Unified Bullet API
This commit is contained in:
Lubos Lenco
parent
6dbe92199f
commit
ddabd1f218
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@ -23,13 +23,8 @@ class PhysicsWorld extends Trait {
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public function new() { super(); }
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#else
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#if js
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public var world:BtDiscreteDynamicsWorld;
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var dispatcher:BtCollisionDispatcher;
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#elseif cpp
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public var world:cpp.Pointer<BtDiscreteDynamicsWorld>;
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var dispatcher:cpp.Pointer<BtCollisionDispatcher>;
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#end
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public var world:BtDiscreteDynamicsWorldPointer;
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var dispatcher:BtCollisionDispatcherPointer;
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var contacts:Array<ContactPair> = [];
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var rbMap:Map<Int, RigidBody>;
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@ -39,25 +34,6 @@ class PhysicsWorld extends Trait {
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rbMap = new Map();
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#if js
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//var min = new BtVector3(-100, -100, -100);
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//var max = new BtVector3(100, 100, 100);
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//var broadphase = new BtAxisSweep3(min, max);
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var broadphase = new BtDbvtBroadphase();
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var collisionConfiguration = new BtDefaultCollisionConfiguration();
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dispatcher = new BtCollisionDispatcher(collisionConfiguration);
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var solver = new BtSequentialImpulseConstraintSolver();
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world = new BtDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
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var g = new BtVector3(0, 0, -9.81);
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world.setGravity(g);
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#elseif cpp
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//var min = BtVector3.create(-100, -100, -100);
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//var max = BtVector3.create(100, 100, 100);
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//var broadphase = BtAxisSweep3.create(min.value, max.value);
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@ -70,30 +46,21 @@ class PhysicsWorld extends Trait {
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var solver = BtSequentialImpulseConstraintSolver.create();
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world = BtDiscreteDynamicsWorld.create(dispatcher, broadphase, solver, collisionConfiguration);
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var g = BtVector3.create(0, 0, -9.81);
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world.value.setGravity(g.value);
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#end
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world.value.setGravity(BtVector3.create(0, 0, -9.81).value);
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requestUpdate(update);
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}
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public function addRigidBody(body:RigidBody) {
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#if js
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world.addRigidBody(body.body);
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#elseif cpp
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world.value.addRigidBody(body.body);
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#end
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rbMap.set(body.id, body);
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}
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public function removeRigidBody(body:RigidBody) {
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world.value.removeRigidBody(body.body);
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#if js
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world.removeRigidBody(body.body);
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Ammo.destroy(body.body);
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#elseif cpp
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world.value.removeRigidBody(body.body);
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body.body.destroy();
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#end
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@ -128,51 +95,31 @@ class PhysicsWorld extends Trait {
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}
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public function update() {
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#if js
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world.stepSimulation(1 / 60);
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#elseif cpp
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world.value.stepSimulation(1 / 60);
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#end
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updateContacts();
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}
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function updateContacts() {
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contacts = [];
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#if cpp
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var numManifolds = dispatcher.value.getNumManifolds();
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#else
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var numManifolds = dispatcher.getNumManifolds();
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#end
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for (i in 0...numManifolds) {
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var contactManifold = dispatcher.value.getManifoldByIndexInternal(i);
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var obA = contactManifold.value.getBody0();
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var obB = contactManifold.value.getBody1();
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#if js
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var contactManifold = dispatcher.getManifoldByIndexInternal(i);
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var obA = contactManifold.getBody0();
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var obB = contactManifold.getBody1();
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var bodyA = untyped Ammo.btRigidBody.prototype.upcast(obA);
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var bodyB = untyped Ammo.btRigidBody.prototype.upcast(obB);
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// TODO: remove ContactPair
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var cp = new ContactPair(untyped bodyA.userIndex, untyped bodyB.userIndex);
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#elseif cpp
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var contactManifold = dispatcher.value.getManifoldByIndexInternal(i);
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var obA = contactManifold.value.getBody0();
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var obB = contactManifold.value.getBody1();
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var cp = new ContactPair(obA.value.getUserIndex(), obB.value.getUserIndex());
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#end
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#if js
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var numContacts = contactManifold.getNumContacts();
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#elseif cpp
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var numContacts = contactManifold.value.getNumContacts();
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#end
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for (j in 0...numContacts) {
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#if js
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var pt = contactManifold.getContactPoint(j);
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#elseif cpp
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var pt = contactManifold.value.getContactPoint(j);
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#end
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if (pt.getDistance() < 0) {
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//var ptA = pt.getPositionWorldOnA();
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@ -184,72 +131,40 @@ class PhysicsWorld extends Trait {
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}
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}
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#if js
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public var rayCallback:ClosestRayResultCallback;
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#elseif cpp
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public var rayCallback:cpp.Pointer<ClosestRayResultCallback>;
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#end
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public var rayCallback:ClosestRayResultCallbackPointer;
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public function pickClosest(inputX:Float, inputY:Float):RigidBody {
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var rayFrom = getRayFrom();
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var rayTo = getRayTo(inputX, inputY);
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#if js
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rayCallback = new ClosestRayResultCallback(rayFrom, rayTo);
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#elseif cpp
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rayCallback = ClosestRayResultCallback.create(rayFrom.value, rayTo.value);
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#end
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#if js
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world.rayTest(rayFrom, rayTo, rayCallback);
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#elseif cpp
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world.value.rayTest(rayFrom.value, rayTo.value, rayCallback.value);
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#end
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#if js
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if (rayCallback.hasHit()) {
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var co = rayCallback.get_m_collisionObject();
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var body = untyped Ammo.btRigidBody.prototype.upcast(co);
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return rbMap.get(untyped body.userIndex);
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}
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else { return null; }
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#elseif cpp
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if (rayCallback.value.hasHit()) {
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#if js
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var co = rayCallback.value.get_m_collisionObject();
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return rbMap.get(untyped body.userIndex);
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#elseif cpp
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var co = rayCallback.value.m_collisionObject;
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return rbMap.get(co.value.getUserIndex());
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#end
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}
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else {
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return null;
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}
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else { return null; }
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#end
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}
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#if cpp
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public function getRayFrom():cpp.Pointer<BtVector3> {
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#else
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public function getRayFrom():BtVector3 {
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#end
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public function getRayFrom():BtVector3Pointer {
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var camera = lue.node.Node.cameras[0];
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#if js
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return new BtVector3(camera.transform.pos.x, camera.transform.pos.y, camera.transform.pos.z);
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#elseif cpp
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return BtVector3.create(camera.transform.pos.x, camera.transform.pos.y, camera.transform.pos.z);
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#end
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}
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#if cpp
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public function getRayTo(inputX:Float, inputY:Float):cpp.Pointer<BtVector3> {
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#else
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public function getRayTo(inputX:Float, inputY:Float):BtVector3 {
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#end
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public function getRayTo(inputX:Float, inputY:Float):BtVector3Pointer {
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var camera = lue.node.Node.cameras[0];
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var start = new Vec3();
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var end = new Vec3();
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RayCaster.getDirection(start, end, inputX, inputY, camera);
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#if js
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return new BtVector3(end.x, end.y, end.z);
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#elseif cpp
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return BtVector3.create(end.x, end.y, end.z);
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#end
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}
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#end
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}
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@ -33,11 +33,7 @@ class RigidBody extends Trait {
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public var mass:Float;
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public var friction:Float;
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#if js
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public var body:BtRigidBody = null;
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#elseif cpp
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public var body:cpp.Pointer<BtRigidBody> = null;
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#end
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public var body:BtRigidBodyPointer = null;
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static var nextId = 0;
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public var id = 0;
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@ -62,113 +58,51 @@ class RigidBody extends Trait {
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if (body != null) return;
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#if js
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var _shape:BtCollisionShape = null;
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var _shapeConvex:BtConvexHullShape = null;
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#elseif cpp
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var _shape:cpp.Pointer<BtCollisionShape> = null;
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var _shapeConvex:cpp.Pointer<BtConvexHullShape> = null;
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#end
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var _shape:BtCollisionShapePointer = null;
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var _shapeConvex:BtConvexHullShapePointer = null;
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if (shape == SHAPE_BOX) {
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#if js
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_shape = new BtBoxShape(new BtVector3(
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transform.size.x / 2,
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transform.size.y / 2,
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transform.size.z / 2));
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#elseif cpp
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_shape = BtBoxShape.create(BtVector3.create(
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transform.size.x / 2,
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transform.size.y / 2,
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transform.size.z / 2).value);
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#end
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}
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else if (shape == SHAPE_SPHERE) {
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#if js
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_shape = new BtSphereShape(transform.size.x / 2);
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#elseif cpp
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_shape = BtSphereShape.create(transform.size.x / 2);
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#end
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}
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else if (shape == SHAPE_CONVEX_HULL || shape == SHAPE_MESH) { // Use convex hull for mesh for now
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#if js
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_shapeConvex = new BtConvexHullShape();
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#elseif cpp
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_shapeConvex = BtConvexHullShape.create();
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#end
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addPointsToConvexHull(_shapeConvex);
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}
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else if (shape == SHAPE_CONE) {
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#if js
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_shape = new BtConeShapeZ(
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_shape = BtConeShapeZ.create(
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transform.size.x / 2, // Radius
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transform.size.z); // Height
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#elseif cpp
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_shape = BtConeShapeZ.create(
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transform.size.x / 2,
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transform.size.z);
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#end
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}
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else if (shape == SHAPE_CYLINDER) {
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#if js
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_shape = new BtCylinderShapeZ(new BtVector3(
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transform.size.x / 2,
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transform.size.y / 2,
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transform.size.z / 2));
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#elseif cpp
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_shape = BtCylinderShapeZ.create(BtVector3.create(
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transform.size.x / 2,
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transform.size.y / 2,
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transform.size.z / 2).value);
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#end
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}
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else if (shape == SHAPE_CAPSULE) {
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#if js
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_shape = new BtCapsuleShapeZ(
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_shape = BtCapsuleShapeZ.create(
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(transform.size.x / 2),// * scaleX, // Radius
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transform.size.z);// * scaleZ); // Height
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#elseif cpp
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_shape = BtCapsuleShapeZ.create(
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transform.size.x / 4,
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transform.size.z * 0.65);
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#end
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}
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//else if (shape == SHAPE_TERRAIN) {
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// throw "Terrain not yet supported, use static mesh instead.";
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/*
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#if js
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var data:Array<Dynamic> = [];
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_shape = new BtHeightfieldTerrainShape(3, 3, data, 1, -10, 10, 2, 0, true);
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#elseif cpp
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var data:Array<Dynamic> = [];
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_shape = BtHeightfieldTerrainShape.create(3, 3, data, 1, -10, 10, 2, 0, true);
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#end*/
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*/
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//}
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else if (shape == SHAPE_STATIC_MESH || shape == SHAPE_TERRAIN) {
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#if js
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var meshInterface = new BtTriangleMesh(true, true);
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fillTriangleMesh(meshInterface);
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_shape = new BtBvhTriangleMeshShape(meshInterface, true, true);
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#elseif cpp
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var meshInterface = BtTriangleMesh.create(true, true);
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fillTriangleMesh(meshInterface);
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_shape = BtBvhTriangleMeshShape.create(meshInterface, true, true);
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#end
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}
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#if js
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var _transform = new BtTransform();
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_transform.setIdentity();
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_transform.setOrigin(new BtVector3(
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transform.pos.x,
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transform.pos.y,
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transform.pos.z));
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_transform.setRotation(new BtQuaternion(
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transform.rot.x,
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transform.rot.y,
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transform.rot.z,
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transform.rot.w));
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#elseif cpp
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var _transform = BtTransform.create();
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_transform.value.setIdentity();
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_transform.value.setOrigin(BtVector3.create(
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@ -180,30 +114,13 @@ class RigidBody extends Trait {
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transform.rot.y,
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transform.rot.z,
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transform.rot.w).value);
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#end
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#if js
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var _centerOfMassOffset = new BtTransform();
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_centerOfMassOffset.setIdentity();
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var _motionState = new BtDefaultMotionState(_transform, _centerOfMassOffset);
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var _inertia = new BtVector3(0, 0, 0);
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#elseif cpp
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var _centerOfMassOffset = BtTransform.create();
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_centerOfMassOffset.value.setIdentity();
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var _motionState = BtDefaultMotionState.create(_transform.value, _centerOfMassOffset.value);
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var _inertia = BtVector3.create(0, 0, 0);
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#end
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if (_shapeConvex == null) {
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#if js
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if (shape != SHAPE_STATIC_MESH && shape != SHAPE_TERRAIN) {
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_shape.calculateLocalInertia(mass, _inertia);
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}
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var _bodyCI = new BtRigidBodyConstructionInfo(mass, _motionState, _shape, _inertia);
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body = new BtRigidBody(_bodyCI);
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body.setFriction(friction);
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body.setRollingFriction(friction);
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#elseif cpp
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if (shape != SHAPE_STATIC_MESH && shape != SHAPE_TERRAIN) {
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_shape.value.calculateLocalInertia(mass, _inertia.value);
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}
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@ -211,18 +128,11 @@ class RigidBody extends Trait {
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body = BtRigidBody.create(_bodyCI.value);
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body.value.setFriction(friction);
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body.value.setRollingFriction(friction);
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#end
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}
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else {
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#if js
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_shapeConvex.calculateLocalInertia(mass, _inertia);
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var _bodyCI = new BtRigidBodyConstructionInfo(mass, _motionState, _shapeConvex, _inertia);
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body = new BtRigidBody(_bodyCI);
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#elseif cpp
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_shapeConvex.value.calculateLocalInertia(mass, _inertia.value);
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var _bodyCI = BtRigidBodyConstructionInfo.create(mass, _motionState, _shapeConvex, _inertia.value);
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body = BtRigidBody.create(_bodyCI.value);
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#end
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}
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id = nextId;
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@ -241,11 +151,7 @@ class RigidBody extends Trait {
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}
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function update() {
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#if js
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var trans = body.getWorldTransform();
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#elseif cpp
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var trans = body.value.getWorldTransform();
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#end
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var p = trans.getOrigin();
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var q = trans.getRotation();
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transform.pos.set(p.x(), p.y(), p.z());
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@ -255,16 +161,12 @@ class RigidBody extends Trait {
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transform.update();
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}
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public function removeFromWorld() {
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public inline function removeFromWorld() {
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physics.removeRigidBody(this);
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}
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public inline function activate() {
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#if js
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body.activate(false);
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#elseif cpp
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body.value.activate(false);
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#end
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}
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public inline function disableGravity() {
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@ -274,142 +176,71 @@ class RigidBody extends Trait {
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}
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/*public inline function setGravity(v:Vec3) {
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#if js
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body.setGravity(new BtVector3(v.x, v.y, v.z));
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#elseif cpp
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body.value.setGravity(BtVector3.create(v.x, v.y, v.z).value);
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#end
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}*/
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/*public inline function setActivationState(newState:Int) {
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#if js
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body.setActivationState(newState);
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#elseif cpp
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body.value.setActivationState(newState);
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#end
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}*/
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public inline function applyImpulse(impulse:Vec3, pos:Vec3 = null) {
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if (pos == null) {
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#if js
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body.applyCentralImpulse(new BtVector3(impulse.x, impulse.y, impulse.z));
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#elseif cpp
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body.value.applyCentralImpulse(BtVector3.create(impulse.x, impulse.y, impulse.z).value);
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#end
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}
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else {
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#if js
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body.applyImpulse(new BtVector3(impulse.x, impulse.y, impulse.z),
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new BtVector3(pos.x, pos.y, pos.z));
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#elseif cpp
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body.value.applyImpulse(BtVector3.create(impulse.x, impulse.y, impulse.z).value,
|
||||
BtVector3.create(pos.x, pos.y, pos.z).value);
|
||||
#end
|
||||
}
|
||||
}
|
||||
|
||||
public inline function setLinearFactor(x:Float, y:Float, z:Float) {
|
||||
#if js
|
||||
body.setLinearFactor(new BtVector3(x, y, z));
|
||||
#elseif cpp
|
||||
body.value.setLinearFactor(BtVector3.create(x, y, z).value);
|
||||
#end
|
||||
}
|
||||
|
||||
public inline function setAngularFactor(x:Float, y:Float, z:Float) {
|
||||
#if js
|
||||
body.setAngularFactor(new BtVector3(x, y, z));
|
||||
#elseif cpp
|
||||
body.value.setAngularFactor(BtVector3.create(x, y, z).value);
|
||||
#end
|
||||
}
|
||||
|
||||
// public inline function getLinearVelocity():BtVector3 {
|
||||
// #if js
|
||||
// return body.getLinearVelocity();
|
||||
// #elseif cpp // Unable to compile in cpp
|
||||
// return body.value.getLinearVelocity();
|
||||
// #end
|
||||
// return body.value.getLinearVelocity(); // Unable to compile in cpp
|
||||
// }
|
||||
|
||||
public inline function setLinearVelocity(x:Float, y:Float, z:Float) {
|
||||
#if js
|
||||
body.setLinearVelocity(new BtVector3(x, y, z));
|
||||
#elseif cpp
|
||||
body.value.setLinearVelocity(BtVector3.create(x, y, z).value);
|
||||
#end
|
||||
}
|
||||
|
||||
// public inline function getAngularVelocity():BtVector3 {
|
||||
// #if js
|
||||
// return body.getAngularVelocity();
|
||||
// #elseif cpp
|
||||
// return body.value.getAngularVelocity();
|
||||
// #end
|
||||
// }
|
||||
|
||||
public inline function setAngularVelocity(x:Float, y:Float, z:Float) {
|
||||
#if js
|
||||
body.setAngularVelocity(new BtVector3(x, y, z));
|
||||
#elseif cpp
|
||||
body.value.setAngularVelocity(BtVector3.create(x, y, z).value);
|
||||
#end
|
||||
}
|
||||
|
||||
public function syncTransform() {
|
||||
#if js
|
||||
var trans = new BtTransform();
|
||||
trans.setOrigin(new BtVector3(transform.pos.x, transform.pos.y, transform.pos.z));
|
||||
trans.setRotation(new BtQuaternion(transform.rot.x, transform.rot.y, transform.rot.z, transform.rot.w));
|
||||
body.setCenterOfMassTransform(trans);
|
||||
#elseif cpp
|
||||
var trans = BtTransform.create();
|
||||
trans.value.setOrigin(BtVector3.create(transform.pos.x, transform.pos.y, transform.pos.z).value);
|
||||
trans.value.setRotation(BtQuaternion.create(transform.rot.x, transform.rot.y, transform.rot.z, transform.rot.w).value);
|
||||
body.value.setCenterOfMassTransform(trans.value);
|
||||
#end
|
||||
}
|
||||
|
||||
#if cpp
|
||||
function addPointsToConvexHull(shape:cpp.Pointer<BtConvexHullShape>) {
|
||||
#else
|
||||
function addPointsToConvexHull(shape:BtConvexHullShape) {
|
||||
#end
|
||||
|
||||
function addPointsToConvexHull(shape:BtConvexHullShapePointer) {
|
||||
var positions = cast(node, ModelNode).resource.geometry.positions;
|
||||
|
||||
for (i in 0...Std.int(positions.length / 3)) {
|
||||
#if js
|
||||
shape.addPoint(new BtVector3(positions[i * 3], positions[i * 3 + 1], positions[i * 3 + 2]), true);
|
||||
shape.addPoint(BtVector3.create(positions[i * 3], positions[i * 3 + 1], positions[i * 3 + 2]).value, true);
|
||||
#elseif cpp
|
||||
shape.value.addPoint(BtVector3.create(positions[i * 3], positions[i * 3 + 1], positions[i * 3 + 2]).value, true);
|
||||
#end
|
||||
}
|
||||
}
|
||||
|
||||
#if cpp
|
||||
function fillTriangleMesh(triangleMesh:cpp.Pointer<BtTriangleMesh>) {
|
||||
#else
|
||||
function fillTriangleMesh(triangleMesh:BtTriangleMesh) {
|
||||
#end
|
||||
|
||||
function fillTriangleMesh(triangleMesh:BtTriangleMeshPointer) {
|
||||
var positions = cast(node, ModelNode).resource.geometry.positions;
|
||||
var indices = cast(node, ModelNode).resource.geometry.indices;
|
||||
|
||||
for (i in 0...Std.int(indices[0].length / 3)) {
|
||||
#if js
|
||||
triangleMesh.addTriangle(
|
||||
new BtVector3(positions[indices[0][i * 3 + 0] * 3 + 0],
|
||||
positions[indices[0][i * 3 + 0] * 3 + 1],
|
||||
positions[indices[0][i * 3 + 0] * 3 + 2]),
|
||||
new BtVector3(positions[indices[0][i * 3 + 1] * 3 + 0],
|
||||
positions[indices[0][i * 3 + 1] * 3 + 1],
|
||||
positions[indices[0][i * 3 + 1] * 3 + 2]),
|
||||
new BtVector3(positions[indices[0][i * 3 + 2] * 3 + 0],
|
||||
positions[indices[0][i * 3 + 2] * 3 + 1],
|
||||
positions[indices[0][i * 3 + 2] * 3 + 2])
|
||||
);
|
||||
#elseif cpp
|
||||
triangleMesh.value.addTriangle(
|
||||
BtVector3.create(positions[indices[0][i * 3 + 0] * 3 + 0],
|
||||
positions[indices[0][i * 3 + 0] * 3 + 1],
|
||||
|
|
@ -421,7 +252,6 @@ class RigidBody extends Trait {
|
|||
positions[indices[0][i * 3 + 2] * 3 + 1],
|
||||
positions[indices[0][i * 3 + 2] * 3 + 2]).value
|
||||
);
|
||||
#end
|
||||
}
|
||||
}
|
||||
#end
|
||||
|
|
|
|||
Loading…
Reference in a new issue