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Collisionfilters

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This commit is contained in:
ViktorLjung
2014-05-22 22:05:06 +02:00
parent 6137adf604
commit a674295a83
11 changed files with 218 additions and 32 deletions
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src/Components/Physics.h
+21 -1
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@@ -9,12 +9,32 @@ namespace Components
struct Physics : Component
{
Physics()
: Mass(1.f), Static(false), Phantom(false){}
: 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){}
float Mass;
bool Static;
bool Phantom;
bool CalculateCenterOfMass;
glm::vec3 CenterOfMass;
glm::vec3 InitialLinearVelocity;
glm::vec3 InitialAngularVelocity;
float LinearDamping;
float AngularDamping;
float GravityFactor;
float Friction;
float Restitution;
float MaxLinearVelocity;
float MaxAngularVelocity;
int CollisionLayer;
int CollisionSystemGroup;
int CollisionSubSystemId;
int CollisionSubSystemDontCollideWith;
virtual Physics* Clone() const override { return new Physics(*this); }
};
src/Events/DisableCollisions.h
+18
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@@ -0,0 +1,18 @@
#ifndef Events_DisableCollisions_h__
#define Events_DisableCollisions_h__
#include "Entity.h"
#include "EventBroker.h"
namespace Events
{
struct DisableCollisions : Event
{
int Layer1;
int Layer2;
};
}
#endif // Events_DisableCollisions_h__
src/Events/EnableCollisions.h
+18
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@@ -0,0 +1,18 @@
#ifndef Events_EnableCollisions_h__
#define Events_EnableCollisions_h__
#include "Entity.h"
#include "EventBroker.h"
namespace Events
{
struct EnableCollisions : Event
{
int Layer1;
int Layer2;
};
}
#endif // Events_EnableCollisions_h__
src/GameWorld.cpp
+15 -9
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@@ -15,6 +15,9 @@ void GameWorld::Initialize()
BindGamepadAxis(Gamepad::Axis::LeftX, "horizontal", 1.f);
BindGamepadAxis(Gamepad::Axis::LeftY, "vertical", 1.f);
BindKey(GLFW_KEY_1, "EnableCollisions", 1.f);
BindKey(GLFW_KEY_2, "DisableCollisions", 1.f);
BindKey(GLFW_KEY_UP, "barrel_rotation", 1.f);
BindKey(GLFW_KEY_DOWN, "barrel_rotation", -1.f);
BindKey(GLFW_KEY_LEFT, "tower_rotation", -1.f);
@@ -98,7 +101,7 @@ void GameWorld::Initialize()
auto physics = AddComponent<Components::Physics>(ground);
physics->Mass = 10;
physics->Static = true;
physics->CollisionLayer = 0;
auto groundshape = CreateEntity(ground);
auto transformshape = AddComponent<Components::Transform>(groundshape);
@@ -251,6 +254,8 @@ void GameWorld::Initialize()
auto physics = AddComponent<Components::Physics>(tank);
physics->Mass = 63000 - 16000;
physics->Static = false;
physics->CollisionLayer = 2;
auto vehicle = AddComponent<Components::Vehicle>(tank);
vehicle->MaxTorque = 36000.f;
vehicle->MaxSteeringAngle = 90.f;
@@ -551,7 +556,7 @@ void GameWorld::Initialize()
}
CommitEntity(wheel);
auto entity = CreateEntity(tank);
/*auto entity = CreateEntity(tank);
auto transformComponent = AddComponent<Components::Transform>(entity);
transformComponent->Position = glm::vec3(-2,-1.7,2.0);
transformComponent->Scale = glm::vec3(3,3,3);
@@ -574,7 +579,7 @@ void GameWorld::Initialize()
spriteComponent->SpriteFile = "Models/Textures/Sprites/Dust.png";
emitterComponent->ParticleTemplate = particleEntity;
CommitEntity(particleEntity);
CommitEntity(particleEntity);*/
}
{
@@ -636,7 +641,7 @@ void GameWorld::Initialize()
}
CommitEntity(wheel);
auto entity = CreateEntity(tank);
/*auto entity = CreateEntity(tank);
auto transformComponent = AddComponent<Components::Transform>(entity);
transformComponent->Position = glm::vec3(2,-1.7,2.0);
transformComponent->Scale = glm::vec3(3,3,3);
@@ -658,7 +663,7 @@ void GameWorld::Initialize()
auto spriteComponent = AddComponent<Components::Sprite>(particleEntity);
spriteComponent->SpriteFile = "Models/Textures/Sprites/Dust.png";
emitterComponent->ParticleTemplate = particleEntity;
CommitEntity(particleEntity);
CommitEntity(particleEntity);*/
}
#pragma endregion
@@ -673,6 +678,7 @@ void GameWorld::Initialize()
auto physics = AddComponent<Components::Physics>(tank);
physics->Mass = 63000 - 16000;
physics->Static = false;
physics->CollisionLayer = 1;
auto vehicle = AddComponent<Components::Vehicle>(tank);
vehicle->MaxTorque = 36000.f;
vehicle->MaxSteeringAngle = 90.f;
@@ -974,7 +980,7 @@ void GameWorld::Initialize()
}
CommitEntity(wheel);
auto entity = CreateEntity(tank);
/*auto entity = CreateEntity(tank);
auto transformComponent = AddComponent<Components::Transform>(entity);
transformComponent->Position = glm::vec3(2,-1.7,2.0);
transformComponent->Scale = glm::vec3(3,3,3);
@@ -996,7 +1002,7 @@ void GameWorld::Initialize()
spriteComponent->SpriteFile = "Models/Textures/Sprites/Dust.png";
emitterComponent->ParticleTemplate = particleEntity;
CommitEntity(particleEntity);
CommitEntity(particleEntity);*/
}
{
@@ -1058,7 +1064,7 @@ void GameWorld::Initialize()
}
CommitEntity(wheel);
auto entity = CreateEntity(tank);
/*auto entity = CreateEntity(tank);
auto transformComponent = AddComponent<Components::Transform>(entity);
transformComponent->Position = glm::vec3(-2,-1.7,2.0);
transformComponent->Scale = glm::vec3(3,3,3);
@@ -1080,7 +1086,7 @@ void GameWorld::Initialize()
spriteComponent->SpriteFile = "Models/Textures/Sprites/Dust.png";
emitterComponent->ParticleTemplate = particleEntity;
CommitEntity(particleEntity);
CommitEntity(particleEntity);*/
}
#pragma endregion
CommitEntity(tank);
src/Systems/PhysicsSystem.cpp
+60 -9
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@@ -36,7 +36,9 @@ void Systems::PhysicsSystem::Initialize()
EVENT_SUBSCRIBE_MEMBER(m_ESetVelocity, &Systems::PhysicsSystem::OnSetVelocity);
EVENT_SUBSCRIBE_MEMBER(m_EApplyForce, &Systems::PhysicsSystem::OnApplyForce);
EVENT_SUBSCRIBE_MEMBER(m_EApplyPointImpulse, &Systems::PhysicsSystem::OnApplyPointImpulse);
EVENT_SUBSCRIBE_MEMBER(m_EEnableCollisions, &Systems::PhysicsSystem::OnEnableCollisions);
EVENT_SUBSCRIBE_MEMBER(m_EDisableCollisions, &Systems::PhysicsSystem::OnDisableCollisions);
hkMemorySystem::FrameInfo finfo(6000 * 1024); // Allocate 6MB of Physics solver buffer
hkMemoryRouter* memoryRouter = hkMemoryInitUtil::initDefault(hkMallocAllocator::m_defaultMallocAllocator, finfo);
hkBaseSystem::init(memoryRouter, HavokErrorReport);
@@ -102,14 +104,20 @@ void Systems::PhysicsSystem::Initialize()
m_Context = new hkpPhysicsContext;
hkpPhysicsContext::registerAllPhysicsProcesses(); // all the physics viewers
m_Context->addWorld(m_PhysicsWorld); // add the physics world so the viewers can see it
SetupVisualDebugger(m_Context);
m_CollisionFilter = new hkpGroupFilter();
m_PhysicsWorld->setCollisionFilter( m_CollisionFilter );
m_PhysicsWorld->unmarkForWrite();
m_collisionResolution = new MyCollisionResolution(this);
}
{
Events::DisableCollisions e;
e.Layer1 = 1;
e.Layer2 = 2;
EventBroker->Publish(e);
}
}
void Systems::PhysicsSystem::RegisterComponents(ComponentFactory* cf)
@@ -298,8 +306,21 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
rigidBodyInfo.m_rotation.set(rotation(0), rotation(1), rotation(2), rotation(3));
rigidBodyInfo.m_inertiaTensor = massProperties.m_inertiaTensor;
//rigidBodyInfo.m_centerOfMass = massProperties.m_centerOfMass; //HACK: CENTER OF MASS ALWAYS IN THE CENTER
if(physicsComponent->CalculateCenterOfMass)
physicsComponent->CenterOfMass = HKVECTOR4_TO_GLMVEC3(massProperties.m_centerOfMass);
rigidBodyInfo.m_centerOfMass = GLMVEC3_TO_HKVECTOR4(physicsComponent->CenterOfMass);
rigidBodyInfo.m_mass = massProperties.m_mass;
rigidBodyInfo.m_linearVelocity = GLMVEC3_TO_HKVECTOR4(physicsComponent->InitialLinearVelocity);
rigidBodyInfo.m_angularVelocity = GLMVEC3_TO_HKVECTOR4(physicsComponent->InitialAngularVelocity);
rigidBodyInfo.m_linearDamping = physicsComponent->LinearDamping;
rigidBodyInfo.m_angularDamping = physicsComponent->AngularDamping;
rigidBodyInfo.m_gravityFactor = physicsComponent->GravityFactor;
rigidBodyInfo.m_linearDamping = physicsComponent->LinearDamping;
rigidBodyInfo.m_friction = physicsComponent->Friction;
rigidBodyInfo.m_restitution = physicsComponent->Restitution;
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);
@@ -386,10 +407,24 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
hkQuaternion rotation = GLMQUAT_TO_HKQUATERNION(absoluteTransform.Orientation);
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_inertiaTensor = massProperties.m_inertiaTensor;
//rigidBodyInfo.m_centerOfMass = massProperties.m_centerOfMass; //HACK: CENTER OF MASS ALWAYS IN THE CENTER
if(physicsComponent->CalculateCenterOfMass)
physicsComponent->CenterOfMass = HKVECTOR4_TO_GLMVEC3(massProperties.m_centerOfMass);
rigidBodyInfo.m_centerOfMass = GLMVEC3_TO_HKVECTOR4(physicsComponent->CenterOfMass);
rigidBodyInfo.m_mass = massProperties.m_mass;
rigidBodyInfo.m_linearVelocity = GLMVEC3_TO_HKVECTOR4(physicsComponent->InitialLinearVelocity);
rigidBodyInfo.m_angularVelocity = GLMVEC3_TO_HKVECTOR4(physicsComponent->InitialAngularVelocity);
rigidBodyInfo.m_linearDamping = physicsComponent->LinearDamping;
rigidBodyInfo.m_angularDamping = physicsComponent->AngularDamping;
rigidBodyInfo.m_gravityFactor = physicsComponent->GravityFactor;
rigidBodyInfo.m_linearDamping = physicsComponent->LinearDamping;
rigidBodyInfo.m_friction = physicsComponent->Friction;
rigidBodyInfo.m_restitution = physicsComponent->Restitution;
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);
@@ -402,8 +437,6 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
shape->removeReference();
rigidBody->removeReference();
}
}
@@ -595,3 +628,21 @@ void Systems::PhysicsSystem::OnEntityRemoved( EntityID entity )
m_PhysicsWorld->unmarkForWrite();
}
}
bool Systems::PhysicsSystem::OnEnableCollisions( const Events::EnableCollisions &e )
{
m_CollisionFilter->enableCollisionsBetween(e.Layer1, e.Layer2);
m_PhysicsWorld->markForWrite();
m_PhysicsWorld->setCollisionFilter(m_CollisionFilter);
m_PhysicsWorld->unmarkForWrite();
return true;
}
bool Systems::PhysicsSystem::OnDisableCollisions( const Events::DisableCollisions &e )
{
m_CollisionFilter->disableCollisionsBetween(e.Layer1, e.Layer2);
m_PhysicsWorld->markForWrite();
m_PhysicsWorld->setCollisionFilter(m_CollisionFilter);
m_PhysicsWorld->unmarkForWrite();
return true;
}
src/Systems/PhysicsSystem.h
+16 -6
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@@ -78,6 +78,9 @@
#include "Components/TankShell.h"
#include <Physics2012/Collide/Shape/Misc/PhantomCallback/hkpPhantomCallbackShape.h>
#include "Events/EnableCollisions.h"
#include "Events/DisableCollisions.h"
namespace Systems
{
class PhysicsSystem : public System
@@ -95,20 +98,18 @@ public:
EntityID entity1 = m_PhysicsSystem->m_RigidBodyEntities[event.getBody(0)];
EntityID entity2 = m_PhysicsSystem->m_RigidBodyEntities[event.getBody(1)];
m_PhysicsSystem->m_PhysicsWorld->unmarkForRead();
Events::Collision e;
e.Entity1 = entity1;
e.Entity2 = entity2;
m_PhysicsSystem->EventBroker->Publish(e);
m_PhysicsSystem->m_PhysicsWorld->markForRead();
//m_PhysicsSystem->EventBroker->Publish(e);
}
private:
Systems::PhysicsSystem* m_PhysicsSystem;
};
friend class MyCollisionResolution;
/*class PhantomCallbackShape: public hkpPhantomCallbackShape
class PhantomCallbackShape: public hkpPhantomCallbackShape
{
public:
@@ -124,6 +125,8 @@ public:
glm::vec3 impulse;
impulse = HKVECTOR4_TO_GLMVEC3(hkpGetRigidBody(collidableA)->getPosition()) - HKVECTOR4_TO_GLMVEC3(hkpGetRigidBody(collidableB)->getPosition());
e.Impulse = impulse;
m_PhysicsSystem->EventBroker->Publish(e);
}
virtual void phantomLeaveEvent( const hkpCollidable* collidableA, const hkpCollidable* collidableB )
@@ -135,7 +138,7 @@ public:
Systems::PhysicsSystem* m_PhysicsSystem;
};
friend class PhantomCallbackShape;
*/
PhysicsSystem(World* world, std::shared_ptr<::EventBroker> eventBroker)
: System(world, eventBroker) { }
@@ -152,6 +155,7 @@ public:
private:
double m_Accumulator;
hkpWorld* m_PhysicsWorld;
hkpGroupFilter* m_CollisionFilter;
// Events
EventRelay<Events::TankSteer> m_ETankSteer;
@@ -163,6 +167,12 @@ private:
EventRelay<Events::ApplyPointImpulse> m_EApplyPointImpulse;
bool OnApplyPointImpulse(const Events::ApplyPointImpulse &event);
EventRelay<Events::EnableCollisions> m_EEnableCollisions;
bool OnEnableCollisions(const Events::EnableCollisions &e);
EventRelay<Events::DisableCollisions> m_EDisableCollisions;
bool OnDisableCollisions(const Events::DisableCollisions &e);
void SetUpPhysicsState(EntityID entity, EntityID parent);
void TearDownPhysicsState(EntityID entity, EntityID parent);
src/Systems/TankSteeringSystem.cpp
+53
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@@ -114,6 +114,25 @@ bool Systems::TankSteeringSystem::OnCollision( const Events::Collision &e )
health2->health -= tankShell1->Damage;
}
{
auto hitSphere = m_World->CreateEntity();
auto transformHit = m_World->AddComponent<Components::Transform>(hitSphere);
transformHit->Position = transform->Position;
auto physics = m_World->AddComponent<Components::Physics>(hitSphere);
physics->Static = false;
physics->Phantom = true;
{
auto shape = m_World->CreateEntity(hitSphere);
auto transformHit = m_World->AddComponent<Components::Transform>(shape);
auto sphereShape = m_World->AddComponent<Components::SphereShape>(shape);
sphereShape->Radius = 40.f*0.5f; //HACK:
m_World->CommitEntity(shape);
}
m_World->CommitEntity(hitSphere);
}
m_World->RemoveEntity(e.Entity1);
}
@@ -128,6 +147,26 @@ bool Systems::TankSteeringSystem::OnCollision( const Events::Collision &e )
health1->health -= tankShell1->Damage;
}
{
auto hitSphere = m_World->CreateEntity();
auto transformHit = m_World->AddComponent<Components::Transform>(hitSphere);
transformHit->Position = transform->Position;
auto physics = m_World->AddComponent<Components::Physics>(hitSphere);
physics->Static = false;
physics->Phantom = true;
{
auto shape = m_World->CreateEntity(hitSphere);
auto transformHit = m_World->AddComponent<Components::Transform>(shape);
auto sphereShape = m_World->AddComponent<Components::SphereShape>(shape);
sphereShape->Radius = 40.f*0.5f; //HACK:
m_World->CommitEntity(shape);
}
m_World->CommitEntity(hitSphere);
}
m_World->RemoveEntity(e.Entity2);
}
}
@@ -183,6 +222,20 @@ bool Systems::TankSteeringSystem::TankSteeringInputController::OnCommand(const E
m_Shoot = val > 0;
}
else if(event.Command == "EnableCollisions")
{
Events::EnableCollisions e;
e.Layer1 = 1;
e.Layer2 = 2;
EventBroker->Publish(e);
}
else if(event.Command == "DisableCollisions")
{
Events::DisableCollisions e;
e.Layer1 = 1;
e.Layer2 = 2;
EventBroker->Publish(e);
}
return true;
}
src/Systems/TankSteeringSystem.h
+2
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@@ -22,6 +22,8 @@
#include "Components/TankShell.h"
#include "Components/SphereShape.h"
#include "Events/EnableCollisions.h"
#include "Events/DisableCollisions.h"
namespace Systems
{
src/World.cpp
+7 -7
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@@ -83,12 +83,6 @@ void World::RemoveEntity(EntityID entity)
m_EntitiesToRemove.push_back(pair.first);
}
}
// Trigger events
for (auto pair : m_Systems)
{
auto system = pair.second;
system->OnEntityRemoved(entity);
}
}
void World::ProcessEntityRemovals()
@@ -111,8 +105,14 @@ void World::ProcessEntityRemovals()
m_ComponentsOfType[type].remove(component);
}
m_EntityComponents.erase(entity);
RecycleEntityID(entity);
// Trigger events
for (auto pair : m_Systems)
{
auto system = pair.second;
system->OnEntityRemoved(entity);
}
}
m_EntitiesToRemove.clear();
}
vs11/Returngeance/Returngeance.vcxproj
+2
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@@ -166,6 +166,8 @@
<ClInclude Include="..\..\src\Events\BindKey.h" />
<ClInclude Include="..\..\src\Events\BindMouseButton.h" />
<ClInclude Include="..\..\src\Events\Collision.h" />
<ClInclude Include="..\..\src\Events\DisableCollisions.h" />
<ClInclude Include="..\..\src\Events\EnableCollisions.h" />
<ClInclude Include="..\..\src\Events\GamepadAxis.h" />
<ClInclude Include="..\..\src\Events\GamepadButton.h" />
<ClInclude Include="..\..\src\Events\InputCommand.h" />
vs11/Returngeance/Returngeance.vcxproj.filters
+6
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@@ -406,6 +406,12 @@
<ClInclude Include="..\..\src\Components\TankShell.h">
<Filter>Physics\Components</Filter>
</ClInclude>
<ClInclude Include="..\..\src\Events\DisableCollisions.h">
<Filter>Physics\Events</Filter>
</ClInclude>
<ClInclude Include="..\..\src\Events\EnableCollisions.h">
<Filter>Physics\Events</Filter>
</ClInclude>
</ItemGroup>
<ItemGroup>
<None Include="..\..\src\Shaders\Fragment2.glsl">