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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/Systems/PhysicsSystem.cpp
+60 -9
View File
@@ -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
View File
@@ -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
View File
@@ -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
{