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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/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;