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Fixing suspension and car collision shape

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This commit is contained in:
ViktorLjung
2014-04-29 14:21:14 +02:00
parent f471d7732f
commit dc32316bd7
4 changed files with 57 additions and 34 deletions
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src/Systems/PhysicsSystem.cpp
+42 -18
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@@ -120,6 +120,7 @@ void Systems::PhysicsSystem::Update(double dt)
for (auto pair : *m_World->GetEntities())
{
EntityID entity = pair.first;
EntityID parent = pair.second;
if (m_RigidBodies.find(entity) == m_RigidBodies.end())
continue;
@@ -128,22 +129,35 @@ void Systems::PhysicsSystem::Update(double dt)
if (!transformComponent)
continue;
/*if(m_RigidBodies[entity]->isActive())
if(m_RigidBodies[entity]->isActive())
{
hkVector4 position;
hkQuaternion rotation;
if (parent)
{
auto absoluteTransform = m_World->GetSystem<Systems::TransformSystem>("TransformSystem")->AbsoluteTransform(entity);
position = hkVector4(absoluteTransform.Position.x, absoluteTransform.Position.y, absoluteTransform.Position.z);
rotation = hkQuaternion(absoluteTransform.Orientation.x, absoluteTransform.Orientation.y, absoluteTransform.Orientation.z, absoluteTransform.Orientation.w);
}
else
{
position = hkVector4(transformComponent->Position.x, transformComponent->Position.y, transformComponent->Position.z);
rotation = hkQuaternion(transformComponent->Orientation.x, transformComponent->Orientation.y, transformComponent->Orientation.z, transformComponent->Orientation.w);
}
m_PhysicsWorld->markForWrite();
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);
m_PhysicsWorld->unmarkForWrite();
}*/
}
}
static const double timestep = 1 / 30.0;
static const double timestep = 1 / 60.0;
m_Accumulator += dt;
while (m_Accumulator >= timestep)
{
@@ -222,7 +236,7 @@ void Systems::PhysicsSystem::UpdateEntity(double dt, EntityID entity, EntityID p
if(inputComponent->KeyState[GLFW_KEY_UP] != 0 || inputComponent->KeyState[GLFW_KEY_DOWN] != 0)
{
deviceStatus->m_positionY += inputComponent->KeyState[GLFW_KEY_UP] * -1 * 0.1f + inputComponent->KeyState[GLFW_KEY_DOWN] * 1 * 0.1f;
deviceStatus->m_positionY += inputComponent->KeyState[GLFW_KEY_UP] * -1 * 1.f * dt + inputComponent->KeyState[GLFW_KEY_DOWN] * 1 * 1.f * dt;
}
else
{
@@ -234,24 +248,24 @@ void Systems::PhysicsSystem::UpdateEntity(double dt, EntityID entity, EntityID p
else if(deviceStatus->m_positionY < -1)
deviceStatus->m_positionY = -1;
float turningSpeed = 0.02f;
float turningSpeed = 3.f;
if(inputComponent->KeyState[GLFW_KEY_LEFT] != 0 || inputComponent->KeyState[GLFW_KEY_RIGHT] != 0)
{
deviceStatus->m_positionX += inputComponent->KeyState[GLFW_KEY_LEFT] * -1 * turningSpeed + inputComponent->KeyState[GLFW_KEY_RIGHT] * 1 * turningSpeed;
deviceStatus->m_positionX += inputComponent->KeyState[GLFW_KEY_LEFT] * -1 * turningSpeed * dt + inputComponent->KeyState[GLFW_KEY_RIGHT] * 1 * turningSpeed * dt;
}
else
{
if(deviceStatus->m_positionX > 0)
{
deviceStatus->m_positionX += -1 * turningSpeed;
deviceStatus->m_positionX += -1 * (turningSpeed*2) *dt;
}
else if(deviceStatus->m_positionX < 0)
{
deviceStatus->m_positionX += 1 * turningSpeed;
deviceStatus->m_positionX += 1 * (turningSpeed*2) * dt;
}
if (deviceStatus->m_positionX > -turningSpeed && deviceStatus->m_positionX < turningSpeed)
if (deviceStatus->m_positionX > -0.1 && deviceStatus->m_positionX < 0.1)
{
deviceStatus->m_positionX = 0.f;
}
@@ -265,9 +279,9 @@ void Systems::PhysicsSystem::UpdateEntity(double dt, EntityID entity, EntityID p
deviceStatus->m_handbrakeButtonPressed = inputComponent->KeyState[GLFW_KEY_RIGHT_CONTROL];
if(inputComponent->KeyState[GLFW_KEY_R])
if(inputComponent->KeyState[GLFW_KEY_R] && !inputComponent->LastKeyState[GLFW_KEY_R])
{
transformComponent->Position = glm::vec3(0, 10, 0);
transformComponent->Position = transformComponent->Position + glm::vec3(0, 5, 0);
transformComponent->Orientation = glm::quat(glm::vec3(0.0f, 0.0f, 0.0f));
m_RigidBodies[entity]->setLinearVelocity(hkVector4(0, 0, 0));
m_RigidBodies[entity]->setAngularVelocity(hkVector4(0, 0, 0));
@@ -389,9 +403,18 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
}
hkpInertiaTensorComputer::computeShapeVolumeMassProperties(mesh, physicsComponent->Mass, massProperties);
rigidBodyInfo.m_shape = mesh;
m_hkpExtendedMeshShapes[entity].ExtendedMeshShape = mesh;
m_hkpExtendedMeshShapes[entity].VertexIndices = vertexIndices;
m_hkpExtendedMeshShapes[entity].Vertices = vertices;
m_ExtendedMeshShapes[entity].ExtendedMeshShape = mesh;
m_ExtendedMeshShapes[entity].VertexIndices = vertexIndices;
m_ExtendedMeshShapes[entity].Vertices = vertices;
hkpMoppCompilerInput mci;
hkpMoppCode* code = hkpMoppUtility::buildCode( mesh, mci );
hkpMoppBvTreeShape* moppShape = new hkpMoppBvTreeShape(mesh, code);
m_ExtendedMeshShapes[entity].Code = code;
m_ExtendedMeshShapes[entity].MoppShape = moppShape;
shape = moppShape;
shape = mesh;
}
else
@@ -422,11 +445,12 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
i--;
}
}
m_PhysicsWorld->markForWrite();
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);