Physics!!!!!1111oneoneonetwo

src/Systems/PhysicsSystem.cpp

@@ -0,0 +1,155 @@
+#include "PrecompiledHeader.h"
+#include "PhysicsSystem.h"
+#include "World.h"
+
+
+
+Systems::PhysicsSystem::PhysicsSystem(World* world) : System(world)
+{
+	m_Broadphase = new btDbvtBroadphase();
+	m_CollisionConfiguration = new btDefaultCollisionConfiguration();
+	m_Dispatcher = new btCollisionDispatcher(m_CollisionConfiguration);
+	m_Solver = new btSequentialImpulseConstraintSolver();
+	
+	m_DynamicsWorld = new btDiscreteDynamicsWorld(m_Dispatcher, m_Broadphase, m_Solver, m_CollisionConfiguration);
+
+	m_DynamicsWorld->setGravity(btVector3(0, -9.82f, 0));
+
+}
+
+void Systems::PhysicsSystem::Update(double dt)
+{
+	// Update entity transform in physics world
+	for (auto pair : *m_World->GetEntities()) {
+		EntityID entity = pair.first;
+		EntityID parent = pair.second;
+
+		if (parent != 0)
+			continue;
+
+		if (m_PhysicsData.find(entity) != m_PhysicsData.end()) {
+			PhysicsData* physicsData = &m_PhysicsData[entity];
+			auto transformComponent = m_World->GetComponent<Components::Transform>(entity, "Transform");
+
+			btTransform transform;
+			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");
+
+	if (physicsComponent && (sphereShapeComponent || boxShapeComponent))
+	{
+		if (m_PhysicsData.find(entity) == m_PhysicsData.end()) {
+			SetUpPhysicsState(entity);
+		}
+
+		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);
+		}
+	}	
+}
+
+void Systems::PhysicsSystem::OnComponentCreated(std::string type, std::shared_ptr<Component> component)
+{
+	
+}
+
+void Systems::PhysicsSystem::OnComponentRemoved(std::string type, Component* component)
+{
+
+}
+
+void Systems::PhysicsSystem::SetUpPhysicsState(EntityID entity)
+{
+	auto transformComponent = m_World->GetComponent<Components::Transform>(entity, "Transform");
+	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");
+	PhysicsData* physicsData = &m_PhysicsData[entity];
+
+
+	if (boxShapeComponent)
+	{
+		physicsData->CollisionShape = new btBoxShape(btVector3(boxShapeComponent->Width, boxShapeComponent->Height, boxShapeComponent->Depth));
+	}
+	else if(sphereShapeComponent)
+	{
+		physicsData->CollisionShape = new btSphereShape(sphereShapeComponent->Radius);
+	}
+
+	if (transformComponent)
+	{
+		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);
+	rigidBodyCI.m_friction = physicsComponent->Friction;
+	if (sphereShapeComponent)
+	{
+		rigidBodyCI.m_rollingFriction = sphereShapeComponent->RollingFriction;
+	}
+	
+	physicsData->RigidBody = new btRigidBody(rigidBodyCI);
+
+	
+
+	m_DynamicsWorld->addRigidBody(physicsData->RigidBody);
+}
+
+void Systems::PhysicsSystem::TearDownPhysicsState(EntityID entity)
+{
+	PhysicsData* physicsData = &m_PhysicsData[entity];
+	
+	delete physicsData->RigidBody;
+	delete physicsData->MotionState;
+	delete physicsData->CollisionShape;
+
+	m_PhysicsData.erase(entity);
+}
+