anki-3d-engine/AnKi/Physics/PhysicsWorld.h

// Copyright (C) 2009-present, Panagiotis Christopoulos Charitos and contributors.
// All rights reserved.
// Code licensed under the BSD License.
// http://www.anki3d.org/LICENSE

#pragma once

#include <AnKi/Physics/Common.h>
#include <AnKi/Physics/PhysicsCollisionShape.h>
#include <AnKi/Physics/PhysicsBody.h>
#include <AnKi/Physics/PhysicsJoint.h>
#include <AnKi/Physics/PhysicsPlayerController.h>
#include <AnKi/Util/BlockArray.h>

namespace anki {

/// @addtogroup physics
/// @{

/// @memberof PhysicsWorld
class RayHitResult
{
public:
	PhysicsObjectBase* m_object = nullptr;
	Vec3 m_normal; ///< In world space.
	Vec3 m_hitPosition; ///< In world space.
};

/// @memberof PhysicsWorld
class PhysicsDebugDrawerInterface
{
public:
	/// The implementer is responsible of batching lines together.
	virtual void drawLines(ConstWeakArray<Vec3> lines, Array<U8, 4> color) = 0;
};

/// The master container for all physics related stuff.
/// The newXXX methods are thread-safe between themselves and the dereference of the pointers. Every other method is not thread-safe.
class PhysicsWorld : public MakeSingleton<PhysicsWorld>
{
	template<typename>
	friend class anki::MakeSingleton;
	friend class PhysicsCollisionShapePtrDeleter;
	friend class PhysicsBodyPtrDeleter;
	friend class PhysicsBody;
	friend class PhysicsPlayerController;
	friend class PhysicsPlayerControllerPtrDeleter;
	friend class PhysicsJointPtrDeleter;

public:
	Error init(AllocAlignedCallback allocCb, void* allocCbData);

	PhysicsCollisionShapePtr newSphereCollisionShape(F32 radius);
	PhysicsCollisionShapePtr newBoxCollisionShape(Vec3 extend);
	PhysicsCollisionShapePtr newCapsuleCollisionShape(F32 height, F32 radius); ///< Capsule axis is in Y.
	PhysicsCollisionShapePtr newConvexHullShape(ConstWeakArray<Vec3> positions);
	PhysicsCollisionShapePtr newStaticMeshShape(ConstWeakArray<Vec3> positions, ConstWeakArray<U32> indices);

	PhysicsBodyPtr newPhysicsBody(const PhysicsBodyInitInfo& init);

	PhysicsJointPtr newPointJoint(PhysicsBody* body1, PhysicsBody* body2, const Vec3& pivot);

	/// @param pivot Gives the origin and rotation of the hinge. The hinge rotats in the X axis of the transform.
	PhysicsJointPtr newHingeJoint(PhysicsBody* body1, PhysicsBody* body2, const Transform& pivot);

	PhysicsPlayerControllerPtr newPlayerController(const PhysicsPlayerControllerInitInfo& init);

	void update(Second dt);

	/// Returns the closest hit.
	Bool castRayClosestHit(const Vec3& rayStart, const Vec3& rayEnd, PhysicsLayerBit layers, RayHitResult& result);

	/// Executes a callback for all hits found.
	template<typename TFunc>
	Bool castRayAllHits(const Vec3& rayStart, const Vec3& rayEnd, PhysicsLayerBit layers, TFunc func)
	{
		PhysicsDynamicArray<RayHitResult> results;
		const Bool success = castRayAllHits(rayStart, rayEnd, layers, results);
		if(success)
		{
			for(RayHitResult& res : results)
			{
				func(res);
			}
		}
		return success;
	}

	void debugDraw(PhysicsDebugDrawerInterface& interface);

private:
	class MyBodyActivationListener;
	class MyContactListener;
	class MyDebugRenderer;

	template<typename T, U32 kElementsPerBlock>
	class ObjArray
	{
	public:
		PhysicsBlockArray<T, BlockArrayConfig<kElementsPerBlock>> m_array;
		Mutex m_mtx;
	};

	class Contact
	{
	public:
		PhysicsBody* m_trigger;
		PhysicsObjectBase* m_receiver;
	};

	ClassWrapper<JPH::PhysicsSystem> m_jphPhysicsSystem;
	ClassWrapper<JPH::JobSystemThreadPool> m_jobSystem;
	ClassWrapper<JPH::TempAllocatorImpl> m_tempAllocator;

	ObjArray<PhysicsCollisionShape, 32> m_collisionShapes;
	ObjArray<PhysicsBody, 64> m_bodies;
	ObjArray<PhysicsJoint, 16> m_joints;
	ObjArray<PhysicsPlayerController, 8> m_characters;

	DynamicArray<Contact> m_insertedContacts;
	DynamicArray<Contact> m_deletedContacts;
	Mutex m_insertedContactsMtx;
	Mutex m_deletedContactsMtx;

	Bool m_optimizeBroadphase = true;

	static MyBodyActivationListener m_bodyActivationListener;
	static MyContactListener m_contactListener;

	PhysicsWorld();

	~PhysicsWorld();

	template<typename TJPHCollisionShape, typename... TArgs>
	PhysicsCollisionShapePtr newCollisionShape(TArgs&&... args);

	template<typename TJPHJoint, typename... TArgs>
	PhysicsJointPtr newJoint(PhysicsBody* body1, PhysicsBody* body2, TArgs&&... args);

	PhysicsCollisionShapePtr newScaleCollisionObject(const Vec3& scale, PhysicsCollisionShape* baseShape);

	RayHitResult jphToAnKi(const JPH::RRayCast& ray, const JPH::RayCastResult& hit);

	Bool castRayAllHitsInternal(const Vec3& rayStart, const Vec3& rayEnd, PhysicsLayerBit layers, PhysicsDynamicArray<RayHitResult>& results);
};
/// @}

} // end namespace anki