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Fixed various physics bugs 

Fixed bug where world was prebuilt and entity IDs were wrongly synced
Fixed collider properties not being synced in the first frame during mass property computations
Fixed static objects being wrongly updated post world update
This commit is contained in:
Diren D Bharwani 2022-11-22 19:25:40 +08:00
parent 23bae3d515
commit c18d58cba3
5 changed files with 402 additions and 37 deletions
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337
Assets/Scenes/M2Scene.shade
View File

@ -4,7 +4,7 @@
NumberOfChildren: 0
Components:
Camera Component:
Position: {x: 0, y: 0, z: 8}
Position: {x: 0, y: 3, z: 8}
Pitch: 0
Yaw: 0
Roll: 0
@ -13,6 +13,7 @@
Near: 0.00999999978
Far: 10000
Perspective: true
IsActive: true
Light Component:
Position: {x: 0, y: 0, z: 0}
Type: Directional
@ -20,6 +21,7 @@
Color: {x: 0.951541841, y: 0.921719015, z: 0.553319454, w: 1}
Layer: 4294967295
Strength: 0
IsActive: true
Scripts: ~
- EID: 7
Name: BigBoi
@ -30,9 +32,11 @@
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}
IsActive: true
Renderable Component:
Mesh: 149697411
Material: 126974645
IsActive: true
Scripts: ~
- EID: 8
Name: AmbientLight
@ -46,4 +50,335 @@
Color: {x: 1, y: 1, z: 1, w: 1}
Layer: 4294967295
Strength: 0.25
IsActive: true
Scripts: ~
- EID: 65542
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 2.5, y: 0.5, z: -2.5}
Rotate: {x: 0, y: 0, z: 0}
Scale: {x: 5, y: 0.5, z: 5}
IsActive: 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, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 65538
Name: Movable
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 0, y: 4.28833103, z: 0}
Rotate: {x: -0, y: 0, z: -0}
Scale: {x: 1, y: 1, z: 1}
IsActive: true
RigidBody Component:
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.00999999978
Use Gravity: true
Interpolate: true
Sleeping Enabled: true
Freeze Position X: false
Freeze Position Y: false
Freeze Position Z: false
Freeze Rotation X: false
Freeze Rotation Y: false
Freeze Rotation Z: false
IsActive: 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, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
- Is Trigger: false
Type: Box
Half Extents: {x: 2, y: 2, z: 2}
Friction: 0.400000006
Bounciness: 0
Density: 1
Position Offset: {x: 0, y: 0, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 65537
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 5.25, y: 2.75, z: 2.5}
Rotate: {x: 0, y: 0, z: 1.57079637}
Scale: {x: 5, y: 0.5, z: 5}
IsActive: 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, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 9
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 5.25, y: 2.75, z: -2.5}
Rotate: {x: 0, y: 0, z: 1.57079637}
Scale: {x: 5, y: 0.5, z: 5}
IsActive: 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, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 10
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: -5.25, y: 2.75, z: 2.5}
Rotate: {x: 0, y: 0, z: 1.57079637}
Scale: {x: 5, y: 0.5, z: 5}
IsActive: 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, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 11
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: -5.25, y: 2.75, z: -2.5}
Rotate: {x: 0, y: 0, z: 1.57079637}
Scale: {x: 5, y: 0.5, z: 5}
IsActive: 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, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 12
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 2.5, y: 2.75, z: 5.25}
Rotate: {x: 7.15255737e-07, y: 1.57079566, z: 1.57079589}
Scale: {x: 4.99999809, y: 0.499999762, z: 4.99999809}
IsActive: 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, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 65551
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: -2.5, y: 2.75, z: 5.25}
Rotate: {x: 7.15255737e-07, y: 1.57079566, z: 1.57079589}
Scale: {x: 4.99999809, y: 0.499999762, z: 4.99999809}
IsActive: 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, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 65550
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: -2.5, y: 2.75, z: -5.25}
Rotate: {x: 7.15255737e-07, y: 1.57079566, z: 1.57079589}
Scale: {x: 4.99999809, y: 0.499999762, z: 4.99999809}
IsActive: 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, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 65549
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 2.5, y: 2.75, z: -5.25}
Rotate: {x: 7.15255737e-07, y: 1.57079566, z: 1.57079589}
Scale: {x: 4.99999809, y: 0.499999762, z: 4.99999809}
IsActive: 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, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 16
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 0, y: 2.5, z: 0}
Rotate: {x: 0, y: 0, z: 0}
Scale: {x: 2.5, y: 0.5, z: 2.5}
IsActive: 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, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 5
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 2.5, y: 0.5, z: 2.5}
Rotate: {x: 0, y: 0, z: 0}
Scale: {x: 5, y: 0.5, z: 5}
IsActive: 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, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 4
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: -2.5, y: 0.5, z: -2.5}
Rotate: {x: 0, y: 0, z: 0}
Scale: {x: 5, y: 0.5, z: 5}
IsActive: 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, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 3
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: -2.5, y: 0.5, z: 2.5}
Rotate: {x: 0, y: 0, z: 0}
Scale: {x: 5, y: 0.5, z: 5}
IsActive: 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, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~

4
SHADE_Application/src/Scenes/SBMainScene.cpp
View File

@ -44,6 +44,8 @@ namespace Sandbox
{
sceneName = SHSerialization::DeserializeSceneFromFile(sceneAssetID);
#ifndef SHEDITOR
auto* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
if (!physicsSystem)
{
@ -53,6 +55,8 @@ namespace Sandbox
physicsSystem->BuildScene(SHSceneManager::GetCurrentSceneGraph());
#endif
/*-----------------------------------------------------------------------*/
/* TESTING CODE */
/*-----------------------------------------------------------------------*/

52
SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.cpp
View File

@ -123,12 +123,14 @@ namespace SHADE
default: break;
}
auto* rp3dCollider = rp3dBody->getCollider(rp3dBody->getNbColliders() - 1);
syncColliderProperties(collisionShape, rp3dCollider);
if (rp3dBody->getType() == rp3d::BodyType::DYNAMIC)
{
rp3dBody->updateMassPropertiesFromColliders();
auto* rigidBodyComponent = SHComponentManager::GetComponent_s<SHRigidBodyComponent>(entityID);
if (rigidBodyComponent)
if (auto* rigidBodyComponent = SHComponentManager::GetComponent_s<SHRigidBodyComponent>(entityID); rigidBodyComponent)
rigidBodyComponent->mass = rp3dBody->getMass();
}
@ -326,28 +328,42 @@ namespace SHADE
default: break;
}
// Sync material
auto* rp3dCollider = rp3dBody->getCollider(i);
auto& rp3dMaterial = rp3dCollider->getMaterial();
rp3dMaterial.setFrictionCoefficient(collisionShape.GetFriction());
rp3dMaterial.setBounciness(collisionShape.GetBounciness());
rp3dMaterial.setMassDensity(collisionShape.GetDensity());
// Sync tags
const unsigned short MASK_BITS = collisionShape.GetCollisionTag();
rp3dCollider->setCollisionCategoryBits(MASK_BITS);
rp3dCollider->setCollideWithMaskBits(MASK_BITS);
syncColliderProperties(collisionShape, rp3dCollider);
collisionShape.dirty = false;
}
// Set rigidbody mass if dynamic
auto* rigidBodyComponent = SHComponentManager::GetComponent_s<SHRigidBodyComponent>(entityID);
if (rigidBodyComponent)
{
// This is generally expensive, will be optimised in the future with my own engine.
rp3dBody->updateMassPropertiesFromColliders();
rigidBodyComponent->mass = rp3dBody->getMass();
}
}
/*-----------------------------------------------------------------------------------*/
/* Private Function Member Definitions */
/*-----------------------------------------------------------------------------------*/
void SHPhysicsObject::addBoxShape(SHCollisionShape& boxShape) const noexcept
void SHPhysicsObject::syncColliderProperties(const SHCollisionShape& collisionShape, rp3d::Collider* rp3dCollider) const noexcept
{
rp3dCollider->setIsTrigger(collisionShape.IsTrigger());
auto& rp3dMaterial = rp3dCollider->getMaterial();
rp3dMaterial.setFrictionCoefficient(collisionShape.GetFriction());
rp3dMaterial.setBounciness(collisionShape.GetBounciness());
rp3dMaterial.setMassDensity(collisionShape.GetDensity());
const unsigned short MASK_BITS = collisionShape.GetCollisionTag();
rp3dCollider->setCollisionCategoryBits(MASK_BITS);
rp3dCollider->setCollideWithMaskBits(MASK_BITS);
}
void SHPhysicsObject::addBoxShape(const SHCollisionShape& boxShape) const noexcept
{
const rp3d::Transform OFFSETS
{
@ -361,7 +377,7 @@ namespace SHADE
rp3dBody->addCollider(newBox, OFFSETS);
}
void SHPhysicsObject::syncBoxShape(int index, SHCollisionShape& boxShape) const noexcept
void SHPhysicsObject::syncBoxShape(int index, const SHCollisionShape& boxShape) const noexcept
{
const auto* BOX = reinterpret_cast<const SHBox*>(boxShape.GetShape());
@ -380,7 +396,7 @@ namespace SHADE
rp3dBox->setHalfExtents(BOX->GetWorldExtents());
}
void SHPhysicsObject::addSphereShape(SHCollisionShape& sphereShape) const noexcept
void SHPhysicsObject::addSphereShape(const SHCollisionShape& sphereShape) const noexcept
{
const rp3d::Transform OFFSETS
{
@ -394,7 +410,7 @@ namespace SHADE
rp3dBody->addCollider(newSphere, OFFSETS);
}
void SHPhysicsObject::syncSphereShape(int index, SHCollisionShape& sphereShape) const noexcept
void SHPhysicsObject::syncSphereShape(int index, const SHCollisionShape& sphereShape) const noexcept
{
const auto* SPHERE = reinterpret_cast<const SHSphere*>(sphereShape.GetShape());

10
SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.h
View File

@ -96,14 +96,16 @@ namespace SHADE
/* Function Members */
/*---------------------------------------------------------------------------------*/
void syncColliderProperties (const SHCollisionShape& collisionShape, rp3d::Collider* rp3dCollider) const noexcept;
// Box Shapes
void addBoxShape (SHCollisionShape& boxShape) const noexcept;
void syncBoxShape (int index, SHCollisionShape& boxShape) const noexcept;
void addBoxShape (const SHCollisionShape& boxShape) const noexcept;
void syncBoxShape (int index, const SHCollisionShape& boxShape) const noexcept;
// Sphere Shapes
void addSphereShape (SHCollisionShape& sphereShape) const noexcept;
void syncSphereShape (int index, SHCollisionShape& sphereShape) const noexcept;
void addSphereShape (const SHCollisionShape& sphereShape) const noexcept;
void syncSphereShape (int index, const SHCollisionShape& sphereShape) const noexcept;
};
} // namespace SHADE

36
SHADE_Engine/src/Physics/System/SHPhysicsSystemRoutines.cpp
View File

@ -21,6 +21,7 @@
#include "Input/SHInputManager.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
@ -134,6 +135,8 @@ namespace SHADE
const double FIXED_DT = physicsSystem->fixedDT;
accumulatedTime += dt;
testFunction();
int count = 0;
while (accumulatedTime > FIXED_DT)
{
@ -315,7 +318,7 @@ namespace SHADE
if (physicsObject.GetRigidBody()->isActive())
physicsObject.prevTransform = CURRENT_TF;
// Sync with rigid bodies
// Sync with rigid bodies. If an object doesn't have a rigidbody, no update is needed here as it is done in pre-update.
if (rigidBodyComponent && SHSceneManager::CheckNodeAndComponentsActive<SHRigidBodyComponent>(physicsObject.entityID))
{
// Skip static bodies
@ -336,20 +339,25 @@ namespace SHADE
rigidBodyComponent->position = CURRENT_TF.getPosition();
rigidBodyComponent->orientation = CURRENT_TF.getOrientation();
}
// Sync with colliders
if (colliderComponent && SHSceneManager::CheckNodeAndComponentsActive<SHColliderComponent>(physicsObject.entityID))
{
colliderComponent->position = CURRENT_TF.getPosition();
colliderComponent->orientation = CURRENT_TF.getOrientation();
}
// Sync with colliders
if (colliderComponent && SHSceneManager::CheckNodeAndComponentsActive<SHColliderComponent>(physicsObject.entityID))
{
// Skip colliders without rigidbody components. If any transform was updated, it was done in pre-update.
colliderComponent->position = CURRENT_TF.getPosition();
colliderComponent->orientation = CURRENT_TF.getOrientation();
}
// Set transform for rendering
if (transformComponent)
{
transformComponent->SetWorldPosition(renderPos);
transformComponent->SetWorldOrientation(renderRot);
// Set transform for rendering
if (transformComponent)
{
transformComponent->SetWorldPosition(renderPos);
transformComponent->SetWorldOrientation(renderRot);
}
}
}
} // namespace SHADE
} // namespace SHADE