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Fixed a fatal error with rigid body rotations.

This commit is contained in:
Diren D Bharwani 2023-01-16 02:43:31 +08:00
parent 6c76849cd8
commit dab109bc77
4 changed files with 52 additions and 50 deletions
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5
SHADE_Engine/src/Physics/Dynamics/SHMotionState.cpp
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@ -109,10 +109,7 @@ namespace SHADE
prevOrientation = orientation;
SHQuaternion qv{ velocity.x * dt, velocity.y * dt, velocity.z * dt, 0.0f };
qv *= orientation;
orientation += qv * 0.5f;
orientation += orientation * SHQuaternion{ velocity.x, velocity.y, velocity.z, 0.0f } * dt * 0.5f;
orientation = SHQuaternion::Normalise(orientation);
}

2
SHADE_Engine/src/Physics/Dynamics/SHPhysicsWorld.cpp
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@ -142,7 +142,7 @@ namespace SHADE
rigidBody.linearVelocity += (LINEAR_ACCELERATION + GRAVITATIONAL_ACCELERATION) * dt;
// Integrate torque into angular velocity
rigidBody.angularVelocity += rigidBody.worldInvInertia * (rigidBody.accumulatedTorque * dt);
rigidBody.angularVelocity += rigidBody.worldInvInertia * rigidBody.accumulatedTorque * dt;
// Apply drag (exponentially applied)
rigidBody.linearVelocity *= 1.0f / (1.0f + dt * rigidBody.linearDrag);

13
SHADE_Engine/src/Physics/Dynamics/SHRigidBody.cpp
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@ -637,16 +637,17 @@ namespace SHADE
void SHRigidBody::ComputeWorldData() noexcept
{
const SHMatrix R = SHMatrix::Rotate(motionState.orientation);
const SHMatrix RT = SHMatrix::Transpose(R);
// Compute world centroid
worldCentroid = (R * localCentroid) + motionState.position;
if (bodyType == Type::STATIC)
return;
const SHMatrix ROTATION = SHMatrix::Rotate(motionState.orientation);
// Compute world inertia
worldInvInertia = SHMatrix::Transpose(ROTATION) * localInvInertia * ROTATION;
// Compute world centroid
worldCentroid = (ROTATION * localCentroid) + motionState.position;
worldInvInertia = R * (localInvInertia * RT);
}
void SHRigidBody::ComputeMassData() noexcept

82
SHADE_Engine/src/Physics/System/Routines/SHPhysicsPostUpdateRoutine.cpp
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@ -19,7 +19,6 @@
#include "Scene/SHSceneManager.h"
#include "Scripting/SHScriptEngine.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
@ -48,50 +47,55 @@ namespace SHADE
// Interpolate transforms for rendering.
// Only rigid bodies can move due to physics, so we run through the rigid body component dense set.
const auto& RIGIDBODY_DENSE = SHComponentManager::GetDense<SHRigidBodyComponent>();
for (auto& rigidBodyComponent : RIGIDBODY_DENSE)
if (physicsSystem->worldUpdated)
{
const EntityID EID = rigidBodyComponent.GetEID();
// Skip missing transforms
auto* transformComponent = SHComponentManager::GetComponent_s<SHTransformComponent>(EID);
if (!transformComponent)
continue;
// Skip invalid bodies (Should not occur)
if (!rigidBodyComponent.rigidBody)
continue;
// Skip inactive bodies
const bool IS_ACTIVE = SHSceneManager::CheckNodeAndComponentsActive<SHRigidBodyComponent>(EID);
if (!IS_ACTIVE)
continue;
const SHMotionState& MOTION_STATE = rigidBodyComponent.rigidBody->GetMotionState();
// Skip objects that have not moved
if (!MOTION_STATE)
continue;
if (rigidBodyComponent.IsInterpolating())
const auto& RIGIDBODY_DENSE = SHComponentManager::GetDense<SHRigidBodyComponent>();
for (auto& rigidBodyComponent : RIGIDBODY_DENSE)
{
const SHVec3 RENDER_POSITION = MOTION_STATE.InterpolatePositions(FACTOR);
const SHQuaternion RENDER_ORIENTATION = MOTION_STATE.InterpolateOrientations(FACTOR);
const EntityID EID = rigidBodyComponent.GetEID();
transformComponent->SetWorldPosition(RENDER_POSITION);
transformComponent->SetWorldOrientation(RENDER_ORIENTATION);
}
else
{
transformComponent->SetWorldPosition(MOTION_STATE.position);
transformComponent->SetWorldOrientation(MOTION_STATE.orientation);
}
// Skip missing transforms
auto* transformComponent = SHComponentManager::GetComponent_s<SHTransformComponent>(EID);
if (!transformComponent)
continue;
/*
* TODO: Test if the scene graph transforms abides by setting world position. Collisions will ignore the scene graph hierarchy.
*/
// Skip invalid bodies (Should not occur)
if (!rigidBodyComponent.rigidBody)
continue;
// Skip inactive bodies
const bool IS_ACTIVE = SHSceneManager::CheckNodeAndComponentsActive<SHRigidBodyComponent>(EID);
if (!IS_ACTIVE)
continue;
const SHMotionState& MOTION_STATE = rigidBodyComponent.rigidBody->GetMotionState();
// Skip objects that have not moved
if (!MOTION_STATE)
continue;
if (rigidBodyComponent.IsInterpolating())
{
const SHVec3 RENDER_POSITION = MOTION_STATE.InterpolatePositions(FACTOR);
const SHQuaternion RENDER_ORIENTATION = MOTION_STATE.InterpolateOrientations(FACTOR);
transformComponent->SetWorldPosition(RENDER_POSITION);
transformComponent->SetWorldOrientation(RENDER_ORIENTATION);
}
else
{
transformComponent->SetWorldPosition(MOTION_STATE.position);
transformComponent->SetWorldOrientation(MOTION_STATE.orientation);
}
/*
* TODO: Test if the scene graph transforms abides by setting world position. Collisions will ignore the scene graph hierarchy.
*/
}
}
// Collision & Trigger messages
if (scriptingSystem != nullptr)
scriptingSystem->ExecuteCollisionFunctions();