From cfd01c74202dd22c9abb179365e9ef431d49da9f Mon Sep 17 00:00:00 2001
From: Joseph Walton-Rivers <joseph@walton-rivers.uk>
Date: Thu, 4 Aug 2022 12:05:59 +0100
Subject: [PATCH] standardise debug draw call
---
include/fggl/phys/types.hpp | 3 +
.../bullet/include/fggl/phys/bullet/types.hpp | 32 +++++--
integrations/bullet/src/service.cpp | 1 -
integrations/bullet/src/simulation.cpp | 92 ++++---------------
4 files changed, 43 insertions(+), 85 deletions(-)
diff --git a/include/fggl/phys/types.hpp b/include/fggl/phys/types.hpp
index e69c45a..9d8c558 100644
--- a/include/fggl/phys/types.hpp
+++ b/include/fggl/phys/types.hpp
@@ -116,6 +116,9 @@ namespace fggl::phys {
// update
virtual void step() = 0;
+
+ // debug
+ virtual void setDebugDraw(bool enable) = 0;
};
} // namespace fggl::phys
diff --git a/integrations/bullet/include/fggl/phys/bullet/types.hpp b/integrations/bullet/include/fggl/phys/bullet/types.hpp
index b692413..abed2a1 100644
--- a/integrations/bullet/include/fggl/phys/bullet/types.hpp
+++ b/integrations/bullet/include/fggl/phys/bullet/types.hpp
@@ -75,6 +75,14 @@ namespace fggl::phys::bullet {
explicit BulletPhysicsEngine(entity::EntityManager* world);
~BulletPhysicsEngine() override;
+ // copy is not allowed
+ BulletPhysicsEngine(const BulletPhysicsEngine&) = delete;
+ BulletPhysicsEngine& operator=(const BulletPhysicsEngine&) = delete;
+
+ // move is not allowed
+ BulletPhysicsEngine(BulletPhysicsEngine&&) = delete;
+ BulletPhysicsEngine& operator=(BulletPhysicsEngine&&) = delete;
+
void step() override;
void onEntityDeath(entity::EntityID entity);
@@ -83,9 +91,19 @@ namespace fggl::phys::bullet {
std::vector<entity::EntityID> raycastAll(math::vec3 from, math::vec3 to) override;
std::vector<entity::EntityID> sweep(PhyShape& shape, math::Transform& from, math::Transform& to) override;
+ /**
+ * Add a rigid body to the physics world.
+ *
+ * The body should not currently be in the simulation. Physics position will be synced with the motion
+ * state prior to it being added to the simulation. This method should not need to be called manually, it
+ * is called when the entity is decoded.
+ *
+ * @param entity the entity the BulletBody is attached to.
+ * @param body the pre-configured bullet body.
+ */
void addBody(entity::EntityID entity, BulletBody& body);
- bool debugDraw = false;
+ void setDebugDraw(bool enabled) override;
private:
entity::EntityManager* m_ecs;
BulletConfiguration m_config;
@@ -94,14 +112,12 @@ namespace fggl::phys::bullet {
ContactCache m_contactCache;
/**
- * Check for ECS components which aren't in the physics world and add them.
- */
- void checkForPhys();
-
- /**
- * Sync the bullet world state back to the ECS.
+ * Force position and rotation in the ECS to match those from the physics world.
+ *
+ * As FGGL uses motion states, this should not be required. As it iterates all entities in a scene this is
+ * also a very expensive operation.
*/
- void forceSyncToECS();
+ void syncTransformToECS();
/**
* Deal with physics collisions
diff --git a/integrations/bullet/src/service.cpp b/integrations/bullet/src/service.cpp
index c50d791..82e2351 100644
--- a/integrations/bullet/src/service.cpp
+++ b/integrations/bullet/src/service.cpp
@@ -97,7 +97,6 @@ namespace fggl::phys::bullet {
auto& physComp = manager.template get<BulletBody>(entity);
engine->addBody(entity, physComp);
});
- engine->debugDraw = true;
return engine;
}
diff --git a/integrations/bullet/src/simulation.cpp b/integrations/bullet/src/simulation.cpp
index 85a3803..8ae499d 100644
--- a/integrations/bullet/src/simulation.cpp
+++ b/integrations/bullet/src/simulation.cpp
@@ -35,7 +35,7 @@ namespace fggl::phys::bullet {
return {fgglVec.x, fgglVec.y, fgglVec.z};
}
- BulletPhysicsEngine::BulletPhysicsEngine(entity::EntityManager* world) : m_ecs(world), m_config(), m_world(nullptr) {
+ BulletPhysicsEngine::BulletPhysicsEngine(entity::EntityManager* world) : m_ecs(world), m_config(), m_world(nullptr), m_debug(nullptr) {
m_config.broadphase = new btDbvtBroadphase();
m_config.collisionConfiguration = new btDefaultCollisionConfiguration();
m_config.dispatcher = new btCollisionDispatcher(m_config.collisionConfiguration);
@@ -47,9 +47,6 @@ namespace fggl::phys::bullet {
m_config.solver,
m_config.collisionConfiguration);
- m_debug = std::make_unique<debug::BulletDebugDrawList>();
- m_world->setDebugDrawer( m_debug.get() );
- m_debug->setDebugMode(btIDebugDraw::DBG_DrawWireframe);
// callbacks (for handling bullet -> ecs)
@@ -78,7 +75,8 @@ namespace fggl::phys::bullet {
//syncToECS();
pollCollisions();
- if ( debugDraw ) {
+ // if debug draw is enabled, trigger a draw call
+ if ( m_debug != nullptr ) {
m_world->debugDrawWorld();
}
}
@@ -92,83 +90,26 @@ namespace fggl::phys::bullet {
m_world->addRigidBody(body.body);
}
- inline btCollisionShape* shape_to_bullet(const phys::RigidBody& fgglBody) {
- if ( fgglBody.shape == nullptr ) {
- // they forgot to put a shape, we'll assume a unit sphere to avoid crashes...
- return new btSphereShape(0.5F);
- }
-
- switch (fgglBody.shape->type) {
- case phys::ShapeType::BOX: {
- auto extents = ((phys::Box*)fgglBody.shape)->extents;
- return new btBoxShape({extents.x, extents.y, extents.z});
- }
- case phys::ShapeType::SPHERE: {
- float radius = ((phys::Sphere*)fgglBody.shape)->radius;
- return new btSphereShape(radius);
- }
- default:
- return new btSphereShape(0.5f);
- }
- }
-
- void BulletPhysicsEngine::checkForPhys() {
- // FIXME without reactive-based approaches this is very slow
- auto entsWantPhys = m_ecs->find<phys::RigidBody>();
- for (auto ent : entsWantPhys) {
- auto* btComp = m_ecs->tryGet<BulletBody>(ent);
- if ( btComp != nullptr ) {
- // they are already in the simulation
- continue;
- }
-
- // set up the bullet proxy for our object
- btComp = &m_ecs->add<BulletBody>(ent);
- const auto& fgBody = m_ecs->get<phys::RigidBody>(ent);
- btComp->motion = new FgglMotionState(m_ecs, ent);
-
- // collisions
- btCollisionShape* colShape = shape_to_bullet(fgBody);
- btVector3 localInt(0, 0, 0);
- if ( !fgBody.isStatic() ) {
- colShape->calculateLocalInertia(fgBody.mass, localInt);
- }
-
- // setup the construction information
- btRigidBody::btRigidBodyConstructionInfo bodyCI(
- fgBody.mass,
- btComp->motion,
- colShape,
- localInt
- );
- btComp->body = new btRigidBody(bodyCI);
- btComp->body->setUserIndex( static_cast<int>(ent) );
-
-
- if (!fgBody.isStatic()) {
- btComp->body->setRestitution(0.5f);
- btComp->body->setRollingFriction(0.0f);
- }
-
- if ( fgBody.type == BodyType::KINEMATIC ) {
- auto flags = btComp->body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT;
- btComp->body->setCollisionFlags( flags );
-
- // we don't have a clean way of saying a kinematic object moved, so just prevent sleeping.
- // if this turns out to be an issue, we'll need to revisit this.
- btComp->body->setActivationState( DISABLE_DEACTIVATION );
- }
-
- m_world->addRigidBody( btComp->body );
+ void BulletPhysicsEngine::setDebugDraw(bool active) {
+ if ( active ) {
+ m_debug = std::make_unique<debug::BulletDebugDrawList>();
+ m_world->setDebugDrawer(m_debug.get());
+ m_debug->setDebugMode(btIDebugDraw::DBG_DrawWireframe);
+ } else {
+ m_debug = nullptr;
}
}
- void BulletPhysicsEngine::forceSyncToECS() {
+ void BulletPhysicsEngine::syncTransformToECS() {
const auto physEnts = m_ecs->find<math::Transform, BulletBody>();
for (const auto& ent : physEnts) {
- auto& transform = m_ecs->get<math::Transform>(ent);
auto& physBody = m_ecs->get<BulletBody>(ent);
+ // don't bother syncing things with motion states, it's not necessary
+ if ( physBody.motion != nullptr ) {
+ continue;
+ }
+ auto& transform = m_ecs->get<math::Transform>(ent);
if ( physBody.body->isKinematicObject() ) {
continue;
}
@@ -201,7 +142,6 @@ namespace fggl::phys::bullet {
// release resources and delete
bulletBody.release();
- //m_ecs->remove<BulletBody>(ent);
}
// delete the world
--
GitLab