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Vehicle component based, wheel rotation and position not working.

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This commit is contained in:
ViktorLjung
2014-04-22 19:14:35 +02:00
parent f0b2f2a659
commit eb6cc266a3
7 changed files with 410 additions and 18 deletions
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src/Systems/PhysicsSystem.cpp
+141 -8
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@@ -102,18 +102,36 @@ void Systems::PhysicsSystem::UpdateEntity(double dt, EntityID entity, EntityID p
auto transformComponent = m_World->GetComponent<Components::Transform>(entity, "Transform");
if (!transformComponent)
return;
if (m_RigidBodies.find(entity) == m_RigidBodies.end())
auto wheelComponent = m_World->GetComponent<Components::Wheel>(entity, "Wheel");
if (wheelComponent)
{
SetUpPhysicsState(entity, parent);
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));
transformComponent->Position = relativePos;
//transformComponent->Orientation = relativeOrientation;
}
}
else
{
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_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));
}
}
// HACK: Vehicle test-controls
auto vehicleComponent = m_World->GetComponent<Components::Vehicle>(entity, "Vehicle");
@@ -127,6 +145,118 @@ void Systems::PhysicsSystem::UpdateEntity(double dt, EntityID entity, EntityID p
}
}
void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
{
auto transformComponent = m_World->GetComponent<Components::Transform>(entity, "Transform");
if (!transformComponent)
return;
auto wheelComponent = m_World->GetComponent<Components::Wheel>(entity, "Wheel");
if (wheelComponent)
{
wheelComponent->ID = m_Wheels.size();
m_Wheels.push_back(entity);
}
auto physicsComponent = m_World->GetComponent<Components::Physics>(entity, "Physics");
if (!physicsComponent)
return;
auto sphereComponent = m_World->GetComponent<Components::Sphere >(entity, "Sphere");
auto boxComponent = m_World->GetComponent<Components::Box >(entity, "Box");
hkpConvexShape* shape;
hkpRigidBodyCinfo rigidBodyInfo;
hkMassProperties massProperties;
if (sphereComponent)
{
shape = new hkpSphereShape(sphereComponent->Radius);
rigidBodyInfo.m_shape = shape;
if (physicsComponent->Static)
{
rigidBodyInfo.m_motionType = hkpMotion::MOTION_FIXED;
}
else
{
rigidBodyInfo.m_motionType = hkpMotion::MOTION_SPHERE_INERTIA;
}
hkpInertiaTensorComputer::computeSphereVolumeMassProperties(sphereComponent->Radius, physicsComponent->Mass, massProperties);
}
else if (boxComponent)
{
hkReal thickness = 0.05;
shape = new hkpBoxShape(hkVector4(boxComponent->Width - thickness, boxComponent->Height - thickness, boxComponent->Depth - thickness));
rigidBodyInfo.m_shape = shape;
if (physicsComponent->Static)
{
rigidBodyInfo.m_motionType = hkpMotion::MOTION_FIXED;
}
else
{
rigidBodyInfo.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
}
hkpInertiaTensorComputer::computeBoxSurfaceMassProperties(hkVector4(boxComponent->Width - thickness, boxComponent->Height - thickness, boxComponent->Depth - thickness), physicsComponent->Mass, thickness, massProperties);
}
else
{
return;
}
rigidBodyInfo.m_position.set(transformComponent->Position.x, transformComponent->Position.y, transformComponent->Position.z);
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);
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--;
}
}
VehicleSetup vehicleSetup;
// Create the basic vehicle.
m_Vehicles[entity] = new hkpVehicleInstance(rigidBody);
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_Vehicles[entity]->m_rpm = 0.0f; // Not sure why this one should be here
m_Wheels.clear();
shape->removeReference();
rigidBody->removeReference();
}
else
{
m_PhysicsWorld->addEntity(rigidBody);
m_RigidBodies[entity] = rigidBody;
shape->removeReference();
rigidBody->removeReference();
}
}
/*
void Systems::PhysicsSystem::SetUpPhysicsState(EntityID entity, EntityID parent)
{
auto transformComponent = m_World->GetComponent<Components::Transform>(entity, "Transform");
@@ -221,6 +351,8 @@ void Systems::PhysicsSystem::SetUpPhysicsState(EntityID entity, EntityID parent)
rigidBody->removeReference();
}
}
*/
@@ -268,6 +400,7 @@ void Systems::PhysicsSystem::StepVisualDebugger()
void HK_CALL Systems::PhysicsSystem::HavokErrorReport(const char* msg, void*)
{
LOG_DEBUG("%s", msg);
LOG_INFO("%s", msg);
}