138 lines
4.0 KiB
C++
138 lines
4.0 KiB
C++
// 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_PHYSWORLD3D_HPP
|
|
#define NAZARA_PHYSICS3D_PHYSWORLD3D_HPP
|
|
|
|
#include <NazaraUtils/Prerequisites.hpp>
|
|
#include <Nazara/Core/Time.hpp>
|
|
#include <Nazara/Math/Box.hpp>
|
|
#include <Nazara/Math/Vector3.hpp>
|
|
#include <Nazara/Physics3D/Config.hpp>
|
|
#include <NazaraUtils/FunctionRef.hpp>
|
|
#include <NazaraUtils/MovablePtr.hpp>
|
|
#include <atomic>
|
|
#include <optional>
|
|
#include <vector>
|
|
|
|
namespace JPH
|
|
{
|
|
class BodyID;
|
|
class PhysicsSystem;
|
|
class Shape;
|
|
}
|
|
|
|
namespace Nz
|
|
{
|
|
class PhysBody3D;
|
|
class PhysCharacter3D;
|
|
class PhysCharacter3DImpl;
|
|
class Collider3D;
|
|
class PhysWorld3DStepListener;
|
|
class RigidBody3D;
|
|
|
|
class NAZARA_PHYSICS3D_API PhysWorld3D
|
|
{
|
|
friend PhysCharacter3D;
|
|
friend RigidBody3D;
|
|
|
|
public:
|
|
struct PointCollisionInfo;
|
|
struct RaycastHit;
|
|
struct ShapeCollisionInfo;
|
|
|
|
PhysWorld3D();
|
|
PhysWorld3D(const PhysWorld3D&) = delete;
|
|
PhysWorld3D(PhysWorld3D&& ph) = delete;
|
|
~PhysWorld3D();
|
|
|
|
bool CollisionQuery(const Vector3f& point, const FunctionRef<std::optional<float>(const PointCollisionInfo& collisionInfo)>& callback);
|
|
bool CollisionQuery(const Collider3D& collider, const Matrix4f& colliderTransform, const FunctionRef<std::optional<float>(const ShapeCollisionInfo& hitInfo)>& callback);
|
|
bool CollisionQuery(const Collider3D& collider, const Matrix4f& colliderTransform, const Vector3f& colliderScale, const FunctionRef<std::optional<float>(const ShapeCollisionInfo& hitInfo)>& callback);
|
|
|
|
UInt32 GetActiveBodyCount() const;
|
|
Vector3f GetGravity() const;
|
|
std::size_t GetMaxStepCount() const;
|
|
JPH::PhysicsSystem* GetPhysicsSystem();
|
|
Time GetStepSize() const;
|
|
|
|
inline bool IsBodyActive(UInt32 bodyIndex) const;
|
|
inline bool IsBodyRegistered(UInt32 bodyIndex) const;
|
|
|
|
bool RaycastQuery(const Vector3f& from, const Vector3f& to, const FunctionRef<std::optional<float>(const RaycastHit& hitInfo)>& callback);
|
|
bool RaycastQueryFirst(const Vector3f& from, const Vector3f& to, const FunctionRef<void(const RaycastHit& hitInfo)>& callback);
|
|
|
|
void RefreshBodies();
|
|
|
|
inline void RegisterStepListener(PhysWorld3DStepListener* stepListener);
|
|
|
|
void SetGravity(const Vector3f& gravity);
|
|
void SetMaxStepCount(std::size_t maxStepCount);
|
|
void SetStepSize(Time stepSize);
|
|
|
|
bool Step(Time timestep);
|
|
|
|
inline void UnregisterStepListener(PhysWorld3DStepListener* stepListener);
|
|
|
|
PhysWorld3D& operator=(const PhysWorld3D&) = delete;
|
|
PhysWorld3D& operator=(PhysWorld3D&&) = delete;
|
|
|
|
struct PointCollisionInfo
|
|
{
|
|
PhysBody3D* hitBody = nullptr;
|
|
};
|
|
|
|
struct RaycastHit
|
|
{
|
|
float fraction;
|
|
PhysBody3D* hitBody = nullptr;
|
|
Vector3f hitNormal;
|
|
Vector3f hitPosition;
|
|
};
|
|
|
|
struct ShapeCollisionInfo
|
|
{
|
|
PhysBody3D* hitBody = nullptr;
|
|
Vector3f collisionPosition1;
|
|
Vector3f collisionPosition2;
|
|
Vector3f penetrationAxis;
|
|
float penetrationDepth;
|
|
};
|
|
|
|
private:
|
|
class BodyActivationListener;
|
|
friend BodyActivationListener;
|
|
|
|
class StepListener;
|
|
friend StepListener;
|
|
|
|
struct JoltWorld;
|
|
|
|
std::shared_ptr<PhysCharacter3DImpl> GetDefaultCharacterImpl();
|
|
const JPH::Shape* GetNullShape() const;
|
|
|
|
void OnPreStep(float deltatime);
|
|
|
|
void RegisterBody(const JPH::BodyID& bodyID, bool activate, bool removeFromDeactivationList);
|
|
|
|
void UnregisterBody(const JPH::BodyID& bodyID, bool destroy, bool removeFromRegisterList);
|
|
|
|
std::size_t m_maxStepCount;
|
|
std::shared_ptr<PhysCharacter3DImpl> m_defaultCharacterImpl;
|
|
std::unique_ptr<std::atomic_uint64_t[]> m_activeBodies;
|
|
std::unique_ptr<std::uint64_t[]> m_registeredBodies;
|
|
std::unique_ptr<JoltWorld> m_world;
|
|
std::vector<PhysWorld3DStepListener*> m_stepListeners;
|
|
Vector3f m_gravity;
|
|
Time m_stepSize;
|
|
Time m_timestepAccumulator;
|
|
};
|
|
}
|
|
|
|
#include <Nazara/Physics3D/PhysWorld3D.inl>
|
|
|
|
#endif // NAZARA_PHYSICS3D_PHYSWORLD3D_HPP
|