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V3.8.2 bullet embind #16350

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merged 7 commits into from
Oct 13, 2023
Merged

V3.8.2 bullet embind #16350

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57b40d1
bullet wasm embind
lealzhan Sep 13, 2023
bac21d6
replace imports with abstract methods of class
lealzhan Sep 14, 2023
5f24f8e
embind performance opt
lealzhan Sep 15, 2023
be7f965
wasm split loading
lealzhan Oct 7, 2023
139405c
tweak
lealzhan Oct 7, 2023
fe3d051
update native/external-config.json 3.8.2-14
lealzhan Oct 13, 2023
84eb5a8
Merge branch 'v3.8.2' into v3.8.2_bullet_embind_1
lealzhan Oct 13, 2023
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4 changes: 2 additions & 2 deletions cocos/physics/bullet/bullet-cache.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@
import { Collider, TriggerEventType, CollisionEventType, IContactEquation, CharacterController } from '../../../exports/physics-framework';
import { Vec3, Quat, Mat4, Color } from '../../core';
import { CharacterTriggerEventType } from '../framework';
import { bt } from './instantiated';
import { bt, btCache } from './instantiated';

export const TriggerEventObject = {
type: 'onTriggerEnter' as unknown as TriggerEventType,
Expand Down Expand Up @@ -90,4 +90,4 @@ export const CC_MAT4_0 = new Mat4();
export const CC_MAT4_1 = new Mat4();
export const CC_COLOR_0 = new Color();

bt.CACHE = BulletCache;
btCache.CACHE = BulletCache;
26 changes: 7 additions & 19 deletions cocos/physics/bullet/bullet-env.ts
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Expand Up @@ -22,43 +22,31 @@
THE SOFTWARE.
*/

// Wasm Memory Page Size is 65536
export const pageSize = 65536; // 64KiB

// How many pages of the wasm memory
// TODO: let this can be canfiguable by user.
export const pageCount = 250;

// How mush memory size of the wasm memory
export const memorySize = pageSize * pageCount; // 16 MiB
import { btCache } from './instantiated';

// The import function used in c++ code, same as DLL Import
export const importFunc = {
syncPhysicsToGraphics (id: number): void {
const bt = globalThis.Bullet;
const body = bt.CACHE.getWrapper(id, bt.BODY_CACHE_NAME);
const body = btCache.CACHE.getWrapper(id, btCache.BODY_CACHE_NAME);
body.syncPhysicsToGraphics();
},
onShapeHitExt (hit: number, controller: number): void {
const bt = globalThis.Bullet;
const cct = bt.CACHE.getWrapper(controller, bt.CCT_CACHE_NAME);
const cct = btCache.CACHE.getWrapper(controller, btCache.CCT_CACHE_NAME);
cct.onShapeHitExt(hit);
},
onDebugDrawLine (from: number, to: number, color: number): void {
const bt = globalThis.Bullet;
const world = bt.CACHE.world;
const world = btCache.CACHE.world;
if (world) {
world.onDebugDrawLine(from, to, color);
}
},
onClearLines (): void {
const bt = globalThis.Bullet;
const world = bt.CACHE.world;
clearLines (): void {
const world = btCache.CACHE.world;
if (world) {
world.onClearLines();
}
},
onFlushLines (): void {
flushLines (): void {
//empty
},
};
26 changes: 14 additions & 12 deletions cocos/physics/bullet/bullet-shared-body.ts
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Expand Up @@ -34,8 +34,9 @@
import { PhysicsSystem } from '../framework';
import { ERigidBodyType, PhysicsGroup } from '../framework/physics-enum';
import { js } from '../../core';
import { bt, EBulletType } from './instantiated';
import { bt, btCache, EBulletType } from './instantiated';
import { BulletConstraint } from './constraints/bullet-constraint';
import { importFunc } from './bullet-env';

const v3_0 = CC_V3_0;
const quat_0 = CC_QUAT_0;
Expand Down Expand Up @@ -211,14 +212,15 @@
cocos2BulletQuat(quat, this.node.worldRotation);
bt.Transform_setRotation(trans, quat);

const motionState = bt.ccMotionState_new(this.id, trans);
const motionState = bt.MotionState.implement(importFunc).$$.ptr as number;
bt.ccMotionState_setup(motionState, this.id, trans);
const body = bt.RigidBody_new(mass, motionState);
const sleepTd = PhysicsSystem.instance.sleepThreshold;
bt.RigidBody_setSleepingThresholds(body, sleepTd, sleepTd);
this._bodyStruct = {
id: IDCounter++, body, motionState, compound: bt.ccCompoundShape_new(), wrappedShapes: [], useCompound: false,
};
BulletCache.setWrapper(this.id, bt.BODY_CACHE_NAME, this);
BulletCache.setWrapper(this.id, btCache.BODY_CACHE_NAME, this);
if (this._ghostStruct) bt.CollisionObject_setIgnoreCollisionCheck(this.ghost, this.body, true);
if (this._wrappedBody) this.setBodyType(this._wrappedBody.rigidBody.type);
}
Expand Down Expand Up @@ -409,7 +411,7 @@
// Kinematic objects must be updated using motion state
const ms = bt.RigidBody_getMotionState(this.body);
if (ms) bt.MotionState_setWorldTransform(ms, bt_transform);
} else if (this.isBodySleeping()) bt.CollisionObject_activate(this.body);
} else if (this.isBodySleeping()) bt.CollisionObject_activate(this.body, false);
}
}

Expand All @@ -422,10 +424,10 @@
if (this.isBodySleeping()) return;
const bt_quat = BulletCache.instance.BT_QUAT_0;
const bt_transform = BulletCache.instance.BT_TRANSFORM_0;
bt.MotionState_getWorldTransform(bt.RigidBody_getMotionState(this.body), bt_transform);
bt.Transform_getRotation(bt_transform, bt_quat);
bt.RigidBody_getWorldTransform(this.body, bt_transform);
const originPosPtr = bt.Transform_getRotationAndOrigin(bt_transform, bt_quat) as number;

Check failure on line 428 in cocos/physics/bullet/bullet-shared-body.ts

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This assertion is unnecessary since it does not change the type of the expression
this.node.worldRotation = bullet2CocosQuat(quat_0, bt_quat);
this.node.worldPosition = bullet2CocosVec3(v3_0, bt.Transform_getOrigin(bt_transform));
this.node.worldPosition = bullet2CocosVec3(v3_0, originPosPtr);

// sync node to ghost
if (this._ghostStruct) {
Expand All @@ -444,7 +446,7 @@
cocos2BulletQuat(bt_quat, this.node.worldRotation);
bt.Transform_setRotation(bt_transform, bt_quat);
if (this.node.hasChangedFlags & TransformBit.SCALE) this.syncGhostScale();
bt.CollisionObject_activate(this.ghost);
bt.CollisionObject_activate(this.ghost, false);
}
}

Expand All @@ -455,7 +457,7 @@
cocos2BulletQuat(bt_quat, this.node.worldRotation);
bt.Transform_setRotation(bt_transform, bt_quat);
this.syncBodyScale();
bt.CollisionObject_activate(this.body);
bt.CollisionObject_activate(this.body, false);
}

syncInitialGhost (): void {
Expand All @@ -465,7 +467,7 @@
cocos2BulletQuat(bt_quat, this.node.worldRotation);
bt.Transform_setRotation(bt_transform, bt_quat);
this.syncGhostScale();
bt.CollisionObject_activate(this.body);
bt.CollisionObject_activate(this.body, false);
}

syncBodyScale (): void {
Expand Down Expand Up @@ -511,7 +513,7 @@
(this.wrappedWorld as any) = null;
if (this._bodyStruct) {
const bodyStruct = this._bodyStruct;
BulletCache.delWrapper(bodyStruct.body, bt.BODY_CACHE_NAME);
BulletCache.delWrapper(bodyStruct.body, btCache.BODY_CACHE_NAME);
bt._safe_delete(bodyStruct.motionState, EBulletType.EBulletTypeMotionState);
bt._safe_delete(bodyStruct.compound, EBulletType.EBulletTypeCollisionShape);
bt._safe_delete(bodyStruct.body, EBulletType.EBulletTypeCollisionObject);
Expand All @@ -527,6 +529,6 @@
}

private isBodySleeping (): boolean {
return bt.CollisionObject_getActivationState(this.body) === btCollisionObjectStates.ISLAND_SLEEPING;
return bt.CollisionObject_isSleeping(this.body);
}
}
22 changes: 12 additions & 10 deletions cocos/physics/bullet/bullet-utils.ts
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Expand Up @@ -34,9 +34,10 @@ export function cocos2BulletVec3 (out: Bullet.ptr, v: IVec3Like): Bullet.ptr {
}

export function bullet2CocosVec3<T extends IVec3Like> (out: T, v: Bullet.ptr): T {
out.x = bt.Vec3_x(v);
out.y = bt.Vec3_y(v);
out.z = bt.Vec3_z(v);
const rawVertexBuffer = bt.HEAPF32.subarray(v / 4, v / 4 + 3);
out.x = rawVertexBuffer[0];
out.y = rawVertexBuffer[1];
out.z = rawVertexBuffer[2];
return out;
}

Expand All @@ -46,10 +47,11 @@ export function cocos2BulletQuat (out: Bullet.ptr, q: IQuatLike): Bullet.ptr {
}

export function bullet2CocosQuat<T extends IQuatLike> (out: T, q: Bullet.ptr): T {
out.x = bt.Quat_x(q);
out.y = bt.Quat_y(q);
out.z = bt.Quat_z(q);
out.w = bt.Quat_w(q);
const rawVertexBuffer = bt.HEAPF32.subarray(q / 4, q / 4 + 4);
out.x = rawVertexBuffer[0];
out.y = rawVertexBuffer[1];
out.z = rawVertexBuffer[2];
out.w = rawVertexBuffer[3];
return out;
}

Expand All @@ -74,7 +76,7 @@ export function cocos2BulletTriMesh (out: Bullet.ptr, mesh: Mesh): any {
bt.Vec3_set(v0, vb[i0], vb[i0 + 1], vb[i0 + 2]);
bt.Vec3_set(v1, vb[i1], vb[i1 + 1], vb[i1 + 2]);
bt.Vec3_set(v2, vb[i2], vb[i2 + 1], vb[i2 + 2]);
bt.TriangleMesh_addTriangle(out, v0, v1, v2);
bt.TriangleMesh_addTriangle(out, v0, v1, v2, false);
}
} else if (primitiveMode === PrimitiveMode.TRIANGLE_STRIP) {
const cnt = ib.length - 2;
Expand All @@ -87,7 +89,7 @@ export function cocos2BulletTriMesh (out: Bullet.ptr, mesh: Mesh): any {
bt.Vec3_set(v0, vb[i0], vb[i0 + 1], vb[i0 + 2]);
bt.Vec3_set(v1, vb[i1], vb[i1 + 1], vb[i1 + 2]);
bt.Vec3_set(v2, vb[i2], vb[i2 + 1], vb[i2 + 2]);
bt.TriangleMesh_addTriangle(out, v0, v1, v2);
bt.TriangleMesh_addTriangle(out, v0, v1, v2, false);
}
} else if (primitiveMode === PrimitiveMode.TRIANGLE_FAN) {
const cnt = ib.length - 1;
Expand All @@ -98,7 +100,7 @@ export function cocos2BulletTriMesh (out: Bullet.ptr, mesh: Mesh): any {
const i2 = ib[j + 1] * 3;
bt.Vec3_set(v1, vb[i1], vb[i1 + 1], vb[i1 + 2]);
bt.Vec3_set(v2, vb[i2], vb[i2 + 1], vb[i2 + 2]);
bt.TriangleMesh_addTriangle(out, v0, v1, v2);
bt.TriangleMesh_addTriangle(out, v0, v1, v2, false);
}
}
}
Expand Down
33 changes: 21 additions & 12 deletions cocos/physics/bullet/bullet-world.ts
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Expand Up @@ -28,7 +28,7 @@
import { BulletShape } from './shapes/bullet-shape';
import { ArrayCollisionMatrix } from '../utils/array-collision-matrix';
import { TupleDictionary } from '../utils/tuple-dictionary';
import { TriggerEventObject, CollisionEventObject, CC_V3_0, CC_V3_1, CC_V3_2, CC_COLOR_0, BulletCache, CharacterTriggerEventObject } from './bullet-cache';

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import { bullet2CocosVec3, cocos2BulletQuat, cocos2BulletVec3 } from './bullet-utils';
import { IRaycastOptions, IPhysicsWorld } from '../spec/i-physics-world';
import { PhysicsRayResult, PhysicsMaterial, CharacterControllerContact, EPhysicsDrawFlags } from '../framework';
Expand All @@ -36,10 +36,11 @@
import { BulletContactData } from './bullet-contact-data';
import { BulletConstraint } from './constraints/bullet-constraint';
import { BulletCharacterController } from './character-controllers/bullet-character-controller';
import { bt, EBulletType, EBulletTriangleRaycastFlag, EBulletDebugDrawModes } from './instantiated';
import { bt, EBulletType, EBulletTriangleRaycastFlag, EBulletDebugDrawModes, btCache } from './instantiated';
import { Node } from '../../scene-graph';
import { director } from '../../game';
import { GeometryRenderer } from '../../rendering/geometry-renderer';
import { importFunc } from './bullet-env';

const contactsPool: BulletContactData[] = [];
const v3_0 = CC_V3_0;
Expand Down Expand Up @@ -145,12 +146,14 @@
private static _sweepCapsuleGeometry: number;

constructor () {
bt.CACHE.world = this;
btCache.CACHE.world = this;
this._broadphase = bt.DbvtBroadphase_new();
this._dispatcher = bt.CollisionDispatcher_new();
this._solver = bt.SequentialImpulseConstraintSolver_new();
this._debugDraw = bt.DebugDraw_new();
this._world = bt.ccDiscreteDynamicsWorld_new(this._dispatcher, this._broadphase, this._solver);

const debugDraw = bt.DebugDraw.implement(importFunc);//new PhysicsDebugDraw();
this._debugDraw = debugDraw.$$.ptr;
bt.CollisionWorld_setDebugDrawer(this._world, this._debugDraw);

bt.DebugDraw_setDebugMode(this._debugDraw, EBulletDebugDrawModes.DBG_NoDebug);
Expand Down Expand Up @@ -225,7 +228,7 @@
const to = cocos2BulletVec3(BulletCache.instance.BT_V3_0, v3_0);
const from = cocos2BulletVec3(BulletCache.instance.BT_V3_1, worldRay.o);
const allHitsCB = bt.ccAllRayCallback_static();
bt.ccAllRayCallback_reset(allHitsCB, from, to, options.mask, options.queryTrigger);
bt.ccAllRayCallback_reset(allHitsCB, from, to, options.mask >>> 0, options.queryTrigger);
bt.ccAllRayCallback_setFlags(allHitsCB, EBulletTriangleRaycastFlag.UseSubSimplexConvexCastRaytest);
bt.CollisionWorld_rayTest(this._world, from, to, allHitsCB);
if (bt.RayCallback_hasHit(allHitsCB)) {
Expand All @@ -249,7 +252,7 @@
const to = cocos2BulletVec3(BulletCache.instance.BT_V3_0, v3_0);
const from = cocos2BulletVec3(BulletCache.instance.BT_V3_1, worldRay.o);
const closeHitCB = bt.ccClosestRayCallback_static();
bt.ccClosestRayCallback_reset(closeHitCB, from, to, options.mask, options.queryTrigger);
bt.ccClosestRayCallback_reset(closeHitCB, from, to, options.mask >>> 0, options.queryTrigger);
bt.ccClosestRayCallback_setFlags(closeHitCB, EBulletTriangleRaycastFlag.UseSubSimplexConvexCastRaytest);
bt.CollisionWorld_rayTest(this._world, from, to, closeHitCB);
if (bt.RayCallback_hasHit(closeHitCB)) {
Expand Down Expand Up @@ -387,7 +390,7 @@
bt.Transform_setRotation(BT_toTransform, BT_orientation);

const allHitsCB = bt.ccAllConvexCallback_static();
bt.ccAllConvexCallback_reset(allHitsCB, BT_fromTransform, BT_toTransform, options.mask, options.queryTrigger);
bt.ccAllConvexCallback_reset(allHitsCB, BT_fromTransform, BT_toTransform, options.mask >>> 0, options.queryTrigger);
bt.CollisionWorld_convexSweepTest(this._world, btShapePtr, BT_fromTransform, BT_toTransform, allHitsCB, 0);
if (bt.ConvexCallback_hasHit(allHitsCB)) {
const posArray = bt.ccAllConvexCallback_getHitPointWorld(allHitsCB);
Expand Down Expand Up @@ -428,7 +431,7 @@
bt.Transform_setRotation(BT_toTransform, BT_orientation);

const closeHitCB = bt.ccClosestConvexCallback_static();
bt.ccClosestConvexCallback_reset(closeHitCB, BT_fromTransform, BT_toTransform, options.mask, options.queryTrigger);
bt.ccClosestConvexCallback_reset(closeHitCB, BT_fromTransform, BT_toTransform, options.mask >>> 0, options.queryTrigger);
bt.CollisionWorld_convexSweepTest(this._world, btShapePtr, BT_fromTransform, BT_toTransform, closeHitCB, 0);
if (bt.ConvexCallback_hasHit(closeHitCB)) {
bullet2CocosVec3(v3_0, bt.ccClosestConvexCallback_getHitPointWorld(closeHitCB));
Expand All @@ -448,7 +451,9 @@
const i = this.bodies.indexOf(sharedBody);
if (i < 0) {
this.bodies.push(sharedBody);
bt.DynamicsWorld_addRigidBody(this._world, sharedBody.body, sharedBody.collisionFilterGroup, sharedBody.collisionFilterMask);
const group = sharedBody.collisionFilterGroup;
const mask = sharedBody.collisionFilterMask;
bt.DynamicsWorld_addRigidBody(this._world, sharedBody.body, group >>> 0, mask >>> 0);
}
}

Expand All @@ -464,7 +469,9 @@
const i = this.ghosts.indexOf(sharedBody);
if (i < 0) {
this.ghosts.push(sharedBody);
bt.CollisionWorld_addCollisionObject(this._world, sharedBody.ghost, sharedBody.collisionFilterGroup, sharedBody.collisionFilterMask);
const group = sharedBody.collisionFilterGroup;
const mask = sharedBody.collisionFilterMask;
bt.CollisionWorld_addCollisionObject(this._world, sharedBody.ghost, group >>> 0, mask >>> 0);
}
}

Expand All @@ -481,7 +488,9 @@
if (index < 0) {
this.ccts.push(cct);
const cctGhost = bt.CharacterController_getGhostObject(cct.impl);
bt.CollisionWorld_addCollisionObject(this._world, cctGhost, cct.getGroup(), cct.getMask());
const group = cct.getGroup();
const mask = cct.getMask();
bt.CollisionWorld_addCollisionObject(this._world, cctGhost, group >>> 0, mask >>> 0);
bt.DynamicsWorld_addAction(this._world, cct.impl);
}
}
Expand Down Expand Up @@ -790,7 +799,7 @@
//cct - collider trigger event
if (!processed) {
const shape: BulletShape = BulletCache.getWrapper(s0, BulletShape.TYPE);
const cct: BulletCharacterController = BulletCache.getWrapper(s1, bt.CCT_CACHE_NAME);
const cct: BulletCharacterController = BulletCache.getWrapper(s1, btCache.CCT_CACHE_NAME);
if (shape && cct) {
processed = true;
if (shape.collider.needTriggerEvent) {
Expand All @@ -811,7 +820,7 @@

//cct - collider trigger event
if (!processed) {
const cct: BulletCharacterController = BulletCache.getWrapper(s0, bt.CCT_CACHE_NAME);
const cct: BulletCharacterController = BulletCache.getWrapper(s0, btCache.CCT_CACHE_NAME);
const shape: BulletShape = BulletCache.getWrapper(s1, BulletShape.TYPE);
if (shape && cct) {
processed = true;
Expand Down
4 changes: 2 additions & 2 deletions cocos/physics/bullet/character-controllers/bullet-box-character-controller.ts
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Expand Up @@ -31,6 +31,7 @@ import { BulletWorld } from '../bullet-world';
import { degreesToRadians } from '../../../core/utils/misc';
import { bt } from '../instantiated';
import { BulletCache } from '../bullet-cache';
import { importFunc } from '../bullet-env';

const v3_0 = new Vec3(0, 0, 0);

Expand All @@ -49,8 +50,7 @@ export class BulletBoxCharacterController extends BulletCharacterController impl
const up = BulletCache.instance.BT_V3_1;
bt.Vec3_set(up, upDir.x, upDir.y, upDir.z);

const report = bt.ControllerHitReport_new();

const report = bt.ControllerHitReport.implement(importFunc).$$.ptr as number;
const bulletWorld = (PhysicsSystem.instance.physicsWorld as BulletWorld);
const controllerDesc = bt.BoxCharacterControllerDesc_new(
degreesToRadians(this.component.slopeLimit),
Expand Down
4 changes: 2 additions & 2 deletions cocos/physics/bullet/character-controllers/bullet-capsule-character-controller.ts
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Expand Up @@ -31,6 +31,7 @@ import { BulletWorld } from '../bullet-world';
import { degreesToRadians } from '../../../core/utils/misc';
import { bt } from '../instantiated';
import { BulletCache } from '../bullet-cache';
import { importFunc } from '../bullet-env';

const v3_0 = new Vec3(0, 0, 0);

Expand All @@ -49,8 +50,7 @@ export class BulletCapsuleCharacterController extends BulletCharacterController
const up = BulletCache.instance.BT_V3_1;
bt.Vec3_set(up, upDir.x, upDir.y, upDir.z);

const report = bt.ControllerHitReport_new();

const report = bt.ControllerHitReport.implement(importFunc).$$.ptr as number;
const bulletWorld = (PhysicsSystem.instance.physicsWorld as BulletWorld);
const controllerDesc = bt.CapsuleCharacterControllerDesc_new(
degreesToRadians(this.component.slopeLimit),
Expand Down
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