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Add very basic Bullet physics integration.
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Hans-Kristian Arntzen
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Mar 17, 2019
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,169 @@ | ||
| /* Copyright (c) 2017-2019 Hans-Kristian Arntzen | ||
| * | ||
| * Permission is hereby granted, free of charge, to any person obtaining | ||
| * a copy of this software and associated documentation files (the | ||
| * "Software"), to deal in the Software without restriction, including | ||
| * without limitation the rights to use, copy, modify, merge, publish, | ||
| * distribute, sublicense, and/or sell copies of the Software, and to | ||
| * permit persons to whom the Software is furnished to do so, subject to | ||
| * the following conditions: | ||
| * | ||
| * The above copyright notice and this permission notice shall be | ||
| * included in all copies or substantial portions of the Software. | ||
| * | ||
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, | ||
| * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF | ||
| * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. | ||
| * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY | ||
| * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, | ||
| * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE | ||
| * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. | ||
| */ | ||
|
|
||
| #include "physics_system.hpp" | ||
| #include <btBulletDynamicsCommon.h> | ||
| #include <btBulletCollisionCommon.h> | ||
|
|
||
| using namespace std; | ||
|
|
||
| namespace Granite | ||
| { | ||
| struct PhysicsHandle | ||
| { | ||
| Scene::Node *node = nullptr; | ||
| btCollisionObject *bt_object = nullptr; | ||
| btCollisionShape *bt_shape = nullptr; | ||
| }; | ||
|
|
||
| PhysicsSystem::PhysicsSystem() | ||
| { | ||
| collision_config = make_unique<btDefaultCollisionConfiguration>(); | ||
| dispatcher = make_unique<btCollisionDispatcher>(collision_config.get()); | ||
| broadphase = make_unique<btDbvtBroadphase>(); | ||
| solver = make_unique<btSequentialImpulseConstraintSolver>(); | ||
| world = make_unique<btDiscreteDynamicsWorld>(dispatcher.get(), broadphase.get(), | ||
| solver.get(), collision_config.get()); | ||
|
|
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| world->setGravity(btVector3(0.0f, -9.81f, 0.0f)); | ||
| } | ||
|
|
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| PhysicsSystem::~PhysicsSystem() | ||
| { | ||
| for (int i = world->getNumCollisionObjects() - 1; i >= 0; i--) | ||
| { | ||
| auto *obj = world->getCollisionObjectArray()[i]; | ||
| btRigidBody *body = btRigidBody::upcast(obj); | ||
| if (body && body->getMotionState()) | ||
| delete body->getMotionState(); | ||
| world->removeCollisionObject(obj); | ||
| } | ||
|
|
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| for (auto *handle : handles) | ||
| delete handle->bt_shape; | ||
| } | ||
|
|
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| void PhysicsSystem::iterate(double frame_time) | ||
| { | ||
| world->stepSimulation(btScalar(frame_time), 10); | ||
|
|
||
| for (auto *handle : handles) | ||
| { | ||
| if (!handle->node) | ||
| continue; | ||
|
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| auto *obj = handle->bt_object; | ||
| auto *body = btRigidBody::upcast(obj); | ||
| btTransform t; | ||
| if (body && body->getMotionState()) | ||
| body->getMotionState()->getWorldTransform(t); | ||
| else | ||
| t = obj->getWorldTransform(); | ||
|
|
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| auto rot = t.getRotation(); | ||
| auto &transform = handle->node->transform; | ||
| transform.rotation.x = rot.x(); | ||
| transform.rotation.y = rot.y(); | ||
| transform.rotation.z = rot.z(); | ||
| transform.rotation.w = rot.w(); | ||
|
|
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| auto orig = t.getOrigin(); | ||
| transform.translation.x = orig.x(); | ||
| transform.translation.y = orig.y(); | ||
| transform.translation.z = orig.z(); | ||
|
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| handle->node->invalidate_cached_transform(); | ||
| } | ||
| } | ||
|
|
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| void PhysicsSystem::remove_body(PhysicsHandle *handle) | ||
| { | ||
| auto *obj = handle->bt_object; | ||
| btRigidBody *body = btRigidBody::upcast(obj); | ||
| if (body && body->getMotionState()) | ||
| delete body->getMotionState(); | ||
| world->removeCollisionObject(obj); | ||
| delete handle->bt_shape; | ||
| handle_pool.free(handle); | ||
|
|
||
| // TODO: Avoid O(n). | ||
| auto itr = find(begin(handles), end(handles), handle); | ||
| if (itr != end(handles)) | ||
| handles.erase(itr); | ||
| } | ||
|
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| PhysicsHandle *PhysicsSystem::add_shape(Scene::Node *node, float mass, btCollisionShape *shape) | ||
| { | ||
| btTransform t; | ||
| t.setIdentity(); | ||
| btVector3 local_inertia(0, 0, 0); | ||
| if (mass != 0.0f) | ||
| shape->calculateLocalInertia(mass, local_inertia); | ||
|
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||
| if (node) | ||
| { | ||
| t.setOrigin(btVector3( | ||
| node->transform.translation.x, | ||
| node->transform.translation.y, | ||
| node->transform.translation.z)); | ||
| t.setRotation(btQuaternion( | ||
| node->transform.rotation.x, | ||
| node->transform.rotation.y, | ||
| node->transform.rotation.z, | ||
| node->transform.rotation.w)); | ||
| } | ||
|
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| auto *motion = new btDefaultMotionState(t); | ||
| btRigidBody::btRigidBodyConstructionInfo rb_info(mass, motion, shape, local_inertia); | ||
|
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| auto *body = new btRigidBody(rb_info); | ||
| world->addRigidBody(body); | ||
|
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| auto *handle = handle_pool.allocate(); | ||
| handle->node = node; | ||
| handle->bt_object = body; | ||
| handle->bt_shape = shape; | ||
| handles.push_back(handle); | ||
| return handle; | ||
| } | ||
|
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| PhysicsHandle *PhysicsSystem::add_cube(Scene::Node *node, float mass) | ||
| { | ||
| auto *shape = new btBoxShape(btVector3(node->transform.scale.x, | ||
| node->transform.scale.y, | ||
| node->transform.scale.z)); | ||
| return add_shape(node, mass, shape); | ||
| } | ||
|
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| PhysicsHandle *PhysicsSystem::add_sphere(Scene::Node *node, float mass) | ||
| { | ||
| auto *shape = new btSphereShape(btScalar(node->transform.scale.x)); | ||
| return add_shape(node, mass, shape); | ||
| } | ||
|
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| PhysicsHandle *PhysicsSystem::add_infinite_plane(const vec4 &plane) | ||
| { | ||
| auto *shape = new btStaticPlaneShape(btVector3(plane.x, plane.y, plane.z), plane.w); | ||
| return add_shape(nullptr, 0.0f, shape); | ||
| } | ||
|
|
||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,66 @@ | ||
| /* Copyright (c) 2017-2019 Hans-Kristian Arntzen | ||
| * | ||
| * Permission is hereby granted, free of charge, to any person obtaining | ||
| * a copy of this software and associated documentation files (the | ||
| * "Software"), to deal in the Software without restriction, including | ||
| * without limitation the rights to use, copy, modify, merge, publish, | ||
| * distribute, sublicense, and/or sell copies of the Software, and to | ||
| * permit persons to whom the Software is furnished to do so, subject to | ||
| * the following conditions: | ||
| * | ||
| * The above copyright notice and this permission notice shall be | ||
| * included in all copies or substantial portions of the Software. | ||
| * | ||
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, | ||
| * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF | ||
| * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. | ||
| * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY | ||
| * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, | ||
| * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE | ||
| * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. | ||
| */ | ||
|
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||
| #pragma once | ||
|
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| #include "scene.hpp" | ||
| #include "object_pool.hpp" | ||
| #include "math.hpp" | ||
| #include <memory> | ||
|
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| class btDefaultCollisionConfiguration; | ||
| class btCollisionDispatcher; | ||
| class btDbvtBroadphase; | ||
| class btSequentialImpulseConstraintSolver; | ||
| class btDiscreteDynamicsWorld; | ||
| class btCollisionShape; | ||
|
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| namespace Granite | ||
| { | ||
| struct PhysicsHandle; | ||
|
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| class PhysicsSystem | ||
| { | ||
| public: | ||
| PhysicsSystem(); | ||
| ~PhysicsSystem(); | ||
|
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| PhysicsHandle *add_cube(Scene::Node *node, float mass); | ||
| PhysicsHandle *add_sphere(Scene::Node *node, float mass); | ||
| PhysicsHandle *add_infinite_plane(const vec4 &plane); | ||
| void remove_body(PhysicsHandle *handle); | ||
|
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| void iterate(double frame_time); | ||
|
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| private: | ||
| std::unique_ptr<btDefaultCollisionConfiguration> collision_config; | ||
| std::unique_ptr<btCollisionDispatcher> dispatcher; | ||
| std::unique_ptr<btDbvtBroadphase> broadphase; | ||
| std::unique_ptr<btSequentialImpulseConstraintSolver> solver; | ||
| std::unique_ptr<btDiscreteDynamicsWorld> world; | ||
|
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| Util::ObjectPool<PhysicsHandle> handle_pool; | ||
| std::vector<PhysicsHandle *> handles; | ||
|
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| PhysicsHandle *add_shape(Scene::Node *node, float mass, btCollisionShape *shape); | ||
| }; | ||
| } |
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