1// Copyright (C) 2021 The Qt Company Ltd.
2// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR GPL-3.0-only
3
4#ifndef PHYSICSWORLD_H
5#define PHYSICSWORLD_H
6
7//
8// W A R N I N G
9// -------------
10//
11// This file is not part of the Qt API. It exists purely as an
12// implementation detail. This header file may change from version to
13// version without notice, or even be removed.
14//
15// We mean it.
16//
17
18#include <QtQuick3DPhysics/qtquick3dphysicsglobal.h>
19
20#include <QtCore/QLoggingCategory>
21#include <QtCore/QObject>
22#include <QtCore/QTimerEvent>
23#include <QtCore/QElapsedTimer>
24#include <QtGui/QVector3D>
25#include <QtQml/qqml.h>
26#include <QBasicTimer>
27
28#include <QtQuick3D/private/qquick3dviewport_p.h>
29
30namespace physx {
31class PxMaterial;
32class PxPhysics;
33class PxShape;
34class PxRigidDynamic;
35class PxRigidActor;
36class PxRigidStatic;
37class PxCooking;
38class PxControllerManager;
39class PxConvexMesh;
40class PxTriangleMesh;
41class PxHeightField;
42}
43
44QT_BEGIN_NAMESPACE
45
46Q_DECLARE_LOGGING_CATEGORY(lcQuick3dPhysics);
47
48class QAbstractPhysicsNode;
49class QAbstractCollisionShape;
50class QAbstractRigidBody;
51class QAbstractPhysXNode;
52class QQuick3DModel;
53class QQuick3DGeometry;
54class QQuick3DDefaultMaterial;
55class QPhysXWorld;
56
57class Q_QUICK3DPHYSICS_EXPORT QPhysicsWorld : public QObject, public QQmlParserStatus
58{
59 Q_OBJECT
60 Q_INTERFACES(QQmlParserStatus)
61 Q_PROPERTY(QVector3D gravity READ gravity WRITE setGravity NOTIFY gravityChanged)
62 Q_PROPERTY(bool running READ running WRITE setRunning NOTIFY runningChanged)
63 Q_PROPERTY(bool forceDebugDraw READ forceDebugDraw WRITE setForceDebugDraw NOTIFY
64 forceDebugDrawChanged)
65 Q_PROPERTY(bool enableCCD READ enableCCD WRITE setEnableCCD NOTIFY enableCCDChanged)
66 Q_PROPERTY(float typicalLength READ typicalLength WRITE setTypicalLength NOTIFY
67 typicalLengthChanged)
68 Q_PROPERTY(
69 float typicalSpeed READ typicalSpeed WRITE setTypicalSpeed NOTIFY typicalSpeedChanged)
70 Q_PROPERTY(float defaultDensity READ defaultDensity WRITE setDefaultDensity NOTIFY
71 defaultDensityChanged)
72 Q_PROPERTY(QQuick3DNode *viewport READ viewport WRITE setViewport NOTIFY viewportChanged
73 REVISION(6, 5))
74 Q_PROPERTY(float minimumTimestep READ minimumTimestep WRITE setMinimumTimestep NOTIFY
75 minimumTimestepChanged REVISION(6, 5))
76 Q_PROPERTY(float maximumTimestep READ maximumTimestep WRITE setMaximumTimestep NOTIFY
77 maximumTimestepChanged REVISION(6, 5))
78 Q_PROPERTY(QQuick3DNode *scene READ scene WRITE setScene NOTIFY sceneChanged REVISION(6, 5))
79 Q_PROPERTY(int numThreads READ numThreads WRITE setNumThreads NOTIFY numThreadsChanged
80 REVISION(6, 7))
81 Q_PROPERTY(bool reportKinematicKinematicCollisions READ reportKinematicKinematicCollisions WRITE
82 setReportKinematicKinematicCollisions NOTIFY
83 reportKinematicKinematicCollisionsChanged FINAL REVISION(6, 7))
84 Q_PROPERTY(bool reportStaticKinematicCollisions READ reportStaticKinematicCollisions WRITE
85 setReportStaticKinematicCollisions NOTIFY
86 reportStaticKinematicCollisionsChanged FINAL REVISION(6, 7))
87
88 QML_NAMED_ELEMENT(PhysicsWorld)
89
90public:
91 explicit QPhysicsWorld(QObject *parent = nullptr);
92 ~QPhysicsWorld();
93
94 void classBegin() override;
95 void componentComplete() override;
96
97 QVector3D gravity() const;
98
99 bool running() const;
100 bool forceDebugDraw() const;
101 bool enableCCD() const;
102 float typicalLength() const;
103 float typicalSpeed() const;
104 float defaultDensity() const;
105 Q_REVISION(6, 5) float minimumTimestep() const;
106 Q_REVISION(6, 5) float maximumTimestep() const;
107
108 bool isNodeRemoved(QAbstractPhysicsNode *object);
109
110 static QPhysicsWorld *getWorld(QQuick3DNode *node);
111
112 static void registerNode(QAbstractPhysicsNode *physicsNode);
113 static void deregisterNode(QAbstractPhysicsNode *physicsNode);
114
115 void registerContact(QAbstractPhysicsNode *sender, QAbstractPhysicsNode *receiver,
116 const QVector<QVector3D> &positions, const QVector<QVector3D> &impulses,
117 const QVector<QVector3D> &normals);
118
119 Q_REVISION(6, 5) QQuick3DNode *viewport() const;
120 void setHasIndividualDebugDraw();
121 physx::PxControllerManager *controllerManager();
122 Q_REVISION(6, 5) QQuick3DNode *scene() const;
123 Q_REVISION(6, 7) int numThreads() const;
124 Q_REVISION(6, 7) bool reportKinematicKinematicCollisions() const;
125 Q_REVISION(6, 7)
126 void setReportKinematicKinematicCollisions(bool newReportKinematicKinematicCollisions);
127 Q_REVISION(6, 7) bool reportStaticKinematicCollisions() const;
128 Q_REVISION(6, 7)
129 void setReportStaticKinematicCollisions(bool newReportStaticKinematicCollisions);
130
131public slots:
132 void setGravity(QVector3D gravity);
133 void setRunning(bool running);
134 void setForceDebugDraw(bool forceDebugDraw);
135 void setEnableCCD(bool enableCCD);
136 void setTypicalLength(float typicalLength);
137 void setTypicalSpeed(float typicalSpeed);
138 void setDefaultDensity(float defaultDensity);
139 Q_REVISION(6, 5) void setViewport(QQuick3DNode *viewport);
140 Q_REVISION(6, 5) void setMinimumTimestep(float minTimestep);
141 Q_REVISION(6, 5) void setMaximumTimestep(float maxTimestep);
142 Q_REVISION(6, 5) void setScene(QQuick3DNode *newScene);
143 Q_REVISION(6, 7) void setNumThreads(int newNumThreads);
144
145signals:
146 void gravityChanged(QVector3D gravity);
147 void runningChanged(bool running);
148 void enableCCDChanged(bool enableCCD);
149 void forceDebugDrawChanged(bool forceDebugDraw);
150 void typicalLengthChanged(float typicalLength);
151 void typicalSpeedChanged(float typicalSpeed);
152 void defaultDensityChanged(float defaultDensity);
153 Q_REVISION(6, 5) void viewportChanged(QQuick3DNode *viewport);
154 Q_REVISION(6, 5) void minimumTimestepChanged(float minimumTimestep);
155 Q_REVISION(6, 5) void maximumTimestepChanged(float maxTimestep);
156 void simulateFrame(float minTimestep, float maxTimestep);
157 Q_REVISION(6, 5) void frameDone(float timestep);
158 Q_REVISION(6, 5) void sceneChanged();
159 Q_REVISION(6, 7) void numThreadsChanged();
160 Q_REVISION(6, 7) void reportKinematicKinematicCollisionsChanged();
161 Q_REVISION(6, 7) void reportStaticKinematicCollisionsChanged();
162
163private:
164 void frameFinished(float deltaTime);
165 void frameFinishedDesignStudio();
166 void initPhysics();
167 void cleanupRemovedNodes();
168 void updateDebugDraw();
169 void updateDebugDrawDesignStudio();
170 void setupDebugMaterials(QQuick3DNode *sceneNode);
171 void disableDebugDraw();
172 void matchOrphanNodes();
173 void findPhysicsNodes();
174 void emitContactCallbacks();
175
176 struct BodyContact
177 {
178 QAbstractPhysicsNode *sender = nullptr;
179 QAbstractPhysicsNode *receiver = nullptr;
180 QVector<QVector3D> positions;
181 QVector<QVector3D> impulses;
182 QVector<QVector3D> normals;
183 };
184
185 struct DebugModelHolder
186 {
187 QQuick3DModel *model = nullptr;
188 QQuick3DGeometry *geometry = nullptr;
189 QVector3D data;
190 void *ptr = nullptr;
191
192 void releaseMeshPointer();
193
194 const QVector3D &halfExtents() const;
195 void setHalfExtents(const QVector3D &halfExtents);
196
197 float radius() const;
198 void setRadius(float radius);
199
200 float heightScale() const;
201 void setHeightScale(float heightScale);
202
203 float halfHeight() const;
204 void setHalfHeight(float halfHeight);
205
206 float rowScale() const;
207 void setRowScale(float rowScale);
208
209 float columnScale() const;
210 void setColumnScale(float columnScale);
211
212 physx::PxConvexMesh *getConvexMesh();
213 void setConvexMesh(physx::PxConvexMesh *mesh);
214
215 physx::PxTriangleMesh *getTriangleMesh();
216 void setTriangleMesh(physx::PxTriangleMesh *mesh);
217
218 physx::PxHeightField *getHeightField();
219 void setHeightField(physx::PxHeightField *hf);
220 };
221
222 QList<QAbstractPhysXNode *> m_physXBodies;
223 QList<QAbstractPhysicsNode *> m_newPhysicsNodes;
224 QHash<QPair<QAbstractCollisionShape *, QAbstractPhysicsNode *>, DebugModelHolder>
225 m_DesignStudioDebugModels;
226 QHash<QPair<QAbstractCollisionShape *, QAbstractPhysXNode *>, DebugModelHolder>
227 m_collisionShapeDebugModels;
228 QSet<QAbstractPhysicsNode *> m_removedPhysicsNodes;
229 QMutex m_removedPhysicsNodesMutex;
230 QList<BodyContact> m_registeredContacts;
231
232 QVector3D m_gravity = QVector3D(0.f, -981.f, 0.f);
233 float m_typicalLength = 100.f; // 100 cm
234 float m_typicalSpeed = 1000.f; // 1000 cm/s
235 float m_defaultDensity = 0.001f; // 1 g/cm^3
236 float m_minTimestep = 16.667f; // 60 fps
237 float m_maxTimestep = 33.333f; // 30 fps
238
239 bool m_running = true;
240 bool m_forceDebugDraw = false;
241 // For performance, used to keep track if we have indiviually enabled debug drawing for any
242 // collision shape
243 bool m_hasIndividualDebugDraw = false;
244 bool m_physicsInitialized = false;
245 bool m_enableCCD = false;
246
247 QPhysXWorld *m_physx = nullptr;
248 QQuick3DNode *m_viewport = nullptr;
249 QVector<QQuick3DDefaultMaterial *> m_debugMaterials;
250
251 friend class QQuick3DPhysicsMesh; // TODO: better internal API
252 friend class QTriangleMeshShape; //####
253 friend class QHeightFieldShape;
254 friend class QQuick3DPhysicsHeightField;
255 friend class SimulationEventCallback;
256 friend class ControllerCallback;
257 static physx::PxPhysics *getPhysics();
258 static physx::PxCooking *getCooking();
259 QThread m_workerThread;
260 QQuick3DNode *m_scene = nullptr;
261 bool m_inDesignStudio = false;
262 int m_numThreads = -1;
263 bool m_reportKinematicKinematicCollisions = false;
264 bool m_reportStaticKinematicCollisions = false;
265};
266
267QT_END_NAMESPACE
268
269#endif // PHYSICSWORLD_H
270

source code of qtquick3dphysics/src/quick3dphysics/qphysicsworld_p.h