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Damage and Spashdamage working, phantomShapes not really working

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This commit is contained in:
ViktorLjung
2014-05-27 07:04:29 +02:00
parent a0ee235473
commit c37df5c178
27 changed files with 804 additions and 202 deletions
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src/Systems/PhysicsSystem.cpp
+163 -83
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@@ -39,7 +39,7 @@ void Systems::PhysicsSystem::Initialize()
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
hkMemorySystem::FrameInfo finfo(10000 * 1024); // Allocate 10MB of Physics solver buffer
hkMemoryRouter* memoryRouter = hkMemoryInitUtil::initDefault(hkMallocAllocator::m_defaultMallocAllocator, finfo);
hkBaseSystem::init(memoryRouter, HavokErrorReport);
@@ -77,7 +77,7 @@ void Systems::PhysicsSystem::Initialize()
worldInfo.setupSolverInfo(hkpWorldCinfo::SOLVER_TYPE_4ITERS_MEDIUM);
worldInfo.m_gravity = hkVector4(0.0f, -9.82f, 0.0f);
worldInfo.m_broadPhaseBorderBehaviour = hkpWorldCinfo::BROADPHASE_BORDER_DO_NOTHING;
worldInfo.m_broadPhaseBorderBehaviour = hkpWorldCinfo::BROADPHASE_BORDER_FIX_ENTITY;
// You must specify the size of the broad phase - objects should not be simulated outside this region
worldInfo.setBroadPhaseWorldSize(1500.0f);
@@ -110,34 +110,6 @@ void Systems::PhysicsSystem::Initialize()
m_PhysicsWorld->unmarkForWrite();
m_collisionResolution = new MyCollisionResolution(this);
hkpBoxShape* shape = new hkpBoxShape(hkVector4(5, 5, 5), 0);
PhantomCallbackShape* phantom = new PhantomCallbackShape(this);
hkpBvShape* phantomShape = new hkpBvShape(shape, phantom);
hkMassProperties massProperties;
hkpInertiaTensorComputer::computeBoxVolumeMassProperties(hkVector4(5, 5, 5),1, massProperties);
hkpRigidBodyCinfo rigidBodyInfo;
{
rigidBodyInfo.m_shape = shape;
rigidBodyInfo.m_motionType = hkpMotion::MOTION_FIXED;
rigidBodyInfo.m_position = hkVector4(0, 0, 0);
rigidBodyInfo.m_inertiaTensor = massProperties.m_inertiaTensor;
rigidBodyInfo.m_centerOfMass = massProperties.m_centerOfMass;
rigidBodyInfo.m_mass = massProperties.m_mass;
}
// Create RigidBody
hkpRigidBody* rigidBody = new hkpRigidBody(rigidBodyInfo);
m_PhysicsWorld->markForWrite();
m_PhysicsWorld->addEntity(rigidBody);
m_PhysicsWorld->unmarkForWrite();
shape->removeReference();
rigidBody->removeReference();
}
enum
@@ -147,12 +119,13 @@ void Systems::PhysicsSystem::Initialize()
VEHICLE2_LAYER = 3,
EXPLOSION_LAYER = 4,
};
/*
{
Events::DisableCollisions e;
e.Layer1 = GROUND_LAYER;
e.Layer2 = EXPLOSION_LAYER;
EventBroker->Publish(e);
}
}*/
/*{
Events::DisableCollisions e;
e.Layer1 = VEHICLE1_LAYER;
@@ -285,6 +258,10 @@ void Systems::PhysicsSystem::UpdateEntity(double dt, EntityID entity, EntityID p
void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
{
auto tempalteComponent = m_World->GetComponent<Components::Template>(entity);
if(tempalteComponent)
return;
auto transformComponent = m_World->GetComponent<Components::Transform>(entity);
if (!transformComponent)
return;
@@ -310,15 +287,14 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
}
auto physicsComponent = m_World->GetComponent<Components::Physics>(entity);
if (physicsComponent)
if (physicsComponent && m_Shapes[entity].size() > 0)
{
hkpShape* shape;
if(entityParent != entity)
{
LOG_ERROR("Entity: %i , Only the baseparent can have a PhysicsComponent", entity);
return;
}
hkpShape* shape;
if(! physicsComponent->Static) // Not static
{
hkArray<hkpShape*> shapeArray;
@@ -332,12 +308,15 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
hkQsTransform transform( GLMVEC3_TO_HKVECTOR4(childTransformComponent->Position), GLMQUAT_TO_HKQUATERNION(childTransformComponent->Orientation), GLMVEC3_TO_HKVECTOR4(childTransformComponent->Scale));
hkpConvexTransformShape* transformedBoxShape = new hkpConvexTransformShape( shapeData.ConvexShape, transform );
shapeArray.pushBack(transformedBoxShape);
}
if(shapeData.Shape != nullptr)
{
shapeArray.pushBack(shapeData.Shape);
}
}
@@ -346,20 +325,22 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
// Save the listShape for further use
m_ListShapes[entity] = listShape;
hkMassProperties massProperties;
if(physicsComponent->Phantom)
{
PhantomCallbackShape* phantom = new PhantomCallbackShape(this);
shape = new hkpBvShape(listShape, phantom);
hkpInertiaTensorComputer::computeSphereVolumeMassProperties(1, physicsComponent->Mass, massProperties);
}
else
{
hkpBoxShape* box = new hkpBoxShape(listShape->m_aabbHalfExtents, 0.0f);
shape = new hkpBvShape(listShape, box);
hkpInertiaTensorComputer::computeShapeVolumeMassProperties(shape, physicsComponent->Mass, massProperties);
}
hkpBoxShape* box = new hkpBoxShape(listShape->m_aabbHalfExtents, 0.0f);
shape = new hkpBvShape(listShape, box);
hkpInertiaTensorComputer::computeShapeVolumeMassProperties(shape, physicsComponent->Mass, massProperties);
for (auto &shapeData : m_Shapes[entity])
{
if(shapeData.ConvexShape != nullptr)
{
shapeData.ConvexShape->removeReference();
}
if(shapeData.Shape != nullptr)
{
shapeData.Shape->removeReference();
}
}
// Clean up for less memory usage
m_Shapes.erase(entity);
@@ -392,6 +373,7 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
rigidBodyInfo.m_maxLinearVelocity = physicsComponent->MaxLinearVelocity;
rigidBodyInfo.m_maxAngularVelocity = physicsComponent->MaxAngularVelocity;
rigidBodyInfo.m_collisionFilterInfo = hkpGroupFilter::calcFilterInfo(physicsComponent->CollisionLayer, physicsComponent->CollisionSystemGroup, physicsComponent->CollisionSubSystemId, physicsComponent->CollisionSubSystemDontCollideWith);
rigidBodyInfo.m_enableDeactivation = false;
}
// Create RigidBody
hkpRigidBody* rigidBody = new hkpRigidBody(rigidBodyInfo);
@@ -480,17 +462,20 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
staticCompoundShape->bake();
shape = staticCompoundShape;
hkMassProperties massProperties;
if(physicsComponent->Phantom)
hkpInertiaTensorComputer::computeShapeVolumeMassProperties(shape, physicsComponent->Mass, massProperties);
for (auto &shapeData : m_Shapes[entity])
{
PhantomCallbackShape* phantom = new PhantomCallbackShape(this);
shape = new hkpBvShape(shape, phantom);
hkpInertiaTensorComputer::computeSphereVolumeMassProperties(1, physicsComponent->Mass, massProperties);
if(shapeData.ConvexShape != nullptr)
{
shapeData.ConvexShape->removeReference();
}
if(shapeData.Shape != nullptr)
{
shapeData.Shape->removeReference();
}
}
else
{
hkpInertiaTensorComputer::computeShapeVolumeMassProperties(shape, physicsComponent->Mass, massProperties);
}
m_Shapes.erase(entity);
@@ -521,6 +506,7 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
rigidBodyInfo.m_maxLinearVelocity = physicsComponent->MaxLinearVelocity;
rigidBodyInfo.m_maxAngularVelocity = physicsComponent->MaxAngularVelocity;
rigidBodyInfo.m_collisionFilterInfo = hkpGroupFilter::calcFilterInfo(physicsComponent->CollisionLayer, physicsComponent->CollisionSystemGroup, physicsComponent->CollisionSubSystemId, physicsComponent->CollisionSubSystemDontCollideWith);
rigidBodyInfo.m_enableDeactivation = false;
}
// Create RigidBody
hkpRigidBody* rigidBody = new hkpRigidBody(rigidBodyInfo);
@@ -538,22 +524,91 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
}
else
{
//TODO: COMMENT THIS SECTION
if(sphereComponent)
{
hkpSphereShape* sphereShape = new hkpSphereShape(sphereComponent->Radius);
m_Shapes[entityParent].push_back(ShapeArrayData(entity, sphereShape, nullptr));
//sphereShape->removeReference();
auto triggerComponent = m_World->GetComponent<Components::Trigger >(entityParent);
if(triggerComponent)
{
auto parentTransformComponent = m_World->GetComponent<Components::Transform >(entityParent);
PhantomCallbackShape* phantom = new PhantomCallbackShape(this);
hkpBvShape* phantomShape = new hkpBvShape(sphereShape, phantom);
hkpRigidBodyCinfo rigidBodyInfo;
{
rigidBodyInfo.m_shape = phantomShape;
rigidBodyInfo.m_motionType = hkpMotion::MOTION_FIXED;
rigidBodyInfo.m_position = GLMVEC3_TO_HKVECTOR4(parentTransformComponent->Position);
rigidBodyInfo.m_mass = 1;
rigidBodyInfo.m_collisionFilterInfo = hkpGroupFilter::calcFilterInfo(4, 0, 0, 0);
}
// Create RigidBody
hkpRigidBody* rigidBody = new hkpRigidBody(rigidBodyInfo);
m_PhysicsWorld->markForWrite();
m_PhysicsWorld->addEntity(rigidBody);
m_PhysicsWorld->unmarkForWrite();
m_RigidBodies[entityParent] = rigidBody;
m_RigidBodyEntities[rigidBody] = entityParent;
phantomShape->removeReference();
phantom->removeReference();
sphereShape->removeReference();
rigidBody->removeReference();
}
else
{
m_Shapes[entityParent].push_back(ShapeArrayData(entity, sphereShape, nullptr));
}
}
//TODO: COMMENT THIS SECTION
else if(boxComponent)
{
hkReal thickness = 0.05;
hkpBoxShape* boxShape = new hkpBoxShape(hkVector4(boxComponent->Width- thickness, boxComponent->Height -thickness, boxComponent->Depth - thickness), thickness);
m_Shapes[entityParent].push_back(ShapeArrayData(entity, boxShape, nullptr));
//boxShape->removeReference();
auto triggerComponent = m_World->GetComponent<Components::Trigger >(entityParent);
if(triggerComponent)
{
auto parentTransformComponent = m_World->GetComponent<Components::Transform >(entityParent);
PhantomCallbackShape* phantom = new PhantomCallbackShape(this);
hkpBvShape* phantomShape = new hkpBvShape(boxShape, phantom);
hkpRigidBodyCinfo rigidBodyInfo;
{
rigidBodyInfo.m_shape = phantomShape;
rigidBodyInfo.m_motionType = hkpMotion::MOTION_FIXED;
rigidBodyInfo.m_position = GLMVEC3_TO_HKVECTOR4(parentTransformComponent->Position);
rigidBodyInfo.m_mass = 1;
rigidBodyInfo.m_collisionFilterInfo = hkpGroupFilter::calcFilterInfo(4, 0, 0, 0); // HACK:
}
// Create RigidBody
hkpRigidBody* rigidBody = new hkpRigidBody(rigidBodyInfo);
m_PhysicsWorld->markForWrite();
m_PhysicsWorld->addEntity(rigidBody);
m_PhysicsWorld->unmarkForWrite();
m_RigidBodies[entityParent] = rigidBody;
m_RigidBodyEntities[rigidBody] = entityParent;
phantomShape->removeReference();
boxShape->removeReference();
phantom->removeReference();
rigidBody->removeReference();
}
else
{
m_Shapes[entityParent].push_back(ShapeArrayData(entity, boxShape, nullptr));
}
}
else if(meshShapeComponent)
{
@@ -605,9 +660,6 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
m_Shapes[entityParent].push_back(ShapeArrayData(entity, nullptr, moppShape));
}
}
}
void Systems::PhysicsSystem::TearDownPhysicsState(EntityID entity, EntityID parent)
@@ -620,12 +672,6 @@ void Systems::PhysicsSystem::OnComponentCreated(std::string type, std::shared_pt
}
void Systems::PhysicsSystem::OnComponentRemoved(std::string type, Component* component)
{
}
void Systems::PhysicsSystem::SetupVisualDebugger(hkpPhysicsContext* worlds)
{
// Setup the visual debugger
@@ -678,37 +724,71 @@ bool Systems::PhysicsSystem::OnTankSteer(const Events::TankSteer &event)
bool Systems::PhysicsSystem::OnSetVelocity( const Events::SetVelocity &event )
{
m_PhysicsWorld->markForWrite();
m_RigidBodies[event.Entity]->setLinearVelocity(GLMVEC3_TO_HKVECTOR4(event.Velocity));
m_PhysicsWorld->unmarkForWrite();
if(m_RigidBodies.find(event.Entity) != m_RigidBodies.end())
{
m_PhysicsWorld->markForWrite();
m_RigidBodies[event.Entity]->setLinearVelocity(GLMVEC3_TO_HKVECTOR4(event.Velocity));
m_PhysicsWorld->unmarkForWrite();
}
return true;
}
bool Systems::PhysicsSystem::OnApplyForce(const Events::ApplyForce &event)
{
m_PhysicsWorld->markForWrite();
m_RigidBodies[event.Entity]->applyForce(event.DeltaTime, GLMVEC3_TO_HKVECTOR4(event.Force));
m_PhysicsWorld->unmarkForWrite();
if(m_RigidBodies.find(event.Entity) != m_RigidBodies.end())
{
m_PhysicsWorld->markForWrite();
m_RigidBodies[event.Entity]->applyForce(event.DeltaTime, GLMVEC3_TO_HKVECTOR4(event.Force));
m_PhysicsWorld->unmarkForWrite();
}
return true;
}
bool Systems::PhysicsSystem::OnApplyPointImpulse( const Events::ApplyPointImpulse &event )
{
m_PhysicsWorld->markForWrite();
m_RigidBodies[event.Entity]->applyPointImpulse(GLMVEC3_TO_HKVECTOR4(event.Impulse), GLMVEC3_TO_HKVECTOR4(event.Position));
m_PhysicsWorld->unmarkForWrite();
if(m_RigidBodies.find(event.Entity) != m_RigidBodies.end())
{
m_PhysicsWorld->markForWrite();
m_RigidBodies[event.Entity]->applyPointImpulse(GLMVEC3_TO_HKVECTOR4(event.Impulse), GLMVEC3_TO_HKVECTOR4(event.Position));
m_PhysicsWorld->unmarkForWrite();
}
return true;
}
void Systems::PhysicsSystem::OnComponentRemoved(EntityID entity, std::string type, Component* component)
{
if(type == "Trigger")
{
if(m_RigidBodies.find(entity) != m_RigidBodies.end())
{
LOG_INFO("Removed Trigger of entity %i", entity);
m_PhysicsWorld->markForWrite();
m_RigidBodyEntities.erase(m_RigidBodies[entity]);
m_PhysicsWorld->removeEntity(m_RigidBodies[entity]);
m_RigidBodies.erase(entity);
m_PhysicsWorld->unmarkForWrite();
}
}
}
void Systems::PhysicsSystem::OnEntityRemoved( EntityID entity )
{
if(m_RigidBodies.find(entity) != m_RigidBodies.end())
if(m_RigidBodies.find(entity) != m_RigidBodies.end())
{
m_RigidBodyEntities.erase(m_RigidBodies[entity]);
LOG_INFO("Removed rigid body of entity %i", entity);
m_PhysicsWorld->markForWrite();
m_RigidBodyEntities.erase(m_RigidBodies[entity]);
if(m_ListShapes.find(entity) != m_ListShapes.end())
{
m_ListShapes[entity]->removeReference();
m_ListShapes.erase(entity);
}
m_PhysicsWorld->removeEntity(m_RigidBodies[entity]);
m_PhysicsWorld->unmarkForWrite();
m_RigidBodies.erase(entity);
m_PhysicsWorld->unmarkForWrite();
}
if(m_Vehicles.find(entity) != m_Vehicles.end())
{