xiaoqi
/
SHADE_Y3
1
0
Fork 0
Code Issues 12 Pull Requests Packages Projects Releases 9 Wiki Activity

Fixed desync of rigid body velocities

This commit is contained in:
Diren D Bharwani 2022-10-31 16:04:40 +08:00
parent b7abfde310
commit 3638828541
4 changed files with 31 additions and 58 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
SHADE_Engine/src/Physics/SHCollider.h
View File

@ -96,7 +96,7 @@ namespace SHADE
void SetDensity (float density) noexcept;
void SetMaterial (const SHPhysicsMaterial& newMaterial) noexcept;
void SetPositionOffset (const SHVec3& positionOffset) noexcept;
void SetPositionOffset (const SHVec3& posOffset) noexcept;
private:
/*---------------------------------------------------------------------------------*/

18
SHADE_Engine/src/Physics/SHPhysicsObject.cpp
View File

@ -172,11 +172,15 @@ namespace SHADE
{
SHASSERT(rp3dBody != nullptr, "ReactPhysics body does not exist!")
if (rb->dirtyFlags == 0)
return;
auto* rigidBody = reinterpret_cast<rp3d::RigidBody*>(rp3dBody);
// Sync velocities
rb->linearVelocity = rigidBody->getLinearVelocity();
rb->angularVelocity = rigidBody->getAngularVelocity();
if (rb->dirtyFlags == 0)
return;
const uint16_t RB_FLAGS = rb->dirtyFlags;
for (size_t i = 0; i < SHRigidBodyComponent::NUM_DIRTY_FLAGS; ++i)
{
@ -266,8 +270,12 @@ namespace SHADE
if (!collider.dirty)
continue;
// Update offsets
auto* rp3dCollider = rp3dBody->getCollider(index);
// Update trigger flag
rp3dCollider->setIsTrigger(collider.IsTrigger());
// Update offsets
rp3dCollider->setLocalToBodyTransform(rp3d::Transform(collider.GetPositionOffset(), SHQuaternion::Identity));
switch (collider.GetType())
@ -293,6 +301,8 @@ namespace SHADE
default: break;
}
// TODO(Diren): Update Material
collider.dirty = false;
++index;
}

67
SHADE_Engine/src/Physics/SHPhysicsSystem.cpp
View File

@ -281,6 +281,14 @@ namespace SHADE
rp3dRigidBody->setLinearVelocity(SHVec3::Zero);
rp3dRigidBody->setAngularVelocity(SHVec3::Zero);
}
const bool COMPONENT_ACTIVE = rigidBodyComponent->isActive;
system->SyncActiveStates(&physicsObject, COMPONENT_ACTIVE);
if (!COMPONENT_ACTIVE)
continue;
physicsObject.SyncRigidBody(rigidBodyComponent);
}
auto* colliderComponent = SHComponentManager::GetComponent_s<SHColliderComponent>(entityID);
@ -288,13 +296,17 @@ namespace SHADE
{
colliderComponent->position = WORLD_POS;
colliderComponent->orientation = WORLD_ROT;
const bool COMPONENT_ACTIVE = colliderComponent->isActive;
system->SyncActiveStates(&physicsObject, COMPONENT_ACTIVE);
if (!COMPONENT_ACTIVE)
continue;
physicsObject.SyncColliders(colliderComponent);
}
}
}
// Update bodies and colliders if component is dirty
system->SyncRigidBodyComponents(SHComponentManager::GetDense<SHRigidBodyComponent>());
system->SyncColliderComponents(SHComponentManager::GetDense<SHColliderComponent>());
}
void SHPhysicsSystem::PhysicsFixedUpdate::Execute(double dt) noexcept
@ -427,53 +439,6 @@ namespace SHADE
physicsObject->rp3dBody->setIsActive(componentActive);
}
void SHPhysicsSystem::SyncRigidBodyComponents(std::vector<SHRigidBodyComponent>& denseArray) noexcept
{
if (denseArray.empty())
return;
for (auto& comp : denseArray)
{
const EntityID ENTITY_ID = comp.GetEID();
// Get physicsObject
auto* physicsObject = GetPhysicsObject(ENTITY_ID);
// TODO(Diren): Check if active in hierarchy
const bool COMPONENT_ACTIVE = comp.isActive;
SyncActiveStates(physicsObject, COMPONENT_ACTIVE);
if (!COMPONENT_ACTIVE)
continue;
physicsObject->SyncRigidBody(&comp);
}
}
void SHPhysicsSystem::SyncColliderComponents(std::vector<SHColliderComponent>& denseArray) noexcept
{
if (denseArray.empty())
return;
for (auto& comp : denseArray)
{
const EntityID ENTITY_ID = comp.GetEID();
// Get physicsObject
auto* physicsObject = GetPhysicsObject(ENTITY_ID);
// TODO(Diren): Check if active in hierarchy
const bool COMPONENT_ACTIVE = comp.isActive;
SyncActiveStates(physicsObject, COMPONENT_ACTIVE);
if (!COMPONENT_ACTIVE)
continue;
physicsObject->SyncColliders(&comp);
}
}
void SHPhysicsSystem::SyncTransforms() noexcept
{
for (auto& [entityID, physicsObject] : map)

2
SHADE_Engine/src/Physics/SHPhysicsSystem.h
View File

@ -182,8 +182,6 @@ namespace SHADE
void DestroyPhysicsObject (EntityID entityID) noexcept;
void SyncActiveStates (SHPhysicsObject* physicsObject, bool componentActive) noexcept;
void SyncRigidBodyComponents (std::vector<SHRigidBodyComponent>& denseArray) noexcept;
void SyncColliderComponents (std::vector<SHColliderComponent>& denseArray) noexcept;
void SyncTransforms () noexcept;
void ClearInvalidCollisions () noexcept;