lpnf
/
lovr
mirror of https://github.com/bjornbytes/lovr.git
1
0
Fork 0
Code Issues Projects Releases Wiki Activity

Add helpers to convert between jolt vectors;

This commit is contained in:
bjorn 2024-04-19 19:40:16 -07:00
parent 30b8ddc2ed
commit 5c68b701d3
1 changed files with 57 additions and 84 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

141
src/modules/physics/physics_jolt.c
View File

@ -65,6 +65,11 @@ static struct {
// (NO_TAG = ~0u is not used in jolt implementation)
#define UNTAGGED (MAX_TAGS)
#define vec3_toJolt(v) &(JPH_Vec3) { v[0], v[1], v[2] }
#define vec3_fromJolt(v, j) vec3_set(v, (j)->x, (j)->y, (j)->z)
#define quat_toJolt(q) &(JPH_Quat) { q[0], q[1], q[2], q[3] }
#define quat_fromJolt(q, j) quat_set(q, (j)->x, (j)->y, (j)->z, (j)->w)
// XXX slow, but probably fine (tag names are not on any critical path), could switch to hashing if needed
static uint32_t findTag(World* world, const char* name) {
for (uint32_t i = 0; i < MAX_TAGS && world->tags[i]; i++) {
@ -269,12 +274,11 @@ bool lovrWorldQuerySphere(World* world, float position[3], float radius, QueryCa
void lovrWorldGetGravity(World* world, float gravity[3]) {
JPH_Vec3 g;
JPH_PhysicsSystem_GetGravity(world->system, &g);
vec3_set(gravity, g.x, g.y, g.z);
vec3_fromJolt(gravity, &g);
}
void lovrWorldSetGravity(World* world, float gravity[3]) {
JPH_Vec3 g = { gravity[0], gravity[1], gravity[2] };
JPH_PhysicsSystem_SetGravity(world->system, &g);
JPH_PhysicsSystem_SetGravity(world->system, vec3_toJolt(gravity));
}
const char* lovrWorldGetTagName(World* world, uint32_t tag) {
@ -349,11 +353,11 @@ Collider* lovrColliderCreate(World* world, Shape* shape, float position[3]) {
collider->shape = shape ? shape : state.pointShape;
collider->tag = UNTAGGED;
JPH_RVec3 p = { position[0], position[1], position[2] };
JPH_RVec3* p = vec3_toJolt(position);
JPH_Quat q = { 0.f, 0.f, 0.f, 1.f };
JPH_MotionType type = JPH_MotionType_Dynamic;
JPH_ObjectLayer objectLayer = UNTAGGED * 2 + 1;
JPH_BodyCreationSettings* settings = JPH_BodyCreationSettings_Create3(collider->shape->shape, &p, &q, type, objectLayer);
JPH_BodyCreationSettings* settings = JPH_BodyCreationSettings_Create3(collider->shape->shape, p, &q, type, objectLayer);
collider->body = JPH_BodyInterface_CreateBody(world->bodies, settings);
collider->id = JPH_Body_GetID(collider->body);
JPH_BodyCreationSettings_Destroy(settings);
@ -484,17 +488,18 @@ void lovrColliderSetShape(Collider* collider, Shape* shape) {
void lovrColliderGetShapeOffset(Collider* collider, float position[3], float orientation[4]) {
const JPH_Shape* shape = JPH_BodyInterface_GetShape(collider->world->bodies, collider->id);
if (JPH_Shape_GetSubType(shape) == JPH_ShapeSubType_RotatedTranslated) {
JPH_Vec3 p;
JPH_Quat q;
JPH_RotatedTranslatedShape_GetPosition((JPH_RotatedTranslatedShape*) shape, &p);
JPH_RotatedTranslatedShape_GetRotation((JPH_RotatedTranslatedShape*) shape, &q);
vec3_set(position, p.x, p.y, p.z);
quat_set(orientation, q.x, q.y, q.z, q.w);
} else {
if (JPH_Shape_GetSubType(shape) != JPH_ShapeSubType_RotatedTranslated) {
vec3_set(position, 0.f, 0.f, 0.f);
quat_identity(orientation);
return;
}
JPH_Vec3 p;
JPH_Quat q;
JPH_RotatedTranslatedShape_GetPosition((JPH_RotatedTranslatedShape*) shape, &p);
JPH_RotatedTranslatedShape_GetRotation((JPH_RotatedTranslatedShape*) shape, &q);
vec3_fromJolt(position, &p);
quat_fromJolt(orientation, &q);
}
void lovrColliderSetShapeOffset(Collider* collider, float position[3], float orientation[4]) {
@ -504,9 +509,9 @@ void lovrColliderSetShapeOffset(Collider* collider, float position[3], float ori
JPH_Shape_Destroy((JPH_Shape*) shape);
}
JPH_Vec3 p = { position[0], position[1], position[2] };
JPH_Quat q = { orientation[0], orientation[1], orientation[2], orientation[3] };
shape = (JPH_Shape*) JPH_RotatedTranslatedShape_Create(&p, &q, collider->shape->shape);
JPH_Vec3* p = vec3_toJolt(position);
JPH_Quat* q = quat_toJolt(orientation);
shape = (JPH_Shape*) JPH_RotatedTranslatedShape_Create(p, q, collider->shape->shape);
bool updateMass = collider->shape && (collider->shape->type == SHAPE_MESH || collider->shape->type == SHAPE_TERRAIN);
JPH_BodyInterface_SetShape(collider->world->bodies, collider->id, shape, updateMass, JPH_Activation_Activate);
}
@ -556,17 +561,9 @@ void lovrColliderSetKinematic(Collider* collider, bool kinematic) {
JPH_BodyInterface_SetObjectLayer(collider->world->bodies, collider->id, objectLayer);
if (kinematic) {
JPH_BodyInterface_DeactivateBody(collider->world->bodies, collider->id);
JPH_BodyInterface_SetMotionType(
collider->world->bodies,
collider->id,
JPH_MotionType_Kinematic,
JPH_Activation_DontActivate);
JPH_BodyInterface_SetMotionType(collider->world->bodies, collider->id, JPH_MotionType_Kinematic, JPH_Activation_DontActivate);
} else {
JPH_BodyInterface_SetMotionType(
collider->world->bodies,
collider->id,
JPH_MotionType_Dynamic,
JPH_Activation_Activate);
JPH_BodyInterface_SetMotionType(collider->world->bodies, collider->id, JPH_MotionType_Dynamic, JPH_Activation_Activate);
}
}
@ -640,45 +637,41 @@ void lovrColliderSetMassData(Collider* collider, float centerOfMass[3], float ma
void lovrColliderGetPosition(Collider* collider, float position[3]) {
JPH_RVec3 p;
JPH_Body_GetPosition(collider->body, &p);
vec3_set(position, p.x, p.y, p.z);
vec3_fromJolt(position, &p);
}
void lovrColliderSetPosition(Collider* collider, float position[3]) {
JPH_RVec3 p = { position[0], position[1], position[2] };
JPH_BodyInterface_SetPosition(collider->world->bodies, collider->id, &p, JPH_Activation_Activate);
JPH_BodyInterface_SetPosition(collider->world->bodies, collider->id, vec3_toJolt(position), JPH_Activation_Activate);
}
void lovrColliderGetOrientation(Collider* collider, float* orientation) {
JPH_Quat q;
JPH_Body_GetRotation(collider->body, &q);
quat_set(orientation, q.x, q.y, q.z, q.w);
quat_fromJolt(orientation, &q);
}
void lovrColliderSetOrientation(Collider* collider, float* orientation) {
JPH_Quat q = { orientation[0], orientation[1], orientation[2], orientation[3] };
JPH_BodyInterface_SetRotation(collider->world->bodies, collider->id, &q, JPH_Activation_Activate);
JPH_BodyInterface_SetRotation(collider->world->bodies, collider->id, quat_toJolt(orientation), JPH_Activation_Activate);
}
void lovrColliderGetLinearVelocity(Collider* collider, float velocity[3]) {
JPH_Vec3 v;
JPH_BodyInterface_GetLinearVelocity(collider->world->bodies, collider->id, &v);
vec3_set(velocity, v.x, v.y, v.z);
vec3_fromJolt(velocity, &v);
}
void lovrColliderSetLinearVelocity(Collider* collider, float velocity[3]) {
JPH_Vec3 v = { velocity[0], velocity[1], velocity[2] };
JPH_BodyInterface_SetLinearVelocity(collider->world->bodies, collider->id, &v);
JPH_BodyInterface_SetLinearVelocity(collider->world->bodies, collider->id, vec3_toJolt(velocity));
}
void lovrColliderGetAngularVelocity(Collider* collider, float velocity[3]) {
JPH_Vec3 v;
JPH_BodyInterface_GetAngularVelocity(collider->world->bodies, collider->id, &v);
vec3_set(velocity, v.x, v.y, v.z);
vec3_fromJolt(velocity, &v);
}
void lovrColliderSetAngularVelocity(Collider* collider, float velocity[3]) {
JPH_Vec3 v = { velocity[0], velocity[1], velocity[2] };
JPH_BodyInterface_SetAngularVelocity(collider->world->bodies, collider->id, &v);
JPH_BodyInterface_SetAngularVelocity(collider->world->bodies, collider->id, vec3_toJolt(velocity));
}
void lovrColliderGetLinearDamping(Collider* collider, float* damping, float* threshold) {
@ -710,35 +703,27 @@ void lovrColliderSetAngularDamping(Collider* collider, float damping, float thre
}
void lovrColliderApplyForce(Collider* collider, float force[3]) {
JPH_Vec3 f = { force[0], force[1], force[2] };
JPH_BodyInterface_AddForce(collider->world->bodies, collider->id, &f);
JPH_BodyInterface_AddForce(collider->world->bodies, collider->id, vec3_toJolt(force));
}
void lovrColliderApplyForceAtPosition(Collider* collider, float force[3], float position[3]) {
JPH_Vec3 f = { force[0], force[1], force[2] };
JPH_RVec3 p = { position[0], position[1], position[2] };
JPH_BodyInterface_AddForce2(collider->world->bodies, collider->id, &f, &p);
JPH_BodyInterface_AddForce2(collider->world->bodies, collider->id, vec3_toJolt(force), vec3_toJolt(position));
}
void lovrColliderApplyTorque(Collider* collider, float torque[3]) {
JPH_Vec3 t = { torque[0], torque[1], torque[2] };
JPH_BodyInterface_AddTorque(collider->world->bodies, collider->id, &t);
JPH_BodyInterface_AddTorque(collider->world->bodies, collider->id, vec3_toJolt(torque));
}
void lovrColliderApplyLinearImpulse(Collider* collider, float impulse[3]) {
JPH_Vec3 v = { impulse[0], impulse[1], impulse[2] };
JPH_BodyInterface_AddImpulse(collider->world->bodies, collider->id, &v);
JPH_BodyInterface_AddImpulse(collider->world->bodies, collider->id, vec3_toJolt(impulse));
}
void lovrColliderApplyLinearImpulseAtPosition(Collider* collider, float impulse[3], float position[3]) {
JPH_Vec3 v = { impulse[0], impulse[1], impulse[2] };
JPH_Vec3 p = { position[0], position[1], position[2] };
JPH_BodyInterface_AddImpulse2(collider->world->bodies, collider->id, &v, &p);
JPH_BodyInterface_AddImpulse2(collider->world->bodies, collider->id, vec3_toJolt(impulse), vec3_toJolt(position));
}
void lovrColliderApplyAngularImpulse(Collider* collider, float impulse[3]) {
JPH_Vec3 v = { impulse[0], impulse[1], impulse[2] };
JPH_BodyInterface_AddAngularImpulse(collider->world->bodies, collider->id, &v);
JPH_BodyInterface_AddAngularImpulse(collider->world->bodies, collider->id, vec3_toJolt(impulse));
}
void lovrColliderGetLocalCenter(Collider* collider, float center[3]) {
@ -786,7 +771,7 @@ void lovrColliderGetLinearVelocityFromWorldPoint(Collider* collider, float point
JPH_RVec3 p = { point[0], point[1], point[2] };
JPH_Vec3 v;
JPH_BodyInterface_GetPointVelocity(collider->world->bodies, collider->id, &p, &v);
vec3_set(velocity, v.x, v.y, v.z);
vec3_fromJolt(velocity, &v);
}
void lovrColliderGetAABB(Collider* collider, float aabb[6]) {
@ -884,7 +869,7 @@ CapsuleShape* lovrCapsuleShapeCreate(float radius, float length) {
CapsuleShape* capsule = lovrCalloc(sizeof(CapsuleShape));
capsule->ref = 1;
capsule->type = SHAPE_CAPSULE;
capsule->shape = (JPH_Shape*) JPH_CapsuleShape_Create(length / 2, radius);
capsule->shape = (JPH_Shape*) JPH_CapsuleShape_Create(length / 2.f, radius);
JPH_Shape_SetUserData(capsule->shape, (uint64_t) (uintptr_t) capsule);
return capsule;
}
@ -1053,20 +1038,18 @@ uint32_t lovrCompoundShapeGetChildCount(CompoundShape* shape) {
void lovrCompoundShapeGetChildOffset(CompoundShape* shape, uint32_t index, float position[3], float orientation[4]) {
lovrCheck(index < lovrCompoundShapeGetChildCount(shape), "CompoundShape has no child at index %d", index + 1);
const JPH_Shape* child;
JPH_Vec3 pos;
JPH_Quat rot;
JPH_Vec3 p;
JPH_Quat q;
uint32_t userData;
JPH_CompoundShape_GetSubShape((JPH_CompoundShape*) shape->shape, index, &child, &pos, &rot, &userData);
vec3_init(position, &pos.x);
quat_init(orientation, &rot.x);
JPH_CompoundShape_GetSubShape((JPH_CompoundShape*) shape->shape, index, &child, &p, &q, &userData);
vec3_fromJolt(position, &p);
quat_fromJolt(orientation, &q);
}
void lovrCompoundShapeSetChildOffset(CompoundShape* shape, uint32_t index, float position[3], float orientation[4]) {
lovrCheck(!lovrCompoundShapeIsFrozen(shape), "CompoundShape is frozen and can not be changed");
lovrCheck(index < lovrCompoundShapeGetChildCount(shape), "CompoundShape has no child at index %d", index + 1);
JPH_Vec3 pos = { position[0], position[1], position[2] };
JPH_Quat rot = { orientation[0], orientation[1], orientation[2], orientation[3] };
JPH_MutableCompoundShape_ModifyShape((JPH_MutableCompoundShape*) shape->shape, index, &pos, &rot);
JPH_MutableCompoundShape_ModifyShape((JPH_MutableCompoundShape*) shape->shape, index, vec3_toJolt(position), quat_toJolt(orientation));
}
// Joints
@ -1199,10 +1182,8 @@ BallJoint* lovrBallJointCreate(Collider* a, Collider* b, float anchor[3]) {
joint->type = JOINT_BALL;
JPH_PointConstraintSettings* settings = JPH_PointConstraintSettings_Create();
JPH_RVec3 point1 = { anchor[0], anchor[1], anchor[2] };
JPH_RVec3 point2 = { anchor[0], anchor[1], anchor[2] };
JPH_PointConstraintSettings_SetPoint1(settings, &point1);
JPH_PointConstraintSettings_SetPoint2(settings, &point2);
JPH_PointConstraintSettings_SetPoint1(settings, vec3_toJolt(anchor));
JPH_PointConstraintSettings_SetPoint2(settings, vec3_toJolt(anchor));
joint->constraint = (JPH_Constraint*) JPH_PointConstraintSettings_CreateConstraint(settings, a->body, b->body);
JPH_ConstraintSettings_Destroy((JPH_ConstraintSettings*) settings);
JPH_PhysicsSystem_AddConstraint(a->world->system, joint->constraint);
@ -1216,12 +1197,9 @@ void lovrBallJointGetAnchors(BallJoint* joint, float anchor1[3], float anchor2[3
}
void lovrBallJointSetAnchor(BallJoint* joint, float anchor[3]) {
JPH_RVec3 point;
point.x = anchor[0];
point.y = anchor[1];
point.z = anchor[2];
JPH_PointConstraint_SetPoint1((JPH_PointConstraint*) joint->constraint, JPH_ConstraintSpace_WorldSpace, &point);
JPH_PointConstraint_SetPoint2((JPH_PointConstraint*) joint->constraint, JPH_ConstraintSpace_WorldSpace, &point);
JPH_PointConstraint* constraint = (JPH_PointConstraint*) joint->constraint;
JPH_PointConstraint_SetPoint1(constraint, JPH_ConstraintSpace_WorldSpace, vec3_toJolt(anchor));
JPH_PointConstraint_SetPoint2(constraint, JPH_ConstraintSpace_WorldSpace, vec3_toJolt(anchor));
}
float lovrBallJointGetResponseTime(Joint* joint) {
@ -1247,10 +1225,8 @@ DistanceJoint* lovrDistanceJointCreate(Collider* a, Collider* b, float anchor1[3
joint->type = JOINT_DISTANCE;
JPH_DistanceConstraintSettings* settings = JPH_DistanceConstraintSettings_Create();
JPH_RVec3 point1 = { anchor1[0], anchor1[1], anchor1[2] };
JPH_RVec3 point2 = { anchor2[0], anchor2[1], anchor2[2] };
JPH_DistanceConstraintSettings_SetPoint1(settings, &point1);
JPH_DistanceConstraintSettings_SetPoint2(settings, &point2);
JPH_DistanceConstraintSettings_SetPoint1(settings, vec3_toJolt(anchor1));
JPH_DistanceConstraintSettings_SetPoint2(settings, vec3_toJolt(anchor2));
joint->constraint = (JPH_Constraint*) JPH_DistanceConstraintSettings_CreateConstraint(settings, a->body, b->body);
JPH_ConstraintSettings_Destroy((JPH_ConstraintSettings*) settings);
JPH_PhysicsSystem_AddConstraint(a->world->system, joint->constraint);
@ -1307,12 +1283,10 @@ HingeJoint* lovrHingeJointCreate(Collider* a, Collider* b, float anchor[3], floa
JPH_HingeConstraintSettings* settings = JPH_HingeConstraintSettings_Create();
JPH_RVec3 point = { anchor[0], anchor[1], anchor[2] };
JPH_Vec3 axisVec = { axis[0], axis[1], axis[2] };
JPH_HingeConstraintSettings_SetPoint1(settings, &point);
JPH_HingeConstraintSettings_SetPoint2(settings, &point);
JPH_HingeConstraintSettings_SetHingeAxis1(settings, &axisVec);
JPH_HingeConstraintSettings_SetHingeAxis2(settings, &axisVec);
JPH_HingeConstraintSettings_SetPoint1(settings, vec3_toJolt(anchor));
JPH_HingeConstraintSettings_SetPoint2(settings, vec3_toJolt(anchor));
JPH_HingeConstraintSettings_SetHingeAxis1(settings, vec3_toJolt(axis));
JPH_HingeConstraintSettings_SetHingeAxis2(settings, vec3_toJolt(axis));
joint->constraint = (JPH_Constraint*) JPH_HingeConstraintSettings_CreateConstraint(settings, a->body, b->body);
JPH_ConstraintSettings_Destroy((JPH_ConstraintSettings*) settings);
JPH_PhysicsSystem_AddConstraint(a->world->system, joint->constraint);
@ -1387,8 +1361,7 @@ SliderJoint* lovrSliderJointCreate(Collider* a, Collider* b, float axis[3]) {
joint->type = JOINT_SLIDER;
JPH_SliderConstraintSettings* settings = JPH_SliderConstraintSettings_Create();
const JPH_Vec3 axisVec = { axis[0], axis[1], axis[2] };
JPH_SliderConstraintSettings_SetSliderAxis(settings, &axisVec);
JPH_SliderConstraintSettings_SetSliderAxis(settings, vec3_toJolt(axis));
joint->constraint = (JPH_Constraint*) JPH_SliderConstraintSettings_CreateConstraint(settings, a->body, b->body);
JPH_ConstraintSettings_Destroy((JPH_ConstraintSettings*) settings);
JPH_PhysicsSystem_AddConstraint(a->world->system, joint->constraint);