axmol/core/physics3d/Physics3DComponent.cpp

/****************************************************************************
Copyright (c) 2015-2016 Chukong Technologies Inc.
Copyright (c) 2017-2018 Xiamen Yaji Software Co., Ltd.
Copyright (c) 2019-present Axmol Engine contributors (see AUTHORS.md).

https://axmolengine.github.io/

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The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

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#include "physics3d/Physics3D.h"
#include "2d/Node.h"
#include "2d/Scene.h"

#if defined(AX_ENABLE_3D_PHYSICS)

#    if (AX_ENABLE_BULLET_INTEGRATION)

NS_AX_BEGIN

Physics3DComponent::~Physics3DComponent()
{
    AX_SAFE_RELEASE(_physics3DObj);
}

std::string& Physics3DComponent::getPhysics3DComponentName()
{
    static std::string comName = "___Physics3DComponent___";
    return comName;
}

bool Physics3DComponent::init()
{
    setName(getPhysics3DComponentName());
    return Component::init();
}

Physics3DComponent* Physics3DComponent::create(Physics3DObject* physicsObj,
                                               const ax::Vec3& translateInPhysics,
                                               const ax::Quaternion& rotInPhsyics)
{
    auto ret = new Physics3DComponent();
    if (ret->init())
    {
        ret->setPhysics3DObject(physicsObj);
        ret->setTransformInPhysics(translateInPhysics, rotInPhsyics);
        ret->autorelease();
        return ret;
    }
    AX_SAFE_DELETE(ret);
    return nullptr;
}

void Physics3DComponent::setPhysics3DObject(Physics3DObject* physicsObj)
{
    AX_SAFE_RETAIN(physicsObj);
    AX_SAFE_RELEASE(_physics3DObj);
    _physics3DObj = physicsObj;
}

Physics3DComponent::Physics3DComponent()
    : _physics3DObj(nullptr), _syncFlag(Physics3DComponent::PhysicsSyncFlag::NODE_AND_NODE)
{}

void Physics3DComponent::setEnabled(bool b)
{
    bool oldBool = _enabled;
    Component::setEnabled(b);
    if (_physics3DObj && oldBool != _enabled)
    {
        _enabled ? _physics3DObj->getPhysicsWorld()->addPhysics3DObject(_physics3DObj)
                 : _physics3DObj->getPhysicsWorld()->removePhysics3DObject(_physics3DObj);
    }
}

void Physics3DComponent::addToPhysicsWorld(Physics3DWorld* world)
{
    // add component to physics world
    if (_physics3DObj)
    {
        _physics3DObj->setPhysicsWorld(world);
        world->addPhysics3DObject(_physics3DObj);
        auto& components = world->_physicsComponents;
        auto it          = std::find(components.begin(), components.end(), this);
        if (it == components.end())
        {
            auto parent = _owner->getParent();
            while (parent)
            {
                for (size_t i = 0; i < components.size(); i++)
                {
                    if (parent == components[i]->getOwner())
                    {
                        // insert it here
                        components.insert(components.begin() + i, this);
                        return;
                    }
                }
                parent = parent->getParent();
            }

            components.insert(components.begin(), this);
        }
    }
}

void Physics3DComponent::onEnter()
{
    Component::onEnter();

    if (_physics3DObj->getPhysicsWorld() == nullptr && _owner)
    {
        auto scene = _owner->getScene();
        if (scene)
            addToPhysicsWorld(scene->getPhysics3DWorld());
    }
}

void Physics3DComponent::onExit()
{
    Component::onExit();
    setEnabled(false);

    // remove component from physics world
    if (_physics3DObj)
    {
        auto& components = _physics3DObj->getPhysicsWorld()->_physicsComponents;
        auto it          = std::find(components.begin(), components.end(), this);
        if (it != components.end())
            components.erase(it);
    }
}

void Physics3DComponent::preSimulate()
{
    if (((int)_syncFlag & (int)Physics3DComponent::PhysicsSyncFlag::NODE_TO_PHYSICS) && _physics3DObj && _owner)
    {
        syncNodeToPhysics();
    }
}

void Physics3DComponent::postSimulate()
{
    if (((int)_syncFlag & (int)Physics3DComponent::PhysicsSyncFlag::PHYSICS_TO_NODE) && _physics3DObj && _owner)
    {
        syncPhysicsToNode();
    }
}

void Physics3DComponent::setTransformInPhysics(const ax::Vec3& translateInPhysics,
                                               const ax::Quaternion& rotInPhsyics)
{
    Mat4::createRotation(rotInPhsyics, &_transformInPhysics);
    _transformInPhysics.m[12] = translateInPhysics.x;
    _transformInPhysics.m[13] = translateInPhysics.y;
    _transformInPhysics.m[14] = translateInPhysics.z;

    _invTransformInPhysics = _transformInPhysics.getInversed();
}

void Physics3DComponent::setSyncFlag(PhysicsSyncFlag syncFlag)
{
    _syncFlag = syncFlag;
}

void Physics3DComponent::syncPhysicsToNode()
{
    if (_physics3DObj->getObjType() == Physics3DObject::PhysicsObjType::RIGID_BODY ||
        _physics3DObj->getObjType() == Physics3DObject::PhysicsObjType::COLLIDER)
    {
        Mat4 parentMat;
        if (_owner->getParent())
            parentMat = _owner->getParent()->getNodeToWorldTransform();

        auto mat = parentMat.getInversed() * _physics3DObj->getWorldTransform();
        // remove scale, no scale support for physics
        float oneOverLen = 1.f / sqrtf(mat.m[0] * mat.m[0] + mat.m[1] * mat.m[1] + mat.m[2] * mat.m[2]);
        mat.m[0] *= oneOverLen;
        mat.m[1] *= oneOverLen;
        mat.m[2] *= oneOverLen;
        oneOverLen = 1.f / sqrtf(mat.m[4] * mat.m[4] + mat.m[5] * mat.m[5] + mat.m[6] * mat.m[6]);
        mat.m[4] *= oneOverLen;
        mat.m[5] *= oneOverLen;
        mat.m[6] *= oneOverLen;
        oneOverLen = 1.f / sqrtf(mat.m[8] * mat.m[8] + mat.m[9] * mat.m[9] + mat.m[10] * mat.m[10]);
        mat.m[8] *= oneOverLen;
        mat.m[9] *= oneOverLen;
        mat.m[10] *= oneOverLen;

        mat *= _transformInPhysics;
        static Vec3 scale, translation;
        static Quaternion quat;
        mat.decompose(&scale, &quat, &translation);
        _owner->setPosition3D(translation);
        quat.normalize();
        _owner->setRotationQuat(quat);
    }
}

void Physics3DComponent::syncNodeToPhysics()
{
    if (_physics3DObj->getObjType() == Physics3DObject::PhysicsObjType::RIGID_BODY ||
        _physics3DObj->getObjType() == Physics3DObject::PhysicsObjType::COLLIDER)
    {
        auto mat = _owner->getNodeToWorldTransform();
        // remove scale, no scale support for physics
        float oneOverLen = 1.f / sqrtf(mat.m[0] * mat.m[0] + mat.m[1] * mat.m[1] + mat.m[2] * mat.m[2]);
        mat.m[0] *= oneOverLen;
        mat.m[1] *= oneOverLen;
        mat.m[2] *= oneOverLen;
        oneOverLen = 1.f / sqrtf(mat.m[4] * mat.m[4] + mat.m[5] * mat.m[5] + mat.m[6] * mat.m[6]);
        mat.m[4] *= oneOverLen;
        mat.m[5] *= oneOverLen;
        mat.m[6] *= oneOverLen;
        oneOverLen = 1.f / sqrtf(mat.m[8] * mat.m[8] + mat.m[9] * mat.m[9] + mat.m[10] * mat.m[10]);
        mat.m[8] *= oneOverLen;
        mat.m[9] *= oneOverLen;
        mat.m[10] *= oneOverLen;

        mat *= _invTransformInPhysics;
        if (_physics3DObj->getObjType() == Physics3DObject::PhysicsObjType::RIGID_BODY)
        {
            auto body        = static_cast<Physics3DRigidBody*>(_physics3DObj)->getRigidBody();
            auto motionState = body->getMotionState();
            motionState->setWorldTransform(convertMat4TobtTransform(mat));
            body->setMotionState(motionState);
        }
        else if (_physics3DObj->getObjType() == Physics3DObject::PhysicsObjType::COLLIDER)
        {
            auto object = static_cast<Physics3DCollider*>(_physics3DObj)->getGhostObject();
            object->setWorldTransform(convertMat4TobtTransform(mat));
        }
    }
}

NS_AX_END

#    endif  // AX_ENABLE_BULLET_INTEGRATION

#endif  // defined(AX_ENABLE_3D_PHYSICS)