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Tank with 8 wheels

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This commit is contained in:
ViktorLjung
2014-05-11 01:52:00 +02:00
parent 4c0b465c7f
commit d7e5630f1b
10 changed files with 357 additions and 64 deletions
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src/Systems/PhysicsSystem.cpp
+66 -25
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@@ -111,6 +111,8 @@ void Systems::PhysicsSystem::RegisterComponents(ComponentFactory* cf)
cf->Register("Wheel", []() { return new Components::Wheel(); });
cf->Register("MeshShape", []() { return new Components::MeshShape(); });
cf->Register("HingeConstraint", []() { return new Components::HingeConstraint(); });
cf->Register("WheelPair", []() { return new Components::WheelPair(); });
}
void Systems::PhysicsSystem::Update(double dt)
@@ -225,9 +227,14 @@ void Systems::PhysicsSystem::UpdateEntity(double dt, EntityID entity, EntityID p
m_PhysicsWorld->markForWrite();
hkpVehicleDriverInputAnalogStatus* deviceStatus = (hkpVehicleDriverInputAnalogStatus*)m_Vehicles[entity]->m_deviceStatus;
if(inputComponent->KeyState[GLFW_KEY_UP] != 0 || inputComponent->KeyState[GLFW_KEY_DOWN] != 0)
if(inputComponent->KeyState[GLFW_KEY_UP] != 0)
{
deviceStatus->m_positionY += inputComponent->KeyState[GLFW_KEY_UP] * -1 * 1.f * dt + inputComponent->KeyState[GLFW_KEY_DOWN] * 1 * 1.f * dt;
deviceStatus->m_positionY += inputComponent->KeyState[GLFW_KEY_UP] * -1 * 1.f * dt;
}
else if (inputComponent->KeyState[GLFW_KEY_DOWN] != 0)
{
deviceStatus->m_positionY += inputComponent->KeyState[GLFW_KEY_DOWN] * 1 * 1.f * dt;
deviceStatus->m_reverseButtonPressed = true;
}
else
{
@@ -310,7 +317,7 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
auto physicsComponent = m_World->GetComponent<Components::Physics>(entity, "Physics");
if (physicsComponent)
{
hkpShape* shape;
if(entityParent != entity)
{
LOG_ERROR("Entity: %i , Only the baseparent can have a PhysicsComponent", entity);
@@ -330,7 +337,7 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
hkpListShape* listShape = new hkpListShape(shapeArray.begin(), shapeArray.getSize(), hkpShapeContainer::REFERENCE_POLICY_INCREMENT);
// Save the listShape for further use
m_ListShapes[entity] = listShape;
shape = listShape;
//////////////////////////////////
//******************************//
@@ -342,11 +349,11 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
m_Shapes.erase(entity);
hkMassProperties massProperties;
hkpInertiaTensorComputer::computeShapeVolumeMassProperties(listShape, physicsComponent->Mass, massProperties);
hkpInertiaTensorComputer::computeShapeVolumeMassProperties(shape, physicsComponent->Mass, massProperties);
hkpRigidBodyCinfo rigidBodyInfo;
{
rigidBodyInfo.m_shape = listShape;
rigidBodyInfo.m_shape = shape;
rigidBodyInfo.m_motionType = hkpMotion::MOTION_DYNAMIC;
auto absoluteTransform = m_World->GetSystem<Systems::TransformSystem>("TransformSystem")->AbsoluteTransform(entity);
hkVector4 position = ConvertPosition(absoluteTransform.Position);
@@ -361,13 +368,48 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
// Create RigidBody
hkpRigidBody* rigidBody = new hkpRigidBody(rigidBodyInfo);
m_PhysicsWorld->markForWrite();
m_PhysicsWorld->addEntity(rigidBody);
m_RigidBodies[entity] = rigidBody;
m_PhysicsWorld->unmarkForWrite();
auto vehicleComponent = m_World->GetComponent<Components::Vehicle >(entity, "Vehicle");
if (vehicleComponent && m_Vehicles.find(entity) == m_Vehicles.end())
{
for (int i = 0; i < m_Wheels.size(); i++)
{
if(m_World->GetEntityParent(m_Wheels[i]) != entity)
{
m_Wheels.erase(m_Wheels.begin() + i);
i--;
}
}
listShape->removeReference();
rigidBody->removeReference();
VehicleSetup vehicleSetup;
// Create the basic vehicle.
m_Vehicles[entity] = new hkpVehicleInstance(rigidBody);
m_PhysicsWorld->markForWrite();
vehicleSetup.buildVehicle(m_World, m_PhysicsWorld, *m_Vehicles[entity], entity, m_Wheels);
// Add the vehicle's entities and phantoms to the world
m_Vehicles[entity]->addToWorld(m_PhysicsWorld);
m_RigidBodies[entity] = rigidBody;
// The vehicle is an action
m_PhysicsWorld->addAction(m_Vehicles[entity]);
m_PhysicsWorld->unmarkForWrite();
//m_Vehicles[entity]->m_rpm = 0.0f; // Not sure why this one should be here
m_Wheels.clear();
shape->removeReference();
rigidBody->removeReference();
}
else
{
m_PhysicsWorld->markForWrite();
m_PhysicsWorld->addEntity(rigidBody);
m_RigidBodies[entity] = rigidBody;
m_PhysicsWorld->unmarkForWrite();
shape->removeReference();
rigidBody->removeReference();
}
}
else // Static
{
@@ -390,14 +432,14 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
// This must be called after adding the instances and before using the shape.
staticCompoundShape->bake();
shape = staticCompoundShape;
m_Shapes.erase(entity);
hkMassProperties massProperties;
hkpInertiaTensorComputer::computeShapeVolumeMassProperties(staticCompoundShape, physicsComponent->Mass, massProperties);
hkpInertiaTensorComputer::computeShapeVolumeMassProperties(shape, physicsComponent->Mass, massProperties);
hkpRigidBodyCinfo rigidBodyInfo;
{
rigidBodyInfo.m_shape = staticCompoundShape;
rigidBodyInfo.m_shape = shape;
rigidBodyInfo.m_motionType = hkpMotion::MOTION_FIXED;
auto absoluteTransform = m_World->GetSystem<Systems::TransformSystem>("TransformSystem")->AbsoluteTransform(entity);
hkVector4 position = ConvertPosition(absoluteTransform.Position);
@@ -417,8 +459,10 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
m_RigidBodies[entity] = rigidBody;
m_PhysicsWorld->unmarkForWrite();
staticCompoundShape->removeReference();
shape->removeReference();
rigidBody->removeReference();
}
}
@@ -441,11 +485,7 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
else if(boxComponent)
{
hkReal thickness = 0.05;
hkpBoxShape* boxShape = new hkpBoxShape(hkVector4(boxComponent->Width, boxComponent->Height, boxComponent->Depth), thickness);
hkpShapeShrinker* shapeShrinker = new hkpShapeShrinker();
boxShape = shapeShrinker->shrinkBoxShape(boxShape, thickness, 0); // HACK: Unsure about the 3rd argument
delete shapeShrinker;
hkpBoxShape* boxShape = new hkpBoxShape(hkVector4(boxComponent->Width- thickness, boxComponent->Height -thickness, boxComponent->Depth - thickness), thickness);
hkQsTransform transform( ConvertPosition(transformComponent->Position), ConvertRotation(transformComponent->Orientation), ConvertScale(transformComponent->Scale));
hkpConvexTransformShape* transformedBoxShape = new hkpConvexTransformShape( boxShape, transform );
@@ -477,7 +517,7 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
}
hkpExtendedMeshShape* mesh = new hkpExtendedMeshShape();
hkReal thickness = 0.00f; // HACK: Convex radius should be 0 for static shapes and 0.05 for dynamic shapes.
hkReal thickness = 0.05f; // HACK: Convex radius should be 0 for static shapes and 0.05 for dynamic shapes.
mesh->setRadius(thickness);
{
hkpExtendedMeshShape::TrianglesSubpart part;
@@ -527,8 +567,9 @@ void Systems::PhysicsSystem::SetupVisualDebugger(hkpPhysicsContext* worlds)
{
// Setup the visual debugger
hkArray<hkProcessContext*> contexts;
contexts.pushBack(worlds);
m_VisualDebugger = new hkVisualDebugger(contexts);
m_VisualDebugger->serve();
@@ -562,7 +603,7 @@ glm::vec3 Systems::PhysicsSystem::ConvertPosition(const hkVector4 &hkPosition)
const hkVector4& Systems::PhysicsSystem::ConvertPosition(glm::vec3 glmPosition)
{
return hkVector4( glmPosition.x, glmPosition.y, glmPosition.z );
return hkVector4( glmPosition.x, glmPosition.y, glmPosition.z);
}
glm::quat Systems::PhysicsSystem::ConvertRotation(const hkQuaternion &hkRotation)
@@ -572,7 +613,7 @@ glm::quat Systems::PhysicsSystem::ConvertRotation(const hkQuaternion &hkRotation
const hkQuaternion& Systems::PhysicsSystem::ConvertRotation(glm::quat glmRotation)
{
return hkQuaternion(glmRotation.x, glmRotation.y, glmRotation.z, glmRotation.w );
return hkQuaternion(glmRotation.x, glmRotation.y, glmRotation.z, glmRotation.w);
}
glm::vec3 Systems::PhysicsSystem::ConvertScale(const hkVector4 &hkScale)