add Collider prototype

Mx/Component/RigidBody/MxRigidBody.cpp

@@ -7,55 +7,33 @@
 namespace Mix {
     MX_IMPLEMENT_RTTI(RigidBody, Behaviour)
 
-    struct RigidBody::LifeTimeManager {
-        ~LifeTimeManager() {
-            for(auto* shape : shapes)
-                delete shape;
-        }
-
-        void addShape(btCollisionShape* _shape) {
-            if(!_shape) return;
-            if(_shape->isCompound()) {
-                auto cs = static_cast<btCompoundShape*>(_shape);
-                for(auto idx = cs->getNumChildShapes() - 1; idx >= 0; --idx)
-                    addShape(cs->getChildShape(idx));
-            }
-            shapes.insert(_shape);
-        }
-
-        //btAlignedObjectArray<btCollisionShape*> shapes;
-        std::set<btCollisionShape*> shapes;
-    };
-
-    RigidBody::LifeTimeManager RigidBody::ltm;
-
     RigidBody::RigidBody() : mMass(.0),
                              mShape(nullptr),
                              mRigidBody(nullptr),
                              mFilter(false, 0, 0),
                              mWorld(nullptr) {}
 
-    RigidBody::RigidBody(const btScalar _mass, const Transform& _startTrans, btCollisionShape* _shape)
-        : RigidBody(Physics::RigidBodyConstructionInfo(_mass, Physics::mx_bt_cast(_startTrans), _shape)) {}
+    RigidBody::RigidBody(const btScalar _mass, const Transform& _startTrans, const std::shared_ptr<btCollisionShape>& _shape)
+        : RigidBody(Physics::RigidBodyConstructionInfo(_mass, Physics::mx_bt_cast(_startTrans), _shape.get())) {
+        mShape = _shape;
+    }
 
     RigidBody::RigidBody(const Physics::RigidBodyConstructionInfo& _info) : mMass(_info.mass),
-                                                                            mShape(_info.shape),
+                                                                            mShape(nullptr),
                                                                             mRigidBody(nullptr),
                                                                             mFilter(false, 0, 0),
                                                                             mWorld(nullptr) {
-        ltm.addShape(mShape);
         mRigidBody = CreateBtRb(_info);
         mRigidBody->setUserPointer(&mThisHandle);
     }
 
     RigidBody::RigidBody(const Physics::RigidBodyConstructionInfo& _info,
                          const int _group,
                          const int _mask) : mMass(_info.mass),
-                                            mShape(_info.shape),
+                                            mShape(nullptr),
                                             mRigidBody(nullptr),
                                             mFilter(true, _group, _mask),
                                             mWorld(nullptr) {
-        ltm.addShape(mShape);
         mRigidBody = CreateBtRb(_info);
         mRigidBody->setUserPointer(&mThisHandle);
     }
@@ -90,7 +68,7 @@ namespace Mix {
             mass = 0;
         else {
             mass = mMass;
-            mShape->calculateLocalInertia(mass, inertia);
+            mRigidBody->getCollisionShape()->calculateLocalInertia(mass, inertia);
         }
         mRigidBody->setMassProps(mass, inertia);
         mRigidBody->updateInertiaTensor();
@@ -187,14 +165,13 @@ namespace Mix {
 
     void RigidBody::update() {
         auto ms = static_cast<Physics::MotionState*>(mRigidBody->getMotionState());
-        if(ms->interpolation() == Physics::RigidbodyInterpolation::NONE)
+        if(ms->interpolation() == Physics::RigidbodyInterpolation::None)
             return;
-        // todo: sync by Transform
         Physics::bt_mx_cast(ms->interpolatedTransform(), mGameObject->transform());
     }
 
     void RigidBody::fixedUpdate() {
-        //                         Should be Physics::MotionState
+        //                         should be Physics::MotionState
         Physics::bt_mx_cast(static_cast<Physics::MotionState*>(mRigidBody->getMotionState())
                             ->getWorldTransform(), mGameObject->transform());
     }

Mx/Component/RigidBody/MxRigidBody.h

@@ -20,7 +20,7 @@ namespace Mix {
         struct RigidBodyConstructionInfo;
     }
 
-    /** Bug: RigidBody on a child GameObject whose parent has one might not be altered correctly. */
+    /** Bug: RigidBody on a child GameObject might not behave correctly. */
     class RigidBody final : public Behaviour {
     MX_DECLARE_RTTI;
 
@@ -32,8 +32,12 @@ namespace Mix {
 
         /** @note Default ctor is for RTTI. DO NOT use this ctor. */
         RigidBody();
-        /** @note Refer to Physics::RigidBodyConstructionInfo for param info. */
-        RigidBody(const btScalar _mass, const Transform& _startTrans, btCollisionShape* _shape);
+        /**
+         *  @param _mass Mass. 0 creates a static rigid body i.e. btCollisionObject::CF_STATIC_OBJECT
+         *  @param _startTrans Start transform.
+         *  @param _shape Collision shape / Collider. DO NOT use std::make_shared on btCollisionShape in case of which align problems may occur.
+         */
+        RigidBody(const btScalar _mass, const Transform& _startTrans, const std::shared_ptr<btCollisionShape>& _shape);
         RigidBody(const Physics::RigidBodyConstructionInfo& _info);
         /**
          *  @param _group Filter group.
@@ -48,7 +52,7 @@ namespace Mix {
         const auto& get() const noexcept { return *mRigidBody; }
 
         // ----- dirty codes -----
-        // todo: move to an utility class
+        // todo: use Event system
 
         /**
          *  @brief Register call back functions of onTriggerEnter()
@@ -82,6 +86,7 @@ namespace Mix {
         bool isTrigger() const { return !mRigidBody->hasContactResponse(); }
         void setTrigger(const bool _flag) const;
 
+        /** @brief Disable deactivation of the rigid body thus it can be controlled by user input. */
         void disableDeactivation() const { mRigidBody->setActivationState(DISABLE_DEACTIVATION); }
         void enableDeactivation() const { mRigidBody->forceActivationState(ACTIVE_TAG); }
 
@@ -118,20 +123,17 @@ namespace Mix {
         // todo: other interfaces
 
     private:
-        struct LifeTimeManager;
-        static LifeTimeManager ltm;
-
         btScalar mMass;
-        btCollisionShape* mShape;
+        std::shared_ptr<btCollisionShape> mShape;
         btRigidBody* mRigidBody;
         std::tuple<bool, int, int> mFilter;
         btDiscreteDynamicsWorld* mWorld;
 
         Signal mEnterSignal, mExitSignal;
-        void onTriggerEnter(HRigidBody _other) { mEnterSignal(_other); }
-        void onTriggerExit(HRigidBody _other) { mExitSignal(_other); }
+        void onTriggerEnter(HRigidBody _other) { mEnterSignal(std::move(_other)); }
+        void onTriggerExit(HRigidBody _other) { mExitSignal(std::move(_other)); }
 
-        /** @brief A utility function to create btRigidBody from RigidBodyConstructionInfo */
+        /** @brief A utility function that creates btRigidBody from RigidBodyConstructionInfo */
         static btRigidBody* CreateBtRb(const Physics::RigidBodyConstructionInfo& _info);
 
         void _forceReload() const {

Mx/Exceptions/MxExceptions.hpp

@@ -33,14 +33,6 @@ namespace Mix {
         std::string mWhat;
     };
 
-    MX_DECLARE_RUNTIME_ERROR(ComponentCastingError, [ERROR] Cannot cast type to Component)
-
-        class IndependentComponentError final : public std::runtime_error {
-        public:
-            explicit IndependentComponentError(const std::string& _name)
-                : std::runtime_error("[ERROR] Component [" + _name + "] is not attached to a GameObject") {}
-    };
-
     class ThirdPartyLibInitError final : public std::runtime_error {
     public:
         explicit ThirdPartyLibInitError(const std::string& _libName)
@@ -49,8 +41,6 @@ namespace Mix {
 
     MX_DECLARE_RUNTIME_ERROR(WindowCreationError, [ERROR] Failed to create window)
 
-        MX_DECLARE_RUNTIME_ERROR(WindowIconLoadingError, [ERROR] Failed to load icon image)
-
 #ifndef MX_EXCEPT
 #define MX_EXCEPT(desc) \
     {\

Mx/Physics/MxColliderUtils.cpp

@@ -0,0 +1,36 @@
+#include "MxColliderUtils.h"
+#include "MxPhysicsUtils.hpp"
+#include "../Resource/MxResourceLoader.h"
+#include "../Resource/Model/MxModel.h"
+
+namespace Mix::Physics {
+    CompoundCollider createColliderFromFile(const std::string& _path,
+                                            std::vector<ConvexHullCollider>& _children) {
+        auto model = ResourceLoader::Get()->load<Model>(_path);
+        if(!model)
+            return nullptr;
+
+        auto& meshes = model->getMeshes();
+
+        CompoundCollider collider(new btCompoundShape(true, meshes.size()));
+
+        _children.clear();
+        _children.reserve(meshes.size());
+
+        btTransform identityTrans(btTransform::getIdentity());
+
+        for(const auto& mesh : meshes) {
+            const auto& vertices = mesh->getPositions();
+
+            ConvexHullCollider childShape(new btConvexHullShape);
+            for(const auto& v : vertices)
+                childShape->addPoint(Physics::mx_bt_cast(v), false);
+            childShape->recalcLocalAabb();
+            _children.emplace_back(childShape);
+
+            collider->addChildShape(identityTrans, childShape.get());
+        }
+
+        return collider;
+    }
+}

Mx/Physics/MxColliderUtils.h

@@ -0,0 +1,31 @@
+#pragma once
+
+#ifndef MX_COLLIDER_UTILS_H_
+#define MX_COLLIDER_UTILS_H_
+
+#include <bullet3/btBulletCollisionCommon.h>
+#include <vector>
+
+namespace Mix::Physics {
+    using Collider = std::shared_ptr<btCollisionShape>;
+
+    using BoxCollider = std::shared_ptr<btBoxShape>;
+    using CapsuleColliderX = std::shared_ptr<btCapsuleShapeX>;
+    using CapsuleColliderY = std::shared_ptr<btCapsuleShape>;
+    using CapsuleColliderZ = std::shared_ptr<btCapsuleShapeZ>;
+    using CompoundCollider = std::shared_ptr<btCompoundShape>;
+    using ConvexHullCollider = std::shared_ptr<btConvexHullShape>;
+    using SphereCollider = std::shared_ptr<btSphereShape>;
+
+    /**
+     *  @brief Create a collider according to a model file.
+     *  @param[in] _path Path to the file.
+     *  @param[out] _children Children shapes of the compound shape.
+     *  @return The collider built from the file. @code nullptr @endcode if file not found.
+     *  @attention CompoundCollider does NOT manage the lifetime of its children shapes internally.
+     */
+    CompoundCollider createColliderFromFile(const std::string& _path,
+                                            std::vector<ConvexHullCollider>& _children);
+}
+
+#endif

Mx/Physics/MxPhysicsDebugDraw.h

@@ -30,10 +30,10 @@ namespace Mix::Physics {
         void drawContactPoint(const btVector3& PointOnB, const btVector3& normalOnB, btScalar distance, int lifeTime, const btVector3& color) override;
 
         /** @note Not implemented yet */
-        void reportErrorWarning(const char* warningString) override { puts(warningString); }
+        void reportErrorWarning(const char* warningString) override {}
 
         /** @note Not implemented yet */
-        void draw3dText(const btVector3& location, const char* textString) override { puts(textString); }
+        void draw3dText(const btVector3& location, const char* textString) override {}
 
         /** @note See btIDebugDraw::DebugDrawModes */
         void setDebugMode(int debugMode) override { mDebugMode = debugMode; }

Mx/Physics/MxPhysicsDebugDrawImpl.hpp

@@ -3,15 +3,12 @@
 #ifndef MX_PHYSICS_DEBUG_DRAW_IMPL_H_
 #define MX_PHYSICS_DEBUG_DRAW_IMPL_H_
 
-// todo: delete debug code
-#include "../Scene/MxSceneManager.h"
-#include "../Component/Camera/MxCamera.h"
-#include "../Window/MxWindow.h"
-// -----
-
 #ifdef MX_ENABLE_PHYSICS_DEBUG_DRAW_
 
 #include "../Math/MxMatrix4.h"
+#include "../Window/MxWindow.h"
+#include "../Component/Camera/MxCamera.h"
+#include "../Scene/MxSceneManager.h"
 
 #include <SDL2/SDL_video.h>
 #include <glad/glad.h>
@@ -264,15 +261,13 @@ namespace Mix::Physics::DebugDrawImpl {
 
             mProgram->useSelf();
 
-            // todo: pass from Camera
+            // todo: set camera according to PhysicsScene
             static auto camera = SceneManager::Get()->getActiveScene()->getMainCamera();
-            {
-                auto model = Matrix4(1);
-                model[2][2] = -1;
-                mProgram->setUniform("model", model);
-                mProgram->setUniform("view", camera->getViewMat());
-                mProgram->setUniform("projection", camera->getProjMat());
-            }
+            auto model = Matrix4(1);
+            model[2][2] = -1;
+            mProgram->setUniform("model", model);
+            mProgram->setUniform("view", camera->getViewMat());
+            mProgram->setUniform("projection", camera->getProjMat());
 
             mVAO->bind();
             mVBO->fillData(mNewData, GL_DYNAMIC_DRAW);
@@ -294,6 +289,9 @@ namespace Mix::Physics::DebugDrawImpl {
         std::unique_ptr<glUtils::VertexBuffer> mVBO;
 
         std::vector<float> mNewData;
+
+        // todo
+        //HCamera mActiveCamera;
     };
 }
 

Mx/Physics/MxPhysicsUtils.hpp

@@ -32,7 +32,7 @@ namespace Mix::Physics {
     inline Transform& bt_mx_cast(const btTransform& _btTrans, Transform& _mxTrans, const bool _switchHandness = true) noexcept {
         _mxTrans.setPosition(bt_mx_cast(_btTrans.getOrigin(), _switchHandness));
         _mxTrans.setRotation(bt_mx_cast(_btTrans.getRotation(), _switchHandness));
-        return _mxTrans; // code symmetric
+        return _mxTrans; // for code symmetry
     }
 
     inline btVector3 mx_bt_cast(const Vector3f& _mxVec, const bool _switchHandness = true) noexcept {
@@ -51,35 +51,6 @@ namespace Mix::Physics {
         return btTransform(mx_bt_cast(_mxTrans.getRotation(), _switchHandness),
                            mx_bt_cast(_mxTrans.getPosition(), _switchHandness));
     }
-
-    //inline Transform& bt_mx_cast(const btTransform& _btTrans, Transform& _mxTrans) noexcept {
-    //    _mxTrans.setPosition({
-    //        -_btTrans.getOrigin().x(),
-    //        _btTrans.getOrigin().y(),
-    //        _btTrans.getOrigin().z()
-    //    });
-    //    _mxTrans.setRotation({
-    //        -_btTrans.getRotation().w(),
-    //        -_btTrans.getRotation().x(),
-    //        _btTrans.getRotation().y(),
-    //        _btTrans.getRotation().z()
-    //    });
-    //    return _mxTrans; // code symmetric
-    //}
-
-    //inline btTransform mx_bt_cast(const Transform& _mxTrans) noexcept {
-    //    return btTransform({
-    //                           -_mxTrans.getRotation().x,
-    //                           _mxTrans.getRotation().y,
-    //                           _mxTrans.getRotation().z,
-    //                           -_mxTrans.getRotation().w
-    //                       },
-    //                       {
-    //                           -_mxTrans.getPosition().x,
-    //                           _mxTrans.getPosition().y,
-    //                           _mxTrans.getPosition().z
-    //                       });
-    //}
 }
 
 #endif

Mx/Physics/MxPhysicsWorld.cpp

@@ -71,7 +71,7 @@ namespace Mix::Physics {
                 auto colObj = mWorld->getCollisionObjectArray()[i];
                 auto rb = btRigidBody::upcast(colObj);
                 if(rb) {
-                    // PLEASE use Physics::MotionState PLEASE
+                    // Should be Physics::MotionState
                     auto motionState = static_cast<MotionState*>(rb->getMotionState());
                     motionState->calculateInterpolatedTransform(_fixedDeltaTime, _smoothing);
                 }
@@ -161,17 +161,10 @@ namespace Mix::Physics {
             auto colObj0 = manifold->getBody0();
             auto colObj1 = manifold->getBody1();
 
-            // make colObj0 < colObj1
-            // swap manually in case std::swap be specialized
-            //if(colObj0 > colObj1) {
-            //    auto temp = colObj0;
-            //    colObj0 = colObj1;
-            //    colObj1 = temp;
-            //}
-
             auto rb0 = static_scene_object_cast<RigidBody>(*static_cast<HComponent*>(colObj0->getUserPointer()));
             auto rb1 = static_scene_object_cast<RigidBody>(*static_cast<HComponent*>(colObj1->getUserPointer()));
 
+            // make rb0 < rb1
             if(rb0->getInstanceId() > rb1->getInstanceId()) {
                 auto temp = rb0;
                 rb0 = rb1;

Mx/Physics/MxPhysicsWorld.h

@@ -58,6 +58,10 @@ namespace Mix {
             void render() const;
 #endif
 
+            /**
+             *  @brief 「ザ・ワールド」
+             *  @note Easter egg interface. NOT suggested to use in release.
+             */
             void theWorld() noexcept { mIsPaused = !mIsPaused; }
 
             RaycastHit raycast(const Vector3<float>& _origin,