Jolt sphere.

bryanedds · Dec 27, 2024 · eb7abc4 · eb7abc4
1 parent ecf7a69
commit eb7abc4
Showing 1 changed file with 23 additions and 2 deletions.
diff --git a/Nu/Nu/Physics/PhysicsEngineJolt.fs b/Nu/Nu/Physics/PhysicsEngineJolt.fs
@@ -81,7 +81,6 @@ type [<ReferenceEquality>] PhysicsEngineJolt =
                 new ScaledShapeSettings (boxShapeSettings, &shapeScale) : ShapeSettings
             | None when bodyProperties.Scale <> v3One -> new ScaledShapeSettings (boxShapeSettings, &bodyProperties.Scale)
             | None -> boxShapeSettings
-        // TODO: P0: account for individual shape mass.
         scShapeSettings.AddShape (&center, &bodyProperties.Rotation, shapeSettings, uint bodyProperties.BodyIndex)
         let mass =
             match bodyProperties.Substance with
@@ -91,6 +90,28 @@ type [<ReferenceEquality>] PhysicsEngineJolt =
             | Mass mass -> mass
         mass :: masses
 
+    static member private attachSphereShape bodySource (bodyProperties : BodyProperties) (sphereShape : Nu.SphereShape) (scShapeSettings : StaticCompoundShapeSettings) masses =
+        let center =
+            match sphereShape.TransformOpt with
+            | Some transform -> transform.Translation
+            | None -> v3Zero
+        let sphereShapeSettings = new SphereShapeSettings (sphereShape.Radius)
+        let shapeSettings =
+            match sphereShape.TransformOpt with
+            | Some transform ->
+                let shapeScale = bodyProperties.Scale * transform.Scale
+                new ScaledShapeSettings (sphereShapeSettings, &shapeScale) : ShapeSettings
+            | None when bodyProperties.Scale <> v3One -> new ScaledShapeSettings (sphereShapeSettings, &bodyProperties.Scale)
+            | None -> sphereShapeSettings
+        scShapeSettings.AddShape (&center, &bodyProperties.Rotation, shapeSettings, uint bodyProperties.BodyIndex)
+        let mass =
+            match bodyProperties.Substance with
+            | Density density ->
+                let volume = 4.0f / 3.0f * MathF.PI * pown sphereShape.Radius 3
+                volume * density
+            | Mass mass -> mass
+        mass :: masses
+
     static member private attachBodyShapes bodySource bodyProperties bodyShapes compoundShape masses physicsEngine =
         List.fold (fun centerMassInertiaDisposes bodyShape ->
             let masses' = PhysicsEngineJolt.attachBodyShape bodySource bodyProperties bodyShape compoundShape centerMassInertiaDisposes physicsEngine
@@ -102,7 +123,7 @@ type [<ReferenceEquality>] PhysicsEngineJolt =
         match bodyShape with
         | EmptyShape -> masses
         | BoxShape boxShape -> PhysicsEngineJolt.attachBoxShape bodySource bodyProperties boxShape scShapeSettings masses
-        //| SphereShape sphereShape -> PhysicsEngineJolt.attachSphereShape bodySource bodyProperties sphereShape compoundShape centerMassInertiaDisposes
+        | SphereShape sphereShape -> PhysicsEngineJolt.attachSphereShape bodySource bodyProperties sphereShape scShapeSettings masses
         //| CapsuleShape capsuleShape -> PhysicsEngineJolt.attachCapsuleShape bodySource bodyProperties capsuleShape compoundShape centerMassInertiaDisposes
         //| BoxRoundedShape boxRoundedShape -> PhysicsEngineJolt.attachBoxRoundedShape bodySource bodyProperties boxRoundedShape compoundShape centerMassInertiaDisposes
         //| PointsShape pointsShape -> PhysicsEngineJolt.attachBodyConvexHull bodySource bodyProperties pointsShape compoundShape centerMassInertiaDisposes physicsEngine