Onek8/LNXSDK
1
0
Fork 0
forked from LeenkxTeam/LNXSDK
Code Pull Requests Activity

moisesjpelaez - Physics Improvements

Browse Source
This commit is contained in:
Onek8 2025-06-02 04:06:31 +00:00
parent ed72206a26
commit 8d9f248d2f
1 changed files with 77 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

92
leenkx/Sources/leenkx/trait/physics/bullet/RigidBody.hx
View File

@ -2,11 +2,13 @@ package leenkx.trait.physics.bullet;
#if lnx_bullet
import leenkx.math.Helper;
import iron.data.MeshData;
import iron.math.Vec4;
import iron.math.Quat;
import iron.object.Transform;
import iron.object.MeshObject;
import iron.data.MeshData;
import iron.system.Time;
/**
RigidBody is used to allow objects to interact with Physics in your game including collisions and gravity.
@ -76,6 +78,14 @@ class RigidBody extends iron.Trait {
static var triangleMeshCache = new Map<MeshData, bullet.Bt.TriangleMesh>();
static var usersCache = new Map<MeshData, Int>();
// Interpolation
var interpolate: Bool = false;
var time: Float = 0.0;
var currentPos: bullet.Bt.Vector3 = new bullet.Bt.Vector3(0, 0, 0);
var prevPos: bullet.Bt.Vector3 = new bullet.Bt.Vector3(0, 0, 0);
var currentRot: bullet.Bt.Quaternion = new bullet.Bt.Quaternion(0, 0, 0, 1);
var prevRot: bullet.Bt.Quaternion = new bullet.Bt.Quaternion(0, 0, 0, 1);
public function new(shape = Shape.Box, mass = 1.0, friction = 0.5, restitution = 0.0, group = 1, mask = 1,
params: RigidBodyParams = null, flags: RigidBodyFlags = null) {
super();
@ -85,7 +95,7 @@ class RigidBody extends iron.Trait {
vec1 = new bullet.Bt.Vector3(0, 0, 0);
vec2 = new bullet.Bt.Vector3(0, 0, 0);
vec3 = new bullet.Bt.Vector3(0, 0, 0);
quat1 = new bullet.Bt.Quaternion(0, 0, 0, 0);
quat1 = new bullet.Bt.Quaternion(0, 0, 0, 1);
trans1 = new bullet.Bt.Transform();
trans2 = new bullet.Bt.Transform();
}
@ -117,6 +127,7 @@ class RigidBody extends iron.Trait {
animated: false,
trigger: false,
ccd: false,
interpolate: false,
staticObj: false,
useDeactivation: true
};
@ -131,6 +142,7 @@ class RigidBody extends iron.Trait {
this.animated = flags.animated;
this.trigger = flags.trigger;
this.ccd = flags.ccd;
this.interpolate = flags.interpolate;
this.staticObj = flags.staticObj;
this.useDeactivation = flags.useDeactivation;
@ -245,6 +257,9 @@ class RigidBody extends iron.Trait {
quat1.setValue(quat.x, quat.y, quat.z, quat.w);
trans1.setRotation(quat1);
currentPos.setValue(vec1.x(), vec1.y(), vec1.z());
currentRot.setValue(quat.x, quat.y, quat.z, quat.w);
var centerOfMassOffset = trans2;
centerOfMassOffset.setIdentity();
motionState = new bullet.Bt.DefaultMotionState(trans1, centerOfMassOffset);
@ -308,7 +323,8 @@ class RigidBody extends iron.Trait {
physics.addRigidBody(this);
notifyOnRemove(removeFromWorld);
if (!animated) notifyOnUpdate(update);
if (onReady != null) onReady();
#if js
@ -318,26 +334,71 @@ class RigidBody extends iron.Trait {
#end
}
function update() {
if (interpolate) {
time += Time.delta;
while (time >= Time.fixedStep) {
time -= Time.fixedStep;
}
var t: Float = time / Time.fixedStep;
t = Helper.clamp(t, 0, 1);
var tx: Float = prevPos.x() * (1.0 - t) + currentPos.x() * t;
var ty: Float = prevPos.y() * (1.0 - t) + currentPos.y() * t;
var tz: Float = prevPos.z() * (1.0 - t) + currentPos.z() * t;
var tRot: bullet.Bt.Quaternion = nlerp(prevRot, currentRot, t);
transform.loc.set(tx, ty, tz, 1.0);
transform.rot.set(tRot.x(), tRot.y(), tRot.z(), tRot.w());
} else {
transform.loc.set(currentPos.x(), currentPos.y(), currentPos.z(), 1.0);
transform.rot.set(currentRot.x(), currentRot.y(), currentRot.z(), currentRot.w());
}
if (object.parent != null) {
var ptransform = object.parent.transform;
transform.loc.x -= ptransform.worldx();
transform.loc.y -= ptransform.worldy();
transform.loc.z -= ptransform.worldz();
}
transform.buildMatrix();
}
function nlerp(q1: bullet.Bt.Quaternion, q2: bullet.Bt.Quaternion, t: Float): bullet.Bt.Quaternion {
var dot = q1.x() * q2.x() + q1.y() * q2.y() + q1.z() * q2.z() + q1.w() * q2.w();
var _q2 = dot < 0 ? new bullet.Bt.Quaternion(-q2.x(), -q2.y(), -q2.z(), -q2.w()) : q2;
var x = q1.x() * (1.0 - t) + _q2.x() * t;
var y = q1.y() * (1.0 - t) + _q2.y() * t;
var z = q1.z() * (1.0 - t) + _q2.z() * t;
var w = q1.w() * (1.0 - t) + _q2.w() * t;
var len = Math.sqrt(x * x + y * y + z * z + w * w);
return new bullet.Bt.Quaternion(x / len, y / len, z / len, w / len);
}
function physicsUpdate() {
if (!ready) return;
if (animated) {
syncTransform();
}
else {
} else {
if (interpolate) {
prevPos.setValue(currentPos.x(), currentPos.y(), currentPos.z());
prevRot.setValue(currentRot.x(), currentRot.y(), currentRot.z(), currentRot.w());
}
var trans = body.getWorldTransform();
var p = trans.getOrigin();
var q = trans.getRotation();
transform.loc.set(p.x(), p.y(), p.z());
transform.rot.set(q.x(), q.y(), q.z(), q.w());
if (object.parent != null) {
var ptransform = object.parent.transform;
transform.loc.x -= ptransform.worldx();
transform.loc.y -= ptransform.worldy();
transform.loc.z -= ptransform.worldz();
}
transform.clearDelta();
transform.buildMatrix();
// transform.buildMatrix();
currentPos.setValue(p.x(), p.y(), p.z());
currentRot.setValue(q.x(), q.y(), q.z(), q.w());
#if hl
p.delete();
@ -690,6 +751,7 @@ typedef RigidBodyFlags = {
var animated: Bool;
var trigger: Bool;
var ccd: Bool;
var interpolate: Bool;
var staticObj: Bool;
var useDeactivation: Bool;
}