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//! Contains all structures and methods to operate with physics world.
use crate::{
core::{pool::Handle, visitor::prelude::*},
engine::PhysicsBinder,
scene::legacy_physics::dim3::{
body::RigidBodyContainer,
collider::ColliderContainer,
desc::{ColliderShapeDesc, PhysicsDesc},
joint::JointContainer,
PhysicsWorld, RigidBodyHandle,
},
scene::{graph::Graph, node::Node},
utils::log::{Log, MessageKind},
};
use fxhash::FxHashMap;
use rapier3d::{
dynamics::{JointSet, RigidBodySet},
geometry::{Collider, ColliderBuilder, ColliderSet},
na::{DMatrix, Dynamic, Isometry3, Point3, Translation, UnitQuaternion, VecStorage, Vector3},
parry::shape::SharedShape,
};
use std::{
fmt::Debug,
ops::{Deref, DerefMut},
};
#[doc(hidden)]
pub mod dim3;
/// Physics world.
#[derive(Debug)]
pub(crate) struct LegacyPhysics {
/// The physics world.
pub world: PhysicsWorld,
/// Legacy physics descriptor.
pub desc: Option<PhysicsDesc>,
}
impl Visit for LegacyPhysics {
fn visit(&mut self, name: &str, visitor: &mut Visitor) -> VisitResult {
if !visitor.is_reading() {
return VisitResult::Err(VisitError::User(
"Serialization of legacy physics is prohibited!".to_string(),
));
}
visitor.enter_region(name)?;
let mut desc = PhysicsDesc::default();
desc.visit("Desc", visitor)?;
// Save descriptors for resolve stage.
self.desc = Some(desc);
visitor.leave_region()
}
}
impl Deref for LegacyPhysics {
type Target = PhysicsWorld;
fn deref(&self) -> &Self::Target {
&self.world
}
}
impl DerefMut for LegacyPhysics {
fn deref_mut(&mut self) -> &mut Self::Target {
&mut self.world
}
}
impl Default for LegacyPhysics {
fn default() -> Self {
Self::new()
}
}
impl LegacyPhysics {
pub(in crate) fn new() -> Self {
Self {
world: PhysicsWorld::new(),
desc: None,
}
}
/// Creates new height field collider from given terrain scene node.
pub fn terrain_to_heightfield_collider(
&mut self,
terrain_handle: Handle<Node>,
graph: &Graph,
) -> Collider {
let terrain = graph[terrain_handle].as_terrain();
let shape = SharedShape::heightfield(
DMatrix::from_data(VecStorage::new(Dynamic::new(1), Dynamic::new(1), vec![0.0])),
Vector3::new(1.0, 1.0, 1.0),
);
ColliderBuilder::new(shape)
.position(Isometry3 {
rotation: UnitQuaternion::default(),
translation: Translation {
vector: Vector3::new(terrain.width() * 0.5, 0.0, terrain.length() * 0.5),
},
})
.friction(0.0)
.build()
}
pub(in crate) fn resolve(
&mut self,
binder: &PhysicsBinder<Node, RigidBodyHandle>,
graph: &Graph,
old_to_new_mapping: Option<&FxHashMap<Handle<Node>, Handle<Node>>>,
) {
assert_eq!(self.bodies.len(), 0);
assert_eq!(self.colliders.len(), 0);
assert_eq!(self.joints.len(), 0);
let mut phys_desc = if let Some(old) = self.desc.take() {
old
} else {
return;
};
assert_eq!(phys_desc.bodies.len(), phys_desc.body_handle_map.len());
assert_eq!(
phys_desc.colliders.len(),
phys_desc.collider_handle_map.len()
);
assert_eq!(phys_desc.joints.len(), phys_desc.joint_handle_map.len());
self.integration_parameters = phys_desc.integration_parameters.into();
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
for desc in phys_desc.bodies.drain(..) {
bodies.insert(desc.convert_to_body());
}
for desc in phys_desc.colliders.drain(..) {
match desc.shape {
ColliderShapeDesc::Trimesh(_) => {
// Trimeshes are special: we never store data for them, but only getting correct
// one from associated mesh in the scene.
if let Some(mut associated_node) = binder.node_of(desc.parent) {
if let Some(old_to_new_mapping) = old_to_new_mapping {
associated_node = *old_to_new_mapping
.get(&associated_node)
.expect("Old to new mapping must have corresponding node!");
}
if graph.is_valid_handle(associated_node) {
// Restore data only for trimeshes.
let collider = ColliderBuilder::new(SharedShape::trimesh(
vec![Point3::new(0.0, 0.0, 0.0)],
vec![[0, 0, 0]],
))
.build();
colliders.insert_with_parent(
collider,
phys_desc
.body_handle_map
.value_of(&desc.parent)
.cloned()
.unwrap(),
&mut bodies,
);
Log::writeln(
MessageKind::Information,
format!(
"Geometry for trimesh {:?} was restored from node at handle {:?}!",
desc.parent, associated_node
),
)
} else {
Log::writeln(
MessageKind::Error,
format!(
"Unable to get geometry for trimesh,\
node at handle {:?} does not exists!",
associated_node
),
)
}
}
}
ColliderShapeDesc::Heightfield(_) => {
// Height fields are special: we never store data for them, but only getting correct
// one from associated terrain in the scene.
if let Some(mut associated_node) = binder.node_of(desc.parent) {
if let Some(old_to_new_mapping) = old_to_new_mapping {
associated_node = *old_to_new_mapping
.get(&associated_node)
.expect("Old to new mapping must have corresponding node!");
}
if graph.is_valid_handle(associated_node) {
if let Node::Terrain(_) = &graph[associated_node] {
let collider =
self.terrain_to_heightfield_collider(associated_node, graph);
colliders.insert_with_parent(
collider,
phys_desc
.body_handle_map
.value_of(&desc.parent)
.cloned()
.unwrap(),
&mut bodies,
);
Log::writeln(
MessageKind::Information,
format!(
"Geometry for height field {:?} was restored from node at handle {:?}!",
desc.parent, associated_node
),
)
} else {
Log::writeln(
MessageKind::Error,
format!(
"Unable to get geometry for height field,\
node at handle {:?} is not a terrain!",
associated_node
),
)
}
} else {
Log::writeln(
MessageKind::Error,
format!(
"Unable to get geometry for height field,\
node at handle {:?} does not exists!",
associated_node
),
)
}
}
}
// Rest of colliders are independent.
_ => {
let (collider, parent) = desc.convert_to_collider();
colliders.insert_with_parent(
collider,
phys_desc
.body_handle_map
.value_of(&parent)
.cloned()
.unwrap(),
&mut bodies,
);
}
}
}
for desc in phys_desc.joints.drain(..) {
let b1 = phys_desc
.body_handle_map
.value_of(&desc.body1)
.cloned()
.unwrap();
let b2 = phys_desc
.body_handle_map
.value_of(&desc.body2)
.cloned()
.unwrap();
joints.insert(b1, b2, desc.params);
}
self.bodies =
RigidBodyContainer::from_raw_parts(bodies, phys_desc.body_handle_map).unwrap();
self.colliders =
ColliderContainer::from_raw_parts(colliders, phys_desc.collider_handle_map).unwrap();
self.joints = JointContainer::from_raw_parts(joints, phys_desc.joint_handle_map).unwrap();
}
}