@bloomengine/engine 0.4.0 → 0.4.1

package/native/third_party/JoltPhysics/Jolt/Physics/Body/Body.inl

@@ -1,197 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#pragma once
-
-JPH_NAMESPACE_BEGIN
-
-RMat44 Body::GetWorldTransform() const
-{
-	JPH_ASSERT(BodyAccess::sCheckRights(BodyAccess::sPositionAccess(), BodyAccess::EAccess::Read));
-
-	return RMat44::sRotationTranslation(mRotation, mPosition).PreTranslated(-mShape->GetCenterOfMass());
-}
-
-RMat44 Body::GetCenterOfMassTransform() const
-{
-	JPH_ASSERT(BodyAccess::sCheckRights(BodyAccess::sPositionAccess(), BodyAccess::EAccess::Read));
-
-	return RMat44::sRotationTranslation(mRotation, mPosition);
-}
-
-RMat44 Body::GetInverseCenterOfMassTransform() const
-{
-	JPH_ASSERT(BodyAccess::sCheckRights(BodyAccess::sPositionAccess(), BodyAccess::EAccess::Read));
-
-	return RMat44::sInverseRotationTranslation(mRotation, mPosition);
-}
-
-inline bool Body::sFindCollidingPairsCanCollide(const Body &inBody1, const Body &inBody2)
-{
-	// First body should never be a soft body
-	JPH_ASSERT(!inBody1.IsSoftBody());
-
-	// One of these conditions must be true
-	// - We always allow detecting collisions between kinematic and non-dynamic bodies
-	// - One of the bodies must be dynamic to collide
-	// - A kinematic object can collide with a sensor
-	if (!inBody1.GetCollideKinematicVsNonDynamic()
-		&& !inBody2.GetCollideKinematicVsNonDynamic()
-		&& (!inBody1.IsDynamic() && !inBody2.IsDynamic())
-		&& !(inBody1.IsKinematic() && inBody2.IsSensor())
-		&& !(inBody2.IsKinematic() && inBody1.IsSensor()))
-		return false;
-
-	// Check that body 1 is active
-	uint32 body1_index_in_active_bodies = inBody1.GetIndexInActiveBodiesInternal();
-	JPH_ASSERT(!inBody1.IsStatic() && body1_index_in_active_bodies != Body::cInactiveIndex, "This function assumes that Body 1 is active");
-
-	// If the pair A, B collides we need to ensure that the pair B, A does not collide or else we will handle the collision twice.
-	// If A is the same body as B we don't want to collide (1)
-	// If A is dynamic / kinematic and B is static we should collide (2)
-	// If A is dynamic / kinematic and B is dynamic / kinematic we should only collide if
-	//	- A is active and B is not active (3)
-	//	- A is active and B will become active during this simulation step (4)
-	//	- A is active and B is active, we require a condition that makes A, B collide and B, A not (5)
-	//
-	// In order to implement this we use the index in the active body list and make use of the fact that
-	// a body not in the active list has Body.Index = 0xffffffff which is the highest possible value for an uint32.
-	//
-	// Because we know that A is active we know that A.Index != 0xffffffff:
-	// (1) Because A.Index != 0xffffffff, if A.Index = B.Index then A = B, so to collide A.Index != B.Index
-	// (2) A.Index != 0xffffffff, B.Index = 0xffffffff (because it's static and cannot be in the active list), so to collide A.Index != B.Index
-	// (3) A.Index != 0xffffffff, B.Index = 0xffffffff (because it's not yet active), so to collide A.Index != B.Index
-	// (4) A.Index != 0xffffffff, B.Index = 0xffffffff currently. But it can activate during the Broad/NarrowPhase step at which point it
-	//     will be added to the end of the active list which will make B.Index > A.Index (this holds only true when we don't deactivate
-	//     bodies during the Broad/NarrowPhase step), so to collide A.Index < B.Index.
-	// (5) As tie breaker we can use the same condition A.Index < B.Index to collide, this means that if A, B collides then B, A won't
-	static_assert(Body::cInactiveIndex == 0xffffffff, "The algorithm below uses this value");
-	if (!inBody2.IsSoftBody() && body1_index_in_active_bodies >= inBody2.GetIndexInActiveBodiesInternal())
-		return false;
-	JPH_ASSERT(inBody1.GetID() != inBody2.GetID(), "Read the comment above, A and B are the same body which should not be possible!");
-
-	// Check collision group filter
-	if (!inBody1.GetCollisionGroup().CanCollide(inBody2.GetCollisionGroup()))
-		return false;
-
-	return true;
-}
-
-void Body::AddRotationStep(Vec3Arg inAngularVelocityTimesDeltaTime)
-{
-	JPH_ASSERT(IsRigidBody());
-	JPH_ASSERT(BodyAccess::sCheckRights(BodyAccess::sPositionAccess(), BodyAccess::EAccess::ReadWrite));
-
-	// This used to use the equation: d/dt R(t) = 1/2 * w(t) * R(t) so that R(t + dt) = R(t) + 1/2 * w(t) * R(t) * dt
-	// See: Appendix B of An Introduction to Physically Based Modeling: Rigid Body Simulation II-Nonpenetration Constraints
-	// URL: https://www.cs.cmu.edu/~baraff/sigcourse/notesd2.pdf
-	// But this is a first order approximation and does not work well for kinematic ragdolls that are driven to a new
-	// pose if the poses differ enough. So now we split w(t) * dt into an axis and angle part and create a quaternion with it.
-	// Note that the resulting quaternion is normalized since otherwise numerical drift will eventually make the rotation non-normalized.
-	float len = inAngularVelocityTimesDeltaTime.Length();
-	if (len > 1.0e-6f)
-	{
-		mRotation = (Quat::sRotation(inAngularVelocityTimesDeltaTime / len, len) * mRotation).Normalized();
-		JPH_ASSERT(!mRotation.IsNaN());
-	}
-}
-
-void Body::SubRotationStep(Vec3Arg inAngularVelocityTimesDeltaTime)
-{
-	JPH_ASSERT(IsRigidBody());
-	JPH_ASSERT(BodyAccess::sCheckRights(BodyAccess::sPositionAccess(), BodyAccess::EAccess::ReadWrite));
-
-	// See comment at Body::AddRotationStep
-	float len = inAngularVelocityTimesDeltaTime.Length();
-	if (len > 1.0e-6f)
-	{
-		mRotation = (Quat::sRotation(inAngularVelocityTimesDeltaTime / len, -len) * mRotation).Normalized();
-		JPH_ASSERT(!mRotation.IsNaN());
-	}
-}
-
-Vec3 Body::GetWorldSpaceSurfaceNormal(const SubShapeID &inSubShapeID, RVec3Arg inPosition) const
-{
-	RMat44 inv_com = GetInverseCenterOfMassTransform();
-	return inv_com.Multiply3x3Transposed(mShape->GetSurfaceNormal(inSubShapeID, Vec3(inv_com * inPosition))).Normalized();
-}
-
-Mat44 Body::GetInverseInertia() const
-{
-	JPH_ASSERT(IsDynamic());
-
-	return GetMotionProperties()->GetInverseInertiaForRotation(Mat44::sRotation(mRotation));
-}
-
-void Body::AddForce(Vec3Arg inForce, RVec3Arg inPosition)
-{
-	AddForce(inForce);
-	AddTorque(Vec3(inPosition - mPosition).Cross(inForce));
-}
-
-void Body::AddImpulse(Vec3Arg inImpulse)
-{
-	JPH_ASSERT(IsDynamic());
-
-	SetLinearVelocityClamped(mMotionProperties->GetLinearVelocity() + inImpulse * mMotionProperties->GetInverseMass());
-}
-
-void Body::AddImpulse(Vec3Arg inImpulse, RVec3Arg inPosition)
-{
-	JPH_ASSERT(IsDynamic());
-
-	SetLinearVelocityClamped(mMotionProperties->GetLinearVelocity() + inImpulse * mMotionProperties->GetInverseMass());
-
-	SetAngularVelocityClamped(mMotionProperties->GetAngularVelocity() + mMotionProperties->MultiplyWorldSpaceInverseInertiaByVector(mRotation, Vec3(inPosition - mPosition).Cross(inImpulse)));
-}
-
-void Body::AddAngularImpulse(Vec3Arg inAngularImpulse)
-{
-	JPH_ASSERT(IsDynamic());
-
-	SetAngularVelocityClamped(mMotionProperties->GetAngularVelocity() + mMotionProperties->MultiplyWorldSpaceInverseInertiaByVector(mRotation, inAngularImpulse));
-}
-
-void Body::GetSleepTestPoints(RVec3 *outPoints) const
-{
-	JPH_ASSERT(BodyAccess::sCheckRights(BodyAccess::sPositionAccess(), BodyAccess::EAccess::Read));
-
-	// Center of mass is the first position
-	outPoints[0] = mPosition;
-
-	// The second and third position are on the largest axis of the bounding box
-	Vec3 extent = mShape->GetLocalBounds().GetExtent();
-	int lowest_component = extent.GetLowestComponentIndex();
-	Mat44 rotation = Mat44::sRotation(mRotation);
-	switch (lowest_component)
-	{
-	case 0:
-		outPoints[1] = mPosition + extent.GetY() * rotation.GetColumn3(1);
-		outPoints[2] = mPosition + extent.GetZ() * rotation.GetColumn3(2);
-		break;
-
-	case 1:
-		outPoints[1] = mPosition + extent.GetX() * rotation.GetColumn3(0);
-		outPoints[2] = mPosition + extent.GetZ() * rotation.GetColumn3(2);
-		break;
-
-	case 2:
-		outPoints[1] = mPosition + extent.GetX() * rotation.GetColumn3(0);
-		outPoints[2] = mPosition + extent.GetY() * rotation.GetColumn3(1);
-		break;
-
-	default:
-		JPH_ASSERT(false);
-		break;
-	}
-}
-
-void Body::ResetSleepTimer()
-{
-	RVec3 points[3];
-	GetSleepTestPoints(points);
-	mMotionProperties->ResetSleepTestSpheres(points);
-}
-
-JPH_NAMESPACE_END

package/native/third_party/JoltPhysics/Jolt/Physics/Body/BodyAccess.h

@@ -1,68 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#pragma once
-
-#ifdef JPH_ENABLE_ASSERTS
-
-JPH_NAMESPACE_BEGIN
-
-class JPH_EXPORT BodyAccess
-{
-public:
-	/// Access rules, used to detect race conditions during simulation
-	enum class EAccess : uint8
-	{
-		None		= 0,
-		Read		= 1,
-		ReadWrite	= 3,
-	};
-
-	/// Grant a scope specific access rights on the current thread
-	class Grant
-	{
-	public:
-		inline							Grant(EAccess inVelocity, EAccess inPosition)
-		{
-			EAccess &velocity = sVelocityAccess();
-			EAccess &position = sPositionAccess();
-
-			JPH_ASSERT(velocity == EAccess::ReadWrite);
-			JPH_ASSERT(position == EAccess::ReadWrite);
-
-			velocity = inVelocity;
-			position = inPosition;
-		}
-
-		inline							~Grant()
-		{
-			sVelocityAccess() = EAccess::ReadWrite;
-			sPositionAccess() = EAccess::ReadWrite;
-		}
-	};
-
-	/// Check if we have permission
-	static inline bool					sCheckRights(EAccess inRights, EAccess inDesiredRights)
-	{
-		return (uint8(inRights) & uint8(inDesiredRights)) == uint8(inDesiredRights);
-	}
-
-	/// Access to read/write velocities
-	static inline EAccess &				sVelocityAccess()
-	{
-		static thread_local EAccess sAccess = BodyAccess::EAccess::ReadWrite;
-		return sAccess;
-	}
-
-	/// Access to read/write positions
-	static inline EAccess &				sPositionAccess()
-	{
-		static thread_local EAccess sAccess = BodyAccess::EAccess::ReadWrite;
-		return sAccess;
-	}
-};
-
-JPH_NAMESPACE_END
-
-#endif // JPH_ENABLE_ASSERTS

package/native/third_party/JoltPhysics/Jolt/Physics/Body/BodyActivationListener.h

@@ -1,28 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#pragma once
-
-JPH_NAMESPACE_BEGIN
-
-class BodyID;
-
-/// A listener class that receives events when a body activates or deactivates.
-/// It can be registered with the BodyManager (or PhysicsSystem).
-class BodyActivationListener
-{
-public:
-	/// Ensure virtual destructor
-	virtual					~BodyActivationListener() = default;
-
-	/// Called whenever a body activates, note this can be called from any thread so make sure your code is thread safe.
-	/// At the time of the callback the body inBodyID will be locked and no bodies can be written/activated/deactivated from the callback.
-	virtual void			OnBodyActivated(const BodyID &inBodyID, uint64 inBodyUserData) = 0;
-
-	/// Called whenever a body deactivates, note this can be called from any thread so make sure your code is thread safe.
-	/// At the time of the callback the body inBodyID will be locked and no bodies can be written/activated/deactivated from the callback.
-	virtual void			OnBodyDeactivated(const BodyID &inBodyID, uint64 inBodyUserData) = 0;
-};
-
-JPH_NAMESPACE_END

package/native/third_party/JoltPhysics/Jolt/Physics/Body/BodyCreationSettings.cpp

@@ -1,234 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#include <Jolt/Jolt.h>
-
-#include <Jolt/Physics/Body/BodyCreationSettings.h>
-#include <Jolt/ObjectStream/TypeDeclarations.h>
-#include <Jolt/Core/StreamIn.h>
-#include <Jolt/Core/StreamOut.h>
-
-JPH_NAMESPACE_BEGIN
-
-JPH_IMPLEMENT_SERIALIZABLE_NON_VIRTUAL(BodyCreationSettings)
-{
-	JPH_ADD_ATTRIBUTE(BodyCreationSettings, mPosition)
-	JPH_ADD_ATTRIBUTE(BodyCreationSettings, mRotation)
-	JPH_ADD_ATTRIBUTE(BodyCreationSettings, mLinearVelocity)
-	JPH_ADD_ATTRIBUTE(BodyCreationSettings, mAngularVelocity)
-	JPH_ADD_ATTRIBUTE(BodyCreationSettings, mUserData)
-	JPH_ADD_ATTRIBUTE(BodyCreationSettings, mShape)
-	JPH_ADD_ATTRIBUTE(BodyCreationSettings, mCollisionGroup)
-	JPH_ADD_ENUM_ATTRIBUTE(BodyCreationSettings, mObjectLayer)
-	JPH_ADD_ENUM_ATTRIBUTE(BodyCreationSettings, mMotionType)
-	JPH_ADD_ENUM_ATTRIBUTE(BodyCreationSettings, mAllowedDOFs)
-	JPH_ADD_ATTRIBUTE(BodyCreationSettings, mAllowDynamicOrKinematic)
-	JPH_ADD_ATTRIBUTE(BodyCreationSettings, mIsSensor)
-	JPH_ADD_ATTRIBUTE_WITH_ALIAS(BodyCreationSettings, mCollideKinematicVsNonDynamic, "mSensorDetectsStatic") // This is the old name to keep backwards compatibility
-	JPH_ADD_ATTRIBUTE(BodyCreationSettings, mUseManifoldReduction)
-	JPH_ADD_ATTRIBUTE(BodyCreationSettings, mApplyGyroscopicForce)
-	JPH_ADD_ENUM_ATTRIBUTE(BodyCreationSettings, mMotionQuality)
-	JPH_ADD_ATTRIBUTE(BodyCreationSettings, mEnhancedInternalEdgeRemoval)
-	JPH_ADD_ATTRIBUTE(BodyCreationSettings, mAllowSleeping)
-	JPH_ADD_ATTRIBUTE(BodyCreationSettings, mFriction)
-	JPH_ADD_ATTRIBUTE(BodyCreationSettings, mRestitution)
-	JPH_ADD_ATTRIBUTE(BodyCreationSettings, mLinearDamping)
-	JPH_ADD_ATTRIBUTE(BodyCreationSettings, mAngularDamping)
-	JPH_ADD_ATTRIBUTE(BodyCreationSettings, mMaxLinearVelocity)
-	JPH_ADD_ATTRIBUTE(BodyCreationSettings, mMaxAngularVelocity)
-	JPH_ADD_ATTRIBUTE(BodyCreationSettings, mGravityFactor)
-	JPH_ADD_ATTRIBUTE(BodyCreationSettings, mNumVelocityStepsOverride)
-	JPH_ADD_ATTRIBUTE(BodyCreationSettings, mNumPositionStepsOverride)
-	JPH_ADD_ENUM_ATTRIBUTE(BodyCreationSettings, mOverrideMassProperties)
-	JPH_ADD_ATTRIBUTE(BodyCreationSettings, mInertiaMultiplier)
-	JPH_ADD_ATTRIBUTE(BodyCreationSettings, mMassPropertiesOverride)
-}
-
-void BodyCreationSettings::SaveBinaryState(StreamOut &inStream) const
-{
-	inStream.Write(mPosition);
-	inStream.Write(mRotation);
-	inStream.Write(mLinearVelocity);
-	inStream.Write(mAngularVelocity);
-	mCollisionGroup.SaveBinaryState(inStream);
-	inStream.Write(mObjectLayer);
-	inStream.Write(mMotionType);
-	inStream.Write(mAllowedDOFs);
-	inStream.Write(mAllowDynamicOrKinematic);
-	inStream.Write(mIsSensor);
-	inStream.Write(mCollideKinematicVsNonDynamic);
-	inStream.Write(mUseManifoldReduction);
-	inStream.Write(mApplyGyroscopicForce);
-	inStream.Write(mMotionQuality);
-	inStream.Write(mEnhancedInternalEdgeRemoval);
-	inStream.Write(mAllowSleeping);
-	inStream.Write(mFriction);
-	inStream.Write(mRestitution);
-	inStream.Write(mLinearDamping);
-	inStream.Write(mAngularDamping);
-	inStream.Write(mMaxLinearVelocity);
-	inStream.Write(mMaxAngularVelocity);
-	inStream.Write(mGravityFactor);
-	inStream.Write(mNumVelocityStepsOverride);
-	inStream.Write(mNumPositionStepsOverride);
-	inStream.Write(mOverrideMassProperties);
-	inStream.Write(mInertiaMultiplier);
-	mMassPropertiesOverride.SaveBinaryState(inStream);
-}
-
-void BodyCreationSettings::RestoreBinaryState(StreamIn &inStream)
-{
-	inStream.Read(mPosition);
-	inStream.Read(mRotation);
-	inStream.Read(mLinearVelocity);
-	inStream.Read(mAngularVelocity);
-	mCollisionGroup.RestoreBinaryState(inStream);
-	inStream.Read(mObjectLayer);
-	inStream.Read(mMotionType);
-	inStream.Read(mAllowedDOFs);
-	inStream.Read(mAllowDynamicOrKinematic);
-	inStream.Read(mIsSensor);
-	inStream.Read(mCollideKinematicVsNonDynamic);
-	inStream.Read(mUseManifoldReduction);
-	inStream.Read(mApplyGyroscopicForce);
-	inStream.Read(mMotionQuality);
-	inStream.Read(mEnhancedInternalEdgeRemoval);
-	inStream.Read(mAllowSleeping);
-	inStream.Read(mFriction);
-	inStream.Read(mRestitution);
-	inStream.Read(mLinearDamping);
-	inStream.Read(mAngularDamping);
-	inStream.Read(mMaxLinearVelocity);
-	inStream.Read(mMaxAngularVelocity);
-	inStream.Read(mGravityFactor);
-	inStream.Read(mNumVelocityStepsOverride);
-	inStream.Read(mNumPositionStepsOverride);
-	inStream.Read(mOverrideMassProperties);
-	inStream.Read(mInertiaMultiplier);
-	mMassPropertiesOverride.RestoreBinaryState(inStream);
-}
-
-Shape::ShapeResult BodyCreationSettings::ConvertShapeSettings()
-{
-	// If we already have a shape, return it
-	if (mShapePtr != nullptr)
-	{
-		mShape = nullptr;
-
-		Shape::ShapeResult result;
-		result.Set(const_cast<Shape *>(mShapePtr.GetPtr()));
-		return result;
-	}
-
-	// Check if we have shape settings
-	if (mShape == nullptr)
-	{
-		Shape::ShapeResult result;
-		result.SetError("No shape present!");
-		return result;
-	}
-
-	// Create the shape
-	Shape::ShapeResult result = mShape->Create();
-	if (result.IsValid())
-		mShapePtr = result.Get();
-	mShape = nullptr;
-	return result;
-}
-
-const Shape *BodyCreationSettings::GetShape() const
-{
-	// If we already have a shape, return it
-	if (mShapePtr != nullptr)
-		return mShapePtr;
-
-	// Check if we have shape settings
-	if (mShape == nullptr)
-		return nullptr;
-
-	// Create the shape
-	Shape::ShapeResult result = mShape->Create();
-	if (result.IsValid())
-		return result.Get();
-
-	Trace("Error: %s", result.GetError().c_str());
-	JPH_ASSERT(false, "An error occurred during shape creation. Use ConvertShapeSettings() to convert the shape and get the error!");
-	return nullptr;
-}
-
-MassProperties BodyCreationSettings::GetMassProperties() const
-{
-	// Calculate mass properties
-	MassProperties mass_properties;
-	switch (mOverrideMassProperties)
-	{
-	case EOverrideMassProperties::CalculateMassAndInertia:
-		mass_properties = GetShape()->GetMassProperties();
-		mass_properties.mInertia *= mInertiaMultiplier;
-		mass_properties.mInertia(3, 3) = 1.0f;
-		break;
-	case EOverrideMassProperties::CalculateInertia:
-		mass_properties = GetShape()->GetMassProperties();
-		mass_properties.ScaleToMass(mMassPropertiesOverride.mMass);
-		mass_properties.mInertia *= mInertiaMultiplier;
-		mass_properties.mInertia(3, 3) = 1.0f;
-		break;
-	case EOverrideMassProperties::MassAndInertiaProvided:
-		mass_properties = mMassPropertiesOverride;
-		break;
-	}
-	return mass_properties;
-}
-
-void BodyCreationSettings::SaveWithChildren(StreamOut &inStream, ShapeToIDMap *ioShapeMap, MaterialToIDMap *ioMaterialMap, GroupFilterToIDMap *ioGroupFilterMap) const
-{
-	// Save creation settings
-	SaveBinaryState(inStream);
-
-	// Save shape
-	if (ioShapeMap != nullptr && ioMaterialMap != nullptr)
-		GetShape()->SaveWithChildren(inStream, *ioShapeMap, *ioMaterialMap);
-	else
-		inStream.Write(~uint32(0));
-
-	// Save group filter
-	StreamUtils::SaveObjectReference(inStream, mCollisionGroup.GetGroupFilter(), ioGroupFilterMap);
-}
-
-BodyCreationSettings::BCSResult BodyCreationSettings::sRestoreWithChildren(StreamIn &inStream, IDToShapeMap &ioShapeMap, IDToMaterialMap &ioMaterialMap, IDToGroupFilterMap &ioGroupFilterMap)
-{
-	BCSResult result;
-
-	// Read creation settings
-	BodyCreationSettings settings;
-	settings.RestoreBinaryState(inStream);
-	if (inStream.IsEOF() || inStream.IsFailed())
-	{
-		result.SetError("Error reading body creation settings");
-		return result;
-	}
-
-	// Read shape
-	Shape::ShapeResult shape_result = Shape::sRestoreWithChildren(inStream, ioShapeMap, ioMaterialMap);
-	if (shape_result.HasError())
-	{
-		result.SetError(shape_result.GetError());
-		return result;
-	}
-	settings.SetShape(shape_result.Get());
-
-	// Read group filter
-	Result gfresult = StreamUtils::RestoreObjectReference(inStream, ioGroupFilterMap);
-	if (gfresult.HasError())
-	{
-		result.SetError(gfresult.GetError());
-		return result;
-	}
-	settings.mCollisionGroup.SetGroupFilter(gfresult.Get());
-
-	result.Set(settings);
-	return result;
-}
-
-JPH_NAMESPACE_END

package/native/third_party/JoltPhysics/Jolt/Physics/Body/BodyCreationSettings.h

@@ -1,124 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#pragma once
-
-#include <Jolt/Physics/Collision/Shape/Shape.h>
-#include <Jolt/Physics/Collision/ObjectLayer.h>
-#include <Jolt/Physics/Collision/CollisionGroup.h>
-#include <Jolt/Physics/Body/MotionType.h>
-#include <Jolt/Physics/Body/MotionQuality.h>
-#include <Jolt/Physics/Body/AllowedDOFs.h>
-#include <Jolt/ObjectStream/SerializableObject.h>
-#include <Jolt/Core/StreamUtils.h>
-
-JPH_NAMESPACE_BEGIN
-
-class StreamIn;
-class StreamOut;
-
-/// Enum used in BodyCreationSettings to indicate how mass and inertia should be calculated
-enum class EOverrideMassProperties : uint8
-{
-	CalculateMassAndInertia,			///< Tells the system to calculate the mass and inertia based on density
-	CalculateInertia,					///< Tells the system to take the mass from mMassPropertiesOverride and to calculate the inertia based on density of the shapes and to scale it to the provided mass
-	MassAndInertiaProvided				///< Tells the system to take the mass and inertia from mMassPropertiesOverride
-};
-
-/// Settings for constructing a rigid body
-class JPH_EXPORT BodyCreationSettings
-{
-	JPH_DECLARE_SERIALIZABLE_NON_VIRTUAL(JPH_EXPORT, BodyCreationSettings)
-
-public:
-	/// Constructor
-							BodyCreationSettings() = default;
-							BodyCreationSettings(const ShapeSettings *inShape, RVec3Arg inPosition, QuatArg inRotation, EMotionType inMotionType, ObjectLayer inObjectLayer) : mPosition(inPosition), mRotation(inRotation), mObjectLayer(inObjectLayer), mMotionType(inMotionType), mShape(inShape) { }
-							BodyCreationSettings(const Shape *inShape, RVec3Arg inPosition, QuatArg inRotation, EMotionType inMotionType, ObjectLayer inObjectLayer) : mPosition(inPosition), mRotation(inRotation), mObjectLayer(inObjectLayer), mMotionType(inMotionType), mShapePtr(inShape) { }
-
-	/// Access to the shape settings object. This contains serializable (non-runtime optimized) information about the Shape.
-	const ShapeSettings *	GetShapeSettings() const										{ return mShape; }
-	void					SetShapeSettings(const ShapeSettings *inShape)					{ mShape = inShape; mShapePtr = nullptr; }
-
-	/// Convert ShapeSettings object into a Shape object. This will free the ShapeSettings object and make the object ready for runtime. Serialization is no longer possible after this.
-	Shape::ShapeResult		ConvertShapeSettings();
-
-	/// Access to the run-time shape object. Will convert from ShapeSettings object if needed.
-	const Shape *			GetShape() const;
-	void					SetShape(const Shape *inShape)									{ mShapePtr = inShape; mShape = nullptr; }
-
-	/// Check if the mass properties of this body will be calculated (only relevant for kinematic or dynamic objects that need a MotionProperties object)
-	bool					HasMassProperties() const										{ return mAllowDynamicOrKinematic || mMotionType != EMotionType::Static; }
-
-	/// Calculate (or return when overridden) the mass and inertia for this body
-	MassProperties			GetMassProperties() const;
-
-	/// Saves the state of this object in binary form to inStream. Doesn't store the shape nor the group filter.
-	void					SaveBinaryState(StreamOut &inStream) const;
-
-	/// Restore the state of this object from inStream. Doesn't restore the shape nor the group filter.
-	void					RestoreBinaryState(StreamIn &inStream);
-
-	using GroupFilterToIDMap = StreamUtils::ObjectToIDMap<GroupFilter>;
-	using IDToGroupFilterMap = StreamUtils::IDToObjectMap<GroupFilter>;
-	using ShapeToIDMap = Shape::ShapeToIDMap;
-	using IDToShapeMap = Shape::IDToShapeMap;
-	using MaterialToIDMap = StreamUtils::ObjectToIDMap<PhysicsMaterial>;
-	using IDToMaterialMap = StreamUtils::IDToObjectMap<PhysicsMaterial>;
-
-	/// Save body creation settings, its shape, materials and group filter. Pass in an empty map in ioShapeMap / ioMaterialMap / ioGroupFilterMap or reuse the same map while saving multiple shapes to the same stream in order to avoid writing duplicates.
-	/// Pass nullptr to ioShapeMap and ioMaterial map to skip saving shapes
-	/// Pass nullptr to ioGroupFilterMap to skip saving group filters
-	void					SaveWithChildren(StreamOut &inStream, ShapeToIDMap *ioShapeMap, MaterialToIDMap *ioMaterialMap, GroupFilterToIDMap *ioGroupFilterMap) const;
-
-	using BCSResult = Result<BodyCreationSettings>;
-
-	/// Restore body creation settings, its shape, materials and group filter. Pass in an empty map in ioShapeMap / ioMaterialMap / ioGroupFilterMap or reuse the same map while reading multiple shapes from the same stream in order to restore duplicates.
-	static BCSResult		sRestoreWithChildren(StreamIn &inStream, IDToShapeMap &ioShapeMap, IDToMaterialMap &ioMaterialMap, IDToGroupFilterMap &ioGroupFilterMap);
-
-	RVec3					mPosition = RVec3::sZero();										///< Position of the body (not of the center of mass)
-	Quat					mRotation = Quat::sIdentity();									///< Rotation of the body
-	Vec3					mLinearVelocity = Vec3::sZero();								///< World space linear velocity of the center of mass (m/s)
-	Vec3					mAngularVelocity = Vec3::sZero();								///< World space angular velocity (rad/s)
-
-	/// User data value (can be used by application)
-	uint64					mUserData = 0;
-
-	///@name Collision settings
-	ObjectLayer				mObjectLayer = 0;												///< The collision layer this body belongs to (determines if two objects can collide)
-	CollisionGroup			mCollisionGroup;												///< The collision group this body belongs to (determines if two objects can collide)
-
-	///@name Simulation properties
-	EMotionType				mMotionType = EMotionType::Dynamic;								///< Motion type, determines if the object is static, dynamic or kinematic
-	EAllowedDOFs			mAllowedDOFs = EAllowedDOFs::All;								///< Which degrees of freedom this body has (can be used to limit simulation to 2D)
-	bool					mAllowDynamicOrKinematic = false;								///< When this body is created as static, this setting tells the system to create a MotionProperties object so that the object can be switched to kinematic or dynamic
-	bool					mIsSensor = false;												///< If this body is a sensor. A sensor will receive collision callbacks, but will not cause any collision responses and can be used as a trigger volume. See description at Body::SetIsSensor.
-	bool					mCollideKinematicVsNonDynamic = false;							///< If kinematic objects can generate contact points against other kinematic or static objects. See description at Body::SetCollideKinematicVsNonDynamic.
-	bool					mUseManifoldReduction = true;									///< If this body should use manifold reduction (see description at Body::SetUseManifoldReduction)
-	bool					mApplyGyroscopicForce = false;									///< Set to indicate that the gyroscopic force should be applied to this body (aka Dzhanibekov effect, see https://en.wikipedia.org/wiki/Tennis_racket_theorem)
-	EMotionQuality			mMotionQuality = EMotionQuality::Discrete;						///< Motion quality, or how well it detects collisions when it has a high velocity
-	bool					mEnhancedInternalEdgeRemoval = false;							///< Set to indicate that extra effort should be made to try to remove ghost contacts (collisions with internal edges of a mesh). This is more expensive but makes bodies move smoother over a mesh with convex edges.
-	bool					mAllowSleeping = true;											///< If this body can go to sleep or not
-	float					mFriction = 0.2f;												///< Friction of the body (dimensionless number, usually between 0 and 1, 0 = no friction, 1 = friction force equals force that presses the two bodies together). Note that bodies can have negative friction but the combined friction (see PhysicsSystem::SetCombineFriction) should never go below zero.
-	float					mRestitution = 0.0f;											///< Restitution of body (dimensionless number, usually between 0 and 1, 0 = completely inelastic collision response, 1 = completely elastic collision response). Note that bodies can have negative restitution but the combined restitution (see PhysicsSystem::SetCombineRestitution) should never go below zero.
-	float					mLinearDamping = 0.05f;											///< Linear damping: dv/dt = -c * v. c. Value should be zero or positive and is usually close to 0.
-	float					mAngularDamping = 0.05f;										///< Angular damping: dw/dt = -c * w. c. Value should be zero or positive and is usually close to 0.
-	float					mMaxLinearVelocity = 500.0f;									///< Maximum linear velocity that this body can reach (m/s)
-	float					mMaxAngularVelocity = 0.25f * JPH_PI * 60.0f;					///< Maximum angular velocity that this body can reach (rad/s)
-	float					mGravityFactor = 1.0f;											///< Value to multiply gravity with for this body
-	uint					mNumVelocityStepsOverride = 0;									///< Used only when this body is dynamic and colliding. Override for the number of solver velocity iterations to run, 0 means use the default in PhysicsSettings::mNumVelocitySteps. The number of iterations to use is the max of all contacts and constraints in the island.
-	uint					mNumPositionStepsOverride = 0;									///< Used only when this body is dynamic and colliding. Override for the number of solver position iterations to run, 0 means use the default in PhysicsSettings::mNumPositionSteps. The number of iterations to use is the max of all contacts and constraints in the island.
-
-	///@name Mass properties of the body (by default calculated by the shape)
-	EOverrideMassProperties	mOverrideMassProperties = EOverrideMassProperties::CalculateMassAndInertia; ///< Determines how mMassPropertiesOverride will be used
-	float					mInertiaMultiplier = 1.0f;										///< When calculating the inertia (not when it is provided) the calculated inertia will be multiplied by this value
-	MassProperties			mMassPropertiesOverride;										///< Contains replacement mass settings which override the automatically calculated values
-
-private:
-	/// Collision volume for the body
-	RefConst<ShapeSettings>	mShape;															///< Shape settings, can be serialized. Mutually exclusive with mShapePtr
-	RefConst<Shape>			mShapePtr;														///< Actual shape, cannot be serialized. Mutually exclusive with mShape
-};
-
-JPH_NAMESPACE_END