Fixed physics bugs
1. Colliders are now properly deleted along with its component. 2. Forces and velocities are reset on stop.
This commit is contained in:
Diren D Bharwani
parent
7ba02aeb0f
commit
58491fcbff
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@ -26,7 +26,6 @@ namespace SHADE
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SHColliderComponent::SHColliderComponent() noexcept
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: system { nullptr }
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, colliders {}
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{}
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/*-----------------------------------------------------------------------------------*/
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@ -78,9 +77,15 @@ namespace SHADE
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SHBoundingBox* SHColliderComponent::AddBoundingBox(const SHVec3& halfExtents, const SHVec3& posOffset) noexcept
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{
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const auto TYPE = SHCollider::Type::BOX;
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if (!system)
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{
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SHLOG_ERROR("Physics system does not exist, unable to add Box Collider!")
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return nullptr;
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}
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auto boxPair = std::make_pair(SHCollider{TYPE}, true);
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static constexpr auto TYPE = SHCollider::Type::BOX;
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auto boxPair = std::make_pair(SHCollider{ TYPE }, true);
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auto& collider = colliders.emplace_back(boxPair).first;
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const auto* tf = SHComponentManager::GetComponent<SHTransformComponent>(GetEID());
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@ -88,12 +93,6 @@ namespace SHADE
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collider.SetPositionOffset(posOffset);
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collider.SetAsBoundingBox(tf->GetWorldScale() * halfExtents);
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if (!system)
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{
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SHLOG_ERROR("Physics system does not exist, unable to add Box Collider!")
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return nullptr;
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}
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// Notify Physics System
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system->AddCollisionShape(GetEID(), &collider);
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@ -102,7 +101,13 @@ namespace SHADE
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SHBoundingSphere* SHColliderComponent::AddBoundingSphere(float radius, const SHVec3& posOffset) noexcept
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{
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const auto TYPE = SHCollider::Type::SPHERE;
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if (!system)
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{
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SHLOG_ERROR("Physics system does not exist, unable to add Sphere Collider!")
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return nullptr;
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}
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static constexpr auto TYPE = SHCollider::Type::SPHERE;
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auto spherePair = std::make_pair(SHCollider{ TYPE }, true);
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auto& collider = colliders.emplace_back(spherePair).first;
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@ -113,13 +118,7 @@ namespace SHADE
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const SHVec3 TF_WORLD_SCALE = tf->GetWorldScale();
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const float MAX_SCALE = SHMath::Max({ TF_WORLD_SCALE.x, TF_WORLD_SCALE.y, TF_WORLD_SCALE.z });
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collider.SetAsBoundingSphere(MAX_SCALE * 0.5f);
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if (!system)
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{
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SHLOG_ERROR("Physics system does not exist, unable to add Sphere Collider!")
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return nullptr;
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}
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collider.SetAsBoundingSphere(MAX_SCALE * 0.5f * radius);
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// Notify Physics System
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system->AddCollisionShape(GetEID(), &collider);
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@ -44,7 +44,7 @@ namespace SHADE
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/*---------------------------------------------------------------------------------*/
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using ColliderDirtyPair = std::pair<SHCollider, bool>;
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using Colliders = std::vector<ColliderDirtyPair>;
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using Colliders = std::vector<ColliderDirtyPair>;
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public:
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@ -81,10 +81,10 @@ namespace SHADE
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/* Function Members */
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/*---------------------------------------------------------------------------------*/
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void OnCreate () override;
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void OnDestroy () override;
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void OnCreate () override;
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void OnDestroy () override;
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void RemoveCollider (int index);
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void RemoveCollider (int index);
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SHBoundingBox* AddBoundingBox (const SHVec3& halfExtents = SHVec3::One, const SHVec3& posOffset = SHVec3::Zero) noexcept;
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SHBoundingSphere* AddBoundingSphere (float radius = 1.0f, const SHVec3& posOffset = SHVec3::Zero) noexcept;
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@ -28,6 +28,7 @@ namespace SHADE
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, flags { 0 }
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, dirtyFlags { 0 }
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, interpolate { true }
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, rp3dBody { nullptr }
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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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@ -159,7 +160,13 @@ namespace SHADE
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void SHRigidBodyComponent::SetGravityEnabled(bool enableGravity) noexcept
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{
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constexpr int FLAG_POS = 0;
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static constexpr int FLAG_POS = 0;
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if (type != Type::DYNAMIC)
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{
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SHLOG_WARNING("Cannot enable gravity of a non-dynamic object {}", GetEID())
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return;
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}
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dirtyFlags |= 1U << FLAG_POS;
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enableGravity ? flags |= (1U << FLAG_POS) : flags &= ~(1U << FLAG_POS);
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@ -167,7 +174,13 @@ namespace SHADE
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void SHRigidBodyComponent::SetIsAllowedToSleep(bool isAllowedToSleep) noexcept
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{
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constexpr int FLAG_POS = 1;
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static constexpr int FLAG_POS = 1;
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if (type != Type::DYNAMIC)
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{
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SHLOG_WARNING("Cannot enable sleeping of a non-dynamic object {}", GetEID())
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return;
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}
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dirtyFlags |= 1U << 1;
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isAllowedToSleep ? flags |= (1U << FLAG_POS) : flags &= ~(1U << FLAG_POS);
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@ -175,7 +188,13 @@ namespace SHADE
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void SHRigidBodyComponent::SetFreezePositionX(bool freezePositionX) noexcept
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{
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constexpr int FLAG_POS = 2;
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static constexpr int FLAG_POS = 2;
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if (type == Type::STATIC)
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{
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SHLOG_WARNING("Cannot set linear constraints of a static object {}", GetEID())
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return;
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}
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dirtyFlags |= 1U << 2;
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freezePositionX ? flags |= (1U << FLAG_POS) : flags &= ~(1U << FLAG_POS);
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@ -183,7 +202,13 @@ namespace SHADE
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void SHRigidBodyComponent::SetFreezePositionY(bool freezePositionY) noexcept
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{
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constexpr int FLAG_POS = 3;
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static constexpr int FLAG_POS = 3;
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if (type == Type::STATIC)
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{
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SHLOG_WARNING("Cannot set linear constraints of a static object {}", GetEID())
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return;
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}
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dirtyFlags |= 1U << 2;
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freezePositionY ? flags |= (1U << FLAG_POS) : flags &= ~(1U << FLAG_POS);
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@ -191,7 +216,13 @@ namespace SHADE
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void SHRigidBodyComponent::SetFreezePositionZ(bool freezePositionZ) noexcept
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{
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constexpr int FLAG_POS = 4;
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static constexpr int FLAG_POS = 4;
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if (type == Type::STATIC)
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{
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SHLOG_WARNING("Cannot set linear constraints of a static object {}", GetEID())
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return;
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}
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dirtyFlags |= 1U << 2;
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freezePositionZ ? flags |= (1U << FLAG_POS) : flags &= ~(1U << FLAG_POS);
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@ -199,7 +230,13 @@ namespace SHADE
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void SHRigidBodyComponent::SetFreezeRotationX(bool freezeRotationX) noexcept
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{
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constexpr int FLAG_POS = 5;
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static constexpr int FLAG_POS = 5;
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if (type == Type::STATIC)
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{
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SHLOG_WARNING("Cannot set angular constraints of a static object {}", GetEID())
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return;
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}
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dirtyFlags |= 1U << 3;
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freezeRotationX ? flags |= (1U << FLAG_POS) : flags &= ~(1U << FLAG_POS);
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@ -207,7 +244,13 @@ namespace SHADE
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void SHRigidBodyComponent::SetFreezeRotationY(bool freezeRotationY) noexcept
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{
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constexpr int FLAG_POS = 6;
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static constexpr int FLAG_POS = 6;
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if (type == Type::STATIC)
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{
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SHLOG_WARNING("Cannot set angular constraints of a static object {}", GetEID())
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return;
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}
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dirtyFlags |= 1U << 3;
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freezeRotationY ? flags |= (1U << FLAG_POS) : flags &= ~(1U << FLAG_POS);
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@ -215,7 +258,13 @@ namespace SHADE
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void SHRigidBodyComponent::SetFreezeRotationZ(bool freezeRotationZ) noexcept
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{
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constexpr int FLAG_POS = 7;
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static constexpr int FLAG_POS = 7;
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if (type == Type::STATIC)
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{
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SHLOG_WARNING("Cannot set angular constraints of a static object {}", GetEID())
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return;
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}
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dirtyFlags |= 1U << 3;
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freezeRotationZ ? flags |= (1U << FLAG_POS) : flags &= ~(1U << FLAG_POS);
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@ -228,30 +277,60 @@ namespace SHADE
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void SHRigidBodyComponent::SetMass(float newMass) noexcept
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{
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if (type != Type::DYNAMIC)
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{
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SHLOG_WARNING("Cannot set mass of a non-dynamic object {}", GetEID())
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return;
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}
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dirtyFlags |= 1U << 5;
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mass = newMass;
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}
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void SHRigidBodyComponent::SetDrag(float newDrag) noexcept
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{
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if (type != Type::DYNAMIC)
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{
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SHLOG_WARNING("Cannot set drag of a non-dynamic object {}", GetEID())
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return;
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}
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dirtyFlags |= 1U << 6;
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drag = newDrag;
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}
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void SHRigidBodyComponent::SetAngularDrag(float newAngularDrag) noexcept
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{
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if (type != Type::DYNAMIC)
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{
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SHLOG_WARNING("Cannot set angular drag of a non-dynamic object {}", GetEID())
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return;
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}
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dirtyFlags |= 1U << 7;
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angularDrag = newAngularDrag;
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}
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void SHRigidBodyComponent::SetLinearVelocity(const SHVec3& newLinearVelocity) noexcept
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{
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if (type == Type::STATIC)
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{
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SHLOG_WARNING("Cannot set linear velocity of a static object {}", GetEID())
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return;
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}
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dirtyFlags |= 1U << 8;
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linearVelocity = newLinearVelocity;
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}
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void SHRigidBodyComponent::SetAngularVelocity(const SHVec3& newAngularVelocity) noexcept
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{
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if (type == Type::STATIC)
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{
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SHLOG_WARNING("Cannot set angular velocity of a static object {}", GetEID())
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return;
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}
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dirtyFlags |= 1U << 9;
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angularVelocity = newAngularVelocity;
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}
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@ -262,42 +341,90 @@ namespace SHADE
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void SHRigidBodyComponent::AddForce(const SHVec3& force) const noexcept
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{
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if (rp3dBody == nullptr)
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{
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SHLOGV_ERROR("Entity {} is missing an rp3dBody!", GetEID())
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return;
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}
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rp3dBody->applyWorldForceAtCenterOfMass(force);
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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 (rp3dBody == nullptr)
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{
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SHLOGV_ERROR("Entity {} is missing an rp3dBody!", GetEID())
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return;
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}
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rp3dBody->applyWorldForceAtLocalPosition(force, localPos);
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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 (rp3dBody == nullptr)
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{
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SHLOGV_ERROR("Entity {} is missing an rp3dBody!", GetEID())
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return;
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}
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rp3dBody->applyWorldForceAtWorldPosition(force, worldPos);
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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 (rp3dBody == nullptr)
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{
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SHLOGV_ERROR("Entity {} is missing an rp3dBody!", GetEID())
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return;
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}
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rp3dBody->applyLocalForceAtCenterOfMass(relativeForce);
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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 (rp3dBody == nullptr)
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{
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SHLOGV_ERROR("Entity {} is missing an rp3dBody!", GetEID())
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return;
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}
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rp3dBody->applyLocalForceAtLocalPosition(relativeForce, localPos);
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}
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void SHRigidBodyComponent::AddRelativeForceAtWorldPos(const SHVec3& relativeForce, const SHVec3& worldPos) const noexcept
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{
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if (rp3dBody == nullptr)
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{
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SHLOGV_ERROR("Entity {} is missing an rp3dBody!", GetEID())
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return;
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}
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rp3dBody->applyLocalForceAtWorldPosition(relativeForce, worldPos);
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}
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void SHRigidBodyComponent::AddTorque(const SHVec3& torque) const noexcept
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{
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if (rp3dBody == nullptr)
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{
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SHLOGV_ERROR("Entity {} is missing an rp3dBody!", GetEID())
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return;
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}
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rp3dBody->applyWorldTorque(torque);
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}
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void SHRigidBodyComponent::AddRelativeTorque(const SHVec3& relativeTorque) const noexcept
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{
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if (rp3dBody == nullptr)
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{
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SHLOGV_ERROR("Entity {} is missing an rp3dBody!", GetEID())
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return;
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}
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rp3dBody->applyLocalTorque(relativeTorque);
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}
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} // namespace SHADE
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@ -16,6 +16,8 @@
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// Project Headers
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#include "ECS_Base/Managers/SHComponentManager.h"
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#include "ECS_Base/Managers/SHEntityManager.h"
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#include "ECS_Base/Managers/SHSystemManager.h"
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#include "Editor/SHEditor.hpp"
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#include "Math/SHMathHelpers.h"
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#include "Scene/SHSceneManager.h"
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#include "Math/Transform/SHTransformComponent.h"
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@ -205,23 +207,6 @@ namespace SHADE
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factory.destroyPhysicsWorld(world);
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}
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//void SHPhysicsSystem::RemoveRigidBody(EntityID entityID) noexcept
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//{
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// #ifdef _DEBUG
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// SHLOG_INFO("Removing a Rigidbody from the Physics World.")
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// #endif
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// auto* physicsObject = GetPhysicsObject(entityID);
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// SHASSERT(physicsObject != nullptr, "Physics object has been lost from the world!")
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//}
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//void SHPhysicsSystem::RemoveCollider(EntityID entityID) noexcept
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//{
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// #ifdef _DEBUG
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// SHLOG_INFO("Removing a Collider from the Physics World.")
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// #endif
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//}
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void SHPhysicsSystem::AddCollisionShape(EntityID entityID, SHCollider* collider)
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{
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auto* physicsObject = GetPhysicsObject(entityID);
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@ -238,24 +223,55 @@ namespace SHADE
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{
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auto* system = reinterpret_cast<SHPhysicsSystem*>(GetSystem());
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// Update bodies and colliders if component is dirty
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system->SyncRigidBodyComponents(SHComponentManager::GetDense<SHRigidBodyComponent>());
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system->SyncColliderComponents(SHComponentManager::GetDense<SHColliderComponent>());
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// Sync transforms
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for (auto& physicsObject : system->map | std::views::values)
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for (auto& [entityID, physicsObject] : system->map)
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{
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// Ensure a valid physics Object
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if (physicsObject.rp3dBody == nullptr)
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continue;
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const auto* TF = SHComponentManager::GetComponent<SHTransformComponent>(physicsObject.entityID);
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if (TF->HasChanged())
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auto* rigidBodyComponent = SHComponentManager::GetComponent_s<SHRigidBodyComponent>(entityID);
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// Clear all forces and velocities if editor is not in play
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if (SHSystemManager::GetSystem<SHEditor>()->editorState == SHEditor::State::STOP)
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{
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physicsObject.SetPosition(TF->GetWorldPosition());
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physicsObject.SetOrientation(TF->GetWorldOrientation());
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if (rigidBodyComponent)
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{
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auto* rp3dRigidBody = reinterpret_cast<rp3d::RigidBody*>(physicsObject.rp3dBody);
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rp3dRigidBody->resetForce();
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rp3dRigidBody->resetTorque();
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rp3dRigidBody->setLinearVelocity(SHVec3::Zero);
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rp3dRigidBody->setAngularVelocity(SHVec3::Zero);
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}
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}
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const auto* transformComponent = SHComponentManager::GetComponent_s<SHTransformComponent>(entityID);
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if (transformComponent && transformComponent->HasChanged())
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{
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const auto WORLD_POS = transformComponent->GetWorldPosition();
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const auto WORLD_ROT = transformComponent->GetWorldOrientation();
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physicsObject.SetPosition(WORLD_POS);
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physicsObject.SetOrientation(WORLD_ROT);
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if (rigidBodyComponent)
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{
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rigidBodyComponent->position = WORLD_POS;
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rigidBodyComponent->orientation = WORLD_ROT;
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}
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auto* colliderComponent = SHComponentManager::GetComponent_s<SHColliderComponent>(entityID);
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if (colliderComponent)
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{
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colliderComponent->position = WORLD_POS;
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colliderComponent->orientation = WORLD_ROT;
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}
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}
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}
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// Update bodies and colliders if component is dirty
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system->SyncRigidBodyComponents(SHComponentManager::GetDense<SHRigidBodyComponent>());
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system->SyncColliderComponents(SHComponentManager::GetDense<SHColliderComponent>());
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}
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void SHPhysicsSystem::PhysicsFixedUpdate::Execute(double dt) noexcept
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@ -431,9 +447,9 @@ namespace SHADE
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|||
}
|
||||
|
||||
// Convert RP3D Transform to SHADE
|
||||
auto* tfComponent = SHComponentManager::GetComponent<SHTransformComponent>(entityID);
|
||||
tfComponent->SetWorldPosition(rp3dPos);
|
||||
tfComponent->SetWorldOrientation(rp3dRot);
|
||||
auto* transformComponent = SHComponentManager::GetComponent<SHTransformComponent>(entityID);
|
||||
transformComponent->SetWorldPosition(rp3dPos);
|
||||
transformComponent->SetWorldOrientation(rp3dRot);
|
||||
|
||||
// Cache transforms
|
||||
physicsObject.prevTransform = CURRENT_TF;
|
||||
|
|
@ -480,6 +496,7 @@ namespace SHADE
|
|||
rp3d::Transform{ rigidBodyComponent->position, rigidBodyComponent->orientation }
|
||||
);
|
||||
|
||||
rigidBodyComponent->rp3dBody = reinterpret_cast<rp3d::RigidBody*>(physicsObject->rp3dBody);
|
||||
|
||||
// Add collision shapes back into the body
|
||||
if (colliderComponent != nullptr)
|
||||
|
|
@ -491,6 +508,8 @@ namespace SHADE
|
|||
|
||||
if (ADDED_ID == COLLIDER_ID)
|
||||
{
|
||||
SHASSERT(colliderComponent != nullptr, "Collider Component was not added to Entity " + std::to_string(ENTITY_ID) + "!");
|
||||
|
||||
colliderComponent->position = transformComponent->GetWorldPosition();
|
||||
colliderComponent->orientation = transformComponent->GetWorldOrientation();
|
||||
|
||||
|
|
@ -530,7 +549,7 @@ namespace SHADE
|
|||
if (REMOVED_ID == RIGID_BODY_ID)
|
||||
{
|
||||
world->destroyRigidBody(reinterpret_cast<rp3d::RigidBody*>(physicsObject->rp3dBody));
|
||||
physicsObject->rp3dBody = nullptr;
|
||||
physicsObject->rp3dBody = nullptr;
|
||||
|
||||
auto* colliderComponent = SHComponentManager::GetComponent_s<SHColliderComponent>(ENTITY_ID);
|
||||
if (colliderComponent != nullptr)
|
||||
|
|
@ -544,13 +563,23 @@ namespace SHADE
|
|||
for (auto& collider : colliderComponent->colliders | std::views::keys)
|
||||
physicsObject->AddCollider(&collider);
|
||||
}
|
||||
|
||||
// Wake up all physics objects
|
||||
for (auto& [entityID, object] : map)
|
||||
{
|
||||
if (SHComponentManager::HasComponent<SHRigidBodyComponent>(entityID))
|
||||
reinterpret_cast<rp3d::RigidBody*>(object.rp3dBody)->setIsSleeping(false);
|
||||
}
|
||||
}
|
||||
|
||||
if (REMOVED_ID == COLLIDER_ID)
|
||||
{
|
||||
// Remove all colliders
|
||||
for (uint32_t i = 0; i < physicsObject->rp3dBody->getNbColliders(); ++i)
|
||||
physicsObject->rp3dBody->removeCollider(physicsObject->rp3dBody->getCollider(i));
|
||||
{
|
||||
auto* collider = physicsObject->rp3dBody->getCollider(i);
|
||||
physicsObject->rp3dBody->removeCollider(collider);
|
||||
}
|
||||
}
|
||||
|
||||
if (physicsObject->rp3dBody == nullptr)
|
||||
|
|
|
|||
Loading…
Reference in New Issue