Added support for MutableCompoundShape

jrouwe · May 29, 2024 · fcf5f5d · fcf5f5d
1 parent 7b1c6bf
commit fcf5f5d
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Showing 3 changed files with 58 additions and 5 deletions.
diff --git a/Examples/falling_shapes.html b/Examples/falling_shapes.html
@@ -38,12 +38,12 @@
 
 				function generateObject() {
 
-					let numTypes = 8;
+					let numTypes = 9;
 					let objectType = Math.ceil(Math.random() * numTypes);
 
 					let shape = null;
 
-					let colors = [0xff0000, 0xd9b1a3, 0x4d4139, 0xccad33, 0xf2ff40, 0x00ff00, 0x165943, 0x567371, 0x80d5ff, 0x69778c, 0xbeb6f2, 0x7159b3, 0x73004d, 0xd90074, 0xff8091, 0xbf3030, 0x592400, 0xa66c29, 0xb3aa86, 0x296600, 0x00e600, 0x66ccaa, 0x00eeff, 0x3d9df2, 0x000e33, 0x3d00e6, 0xb300a7, 0xff80d5, 0x330d17, 0x59332d, 0xff8c40, 0x33210d, 0x403c00, 0x89d96c, 0x0d3312, 0x0d3330, 0x005c73, 0x0066ff, 0x334166, 0x1b0066, 0x4d3949, 0xbf8faf, 0x59000c]
+					let colors = [0xff0000, 0xd9b1a3, 0x4d4139, 0xccad33, 0xf2ff40, 0x00ff00, 0x165943, 0x567371, 0x80d5ff, 0x69778c, 0xbeb6f2, 0x7159b3, 0x73004d, 0xd90074, 0xff8091, 0xbf3030, 0x592400, 0xa66c29, 0xb3aa86, 0x296600, 0x00e600, 0x66ccaa, 0x00eeff, 0x3d9df2, 0x000e33, 0x3d00e6, 0xb300a7, 0xff80d5, 0x330d17, 0x59332d, 0xff8c40, 0x33210d, 0x403c00, 0x89d96c, 0x0d3312, 0x0d3330, 0x005c73, 0x0066ff, 0x334166, 0x1b0066, 0x4d3949, 0xbf8faf, 0x59000c, 0x0000ff]
 
 					switch (objectType) {
 						case 1: {
@@ -97,7 +97,7 @@
 						}
 
 						case 7: {
-							// Compound shape
+							// Static compound shape
 							let shapeSettings = new Jolt.StaticCompoundShapeSettings();
 							let l = 1.0 + Math.random();
 							let r2 = 0.5 + 0.5 * Math.random();
@@ -110,6 +110,19 @@
 						}
 
 						case 8: {
+							// Mutable compound shape
+							let shapeSettings = new Jolt.MutableCompoundShapeSettings();
+							let l = 1.0 + Math.random();
+							let r2 = 0.5 + 0.5 * Math.random();
+							let r1 = 0.5 * r2;
+							shapeSettings.AddShape(new Jolt.Vec3(-l, 0, 0), Jolt.Quat.prototype.sIdentity(), new Jolt.SphereShapeSettings(r2));
+							shapeSettings.AddShape(new Jolt.Vec3(l, 0, 0), Jolt.Quat.prototype.sIdentity(), new Jolt.BoxShapeSettings(Jolt.Vec3.prototype.sReplicate(r2)));
+							shapeSettings.AddShape(new Jolt.Vec3(0, 0, 0), Jolt.Quat.prototype.sRotation(new Jolt.Vec3(0, 0, 1), 0.5 * Math.PI), new Jolt.CapsuleShapeSettings(l, r1));
+							shape = shapeSettings.Create().Get();
+							break;
+						}
+
+						case 9: {
 							// Sphere with COM offset
 							let radius = 0.5;
 							shape = new Jolt.OffsetCenterOfMassShapeSettings(new Jolt.Vec3(0, -0.1 * radius, 0), new Jolt.SphereShapeSettings(radius, null)).Create().Get();

diff --git a/JoltJS.h b/JoltJS.h
@@ -22,6 +22,7 @@
 #include "Jolt/Physics/Collision/Shape/CylinderShape.h"
 #include "Jolt/Physics/Collision/Shape/ConvexHullShape.h"
 #include "Jolt/Physics/Collision/Shape/StaticCompoundShape.h"
+#include "Jolt/Physics/Collision/Shape/MutableCompoundShape.h"
 #include "Jolt/Physics/Collision/Shape/ScaledShape.h"
 #include "Jolt/Physics/Collision/Shape/OffsetCenterOfMassShape.h"
 #include "Jolt/Physics/Collision/Shape/RotatedTranslatedShape.h"
@@ -89,6 +90,8 @@ using ArrayFloat = Array<float>;
 using ArrayUint = Array<uint>;
 using ArrayUint8 = Array<uint8>;
 using Vec3MemRef = Vec3;
+using QuatMemRef = Quat;
+using ArrayQuat = Array<Quat>;
 using Mat44MemRef = Mat44;
 using ArrayMat44 = Array<Mat44>;
 using FloatMemRef = float;

diff --git a/JoltJS.idl b/JoltJS.idl
@@ -18,6 +18,17 @@ interface ArrayVec3 {
 	Vec3MemRef data();
 };
 
+interface ArrayQuat {
+	boolean empty();
+	long size();
+	[Ref] Quat at(long inIndex);
+	void push_back([Const, Ref] Quat inValue);
+	void reserve(unsigned long inSize);
+	void resize(unsigned long inSize);
+	void clear();
+	QuatMemRef data();
+};
+
 interface ArrayMat44 {
 	boolean empty();
 	long size();
@@ -219,6 +230,9 @@ enum SoftBodySharedSettings_ELRAType {
 interface Vec3MemRef {
 };
 
+interface QuatMemRef {
+};
+
 interface Mat44MemRef {
 };
 
@@ -838,6 +852,12 @@ interface ConvexHullShape {
 ConvexHullShape implements ConvexShape;
 
 // Compound shape
+interface CompoundShapeSettings {
+	void AddShape([Const, Ref] Vec3 inPosition, [Const, Ref] Quat inRotation, [Const] ShapeSettings inShape, unsigned long inUserData);
+};
+
+CompoundShapeSettings implements ShapeSettings;
+
 interface CompoundShapeSubShape {
 	[Value] Vec3 GetPositionCOM();
 	[Value] Quat GetRotation();
@@ -856,16 +876,33 @@ CompoundShape implements Shape;
 // Static compound
 interface StaticCompoundShapeSettings {
 	void StaticCompoundShapeSettings();
-	void AddShape([Const, Ref] Vec3 inPosition, [Const, Ref] Quat inRotation, [Const] ShapeSettings inShape, unsigned long inUserData);
 };
 
-StaticCompoundShapeSettings implements ShapeSettings;
+StaticCompoundShapeSettings implements CompoundShapeSettings;
 
 interface StaticCompoundShape {
 };
 
 StaticCompoundShape implements CompoundShape;
 
+// Mutable compound
+interface MutableCompoundShapeSettings {
+	void MutableCompoundShapeSettings();
+};
+
+MutableCompoundShapeSettings implements CompoundShapeSettings;
+
+interface MutableCompoundShape {
+	unsigned long AddShape([Const, Ref] Vec3 inPosition, [Const, Ref] Quat inRotation, Shape inShape, unsigned long inUserData);
+	void RemoveShape(unsigned long inIndex);
+	void ModifyShape(unsigned long inIndex, [Const, Ref] Vec3 inPosition, [Const, Ref] Quat inRotation);
+	void ModifyShape(unsigned long inIndex, [Const, Ref] Vec3 inPosition, [Const, Ref] Quat inRotation, Shape inShape);
+	void ModifyShapes(unsigned long inStartIndex, unsigned long inNumber, Vec3MemRef inPositions, QuatMemRef inRotations);
+	void AdjustCenterOfMass();
+};
+
+MutableCompoundShape implements CompoundShape;
+
 // Decorated shape
 interface DecoratedShapeSettings {
 };