no message

cocos/physics/spec/IBody.h

@@ -0,0 +1,81 @@
+/****************************************************************************
+ Copyright (c) 2020-2023 Xiamen Yaji Software Co., Ltd.
+
+ http://www.cocos.com
+
+ 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.
+****************************************************************************/
+
+#pragma once
+
+#include "core/scene-graph/Node.h"
+#include "math/Vec3.h"
+#include "physics/spec/ILifecycle.h"
+
+namespace cc {
+namespace physics {
+
+enum class ERigidBodyType : uint8_t {
+    DYNAMIC = 1,
+    STATIC = 2,
+    KINEMATIC = 4,
+};
+
+class IRigidBody : public ILifecycle {
+public:
+    ~IRigidBody() override = default;
+    virtual void initialize(Node *node, ERigidBodyType t, uint32_t g) = 0;
+    virtual bool isAwake() = 0;
+    virtual bool isSleepy() = 0;
+    virtual bool isSleeping() = 0;
+    virtual void setType(ERigidBodyType v) = 0;
+    virtual void setMass(float v) = 0;
+    virtual void setLinearDamping(float v) = 0;
+    virtual void setAngularDamping(float v) = 0;
+    virtual void useGravity(bool v) = 0;
+    virtual void useCCD(bool v) = 0;
+    virtual void setLinearFactor(float x, float y, float z) = 0;
+    virtual void setAngularFactor(float x, float y, float z) = 0;
+    virtual void setAllowSleep(bool v) = 0;
+    virtual void wakeUp() = 0;
+    virtual void sleep() = 0;
+    virtual void clearState() = 0;
+    virtual void clearForces() = 0;
+    virtual void clearVelocity() = 0;
+    virtual void setSleepThreshold(float v) = 0;
+    virtual float getSleepThreshold() = 0;
+    virtual cc::Vec3 getLinearVelocity() = 0;
+    virtual void setLinearVelocity(float x, float y, float z) = 0;
+    virtual cc::Vec3 getAngularVelocity() = 0;
+    virtual void setAngularVelocity(float x, float y, float z) = 0;
+    virtual void applyForce(float x, float y, float z, float rx, float ry, float rz) = 0;
+    virtual void applyLocalForce(float x, float y, float z, float rx, float ry, float rz) = 0;
+    virtual void applyImpulse(float x, float y, float z, float rx, float ry, float rz) = 0;
+    virtual void applyLocalImpulse(float x, float y, float z, float rx, float ry, float rz) = 0;
+    virtual void applyTorque(float x, float y, float z) = 0;
+    virtual void applyLocalTorque(float x, float y, float z) = 0;
+    virtual uint32_t getGroup() = 0;
+    virtual void setGroup(uint32_t g) = 0;
+    virtual uint32_t getMask() = 0;
+    virtual void setMask(uint32_t m) = 0;
+    virtual uint32_t getObjectID() const = 0;
+};
+
+} // namespace physics
+} // namespace cc

cocos/physics/spec/ICharacterController.h

@@ -0,0 +1,81 @@
+/****************************************************************************
+ Copyright (c) 2023 Xiamen Yaji Software Co., Ltd.
+
+ http://www.cocos.com
+
+ 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.
+****************************************************************************/
+
+#pragma once
+
+#include "core/scene-graph/Node.h"
+#include "math/Vec3.h"
+#include "physics/spec/ILifecycle.h"
+#include "physics/spec/IShape.h"
+
+namespace cc {
+namespace physics {
+
+class IBaseCharacterController : virtual public ILifecycle {
+public:
+    ~IBaseCharacterController() override = default;
+    virtual bool initialize(Node *node) = 0;
+
+    virtual void setStepOffset(float v) = 0;
+    virtual float getStepOffset() = 0;
+    virtual void setSlopeLimit(float v) = 0;
+    virtual float getSlopeLimit() = 0;
+    virtual void setContactOffset(float v) = 0;
+    virtual float getContactOffset() = 0;
+    virtual void setDetectCollisions(bool v) = 0;
+    virtual void setOverlapRecovery(bool v) = 0;
+    virtual void setCenter(float x, float y, float z) = 0;
+
+    virtual cc::Vec3 getPosition() = 0;
+    virtual void setPosition(float x, float y, float z) = 0;
+    virtual bool onGround() = 0;
+    virtual void move(float x, float y, float z, float minDist, float elapsedTime) = 0;
+    virtual void syncPhysicsToScene() = 0;
+
+    virtual uint32_t getGroup() = 0;
+    virtual void setGroup(uint32_t g) = 0;
+    virtual uint32_t getMask() = 0;
+    virtual void setMask(uint32_t m) = 0;
+    virtual void updateEventListener(EShapeFilterFlag flag) = 0;
+
+    virtual uint32_t getObjectID() const = 0;
+};
+
+class ICapsuleCharacterController : virtual public IBaseCharacterController {
+public:
+    ~ICapsuleCharacterController() override = default;
+    virtual void setRadius(float v) = 0;
+    virtual void setHeight(float v) = 0;
+};
+
+class IBoxCharacterController : virtual public IBaseCharacterController {
+public:
+    ~IBoxCharacterController() override = default;
+    virtual void setHalfHeight(float v) = 0;
+    virtual void setHalfSideExtent(float v) = 0;
+    virtual void setHalfForwardExtent(float v) = 0;
+};
+
+} // namespace physics
+} // namespace cc

cocos/physics/spec/IJoint.h

@@ -0,0 +1,113 @@
+/****************************************************************************
+ Copyright (c) 2020-2023 Xiamen Yaji Software Co., Ltd.
+
+ http://www.cocos.com
+
+ 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.
+****************************************************************************/
+
+#pragma once
+
+#include <cstdint>
+#include "core/scene-graph/Node.h"
+#include "physics/spec/ILifecycle.h"
+
+namespace cc {
+namespace physics {
+
+class IBaseJoint : virtual public ILifecycle {
+public:
+    ~IBaseJoint() override = default;
+    virtual void initialize(Node *node) = 0;
+    virtual void setEnableCollision(bool v) = 0;
+    virtual void setConnectedBody(uint32_t rigidBodyID) = 0;
+    virtual uint32_t getObjectID() const = 0;
+};
+
+class ISphericalJoint : virtual public IBaseJoint {
+public:
+    ~ISphericalJoint() override = default;
+    virtual void setPivotA(float x, float y, float z) = 0;
+    virtual void setPivotB(float x, float y, float z) = 0;
+};
+
+class IRevoluteJoint : virtual public IBaseJoint {
+public:
+    ~IRevoluteJoint() override = default;
+    virtual void setPivotA(float x, float y, float z) = 0;
+    virtual void setPivotB(float x, float y, float z) = 0;
+    virtual void setAxis(float x, float y, float z) = 0;
+    virtual void setLimitEnabled(bool v) = 0;
+    virtual void setLowerLimit(float v) = 0;
+    virtual void setUpperLimit(float v) = 0;
+    virtual void setMotorEnabled(bool v) = 0;
+    virtual void setMotorVelocity(float v) = 0;
+    virtual void setMotorForceLimit(float v) = 0;
+};
+
+class IFixedJoint : virtual public IBaseJoint {
+public:
+    ~IFixedJoint() override = default;
+    virtual void setBreakForce(float force) = 0;
+    virtual void setBreakTorque(float torque) = 0;
+};
+
+class IGenericJoint : virtual public IBaseJoint {
+public:
+    ~IGenericJoint() override = default;
+
+    virtual void setConstraintMode(uint32_t index, uint32_t mode) = 0;
+    virtual void setLinearLimit(uint32_t index, float lower, float upper) = 0;
+    virtual void setAngularExtent(float twist, float swing1, float swing2) = 0;
+    virtual void setLinearSoftConstraint(bool enable) = 0;
+    virtual void setLinearStiffness(float stiffness) = 0;
+    virtual void setLinearDamping(float damping) = 0;
+    virtual void setLinearRestitution(float restitution) = 0;
+
+    virtual void setSwingSoftConstraint(bool enable) = 0;
+    virtual void setTwistSoftConstraint(bool enable) = 0;
+    virtual void setSwingStiffness(float stiffness) = 0;
+    virtual void setSwingDamping(float damping) = 0;
+    virtual void setSwingRestitution(float restitution) = 0;
+    virtual void setTwistStiffness(float stiffness) = 0;
+    virtual void setTwistDamping(float damping) = 0;
+    virtual void setTwistRestitution(float restitution) = 0;
+
+    // motor
+    virtual void setDriverMode(uint32_t index, uint32_t mode) = 0;
+    virtual void setLinearMotorTarget(float x, float y, float z) = 0;
+    virtual void setLinearMotorVelocity(float x, float y, float z) = 0;
+    virtual void setLinearMotorForceLimit(float limit) = 0;
+
+    virtual void setAngularMotorTarget(float x, float y, float z) = 0;
+    virtual void setAngularMotorVelocity(float x, float y, float z) = 0;
+    virtual void setAngularMotorForceLimit(float limit) = 0;
+
+    virtual void setPivotA(float x, float y, float z) = 0;
+    virtual void setPivotB(float x, float y, float z) = 0;
+    virtual void setAutoPivotB(bool enable) = 0;
+    virtual void setAxis(float x, float y, float z) = 0;
+    virtual void setSecondaryAxis(float x, float y, float z) = 0;
+
+    virtual void setBreakForce(float force) = 0;
+    virtual void setBreakTorque(float torque) = 0;
+};
+
+} // namespace physics
+} // namespace cc

cocos/physics/spec/ILifecycle.h

@@ -0,0 +1,40 @@
+/****************************************************************************
+ Copyright (c) 2020-2023 Xiamen Yaji Software Co., Ltd.
+
+ http://www.cocos.com
+
+ 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.
+****************************************************************************/
+
+#pragma once
+
+#include <cstdint>
+#include "base/TypeDef.h"
+
+namespace cc {
+namespace physics {
+class ILifecycle {
+public:
+    virtual ~ILifecycle() = default;
+    virtual void onEnable() = 0;
+    virtual void onDisable() = 0;
+    virtual void onDestroy() = 0;
+};
+} // namespace physics
+} // namespace cc

cocos/physics/spec/IShape.h

@@ -0,0 +1,130 @@
+/****************************************************************************
+ Copyright (c) 2020-2023 Xiamen Yaji Software Co., Ltd.
+
+ http://www.cocos.com
+
+ 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.
+****************************************************************************/
+
+#pragma once
+
+#include <cstdint>
+#include "core/geometry/AABB.h"
+#include "core/geometry/Sphere.h"
+#include "core/scene-graph/Node.h"
+#include "physics/spec/ILifecycle.h"
+
+namespace cc {
+namespace physics {
+
+enum class EAxisDirection : uint8_t {
+    X_AXIS,
+    Y_AXIS,
+    Z_AXIS,
+};
+
+enum class EShapeFilterFlag : uint8_t {
+    NONE = 0,
+    IS_TRIGGER = 1 << 0,
+    NEED_EVENT = 1 << 1,
+    NEED_CONTACT_DATA = 1 << 2,
+    DETECT_CONTACT_CCD = 1 << 3,
+};
+
+class IBaseShape : virtual public ILifecycle {
+public:
+    ~IBaseShape() override = default;
+    ;
+    virtual void initialize(Node *node) = 0;
+    virtual void setMaterial(uint16_t id, float f, float df, float r,
+                             uint8_t m0, uint8_t m1) = 0;
+    virtual void setAsTrigger(bool v) = 0;
+    virtual void setCenter(float x, float y, float z) = 0;
+    virtual geometry::AABB &getAABB() = 0;
+    virtual geometry::Sphere &getBoundingSphere() = 0;
+    virtual void updateEventListener(EShapeFilterFlag flag) = 0;
+    virtual uint32_t getGroup() = 0;
+    virtual void setGroup(uint32_t g) = 0;
+    virtual uint32_t getMask() = 0;
+    virtual void setMask(uint32_t m) = 0;
+    virtual uint32_t getObjectID() const = 0;
+};
+
+class ISphereShape : virtual public IBaseShape {
+public:
+    ~ISphereShape() override = default;
+    ;
+    virtual void setRadius(float v) = 0;
+};
+
+class IBoxShape : virtual public IBaseShape {
+public:
+    ~IBoxShape() override = default;
+    ;
+    virtual void setSize(float x, float y, float z) = 0;
+};
+
+class ICapsuleShape : virtual public IBaseShape {
+public:
+    ~ICapsuleShape() override = default;
+    ;
+    virtual void setRadius(float v) = 0;
+    virtual void setCylinderHeight(float v) = 0;
+    virtual void setDirection(EAxisDirection v) = 0;
+};
+
+class ICylinderShape : virtual public IBaseShape {
+public:
+    ~ICylinderShape() override = default;
+    ;
+    virtual void setConvex(uint32_t ObjectID) = 0;
+    virtual void setCylinder(float r, float h, EAxisDirection d) = 0;
+};
+
+class IConeShape : virtual public IBaseShape {
+public:
+    ~IConeShape() override = default;
+    ;
+    virtual void setConvex(uint32_t ObjectID) = 0;
+    virtual void setCone(float r, float h, EAxisDirection d) = 0;
+};
+
+class IPlaneShape : virtual public IBaseShape {
+public:
+    ~IPlaneShape() override = default;
+    ;
+    virtual void setConstant(float v) = 0;
+    virtual void setNormal(float x, float y, float z) = 0;
+};
+
+class ITrimeshShape : virtual public IBaseShape {
+public:
+    ~ITrimeshShape() override = default;
+    ;
+    virtual void setMesh(uint32_t ObjectID) = 0;
+    virtual void useConvex(bool v) = 0;
+};
+
+class ITerrainShape : virtual public IBaseShape {
+public:
+    virtual void setTerrain(uint32_t ObjectID, float rs, float cs, float hs) = 0;
+};
+
+} // namespace physics
+} // namespace cc

cocos/physics/spec/IWorld.h

@@ -0,0 +1,190 @@
+/****************************************************************************
+ Copyright (c) 2020-2023 Xiamen Yaji Software Co., Ltd.
+
+ http://www.cocos.com
+
+ 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.
+****************************************************************************/
+
+#pragma once
+
+#include <cstdint>
+#include <memory>
+#include "base/TypeDef.h"
+#include "base/std/container/vector.h"
+#include "math/Vec3.h"
+
+namespace cc {
+namespace physics {
+
+enum class ETouchState : uint8_t {
+    ENTER = 0,
+    STAY = 1,
+    EXIT = 2,
+};
+
+enum class EPhysicsDrawFlags : uint32_t {
+    NONE = 0,
+    WIRE_FRAME = 0x0001,
+    CONSTRAINT = 0x0002,
+    AABB = 0x0004
+};
+
+struct TriggerEventPair {
+    uint32_t shapeA; //wrapper object ID
+    uint32_t shapeB; //wrapper object ID
+    ETouchState state;
+    static constexpr uint8_t COUNT = 3;
+    TriggerEventPair(const uint32_t a, const uint32_t b)
+    : shapeA(a),
+      shapeB(b),
+      state(ETouchState::ENTER) {}
+};
+
+struct ContactPoint {
+    Vec3 position;
+    float separation;
+    Vec3 normal;
+    uint32_t internalFaceIndex0;
+    Vec3 impulse;
+    uint32_t internalFaceIndex1;
+    static constexpr uint8_t COUNT = 12;
+};
+
+struct ContactEventPair {
+    uint32_t shapeA; //wrapper object ID
+    uint32_t shapeB; //wrapper object ID
+    ETouchState state;
+    ccstd::vector<ContactPoint> contacts;
+    static constexpr uint8_t COUNT = 4;
+    ContactEventPair(const uint32_t a, const uint32_t b)
+    : shapeA(a),
+      shapeB(b),
+      state(ETouchState::ENTER) {}
+};
+
+struct CharacterControllerContact {
+    Vec3 worldPosition;
+    Vec3 worldNormal;
+    Vec3 motionDirection;
+    float motionLength;
+    static constexpr uint8_t COUNT = 10;
+};
+struct CCTShapeEventPair {
+    uint32_t cct; //wrapper object ID
+    uint32_t shape; //wrapper object ID
+    //ETouchState state;
+    ccstd::vector<CharacterControllerContact> contacts;
+    static constexpr uint8_t COUNT = 3;
+    CCTShapeEventPair(const uint32_t cct, const uint32_t shape)
+        : cct(cct), shape(shape) {
+    }
+};
+
+struct CCTTriggerEventPair {
+    uint32_t cct; //wrapper object ID
+    uint32_t shape; //wrapper object ID
+    ETouchState state;
+    static constexpr uint8_t COUNT = 3;
+    CCTTriggerEventPair(const uint32_t cct, const uint32_t shape)
+    : cct(cct),
+      shape(shape),
+      state(ETouchState::ENTER) {}
+};
+
+struct ConvexDesc {
+    void *positions;
+    uint32_t positionLength;
+};
+
+struct TrimeshDesc : ConvexDesc {
+    void *triangles;
+    uint32_t triangleLength;
+    bool isU16;
+};
+
+struct HeightFieldDesc {
+    uint32_t rows;
+    uint32_t columns;
+    void *samples;
+};
+
+struct RaycastOptions {
+    Vec3 origin;
+    float distance;
+    Vec3 unitDir;
+    uint32_t mask;
+    bool queryTrigger;
+};
+
+struct RaycastResult {
+    uint32_t shape{0};
+    Vec3 hitPoint;
+    float distance;
+    Vec3 hitNormal;
+    RaycastResult() = default;
+};
+
+class IPhysicsWorld {
+public:
+    virtual ~IPhysicsWorld() = default;
+    ;
+    virtual void setGravity(float x, float y, float z) = 0;
+    virtual void setAllowSleep(bool v) = 0;
+    virtual void step(float s) = 0;
+    virtual void emitEvents() = 0;
+    virtual void syncSceneToPhysics() = 0;
+    virtual void syncSceneWithCheck() = 0;
+    virtual void destroy() = 0;
+    virtual void setDebugDrawFlags(EPhysicsDrawFlags f) = 0;
+    virtual EPhysicsDrawFlags getDebugDrawFlags() = 0;
+    virtual void setDebugDrawConstraintSize(float s) = 0;
+    virtual float getDebugDrawConstraintSize() = 0;
+    virtual void setCollisionMatrix(uint32_t i, uint32_t m) = 0;
+    virtual ccstd::vector<std::shared_ptr<TriggerEventPair>> &getTriggerEventPairs() = 0;
+    virtual ccstd::vector<std::shared_ptr<ContactEventPair>>& getContactEventPairs() = 0;
+    virtual ccstd::vector<std::shared_ptr<CCTShapeEventPair>>& getCCTShapeEventPairs() = 0;
+    virtual ccstd::vector<std::shared_ptr<CCTTriggerEventPair>> &getCCTTriggerEventPairs() = 0;
+    virtual bool raycast(RaycastOptions &opt) = 0;
+    virtual bool raycastClosest(RaycastOptions &opt) = 0;
+    virtual ccstd::vector<RaycastResult> &raycastResult() = 0;
+    virtual RaycastResult &raycastClosestResult() = 0;
+    virtual bool sweepBox(RaycastOptions &opt, float halfExtentX, float halfExtentY, float halfExtentZ,
+        float orientationW, float orientationX, float orientationY, float orientationZ) = 0;
+    virtual bool sweepBoxClosest(RaycastOptions &opt, float halfExtentX, float halfExtentY, float halfExtentZ,
+        float orientationW, float orientationX, float orientationY, float orientationZ) = 0;
+    virtual bool sweepSphere(RaycastOptions &opt, float radius) = 0;
+    virtual bool sweepSphereClosest(RaycastOptions &opt, float radius) = 0;
+    virtual bool sweepCapsule(RaycastOptions &opt, float radius, float height,
+        float orientationW, float orientationX, float orientationY, float orientationZ) = 0;
+    virtual bool sweepCapsuleClosest(RaycastOptions &opt, float radius, float height,
+        float orientationW, float orientationX, float orientationY, float orientationZ) = 0;
+    virtual RaycastResult &sweepClosestResult() = 0;
+    virtual ccstd::vector<RaycastResult> &sweepResult() = 0;
+    virtual uint32_t createConvex(ConvexDesc &desc) = 0;
+    virtual uint32_t createTrimesh(TrimeshDesc &desc) = 0;
+    virtual uint32_t createHeightField(HeightFieldDesc &desc) = 0;
+    virtual bool createMaterial(uint16_t id, float f, float df, float r,
+                                uint8_t m0, uint8_t m1) = 0;
+    virtual void setFixedTimeStep(float v) = 0;
+    virtual float getFixedTimeStep() const = 0;
+};
+
+} // namespace physics
+} // namespace cc