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177 lines
7.5 KiB
177 lines
7.5 KiB
/****************************************************************************
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Copyright (c) 2020-2023 Xiamen Yaji Software Co., Ltd.
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http://www.cocos.com
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights to
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use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
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of the Software, and to permit persons to whom the Software is furnished to do so,
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subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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****************************************************************************/
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#pragma once
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#include <memory>
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#include "base/Macros.h"
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#include "base/std/container/vector.h"
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#include "core/scene-graph/Node.h"
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#include "physics/physx/PhysXEventManager.h"
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#include "physics/physx/PhysXFilterShader.h"
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#include "physics/physx/PhysXInc.h"
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#include "physics/physx/PhysXRigidBody.h"
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#include "physics/physx/PhysXSharedBody.h"
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#include "physics/physx/character-controllers/PhysXCharacterController.h"
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#include "physics/spec/IWorld.h"
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#include "renderer/pipeline/GeometryRenderer.h"
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namespace cc {
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namespace physics {
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class PhysXWorld final : virtual public IPhysicsWorld {
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public:
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static PhysXWorld &getInstance();
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static physx::PxFoundation &getFundation();
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static physx::PxCooking &getCooking();
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static physx::PxPhysics &getPhysics();
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static physx::PxControllerManager &getControllerManager();
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PhysXWorld();
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~PhysXWorld() override;
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void step(float fixedTimeStep) override;
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void setGravity(float x, float y, float z) override;
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void setAllowSleep(bool v) override;
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void emitEvents() override;
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void setCollisionMatrix(uint32_t index, uint32_t mask) override;
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bool raycast(RaycastOptions &opt) override;
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bool raycastClosest(RaycastOptions &opt) override;
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ccstd::vector<RaycastResult> &raycastResult() override;
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RaycastResult &raycastClosestResult() override;
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bool sweep(RaycastOptions &opt, const physx::PxGeometry &geometry, const physx::PxQuat &orientation);
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bool sweepClosest(RaycastOptions &opt, const physx::PxGeometry &geometry, const physx::PxQuat &orientation);
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bool sweepBox(RaycastOptions &opt, float halfExtentX, float halfExtentY, float halfExtentZ,
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float orientationW, float orientationX, float orientationY, float orientationZ) override;
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bool sweepBoxClosest(RaycastOptions &opt, float halfExtentX, float halfExtentY, float halfExtentZ,
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float orientationW, float orientationX, float orientationY, float orientationZ) override;
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bool sweepSphere(RaycastOptions &opt, float radius) override;
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bool sweepSphereClosest(RaycastOptions &opt, float radius) override;
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bool sweepCapsule(RaycastOptions &opt, float radius, float height,
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float orientationW, float orientationX, float orientationY, float orientationZ) override;
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bool sweepCapsuleClosest(RaycastOptions &opt, float radius, float height,
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float orientationW, float orientationX, float orientationY, float orientationZ) override;
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ccstd::vector<RaycastResult> &sweepResult() override;
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RaycastResult &sweepClosestResult() override;
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uint32_t createConvex(ConvexDesc &desc) override;
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uint32_t createTrimesh(TrimeshDesc &desc) override;
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uint32_t createHeightField(HeightFieldDesc &desc) override;
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bool createMaterial(uint16_t id, float f, float df, float r,
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uint8_t m0, uint8_t m1) override;
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inline ccstd::vector<std::shared_ptr<TriggerEventPair>> &getTriggerEventPairs() override {
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return _mEventMgr->getTriggerPairs();
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}
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inline ccstd::vector<std::shared_ptr<ContactEventPair>> &getContactEventPairs() override {
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return _mEventMgr->getConatctPairs();
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}
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inline ccstd::vector<std::shared_ptr<CCTShapeEventPair>> &getCCTShapeEventPairs() override {
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return _mEventMgr->getCCTShapePairs();
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}
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inline ccstd::vector<std::shared_ptr<CCTTriggerEventPair>> &getCCTTriggerEventPairs() override {
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return _mEventMgr->getCCTTriggerPairs();
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}
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void syncSceneToPhysics() override;
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void syncSceneWithCheck() override;
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void destroy() override;
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inline PhysXSharedBody *getSharedBody(
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const Node *node,
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PhysXRigidBody *const body = nullptr) {
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return PhysXSharedBody::getSharedBody(node, this, body);
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}
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inline physx::PxScene &getScene() const { return *_mScene; }
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uint32_t getMaskByIndex(uint32_t i);
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void syncPhysicsToScene();
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void addActor(const PhysXSharedBody &sb);
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void removeActor(const PhysXSharedBody &sb);
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void addCCT(const PhysXCharacterController &cct);
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void removeCCT(const PhysXCharacterController &cct);
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// Mapping PhysX Object ID and Pointer
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uint32_t addPXObject(uintptr_t PXObjectPtr);
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void removePXObject(uint32_t pxObjectID);
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uintptr_t getPXPtrWithPXObjectID(uint32_t pxObjectID);
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// Mapping Wrapper PhysX Object ID and Pointer
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uint32_t addWrapperObject(uintptr_t wrapperObjectPtr);
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void removeWrapperObject(uint32_t wrapperObjectID);
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uintptr_t getWrapperPtrWithObjectID(uint32_t wrapperObjectID);
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uintptr_t getPXMaterialPtrWithMaterialID(uint32_t materialID);
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float getFixedTimeStep() const override { return _fixedTimeStep; }
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void setFixedTimeStep(float fixedTimeStep) override { _fixedTimeStep = fixedTimeStep; }
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#if CC_USE_GEOMETRY_RENDERER
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void setDebugDrawFlags(EPhysicsDrawFlags flags) override;
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EPhysicsDrawFlags getDebugDrawFlags() override;
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void setDebugDrawConstraintSize(float size) override;
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float getDebugDrawConstraintSize() override;
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private:
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pipeline::GeometryRenderer *getDebugRenderer();
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void debugDraw();
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void setDebugDrawMode();
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#else
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void setDebugDrawFlags(EPhysicsDrawFlags flags) override{};
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EPhysicsDrawFlags getDebugDrawFlags() override { return EPhysicsDrawFlags::NONE; };
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void setDebugDrawConstraintSize(float size) override{};
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float getDebugDrawConstraintSize() override { return 0.0; };
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#endif
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private:
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static PhysXWorld *instance;
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physx::PxFoundation *_mFoundation;
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physx::PxCooking *_mCooking;
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physx::PxPhysics *_mPhysics;
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physx::PxControllerManager *_mControllerManager = NULL;
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#ifdef CC_DEBUG
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physx::PxPvd *_mPvd;
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#endif
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physx::PxDefaultCpuDispatcher *_mDispatcher;
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physx::PxScene *_mScene;
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PhysXEventManager *_mEventMgr;
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uint32_t _mCollisionMatrix[31];
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ccstd::vector<PhysXSharedBody *> _mSharedBodies;
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ccstd::vector<PhysXCharacterController *> _mCCTs;
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static uint32_t _msWrapperObjectID;
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static uint32_t _msPXObjectID;
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ccstd::unordered_map<uint32_t, uintptr_t> _mPXObjects;
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ccstd::unordered_map<uint32_t, uintptr_t> _mWrapperObjects;
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float _fixedTimeStep{1 / 60.0F};
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uint32_t _debugLineCount = 0;
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uint32_t _MAX_DEBUG_LINE_COUNT = 16384;
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EPhysicsDrawFlags _debugDrawFlags = EPhysicsDrawFlags::NONE;
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float _debugConstraintSize = 0.3;
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};
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} // namespace physics
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} // namespace cc
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