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https://github.com/TorqueGameEngines/Torque3D.git
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initial commit jolt
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marauder2k7
parent
0c2aa5328c
commit
8acf7da95b
1086 changed files with 214612 additions and 4 deletions
353
Engine/source/T3D/physics/jolt/joltCollision.cpp
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353
Engine/source/T3D/physics/jolt/joltCollision.cpp
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#include "T3D/physics/jolt/joltCollision.h"
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#include "terrain/terrFile.h"
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// Save and undefine the macro if it exists
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#ifdef Offset
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#pragma push_macro("Offset")
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#undef Offset
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#endif
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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/CapsuleShape.h>
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#include <Jolt/Physics/Collision/Shape/ConvexHullShape.h>
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#include <Jolt/Physics/Collision/Shape/TriangleShape.h>
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#include <Jolt/Physics/Collision/Shape/HeightFieldShape.h>
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#include <Jolt/Physics/Collision/Shape/PlaneShape.h>
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#include <Jolt/Physics/Collision/Shape/CompoundShape.h>
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#include <Jolt/Physics/Collision/Shape/MeshShape.h>
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#include <Jolt/Physics/Collision/Shape/StaticCompoundShape.h>
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#include <Jolt/Physics/Collision/Shape/RotatedTranslatedShape.h>
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#ifdef Offset
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// Restore the original macro after includes
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#pragma pop_macro("Offset")
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#endif
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JoltCollision::JoltCollision()
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{
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VECTOR_SET_ASSOCIATION(mChildren);
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}
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JoltCollision::~JoltCollision()
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{
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}
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void JoltCollision::addPlane(const PlaneF& plane)
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{
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JPH::Plane joltPlane({ plane.x, plane.y, plane.z }, plane.d);
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JPH::PlaneShapeSettings planeSettings(joltPlane);
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auto result = planeSettings.Create();
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if (result.HasError())
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{
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Con::errorf("Jolt Error: %s", result.GetError().c_str());
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return;
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}
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ChildShapeEntry entry;
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entry.shape = result.Get();
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entry.localXfm = JPH::Mat44::sIdentity(); // Plane at origin by default
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entry.localPos = JPH::Vec3::sZero();
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entry.localRot = JPH::Quat::sIdentity();
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mChildren.push_back(entry);
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rebuildCompound();
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}
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void JoltCollision::addBox(const Point3F& halfWidth, const MatrixF& localXfm)
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{
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JPH::BoxShapeSettings boxSettings(JPH::Vec3(halfWidth.x, halfWidth.y, halfWidth.z));
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auto result = boxSettings.Create();
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if (result.HasError())
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{
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Con::errorf("Jolt Error: %s", result.GetError().c_str());
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return;
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}
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auto baseShape = result.Get();
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// Convert engine matrix to Jolt position + rotation
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JPH::Vec3 localPos;
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JPH::Quat localRot;
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toJolt(localXfm, localPos, localRot);
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// Wrap the base shape with RotatedTranslatedShape
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auto rtsSettings = new JPH::RotatedTranslatedShapeSettings(localPos, localRot, baseShape);
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auto rtsShape = rtsSettings->Create().Get();
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// Store in child entry
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ChildShapeEntry entry;
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entry.shape = rtsShape;
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entry.localPos = localPos;
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entry.localRot = localRot;
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entry.localXfm = joltCast(localXfm);
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mChildren.push_back(entry);
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rebuildCompound();
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}
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void JoltCollision::addSphere(F32 radius, const MatrixF& localXfm)
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{
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JPH::SphereShapeSettings settings(radius);
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auto result = settings.Create();
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if (result.HasError())
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{
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Con::errorf("Jolt Error: %s", result.GetError().c_str());
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return;
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}
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auto baseShape = result.Get();
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JPH::Vec3 localPos;
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JPH::Quat localRot;
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toJolt(localXfm, localPos, localRot);
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auto rtsSettings = new JPH::RotatedTranslatedShapeSettings(localPos, localRot, baseShape);
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auto rtsShape = rtsSettings->Create().Get();
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ChildShapeEntry entry;
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entry.shape = rtsShape;
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entry.localPos = localPos;
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entry.localRot = localRot;
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entry.localXfm = joltCast(localXfm);
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mChildren.push_back(entry);
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rebuildCompound();
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}
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void JoltCollision::addCapsule(F32 radius, F32 height, const MatrixF& localXfm)
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{
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JPH::CapsuleShapeSettings settings(radius, height);
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auto result = settings.Create();
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if (result.HasError())
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{
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Con::errorf("Jolt Error: %s", result.GetError().c_str());
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return;
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}
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auto baseShape = result.Get();
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JPH::Vec3 localPos;
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JPH::Quat localRot;
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toJolt(localXfm, localPos, localRot);
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auto rtsSettings = new JPH::RotatedTranslatedShapeSettings(localPos, localRot, baseShape);
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auto rtsShape = rtsSettings->Create().Get();
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ChildShapeEntry entry;
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entry.shape = rtsShape;
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entry.localPos = localPos;
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entry.localRot = localRot;
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entry.localXfm = joltCast(localXfm);
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mChildren.push_back(entry);
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rebuildCompound();
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}
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bool JoltCollision::addConvex(const Point3F* points, U32 count, const MatrixF& localXfm)
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{
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if (count == 0)
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return false;
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std::vector<JPH::Vec3> verts;
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verts.reserve(count);
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for (U32 i = 0; i < count; ++i)
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verts.emplace_back(points[i].x, points[i].y, points[i].z);
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JPH::ConvexHullShapeSettings settings(verts.data(), verts.size());
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auto result = settings.Create();
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if (result.HasError())
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{
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Con::errorf("Jolt Error: %s", result.GetError().c_str());
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return false;
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}
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auto baseShape = result.Get();
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JPH::Vec3 localPos;
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JPH::Quat localRot;
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toJolt(localXfm, localPos, localRot);
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auto rtsSettings = new JPH::RotatedTranslatedShapeSettings(localPos, localRot, baseShape);
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auto rtsShape = rtsSettings->Create().Get();
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ChildShapeEntry entry;
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entry.shape = rtsShape;
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entry.localPos = localPos;
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entry.localRot = localRot;
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entry.localXfm = joltCast(localXfm);
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mChildren.push_back(entry);
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rebuildCompound();
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return true;
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}
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bool JoltCollision::addTriangleMesh(const Point3F* vert, U32 vertCount, const U32* index, U32 triCount, const MatrixF& localXfm)
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{
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if (!vert || !index || vertCount == 0 || triCount == 0)
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return false;
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// Build the TriangleList
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JPH::TriangleList triangles;
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triangles.reserve(triCount);
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for (U32 i = 0; i < triCount; ++i)
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{
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const Point3F& v0 = vert[index[i * 3 + 0]];
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const Point3F& v1 = vert[index[i * 3 + 1]];
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const Point3F& v2 = vert[index[i * 3 + 2]];
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triangles.push_back(
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JPH::Triangle(
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JPH::Float3(v0.x, v0.y, v0.z),
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JPH::Float3(v2.x, v2.y, v2.z),
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JPH::Float3(v1.x, v1.y, v1.z),
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0, // material index
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i // user data = original triangle index
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)
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);
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}
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// Create the MeshShape
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JPH::MeshShapeSettings settings(triangles);
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auto result = settings.Create();
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if (result.HasError())
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{
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Con::errorf("Jolt Error: %s", result.GetError().c_str());
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return false;
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}
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auto baseShape = result.Get();
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JPH::Vec3 localPos;
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JPH::Quat localRot;
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toJolt(localXfm, localPos, localRot);
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auto rtsSettings = new JPH::RotatedTranslatedShapeSettings(localPos, localRot, baseShape);
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auto rtsShape = rtsSettings->Create().Get();
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ChildShapeEntry entry;
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entry.shape = rtsShape;
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entry.localPos = localPos;
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entry.localRot = localRot;
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entry.localXfm = joltCast(localXfm);
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mChildren.push_back(entry);
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rebuildCompound();
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return true;
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}
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bool JoltCollision::addHeightfield(
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const U16* heightData,
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const bool* holes,
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U32 blockSize,
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F32 metersPerSample,
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const MatrixF& localXfm) // We won’t use localXfm directly
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{
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if (!heightData || blockSize == 0)
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return false;
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const F32 heightScale = 0.03125f;
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const F32 minHeight = 0;
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const F32 maxHeight = 65535 * heightScale;
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const U32 sampleCount = blockSize * blockSize;
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std::vector<float> samples(sampleCount);
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for (U32 x = 0; x < blockSize; ++x)
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{
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for (U32 y = 0; y < blockSize; ++y)
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{
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// Terrain storage (row-major)
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U32 srcIdx = y * blockSize + x;
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// Flip Z direction for Jolt
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U32 dstIdx = (blockSize - 1 - y) * blockSize + x;
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float h = fixedToFloat(heightData[srcIdx]);
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if (holes && holes[srcIdx])
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h = JPH::HeightFieldShapeConstants::cNoCollisionValue;
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samples[dstIdx] = h;
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}
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}
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float terrainSize = blockSize * metersPerSample;
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float verticalAdjust = -heightScale * 0.5f;
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JPH::Vec3 joltOffset(
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0.0,
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verticalAdjust,
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-terrainSize
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);
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JPH::Vec3 joltScale(metersPerSample,1.0f, metersPerSample);
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JPH::HeightFieldShapeSettings settings(samples.data(), joltOffset, joltScale, blockSize);
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settings.mBlockSize = metersPerSample;
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auto result = settings.Create();
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if (result.HasError())
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{
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Con::errorf("Jolt Error: %s", result.GetError().c_str());
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return false;
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}
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auto baseShape = result.Get();
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JPH::Vec3 localPos;
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JPH::Quat localRot;
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toJolt(localXfm, localPos, localRot);
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JPH::Quat rotFix = JPH::Quat::sRotation(JPH::Vec3::sAxisX(), JPH::DegreesToRadians(90.0f));
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localRot = rotFix * localRot;
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auto rtsSettings = new JPH::RotatedTranslatedShapeSettings(localPos, localRot, baseShape);
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auto rtsShape = rtsSettings->Create().Get();
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ChildShapeEntry entry;
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entry.shape = rtsShape;
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entry.localPos = localPos;
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entry.localRot = localRot;
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mChildren.push_back(entry);
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rebuildCompound();
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return true;
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}
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void JoltCollision::rebuildCompound()
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{
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if (mChildren.empty())
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return;
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JPH::CompoundShapeSettings* compoundSettings = nullptr;
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if (mChildren.size() > 1)
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{
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compoundSettings = new JPH::StaticCompoundShapeSettings();
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}
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for (auto& colShape : mChildren)
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{
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if (compoundSettings)
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{
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compoundSettings->AddShape(
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colShape.localPos,
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colShape.localRot,
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colShape.shape
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);
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}
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else
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{
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mCompundShape = colShape.shape;
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}
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}
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if (compoundSettings)
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{
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mCompundShape = compoundSettings->Create().Get();
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delete compoundSettings;
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}
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}
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