// Copyright (c) 2012-2023 Wojciech Figat. All rights reserved. #pragma once #include "Physics.h" #include "PhysicsSettings.h" struct HingeJointDrive; struct SpringParameters; struct LimitLinearRange; struct LimitAngularRange; struct LimitConeRange; struct LimitLinear; struct D6JointDrive; enum class HingeJointFlag; enum class DistanceJointFlag; enum class SliderJointFlag; enum class SphericalJointFlag; enum class D6JointAxis; enum class D6JointMotion; enum class D6JointDriveType; class IPhysicsActor; class PhysicalMaterial; class JsonAsset; struct FLAXENGINE_API PhysicsJointDesc { Joint* Joint; void* Actor0; void* Actor1; Quaternion Rot0; Quaternion Rot1; Vector3 Pos0; Vector3 Pos1; }; ///

/// Interface for the physical simulation backend implementation. ///

class FLAXENGINE_API PhysicsBackend { public: enum class ActorFlags { None = 0, NoGravity = 1 << 0, NoSimulation = 1 << 1, }; enum class RigidDynamicFlags { None = 0, Kinematic = 1 << 0, CCD = 1 << 1, }; enum class JointFlags { None = 0, Collision = 1 << 0, }; enum class ActionType { Sleep, }; struct HeightFieldSample { int16 Height; uint8 MaterialIndex0; uint8 MaterialIndex1; }; enum class HeightFieldMaterial { Hole = 127, }; public: // General static bool Init(); static void Shutdown(); static void ApplySettings(const PhysicsSettings& settings); // Scene static void* CreateScene(const PhysicsSettings& settings); static void DestroyScene(void* scene); static void StartSimulateScene(void* scene, float dt); static void EndSimulateScene(void* scene); static Vector3 GetSceneGravity(void* scene); static void SetSceneGravity(void* scene, const Vector3& value); static bool GetSceneEnableCCD(void* scene); static void SetSceneEnableCCD(void* scene, bool value); static float GetSceneBounceThresholdVelocity(void* scene); static void SetSceneBounceThresholdVelocity(void* scene, float value); static void SetSceneOrigin(void* scene, const Vector3& oldOrigin, const Vector3& newOrigin); static void AddSceneActor(void* scene, void* actor); static void RemoveSceneActor(void* scene, void* actor); static void AddSceneActorAction(void* scene, void* actor, ActionType action); #if COMPILE_WITH_PROFILER static void GetSceneStatistics(void* scene, PhysicsStatistics& result); #endif // Scene Queries static bool RayCast(void* scene, const Vector3& origin, const Vector3& direction, float maxDistance, uint32 layerMask, bool hitTriggers); static bool RayCast(void* scene, const Vector3& origin, const Vector3& direction, RayCastHit& hitInfo, float maxDistance, uint32 layerMask, bool hitTriggers); static bool RayCastAll(void* scene, const Vector3& origin, const Vector3& direction, Array& results, float maxDistance, uint32 layerMask, bool hitTriggers); static bool BoxCast(void* scene, const Vector3& center, const Vector3& halfExtents, const Vector3& direction, const Quaternion& rotation, float maxDistance, uint32 layerMask, bool hitTriggers); static bool BoxCast(void* scene, const Vector3& center, const Vector3& halfExtents, const Vector3& direction, RayCastHit& hitInfo, const Quaternion& rotation, float maxDistance, uint32 layerMask, bool hitTriggers); static bool BoxCastAll(void* scene, const Vector3& center, const Vector3& halfExtents, const Vector3& direction, Array& results, const Quaternion& rotation, float maxDistance, uint32 layerMask, bool hitTriggers); static bool SphereCast(void* scene, const Vector3& center, float radius, const Vector3& direction, float maxDistance, uint32 layerMask, bool hitTriggers); static bool SphereCast(void* scene, const Vector3& center, float radius, const Vector3& direction, RayCastHit& hitInfo, float maxDistance, uint32 layerMask, bool hitTriggers); static bool SphereCastAll(void* scene, const Vector3& center, float radius, const Vector3& direction, Array& results, float maxDistance, uint32 layerMask, bool hitTriggers); static bool CapsuleCast(void* scene, const Vector3& center, float radius, float height, const Vector3& direction, const Quaternion& rotation, float maxDistance, uint32 layerMask, bool hitTriggers); static bool CapsuleCast(void* scene, const Vector3& center, float radius, float height, const Vector3& direction, RayCastHit& hitInfo, const Quaternion& rotation, float maxDistance, uint32 layerMask, bool hitTriggers); static bool CapsuleCastAll(void* scene, const Vector3& center, float radius, float height, const Vector3& direction, Array& results, const Quaternion& rotation, float maxDistance, uint32 layerMask, bool hitTriggers); static bool ConvexCast(void* scene, const Vector3& center, const CollisionData* convexMesh, const Vector3& scale, const Vector3& direction, const Quaternion& rotation, float maxDistance, uint32 layerMask, bool hitTriggers); static bool ConvexCast(void* scene, const Vector3& center, const CollisionData* convexMesh, const Vector3& scale, const Vector3& direction, RayCastHit& hitInfo, const Quaternion& rotation, float maxDistance, uint32 layerMask, bool hitTriggers); static bool ConvexCastAll(void* scene, const Vector3& center, const CollisionData* convexMesh, const Vector3& scale, const Vector3& direction, Array& results, const Quaternion& rotation, float maxDistance, uint32 layerMask, bool hitTriggers); static bool CheckBox(void* scene, const Vector3& center, const Vector3& halfExtents, const Quaternion& rotation, uint32 layerMask, bool hitTriggers); static bool CheckSphere(void* scene, const Vector3& center, float radius, uint32 layerMask, bool hitTriggers); static bool CheckCapsule(void* scene, const Vector3& center, float radius, float height, const Quaternion& rotation, uint32 layerMask, bool hitTriggers); static bool CheckConvex(void* scene, const Vector3& center, const CollisionData* convexMesh, const Vector3& scale, const Quaternion& rotation, uint32 layerMask, bool hitTriggers); static bool OverlapBox(void* scene, const Vector3& center, const Vector3& halfExtents, Array& results, const Quaternion& rotation, uint32 layerMask, bool hitTriggers); static bool OverlapSphere(void* scene, const Vector3& center, float radius, Array& results, uint32 layerMask, bool hitTriggers); static bool OverlapCapsule(void* scene, const Vector3& center, float radius, float height, Array& results, const Quaternion& rotation, uint32 layerMask, bool hitTriggers); static bool OverlapConvex(void* scene, const Vector3& center, const CollisionData* convexMesh, const Vector3& scale, Array& results, const Quaternion& rotation, uint32 layerMask, bool hitTriggers); static bool OverlapBox(void* scene, const Vector3& center, const Vector3& halfExtents, Array& results, const Quaternion& rotation, uint32 layerMask, bool hitTriggers); static bool OverlapSphere(void* scene, const Vector3& center, float radius, Array& results, uint32 layerMask, bool hitTriggers); static bool OverlapCapsule(void* scene, const Vector3& center, float radius, float height, Array& results, const Quaternion& rotation, uint32 layerMask, bool hitTriggers); static bool OverlapConvex(void* scene, const Vector3& center, const CollisionData* convexMesh, const Vector3& scale, Array& results, const Quaternion& rotation, uint32 layerMask, bool hitTriggers); // Actors static ActorFlags GetActorFlags(void* actor); static void SetActorFlags(void* actor, ActorFlags value); static void GetActorBounds(void* actor, BoundingBox& bounds); static int32 GetRigidActorShapesCount(void* actor); static void* CreateRigidDynamicActor(IPhysicsActor* actor, const Vector3& position, const Quaternion& orientation, void* scene); static void* CreateRigidStaticActor(IPhysicsActor* actor, const Vector3& position, const Quaternion& orientation, void* scene); static RigidDynamicFlags GetRigidDynamicActorFlags(void* actor); static void SetRigidDynamicActorFlags(void* actor, RigidDynamicFlags value); static void GetRigidActorPose(void* actor, Vector3& position, Quaternion& orientation); static void SetRigidActorPose(void* actor, const Vector3& position, const Quaternion& orientation, bool kinematic = false, bool wakeUp = false); static void SetRigidDynamicActorLinearDamping(void* actor, float value); static void SetRigidDynamicActorAngularDamping(void* actor, float value); static void SetRigidDynamicActorMaxAngularVelocity(void* actor, float value); static void SetRigidDynamicActorConstraints(void* actor, RigidbodyConstraints value); static Vector3 GetRigidDynamicActorLinearVelocity(void* actor); static void SetRigidDynamicActorLinearVelocity(void* actor, const Vector3& value, bool wakeUp); static Vector3 GetRigidDynamicActorAngularVelocity(void* actor); static void SetRigidDynamicActorAngularVelocity(void* actor, const Vector3& value, bool wakeUp); static Vector3 GetRigidDynamicActorCenterOfMass(void* actor); static void SetRigidDynamicActorCenterOfMassOffset(void* actor, const Float3& value); static bool GetRigidDynamicActorIsSleeping(void* actor); static void RigidDynamicActorSleep(void* actor); static void RigidDynamicActorWakeUp(void* actor); static float GetRigidDynamicActorSleepThreshold(void* actor); static void SetRigidDynamicActorSleepThreshold(void* actor, float value); static float GetRigidDynamicActorMaxDepenetrationVelocity(void* actor); static void SetRigidDynamicActorMaxDepenetrationVelocity(void* actor, float value); static void SetRigidDynamicActorSolverIterationCounts(void* actor, int32 minPositionIters, int32 minVelocityIters); static void UpdateRigidDynamicActorMass(void* actor, float& mass, float massScale, bool autoCalculate); static void AddRigidDynamicActorForce(void* actor, const Vector3& force, ForceMode mode); static void AddRigidDynamicActorForceAtPosition(void* actor, const Vector3& force, const Vector3& position, ForceMode mode); static void AddRigidDynamicActorTorque(void* actor, const Vector3& torque, ForceMode mode); // Shapes static void* CreateShape(PhysicsColliderActor* collider, const CollisionShape& geometry, JsonAsset* material, bool enabled, bool trigger); static void SetShapeState(void* shape, bool enabled, bool trigger); static void SetShapeFilterMask(void* shape, uint32 mask0, uint32 mask1); static void* GetShapeActor(void* shape); static void GetShapePose(void* shape, Vector3& position, Quaternion& orientation); static CollisionShape::Types GetShapeType(void* shape); static void GetShapeLocalPose(void* shape, Vector3& position, Quaternion& orientation); static void SetShapeLocalPose(void* shape, const Vector3& position, const Quaternion& orientation); static void SetShapeContactOffset(void* shape, float value); static void SetShapeMaterial(void* shape, JsonAsset* material); static void SetShapeGeometry(void* shape, const CollisionShape& geometry); static void AttachShape(void* shape, void* actor); static void DetachShape(void* shape, void* actor); static bool ComputeShapesPenetration(void* shapeA, void* shapeB, const Vector3& positionA, const Quaternion& orientationA, const Vector3& positionB, const Quaternion& orientationB, Vector3& direction, float& distance); static float ComputeShapeSqrDistanceToPoint(void* shape, const Vector3& position, const Quaternion& orientation, const Vector3& point, Vector3* closestPoint = nullptr); static bool RayCastShape(void* shape, const Vector3& position, const Quaternion& orientation, const Vector3& origin, const Vector3& direction, float& resultHitDistance, float maxDistance); static bool RayCastShape(void* shape, const Vector3& position, const Quaternion& orientation, const Vector3& origin, const Vector3& direction, RayCastHit& hitInfo, float maxDistance); // Joints static void SetJointFlags(void* joint, JointFlags value); static void SetJointActors(void* joint, void* actors0, void* actor1); static void SetJointActorPose(void* joint, const Vector3& position, const Quaternion& orientation, uint8 index); static void SetJointBreakForce(void* joint, float force, float torque); static void GetJointForce(void* joint, Vector3& linear, Vector3& angular); static void* CreateFixedJoint(const PhysicsJointDesc& desc); static void* CreateDistanceJoint(const PhysicsJointDesc& desc); static void* CreateHingeJoint(const PhysicsJointDesc& desc); static void* CreateSliderJoint(const PhysicsJointDesc& desc); static void* CreateSphericalJoint(const PhysicsJointDesc& desc); static void* CreateD6Joint(const PhysicsJointDesc& desc); static void SetDistanceJointFlags(void* joint, DistanceJointFlag flags); static void SetDistanceJointMinDistance(void* joint, float value); static void SetDistanceJointMaxDistance(void* joint, float value); static void SetDistanceJointTolerance(void* joint, float value); static void SetDistanceJointSpring(void* joint, const SpringParameters& value); static float GetDistanceJointDistance(void* joint); static void SetHingeJointFlags(void* joint, HingeJointFlag value, bool driveFreeSpin); static void SetHingeJointLimit(void* joint, const LimitAngularRange& value); static void SetHingeJointDrive(void* joint, const HingeJointDrive& value); static float GetHingeJointAngle(void* joint); static float GetHingeJointVelocity(void* joint); static void SetSliderJointFlags(void* joint, SliderJointFlag value); static void SetSliderJointLimit(void* joint, const LimitLinearRange& value); static float GetSliderJointPosition(void* joint); static float GetSliderJointVelocity(void* joint); static void SetSphericalJointFlags(void* joint, SphericalJointFlag value); static void SetSphericalJointLimit(void* joint, const LimitConeRange& value); static void SetD6JointMotion(void* joint, D6JointAxis axis, D6JointMotion value); static void SetD6JointDrive(void* joint, const D6JointDriveType index, const D6JointDrive& value); static void SetD6JointLimitLinear(void* joint, const LimitLinear& value); static void SetD6JointLimitTwist(void* joint, const LimitAngularRange& value); static void SetD6JointLimitSwing(void* joint, const LimitConeRange& value); static Vector3 GetD6JointDrivePosition(void* joint); static void SetD6JointDrivePosition(void* joint, const Vector3& value); static Quaternion GetD6JointDriveRotation(void* joint); static void SetD6JointDriveRotation(void* joint, const Quaternion& value); static void GetD6JointDriveVelocity(void* joint, Vector3& linear, Vector3& angular); static void SetD6JointDriveVelocity(void* joint, const Vector3& linear, const Vector3& angular); static float GetD6JointTwist(void* joint); static float GetD6JointSwingY(void* joint); static float GetD6JointSwingZ(void* joint); // Character Controllers static void* CreateController(void* scene, IPhysicsActor* actor, PhysicsColliderActor* collider, float contactOffset, const Vector3& position, float slopeLimit, int32 nonWalkableMode, JsonAsset* material, float radius, float height, float stepOffset, void*& shape); static void* GetControllerRigidDynamicActor(void* controller); static void SetControllerSize(void* controller, float radius, float height); static void SetControllerSlopeLimit(void* controller, float value); static void SetControllerNonWalkableMode(void* controller, int32 value); static void SetControllerStepOffset(void* controller, float value); static Vector3 GetControllerUpDirection(void* controller); static void SetControllerUpDirection(void* controller, const Vector3& value); static Vector3 GetControllerPosition(void* controller); static void SetControllerPosition(void* controller, const Vector3& value); static int32 MoveController(void* controller, void* shape, const Vector3& displacement, float minMoveDistance, float deltaTime); #if WITH_VEHICLE // Vehicles static void* CreateVehicle(class WheeledVehicle* actor); static void DestroyVehicle(void* vehicle, int32 driveType); static void UpdateVehicleWheels(WheeledVehicle* actor); static void SetVehicleEngine(void* vehicle, const void* value); static void SetVehicleDifferential(void* vehicle, const void* value); static void SetVehicleGearbox(void* vehicle, const void* value); static int32 GetVehicleTargetGear(void* vehicle); static void SetVehicleTargetGear(void* vehicle, int32 value); static int32 GetVehicleCurrentGear(void* vehicle); static void SetVehicleCurrentGear(void* vehicle, int32 value); static float GetVehicleForwardSpeed(void* vehicle); static float GetVehicleSidewaysSpeed(void* vehicle); static float GetVehicleEngineRotationSpeed(void* vehicle); static void AddVehicle(void* scene, WheeledVehicle* actor); static void RemoveVehicle(void* scene, WheeledVehicle* actor); #endif // Resources static void* CreateConvexMesh(byte* data, int32 dataSize, BoundingBox& localBounds); static void* CreateTriangleMesh(byte* data, int32 dataSize, BoundingBox& localBounds); static void* CreateHeightField(byte* data, int32 dataSize); static void GetConvexMeshTriangles(void* contextMesh, Array& vertexBuffer, Array& indexBuffer); static void GetTriangleMeshTriangles(void* triangleMesh, Array& vertexBuffer, Array& indexBuffer); static const uint32* GetTriangleMeshRemap(void* triangleMesh, uint32& count); static void GetHeightFieldSize(void* heightField, int32& rows, int32& columns); static float GetHeightFieldHeight(void* heightField, float x, float z); static bool ModifyHeightField(void* heightField, int32 startCol, int32 startRow, int32 cols, int32 rows, const HeightFieldSample* data); static void FlushRequests(); static void FlushRequests(void* scene); static void DestroyActor(void* actor); static void DestroyShape(void* shape); static void DestroyJoint(void* joint); static void DestroyController(void* controller); static void DestroyObject(void* object); static void RemoveCollider(PhysicsColliderActor* collider); static void RemoveJoint(Joint* joint); public: // Utilities FORCE_INLINE static void SetActorFlag(void* actor, ActorFlags flag, bool value) { auto flags = GetActorFlags(actor); flags = (ActorFlags)(((uint32)flags & ~(uint32)flag) | (value ? (uint32)flag : 0)); SetActorFlags(actor, flags); } FORCE_INLINE static void SetRigidDynamicActorFlag(void* actor, RigidDynamicFlags flag, bool value) { auto flags = GetRigidDynamicActorFlags(actor); flags = (RigidDynamicFlags)(((uint32)flags & ~(uint32)flag) | (value ? (uint32)flag : 0)); SetRigidDynamicActorFlags(actor, flags); } }; DECLARE_ENUM_OPERATORS(PhysicsBackend::ActorFlags); DECLARE_ENUM_OPERATORS(PhysicsBackend::RigidDynamicFlags); DECLARE_ENUM_OPERATORS(PhysicsBackend::JointFlags);