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Add Jolt Physics as an alternative 3D physics engine

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Co-authored-by: Jorrit Rouwe <jrouwe@gmail.com>
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Mikael Hermansson 2024-12-11 13:57:25 +01:00
parent aa8d9b83f6
commit d470c2ac6a
531 changed files with 115764 additions and 4 deletions
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modules/jolt_physics/shapes/jolt_custom_double_sided_shape.cpp Normal file
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/**************************************************************************/
/* jolt_custom_double_sided_shape.cpp */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* 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 */
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/**************************************************************************/
#include "jolt_custom_double_sided_shape.h"
#include "../jolt_project_settings.h"
#include "core/error/error_macros.h"
#include "Jolt/Physics/Collision/CollisionDispatch.h"
#include "Jolt/Physics/Collision/RayCast.h"
namespace {
JPH::Shape *construct_double_sided() {
return new JoltCustomDoubleSidedShape();
}
void collide_double_sided_vs_shape(const JPH::Shape *p_shape1, const JPH::Shape *p_shape2, JPH::Vec3Arg p_scale1, JPH::Vec3Arg p_scale2, JPH::Mat44Arg p_center_of_mass_transform1, JPH::Mat44Arg p_center_of_mass_transform2, const JPH::SubShapeIDCreator &p_sub_shape_id_creator1, const JPH::SubShapeIDCreator &p_sub_shape_id_creator2, const JPH::CollideShapeSettings &p_collide_shape_settings, JPH::CollideShapeCollector &p_collector, const JPH::ShapeFilter &p_shape_filter) {
ERR_FAIL_COND(p_shape1->GetSubType() != JoltCustomShapeSubType::DOUBLE_SIDED);
const JoltCustomDoubleSidedShape *shape1 = static_cast<const JoltCustomDoubleSidedShape *>(p_shape1);
JPH::CollideShapeSettings new_collide_shape_settings = p_collide_shape_settings;
new_collide_shape_settings.mBackFaceMode = JPH::EBackFaceMode::CollideWithBackFaces;
JPH::CollisionDispatch::sCollideShapeVsShape(shape1->GetInnerShape(), p_shape2, p_scale1, p_scale2, p_center_of_mass_transform1, p_center_of_mass_transform2, p_sub_shape_id_creator1, p_sub_shape_id_creator2, new_collide_shape_settings, p_collector, p_shape_filter);
}
void collide_shape_vs_double_sided(const JPH::Shape *p_shape1, const JPH::Shape *p_shape2, JPH::Vec3Arg p_scale1, JPH::Vec3Arg p_scale2, JPH::Mat44Arg p_center_of_mass_transform1, JPH::Mat44Arg p_center_of_mass_transform2, const JPH::SubShapeIDCreator &p_sub_shape_id_creator1, const JPH::SubShapeIDCreator &p_sub_shape_id_creator2, const JPH::CollideShapeSettings &p_collide_shape_settings, JPH::CollideShapeCollector &p_collector, const JPH::ShapeFilter &p_shape_filter) {
ERR_FAIL_COND(p_shape2->GetSubType() != JoltCustomShapeSubType::DOUBLE_SIDED);
const JoltCustomDoubleSidedShape *shape2 = static_cast<const JoltCustomDoubleSidedShape *>(p_shape2);
JPH::CollideShapeSettings new_collide_shape_settings = p_collide_shape_settings;
new_collide_shape_settings.mBackFaceMode = JPH::EBackFaceMode::CollideWithBackFaces;
JPH::CollisionDispatch::sCollideShapeVsShape(p_shape1, shape2->GetInnerShape(), p_scale1, p_scale2, p_center_of_mass_transform1, p_center_of_mass_transform2, p_sub_shape_id_creator1, p_sub_shape_id_creator2, new_collide_shape_settings, p_collector, p_shape_filter);
}
void cast_shape_vs_double_sided(const JPH::ShapeCast &p_shape_cast, const JPH::ShapeCastSettings &p_shape_cast_settings, const JPH::Shape *p_shape, JPH::Vec3Arg p_scale, const JPH::ShapeFilter &p_shape_filter, JPH::Mat44Arg p_center_of_mass_transform2, const JPH::SubShapeIDCreator &p_sub_shape_id_creator1, const JPH::SubShapeIDCreator &p_sub_shape_id_creator2, JPH::CastShapeCollector &p_collector) {
ERR_FAIL_COND(p_shape->GetSubType() != JoltCustomShapeSubType::DOUBLE_SIDED);
const JoltCustomDoubleSidedShape *shape = static_cast<const JoltCustomDoubleSidedShape *>(p_shape);
JPH::ShapeCastSettings new_shape_cast_settings = p_shape_cast_settings;
new_shape_cast_settings.mBackFaceModeTriangles = JPH::EBackFaceMode::CollideWithBackFaces;
JPH::CollisionDispatch::sCastShapeVsShapeLocalSpace(p_shape_cast, new_shape_cast_settings, shape->GetInnerShape(), p_scale, p_shape_filter, p_center_of_mass_transform2, p_sub_shape_id_creator1, p_sub_shape_id_creator2, p_collector);
}
} // namespace
JPH::ShapeSettings::ShapeResult JoltCustomDoubleSidedShapeSettings::Create() const {
if (mCachedResult.IsEmpty()) {
new JoltCustomDoubleSidedShape(*this, mCachedResult);
}
return mCachedResult;
}
void JoltCustomDoubleSidedShape::register_type() {
JPH::ShapeFunctions &shape_functions = JPH::ShapeFunctions::sGet(JoltCustomShapeSubType::DOUBLE_SIDED);
shape_functions.mConstruct = construct_double_sided;
shape_functions.mColor = JPH::Color::sPurple;
for (const JPH::EShapeSubType sub_type : JPH::sAllSubShapeTypes) {
JPH::CollisionDispatch::sRegisterCollideShape(JoltCustomShapeSubType::DOUBLE_SIDED, sub_type, collide_double_sided_vs_shape);
JPH::CollisionDispatch::sRegisterCollideShape(sub_type, JoltCustomShapeSubType::DOUBLE_SIDED, collide_shape_vs_double_sided);
}
for (const JPH::EShapeSubType sub_type : JPH::sConvexSubShapeTypes) {
JPH::CollisionDispatch::sRegisterCastShape(sub_type, JoltCustomShapeSubType::DOUBLE_SIDED, cast_shape_vs_double_sided);
}
}
void JoltCustomDoubleSidedShape::CastRay(const JPH::RayCast &p_ray, const JPH::RayCastSettings &p_ray_cast_settings, const JPH::SubShapeIDCreator &p_sub_shape_id_creator, JPH::CastRayCollector &p_collector, const JPH::ShapeFilter &p_shape_filter) const {
JPH::RayCastSettings new_ray_cast_settings = p_ray_cast_settings;
if (!back_face_collision) {
new_ray_cast_settings.SetBackFaceMode(JPH::EBackFaceMode::IgnoreBackFaces);
}
return mInnerShape->CastRay(p_ray, new_ray_cast_settings, p_sub_shape_id_creator, p_collector, p_shape_filter);
}