204 lines
11 KiB
C++
204 lines
11 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2022 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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// Libraries
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#include <reactphysics3d/components/JointComponents.h>
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#include <reactphysics3d/engine/EntityManager.h>
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#include <cassert>
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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// Constructor
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JointComponents::JointComponents(MemoryAllocator& allocator)
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:Components(allocator, sizeof(Entity) + sizeof(Entity) + sizeof(Entity) + sizeof(Joint*) +
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sizeof(JointType) + sizeof(JointsPositionCorrectionTechnique) + sizeof(bool) +
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sizeof(bool), 8 * GLOBAL_ALIGNMENT) {
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}
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// Allocate memory for a given number of components
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void JointComponents::allocate(uint32 nbComponentsToAllocate) {
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assert(nbComponentsToAllocate > mNbAllocatedComponents);
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// Size for the data of a single component (in bytes)
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const size_t totalSizeBytes = nbComponentsToAllocate * mComponentDataSize + mAlignmentMarginSize;
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// Allocate memory
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void* newBuffer = mMemoryAllocator.allocate(totalSizeBytes);
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assert(newBuffer != nullptr);
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assert(reinterpret_cast<uintptr_t>(newBuffer) % GLOBAL_ALIGNMENT == 0);
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// New pointers to components data
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Entity* newJointsEntities = static_cast<Entity*>(newBuffer);
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Entity* newBody1Entities = reinterpret_cast<Entity*>(MemoryAllocator::alignAddress(newJointsEntities + nbComponentsToAllocate, GLOBAL_ALIGNMENT));
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assert(reinterpret_cast<uintptr_t>(newBody1Entities) % GLOBAL_ALIGNMENT == 0);
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Entity* newBody2Entities = reinterpret_cast<Entity*>(MemoryAllocator::alignAddress(newBody1Entities + nbComponentsToAllocate, GLOBAL_ALIGNMENT));
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assert(reinterpret_cast<uintptr_t>(newBody2Entities) % GLOBAL_ALIGNMENT == 0);
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Joint** newJoints = reinterpret_cast<Joint**>(MemoryAllocator::alignAddress(newBody2Entities + nbComponentsToAllocate, GLOBAL_ALIGNMENT));
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assert(reinterpret_cast<uintptr_t>(newJoints) % GLOBAL_ALIGNMENT == 0);
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JointType* newTypes = reinterpret_cast<JointType*>(MemoryAllocator::alignAddress(newJoints + nbComponentsToAllocate, GLOBAL_ALIGNMENT));
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assert(reinterpret_cast<uintptr_t>(newTypes) % GLOBAL_ALIGNMENT == 0);
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JointsPositionCorrectionTechnique* newPositionCorrectionTechniques = reinterpret_cast<JointsPositionCorrectionTechnique*>(MemoryAllocator::alignAddress(newTypes + nbComponentsToAllocate, GLOBAL_ALIGNMENT));
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assert(reinterpret_cast<uintptr_t>(newPositionCorrectionTechniques) % GLOBAL_ALIGNMENT == 0);
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bool* newIsCollisionEnabled = reinterpret_cast<bool*>(MemoryAllocator::alignAddress(newPositionCorrectionTechniques + nbComponentsToAllocate, GLOBAL_ALIGNMENT));
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assert(reinterpret_cast<uintptr_t>(newIsCollisionEnabled) % GLOBAL_ALIGNMENT == 0);
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bool* newIsAlreadyInIsland = reinterpret_cast<bool*>(MemoryAllocator::alignAddress(newIsCollisionEnabled + nbComponentsToAllocate, GLOBAL_ALIGNMENT));
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assert(reinterpret_cast<uintptr_t>(newIsAlreadyInIsland) % GLOBAL_ALIGNMENT == 0);
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assert(reinterpret_cast<uintptr_t>(newIsAlreadyInIsland + nbComponentsToAllocate) <= reinterpret_cast<uintptr_t>(newBuffer) + totalSizeBytes);
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// If there was already components before
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if (mNbComponents > 0) {
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// Copy component data from the previous buffer to the new one
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memcpy(newJointsEntities, mJointEntities, mNbComponents * sizeof(Entity));
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memcpy(newBody1Entities, mBody1Entities, mNbComponents * sizeof(Entity));
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memcpy(newBody2Entities, mBody2Entities, mNbComponents * sizeof(Entity));
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memcpy(newJoints, mJoints, mNbComponents * sizeof(Joint*));
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memcpy(newTypes, mTypes, mNbComponents * sizeof(JointType));
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memcpy(newPositionCorrectionTechniques, mPositionCorrectionTechniques, mNbComponents * sizeof(JointsPositionCorrectionTechnique));
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memcpy(newIsCollisionEnabled, mIsCollisionEnabled, mNbComponents * sizeof(bool));
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memcpy(newIsAlreadyInIsland, mIsAlreadyInIsland, mNbComponents * sizeof(bool));
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// Deallocate previous memory
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mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize);
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}
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mBuffer = newBuffer;
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mNbAllocatedComponents = nbComponentsToAllocate;
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mJointEntities = newJointsEntities;
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mBody1Entities = newBody1Entities;
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mBody2Entities = newBody2Entities;
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mJoints = newJoints;
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mTypes = newTypes;
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mPositionCorrectionTechniques = newPositionCorrectionTechniques;
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mIsCollisionEnabled = newIsCollisionEnabled;
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mIsAlreadyInIsland = newIsAlreadyInIsland;
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}
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// Add a component
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void JointComponents::addComponent(Entity jointEntity, bool isSleeping, const JointComponent& component) {
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// Prepare to add new component (allocate memory if necessary and compute insertion index)
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uint32 index = prepareAddComponent(isSleeping);
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// Insert the new component data
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new (mJointEntities + index) Entity(jointEntity);
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new (mBody1Entities + index) Entity(component.body1Entity);
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new (mBody2Entities + index) Entity(component.body2Entity);
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mJoints[index] = component.joint;
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new (mTypes + index) JointType(component.jointType);
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new (mPositionCorrectionTechniques + index) JointsPositionCorrectionTechnique(component.positionCorrectionTechnique);
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mIsCollisionEnabled[index] = component.isCollisionEnabled;
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mIsAlreadyInIsland[index] = false;
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// Map the entity with the new component lookup index
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mMapEntityToComponentIndex.add(Pair<Entity, uint32>(jointEntity, index));
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mNbComponents++;
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assert(mDisabledStartIndex <= mNbComponents);
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assert(mNbComponents == static_cast<uint32>(mMapEntityToComponentIndex.size()));
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}
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// Move a component from a source to a destination index in the components array
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// The destination location must contain a constructed object
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void JointComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) {
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const Entity entity = mJointEntities[srcIndex];
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// Copy the data of the source component to the destination location
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new (mJointEntities + destIndex) Entity(mJointEntities[srcIndex]);
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new (mBody1Entities + destIndex) Entity(mBody1Entities[srcIndex]);
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new (mBody2Entities + destIndex) Entity(mBody2Entities[srcIndex]);
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mJoints[destIndex] = mJoints[srcIndex];
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new (mTypes + destIndex) JointType(mTypes[srcIndex]);
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new (mPositionCorrectionTechniques + destIndex) JointsPositionCorrectionTechnique(mPositionCorrectionTechniques[srcIndex]);
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mIsCollisionEnabled[destIndex] = mIsCollisionEnabled[srcIndex];
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mIsAlreadyInIsland[destIndex] = mIsAlreadyInIsland[srcIndex];
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// Destroy the source component
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destroyComponent(srcIndex);
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assert(!mMapEntityToComponentIndex.containsKey(entity));
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// Update the entity to component index mapping
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mMapEntityToComponentIndex.add(Pair<Entity, uint32>(entity, destIndex));
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assert(mMapEntityToComponentIndex[mJointEntities[destIndex]] == destIndex);
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}
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// Swap two components in the array
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void JointComponents::swapComponents(uint32 index1, uint32 index2) {
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// Copy component 1 data
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Entity jointEntity1(mJointEntities[index1]);
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Entity body1Entity1(mBody1Entities[index1]);
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Entity body2Entity1(mBody2Entities[index1]);
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Joint* joint1 = mJoints[index1];
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JointType jointType1(mTypes[index1]);
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JointsPositionCorrectionTechnique positionCorrectionTechnique1(mPositionCorrectionTechniques[index1]);
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bool isCollisionEnabled1 = mIsCollisionEnabled[index1];
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bool isAlreadyInIsland = mIsAlreadyInIsland[index1];
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// Destroy component 1
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destroyComponent(index1);
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moveComponentToIndex(index2, index1);
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// Reconstruct component 1 at component 2 location
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new (mJointEntities + index2) Entity(jointEntity1);
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new (mBody1Entities + index2) Entity(body1Entity1);
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new (mBody2Entities + index2) Entity(body2Entity1);
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mJoints[index2] = joint1;
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new (mTypes + index2) JointType(jointType1);
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new (mPositionCorrectionTechniques + index2) JointsPositionCorrectionTechnique(positionCorrectionTechnique1);
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mIsCollisionEnabled[index2] = isCollisionEnabled1;
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mIsAlreadyInIsland[index2] = isAlreadyInIsland;
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// Update the entity to component index mapping
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mMapEntityToComponentIndex.add(Pair<Entity, uint32>(jointEntity1, index2));
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assert(mMapEntityToComponentIndex[mJointEntities[index1]] == index1);
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assert(mMapEntityToComponentIndex[mJointEntities[index2]] == index2);
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assert(mNbComponents == static_cast<uint32>(mMapEntityToComponentIndex.size()));
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}
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// Destroy a component at a given index
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void JointComponents::destroyComponent(uint32 index) {
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Components::destroyComponent(index);
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assert(mMapEntityToComponentIndex[mJointEntities[index]] == index);
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mMapEntityToComponentIndex.remove(mJointEntities[index]);
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mJointEntities[index].~Entity();
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mBody1Entities[index].~Entity();
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mBody2Entities[index].~Entity();
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mJoints[index] = nullptr;
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}
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