/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
* Copyright (c) 2010-2018 Daniel Chappuis *
*********************************************************************************
* *
* This software is provided 'as-is', without any express or implied warranty. *
* In no event will the authors be held liable for any damages arising from the *
* use of this software. *
* *
* Permission is granted to anyone to use this software for any purpose, *
* including commercial applications, and to alter it and redistribute it *
* freely, subject to the following restrictions: *
* *
* 1. The origin of this software must not be misrepresented; you must not claim *
* that you wrote the original software. If you use this software in a *
* product, an acknowledgment in the product documentation would be *
* appreciated but is not required. *
* *
* 2. Altered source versions must be plainly marked as such, and must not be *
* misrepresented as being the original software. *
* *
* 3. This notice may not be removed or altered from any source distribution. *
* *
********************************************************************************/
// Libraries
#include <reactphysics3d/components/RigidBodyComponents.h>
#include <reactphysics3d/engine/EntityManager.h>
#include <reactphysics3d/body/RigidBody.h>
#include <cassert>
#include <random>
// We want to use the ReactPhysics3D namespace
using namespace reactphysics3d;
// Constructor
RigidBodyComponents::RigidBodyComponents(MemoryAllocator& allocator)
:Components(allocator, sizeof(Entity) + sizeof(RigidBody*) +
sizeof(bool) + sizeof(bool) + sizeof(decimal) + sizeof(BodyType) +
sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) +
sizeof(Vector3) + sizeof(decimal) + sizeof(decimal) +
sizeof(decimal) + sizeof(decimal) + sizeof(Vector3) +
sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) +
sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) +
sizeof(Quaternion) + sizeof(Vector3) + sizeof(Vector3) +
sizeof(bool) + sizeof(bool) + sizeof(List<Entity>)) {
// Allocate memory for the components data
allocate(INIT_NB_ALLOCATED_COMPONENTS);
}
// Allocate memory for a given number of components
void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) {
assert(nbComponentsToAllocate > mNbAllocatedComponents);
// Size for the data of a single component (in bytes)
const size_t totalSizeBytes = nbComponentsToAllocate * mComponentDataSize;
// Allocate memory
void* newBuffer = mMemoryAllocator.allocate(totalSizeBytes);
assert(newBuffer != nullptr);
// New pointers to components data
Entity* newBodiesEntities = static_cast<Entity*>(newBuffer);
RigidBody** newBodies = reinterpret_cast<RigidBody**>(newBodiesEntities + nbComponentsToAllocate);
bool* newIsAllowedToSleep = reinterpret_cast<bool*>(newBodies + nbComponentsToAllocate);
bool* newIsSleeping = reinterpret_cast<bool*>(newIsAllowedToSleep + nbComponentsToAllocate);
decimal* newSleepTimes = reinterpret_cast<decimal*>(newIsSleeping + nbComponentsToAllocate);
BodyType* newBodyTypes = reinterpret_cast<BodyType*>(newSleepTimes + nbComponentsToAllocate);
Vector3* newLinearVelocities = reinterpret_cast<Vector3*>(newBodyTypes + nbComponentsToAllocate);
Vector3* newAngularVelocities = reinterpret_cast<Vector3*>(newLinearVelocities + nbComponentsToAllocate);
Vector3* newExternalForces = reinterpret_cast<Vector3*>(newAngularVelocities + nbComponentsToAllocate);
Vector3* newExternalTorques = reinterpret_cast<Vector3*>(newExternalForces + nbComponentsToAllocate);
decimal* newLinearDampings = reinterpret_cast<decimal*>(newExternalTorques + nbComponentsToAllocate);
decimal* newAngularDampings = reinterpret_cast<decimal*>(newLinearDampings + nbComponentsToAllocate);
decimal* newMasses = reinterpret_cast<decimal*>(newAngularDampings + nbComponentsToAllocate);
decimal* newInverseMasses = reinterpret_cast<decimal*>(newMasses + nbComponentsToAllocate);
Vector3* newInertiaTensorLocal = reinterpret_cast<Vector3*>(newInverseMasses + nbComponentsToAllocate);
Vector3* newInertiaTensorLocalInverses = reinterpret_cast<Vector3*>(newInertiaTensorLocal + nbComponentsToAllocate);
Vector3* newConstrainedLinearVelocities = reinterpret_cast<Vector3*>(newInertiaTensorLocalInverses + nbComponentsToAllocate);
Vector3* newConstrainedAngularVelocities = reinterpret_cast<Vector3*>(newConstrainedLinearVelocities + nbComponentsToAllocate);
Vector3* newSplitLinearVelocities = reinterpret_cast<Vector3*>(newConstrainedAngularVelocities + nbComponentsToAllocate);
Vector3* newSplitAngularVelocities = reinterpret_cast<Vector3*>(newSplitLinearVelocities + nbComponentsToAllocate);
Vector3* newConstrainedPositions = reinterpret_cast<Vector3*>(newSplitAngularVelocities + nbComponentsToAllocate);
Quaternion* newConstrainedOrientations = reinterpret_cast<Quaternion*>(newConstrainedPositions + nbComponentsToAllocate);
Vector3* newCentersOfMassLocal = reinterpret_cast<Vector3*>(newConstrainedOrientations + nbComponentsToAllocate);
Vector3* newCentersOfMassWorld = reinterpret_cast<Vector3*>(newCentersOfMassLocal + nbComponentsToAllocate);
bool* newIsGravityEnabled = reinterpret_cast<bool*>(newCentersOfMassWorld + nbComponentsToAllocate);
bool* newIsAlreadyInIsland = reinterpret_cast<bool*>(newIsGravityEnabled + nbComponentsToAllocate);
List<Entity>* newJoints = reinterpret_cast<List<Entity>*>(newIsAlreadyInIsland + nbComponentsToAllocate);
// If there was already components before
if (mNbComponents > 0) {
// Copy component data from the previous buffer to the new one
memcpy(newBodiesEntities, mBodiesEntities, mNbComponents * sizeof(Entity));
memcpy(newBodies, mRigidBodies, mNbComponents * sizeof(RigidBody*));
memcpy(newIsAllowedToSleep, mIsAllowedToSleep, mNbComponents * sizeof(bool));
memcpy(newIsSleeping, mIsSleeping, mNbComponents * sizeof(bool));
memcpy(newSleepTimes, mSleepTimes, mNbComponents * sizeof(bool));
memcpy(newBodyTypes, mBodyTypes, mNbComponents * sizeof(BodyType));
memcpy(newLinearVelocities, mLinearVelocities, mNbComponents * sizeof(Vector3));
memcpy(newAngularVelocities, mAngularVelocities, mNbComponents * sizeof(Vector3));
memcpy(newExternalForces, mExternalForces, mNbComponents * sizeof(Vector3));
memcpy(newExternalTorques, mExternalTorques, mNbComponents * sizeof(Vector3));
memcpy(newLinearDampings, mLinearDampings, mNbComponents * sizeof(decimal));
memcpy(newAngularDampings, mAngularDampings, mNbComponents * sizeof(decimal));
memcpy(newMasses, mMasses, mNbComponents * sizeof(decimal));
memcpy(newInverseMasses, mInverseMasses, mNbComponents * sizeof(decimal));
memcpy(newInertiaTensorLocal, mLocalInertiaTensors, mNbComponents * sizeof(Vector3));
memcpy(newInertiaTensorLocalInverses, mInverseInertiaTensorsLocal, mNbComponents * sizeof(Vector3));
memcpy(newConstrainedLinearVelocities, mConstrainedLinearVelocities, mNbComponents * sizeof(Vector3));
memcpy(newConstrainedAngularVelocities, mConstrainedAngularVelocities, mNbComponents * sizeof(Vector3));
memcpy(newSplitLinearVelocities, mSplitLinearVelocities, mNbComponents * sizeof(Vector3));
memcpy(newSplitAngularVelocities, mSplitAngularVelocities, mNbComponents * sizeof(Vector3));
memcpy(newConstrainedPositions, mConstrainedPositions, mNbComponents * sizeof(Vector3));
memcpy(newConstrainedOrientations, mConstrainedOrientations, mNbComponents * sizeof(Quaternion));
memcpy(newCentersOfMassLocal, mCentersOfMassLocal, mNbComponents * sizeof(Vector3));
memcpy(newCentersOfMassWorld, mCentersOfMassWorld, mNbComponents * sizeof(Vector3));
memcpy(newIsGravityEnabled, mIsGravityEnabled, mNbComponents * sizeof(bool));
memcpy(newIsAlreadyInIsland, mIsAlreadyInIsland, mNbComponents * sizeof(bool));
memcpy(newJoints, mJoints, mNbComponents * sizeof(List<Entity>));
// Deallocate previous memory
mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize);
}
mBuffer = newBuffer;
mBodiesEntities = newBodiesEntities;
mRigidBodies = newBodies;
mIsAllowedToSleep = newIsAllowedToSleep;
mIsSleeping = newIsSleeping;
mSleepTimes = newSleepTimes;
mNbAllocatedComponents = nbComponentsToAllocate;
mBodyTypes = newBodyTypes;
mLinearVelocities = newLinearVelocities;
mAngularVelocities = newAngularVelocities;
mExternalForces = newExternalForces;
mExternalTorques = newExternalTorques;
mLinearDampings = newLinearDampings;
mAngularDampings = newAngularDampings;
mMasses = newMasses;
mInverseMasses = newInverseMasses;
mLocalInertiaTensors = newInertiaTensorLocal;
mInverseInertiaTensorsLocal = newInertiaTensorLocalInverses;
mConstrainedLinearVelocities = newConstrainedLinearVelocities;
mConstrainedAngularVelocities = newConstrainedAngularVelocities;
mSplitLinearVelocities = newSplitLinearVelocities;
mSplitAngularVelocities = newSplitAngularVelocities;
mConstrainedPositions = newConstrainedPositions;
mConstrainedOrientations = newConstrainedOrientations;
mCentersOfMassLocal = newCentersOfMassLocal;
mCentersOfMassWorld = newCentersOfMassWorld;
mIsGravityEnabled = newIsGravityEnabled;
mIsAlreadyInIsland = newIsAlreadyInIsland;
mJoints = newJoints;
}
// Add a component
void RigidBodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const RigidBodyComponent& component) {
// Prepare to add new component (allocate memory if necessary and compute insertion index)
uint32 index = prepareAddComponent(isSleeping);
// Insert the new component data
new (mBodiesEntities + index) Entity(bodyEntity);
mRigidBodies[index] = component.body;
mIsAllowedToSleep[index] = true;
mIsSleeping[index] = false;
mSleepTimes[index] = decimal(0);
mBodyTypes[index] = component.bodyType;
new (mLinearVelocities + index) Vector3(0, 0, 0);
new (mAngularVelocities + index) Vector3(0, 0, 0);
new (mExternalForces + index) Vector3(0, 0, 0);
new (mExternalTorques + index) Vector3(0, 0, 0);
mLinearDampings[index] = decimal(0.0);
mAngularDampings[index] = decimal(0.0);
mMasses[index] = decimal(1.0);
mInverseMasses[index] = decimal(1.0);
new (mLocalInertiaTensors + index) Vector3(1.0, 1.0, 1.0);
new (mInverseInertiaTensorsLocal + index) Vector3(1.0, 1.0, 1.0);
new (mConstrainedLinearVelocities + index) Vector3(0, 0, 0);
new (mConstrainedAngularVelocities + index) Vector3(0, 0, 0);
new (mSplitLinearVelocities + index) Vector3(0, 0, 0);
new (mSplitAngularVelocities + index) Vector3(0, 0, 0);
new (mConstrainedPositions + index) Vector3(0, 0, 0);
new (mConstrainedOrientations + index) Quaternion(0, 0, 0, 1);
new (mCentersOfMassLocal + index) Vector3(0, 0, 0);
new (mCentersOfMassWorld + index) Vector3(component.worldPosition);
mIsGravityEnabled[index] = true;
mIsAlreadyInIsland[index] = false;
new (mJoints + index) List<Entity>(mMemoryAllocator);
// Map the entity with the new component lookup index
mMapEntityToComponentIndex.add(Pair<Entity, uint32>(bodyEntity, index));
mNbComponents++;
assert(mDisabledStartIndex <= mNbComponents);
assert(mNbComponents == static_cast<uint32>(mMapEntityToComponentIndex.size()));
}
// Move a component from a source to a destination index in the components array
// The destination location must contain a constructed object
void RigidBodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) {
const Entity entity = mBodiesEntities[srcIndex];
// Copy the data of the source component to the destination location
new (mBodiesEntities + destIndex) Entity(mBodiesEntities[srcIndex]);
mRigidBodies[destIndex] = mRigidBodies[srcIndex];
mIsAllowedToSleep[destIndex] = mIsAllowedToSleep[srcIndex];
mIsSleeping[destIndex] = mIsSleeping[srcIndex];
mSleepTimes[destIndex] = mSleepTimes[srcIndex];
mBodyTypes[destIndex] = mBodyTypes[srcIndex];
new (mLinearVelocities + destIndex) Vector3(mLinearVelocities[srcIndex]);
new (mAngularVelocities + destIndex) Vector3(mAngularVelocities[srcIndex]);
new (mExternalForces + destIndex) Vector3(mExternalForces[srcIndex]);
new (mExternalTorques + destIndex) Vector3(mExternalTorques[srcIndex]);
mLinearDampings[destIndex] = mLinearDampings[srcIndex];
mAngularDampings[destIndex] = mAngularDampings[srcIndex];
mMasses[destIndex] = mMasses[srcIndex];
mInverseMasses[destIndex] = mInverseMasses[srcIndex];
new (mLocalInertiaTensors + destIndex) Vector3(mLocalInertiaTensors[srcIndex]);
new (mInverseInertiaTensorsLocal + destIndex) Vector3(mInverseInertiaTensorsLocal[srcIndex]);
new (mConstrainedLinearVelocities + destIndex) Vector3(mConstrainedLinearVelocities[srcIndex]);
new (mConstrainedAngularVelocities + destIndex) Vector3(mConstrainedAngularVelocities[srcIndex]);
new (mSplitLinearVelocities + destIndex) Vector3(mSplitLinearVelocities[srcIndex]);
new (mSplitAngularVelocities + destIndex) Vector3(mSplitAngularVelocities[srcIndex]);
new (mConstrainedPositions + destIndex) Vector3(mConstrainedPositions[srcIndex]);
new (mConstrainedOrientations + destIndex) Quaternion(mConstrainedOrientations[srcIndex]);
new (mCentersOfMassLocal + destIndex) Vector3(mCentersOfMassLocal[srcIndex]);
new (mCentersOfMassWorld + destIndex) Vector3(mCentersOfMassWorld[srcIndex]);
mIsGravityEnabled[destIndex] = mIsGravityEnabled[srcIndex];
mIsAlreadyInIsland[destIndex] = mIsAlreadyInIsland[srcIndex];
new (mJoints + destIndex) List<Entity>(mJoints[srcIndex]);
// Destroy the source component
destroyComponent(srcIndex);
assert(!mMapEntityToComponentIndex.containsKey(entity));
// Update the entity to component index mapping
mMapEntityToComponentIndex.add(Pair<Entity, uint32>(entity, destIndex));
assert(mMapEntityToComponentIndex[mBodiesEntities[destIndex]] == destIndex);
}
// Swap two components in the array
void RigidBodyComponents::swapComponents(uint32 index1, uint32 index2) {
// Copy component 1 data
Entity entity1(mBodiesEntities[index1]);
RigidBody* body1 = mRigidBodies[index1];
bool isAllowedToSleep1 = mIsAllowedToSleep[index1];
bool isSleeping1 = mIsSleeping[index1];
decimal sleepTime1 = mSleepTimes[index1];
BodyType bodyType1 = mBodyTypes[index1];
Vector3 linearVelocity1(mLinearVelocities[index1]);
Vector3 angularVelocity1(mAngularVelocities[index1]);
Vector3 externalForce1(mExternalForces[index1]);
Vector3 externalTorque1(mExternalTorques[index1]);
decimal linearDamping1 = mLinearDampings[index1];
decimal angularDamping1 = mAngularDampings[index1];
decimal mass1 = mMasses[index1];
decimal inverseMass1 = mInverseMasses[index1];
Vector3 inertiaTensorLocal1 = mLocalInertiaTensors[index1];
Vector3 inertiaTensorLocalInverse1 = mInverseInertiaTensorsLocal[index1];
Vector3 constrainedLinearVelocity1(mConstrainedLinearVelocities[index1]);
Vector3 constrainedAngularVelocity1(mConstrainedAngularVelocities[index1]);
Vector3 splitLinearVelocity1(mSplitLinearVelocities[index1]);
Vector3 splitAngularVelocity1(mSplitAngularVelocities[index1]);
Vector3 constrainedPosition1 = mConstrainedPositions[index1];
Quaternion constrainedOrientation1 = mConstrainedOrientations[index1];
Vector3 centerOfMassLocal1 = mCentersOfMassLocal[index1];
Vector3 centerOfMassWorld1 = mCentersOfMassWorld[index1];
bool isGravityEnabled1 = mIsGravityEnabled[index1];
bool isAlreadyInIsland1 = mIsAlreadyInIsland[index1];
List<Entity> joints1 = mJoints[index1];
// Destroy component 1
destroyComponent(index1);
moveComponentToIndex(index2, index1);
// Reconstruct component 1 at component 2 location
new (mBodiesEntities + index2) Entity(entity1);
mRigidBodies[index2] = body1;
mIsAllowedToSleep[index2] = isAllowedToSleep1;
mIsSleeping[index2] = isSleeping1;
mSleepTimes[index2] = sleepTime1;
mBodyTypes[index2] = bodyType1;
new (mLinearVelocities + index2) Vector3(linearVelocity1);
new (mAngularVelocities + index2) Vector3(angularVelocity1);
new (mExternalForces + index2) Vector3(externalForce1);
new (mExternalTorques + index2) Vector3(externalTorque1);
mLinearDampings[index2] = linearDamping1;
mAngularDampings[index2] = angularDamping1;
mMasses[index2] = mass1;
mInverseMasses[index2] = inverseMass1;
mLocalInertiaTensors[index2] = inertiaTensorLocal1;
mInverseInertiaTensorsLocal[index2] = inertiaTensorLocalInverse1;
new (mConstrainedLinearVelocities + index2) Vector3(constrainedLinearVelocity1);
new (mConstrainedAngularVelocities + index2) Vector3(constrainedAngularVelocity1);
new (mSplitLinearVelocities + index2) Vector3(splitLinearVelocity1);
new (mSplitAngularVelocities + index2) Vector3(splitAngularVelocity1);
mConstrainedPositions[index2] = constrainedPosition1;
mConstrainedOrientations[index2] = constrainedOrientation1;
mCentersOfMassLocal[index2] = centerOfMassLocal1;
mCentersOfMassWorld[index2] = centerOfMassWorld1;
mIsGravityEnabled[index2] = isGravityEnabled1;
mIsAlreadyInIsland[index2] = isAlreadyInIsland1;
new (mJoints + index2) List<Entity>(joints1);
// Update the entity to component index mapping
mMapEntityToComponentIndex.add(Pair<Entity, uint32>(entity1, index2));
assert(mMapEntityToComponentIndex[mBodiesEntities[index1]] == index1);
assert(mMapEntityToComponentIndex[mBodiesEntities[index2]] == index2);
assert(mNbComponents == static_cast<uint32>(mMapEntityToComponentIndex.size()));
}
// Destroy a component at a given index
void RigidBodyComponents::destroyComponent(uint32 index) {
Components::destroyComponent(index);
assert(mMapEntityToComponentIndex[mBodiesEntities[index]] == index);
mMapEntityToComponentIndex.remove(mBodiesEntities[index]);
mBodiesEntities[index].~Entity();
mRigidBodies[index] = nullptr;
mLinearVelocities[index].~Vector3();
mAngularVelocities[index].~Vector3();
mExternalForces[index].~Vector3();
mExternalTorques[index].~Vector3();
mLocalInertiaTensors[index].~Vector3();
mInverseInertiaTensorsLocal[index].~Vector3();
mConstrainedLinearVelocities[index].~Vector3();
mConstrainedAngularVelocities[index].~Vector3();
mSplitLinearVelocities[index].~Vector3();
mSplitAngularVelocities[index].~Vector3();
mConstrainedPositions[index].~Vector3();
mConstrainedOrientations[index].~Quaternion();
mCentersOfMassLocal[index].~Vector3();
mCentersOfMassWorld[index].~Vector3();
mJoints[index].~List<Entity>();
}