Finished Jolt callbacks

supernovaengine · Oct 19, 2023 · 6311f8e · 6311f8e
1 parent 4ba2ba9
commit 6311f8e
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Showing 4 changed files with 107 additions and 8 deletions.
diff --git a/engine/core/object/physics/Contact3D.cpp b/engine/core/object/physics/Contact3D.cpp
@@ -9,9 +9,10 @@
 
 using namespace Supernova;
 
-Contact3D::Contact3D(Scene* scene, const JPH::ContactManifold* contactManifold){
+Contact3D::Contact3D(Scene* scene, const JPH::ContactManifold* contactManifold, JPH::ContactSettings* contactSettings){
     this->scene = scene;
     this->contactManifold = contactManifold;
+    this->contactSettings = contactSettings;
 }
 
 Contact3D::~Contact3D(){
@@ -21,16 +22,77 @@ Contact3D::~Contact3D(){
 Contact3D::Contact3D(const Contact3D& rhs){
     scene = rhs.scene;
     contactManifold = rhs.contactManifold;
+    contactSettings = rhs.contactSettings;
 
 }
 
 Contact3D& Contact3D::operator=(const Contact3D& rhs){
     scene = rhs.scene;
     contactManifold = rhs.contactManifold;
+    contactSettings = rhs.contactSettings;
 
     return *this;
 }
 
 const JPH::ContactManifold* Contact3D::getJoltContactManifold() const{
     return contactManifold;
-}
+}
+
+JPH::ContactSettings* Contact3D::getJoltContactSettings() const{
+    return contactSettings;
+}
+
+Vector3 Contact3D::getBaseOffset() const{
+    return Vector3(contactManifold->mBaseOffset.GetX(), contactManifold->mBaseOffset.GetY(), contactManifold->mBaseOffset.GetZ());
+}
+
+Vector3 Contact3D::getWorldSpaceNormal() const{
+    return Vector3(contactManifold->mWorldSpaceNormal.GetX(), contactManifold->mWorldSpaceNormal.GetY(), contactManifold->mWorldSpaceNormal.GetZ());
+}
+
+float Contact3D::getPenetrationDepth() const{
+    return contactManifold->mPenetrationDepth;
+}
+
+int32_t Contact3D::getSubShapeID1() const{
+    return contactManifold->mSubShapeID1.GetValue();
+}
+
+int32_t Contact3D::getSubShapeID12() const{
+    return contactManifold->mSubShapeID2.GetValue();
+}
+
+Vector3 Contact3D::getRelativeContactPointsOnA(size_t index) const{
+    JPH::Vec3 point = contactManifold->mRelativeContactPointsOn1[index];
+    return Vector3(point.GetX(), point.GetY(), point.GetZ());
+}
+
+Vector3 Contact3D::getRelativeContactPointsOnB(size_t index) const{
+    JPH::Vec3 point = contactManifold->mRelativeContactPointsOn2[index];
+    return Vector3(point.GetX(), point.GetY(), point.GetZ());
+}
+
+float Contact3D::getCombinedFriction() const{
+    return contactSettings->mCombinedFriction;
+}
+
+void Contact3D::setCombinedFriction(float combinedFriction){
+    contactSettings->mCombinedFriction = combinedFriction;
+}
+
+float Contact3D::getCombinedRestitution() const{
+    return contactSettings->mCombinedRestitution;
+}
+
+void Contact3D::setCombinedRestitution(float combinedRestitution){
+    contactSettings->mCombinedRestitution = combinedRestitution;
+}
+
+bool Contact3D::isSensor() const{
+    return contactSettings->mIsSensor;
+}
+
+void Contact3D::setSensor(bool sensor){
+    contactSettings->mIsSensor = sensor;
+}
+
diff --git a/engine/core/object/physics/Contact3D.h b/engine/core/object/physics/Contact3D.h
@@ -10,6 +10,7 @@
 
 namespace JPH{
     class ContactManifold;
+    class ContactSettings;
 }
 
 namespace Supernova{
@@ -18,15 +19,37 @@ namespace Supernova{
     private:
         Scene* scene;
         const JPH::ContactManifold* contactManifold;
+        JPH::ContactSettings* contactSettings;
 
     public:
-        Contact3D(Scene* scene, const JPH::ContactManifold* contactManifold);
+        Contact3D(Scene* scene, const JPH::ContactManifold* contactManifold, JPH::ContactSettings* contactSettings);
         virtual ~Contact3D();
 
         Contact3D(const Contact3D& rhs);
         Contact3D& operator=(const Contact3D& rhs);
 
         const JPH::ContactManifold* getJoltContactManifold() const;
+        JPH::ContactSettings* getJoltContactSettings() const;
+
+        // ContactManifold
+        Vector3 getBaseOffset() const;
+        Vector3 getWorldSpaceNormal() const;
+        float getPenetrationDepth() const;
+        int32_t getSubShapeID1() const;
+        int32_t getSubShapeID12() const;
+        Vector3 getRelativeContactPointsOnA(size_t index) const;
+        Vector3 getRelativeContactPointsOnB(size_t index) const;
+
+
+        // ContactSettings
+        float getCombinedFriction() const;
+        void setCombinedFriction(float combinedFriction);
+
+        float getCombinedRestitution() const;
+        void setCombinedRestitution(float combinedRestitution);
+
+        bool isSensor() const;
+        void setSensor(bool sensor);
     };
 }
 

diff --git a/engine/core/subsystem/PhysicsSystem.h b/engine/core/subsystem/PhysicsSystem.h
@@ -82,8 +82,8 @@ namespace Supernova{
 		FunctionSubscribe<void(Body3D)> onBodyActivated3D;
 		FunctionSubscribe<void(Body3D)> onBodyDeactivated3D;
 		FunctionSubscribe<void(Body3D, Body3D, Contact3D)> onContactAdded3D;
-		//FunctionSubscribe<void(Entity, Entity)> onContactPersisted3D;
-		//FunctionSubscribe<void(Entity, Entity)> onContactRemoved3D;
+		FunctionSubscribe<void(Body3D, Body3D, Contact3D)> onContactPersisted3D;
+		FunctionSubscribe<void(Body3D, Body3D, int, int)> onContactRemoved3D;
 
 		FunctionSubscribe<bool(Body3D, Body3D, Vector3, CollideShapeResult3D)> shouldCollide3D;
 

diff --git a/engine/core/util/JoltPhysicsAux.h b/engine/core/util/JoltPhysicsAux.h
@@ -162,15 +162,29 @@ namespace Supernova{
 			Entity entity2 = inBody2.GetUserData();
 			Body3D body2(scene, entity2);
 
-			physicsSystem->onContactAdded3D(body1, body2, Contact3D(scene, &inManifold));
+			physicsSystem->onContactAdded3D(body1, body2, Contact3D(scene, &inManifold, &ioSettings));
 		}
 
 		virtual void OnContactPersisted(const JPH::Body &inBody1, const JPH::Body &inBody2, const JPH::ContactManifold &inManifold, JPH::ContactSettings &ioSettings) override{
-			printf("OnContactPersisted\n");
+			Entity entity1 = inBody1.GetUserData();
+			Body3D body1(scene, entity1);
+
+			Entity entity2 = inBody2.GetUserData();
+			Body3D body2(scene, entity2);
+
+			physicsSystem->onContactPersisted3D(body1, body2, Contact3D(scene, &inManifold, &ioSettings));
 		}
 
 		virtual void OnContactRemoved(const JPH::SubShapeIDPair &inSubShapePair) override{
-			printf("OnContactRemoved\n");
+			JPH::BodyInterface &body_interface = physicsSystem->getWorld3D()->GetBodyInterface();
+
+			Body3D body1(scene, body_interface.GetUserData(inSubShapePair.GetBody1ID()));
+			Body3D body2(scene, body_interface.GetUserData(inSubShapePair.GetBody2ID()));
+
+			int32_t subShapeID1 = inSubShapePair.GetSubShapeID1().GetValue();
+			int32_t subShapeID2 = inSubShapePair.GetSubShapeID2().GetValue();
+
+			physicsSystem->onContactRemoved3D(body1, body2, (int)subShapeID1, (int)subShapeID2);
 		}
 	};