Proper rotation of child physics objects

src/Components/Vehicle.h

@@ -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

@@ -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->SuspensionStrength = 50.f;
-			Wheel->Friction = 3.0f;
+			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->SuspensionStrength = 50.f;
-			Wheel->Friction = 3.0f;
+			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->SuspensionStrength = 40.f;
-			Wheel->Friction = 3.0f;
+			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->SuspensionStrength = 40.f;
-			Wheel->Friction = 3.0f;
+			Wheel->Friction = 3.5f;
 			Wheel->ConnectedToHandbrake = true;
 			CommitEntity(wheel);
 		}
 		CommitEntity(jeep);
 	}
 
-
+	/*
-	for (int x = 0; x < 5; x++)
+		for(int i = 0; i < 10; i++)
-		for (int y = 0; y < 5; y++)
 		{
-			auto cube = CreateEntity();
+			auto entity = CreateEntity();
-			auto transform = AddComponent<Components::Transform>(cube, "Transform");
+			auto transform = AddComponent<Components::Transform>(entity, "Transform");
-			transform->Position = glm::vec3(3 * x + 0.1f + 20.f, 3 * y + 0.1f + 1.f, 0);
+			transform->Position = glm::vec3(30 + i*0.1f, 0 + i*0.1f, 10 + i*0.1f);
-			transform->Scale = glm::vec3(3);
+			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");
+			physics->Static = true;
-			box->Width = 1.5f;
+			auto meshShape = AddComponent<Components::MeshShape>(entity, "MeshShape");
-			box->Height = 1.5f;
+			meshShape->ResourceName = ss.str();
-			box->Depth = 1.5f;
+
-			CommitEntity(cube);
+			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

@@ -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_downshiftRPM = 1500.0f;
-	transmission.m_upshiftRPM = 6500.0f;
+	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

@@ -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

@@ -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;
 	}
 
-	
+	auto absoluteTransform = m_World->GetSystem<Systems::TransformSystem>("TransformSystem")->AbsoluteTransform(entity);
-	rigidBodyInfo.m_position.set(transformComponent->Position.x, transformComponent->Position.y, transformComponent->Position.z);
+	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

@@ -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

@@ -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

@@ -39,4 +39,7 @@ Global
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
 	EndGlobalSection
+	GlobalSection(Performance) = preSolution
+		HasPerformanceSessions = true
+	EndGlobalSection
 EndGlobal