Added PhysicsObject to handle interface between components and physics system
This commit is contained in:
Diren D Bharwani
parent
c698bac731
commit
561f2b091f
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@ -18,12 +18,6 @@
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#include "Math/SHMathHelpers.h"
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#include "Math/SHQuaternion.h"
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/*-------------------------------------------------------------------------------------*/
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/* Local Function Definitions */
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/*-------------------------------------------------------------------------------------*/
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namespace SHADE
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{
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/*-----------------------------------------------------------------------------------*/
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@ -31,8 +25,7 @@ namespace SHADE
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/*-----------------------------------------------------------------------------------*/
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SHRigidBodyComponent::SHRigidBodyComponent() noexcept
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: rigidBody { nullptr }
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, type { Type::DYNAMIC }
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: type { Type::DYNAMIC }
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, mass { 1.0f }
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, drag { 0.01f }
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, angularDrag { 0.01f }
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@ -41,13 +34,11 @@ namespace SHADE
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// Set default flags: Gravity & Sleeping enabled
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flags |= 1U << 0;
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flags |= 1U << 1;
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// TODO(Diren): Send an update command to the physics system
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}
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SHRigidBodyComponent::~SHRigidBodyComponent()
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{
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rigidBody = nullptr;
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}
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/*-----------------------------------------------------------------------------------*/
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@ -57,9 +48,10 @@ namespace SHADE
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bool SHRigidBodyComponent::IsGravityEnabled() const noexcept
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{
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const bool GRAVITY = flags & (1U << 0);
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if (rigidBody)
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if (rp3dBody)
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{
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SHASSERT(rigidBody->isGravityEnabled() == GRAVITY, "ReactPhysics and SHADE body enable gravity do not match!")
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SHASSERT(reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->isGravityEnabled() == GRAVITY, "ReactPhysics and SHADE body enable gravity do not match!")
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}
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return GRAVITY;
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@ -68,21 +60,26 @@ namespace SHADE
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bool SHRigidBodyComponent::IsSleepingEnabled() const noexcept
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{
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const bool SLEEP = flags & (1U << 1);
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if (rigidBody)
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if (rp3dBody)
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{
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SHASSERT(rigidBody->isAllowedToSleep() == SLEEP, "ReactPhysics and SHADE body enable sleep do not match!")
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SHASSERT(reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->isAllowedToSleep() == SLEEP, "ReactPhysics and SHADE body enable sleep do not match!")
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}
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return SLEEP;
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}
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bool SHRigidBodyComponent::IsInterpolating() const noexcept
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{
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return interpolate;
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}
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SHRigidBodyComponent::Type SHRigidBodyComponent::GetType() const noexcept
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{
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if (rigidBody)
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if (rp3dBody)
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{
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SHASSERT
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(
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SHUtilities::ConvertEnum(rigidBody->getType()) == SHUtilities::ConvertEnum(type),
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SHUtilities::ConvertEnum(reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->getType()) == SHUtilities::ConvertEnum(type),
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"ReactPhysics and SHADE body types do not match!"
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)
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}
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@ -92,9 +89,9 @@ namespace SHADE
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float SHRigidBodyComponent::GetMass() const noexcept
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{
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if (rigidBody)
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if (rp3dBody)
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{
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SHASSERT(rigidBody->getMass() == mass, "ReactPhysics and SHADE body masses do not match!")
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SHASSERT(reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->getMass() == mass, "ReactPhysics and SHADE body masses do not match!")
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}
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return mass;
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@ -102,11 +99,11 @@ namespace SHADE
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float SHRigidBodyComponent::GetDrag() const noexcept
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{
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if (rigidBody)
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if (rp3dBody)
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{
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SHASSERT
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(
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SHMath::CompareFloat(rigidBody->getLinearDamping(), drag),
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SHMath::CompareFloat(reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->getLinearDamping(), drag),
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"ReactPhysics and SADE body drag coefficients do not match!"
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)
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}
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@ -116,11 +113,11 @@ namespace SHADE
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float SHRigidBodyComponent::GetAngularDrag() const noexcept
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{
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if (rigidBody)
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if (rp3dBody)
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{
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SHASSERT
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(
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SHMath::CompareFloat(rigidBody->getAngularDamping(), angularDrag),
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SHMath::CompareFloat(reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->getAngularDamping(), angularDrag),
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"ReactPhysics and SADE body drag coefficients do not match!"
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)
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}
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@ -131,9 +128,9 @@ namespace SHADE
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bool SHRigidBodyComponent::GetFreezePositionX() const noexcept
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{
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const bool FREEZE_X_POS = flags & (1U << 2);
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if (rigidBody)
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if (rp3dBody)
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{
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const bool RP3D_FREEZE_X_POS = fabs(rigidBody->getLinearLockAxisFactor().x) > 0.0f;
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const bool RP3D_FREEZE_X_POS = fabs(reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->getLinearLockAxisFactor().x) > 0.0f;
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SHASSERT(RP3D_FREEZE_X_POS == FREEZE_X_POS, "ReactPhysics and SHADE body x-axis position lock do not match!")
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}
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@ -143,9 +140,9 @@ namespace SHADE
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bool SHRigidBodyComponent::GetFreezePositionY() const noexcept
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{
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const bool FREEZE_Y_POS = flags & (1U << 3);
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if (rigidBody)
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if (rp3dBody)
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{
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const bool RP3D_FREEZE_Y_POS = fabs(rigidBody->getLinearLockAxisFactor().y) > 0.0f;
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const bool RP3D_FREEZE_Y_POS = fabs(reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->getLinearLockAxisFactor().y) > 0.0f;
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SHASSERT(RP3D_FREEZE_Y_POS == FREEZE_Y_POS, "ReactPhysics and SHADE body y-axis position lock do not match!")
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}
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@ -155,9 +152,9 @@ namespace SHADE
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bool SHRigidBodyComponent::GetFreezePositionZ() const noexcept
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{
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const bool FREEZE_Z_POS = flags & (1U << 4);
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if (rigidBody)
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if (rp3dBody)
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{
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const bool RP3D_FREEZE_Z_POS = fabs(rigidBody->getLinearLockAxisFactor().z) > 0.0f;
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const bool RP3D_FREEZE_Z_POS = fabs(reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->getLinearLockAxisFactor().z) > 0.0f;
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SHASSERT(RP3D_FREEZE_Z_POS == FREEZE_Z_POS, "ReactPhysics and SHADE body z-axis position lock do not match!")
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}
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@ -167,9 +164,9 @@ namespace SHADE
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bool SHRigidBodyComponent::GetFreezeRotationX() const noexcept
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{
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const bool FREEZE_X_ROT = flags & (1U << 5);
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if (rigidBody)
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if (rp3dBody)
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{
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const bool RP3D_FREEZE_Y_ROT = fabs(rigidBody->getAngularLockAxisFactor().x) > 0.0f;
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const bool RP3D_FREEZE_Y_ROT = fabs(reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->getAngularLockAxisFactor().x) > 0.0f;
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SHASSERT(RP3D_FREEZE_Y_ROT == FREEZE_X_ROT, "ReactPhysics and SHADE body x-axis rotation lock do not match!")
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}
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@ -179,9 +176,9 @@ namespace SHADE
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bool SHRigidBodyComponent::GetFreezeRotationY() const noexcept
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{
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const bool FREEZE_Y_ROT = flags & (1U << 6);
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if (rigidBody)
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if (rp3dBody)
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{
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const bool RP3D_FREEZE_Y_ROT = fabs(rigidBody->getAngularLockAxisFactor().y) > 0.0f;
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const bool RP3D_FREEZE_Y_ROT = fabs(reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->getAngularLockAxisFactor().y) > 0.0f;
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SHASSERT(RP3D_FREEZE_Y_ROT == FREEZE_Y_ROT, "ReactPhysics and SHADE body y-axis rotation lock do not match!")
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}
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@ -191,9 +188,9 @@ namespace SHADE
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bool SHRigidBodyComponent::GetFreezeRotationZ() const noexcept
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{
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const bool FREEZE_Z_ROT = flags & (1U << 7);
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if (rigidBody)
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if (rp3dBody)
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{
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const bool RP3D_FREEZE_Z_ROT = fabs(rigidBody->getAngularLockAxisFactor().z) > 0.0f;
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const bool RP3D_FREEZE_Z_ROT = fabs(reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->getAngularLockAxisFactor().z) > 0.0f;
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SHASSERT(RP3D_FREEZE_Z_ROT == FREEZE_Z_ROT, "ReactPhysics and SHADE body z-axis rotation lock do not match!")
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}
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@ -204,9 +201,9 @@ namespace SHADE
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{
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SHVec3 result;
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if (rigidBody)
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if (rp3dBody)
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{
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const auto RP3D_RESULT = rigidBody->getForce();
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const auto& RP3D_RESULT = reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->getForce();
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result = SHVec3{ RP3D_RESULT.x, RP3D_RESULT.y, RP3D_RESULT.z };
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}
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@ -217,9 +214,9 @@ namespace SHADE
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{
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SHVec3 result;
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if (rigidBody)
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if (rp3dBody)
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{
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const auto RP3D_RESULT = rigidBody->getTorque();
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const auto& RP3D_RESULT = reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->getTorque();
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result = SHVec3{ RP3D_RESULT.x, RP3D_RESULT.y, RP3D_RESULT.z };
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}
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@ -230,9 +227,9 @@ namespace SHADE
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{
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SHVec3 result;
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if (rigidBody)
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if (rp3dBody)
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{
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const auto RP3D_RESULT = rigidBody->getLinearVelocity();
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const auto& RP3D_RESULT = reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->getLinearVelocity();
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result = SHVec3{ RP3D_RESULT.x, RP3D_RESULT.y, RP3D_RESULT.z };
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}
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@ -243,41 +240,15 @@ namespace SHADE
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{
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SHVec3 result;
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if (rigidBody)
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if (rp3dBody)
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{
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const auto RP3D_RESULT = rigidBody->getAngularVelocity();
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const auto& RP3D_RESULT = reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->getAngularVelocity();
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result = SHVec3{ RP3D_RESULT.x, RP3D_RESULT.y, RP3D_RESULT.z };
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}
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return result;
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}
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SHVec3 SHRigidBodyComponent::GetPosition() const noexcept
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{
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SHVec3 result;
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if (rigidBody)
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{
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const auto RP3D_RESULT = rigidBody->getTransform().getPosition();
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result = SHVec3{ RP3D_RESULT.x, RP3D_RESULT.y, RP3D_RESULT.z };
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}
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return result;
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}
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SHQuaternion SHRigidBodyComponent::GetOrientation() const noexcept
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{
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SHQuaternion result;
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if (rigidBody)
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{
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const auto RP3D_RESULT = rigidBody->getTransform().getOrientation();
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result = SHQuaternion{ RP3D_RESULT.x, RP3D_RESULT.y, RP3D_RESULT.z, RP3D_RESULT.w };
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}
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return result;
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}
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/*-----------------------------------------------------------------------------------*/
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/* Setter Function Definitions */
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/*-----------------------------------------------------------------------------------*/
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@ -288,43 +259,43 @@ namespace SHADE
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return;
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type = newType;
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if (rigidBody)
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rigidBody->setType(static_cast<rp3d::BodyType>(newType));
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if (rp3dBody)
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reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->setType(static_cast<rp3d::BodyType>(newType));
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}
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void SHRigidBodyComponent::SetMass(float newMass) noexcept
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{
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mass = newMass;
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if (rigidBody)
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rigidBody->setMass(newMass);
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if (rp3dBody)
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reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->setMass(newMass);
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}
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void SHRigidBodyComponent::SetDrag(float newDrag) noexcept
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{
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drag = newDrag;
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if (rigidBody)
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rigidBody->setLinearDamping(newDrag);
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if (rp3dBody)
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reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->setLinearDamping(newDrag);
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}
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void SHRigidBodyComponent::SetAngularDrag(float newAngularDrag) noexcept
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{
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angularDrag = newAngularDrag;
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if (rigidBody)
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rigidBody->setAngularDamping(newAngularDrag);
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if (rp3dBody)
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reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->setAngularDamping(newAngularDrag);
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}
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void SHRigidBodyComponent::SetGravityEnabled(bool enableGravity) noexcept
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{
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SetFlag(enableGravity, 0);
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if (rigidBody)
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rigidBody->enableGravity(enableGravity);
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if (rp3dBody)
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reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->enableGravity(enableGravity);
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}
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void SHRigidBodyComponent::SetSleepingEnabled(bool enableSleeping) noexcept
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{
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SetFlag(enableSleeping, 1);
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if (rigidBody)
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rigidBody->setIsAllowedToSleep(enableSleeping);
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if (rp3dBody)
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reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->setIsAllowedToSleep(enableSleeping);
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}
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void SHRigidBodyComponent::SetFreezePositionX(bool freezePositionX) noexcept
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@ -363,21 +334,26 @@ namespace SHADE
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SetRP3DAngularConstraints();
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}
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void SHRigidBodyComponent::SetInterpolate(bool allowInterpolation) noexcept
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{
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interpolate = allowInterpolation;
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}
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void SHRigidBodyComponent::SetLinearVelocity(const SHVec3& newLinearVelocity) const noexcept
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{
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if (rigidBody)
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if (rp3dBody)
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{
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const rp3d::Vector3 NEW_V { newLinearVelocity.x, newLinearVelocity.y, newLinearVelocity.z };
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rigidBody->setLinearVelocity(NEW_V);
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reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->setLinearVelocity(NEW_V);
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}
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}
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void SHRigidBodyComponent::SetAngularVelocity(const SHVec3& newAngularVelocity) const noexcept
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{
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if (rigidBody)
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if (rp3dBody)
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{
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const rp3d::Vector3 NEW_V { newAngularVelocity.x, newAngularVelocity.y, newAngularVelocity.z };
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rigidBody->setAngularVelocity(NEW_V);
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reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->setAngularVelocity(NEW_V);
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}
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}
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@ -385,79 +361,97 @@ namespace SHADE
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/* Public Function Member Definitions */
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/*-----------------------------------------------------------------------------------*/
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void SHRigidBodyComponent::OnCreate()
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{
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componentFlags |= 1U << 0; // dirty
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componentFlags |= 1U << 1; // rb dirty
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componentFlags |= 1U << 2; // has rb
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Synchronise();
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}
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void SHRigidBodyComponent::OnDestroy()
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{
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componentFlags |= 1U << 0; // dirty
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componentFlags |= 1U << 1; // rb dirty
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componentFlags &= ~(1U << 2); // no rb
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Synchronise();
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}
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void SHRigidBodyComponent::AddForce(const SHVec3& force) const noexcept
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{
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if (rigidBody)
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if (rp3dBody)
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{
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const rp3d::Vector3 F { force.x, force.y, force.z };
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rigidBody->applyWorldForceAtCenterOfMass(F);
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reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->applyWorldForceAtCenterOfMass(F);
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}
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}
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void SHRigidBodyComponent::AddForceAtLocalPos(const SHVec3& force, const SHVec3& localPos) const noexcept
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{
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if (rigidBody)
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if (rp3dBody)
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{
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const rp3d::Vector3 F{ force.x, force.y, force.z };
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const rp3d::Vector3 P{ localPos.x, localPos.y, localPos.z };
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rigidBody->applyWorldForceAtLocalPosition(F, P);
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reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->applyWorldForceAtLocalPosition(F, P);
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}
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}
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void SHRigidBodyComponent::AddForceAtWorldPos(const SHVec3& force, const SHVec3& worldPos) const noexcept
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{
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if (rigidBody)
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if (rp3dBody)
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{
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const rp3d::Vector3 F{ force.x, force.y, force.z };
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const rp3d::Vector3 P{ worldPos.x, worldPos.y, worldPos.z };
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rigidBody->applyWorldForceAtWorldPosition(F, P);
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reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->applyWorldForceAtWorldPosition(F, P);
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}
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}
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void SHRigidBodyComponent::AddRelativeForce(const SHVec3& relativeForce) const noexcept
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{
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if (rigidBody)
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if (rp3dBody)
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{
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const rp3d::Vector3 F{ relativeForce.x, relativeForce.y, relativeForce.z };
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rigidBody->applyLocalForceAtCenterOfMass(F);
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reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->applyLocalForceAtCenterOfMass(F);
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}
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}
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void SHRigidBodyComponent::AddRelativeForceAtLocalPos(const SHVec3& relativeForce, const SHVec3& localPos) const noexcept
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{
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||||
if (rigidBody)
|
||||
if (rp3dBody)
|
||||
{
|
||||
const rp3d::Vector3 F{ relativeForce.x, relativeForce.y, relativeForce.z };
|
||||
const rp3d::Vector3 P{ localPos.x, localPos.y, localPos.z };
|
||||
rigidBody->applyLocalForceAtLocalPosition(F, P);
|
||||
reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->applyLocalForceAtLocalPosition(F, P);
|
||||
}
|
||||
}
|
||||
|
||||
void SHRigidBodyComponent::AddRelativeForceAtWorldPos(const SHVec3& relativeForce, const SHVec3& worldPos) const noexcept
|
||||
{
|
||||
if (rigidBody)
|
||||
if (rp3dBody)
|
||||
{
|
||||
const rp3d::Vector3 F{ relativeForce.x, relativeForce.y, relativeForce.z };
|
||||
const rp3d::Vector3 P{ worldPos.x, worldPos.y, worldPos.z };
|
||||
rigidBody->applyLocalForceAtWorldPosition(F, P);
|
||||
reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->applyLocalForceAtWorldPosition(F, P);
|
||||
}
|
||||
}
|
||||
|
||||
void SHRigidBodyComponent::AddTorque(const SHVec3& torque) const noexcept
|
||||
{
|
||||
if (rigidBody)
|
||||
if (rp3dBody)
|
||||
{
|
||||
const rp3d::Vector3 T{ torque.x, torque.y, torque.z };
|
||||
rigidBody->applyWorldTorque(T);
|
||||
reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->applyWorldTorque(T);
|
||||
}
|
||||
}
|
||||
|
||||
void SHRigidBodyComponent::AddRelativeTorque(const SHVec3& relativeTorque) const noexcept
|
||||
{
|
||||
if (rigidBody)
|
||||
if (rp3dBody)
|
||||
{
|
||||
const rp3d::Vector3 T{ relativeTorque.x, relativeTorque.y, relativeTorque.z };
|
||||
rigidBody->applyLocalTorque(T);
|
||||
reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->applyLocalTorque(T);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -467,6 +461,8 @@ namespace SHADE
|
|||
|
||||
void SHRigidBodyComponent::SyncRP3DAndSHADE()
|
||||
{
|
||||
auto* rigidBody = reinterpret_cast<rp3d::RigidBody*>(rp3dBody);
|
||||
|
||||
rigidBody->setType(static_cast<rp3d::BodyType>(type));
|
||||
|
||||
rigidBody->setMass(mass);
|
||||
|
|
@ -494,8 +490,8 @@ namespace SHADE
|
|||
flags & 1U << 4 ? 1.0f : 0.0f
|
||||
};
|
||||
|
||||
if (rigidBody)
|
||||
rigidBody->setLinearLockAxisFactor(CONSTRAINTS);
|
||||
if (rp3dBody)
|
||||
reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->setLinearLockAxisFactor(CONSTRAINTS);
|
||||
}
|
||||
|
||||
void SHRigidBodyComponent::SetRP3DAngularConstraints() const
|
||||
|
|
@ -507,8 +503,8 @@ namespace SHADE
|
|||
flags & 1U << 7 ? 1.0f : 0.0f
|
||||
};
|
||||
|
||||
if (rigidBody)
|
||||
rigidBody->setAngularLockAxisFactor(CONSTRAINTS);
|
||||
if (rp3dBody)
|
||||
reinterpret_cast<rp3d::RigidBody*>(rp3dBody)->setAngularLockAxisFactor(CONSTRAINTS);
|
||||
}
|
||||
|
||||
} // namespace SHADE
|
||||
|
|
@ -10,16 +10,17 @@
|
|||
|
||||
#pragma once
|
||||
|
||||
#include <reactphysics3d/reactphysics3d.h>
|
||||
|
||||
// Project Headers
|
||||
#include "Math/Vector/SHVec3.h"
|
||||
#include "Math/SHMatrix.h"
|
||||
#include "ECS_Base/Components/SHComponent.h"
|
||||
#include "Physics/SHPhysicsObject.h"
|
||||
|
||||
namespace SHADE
|
||||
{
|
||||
class SH_API SHRigidBodyComponent : public SHComponent
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
/* Type Definitions */
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
|
||||
class SH_API SHRigidBodyComponent : public SHComponent, public SHPhysicsObject
|
||||
{
|
||||
private:
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
|
|
@ -66,6 +67,7 @@ namespace SHADE
|
|||
|
||||
[[nodiscard]] bool IsGravityEnabled () const noexcept;
|
||||
[[nodiscard]] bool IsSleepingEnabled () const noexcept;
|
||||
[[nodiscard]] bool IsInterpolating () const noexcept;
|
||||
|
||||
[[nodiscard]] Type GetType () const noexcept;
|
||||
[[nodiscard]] float GetMass () const noexcept;
|
||||
|
|
@ -84,8 +86,6 @@ namespace SHADE
|
|||
[[nodiscard]] SHVec3 GetTorque () const noexcept;
|
||||
[[nodiscard]] SHVec3 GetLinearVelocity () const noexcept;
|
||||
[[nodiscard]] SHVec3 GetAngularVelocity () const noexcept;
|
||||
[[nodiscard]] SHVec3 GetPosition () const noexcept;
|
||||
[[nodiscard]] SHQuaternion GetOrientation () const noexcept;
|
||||
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
/* Setter Functions */
|
||||
|
|
@ -104,6 +104,7 @@ namespace SHADE
|
|||
void SetFreezeRotationX (bool freezeRotationX) noexcept;
|
||||
void SetFreezeRotationY (bool freezeRotationY) noexcept;
|
||||
void SetFreezeRotationZ (bool freezeRotationZ) noexcept;
|
||||
void SetInterpolate (bool allowInterpolation) noexcept;
|
||||
|
||||
void SetLinearVelocity (const SHVec3& newLinearVelocity) const noexcept;
|
||||
void SetAngularVelocity (const SHVec3& newAngularVelocity) const noexcept;
|
||||
|
|
@ -112,6 +113,9 @@ namespace SHADE
|
|||
/* Function Members */
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
|
||||
void OnCreate () override;
|
||||
void OnDestroy () override;
|
||||
|
||||
void AddForce (const SHVec3& force) const noexcept;
|
||||
void AddForceAtLocalPos (const SHVec3& force, const SHVec3& localPos) const noexcept;
|
||||
void AddForceAtWorldPos (const SHVec3& force, const SHVec3& worldPos) const noexcept;
|
||||
|
|
@ -127,8 +131,6 @@ namespace SHADE
|
|||
/*---------------------------------------------------------------------------------*/
|
||||
/* Data Members */
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
|
||||
rp3d::RigidBody* rigidBody;
|
||||
|
||||
Type type;
|
||||
|
||||
|
|
@ -138,6 +140,7 @@ namespace SHADE
|
|||
|
||||
// rX rY rZ pX pY pZ slp g
|
||||
uint8_t flags;
|
||||
bool interpolate;
|
||||
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
/* Function Members */
|
||||
|
|
|
|||
|
|
@ -0,0 +1,112 @@
|
|||
/****************************************************************************************
|
||||
* \file SHPhysicsObject.cpp
|
||||
* \author Diren D Bharwani, diren.dbharwani, 390002520
|
||||
* \brief Implementation for a Physics Object.
|
||||
*
|
||||
* \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
|
||||
* disclosure of this file or its contents without the prior written consent
|
||||
* of DigiPen Institute of Technology is prohibited.
|
||||
****************************************************************************************/
|
||||
|
||||
#include <SHpch.h>
|
||||
|
||||
// Primary Header
|
||||
#include "SHPhysicsObject.h"
|
||||
|
||||
// Project Headers
|
||||
#include "ECS_Base/Managers/SHSystemManager.h"
|
||||
#include "SHPhysicsSystem.h"
|
||||
|
||||
namespace SHADE
|
||||
{
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
/* Constructors & Destructor Definitions */
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
|
||||
SHPhysicsObject::SHPhysicsObject() noexcept
|
||||
: entityID { MAX_EID }
|
||||
, componentFlags { 0 }
|
||||
, rp3dBody { nullptr }
|
||||
{}
|
||||
|
||||
SHPhysicsObject::~SHPhysicsObject() noexcept
|
||||
{
|
||||
rp3dBody = nullptr;
|
||||
}
|
||||
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
/* Getter Function Definitions */
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
|
||||
SHVec3 SHPhysicsObject::GetPosition() const noexcept
|
||||
{
|
||||
SHVec3 result;
|
||||
|
||||
if (rp3dBody)
|
||||
{
|
||||
const auto& RP3D_RESULT = rp3dBody->getTransform().getPosition();
|
||||
result = SHVec3{ RP3D_RESULT.x, RP3D_RESULT.y, RP3D_RESULT.z };
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
SHQuaternion SHPhysicsObject::GetOrientation() const noexcept
|
||||
{
|
||||
SHQuaternion result;
|
||||
|
||||
if (rp3dBody)
|
||||
{
|
||||
const auto& RP3D_RESULT = rp3dBody->getTransform().getOrientation();
|
||||
result = SHQuaternion{ RP3D_RESULT.x, RP3D_RESULT.y, RP3D_RESULT.z, RP3D_RESULT.w };
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
SHVec3 SHPhysicsObject::GetRotation() const noexcept
|
||||
{
|
||||
SHVec3 result;
|
||||
|
||||
if (rp3dBody)
|
||||
{
|
||||
const auto& RP3D_RESULT = rp3dBody->getTransform().getOrientation();
|
||||
result = SHQuaternion{ RP3D_RESULT.x, RP3D_RESULT.y, RP3D_RESULT.z, RP3D_RESULT.w }.ToEuler();
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
/* Public Function Member Definitions */
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
|
||||
void SHPhysicsObject::Synchronise() const
|
||||
{
|
||||
if (const bool IS_DIRTY = componentFlags & 1U << 0; IS_DIRTY)
|
||||
{
|
||||
auto* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
|
||||
|
||||
const bool IS_RIGIDBODY_DIRTY = componentFlags & 1U << 1;
|
||||
const bool IS_COLLIDER_DIRTY = componentFlags & 1U << 3;
|
||||
|
||||
if (IS_RIGIDBODY_DIRTY)
|
||||
{
|
||||
static constexpr auto COMP_ENUM = SHPhysicsSystem::UpdateComponent::RIGID_BODY;
|
||||
|
||||
const bool HAS_RIGIDBODY = componentFlags & 1U << 2;
|
||||
HAS_RIGIDBODY ? physicsSystem->AddComponent(COMP_ENUM, entityID) : physicsSystem->RemoveComponent(COMP_ENUM, entityID);
|
||||
}
|
||||
|
||||
if (IS_COLLIDER_DIRTY)
|
||||
{
|
||||
static constexpr auto COMP_ENUM = SHPhysicsSystem::UpdateComponent::COLLIDER;
|
||||
|
||||
const bool HAS_COLLIDER = componentFlags & 1U << 2;
|
||||
HAS_COLLIDER ? physicsSystem->AddComponent(COMP_ENUM, entityID) : physicsSystem->RemoveComponent(COMP_ENUM, entityID);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
} // namespace SHADE
|
||||
|
|
@ -0,0 +1,82 @@
|
|||
/****************************************************************************************
|
||||
* \file SHPhysicsObject.h
|
||||
* \author Diren D Bharwani, diren.dbharwani, 390002520
|
||||
* \brief Interface for a Physics Object.
|
||||
*
|
||||
* \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
|
||||
* disclosure of this file or its contents without the prior written consent
|
||||
* of DigiPen Institute of Technology is prohibited.
|
||||
****************************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <reactphysics3d/reactphysics3d.h>
|
||||
|
||||
// Project Headers
|
||||
#include "Math/Vector/SHVec3.h"
|
||||
#include "Math/SHQuaternion.h"
|
||||
#include "ECS_Base/Entity/SHEntity.h"
|
||||
|
||||
namespace SHADE
|
||||
{
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
/* Type Definitions */
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
|
||||
class SH_API SHPhysicsObject
|
||||
{
|
||||
protected:
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
/* Friends */
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
|
||||
friend class SHPhysicsSystem;
|
||||
|
||||
public:
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
/* Constructors & Destructor */
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
|
||||
SHPhysicsObject () noexcept;
|
||||
SHPhysicsObject (const SHPhysicsObject& rhs) noexcept = default;
|
||||
SHPhysicsObject (SHPhysicsObject&& rhs) noexcept = default;
|
||||
~SHPhysicsObject () noexcept;
|
||||
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
/* Operator Overloads */
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
|
||||
SHPhysicsObject& operator=(const SHPhysicsObject& rhs) noexcept = default;
|
||||
SHPhysicsObject& operator=(SHPhysicsObject&& rhs) noexcept = default;
|
||||
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
/* Getter Functions */
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
|
||||
[[nodiscard]] SHVec3 GetPosition () const noexcept;
|
||||
[[nodiscard]] SHQuaternion GetOrientation () const noexcept;
|
||||
[[nodiscard]] SHVec3 GetRotation () const noexcept;
|
||||
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
/* Function Members */
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
|
||||
/**
|
||||
* @brief Checks for updates in the component states and tells the physics system to
|
||||
* make any necessary additions / removals to rp3d side to sync with the SHADE
|
||||
* component.
|
||||
*/
|
||||
void Synchronise() const;
|
||||
|
||||
protected:
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
/* Data Members */
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
|
||||
EntityID entityID;
|
||||
uint8_t componentFlags; // 0 0 0 c cDirty rb rbDirty dirty
|
||||
rp3d::CollisionBody* rp3dBody; // Can be either a collision body or a rigid body
|
||||
rp3d::Transform prevTransform; // Cached transform for interpolation
|
||||
|
||||
};
|
||||
} // namespace SHADE
|
||||
|
|
@ -14,11 +14,10 @@
|
|||
#include "SHPhysicsSystem.h"
|
||||
|
||||
// Project Headers
|
||||
#include "Math/Transform/SHTransformComponent.h"
|
||||
#include "Scene/SHSceneManager.h"
|
||||
#include "ECS_Base/Managers/SHComponentManager.h"
|
||||
#include "ECS_Base/Managers/SHEntityManager.h"
|
||||
#include "Graphics/MiddleEnd/Interface/SHRenderable.h"
|
||||
#include "Scene/SHSceneManager.h"
|
||||
#include "Math/Transform/SHTransformComponent.h"
|
||||
|
||||
namespace SHADE
|
||||
{
|
||||
|
|
@ -26,6 +25,12 @@ namespace SHADE
|
|||
/* Constructors & Destructor Definitions */
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
|
||||
SHPhysicsSystem::SHPhysicsSystem()
|
||||
: accumulatedTime { 0.0 }
|
||||
, fixedDT { 1.0 / 60.0 }
|
||||
, world { nullptr }
|
||||
{}
|
||||
|
||||
SHPhysicsSystem::PhysicsPreUpdate::PhysicsPreUpdate()
|
||||
: SHSystemRoutine { "Physics PreUpdate", true }
|
||||
{}
|
||||
|
|
@ -51,11 +56,6 @@ namespace SHADE
|
|||
return false;
|
||||
}
|
||||
|
||||
//double SHPhysicsSystem::GetFixedUpdate() const noexcept
|
||||
//{
|
||||
// return fixedUpdate;
|
||||
//}
|
||||
|
||||
SHVec3 SHPhysicsSystem::GetWorldGravity() const noexcept
|
||||
{
|
||||
SHVec3 result;
|
||||
|
|
@ -97,12 +97,6 @@ namespace SHADE
|
|||
/* Setter Function Definitions */
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
|
||||
//void SHPhysicsSystem::SetFixedUpdate(double fixedUpdateRate) noexcept
|
||||
//{
|
||||
// fixedUpdate = fixedUpdateRate;
|
||||
// SHLOG_INFO("Setting Physics update rate to {}", 1.0 / fixedUpdate)
|
||||
//}
|
||||
|
||||
void SHPhysicsSystem::SetWorldGravity(const SHVec3& gravity) const noexcept
|
||||
{
|
||||
if (world)
|
||||
|
|
@ -178,7 +172,7 @@ namespace SHADE
|
|||
|
||||
// Create a physics world with the default settings
|
||||
PhysicsWorld::WorldSettings settings;
|
||||
settings.gravity = Vector3{ 0, -9.81, 0 };
|
||||
settings.gravity = Vector3{ 0.0f, -9.81f, 0.0f };
|
||||
settings.isSleepingEnabled = true;
|
||||
settings.defaultVelocitySolverNbIterations = 8;
|
||||
settings.defaultPositionSolverNbIterations = 3;
|
||||
|
|
@ -194,108 +188,14 @@ namespace SHADE
|
|||
factory.destroyPhysicsWorld(world);
|
||||
}
|
||||
|
||||
void SHPhysicsSystem::AddRigidBodyComponent(EntityID id) noexcept
|
||||
{
|
||||
const UpdateCommand NEW_CMD
|
||||
{
|
||||
.component = UpdateComponent::RIGID_BODY,
|
||||
.type = UpdateType::ADD,
|
||||
.entityID = id
|
||||
};
|
||||
|
||||
updateQueue.push(NEW_CMD);
|
||||
}
|
||||
|
||||
void SHPhysicsSystem::AddColliderComponent(EntityID id) noexcept
|
||||
{
|
||||
const UpdateCommand NEW_CMD
|
||||
{
|
||||
.component = UpdateComponent::COLLIDER,
|
||||
.type = UpdateType::ADD,
|
||||
.entityID = id
|
||||
};
|
||||
|
||||
updateQueue.push(NEW_CMD);
|
||||
}
|
||||
|
||||
void SHPhysicsSystem::RemoveRigidBodyComponent(EntityID id) noexcept
|
||||
{
|
||||
const UpdateCommand NEW_CMD
|
||||
{
|
||||
.component = UpdateComponent::RIGID_BODY,
|
||||
.type = UpdateType::REMOVE,
|
||||
.entityID = id
|
||||
};
|
||||
|
||||
updateQueue.push(NEW_CMD);
|
||||
}
|
||||
|
||||
void SHPhysicsSystem::RemoveColliderComponent(EntityID id) noexcept
|
||||
{
|
||||
const UpdateCommand NEW_CMD
|
||||
{
|
||||
.component = UpdateComponent::COLLIDER,
|
||||
.type = UpdateType::REMOVE,
|
||||
.entityID = id
|
||||
};
|
||||
|
||||
updateQueue.push(NEW_CMD);
|
||||
}
|
||||
|
||||
void SHPhysicsSystem::PhysicsPreUpdate::Execute([[maybe_unused]]double dt) noexcept
|
||||
{
|
||||
auto* system = reinterpret_cast<SHPhysicsSystem*>(GetSystem());
|
||||
|
||||
system->ClearUpdateQueue();
|
||||
|
||||
// Sync active states: if node or component is not active, set rp3d to inactive
|
||||
static const auto SYNC_ACTIVE = [](SHSceneNode* node)
|
||||
{
|
||||
const EntityID ENTITY_ID = node->GetEntityID();
|
||||
|
||||
// Check if has rigid body
|
||||
auto const* rigidBodyComponent = SHComponentManager::GetComponent_s<SHRigidBodyComponent>(ENTITY_ID);
|
||||
if(rigidBodyComponent)
|
||||
{
|
||||
const bool RP3D_ACTIVE = rigidBodyComponent->rigidBody->isActive();
|
||||
const bool SHADE_ACTIVE = node->IsActive() && rigidBodyComponent->isActive;
|
||||
|
||||
if (RP3D_ACTIVE != SHADE_ACTIVE)
|
||||
rigidBodyComponent->rigidBody->setIsActive(SHADE_ACTIVE);
|
||||
}
|
||||
else // Check for a collider
|
||||
{
|
||||
|
||||
}
|
||||
};
|
||||
|
||||
const auto& sceneGraph = SHSceneManager::GetCurrentSceneGraph();
|
||||
sceneGraph.Traverse(SYNC_ACTIVE);
|
||||
system->SyncActiveStates(SHSceneManager::GetCurrentSceneGraph());
|
||||
}
|
||||
|
||||
//void SHPhysicsSystem::PhysicsFixedUpdate::Execute(double dt) noexcept
|
||||
//{
|
||||
// // I had to override this anyway due to needing to calculate the
|
||||
// // interpolation factor right after the fixed update was done
|
||||
|
||||
// auto* system = reinterpret_cast<SHPhysicsSystem*>(GetSystem());
|
||||
// fixedTimeStep = 1.0 / system->fixedUpdate;
|
||||
|
||||
// accumulatedTime += dt;
|
||||
// int counter = 0;
|
||||
|
||||
// while (accumulatedTime > fixedTimeStep)
|
||||
// {
|
||||
// FixedExecute(fixedTimeStep);
|
||||
|
||||
// accumulatedTime -= fixedTimeStep;
|
||||
// ++counter;
|
||||
// }
|
||||
|
||||
// stats.numSteps = counter;
|
||||
|
||||
// system->interpolationFactor = accumulatedTime / fixedTimeStep;
|
||||
//}
|
||||
|
||||
void SHPhysicsSystem::PhysicsFixedUpdate::FixedExecute(double dt) noexcept
|
||||
{
|
||||
auto* system = reinterpret_cast<SHPhysicsSystem*>(GetSystem());
|
||||
|
|
@ -309,38 +209,25 @@ namespace SHADE
|
|||
{
|
||||
// Interpolate transforms for rendering
|
||||
const auto& sceneGraph = SHSceneManager::GetCurrentSceneGraph();
|
||||
sceneGraph.Traverse([](SHSceneNode* node)
|
||||
{
|
||||
const EntityID ENTITY_ID = node->GetEntityID();
|
||||
|
||||
// Check if has rigid body
|
||||
if (auto* rb = SHComponentManager::GetComponent_s<SHRigidBodyComponent>(ENTITY_ID); rb)
|
||||
{
|
||||
// TODO(Diren): Interpolate transforms for rendering
|
||||
if (node->IsActive() && rb->isActive)
|
||||
{
|
||||
// Get SHADE transform
|
||||
auto* transformComponent = SHComponentManager::GetComponent_s<SHTransformComponent>(ENTITY_ID);
|
||||
SHASSERT(transformComponent != nullptr, "Transform Component missing from Entity " + std::to_string(ENTITY_ID))
|
||||
|
||||
const auto& RP3D_POS = rb->GetPosition();
|
||||
const SHVec3 SHADE_POS{ RP3D_POS.x, RP3D_POS.y, RP3D_POS.z };
|
||||
|
||||
const auto& SHADE_ROT = rb->GetOrientation().ToEuler();
|
||||
|
||||
transformComponent->SetWorldPosition(SHADE_POS);
|
||||
transformComponent->SetWorldRotation(SHADE_ROT);
|
||||
}
|
||||
else // Check for a collider
|
||||
{
|
||||
|
||||
}
|
||||
}
|
||||
});
|
||||
|
||||
// TODO(Diren): Handle trigger messages for scripting
|
||||
}
|
||||
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
/* Protected Function Member Definitions */
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
|
||||
void SHPhysicsSystem::AddComponent(UpdateComponent comp, EntityID entityID) noexcept
|
||||
{
|
||||
updateQueue.push({ comp, UpdateType::ADD, entityID });
|
||||
}
|
||||
|
||||
|
||||
void SHPhysicsSystem::RemoveComponent(UpdateComponent comp, EntityID entityID) noexcept
|
||||
{
|
||||
updateQueue.push({ comp, UpdateType::REMOVE, entityID });
|
||||
}
|
||||
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
/* Private Function Member Definitions */
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
|
|
@ -377,6 +264,85 @@ namespace SHADE
|
|||
}
|
||||
}
|
||||
|
||||
void SHPhysicsSystem::SyncActiveStates(const SHSceneGraph& sceneGraph) const noexcept
|
||||
{
|
||||
// Sync active states: if node or component is not active, set rp3d to inactive
|
||||
static constexpr auto SYNC_ACTIVE = [](SHSceneNode* node)
|
||||
{
|
||||
const EntityID ENTITY_ID = node->GetEntityID();
|
||||
|
||||
// Check if has rigid body
|
||||
auto const* rigidBodyComponent = SHComponentManager::GetComponent_s<SHRigidBodyComponent>(ENTITY_ID);
|
||||
if(rigidBodyComponent)
|
||||
{
|
||||
const bool RP3D_ACTIVE = rigidBodyComponent->rp3dBody->isActive();
|
||||
const bool SHADE_ACTIVE = node->IsActive() && rigidBodyComponent->isActive;
|
||||
|
||||
if (RP3D_ACTIVE != SHADE_ACTIVE)
|
||||
rigidBodyComponent->rp3dBody->setIsActive(SHADE_ACTIVE);
|
||||
}
|
||||
else // Check for a collider
|
||||
{
|
||||
|
||||
}
|
||||
};
|
||||
|
||||
sceneGraph.Traverse(SYNC_ACTIVE);
|
||||
}
|
||||
|
||||
void SHPhysicsSystem::SyncTransforms(const SHSceneGraph& sceneGraph) const noexcept
|
||||
{
|
||||
const rp3d::decimal INTERPOLATION_FACTOR = static_cast<rp3d::decimal>(accumulatedTime / fixedDT);
|
||||
|
||||
static const auto SYNC_TRANSFORMS = [&](SHSceneNode* node)
|
||||
{
|
||||
const EntityID ENTITY_ID = node->GetEntityID();
|
||||
|
||||
// Check if has rigid body
|
||||
if (auto* rb = SHComponentManager::GetComponent_s<SHRigidBodyComponent>(ENTITY_ID); rb)
|
||||
{
|
||||
if (node->IsActive() && rb->isActive)
|
||||
{
|
||||
// Get SHADE transform
|
||||
auto* transformComponent = SHComponentManager::GetComponent_s<SHTransformComponent>(ENTITY_ID);
|
||||
SHASSERT(transformComponent != nullptr, "Transform Component missing from Entity " + std::to_string(ENTITY_ID))
|
||||
|
||||
SHVec3 shadePos, shadeRot;
|
||||
|
||||
if (rb->interpolate)
|
||||
{
|
||||
const rp3d::Transform CURRENT_TRANSFORM = rb->rp3dBody->getTransform();
|
||||
const rp3d::Transform INTERPOLATED_TRANSFORM = rp3d::Transform::interpolateTransforms(rb->prevTransform, CURRENT_TRANSFORM, INTERPOLATION_FACTOR);
|
||||
|
||||
const auto& RP3D_POS = INTERPOLATED_TRANSFORM.getPosition();
|
||||
shadePos = SHVec3{ RP3D_POS.x, RP3D_POS.y, RP3D_POS.z };
|
||||
|
||||
const auto& RP3D_ORT = INTERPOLATED_TRANSFORM.getOrientation();
|
||||
shadeRot = SHQuaternion{ RP3D_ORT.x, RP3D_ORT.y, RP3D_ORT.z, RP3D_ORT.w }.ToEuler();
|
||||
|
||||
rb->prevTransform = CURRENT_TRANSFORM;
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
const auto& RP3D_POS = rb->GetPosition();
|
||||
shadePos = SHVec3{ RP3D_POS.x, RP3D_POS.y, RP3D_POS.z };
|
||||
shadeRot = rb->GetOrientation().ToEuler();
|
||||
}
|
||||
|
||||
transformComponent->SetWorldPosition(shadePos);
|
||||
transformComponent->SetWorldRotation(shadeRot);
|
||||
}
|
||||
else // Check for a collider
|
||||
{
|
||||
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
sceneGraph.Traverse(SYNC_TRANSFORMS);
|
||||
}
|
||||
|
||||
|
||||
void SHPhysicsSystem::AddRigidBody(EntityID entityID) const noexcept
|
||||
{
|
||||
|
|
@ -413,7 +379,8 @@ namespace SHADE
|
|||
rigidBodyComponent = SHComponentManager::GetComponent<SHRigidBodyComponent>(entityID);
|
||||
}
|
||||
|
||||
rigidBodyComponent->rigidBody = world->createRigidBody(RP3D_TF);
|
||||
rigidBodyComponent->rp3dBody = world->createRigidBody(RP3D_TF);
|
||||
rigidBodyComponent->prevTransform = RP3D_TF;
|
||||
rigidBodyComponent->SyncRP3DAndSHADE();
|
||||
|
||||
// Reassign collider
|
||||
|
|
@ -438,9 +405,8 @@ namespace SHADE
|
|||
|
||||
// If a collider exists, remake the colliders with a collision body
|
||||
|
||||
world->destroyRigidBody(rigidBodyComponent->rigidBody);
|
||||
rigidBodyComponent->rigidBody = nullptr; // this should be redundant
|
||||
world->destroyRigidBody(reinterpret_cast<rp3d::RigidBody*>(rigidBodyComponent->rp3dBody));
|
||||
rigidBodyComponent->rp3dBody = nullptr; // this should be redundant
|
||||
}
|
||||
|
||||
|
||||
} // namespace SHADE
|
||||
|
|
@ -11,14 +11,12 @@
|
|||
#pragma once
|
||||
|
||||
#include <queue>
|
||||
#include <unordered_map>
|
||||
|
||||
#include <reactphysics3d/reactphysics3d.h>
|
||||
|
||||
// Project Headers
|
||||
#include "Math/SHQuaternion.h"
|
||||
#include "Components/SHRigidBodyComponent.h"
|
||||
|
||||
#include "Scene/SHSceneGraph.h"
|
||||
#include "ECS_Base/System/SHSystemRoutine.h"
|
||||
#include "ECS_Base/System/SHFixedSystemRoutine.h"
|
||||
|
|
@ -31,6 +29,13 @@ namespace SHADE
|
|||
|
||||
class SH_API SHPhysicsSystem : public SHSystem
|
||||
{
|
||||
protected:
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
/* Friends */
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
|
||||
friend class SHPhysicsObject;
|
||||
|
||||
public:
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
/* Type Definitions */
|
||||
|
|
@ -48,18 +53,7 @@ namespace SHADE
|
|||
/* Constructors & Destructor */
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
|
||||
SHPhysicsSystem () = default;
|
||||
~SHPhysicsSystem () override = default;
|
||||
|
||||
SHPhysicsSystem (const SHPhysicsSystem&) = delete;
|
||||
SHPhysicsSystem (SHPhysicsSystem&&) = delete;
|
||||
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
/* Operator Overloads */
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
|
||||
SHPhysicsSystem& operator= (const SHPhysicsSystem&) = delete;
|
||||
SHPhysicsSystem& operator= (SHPhysicsSystem&&) = delete;
|
||||
SHPhysicsSystem();
|
||||
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
/* Getter Functions */
|
||||
|
|
@ -67,7 +61,6 @@ namespace SHADE
|
|||
|
||||
[[nodiscard]] bool IsSleepingEnabled () const noexcept;
|
||||
|
||||
//[[nodiscard]] double GetFixedUpdate () const noexcept;
|
||||
[[nodiscard]] SHVec3 GetWorldGravity () const noexcept;
|
||||
[[nodiscard]] uint16_t GetNumberVelocityIterations () const noexcept;
|
||||
[[nodiscard]] uint16_t GetNumberPositionIterations () const noexcept;
|
||||
|
|
@ -92,11 +85,6 @@ namespace SHADE
|
|||
void Init () override;
|
||||
void Exit () override;
|
||||
|
||||
void AddRigidBodyComponent (EntityID id) noexcept;
|
||||
void AddColliderComponent (EntityID id) noexcept;
|
||||
void RemoveRigidBodyComponent (EntityID id) noexcept;
|
||||
void RemoveColliderComponent (EntityID id) noexcept;
|
||||
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
/* System Routines */
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
|
|
@ -109,17 +97,6 @@ namespace SHADE
|
|||
/*-------------------------------------------------------------------------------*/
|
||||
|
||||
PhysicsPreUpdate();
|
||||
~PhysicsPreUpdate() = default;
|
||||
|
||||
PhysicsPreUpdate(const PhysicsPreUpdate&) = delete;
|
||||
PhysicsPreUpdate(PhysicsPreUpdate&&) = delete;
|
||||
|
||||
/*-------------------------------------------------------------------------------*/
|
||||
/* Operator Overloads */
|
||||
/*-------------------------------------------------------------------------------*/
|
||||
|
||||
PhysicsPreUpdate& operator= (const PhysicsPreUpdate&) = delete;
|
||||
PhysicsPreUpdate& operator= (PhysicsPreUpdate&&) = delete;
|
||||
|
||||
/*-------------------------------------------------------------------------------*/
|
||||
/* Function Members */
|
||||
|
|
@ -136,17 +113,6 @@ namespace SHADE
|
|||
/*-------------------------------------------------------------------------------*/
|
||||
|
||||
PhysicsFixedUpdate();
|
||||
~PhysicsFixedUpdate() = default;
|
||||
|
||||
PhysicsFixedUpdate(const PhysicsFixedUpdate&) = delete;
|
||||
PhysicsFixedUpdate(PhysicsFixedUpdate&&) = delete;
|
||||
|
||||
/*-------------------------------------------------------------------------------*/
|
||||
/* Operator Overloads */
|
||||
/*-------------------------------------------------------------------------------*/
|
||||
|
||||
PhysicsFixedUpdate& operator= (const PhysicsFixedUpdate&) = delete;
|
||||
PhysicsFixedUpdate& operator= (PhysicsFixedUpdate&&) = delete;
|
||||
|
||||
/*-------------------------------------------------------------------------------*/
|
||||
/* Function Members */
|
||||
|
|
@ -164,17 +130,6 @@ namespace SHADE
|
|||
/*-------------------------------------------------------------------------------*/
|
||||
|
||||
PhysicsPostUpdate();
|
||||
~PhysicsPostUpdate() = default;
|
||||
|
||||
PhysicsPostUpdate(const PhysicsPostUpdate&) = delete;
|
||||
PhysicsPostUpdate(PhysicsPostUpdate&&) = delete;
|
||||
|
||||
/*-------------------------------------------------------------------------------*/
|
||||
/* Operator Overloads */
|
||||
/*-------------------------------------------------------------------------------*/
|
||||
|
||||
PhysicsPostUpdate& operator= (const PhysicsPostUpdate&) = delete;
|
||||
PhysicsPostUpdate& operator= (PhysicsPostUpdate&&) = delete;
|
||||
|
||||
/*-------------------------------------------------------------------------------*/
|
||||
/* Function Members */
|
||||
|
|
@ -183,8 +138,7 @@ namespace SHADE
|
|||
void Execute(double dt) noexcept override;
|
||||
};
|
||||
|
||||
|
||||
private:
|
||||
protected:
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
/* Type Definitions */
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
|
|
@ -199,38 +153,41 @@ namespace SHADE
|
|||
EntityID entityID;
|
||||
};
|
||||
|
||||
struct CachedTransform
|
||||
{
|
||||
SHVec3 position;
|
||||
SHQuaternion orientation;
|
||||
};
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
/* Function Members */
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
|
||||
void AddComponent (UpdateComponent comp, EntityID entityID) noexcept;
|
||||
void RemoveComponent (UpdateComponent comp, EntityID entityID) noexcept;
|
||||
|
||||
private:
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
/* Data Members */
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
|
||||
//double interpolationFactor;
|
||||
//double fixedUpdate;
|
||||
// TODO(Diren): Store interpFactor & fixedUpdate for modifiable fixedDT
|
||||
|
||||
double accumulatedTime;
|
||||
double fixedDT;
|
||||
double accumulatedTime;
|
||||
double fixedDT;
|
||||
|
||||
rp3d::PhysicsCommon factory;
|
||||
rp3d::PhysicsWorld* world;
|
||||
rp3d::PhysicsCommon factory;
|
||||
rp3d::PhysicsWorld* world;
|
||||
|
||||
std::queue<UpdateCommand> updateQueue;
|
||||
std::unordered_map<EntityID, CachedTransform> prevTransforms; // used for interpolation
|
||||
std::queue<UpdateCommand> updateQueue;
|
||||
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
/* Function Members */
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
|
||||
void ClearUpdateQueue () noexcept;
|
||||
void ClearUpdateQueue () noexcept;
|
||||
void SyncActiveStates (const SHSceneGraph& sceneGraph) const noexcept;
|
||||
void SyncTransforms (const SHSceneGraph& sceneGraph) const noexcept;
|
||||
// TODO(Diren): Trigger handling
|
||||
|
||||
void AddRigidBody (EntityID entityID) const noexcept;
|
||||
void AddCollider (EntityID entityID) const noexcept;
|
||||
void RemoveRigidBody (EntityID entityID) const noexcept;
|
||||
void RemoveCollider (EntityID entityID) const noexcept;
|
||||
void AddRigidBody (EntityID entityID) const noexcept;
|
||||
void AddCollider (EntityID entityID) const noexcept;
|
||||
void RemoveRigidBody (EntityID entityID) const noexcept;
|
||||
void RemoveCollider (EntityID entityID) const noexcept;
|
||||
};
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue