mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-07-08 13:14:33 +00:00
initial commit jolt
This commit is contained in:
marauder2k7
parent
0c2aa5328c
commit
8acf7da95b
1086 changed files with 214612 additions and 4 deletions
540
Engine/source/T3D/physics/jolt/joltPlayer.cpp
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540
Engine/source/T3D/physics/jolt/joltPlayer.cpp
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#include "platform/platform.h"
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#include "T3D/physics/jolt/joltPlayer.h"
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#include "collision/collision.h"
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#include "scene/sceneObject.h"
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#include "T3D/player.h"
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// we use capsule for player?
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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/ShapeCast.h>
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#include <Jolt/Physics/Collision/Shape/CapsuleShape.h>
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#include <Jolt/Physics/Collision/Shape/RotatedTranslatedShape.h>
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#include <Jolt/Physics/Collision/CollideShape.h>
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#include <Jolt/Physics/Collision/CollisionCollectorImpl.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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JoltPlayer::JoltPlayer()
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: mCharacter(NULL),
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mObject(NULL),
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mWorld(NULL),
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mMaxSlopeCos(0.0f),
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mStepHeight(0.0f),
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mOriginOffset(0.0f),
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mAllowSliding(false),
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mCollisionEnabled(true),
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mIsEnabled(false)
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{
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mDesiredVelocity = JPH::Vec3::sZero();
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}
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JoltPlayer::~JoltPlayer()
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{
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mCharacter->SetUserData(NULL);
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mCharacter = NULL;
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setSimulationEnabled(false);
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}
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void JoltPlayer::setTransform(const MatrixF& xfm)
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{
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if (!mCharacter)
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return;
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JPH::Mat44 mat = joltCast(xfm);
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mCharacter->SetPosition(mat.GetTranslation());
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mCharacter->SetRotation(mat.GetQuaternion());
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}
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MatrixF& JoltPlayer::getTransform(MatrixF* outMatrix)
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{
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const JPH::Mat44 trans = mCharacter->GetWorldTransform();
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*outMatrix = joltCast(trans);
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return *outMatrix;
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}
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Box3F JoltPlayer::getWorldBounds()
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{
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JPH::AABox box = mCharacter->GetShape()->GetWorldSpaceBounds(mCharacter->GetCenterOfMassTransform(), JPH::Vec3::sOne());
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return Box3F(
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Point3F(joltCast(box.mMin)),
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Point3F(joltCast(box.mMax)));
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}
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void JoltPlayer::setSimulationEnabled(bool enabled)
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{
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if (!mCharacter || !mWorld)
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return;
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mIsEnabled = enabled;
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}
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void JoltPlayer::init(const char* type, const Point3F& size, F32 runSurfaceCos, F32 stepHeight, SceneObject* obj, PhysicsWorld* world)
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{
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if (!obj || !world)
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return;
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mObject = obj;
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mWorld = dynamic_cast<JoltWorld*>(world);
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if (!mWorld)
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return;
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mStepHeight = stepHeight;
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mMaxSlopeCos = runSurfaceCos;
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F32 radius = mMax(size.x, size.y) * 0.5f;
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F32 height = size.z;// +0.5f;
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height = mMax(0.01f, height);
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mOriginOffset = (0.5f * height);// +radius;
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JPH::Quat rotFix = JPH::Quat::sRotation(JPH::Vec3::sAxisX(), JPH::DegreesToRadians(90.0f)); // zup
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JPH::Ref<JPH::Shape> shape = JPH::RotatedTranslatedShapeSettings(JPH::Vec3(0, 0, mOriginOffset), rotFix, new JPH::CapsuleShape(0.5f * height, radius)).Create().Get();
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JPH::Ref<JPH::Shape> inner_shape = JPH::RotatedTranslatedShapeSettings(JPH::Vec3(0, 0, mOriginOffset), rotFix, new JPH::CapsuleShape(0.5f * 0.9f * height, 0.9f * radius)).Create().Get();
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JPH::Ref<JPH::CharacterVirtualSettings> settings = new JPH::CharacterVirtualSettings();
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Con::printf("JoltPlayer::init - maxSlopeAngle: %f degrees", mRadToDeg(mAcos(runSurfaceCos)));
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settings->mMaxSlopeAngle = mAcos(runSurfaceCos);
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settings->mMaxStrength = 100.0f;
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settings->mShape = shape;
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settings->mMass = obj->getMass();
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settings->mBackFaceMode = JPH::EBackFaceMode::IgnoreBackFaces;
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settings->mCharacterPadding = 0.05f;
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settings->mPenetrationRecoverySpeed = 1.0f;
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settings->mMaxNumHits = 64;
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settings->mPredictiveContactDistance = 0.05f;
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settings->mSupportingVolume = JPH::Plane(JPH::Vec3::sAxisZ(), -(radius));
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settings->mEnhancedInternalEdgeRemoval = true;
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settings->mInnerBodyShape = inner_shape;
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settings->mInnerBodyLayer = Layers::CHARACTER;
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MatrixF objXfm = obj->getTransform();
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QuatF angPos(objXfm);
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Point3F pos;
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objXfm.getColumn(3, &pos);
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mCharacter = new JPH::CharacterVirtual(
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settings,
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joltCast(pos),
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joltCast(angPos),
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0,
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mWorld->getPhysicsSystem()
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);
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getUserData().setObject(obj);
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//getUserData().setBody(this);
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mCharacter->SetUserData(reinterpret_cast<U64>(&mUserData));
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mCharacter->SetUp(JPH::Vec3::sAxisZ());
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mCharacter->SetListener(this);
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setSimulationEnabled(true);
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}
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class CharacterBodyFilter : public JPH::BodyFilter
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{
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public:
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JPH::BodyID mCharacterBodyID;
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CharacterBodyFilter(JPH::BodyID id)
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: mCharacterBodyID(id) {
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}
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virtual bool ShouldCollide(const JPH::BodyID& inBodyID) const override
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{
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return inBodyID != mCharacterBodyID;
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}
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};
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Point3F JoltPlayer::move(const VectorF& displacement, CollisionList& outCol)
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{
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if (!mCharacter || !mWorld)
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return Point3F::Zero;
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if (!mIsEnabled)
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return joltCast(mCharacter->GetPosition());
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const F32 dt = TickSec;
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JPH::Vec3 velocity = joltCast(displacement) / dt;
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const auto& system = mWorld->getPhysicsSystem();
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const JPH::Vec3 up = mCharacter->GetUp();
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mCharacter->UpdateGroundVelocity();
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const JPH::CharacterVirtual::EGroundState groundState = mCharacter->GetGroundState();
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const bool isOnGround = groundState == JPH::CharacterVirtual::EGroundState::OnGround;
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// Temporary - log what displacement.z actually is each frame
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/*Con::printf("groundState=%d disp.z=%.4f vel.z=%.4f",
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(int)groundState,
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displacement.z,
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displacement.z / TickSec);*/
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if (isOnGround && !mCharacter->IsSlopeTooSteep(mCharacter->GetGroundNormal()))
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{
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JPH::Vec3 horizontalVel(velocity.GetX(), velocity.GetY(), 0.0f);
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mAllowSliding = horizontalVel.Length() > 0.01f;
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if (velocity.GetZ() < 0.05f)
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velocity.SetZ(0.00f);
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JPH::Vec3 groundVel = mCharacter->GetGroundVelocity();
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if (groundVel.LengthSq() > 0.001f)
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velocity += groundVel;
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}
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else
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{
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mAllowSliding = true;
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}
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mCharacter->SetLinearVelocity(velocity);
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//----------------------------------------
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// Substep (bullet was doing a max of 10 iterations)
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//----------------------------------------
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const U32 iterations = 3;
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const F32 subDt = dt / iterations;
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JPH::CharacterVirtual::ExtendedUpdateSettings settings;
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for (int i = 0; i < iterations; ++i)
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{
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bool isLast = (i == iterations - 1);
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settings.mWalkStairsStepUp = JPH::Vec3(0, 0, mStepHeight);
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settings.mStickToFloorStepDown = JPH::Vec3(0, 0, -mStepHeight);
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settings.mWalkStairsCosAngleForwardContact = mAcos(mMaxSlopeCos);
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mCharacter->ExtendedUpdate(
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subDt,
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system->GetGravity(),
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settings,
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system->GetDefaultBroadPhaseLayerFilter(Layers::MOVING),
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system->GetDefaultLayerFilter(Layers::MOVING),
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{},
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{},
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*mWorld->getTempAllocator()
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);
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}
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//----------------------------------------
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// Fill collision list from active contacts
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//----------------------------------------
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const JPH::CharacterVirtual::ContactList& contacts = mCharacter->GetActiveContacts();
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for (const JPH::CharacterVirtual::Contact& c : contacts)
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{
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if (!c.mHadCollision)
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continue;
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if (outCol.getCount() >= CollisionList::MaxCollisions)
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break;
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JPH::BodyLockRead lock(system->GetBodyLockInterface(), c.mBodyB);
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if (!lock.Succeeded())
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continue;
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const JPH::Body& body = lock.GetBody();
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PhysicsUserData* ud = reinterpret_cast<PhysicsUserData*>(body.GetUserData());
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Collision& col = outCol.increment();
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col.point = joltCast(c.mPosition);
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col.normal = joltCast(c.mContactNormal);
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col.object = ud ? ud->getObject() : nullptr;
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col.material = nullptr; // material lookup not available yet
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col.distance = c.mDistance;
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col.face = 0;
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col.faceDot = mDot(col.normal, VectorF(0.f, 0.f, 1.f));
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}
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// If on ground, ensure the ground body is represented even if it
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// wasn't caught in the contact list (CharacterVirtual separates these)
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if (mCharacter->GetGroundState() == JPH::CharacterVirtual::EGroundState::OnGround
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&& outCol.getCount() < CollisionList::MaxCollisions)
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{
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JPH::BodyLockRead lock(system->GetBodyLockInterface(), mCharacter->GetGroundBodyID());
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if (lock.Succeeded())
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{
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const JPH::Body& body = lock.GetBody();
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PhysicsUserData* ud = reinterpret_cast<PhysicsUserData*>(body.GetUserData());
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// Avoid duplicating if already added via active contacts
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SceneObject* groundObj = ud ? ud->getObject() : nullptr;
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bool alreadyPresent = false;
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for (S32 i = 0; i < outCol.getCount(); ++i)
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{
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if (outCol[i].object == groundObj)
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{
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alreadyPresent = true;
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break;
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}
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}
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if (!alreadyPresent)
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{
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Collision& col = outCol.increment();
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col.point = joltCast(mCharacter->GetGroundPosition());
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col.normal = joltCast(mCharacter->GetGroundNormal());
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col.object = groundObj;
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col.material = nullptr;
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col.distance = 0.f;
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col.faceDot = mDot(col.normal, VectorF(0.f, 0.f, 1.f));
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}
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}
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}
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//----------------------------------------
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// Final position
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//----------------------------------------
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Point3F finalPos = joltCast(mCharacter->GetPosition());
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return finalPos;
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}
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void JoltPlayer::findContact(SceneObject** contactObject, VectorF* contactNormal, Vector<SceneObject*>* outOverlapObjects) const
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{
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if (!mCharacter || !mIsEnabled)
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return;
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const bool isOnGround = mCharacter->GetGroundState() == JPH::CharacterVirtual::EGroundState::OnGround;
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F32 bestDot = -1.0f;
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const JPH::Vec3 up = mCharacter->GetUp();
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for (const JPH::CharacterVirtual::Contact& c : mCharacter->GetActiveContacts())
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{
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if (c.mHadCollision)
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{
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JPH::BodyLockRead lock(mWorld->getPhysicsSystem()->GetBodyLockInterface(), c.mBodyB);
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if (!lock.Succeeded())
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continue;
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const JPH::Body& body = lock.GetBody();
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PhysicsUserData* ud = (PhysicsUserData*)body.GetUserData();
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if (!ud)
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continue;
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VectorF normal = joltCast(c.mContactNormal);
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F32 dot = mDot(normal, VectorF(0, 0, 1));
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if (dot > bestDot)
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{
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bestDot = dot;
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*contactObject = ud->getObject();
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*contactNormal = normal;
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}
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SceneObject* obj = ud->getObject();
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if (obj && !outOverlapObjects->contains(obj))
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outOverlapObjects->push_back(obj);
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}
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}
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if (isOnGround)
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{
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JPH::BodyLockRead lock(mWorld->getPhysicsSystem()->GetBodyLockInterface(), mCharacter->GetGroundBodyID());
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if (!lock.Succeeded())
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return;
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const JPH::Body& body = lock.GetBody();
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PhysicsUserData* ud = (PhysicsUserData*)body.GetUserData();
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if (!ud)
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return;
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*contactObject = ud->getObject();
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*contactNormal = joltCast(mCharacter->GetGroundNormal());
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}
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}
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bool JoltPlayer::testSpacials(const Point3F& nPos, const Point3F& nSize) const
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{
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return true;
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//if (!mCharacter || !mWorld)
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// return false;
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//const auto& system = mWorld->getPhysicsSystem();
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//JPH::BodyFilter body_filter;
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//JPH::ShapeFilter shape_filter;
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//F32 radius = getMax(nSize.x, nSize.y) * 0.5f;
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//F32 height = nSize.z - (radius * 2.0f);
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//F32 halfHeight = 0.5f * height;
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//JPH::Vec3 shapeTranslation(0, 0, halfHeight + radius);
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//JPH::Quat rotFix = JPH::Quat::sRotation(JPH::Vec3::sAxisX(), JPH::DegreesToRadians(90.0f)); // zup
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//JPH::Ref<JPH::Shape> shape = JPH::RotatedTranslatedShapeSettings(shapeTranslation, rotFix, new JPH::CapsuleShape(halfHeight, radius)).Create().Get();
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//const float maxPenetration = 0.05f; // tweak tolerance
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//return mCharacter->SetShape(
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// shape,
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// maxPenetration,
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// system->GetDefaultBroadPhaseLayerFilter(Layers::MOVING),
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// system->GetDefaultLayerFilter(Layers::MOVING),
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// body_filter,
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// shape_filter,
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// *mWorld->getTempAllocator());
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}
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void JoltPlayer::setSpacials(const Point3F& nPos, const Point3F& nSize)
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{
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if (!mCharacter || !mWorld)
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return;
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const auto& system = mWorld->getPhysicsSystem();
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JPH::BodyFilter body_filter;
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JPH::ShapeFilter shape_filter;
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F32 radius = mMax(nSize.x, nSize.y) * 0.5f;
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F32 height = nSize.z;// +0.5f;
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height = mMax(0.01f, height);
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mOriginOffset = (0.5f * height);// +radius;
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JPH::Quat rotFix = JPH::Quat::sRotation(JPH::Vec3::sAxisX(), JPH::DegreesToRadians(90.0f)); // zup
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JPH::Ref<JPH::Shape> shape = JPH::RotatedTranslatedShapeSettings(JPH::Vec3(0, 0, mOriginOffset), rotFix, new JPH::CapsuleShape(0.5f * height, radius)).Create().Get();
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JPH::Ref<JPH::Shape> inner_shape = JPH::RotatedTranslatedShapeSettings(JPH::Vec3(0, 0, mOriginOffset), rotFix, new JPH::CapsuleShape(0.5f * 0.9f * height, 0.9f * radius)).Create().Get();
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const float maxPenetration = 0.05f; // tweak tolerance
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if (mCharacter->SetShape(
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shape,
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maxPenetration,
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system->GetDefaultBroadPhaseLayerFilter(Layers::MOVING),
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system->GetDefaultLayerFilter(Layers::MOVING),
|
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body_filter,
|
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shape_filter,
|
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*mWorld->getTempAllocator())
|
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)
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{
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mCharacter->SetInnerBodyShape(inner_shape);
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}
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//mCharacter->SetPosition(joltCast(nPos));
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}
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void JoltPlayer::enableCollision()
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{
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if (!mCharacter || !mWorld || mCollisionEnabled)
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return;
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mCollisionEnabled = true;
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JPH::BodyID innerBodyID = mCharacter->GetInnerBodyID();
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if (innerBodyID.IsInvalid())
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return;
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mWorld->getPhysicsSystem()->GetBodyInterface().AddBody(
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innerBodyID,
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JPH::EActivation::Activate
|
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);
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}
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void JoltPlayer::disableCollision()
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{
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if (!mCharacter || !mWorld || !mCollisionEnabled)
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return;
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mCollisionEnabled = false;
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JPH::BodyID innerBodyID = mCharacter->GetInnerBodyID();
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if (innerBodyID.IsInvalid())
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return;
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mWorld->getPhysicsSystem()->GetBodyInterface().RemoveBody(innerBodyID);
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}
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void JoltPlayer::OnContactCommon(const JPH::CharacterVirtual* inCharacter, const JPH::BodyID& inBodyID2, const JPH::SubShapeID& inSubShapeID2, JPH::RVec3Arg inContactPosition, JPH::Vec3Arg inContactNormal, JPH::CharacterContactSettings& ioSettings)
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{
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if (inCharacter == mCharacter)
|
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{
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if (ioSettings.mCanPushCharacter && mWorld->getPhysicsSystem()->GetBodyInterface().GetMotionType(inBodyID2) != JPH::EMotionType::Static)
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{
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mAllowSliding = true;
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}
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}
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}
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|
||||
void JoltPlayer::OnCharacterContactCommon(const JPH::CharacterVirtual* inCharacter, const JPH::CharacterVirtual* inOtherCharacter, const JPH::SubShapeID& inSubShapeID2, JPH::RVec3Arg inContactPosition, JPH::Vec3Arg inContactNormal, JPH::CharacterContactSettings& ioSettings)
|
||||
{
|
||||
if (inCharacter == mCharacter && ioSettings.mCanPushCharacter)
|
||||
mAllowSliding = true;
|
||||
}
|
||||
|
||||
//------------------------------------------------------------------
|
||||
// Character Contact Listener Callbacks
|
||||
//------------------------------------------------------------------
|
||||
|
||||
void JoltPlayer::OnAdjustBodyVelocity(const JPH::CharacterVirtual* inCharacter, const JPH::Body& inBody2, JPH::Vec3& ioLinearVelocity, JPH::Vec3& ioAngularVelocity)
|
||||
{
|
||||
}
|
||||
|
||||
void JoltPlayer::OnContactAdded(const JPH::CharacterVirtual* inCharacter, const JPH::BodyID& inBodyID2, const JPH::SubShapeID& inSubShapeID2, JPH::RVec3Arg inContactPosition, JPH::Vec3Arg inContactNormal, JPH::CharacterContactSettings& ioSettings)
|
||||
{
|
||||
if (inCharacter == mCharacter)
|
||||
{
|
||||
JPH::CharacterVirtual::ContactKey c(inBodyID2, inSubShapeID2);
|
||||
if (std::find(mActiveContacts.begin(), mActiveContacts.end(), c) != mActiveContacts.end())
|
||||
AssertFatal(false, "JoltPlayer::OnContactAdded - Received a contact that should have been persisted");
|
||||
|
||||
mActiveContacts.push_back(c);
|
||||
}
|
||||
}
|
||||
|
||||
void JoltPlayer::OnContactPersisted(const JPH::CharacterVirtual* inCharacter, const JPH::BodyID& inBodyID2, const JPH::SubShapeID& inSubShapeID2, JPH::RVec3Arg inContactPosition, JPH::Vec3Arg inContactNormal, JPH::CharacterContactSettings& ioSettings)
|
||||
{
|
||||
if (inCharacter == mCharacter)
|
||||
{
|
||||
JPH::CharacterVirtual::ContactKey c(inBodyID2, inSubShapeID2);
|
||||
if (std::find(mActiveContacts.begin(), mActiveContacts.end(), c) == mActiveContacts.end())
|
||||
AssertFatal(false, "JoltPlayer::OnContactPersisted - Received a contact that should have been added instead");
|
||||
}
|
||||
}
|
||||
|
||||
void JoltPlayer::OnContactRemoved(const JPH::CharacterVirtual* inCharacter, const JPH::BodyID& inBodyID2, const JPH::SubShapeID& inSubShapeID2)
|
||||
{
|
||||
if (inCharacter == mCharacter)
|
||||
{
|
||||
JPH::CharacterVirtual::ContactKey c(inBodyID2, inSubShapeID2);
|
||||
ContactSet::iterator it = std::find(mActiveContacts.begin(), mActiveContacts.end(), c);
|
||||
if (it == mActiveContacts.end())
|
||||
AssertFatal(false, "JoltPlayer::OnContactRemoved - Attempted to remove a contact that was not added");
|
||||
|
||||
mActiveContacts.erase(it);
|
||||
}
|
||||
}
|
||||
|
||||
void JoltPlayer::OnCharacterContactAdded(const JPH::CharacterVirtual* inCharacter, const JPH::CharacterVirtual* inOtherCharacter, const JPH::SubShapeID& inSubShapeID2, JPH::RVec3Arg inContactPosition, JPH::Vec3Arg inContactNormal, JPH::CharacterContactSettings& ioSettings)
|
||||
{
|
||||
}
|
||||
|
||||
void JoltPlayer::OnCharacterContactPersisted(const JPH::CharacterVirtual* inCharacter, const JPH::CharacterVirtual* inOtherCharacter, const JPH::SubShapeID& inSubShapeID2, JPH::RVec3Arg inContactPosition, JPH::Vec3Arg inContactNormal, JPH::CharacterContactSettings& ioSettings)
|
||||
{
|
||||
}
|
||||
|
||||
void JoltPlayer::OnCharacterContactRemoved(const JPH::CharacterVirtual* inCharacter, const JPH::CharacterID& inOtherCharacterID, const JPH::SubShapeID& inSubShapeID2)
|
||||
{
|
||||
}
|
||||
|
||||
void JoltPlayer::OnContactSolve(const JPH::CharacterVirtual* inCharacter, const JPH::BodyID& inBodyID2, const JPH::SubShapeID& inSubShapeID2, JPH::RVec3Arg inContactPosition, JPH::Vec3Arg inContactNormal, JPH::Vec3Arg inContactVelocity, const JPH::PhysicsMaterial* inContactMaterial, JPH::Vec3Arg inCharacterVelocity, JPH::Vec3& ioNewCharacterVelocity)
|
||||
{
|
||||
if (inCharacter != mCharacter)
|
||||
return;
|
||||
|
||||
// When not sliding and contact surface isn't moving and slope is walkable,
|
||||
// zero out velocity to prevent micro-jitter from solver residuals
|
||||
if (!mAllowSliding && inContactVelocity.IsNearZero() && !inCharacter->IsSlopeTooSteep(inContactNormal))
|
||||
ioNewCharacterVelocity = JPH::Vec3::sZero();
|
||||
}
|
||||
|
||||
Loading…
Add table
Add a link
Reference in a new issue