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feat: implement contact listeners

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brammie15
2026-09-02 21:42:49 +02:00
parent 287e5c6885
commit d515a36403
20 changed files with 595 additions and 95 deletions
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destrum/src/Physics/JoltPhysicsWorld.cpp
+137
View File
@@ -26,9 +26,12 @@
#include <cstdarg>
#include <cstdio>
#include <memory>
#include <mutex>
#include <stdexcept>
#include <thread>
#include <unordered_map>
#include <unordered_set>
#include <vector>
#include <glm/gtx/norm.hpp>
@@ -276,6 +279,84 @@ namespace
throw std::runtime_error("Cannot create Jolt body without a valid shape.");
}
}
class SensorContactListener final : public ContactListener
{
public:
using BodyPair = std::pair<BodyID, BodyID>;
struct PairHash {
std::size_t operator()(const BodyPair& p) const {
return std::hash<uint32_t>{}(
p.first.GetIndexAndSequenceNumber() ^
(p.second.GetIndexAndSequenceNumber() << 7));
}
};
struct PairData {
GameObject* objA{nullptr};
GameObject* objB{nullptr};
bool sensorA{false};
bool sensorB{false};
};
ValidateResult OnContactValidate(const Body&, const Body&, RVec3Arg,
const CollideShapeResult&) override
{
return ValidateResult::AcceptAllContactsForThisBodyPair;
}
void OnContactAdded(const Body& body1, const Body& body2,
const ContactManifold&, ContactSettings& ioSettings) override
{
if (body1.IsSensor() || body2.IsSensor())
{
PairData data;
data.objA = reinterpret_cast<GameObject*>(body1.GetUserData());
data.objB = reinterpret_cast<GameObject*>(body2.GetUserData());
data.sensorA = body1.IsSensor();
data.sensorB = body2.IsSensor();
std::lock_guard<std::mutex> lock(m_Mutex);
m_Overlaps.insert_or_assign(MakePair(body1.GetID(), body2.GetID()), data);
}
}
void OnContactPersisted(const Body& body1, const Body& body2,
const ContactManifold&, ContactSettings&) override
{
}
void OnContactRemoved(const SubShapeIDPair& subShapePair) override
{
std::lock_guard<std::mutex> lock(m_Mutex);
m_Overlaps.erase(MakePair(subShapePair.GetBody1ID(), subShapePair.GetBody2ID()));
}
void Clear()
{
std::lock_guard<std::mutex> lock(m_Mutex);
m_Overlaps.clear();
}
std::unordered_map<BodyPair, PairData, PairHash> SwapOverlaps()
{
std::lock_guard<std::mutex> lock(m_Mutex);
return std::move(m_Overlaps);
}
private:
static BodyPair MakePair(BodyID a, BodyID b)
{
if (a.GetIndexAndSequenceNumber() < b.GetIndexAndSequenceNumber())
{
return {a, b};
}
return {b, a};
}
std::mutex m_Mutex;
std::unordered_map<BodyPair, PairData, PairHash> m_Overlaps;
};
} // namespace
class JoltPhysicsWorld::Impl
@@ -307,6 +388,7 @@ public:
m_ObjectVsBroadPhaseLayerFilter,
m_ObjectLayerPairFilter);
m_PhysicsSystem.SetContactListener(&m_SensorListener);
m_PhysicsSystem.SetGravity(ToJoltVec3(settings.gravity));
}
@@ -426,6 +508,15 @@ public:
collisionSteps,
m_TempAllocator.get(),
m_JobSystem.get());
ProcessSensorOverlaps();
}
std::vector<TriggerEvent> ConsumeTriggerEvents()
{
std::vector<TriggerEvent> events;
m_TriggerEvents.swap(events);
return events;
}
void SyncKinematicBodiesToPhysics()
@@ -626,6 +717,43 @@ private:
return {};
}
void ProcessSensorOverlaps()
{
const auto currentOverlaps = m_SensorListener.SwapOverlaps();
for (const auto& [pair, data] : currentOverlaps)
{
if (m_PreviousSensorOverlaps.find(pair) == m_PreviousSensorOverlaps.end())
{
if (data.sensorA && data.objA)
{
m_TriggerEvents.push_back({data.objA, data.objB, true});
}
if (data.sensorB && data.objB)
{
m_TriggerEvents.push_back({data.objB, data.objA, true});
}
}
}
for (const auto& [pair, data] : m_PreviousSensorOverlaps)
{
if (currentOverlaps.find(pair) == currentOverlaps.end())
{
if (data.sensorA && data.objA)
{
m_TriggerEvents.push_back({data.objA, data.objB, false});
}
if (data.sensorB && data.objB)
{
m_TriggerEvents.push_back({data.objB, data.objA, false});
}
}
}
m_PreviousSensorOverlaps = std::move(currentOverlaps);
}
Settings m_Settings{};
BPLayerInterfaceImpl m_BPLayerInterface{};
@@ -639,6 +767,10 @@ private:
std::unordered_map<std::uint32_t, BodyRecord> m_Bodies;
std::uint32_t m_NextHandle{0};
SensorContactListener m_SensorListener;
std::unordered_map<SensorContactListener::BodyPair, SensorContactListener::PairData, SensorContactListener::PairHash> m_PreviousSensorOverlaps;
std::vector<TriggerEvent> m_TriggerEvents;
};
JoltPhysicsWorld::JoltPhysicsWorld(const Settings& settings)
@@ -710,3 +842,8 @@ bool JoltPhysicsWorld::Raycast(const glm::vec3& origin,
{
return m_Impl->Raycast(origin, direction, maxDistance, hit);
}
std::vector<TriggerEvent> JoltPhysicsWorld::ConsumeTriggerEvents()
{
return m_Impl->ConsumeTriggerEvents();
}
destrum/src/Physics/PhysicsSceneBridge.cpp
+20 -1
View File
@@ -1,6 +1,7 @@
#include <destrum/Physics/PhysicsSceneBridge.h>
#include <destrum/Components/Physics/Rigidbody.h>
#include <destrum/ObjectModel/Component.h>
#include <destrum/ObjectModel/GameObject.h>
PhysicsSceneBridge::PhysicsSceneBridge(std::unique_ptr<PhysicsWorld> world)
@@ -8,14 +9,16 @@ PhysicsSceneBridge::PhysicsSceneBridge(std::unique_ptr<PhysicsWorld> world)
}
void PhysicsSceneBridge::RegisterGameObject(GameObject& object) {
if (!m_World) return;
if (auto* rb = object.GetComponent<Rigidbody>()) {
if (!rb->HasPhysicsBody() || rb->GetPhysicsWorld() != &GetWorld()) {
if (!rb->HasPhysicsBody() || rb->GetPhysicsWorld() != m_World.get()) {
m_World->RegisterRigidbody(*rb);
}
}
}
void PhysicsSceneBridge::UnregisterGameObject(GameObject& object) {
if (!m_World) return;
if (auto* rb = object.GetComponent<Rigidbody>()) {
if (rb->GetPhysicsWorld() == m_World.get()) {
m_World->UnregisterRigidbody(*rb);
@@ -24,13 +27,29 @@ void PhysicsSceneBridge::UnregisterGameObject(GameObject& object) {
}
void PhysicsSceneBridge::RefreshGameObject(GameObject& object) {
if (!m_World) return;
if (auto* rb = object.GetComponent<Rigidbody>()) {
m_World->RefreshRigidbody(*rb);
}
}
void PhysicsSceneBridge::FixedUpdate(float fixedDt) {
if (!m_World) return;
m_World->SyncKinematicBodiesToPhysics();
m_World->Step(fixedDt);
for (const auto& event : m_World->ConsumeTriggerEvents()) {
if (event.owner == nullptr) continue;
for (const auto& component : event.owner->GetComponents()) {
if (component && !component->IsBeingDestroyed() && component->isEnabled()) {
if (event.entered) {
component->OnTriggerEnter(event.other);
} else {
component->OnTriggerExit(event.other);
}
}
}
}
m_World->SyncDynamicBodiesToTransforms();
}
destrum/src/Scene/Scene.cpp
+6 -1
View File
@@ -23,7 +23,12 @@ namespace {
}
Scene::Scene(const std::string& name)
: m_name(name),
: Scene(name, std::make_unique<JoltPhysicsWorld>()) {
}
Scene::Scene(const std::string& name, std::unique_ptr<PhysicsWorld> physicsWorld)
: m_Physics(std::move(physicsWorld)),
m_name(name),
m_id(++m_idCounter) {
}
destrum/src/Scene/SceneManager.cpp
+73 -64
View File
@@ -8,50 +8,40 @@
#include <destrum/Util/DeltaTime.h>
Scene& SceneManager::GetCurrentScene() const {
if (m_scenes.empty()) {
throw std::out_of_range("No scenes are available");
if (m_activeScenes.empty()) {
throw std::out_of_range("No active scenes are available");
}
if (m_ActiveSceneIndex < 0 || m_ActiveSceneIndex >= static_cast<int>(m_scenes.size())) {
throw std::out_of_range("Active scene index is invalid");
}
return *m_scenes[static_cast<std::size_t>(m_ActiveSceneIndex)];
return *m_activeScenes.front();
}
void SceneManager::Update(float dt) {
if (m_scenes.empty()) return;
(void)GetCurrentScene();
const auto scene = m_scenes.at(static_cast<std::size_t>(m_ActiveSceneIndex));
scene->Update(dt);
for (const auto& scene : m_activeScenes) {
scene->Update(dt);
}
}
void SceneManager::FixedUpdate(float dt) {
if (m_scenes.empty()) return;
(void)GetCurrentScene();
const auto scene = m_scenes.at(static_cast<std::size_t>(m_ActiveSceneIndex));
scene->FixedUpdate(dt);
for (const auto& scene : m_activeScenes) {
scene->FixedUpdate(dt);
}
}
void SceneManager::LateUpdate(float dt) {
if (m_scenes.empty()) return;
(void)GetCurrentScene();
const auto scene = m_scenes.at(static_cast<std::size_t>(m_ActiveSceneIndex));
scene->LateUpdate(dt);
for (const auto& scene : m_activeScenes) {
scene->LateUpdate(dt);
}
}
void SceneManager::Render(const RenderContext& ctx) {
if (m_scenes.empty()) return;
(void)GetCurrentScene();
const auto scene = m_scenes.at(static_cast<std::size_t>(m_ActiveSceneIndex));
scene->Render(ctx);
for (const auto& scene : m_activeScenes) {
scene->Render(ctx);
}
}
void SceneManager::RenderImgui() {
if (m_scenes.empty()) return;
(void)GetCurrentScene();
const auto scene = m_scenes.at(static_cast<std::size_t>(m_ActiveSceneIndex));
scene->RenderImgui();
for (const auto& scene : m_activeScenes) {
scene->RenderImgui();
}
}
void SceneManager::HandleGameObjectDestroy() {
@@ -61,7 +51,7 @@ void SceneManager::HandleGameObjectDestroy() {
}
void SceneManager::DestroyGameObjects() {
for (const auto& scene: m_scenes) {
for (const auto& scene : m_scenes) {
scene->DestroyGameObjects();
}
}
@@ -73,37 +63,22 @@ void SceneManager::UnloadAllScenes() {
}
void SceneManager::HandleSceneDestroy() {
const std::shared_ptr<Scene> activeScene =
m_ActiveSceneIndex >= 0 &&
m_ActiveSceneIndex < static_cast<int>(m_scenes.size())
? m_scenes[static_cast<std::size_t>(m_ActiveSceneIndex)]
: nullptr;
for (auto it = m_scenes.begin(); it != m_scenes.end();) {
if ((*it)->IsBeingUnloaded()) {
const auto activeIt = std::find(m_activeScenes.begin(), m_activeScenes.end(), *it);
if (activeIt != m_activeScenes.end()) {
m_activeScenes.erase(activeIt);
}
it = m_scenes.erase(it);
} else {
++it;
}
}
if (m_scenes.empty()) {
m_ActiveSceneIndex = 0;
return;
}
if (activeScene != nullptr) {
const auto activeIt = std::find(m_scenes.begin(), m_scenes.end(), activeScene);
if (activeIt != m_scenes.end()) {
m_ActiveSceneIndex = static_cast<int>(std::distance(m_scenes.begin(), activeIt));
return;
}
}
m_ActiveSceneIndex = std::clamp(
m_ActiveSceneIndex,
0,
static_cast<int>(m_scenes.size()) - 1);
// Remove any stale active scenes that are no longer in the scene list.
std::erase_if(m_activeScenes, [this](const auto& scene) {
return std::find(m_scenes.begin(), m_scenes.end(), scene) == m_scenes.end();
});
}
void SceneManager::HandleScene() {
@@ -113,7 +88,6 @@ void SceneManager::HandleScene() {
void SceneManager::Destroy() {
if (m_scenes.empty()) {
m_ActiveSceneIndex = 0;
return;
}
@@ -124,25 +98,60 @@ void SceneManager::Destroy() {
}
void SceneManager::SwitchScene(int index) {
// InputManager::GetInstance().RemoveAllBindings();
if (index < 0 || index >= static_cast<int>(m_scenes.size())) {
throw std::out_of_range("Scene index out of range");
}
if (index == m_ActiveSceneIndex) {
return;
}
m_scenes[static_cast<std::size_t>(m_ActiveSceneIndex)]->UnloadBindings();
m_ActiveSceneIndex = index;
m_scenes[static_cast<std::size_t>(m_ActiveSceneIndex)]->LoadBindings();
for (const auto& scene : m_activeScenes) {
scene->UnloadBindings();
}
m_activeScenes.clear();
m_activeScenes.push_back(m_scenes[static_cast<std::size_t>(index)]);
m_activeScenes.back()->LoadBindings();
}
Scene &SceneManager::CreateScene(const std::string &name) {
void SceneManager::AddActiveScene(int index) {
if (index < 0 || index >= static_cast<int>(m_scenes.size())) {
throw std::out_of_range("Scene index out of range");
}
const auto& scene = m_scenes[static_cast<std::size_t>(index)];
if (std::find(m_activeScenes.begin(), m_activeScenes.end(), scene) == m_activeScenes.end()) {
scene->LoadBindings();
m_activeScenes.push_back(scene);
}
}
void SceneManager::RemoveActiveScene(int index) {
if (index < 0 || index >= static_cast<int>(m_scenes.size())) {
throw std::out_of_range("Scene index out of range");
}
const auto& scene = m_scenes[static_cast<std::size_t>(index)];
const auto it = std::find(m_activeScenes.begin(), m_activeScenes.end(), scene);
if (it != m_activeScenes.end()) {
(*it)->UnloadBindings();
m_activeScenes.erase(it);
}
}
int SceneManager::GetActiveSceneId() const {
if (m_scenes.empty() || m_activeScenes.empty()) {
return -1;
}
const auto it = std::find(m_scenes.begin(), m_scenes.end(), m_activeScenes.front());
if (it == m_scenes.end()) {
return -1;
}
return static_cast<int>(std::distance(m_scenes.begin(), it));
}
Scene& SceneManager::CreateScene(const std::string& name) {
const auto scene = std::shared_ptr<Scene>(new Scene(name));
m_scenes.push_back(scene);
if (m_scenes.size() == 1) {
m_ActiveSceneIndex = 0;
m_activeScenes.push_back(scene);
}
return *scene;
}
}
destrum/src/Serialization/SceneSerializer.cpp
+158 -20
View File
@@ -16,8 +16,10 @@
#include <destrum/ObjectModel/GameObject.h>
#include <destrum/ObjectModel/ObjectId.h>
#include <destrum/ObjectModel/Transform.h>
#include <destrum/Assets/AssetReference.h>
#include <destrum/Components/Physics/Collider.h>
#include <destrum/Components/Physics/Rigidbody.h>
#include <destrum/FS/AssetFS.h>
#include <destrum/Serialization/ComponentFactory.h>
#include <destrum/Serialization/ComponentRegistry.h>
@@ -201,6 +203,78 @@ namespace {
return true;
}
[[nodiscard]] bool AssetFileExists(const std::string& path) {
if (path.empty()) {
return true;
}
std::filesystem::path fullPath;
if (path.find("://") != std::string::npos) {
try {
fullPath = AssetFS::GetInstance().GetFullPath(path);
} catch (const std::exception&) {
return false;
}
} else {
fullPath = path;
}
return std::filesystem::exists(fullPath);
}
void ValidateAssetReferences(const json& root, const std::filesystem::path& scenePath) {
const auto report = [&](const std::string& objectName, const std::string& detail) {
std::cerr << "Scene asset warning (" << scenePath << "): " << objectName
<< " references \"" << detail << "\" which could not be found\n";
};
for (const auto& objectJson : root.at("objects")) {
const std::string objectName = objectJson.value("name", "GameObject");
if (!objectJson.contains("components")) {
continue;
}
for (const auto& componentJson : objectJson.at("components")) {
if (!componentJson.contains("data")) {
continue;
}
const auto& data = componentJson.at("data");
// MeshRendererComponent: meshKey / materialKey are asset cache keys.
for (const char* key : {"meshKey", "materialKey"}) {
if (data.contains(key) && data.at(key).is_string()) {
const std::string cacheKey = data.at(key).get<std::string>();
if (cacheKey.empty()) continue;
const auto asset = AssetReference::fromCacheKey(cacheKey);
if (asset && !AssetFileExists(asset->path)) {
report(objectName, cacheKey);
}
}
}
// Generic: any nested object with a "path" field is an AssetReference.
std::function<void(const json&)> walk = [&](const json& node) {
if (node.is_object()) {
if (node.contains("path") && node.at("path").is_string()) {
const std::string path = node.at("path").get<std::string>();
if (!path.empty() && !AssetFileExists(path)) {
report(objectName, path);
}
}
for (auto it = node.begin(); it != node.end(); ++it) {
walk(it.value());
}
} else if (node.is_array()) {
for (const auto& element : node) {
walk(element);
}
}
};
walk(data);
}
}
}
}
bool SceneSerializer::Save(Scene& scene, const std::filesystem::path& path) {
@@ -290,30 +364,45 @@ bool SceneSerializer::Save(Scene& scene, const std::filesystem::path& path) {
return true;
}
bool SceneSerializer::Load(Scene& scene, const std::filesystem::path& path) {
SceneSerializer::LoadResult SceneSerializer::LoadSceneFile(const std::filesystem::path& path) {
LoadResult result;
std::ifstream file(path);
if (!file.is_open()) {
result.errorMessage = "Failed to open scene file for reading: " + path.string();
std::cerr << result.errorMessage << '\n';
return result;
}
try {
file >> result.root;
if (!ValidateSceneJson(result.root)) {
result.errorMessage = "Invalid scene data: " + path.string();
std::cerr << result.errorMessage << '\n';
return result;
}
} catch (const std::exception& exception) {
result.errorMessage = "Failed to parse scene file: " + std::string(exception.what());
std::cerr << result.errorMessage << '\n';
return result;
}
ValidateAssetReferences(result.root, path);
result.success = true;
return result;
}
bool SceneSerializer::ConstructScene(Scene& scene, LoadResult& result,
std::function<void(float)> progressCallback) {
if (scene.IsIterating()) {
std::cerr << "Cannot load a scene during an update or render phase: "
<< scene.GetName() << '\n';
return false;
}
RegisterEngineComponents();
std::ifstream file(path);
if (!file.is_open()) {
std::cerr << "Failed to open scene file for reading: " << path << '\n';
return false;
}
json root;
try {
file >> root;
if (!ValidateSceneJson(root)) {
std::cerr << "Invalid scene data: " << path << '\n';
return false;
}
} catch (const std::exception& exception) {
std::cerr << "Failed to parse scene file: " << exception.what() << '\n';
if (!result.success) {
std::cerr << "Cannot construct scene from a failed load result: "
<< result.errorMessage << '\n';
return false;
}
@@ -322,9 +411,16 @@ bool SceneSerializer::Load(Scene& scene, const std::filesystem::path& path) {
return false;
}
RegisterEngineComponents();
if (progressCallback) progressCallback(0.35f);
const json& root = result.root;
// Build the replacement separately. The current scene is not touched
// until all objects, transforms, and components have loaded successfully.
Scene stagingScene(scene.GetName());
// No physics world is created for the staging scene - physics bodies are
// registered directly in the live scene's world once loading succeeds.
Scene stagingScene(scene.GetName(), nullptr);
std::unordered_map<ObjectId, GameObject*> idMap;
std::vector<const json*> objectJsonList;
std::vector<GameObject*> registeredObjects;
@@ -343,7 +439,16 @@ bool SceneSerializer::Load(Scene& scene, const std::filesystem::path& path) {
objectJsonList.push_back(&objectJson);
}
stagingScene.CommitPendingAdditions();
if (progressCallback) progressCallback(0.4f);
// Move objects from pending to objects list without physics registration
// (staging scene has no physics world).
for (auto& pending : stagingScene.m_pendingAdditions) {
if (pending) {
stagingScene.m_objects.emplace_back(std::move(pending));
}
}
stagingScene.m_pendingAdditions.clear();
for (const json* objectJson : objectJsonList) {
const ObjectId id = objectJson->at("id").get<ObjectId>();
@@ -392,6 +497,8 @@ bool SceneSerializer::Load(Scene& scene, const std::filesystem::path& path) {
}
}
if (progressCallback) progressCallback(0.5f);
for (const json* objectJson : objectJsonList) {
GameObject* object = idMap.at(objectJson->at("id").get<ObjectId>());
if (!objectJson->contains("components")) {
@@ -412,6 +519,8 @@ bool SceneSerializer::Load(Scene& scene, const std::filesystem::path& path) {
}
}
if (progressCallback) progressCallback(0.6f);
for (const auto& objectPtr : stagingScene.GetObjects()) {
if (!objectPtr) {
continue;
@@ -424,6 +533,8 @@ bool SceneSerializer::Load(Scene& scene, const std::filesystem::path& path) {
}
}
if (progressCallback) progressCallback(0.7f);
// Register the replacement bodies in the live physics world before
// touching the current scene. If any body fails, the old scene and
// its physics state can remain intact.
@@ -438,6 +549,8 @@ bool SceneSerializer::Load(Scene& scene, const std::filesystem::path& path) {
registeredObjects.push_back(objectPtr.get());
}
}
if (progressCallback) progressCallback(0.8f);
} catch (const std::exception& exception) {
std::cerr << "Failed to load scene: " << exception.what() << '\n';
for (GameObject* object : registeredObjects) {
@@ -449,6 +562,7 @@ bool SceneSerializer::Load(Scene& scene, const std::filesystem::path& path) {
return false;
}
scene.UnloadBindings();
scene.RemoveAll();
scene.m_objects = std::move(stagingScene.m_objects);
scene.m_pendingAdditions = std::move(stagingScene.m_pendingAdditions);
@@ -456,6 +570,8 @@ bool SceneSerializer::Load(Scene& scene, const std::filesystem::path& path) {
scene.m_name = root.at("name").get<std::string>();
}
if (progressCallback) progressCallback(0.9f);
for (const auto& object : scene.m_objects) {
if (object) {
object->SetScene(&scene);
@@ -467,5 +583,27 @@ bool SceneSerializer::Load(Scene& scene, const std::filesystem::path& path) {
}
}
if (progressCallback) progressCallback(1.0f);
return true;
}
bool SceneSerializer::Load(Scene& scene, const std::filesystem::path& path,
std::function<void(float)> progressCallback) {
if (progressCallback) progressCallback(0.0f);
auto result = LoadSceneFile(path);
if (!result.success) {
if (progressCallback) progressCallback(1.0f);
return false;
}
if (progressCallback) progressCallback(0.3f);
return ConstructScene(scene, result, std::move(progressCallback));
}
std::future<SceneSerializer::LoadResult> SceneSerializer::LoadSceneFileAsync(
const std::filesystem::path& path) {
return std::async(std::launch::async, [path]() {
return LoadSceneFile(path);
});
}