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Convert functions working in debug

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This commit is contained in:
ViktorLjung
2014-05-19 19:59:17 +02:00
parent 998ee3cfab
commit 7f77db97a0
2 changed files with 34 additions and 71 deletions
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src/Systems/PhysicsSystem.cpp
+24 -61
View File
@@ -146,13 +146,13 @@ void Systems::PhysicsSystem::Update(double dt)
if (parent) if (parent)
{ {
auto absoluteTransform = m_World->GetSystem<Systems::TransformSystem>()->AbsoluteTransform(entity); auto absoluteTransform = m_World->GetSystem<Systems::TransformSystem>()->AbsoluteTransform(entity);
position = ConvertPosition(absoluteTransform.Position); position = GLMVEC3_TO_HKVECTOR4(absoluteTransform.Position);
rotation = ConvertRotation(absoluteTransform.Orientation); rotation = GLMQUAT_TO_HKQUATERNION(absoluteTransform.Orientation);
} }
else else
{ {
position = ConvertPosition(transformComponent->Position); position = GLMVEC3_TO_HKVECTOR4(transformComponent->Position);
rotation = ConvertRotation(transformComponent->Orientation); rotation = GLMQUAT_TO_HKQUATERNION(transformComponent->Orientation);
} }
m_PhysicsWorld->markForWrite(); m_PhysicsWorld->markForWrite();
m_RigidBodies[entity]->setPositionAndRotation(position, rotation); m_RigidBodies[entity]->setPositionAndRotation(position, rotation);
@@ -166,8 +166,8 @@ void Systems::PhysicsSystem::Update(double dt)
m_Accumulator += dt; m_Accumulator += dt;
while (m_Accumulator >= timestep) while (m_Accumulator >= timestep)
{ {
hkpStepResult stepresult = m_PhysicsWorld->stepMultithreaded(m_JobQueue, m_ThreadPool, timestep); //hkpStepResult stepresult = m_PhysicsWorld->stepMultithreaded(m_JobQueue, m_ThreadPool, timestep);
//m_PhysicsWorld->stepDeltaTime(timestep); m_PhysicsWorld->stepDeltaTime(timestep);
m_Accumulator -= timestep; m_Accumulator -= timestep;
@@ -204,7 +204,7 @@ void Systems::PhysicsSystem::UpdateEntity(double dt, EntityID entity, EntityID p
hkQuaternion steeringOrientation = m_Vehicles[car]->m_wheelsInfo[wheelComponent->ID].m_steeringOrientationChassisSpace; hkQuaternion steeringOrientation = m_Vehicles[car]->m_wheelsInfo[wheelComponent->ID].m_steeringOrientationChassisSpace;
hkReal spinAngle = -m_Vehicles[car]->m_wheelsInfo[wheelComponent->ID].m_spinAngle; hkReal spinAngle = -m_Vehicles[car]->m_wheelsInfo[wheelComponent->ID].m_spinAngle;
glm::quat orientation = ConvertRotation(steeringOrientation) * glm::angleAxis<float>(spinAngle, glm::vec3(1, 0, 0)); glm::quat orientation = HKQUATERNION_TO_GLMQUAT(steeringOrientation) * glm::angleAxis<float>(spinAngle, glm::vec3(1, 0, 0));
transformComponent->Orientation = orientation * wheelComponent->OriginalOrientation; transformComponent->Orientation = orientation * wheelComponent->OriginalOrientation;
m_PhysicsWorld->unmarkForWrite(); m_PhysicsWorld->unmarkForWrite();
} }
@@ -213,8 +213,8 @@ void Systems::PhysicsSystem::UpdateEntity(double dt, EntityID entity, EntityID p
{ {
auto transformComponentParent = m_World->GetComponent<Components::Transform>(parent); auto transformComponentParent = m_World->GetComponent<Components::Transform>(parent);
transformComponent->Position = ConvertPosition(m_RigidBodies[entity]->getPosition()); transformComponent->Position = HKVECTOR4_TO_GLMVEC3(m_RigidBodies[entity]->getPosition());
transformComponent->Orientation = ConvertRotation(m_RigidBodies[entity]->getRotation()); transformComponent->Orientation = HKQUATERNION_TO_GLMQUAT(m_RigidBodies[entity]->getRotation());
// TODO: No support for Scale, MIGHT be possible // TODO: No support for Scale, MIGHT be possible
if (transformComponentParent) if (transformComponentParent)
@@ -277,13 +277,9 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
hkpListShape* listShape = new hkpListShape(shapeArray.begin(), shapeArray.getSize(), hkpShapeContainer::REFERENCE_POLICY_INCREMENT); hkpListShape* listShape = new hkpListShape(shapeArray.begin(), shapeArray.getSize(), hkpShapeContainer::REFERENCE_POLICY_INCREMENT);
// Save the listShape for further use // Save the listShape for further use
m_ListShapes[entity] = listShape; m_ListShapes[entity] = listShape;
shape = listShape; //shape = listShape;
hkpBoxShape* box = new hkpBoxShape(listShape->m_aabbHalfExtents, 0.0f);
////////////////////////////////// shape = new hkpBvShape(listShape, box);
//******************************//
// Add a hkpBvShape //
//******************************//
//////////////////////////////////
// Clean up for less memory usage // Clean up for less memory usage
m_Shapes.erase(entity); m_Shapes.erase(entity);
@@ -296,8 +292,8 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
rigidBodyInfo.m_shape = shape; rigidBodyInfo.m_shape = shape;
rigidBodyInfo.m_motionType = hkpMotion::MOTION_DYNAMIC; rigidBodyInfo.m_motionType = hkpMotion::MOTION_DYNAMIC;
auto absoluteTransform = m_World->GetSystem<Systems::TransformSystem>()->AbsoluteTransform(entity); auto absoluteTransform = m_World->GetSystem<Systems::TransformSystem>()->AbsoluteTransform(entity);
hkVector4 position = ConvertPosition(absoluteTransform.Position); hkVector4 position = GLMVEC3_TO_HKVECTOR4(absoluteTransform.Position);
hkQuaternion rotation = ConvertRotation(absoluteTransform.Orientation); hkQuaternion rotation = GLMQUAT_TO_HKQUATERNION(absoluteTransform.Orientation);
rigidBodyInfo.m_position.set(position(0), position(1), position(2), position(3)); rigidBodyInfo.m_position.set(position(0), position(1), position(2), position(3));
rigidBodyInfo.m_rotation.set(rotation(0), rotation(1), rotation(2), rotation(3)); rigidBodyInfo.m_rotation.set(rotation(0), rotation(1), rotation(2), rotation(3));
@@ -366,9 +362,9 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
auto childTransformComponent = m_World->GetComponent<Components::Transform>(shapeData.Entity); auto childTransformComponent = m_World->GetComponent<Components::Transform>(shapeData.Entity);
hkVector4 position = ConvertPosition(childTransformComponent->Position); hkVector4 position = GLMVEC3_TO_HKVECTOR4(childTransformComponent->Position);
hkQuaternion rotation = ConvertRotation(childTransformComponent->Orientation); hkQuaternion rotation = GLMQUAT_TO_HKQUATERNION(childTransformComponent->Orientation);
hkVector4 scale = ConvertScale(childTransformComponent->Scale); hkVector4 scale = GLMVEC3_TO_HKVECTOR4(childTransformComponent->Scale);
hkQsTransform transform(position, rotation, scale); hkQsTransform transform(position, rotation, scale);
staticCompoundShape->addInstance(shapeData.Shape, transform); staticCompoundShape->addInstance(shapeData.Shape, transform);
@@ -386,8 +382,8 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
rigidBodyInfo.m_shape = shape; rigidBodyInfo.m_shape = shape;
rigidBodyInfo.m_motionType = hkpMotion::MOTION_FIXED; rigidBodyInfo.m_motionType = hkpMotion::MOTION_FIXED;
auto absoluteTransform = m_World->GetSystem<Systems::TransformSystem>()->AbsoluteTransform(entity); auto absoluteTransform = m_World->GetSystem<Systems::TransformSystem>()->AbsoluteTransform(entity);
hkVector4 position = ConvertPosition(absoluteTransform.Position); hkVector4 position = GLMVEC3_TO_HKVECTOR4(absoluteTransform.Position);
hkQuaternion rotation = ConvertRotation(absoluteTransform.Orientation); hkQuaternion rotation = GLMQUAT_TO_HKQUATERNION(absoluteTransform.Orientation);
rigidBodyInfo.m_position.set(position(0), position(1), position(2), position(3)); rigidBodyInfo.m_position.set(position(0), position(1), position(2), position(3));
rigidBodyInfo.m_rotation.set(rotation(0), rotation(1), rotation(2), rotation(3)); rigidBodyInfo.m_rotation.set(rotation(0), rotation(1), rotation(2), rotation(3));
@@ -419,7 +415,7 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
{ {
hkpSphereShape* sphereShape = new hkpSphereShape(sphereComponent->Radius); hkpSphereShape* sphereShape = new hkpSphereShape(sphereComponent->Radius);
hkQsTransform transform( ConvertPosition(transformComponent->Position), ConvertRotation(transformComponent->Orientation), ConvertScale(transformComponent->Scale)); hkQsTransform transform( GLMVEC3_TO_HKVECTOR4(transformComponent->Position), GLMQUAT_TO_HKQUATERNION(transformComponent->Orientation), GLMVEC3_TO_HKVECTOR4(transformComponent->Scale));
hkpConvexTransformShape* transformedSphereShape = new hkpConvexTransformShape( sphereShape, transform ); hkpConvexTransformShape* transformedSphereShape = new hkpConvexTransformShape( sphereShape, transform );
m_Shapes[entityParent].push_back(ShapeArrayData(entity, transformedSphereShape)); m_Shapes[entityParent].push_back(ShapeArrayData(entity, transformedSphereShape));
@@ -432,7 +428,7 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
hkReal thickness = 0.05; hkReal thickness = 0.05;
hkpBoxShape* boxShape = new hkpBoxShape(hkVector4(boxComponent->Width- thickness, boxComponent->Height -thickness, boxComponent->Depth - thickness), thickness); hkpBoxShape* boxShape = new hkpBoxShape(hkVector4(boxComponent->Width- thickness, boxComponent->Height -thickness, boxComponent->Depth - thickness), thickness);
hkQsTransform transform( ConvertPosition(transformComponent->Position), ConvertRotation(transformComponent->Orientation), ConvertScale(transformComponent->Scale)); hkQsTransform transform( GLMVEC3_TO_HKVECTOR4(transformComponent->Position), GLMQUAT_TO_HKQUATERNION(transformComponent->Orientation), GLMVEC3_TO_HKVECTOR4(transformComponent->Scale));
hkpConvexTransformShape* transformedBoxShape = new hkpConvexTransformShape( boxShape, transform ); hkpConvexTransformShape* transformedBoxShape = new hkpConvexTransformShape( boxShape, transform );
m_Shapes[entityParent].push_back(ShapeArrayData(entity, transformedBoxShape)); m_Shapes[entityParent].push_back(ShapeArrayData(entity, transformedBoxShape));
boxShape->removeReference(); boxShape->removeReference();
@@ -540,39 +536,6 @@ void HK_CALL Systems::PhysicsSystem::HavokErrorReport(const char* msg, void*)
LOG_INFO("%s", msg); LOG_INFO("%s", msg);
} }
glm::vec3 Systems::PhysicsSystem::ConvertPosition(const hkVector4 &hkPosition)
{
return glm::vec3(hkPosition(0), hkPosition(1), hkPosition(2));
}
const hkVector4& Systems::PhysicsSystem::ConvertPosition(glm::vec3 glmPosition)
{
return hkVector4( glmPosition.x, glmPosition.y, glmPosition.z);
}
glm::quat Systems::PhysicsSystem::ConvertRotation(const hkQuaternion &hkRotation)
{
return glm::quat(hkRotation(3), hkRotation(0), hkRotation(1), hkRotation(2));
}
const hkQuaternion& Systems::PhysicsSystem::ConvertRotation(glm::quat glmRotation)
{
hkQuaternion quat = hkQuaternion(glmRotation.x, glmRotation.y, glmRotation.z, glmRotation.w);
quat.normalize();
return quat;
}
glm::vec3 Systems::PhysicsSystem::ConvertScale(const hkVector4 &hkScale)
{
return glm::vec3(hkScale(0), hkScale(1), hkScale(2));
}
const hkVector4& Systems::PhysicsSystem::ConvertScale(glm::vec3 glmScale)
{
return hkVector4(glmScale.x, glmScale.y, glmScale.z);
}
bool Systems::PhysicsSystem::OnTankSteer(const Events::TankSteer &event) bool Systems::PhysicsSystem::OnTankSteer(const Events::TankSteer &event)
{ {
auto vehicleComponent = m_World->GetComponent<Components::Vehicle>(event.Entity); auto vehicleComponent = m_World->GetComponent<Components::Vehicle>(event.Entity);
@@ -596,7 +559,7 @@ bool Systems::PhysicsSystem::OnTankSteer(const Events::TankSteer &event)
bool Systems::PhysicsSystem::OnSetVelocity( const Events::SetVelocity &event ) bool Systems::PhysicsSystem::OnSetVelocity( const Events::SetVelocity &event )
{ {
m_PhysicsWorld->markForWrite(); m_PhysicsWorld->markForWrite();
m_RigidBodies[event.Entity]->setLinearVelocity(ConvertPosition(event.Velocity)); m_RigidBodies[event.Entity]->setLinearVelocity(GLMVEC3_TO_HKVECTOR4(event.Velocity));
m_PhysicsWorld->unmarkForWrite(); m_PhysicsWorld->unmarkForWrite();
return true; return true;
@@ -605,7 +568,7 @@ bool Systems::PhysicsSystem::OnSetVelocity( const Events::SetVelocity &event )
bool Systems::PhysicsSystem::OnApplyForce(const Events::ApplyForce &event) bool Systems::PhysicsSystem::OnApplyForce(const Events::ApplyForce &event)
{ {
m_PhysicsWorld->markForWrite(); m_PhysicsWorld->markForWrite();
m_RigidBodies[event.Entity]->applyForce(event.DeltaTime, ConvertPosition(event.Force)); m_RigidBodies[event.Entity]->applyForce(event.DeltaTime, GLMVEC3_TO_HKVECTOR4(event.Force));
m_PhysicsWorld->unmarkForWrite(); m_PhysicsWorld->unmarkForWrite();
return true; return true;
@@ -614,7 +577,7 @@ bool Systems::PhysicsSystem::OnApplyForce(const Events::ApplyForce &event)
bool Systems::PhysicsSystem::OnApplyPointImpulse( const Events::ApplyPointImpulse &event ) bool Systems::PhysicsSystem::OnApplyPointImpulse( const Events::ApplyPointImpulse &event )
{ {
m_PhysicsWorld->markForWrite(); m_PhysicsWorld->markForWrite();
m_RigidBodies[event.Entity]->applyPointImpulse(ConvertPosition(event.Impulse), ConvertPosition(event.Position)); m_RigidBodies[event.Entity]->applyPointImpulse(GLMVEC3_TO_HKVECTOR4(event.Impulse), GLMVEC3_TO_HKVECTOR4(event.Position));
m_PhysicsWorld->unmarkForWrite(); m_PhysicsWorld->unmarkForWrite();
return true; return true;
src/Systems/PhysicsSystem.h
+10 -10
View File
@@ -1,6 +1,16 @@
#ifndef PhysicsSystem_h__ #ifndef PhysicsSystem_h__
#define PhysicsSystem_h__ #define PhysicsSystem_h__
#define HKVECTOR4_TO_GLMVEC3(hkvec) \
glm::vec3(hkvec(0), hkvec(1), hkvec(2))
#define GLMVEC3_TO_HKVECTOR4(glmvec) \
hkVector4(glmvec.x, glmvec.y, glmvec.z)
#define HKQUATERNION_TO_GLMQUAT(gkquat) \
glm::quat(gkquat(3), gkquat(0), gkquat(1), gkquat(2))
#define GLMQUAT_TO_HKQUATERNION(glmquat) \
hkQuaternion(glmquat.x, glmquat.y, glmquat.z, glmquat.w)
#include "System.h" #include "System.h"
#include "Systems/TransformSystem.h" #include "Systems/TransformSystem.h"
#include "Components/Transform.h" #include "Components/Transform.h"
@@ -121,16 +131,6 @@ private:
static void HK_CALL HavokErrorReport(const char* msg, void*); static void HK_CALL HavokErrorReport(const char* msg, void*);
void SetupPhysics(hkpWorld* physicsWorld); void SetupPhysics(hkpWorld* physicsWorld);
// Converterfunctions
glm::vec3 ConvertPosition(const hkVector4 &hkPosition);
const hkVector4& ConvertPosition(glm::vec3 glmPosition);
glm::quat ConvertRotation(const hkQuaternion &hkRotation);
const hkQuaternion& ConvertRotation(glm::quat glmRotation);
glm::vec3 ConvertScale(const hkVector4 &hkScale);
const hkVector4&ConvertScale(glm::vec3 glmScale);
std::unordered_map<EntityID, hkpRigidBody*> m_RigidBodies; std::unordered_map<EntityID, hkpRigidBody*> m_RigidBodies;
hkJobThreadPool* m_ThreadPool; hkJobThreadPool* m_ThreadPool;