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Proper rotation of child physics objects

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This commit is contained in:
ViktorLjung
2014-04-28 19:51:13 +02:00
parent 55059c05fe
commit ed1df6dc60
8 changed files with 166 additions and 67 deletions
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src/Components/Vehicle.h
+3 -1
View File
@@ -10,7 +10,8 @@ namespace Components
struct Vehicle : Component
{
Vehicle()
: MaxTorque(500.0f), MinRPM(800.0f), OptimalRPM(4000.0f), MaxRPM(6000.0f), MaxSteeringAngle(35), TopSpeed(50.0f) { }
: MaxTorque(1000.0f), MinRPM(1000.0f), OptimalRPM(3000.0f), MaxRPM(4000.0f), MaxSteeringAngle(35), TopSpeed(130.0f),
MaxSpeedFullSteeringAngle(40.0f){ }
float MaxTorque;
float MinRPM;
@@ -19,6 +20,7 @@ struct Vehicle : Component
// Degrees
float MaxSteeringAngle;
float TopSpeed;
float MaxSpeedFullSteeringAngle;
};
}
src/GameWorld.cpp
+83 -40
View File
@@ -64,37 +64,46 @@ void GameWorld::Initialize()
auto vehicle = AddComponent<Components::Vehicle>(jeep, "Vehicle");
auto light = AddComponent<Components::PointLight>(jeep, "PointLight");
light->Diffuse = glm::vec3(0, 1, 0);
light->constantAttenuation = 0.0005f;
light->linearAttenuation = 0.001f;
light->quadraticAttenuation = 0.001f;
AddComponent<Components::Input>(jeep, "Input");
{
auto chassis = CreateEntity(jeep);
auto transform = AddComponent<Components::Transform>(chassis, "Transform");
transform->Position = glm::vec3(0, -0.6577f, 0);
transform->Position = glm::vec3(0, 0, 0); // 0.6577f
auto model = AddComponent<Components::Model>(chassis, "Model");
model->ModelFile = "Models/JeepV2/Chassi/chassi.OBJ";
}
{
auto lightentity = CreateEntity(jeep);
auto transform = AddComponent<Components::Transform>(lightentity, "Transform");
transform->Position = glm::vec3(0, 15, 0);
auto light = AddComponent<Components::PointLight>(lightentity, "PointLight");
light->Diffuse = glm::vec3(128.f/255.f, 172.f/255.f, 242.f/255.f);
light->Specular = glm::vec3(1.f);
light->constantAttenuation = 0.3f;
light->linearAttenuation = 0.003f;
light->quadraticAttenuation = 0.002f;
}
float wheelOffset = -0.2f;
float hardPointOffset = 0.0f;
{
auto wheel = CreateEntity(jeep);
auto transform = AddComponent<Components::Transform>(wheel, "Transform");
transform->Position = glm::vec3(1.4f, 0.5546f - 0.6577f - 0.2, -0.9242f);
transform->Position = glm::vec3(1.9f, 0.5546f - 0.2 + wheelOffset, -0.9242f);
transform->Scale = glm::vec3(1.0f);
auto model = AddComponent<Components::Model>(wheel, "Model");
model->ModelFile = "Models/JeepV2/WheelFront/wheelFront.obj";
auto Wheel = AddComponent<Components::Wheel>(wheel, "Wheel");
Wheel->Hardpoint = transform->Position + glm::vec3(0.f, 1.f, 0.f);
Wheel->Hardpoint = transform->Position + glm::vec3(0.f, 1.f - hardPointOffset, 0.f);
Wheel->AxleID = 0;
Wheel->Mass = 50;
Wheel->Radius = 0.837f;
Wheel->Steering = true;
Wheel->SuspensionStrength = 40.f;
Wheel->Friction = 3.0f;
Wheel->SuspensionStrength = 50.f;
Wheel->Friction = 3.5f;
Wheel->ConnectedToHandbrake = true;
CommitEntity(wheel);
}
@@ -102,19 +111,19 @@ void GameWorld::Initialize()
{
auto wheel = CreateEntity(jeep);
auto transform = AddComponent<Components::Transform>(wheel, "Transform");
transform->Position = glm::vec3(-1.4f, 0.5546f - 0.6577f - 0.2, -0.9242f);
transform->Position = glm::vec3(-1.9f, 0.5546f - 0.2 + wheelOffset, -0.9242f);
transform->Scale = glm::vec3(1.0f);
transform->Orientation = glm::angleAxis(glm::pi<float>(), glm::vec3(0, 0, 1));
auto model = AddComponent<Components::Model>(wheel, "Model");
model->ModelFile = "Models/JeepV2/WheelFront/wheelFront.obj";
auto Wheel = AddComponent<Components::Wheel>(wheel, "Wheel");
Wheel->Hardpoint = transform->Position + glm::vec3(0.f, 1.f, 0.f);
Wheel->Hardpoint = transform->Position + glm::vec3(0.f, 1.f - hardPointOffset, 0.f);
Wheel->AxleID = 0;
Wheel->Mass = 50;
Wheel->Radius = 0.837f;
Wheel->Steering = true;
Wheel->SuspensionStrength = 40.f;
Wheel->Friction = 3.0f;
Wheel->SuspensionStrength = 50.f;
Wheel->Friction = 3.5f;
Wheel->ConnectedToHandbrake = true;
CommitEntity(wheel);
}
@@ -122,17 +131,17 @@ void GameWorld::Initialize()
{
auto wheel = CreateEntity(jeep);
auto transform = AddComponent<Components::Transform>(wheel, "Transform");
transform->Position = glm::vec3(0.2726f, 0.2805f - 0.6577f, 1.9307f);
transform->Position = glm::vec3(0.2726f, 0.2805f + wheelOffset, 1.9307f);
auto model = AddComponent<Components::Model>(wheel, "Model");
model->ModelFile = "Models/JeepV2/WheelBack/wheelBack.obj";
auto Wheel = AddComponent<Components::Wheel>(wheel, "Wheel");
Wheel->Hardpoint = transform->Position + glm::vec3(0.f, 1.f, 0.f);
Wheel->Hardpoint = transform->Position + glm::vec3(0.f, 1.f - hardPointOffset, 0.f);
Wheel->AxleID = 1;
Wheel->Mass = 10;
Wheel->Mass = 50;
Wheel->Radius = 0.737f;
Wheel->Steering = false;
Wheel->SuspensionStrength = 20.f;
Wheel->Friction = 3.0f;
Wheel->SuspensionStrength = 40.f;
Wheel->Friction = 3.5f;
Wheel->ConnectedToHandbrake = true;
CommitEntity(wheel);
}
@@ -140,44 +149,78 @@ void GameWorld::Initialize()
{
auto wheel = CreateEntity(jeep);
auto transform = AddComponent<Components::Transform>(wheel, "Transform");
transform->Position = glm::vec3(-0.2726f, 0.2805f - 0.6577f, 1.9307f);
transform->Position = glm::vec3(-0.2726f, 0.2805f + wheelOffset, 1.9307f);
transform->Orientation = glm::angleAxis(glm::pi<float>(), glm::vec3(0, 0, 1));
auto model = AddComponent<Components::Model>(wheel, "Model");
model->ModelFile = "Models/JeepV2/WheelBack/wheelBack.obj";
auto Wheel = AddComponent<Components::Wheel>(wheel, "Wheel");
Wheel->Hardpoint = transform->Position + glm::vec3(0.f, 1.f, 0.f);
Wheel->Hardpoint = transform->Position + glm::vec3(0.f, 1.f - hardPointOffset, 0.f);
Wheel->AxleID = 1;
Wheel->Mass = 10;
Wheel->Mass = 50;
Wheel->Radius = 0.737f;
Wheel->Steering = false;
Wheel->SuspensionStrength = 20.f;
Wheel->Friction = 3.0f;
Wheel->SuspensionStrength = 40.f;
Wheel->Friction = 3.5f;
Wheel->ConnectedToHandbrake = true;
CommitEntity(wheel);
}
CommitEntity(jeep);
}
for (int x = 0; x < 5; x++)
for (int y = 0; y < 5; y++)
/*
for(int i = 0; i < 10; i++)
{
auto cube = CreateEntity();
auto transform = AddComponent<Components::Transform>(cube, "Transform");
transform->Position = glm::vec3(3 * x + 0.1f + 20.f, 3 * y + 0.1f + 1.f, 0);
transform->Scale = glm::vec3(3);
auto entity = CreateEntity();
auto transform = AddComponent<Components::Transform>(entity, "Transform");
transform->Position = glm::vec3(30 + i*0.1f, 0 + i*0.1f, 10 + i*0.1f);
transform->Scale = glm::vec3(0);
transform->Orientation = glm::quat(glm::vec3(0.0f, 0.0f, 0.0f));
auto model = AddComponent<Components::Model>(cube, "Model");
model->ModelFile = "Models/Placeholders/PhysicsTest/Cube2.obj";
std::stringstream ss;
ss << "Models/Placeholders/ShatterTest/" << i+1 << ".obj";
auto physics = AddComponent<Components::Physics>(cube, "Physics");
auto model = AddComponent<Components::Model>(entity, "Model");
model->ModelFile = ss.str();
auto physics = AddComponent<Components::Physics>(entity, "Physics");
physics->Mass = 100;
auto box = AddComponent<Components::BoxShape>(cube, "BoxShape");
box->Width = 1.5f;
box->Height = 1.5f;
box->Depth = 1.5f;
CommitEntity(cube);
physics->Static = true;
auto meshShape = AddComponent<Components::MeshShape>(entity, "MeshShape");
meshShape->ResourceName = ss.str();
CommitEntity(entity);
}*/
{
auto wall = CreateEntity();
auto transform = AddComponent<Components::Transform>(wall, "Transform");
transform->Position = glm::vec3(10, 0, -20);
transform->Orientation = glm::angleAxis(glm::pi<float>()/2.f, glm::vec3(0, 1, 0));
for (int y = 0; y < 10; y++)
{
for (int x = -5; x < 5; x++)
{
auto brick = CreateEntity(wall);
auto transform = AddComponent<Components::Transform>(brick, "Transform");
transform->Position = glm::vec3(x + 0.01f, y*0.3f + 0.01f, 0);
transform->Position.x += (y % 2)*0.5f;
transform->Scale = glm::vec3(1, 0.3f, 0.6f);
transform->Orientation = glm::quat(glm::vec3(0.0f, 0.0f, 0.0f));
auto model = AddComponent<Components::Model>(brick, "Model");
model->ModelFile = "Models/Placeholders/PhysicsTest/Cube2.obj";
auto physics = AddComponent<Components::Physics>(brick, "Physics");
physics->Mass = 1;
auto box = AddComponent<Components::BoxShape>(brick, "BoxShape");
box->Width = 0.5f;
box->Height = 0.15f;
box->Depth = 0.3f;
CommitEntity(brick);
}
}
CommitEntity(wall);
}
/*for (int x = 0; x < 5; x++)
for (int y = 0; y < 5; y++)
src/Physics/VehicleSetup.cpp
+4 -4
View File
@@ -165,7 +165,7 @@ void VehicleSetup::setupComponent(const hkpVehicleData& data, hkpVehicleDefaultS
// [mph/h] The steering angle decreases linearly
// based on your overall max speed of the vehicle.
steering.m_maxSpeedFullSteeringAngle = 70.0f * (1.605f / 3.6f); //MPH???!
steering.m_maxSpeedFullSteeringAngle = vehicleComponent.MaxSpeedFullSteeringAngle; // * (1.605f / 3.6f); //MPH???!
for (int i = 0; i < m_Wheels.size(); i++)
{
@@ -198,8 +198,8 @@ void VehicleSetup::setupComponent(const hkpVehicleData& data, hkpVehicleDefaultT
transmission.m_gearsRatio.setSize(numberOfGears);
transmission.m_wheelsTorqueRatio.setSize(data.m_numWheels);
transmission.m_downshiftRPM = 3500.0f;
transmission.m_upshiftRPM = 6500.0f;
transmission.m_downshiftRPM = 1500.0f;
transmission.m_upshiftRPM = 3500.0f;
transmission.m_clutchDelayTime = 0.0f;
transmission.m_reverseGearRatio = 1.0f;
@@ -267,7 +267,7 @@ void VehicleSetup::setupComponent(const hkpVehicleData& data, hkpVehicleDefaultA
aerodynamics.m_liftCoefficient = -0.3f;
// Extra gavity applies in world space (independent of m_chassisCoordinateSystem).
aerodynamics.m_extraGravityws.set(0.0f, -5.0f, 0.0f);
aerodynamics.m_extraGravityws.set(0.0f, -0.982f, 0.0f); // fuck this shit
}
void VehicleSetup::setupComponent(const hkpVehicleData& data, hkpVehicleDefaultVelocityDamper& velocityDamper, Components::Vehicle vehicleComponent)
src/Renderer.cpp
+1 -1
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@@ -191,7 +191,7 @@ void Renderer::DrawSkybox()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
m_ShaderProgramSkybox.Bind();
glm::mat4 cameraMatrix = m_Camera->ProjectionMatrix() * glm::toMat4(m_Camera->Orientation());
glm::mat4 cameraMatrix = m_Camera->ProjectionMatrix() * glm::toMat4(glm::inverse(m_Camera->Orientation()));
glUniformMatrix4fv(glGetUniformLocation(m_ShaderProgramSkybox.GetHandle(), "MVP"), 1, GL_FALSE, glm::value_ptr(cameraMatrix));
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
m_Skybox->Draw();
src/Systems/PhysicsSystem.cpp
+68 -21
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@@ -129,21 +129,21 @@ void Systems::PhysicsSystem::Update(double dt)
continue;
if(m_RigidBodies[entity]->isActive())
/*if(m_RigidBodies[entity]->isActive())
{
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)
{
@@ -189,36 +189,84 @@ void Systems::PhysicsSystem::UpdateEntity(double dt, EntityID entity, EntityID p
m_PhysicsWorld->unmarkForWrite();
}
}
else if(m_Vehicles.find(entity) != m_Vehicles.end())
{
m_PhysicsWorld->markForWrite();
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));
m_PhysicsWorld->unmarkForWrite();
}
else if(m_RigidBodies.find(entity) != m_RigidBodies.end())
{
m_PhysicsWorld->markForWrite();
auto transformComponentParent = m_World->GetComponent<Components::Transform>(parent, "Transform");
//m_PhysicsWorld->markForWrite();
hkVector4 position = m_RigidBodies[entity]->getPosition();
transformComponent->Position = glm::vec3(position(0), position(1), position(2));
if (transformComponentParent)
{
transformComponent->Position -= transformComponentParent->Position;
transformComponent->Position = transformComponent->Position * transformComponentParent->Orientation;
}
hkQuaternion orientation = m_RigidBodies[entity]->getRotation();
transformComponent->Orientation = glm::quat(orientation(3),orientation(0), orientation(1), orientation(2));
m_PhysicsWorld->unmarkForWrite();
if (transformComponentParent)
{
transformComponent->Orientation = transformComponent->Orientation * glm::inverse(transformComponentParent->Orientation);
}
//m_PhysicsWorld->unmarkForWrite();
}
// HACK: Vehicle test-controls
auto vehicleComponent = m_World->GetComponent<Components::Vehicle>(entity, "Vehicle");
auto inputComponent = m_World->GetComponent<Components::Input>(entity, "Input");
if (vehicleComponent && inputComponent)
if (vehicleComponent && inputComponent && m_Vehicles.find(entity) != m_Vehicles.end() && m_RigidBodies.find(entity) != m_RigidBodies.end())
{
m_PhysicsWorld->markForWrite();
hkpVehicleDriverInputAnalogStatus* deviceStatus = (hkpVehicleDriverInputAnalogStatus*)m_Vehicles[entity]->m_deviceStatus;
deviceStatus->m_positionY = inputComponent->KeyState[GLFW_KEY_UP] * -1 + inputComponent->KeyState[GLFW_KEY_DOWN] * 1;
deviceStatus->m_positionX = inputComponent->KeyState[GLFW_KEY_LEFT] * -1 + inputComponent->KeyState[GLFW_KEY_RIGHT] * 1;
if(inputComponent->KeyState[GLFW_KEY_UP] != 0 || inputComponent->KeyState[GLFW_KEY_DOWN] != 0)
{
deviceStatus->m_positionY += inputComponent->KeyState[GLFW_KEY_UP] * -1 * 0.05f + inputComponent->KeyState[GLFW_KEY_DOWN] * 1 * 0.05f;
}
else
{
deviceStatus->m_positionY = 0;
}
if(deviceStatus->m_positionY > 1)
deviceStatus->m_positionY = 1;
else if(deviceStatus->m_positionY < -1)
deviceStatus->m_positionY = -1;
if(inputComponent->KeyState[GLFW_KEY_LEFT] != 0 || inputComponent->KeyState[GLFW_KEY_RIGHT] != 0)
{
deviceStatus->m_positionX += inputComponent->KeyState[GLFW_KEY_LEFT] * -1 * 0.01f + inputComponent->KeyState[GLFW_KEY_RIGHT] * 1 * 0.01f;
}
else
{
if(deviceStatus->m_positionX > 0)
{
deviceStatus->m_positionX += -1 * 0.01f;
}
else if(deviceStatus->m_positionX < 0)
{
deviceStatus->m_positionX += 1 * 0.01f;
}
}
if(deviceStatus->m_positionX > 1)
deviceStatus->m_positionX = 1;
else if(deviceStatus->m_positionX < -1)
deviceStatus->m_positionX = -1;
deviceStatus->m_handbrakeButtonPressed = inputComponent->KeyState[GLFW_KEY_RIGHT_CONTROL];
if(inputComponent->KeyState[GLFW_KEY_R])
{
transformComponent->Position = glm::vec3(0, 10, 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));
}
m_PhysicsWorld->unmarkForWrite();
}
}
@@ -322,8 +370,6 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
part.m_stridingType = hkpExtendedMeshShape::INDICES_INT16;
mesh->addTrianglesSubpart(part);
}
@@ -347,8 +393,9 @@ void Systems::PhysicsSystem::OnEntityCommit( EntityID entity )
return;
}
rigidBodyInfo.m_position.set(transformComponent->Position.x, transformComponent->Position.y, transformComponent->Position.z);
auto absoluteTransform = m_World->GetSystem<Systems::TransformSystem>("TransformSystem")->AbsoluteTransform(entity);
rigidBodyInfo.m_position.set(absoluteTransform.Position.x, absoluteTransform.Position.y, absoluteTransform.Position.z);
rigidBodyInfo.m_rotation.set(absoluteTransform.Orientation.x, absoluteTransform.Orientation.y, absoluteTransform.Orientation.z, absoluteTransform.Orientation.w);
rigidBodyInfo.m_inertiaTensor = massProperties.m_inertiaTensor;
//rigidBodyInfo.m_centerOfMass = massProperties.m_centerOfMass;
rigidBodyInfo.m_mass = massProperties.m_mass;
src/Systems/PhysicsSystem.h
+1
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@@ -2,6 +2,7 @@
#define PhysicsSystem_h__
#include "System.h"
#include "Systems/TransformSystem.h"
#include "Components/Transform.h"
#include "Components/Physics.h"
#include "Components/BoxShape.h"
src/Texture.cpp
+3
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@@ -15,6 +15,9 @@ void Texture::Load(std::string path)
}
m_Texture = m_TextureCache[path];
glBindTexture(GL_TEXTURE_2D, m_Texture);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
}
void Texture::Bind()
vs11/Returngeance.sln
+3
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@@ -39,4 +39,7 @@ Global
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
EndGlobalSection
GlobalSection(Performance) = preSolution
HasPerformanceSessions = true
EndGlobalSection
EndGlobal