Box and Sphere Rigidbodies working

src/Components/Box.h

@@ -0,0 +1,21 @@
+#ifndef Components_Box_h__
+#define Components_Box_h__
+
+#include "Component.h"
+
+namespace Components
+{
+
+struct Box : Component
+{
+	Box()
+		: Width(1.f), Height(1.f), Depth(1.f){ }
+
+	float Width;
+	float Height;
+	float Depth;
+};
+
+}
+
+#endif // Components_Box_h__

src/Components/Physics.h

@@ -0,0 +1,19 @@
+#ifndef Components_Physics_h__
+#define Components_Physics_h__
+
+#include "Component.h"
+
+namespace Components
+{
+
+struct Physics : Component
+{
+	Physics()
+		: Mass(0.f) { }
+
+	float Mass;
+};
+
+}
+
+#endif // Components_Physics_h__

src/Components/Sphere.h

@@ -0,0 +1,19 @@
+#ifndef Components_Sphere_h__
+#define Components_Sphere_h__
+
+#include "Component.h"
+
+namespace Components
+{
+
+struct Sphere : Component
+{
+	Sphere()
+		: Radius(1.f){ }
+
+	float Radius;
+};
+
+}
+
+#endif // Components_Sphere_h__

src/GameWorld.cpp

@@ -17,24 +17,47 @@ void GameWorld::Initialize()
 		auto freeSteering = AddComponent<Components::FreeSteering>(camera, "FreeSteering");
 	}
 
-	{
-		auto terrain = CreateEntity();
-		auto transform = AddComponent<Components::Transform>(terrain, "Transform");
-		transform->Position = glm::vec3(0, -5, 0);
-		transform->Scale = glm::vec3(1000.0f, 1, 1000.0f);
-		transform->Orientation = glm::quat(glm::vec3(0.0f, 0.0f, 0.0f));
-		auto model = AddComponent<Components::Model>(terrain, "Model");
-		model->ModelFile = "Models/Placeholders/PhysicsTest/Plane.obj";
-	}
 
 	{
+		auto ground = CreateEntity();
+		auto transform = AddComponent<Components::Transform>(ground, "Transform");
+		transform->Position = glm::vec3(0, 0, 0);
+		transform->Scale = glm::vec3(1000.0f, 1.0f, 1000.0f);
+		transform->Orientation = glm::quat(glm::vec3(0.0f, 0.0f, 0.0f));
+		auto model = AddComponent<Components::Model>(ground, "Model");
+		model->ModelFile = "Models/Placeholders/PhysicsTest/Cube.obj";
+		auto box = AddComponent<Components::Box>(ground, "Box");
+		box->Width = 500;
+		box->Height = 0.5;
+		box->Depth = 500;
+
+		auto physics = AddComponent<Components::Physics>(ground, "Physics");
+		physics->Mass = 10;
+	}
+
+	for(int i = 0; i < 10; i++)
+	{
+		auto ball = CreateEntity();
+		auto transform = AddComponent<Components::Transform>(ball, "Transform");
+		transform->Position = glm::vec3(0, 5 + i*2, 0);
+		transform->Scale = glm::vec3(1.0f, 1.0f, 1.0f);
+		transform->Orientation = glm::quat(glm::vec3(0.0f, 0.0f, 0.0f));
+		auto model = AddComponent<Components::Model>(ball, "Model");
+		model->ModelFile = "Models/Placeholders/PhysicsTest/Sphere.obj";
+		auto sphere = AddComponent<Components::Sphere>(ball, "Sphere");
+		sphere->Radius = 0.5;
+		auto physics = AddComponent<Components::Physics>(ball, "Physics");
+		physics->Mass = 1;
+	}
+
+	/*{
 		auto entity = CreateEntity();
 		AddComponent(entity, "Transform");
 		auto emitter = AddComponent<Components::SoundEmitter>(entity, "SoundEmitter");
 		emitter->Path = "Sounds/korvring.wav";
 		emitter->Loop = true;
 		GetSystem<Systems::SoundSystem>("SoundSystem")->PlaySound(emitter);
-	}
+	}*/
 }
 
 void GameWorld::Update(double dt)
@@ -56,7 +79,9 @@ void GameWorld::RegisterComponents()
 	m_ComponentFactory.Register("Transform", []() { return new Components::Transform(); });
 	m_ComponentFactory.Register("FreeSteering", []() { return new Components::FreeSteering(); });
 
-	///m_ComponentFactory.Register("Physics", []() { return new Components::Physics(); });
+	m_ComponentFactory.Register("Physics", []() { return new Components::Physics(); });
+	m_ComponentFactory.Register("Sphere", []() { return new Components::Sphere(); });
+	m_ComponentFactory.Register("Box", []() { return new Components::Box (); });
 }
 
 void GameWorld::RegisterSystems()

src/GameWorld.h

@@ -27,6 +27,10 @@
 #include "Components/Template.h"
 #include "Components/Transform.h"
 
+#include "Components/Physics.h"
+#include "Components/Sphere.h"
+#include "Components/Box.h"
+
 class GameWorld : public World
 {
 public:

src/Systems/PhysicsSystem.cpp

@@ -29,10 +29,10 @@
 
 Systems::PhysicsSystem::PhysicsSystem(World* world) : System(world)
 {
-
+	{
-	hkMemorySystem::FrameInfo finfo(500 * 1024);	// Allocate 500KB of Physics solver buffer
+		hkMemorySystem::FrameInfo finfo(500 * 1024);	// Allocate 500KB of Physics solver buffer
-	hkMemoryRouter* memoryRouter = hkMemoryInitUtil::initDefault(hkMallocAllocator::m_defaultMallocAllocator, finfo);
+		hkMemoryRouter* memoryRouter = hkMemoryInitUtil::initDefault(hkMallocAllocator::m_defaultMallocAllocator, finfo);
-	hkBaseSystem::init(memoryRouter, HavokErrorReport);
+		hkBaseSystem::init(memoryRouter, HavokErrorReport);
 
 
 		hkpWorldCinfo worldInfo;
@@ -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();
-	}
-}

src/Systems/PhysicsSystem.h

@@ -7,8 +7,9 @@
 
 #include "System.h"
 #include "Components/Transform.h"
-
+#include "Components/Physics.h"
-
+#include "Components/Sphere.h"
+#include "Components/Box.h"
 
 // Math and base include
 
@@ -38,7 +39,7 @@
 #include <Common/Visualize/hkVisualDebugger.h>
 #include <Physics2012/Utilities/VisualDebugger/hkpPhysicsContext.h>
 
-
+#include <unordered_map>
 namespace Systems
 {
 
@@ -63,10 +64,10 @@ private:
 	void SetupVisualDebugger(hkpPhysicsContext* worlds);
 	void StepVisualDebugger();
 	static void HK_CALL HavokErrorReport(const char* msg, void*);
-
 	void SetupPhysics(hkpWorld* physicsWorld);
 
-	hkpRigidBody* g_ball;
+	std::unordered_map<EntityID, hkpRigidBody*> m_RigidBodies;
+
 };
 
 }

vs11/Returngeance/Returngeance.vcxproj

@@ -118,14 +118,17 @@
     <ClInclude Include="..\..\src\Camera.h" />
     <ClInclude Include="..\..\src\Color.h" />
     <ClInclude Include="..\..\src\Component.h" />
+    <ClInclude Include="..\..\src\Components\Box.h" />
     <ClInclude Include="..\..\src\Components\Camera.h" />
     <ClInclude Include="..\..\src\Components\DirectionalLight.h" />
     <ClInclude Include="..\..\src\Components\FreeSteering.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\SoundEmitter.h" />
+    <ClInclude Include="..\..\src\Components\Sphere.h" />
     <ClInclude Include="..\..\src\Components\Sprite.h" />
     <ClInclude Include="..\..\src\Components\Stat.h" />
     <ClInclude Include="..\..\src\Components\Template.h" />

vs11/Returngeance/Returngeance.vcxproj.filters

@@ -130,6 +130,15 @@
     <ClInclude Include="..\..\src\Systems\SoundSystem.h">
       <Filter>Systems</Filter>
     </ClInclude>
+    <ClInclude Include="..\..\src\Components\Sphere.h">
+      <Filter>Components</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\src\Components\Physics.h">
+      <Filter>Components</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\src\Components\Box.h">
+      <Filter>Components</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <None Include="..\..\src\Shaders\AABB.frag.glsl">