Constraints working, I think... :D

src/GameWorld.cpp

@@ -8,8 +8,8 @@ void GameWorld::Initialize()
 	{
 		auto camera = CreateEntity();
 		auto transform = AddComponent<Components::Transform>(camera, "Transform");
-		transform->Position.z = 150.f;
+		transform->Position.z = 20.f;
-		transform->Position.y = 100.f;
+		transform->Position.y = 20.f;
 		transform->Orientation = glm::quat(glm::vec3(glm::pi<float>() / 8.f, 0.f, 0.f));
 		auto cameraComp = AddComponent<Components::Camera>(camera, "Camera");
 		cameraComp->FarClip = 2000.f;
@@ -21,67 +21,30 @@ void GameWorld::Initialize()
 		auto terrain = CreateEntity();
 		auto transform = AddComponent<Components::Transform>(terrain, "Transform");
 		transform->Scale = glm::vec3(1000.0f);
-		transform->Orientation = glm::quat(glm::vec3(0.0f, 0.0f, 0.0f));
+		transform->Orientation = glm::quat(glm::vec3(0.0f, 0.0f, glm::pi<float>() / 20.f));
 		auto model = AddComponent<Components::Model>(terrain, "Model");
 		model->ModelFile = "Models/PhysicsTest/Plane.obj";
 		auto physics = AddComponent<Components::Physics>(terrain, "Physics");
 		auto Box = AddComponent<Components::BoxShape>(terrain, "BoxShape");
-		Box->Width = 1;
+		Box->Width = 0.5f;
 		Box->Height = 0;
-		Box->Depth = 1;
+		Box->Depth = 0.5f;
 		physics->Friction = 0.5f;
 	}
 
 	
 
 	{
-		auto entity = CreateEntity();
-		auto transform = AddComponent<Components::Transform>(entity, "Transform");
-		transform->Scale = glm::vec3(1.0f);
-		transform->Position = glm::vec3(0, 15, 0);
-		transform->Orientation = glm::quat(glm::vec3(0.0f, 0.0f, 0.0f));
 		
-		auto physics = AddComponent<Components::Physics>(entity, "Physics");
+		for (int i = 0; i < 1; i++)
-		physics->Mass = 10;
-		physics->Friction = 0.5;
-
-		auto compound = AddComponent<Components::CompoundShape>(entity, "CompoundShape");
-
-		{
-			auto entity0 = CreateEntity(entity);
-			auto transform = AddComponent<Components::Transform>(entity0, "Transform");
-			transform->Scale = glm::vec3(1.f);
-			auto model = AddComponent<Components::Model>(entity0, "Model");
-			model->ModelFile = "Models/PhysicsTest/Sphere.obj";
-
-			auto sphere = AddComponent<Components::SphereShape>(entity0, "SphereShape");
-			sphere->Radius = 0.5f;
-		}
-
-		{
-			auto entity1 = CreateEntity(entity);
-			auto transform = AddComponent<Components::Transform>(entity1, "Transform");
-			transform->Scale = glm::vec3(1.0f);
-			transform->Position = glm::vec3(-1, 1, 0);
-			transform->Orientation = glm::quat(glm::vec3(0.0f, 0.0f, 0.0f));
-			auto model = AddComponent<Components::Model>(entity1, "Model");
-			model->ModelFile = "Models/PhysicsTest/Cube.obj";
-
-			auto box = AddComponent<Components::BoxShape>(entity1, "BoxShape");
-			box->Width = 0.5;
-			box->Height = 0.5;
-			box->Depth = 0.5;
-		}
-
-
 		{
 			auto entity = CreateEntity();
 			auto transform = AddComponent<Components::Transform>(entity, "Transform");
 			transform->Scale = glm::vec3(1.0f);
-			transform->Position = glm::vec3(1, 6, 0);
+			transform->Position = glm::vec3(0, 10+i, 0);
 			transform->Orientation = glm::quat(glm::vec3(0.0f, 0.0f, 0.0f));
 			auto model = AddComponent<Components::Model>(entity, "Model");
-			model->ModelFile = "Models/PhysicsTest/Cube.obj";
+			model->ModelFile = "Models/PhysicsTest/ArrowCube.obj";
 
 			auto physics = AddComponent<Components::Physics>(entity, "Physics");
 			physics->Mass = 10;
@@ -90,13 +53,46 @@ void GameWorld::Initialize()
 			box->Width = 0.5;
 			box->Height = 0.5;
 			box->Depth = 0.5;
+
+
+			{
+				auto entity1 = CreateEntity();
+				auto transform = AddComponent<Components::Transform>(entity1, "Transform");
+				transform->Scale = glm::vec3(1.0f);
+				transform->Position = glm::vec3(-5.f, 10+i, 0);
+				transform->Orientation = glm::quat(glm::vec3(0.0f, 0.0f, 0.0f));
+				auto model = AddComponent<Components::Model>(entity1, "Model");
+				model->ModelFile = "Models/PhysicsTest/ArrowCube.obj";
+
+				auto physics = AddComponent<Components::Physics>(entity1, "Physics");
+				physics->Mass = 0;
+
+				auto box = AddComponent<Components::BoxShape>(entity1, "BoxShape");
+				box->Width = 0.5;
+				box->Height = 0.5;
+				box->Depth = 0.5;
+
+				auto hingeConstraint = AddComponent<Components::HingeConstraint>(entity1, "HingeConstraint");
+				hingeConstraint->EntityA = entity;
+				hingeConstraint->EntityB = entity1;
+				hingeConstraint->AxisA = glm::vec3(0, 0, 1);
+				hingeConstraint->AxisB = glm::vec3(0, 0, 1);
+				hingeConstraint->LowLimit = -glm::pi<float>();
+				hingeConstraint->HighLimit = glm::pi<float>();
+				hingeConstraint->PivotA = glm::vec3(-5, 0, 0);
+				hingeConstraint->PivotB = glm::vec3(0, 0, 0);
+				
+			}
+
 		}
 
+
+
 	}
 
 	
-
 	
+
 }
 
 void GameWorld::Update(double dt)
@@ -125,6 +121,9 @@ void GameWorld::RegisterComponents()
 	m_ComponentFactory.Register("SphereShape", []() { return new Components::SphereShape(); });
 	m_ComponentFactory.Register("BoxShape", []() { return new Components::BoxShape(); });
 
+	m_ComponentFactory.Register("HingeConstraint", []() { return new Components::HingeConstraint(); });
+	m_ComponentFactory.Register("BallSocketConstraint", []() { return new Components::BallSocketConstraint(); });
+	m_ComponentFactory.Register("SliderConstraint", []() { return new Components::SliderConstraint(); });
 }
 
 void GameWorld::RegisterSystems()

src/GameWorld.h

@@ -35,6 +35,10 @@
 #include "Components/SphereShape.h"
 #include "Components/Physics.h"
 
+#include "Components/BallSocketConstraint.h"
+#include "Components/HingeConstraint.h"
+#include "Components/SliderConstraint.h"
+
 class GameWorld : public World
 {
 public:

src/Systems/PhysicsSystem.cpp

@@ -86,6 +86,73 @@ void Systems::PhysicsSystem::UpdateEntity(double dt, EntityID entity, EntityID p
 			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)]);
+			}
+		}
+	}
+
 }
 
 void Systems::PhysicsSystem::OnComponentCreated(std::string type, std::shared_ptr<Component> component)

src/Systems/PhysicsSystem.h

@@ -7,6 +7,9 @@
 #include "Components/CompoundShape.h"
 #include "Components/BoxShape.h"
 #include "Components/SphereShape.h"
+#include "Components/BallSocketConstraint.h"
+#include "Components/HingeConstraint.h"
+#include "Components/SliderConstraint.h"
 
 #include "btBulletDynamicsCommon.h"
 #include "LinearMath/btMatrix3x3.h"
@@ -37,13 +40,10 @@ namespace Systems
 			btCollisionShape*	CollisionShape;
 		};
 		std::map<EntityID, PhysicsData> m_PhysicsData;
-
+		std::map<std::pair<EntityID, EntityID>, btTypedConstraint*> m_Constraints;
 
 		void SetUpPhysicsState(EntityID entity, EntityID parent);
 		void TearDownPhysicsState(EntityID entity, EntityID parent);
-
-		
-
 	};
 }
 

vs12/Returngeance/Returngeance.vcxproj

@@ -108,6 +108,7 @@
     <ClInclude Include="..\..\src\Camera.h" />
     <ClInclude Include="..\..\src\Color.h" />
     <ClInclude Include="..\..\src\Component.h" />
+    <ClInclude Include="..\..\src\Components\BallSocketConstraint.h" />
     <ClInclude Include="..\..\src\Components\Bounds.h" />
     <ClInclude Include="..\..\src\Components\BoxShape.h" />
     <ClInclude Include="..\..\src\Components\Camera.h" />
@@ -115,12 +116,14 @@
     <ClInclude Include="..\..\src\Components\CompoundShape.h" />
     <ClInclude Include="..\..\src\Components\DirectionalLight.h" />
     <ClInclude Include="..\..\src\Components\FreeSteering.h" />
+    <ClInclude Include="..\..\src\Components\HingeConstraint.h" />
     <ClInclude Include="..\..\src\Components\Input.h" />
     <ClInclude Include="..\..\src\Components\Model.h" />
     <ClInclude Include="..\..\src\Components\ParticleEmitter.h" />
     <ClInclude Include="..\..\src\Components\Physics.h" />
     <ClInclude Include="..\..\src\Components\PointLight.h" />
     <ClInclude Include="..\..\src\Components\PowerUp.h" />
+    <ClInclude Include="..\..\src\Components\SliderConstraint.h" />
     <ClInclude Include="..\..\src\Components\SoundEmitter.h" />
     <ClInclude Include="..\..\src\Components\SphereShape.h" />
     <ClInclude Include="..\..\src\Components\Sprite.h" />

vs12/Returngeance/Returngeance.vcxproj.filters

@@ -145,6 +145,15 @@
     <ClInclude Include="..\..\src\Components\CompoundShape.h">
       <Filter>Components</Filter>
     </ClInclude>
+    <ClInclude Include="..\..\src\Components\SliderConstraint.h">
+      <Filter>Components</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\src\Components\HingeConstraint.h">
+      <Filter>Components</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\src\Components\BallSocketConstraint.h">
+      <Filter>Components</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <None Include="..\..\src\Shaders\AABB.frag.glsl">