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This commit is contained in:
Diren D Bharwani 2022-11-13 15:49:35 +08:00
parent 86ca047c88
commit 6fc08f21ed
5 changed files with 111 additions and 221 deletions
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171
Assets/Scenes/M2Scene.shade
View File

@ -56,177 +56,6 @@
Density: 1
Position Offset: {x: 0, y: 0, z: 0}
Scripts: ~
- EID: 2
Name: Player
IsActive: true
NumberOfChildren: 3
Components:
Transform Component:
Translate: {x: -3.06177855, y: -2, z: -5}
Rotate: {x: -0, y: 0, z: -0}
Scale: {x: 2, y: 2, z: 2}
Renderable Component:
Mesh: 149697411
Material: 126974645
RigidBody Component:
Type: Dynamic
Mass: 1
Drag: 0
Angular Drag: 0
Use Gravity: true
Interpolate: true
Freeze Position X: false
Freeze Position Y: false
Freeze Position Z: false
Freeze Rotation X: true
Freeze Rotation Y: true
Freeze Rotation Z: true
Collider Component:
Colliders:
- Is Trigger: false
Type: Box
Half Extents: {x: 1, y: 1, z: 1}
Friction: 0.400000006
Bounciness: 0
Density: 1
Position Offset: {x: 0, y: 0.5, z: 0}
Scripts: ~
- EID: 3
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: -0.0094268322, y: 0, z: 0}
Rotate: {x: -0, y: 0, z: -0}
Scale: {x: 1, y: 1, z: 1}
Scripts: ~
- EID: 4
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 0, y: 0, z: 0}
Rotate: {x: 0, y: 0, z: 0}
Scale: {x: 1, y: 1, z: 1}
Scripts: ~
- EID: 9
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 0, y: 0, z: 0}
Rotate: {x: 0, y: 0, z: 0}
Scale: {x: 1, y: 1, z: 1}
Renderable Component:
Mesh: 144838771
Material: 123745521
Scripts: ~
- EID: 6
Name: AI
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: -8, y: -2, z: 2.5}
Rotate: {x: 0, y: 0, z: 0}
Scale: {x: 1, y: 1, z: 1}
Renderable Component:
Mesh: 149697411
Material: 126974645
RigidBody Component:
Type: Dynamic
Mass: 1
Drag: 0
Angular Drag: 0
Use Gravity: true
Interpolate: false
Freeze Position X: false
Freeze Position Y: false
Freeze Position Z: false
Freeze Rotation X: true
Freeze Rotation Y: true
Freeze Rotation Z: true
Collider Component:
Colliders:
- Is Trigger: false
Type: Box
Half Extents: {x: 0.5, y: 0.5, z: 0.5}
Friction: 0.400000006
Bounciness: 0
Density: 1
Position Offset: {x: 0, y: 0.5, z: 0}
Scripts: ~
- EID: 7
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 0, y: -16.8647861, z: -14.039052}
Rotate: {x: -0, y: 0, z: -0}
Scale: {x: 28.1434975, y: 28.1434975, z: 28.1434975}
Renderable Component:
Mesh: 149697411
Material: 126974645
Scripts: ~
- EID: 8
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Light Component:
Position: {x: 0, y: 0, z: 0}
Type: Ambient
Direction: {x: 0, y: 0, z: 1}
Color: {x: 1, y: 1, z: 1, w: 1}
Layer: 4294967295
Strength: 0.25
Scripts: ~
- EID: 5
Name: item
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 0, y: -2, z: -5}
Rotate: {x: 0, y: 0, z: 0}
Scale: {x: 2, y: 2, z: 2}
Renderable Component:
Mesh: 144838771
Material: 123745521
RigidBody Component:
Type: Dynamic
Mass: 1
Drag: 0
Angular Drag: 0
Use Gravity: true
Interpolate: false
Freeze Position X: false
Freeze Position Y: false
Freeze Position Z: false
Freeze Rotation X: true
Freeze Rotation Y: true
Freeze Rotation Z: true
Collider Component:
Colliders:
- Is Trigger: false
Type: Box
Half Extents: {x: 1, y: 1, z: 1}
Friction: 0.400000006
Bounciness: 0
Density: 1
Position Offset: {x: 0, y: 0.5, z: 0}
- Is Trigger: true
Type: Box
Half Extents: {x: 2, y: 2, z: 2}
Friction: 0.400000006
Bounciness: 0
Density: 1
Position Offset: {x: 0, y: 0.5, z: 0}
Scripts: ~
- EID: 10
Name: Default
IsActive: true

13
SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.cpp
View File

@ -112,6 +112,9 @@ namespace SHADE
default: break;
}
rp3dBody->updateLocalCenterOfMassFromColliders();
rp3dBody->updateLocalInertiaTensorFromColliders();
return index;
}
@ -134,9 +137,9 @@ namespace SHADE
if (numColliders == 0)
return;
while (numColliders >= 0)
while (numColliders - 1 >= 0)
{
auto* collider = rp3dBody->getCollider(numColliders);
auto* collider = rp3dBody->getCollider(numColliders - 1);
rp3dBody->removeCollider(collider);
--numColliders;
@ -300,9 +303,6 @@ namespace SHADE
rp3d::BoxShape* newBox = factory->createBoxShape(BOX->GetWorldExtents());
rp3dBody->addCollider(newBox, OFFSETS);
rp3dBody->updateLocalCenterOfMassFromColliders();
rp3dBody->updateLocalInertiaTensorFromColliders();
}
void SHPhysicsObject::syncBoxShape(int index, SHCollisionShape& boxShape) const noexcept
@ -336,9 +336,6 @@ namespace SHADE
rp3d::SphereShape* newSphere = factory->createSphereShape(SPHERE->GetWorldRadius());
rp3dBody->addCollider(newSphere, OFFSETS);
rp3dBody->updateLocalCenterOfMassFromColliders();
rp3dBody->updateLocalInertiaTensorFromColliders();
}
void SHPhysicsObject::syncSphereShape(int index, SHCollisionShape& sphereShape) const noexcept

29
SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObjectManager.cpp
View File

@ -195,8 +195,29 @@ namespace SHADE
SHPhysicsObject* SHPhysicsObjectManager::createPhysicsObject(EntityID eid) noexcept
{
auto newObjIter = physicsObjects.emplace(eid, SHPhysicsObject{ eid, factory, world });
return &(newObjIter.first->second);
auto& newPhysicsObject = physicsObjects.emplace(eid, SHPhysicsObject{ eid, factory, world }).first->second;
// Force transforms to sync
const auto* TRANSFORM = SHComponentManager::GetComponent_s<SHTransformComponent>(eid);
SHVec3 worldPos = SHVec3::Zero;
SHQuaternion worldRot = SHQuaternion::Identity;
if (!TRANSFORM)
{
SHLOGV_ERROR("Unable to sync transforms with Physics Object for Entity {}", eid);
}
else
{
worldPos = TRANSFORM->GetWorldPosition();
worldRot = TRANSFORM->GetWorldOrientation();
}
const rp3d::Transform RP3D_TRANSFORM{ worldPos, worldRot };
newPhysicsObject.GetRigidBody()->setTransform(RP3D_TRANSFORM);
newPhysicsObject.prevTransform = RP3D_TRANSFORM;
return &newPhysicsObject;
}
void SHPhysicsObjectManager::destroyPhysicsObject(EntityID eid) noexcept
@ -230,6 +251,10 @@ namespace SHADE
return;
}
const int NUM_SHAPES = static_cast<int>(componentGroup.colliderComponent->GetCollisionShapes().size());
for (int i = 0; i < NUM_SHAPES; ++i)
physicsObject->AddCollisionShape(i);
physicsObject->SyncColliders(*componentGroup.colliderComponent);
}

4
SHADE_Engine/src/Physics/SHPhysicsWorld.h
View File

@ -38,8 +38,8 @@ namespace SHADE
/*-------------------------------------------------------------------------------*/
SHVec3 gravity = SHVec3{ 0.0f, -9.81f, 0.0f };
uint16_t numVelocitySolverIterations = 8;
uint16_t numPositionSolverIterations = 3;
uint16_t numVelocitySolverIterations = 15;
uint16_t numPositionSolverIterations = 8;
bool sleepingEnabled = true;
};

87
SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp
View File

@ -18,8 +18,12 @@
#include "ECS_Base/Managers/SHEntityManager.h"
#include "ECS_Base/Managers/SHSystemManager.h"
#include "Editor/SHEditor.h"
#include "Math/Transform/SHTransformComponent.h"
#include "Physics/SHPhysicsEvents.h"
#include "Scene/SHSceneManager.h"
/*-------------------------------------------------------------------------------------*/
/* Local Helper Functions */
/*-------------------------------------------------------------------------------------*/
namespace SHADE
{
@ -123,6 +127,8 @@ namespace SHADE
}
void SHPhysicsSystem::AddCollisionShape(EntityID eid, int shapeIndex)
{
static const auto ADD_SHAPE = [&]
{
objectManager.AddCollisionShape(eid, shapeIndex);
@ -134,9 +140,24 @@ namespace SHADE
};
SHEventManager::BroadcastEvent<SHPhysicsColliderAddedEvent>(COLLIDER_ADDED_EVENT_DATA, SH_PHYSICS_COLLIDER_ADDED_EVENT);
};
#ifdef SHEDITOR
auto* editor = SHSystemManager::GetSystem<SHEditor>();
if (editor && editor->editorState != SHEditor::State::STOP)
ADD_SHAPE();
#else
ADD_SHAPE();
#endif
}
void SHPhysicsSystem::RemoveCollisionShape(EntityID eid, int shapeIndex)
{
static const auto REMOVE_SHAPE = [&]
{
objectManager.RemoveCollisionShape(eid, shapeIndex);
@ -147,6 +168,19 @@ namespace SHADE
};
SHEventManager::BroadcastEvent<SHPhysicsColliderRemovedEvent>(COLLIDER_REMOVED_EVENT_DATA, SH_PHYSICS_COLLIDER_REMOVED_EVENT);
};
#ifdef SHEDITOR
auto* editor = SHSystemManager::GetSystem<SHEditor>();
if (editor && editor->editorState != SHEditor::State::STOP)
REMOVE_SHAPE();
#else
REMOVE_SHAPE();
#endif
}
void SHPhysicsSystem::AddForce(EntityID eid, const SHVec3& force) noexcept
@ -210,18 +244,17 @@ namespace SHADE
// We only add tell the physics object manager to add a component if the scene is played
#ifdef _PUBLISH
ADDED_ID == RIGID_BODY_ID ? objectManager.AddRigidBody(EID) : objectManager.AddCollider(EID);
#elif SHEDITOR
#ifdef SHEDITOR
auto* editor = SHSystemManager::GetSystem<SHEditor>();
if (editor)
{
if (editor->editorState != SHEditor::State::STOP)
if (editor && editor->editorState != SHEditor::State::STOP)
ADDED_ID == RIGID_BODY_ID ? objectManager.AddRigidBody(EID) : objectManager.AddCollider(EID);
#else
ADDED_ID == RIGID_BODY_ID ? objectManager.AddRigidBody(EID) : objectManager.AddCollider(EID);
}
#endif
}
@ -244,11 +277,7 @@ namespace SHADE
// We only add tell the physics object manager to remove a component if the scene is played
#ifdef _PUBLISH
REMOVED_ID == RIGID_BODY_ID ? objectManager.RemoveRigidBody(EID) : objectManager.RemoveCollider(EID);
#elif SHEDITOR
#ifdef SHEDITOR
auto* editor = SHSystemManager::GetSystem<SHEditor>();
if (editor)
@ -257,6 +286,10 @@ namespace SHADE
REMOVED_ID == RIGID_BODY_ID ? objectManager.RemoveRigidBody(EID) : objectManager.RemoveCollider(EID);
}
#else
REMOVED_ID == RIGID_BODY_ID ? objectManager.RemoveRigidBody(EID) : objectManager.RemoveCollider(EID);
#endif
}
@ -266,6 +299,19 @@ namespace SHADE
SHEventHandle SHPhysicsSystem::onPlay(SHEventPtr onPlayEvent)
{
static const auto BUILD_PHYSICS_OBJECT = [&](SHSceneNode* node)
{
const EntityID EID = node->GetEntityID();
if (SHComponentManager::HasComponent<SHRigidBodyComponent>(EID))
objectManager.AddRigidBody(EID);
if (SHComponentManager::HasComponent<SHColliderComponent>(EID))
objectManager.AddCollider(EID);
};
////////////////////////////////
// Create physics world
worldState.CreateWorld(factory);
@ -275,14 +321,8 @@ namespace SHADE
// Link with object manager & create all physics objects
objectManager.SetWorld(worldState.world);
const auto& RIGIDBODY_DENSE = SHComponentManager::GetDense<SHRigidBodyComponent>();
const auto& COLLIDER_DENSE = SHComponentManager::GetDense<SHColliderComponent>();
for (auto& rigidBodyComponent : RIGIDBODY_DENSE)
objectManager.AddRigidBody(rigidBodyComponent.GetEID());
for (auto& colliderComponent : COLLIDER_DENSE)
objectManager.AddCollider(colliderComponent.GetEID());
const auto& SCENE_GRAPH = SHSceneManager::GetCurrentSceneGraph();
SCENE_GRAPH.Traverse(BUILD_PHYSICS_OBJECT);
return onPlayEvent->handle;
}
@ -300,7 +340,6 @@ namespace SHADE
// Destroy the world
worldState.DestroyWorld(factory);
return onStopEvent->handle;
}