2 * Copyright (c) 2023 Samsung Electronics Co., Ltd.
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
8 * http://www.apache.org/licenses/LICENSE-2.0
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
18 #include <dali-physics/internal/bullet-impl/bullet-physics-world-impl.h>
21 #include <BulletCollision/NarrowPhaseCollision/btRaycastCallback.h>
22 #include <btBulletCollisionCommon.h>
26 #include <dali/dali.h>
27 #include <dali/devel-api/common/stage-devel.h>
28 #include <dali/devel-api/update/frame-callback-interface.h>
30 namespace Dali::Toolkit::Physics::Internal
32 std::unique_ptr<PhysicsWorld> BulletPhysicsWorld::New(Dali::Actor rootActor, Dali::CallbackBase* updateCallback)
34 std::unique_ptr<BulletPhysicsWorld> world = std::make_unique<BulletPhysicsWorld>(rootActor, updateCallback);
39 BulletPhysicsWorld::BulletPhysicsWorld(Dali::Actor rootActor, Dali::CallbackBase* updateCallback)
40 : PhysicsWorld(rootActor, updateCallback)
44 void BulletPhysicsWorld::OnInitialize(/*void* dynamicsWorld*/)
46 // @todo Should enable developer to supply their own created DynamicsWorld.
48 mCollisionConfiguration = new btDefaultCollisionConfiguration();
49 mDispatcher = new btCollisionDispatcher(mCollisionConfiguration);
50 mBroadphase = new btDbvtBroadphase();
51 mSolver = new btSequentialImpulseConstraintSolver;
52 mDynamicsWorld = new btDiscreteDynamicsWorld(mDispatcher, mBroadphase, mSolver, mCollisionConfiguration);
55 BulletPhysicsWorld::~BulletPhysicsWorld()
57 Dali::Mutex::ScopedLock lock(mMutex);
62 for(i = mDynamicsWorld->getNumConstraints() - 1; i >= 0; i--)
64 mDynamicsWorld->removeConstraint(mDynamicsWorld->getConstraint(i));
66 for(i = mDynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
68 btCollisionObject* obj = mDynamicsWorld->getCollisionObjectArray()[i];
69 btRigidBody* body = btRigidBody::upcast(obj);
70 if(body && body->getMotionState())
72 delete body->getMotionState();
74 mDynamicsWorld->removeCollisionObject(obj);
80 for (int j = 0; j < m_collisionShapes.size(); j++)
82 btCollisionShape* shape = mCollisionShapes[j];
85 mCollisionShapes.clear();
88 delete mDynamicsWorld;
92 delete mCollisionConfiguration;
95 Dali::Any BulletPhysicsWorld::GetNative()
97 return mDynamicsWorld;
100 void BulletPhysicsWorld::Integrate(float timestep)
102 if(mPhysicsIntegrateState == Physics::PhysicsAdaptor::IntegrationState::ON)
104 mDynamicsWorld->stepSimulation(timestep);
106 if(mDynamicsWorld->getDebugDrawer() && mPhysicsDebugState == Physics::PhysicsAdaptor::DebugState::ON)
108 mDynamicsWorld->debugDrawWorld();
112 inline btVector3 ConvertVector(Dali::Vector3 vector)
114 return btVector3(vector.x, vector.y, vector.z);
117 Dali::Any BulletPhysicsWorld::HitTest(Dali::Vector3 rayFromWorld, Dali::Vector3 rayToWorld, Dali::Vector3& localPivot, float& distanceFromCamera)
119 btRigidBody* hitBody{nullptr};
121 btVector3 origin = ConvertVector(rayFromWorld);
122 btVector3 end = ConvertVector(rayToWorld);
123 btCollisionWorld::ClosestRayResultCallback rayResultCallback(origin, end);
124 rayResultCallback.m_flags |= btTriangleRaycastCallback::kF_UseGjkConvexCastRaytest;
126 mDynamicsWorld->rayTest(origin, end, rayResultCallback);
127 if(rayResultCallback.hasHit())
129 auto pickPos = rayResultCallback.m_hitPointWorld;
130 btRigidBody* body = (btRigidBody*)btRigidBody::upcast(rayResultCallback.m_collisionObject);
133 if(!(body->isStaticObject() || body->isKinematicObject()))
135 hitBody = body; // Found a dynamic body.
136 distanceFromCamera = (pickPos - origin).length();
138 btVector3 pivot = body->getCenterOfMassTransform().inverse() * pickPos;
139 localPivot.x = pivot.x();
140 localPivot.y = pivot.y();
141 localPivot.z = pivot.z();
154 } // namespace Dali::Toolkit::Physics::Internal