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

Wheels now turning and spinning properly.

Browse Source
This commit is contained in:
ViktorLjung
2014-04-24 00:11:49 +02:00
parent e95d78aba6
commit afbe58e4f3
3 changed files with 56 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/Components/Wheel.h
+7
View File
@@ -37,3 +37,10 @@ private:
}
#endif // Components_Wheel_h__
/*
m_currentSuspensionLength
m_suspension
m_steeringOrientationChassisSpace
m_spinAngle
*/
src/GameWorld.cpp
+24 -19
View File
@@ -24,14 +24,14 @@ void GameWorld::Initialize()
auto ground = CreateEntity();
auto transform = AddComponent<Components::Transform>(ground, "Transform");
transform->Position = glm::vec3(0, -5, 0);
transform->Scale = glm::vec3(1000.0f, 10.0f, 1000.0f);
transform->Scale = glm::vec3(400.0f, 10.0f, 400.0f);
transform->Orientation = glm::quat(glm::vec3(0.0f, 0.0f, 0.0f));
auto model = AddComponent<Components::Model>(ground, "Model");
model->ModelFile = "Models/Placeholders/PhysicsTest/Cube.obj";
auto box = AddComponent<Components::Box>(ground, "Box");
box->Width = 500;
box->Width = 200;
box->Height = 5;
box->Depth = 500;
box->Depth = 200;
auto physics = AddComponent<Components::Physics>(ground, "Physics");
physics->Mass = 10;
@@ -66,13 +66,14 @@ void GameWorld::Initialize()
auto ent = CreateEntity(car);
auto transform = AddComponent<Components::Transform>(ent, "Transform");
transform->Scale = glm::vec3(1)/glm::vec3(3, 1, 5);
transform->Position = glm::vec3(1.1f, -0.5f, -1.3f);
transform->Position = glm::vec3(1.1f, -1.5f, -1.3f);
auto Wheel = AddComponent<Components::Wheel>(ent, "Wheel");
Wheel->Hardpoint = glm::vec3(1.1f, 0.f, -1.3f);// HACK: make into component
Wheel->AxleID = 0;
Wheel->Mass = 10;
Wheel->Radius = 0.5f;
Wheel->Steering = true;
Wheel->SuspensionStrength = 20.f;
auto model = AddComponent<Components::Model>(ent, "Model");
model->ModelFile = "Models/Placeholders/PhysicsTest/Cube2.obj";
CommitEntity(ent);
@@ -82,13 +83,14 @@ void GameWorld::Initialize()
auto ent = CreateEntity(car);
auto transform = AddComponent<Components::Transform>(ent, "Transform");
transform->Scale = glm::vec3(1)/glm::vec3(3, 1, 5);
transform->Position = glm::vec3(-1.1f, -0.5f, -1.3f);
transform->Position = glm::vec3(-1.1f, -1.5f, -1.3f);
auto Wheel = AddComponent<Components::Wheel>(ent, "Wheel");
Wheel->Hardpoint = glm::vec3(-1.1f, 0.f, -1.3f);
Wheel->AxleID = 0;
Wheel->Mass = 10;
Wheel->Radius = 0.5f;
Wheel->Steering = true;
Wheel->SuspensionStrength = 20.f;
auto model = AddComponent<Components::Model>(ent, "Model");
model->ModelFile = "Models/Placeholders/PhysicsTest/Cube2.obj";
CommitEntity(ent);
@@ -98,7 +100,7 @@ void GameWorld::Initialize()
auto ent = CreateEntity(car);
auto transform = AddComponent<Components::Transform>(ent, "Transform");
transform->Scale = glm::vec3(1)/glm::vec3(3, 1, 5);
transform->Position = glm::vec3(1.1f, -0.5f, 1.3f);
transform->Position = glm::vec3(1.1f, -1.5f, 1.3f);
auto Wheel = AddComponent<Components::Wheel>(ent, "Wheel");
Wheel->Hardpoint = glm::vec3(1.1f, 0.f, 1.3f);
Wheel->AxleID = 1;
@@ -106,6 +108,7 @@ void GameWorld::Initialize()
Wheel->Radius = 0.5f;
Wheel->Steering = false;
Wheel->ConnectedToHandbrake = true;
Wheel->SuspensionStrength = 20.f;
auto model = AddComponent<Components::Model>(ent, "Model");
model->ModelFile = "Models/Placeholders/PhysicsTest/Cube2.obj";
CommitEntity(ent);
@@ -115,7 +118,7 @@ void GameWorld::Initialize()
auto ent = CreateEntity(car);
auto transform = AddComponent<Components::Transform>(ent, "Transform");
transform->Scale = glm::vec3(1)/glm::vec3(3, 1, 5);
transform->Position = glm::vec3(-1.1f, -0.5f, 1.3f);
transform->Position = glm::vec3(-1.1f, -1.5f, 1.3f);
auto Wheel = AddComponent<Components::Wheel>(ent, "Wheel");
Wheel->Hardpoint = glm::vec3(-1.1f, 0.f, 1.3f);
Wheel->AxleID = 1;
@@ -123,6 +126,7 @@ void GameWorld::Initialize()
Wheel->Radius = 0.5f;
Wheel->Steering = false;
Wheel->ConnectedToHandbrake = true;
Wheel->SuspensionStrength = 20.f;
auto model = AddComponent<Components::Model>(ent, "Model");
model->ModelFile = "Models/Placeholders/PhysicsTest/Cube2.obj";
CommitEntity(ent);
@@ -133,22 +137,23 @@ void GameWorld::Initialize()
for(int i = 0; i < 50; i++)
for(int i = 0; i < 10; i++)
{
auto ball = CreateEntity();
auto transform = AddComponent<Components::Transform>(ball, "Transform");
transform->Position = glm::vec3(243, 10 + i*10, 0);
transform->Scale = glm::vec3(10);
auto cube = CreateEntity();
auto transform = AddComponent<Components::Transform>(cube, "Transform");
transform->Position = glm::vec3(20, 10 + i*2, 0);
transform->Scale = glm::vec3(1);
transform->Orientation = glm::quat(glm::vec3(0.0f, 0.0f, 0.0f));
auto model = AddComponent<Components::Model>(ball, "Model");
auto model = AddComponent<Components::Model>(cube, "Model");
model->ModelFile = "Models/Placeholders/PhysicsTest/Cube2.obj";
auto physics = AddComponent<Components::Physics>(ball, "Physics");
auto physics = AddComponent<Components::Physics>(cube, "Physics");
physics->Mass = 100;
auto box = AddComponent<Components::Box>(ball, "Box");
box->Width = 5.f;
box->Height = 5.f;
box->Depth = 5.f;
CommitEntity(ball);
auto box = AddComponent<Components::Box>(cube, "Box");
box->Width = 0.5f;
box->Height = 0.5f;
box->Depth = 0.5f;
CommitEntity(cube);
}
{
src/Systems/PhysicsSystem.cpp
+25 -17
View File
@@ -76,10 +76,13 @@ void Systems::PhysicsSystem::Update(double dt)
continue;
hkVector4 position(transformComponent->Position.x, transformComponent->Position.y, transformComponent->Position.z);
hkQuaternion rotation(transformComponent->Orientation.x, transformComponent->Orientation.y, transformComponent->Orientation.z, transformComponent->Orientation.w);
m_RigidBodies[entity]->setPositionAndRotation(position, rotation);
if(m_RigidBodies[entity]->isActive())
{
hkVector4 position(transformComponent->Position.x, transformComponent->Position.y, transformComponent->Position.z);
hkQuaternion rotation(transformComponent->Orientation.x, transformComponent->Orientation.y, transformComponent->Orientation.z, transformComponent->Orientation.w);
m_RigidBodies[entity]->setPositionAndRotation(position, rotation);
}
}
@@ -109,26 +112,31 @@ void Systems::PhysicsSystem::UpdateEntity(double dt, EntityID entity, EntityID p
EntityID car = m_World->GetEntityParent(entity);
if(m_Vehicles.find(car) != m_Vehicles.end())
{
hkVector4 position;
hkQuaternion orientation;
m_Vehicles[car]->calcCurrentPositionAndRotation(m_RigidBodies[car], m_Vehicles[car]->m_suspension, wheelComponent->ID, position, orientation);
hkVector4 chassisPosition = m_RigidBodies[car]->getPosition();
hkQuaternion chassisOrientation = m_RigidBodies[car]->getRotation();
glm::vec3 relativePos = glm::vec3(chassisPosition(0), chassisPosition(1), chassisPosition(2)) - glm::vec3(position(0), position(1), position(2));
glm::quat relativeOrientation = glm::quat(orientation(3), orientation(0), orientation(1), orientation(2));
m_Vehicles[car]->getChassis()->activate();
transformComponent->Position = relativePos;
//transformComponent->Orientation = relativeOrientation;
hkVector4 hardPoint = m_Vehicles[car]->m_suspension->m_wheelParams[wheelComponent->ID].m_hardpointChassisSpace;
hkVector4 suspensionDirection = m_Vehicles[car]->m_suspension->m_wheelParams[wheelComponent->ID].m_directionChassisSpace;
hkReal suspensionLength = m_Vehicles[car]->m_wheelsInfo[wheelComponent->ID].m_currentSuspensionLength;
glm::vec3 position = glm::vec3(hardPoint(0) + (suspensionDirection(0) * suspensionLength), hardPoint(1) + (suspensionDirection(1) * suspensionLength), hardPoint(2) + (suspensionDirection(2) * suspensionLength));
transformComponent->Position = position;
hkQuaternion steeringOrientation = m_Vehicles[car]->m_wheelsInfo[wheelComponent->ID].m_steeringOrientationChassisSpace;
hkReal spinAngle = -m_Vehicles[car]->m_wheelsInfo[wheelComponent->ID].m_spinAngle;
glm::quat orientation = glm::quat(steeringOrientation(3), steeringOrientation(0), steeringOrientation(1), steeringOrientation(2)) * glm::angleAxis<float>(spinAngle, glm::vec3(1, 0, 0));
transformComponent->Orientation = orientation;
}
}
else
{
if(m_Vehicles.find(entity) != m_Vehicles.end())
{
hkVector4 position = m_RigidBodies[entity]->getPosition();
transformComponent->Position = glm::vec3(position(0), position(1), position(2));
hkQuaternion orientation = m_RigidBodies[entity]->getRotation();
transformComponent->Orientation = glm::quat(orientation(3),orientation(0), orientation(1), orientation(2));
if(m_RigidBodies[entity]->isActive())
{
hkVector4 position = m_RigidBodies[entity]->getPosition();
transformComponent->Position = glm::vec3(position(0), position(1), position(2));
hkQuaternion orientation = m_RigidBodies[entity]->getRotation();
transformComponent->Orientation = glm::quat(orientation(3),orientation(0), orientation(1), orientation(2));
}
}
}