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Refactor Physics to separate PhysicsBackend

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#673
This commit is contained in:
Wojtek Figat
2022-01-20 23:28:43 +01:00
parent cf1af53ab8
commit 427846f73b
66 changed files with 4803 additions and 4327 deletions
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89
Source/Engine/Physics/Joints/Joint.cpp
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@@ -3,14 +3,13 @@
#include "Joint.h"
#include "Engine/Serialization/Serialization.h"
#include "Engine/Core/Log.h"
#include "Engine/Physics/Utilities.h"
#include "Engine/Physics/Physics.h"
#include "Engine/Physics/PhysicsBackend.h"
#include "Engine/Physics/PhysicsScene.h"
#include "Engine/Physics/Actors/IPhysicsActor.h"
#if USE_EDITOR
#include "Engine/Level/Scene/SceneRendering.h"
#endif
#include "Engine/Scripting/Script.h"
#include <ThirdParty/PhysX/extensions/PxJoint.h>
Joint::Joint(const SpawnParams& params)
: Actor(params)
@@ -27,36 +26,27 @@ void Joint::SetBreakForce(float value)
{
if (Math::NearEqual(value, _breakForce))
return;
_breakForce = value;
if (_joint)
{
_joint->setBreakForce(_breakForce, _breakTorque);
}
PhysicsBackend::SetJointBreakForce(_joint, _breakForce, _breakTorque);
}
void Joint::SetBreakTorque(float value)
{
if (Math::NearEqual(value, _breakTorque))
return;
_breakTorque = value;
if (_joint)
{
_joint->setBreakForce(_breakForce, _breakTorque);
}
PhysicsBackend::SetJointBreakForce(_joint, _breakForce, _breakTorque);
}
void Joint::SetEnableCollision(bool value)
{
if (value == GetEnableCollision())
return;
_enableCollision = value;
if (_joint)
{
_joint->setConstraintFlag(PxConstraintFlag::eCOLLISION_ENABLED, value);
}
PhysicsBackend::SetJointFlags(_joint, _enableCollision ? PhysicsBackend::JointFlags::Collision : PhysicsBackend::JointFlags::None);
}
bool Joint::GetEnableAutoAnchor() const
@@ -73,24 +63,23 @@ void Joint::SetTargetAnchor(const Vector3& value)
{
if (Vector3::NearEqual(value, _targetAnchor))
return;
_targetAnchor = value;
if (_joint && !_enableAutoAnchor)
{
_joint->setLocalPose(PxJointActorIndex::eACTOR1, PxTransform(C2P(_targetAnchor), C2P(_targetAnchorRotation)));
}
PhysicsBackend::SetJointActorPose(_joint, _targetAnchor, _targetAnchorRotation, 1);
}
void Joint::SetTargetAnchorRotation(const Quaternion& value)
{
if (Quaternion::NearEqual(value, _targetAnchorRotation))
return;
_targetAnchorRotation = value;
if (_joint && !_enableAutoAnchor)
{
_joint->setLocalPose(PxJointActorIndex::eACTOR1, PxTransform(C2P(_targetAnchor), C2P(_targetAnchorRotation)));
}
PhysicsBackend::SetJointActorPose(_joint, _targetAnchor, _targetAnchorRotation, 1);
}
void* Joint::GetPhysicsImpl() const
{
return _joint;
}
void Joint::SetJointLocation(const Vector3& location)
@@ -128,14 +117,9 @@ void Joint::SetJointOrientation(const Quaternion& orientation)
void Joint::GetCurrentForce(Vector3& linear, Vector3& angular) const
{
if (_joint && _joint->getConstraint())
{
_joint->getConstraint()->getForce(*(PxVec3*)&linear, *(PxVec3*)&angular);
}
else
{
linear = angular = Vector3::Zero;
}
linear = angular = Vector3::Zero;
if (_joint)
PhysicsBackend::GetJointForce(_joint, linear, angular);
}
void Joint::Create()
@@ -151,26 +135,25 @@ void Joint::Create()
}
// Create joint object
JointData data;
data.Physics = Physics::GetPhysics();
data.Actor0 = parent->GetRigidActor();
data.Actor1 = target ? target->GetRigidActor() : nullptr;
data.Pos0 = _localTransform.Translation;
data.Rot0 = _localTransform.Orientation;
data.Pos1 = _targetAnchor;
data.Rot1 = _targetAnchorRotation;
PhysicsJointDesc desc;
desc.Joint = this;
desc.Actor0 = parent->GetPhysicsActor();
desc.Actor1 = target ? target->GetPhysicsActor() : nullptr;
desc.Pos0 = _localTransform.Translation;
desc.Rot0 = _localTransform.Orientation;
desc.Pos1 = _targetAnchor;
desc.Rot1 = _targetAnchorRotation;
if (_enableAutoAnchor && target)
{
// Place target anchor at the joint location
data.Pos1 = Target->GetTransform().WorldToLocal(GetPosition());
data.Rot1 = WorldToLocal(Target->GetOrientation(), GetOrientation());
desc.Pos1 = Target->GetTransform().WorldToLocal(GetPosition());
desc.Rot1 = WorldToLocal(Target->GetOrientation(), GetOrientation());
}
_joint = CreateJoint(data);
_joint->userData = this;
_joint = CreateJoint(desc);
// Setup joint properties
_joint->setBreakForce(_breakForce, _breakTorque);
_joint->setConstraintFlag(PxConstraintFlag::eCOLLISION_ENABLED, _enableCollision);
PhysicsBackend::SetJointBreakForce(_joint, _breakForce, _breakTorque);
PhysicsBackend::SetJointFlags(_joint, _enableCollision ? PhysicsBackend::JointFlags::Collision : PhysicsBackend::JointFlags::None);
}
void Joint::OnJointBreak()
@@ -180,10 +163,8 @@ void Joint::OnJointBreak()
void Joint::Delete()
{
// Remove the joint
Physics::RemoveJoint(this);
_joint->userData = nullptr;
_joint->release();
PhysicsBackend::RemoveJoint(this);
PhysicsBackend::DestroyJoint(_joint);
_joint = nullptr;
}
@@ -192,8 +173,7 @@ void Joint::SetActors()
auto parent = dynamic_cast<IPhysicsActor*>(GetParent());
auto target = dynamic_cast<IPhysicsActor*>(Target.Get());
ASSERT(parent != nullptr);
_joint->setActors(parent ? parent->GetRigidActor() : nullptr, target ? target->GetRigidActor() : nullptr);
PhysicsBackend::SetJointActors(_joint, parent->GetPhysicsActor(), target ? target->GetPhysicsActor() : nullptr);
}
void Joint::OnTargetChanged()
@@ -347,7 +327,7 @@ void Joint::OnActiveInTreeChanged()
else
Delete();
}
// Joint object may not be created if actor is disabled on play mode begin (late init feature)
// Joint object may not be created if actor is disabled on play mode begin (late init feature)
else if (IsDuringPlay())
{
Create();
@@ -393,9 +373,6 @@ void Joint::OnTransformChanged()
_box = BoundingBox(_transform.Translation);
_sphere = BoundingSphere(_transform.Translation, 0.0f);
if (_joint)
{
_joint->setLocalPose(PxJointActorIndex::eACTOR0, PxTransform(C2P(_localTransform.Translation), C2P(_localTransform.Orientation)));
}
PhysicsBackend::SetJointActorPose(_joint, _localTransform.Translation, _localTransform.Orientation, 0);
}