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Physics3D/RigidBody3D: Remove transform callback

This commit is contained in:
Jérôme Leclercq 2021-07-03 16:34:51 +02:00
parent 1c482bbde6
commit ffb28a9044
2 changed files with 40 additions and 33 deletions
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6
include/Nazara/Physics3D/RigidBody3D.hpp
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@ -49,7 +49,7 @@ namespace Nz
float GetMass() const; float GetMass() const;
Vector3f GetMassCenter(CoordSys coordSys = CoordSys::Local) const; Vector3f GetMassCenter(CoordSys coordSys = CoordSys::Local) const;
int GetMaterial() const; int GetMaterial() const;
const Matrix4f& GetMatrix() const; Matrix4f GetMatrix() const;
Vector3f GetPosition() const; Vector3f GetPosition() const;
Quaternionf GetRotation() const; Quaternionf GetRotation() const;
void* GetUserdata() const; void* GetUserdata() const;
@ -78,12 +78,10 @@ namespace Nz
RigidBody3D& operator=(RigidBody3D&& object) noexcept; RigidBody3D& operator=(RigidBody3D&& object) noexcept;
private: private:
void UpdateBody(); void UpdateBody(const Matrix4f& transformMatrix);
static void ForceAndTorqueCallback(const NewtonBody* body, float timeStep, int threadIndex); static void ForceAndTorqueCallback(const NewtonBody* body, float timeStep, int threadIndex);
static void TransformCallback(const NewtonBody* body, const float* matrix, int threadIndex);
std::shared_ptr<Collider3D> m_geom; std::shared_ptr<Collider3D> m_geom;
Matrix4f m_matrix;
MovablePtr<NewtonBody> m_body; MovablePtr<NewtonBody> m_body;
Vector3f m_forceAccumulator; Vector3f m_forceAccumulator;
Vector3f m_torqueAccumulator; Vector3f m_torqueAccumulator;

67
src/Nazara/Physics3D/RigidBody3D.cpp
View File

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