BTH/fishtanks
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Car physics not working, yet!

Browse Source
This commit is contained in:
ViktorLjung
2014-04-16 01:33:05 +02:00
parent 1697627f69
commit 069d079594
10 changed files with 535 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/Systems/PhysicsSystem.cpp
+73 -9
View File
@@ -29,6 +29,7 @@
Systems::PhysicsSystem::PhysicsSystem(World* world) : System(world)
{
m_Accumulator = 0;
{
hkMemorySystem::FrameInfo finfo(500 * 1024); // Allocate 500KB of Physics solver buffer
hkMemoryRouter* memoryRouter = hkMemoryInitUtil::initDefault(hkMallocAllocator::m_defaultMallocAllocator, finfo);
@@ -63,7 +64,30 @@ Systems::PhysicsSystem::PhysicsSystem(World* world) : System(world)
void Systems::PhysicsSystem::Update(double dt)
{
m_PhysicsWorld->stepDeltaTime(0.0166f);
for (auto pair : *m_World->GetEntities())
{
EntityID entity = pair.first;
if (m_RigidBodies.find(entity) == m_RigidBodies.end())
continue;
auto transformComponent = m_World->GetComponent<Components::Transform>(entity, "Transform");
if (!transformComponent)
continue;
hkVector4 position(transformComponent->Position.x, transformComponent->Position.y, transformComponent->Position.z);
hkQuaternion rotation(transformComponent->Orientation.x, transformComponent->Orientation.y, transformComponent->Orientation.z, transformComponent->Orientation.w);
m_RigidBodies[entity]->setPositionAndRotation(position, rotation);
}
static const double timestep = 1 / 60.0;
m_Accumulator += dt;
while (m_Accumulator >= timestep)
{
m_PhysicsWorld->stepDeltaTime(timestep);
m_Accumulator -= timestep;
}
// Step the visual debugger
StepVisualDebugger();
@@ -113,17 +137,32 @@ void Systems::PhysicsSystem::SetUpPhysicsState(EntityID entity, EntityID parent)
{
shape = new hkpSphereShape(sphereComponent->Radius);
rigidBodyInfo.m_shape = shape;
rigidBodyInfo.m_motionType = hkpMotion::MOTION_SPHERE_INERTIA;
if (physicsComponent->Static)
{
rigidBodyInfo.m_motionType = hkpMotion::MOTION_FIXED;
}
else
{
rigidBodyInfo.m_motionType = hkpMotion::MOTION_SPHERE_INERTIA;
}
hkpInertiaTensorComputer::computeSphereVolumeMassProperties(sphereComponent->Radius, physicsComponent->Mass, massProperties);
}
else if (boxComponent)
{
shape = new hkpBoxShape(hkVector4(boxComponent->Width, boxComponent->Height, boxComponent->Depth));
hkReal thickness = 0.05;
shape = new hkpBoxShape(hkVector4(boxComponent->Width - thickness, boxComponent->Height - thickness, boxComponent->Depth - thickness));
rigidBodyInfo.m_shape = shape;
rigidBodyInfo.m_motionType = hkpMotion::MOTION_FIXED;
hkReal thickness = 0.1;
if (physicsComponent->Static)
{
rigidBodyInfo.m_motionType = hkpMotion::MOTION_FIXED;
}
else
{
rigidBodyInfo.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
}
hkpInertiaTensorComputer::computeBoxSurfaceMassProperties(hkVector4(boxComponent->Width - thickness, boxComponent->Height - thickness, boxComponent->Depth - thickness), physicsComponent->Mass, thickness, massProperties);
}
else
@@ -138,14 +177,39 @@ void Systems::PhysicsSystem::SetUpPhysicsState(EntityID entity, EntityID parent)
// Create RigidBody
hkpRigidBody* rigidBody = new hkpRigidBody(rigidBodyInfo);
shape->removeReference();
m_PhysicsWorld->addEntity(rigidBody);
m_RigidBodies[entity] = rigidBody;
rigidBody->removeReference();
auto vehicleComponent = m_World->GetComponent<Components::Vehicle >(entity, "Vehicle");
if (vehicleComponent && m_Vehicles.find(entity) == m_Vehicles.end())
{
VehicleSetup vehicleSetup;
// Create the vehicle.
m_Vehicles[entity] = new hkpVehicleInstance(rigidBody);
// Create the basic vehicle.
m_Vehicles[entity] = new hkpVehicleInstance(rigidBody);
vehicleSetup.buildVehicle(m_PhysicsWorld, *m_Vehicles[entity]);
// Add the vehicle's entities and phantoms to the world
m_Vehicles[entity]->addToWorld(m_PhysicsWorld);
// The vehicle is an action
m_PhysicsWorld->addAction(m_Vehicles[entity]);
m_Vehicles[entity]->m_rpm = 0.0f; // Not sure why this one should be here
shape->removeReference();
rigidBody->removeReference();
}
else
{
m_PhysicsWorld->addEntity(rigidBody);
m_RigidBodies[entity] = rigidBody;
shape->removeReference();
rigidBody->removeReference();
}
}
void Systems::PhysicsSystem::TearDownPhysicsState(EntityID entity, EntityID parent)
{