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Added support for HkpExtendedMeshShape.

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This commit is contained in:
ViktorLjung
2014-04-27 08:08:00 +02:00
parent cb6b0a58d8
commit 720cf3aa87
8 changed files with 153 additions and 207 deletions
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src/Systems/PhysicsSystem.cpp
+74 -103
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@@ -67,6 +67,7 @@ void Systems::PhysicsSystem::RegisterComponents(ComponentFactory* cf)
cf->Register("Sphere", []() { return new Components::Sphere(); });
cf->Register("Vehicle", []() { return new Components::Vehicle(); });
cf->Register("Wheel", []() { return new Components::Wheel(); });
cf->Register("MeshShape", []() { return new Components::MeshShape(); });
}
void Systems::PhysicsSystem::Update(double dt)
@@ -183,11 +184,12 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
auto sphereComponent = m_World->GetComponent<Components::Sphere >(entity, "Sphere");
auto boxComponent = m_World->GetComponent<Components::Box >(entity, "Box");
auto meshShapeComponent = m_World->GetComponent<Components::MeshShape >(entity, "MeshShape");
hkpConvexShape* shape;
hkpShape* shape = nullptr;
hkpRigidBodyCinfo rigidBodyInfo;
hkMassProperties massProperties;
if (sphereComponent)
{
@@ -220,16 +222,83 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
rigidBodyInfo.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
}
hkpInertiaTensorComputer::computeBoxSurfaceMassProperties(hkVector4(boxComponent->Width - thickness, boxComponent->Height - thickness, boxComponent->Depth - thickness), physicsComponent->Mass, thickness, massProperties);
}
else if(meshShapeComponent)
{
std::vector<hkReal>* vertices = new std::vector<hkReal>;
std::vector<hkUint16>* vertexIndices = new std::vector<hkUint16>;
auto meshShape = m_World->GetResourceManager()->Load<OBJ>("OBJ", meshShapeComponent->ResourceName);
for (auto &vertex : meshShape->Vertices)
{
hkReal x, y, z;
std::tie(x, y, z) = vertex;
vertices->push_back(x);
vertices->push_back(y);
vertices->push_back(z);
}
int i = 0;
for (auto &face : meshShape->Faces)
{
for (auto &faceDef : face.Definitions)
{
/*hkReal x, y, z;
std::tie(x, y, z) = meshShape->Vertices.at(faceDef.VertexIndex - 1);
vertices.push_back(x);
vertices.push_back(y);
vertices.push_back(z);*/
vertexIndices->push_back(faceDef.VertexIndex - 1);
//vertexIndices.push_back(i++);
}
}
hkpExtendedMeshShape* mesh = new hkpExtendedMeshShape();
mesh->setRadius( 0.05f);
{
hkpExtendedMeshShape::TrianglesSubpart part;
part.m_numTriangleShapes = meshShape->Faces.size();
part.m_indexBase = vertexIndices->data();
part.m_indexStriding = sizeof(hkUint16) * 3;
part.m_numVertices = vertices->size() / 3;
part.m_vertexBase = vertices->data();
part.m_vertexStriding = sizeof(hkReal) * 3;
part.m_stridingType = hkpExtendedMeshShape::INDICES_INT16;
mesh->addTrianglesSubpart(part);
}
if (physicsComponent->Static)
{
rigidBodyInfo.m_motionType = hkpMotion::MOTION_FIXED;
}
else
{
rigidBodyInfo.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
}
hkpInertiaTensorComputer::computeShapeVolumeMassProperties(mesh, physicsComponent->Mass, massProperties);
rigidBodyInfo.m_shape = mesh;
m_hkpExtendedMeshShapes[entity].ExtendedMeshShape = mesh;
m_hkpExtendedMeshShapes[entity].VertexIndices = vertexIndices;
m_hkpExtendedMeshShapes[entity].Vertices = vertices;
shape = mesh;
}
else
{
return;
}
rigidBodyInfo.m_position.set(transformComponent->Position.x, transformComponent->Position.y, transformComponent->Position.z);
rigidBodyInfo.m_inertiaTensor = massProperties.m_inertiaTensor;
rigidBodyInfo.m_centerOfMass = massProperties.m_centerOfMass;
//rigidBodyInfo.m_centerOfMass = massProperties.m_centerOfMass;
rigidBodyInfo.m_mass = massProperties.m_mass;
// Create RigidBody
hkpRigidBody* rigidBody = new hkpRigidBody(rigidBodyInfo);
@@ -271,108 +340,10 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
shape->removeReference();
rigidBody->removeReference();
}
}
/*
void Systems::PhysicsSystem::SetUpPhysicsState(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");
if (!physicsComponent)
return;
auto sphereComponent = m_World->GetComponent<Components::Sphere >(entity, "Sphere");
auto boxComponent = m_World->GetComponent<Components::Box >(entity, "Box");
hkpConvexShape* shape;
hkpRigidBodyCinfo rigidBodyInfo;
hkMassProperties massProperties;
if (sphereComponent)
{
shape = new hkpSphereShape(sphereComponent->Radius);
rigidBodyInfo.m_shape = shape;
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)
{
hkReal thickness = 0.05;
shape = new hkpBoxShape(hkVector4(boxComponent->Width - thickness, boxComponent->Height - thickness, boxComponent->Depth - thickness));
rigidBodyInfo.m_shape = shape;
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
{
return;
}
rigidBodyInfo.m_position.set(transformComponent->Position.x, transformComponent->Position.y, transformComponent->Position.z);
rigidBodyInfo.m_inertiaTensor = massProperties.m_inertiaTensor;
rigidBodyInfo.m_centerOfMass = massProperties.m_centerOfMass;
rigidBodyInfo.m_mass = massProperties.m_mass;
// Create RigidBody
hkpRigidBody* rigidBody = new hkpRigidBody(rigidBodyInfo);
auto vehicleComponent = m_World->GetComponent<Components::Vehicle >(entity, "Vehicle");
if (vehicleComponent && m_Vehicles.find(entity) == m_Vehicles.end())
{
VehicleSetup vehicleSetup;
// 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);
m_RigidBodies[entity] = rigidBody;
// 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)
{