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Box and Sphere Rigidbodies working

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This commit is contained in:
ViktorLjung
2014-04-13 02:20:50 +02:00
parent f6090679b7
commit 84484b3703
9 changed files with 201 additions and 79 deletions
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src/Systems/PhysicsSystem.cpp
+84 -63
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@@ -28,13 +28,13 @@
Systems::PhysicsSystem::PhysicsSystem(World* world) : System(world)
{
{
{
hkMemorySystem::FrameInfo finfo(500 * 1024); // Allocate 500KB of Physics solver buffer
hkMemoryRouter* memoryRouter = hkMemoryInitUtil::initDefault(hkMallocAllocator::m_defaultMallocAllocator, finfo);
hkBaseSystem::init(memoryRouter, HavokErrorReport);
hkMemorySystem::FrameInfo finfo(500 * 1024); // Allocate 500KB of Physics solver buffer
hkMemoryRouter* memoryRouter = hkMemoryInitUtil::initDefault(hkMallocAllocator::m_defaultMallocAllocator, finfo);
hkBaseSystem::init(memoryRouter, HavokErrorReport);
hkpWorldCinfo worldInfo;
worldInfo.setupSolverInfo(hkpWorldCinfo::SOLVER_TYPE_4ITERS_MEDIUM);
worldInfo.m_gravity = hkVector4(0.0f, -9.8f, 0.0f);
@@ -43,7 +43,7 @@ Systems::PhysicsSystem::PhysicsSystem(World* world) : System(world)
// You must specify the size of the broad phase - objects should not be simulated outside this region
worldInfo.setBroadPhaseWorldSize(1000.0f);
m_PhysicsWorld = new hkpWorld(worldInfo);
}
// Register all collision agents, even though only box - box will be used in this particular example.
// It's important to register collision agents before adding any entities to the world.
hkpAgentRegisterUtil::registerAllAgents(m_PhysicsWorld->getCollisionDispatcher());
@@ -58,7 +58,7 @@ Systems::PhysicsSystem::PhysicsSystem(World* world) : System(world)
context->addWorld(m_PhysicsWorld); // add the physics world so the viewers can see it
SetupVisualDebugger(context);
SetupPhysics(m_PhysicsWorld);
//SetupPhysics(m_PhysicsWorld);
}
void Systems::PhysicsSystem::Update(double dt)
@@ -70,6 +70,83 @@ void Systems::PhysicsSystem::Update(double dt)
}
void Systems::PhysicsSystem::UpdateEntity(double dt, EntityID entity, EntityID parent)
{
auto transformComponent = m_World->GetComponent<Components::Transform>(entity, "Transform");
if (!transformComponent)
return;
if (m_RigidBodies.find(entity) == m_RigidBodies.end())
{
SetUpPhysicsState(entity, parent);
}
else
{
hkVector4 position = m_RigidBodies[entity]->getPosition();
transformComponent->Position = glm::vec3(position(0), position(1), position(2));
hkQuaternion orientation = m_RigidBodies[entity]->getRotation();
transformComponent->Orientation = glm::quat(orientation(3),orientation(0), orientation(1), orientation(2));
}
}
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;
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));
rigidBodyInfo.m_shape = shape;
rigidBodyInfo.m_motionType = hkpMotion::MOTION_FIXED;
hkReal thickness = 0.1;
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);
shape->removeReference();
m_PhysicsWorld->addEntity(rigidBody);
m_RigidBodies[entity] = rigidBody;
rigidBody->removeReference();
}
void Systems::PhysicsSystem::TearDownPhysicsState(EntityID entity, EntityID parent)
{
}
@@ -84,15 +161,6 @@ void Systems::PhysicsSystem::OnComponentRemoved(std::string type, Component* com
}
void Systems::PhysicsSystem::SetUpPhysicsState(EntityID entity, EntityID parent)
{
}
void Systems::PhysicsSystem::TearDownPhysicsState(EntityID entity, EntityID parent)
{
}
void Systems::PhysicsSystem::SetupVisualDebugger(hkpPhysicsContext* worlds)
{
@@ -125,50 +193,3 @@ void HK_CALL Systems::PhysicsSystem::HavokErrorReport(const char* msg, void*)
LOG_DEBUG("%s", msg);
}
void Systems::PhysicsSystem::SetupPhysics(hkpWorld* physicsWorld)
{
// Create the floor as a fixed box
{
hkpRigidBodyCinfo boxInfo;
hkVector4 boxSize(5.0f, 0.5f, 5.0f);
hkpBoxShape* boxShape = new hkpBoxShape(boxSize);
boxInfo.m_shape = boxShape;
boxInfo.m_motionType = hkpMotion::MOTION_FIXED;
boxInfo.m_position.set(0.0f, 0.0f, 0.0f);
boxInfo.m_restitution = 0.9f;
hkpRigidBody* floor = new hkpRigidBody(boxInfo);
boxShape->removeReference();
physicsWorld->addEntity(floor);
floor->removeReference();
}
// Create a moving sphere
{
hkReal sphereRadius = 0.5f;
hkpConvexShape* sphereShape = new hkpSphereShape(sphereRadius);
hkpRigidBodyCinfo sphereInfo;
sphereInfo.m_shape = sphereShape;
sphereInfo.m_position.set(0.0f, 5.0f, 0.0f);
sphereInfo.m_motionType = hkpMotion::MOTION_SPHERE_INERTIA;
// Compute mass properties
hkReal sphereMass = 10.0f;
hkMassProperties sphereMassProperties;
hkpInertiaTensorComputer::computeSphereVolumeMassProperties(sphereRadius, sphereMass, sphereMassProperties);
sphereInfo.m_inertiaTensor = sphereMassProperties.m_inertiaTensor;
sphereInfo.m_centerOfMass = sphereMassProperties.m_centerOfMass;
sphereInfo.m_mass = sphereMassProperties.m_mass;
// Create sphere RigidBody
hkpRigidBody* sphereRigidBody = new hkpRigidBody(sphereInfo);
sphereShape->removeReference();
physicsWorld->addEntity(sphereRigidBody);
g_ball = sphereRigidBody;
sphereRigidBody->removeReference();
}
}