From f172ccb74430cd26f24d1246bdd9d2d932f6aa79 Mon Sep 17 00:00:00 2001 From: Diren D Bharwani Date: Tue, 15 Nov 2022 23:58:08 +0800 Subject: [PATCH] Added Automass and Sleep check for Rigidbodies --- .../Interface/SHRigidBodyComponent.cpp | 66 +++++++--- .../Physics/Interface/SHRigidBodyComponent.h | 18 ++- .../Physics/PhysicsObject/SHPhysicsObject.cpp | 14 +- .../src/Physics/System/SHPhysicsSystem.cpp | 123 ++++-------------- .../src/Physics/System/SHPhysicsSystem.h | 36 +++-- .../System/SHPhysicsSystemRoutines.cpp | 90 +++++++++++++ 6 files changed, 203 insertions(+), 144 deletions(-) diff --git a/SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.cpp b/SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.cpp index 765decd8..e892a5aa 100644 --- a/SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.cpp +++ b/SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.cpp @@ -29,7 +29,6 @@ namespace SHADE SHRigidBodyComponent::SHRigidBodyComponent() noexcept : type { Type::DYNAMIC } - , interpolate { true } , flags { 0 } , dirtyFlags { std::numeric_limits::max() } , mass { 1.0f } @@ -40,6 +39,7 @@ namespace SHADE // Initialise default flags flags |= 1U << 0; // Gravity set to true flags |= 1U << 1; // Sleeping allowed + flags |= 1U << 8; // Interpolate by default } /*-----------------------------------------------------------------------------------*/ @@ -60,7 +60,16 @@ namespace SHADE bool SHRigidBodyComponent::IsInterpolating() const noexcept { - return interpolate; + static constexpr int FLAG_POS = 8; + return flags & (1U << FLAG_POS); + } + + bool SHRigidBodyComponent::GetIsSleeping() const noexcept + { + if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject) + return physicsObject->GetRigidBody()->isSleeping(); + + return false; } SHRigidBodyComponent::Type SHRigidBodyComponent::GetType() const noexcept @@ -68,21 +77,6 @@ namespace SHADE return type; } - float SHRigidBodyComponent::GetMass() const noexcept - { - return mass; - } - - float SHRigidBodyComponent::GetDrag() const noexcept - { - return drag; - } - - float SHRigidBodyComponent::GetAngularDrag() const noexcept - { - return angularDrag; - } - bool SHRigidBodyComponent::GetFreezePositionX() const noexcept { static constexpr int FLAG_POS = 2; @@ -119,6 +113,27 @@ namespace SHADE return flags & (1U << FLAG_POS); } + bool SHRigidBodyComponent::GetAutoMass() const noexcept + { + static constexpr int FLAG_POS = 9; + return flags & (1U << FLAG_POS); + } + + float SHRigidBodyComponent::GetMass() const noexcept + { + return mass; + } + + float SHRigidBodyComponent::GetDrag() const noexcept + { + return drag; + } + + float SHRigidBodyComponent::GetAngularDrag() const noexcept + { + return angularDrag; + } + SHVec3 SHRigidBodyComponent::GetForce() const noexcept { if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject) @@ -295,9 +310,19 @@ namespace SHADE void SHRigidBodyComponent::SetInterpolate(bool allowInterpolation) noexcept { - interpolate = allowInterpolation; + static constexpr int FLAG_POS = 8; + allowInterpolation ? flags |= 1U << FLAG_POS : flags &= ~(1U << FLAG_POS); } + void SHRigidBodyComponent::SetAutoMass(bool autoMass) noexcept + { + static constexpr int FLAG_POS = 9; + autoMass ? flags |= 1U << FLAG_POS : flags &= ~(1U << FLAG_POS); + + dirtyFlags |= 1U << FLAG_POS; + } + + void SHRigidBodyComponent::SetMass(float newMass) noexcept { static constexpr int FLAG_POS = 9; @@ -313,6 +338,9 @@ namespace SHADE dirtyFlags |= 1U << FLAG_POS; mass = newMass; + + // Turn off automass + flags &= ~(1U << FLAG_POS); } void SHRigidBodyComponent::SetDrag(float newDrag) noexcept @@ -467,6 +495,8 @@ RTTR_REGISTRATION .property("Angular Drag" , &SHRigidBodyComponent::GetAngularDrag , &SHRigidBodyComponent::SetAngularDrag ) .property("Use Gravity" , &SHRigidBodyComponent::IsGravityEnabled , &SHRigidBodyComponent::SetGravityEnabled ) .property("Interpolate" , &SHRigidBodyComponent::IsInterpolating , &SHRigidBodyComponent::SetInterpolate ) + .property("Sleeping Enabled" , &SHRigidBodyComponent::IsAllowedToSleep , &SHRigidBodyComponent::SetIsAllowedToSleep) + .property("Auto Mass" , &SHRigidBodyComponent::GetAutoMass , &SHRigidBodyComponent::SetAutoMass ) .property("Freeze Position X" , &SHRigidBodyComponent::GetFreezePositionX , &SHRigidBodyComponent::SetFreezePositionX ) .property("Freeze Position Y" , &SHRigidBodyComponent::GetFreezePositionY , &SHRigidBodyComponent::SetFreezePositionY ) .property("Freeze Position Z" , &SHRigidBodyComponent::GetFreezePositionZ , &SHRigidBodyComponent::SetFreezePositionZ ) diff --git a/SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.h b/SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.h index f7062f96..658c60e1 100644 --- a/SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.h +++ b/SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.h @@ -71,19 +71,23 @@ namespace SHADE [[nodiscard]] bool IsAllowedToSleep () const noexcept; [[nodiscard]] bool IsInterpolating () const noexcept; + [[nodiscard]] bool GetIsSleeping () const noexcept; + [[nodiscard]] Type GetType () const noexcept; - [[nodiscard]] float GetMass () const noexcept; - [[nodiscard]] float GetDrag () const noexcept; - [[nodiscard]] float GetAngularDrag () const noexcept; - + [[nodiscard]] bool GetFreezePositionX () const noexcept; [[nodiscard]] bool GetFreezePositionY () const noexcept; [[nodiscard]] bool GetFreezePositionZ () const noexcept; - [[nodiscard]] bool GetFreezeRotationX () const noexcept; [[nodiscard]] bool GetFreezeRotationY () const noexcept; [[nodiscard]] bool GetFreezeRotationZ () const noexcept; + [[nodiscard]] bool GetAutoMass () const noexcept; + + [[nodiscard]] float GetMass () const noexcept; + [[nodiscard]] float GetDrag () const noexcept; + [[nodiscard]] float GetAngularDrag () const noexcept; + [[nodiscard]] SHVec3 GetForce () const noexcept; [[nodiscard]] SHVec3 GetTorque () const noexcept; [[nodiscard]] SHVec3 GetLinearVelocity () const noexcept; @@ -108,6 +112,7 @@ namespace SHADE void SetFreezeRotationY (bool freezeRotationY) noexcept; void SetFreezeRotationZ (bool freezeRotationZ) noexcept; void SetInterpolate (bool allowInterpolation) noexcept; + void SetAutoMass (bool autoMass) noexcept; void SetMass (float newMass) noexcept; void SetDrag (float newDrag) noexcept; @@ -144,8 +149,7 @@ namespace SHADE Type type; - bool interpolate; - uint8_t flags; // aZ aY aX lZ lY lX slp g + uint16_t flags; // 0 0 0 0 0 0 am ip aZ aY aX lZ lY lX slp g uint16_t dirtyFlags; // 0 0 0 0 aD d m t aZ aY aX lZ lY lX slp g float mass; diff --git a/SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.cpp b/SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.cpp index a52d3899..eb94aecb 100644 --- a/SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.cpp +++ b/SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.cpp @@ -245,9 +245,17 @@ namespace SHADE } case 9: // Mass { - rp3dBody->setMass(component.mass); - rp3dBody->updateLocalCenterOfMassFromColliders(); - rp3dBody->updateLocalInertiaTensorFromColliders(); + if (component.GetAutoMass()) + { + rp3dBody->updateMassPropertiesFromColliders(); + component.mass = rp3dBody->getMass(); + } + else + { + rp3dBody->setMass(component.mass); + rp3dBody->updateLocalCenterOfMassFromColliders(); + rp3dBody->updateLocalInertiaTensorFromColliders(); + } break; } diff --git a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp index 33ba88e7..50590e04 100644 --- a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp +++ b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp @@ -154,14 +154,32 @@ namespace SHADE auto* rigidBodyComponent = SHComponentManager::GetComponent_s(entityID); auto* colliderComponent = SHComponentManager::GetComponent_s(entityID); - postUpdateSyncTransforms - ( - physicsObject - , transformComponent - , rigidBodyComponent - , colliderComponent - , 1.0 // We use 1.0 here to avoid any interpolation - ); + const auto& CURRENT_TF = physicsObject.GetRigidBody()->getTransform(); + const auto& RENDER_POS = CURRENT_TF.getPosition(); + const auto& RENDER_ROT = CURRENT_TF.getOrientation(); + + // Cache transform + physicsObject.prevTransform = CURRENT_TF; + + // Sync with physics components + if (rigidBodyComponent && SHSceneManager::CheckNodeAndComponentsActive(entityID)) + { + rigidBodyComponent->position = RENDER_POS; + rigidBodyComponent->orientation = RENDER_ROT; + } + + if (colliderComponent && SHSceneManager::CheckNodeAndComponentsActive(entityID)) + { + colliderComponent->position = RENDER_POS; + colliderComponent->orientation = RENDER_ROT; + } + + // Set transform for rendering + if (transformComponent) + { + transformComponent->SetWorldPosition(RENDER_POS); + transformComponent->SetWorldOrientation(RENDER_ROT); + } } } @@ -337,93 +355,4 @@ namespace SHADE return onStopEvent->handle; } - void SHPhysicsSystem::preUpdateSyncTransform - ( - SHPhysicsObject& physicsObject - , SHTransformComponent* transformComponent - , SHRigidBodyComponent* rigidBodyComponent - , SHColliderComponent* colliderComponent - ) noexcept - { - if (!transformComponent) - return; - - const SHVec3& WORLD_POS = transformComponent->GetWorldPosition(); - const SHQuaternion& WORLD_ROT = transformComponent->GetWorldOrientation(); - const SHVec3& WORLD_SCL = transformComponent->GetWorldScale(); - - const rp3d::Transform RP3D_TRANSFORM { WORLD_POS, WORLD_ROT }; - physicsObject.GetRigidBody()->setTransform(RP3D_TRANSFORM); - - if (rigidBodyComponent && SHSceneManager::CheckNodeAndComponentsActive(physicsObject.entityID)) - { - rigidBodyComponent->position = WORLD_POS; - rigidBodyComponent->orientation = WORLD_ROT; - } - - if (colliderComponent && SHSceneManager::CheckNodeAndComponentsActive(physicsObject.entityID)) - { - colliderComponent->position = WORLD_POS; - colliderComponent->orientation = WORLD_ROT; - colliderComponent->scale = WORLD_SCL; - - colliderComponent->RecomputeCollisionShapes(); - } - } - - void SHPhysicsSystem::postUpdateSyncTransforms - ( - SHPhysicsObject& physicsObject - , SHTransformComponent* transformComponent - , SHRigidBodyComponent* rigidBodyComponent - , SHColliderComponent* colliderComponent - , double interpolationFactor - ) noexcept - { - const rp3d::Transform& CURRENT_TF = physicsObject.GetRigidBody()->getTransform(); - auto renderPos = CURRENT_TF.getPosition(); - auto renderRot = CURRENT_TF.getOrientation(); - - // Cache transforms - if (physicsObject.GetRigidBody()->isActive()) - physicsObject.prevTransform = CURRENT_TF; - - // Sync with rigid bodies - if (rigidBodyComponent && SHSceneManager::CheckNodeAndComponentsActive(physicsObject.entityID)) - { - // Skip static bodies - if (rigidBodyComponent->GetType() == SHRigidBodyComponent::Type::STATIC) - return; - - // Check if transform should be interpolated - if (rigidBodyComponent->IsInterpolating()) - { - // Interpolate transforms between current and predicted next transform - - const rp3d::Transform PREV_TF = physicsObject.prevTransform; - const rp3d::Transform INTERPOLATED_TF = rp3d::Transform::interpolateTransforms(PREV_TF, CURRENT_TF, static_cast(interpolationFactor)); - - renderPos = INTERPOLATED_TF.getPosition(); - renderRot = INTERPOLATED_TF.getOrientation(); - } - - rigidBodyComponent->position = CURRENT_TF.getPosition(); - rigidBodyComponent->orientation = CURRENT_TF.getOrientation(); - } - - // Sync with colliders - if (colliderComponent && SHSceneManager::CheckNodeAndComponentsActive(physicsObject.entityID)) - { - colliderComponent->position = CURRENT_TF.getPosition(); - colliderComponent->orientation = CURRENT_TF.getOrientation(); - } - - // Set transform for rendering - if (transformComponent) - { - transformComponent->SetWorldPosition(renderPos); - transformComponent->SetWorldOrientation(renderRot); - } - } - } // namespace SHADE \ No newline at end of file diff --git a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.h b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.h index 3da7094b..3e6cd622 100644 --- a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.h +++ b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.h @@ -113,6 +113,23 @@ namespace SHADE void syncRigidBodyActive (EntityID eid, SHPhysicsObject& physicsObject) const noexcept; void syncColliderActive (EntityID eid, SHPhysicsObject& physicsObject) const noexcept; static void syncOnPlay (EntityID eid, SHPhysicsObject& physicsObject) noexcept; + + static void preUpdateSyncTransform + ( + SHPhysicsObject& physicsObject + , SHTransformComponent* transformComponent + , SHRigidBodyComponent* rigidBodyComponent + , SHColliderComponent* colliderComponent + ) noexcept; + + static void postUpdateSyncTransforms + ( + SHPhysicsObject& physicsObject + , SHTransformComponent* transformComponent + , SHRigidBodyComponent* rigidBodyComponent + , SHColliderComponent* colliderComponent + , double interpolationFactor + ) noexcept; }; class SH_API PhysicsFixedUpdate final : public SHFixedSystemRoutine @@ -178,24 +195,5 @@ namespace SHADE SHEventHandle onPlay (SHEventPtr onPlayEvent); SHEventHandle onStop (SHEventPtr onStopEvent); - - - static void preUpdateSyncTransform - ( - SHPhysicsObject& physicsObject - , SHTransformComponent* transformComponent - , SHRigidBodyComponent* rigidBodyComponent - , SHColliderComponent* colliderComponent - ) noexcept; - - static void postUpdateSyncTransforms - ( - SHPhysicsObject& physicsObject - , SHTransformComponent* transformComponent - , SHRigidBodyComponent* rigidBodyComponent - , SHColliderComponent* colliderComponent - , double interpolationFactor - ) noexcept; - }; } // namespace SHADE \ No newline at end of file diff --git a/SHADE_Engine/src/Physics/System/SHPhysicsSystemRoutines.cpp b/SHADE_Engine/src/Physics/System/SHPhysicsSystemRoutines.cpp index 3e56ca14..f4719056 100644 --- a/SHADE_Engine/src/Physics/System/SHPhysicsSystemRoutines.cpp +++ b/SHADE_Engine/src/Physics/System/SHPhysicsSystemRoutines.cpp @@ -262,4 +262,94 @@ namespace SHADE if (colliderComponent) physicsObject.SyncColliders(*colliderComponent); } + + void SHPhysicsSystem::PhysicsPreUpdate::preUpdateSyncTransform + ( + SHPhysicsObject& physicsObject + , SHTransformComponent* transformComponent + , SHRigidBodyComponent* rigidBodyComponent + , SHColliderComponent* colliderComponent + ) noexcept + { + if (!transformComponent) + return; + + const SHVec3& WORLD_POS = transformComponent->GetWorldPosition(); + const SHQuaternion& WORLD_ROT = transformComponent->GetWorldOrientation(); + const SHVec3& WORLD_SCL = transformComponent->GetWorldScale(); + + const rp3d::Transform RP3D_TRANSFORM { WORLD_POS, WORLD_ROT }; + physicsObject.GetRigidBody()->setTransform(RP3D_TRANSFORM); + physicsObject.prevTransform = RP3D_TRANSFORM; + + if (rigidBodyComponent && SHSceneManager::CheckNodeAndComponentsActive(physicsObject.entityID)) + { + rigidBodyComponent->position = WORLD_POS; + rigidBodyComponent->orientation = WORLD_ROT; + } + + if (colliderComponent && SHSceneManager::CheckNodeAndComponentsActive(physicsObject.entityID)) + { + colliderComponent->position = WORLD_POS; + colliderComponent->orientation = WORLD_ROT; + colliderComponent->scale = WORLD_SCL; + + colliderComponent->RecomputeCollisionShapes(); + } + } + + void SHPhysicsSystem::PhysicsPreUpdate::postUpdateSyncTransforms + ( + SHPhysicsObject& physicsObject + , SHTransformComponent* transformComponent + , SHRigidBodyComponent* rigidBodyComponent + , SHColliderComponent* colliderComponent + , double interpolationFactor + ) noexcept + { + const rp3d::Transform& CURRENT_TF = physicsObject.GetRigidBody()->getTransform(); + auto renderPos = CURRENT_TF.getPosition(); + auto renderRot = CURRENT_TF.getOrientation(); + + // Cache transforms + if (physicsObject.GetRigidBody()->isActive()) + physicsObject.prevTransform = CURRENT_TF; + + // Sync with rigid bodies + if (rigidBodyComponent && SHSceneManager::CheckNodeAndComponentsActive(physicsObject.entityID)) + { + // Skip static bodies + if (rigidBodyComponent->GetType() == SHRigidBodyComponent::Type::STATIC) + return; + + // Check if transform should be interpolated + if (rigidBodyComponent->IsInterpolating()) + { + // Interpolate transforms between current and predicted next transform + + const rp3d::Transform PREV_TF = physicsObject.prevTransform; + const rp3d::Transform INTERPOLATED_TF = rp3d::Transform::interpolateTransforms(PREV_TF, CURRENT_TF, static_cast(interpolationFactor)); + + renderPos = INTERPOLATED_TF.getPosition(); + renderRot = INTERPOLATED_TF.getOrientation(); + } + + rigidBodyComponent->position = CURRENT_TF.getPosition(); + rigidBodyComponent->orientation = CURRENT_TF.getOrientation(); + } + + // Sync with colliders + if (colliderComponent && SHSceneManager::CheckNodeAndComponentsActive(physicsObject.entityID)) + { + colliderComponent->position = CURRENT_TF.getPosition(); + colliderComponent->orientation = CURRENT_TF.getOrientation(); + } + + // Set transform for rendering + if (transformComponent) + { + transformComponent->SetWorldPosition(renderPos); + transformComponent->SetWorldOrientation(renderRot); + } + } } // namespace SHADE \ No newline at end of file