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https://github.com/TorqueGameEngines/Torque3D.git
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initial commit jolt
This commit is contained in:
marauder2k7
parent
0c2aa5328c
commit
8acf7da95b
1086 changed files with 214612 additions and 4 deletions
377
Engine/source/T3D/physics/jolt/joltWorld.cpp
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377
Engine/source/T3D/physics/jolt/joltWorld.cpp
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#include "platform/platform.h"
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#include "T3D/physics/jolt/joltWorld.h"
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#include "T3D/physics/jolt/joltBody.h"
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#include "T3D/physics/jolt/joltPlayer.h"
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#include "platform/profiler.h"
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#include "sim/netConnection.h"
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#include "console/console.h"
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#include "console/consoleTypes.h"
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#include "scene/sceneRenderState.h"
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#include "T3D/gameBase/gameProcess.h"
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#include "T3D/physics/physicsUserData.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/RayCast.h>
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#include <Jolt/Physics/Collision/CastResult.h>
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#include <Jolt/Physics/Body/BodyLock.h>
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#include <Jolt/Physics/Body/Body.h>
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#include <Jolt/Physics/Collision/NarrowPhaseQuery.h>
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#include <Jolt/Physics/Collision/CollideShape.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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JoltWorld::JoltWorld()
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:mIsEnabled(false),
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mIsSimulating(false),
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mTickCount(0),
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mProcessList(NULL),
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mEditorTimeScale(1.0f)
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{
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mTempAllocator = nullptr;
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mJobSystem = nullptr;
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}
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JoltWorld::~JoltWorld()
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{
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}
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bool JoltWorld::initWorld(bool isServer, ProcessList* processList)
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{
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const U32 cMaxBodies = 65536;
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const U32 cNumBodyMutexes = 1024;
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const U32 cMaxBodyPairs = 65536;
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const U32 cMaxContactConstraints = 10240;
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mTempAllocator = new JPH::TempAllocatorImpl(10 * 1024 * 1024);
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// thread pool of 2 threads?
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mJobSystem = new JPH::JobSystemThreadPool(
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JPH::cMaxPhysicsJobs,
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JPH::cMaxPhysicsBarriers,
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-1
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);
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mPhysicsSystem.Init(
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cMaxBodies,
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cNumBodyMutexes,
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cMaxBodyPairs,
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cMaxContactConstraints,
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mBroadPhaseLayerInterface,
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mObjectVsBroadPhaseLayerFilter,
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mObjectLayerPairFilter
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);
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mIsEnabled = true;
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mPhysicsSystem.SetGravity(joltCast(mGravity));
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mProcessList = processList;
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mProcessList->preTickSignal().notify(this, &JoltWorld::getPhysicsResults);
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mProcessList->postTickSignal().notify(this, &JoltWorld::tickPhysics, 1000.0f);
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return true;
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}
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void JoltWorld::destroyWorldInternal()
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{
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// Stop ticking
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mIsEnabled = false;
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// Remove all bodies
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JPH::BodyInterface& bi = mPhysicsSystem.GetBodyInterface();
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JPH::BodyIDVector bodies;
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mPhysicsSystem.GetBodies(bodies);
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for (JPH::BodyID id : bodies)
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{
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if (bi.IsAdded(id))
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bi.RemoveBody(id);
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}
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// Remove tick listeners
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if (mProcessList)
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{
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mProcessList->preTickSignal().remove(this, &JoltWorld::getPhysicsResults);
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mProcessList->postTickSignal().remove(this, &JoltWorld::tickPhysics);
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mProcessList = nullptr;
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}
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// Delete job system and temp allocator
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delete mJobSystem;
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mJobSystem = nullptr;
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delete mTempAllocator;
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mTempAllocator = nullptr;
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delete this;
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}
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void JoltWorld::destroyWorld()
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{
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mDestroyPending.store(true, std::memory_order_release);
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}
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bool JoltWorld::castRay(const Point3F& startPnt, const Point3F& endPnt, RayInfo* ri, const Point3F& impulse)
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{
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JPH::Vec3 startV(startPnt.x, startPnt.y, startPnt.z);
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JPH::Vec3 dir = JPH::Vec3(endPnt.x - startPnt.x, endPnt.y - startPnt.y, endPnt.z - startPnt.z);
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F32 rayLength = dir.Length();
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if (rayLength <= 0.0001f)
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return false;
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JPH::RRayCast ray(startV, dir);
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JPH::RayCastResult result;
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if (!mPhysicsSystem.GetNarrowPhaseQuery().CastRay(ray, result))
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return false;
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JPH::BodyLockRead lock(
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mPhysicsSystem.GetBodyLockInterface(),
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result.mBodyID
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);
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if (!lock.Succeeded())
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return false;
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dir /= rayLength;
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const JPH::Body& body = lock.GetBody();
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JPH::RVec3 hitPos = ray.GetPointOnRay(result.mFraction);
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JPH::Vec3 normal = body.GetWorldSpaceSurfaceNormal( result.mSubShapeID2, hitPos );
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if (!body.GetUserData())
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return false;
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if (ri)
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{
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ri->point.set(joltCast(hitPos));
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ri->normal.set(joltCast(normal));
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ri->distance = result.mFraction * rayLength;
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// SceneObject mapping
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PhysicsUserData* userData = PhysicsUserData::cast((void*)body.GetUserData());
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ri->object = userData->getObject();
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ri->material = NULL;
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ri->face = 0;
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ri->faceDot = 0;
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}
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return true;
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}
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PhysicsBody* JoltWorld::castRay(const Point3F& start, const Point3F& end, U32 bodyTypes)
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{
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return nullptr;
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}
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void JoltWorld::explosion(const Point3F& pos, F32 radius, F32 forceMagnitude)
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{
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JPH::Vec3 center(pos.x, pos.y, pos.z);
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float radiusSq = radius * radius;
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// Broadphase query: get all bodies in sphere
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JPH::SphereShape sphere(radius);
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JPH::CollideShapeSettings settings;
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settings.mMaxSeparationDistance = 0.0f;
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JPH::RMat44 transform = JPH::RMat44::sTranslation(center);
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struct ExplosionCollector : public JPH::CollideShapeCollector
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{
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std::vector<JPH::BodyID> bodies;
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void AddHit(const JPH::CollideShapeResult& result) override
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{
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bodies.push_back(result.mBodyID2);
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}
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};
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ExplosionCollector collector;
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mPhysicsSystem.GetNarrowPhaseQuery().CollideShape(
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&sphere,
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JPH::Vec3::sOne(),
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transform,
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settings,
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JPH::Vec3::sZero(),
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collector
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);
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auto& bodyInterface = mPhysicsSystem.GetBodyInterface();
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for (const JPH::BodyID& bodyID : collector.bodies)
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{
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if (!bodyInterface.IsAdded(bodyID))
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continue;
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// Wake the body FIRST
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bodyInterface.ActivateBody(bodyID);
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// Lock body safely
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JPH::BodyLockWrite lock(
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mPhysicsSystem.GetBodyLockInterface(),
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bodyID
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);
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if (!lock.Succeeded())
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continue;
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JPH::Body& body = lock.GetBody();
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// Ignore static/kinematic bodies
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if (!body.IsDynamic())
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continue;
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JPH::Vec3 bodyPos = body.GetCenterOfMassPosition();
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JPH::Vec3 offset = bodyPos - center;
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float distSq = offset.LengthSq();
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if (distSq > radiusSq || distSq <= 0.0001f)
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continue;
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float dist = sqrtf(distSq);
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// Normalize direction
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JPH::Vec3 dir = offset / dist;
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// Falloff (linear)
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float falloff = 1.0f - (dist / radius);
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// Final impulse
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JPH::Vec3 impulse = dir * (forceMagnitude * falloff);
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// Apply impulse at center of mass
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body.AddImpulse(impulse);
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}
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}
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void JoltWorld::onDebugDraw(const SceneRenderState* state)
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{
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#ifdef JPH_DEBUG_RENDERER
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if (!state->isDiffusePass()) return;
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if (!mIsEnabled)
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return;
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auto* renderer = static_cast<JoltDebugRenderer*>(JPH::DebugRenderer::sInstance);
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if (!renderer)
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return;
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DebugRenderFrameState frame;
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frame.frustum = state->getCullingFrustum();
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frame.cameraPos = joltCast(state->getCameraPosition());
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renderer->SetFrameState(frame);
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JPH::BodyManager::DrawSettings settings;
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settings.mDrawShape = true;
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settings.mDrawWorldTransform = false;
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settings.mDrawBoundingBox = true;
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settings.mDrawVelocity = false;
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settings.mDrawCenterOfMassTransform = true;
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settings.mDrawShapeColor = JPH::BodyManager::EShapeColor::SleepColor;
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mPhysicsSystem.DrawBodies(settings, renderer);
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#endif
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}
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void JoltWorld::tickPhysics(U32 elapsedMs)
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{
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// Perform deferred destruction
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if (mDestroyPending.exchange(false))
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{
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destroyWorldInternal();
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return;
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}
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if (!mIsEnabled)
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return;
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if (mResetPending.exchange(false))
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performReset();
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const F32 dt = (F32)elapsedMs * 0.001f;
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PROFILE_SCOPE(JoltWorld_TickPhysics);
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mPhysicsSystem.Update(
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dt * mEditorTimeScale,
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smPhysicsMaxSubSteps, // collision steps
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mTempAllocator,
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mJobSystem
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);
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mIsSimulating = true;
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}
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void JoltWorld::getPhysicsResults()
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{
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if (!mIsSimulating)
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return;
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PROFILE_SCOPE(JoltWorld_getPhysicsResults);
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mIsSimulating = false;
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mTickCount++;
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}
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void JoltWorld::performReset()
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{
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JPH::BodyInterface& bodyInterface = mPhysicsSystem.GetBodyInterface();
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JPH::BodyIDVector bodies;
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mPhysicsSystem.GetBodies(bodies);
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for (JPH::BodyID id : bodies)
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{
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if (!bodyInterface.IsAdded(id))
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continue;
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bodyInterface.ActivateBody(id);
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bodyInterface.SetLinearAndAngularVelocity(
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id,
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JPH::Vec3::sZero(),
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JPH::Vec3::sZero()
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);
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}
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mPhysicsSystem.OptimizeBroadPhase();
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}
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void JoltWorld::reset()
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{
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if (!mIsEnabled)
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return;
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// we operate with a threading environment o not reset right away.
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mResetPending.store(true, std::memory_order_release);
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}
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void JoltWorld::setEnabled(bool enabled)
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{
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mIsEnabled = enabled;
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if (!mIsEnabled)
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getPhysicsResults();
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}
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