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Merge branch 'Physics'

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Conflicts:
	include/Core/Engine.h
	include/Physics/CPhysics.h
	include/Physics/PhysicsSystem.h
	src/game/Game/BallSystem.cpp
	src/game/Physics/PhysicsSystem.cpp
This commit is contained in:
viktorljung
2015-10-06 20:16:57 +02:00
parent 7899750284 65c01f9b8e
commit b036357e3b
32 changed files with 8624 additions and 693 deletions
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src/game/Physics/PhysicsSystem.cpp
+188 -136
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@@ -2,29 +2,20 @@
#include "Physics/PhysicsSystem.h"
void dd::Systems::PhysicsSystem::RegisterComponents(ComponentFactory* cf)
{
cf->Register<Components::CircleShape>();
//TODO: REGISTER PHYSICS COMPONENTS HERE
}
void dd::Systems::PhysicsSystem::Initialize()
{
m_ContactListener = new ContactListener(this);
m_Gravity = b2Vec2(0.f, -9.82f);
m_PhysicsWorld = new b2World(m_Gravity);
m_TimeStep = 1.0/60.0;
m_VelocityIterations = 6;
m_PositionIterations = 2;
m_Accumulator = 0.0;
m_PhysicsWorld->SetContactListener(m_ContactListener);
InitializeWater();
EVENT_SUBSCRIBE_MEMBER(m_SetImpulse, &PhysicsSystem::SetImpulse);
EVENT_SUBSCRIBE_MEMBER(m_SetImpulse, PhysicsSystem::SetImpulse);
EVENT_SUBSCRIBE_MEMBER(m_EPause, &PhysicsSystem::OnPause);
}
void dd::Systems::PhysicsSystem::InitializeWater()
@@ -36,7 +27,11 @@ void dd::Systems::PhysicsSystem::InitializeWater()
bool dd::Systems::PhysicsSystem::SetImpulse(const Events::SetImpulse &event)
{
b2Body* body = m_EntitiesToBodies[event.Entity];
auto it = m_EntitiesToBodies.find(event.Entity);
if(it == m_EntitiesToBodies.end()) {
LOG_ERROR("Entity: %i, Tried to set an impulse on a body that does not exsist", event.Entity);
return false;
}
b2Vec2 impulse;
impulse.x = event.Impulse.x;
@@ -46,118 +41,143 @@ bool dd::Systems::PhysicsSystem::SetImpulse(const Events::SetImpulse &event)
point.x = event.Point.x;
point.y = event.Point.y;
Impulse i;
i.Body = body;
i.Vector = impulse;
i.Body = it->second;
i.Impulse = impulse;
i.Point = point;
m_Impulses.push_back(i);
return true;
}
void dd::Systems::PhysicsSystem::Update(double dt) {
void dd::Systems::PhysicsSystem::SyncEntitiesWithBodies()
{
m_Accumulator += dt;
while (m_Accumulator >= m_TimeStep) {
for (auto i : m_EntitiesToBodies) {
EntityID entity = i.first;
b2Body* body = i.second;
for (auto i : m_EntitiesToBodies) {
EntityID entity = i.first;
b2Body *body = i.second;
auto transformComponent = m_World->GetComponent<Components::Transform>(entity);
if (!transformComponent) {
continue;
LOG_ERROR("RigidBody with no TransformComponent");
}
auto physicsComponent = m_World->GetComponent<Components::Physics>(entity);
if (!physicsComponent) {
continue;
LOG_ERROR("RigidBody with no PhysicsComponent");
}
if (body == nullptr) {
LOG_ERROR("This body should not exist");
continue;
}
if (m_World->GetEntityParent(entity) == 0) { //TODO: Make this work with childs too
b2Vec2 position;
position.x = transformComponent->Position.x;
position.y = transformComponent->Position.y;
float angle = glm::eulerAngles(transformComponent->Orientation).z;
body->SetTransform(position, angle);
body->SetLinearVelocity(b2Vec2(transformComponent->Velocity.x, transformComponent->Velocity.y));
body->SetGravityScale(physicsComponent->GravityScale);
b2Filter filter;
filter.categoryBits = physicsComponent->Category;
filter.maskBits = physicsComponent->Mask;
body->GetFixtureList()->SetFilterData(filter);
}
if (body == nullptr) {
LOG_ERROR("This body should not exist, please fix this");
continue;
}
UpdateParticleEmitters(dt);
auto transformComponent = m_World->GetComponent<Components::Transform>(entity);
if (! transformComponent) {
continue;
LOG_ERROR("RigidBody with no TransformComponent");
}
auto physicsComponent = m_World->GetComponent<Components::Physics>(entity);
if (! physicsComponent) {
continue;
LOG_ERROR("RigidBody with no PhysicsComponent");
}
if (m_World->GetEntityParent(entity) == 0) { //TODO: Make this work with childs too
b2Vec2 position;
position.x = transformComponent->Position.x;
position.y = transformComponent->Position.y;
float angle = glm::eulerAngles(transformComponent->Orientation).z;
body->SetTransform(position, angle);
body->SetLinearVelocity(b2Vec2(transformComponent->Velocity.x, transformComponent->Velocity.y));
body->SetGravityScale(physicsComponent->GravityScale);
b2Filter filter;
filter.categoryBits = physicsComponent->Category;
filter.maskBits = physicsComponent->Mask;
body->GetFixtureList()->SetFilterData(filter);
}
}
}
void dd::Systems::PhysicsSystem::SyncBodiesWithEntities()
{
for (auto i : m_BodiesToEntities) {
b2Body* body = i.first;
EntityID entity = i.second;
if (body == nullptr) {
LOG_ERROR("This body should not exist, please fix this");
continue;
}
auto transformComponent = m_World->GetComponent<Components::Transform>(entity);
if (! transformComponent) {
continue;
LOG_ERROR("RigidBody with no TransformComponent");
}
auto physicsComponent = m_World->GetComponent<Components::Physics>(entity);
if (! physicsComponent) {
continue;
LOG_ERROR("RigidBody with no PhysicsComponent");
}
auto parent = m_World->GetEntityParent(entity);
if (parent == 0) {
auto physicsComponent = m_World->GetComponent<Components::Physics>(entity);
if (physicsComponent->Calculate) { //TODO: REPLACE THIS WITH PARTICLE COLLISION FILTERS
transformComponent->Position.x = transformComponent->Position.x + (transformComponent->Velocity.x * m_TimeStep);
transformComponent->Position.y = transformComponent->Position.y + (transformComponent->Velocity.y * m_TimeStep);
} else {
b2Vec2 position = body->GetPosition();
transformComponent->Position.x = position.x;
transformComponent->Position.y = position.y;
float angle = body->GetAngle();
transformComponent->Orientation = glm::quat(glm::vec3(0, 0, angle));
b2Vec2 velocity = body->GetLinearVelocity();
transformComponent->Velocity.x = velocity.x;
transformComponent->Velocity.y = velocity.y;
}
}
}
}
void dd::Systems::PhysicsSystem::Update(double dt)
{
if (m_Pause) {
return;
}
m_Accumulator += dt;
while(m_Accumulator >= m_TimeStep)
{
UpdateParticleEmitters(dt);
SyncEntitiesWithBodies();
//Apply Impulses Must be done after SyncEntitiesWithBodies
for (auto i : m_Impulses) {
i.Body->ApplyLinearImpulse(i.Vector, i.Point, true);
i.Body->ApplyLinearImpulse(i.Impulse, i.Point, true);
}
m_Impulses.clear();
//Update the PhysicsWorld
m_PhysicsWorld->Step(m_TimeStep, m_VelocityIterations, m_PositionIterations);
SyncBodiesWithEntities();
for (auto i : m_EntitiesToBodies) {
EntityID entity = i.first;
b2Body *body = i.second;
if (body == nullptr) {
LOG_ERROR("This body should not exist");
continue;
}
auto transformComponent = m_World->GetComponent<Components::Transform>(entity);
if (!transformComponent)
continue;
auto parent = m_World->GetEntityParent(entity);
if (parent == 0) {
auto physicsComponent = m_World->GetComponent<Components::Physics>(entity);
if (physicsComponent->Calculate) { //TODO: REPLACE THIS WITH PARTICLE COLLISION FILTERS
transformComponent->Position.x =
transformComponent->Position.x + (transformComponent->Velocity.x * m_TimeStep);
transformComponent->Position.y =
transformComponent->Position.y + (transformComponent->Velocity.y * m_TimeStep);
}
else {
b2Vec2 position = body->GetPosition();
transformComponent->Position.x = position.x;
transformComponent->Position.y = position.y;
float angle = body->GetAngle();
transformComponent->Orientation = glm::quat(glm::vec3(0, 0, angle));
b2Vec2 velocity = body->GetLinearVelocity();
transformComponent->Velocity.x = velocity.x;
transformComponent->Velocity.y = velocity.y;
}
}
}
for ( int e = 0; e < m_EntitiesToParticleHandle.size(); e++) {
b2Vec2 *positionBuffer = m_ParticleSystem[e]->GetPositionBuffer();
for (auto i : m_EntitiesToParticleHandle[e]){
for (auto i : m_EntitiesToParticleHandle[e]) {
EntityID entity = i.first;
const b2ParticleHandle *particleH = i.second;
b2ParticleHandle *particleH = i.second;
b2Vec2 positionB2 = positionBuffer[particleH->GetIndex()];
glm::vec2 position = glm::vec2(positionB2.x, positionB2.y);
EntityID entityParent = m_World->GetEntityParent(entity);
glm::vec3 parentTransform = glm::vec3(0.f);
if(entityParent) {
if (entityParent) {
auto tp = m_World->GetComponent<Components::Transform>(entityParent);
parentTransform = tp->Position;
}
@@ -172,12 +192,25 @@ void dd::Systems::PhysicsSystem::Update(double dt) {
}
}
void dd::Systems::PhysicsSystem::UpdateEntity(double dt, EntityID entity, EntityID parent)
{
}
bool dd::Systems::PhysicsSystem::OnPause(const dd::Events::Pause &event)
{
if (event.Type != "PhysicsSystem" && event.Type != "All") {
return false;
}
if (m_Pause) {
m_Pause = false;
} else {
m_Pause = true;
}
return true;
}
void dd::Systems::PhysicsSystem::OnEntityCommit(EntityID entity)
{
auto physicsComponent = m_World->GetComponent<Components::Physics>(entity);
@@ -194,7 +227,12 @@ void dd::Systems::PhysicsSystem::OnEntityCommit(EntityID entity)
}
if (physicsComponent) {
CreateBody(entity);
auto it = m_EntitiesToBodies.find(entity);
if(it == m_EntitiesToBodies.end()) {
CreateBody(entity);
} else {
LOG_ERROR("Tried to commit a body that already exists");
}
} else if (waterComponent) {
CreateParticleGroup(entity);
} else if (particleEmitterComponent) {
@@ -205,22 +243,25 @@ void dd::Systems::PhysicsSystem::OnEntityCommit(EntityID entity)
void dd::Systems::PhysicsSystem::OnEntityRemoved(EntityID entity)
{
auto physics = m_World->GetComponent<Components::Physics>(entity);
/* auto physics = m_World->GetComponent<Components::Physics>(entity);
if (physics == nullptr) {
return;
}*/
auto it = m_EntitiesToBodies.find(entity);
if(it == m_EntitiesToBodies.end()) {
LOG_ERROR("Trying to remove non-exsisting body, Entity: %i", entity);
return;
}
b2Body* body = m_EntitiesToBodies[entity];
if (body != nullptr) {
m_EntitiesToBodies.erase(entity);
m_BodiesToEntities.erase(body);
m_PhysicsWorld->DestroyBody(body);
}
//LOG_INFO("Removing entity %i", entity);
it->second->GetWorld()->DestroyBody(it->second);
m_BodiesToEntities.erase(it->second);
m_EntitiesToBodies.erase(entity);
//delete body;
}
void dd::Systems::PhysicsSystem::CreateBody(EntityID entity)
{
auto physicsComponent = m_World->GetComponent<Components::Physics>(entity);
@@ -229,7 +270,6 @@ void dd::Systems::PhysicsSystem::CreateBody(EntityID entity)
return;
}
auto transformComponent = m_World->GetComponent<Components::Transform>(entity);
if(!transformComponent) {
LOG_ERROR("No TransformComponent in CreateBody");
@@ -242,34 +282,28 @@ void dd::Systems::PhysicsSystem::CreateBody(EntityID entity)
bodyDef.position.Set(absoluteTransform.Position.x, absoluteTransform.Position.y);
bodyDef.angle = -glm::eulerAngles(absoluteTransform.Orientation).z;
if (physicsComponent->Static) {
if (physicsComponent->CollisionType == CollisionType::Type::Static) {
bodyDef.type = b2_staticBody;
} else {
} else if (physicsComponent->CollisionType == CollisionType::Type::Dynamic) {
bodyDef.type = b2_dynamicBody;
} else if (physicsComponent->CollisionType == CollisionType::Type::Kinematic) {
bodyDef.type = b2_dynamicBody;
}
b2Body* body = m_PhysicsWorld->CreateBody(&bodyDef);
b2Shape* pShape;
auto boxComponent = m_World->GetComponent<Components::RectangleShape>(entity);
if (boxComponent) {
auto rectangleComponent = m_World->GetComponent<Components::RectangleShape>(entity);
if (rectangleComponent) {
b2PolygonShape* bShape = new b2PolygonShape();
bShape->SetAsBox(absoluteTransform.Scale.x/2, absoluteTransform.Scale.y/2);
bShape->SetAsBox(rectangleComponent->Dimensions.x/2.f, rectangleComponent->Dimensions.y/2.f);
pShape = bShape;
} else {
auto circleComponent = m_World->GetComponent<Components::CircleShape>(entity);
if (circleComponent) {
pShape = new b2CircleShape();
pShape->m_radius = absoluteTransform.Scale.x;
if (absoluteTransform.Scale.x != absoluteTransform.Scale.y && absoluteTransform.Scale.y != absoluteTransform.Scale.z) {
LOG_WARNING("Circles has to be of uniform scale.");
}
pShape->m_radius = absoluteTransform.Scale.x/2;
pShape->m_radius = circleComponent->Radius;
}
}
@@ -279,26 +313,26 @@ void dd::Systems::PhysicsSystem::CreateBody(EntityID entity)
fixtureDef.filter.maskBits = physicsComponent->Mask;
if(physicsComponent->Static) {
body->CreateFixture(&fixtureDef); //Density kanske ska vara 0 p� statiska kroppar
}
else {
fixtureDef.shape = pShape;
fixtureDef.density = 10.f;
fixtureDef.restitution = 1.0f;
fixtureDef.friction = 0.0f;
body->CreateFixture(&fixtureDef);
}
fixtureDef.shape = pShape;
fixtureDef.density = 10.f;
fixtureDef.restitution = 1.0f;
fixtureDef.friction = 0.0f;
body->CreateFixture(&fixtureDef);
delete pShape;
/* if(physicsComponent->Static) {
body->SetType(b2BodyType::b2_staticBody);
} else if (! physicsComponent->Static) {
body->SetType(b2BodyType::b2_dynamicBody);
}*/
body->SetGravityScale(physicsComponent->GravityScale);
m_EntitiesToBodies.insert(std::make_pair(entity, body));
m_BodiesToEntities.insert(std::make_pair(body, entity));
}
void dd::Systems::PhysicsSystem::CreateParticleGroup(EntityID e)
{
auto transform = m_World->GetComponent<Components::Transform>(e);
@@ -337,7 +371,7 @@ void dd::Systems::PhysicsSystem::CreateParticleGroup(EntityID e)
void dd::Systems::PhysicsSystem::UpdateParticleEmitters(double dt)
{
for (int i = 0; i < m_ParticleEmitters.ParticleSystem.size(); i++) {
auto e = m_ParticleEmitters.Emitter[i];
auto e = m_ParticleEmitters.ParticleEmitter[i];
auto pt = m_ParticleEmitters.ParticleTemplate[i];
auto ps = m_ParticleEmitters.ParticleSystem[i];
@@ -407,7 +441,7 @@ void dd::Systems::PhysicsSystem::CreateParticleEmitter(EntityID entity)
}
//TODO: Skicka med fler flaggor till particlesystemet;
m_ParticleEmitters.ParticleSystem.push_back(CreateParticleSystem(particle->Radius, 0.f));
m_ParticleEmitters.Emitter.push_back(entity);
m_ParticleEmitters.ParticleEmitter.push_back(entity);
m_ParticleEmitters.ParticleTemplate.push_back(childEntity);
}
@@ -428,10 +462,28 @@ b2ParticleSystem* dd::Systems::PhysicsSystem::CreateParticleSystem(float radius,
return m_ParticleSystem.back();
}
dd::Systems::PhysicsSystem::~PhysicsSystem()
{
for (auto i = m_BodiesToEntities.begin(); i != m_BodiesToEntities.end(); i++) {
b2Body* body = i->first;
body->GetWorld()->DestroyBody(body);
//delete body;
}
m_BodiesToEntities.clear();
m_EntitiesToBodies.clear();
m_Impulses.clear();
//TODO:REMOVE PARTICLE SYSTEMS
if (m_ContactListener != nullptr) {
delete m_ContactListener;
m_ContactListener = nullptr;
}
if (m_PhysicsWorld != nullptr) {
delete m_PhysicsWorld;
m_PhysicsWorld = nullptr;
}
}