Mutable compound shape

package.json

@@ -1,7 +1,7 @@
 {
  "name": "@gamebop/physics",
  "description": "Physics components for PlayCanvas engine",
- "version": "0.3.2",
+ "version": "0.3.3",
  "main": "dist/physics.min.mjs",
  "author": "Gamebop",
  "license": "MIT",

src/physics/jolt/back/operators/creator.mjs

@@ -7,6 +7,7 @@ import {
  CMD_CREATE_SOFT_BODY, CMD_CREATE_VEHICLE, MOTION_QUALITY_DISCRETE, MOTION_TYPE_DYNAMIC,
  MOTION_TYPE_KINEMATIC, OBJ_LAYER_MOVING, OMP_CALCULATE_MASS_AND_INERTIA, OMP_MASS_AND_INERTIA_PROVIDED,
  SHAPE_BOX, SHAPE_CAPSULE, SHAPE_CONVEX_HULL, SHAPE_CYLINDER, SHAPE_HEIGHTFIELD, SHAPE_MESH,
+ SHAPE_MUTABLE_COMPOUND,
  SHAPE_SPHERE, SHAPE_STATIC_COMPOUND
 } from '../../constants.mjs';
 import { ConstraintCreator } from './helpers/constraint-creator.mjs';
@@ -106,7 +107,8 @@ class Creator {
  break;
 
  case SHAPE_STATIC_COMPOUND:
- settings = createStaticCompoundShapeSettings(cb, meshBuffers, Jolt, jv, jq);
+ case SHAPE_MUTABLE_COMPOUND:
+ settings = createCompoundShapeSettings(cb, meshBuffers, Jolt, jv, jq);
  break;
 
  case SHAPE_HEIGHTFIELD:
@@ -124,8 +126,11 @@ class Creator {
  return null;
  }
 
- if (shapeType === SHAPE_STATIC_COMPOUND) {
- const compoundSettings = new Jolt.StaticCompoundShapeSettings();
+ const isStaticCompound = shapeType === SHAPE_STATIC_COMPOUND;
+ const isMutableCompound = shapeType === SHAPE_MUTABLE_COMPOUND;
+ if (isStaticCompound || isMutableCompound) {
+ const compoundSettings = isStaticCompound ?
+ new Jolt.StaticCompoundShapeSettings() : new Jolt.MutableCompoundShapeSettings();
 
  for (let i = 0, end = settings.length; i < end; i += 3) {
  const childSettings = settings[i];
@@ -360,6 +365,9 @@ class Creator {
  const shape = shapeResult.Get();
  shape.AddRef();
 
+ // mark it for release, e.g. when removing a child from compound shape
+ shape.needsRelease = true;
+
  this._backend.tracker.shapeMap.set(num, shape);
 
  return true;
@@ -966,7 +974,7 @@ function createMeshShapeSettings(cb, Jolt, meshBuffers, shapeType, jv) {
  return settings;
 }
 
-function createStaticCompoundShapeSettings(cb, meshBuffers, Jolt, jv, jq) {
+function createCompoundShapeSettings(cb, meshBuffers, Jolt, jv, jq) {
  const childrenCount = cb.read(BUFFER_READ_UINT32);
  const children = [];
 

src/physics/jolt/back/operators/helpers/char-modifier.mjs

@@ -9,6 +9,7 @@ import {
  CMD_CHAR_SET_COS_ANGLE, CMD_CHAR_SET_MIN_DIST, CMD_CHAR_SET_TEST_DIST, CMD_CHAR_SET_EXTRA_DOWN,
  CMD_CHAR_SET_STEP_UP, CMD_CHAR_SET_STICK_DOWN
 } from '../../../constants.mjs';
+import { Cleaner } from '../cleaner.mjs';
 
 class CharModifier {
  _modifier = null;
@@ -18,6 +19,7 @@ class CharModifier {
  constructor(modifier) {
  this._modifier = modifier;
  this._tracker = modifier.backend.tracker;
+ this._cleaner = modifier.backend.cleaner;
  }
 
  modify(command, cb) {
@@ -194,7 +196,7 @@ class CharModifier {
  }
 
  // invalidate current debug draw, so we draw a new shape instead
- char.debugDrawData = null;
+ Cleaner.cleanDebugDrawData(char, backend.Jolt);
  }
 
  let shape;

src/physics/jolt/back/operators/modifier.mjs

@@ -4,8 +4,9 @@ import { ConstraintModifier } from './helpers/constraint-modifier.mjs';
 import {
  BUFFER_READ_BOOL, BUFFER_READ_FLOAT32, BUFFER_READ_INT32, BUFFER_READ_UINT16,
  BUFFER_READ_UINT32, BUFFER_READ_UINT8, CMD_ADD_ANGULAR_IMPULSE, CMD_ADD_FORCE, CMD_ADD_IMPULSE,
+ CMD_ADD_SHAPE,
  CMD_ADD_TORQUE, CMD_APPLY_BUOYANCY_IMPULSE, CMD_CHANGE_GRAVITY, CMD_CLAMP_ANG_VEL,
- CMD_CLAMP_LIN_VEL, CMD_MOVE_BODY, CMD_MOVE_KINEMATIC, CMD_RESET_MOTION, CMD_RESET_SLEEP_TIMER,
+ CMD_CLAMP_LIN_VEL, CMD_MODIFY_SHAPE, CMD_MOVE_BODY, CMD_MOVE_KINEMATIC, CMD_REMOVE_SHAPE, CMD_RESET_MOTION, CMD_RESET_SLEEP_TIMER,
  CMD_SET_ALLOW_SLEEPING, CMD_SET_ANG_FACTOR, CMD_SET_ANG_VEL, CMD_SET_ANG_VEL_CLAMPED,
  CMD_SET_APPLY_GYRO_FORCE, CMD_SET_AUTO_UPDATE_ISOMETRY, CMD_SET_COL_GROUP, CMD_SET_DEBUG_DRAW,
  CMD_SET_DEBUG_DRAW_DEPTH, CMD_SET_DOF, CMD_SET_FRICTION, CMD_SET_GRAVITY_FACTOR,
@@ -136,10 +137,6 @@ class Modifier {
  ok = this._useMotionState(cb);
  break;
 
- // case CMD_SET_DRIVER_INPUT:
- // ok = this._setDriverInput(cb);
- // break;
-
  case CMD_SET_GRAVITY_FACTOR:
  ok = this._setGravityFactor(cb);
  break;
@@ -160,6 +157,18 @@ class Modifier {
  ok = this._setShape(cb, meshBuffers);
  break;
 
+ case CMD_ADD_SHAPE:
+ ok = this._addShape(cb);
+ break;
+
+ case CMD_REMOVE_SHAPE:
+ ok = this._removeShape(cb);
+ break;
+
+ case CMD_MODIFY_SHAPE:
+ ok = this._modifyShape(cb);
+ break;
+
  case CMD_SET_DEBUG_DRAW:
  ok = this._setDebugDraw(cb);
  break;
@@ -348,6 +357,172 @@ class Modifier {
  return true;
  }
 
+ _addShape(cb) {
+ const backend = this._backend;
+ const Jolt = backend.Jolt;
+ const body = this._getBody(cb);
+ const jv = this._joltVec3_1;
+ const jq = this._joltQuat_1;
+
+ try {
+ const shapeIndex = cb.read(BUFFER_READ_UINT32);
+ const shape = backend.tracker.shapeMap.get(shapeIndex);
+ if ($_DEBUG) {
+ const ok = Debug.assert(!!shape, `Unable to locate shape: ${shapeIndex}`);
+ if (!ok) {
+ return false;
+ }
+ }
+
+ jv.FromBuffer(cb);
+ jq.FromBuffer(cb);
+
+ const userData = cb.read(BUFFER_READ_UINT32);
+ const bodyShape = body.GetShape();
+
+ if ($_DEBUG) {
+ const isValid = bodyShape.GetType() === Jolt.EShapeType_Compound &&
+ bodyShape.GetSubType() === Jolt.EShapeSubType_MutableCompound;
+ if (!isValid) {
+ Debug.warn('Current shape does not support adding child shapes.');
+ return false;
+ }
+ }
+
+ const com = bodyShape.GetCenterOfMass();
+ const compoundShape = Jolt.castObject(bodyShape, Jolt.MutableCompoundShape);
+ compoundShape.AddShape(jv, jq, shape, userData);
+ compoundShape.AdjustCenterOfMass();
+ backend.bodyInterface.NotifyShapeChanged(body.GetID(), com, true, Jolt.EActivation_Activate);
+
+ // If there is debug draw context, we need to reset it to view a new shape
+ Cleaner.cleanDebugDrawData(body, Jolt);
+
+ } catch (e) {
+ if ($_DEBUG) {
+ Debug.error(e);
+ }
+ return false;
+ }
+
+ return true;
+ }
+
+ _removeShape(cb) {
+ const backend = this._backend;
+ const Jolt = backend.Jolt;
+ const body = this._getBody(cb);
+
+ const childIndex = cb.read(BUFFER_READ_UINT32);
+
+ try {
+ const bodyShape = body.GetShape();
+ const compoundShape = Jolt.castObject(bodyShape, Jolt.MutableCompoundShape);
+
+ if ($_DEBUG) {
+ const isValid = bodyShape.GetType() === Jolt.EShapeType_Compound &&
+ bodyShape.GetSubType() === Jolt.EShapeSubType_MutableCompound;
+ if (!isValid) {
+ Debug.warn('Current shape does not support adding child shapes.');
+ return false;
+ }
+ }
+
+ const childShapesCount = compoundShape.GetNumSubShapes();
+ if (childIndex > childShapesCount - 1) {
+ if ($_DEBUG) {
+ Debug.warn('Trying to remove invalid child shape. Index exceeds number of child shapes.');
+ }
+ return true;
+ }
+
+ const shape = compoundShape.GetSubShape(childIndex);
+ const com = bodyShape.GetCenterOfMass();
+ compoundShape.RemoveShape(childIndex);
+ compoundShape.AdjustCenterOfMass();
+ backend.bodyInterface.NotifyShapeChanged(body.GetID(), com, true, Jolt.EActivation_Activate);
+
+ // release, if the child shape was created by user via creator
+ if (shape.needsRelease) {
+ shape.Release();
+ }
+
+ Cleaner.cleanDebugDrawData(body, Jolt);
+ } catch (e) {
+ if ($_DEBUG) {
+ Debug.error(e);
+ }
+ return false;
+ }
+
+ return true;
+ }
+
+ _modifyShape(cb) {
+ const backend = this._backend;
+ const Jolt = backend.Jolt;
+ const body = this._getBody(cb);
+ const jv = this._joltVec3_1;
+ const jq = this._joltQuat_1;
+
+ try {
+ const childIndex = cb.read(BUFFER_READ_UINT32);
+
+ jv.FromBuffer(cb);
+ jq.FromBuffer(cb);
+
+ const bodyShape = body.GetShape();
+
+ if ($_DEBUG) {
+ const isValid = bodyShape.GetType() === Jolt.EShapeType_Compound &&
+ bodyShape.GetSubType() === Jolt.EShapeSubType_MutableCompound;
+ if (!isValid) {
+ Debug.warn('Current shape does not support adding child shapes.');
+ return false;
+ }
+ }
+
+ let shape;
+ if (cb.flag) {
+ const shapeIndex = cb.read(BUFFER_READ_UINT32);
+ shape = backend.tracker.shapeMap.get(shapeIndex);
+ if ($_DEBUG) {
+ const ok = Debug.assert(!!shape, `Unable to locate shape: ${shapeIndex}`);
+ if (!ok) {
+ return false;
+ }
+ }
+ }
+
+ const com = bodyShape.GetCenterOfMass();
+ const compoundShape = Jolt.castObject(bodyShape, Jolt.MutableCompoundShape);
+
+ let existingShape;
+ if (shape) {
+ existingShape = compoundShape.GetSubShape(childIndex);
+ }
+
+ compoundShape.ModifyShape(childIndex, jv, jq, shape);
+ compoundShape.AdjustCenterOfMass();
+ backend.bodyInterface.NotifyShapeChanged(body.GetID(), com, true, Jolt.EActivation_Activate);
+
+ if (existingShape?.needsRelease) {
+ existingShape.Release();
+ }
+
+ // If there is debug draw context, we need to reset it to view a new shape
+ Cleaner.cleanDebugDrawData(body, Jolt);
+
+ } catch (e) {
+ if ($_DEBUG) {
+ Debug.error(e);
+ }
+ return false;
+ }
+
+ return true;
+ }
+
  _useMotionState(cb) {
  const body = this._getBody(cb);
  const useMotionState = cb.read(BUFFER_READ_BOOL);

src/physics/jolt/constants.mjs

@@ -89,6 +89,7 @@ export const SHAPE_MESH = 4;
 export const SHAPE_CONVEX_HULL = 5;
 export const SHAPE_HEIGHTFIELD = 6;
 export const SHAPE_STATIC_COMPOUND = 7;
+export const SHAPE_MUTABLE_COMPOUND = 8;
 
 export const CONTACT_TYPE_ADDED = 0;
 export const CONTACT_TYPE_PERSISTED = 1;
@@ -189,6 +190,9 @@ export const CMD_SET_POS_STEPS = 58;
 export const CMD_SET_SHAPE = 59;
 export const CMD_SET_DEBUG_DRAW = 60;
 export const CMD_SET_DEBUG_DRAW_DEPTH = 61;
+export const CMD_ADD_SHAPE = 62;
+export const CMD_REMOVE_SHAPE = 63;
+export const CMD_MODIFY_SHAPE = 64;
 
 
 // Char Virtual 400-499