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This commit is contained in:
Sergey Lapin
2026-01-23 21:28:25 +03:00
parent 1d358d206e
commit 8320b14358
7 changed files with 184 additions and 82 deletions
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84
src/physics/physics.cpp
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@@ -269,11 +269,13 @@ public:
void DrawLine(JPH::RVec3Arg inFrom, JPH::RVec3Arg inTo,
JPH::ColorArg inColor) override
{
JPH::Vec4 color = inColor.ToVec4();
mLines.push_back({ { inFrom[0], inFrom[1], inFrom[2] },
{ inTo[0], inTo[1], inTo[2] },
Ogre::ColourValue(color[0], color[1],
color[2], color[3]) });
JPH::Vec4 color = inColor.ToVec4();
mLines.push_back(
{ { (float)inFrom[0], (float)inFrom[1],
(float)inFrom[2] },
{ (float)inTo[0], (float)inTo[1], (float)inTo[2] },
Ogre::ColourValue(color[0], color[1], color[2],
color[3]) });
}
void DrawTriangle(JPH::RVec3Arg inV1, JPH::RVec3Arg inV2,
JPH::RVec3Arg inV3, JPH::ColorArg inColor,
@@ -444,7 +446,7 @@ Ogre::Vector3 convert(const JPH::Vec3Arg &vec)
{
return { vec[0], vec[1], vec[2] };
}
JPH::Vec3 convert(const Ogre::Vector3 &vec)
JPH::RVec3 convert(const Ogre::Vector3 &vec)
{
return { vec.x, vec.y, vec.z };
}
@@ -460,7 +462,7 @@ void CompoundShapeBuilder::addShape(JPH::ShapeRefC shape,
const Ogre::Vector3 &position,
const Ogre::Quaternion &rotation)
{
shapeSettings.AddShape(JoltPhysics::convert(position),
shapeSettings.AddShape(JoltPhysics::convert<JPH::Vec3>(position),
JoltPhysics::convert(rotation), shape.GetPtr());
}
JPH::ShapeRefC CompoundShapeBuilder::build()
@@ -769,7 +771,7 @@ public:
timeAccumulator -= fixedDeltaTime;
}
for (JPH::BodyID bID : bodies) {
JPH::Vec3 p;
JPH::RVec3 p;
JPH::Quat q;
if (id2node.find(bID) == id2node.end())
continue;
@@ -810,7 +812,7 @@ public:
}
static JPH::ShapeRefC createBoxShape(float x, float y, float z)
{
return new JPH::BoxShape(JPH::RVec3(x, y, z));
return new JPH::BoxShape(JPH::Vec3(x, y, z));
}
static JPH::ShapeRefC createCylinderShape(float halfHeight,
float radius)
@@ -818,7 +820,7 @@ public:
return new JPH::CylinderShape(halfHeight, radius);
}
JPH::BodyCreationSettings createBodyCreationSettings(
JPH::Shape *shape, JPH::Vec3 &position, JPH::Quat &rotation,
JPH::Shape *shape, JPH::RVec3 &position, JPH::Quat &rotation,
JPH::EMotionType motionType, JPH::ObjectLayer layer)
{
JPH::BodyCreationSettings body_settings(
@@ -827,7 +829,7 @@ public:
}
JPH::BodyCreationSettings
createBodyCreationSettings(JPH::ShapeSettings *shapeSettings,
JPH::Vec3 &position, JPH::Quat &rotation,
JPH::RVec3 &position, JPH::Quat &rotation,
JPH::EMotionType motionType,
JPH::ObjectLayer layer)
{
@@ -852,8 +854,8 @@ public:
{
JPH::BodyInterface &body_interface =
physics_system.GetBodyInterface();
body_interface.AddAngularImpulse(id,
JoltPhysics::convert(impulse));
body_interface.AddAngularImpulse(
id, JoltPhysics::convert<JPH::Vec3>(impulse));
}
JPH::BodyID createBody(const JPH::BodyCreationSettings &settings,
ActivationListener *listener = nullptr)
@@ -964,7 +966,7 @@ public:
JPH::MutableCompoundShape *master =
static_cast<JPH::MutableCompoundShape *>(
compoundShape.GetPtr());
master->AddShape(JoltPhysics::convert(position),
master->AddShape(JoltPhysics::convert<JPH::Vec3>(position),
JoltPhysics::convert(rotation),
childShape.GetPtr());
}
@@ -1275,8 +1277,9 @@ public:
{
int i;
JPH::HeightFieldShapeSettings heightfieldSettings(
samples, JoltPhysics::convert(offset),
JoltPhysics::convert(scale), (uint32_t)sampleCount);
samples, JoltPhysics::convert<JPH::Vec3>(offset),
JoltPhysics::convert<JPH::Vec3>(scale),
(uint32_t)sampleCount);
for (i = 0; i < sampleCount; i++) {
memcpy(heightfieldSettings.mHeightSamples.data() +
sampleCount * i,
@@ -1299,9 +1302,10 @@ public:
"bad parameters");
JPH::MutableCompoundShapeSettings settings;
for (i = 0; i < shapes.size(); i++)
settings.AddShape(JoltPhysics::convert(positions[i]),
JoltPhysics::convert(rotations[i]),
shapes[i].GetPtr());
settings.AddShape(
JoltPhysics::convert<JPH::Vec3>(positions[i]),
JoltPhysics::convert(rotations[i]),
shapes[i].GetPtr());
JPH::ShapeSettings::ShapeResult result = settings.Create();
OgreAssert(result.Get(), "Can not create compound shape");
return result.Get();
@@ -1317,9 +1321,10 @@ public:
"bad parameters");
JPH::StaticCompoundShapeSettings settings;
for (i = 0; i < shapes.size(); i++)
settings.AddShape(JoltPhysics::convert(positions[i]),
JoltPhysics::convert(rotations[i]),
shapes[i].GetPtr());
settings.AddShape(
JoltPhysics::convert<JPH::Vec3>(positions[i]),
JoltPhysics::convert(rotations[i]),
shapes[i].GetPtr());
JPH::ShapeSettings::ShapeResult result = settings.Create();
OgreAssert(result.Get(), "Can not create compound shape");
return result.Get();
@@ -1329,7 +1334,8 @@ public:
JPH::ShapeRefC shape)
{
JPH::OffsetCenterOfMassShapeSettings settings(
JoltPhysics::convert(offset), shape.GetPtr());
JoltPhysics::convert<JPH::Vec3>(offset),
shape.GetPtr());
JPH::ShapeSettings::ShapeResult result = settings.Create();
OgreAssert(result.Get(), "Can not create com offset shape");
return result.Get();
@@ -1340,7 +1346,7 @@ public:
JPH::ShapeRefC shape)
{
return JPH::RotatedTranslatedShapeSettings(
JoltPhysics::convert(offset),
JoltPhysics::convert<JPH::Vec3>(offset),
JoltPhysics::convert(rotation), shape)
.Create()
.Get();
@@ -1356,11 +1362,12 @@ public:
JPH::BodyLockWrite lock(physics_system.GetBodyLockInterface(),
id);
JPH::Body &body = lock.GetBody();
body.ApplyBuoyancyImpulse(JoltPhysics::convert(surfacePosition),
JoltPhysics::convert(surfaceNormal),
buoyancy, linearDrag, angularDrag,
JoltPhysics::convert(fluidVelocity),
JoltPhysics::convert(gravity), dt);
body.ApplyBuoyancyImpulse(
JoltPhysics::convert(surfacePosition),
JoltPhysics::convert<JPH::Vec3>(surfaceNormal),
buoyancy, linearDrag, angularDrag,
JoltPhysics::convert<JPH::Vec3>(fluidVelocity),
JoltPhysics::convert<JPH::Vec3>(gravity), dt);
}
void applyBuoyancyImpulse(JPH::BodyID id,
const Ogre::Vector3 &surfacePosition,
@@ -1372,11 +1379,12 @@ public:
JPH::BodyLockWrite lock(physics_system.GetBodyLockInterface(),
id);
JPH::Body &body = lock.GetBody();
body.ApplyBuoyancyImpulse(JoltPhysics::convert(surfacePosition),
JoltPhysics::convert(surfaceNormal),
buoyancy, linearDrag, angularDrag,
JoltPhysics::convert(fluidVelocity),
physics_system.GetGravity(), dt);
body.ApplyBuoyancyImpulse(
JoltPhysics::convert(surfacePosition),
JoltPhysics::convert<JPH::Vec3>(surfaceNormal),
buoyancy, linearDrag, angularDrag,
JoltPhysics::convert<JPH::Vec3>(fluidVelocity),
physics_system.GetGravity(), dt);
}
bool isActive(JPH::BodyID id)
{
@@ -1399,7 +1407,7 @@ public:
void getPositionAndRotation(JPH::BodyID id, Ogre::Vector3 &position,
Ogre::Quaternion &rotation)
{
JPH::Vec3 _position;
JPH::RVec3 _position;
JPH::Quat _rotation;
physics_system.GetBodyInterface().GetPositionAndRotation(
id, _position, _rotation);
@@ -1457,11 +1465,11 @@ public:
void broadphaseQuery(float dt, const Ogre::Vector3 &position,
std::set<JPH::BodyID> &inWater)
{
JPH::Vec3 surface_point = JoltPhysics::convert(
JPH::RVec3 surface_point = JoltPhysics::convert(
position + Ogre::Vector3(0, -0.1f, 0));
MyCollector collector(&physics_system, surface_point,
JPH::Vec3::sAxisY(), dt);
JPH::Vec3::sAxisY(), dt);
// Apply buoyancy to all bodies that intersect with the water
JPH::AABox water_box(-JPH::Vec3(1000, 1000, 1000),
JPH::Vec3(1000, 0.1f, 1000));
@@ -1488,7 +1496,7 @@ public:
int i;
Ogre::Vector3 direction = endPoint - startPoint;
JPH::RRayCast ray{ JoltPhysics::convert(startPoint),
JoltPhysics::convert(direction) };
JoltPhysics::convert<JPH::Vec3>(direction) };
JPH::RayCastResult hit;
bool hadHit = physics_system.GetNarrowPhaseQuery().CastRay(
ray, hit, {},

11
src/physics/physics.h
View File

@@ -44,8 +44,15 @@ static constexpr uint NUM_LAYERS(2);
namespace JoltPhysics
{
Ogre::Vector3 convert(const JPH::Vec3Arg &vec);
JPH::Vec3 convert(const Ogre::Vector3 &vec);
template<class T>
Ogre::Vector3 convert(const T &vec)
{
return {vec[0], vec[1], vec[2]};
}
template<class T> T convert(const Ogre::Vector3 &vec)
{
return { vec.x, vec.y, vec.z };
}
Ogre::Quaternion convert(const JPH::QuatArg &rot);
JPH::Quat convert(const Ogre::Quaternion &rot);
struct ShapeData;