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CompoundShape works, i.e parent child physics :)

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Center of mass is still bugged.
This commit is contained in:
ViktorLjung
2014-04-06 19:00:58 +02:00
parent 1d0747076f
commit a880e7f3e6
9 changed files with 196 additions and 162 deletions
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src/Components/CompoundShape.h
+14
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@@ -0,0 +1,14 @@
#ifndef Components_CompoundShape_h__
#define Components_CompoundShape_h__
#include "Component.h"
namespace Components
{
struct CompoundShape : Component
{
};
}
#endif // Components_CompoundShape_h__
src/GameWorld.cpp
+86 -130
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@@ -5,143 +5,98 @@ void GameWorld::Initialize()
{
World::Initialize();
std::shared_ptr<Components::Transform> transform;
std::shared_ptr<Components::Model> model;
auto camera = CreateEntity();
transform = AddComponent<Components::Transform>(camera, "Transform");
transform->Position.z = 150.f;
transform->Position.y = 100.f;
transform->Orientation = glm::quat(glm::vec3(glm::pi<float>() / 8.f, 0.f, 0.f));
auto cameraComp = AddComponent<Components::Camera>(camera, "Camera");
cameraComp->FarClip = 2000.f;
AddComponent(camera, "Input");
auto freeSteering = AddComponent<Components::FreeSteering>(camera, "FreeSteering");
auto terrain = CreateEntity();
transform = AddComponent<Components::Transform>(terrain, "Transform");
transform->Scale = glm::vec3(1000.0f);
transform->Orientation = glm::quat(glm::vec3(0.0f, 0.0f, glm::pi<float>()/20.f));
model = AddComponent<Components::Model>(terrain, "Model");
model->ModelFile = "Models/PhysicsTest/Plane.obj";
auto physics = AddComponent<Components::Physics>(terrain, "Physics");
auto Box = AddComponent<Components::BoxShape>(terrain, "BoxShape");
Box->Width = 1;
Box->Height = 0;
Box->Depth = 1;
physics->Friction = 0.5f;
terrain = CreateEntity();
transform = AddComponent<Components::Transform>(terrain, "Transform");
transform->Scale = glm::vec3(1000.0f);
transform->Position = glm::vec3(-500, 0, 0);
transform->Orientation = glm::quat(glm::vec3(0.0f, 0.0f, -glm::pi<float>() / 20.f));
model = AddComponent<Components::Model>(terrain, "Model");
model->ModelFile = "Models/PhysicsTest/Plane.obj";
physics = AddComponent<Components::Physics>(terrain, "Physics");
Box = AddComponent<Components::BoxShape>(terrain, "BoxShape");
Box->Width = 1;
Box->Height = 0;
Box->Depth = 1;
physics->Friction = 0.5f;
auto Boxed = CreateEntity();
transform = AddComponent<Components::Transform>(Boxed, "Transform");
transform->Position.y = 100.f;
transform->Position.x = 4.f;
transform->Scale = glm::vec3(5.0f);
model = AddComponent<Components::Model>(Boxed, "Model");
model->ModelFile = "Models/PhysicsTest/Cube.obj";
physics = AddComponent<Components::Physics>(Boxed, "Physics");
physics->Mass = 10;
physics->Friction = 0.5f;
Box = AddComponent<Components::BoxShape>(Boxed, "BoxShape");
Box->Width = 1;
Box->Height = 1;
Box->Depth = 1;
for (int i = 0; i < 20; i++)
{
auto Sphered = CreateEntity();
transform = AddComponent<Components::Transform>(Sphered, "Transform");
transform->Position.y = 15.f;
transform->Position.x = 4.f;
transform->Scale = glm::vec3(1.0f);
model = AddComponent<Components::Model>(Sphered, "Model");
model->ModelFile = "Models/PhysicsTest/Sphere.obj";
physics = AddComponent<Components::Physics>(Sphered, "Physics");
physics->Mass = 100;
physics->Friction = 0.5f;
auto sphere = AddComponent<Components::SphereShape>(Sphered, "SphereShape");
sphere->Radius = 1;
sphere->RollingFriction = 0.5f;
{
auto tank_top = CreateEntity(Sphered);
transform = AddComponent<Components::Transform>(tank_top, "Transform");
transform->Scale = glm::vec3(1.0f/100.f);
model = AddComponent<Components::Model>(tank_top, "Model");
model->ModelFile = "Models/tank/tank_top.obj";
{
auto tank_barrel = CreateEntity(tank_top);
transform = AddComponent<Components::Transform>(tank_barrel, "Transform");
model = AddComponent<Components::Model>(tank_barrel, "Model");
model->ModelFile = "Models/tank/tank_barrel.obj";
}
}
auto camera = CreateEntity();
auto transform = AddComponent<Components::Transform>(camera, "Transform");
transform->Position.z = 150.f;
transform->Position.y = 100.f;
transform->Orientation = glm::quat(glm::vec3(glm::pi<float>() / 8.f, 0.f, 0.f));
auto cameraComp = AddComponent<Components::Camera>(camera, "Camera");
cameraComp->FarClip = 2000.f;
AddComponent(camera, "Input");
auto freeSteering = AddComponent<Components::FreeSteering>(camera, "FreeSteering");
}
/*auto tank = CreateEntity();
transform = AddComponent<Components::Transform>(tank, "Transform");
transform->Position.y = 10.f;
transform->Position.x = 4.f;
transform->Scale = glm::vec3(.01f);
model = AddComponent<Components::Model>(tank, "Model");
model->ModelFile = "Models/tank/tank_base.obj";
physics = AddComponent<Components::Physics>(tank, "Physics");
physics->Mass = 100;
physics->Friction = 0.5f;*/
/*auto sphere = AddComponent<Components::SphereShape>(tank, "SphereShape");
sphere->Radius = 10.*(1.f / .01f);
sphere->RollingFriction = 0.5f;*/
/*
Box = AddComponent<Components::BoxShape>(tank, "BoxShape");
Box->Width = 100;
Box->Height = 50;
Box->Depth = 100;*/
/*
{
auto tank_top = CreateEntity(tank);
transform = AddComponent<Components::Transform>(tank_top, "Transform");
//transform->Scale = glm::vec3(.0005f);
model = AddComponent<Components::Model>(tank_top, "Model");
model->ModelFile = "Models/tank/tank_top.obj";
auto terrain = CreateEntity();
auto transform = AddComponent<Components::Transform>(terrain, "Transform");
transform->Scale = glm::vec3(1000.0f);
transform->Orientation = glm::quat(glm::vec3(0.0f, 0.0f, 0.0f));
auto model = AddComponent<Components::Model>(terrain, "Model");
model->ModelFile = "Models/PhysicsTest/Plane.obj";
auto physics = AddComponent<Components::Physics>(terrain, "Physics");
auto Box = AddComponent<Components::BoxShape>(terrain, "BoxShape");
Box->Width = 1;
Box->Height = 0;
Box->Depth = 1;
physics->Friction = 0.5f;
}
{
auto entity = CreateEntity();
auto transform = AddComponent<Components::Transform>(entity, "Transform");
transform->Scale = glm::vec3(1.0f);
transform->Position = glm::vec3(0, 15, 0);
transform->Orientation = glm::quat(glm::vec3(0.0f, 0.0f, 0.0f));
auto physics = AddComponent<Components::Physics>(entity, "Physics");
physics->Mass = 10;
physics->Friction = 0.5;
auto compound = AddComponent<Components::CompoundShape>(entity, "CompoundShape");
{
auto tank_barrel = CreateEntity(tank_top);
transform = AddComponent<Components::Transform>(tank_barrel, "Transform");
//transform->Scale = glm::vec3(.0005f);
model = AddComponent<Components::Model>(tank_barrel, "Model");
model->ModelFile = "Models/tank/tank_barrel.obj";
auto entity0 = CreateEntity(entity);
auto transform = AddComponent<Components::Transform>(entity0, "Transform");
transform->Scale = glm::vec3(1.f);
auto model = AddComponent<Components::Model>(entity0, "Model");
model->ModelFile = "Models/PhysicsTest/Sphere.obj";
auto sphere = AddComponent<Components::SphereShape>(entity0, "SphereShape");
sphere->Radius = 0.5f;
}
{
auto entity1 = CreateEntity(entity);
auto transform = AddComponent<Components::Transform>(entity1, "Transform");
transform->Scale = glm::vec3(1.0f);
transform->Position = glm::vec3(-1, 1, 0);
transform->Orientation = glm::quat(glm::vec3(0.0f, 0.0f, 0.0f));
auto model = AddComponent<Components::Model>(entity1, "Model");
model->ModelFile = "Models/PhysicsTest/Cube.obj";
auto box = AddComponent<Components::BoxShape>(entity1, "BoxShape");
box->Width = 0.5;
box->Height = 0.5;
box->Depth = 0.5;
}
}*/
//auto light = CreateEntity();
//transform = AddComponent<Components::Transform>(light, "Transform");
//transform->Position.y = 10.f;
//auto pointLight = AddComponent<Components::PointLight>(light, "PointLight");
//pointLight->Diffuse = glm::vec3(0.1f, 0.1f, 1.0f);
//pointLight->linearAttenuation = 1.0f;
//pointLight->quadraticAttenuation = 1.0f;
{
auto entity = CreateEntity();
auto transform = AddComponent<Components::Transform>(entity, "Transform");
transform->Scale = glm::vec3(1.0f);
transform->Position = glm::vec3(1, 6, 0);
transform->Orientation = glm::quat(glm::vec3(0.0f, 0.0f, 0.0f));
auto model = AddComponent<Components::Model>(entity, "Model");
model->ModelFile = "Models/PhysicsTest/Cube.obj";
auto physics = AddComponent<Components::Physics>(entity, "Physics");
physics->Mass = 10;
auto box = AddComponent<Components::BoxShape>(entity, "BoxShape");
box->Width = 0.5;
box->Height = 0.5;
box->Depth = 0.5;
}
}
}
void GameWorld::Update(double dt)
@@ -165,9 +120,10 @@ 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("CompoundShape", []() { return new Components::CompoundShape(); });
m_ComponentFactory.Register("SphereShape", []() { return new Components::SphereShape(); });
m_ComponentFactory.Register("BoxShape", []() { return new Components::BoxShape(); });
m_ComponentFactory.Register("Physics", []() { return new Components::Physics(); });
}
src/GameWorld.h
+4 -3
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@@ -30,9 +30,10 @@
#include "Components/Template.h"
#include "Components/Transform.h"
#include "Components\BoxShape.h"
#include "Components\SphereShape.h"
#include "Components\Physics.h"
#include "Components/CompoundShape.h"
#include "Components/BoxShape.h"
#include "Components/SphereShape.h"
#include "Components/Physics.h"
class GameWorld : public World
{
src/Systems/PhysicsSystem.cpp
+75 -27
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@@ -59,10 +59,10 @@ void Systems::PhysicsSystem::UpdateEntity(double dt, EntityID entity, EntityID p
auto sphereShapeComponent = m_World->GetComponent<Components::SphereShape>(entity, "SphereShape");
auto boxShapeComponent = m_World->GetComponent<Components::BoxShape>(entity, "BoxShape");
if (physicsComponent && (sphereShapeComponent || boxShapeComponent))
if (physicsComponent || sphereShapeComponent || boxShapeComponent)
{
if (m_PhysicsData.find(entity) == m_PhysicsData.end()) {
SetUpPhysicsState(entity);
SetUpPhysicsState(entity, parent);
}
if (parent != 0)
@@ -83,7 +83,7 @@ void Systems::PhysicsSystem::UpdateEntity(double dt, EntityID entity, EntityID p
else
{
if (m_PhysicsData.find(entity) != m_PhysicsData.end()) {
TearDownPhysicsState(entity);
TearDownPhysicsState(entity, parent);
}
}
}
@@ -98,51 +98,99 @@ void Systems::PhysicsSystem::OnComponentRemoved(std::string type, Component* com
}
void Systems::PhysicsSystem::SetUpPhysicsState(EntityID entity)
void Systems::PhysicsSystem::SetUpPhysicsState(EntityID entity, EntityID parent)
{
auto transformComponent = m_World->GetComponent<Components::Transform>(entity, "Transform");
if (!transformComponent) {
LOG_WARNING("Physics component missing transform component on entity %i", entity);
return;
}
auto physicsComponent = m_World->GetComponent<Components::Physics>(entity, "Physics");
auto compoundShapeComponent = m_World->GetComponent<Components::CompoundShape>(entity, "CompoundShape");
auto sphereShapeComponent = m_World->GetComponent<Components::SphereShape>(entity, "SphereShape");
auto boxShapeComponent = m_World->GetComponent<Components::BoxShape>(entity, "BoxShape");
if (compoundShapeComponent && (sphereShapeComponent || boxShapeComponent)) {
LOG_WARNING("Entity %i has both compound shape and normal shape! Normal shapes must be children to entity with compound shape.", entity);
}
PhysicsData* physicsData = &m_PhysicsData[entity];
/*EntityID baseParent = m_World->GetEntityBaseParent(entity);
auto baseCompoundShape = m_World->GetComponent<Components::CompoundShape>(baseParent, "CompoundShape");*/
if (boxShapeComponent)
{
physicsData->CollisionShape = new btBoxShape(btVector3(boxShapeComponent->Width, boxShapeComponent->Height, boxShapeComponent->Depth));
}
else if(sphereShapeComponent)
{
physicsData->CollisionShape = new btSphereShape(sphereShapeComponent->Radius);
}
// Set-up compound shape
if (compoundShapeComponent) {
btCompoundShape* compoundShape = new btCompoundShape();
physicsData->CollisionShape = compoundShape;
if (transformComponent)
{
btTransform transform;
transform.setFromOpenGLMatrix(glm::value_ptr(glm::translate(glm::mat4(), transformComponent->Position) * glm::toMat4(transformComponent->Orientation)));
physicsData->MotionState = new btDefaultMotionState(transform);
}
btVector3 inertia;
if (physicsComponent->Mass != 0) {
physicsData->CollisionShape->calculateLocalInertia(physicsComponent->Mass, inertia);
}
btVector3 inertia;
if (physicsComponent->Mass != 0)
physicsData->CollisionShape->calculateLocalInertia(physicsComponent->Mass, inertia);
btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(physicsComponent->Mass, physicsData->MotionState, physicsData->CollisionShape, inertia);
physicsData->RigidBody = new btRigidBody(rigidBodyCI);
btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(physicsComponent->Mass, physicsData->MotionState, physicsData->CollisionShape, inertia);
rigidBodyCI.m_friction = physicsComponent->Friction;
if (sphereShapeComponent)
{
rigidBodyCI.m_rollingFriction = sphereShapeComponent->RollingFriction;
m_DynamicsWorld->addRigidBody(physicsData->RigidBody);
}
physicsData->RigidBody = new btRigidBody(rigidBodyCI);
// Set-up normal shapes
else if (boxShapeComponent) {
physicsData->CollisionShape = new btBoxShape(btVector3(boxShapeComponent->Width, boxShapeComponent->Height, boxShapeComponent->Depth));
} else if (sphereShapeComponent) {
physicsData->CollisionShape = new btSphereShape(sphereShapeComponent->Radius);
}
if (boxShapeComponent || sphereShapeComponent) {
btTransform transform;
transform.setFromOpenGLMatrix(glm::value_ptr(glm::translate(glm::mat4(), transformComponent->Position) * glm::toMat4(transformComponent->Orientation)));
// If there's a local physics component
if (physicsComponent) {
physicsData->MotionState = new btDefaultMotionState(transform);
m_DynamicsWorld->addRigidBody(physicsData->RigidBody);
btVector3 inertia;
if (physicsComponent->Mass != 0) {
physicsData->CollisionShape->calculateLocalInertia(physicsComponent->Mass, inertia);
}
btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(physicsComponent->Mass, physicsData->MotionState, physicsData->CollisionShape, inertia);
physicsData->RigidBody = new btRigidBody(rigidBodyCI);
m_DynamicsWorld->addRigidBody(physicsData->RigidBody);
} else {
// Otherwise, find our base parent and attach to compound shape
EntityID baseParent = m_World->GetEntityBaseParent(entity);
auto basePhysicsComponent = m_World->GetComponent<Components::Physics>(baseParent, "Physics");
if (!basePhysicsComponent) {
LOG_WARNING("Failed to attach orphan collision shape on entity %i: missing physics component on base parent entity %i", entity, baseParent);
return;
}
auto baseCompoundShapeComponent = m_World->GetComponent<Components::CompoundShape>(baseParent, "CompoundShape");
if (!baseCompoundShapeComponent) {
LOG_WARNING("Failed to attach orphan collision shape on entity %i: missing compound shape on base parent entity %i", entity, baseParent);
return;
}
PhysicsData* basePhysicsData = &m_PhysicsData.at(baseParent);
btCompoundShape* baseCompoundShape = dynamic_cast<btCompoundShape*>(basePhysicsData->CollisionShape);
baseCompoundShape->addChildShape(transform, physicsData->CollisionShape);
btVector3 inertia;
baseCompoundShape->calculateLocalInertia(basePhysicsComponent->Mass, inertia);
basePhysicsData->RigidBody->setMassProps(basePhysicsComponent->Mass, inertia);
basePhysicsData->RigidBody->updateInertiaTensor();
}
}
}
void Systems::PhysicsSystem::TearDownPhysicsState(EntityID entity)
void Systems::PhysicsSystem::TearDownPhysicsState(EntityID entity, EntityID parent)
{
PhysicsData* physicsData = &m_PhysicsData[entity];
src/Systems/PhysicsSystem.h
+3 -2
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@@ -4,6 +4,7 @@
#include "System.h"
#include "Components/Transform.h"
#include "Components/Physics.h"
#include "Components/CompoundShape.h"
#include "Components/BoxShape.h"
#include "Components/SphereShape.h"
@@ -38,8 +39,8 @@ namespace Systems
std::map<EntityID, PhysicsData> m_PhysicsData;
void SetUpPhysicsState(EntityID entity);
void TearDownPhysicsState(EntityID entity);
void SetUpPhysicsState(EntityID entity, EntityID parent);
void TearDownPhysicsState(EntityID entity, EntityID parent);
src/World.cpp
+9
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@@ -56,6 +56,15 @@ EntityID World::GetEntityParent(EntityID entity)
return it == m_EntityParents.end() ? 0 : it->second;
}
EntityID World::GetEntityBaseParent(EntityID entity)
{
EntityID parent = GetEntityParent(entity);
if (parent == 0)
return entity;
else
return GetEntityBaseParent(parent);
}
bool World::ValidEntity(EntityID entity)
{
return m_EntityParents.find(entity) != m_EntityParents.end();
src/World.h
+1
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@@ -41,6 +41,7 @@ public:
bool ValidEntity(EntityID entity);
EntityID GetEntityParent(EntityID entity);
EntityID GetEntityBaseParent(EntityID entity);
template <class T>
T GetProperty(EntityID entity, std::string property)
vs12/Returngeance/Returngeance.vcxproj
+1
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@@ -112,6 +112,7 @@
<ClInclude Include="..\..\src\Components\BoxShape.h" />
<ClInclude Include="..\..\src\Components\Camera.h" />
<ClInclude Include="..\..\src\Components\Collision.h" />
<ClInclude Include="..\..\src\Components\CompoundShape.h" />
<ClInclude Include="..\..\src\Components\DirectionalLight.h" />
<ClInclude Include="..\..\src\Components\FreeSteering.h" />
<ClInclude Include="..\..\src\Components\Input.h" />
vs12/Returngeance/Returngeance.vcxproj.filters
+3
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@@ -142,6 +142,9 @@
<ClInclude Include="..\..\src\Systems\DebugSystem.h">
<Filter>Systems</Filter>
</ClInclude>
<ClInclude Include="..\..\src\Components\CompoundShape.h">
<Filter>Components</Filter>
</ClInclude>
</ItemGroup>
<ItemGroup>
<None Include="..\..\src\Shaders\AABB.frag.glsl">