feat(physics): added collision detection with Touched/TouchEnded

core/src/objects/base/instance.h

@@ -88,8 +88,6 @@ protected:
     // NOTE: This value is not necessarily present if dataModel is present
     // Objects under services other than workspace will NOT have this field set
     std::optional<std::shared_ptr<Workspace>> workspace();
-
-    template <typename T> inline std::shared_ptr<T> shared() { return std::dynamic_pointer_cast<T>(this->shared_from_this()); }
 public:
     const static InstanceType TYPE;
     std::string name;
@@ -108,6 +106,8 @@ public:
     bool IsA(std::string className);
     template <typename T> bool IsA() { return IsA(T::TYPE.className); }
     
+    template <typename T> inline std::shared_ptr<T> shared() { return std::dynamic_pointer_cast<T>(this->shared_from_this()); }
+
     DescendantsIterator GetDescendantsStart();
     DescendantsIterator GetDescendantsEnd();
     // Utility functions

core/src/objects/part.cpp

@@ -60,8 +60,6 @@ void Part::onUpdated(std::string property) {
     // When position/rotation/size is manually edited, break all joints, they don't apply anymore
     if (property != "Anchored")
         BreakJoints();
-
-    OnParentUpdated->Fire();
 }
 
 // Expands provided extents to fit point

core/src/objects/part.h

@@ -92,7 +92,8 @@ public:
     DEF_PROP float frontParamB = 0.5;
     DEF_PROP float backParamB = 0.5;
 
-    DEF_SIGNAL SignalSource OnParentUpdated;
+    DEF_SIGNAL SignalSource Touched;
+    DEF_SIGNAL SignalSource TouchEnded;
 
     rp::RigidBody* rigidBody = nullptr;
     

core/src/objects/script.cpp

@@ -15,9 +15,14 @@ int script_wait(lua_State*);
 int script_delay(lua_State*);
 
 Script::Script(): Instance(&TYPE) {
-    source = "workspace.Part.OnParentUpdated:Connect(function()\n\
-	print(\"Yeux d'enfants\")\n\
-end)";
+    source =    "workspace.Part.Touched:Connect(function(otherPart)\n"
+	            "    print(\"Touched by: \", otherPart.Name)\n"
+                "end)\n"
+                "\n"
+                "workspace.Part.TouchEnded:Connect(function(otherPart)\n"
+	            "    print(\"Touched ended with: \", otherPart.Name)\n"
+                "end)\n"
+                "\n";
 }
 
 Script::~Script() {

core/src/objects/workspace.cpp

@@ -1,4 +1,6 @@
 #include "workspace.h"
+#include "datatypes/meta.h"
+#include "datatypes/ref.h"
 #include "datatypes/vector.h"
 #include "objects/base/instance.h"
 #include "objects/jointsservice.h"
@@ -6,11 +8,12 @@
 #include "objects/datamodel.h"
 #include "physics/util.h"
 #include <memory>
+#include <reactphysics3d/collision/CollisionCallback.h>
 #include <reactphysics3d/engine/PhysicsCommon.h>
 
 rp::PhysicsCommon* Workspace::physicsCommon = new rp::PhysicsCommon;
 
-Workspace::Workspace(): Service(&TYPE) {
+Workspace::Workspace(): Service(&TYPE), physicsEventListener(this) {
 }
 
 Workspace::~Workspace() {
@@ -18,6 +21,27 @@ Workspace::~Workspace() {
         physicsCommon->destroyPhysicsWorld(physicsWorld);
 }
 
+PhysicsEventListener::PhysicsEventListener(Workspace* parent) : workspace(parent) {}
+
+void PhysicsEventListener::onContact(const rp::CollisionCallback::CallbackData& data) {
+    for (int i = 0; i < data.getNbContactPairs(); i++) {
+        auto pair = data.getContactPair(i);
+        auto type = pair.getEventType();
+        if (type == rp::CollisionCallback::ContactPair::EventType::ContactStay) continue;
+
+        auto part0 = reinterpret_cast<Part*>(pair.getBody1()->getUserData())->shared<Part>();
+        auto part1 = reinterpret_cast<Part*>(pair.getBody2()->getUserData())->shared<Part>();
+
+        if (type == reactphysics3d::CollisionCallback::ContactPair::EventType::ContactStart) {
+            part0->Touched->Fire({ (Data::Variant)Data::InstanceRef(part1) });
+            part1->Touched->Fire({ (Data::Variant)Data::InstanceRef(part0) });
+        } else if (type == reactphysics3d::CollisionCallback::ContactPair::EventType::ContactExit) {
+            part0->TouchEnded->Fire({ (Data::Variant)Data::InstanceRef(part1) });
+            part1->TouchEnded->Fire({ (Data::Variant)Data::InstanceRef(part0) });
+        }
+    }
+}
+
 void Workspace::InitService() {
     if (initialized) return;
     initialized = true;
@@ -31,7 +55,7 @@ void Workspace::InitService() {
     // physicsWorld->setSleepLinearVelocity(10);
     // physicsWorld->setSleepAngularVelocity(5);
 
-    // physicsWorld->setEventListener(&eventListener);
+    physicsWorld->setEventListener(&physicsEventListener);
 
     // Sync all parts
     for (auto it = this->GetDescendantsStart(); it != this->GetDescendantsEnd(); it++) {
@@ -71,10 +95,17 @@ void Workspace::SyncPartPhysics(std::shared_ptr<Part> part) {
 
     rp::BoxShape* shape = physicsCommon->createBoxShape(glmToRp(part->size * glm::vec3(0.5f)));
 
-    if (part->rigidBody->getNbColliders() > 0)
+    // Recreate the rigidbody if the shape changes
+    if (part->rigidBody->getNbColliders() > 0
+        && dynamic_cast<rp::BoxShape*>(part->rigidBody->getCollider(0)->getCollisionShape())->getHalfExtents() != shape->getHalfExtents()) {
+        // TODO: This causes Touched to get called twice. Fix this.
         part->rigidBody->removeCollider(part->rigidBody->getCollider(0));
-
         part->rigidBody->addCollider(shape, rp::Transform());
+    }
+
+    if (part->rigidBody->getNbColliders() == 0)
+        part->rigidBody->addCollider(shape, rp::Transform());
+
     part->rigidBody->setType(part->anchored ? rp::BodyType::STATIC : rp::BodyType::DYNAMIC);
     part->rigidBody->getCollider(0)->setCollisionCategoryBits(0b11);
 

core/src/objects/workspace.h

@@ -5,6 +5,7 @@
 #include <glm/ext/vector_float3.hpp>
 #include <memory>
 #include <reactphysics3d/body/RigidBody.h>
+#include <reactphysics3d/engine/EventListener.h>
 #include <reactphysics3d/engine/PhysicsCommon.h>
 #include <reactphysics3d/engine/PhysicsWorld.h>
 
@@ -35,11 +36,22 @@ class RotateV;
 
 typedef std::function<FilterResult(std::shared_ptr<Part>)> RaycastFilter;
 
+class Workspace;
+class PhysicsEventListener : public rp::EventListener {
+    friend Workspace;
+    Workspace* workspace;
+
+    PhysicsEventListener(Workspace*);
+
+    void onContact(const rp::CollisionCallback::CallbackData&) override;
+};
+
 class DEF_INST_SERVICE_(explorer_icon="workspace") Workspace : public Service {
     AUTOGEN_PREAMBLE
     
     rp::PhysicsWorld* physicsWorld = nullptr;
     static rp::PhysicsCommon* physicsCommon;
+    PhysicsEventListener physicsEventListener;
 
     friend Part;
     friend Snap;