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This commit is contained in:
ViktorLjung
2014-05-26 01:03:25 +02:00
parent dff888f82d
commit 9a984dbb10
7 changed files with 142 additions and 50 deletions
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src/Components/Physics.h
+2 -1
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@@ -11,7 +11,7 @@ struct Physics : Component
Physics()
: Mass(1.f), Static(false), Phantom(false), CalculateCenterOfMass(true), CenterOfMass(glm::vec3(0)), InitialLinearVelocity(glm::vec3(0)), InitialAngularVelocity(glm::vec3(0)),
LinearDamping(0.f), AngularDamping(0.05f), GravityFactor(1.f), Friction(0.5f), Restitution(0.4f), MaxLinearVelocity(200.f), MaxAngularVelocity(200.f),
CollisionLayer(0), CollisionSystemGroup(0), CollisionSubSystemId(0), CollisionSubSystemDontCollideWith(0){}
CollisionLayer(0), CollisionSystemGroup(0), CollisionSubSystemId(0), CollisionSubSystemDontCollideWith(0), CollisionEvent(false){}
float Mass;
bool Static;
@@ -34,6 +34,7 @@ struct Physics : Component
int CollisionSubSystemId;
int CollisionSubSystemDontCollideWith;
bool CollisionEvent;
virtual Physics* Clone() const override { return new Physics(*this); }
};
src/GameWorld.cpp
+4 -2
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@@ -101,7 +101,7 @@ void GameWorld::Initialize()
auto physics = AddComponent<Components::Physics>(ground);
physics->Mass = 10;
physics->Static = true;
physics->CollisionLayer = 0;
physics->CollisionLayer = 1;
auto groundshape = CreateEntity(ground);
auto transformshape = AddComponent<Components::Transform>(groundshape);
@@ -316,6 +316,7 @@ void GameWorld::Initialize()
auto physics = AddComponent<Components::Physics>(shot);
physics->Mass = 25.f;
physics->Static = false;
physics->CollisionEvent = true;
auto modelComponent = AddComponent<Components::Model>(shot);
modelComponent->ModelFile = "Models/Placeholders/rocket/Rocket.obj";
auto tankShellComponent = AddComponent<Components::TankShell>(shot);
@@ -678,7 +679,7 @@ void GameWorld::Initialize()
auto physics = AddComponent<Components::Physics>(tank);
physics->Mass = 63000 - 16000;
physics->Static = false;
physics->CollisionLayer = 1;
physics->CollisionLayer = 3;
auto vehicle = AddComponent<Components::Vehicle>(tank);
vehicle->MaxTorque = 36000.f;
vehicle->MaxSteeringAngle = 90.f;
@@ -739,6 +740,7 @@ void GameWorld::Initialize()
auto physics = AddComponent<Components::Physics>(shot);
physics->Mass = 25.f;
physics->Static = false;
physics->CollisionEvent = true;
auto modelComponent = AddComponent<Components::Model>(shot);
modelComponent->ModelFile = "Models/Placeholders/rocket/Rocket.obj";
auto tankShellComponent = AddComponent<Components::TankShell>(shot);
src/Systems/ParticleSystem.h
+1 -1
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@@ -54,7 +54,7 @@ private:
bool tempSpawnedExplosions;
EventRelay<Events::KeyUp> m_EKeyUp;
EventRelay<ParticleSystem, Events::KeyUp> m_EKeyUp;
bool OnKeyUp(const Events::KeyUp &e);
};
src/Systems/PhysicsSystem.cpp
+115 -26
View File
@@ -110,14 +110,61 @@ void Systems::PhysicsSystem::Initialize()
m_PhysicsWorld->unmarkForWrite();
m_collisionResolution = new MyCollisionResolution(this);
hkpBoxShape* shape = new hkpBoxShape(hkVector4(5, 5, 5), 0);
PhantomCallbackShape* phantom = new PhantomCallbackShape(this);
hkpBvShape* phantomShape = new hkpBvShape(shape, phantom);
hkMassProperties massProperties;
hkpInertiaTensorComputer::computeBoxVolumeMassProperties(hkVector4(5, 5, 5),1, massProperties);
hkpRigidBodyCinfo rigidBodyInfo;
{
rigidBodyInfo.m_shape = shape;
rigidBodyInfo.m_motionType = hkpMotion::MOTION_FIXED;
rigidBodyInfo.m_position = hkVector4(0, 0, 0);
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);
m_PhysicsWorld->markForWrite();
m_PhysicsWorld->addEntity(rigidBody);
m_PhysicsWorld->unmarkForWrite();
shape->removeReference();
rigidBody->removeReference();
}
enum
{
GROUND_LAYER = 1,
VEHICLE1_LAYER = 2,
VEHICLE2_LAYER = 3,
EXPLOSION_LAYER = 4,
};
{
Events::DisableCollisions e;
e.Layer1 = 1;
e.Layer2 = 2;
e.Layer1 = GROUND_LAYER;
e.Layer2 = EXPLOSION_LAYER;
EventBroker->Publish(e);
}
/*{
Events::DisableCollisions e;
e.Layer1 = VEHICLE1_LAYER;
e.Layer2 = EXPLOSION_LAYER;
EventBroker->Publish(e);
}
{
Events::DisableCollisions e;
e.Layer1 = VEHICLE2_LAYER;
e.Layer2 = EXPLOSION_LAYER;
EventBroker->Publish(e);
}*/
}
void Systems::PhysicsSystem::RegisterComponents(ComponentFactory* cf)
@@ -277,7 +324,20 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
hkArray<hkpShape*> shapeArray;
for (auto &shapeData : m_Shapes[entity])
{
shapeArray.pushBack(shapeData.Shape);
auto childTransformComponent = m_World->GetComponent<Components::Transform>(shapeData.Entity);
hkpShape* shape;
if(shapeData.ConvexShape != nullptr)
{
hkQsTransform transform( GLMVEC3_TO_HKVECTOR4(childTransformComponent->Position), GLMQUAT_TO_HKQUATERNION(childTransformComponent->Orientation), GLMVEC3_TO_HKVECTOR4(childTransformComponent->Scale));
hkpConvexTransformShape* transformedBoxShape = new hkpConvexTransformShape( shapeData.ConvexShape, transform );
shapeArray.pushBack(transformedBoxShape);
}
if(shapeData.Shape != nullptr)
{
shapeArray.pushBack(shapeData.Shape);
}
}
@@ -285,15 +345,26 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
hkpListShape* listShape = new hkpListShape(shapeArray.begin(), shapeArray.getSize(), hkpShapeContainer::REFERENCE_POLICY_INCREMENT);
// Save the listShape for further use
m_ListShapes[entity] = listShape;
//shape = listShape;
hkpBoxShape* box = new hkpBoxShape(listShape->m_aabbHalfExtents, 0.0f);
shape = new hkpBvShape(listShape, box);
hkMassProperties massProperties;
if(physicsComponent->Phantom)
{
PhantomCallbackShape* phantom = new PhantomCallbackShape(this);
shape = new hkpBvShape(listShape, phantom);
hkpInertiaTensorComputer::computeSphereVolumeMassProperties(1, physicsComponent->Mass, massProperties);
}
else
{
hkpBoxShape* box = new hkpBoxShape(listShape->m_aabbHalfExtents, 0.0f);
shape = new hkpBvShape(listShape, box);
hkpInertiaTensorComputer::computeShapeVolumeMassProperties(shape, physicsComponent->Mass, massProperties);
}
// Clean up for less memory usage
m_Shapes.erase(entity);
hkMassProperties massProperties;
hkpInertiaTensorComputer::computeShapeVolumeMassProperties(shape, physicsComponent->Mass, massProperties);
hkpRigidBodyCinfo rigidBodyInfo;
{
@@ -344,7 +415,10 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
m_PhysicsWorld->markForWrite();
vehicleSetup.buildVehicle(m_World, m_PhysicsWorld, *m_Vehicles[entity], entity, m_Wheels);
// Add the vehicle's entities and phantoms to the world
rigidBody->addContactListener( m_collisionResolution );
if(physicsComponent->CollisionEvent)
{
rigidBody->addContactListener( m_collisionResolution );
}
m_Vehicles[entity]->addToWorld(m_PhysicsWorld);
m_RigidBodies[entity] = rigidBody;
m_RigidBodyEntities[rigidBody] = entity;
@@ -362,7 +436,10 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
else
{
m_PhysicsWorld->markForWrite();
rigidBody->addContactListener( m_collisionResolution );
if(physicsComponent->CollisionEvent)
{
rigidBody->addContactListener( m_collisionResolution );
}
m_PhysicsWorld->addEntity(rigidBody);
m_RigidBodies[entity] = rigidBody;
m_RigidBodyEntities[rigidBody] = entity;
@@ -388,15 +465,35 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
hkVector4 scale = GLMVEC3_TO_HKVECTOR4(childTransformComponent->Scale);
hkQsTransform transform(position, rotation, scale);
staticCompoundShape->addInstance(shapeData.Shape, transform);
if(shapeData.ConvexShape != nullptr)
{
staticCompoundShape->addInstance(shapeData.ConvexShape, transform);
}
if(shapeData.Shape != nullptr)
{
staticCompoundShape->addInstance(shapeData.Shape, transform);
}
}
// This must be called after adding the instances and before using the shape.
staticCompoundShape->bake();
shape = staticCompoundShape;
m_Shapes.erase(entity);
hkMassProperties massProperties;
hkpInertiaTensorComputer::computeShapeVolumeMassProperties(shape, physicsComponent->Mass, massProperties);
if(physicsComponent->Phantom)
{
PhantomCallbackShape* phantom = new PhantomCallbackShape(this);
shape = new hkpBvShape(shape, phantom);
hkpInertiaTensorComputer::computeSphereVolumeMassProperties(1, physicsComponent->Mass, massProperties);
}
else
{
hkpInertiaTensorComputer::computeShapeVolumeMassProperties(shape, physicsComponent->Mass, massProperties);
}
m_Shapes.erase(entity);
hkpRigidBodyCinfo rigidBodyInfo;
{
@@ -424,7 +521,6 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
rigidBodyInfo.m_maxLinearVelocity = physicsComponent->MaxLinearVelocity;
rigidBodyInfo.m_maxAngularVelocity = physicsComponent->MaxAngularVelocity;
rigidBodyInfo.m_collisionFilterInfo = hkpGroupFilter::calcFilterInfo(physicsComponent->CollisionLayer, physicsComponent->CollisionSystemGroup, physicsComponent->CollisionSubSystemId, physicsComponent->CollisionSubSystemDontCollideWith);
}
// Create RigidBody
hkpRigidBody* rigidBody = new hkpRigidBody(rigidBodyInfo);
@@ -447,24 +543,17 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
if(sphereComponent)
{
hkpSphereShape* sphereShape = new hkpSphereShape(sphereComponent->Radius);
hkQsTransform transform( GLMVEC3_TO_HKVECTOR4(transformComponent->Position), GLMQUAT_TO_HKQUATERNION(transformComponent->Orientation), GLMVEC3_TO_HKVECTOR4(transformComponent->Scale));
hkpConvexTransformShape* transformedSphereShape = new hkpConvexTransformShape( sphereShape, transform );
m_Shapes[entityParent].push_back(ShapeArrayData(entity, transformedSphereShape));
m_Shapes[entityParent].push_back(ShapeArrayData(entity, sphereShape, nullptr));
sphereShape->removeReference();
//sphereShape->removeReference();
}
//TODO: COMMENT THIS SECTION
else if(boxComponent)
{
hkReal thickness = 0.05;
hkpBoxShape* boxShape = new hkpBoxShape(hkVector4(boxComponent->Width- thickness, boxComponent->Height -thickness, boxComponent->Depth - thickness), thickness);
hkQsTransform transform( GLMVEC3_TO_HKVECTOR4(transformComponent->Position), GLMQUAT_TO_HKQUATERNION(transformComponent->Orientation), GLMVEC3_TO_HKVECTOR4(transformComponent->Scale));
hkpConvexTransformShape* transformedBoxShape = new hkpConvexTransformShape( boxShape, transform );
m_Shapes[entityParent].push_back(ShapeArrayData(entity, transformedBoxShape));
boxShape->removeReference();
m_Shapes[entityParent].push_back(ShapeArrayData(entity, boxShape, nullptr));
//boxShape->removeReference();
}
else if(meshShapeComponent)
{
@@ -513,7 +602,7 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
m_ExtendedMeshShapes[entity].Code = code;
m_ExtendedMeshShapes[entity].MoppShape = moppShape;
m_Shapes[entityParent].push_back(ShapeArrayData(entity, moppShape)); //HACK: Should maybe have transform, not sure yet
m_Shapes[entityParent].push_back(ShapeArrayData(entity, nullptr, moppShape));
}
}
src/Systems/PhysicsSystem.h
+12 -14
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@@ -76,6 +76,8 @@
#include <Physics2012/Dynamics/Collide/ContactListener/hkpContactListener.h>
#include <Physics2012/Collide/Agent/CompoundAgent/BvTree/hkpBvTreeAgent.h>
#include "Components/TankShell.h"
#include <Physics2012/Collide/Shape/Misc/PhantomCallback/hkpPhantomCallbackShape.h>
#include "Events/EnableCollisions.h"
@@ -101,7 +103,7 @@ public:
Events::Collision e;
e.Entity1 = entity1;
e.Entity2 = entity2;
//m_PhysicsSystem->EventBroker->Publish(e);
m_PhysicsSystem->EventBroker->Publish(e);
}
private:
@@ -118,20 +120,14 @@ public:
virtual void phantomEnterEvent( const hkpCollidable* collidableA, const hkpCollidable* collidableB, const hkpCollisionInput& env )
{
Events::ApplyPointImpulse e;
e.Entity = m_PhysicsSystem->m_RigidBodyEntities[hkpGetRigidBody(collidableB)];
e.Position = HKVECTOR4_TO_GLMVEC3(hkpGetRigidBody(collidableB)->getPosition());
glm::vec3 impulse;
impulse = HKVECTOR4_TO_GLMVEC3(hkpGetRigidBody(collidableA)->getPosition()) - HKVECTOR4_TO_GLMVEC3(hkpGetRigidBody(collidableB)->getPosition());
e.Impulse = impulse;
m_PhysicsSystem->EventBroker->Publish(e);
LOG_INFO("AAAAAAAAAAAAAAAAAAAAAAAAAH!");
}
virtual void phantomLeaveEvent( const hkpCollidable* collidableA, const hkpCollidable* collidableB )
{
LOG_INFO("AAAAAAAAAAAAAAAAAAAAAAAAAH!");
}
private:
@@ -167,9 +163,9 @@ private:
EventRelay<PhysicsSystem, Events::ApplyPointImpulse> m_EApplyPointImpulse;
bool OnApplyPointImpulse(const Events::ApplyPointImpulse &event);
EventRelay<Events::EnableCollisions> m_EEnableCollisions;
EventRelay<PhysicsSystem, Events::EnableCollisions> m_EEnableCollisions;
bool OnEnableCollisions(const Events::EnableCollisions &e);
EventRelay<Events::DisableCollisions> m_EDisableCollisions;
EventRelay<PhysicsSystem, Events::DisableCollisions> m_EDisableCollisions;
bool OnDisableCollisions(const Events::DisableCollisions &e);
@@ -198,12 +194,14 @@ private:
struct ShapeArrayData
{
ShapeArrayData(EntityID entity, hkpShape* shape)
ShapeArrayData(EntityID entity, hkpConvexShape* convexShape, hkpShape* shape)
{
Entity = entity;
ConvexShape = convexShape;
Shape = shape;
}
EntityID Entity;
hkpConvexShape* ConvexShape;
hkpShape* Shape;
};
std::unordered_map<EntityID, std::list<ShapeArrayData>> m_Shapes;
src/Systems/TankSteeringSystem.cpp
+7 -5
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@@ -120,8 +120,9 @@ bool Systems::TankSteeringSystem::OnCollision( const Events::Collision &e )
transformHit->Position = transform->Position;
auto physics = m_World->AddComponent<Components::Physics>(hitSphere);
physics->Static = false;
physics->Phantom = true;
physics->Static = true;
physics->Phantom = false;
physics->CollisionLayer = 4;
{
auto shape = m_World->CreateEntity(hitSphere);
@@ -132,7 +133,7 @@ bool Systems::TankSteeringSystem::OnCollision( const Events::Collision &e )
}
m_World->CommitEntity(hitSphere);
}
m_World->RemoveEntity(e.Entity1);
}
@@ -153,8 +154,9 @@ bool Systems::TankSteeringSystem::OnCollision( const Events::Collision &e )
transformHit->Position = transform->Position;
auto physics = m_World->AddComponent<Components::Physics>(hitSphere);
physics->Static = false;
physics->Phantom = true;
physics->Static = true;
physics->Phantom = false;
physics->CollisionLayer = 4;
{
auto shape = m_World->CreateEntity(hitSphere);
src/Systems/TankSteeringSystem.h
+1 -1
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@@ -40,7 +40,7 @@ namespace Systems
void UpdateEntity(double dt, EntityID entity, EntityID parent) override;
private:
EventRelay<Events::Collision> m_ECollision;
EventRelay<TankSteeringSystem, Events::Collision> m_ECollision;
bool OnCollision(const Events::Collision &e);
class TankSteeringInputController;