Added (untested) rotational motion to rigidbodies
Also added a temporary solution for debug drawing rotated spheres
This commit is contained in:
Diren D Bharwani
parent
af3a5e7dc9
commit
53edffebac
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@ -286,7 +286,14 @@ namespace SHADE
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if(ImGui::CollapsingHeader("Debug Information", ImGuiTreeNodeFlags_DefaultOpen))//Dynamic or Kinematic only fields
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{
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SHEditorWidgets::DragVec3("Position", { "X", "Y", "Z" }, [component] {return component->GetPosition(); }, [](SHVec3 const& value) {}, false, "Position", 0.1f, "%.3f", 0.0f, 0.0f, ImGuiSliderFlags_ReadOnly);
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//SHEditorWidgets::DragVec3("Rotation", { "X", "Y", "Z" }, [component] {return component->GetRotation(); }, [](SHVec3 const& value) {}, false, "Rotation", 0.1f, "%.3f", 0.0f, 0.0f, ImGuiSliderFlags_ReadOnly);
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SHEditorWidgets::DragVec3("Rotation", { "X", "Y", "Z" }, [component]
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{
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// Convert it to degrees...
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auto rot = component->GetRotation();
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for (size_t i = 0; i < SHVec3::SIZE; ++i)
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rot[i] = SHMath::RadiansToDegrees(rot[i]);
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return rot;
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}, [](SHVec3 const& value) {}, false, "Rotation", 0.1f, "%.3f", 0.0f, 0.0f, ImGuiSliderFlags_ReadOnly);
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if (rbType == SHRigidBodyComponent::Type::DYNAMIC || rbType == SHRigidBodyComponent::Type::KINEMATIC) //Dynamic or Kinematic only fields
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{
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SHEditorWidgets::DragVec3("Velocity", { "X", "Y", "Z" }, [component] {return component->GetLinearVelocity(); }, [](SHVec3 const& value) {}, false, "Linear Velocity", 0.1f, "%.3f", 0.0f, 0.0f, ImGuiSliderFlags_ReadOnly);
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@ -203,9 +203,9 @@ namespace SHADE
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drawCube(points, color, pos, size);
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}
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void SHDebugDrawSystem::DrawSphere(const SHVec4& color, const SHVec3& pos, double radius)
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void SHDebugDrawSystem::DrawSphere(const SHVec4& color, const SHVec3& pos, const SHVec3& rot, double radius)
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{
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drawSphere(points, color, pos, radius);
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drawSphere(points, color, pos, rot, radius);
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}
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/*---------------------------------------------------------------------------------*/
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@ -238,7 +238,7 @@ namespace SHADE
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void SHDebugDrawSystem::DrawPersistentSphere(const SHVec4& color, const SHVec3& pos, double radius)
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{
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drawSphere(persistentPoints, color, pos, radius);
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drawSphere(persistentPoints, color, pos, SHVec3::Zero, radius);
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}
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void SHDebugDrawSystem::ClearPersistentDraws()
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@ -315,7 +315,7 @@ namespace SHADE
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);
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}
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void SHDebugDrawSystem::drawSphere(std::vector<PointVertex>& storage, const SHVec4& color, const SHVec3& pos, double radius)
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void SHDebugDrawSystem::drawSphere(std::vector<PointVertex>& storage, const SHVec4& color, const SHVec3& pos, const SHVec3& rot, double radius)
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{
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//if (spherePoints.empty())
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{
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@ -324,7 +324,9 @@ namespace SHADE
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static const SHMeshData SPHERE = SHPrimitiveGenerator::Sphere();
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for (const auto& idx : SPHERE.Indices)
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{
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spherePoints.emplace_back(SPHERE.VertexPositions[idx] * radius + pos);
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SHVec3 SCALE { static_cast<float>(radius) };
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const SHMatrix TRS = SHMatrix::Transform(pos, rot, { static_cast<float>(radius) });
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spherePoints.emplace_back(SHVec3::Transform(SPHERE.VertexPositions[idx], TRS));
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}
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}
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drawLineSet(storage, color, spherePoints.begin(), spherePoints.end());
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@ -123,8 +123,9 @@ namespace SHADE
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/// </summary>
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/// <param name="color">Colour of the sphere.</param>
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/// <param name="pos">Position where the sphere wil be centered at.</param>
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/// <param name="rot">Rotation of the sphere. </param>
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/// <param name="size">Size of the rendered sphere.</param>
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void DrawSphere(const SHVec4& color, const SHVec3& pos, double radius);
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void DrawSphere(const SHVec4& color, const SHVec3& pos, const SHVec3& rot, double radius);
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/*---------------------------------------------------------------------------------*/
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/* Persistent Draw Functions */
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@ -246,7 +247,7 @@ namespace SHADE
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template<typename IterType>
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void drawPoly(std::vector<PointVertex>& storage, const SHVec4& color, IterType pointListBegin, IterType pointListEnd);
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void drawCube(std::vector<PointVertex>& storage, const SHVec4& color, const SHVec3& pos, const SHVec3& size);
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void drawSphere(std::vector<PointVertex>& storage, const SHVec4& color, const SHVec3& pos, double radius);
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void drawSphere(std::vector<PointVertex>& storage, const SHVec4& color, const SHVec3& pos, const SHVec3& rot, double radius);
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};
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}
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@ -111,6 +111,12 @@ namespace SHADE
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void SetCollisionTag (SHCollisionTag* newCollisionTag) noexcept;
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/*---------------------------------------------------------------------------------*/
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/* Member Functions */
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/*---------------------------------------------------------------------------------*/
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[[nodiscard]] virtual SHMatrix GetInertiaTensor (float mass) const noexcept = 0;
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protected:
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/*---------------------------------------------------------------------------------*/
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/* Data Members */
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@ -13,6 +13,9 @@
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// Primary Header
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#include "SHSphereCollisionShape.h"
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// Project Headers
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#include "Math/SHMatrix.h"
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namespace SHADE
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{
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/*-----------------------------------------------------------------------------------*/
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@ -179,5 +182,17 @@ namespace SHADE
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return SHSphere::Raycast(ray);
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}
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SHMatrix SHSphereCollisionShape::GetInertiaTensor(float mass) const noexcept
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{
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static constexpr float TWO_OVER_FIVE = 2.0f / 5.0f;
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const float DIAGONAL = TWO_OVER_FIVE * mass * (Radius * Radius);
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SHMatrix result;
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result.m[0][0] = result.m[1][1] = result.m[2][2] = DIAGONAL;
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return result;
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}
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} // namespace SHADE
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@ -96,7 +96,7 @@ namespace SHADE
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* @return
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* True if the point is inside the sphere.
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*/
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bool TestPoint (const SHVec3& point) const noexcept override;
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[[nodiscard]] bool TestPoint (const SHVec3& point) const noexcept override;
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/**
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* @brief
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@ -107,9 +107,19 @@ namespace SHADE
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* An object holding the results of the raycast. <br/>
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* See the corresponding header for the contents of the object.
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*/
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SHRaycastResult Raycast (const SHRay& ray) const noexcept override;
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[[nodiscard]] SHRaycastResult Raycast (const SHRay& ray) const noexcept override;
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// TODO: Compute Moment of Inertia
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/**
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* @brief
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* Computes the inertia tensor of the sphere.
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* @param mass
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* The mass of the sphere.
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* @return
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* The inertia tensor of the sphere.
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*/
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[[nodiscard]] SHMatrix GetInertiaTensor (float mass) const noexcept override;
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private:
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/*---------------------------------------------------------------------------------*/
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@ -80,6 +80,15 @@ namespace SHADE
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position = newPosition;
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}
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void SHMotionState::ForceOrientation(const SHQuaternion& newOrientation) noexcept
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{
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hasMoved = true;
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prevOrientation = newOrientation;
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orientation = newOrientation;
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}
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void SHMotionState::IntegratePosition(const SHVec3& velocity, float dt) noexcept
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{
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// Velocities are 0 when objects are static or sleeping. We do not want to integrate them here.
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@ -91,10 +100,32 @@ namespace SHADE
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position += velocity * dt;
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}
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void SHMotionState::IntegrateOrientation(const SHVec3& velocity, float dt) noexcept
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{
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// Velocities are 0 when objects are static or sleeping. We do not want to integrate them here.
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// This call should never reach here.
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hasMoved = true;
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prevOrientation = orientation;
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SHQuaternion qv{ velocity.x * dt, velocity.y * dt, velocity.z * dt, 0.0f };
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qv *= orientation;
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orientation += qv * 0.5f;
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orientation = SHQuaternion::Normalise(orientation);
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}
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SHVec3 SHMotionState::InterpolatePositions(float factor) const noexcept
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{
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return SHVec3::ClampedLerp(prevPosition, position, factor);
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}
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SHQuaternion SHMotionState::InterpolateOrientations(float factor) const noexcept
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{
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return SHQuaternion::ClampedSlerp(prevOrientation, orientation, factor);
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}
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} // namespace SHADE
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@ -11,8 +11,10 @@
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#pragma once
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// Project Headers
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#include "Math/SHQuaternion.h"
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#include "Math/Vector/SHVec3.h"
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namespace SHADE
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{
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/*-------------------------------------------------------------------------------------*/
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@ -30,10 +32,13 @@ namespace SHADE
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/* Data Members */
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/*-----------------------------------------------------------------------------------*/
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bool hasMoved;
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bool hasMoved;
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SHVec3 position;
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SHVec3 prevPosition;
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SHVec3 position;
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SHVec3 prevPosition;
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SHQuaternion orientation;
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SHQuaternion prevOrientation;
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/*-----------------------------------------------------------------------------------*/
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/* Constructors & Destructor */
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@ -65,17 +70,36 @@ namespace SHADE
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* @param newPosition
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* The new position to set.
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*/
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void ForcePosition (const SHVec3& newPosition) noexcept;
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void ForcePosition (const SHVec3& newPosition) noexcept;
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/**
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* @brief
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* Integrates the positions using velocity with respect to time.
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* Forcefully sets the orientation. Meant to be used when transform overrides the rigid body
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* orientations
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* @param newOrientation
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* The new orientation to set.
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*/
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void ForceOrientation (const SHQuaternion& newOrientation) noexcept;
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/**
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* @brief
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* Integrates the positions using linear velocity with respect to time.
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* @param velocity
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* The velocity to integrate.
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* The linear velocity to integrate.
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* @param dt
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* The delta time to integrate with respect to.
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*/
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void IntegratePosition (const SHVec3& velocity, float dt) noexcept;
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void IntegratePosition (const SHVec3& velocity, float dt) noexcept;
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/**
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* @brief
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* Integrates the orientation using angular velocity with respect to time.
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* @param velocity
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* The angular velocity to integrate.
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* @param dt
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* The delta time to integrate with respect to.
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*/
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void IntegrateOrientation (const SHVec3& velocity, float dt) noexcept;
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/**
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* @brief
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@ -85,7 +109,17 @@ namespace SHADE
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* @returns
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* The interpolated position meant for rendering.
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*/
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SHVec3 InterpolatePositions (float factor) const noexcept;
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SHVec3 InterpolatePositions (float factor) const noexcept;
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/**
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* @brief
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* Interpolates the orientation between the previous and the last using a given factor.
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* @param factor
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* The factor to interpolate by. Should be between 0 & 1.
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* @returns
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* The interpolated orientation meant for rendering.
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*/
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SHQuaternion InterpolateOrientations (float factor) const noexcept;
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};
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@ -74,7 +74,10 @@ namespace SHADE
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void SHPhysicsWorld::Step(float dt)
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{
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for (auto* rigidBody : rigidBodies)
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{
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rigidBody->ComputeWorldData();
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integrateForces(*rigidBody, dt);
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}
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for (auto* rigidBody : rigidBodies)
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integrateVelocities(*rigidBody, dt);
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@ -93,10 +96,14 @@ namespace SHADE
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const SHVec3 LINEAR_ACCELERATION = rigidBody.accumulatedForce * rigidBody.invMass;
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const SHVec3 GRAVITATIONAL_ACCELERATION = rigidBody.IsGravityEnabled() ? settings.gravity * rigidBody.gravityScale : SHVec3::Zero;
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rigidBody.linearVelocity += (LINEAR_ACCELERATION + GRAVITATIONAL_ACCELERATION) * dt;
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rigidBody.linearVelocity += (LINEAR_ACCELERATION + GRAVITATIONAL_ACCELERATION) * dt;
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// Integrate torque into angular velocity
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rigidBody.angularVelocity += rigidBody.worldInvInertia * (rigidBody.accumulatedTorque * dt);
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// Apply drag (exponentially applied)
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rigidBody.linearVelocity *= 1.0f / (1.0f + dt * rigidBody.linearDrag);
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rigidBody.linearVelocity *= 1.0f / (1.0f + dt * rigidBody.linearDrag);
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rigidBody.angularVelocity *= 1.0f / (1.0f + dt * rigidBody.angularDrag);
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}
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void SHPhysicsWorld::integrateVelocities(SHRigidBody& rigidBody, float dt) const noexcept
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@ -111,7 +118,13 @@ namespace SHADE
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, rigidBody.GetFreezePositionZ() ? 0.0f : rigidBody.linearVelocity.z
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};
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// TODO: Enforce angular constraints
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// Enforce angular constraints
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rigidBody.angularVelocity = SHVec3
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{
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rigidBody.GetFreezeRotationX() ? 0.0f : rigidBody.angularVelocity.x
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, rigidBody.GetFreezeRotationY() ? 0.0f : rigidBody.angularVelocity.y
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, rigidBody.GetFreezeRotationZ() ? 0.0f : rigidBody.angularVelocity.z
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};
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};
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// Always reset movement flag
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@ -129,13 +142,13 @@ namespace SHADE
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ENFORCE_CONSTRAINED_VELOCITIES(rigidBody);
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rigidBody.motionState.IntegratePosition(rigidBody.linearVelocity, dt);
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// TODO: Integrate orientations
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rigidBody.motionState.IntegrateOrientation(rigidBody.angularVelocity, dt);
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// Sync with collider transforms if a collider is present
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if (rigidBody.collider)
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{
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rigidBody.collider->SetPosition(rigidBody.motionState.position);
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// TODO: Sync orientations
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rigidBody.collider->SetOrientation(rigidBody.motionState.orientation);
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rigidBody.collider->RecomputeShapes();
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}
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@ -27,9 +27,10 @@ namespace SHADE
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: entityID { eid }
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, collider { nullptr }
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, bodyType { type }
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, gravityScale { 1.0f }
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, invMass { type == Type::DYNAMIC ? 1.0f : 0.0f }
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, linearDrag { 0.01f }
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, gravityScale { 1.0f }
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, angularDrag { 0.01f }
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, flags { 0U }
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{
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// Set default flags
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@ -41,14 +42,19 @@ namespace SHADE
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}
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SHRigidBody::SHRigidBody(const SHRigidBody& rhs) noexcept
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: entityID { rhs.entityID }
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, collider { nullptr }
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, bodyType { rhs.bodyType }
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, invMass { rhs.invMass }
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, linearDrag { rhs.linearDrag }
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, gravityScale { rhs.gravityScale }
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, flags { rhs.flags }
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, motionState { rhs.motionState }
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: entityID { rhs.entityID }
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, collider { nullptr }
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, bodyType { rhs.bodyType }
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, gravityScale { rhs.gravityScale }
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, invMass { rhs.invMass }
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, linearDrag { rhs.linearDrag }
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, angularDrag { rhs.angularDrag }
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, localInvInertia { rhs.localInvInertia }
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, worldInvInertia { rhs.worldInvInertia }
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, localCentroid { rhs.localCentroid }
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, worldCentroid { rhs.worldCentroid }
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, flags { rhs.flags }
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, motionState { rhs.motionState }
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{
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// All other properties are defaulted to 0 to not carry over any potential errors / invalid values.
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}
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@ -57,9 +63,14 @@ namespace SHADE
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: entityID { rhs.entityID }
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, collider { nullptr }
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, bodyType { rhs.bodyType }
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, gravityScale { rhs.gravityScale }
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, invMass { rhs.invMass }
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, linearDrag { rhs.linearDrag }
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, gravityScale { rhs.gravityScale }
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, angularDrag { rhs.angularDrag }
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, localInvInertia { rhs.localInvInertia }
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, worldInvInertia { rhs.worldInvInertia }
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, localCentroid { rhs.localCentroid }
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, worldCentroid { rhs.worldCentroid }
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, flags { rhs.flags }
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, motionState { std::move(rhs.motionState) }
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{
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@ -77,17 +88,24 @@ namespace SHADE
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return *this;
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entityID = rhs.entityID;
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// Deep copy the collider
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*collider = *rhs.collider;
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bodyType = rhs.bodyType;
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invMass = rhs.invMass;
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linearDrag = rhs.linearDrag;
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gravityScale = rhs.gravityScale;
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flags = rhs.flags;
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motionState = rhs.motionState;
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*collider = *rhs.collider;
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bodyType = rhs.bodyType;
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gravityScale = rhs.gravityScale;
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invMass = rhs.invMass;
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linearDrag = rhs.linearDrag;
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angularDrag = rhs.angularDrag;
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localInvInertia = rhs.localInvInertia;
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worldInvInertia = rhs.worldInvInertia;
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localCentroid = rhs.localCentroid;
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worldCentroid = rhs.worldCentroid;
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flags = rhs.flags;
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motionState = rhs.motionState;
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// All other properties are defaulted to 0 to not carry over any potential errors / invalid values.
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accumulatedForce = SHVec3::Zero;
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accumulatedTorque = SHVec3::Zero;
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linearVelocity = SHVec3::Zero;
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angularVelocity = SHVec3::Zero;
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@ -97,17 +115,24 @@ namespace SHADE
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SHRigidBody& SHRigidBody::operator=(SHRigidBody&& rhs) noexcept
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{
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entityID = rhs.entityID;
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// Deep copy the collider
|
||||
*collider = *rhs.collider;
|
||||
bodyType = rhs.bodyType;
|
||||
gravityScale = rhs.gravityScale;
|
||||
invMass = rhs.invMass;
|
||||
linearDrag = rhs.linearDrag;
|
||||
gravityScale = rhs.gravityScale;
|
||||
angularDrag = rhs.angularDrag;
|
||||
localInvInertia = rhs.localInvInertia;
|
||||
worldInvInertia = rhs.worldInvInertia;
|
||||
localCentroid = rhs.localCentroid;
|
||||
worldCentroid = rhs.worldCentroid;
|
||||
flags = rhs.flags;
|
||||
motionState = std::move(rhs.motionState);
|
||||
|
||||
// All other properties are defaulted to 0 to not carry over any potential errors / invalid values.
|
||||
accumulatedForce = SHVec3::Zero;
|
||||
accumulatedTorque = SHVec3::Zero;
|
||||
linearVelocity = SHVec3::Zero;
|
||||
angularVelocity = SHVec3::Zero;
|
||||
|
||||
|
|
@ -123,6 +148,11 @@ namespace SHADE
|
|||
return bodyType;
|
||||
}
|
||||
|
||||
float SHRigidBody::GetGravityScale() const noexcept
|
||||
{
|
||||
return gravityScale;
|
||||
}
|
||||
|
||||
float SHRigidBody::GetMass() const noexcept
|
||||
{
|
||||
return 1.0f/ invMass;
|
||||
|
|
@ -133,16 +163,41 @@ namespace SHADE
|
|||
return linearDrag;
|
||||
}
|
||||
|
||||
float SHRigidBody::GetGravityScale() const noexcept
|
||||
float SHRigidBody::GetAngularDrag() const noexcept
|
||||
{
|
||||
return gravityScale;
|
||||
return angularDrag;
|
||||
}
|
||||
|
||||
const SHVec3& SHRigidBody::GetAccumulatedForce() const noexcept
|
||||
const SHMatrix& SHRigidBody::GetLocalInvInertia() const noexcept
|
||||
{
|
||||
return localInvInertia;
|
||||
}
|
||||
|
||||
const SHMatrix& SHRigidBody::GetWorldInvInertia() const noexcept
|
||||
{
|
||||
return worldInvInertia;
|
||||
}
|
||||
|
||||
const SHVec3& SHRigidBody::GetLocalCentroid() const noexcept
|
||||
{
|
||||
return localCentroid;
|
||||
}
|
||||
|
||||
const SHVec3& SHRigidBody::GetWorldCentroid() const noexcept
|
||||
{
|
||||
return worldCentroid;
|
||||
}
|
||||
|
||||
const SHVec3& SHRigidBody::GetForce() const noexcept
|
||||
{
|
||||
return accumulatedForce;
|
||||
}
|
||||
|
||||
const SHVec3& SHRigidBody::GetTorque() const noexcept
|
||||
{
|
||||
return accumulatedTorque;
|
||||
}
|
||||
|
||||
const SHVec3& SHRigidBody::GetLinearVelocity() const noexcept
|
||||
{
|
||||
return linearVelocity;
|
||||
|
|
@ -226,7 +281,6 @@ namespace SHADE
|
|||
return motionState;
|
||||
}
|
||||
|
||||
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
/* Setter Functions Definitions */
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
|
|
@ -245,6 +299,11 @@ namespace SHADE
|
|||
invMass = newType == Type::DYNAMIC ? 1.0f : 0.0f;
|
||||
}
|
||||
|
||||
void SHRigidBody::SetGravityScale(float newGravityScale) noexcept
|
||||
{
|
||||
gravityScale = newGravityScale;
|
||||
}
|
||||
|
||||
void SHRigidBody::SetMass(float newMass) noexcept
|
||||
{
|
||||
if (bodyType != Type::DYNAMIC)
|
||||
|
|
@ -261,7 +320,7 @@ namespace SHADE
|
|||
|
||||
invMass = 1.0f / newMass;
|
||||
|
||||
// TODO: Recompute inertia tensor
|
||||
ComputeMassData();
|
||||
}
|
||||
|
||||
void SHRigidBody::SetLinearDrag(float newLinearDrag) noexcept
|
||||
|
|
@ -281,16 +340,45 @@ namespace SHADE
|
|||
linearDrag = newLinearDrag;
|
||||
}
|
||||
|
||||
void SHRigidBody::SetGravityScale(float newGravityScale) noexcept
|
||||
void SHRigidBody::SetAngularDrag(float newAngularDrag) noexcept
|
||||
{
|
||||
gravityScale = newGravityScale;
|
||||
if (bodyType == Type::STATIC)
|
||||
{
|
||||
SHLOG_WARNING("Cannot set angular drag of a Static Body {}", entityID)
|
||||
return;
|
||||
}
|
||||
|
||||
if (newAngularDrag < 0.0f)
|
||||
{
|
||||
SHLOG_WARNING("Cannot set drag below 0. Object {}'s angular drag will remain unchanged.", entityID)
|
||||
return;
|
||||
}
|
||||
|
||||
angularDrag = newAngularDrag;
|
||||
}
|
||||
|
||||
void SHRigidBody::SetLinearVelocity(const SHVec3& newLinearVelocity) noexcept
|
||||
{
|
||||
if (bodyType == Type::STATIC)
|
||||
{
|
||||
SHLOG_WARNING("Cannot set linear velocity of a Static Body {}", entityID)
|
||||
return;
|
||||
}
|
||||
|
||||
linearVelocity = newLinearVelocity;
|
||||
}
|
||||
|
||||
void SHRigidBody::SetAngularVelocity(const SHVec3& newAngularVelocity) noexcept
|
||||
{
|
||||
if (bodyType == Type::STATIC)
|
||||
{
|
||||
SHLOG_WARNING("Cannot set angular velocity of a Static Body {}", entityID)
|
||||
return;
|
||||
}
|
||||
|
||||
angularVelocity = newAngularVelocity;
|
||||
}
|
||||
|
||||
void SHRigidBody::SetIsActive(bool isActive) noexcept
|
||||
{
|
||||
static constexpr unsigned int FLAG_POS = 0;
|
||||
|
|
@ -304,7 +392,18 @@ namespace SHADE
|
|||
static constexpr unsigned int FLAG_POS = 1;
|
||||
static constexpr uint16_t VALUE = 1U << FLAG_POS;
|
||||
|
||||
isSleeping ? flags |= VALUE : flags &= ~VALUE;
|
||||
if (isSleeping)
|
||||
{
|
||||
flags |= VALUE;
|
||||
|
||||
ClearForces();
|
||||
linearVelocity = SHVec3::Zero;
|
||||
angularVelocity = SHVec3::Zero;
|
||||
}
|
||||
else
|
||||
{
|
||||
flags &= ~VALUE;
|
||||
}
|
||||
}
|
||||
|
||||
void SHRigidBody::SetSleepingEnabled(bool enableSleeping) noexcept
|
||||
|
|
@ -411,6 +510,8 @@ namespace SHADE
|
|||
flags |= VALUE;
|
||||
// Reset angular velocity along X-axis
|
||||
angularVelocity.x = 0.0f;
|
||||
// Set inertia tensor on the x-axis to 0
|
||||
localInvInertia.m[0][0] = worldInvInertia.m[0][0] = 0.0f;
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
@ -428,6 +529,8 @@ namespace SHADE
|
|||
flags |= VALUE;
|
||||
// Reset angular velocity along Y-axis
|
||||
angularVelocity.y = 0.0f;
|
||||
// Set inertia tensor on the y-axis to 0
|
||||
localInvInertia.m[1][1] = worldInvInertia.m[1][1] = 0.0f;
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
@ -445,6 +548,8 @@ namespace SHADE
|
|||
flags |= VALUE;
|
||||
// Reset angular velocity along Z-axis
|
||||
angularVelocity.z = 0.0f;
|
||||
// Set inertia tensor on the z-axis to 0
|
||||
localInvInertia.m[2][2] = worldInvInertia.m[2][2] = 0.0f;
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
@ -461,21 +566,60 @@ namespace SHADE
|
|||
if (bodyType != Type::DYNAMIC)
|
||||
return;
|
||||
|
||||
accumulatedForce += force;
|
||||
// Compute torque when force is offset
|
||||
accumulatedForce += force;
|
||||
accumulatedTorque += SHVec3::Cross(pos, force);
|
||||
}
|
||||
|
||||
void SHRigidBody::AddImpulse(const SHVec3& impulse, const SHVec3& pos) noexcept
|
||||
{
|
||||
if (bodyType != Type::DYNAMIC)
|
||||
return;
|
||||
return;
|
||||
|
||||
linearVelocity += impulse * invMass;
|
||||
linearVelocity += impulse * invMass;
|
||||
angularVelocity += worldInvInertia * SHVec3::Cross(pos, impulse);
|
||||
}
|
||||
|
||||
void SHRigidBody::AddTorque(const SHVec3& torque) noexcept
|
||||
{
|
||||
if (bodyType != Type::DYNAMIC)
|
||||
return;
|
||||
|
||||
accumulatedTorque += torque;
|
||||
}
|
||||
|
||||
void SHRigidBody::ClearForces() noexcept
|
||||
{
|
||||
accumulatedForce = SHVec3::Zero;
|
||||
accumulatedForce = SHVec3::Zero;
|
||||
accumulatedTorque = SHVec3::Zero;
|
||||
}
|
||||
|
||||
void SHRigidBody::ComputeWorldData() noexcept
|
||||
{
|
||||
const SHMatrix ROTATION = SHMatrix::Rotate(motionState.orientation);
|
||||
|
||||
// Compute world inertia
|
||||
worldInvInertia = ROTATION * localInvInertia * SHMatrix::Transpose(ROTATION);
|
||||
|
||||
// Compute world centroid
|
||||
worldCentroid = (ROTATION * localCentroid) + motionState.position;
|
||||
}
|
||||
|
||||
void SHRigidBody::ComputeMassData() noexcept
|
||||
{
|
||||
// TODO: Compute total inertia and centroid from composited colliders using the Parallel Axis Theorem.
|
||||
// TODO: If auto mass in enabled, compute total mass based from each collider.
|
||||
// TODO: If auto mass disabled, compute inertia tensor for each shape using the ratio of its mass / total mass by comparing the volume / total volume.
|
||||
|
||||
if (collider && !collider->GetCollisionShapes().empty())
|
||||
{
|
||||
// HACK: For now, take only the first shape as we are testing with non-composited colliders. We are using the center as the centroid.
|
||||
const auto* FIRST_SHAPE = collider->GetCollisionShape(0);
|
||||
localInvInertia = SHMatrix::Inverse(FIRST_SHAPE->GetInertiaTensor(1.0f / invMass));
|
||||
}
|
||||
else
|
||||
{
|
||||
localInvInertia.m[0][0] = localInvInertia.m[1][1] = localInvInertia.m[2][2] = invMass;
|
||||
}
|
||||
}
|
||||
|
||||
} // namespace SHADE
|
||||
|
|
@ -12,6 +12,7 @@
|
|||
|
||||
// Project Headers
|
||||
#include "ECS_Base/Entity/SHEntity.h"
|
||||
#include "Math/SHMatrix.h"
|
||||
#include "Math/Vector/SHVec3.h"
|
||||
#include "SHMotionState.h"
|
||||
|
||||
|
|
@ -73,12 +74,20 @@ namespace SHADE
|
|||
|
||||
[[nodiscard]] Type GetType () const noexcept;
|
||||
|
||||
[[nodiscard]] float GetMass () const noexcept;
|
||||
[[nodiscard]] float GetLinearDrag () const noexcept;
|
||||
|
||||
[[nodiscard]] float GetGravityScale () const noexcept;
|
||||
|
||||
[[nodiscard]] const SHVec3& GetAccumulatedForce () const noexcept;
|
||||
[[nodiscard]] float GetMass () const noexcept;
|
||||
[[nodiscard]] float GetLinearDrag () const noexcept;
|
||||
[[nodiscard]] float GetAngularDrag () const noexcept;
|
||||
|
||||
[[nodiscard]] const SHMatrix& GetLocalInvInertia () const noexcept;
|
||||
[[nodiscard]] const SHMatrix& GetWorldInvInertia () const noexcept;
|
||||
|
||||
[[nodiscard]] const SHVec3& GetLocalCentroid () const noexcept;
|
||||
[[nodiscard]] const SHVec3& GetWorldCentroid () const noexcept;
|
||||
|
||||
[[nodiscard]] const SHVec3& GetForce () const noexcept;
|
||||
[[nodiscard]] const SHVec3& GetTorque () const noexcept;
|
||||
[[nodiscard]] const SHVec3& GetLinearVelocity () const noexcept;
|
||||
[[nodiscard]] const SHVec3& GetAngularVelocity () const noexcept;
|
||||
|
||||
|
|
@ -111,6 +120,8 @@ namespace SHADE
|
|||
*/
|
||||
void SetType (Type newType) noexcept;
|
||||
|
||||
void SetGravityScale (float newGravityScale) noexcept;
|
||||
|
||||
/**
|
||||
* @brief
|
||||
* Mass is only modifiable for Dynamic bodies.
|
||||
|
|
@ -127,9 +138,16 @@ namespace SHADE
|
|||
*/
|
||||
void SetLinearDrag (float newLinearDrag) noexcept;
|
||||
|
||||
/**
|
||||
* @brief
|
||||
* Drag is only modifiable for non-Static bodies.
|
||||
* @param newAngularDrag
|
||||
* The new drag to set. Values below 0 will be ignored.
|
||||
*/
|
||||
void SetAngularDrag (float newAngularDrag) noexcept;
|
||||
|
||||
void SetGravityScale (float newGravityScale) noexcept;
|
||||
void SetLinearVelocity (const SHVec3& newLinearVelocity) noexcept;
|
||||
void SetAngularVelocity (const SHVec3& newAngularVelocity)noexcept;
|
||||
|
||||
// Flags
|
||||
|
||||
|
|
@ -151,29 +169,55 @@ namespace SHADE
|
|||
|
||||
/**
|
||||
* @brief
|
||||
* Adds a force to the body with an offset from it's center of mass.
|
||||
* Adds a force to the body with an offset from it's center of mass. <br/>
|
||||
* Non-dynamic bodies will be ignored.
|
||||
* @param force
|
||||
* The force to add to the body.
|
||||
* @param pos
|
||||
* The position from the center of mass to offset the force. Defaults to zero.
|
||||
*/
|
||||
void AddForce (const SHVec3& force, const SHVec3& pos = SHVec3::Zero) noexcept;
|
||||
void AddForce (const SHVec3& force, const SHVec3& pos = SHVec3::Zero) noexcept;
|
||||
|
||||
/**
|
||||
* @brief
|
||||
* Adds an impulse to the body with an offset from it's center of mass.
|
||||
* Adds an impulse to the body with an offset from it's center of mass. <br/>
|
||||
* Non-dynamic bodies will be ignored.
|
||||
* @param impulse
|
||||
* The impulse to add to the body.
|
||||
* @param pos
|
||||
* The position from the center of mass to offset the impulse. Defaults to zero.
|
||||
*/
|
||||
void AddImpulse (const SHVec3& impulse, const SHVec3& pos = SHVec3::Zero) noexcept;
|
||||
void AddImpulse (const SHVec3& impulse, const SHVec3& pos = SHVec3::Zero) noexcept;
|
||||
|
||||
/**
|
||||
* @brief
|
||||
* Adds torque to rotate the body about it's centroid. <br/>
|
||||
* Non-dynamic bodies will be ignored.
|
||||
* @param torque
|
||||
* The torque to add to the body.
|
||||
*/
|
||||
void AddTorque (const SHVec3& torque) noexcept;
|
||||
|
||||
/**
|
||||
* @brief
|
||||
* Removes all the forces from the body.
|
||||
*/
|
||||
void ClearForces () noexcept;
|
||||
void ClearForces () noexcept;
|
||||
|
||||
/**
|
||||
* @brief
|
||||
* Computes the centroid and invInertia in world space.
|
||||
*/
|
||||
void ComputeWorldData () noexcept;
|
||||
|
||||
/**
|
||||
* @brief
|
||||
* Computes the centroid and inertia of the object. <br/>
|
||||
* If auto-mass is enabled, computes the mass. <br/>
|
||||
* If auto-mass is disabled, the inertia is computed based on the ratio each shape's volume over the total volume.
|
||||
*
|
||||
*/
|
||||
void ComputeMassData () noexcept;
|
||||
|
||||
private:
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
|
|
@ -186,12 +230,20 @@ namespace SHADE
|
|||
|
||||
Type bodyType;
|
||||
|
||||
float gravityScale;
|
||||
|
||||
float invMass;
|
||||
float linearDrag;
|
||||
float angularDrag;
|
||||
|
||||
float gravityScale;
|
||||
SHMatrix localInvInertia;
|
||||
SHMatrix worldInvInertia;
|
||||
|
||||
SHVec3 localCentroid;
|
||||
SHVec3 worldCentroid;
|
||||
|
||||
SHVec3 accumulatedForce;
|
||||
SHVec3 accumulatedTorque;
|
||||
|
||||
SHVec3 linearVelocity;
|
||||
SHVec3 angularVelocity;
|
||||
|
|
|
|||
|
|
@ -36,18 +36,12 @@ namespace SHADE
|
|||
|
||||
bool SHRigidBodyComponent::IsGravityEnabled() const noexcept
|
||||
{
|
||||
if (rigidBody)
|
||||
return rigidBody->IsGravityEnabled();
|
||||
|
||||
return false;
|
||||
return rigidBody ? rigidBody->IsGravityEnabled() : false;
|
||||
}
|
||||
|
||||
bool SHRigidBodyComponent::IsAllowedToSleep() const noexcept
|
||||
{
|
||||
if (rigidBody)
|
||||
return rigidBody->IsSleepingEnabled();
|
||||
|
||||
return false;
|
||||
return rigidBody ? rigidBody->IsSleepingEnabled() : false;
|
||||
}
|
||||
|
||||
bool SHRigidBodyComponent::IsInterpolating() const noexcept
|
||||
|
|
@ -57,131 +51,93 @@ namespace SHADE
|
|||
|
||||
bool SHRigidBodyComponent::IsSleeping() const noexcept
|
||||
{
|
||||
if (rigidBody)
|
||||
return rigidBody->IsSleeping();
|
||||
|
||||
return false;
|
||||
return rigidBody ? rigidBody->IsSleeping() : false;
|
||||
}
|
||||
|
||||
bool SHRigidBodyComponent::GetAutoMass() const noexcept
|
||||
{
|
||||
if (rigidBody)
|
||||
return rigidBody->IsAutoMassEnabled();
|
||||
|
||||
return false;
|
||||
return rigidBody ? rigidBody->IsAutoMassEnabled() : false;
|
||||
}
|
||||
|
||||
bool SHRigidBodyComponent::GetFreezePositionX() const noexcept
|
||||
{
|
||||
if (rigidBody)
|
||||
return rigidBody->GetFreezePositionX();
|
||||
|
||||
return false;
|
||||
return rigidBody ? rigidBody->GetFreezePositionX() : false;
|
||||
}
|
||||
|
||||
bool SHRigidBodyComponent::GetFreezePositionY() const noexcept
|
||||
{
|
||||
if (rigidBody)
|
||||
return rigidBody->GetFreezePositionY();
|
||||
|
||||
return false;
|
||||
return rigidBody ? rigidBody->GetFreezePositionY() : false;
|
||||
}
|
||||
|
||||
bool SHRigidBodyComponent::GetFreezePositionZ() const noexcept
|
||||
{
|
||||
if (rigidBody)
|
||||
return rigidBody->GetFreezePositionZ();
|
||||
|
||||
return false;
|
||||
return rigidBody ? rigidBody->GetFreezePositionZ() : false;
|
||||
}
|
||||
|
||||
bool SHRigidBodyComponent::GetFreezeRotationX() const noexcept
|
||||
{
|
||||
if (rigidBody)
|
||||
return rigidBody->GetFreezeRotationX();
|
||||
|
||||
return false;
|
||||
return rigidBody ? rigidBody->GetFreezeRotationX() : false;
|
||||
}
|
||||
|
||||
bool SHRigidBodyComponent::GetFreezeRotationY() const noexcept
|
||||
{
|
||||
if (rigidBody)
|
||||
return rigidBody->GetFreezeRotationY();
|
||||
|
||||
return false;
|
||||
return rigidBody ? rigidBody->GetFreezeRotationY() : false;
|
||||
}
|
||||
|
||||
bool SHRigidBodyComponent::GetFreezeRotationZ() const noexcept
|
||||
{
|
||||
if (rigidBody)
|
||||
return rigidBody->GetFreezeRotationZ();
|
||||
|
||||
return false;
|
||||
return rigidBody ? rigidBody->GetFreezeRotationZ() : false;
|
||||
}
|
||||
|
||||
float SHRigidBodyComponent::GetGravityScale() const noexcept
|
||||
{
|
||||
if (rigidBody)
|
||||
return rigidBody->GetGravityScale();
|
||||
|
||||
return 0.0f;
|
||||
return rigidBody ? rigidBody->GetGravityScale() : 0.0f;
|
||||
}
|
||||
|
||||
float SHRigidBodyComponent::GetMass() const noexcept
|
||||
{
|
||||
if (rigidBody)
|
||||
return rigidBody->GetMass();
|
||||
|
||||
return -1.0f;
|
||||
return rigidBody ? rigidBody->GetMass() : -1.0f;
|
||||
}
|
||||
|
||||
float SHRigidBodyComponent::GetDrag() const noexcept
|
||||
{
|
||||
if (rigidBody)
|
||||
return rigidBody->GetLinearDrag();
|
||||
|
||||
return -1.0f;
|
||||
return rigidBody ? rigidBody->GetLinearDrag() : -1.0f;
|
||||
}
|
||||
|
||||
float SHRigidBodyComponent::GetAngularDrag() const noexcept
|
||||
{
|
||||
return 0.0f;
|
||||
return rigidBody ? rigidBody->GetAngularDrag() : -1.0f;
|
||||
}
|
||||
|
||||
SHVec3 SHRigidBodyComponent::GetForce() const noexcept
|
||||
{
|
||||
if (rigidBody)
|
||||
return rigidBody->GetAccumulatedForce();
|
||||
|
||||
return SHVec3::Zero;
|
||||
return rigidBody ? rigidBody->GetForce() : SHVec3::Zero;
|
||||
}
|
||||
|
||||
SHVec3 SHRigidBodyComponent::GetTorque() const noexcept
|
||||
{
|
||||
return SHVec3::Zero;
|
||||
return rigidBody ? rigidBody->GetTorque() : SHVec3::Zero;
|
||||
}
|
||||
|
||||
SHVec3 SHRigidBodyComponent::GetLinearVelocity() const noexcept
|
||||
{
|
||||
if (rigidBody)
|
||||
return rigidBody->GetLinearVelocity();
|
||||
|
||||
return SHVec3::Zero;
|
||||
return rigidBody ? rigidBody->GetLinearVelocity() : SHVec3::Zero;
|
||||
}
|
||||
|
||||
SHVec3 SHRigidBodyComponent::GetAngularVelocity() const noexcept
|
||||
{
|
||||
return SHVec3::Zero;
|
||||
return rigidBody ? rigidBody->GetAngularVelocity() : SHVec3::Zero;
|
||||
}
|
||||
|
||||
SHVec3 SHRigidBodyComponent::GetPosition() const noexcept
|
||||
{
|
||||
if (rigidBody)
|
||||
return rigidBody->GetMotionState().position;
|
||||
|
||||
return SHVec3::Zero;
|
||||
return rigidBody ? rigidBody->GetMotionState().position : SHVec3::Zero;
|
||||
}
|
||||
|
||||
SHVec3 SHRigidBodyComponent::GetRotation() const noexcept
|
||||
{
|
||||
return rigidBody ? rigidBody->GetMotionState().orientation.ToEuler() : SHVec3::Zero;
|
||||
}
|
||||
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
/* Setter Functions Definitions */
|
||||
|
|
@ -282,7 +238,8 @@ namespace SHADE
|
|||
|
||||
void SHRigidBodyComponent::SetAngularDrag(float newAngularDrag) noexcept
|
||||
{
|
||||
|
||||
if (rigidBody)
|
||||
rigidBody->SetAngularDrag(newAngularDrag);
|
||||
}
|
||||
|
||||
void SHRigidBodyComponent::SetLinearVelocity(const SHVec3& newLinearVelocity) noexcept
|
||||
|
|
@ -293,7 +250,8 @@ namespace SHADE
|
|||
|
||||
void SHRigidBodyComponent::SetAngularVelocity(const SHVec3& newAngularVelocity) noexcept
|
||||
{
|
||||
|
||||
if (rigidBody)
|
||||
rigidBody->SetAngularVelocity(newAngularVelocity);
|
||||
}
|
||||
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
|
|
@ -308,38 +266,67 @@ namespace SHADE
|
|||
|
||||
void SHRigidBodyComponent::AddForceAtLocalPos(const SHVec3& force, const SHVec3& localPos) const noexcept
|
||||
{
|
||||
|
||||
if (rigidBody)
|
||||
rigidBody->AddForce(force, localPos);
|
||||
}
|
||||
|
||||
void SHRigidBodyComponent::AddForceAtWorldPos(const SHVec3& force, const SHVec3& worldPos) const noexcept
|
||||
{
|
||||
if (rigidBody)
|
||||
rigidBody->AddForce(force, worldPos);
|
||||
{
|
||||
// Convert world pos into local space of the body
|
||||
const SHVec3 LOCAL_POS = worldPos - rigidBody->GetWorldCentroid();
|
||||
rigidBody->AddForce(force, LOCAL_POS);
|
||||
}
|
||||
}
|
||||
|
||||
void SHRigidBodyComponent::AddRelativeForce(const SHVec3& relativeForce) const noexcept
|
||||
{
|
||||
|
||||
if (rigidBody)
|
||||
{
|
||||
// Rotate force into world space
|
||||
const SHVec3 FORCE = SHVec3::Rotate(relativeForce, rigidBody->GetMotionState().orientation);
|
||||
rigidBody->AddForce(FORCE);
|
||||
}
|
||||
}
|
||||
|
||||
void SHRigidBodyComponent::AddRelativeForceAtLocalPos(const SHVec3& relativeForce, const SHVec3& localPos) const noexcept
|
||||
{
|
||||
|
||||
if (rigidBody)
|
||||
{
|
||||
// Rotate force into world space
|
||||
const SHVec3 FORCE = SHVec3::Rotate(relativeForce, rigidBody->GetMotionState().orientation);
|
||||
rigidBody->AddForce(FORCE, localPos);
|
||||
}
|
||||
}
|
||||
|
||||
void SHRigidBodyComponent::AddRelativeForceAtWorldPos(const SHVec3& relativeForce, const SHVec3& worldPos) const noexcept
|
||||
{
|
||||
|
||||
if (rigidBody)
|
||||
{
|
||||
// Rotate force into world space
|
||||
const SHVec3 FORCE = SHVec3::Rotate(relativeForce, rigidBody->GetMotionState().orientation);
|
||||
// Convert world pos into local space of the body
|
||||
const SHVec3 LOCAL_POS = worldPos - rigidBody->GetWorldCentroid();
|
||||
|
||||
rigidBody->AddForce(FORCE, LOCAL_POS);
|
||||
}
|
||||
}
|
||||
|
||||
void SHRigidBodyComponent::AddTorque(const SHVec3& torque) const noexcept
|
||||
{
|
||||
|
||||
if (rigidBody)
|
||||
rigidBody->AddTorque(torque);
|
||||
}
|
||||
|
||||
void SHRigidBodyComponent::AddRelativeTorque(const SHVec3& relativeTorque) const noexcept
|
||||
{
|
||||
|
||||
if (rigidBody)
|
||||
{
|
||||
// Rotate force into world space
|
||||
const SHVec3 TORQUE = SHVec3::Rotate(relativeTorque, rigidBody->GetMotionState().orientation);
|
||||
rigidBody->AddTorque(TORQUE);
|
||||
}
|
||||
}
|
||||
|
||||
void SHRigidBodyComponent::ClearForces() const noexcept
|
||||
|
|
@ -348,11 +335,6 @@ namespace SHADE
|
|||
rigidBody->ClearForces();
|
||||
}
|
||||
|
||||
void SHRigidBodyComponent::ClearTorque() const noexcept
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
/* Public Function Member Definitions */
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
|
|
|
|||
|
|
@ -93,6 +93,7 @@ namespace SHADE
|
|||
[[nodiscard]] SHVec3 GetAngularVelocity () const noexcept;
|
||||
|
||||
[[nodiscard]] SHVec3 GetPosition () const noexcept;
|
||||
[[nodiscard]] SHVec3 GetRotation () const noexcept;
|
||||
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
/* Setter Functions */
|
||||
|
|
@ -138,7 +139,6 @@ namespace SHADE
|
|||
void AddRelativeTorque (const SHVec3& relativeTorque) const noexcept;
|
||||
|
||||
void ClearForces () const noexcept;
|
||||
void ClearTorque () const noexcept;
|
||||
|
||||
private:
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
|
|
|
|||
|
|
@ -62,15 +62,23 @@ namespace SHADE
|
|||
if (!MOTION_STATE)
|
||||
continue;
|
||||
|
||||
SHVec3 renderPosition = rigidBodyComponent.IsInterpolating() ? MOTION_STATE.InterpolatePositions(FACTOR) : MOTION_STATE.position;
|
||||
if (rigidBodyComponent.IsInterpolating())
|
||||
{
|
||||
const SHVec3 RENDER_POSITION = MOTION_STATE.InterpolatePositions(FACTOR);
|
||||
const SHQuaternion RENDER_ORIENTATION = MOTION_STATE.InterpolateOrientations(FACTOR);
|
||||
|
||||
transformComponent->SetWorldPosition(RENDER_POSITION);
|
||||
transformComponent->SetWorldOrientation(RENDER_ORIENTATION);
|
||||
}
|
||||
else
|
||||
{
|
||||
transformComponent->SetWorldPosition(MOTION_STATE.position);
|
||||
transformComponent->SetWorldOrientation(MOTION_STATE.orientation);
|
||||
}
|
||||
|
||||
/*
|
||||
* TODO: Test if the scene graph transforms abides by setting world position. Collisions will ignore the scene graph hierarchy.
|
||||
*/
|
||||
|
||||
|
||||
transformComponent->SetWorldPosition(renderPosition);
|
||||
// TODO: SetOrientation
|
||||
}
|
||||
|
||||
// Collision & Trigger messages
|
||||
|
|
|
|||
|
|
@ -54,7 +54,7 @@ namespace SHADE
|
|||
SHMotionState& motionState = physicsObject.rigidBody->GetMotionState();
|
||||
|
||||
motionState.ForcePosition(TRANSFORM_COMPONENT->GetWorldPosition());
|
||||
// TODO: Force Orientation
|
||||
motionState.ForceOrientation(TRANSFORM_COMPONENT->GetWorldOrientation());
|
||||
}
|
||||
|
||||
if (physicsObject.collider)
|
||||
|
|
|
|||
|
|
@ -120,7 +120,10 @@ namespace SHADE
|
|||
case SHCollisionShape::Type::SPHERE:
|
||||
{
|
||||
const SHSphereCollisionShape* SPHERE = dynamic_cast<const SHSphereCollisionShape*>(SHAPE);
|
||||
drawSphere(debugDrawSystem, *SPHERE);
|
||||
|
||||
// Compute rotation of sphere
|
||||
const SHVec3 ROTATION = collider.GetOrientation().ToEuler() + SPHERE->GetRotationOffset();
|
||||
drawSphere(debugDrawSystem, *SPHERE, ROTATION);
|
||||
|
||||
break;
|
||||
}
|
||||
|
|
@ -137,10 +140,10 @@ namespace SHADE
|
|||
}
|
||||
}
|
||||
|
||||
void SHPhysicsDebugDrawSystem::drawSphere(SHDebugDrawSystem* debugDrawSystem, const SHSphereCollisionShape& sphere) noexcept
|
||||
void SHPhysicsDebugDrawSystem::drawSphere(SHDebugDrawSystem* debugDrawSystem, const SHSphereCollisionShape& sphere, const SHVec3& rotation) noexcept
|
||||
{
|
||||
const SHColour& DRAW_COLOUR = DEBUG_DRAW_COLOURS[SHUtilities::ConvertEnum(sphere.IsTrigger() ? Colours::TRIGGER : Colours::COLLIDER)];
|
||||
debugDrawSystem->DrawSphere(DRAW_COLOUR, sphere.GetCenter(), sphere.GetWorldRadius());
|
||||
debugDrawSystem->DrawSphere(DRAW_COLOUR, sphere.GetCenter(), rotation, sphere.GetWorldRadius());
|
||||
}
|
||||
|
||||
void SHPhysicsDebugDrawSystem::drawContact(SHDebugDrawSystem* debugDrawSystem, const DebugDrawInfo::Contact& contactInfo) noexcept
|
||||
|
|
|
|||
|
|
@ -138,8 +138,8 @@ namespace SHADE
|
|||
|
||||
SHEventHandle onColliderDraw(SHEventPtr onColliderDrawEvent);
|
||||
|
||||
static void drawCollider (SHDebugDrawSystem* debugDrawSystem, const SHCollider& collider) noexcept;
|
||||
static void drawSphere (SHDebugDrawSystem* debugDrawSystem, const SHSphereCollisionShape& sphere) noexcept;
|
||||
static void drawCollider (SHDebugDrawSystem* debugDrawSystem, const SHCollider& collider) noexcept;
|
||||
static void drawSphere (SHDebugDrawSystem* debugDrawSystem, const SHSphereCollisionShape& sphere, const SHVec3& rotation) noexcept;
|
||||
|
||||
static void drawContact (SHDebugDrawSystem* debugDrawSystem, const DebugDrawInfo::Contact& contactInfo) noexcept;
|
||||
static void drawRaycast (SHDebugDrawSystem* debugDrawSystem, const DebugDrawInfo::Raycast& raycastInfo) noexcept;
|
||||
|
|
|
|||
|
|
@ -68,7 +68,7 @@ namespace SHADE
|
|||
|
||||
void SHDebugDraw::Sphere(const SHVec4& color, const SHVec3& pos, double radius)
|
||||
{
|
||||
dbgDrawSys->DrawSphere(color, pos, radius);
|
||||
dbgDrawSys->DrawSphere(color, pos, SHVec3::Zero, radius);
|
||||
}
|
||||
|
||||
void SHDebugDraw::PersistentLine(const SHVec4& color, const SHVec3& startPt, const SHVec3& endPt)
|
||||
|
|
|
|||
|
|
@ -217,10 +217,4 @@ namespace SHADE
|
|||
{
|
||||
return Convert::ToCLI(GetNativeComponent()->GetTorque());
|
||||
}
|
||||
|
||||
void RigidBody::ClearTorque()
|
||||
{
|
||||
GetNativeComponent()->ClearTorque();
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -155,7 +155,6 @@ namespace SHADE
|
|||
void AddRelativeTorque(Vector3 relativeForce);
|
||||
|
||||
Vector3 GetTorque();
|
||||
void ClearTorque();
|
||||
};
|
||||
|
||||
}
|
||||
Loading…
Reference in New Issue