Added Rigid Body
This commit is contained in:
Diren D Bharwani
parent
52dc993941
commit
6cd203179a
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Start in Fullscreen: false
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Starting Scene ID: 97158628
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Starting Scene ID: 97402985
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Window Size: {x: 1920, y: 1080}
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Window Title: SHADE Engine
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[]
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Name: PhysicsSandbox
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ID: 97402985
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Type: 5
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/****************************************************************************************
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* \file SHRigidBody.cpp
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* \author Diren D Bharwani, diren.dbharwani, 390002520
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* \brief Implementation for a Rigid Body.
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*
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* \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
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* disclosure of this file or its contents without the prior written consent
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* of DigiPen Institute of Technology is prohibited.
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****************************************************************************************/
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#include <SHpch.h>
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// Primary Header
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#include "SHRigidBody.h"
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namespace SHADE
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{
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/*-----------------------------------------------------------------------------------*/
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/* Constructors & Destructor Definitions */
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/*-----------------------------------------------------------------------------------*/
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SHRigidBody::SHRigidBody(EntityID eid, Type type) noexcept
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: entityID { eid }
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, bodyType { type }
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, invMass { type == Type::DYNAMIC ? 1.0f : 0.0f }
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, linearDrag { type != Type::STATIC ? 0.01f : 0.0f }
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, gravityScale { 1.0f }
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, flags { 0U }
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{
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// Set default flags
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flags |= 1U << 0; // Body is active
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flags |= 1U << 2; // Sleeping is enabled
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flags |= 1U << 3; // Gravity is enabled
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// TODO: Compute inertia if body is dynamic
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}
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SHRigidBody::SHRigidBody(const SHRigidBody& rhs) noexcept
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: entityID { rhs.entityID }
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, bodyType { rhs.bodyType }
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, invMass { rhs.invMass }
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, linearDrag { rhs.linearDrag }
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, gravityScale { rhs.gravityScale }
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, flags { rhs.flags }
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{
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// All other properties are defaulted to 0 to not carry over any potential errors / invalid values.
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}
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SHRigidBody::SHRigidBody(SHRigidBody&& rhs) noexcept
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: entityID { rhs.entityID }
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, bodyType { rhs.bodyType }
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, invMass { rhs.invMass }
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, linearDrag { rhs.linearDrag }
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, gravityScale { rhs.gravityScale }
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, flags { rhs.flags }
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{
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// All other properties are defaulted to 0 to not carry over any potential errors / invalid values.
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}
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/*-----------------------------------------------------------------------------------*/
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/* Operator Overload Definitions */
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/*-----------------------------------------------------------------------------------*/
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SHRigidBody& SHRigidBody::operator=(const SHRigidBody& rhs) noexcept
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{
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// Handle self assignment
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if (this == &rhs)
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return *this;
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entityID = rhs.entityID;
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bodyType = rhs.bodyType;
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invMass = rhs.invMass;
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linearDrag = rhs.linearDrag;
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gravityScale = rhs.gravityScale;
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flags = rhs.flags;
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// All other properties are defaulted to 0 to not carry over any potential errors / invalid values.
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return *this;
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}
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SHRigidBody& SHRigidBody::operator=(SHRigidBody&& rhs) noexcept
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{
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entityID = rhs.entityID;
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bodyType = rhs.bodyType;
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invMass = rhs.invMass;
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linearDrag = rhs.linearDrag;
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gravityScale = rhs.gravityScale;
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flags = rhs.flags;
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// All other properties are defaulted to 0 to not carry over any potential errors / invalid values.
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return *this;
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}
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} // namespace SHADE
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/****************************************************************************************
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* \file SHRigidBody.h
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* \author Diren D Bharwani, diren.dbharwani, 390002520
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* \brief Interface for a Rigid Body.
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*
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* \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
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* disclosure of this file or its contents without the prior written consent
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* of DigiPen Institute of Technology is prohibited.
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****************************************************************************************/
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#pragma once
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// Project Headers
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#include "ECS_Base/SHECSMacros.h"
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#include "Math/Vector/SHVec3.h"
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namespace SHADE
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{
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/**
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* @brief
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* Encapsulates a Rigid Body used in Physics Simulations
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*/
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class SHRigidBody
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{
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private:
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/*-----------------------------------------------------------------------------------*/
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/* Friends */
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/*-----------------------------------------------------------------------------------*/
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friend class SHRigidBodyComponent;
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public:
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/*-----------------------------------------------------------------------------------*/
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/* Type Definitions */
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/*-----------------------------------------------------------------------------------*/
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enum class Type
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{
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STATIC // Immovable body with infinite mass
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, KINEMATIC // Only movable by setting velocity, unaffected by forces. Has infinite mass.
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, DYNAMIC // Affected by forces.
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};
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/*-----------------------------------------------------------------------------------*/
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/* Constructors & Destructor */
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/*-----------------------------------------------------------------------------------*/
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SHRigidBody (EntityID eid, Type type) noexcept;
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SHRigidBody (const SHRigidBody& rhs) noexcept;
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SHRigidBody (SHRigidBody&& rhs) noexcept;
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/*-----------------------------------------------------------------------------------*/
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/* Operator Overloads */
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/*-----------------------------------------------------------------------------------*/
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SHRigidBody& operator= (const SHRigidBody& rhs) noexcept;
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SHRigidBody& operator= (SHRigidBody&& rhs) noexcept;
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/*-----------------------------------------------------------------------------------*/
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/* Getter Functions */
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/*-----------------------------------------------------------------------------------*/
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[[nodiscard]] Type GetType () const noexcept;
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[[nodiscard]] float GetMass () const noexcept;
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[[nodiscard]] float GetLinearDrag () const noexcept;
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[[nodiscard]] float GetGravityScale () const noexcept;
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[[nodiscard]] const SHVec3& GetAccumulatedForce () const noexcept;
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[[nodiscard]] const SHVec3& GetLinearVelocity () const noexcept;
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[[nodiscard]] const SHVec3& GetAngularVelocity () const noexcept;
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// Flags
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[[nodiscard]] bool IsActive () const noexcept;
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[[nodiscard]] bool IsSleeping () const noexcept;
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[[nodiscard]] bool IsSleepingEnabled () const noexcept;
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[[nodiscard]] bool IsGravityEnabled () const noexcept;
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[[nodiscard]] bool IsAutoMassEnabled () const noexcept;
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[[nodiscard]] bool GetFreezePositionX () const noexcept;
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[[nodiscard]] bool GetFreezePositionY () const noexcept;
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[[nodiscard]] bool GetFreezePositionZ () const noexcept;
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[[nodiscard]] bool GetFreezeRotationX () const noexcept;
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[[nodiscard]] bool GetFreezeRotationY () const noexcept;
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[[nodiscard]] bool GetFreezeRotationZ () const noexcept;
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/*-----------------------------------------------------------------------------------*/
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/* Setter Functions */
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/*-----------------------------------------------------------------------------------*/
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/**
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* @brief
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* Changing the type from non-Dynamic to Dynamic will set the default mass.
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*/
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void SetType (Type newType) noexcept;
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/**
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* @brief
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* Mass is only modifiable for Dynamic bodies.
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* @param newMass
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* The new mass to set. Values below 0 will be ignored.
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*/
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void SetMass (float newMass) noexcept;
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/**
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* @brief
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* Drag is only modifiable for non-Static bodies.
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* @param newLinearDrag
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* The new drag to set. Values below 0 will be ignored.
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*/
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void SetLinearDrag (float newLinearDrag) noexcept;
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void SetGravityScale (float newGravityScale) noexcept;
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void SetLinearVelocity (const SHVec3& newLinearVelocity) noexcept;
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// Flags
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void SetIsActive (bool isActive) noexcept;
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void SetIsSleeping (bool isSleeping) noexcept;
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void SetSleepingEnabled (bool enableSleeping) noexcept;
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void SetGravityEnabled (bool enableGravity) noexcept;
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void SetAutoMassEnabled (bool enableAutoMass) noexcept;
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void SetFreezePositionX (bool freezePositionX) noexcept;
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void SetFreezePositionY (bool freezePositionY) noexcept;
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void SetFreezePositionZ (bool freezePositionZ) noexcept;
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void SetFreezeRotationX (bool freezeRotationX) noexcept;
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void SetFreezeRotationY (bool freezeRotationY) noexcept;
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void SetFreezeRotationZ (bool freezeRotationZ) noexcept;
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/*-----------------------------------------------------------------------------------*/
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/* Member Functions */
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/*-----------------------------------------------------------------------------------*/
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/**
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* @brief
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* Adds a force to the body with an offset from it's center of mass.
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* @param force
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* The force to add to the body.
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* @param pos
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* The position from the center of mass to offset the force. Defaults to zero.
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*/
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void AddForce (const SHVec3& force, const SHVec3& pos = SHVec3::Zero) noexcept;
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/**
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* @brief
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* Adds an impulse to the body with an offset from it's center of mass.
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* @param impulse
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* The impulse to add to the body.
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* @param pos
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* The position from the center of mass to offset the impulse. Defaults to zero.
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*/
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void AddImpulse (const SHVec3& impulse, const SHVec3& pos = SHVec3::Zero) noexcept;
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/**
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* @brief
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* Removes all the forces from the body.
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*/
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void ClearForces () noexcept;
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private:
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/*-----------------------------------------------------------------------------------*/
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/* Data Members */
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/*-----------------------------------------------------------------------------------*/
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// The entityID here is only meant for linking with the actual component in the engine.
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EntityID entityID;
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Type bodyType;
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float invMass;
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float linearDrag;
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float gravityScale;
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SHVec3 accumulatedForce;
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SHVec3 linearVelocity;
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SHVec3 angularVelocity;
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// aZ aY aX pZ pY pX 0 0 0 0 0 autoMass enableGravity enableSleeping sleeping active
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uint16_t flags;
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};
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} // namespace SHADE
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#include "SHRigidBody.inl"
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@ -0,0 +1,375 @@
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/****************************************************************************************
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* \file SHRigidBody.inl
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* \author Diren D Bharwani, diren.dbharwani, 390002520
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* \brief Implementation for inlined functions of a Rigid Body.
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*
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* \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
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* disclosure of this file or its contents without the prior written consent
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* of DigiPen Institute of Technology is prohibited.
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****************************************************************************************/
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#pragma once
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// Primary Header
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#include "SHRigidBody.h"
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// Project Headers
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#include "Math/SHMathHelpers.h"
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#include "Tools/Logger/SHLogger.h"
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namespace SHADE
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{
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/*-----------------------------------------------------------------------------------*/
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/* Getter Functions Definitions */
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/*-----------------------------------------------------------------------------------*/
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inline SHRigidBody::Type SHRigidBody::GetType() const noexcept
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{
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return bodyType;
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}
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inline float SHRigidBody::GetMass() const noexcept
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{
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return 1.0f/ invMass;
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}
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inline float SHRigidBody::GetLinearDrag() const noexcept
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{
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return linearDrag;
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}
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inline float SHRigidBody::GetGravityScale() const noexcept
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{
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return gravityScale;
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}
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inline const SHVec3& SHRigidBody::GetAccumulatedForce() const noexcept
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{
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return accumulatedForce;
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}
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inline const SHVec3& SHRigidBody::GetLinearVelocity() const noexcept
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{
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return linearVelocity;
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}
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inline const SHVec3& SHRigidBody::GetAngularVelocity() const noexcept
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{
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return angularVelocity;
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}
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// Flags
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inline bool SHRigidBody::IsActive() const noexcept
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{
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static constexpr unsigned int FLAG_POS = 0;
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return flags & (1U << FLAG_POS);
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}
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inline bool SHRigidBody::IsSleeping() const noexcept
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{
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static constexpr unsigned int FLAG_POS = 1;
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return flags & (1U << FLAG_POS);
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}
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inline bool SHRigidBody::IsSleepingEnabled() const noexcept
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{
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static constexpr unsigned int FLAG_POS = 2;
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return flags & (1U << FLAG_POS);
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}
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inline bool SHRigidBody::IsGravityEnabled() const noexcept
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{
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static constexpr unsigned int FLAG_POS = 3;
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return flags & (1U << FLAG_POS);
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}
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inline bool SHRigidBody::IsAutoMassEnabled() const noexcept
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{
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static constexpr unsigned int FLAG_POS = 4;
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return flags & (1U << FLAG_POS);
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}
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inline bool SHRigidBody::GetFreezePositionX() const noexcept
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{
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static constexpr unsigned int FLAG_POS = 10;
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return flags & (1U << FLAG_POS);
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}
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inline bool SHRigidBody::GetFreezePositionY() const noexcept
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{
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static constexpr unsigned int FLAG_POS = 11;
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return flags & (1U << FLAG_POS);
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}
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inline bool SHRigidBody::GetFreezePositionZ() const noexcept
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{
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static constexpr unsigned int FLAG_POS = 12;
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return flags & (1U << FLAG_POS);
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}
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inline bool SHRigidBody::GetFreezeRotationX() const noexcept
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{
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static constexpr unsigned int FLAG_POS = 13;
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return flags & (1U << FLAG_POS);
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}
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inline bool SHRigidBody::GetFreezeRotationY() const noexcept
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{
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static constexpr unsigned int FLAG_POS = 14;
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return flags & (1U << FLAG_POS);
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}
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inline bool SHRigidBody::GetFreezeRotationZ() const noexcept
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{
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static constexpr unsigned int FLAG_POS = 15;
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return flags & (1U << FLAG_POS);
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}
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/*-----------------------------------------------------------------------------------*/
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/* Setter Functions Definitions */
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/*-----------------------------------------------------------------------------------*/
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inline void SHRigidBody::SetType(Type newType) noexcept
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{
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if (newType == bodyType)
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return;
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bodyType = newType;
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invMass = newType == Type::DYNAMIC ? 1.0f : 0.0f;
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}
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inline void SHRigidBody::SetMass(float newMass) noexcept
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{
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if (bodyType != Type::DYNAMIC)
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{
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SHLOG_WARNING("Cannot set mass of a non-Dynamic Body {}", entityID)
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return;
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}
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if (newMass < 0.0f)
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{
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SHLOG_WARNING("Cannot set mass below 0. Object {}'s mass will remain unchanged.", entityID)
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return;
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}
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invMass = 1.0f / newMass;
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// TODO: Recompute inertia tensor
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}
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inline void SHRigidBody::SetLinearDrag(float newLinearDrag) noexcept
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{
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if (bodyType == Type::STATIC)
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{
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SHLOG_WARNING("Cannot set linear drag of a Static Body {}", entityID)
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return;
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}
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if (newLinearDrag < 0.0f)
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{
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SHLOG_WARNING("Cannot set drag below 0. Object {}'s linear drag will remain unchanged.", entityID)
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return;
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}
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linearDrag = newLinearDrag;
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}
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inline void SHRigidBody::SetGravityScale(float newGravityScale) noexcept
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{
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gravityScale = newGravityScale;
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}
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inline void SHRigidBody::SetLinearVelocity(const SHVec3& newLinearVelocity) noexcept
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{
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linearVelocity = newLinearVelocity;
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}
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inline void SHRigidBody::SetIsActive(bool isActive) noexcept
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{
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static constexpr unsigned int FLAG_POS = 0;
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static constexpr uint16_t VALUE = 1U << FLAG_POS;
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isActive ? flags |= VALUE : flags &= ~VALUE;
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}
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inline void SHRigidBody::SetIsSleeping(bool isSleeping) noexcept
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{
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static constexpr unsigned int FLAG_POS = 1;
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static constexpr uint16_t VALUE = 1U << FLAG_POS;
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isSleeping ? flags |= VALUE : flags &= ~VALUE;
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}
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inline void SHRigidBody::SetSleepingEnabled(bool enableSleeping) noexcept
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{
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static constexpr unsigned int FLAG_POS = 2;
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static constexpr uint16_t VALUE = 1U << FLAG_POS;
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if (enableSleeping)
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{
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flags |= VALUE;
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}
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else
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{
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flags &= ~VALUE;
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// Wake the body
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SetIsSleeping(false);
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}
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}
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inline void SHRigidBody::SetGravityEnabled(bool enableGravity) noexcept
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{
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static constexpr unsigned int FLAG_POS = 3;
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static constexpr uint16_t VALUE = 1U << FLAG_POS;
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enableGravity ? flags |= VALUE : flags &= ~VALUE;
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}
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inline void SHRigidBody::SetAutoMassEnabled(bool enableAutoMass) noexcept
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{
|
||||
static constexpr unsigned int FLAG_POS = 4;
|
||||
static constexpr uint16_t VALUE = 1U << FLAG_POS;
|
||||
|
||||
if (enableAutoMass)
|
||||
{
|
||||
flags |= VALUE;
|
||||
// TODO: Compute mass based on collider geometry
|
||||
}
|
||||
else
|
||||
{
|
||||
flags &= ~VALUE;
|
||||
// Use default mass of 1
|
||||
invMass = 1.0f;
|
||||
}
|
||||
}
|
||||
|
||||
inline void SHRigidBody::SetFreezePositionX(bool freezePositionX) noexcept
|
||||
{
|
||||
static constexpr unsigned int FLAG_POS = 10;
|
||||
static constexpr uint16_t VALUE = 1U << FLAG_POS;
|
||||
|
||||
if (freezePositionX)
|
||||
{
|
||||
flags |= VALUE;
|
||||
// Reset linear velocity along X-axis
|
||||
linearVelocity.x = 0.0f;
|
||||
}
|
||||
else
|
||||
{
|
||||
flags &= ~VALUE;
|
||||
}
|
||||
}
|
||||
|
||||
inline void SHRigidBody::SetFreezePositionY(bool freezePositionY) noexcept
|
||||
{
|
||||
static constexpr unsigned int FLAG_POS = 11;
|
||||
static constexpr uint16_t VALUE = 1U << FLAG_POS;
|
||||
|
||||
if (freezePositionY)
|
||||
{
|
||||
flags |= VALUE;
|
||||
// Reset linear velocity along Y-axis
|
||||
linearVelocity.y = 0.0f;
|
||||
}
|
||||
else
|
||||
{
|
||||
flags &= ~VALUE;
|
||||
}
|
||||
}
|
||||
|
||||
inline void SHRigidBody::SetFreezePositionZ(bool freezePositionZ) noexcept
|
||||
{
|
||||
static constexpr unsigned int FLAG_POS = 12;
|
||||
static constexpr uint16_t VALUE = 1U << FLAG_POS;
|
||||
|
||||
if (freezePositionZ)
|
||||
{
|
||||
flags |= VALUE;
|
||||
// Reset linear velocity along Z-axis
|
||||
linearVelocity.z = 0.0f;
|
||||
}
|
||||
else
|
||||
{
|
||||
flags &= ~VALUE;
|
||||
}
|
||||
}
|
||||
|
||||
inline void SHRigidBody::SetFreezeRotationX(bool freezeRotationX) noexcept
|
||||
{
|
||||
static constexpr unsigned int FLAG_POS = 13;
|
||||
static constexpr uint16_t VALUE = 1U << FLAG_POS;
|
||||
|
||||
if (freezeRotationX)
|
||||
{
|
||||
flags |= VALUE;
|
||||
// Reset angular velocity along X-axis
|
||||
angularVelocity.x = 0.0f;
|
||||
}
|
||||
else
|
||||
{
|
||||
flags &= ~VALUE;
|
||||
}
|
||||
}
|
||||
|
||||
inline void SHRigidBody::SetFreezeRotationY(bool freezeRotationY) noexcept
|
||||
{
|
||||
static constexpr unsigned int FLAG_POS = 14;
|
||||
static constexpr uint16_t VALUE = 1U << FLAG_POS;
|
||||
|
||||
if (freezeRotationY)
|
||||
{
|
||||
flags |= VALUE;
|
||||
// Reset angular velocity along Y-axis
|
||||
angularVelocity.y = 0.0f;
|
||||
}
|
||||
else
|
||||
{
|
||||
flags &= ~VALUE;
|
||||
}
|
||||
}
|
||||
|
||||
inline void SHRigidBody::SetFreezeRotationZ(bool freezeRotationZ) noexcept
|
||||
{
|
||||
static constexpr unsigned int FLAG_POS = 15;
|
||||
static constexpr uint16_t VALUE = 1U << FLAG_POS;
|
||||
|
||||
if (freezeRotationZ)
|
||||
{
|
||||
flags |= VALUE;
|
||||
// Reset angular velocity along Z-axis
|
||||
angularVelocity.z = 0.0f;
|
||||
}
|
||||
else
|
||||
{
|
||||
flags &= ~VALUE;
|
||||
}
|
||||
}
|
||||
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
/* Member Function Definitions */
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
|
||||
inline void SHRigidBody::AddForce(const SHVec3& force, const SHVec3& pos) noexcept
|
||||
{
|
||||
if (bodyType != Type::DYNAMIC)
|
||||
return;
|
||||
|
||||
accumulatedForce += force;
|
||||
// Compute torque when force is offset
|
||||
}
|
||||
|
||||
inline void SHRigidBody::AddImpulse(const SHVec3& impulse, const SHVec3& pos) noexcept
|
||||
{
|
||||
if (bodyType != Type::DYNAMIC)
|
||||
return;
|
||||
|
||||
linearVelocity += impulse * invMass;
|
||||
}
|
||||
|
||||
inline void SHRigidBody::ClearForces() noexcept
|
||||
{
|
||||
accumulatedForce = SHVec3::Zero;
|
||||
}
|
||||
|
||||
} // namespace SHADE
|
||||
Loading…
Reference in New Issue