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feat: remove SimplePhysicsWorld

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brammie15
2026-10-19 00:44:29 +02:00
parent ad16daea7c
commit 36341bb5e0
5 changed files with 4 additions and 393 deletions
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destrum/CMakeLists.txt
-1
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@@ -127,7 +127,6 @@ set(SRC_FILES
"src/Util/SceneInspector.cpp" "src/Util/SceneInspector.cpp"
"src/Physics/PhysicsWorld.cpp" "src/Physics/PhysicsWorld.cpp"
"src/Physics/SimplePhysicsWorld.cpp"
"src/Physics/PhysicsSceneBridge.cpp" "src/Physics/PhysicsSceneBridge.cpp"
"src/Physics/JoltPhysicsWorld.cpp" "src/Physics/JoltPhysicsWorld.cpp"
) )
destrum/include/destrum/Physics/PhysicsSceneBridge.h
-10
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@@ -4,19 +4,9 @@
#include <vector> #include <vector>
#include <destrum/Physics/PhysicsWorld.h> #include <destrum/Physics/PhysicsWorld.h>
#include <destrum/Physics/SimplePhysicsWorld.h>
class GameObject; class GameObject;
// Small helper you can store inside Scene.
//
// Example:
// class Scene {
// public:
// PhysicsSceneBridge& GetPhysics() { return m_Physics; }
// private:
// PhysicsSceneBridge m_Physics{std::make_unique<SimplePhysicsWorld>()};
// };
class PhysicsSceneBridge final { class PhysicsSceneBridge final {
public: public:
explicit PhysicsSceneBridge(std::unique_ptr<PhysicsWorld> world); explicit PhysicsSceneBridge(std::unique_ptr<PhysicsWorld> world);
destrum/include/destrum/Physics/SimplePhysicsWorld.h
-89
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@@ -1,89 +0,0 @@
#pragma once
#include <vector>
#include <optional>
#include <destrum/Physics/PhysicsWorld.h>
class Rigidbody;
// Simple CPU placeholder backend.
//
// This is NOT a replacement for Jolt/PhysX/Bullet.
// It exists so your component/scene/render sync can be implemented and tested
// before the real backend is added.
//
// It supports:
// - static, dynamic, kinematic bodies
// - gravity
// - force/impulse integration
// - very simple sphere/box/capsule raycasts using bounding spheres
//
// It does NOT support:
// - collision response
// - contacts
// - friction
// - constraints
// - real character controllers
class SimplePhysicsWorld final : public PhysicsWorld {
public:
explicit SimplePhysicsWorld(const glm::vec3& gravity = glm::vec3{0.0f, -9.81f, 0.0f});
void Step(float fixedDt) override;
PhysicsBodyHandle CreateBody(const PhysicsBodyDesc& desc) override;
void DestroyBody(PhysicsBodyHandle body) override;
void SetBodyTransform(PhysicsBodyHandle body, const PhysicsTransform& transform) override;
PhysicsTransform GetBodyTransform(PhysicsBodyHandle body) const override;
void SetLinearVelocity(PhysicsBodyHandle body, const glm::vec3& velocity) override;
glm::vec3 GetLinearVelocity(PhysicsBodyHandle body) const override;
void AddForce(PhysicsBodyHandle body, const glm::vec3& force) override;
void AddImpulse(PhysicsBodyHandle body, const glm::vec3& impulse) override;
bool Raycast(const glm::vec3& origin,
const glm::vec3& direction,
float maxDistance,
PhysicsRaycastHit& hit,
PhysicsBodyHandle ignoreBody = {}) const override;
void SyncKinematicBodiesToPhysics(float fixedDt) override;
void SyncDynamicBodiesToTransforms();
[[nodiscard]] const glm::vec3& GetGravity() const { return m_Gravity; }
void SetGravity(const glm::vec3& gravity) { m_Gravity = gravity; }
private:
struct BodyRecord {
bool alive{false};
PhysicsBodyHandle handle{};
PhysicsBodyDesc desc{};
PhysicsTransform previousTransform{};
PhysicsTransform currentTransform{};
glm::vec3 linearVelocity{0.0f};
glm::vec3 accumulatedForce{0.0f};
Rigidbody* rigidbody{nullptr};
};
[[nodiscard]] BodyRecord* FindBody(PhysicsBodyHandle body);
[[nodiscard]] const BodyRecord* FindBody(PhysicsBodyHandle body) const;
[[nodiscard]] float GetApproxBoundingRadius(const BodyRecord& body) const;
[[nodiscard]] static bool RaySphere(const glm::vec3& origin,
const glm::vec3& dirNormalized,
const glm::vec3& center,
float radius,
float maxDistance,
float& outDistance);
glm::vec3 m_Gravity{0.0f, -9.81f, 0.0f};
std::vector<BodyRecord> m_Bodies;
std::uint32_t m_NextId{0};
};
destrum/src/Physics/SimplePhysicsWorld.cpp
-291
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@@ -1,291 +0,0 @@
#include <destrum/Physics/SimplePhysicsWorld.h>
#include <algorithm>
#include <cmath>
#include <limits>
#include <destrum/Components/Physics/Rigidbody.h>
#include <destrum/ObjectModel/GameObject.h>
#include <destrum/ObjectModel/Transform.h>
SimplePhysicsWorld::SimplePhysicsWorld(const glm::vec3& gravity)
: m_Gravity(gravity) {
}
PhysicsBodyHandle SimplePhysicsWorld::CreateBody(const PhysicsBodyDesc& desc) {
BodyRecord record{};
record.alive = true;
record.handle = PhysicsBodyHandle{m_NextId++};
record.desc = desc;
record.previousTransform = desc.transform;
record.currentTransform = desc.transform;
if (desc.owner) {
record.rigidbody = desc.owner->GetComponent<Rigidbody>();
}
m_Bodies.emplace_back(record);
return record.handle;
}
void SimplePhysicsWorld::DestroyBody(PhysicsBodyHandle body) {
if (BodyRecord* record = FindBody(body)) {
record->alive = false;
record->rigidbody = nullptr;
record->desc.owner = nullptr;
}
}
void SimplePhysicsWorld::SetBodyTransform(PhysicsBodyHandle body, const PhysicsTransform& transform) {
BodyRecord* record = FindBody(body);
if (!record) {
return;
}
record->previousTransform = record->currentTransform;
record->currentTransform = transform;
}
PhysicsTransform SimplePhysicsWorld::GetBodyTransform(PhysicsBodyHandle body) const {
const BodyRecord* record = FindBody(body);
if (!record) {
return {};
}
return record->currentTransform;
}
void SimplePhysicsWorld::SetLinearVelocity(PhysicsBodyHandle body, const glm::vec3& velocity) {
BodyRecord* record = FindBody(body);
if (!record) {
return;
}
record->linearVelocity = velocity;
}
glm::vec3 SimplePhysicsWorld::GetLinearVelocity(PhysicsBodyHandle body) const {
const BodyRecord* record = FindBody(body);
if (!record) {
return glm::vec3{0.0f};
}
return record->linearVelocity;
}
void SimplePhysicsWorld::AddForce(PhysicsBodyHandle body, const glm::vec3& force) {
BodyRecord* record = FindBody(body);
if (!record || record->desc.type != RigidbodyType::Dynamic) {
return;
}
record->accumulatedForce += force;
}
void SimplePhysicsWorld::AddImpulse(PhysicsBodyHandle body, const glm::vec3& impulse) {
BodyRecord* record = FindBody(body);
if (!record || record->desc.type != RigidbodyType::Dynamic) {
return;
}
const float invMass = record->desc.mass > 0.0f ? 1.0f / record->desc.mass : 0.0f;
record->linearVelocity += impulse * invMass;
}
void SimplePhysicsWorld::Step(float fixedDt) {
if (fixedDt <= 0.0f) {
return;
}
for (BodyRecord& body : m_Bodies) {
if (!body.alive || !body.desc.owner ||
body.desc.owner->IsBeingDestroyed() ||
!body.desc.owner->IsActiveInHierarchy()) {
continue;
}
body.previousTransform = body.currentTransform;
if (body.desc.type != RigidbodyType::Dynamic) {
continue;
}
const float invMass = body.desc.mass > 0.0f ? 1.0f / body.desc.mass : 0.0f;
glm::vec3 acceleration{0.0f};
if (body.desc.useGravity) {
acceleration += m_Gravity;
}
acceleration += body.accumulatedForce * invMass;
// Semi-implicit Euler.
body.linearVelocity += acceleration * fixedDt;
body.currentTransform.position += body.linearVelocity * fixedDt;
body.accumulatedForce = glm::vec3{0.0f};
}
// Compact dead records occasionally.
m_Bodies.erase(
std::remove_if(m_Bodies.begin(), m_Bodies.end(),
[](const BodyRecord& body) { return !body.alive; }),
m_Bodies.end());
}
void SimplePhysicsWorld::SyncKinematicBodiesToPhysics(float fixedDt) {
for (BodyRecord& body : m_Bodies) {
if (!body.alive || body.desc.type != RigidbodyType::Kinematic || !body.desc.owner ||
body.desc.owner->IsBeingDestroyed() || !body.desc.owner->IsActiveInHierarchy()) {
continue;
}
Transform& transform = body.desc.owner->GetTransform();
body.previousTransform = body.currentTransform;
body.currentTransform.position = transform.GetWorldPosition();
body.currentTransform.rotation = transform.GetWorldRotation();
body.linearVelocity = fixedDt > 0.0f
? (body.currentTransform.position - body.previousTransform.position) / fixedDt
: glm::vec3{0.0f};
}
}
void SimplePhysicsWorld::SyncDynamicBodiesToTransforms() {
for (BodyRecord& body : m_Bodies) {
if (!body.alive || body.desc.type != RigidbodyType::Dynamic || !body.desc.owner ||
body.desc.owner->IsBeingDestroyed() || !body.desc.owner->IsActiveInHierarchy()) {
continue;
}
Transform& transform = body.desc.owner->GetTransform();
transform.SetWorldPosition(body.currentTransform.position);
transform.SetWorldRotation(body.currentTransform.rotation);
}
}
bool SimplePhysicsWorld::Raycast(const glm::vec3& origin,
const glm::vec3& direction,
float maxDistance,
PhysicsRaycastHit& hit,
PhysicsBodyHandle ignoreBody) const {
if (maxDistance <= 0.0f) {
return false;
}
const float len = glm::length(direction);
if (len <= 0.00001f) {
return false;
}
const glm::vec3 dir = direction / len;
bool found = false;
float bestDistance = std::numeric_limits<float>::max();
for (const BodyRecord& body : m_Bodies) {
if (!body.alive || body.desc.shape.type == PhysicsShapeType::None ||
!body.desc.owner || body.desc.owner->IsBeingDestroyed() ||
!body.desc.owner->IsActiveInHierarchy() ||
body.desc.shape.isTrigger ||
(ignoreBody.IsValid() && body.handle.id == ignoreBody.id)) {
continue;
}
float distance = 0.0f;
const float radius = GetApproxBoundingRadius(body);
const glm::vec3 center = body.currentTransform.position
+ body.currentTransform.rotation * body.desc.shape.centerOffset;
if (RaySphere(origin, dir, center, radius, maxDistance, distance)) {
if (distance < bestDistance) {
bestDistance = distance;
found = true;
hit.object = body.desc.owner;
hit.body = body.handle;
hit.distance = distance;
hit.point = origin + dir * distance;
const glm::vec3 n = hit.point - center;
hit.normal = glm::length(n) > 0.00001f ? glm::normalize(n) : glm::vec3{0.0f, 1.0f, 0.0f};
}
}
}
return found;
}
SimplePhysicsWorld::BodyRecord* SimplePhysicsWorld::FindBody(PhysicsBodyHandle body) {
for (BodyRecord& record : m_Bodies) {
if (record.alive && record.handle == body) {
return &record;
}
}
return nullptr;
}
const SimplePhysicsWorld::BodyRecord* SimplePhysicsWorld::FindBody(PhysicsBodyHandle body) const {
for (const BodyRecord& record : m_Bodies) {
if (record.alive && record.handle == body) {
return &record;
}
}
return nullptr;
}
float SimplePhysicsWorld::GetApproxBoundingRadius(const BodyRecord& body) const {
const PhysicsShapeDesc& shape = body.desc.shape;
switch (shape.type) {
case PhysicsShapeType::Box:
return glm::length(shape.halfExtents);
case PhysicsShapeType::Sphere:
return shape.radius;
case PhysicsShapeType::Capsule:
return shape.height * 0.5f;
case PhysicsShapeType::None:
default:
return 0.0f;
}
}
bool SimplePhysicsWorld::RaySphere(const glm::vec3& origin,
const glm::vec3& dirNormalized,
const glm::vec3& center,
float radius,
float maxDistance,
float& outDistance) {
const glm::vec3 oc = origin - center;
const float a = glm::dot(dirNormalized, dirNormalized);
const float b = 2.0f * glm::dot(oc, dirNormalized);
const float c = glm::dot(oc, oc) - radius * radius;
const float discriminant = b * b - 4.0f * a * c;
if (discriminant < 0.0f) {
return false;
}
const float sqrtDisc = std::sqrt(discriminant);
const float t0 = (-b - sqrtDisc) / (2.0f * a);
const float t1 = (-b + sqrtDisc) / (2.0f * a);
float t = t0;
if (t < 0.0f) {
t = t1;
}
if (t < 0.0f || t > maxDistance) {
return false;
}
outDistance = t;
return true;
}
tests/destrum_tests.cpp
+4 -2
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@@ -28,7 +28,6 @@
#include <destrum/Serialization/PrefabCache.h> #include <destrum/Serialization/PrefabCache.h>
#include <destrum/Serialization/PrefabSerializer.h> #include <destrum/Serialization/PrefabSerializer.h>
#include <destrum/Serialization/SceneSerializer.h> #include <destrum/Serialization/SceneSerializer.h>
#include <destrum/Physics/SimplePhysicsWorld.h>
#include <destrum/Physics/JoltPhysicsWorld.h> #include <destrum/Physics/JoltPhysicsWorld.h>
#include <destrum/Components/Physics/SphereCollider.h> #include <destrum/Components/Physics/SphereCollider.h>
#include <destrum/Components/Physics/BoxCollider.h> #include <destrum/Components/Physics/BoxCollider.h>
@@ -384,7 +383,10 @@ namespace {
void testPhysicsWorldUnits() void testPhysicsWorldUnits()
{ {
SimplePhysicsWorld world{glm::vec3{0.0f}}; JoltPhysicsWorld world{{
.workerThreadCount = 1,
.gravity = glm::vec3{0.0f}
}};
GameObject object{"scaled-physics"}; GameObject object{"scaled-physics"};
object.GetTransform().SetLocalScale(glm::vec3{0.5f}); object.GetTransform().SetLocalScale(glm::vec3{0.5f});
object.AddComponent<SphereCollider>(1.0f); object.AddComponent<SphereCollider>(1.0f);