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#include "physics.hpp"
#include "components.hpp"
#include "dynamic-array.hpp"
#include "game-settings.hpp"
#include <LinearMath/btAlignedAllocator.h>
#include <btBulletDynamicsCommon.h>
#include <BulletCollision/BroadphaseCollision/btOverlappingPairCache.h>
#include <BulletDynamics/Dynamics/btRigidBody.h>
TypeSafeInt_B(PhysicsCollision);
MemBucket *MemBkt_Bullet = nullptr;
btDiscreteDynamicsWorld *BtDynamicsWorld = nullptr;
struct AllocedData {
void *data;
std::size_t size;
};
DynArray<AllocedData> *bulletAllocs;
btDefaultCollisionConfiguration *btConfiguration = nullptr;
btCollisionDispatcher *btDispatcher = nullptr;
btBroadphaseInterface *btBroadphase = nullptr;
btConstraintSolver *btSolver = nullptr;
void *pke_btAlignedAllocFunc(size_t size, int alignment) {
void *ptr = Pke_New(size, alignment, MemBkt_Bullet);
bulletAllocs->Push({ptr, size});
return ptr;
}
void pke_btAlignedFreeFunc(void *memBlock) {
auto &arr = *bulletAllocs;
auto count = arr.Count();
long index = -1;
for (long i = 0; i < count; ++i) {
if (arr[i].data == memBlock) {
index = i;
break;
}
}
assert(index != -1);
Pke_Delete(const_cast<void *>(memBlock), arr[index].size, MemBkt_Bullet);
bulletAllocs->Remove(index);
}
void *pke_btAllocFunc(size_t size) {
void *ptr = Pke_New(size, MINIMUM_ALIGNMENT, MemBkt_Bullet);
bulletAllocs->Push({ptr, size});
return ptr;
}
void pke_btFreeFunc(void *memBlock) {
auto &arr = *bulletAllocs;
auto count = arr.Count();
long index = -1;
for (long i = 0; i < count; ++i) {
if (arr[i].data == memBlock) {
index = i;
break;
}
}
assert(index != -1);
Pke_Delete(const_cast<void *>(memBlock), arr[index].size, MemBkt_Bullet);
bulletAllocs->Remove(index);
}
struct CollisionHandlerStruct : public btOverlapFilterCallback {
~CollisionHandlerStruct() override {}
bool needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) const override {
return (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) ||
(proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
}
} collisionHandlerStruct;
void Physics_Init() {
MemBkt_Bullet = Pke_BeginTransientBucket();
bulletAllocs = Pke_New<DynArray<AllocedData>>(MemBkt_Bullet);
new (bulletAllocs) DynArray<AllocedData>(MemBkt_Bullet);
bulletAllocs->Reserve(1024);
btAlignedAllocSetCustom(pke_btAllocFunc, pke_btFreeFunc);
btAlignedAllocSetCustomAligned(pke_btAlignedAllocFunc, pke_btAlignedFreeFunc);
btConfiguration = Pke_New<btDefaultCollisionConfiguration>(MemBkt_Bullet);
btDispatcher = Pke_New<btCollisionDispatcher>(MemBkt_Bullet);
new (btDispatcher) btCollisionDispatcher(btConfiguration);
btBroadphase = Pke_New<btDbvtBroadphase>(MemBkt_Bullet);
#if 1
btHashedOverlappingPairCache *overlappingPairCache = Pke_New<btHashedOverlappingPairCache>(MemBkt_Bullet);
overlappingPairCache->setOverlapFilterCallback(&collisionHandlerStruct);
new (btBroadphase) btDbvtBroadphase(overlappingPairCache);
#else
new (btBroadphase) btDbvtBroadphase();
#endif
btSolver = Pke_New<btSequentialImpulseConstraintSolver>(MemBkt_Bullet);
BtDynamicsWorld = Pke_New<btDiscreteDynamicsWorld>(MemBkt_Bullet);
new (BtDynamicsWorld) btDiscreteDynamicsWorld(btDispatcher, btBroadphase, btSolver, btConfiguration);
}
int32_t Physics_Tick(double delta) {
if (pkeSettings.isSimulationPaused == true)
return 0;
return BtDynamicsWorld->stepSimulation(delta, 1);
}
void Physics_Teardown() {
Pke_EndTransientBucket(MemBkt_Bullet);
}
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