Orkuncakilkaya
72dbdca1f3
Our own shim (native/shim/jph_shim.cpp) over Jolt built from the pinned tag with cross-platform determinism and no fp contraction: shapes as handles (box, sphere, capsule, cylinder, dome, offset, heightfield, mesh), still/kinematic/dynamic bodies by id with real removal, rays, top_at and push (what CharacterGround asks), overlaps, buoyancy against the PhysWater port, contacts recorded in C and drained as PHYS_HIT / PHYS_SPLASH facts. Fixed 1/60 steps, at most four a frame. Nine tests against the real library, including a pile run twice to the bit. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
64 lines
3.4 KiB
C++
64 lines
3.4 KiB
C++
// jph_bodies.inl - bodies by id: added, removed, moved, pushed, read back
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// motion 0 still, 1 kinematic, 2 dynamic; layer 0 ground, 1 static, 2 moving; mass 0 = from shape
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JPH_SHIM int jph_body_add(void *w, void *shape, float x, float y, float z, float yaw, int motion, int layer,
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float mass, float friction, float bounce) {
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World *ww = static_cast<World *>(w);
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EMotionType mt = motion == 2 ? EMotionType::Dynamic : (motion == 1 ? EMotionType::Kinematic : EMotionType::Static);
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BodyCreationSettings st(static_cast<Shape *>(shape), RVec3(x, y, z), yaw_q(yaw), mt, ObjectLayer(layer));
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st.mFriction = friction;
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st.mRestitution = bounce;
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if (mt == EMotionType::Dynamic && mass > 0.0f) {
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st.mOverrideMassProperties = EOverrideMassProperties::CalculateInertia;
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st.mMassPropertiesOverride.mMass = mass;
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}
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EActivation act = mt == EMotionType::Static ? EActivation::DontActivate : EActivation::Activate;
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BodyID id = ww->sys.GetBodyInterface().CreateAndAddBody(st, act);
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if (id.IsInvalid()) return -1;
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return int(id.GetIndexAndSequenceNumber());
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}
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JPH_SHIM void jph_body_remove(void *w, int id) {
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BodyInterface &bi = static_cast<World *>(w)->sys.GetBodyInterface();
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bi.RemoveBody(bid(id));
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bi.DestroyBody(bid(id));
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}
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// position, rotation (x, y, z, w) and velocity into out[10]
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JPH_SHIM int jph_body_read(void *w, int id, float *out) {
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BodyInterface &bi = static_cast<World *>(w)->sys.GetBodyInterface();
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if (!bi.IsAdded(bid(id))) return -1;
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RVec3 p; Quat q;
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bi.GetPositionAndRotation(bid(id), p, q);
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Vec3 v = bi.GetLinearVelocity(bid(id));
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float vals[10] = { float(p.GetX()), float(p.GetY()), float(p.GetZ()), q.GetX(), q.GetY(), q.GetZ(), q.GetW(),
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v.GetX(), v.GetY(), v.GetZ() };
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for (int i = 0; i < 10; i++) out[i] = vals[i];
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return 0;
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}
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JPH_SHIM void jph_body_place(void *w, int id, float x, float y, float z, float yaw) {
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static_cast<World *>(w)->sys.GetBodyInterface().SetPositionAndRotation(bid(id), RVec3(x, y, z), yaw_q(yaw), EActivation::Activate);
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}
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JPH_SHIM void jph_body_impulse(void *w, int id, float x, float y, float z) {
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static_cast<World *>(w)->sys.GetBodyInterface().AddImpulse(bid(id), Vec3(x, y, z));
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}
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JPH_SHIM void jph_body_velocity(void *w, int id, float x, float y, float z) {
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static_cast<World *>(w)->sys.GetBodyInterface().SetLinearVelocity(bid(id), Vec3(x, y, z));
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}
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// a kinematic body driven to where it should be after dt, pushing what it meets
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JPH_SHIM void jph_body_target(void *w, int id, float x, float y, float z, float yaw, float dt) {
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static_cast<World *>(w)->sys.GetBodyInterface().MoveKinematic(bid(id), RVec3(x, y, z), yaw_q(yaw), dt);
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}
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JPH_SHIM int jph_body_awake(void *w, int id) { return static_cast<World *>(w)->sys.GetBodyInterface().IsActive(bid(id)) ? 1 : 0; }
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// water under a body: the surface's height and normal, how buoyant, the drags and the current
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JPH_SHIM int jph_body_buoyancy(void *w, int id, float sy, float nx, float ny, float nz, float buoy, float lin, float ang,
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float cx, float cz, float dt) {
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World *ww = static_cast<World *>(w);
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BodyInterface &bi = ww->sys.GetBodyInterface();
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RVec3 p = bi.GetPosition(bid(id));
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bool in = bi.ApplyBuoyancyImpulse(bid(id), RVec3(p.GetX(), sy, p.GetZ()), Vec3(nx, ny, nz), buoy, lin, ang,
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Vec3(cx, 0.0f, cz), ww->sys.GetGravity(), dt);
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return in ? 1 : 0;
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}
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