Changed toolset to vs11, for future Havok implementation.
This commit is contained in:
ViktorLjung
@@ -1,19 +0,0 @@
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#ifndef Components_BallSocketConstraint_h__
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#define Components_BallSocketConstraint_h__
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#include "Component.h"
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namespace Components
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{
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// http://bulletphysics.org/mediawiki-1.5.8/index.php/Constraints
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struct BallSocketConstraint : Component
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{
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// Create constraint between these entities
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EntityID EntityA;
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EntityID EntityB;
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// The pivot point in local coordinates
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glm::vec3 PivotA;
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glm::vec3 PivotB;
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};
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}
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#endif // Components_BallSocketConstraint_h__
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@@ -1,17 +0,0 @@
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#ifndef Components_Bounds_h__
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#define Components_Bounds_h__
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#include "Component.h"
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namespace Components
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{
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struct Bounds : Component
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{
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//Axis Aligned Bounding Box
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glm::vec3 Origin;
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glm::vec3 VolumeVector; //The vector that defines the volume of the BB, it goes from one corner to the opposite one
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};
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}
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#endif // !Components_Bounds_h__
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@@ -1,18 +0,0 @@
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#ifndef Components_BoxShape_h__
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#define Components_BoxShape_h__
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#include "Component.h"
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namespace Components
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{
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struct BoxShape : Component
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{
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float Height;
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float Width;
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float Depth;
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};
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}
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#endif // !Components_BoxShape_h__
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@@ -1,21 +0,0 @@
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#ifndef Components_Collision_h__
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#define Components_Collision_h__
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#include "Entity.h"
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#include "Component.h"
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#include <vector>
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namespace Components
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{
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struct Collision : Component
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{
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Collision() : Phantom(false), Interested(false) { }
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bool Phantom;
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bool Interested;
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std::vector<EntityID> CollidingEntities;
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};
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}
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#endif // !Components_Collision_h__
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@@ -1,14 +0,0 @@
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#ifndef Components_CompoundShape_h__
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#define Components_CompoundShape_h__
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#include "Component.h"
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namespace Components
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{
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struct CompoundShape : Component
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{
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};
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}
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#endif // Components_CompoundShape_h__
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@@ -1,17 +0,0 @@
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#ifndef Components_CustomShape_h__
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#define Components_CustomShape_h__
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#include "Component.h"
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#include <string>
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namespace Components
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{
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struct CustomShape : Component
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{
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std::string fileName;
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};
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}
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#endif // !Components_CustomShape_h__
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@@ -7,7 +7,8 @@ namespace Components
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{
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struct FreeSteering : Component
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{
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float Speed = 35;
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FreeSteering() : Speed(35) { }
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float Speed;
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};
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}
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@@ -1,35 +0,0 @@
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#ifndef Components_HingeConstraint_h__
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#define Components_HingeConstraint_h__
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#include "Component.h"
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namespace Components
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{
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// http://bulletphysics.org/mediawiki-1.5.8/index.php/Constraints
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struct HingeConstraint : Component
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{
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// Create constraint between these entities
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EntityID EntityA;
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EntityID EntityB;
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// The pivot point in local coordinates
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glm::vec3 PivotA;
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glm::vec3 PivotB;
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// The axis to rotate around
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glm::vec3 AxisA;
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glm::vec3 AxisB;
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/*
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void setLimit(btScalar low,
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btScalar high,
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btScalar softness = 0.9f,
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btScalar_biasFactor = 0.3f,
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btScalar relaxationFactor = 1.0f)
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*/
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float LowLimit;
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float HighLimit;
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float Softness = 0.9f;
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float BiasFactor = 0.3f;
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float RelaxationFactor = 1.0f;
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};
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}
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#endif // Components_HingeConstraint_h__
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@@ -1,14 +0,0 @@
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#ifndef Components_MeshShape_h__
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#define Components_MeshShape_h__
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#include "Component.h"
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namespace Components
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{
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struct MeshShape : Component
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{
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std::string Filename;
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};
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}
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#endif // Components_MeshShape_h__
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@@ -1,18 +0,0 @@
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#ifndef Components_Physics_h__
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#define Components_Physics_h__
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#include "Component.h"
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namespace Components
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{
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struct Physics : Component
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{
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float Mass = 0;
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float Friction = 0;
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glm::vec3 Gravity = glm::vec3(0, -9.82f, 0);
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};
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}
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#endif // !Components_Physics_h__
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@@ -1,15 +0,0 @@
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#ifndef Components_PowerUp_h__
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#define Components_PowerUp_h__
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#include "Component.h"
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namespace Components
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{
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struct PowerUp : Component
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{
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float Speed;
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};
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}
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#endif // !Components_PowerUp_h__
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@@ -1,16 +0,0 @@
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#ifndef Components_SliderConstraint_h__
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#define Components_SliderConstraint_h__
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#include "Component.h"
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namespace Components
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{
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// http://bulletphysics.org/mediawiki-1.5.8/index.php/Constraints
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struct SliderConstraint : Component
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{
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// Create constraint between these entities
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EntityID EntityA;
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EntityID EntityB;
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};
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}
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#endif // Components_SliderConstraint_h__
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@@ -10,11 +10,12 @@ namespace Components
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struct SoundEmitter : Component
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{
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float Gain = 1.f;
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float MaxDistance = 1.f;
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float ReferenceDistance = 1.f;
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float Pitch = 1.f;
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bool Loop = false;
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SoundEmitter() : Gain(1.f), MaxDistance(1.f), ReferenceDistance(1.f), Pitch(1.f), Loop(false) {}
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float Gain;
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float MaxDistance;
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float ReferenceDistance;
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float Pitch;
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bool Loop;
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std::string Path;
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};
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@@ -1,17 +0,0 @@
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#ifndef Components_SphereShape_h__
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#define Components_SphereShape_h__
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#include "Component.h"
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namespace Components
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{
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struct SphereShape : Component
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{
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float Radius;
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float RollingFriction;
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};
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}
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#endif // !Components_SphereShape_h__
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@@ -1,14 +0,0 @@
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#ifndef Components_StaticMeshShape_h__
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#define Components_StaticMeshShape_h__
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#include "Component.h"
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namespace Components
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{
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struct StaticMeshShape : Component
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{
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std::string Filename;
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};
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}
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#endif // Components_StaticMeshShape_h__
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@@ -1,18 +0,0 @@
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#ifndef Components_Vehicle_h__
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#define Components_Vehicle_h__
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#include "Component.h"
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namespace Components
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{
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struct Vehicle : Component
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{
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};
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}
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#endif // Components_Vehicle_h__
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@@ -1,31 +0,0 @@
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#ifndef Components_Wheel_h__
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#define Components_Wheel_h__
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#include "Component.h"
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namespace Components
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{
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struct Wheel : Component
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{
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EntityID CarID;
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glm::vec3 ConnectionPoint;
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glm::vec3 Direction;
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glm::vec3 Axle;
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float SuspensionRestLength;
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float Radius;
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bool IsFrontWheel;
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float SuspensionStiffness;
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float SuspensionCompression;
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float SuspensionDamping;
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float MaxSuspensionTravelCm;
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float FrictionSlip;
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float MaxSuspensionForce;
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};
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}
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#endif // Components_Wheel_h__
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+1
-82
@@ -25,73 +25,6 @@ void GameWorld::Initialize()
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transform->Orientation = glm::quat(glm::vec3(0.0f, 0.0f, 0.0f));
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auto model = AddComponent<Components::Model>(terrain, "Model");
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model->ModelFile = "Models/Placeholders/PhysicsTest/Plane.obj";
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auto physics = AddComponent<Components::Physics>(terrain, "Physics");
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physics->Friction = 0.5f;
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auto Box = AddComponent<Components::BoxShape>(terrain, "BoxShape");
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Box->Width = 0.5f;
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Box->Height = 0.5;
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Box->Depth = 0.5f;
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}
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{
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for (int i = 0; i < 1; i++)
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{
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auto entity = CreateEntity();
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auto transform = AddComponent<Components::Transform>(entity, "Transform");
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transform->Scale = glm::vec3(1.0f);
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transform->Position = glm::vec3(0, 10+i, 0);
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transform->Orientation = glm::quat(glm::vec3(0.0f, 0.0f, 0.0f));
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auto model = AddComponent<Components::Model>(entity, "Model");
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model->ModelFile = "Models/Placeholders/PhysicsTest/ArrowCube.obj";
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auto physics = AddComponent<Components::Physics>(entity, "Physics");
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physics->Mass = 10;
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auto box = AddComponent<Components::BoxShape>(entity, "BoxShape");
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box->Width = 0.5;
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box->Height = 0.5;
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box->Depth = 0.5;
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{
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auto entity1 = CreateEntity();
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auto transform = AddComponent<Components::Transform>(entity1, "Transform");
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transform->Scale = glm::vec3(1.0f);
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transform->Position = glm::vec3(-5.f, 10+i, 0);
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transform->Orientation = glm::quat(glm::vec3(0.0f, 0.0f, 0.0f));
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auto model = AddComponent<Components::Model>(entity1, "Model");
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model->ModelFile = "Models/Placeholders/PhysicsTest/ArrowCube.obj";
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auto physics = AddComponent<Components::Physics>(entity1, "Physics");
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physics->Mass = 0;
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auto box = AddComponent<Components::BoxShape>(entity1, "BoxShape");
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box->Width = 0.5;
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box->Height = 0.5;
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box->Depth = 0.5;
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auto hingeConstraint = AddComponent<Components::HingeConstraint>(entity1, "HingeConstraint");
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hingeConstraint->EntityA = entity;
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hingeConstraint->EntityB = entity1;
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hingeConstraint->AxisA = glm::vec3(0, 0, 1);
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hingeConstraint->AxisB = glm::vec3(0, 0, 1);
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hingeConstraint->LowLimit = -glm::pi<float>();
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hingeConstraint->HighLimit = glm::pi<float>();
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hingeConstraint->PivotA = glm::vec3(-5, 0, 0);
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hingeConstraint->PivotB = glm::vec3(0, 0, 0);
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}
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}
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}
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{
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@@ -102,8 +35,6 @@ void GameWorld::Initialize()
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emitter->Loop = true;
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GetSystem<Systems::SoundSystem>("SoundSystem")->PlaySound(emitter);
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}
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}
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void GameWorld::Update(double dt)
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@@ -113,9 +44,7 @@ void GameWorld::Update(double dt)
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void GameWorld::RegisterComponents()
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{
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m_ComponentFactory.Register("Bounds", []() { return new Components::Bounds(); });
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m_ComponentFactory.Register("Camera", []() { return new Components::Camera(); });
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m_ComponentFactory.Register("Collision", []() { return new Components::Collision(); });
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m_ComponentFactory.Register("DirectionalLight", []() { return new Components::DirectionalLight(); });
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m_ComponentFactory.Register("Input", []() { return new Components::Input(); });
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m_ComponentFactory.Register("Model", []() { return new Components::Model(); });
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@@ -127,17 +56,7 @@ void GameWorld::RegisterComponents()
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m_ComponentFactory.Register("Transform", []() { return new Components::Transform(); });
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m_ComponentFactory.Register("FreeSteering", []() { return new Components::FreeSteering(); });
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m_ComponentFactory.Register("Physics", []() { return new Components::Physics(); });
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m_ComponentFactory.Register("CompoundShape", []() { return new Components::CompoundShape(); });
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m_ComponentFactory.Register("SphereShape", []() { return new Components::SphereShape(); });
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m_ComponentFactory.Register("BoxShape", []() { return new Components::BoxShape(); });
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m_ComponentFactory.Register("HingeConstraint", []() { return new Components::HingeConstraint(); });
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m_ComponentFactory.Register("BallSocketConstraint", []() { return new Components::BallSocketConstraint(); });
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m_ComponentFactory.Register("SliderConstraint", []() { return new Components::SliderConstraint(); });
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m_ComponentFactory.Register("Vehicle", []() { return new Components::Vehicle(); });
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m_ComponentFactory.Register("Wheel", []() { return new Components::Wheel(); });
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///m_ComponentFactory.Register("Physics", []() { return new Components::Physics(); });
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}
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void GameWorld::RegisterSystems()
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@@ -15,33 +15,18 @@
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#include "Systems/SoundSystem.h"
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#include "Systems/PhysicsSystem.h"
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#include "Components/Bounds.h"
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#include "Components/Camera.h"
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#include "Components/Collision.h"
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#include "Components/DirectionalLight.h"
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#include "Components/Input.h"
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#include "Components/Model.h"
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#include "Components/ParticleEmitter.h"
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#include "Components/PointLight.h"
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#include "Components/PowerUp.h"
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#include "Components/SoundEmitter.h"
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#include "Components/Sprite.h"
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#include "Components/Stat.h"
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#include "Components/Template.h"
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#include "Components/Transform.h"
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#include "Components/CompoundShape.h"
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#include "Components/BoxShape.h"
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#include "Components/SphereShape.h"
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#include "Components/Physics.h"
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#include "Components/BallSocketConstraint.h"
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#include "Components/HingeConstraint.h"
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#include "Components/SliderConstraint.h"
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#include "Components/Vehicle.h"
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#include "Components/Wheel.h"
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class GameWorld : public World
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{
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public:
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+3
-3
@@ -3,13 +3,13 @@
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Skybox::Skybox(std::string skyboxPath, std::string extension /* = "png" */)
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{
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m_Cubemap = std::make_shared<CubemapTexture>(
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skyboxPath + "/right." + extension,
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m_Cubemap = std::shared_ptr<CubemapTexture>(new CubemapTexture(
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skyboxPath + "/right." + extension,
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skyboxPath + "/left." + extension,
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skyboxPath + "/top." + extension,
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skyboxPath + "/bottom." + extension,
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skyboxPath + "/front." + extension,
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skyboxPath + "/back." + extension);
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skyboxPath + "/back." + extension));
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m_Cubemap->Load();
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Initialize();
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}
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@@ -5,219 +5,17 @@
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Systems::PhysicsSystem::PhysicsSystem(World* world) : System(world)
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{
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m_Broadphase = new btDbvtBroadphase();
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m_CollisionConfiguration = new btDefaultCollisionConfiguration();
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m_Dispatcher = new btCollisionDispatcher(m_CollisionConfiguration);
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m_Solver = new btSequentialImpulseConstraintSolver();
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m_DynamicsWorld = new btDiscreteDynamicsWorld(m_Dispatcher, m_Broadphase, m_Solver, m_CollisionConfiguration);
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m_DynamicsWorld->setGravity(btVector3(0, -9.82f, 0));
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{
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}
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void Systems::PhysicsSystem::Update(double dt)
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{
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||||
// Update entity transform in physics world
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for (auto pair : *m_World->GetEntities())
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||||
{
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||||
EntityID entity = pair.first;
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||||
EntityID parent = pair.second;
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||||
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if (parent != 0)
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continue;
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if (m_PhysicsData.find(entity) != m_PhysicsData.end())
|
||||
{
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||||
PhysicsData* physicsData = &m_PhysicsData[entity];
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||||
auto transformComponent = m_World->GetComponent<Components::Transform>(entity, "Transform");
|
||||
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||||
btTransform transform;
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transform.setFromOpenGLMatrix(glm::value_ptr(glm::translate(glm::mat4(), transformComponent->Position) * glm::toMat4(transformComponent->Orientation)));
|
||||
physicsData->MotionState->setWorldTransform(transform);
|
||||
physicsData->CollisionShape->setLocalScaling(btVector3(transformComponent->Scale.x, transformComponent->Scale.y, transformComponent->Scale.z));
|
||||
|
||||
|
||||
auto physicsComponent = m_World->GetComponent<Components::Physics>(entity, "Physics");
|
||||
physicsData->RigidBody->setGravity(btVector3(physicsComponent->Gravity.x, physicsComponent->Gravity.y, physicsComponent->Gravity.z));
|
||||
}
|
||||
}
|
||||
|
||||
m_DynamicsWorld->stepSimulation(dt, 10, 1.0f/60.0f);
|
||||
|
||||
|
||||
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void Systems::PhysicsSystem::UpdateEntity(double dt, EntityID entity, EntityID parent)
|
||||
{
|
||||
auto transformComponent = m_World->GetComponent<Components::Transform>(entity, "Transform");
|
||||
if (!transformComponent)
|
||||
return;
|
||||
|
||||
auto physicsComponent = m_World->GetComponent<Components::Physics>(entity, "Physics");
|
||||
auto sphereShapeComponent = m_World->GetComponent<Components::SphereShape>(entity, "SphereShape");
|
||||
auto boxShapeComponent = m_World->GetComponent<Components::BoxShape>(entity, "BoxShape");
|
||||
auto meshShapeComponent = m_World->GetComponent<Components::MeshShape>(entity, "MeshShape");
|
||||
auto staticMeshShapeComponent = m_World->GetComponent<Components::StaticMeshShape>(entity, "StaticMeshShape");
|
||||
auto vehicleComponent = m_World->GetComponent<Components::Vehicle>(entity, "Vehicle");
|
||||
auto wheelComponent = m_World->GetComponent<Components::Wheel>(entity, "Wheel");
|
||||
|
||||
if (physicsComponent || sphereShapeComponent || boxShapeComponent || meshShapeComponent || staticMeshShapeComponent)
|
||||
{
|
||||
if (m_PhysicsData.find(entity) == m_PhysicsData.end())
|
||||
{
|
||||
SetUpPhysicsState(entity, parent);
|
||||
}
|
||||
|
||||
if (parent != 0)
|
||||
return;
|
||||
PhysicsData* physicsData = &m_PhysicsData[entity];
|
||||
|
||||
btTransform transform;
|
||||
physicsData->MotionState->getWorldTransform(transform);
|
||||
transformComponent->Position.x = transform.getOrigin().x();
|
||||
transformComponent->Position.y = transform.getOrigin().y();
|
||||
transformComponent->Position.z = transform.getOrigin().z();
|
||||
btVector3 angle = transform.getRotation().getAxis();
|
||||
transformComponent->Orientation.x = transform.getRotation().x();
|
||||
transformComponent->Orientation.y = transform.getRotation().y();
|
||||
transformComponent->Orientation.z = transform.getRotation().z();
|
||||
transformComponent->Orientation.w = transform.getRotation().w();
|
||||
}
|
||||
else
|
||||
{
|
||||
if (m_PhysicsData.find(entity) != m_PhysicsData.end())
|
||||
{
|
||||
TearDownPhysicsState(entity, parent);
|
||||
}
|
||||
}
|
||||
|
||||
auto ballSocketComponent = m_World->GetComponent<Components::BallSocketConstraint>(entity, "BallSocketConstraint");
|
||||
auto sliderComponent = m_World->GetComponent<Components::SliderConstraint>(entity, "SliderConstraint");
|
||||
auto hingeComponent = m_World->GetComponent<Components::HingeConstraint>(entity, "HingeConstraint");
|
||||
|
||||
if (ballSocketComponent)
|
||||
{
|
||||
EntityID entityA = ballSocketComponent->EntityA;
|
||||
EntityID entityB = ballSocketComponent->EntityB;
|
||||
|
||||
if (m_Constraints.find(std::make_pair(entityA, entityB)) == m_Constraints.end())
|
||||
{
|
||||
if (m_PhysicsData.find(entityA) != m_PhysicsData.end() && m_PhysicsData.find(entityB) != m_PhysicsData.end())
|
||||
{
|
||||
btVector3 pivotA = btVector3(ballSocketComponent->PivotA.x, ballSocketComponent->PivotA.y, ballSocketComponent->PivotA.z);
|
||||
btVector3 pivotB = btVector3(ballSocketComponent->PivotB.x, ballSocketComponent->PivotB.y, ballSocketComponent->PivotB.z);
|
||||
|
||||
m_Constraints[std::make_pair(entityA, entityB)] = new btPoint2PointConstraint(*m_PhysicsData[entityA].RigidBody, *m_PhysicsData[entityB].RigidBody, pivotA, pivotB);
|
||||
m_DynamicsWorld->addConstraint(m_Constraints[std::make_pair(entityA, entityB)]);
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
else if (sliderComponent)
|
||||
{
|
||||
EntityID entityA = sliderComponent->EntityA;
|
||||
EntityID entityB = sliderComponent->EntityB;
|
||||
|
||||
if (m_Constraints.find(std::make_pair(entityA, entityB)) == m_Constraints.end())
|
||||
{
|
||||
if (m_PhysicsData.find(entityA) != m_PhysicsData.end() && m_PhysicsData.find(entityB) != m_PhysicsData.end())
|
||||
{
|
||||
btTransform transformA;
|
||||
m_PhysicsData[entityA].MotionState->getWorldTransform(transformA);
|
||||
btTransform transformB;
|
||||
m_PhysicsData[entityB].MotionState->getWorldTransform(transformB);
|
||||
|
||||
m_Constraints[std::make_pair(entityA, entityB)] = new btSliderConstraint(*m_PhysicsData[entityA].RigidBody, *m_PhysicsData[entityB].RigidBody, transformA, transformB, true);
|
||||
m_DynamicsWorld->addConstraint(m_Constraints[std::make_pair(entityA, entityB)]);
|
||||
}
|
||||
}
|
||||
}
|
||||
else if (hingeComponent)
|
||||
{
|
||||
EntityID entityA = hingeComponent->EntityA;
|
||||
EntityID entityB = hingeComponent->EntityB;
|
||||
|
||||
if (m_Constraints.find(std::make_pair(entityA, entityB)) == m_Constraints.end())
|
||||
{
|
||||
if (m_PhysicsData.find(entityA) != m_PhysicsData.end() && m_PhysicsData.find(entityB) != m_PhysicsData.end())
|
||||
{
|
||||
btVector3 PivotA = btVector3(hingeComponent->PivotA.x, hingeComponent->PivotA.y, hingeComponent->PivotA.z);
|
||||
btVector3 PivotB = btVector3(hingeComponent->PivotB.x, hingeComponent->PivotB.y, hingeComponent->PivotB.z);
|
||||
|
||||
btVector3 AxisA = btVector3(hingeComponent->AxisA.x, hingeComponent->AxisA.y, hingeComponent->AxisA.z);
|
||||
btVector3 AxisB = btVector3(hingeComponent->AxisB.x, hingeComponent->AxisB.y, hingeComponent->AxisB.z);
|
||||
|
||||
|
||||
btHingeConstraint* hingeConstraint = new btHingeConstraint(*m_PhysicsData[entityA].RigidBody, *m_PhysicsData[entityB].RigidBody, PivotA, PivotB, AxisA, AxisB, true);
|
||||
hingeConstraint->setLimit(hingeComponent->LowLimit, hingeComponent->HighLimit, hingeComponent->Softness, hingeComponent->BiasFactor, hingeComponent->RelaxationFactor);
|
||||
|
||||
|
||||
m_Constraints[std::make_pair(entityA, entityB)] = hingeConstraint;
|
||||
m_DynamicsWorld->addConstraint(m_Constraints[std::make_pair(entityA, entityB)]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
if (vehicleComponent )
|
||||
{
|
||||
if (m_Vehicles.find(entity) == m_Vehicles.end()) {
|
||||
if (m_PhysicsData.find(entity) == m_PhysicsData.end()){
|
||||
LOG_WARNING("Chassi missing rigidbody on vehicle i%", entity);
|
||||
return;
|
||||
}
|
||||
|
||||
m_Vehicles[entity].VehicleRaycaster = new btDefaultVehicleRaycaster(m_DynamicsWorld);
|
||||
m_Vehicles[entity].RaycastVehicle = new btRaycastVehicle(m_Vehicles[entity].Tuning, m_PhysicsData[entity].RigidBody, m_Vehicles[entity].VehicleRaycaster);
|
||||
|
||||
//m_Vehicles[entity].RaycastVehicle->setCoordinateSystem(0, 1, 2);
|
||||
m_DynamicsWorld->addVehicle(m_Vehicles[entity].RaycastVehicle);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
// for (int i = 0; i < m_Vehicles[entity].RaycastVehicle->getNumWheels(); i++)
|
||||
// {
|
||||
// m_Vehicles[entity].RaycastVehicle->applyEngineForce(10, i);
|
||||
//
|
||||
// }
|
||||
}
|
||||
if (wheelComponent)
|
||||
{
|
||||
|
||||
EntityID carID = wheelComponent->CarID;
|
||||
if (m_Vehicles.find(carID) != m_Vehicles.end()){
|
||||
auto wheels = &m_Vehicles[carID].Wheels;
|
||||
if (wheels->find(entity) == wheels->end())
|
||||
{
|
||||
wheels->insert(entity);
|
||||
|
||||
btVector3 connectionPoint = btVector3(wheelComponent->ConnectionPoint.x, wheelComponent->ConnectionPoint.y, wheelComponent->ConnectionPoint.z);
|
||||
btVector3 direction = btVector3(wheelComponent->Direction.x, wheelComponent->Direction.y, wheelComponent->Direction.z);
|
||||
btVector3 axle = btVector3(wheelComponent->Axle.x, wheelComponent->Axle.y, wheelComponent->Axle.z);
|
||||
|
||||
btWheelInfo& wheel = m_Vehicles[carID].RaycastVehicle->addWheel(connectionPoint, direction, axle, wheelComponent->SuspensionRestLength, wheelComponent->Radius, m_Vehicles[entity].Tuning, wheelComponent->IsFrontWheel);
|
||||
|
||||
wheel.m_suspensionStiffness = wheelComponent->SuspensionStiffness;
|
||||
wheel.m_wheelsDampingRelaxation = wheelComponent->SuspensionDamping;
|
||||
wheel.m_wheelsDampingCompression = wheelComponent->SuspensionCompression;
|
||||
wheel.m_frictionSlip = wheelComponent->FrictionSlip;
|
||||
wheel.m_rollInfluence = 0.1f;
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
@@ -232,126 +30,12 @@ void Systems::PhysicsSystem::OnComponentRemoved(std::string type, Component* com
|
||||
}
|
||||
|
||||
void Systems::PhysicsSystem::SetUpPhysicsState(EntityID entity, EntityID parent)
|
||||
{
|
||||
auto transformComponent = m_World->GetComponent<Components::Transform>(entity, "Transform");
|
||||
if (!transformComponent)
|
||||
{
|
||||
LOG_WARNING("Physics component missing transform component on entity %i", entity);
|
||||
return;
|
||||
}
|
||||
{
|
||||
|
||||
auto physicsComponent = m_World->GetComponent<Components::Physics>(entity, "Physics");
|
||||
auto compoundShapeComponent = m_World->GetComponent<Components::CompoundShape>(entity, "CompoundShape");
|
||||
auto sphereShapeComponent = m_World->GetComponent<Components::SphereShape>(entity, "SphereShape");
|
||||
auto boxShapeComponent = m_World->GetComponent<Components::BoxShape>(entity, "BoxShape");
|
||||
auto meshShapeComponent = m_World->GetComponent<Components::MeshShape>(entity, "MeshShape");
|
||||
auto staticMeshShapeComponent = m_World->GetComponent<Components::StaticMeshShape>(entity, "StaticMeshShape");
|
||||
|
||||
if (compoundShapeComponent && (sphereShapeComponent || boxShapeComponent || meshShapeComponent || staticMeshShapeComponent))
|
||||
{
|
||||
LOG_WARNING("Entity %i has both compound shape and normal shape! Normal shapes must be children to entity with compound shape.", entity);
|
||||
}
|
||||
|
||||
PhysicsData* physicsData = &m_PhysicsData[entity];
|
||||
|
||||
/*EntityID baseParent = m_World->GetEntityBaseParent(entity);
|
||||
auto baseCompoundShape = m_World->GetComponent<Components::CompoundShape>(baseParent, "CompoundShape");*/
|
||||
|
||||
// Set-up compound shape
|
||||
if (compoundShapeComponent)
|
||||
{
|
||||
btCompoundShape* compoundShape = new btCompoundShape();
|
||||
physicsData->CollisionShape = compoundShape;
|
||||
|
||||
btTransform transform;
|
||||
transform.setFromOpenGLMatrix(glm::value_ptr(glm::translate(glm::mat4(), transformComponent->Position) * glm::toMat4(transformComponent->Orientation)));
|
||||
physicsData->MotionState = new btDefaultMotionState(transform);
|
||||
|
||||
btVector3 inertia;
|
||||
if (physicsComponent->Mass != 0)
|
||||
{
|
||||
physicsData->CollisionShape->calculateLocalInertia(physicsComponent->Mass, inertia);
|
||||
}
|
||||
|
||||
btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(physicsComponent->Mass, physicsData->MotionState, physicsData->CollisionShape, inertia);
|
||||
physicsData->RigidBody = new btRigidBody(rigidBodyCI);
|
||||
|
||||
m_DynamicsWorld->addRigidBody(physicsData->RigidBody);
|
||||
}
|
||||
|
||||
// Set-up normal shapes
|
||||
else if (boxShapeComponent)
|
||||
{
|
||||
physicsData->CollisionShape = new btBoxShape(btVector3(boxShapeComponent->Width, boxShapeComponent->Height, boxShapeComponent->Depth));
|
||||
}
|
||||
else if (sphereShapeComponent)
|
||||
{
|
||||
physicsData->CollisionShape = new btSphereShape(sphereShapeComponent->Radius);
|
||||
}
|
||||
else if (meshShapeComponent)
|
||||
{
|
||||
// TODO: Collision mesh things go here
|
||||
//new btConvexTriangleMeshShape()
|
||||
}
|
||||
if (boxShapeComponent || sphereShapeComponent || meshShapeComponent || staticMeshShapeComponent)
|
||||
{
|
||||
btTransform transform;
|
||||
transform.setFromOpenGLMatrix(glm::value_ptr(glm::translate(glm::mat4(), transformComponent->Position) * glm::toMat4(transformComponent->Orientation)));
|
||||
|
||||
// If there's a local physics component
|
||||
if (physicsComponent)
|
||||
{
|
||||
physicsData->MotionState = new btDefaultMotionState(transform);
|
||||
|
||||
btVector3 inertia;
|
||||
if (physicsComponent->Mass != 0)
|
||||
{
|
||||
physicsData->CollisionShape->calculateLocalInertia(physicsComponent->Mass, inertia);
|
||||
}
|
||||
|
||||
btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(physicsComponent->Mass, physicsData->MotionState, physicsData->CollisionShape, inertia);
|
||||
physicsData->RigidBody = new btRigidBody(rigidBodyCI);
|
||||
|
||||
m_DynamicsWorld->addRigidBody(physicsData->RigidBody);
|
||||
}
|
||||
else
|
||||
{
|
||||
// Otherwise, find our base parent and attach to compound shape
|
||||
EntityID baseParent = m_World->GetEntityBaseParent(entity);
|
||||
auto basePhysicsComponent = m_World->GetComponent<Components::Physics>(baseParent, "Physics");
|
||||
if (!basePhysicsComponent)
|
||||
{
|
||||
LOG_WARNING("Failed to attach orphan collision shape on entity %i: missing physics component on base parent entity %i", entity, baseParent);
|
||||
return;
|
||||
}
|
||||
auto baseCompoundShapeComponent = m_World->GetComponent<Components::CompoundShape>(baseParent, "CompoundShape");
|
||||
if (!baseCompoundShapeComponent)
|
||||
{
|
||||
LOG_WARNING("Failed to attach orphan collision shape on entity %i: missing compound shape on base parent entity %i", entity, baseParent);
|
||||
return;
|
||||
}
|
||||
PhysicsData* basePhysicsData = &m_PhysicsData.at(baseParent);
|
||||
|
||||
btCompoundShape* baseCompoundShape = dynamic_cast<btCompoundShape*>(basePhysicsData->CollisionShape);
|
||||
baseCompoundShape->addChildShape(transform, physicsData->CollisionShape);
|
||||
|
||||
btVector3 inertia;
|
||||
baseCompoundShape->calculateLocalInertia(basePhysicsComponent->Mass, inertia);
|
||||
|
||||
basePhysicsData->RigidBody->setMassProps(basePhysicsComponent->Mass, inertia);
|
||||
basePhysicsData->RigidBody->updateInertiaTensor();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void Systems::PhysicsSystem::TearDownPhysicsState(EntityID entity, EntityID parent)
|
||||
{
|
||||
PhysicsData* physicsData = &m_PhysicsData[entity];
|
||||
{
|
||||
|
||||
delete physicsData->RigidBody;
|
||||
delete physicsData->MotionState;
|
||||
delete physicsData->CollisionShape;
|
||||
|
||||
m_PhysicsData.erase(entity);
|
||||
}
|
||||
|
||||
|
||||
@@ -3,20 +3,7 @@
|
||||
|
||||
#include "System.h"
|
||||
#include "Components/Transform.h"
|
||||
#include "Components/Physics.h"
|
||||
#include "Components/CompoundShape.h"
|
||||
#include "Components/BoxShape.h"
|
||||
#include "Components/SphereShape.h"
|
||||
#include "Components/MeshShape.h"
|
||||
#include "Components/StaticMeshShape.h"
|
||||
#include "Components/BallSocketConstraint.h"
|
||||
#include "Components/HingeConstraint.h"
|
||||
#include "Components/SliderConstraint.h"
|
||||
#include "Components/Vehicle.h"
|
||||
#include "Components/Wheel.h"
|
||||
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "LinearMath/btMatrix3x3.h"
|
||||
#include <unordered_set>
|
||||
|
||||
namespace Systems
|
||||
@@ -32,36 +19,6 @@ public:
|
||||
void OnComponentRemoved(std::string type, Component* component) override;
|
||||
|
||||
private:
|
||||
btBroadphaseInterface* m_Broadphase;
|
||||
btDefaultCollisionConfiguration* m_CollisionConfiguration;
|
||||
btCollisionDispatcher* m_Dispatcher;
|
||||
btSequentialImpulseConstraintSolver* m_Solver;
|
||||
btDiscreteDynamicsWorld* m_DynamicsWorld;
|
||||
|
||||
|
||||
//m_DynamicsWorld = new btDiscreteDynamicsWorld(m_Dispatcher, m_Broadphase, m_Solver, m_CollisionConfiguration);
|
||||
|
||||
|
||||
struct PhysicsData
|
||||
{
|
||||
btRigidBody* RigidBody;
|
||||
btMotionState* MotionState;
|
||||
btCollisionShape* CollisionShape;
|
||||
};
|
||||
std::map<EntityID, PhysicsData> m_PhysicsData;
|
||||
std::map<std::pair<EntityID, EntityID>, btTypedConstraint*> m_Constraints;
|
||||
|
||||
|
||||
struct Vehicle
|
||||
{
|
||||
btVehicleRaycaster* VehicleRaycaster;
|
||||
btRaycastVehicle* RaycastVehicle;
|
||||
btRaycastVehicle::btVehicleTuning Tuning;
|
||||
std::unordered_set<EntityID> Wheels;
|
||||
};
|
||||
|
||||
std::map<EntityID, Vehicle> m_Vehicles;
|
||||
|
||||
void SetUpPhysicsState(EntityID entity, EntityID parent);
|
||||
void TearDownPhysicsState(EntityID entity, EntityID parent);
|
||||
};
|
||||
|
||||
@@ -32,18 +32,6 @@ void Systems::RenderSystem::UpdateEntity(double dt, EntityID entity, EntityID pa
|
||||
m_Renderer->AddModelToDraw(model, position, orientation, scale, modelComponent->Visible, modelComponent->ShadowCaster);
|
||||
}
|
||||
|
||||
// Debug draw bounds
|
||||
#ifdef DEBUG
|
||||
auto collision = m_World->GetComponent<Components::Collision>(entity, "Collision");
|
||||
auto bounds = m_World->GetComponent<Components::Bounds>(entity, "Bounds");
|
||||
if (bounds != nullptr)
|
||||
{
|
||||
glm::vec3 origin = m_TransformSystem->AbsolutePosition(entity) + (transformComponent->Scale * bounds->Origin);
|
||||
glm::vec3 volumeVector = transformComponent->Scale * bounds->VolumeVector;
|
||||
m_Renderer->AddAABBToDraw(origin, volumeVector, (collision != nullptr && collision->CollidingEntities.size() > 0));
|
||||
}
|
||||
#endif
|
||||
|
||||
auto pointLightComponent = m_World->GetComponent<Components::PointLight>(entity, "PointLight");
|
||||
if (pointLightComponent != nullptr)
|
||||
{
|
||||
|
||||
@@ -10,8 +10,6 @@
|
||||
#include "Components/Model.h"
|
||||
#include "Components/Transform.h"
|
||||
#include "Components/Camera.h"
|
||||
#include "Components/Bounds.h"
|
||||
#include "Components/Collision.h"
|
||||
#include "Renderer.h"
|
||||
|
||||
namespace Systems
|
||||
|
||||
Reference in New Issue
Block a user