BTH/fishtanks
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

CompoundShape works, i.e parent child physics :)

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/Systems/PhysicsSystem.cpp
+75 -27
View File
@@ -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];