luboslenco
324 lines
10 KiB
C++
324 lines
10 KiB
C++
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#include "phys_jolt.h"
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#include <Jolt/Jolt.h>
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#include <Jolt/RegisterTypes.h>
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#include <Jolt/Core/Factory.h>
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#include <Jolt/Core/TempAllocator.h>
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#include <Jolt/Core/JobSystemThreadPool.h>
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#include <Jolt/Physics/PhysicsSettings.h>
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#include <Jolt/Physics/PhysicsSystem.h>
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#include <Jolt/Physics/Collision/Shape/BoxShape.h>
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#include <Jolt/Physics/Collision/Shape/SphereShape.h>
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#include <Jolt/Physics/Collision/Shape/MeshShape.h>
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#include <Jolt/Physics/Collision/Shape/ConvexHullShape.h>
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#include <Jolt/Physics/Body/BodyCreationSettings.h>
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#include <Jolt/Physics/Body/MotionQuality.h>
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#include <kinc/math/vector.h>
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#include <kinc/math/quaternion.h>
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#include "iron_array.h"
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JPH_SUPPRESS_WARNINGS
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using namespace JPH;
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using namespace JPH::literals;
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PhysicsSystem *physics_system;
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TempAllocatorImpl *temp_allocator;
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JobSystemThreadPool *job_system;
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physics_pair_t ppair;
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static void TraceImpl(const char *inFMT, ...) {
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}
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namespace Layers {
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static constexpr ObjectLayer NON_MOVING = 0;
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static constexpr ObjectLayer MOVING = 1;
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static constexpr ObjectLayer NUM_LAYERS = 2;
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};
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class ObjectLayerPairFilterImpl : public ObjectLayerPairFilter {
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public:
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virtual bool ShouldCollide(ObjectLayer inObject1, ObjectLayer inObject2) const override {
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switch (inObject1) {
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case Layers::NON_MOVING:
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return inObject2 == Layers::MOVING;
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case Layers::MOVING:
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return true;
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default:
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return false;
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}
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}
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};
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namespace BroadPhaseLayers {
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static constexpr BroadPhaseLayer NON_MOVING(0);
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static constexpr BroadPhaseLayer MOVING(1);
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static constexpr uint NUM_LAYERS(2);
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};
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class BPLayerInterfaceImpl final : public BroadPhaseLayerInterface {
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public:
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BPLayerInterfaceImpl() {
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mObjectToBroadPhase[Layers::NON_MOVING] = BroadPhaseLayers::NON_MOVING;
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mObjectToBroadPhase[Layers::MOVING] = BroadPhaseLayers::MOVING;
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}
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virtual uint GetNumBroadPhaseLayers() const override {
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return BroadPhaseLayers::NUM_LAYERS;
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}
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virtual BroadPhaseLayer GetBroadPhaseLayer(ObjectLayer inLayer) const override {
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return mObjectToBroadPhase[inLayer];
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}
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#if defined(JPH_EXTERNAL_PROFILE) || defined(JPH_PROFILE_ENABLED)
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virtual const char *GetBroadPhaseLayerName(BroadPhaseLayer inLayer) const override {
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return "";
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}
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#endif
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BroadPhaseLayer mObjectToBroadPhase[Layers::NUM_LAYERS];
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};
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class ObjectVsBroadPhaseLayerFilterImpl : public ObjectVsBroadPhaseLayerFilter {
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public:
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virtual bool ShouldCollide(ObjectLayer inLayer1, BroadPhaseLayer inLayer2) const override {
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switch (inLayer1) {
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case Layers::NON_MOVING:
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return inLayer2 == BroadPhaseLayers::MOVING;
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case Layers::MOVING:
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return true;
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default:
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return false;
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}
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}
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};
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class MyContactListener : public ContactListener {
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public:
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virtual ValidateResult OnContactValidate(const Body &inBody1, const Body &inBody2, RVec3Arg inBaseOffset, const CollideShapeResult &inCollisionResult) override {
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return ValidateResult::AcceptAllContactsForThisBodyPair;
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}
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virtual void OnContactAdded(const Body &inBody1, const Body &inBody2, const ContactManifold &inManifold, ContactSettings &ioSettings) override {
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}
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virtual void OnContactPersisted(const Body &inBody1, const Body &inBody2, const ContactManifold &inManifold, ContactSettings &ioSettings) override {
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ppair.pos_a_x = inManifold.GetWorldSpaceContactPointOn1(0).GetX();
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ppair.pos_a_y = inManifold.GetWorldSpaceContactPointOn1(0).GetY();
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ppair.pos_a_z = inManifold.GetWorldSpaceContactPointOn1(0).GetZ();
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}
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virtual void OnContactRemoved(const SubShapeIDPair &inSubShapePair) override {
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ppair.pos_a_x = ppair.pos_a_y = ppair.pos_a_z = 0;
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}
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};
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BPLayerInterfaceImpl broad_phase_layer_interface;
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ObjectVsBroadPhaseLayerFilterImpl object_vs_broadphase_layer_filter;
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ObjectLayerPairFilterImpl object_vs_object_layer_filter;
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void _jolt_world_create() {
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RegisterDefaultAllocator();
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Trace = TraceImpl;
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Factory::sInstance = new Factory();
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RegisterTypes();
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temp_allocator = new TempAllocatorImpl(10 * 1024 * 1024);
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// job_system = new JobSystemThreadPool(cMaxPhysicsJobs, cMaxPhysicsBarriers, thread::hardware_concurrency() - 1);
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job_system = new JobSystemThreadPool(cMaxPhysicsJobs, cMaxPhysicsBarriers, 0);
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const uint cMaxBodies = 1024;
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const uint cNumBodyMutexes = 0;
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const uint cMaxBodyPairs = 1024;
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const uint cMaxContactConstraints = 1024;
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physics_system = new PhysicsSystem();
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physics_system->Init(cMaxBodies, cNumBodyMutexes, cMaxBodyPairs, cMaxContactConstraints,
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broad_phase_layer_interface, object_vs_broadphase_layer_filter, object_vs_object_layer_filter);
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MyContactListener *contact_listener = new MyContactListener();
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physics_system->SetContactListener(contact_listener);
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physics_system->SetGravity(Vec3(0.0, 0.0, -9.81));
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}
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void _jolt_world_update() {
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#ifdef is_forge
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const int cCollisionSteps = 2;
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#else
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const int cCollisionSteps = 1;
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#endif
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const float cDeltaTime = 1.0f / 60.0f;
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physics_system->Update(cDeltaTime, cCollisionSteps, temp_allocator, job_system);
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}
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void _jolt_world_destroy() {
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// body_interface.RemoveBody(sphere_id);
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// body_interface.DestroyBody(sphere_id);
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// body_interface.RemoveBody(floor->GetID());
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// body_interface.DestroyBody(floor->GetID());
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UnregisterTypes();
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delete Factory::sInstance;
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Factory::sInstance = nullptr;
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}
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void *_jolt_body_create(int shape, float mass, float dimx, float dimy, float dimz, float x, float y, float z, void *f32a_triangles) {
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BodyInterface &body_interface = physics_system->GetBodyInterface();
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Body *body;
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ShapeSettings::ShapeResult result;
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// float convex_radius = 0.05f;
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float convex_radius = 0.0f;
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// if (convex_radius > 0.0) {
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// if (dimx <= 0.2) dimx = 0.21;
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// if (dimy <= 0.2) dimy = 0.21;
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// if (dimz <= 0.2) dimz = 0.21;
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// }
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if (shape == 0) {
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// Box
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BoxShapeSettings shape_settings(RVec3(dimx / 2.0, dimy / 2.0, dimz / 2.0), convex_radius);
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shape_settings.SetEmbedded();
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result = shape_settings.Create();
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}
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else if (shape == 1) {
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// Sphere
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SphereShapeSettings shape_settings(dimx / 2.0);
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shape_settings.SetEmbedded();
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result = shape_settings.Create();
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}
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else if (shape == 3) {
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// Hull
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f32_array_t *f32a = (f32_array_t *)f32a_triangles;
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JPH::Array<JPH::Vec3> points;
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points.reserve(f32a->length / 3);
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for (int i = 0; i < f32a->length / 9; ++i) {
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Vec3 v1(f32a->buffer[i * 9 ], f32a->buffer[i * 9 + 1], f32a->buffer[i * 9 + 2]);
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Vec3 v2(f32a->buffer[i * 9 + 3], f32a->buffer[i * 9 + 4], f32a->buffer[i * 9 + 5]);
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Vec3 v3(f32a->buffer[i * 9 + 6], f32a->buffer[i * 9 + 7], f32a->buffer[i * 9 + 8]);
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points.push_back(v1);
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points.push_back(v2);
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points.push_back(v3);
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}
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ConvexHullShapeSettings shape_settings(points, convex_radius);
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shape_settings.SetEmbedded();
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result = shape_settings.Create();
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}
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else {
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// Mesh
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f32_array_t *f32a = (f32_array_t *)f32a_triangles;
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TriangleList triangles;
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triangles.reserve(f32a->length / 9);
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for (int i = 0; i < f32a->length / 9; ++i) {
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Float3 v1(f32a->buffer[i * 9 ], f32a->buffer[i * 9 + 1], f32a->buffer[i * 9 + 2]);
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Float3 v2(f32a->buffer[i * 9 + 3], f32a->buffer[i * 9 + 4], f32a->buffer[i * 9 + 5]);
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Float3 v3(f32a->buffer[i * 9 + 6], f32a->buffer[i * 9 + 7], f32a->buffer[i * 9 + 8]);
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triangles.push_back(Triangle(v1, v2, v3));
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}
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MeshShapeSettings shape_settings(triangles);
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shape_settings.SetEmbedded();
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result = shape_settings.Create();
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}
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ShapeRefC shape_c = result.Get();
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BodyCreationSettings settings(shape_c, RVec3(x, y, z), Quat::sIdentity(), mass == 0 ? EMotionType::Static : EMotionType::Dynamic,
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mass == 0 ? Layers::NON_MOVING : Layers::MOVING);
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#ifdef is_forge
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settings.mAllowSleeping = false;
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#endif
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// if (ccd) {
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if (shape != 2) { // != Mesh
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settings.mMotionQuality = EMotionQuality::LinearCast;
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MassProperties mass_prop;
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mass_prop.ScaleToMass(mass);
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settings.mMassPropertiesOverride = mass_prop;
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settings.mOverrideMassProperties = EOverrideMassProperties::CalculateInertia;
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}
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body = body_interface.CreateBody(settings);
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body_interface.AddBody(body->GetID(), EActivation::Activate);
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return body;
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}
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void _jolt_body_apply_impulse(void *b, float x, float y, float z) {
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BodyInterface &body_interface = physics_system->GetBodyInterface();
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Body *body = (Body *)b;
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body_interface.AddImpulse(body->GetID(), Vec3(x, y, z));
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}
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void _jolt_body_get_pos(void *b, void *p) {
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BodyInterface &body_interface = physics_system->GetBodyInterface();
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Body *body = (Body *)b;
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RVec3 position = body_interface.GetCenterOfMassPosition(body->GetID());
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kinc_vector4_t *v = (kinc_vector4_t *)p;
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v->x = position.GetX();
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v->y = position.GetY();
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v->z = position.GetZ();
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}
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void _jolt_body_get_rot(void *b, void *r) {
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BodyInterface &body_interface = physics_system->GetBodyInterface();
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Body *body = (Body *)b;
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Quat rotation = body_interface.GetRotation(body->GetID());
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kinc_quaternion_t *q = (kinc_quaternion_t *)r;
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q->x = rotation.GetX();
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q->y = rotation.GetY();
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q->z = rotation.GetZ();
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q->w = rotation.GetW();
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}
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void _jolt_body_sync_transform(void *b, vec4_t p, quat_t r) {
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BodyInterface &body_interface = physics_system->GetBodyInterface();
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Body *body = (Body *)b;
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body_interface.SetPositionAndRotation(body->GetID(), RVec3(p.x, p.y, p.z), Quat(r.x, r.y, r.z, r.w), EActivation::Activate);
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body_interface.SetLinearVelocity(body->GetID(), RVec3(0, 0, 0));
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body_interface.SetAngularVelocity(body->GetID(), RVec3(0, 0, 0));
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}
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extern "C" {
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void jolt_world_create() {
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_jolt_world_create();
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}
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void jolt_world_update() {
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_jolt_world_update();
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}
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physics_pair_t *jolt_world_get_contact_pairs() {
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return &ppair;
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}
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void jolt_world_destroy() {
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_jolt_world_destroy();
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}
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void *jolt_body_create(int shape, float mass, float dimx, float dimy, float dimz, float x, float y, float z, void *f32a_triangles) {
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return _jolt_body_create(shape, mass, dimx, dimy, dimz, x, y, z, f32a_triangles);
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}
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void jolt_body_apply_impulse(void *body, float x, float y, float z) {
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_jolt_body_apply_impulse(body, x, y, z);
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}
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void jolt_body_get_pos(void *b, void *p) {
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_jolt_body_get_pos(b, p);
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}
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void jolt_body_get_rot(void *b, void *r) {
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_jolt_body_get_rot(b, r);
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}
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void jolt_body_sync_transform(void *b, vec4_t p, quat_t r) {
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_jolt_body_sync_transform(b, p, r);
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}
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}
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