Begin on physics

1 files changed, 40 insertions, 0 deletions

diff --git a/src/Physics/Physics.cpp b/src/Physics/Physics.cpp
new file mode 100644
index 0000000..fb00d1d
--- /dev/null
+++ b/src/Physics/Physics.cpp
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+#include "../../include/Physics/Physics.hpp"
+
+#include <btBulletDynamicsCommon.h>
+
+// TODO: Figure out how to process physics in another thread. Should it be done simply by
+// calling stepSimulation in another thread?
+
+static void physics_update_callback(btDynamicsWorld *dynamics_world, btScalar time_step) {
+    btDispatcher *dispatcher = dynamics_world->getDispatcher();
+    int num_manifolds = dispatcher->getNumManifolds();
+    for(int i = 0; i < num_manifolds; ++i) {
+        btPersistentManifold *contact_manifold = dispatcher->getManifoldByIndexInternal(i);
+        {
+            // The bodies that collided
+            const btCollisionObject *obj_this = contact_manifold->getBody0();
+            const btCollisionObject *obj_other = contact_manifold->getBody1();
+        }
+        int num_contacts = contact_manifold->getNumContacts();
+        for(int j = 0; j < num_contacts; ++j) {
+            btManifoldPoint &pt = contact_manifold->getContactPoint(j);
+            const btVector3 &pt_this = pt.getPositionWorldOnA();
+            const btVector3 &pt_other = pt.getPositionWorldOnB();
+            const btVector3 &normal_on_other = pt.m_normalWorldOnB;
+        }
+    }
+}
+
+namespace amalgine {
+    Physics::Physics() {
+        btDefaultCollisionConfiguration *collision_configuration = new btDefaultCollisionConfiguration();
+        btCollisionDispatcher *dispatcher = new btCollisionDispatcher(collision_configuration);
+        btBroadphaseInterface *overlapping_pair_cache = new btDbvtBroadphase();
+        btSequentialImpulseConstraintSolver *solver = new btSequentialImpulseConstraintSolver();
+        btDiscreteDynamicsWorld *dynamics_world = new btDiscreteDynamicsWorld(dispatcher, overlapping_pair_cache, solver, collision_configuration);
+        const float gravity = -10.0f;
+        dynamics_world->setGravity(btVector3(0.0f, gravity, 0.0f));
+        dynamics_world->setInternalTickCallback(physics_update_callback);
+        //dynamics_world->debugDrawWorld();
+    }
+}
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