m_torqueAccumulator = std::move(object.m_torqueAccumulator);
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m_world = object.m_world;
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@ -398,9 +415,9 @@ namespace Nz
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return *this;
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}
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void RigidBody3D::UpdateBody()
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void RigidBody3D::UpdateBody(const Matrix4f& transformMatrix)
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{
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NewtonBodySetMatrix(m_body, m_matrix);
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NewtonBodySetMatrix(m_body, &transformMatrix.m11);
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if (NumberEquals(m_mass, 0.f))
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{
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@ -437,12 +454,4 @@ namespace Nz
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///TODO: Implement gyroscopic force?
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}
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void RigidBody3D::TransformCallback(const NewtonBody* body, const float* matrix, int threadIndex)
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{
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NazaraUnused(threadIndex);
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RigidBody3D* me = static_cast<RigidBody3D*>(NewtonBodyGetUserData(body));
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me->m_matrix = matrix;
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}
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}
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