Update PhysicsSystem2D (#179)
* Update * Add: [Get/Set]AngularDaming for standardization * Fix: Name error * Add: [Get/Set][AngularDamping/MomentOfInertia] in PhysicsComponent2D * Forgot in last commit * Add: param coordSys in [PhysicsComponent2D/RigidBody2D]::SetMassCenter * Add: Some forgotten inline * Fix little error * Fix: Indentation before case * Move and Change GetCenterOfGravity * Rename m_world into m_physWorld * Rename GetWorld int GetPhysWorld * Update: PhysicsSystem2D became an interface of PhysWorld2D * Update Collison/PhysicsComponent because GetWorld was renamed * Update tests * Update: Make the interface usable with Entity instead of PhysicsComponent * Update: Make GetPhysWorld private * Update PhysicsSystem2D.hpp * Update: indent * Remove: useless blank line * update order(?) * Update PhysicsSystem2D.hpp
This commit is contained in:
Faymoon
Jérôme Leclercq
parent
602992609f
commit
0a5e9e040d
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@ -16,24 +16,112 @@ namespace Ndk
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{
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class NDK_API PhysicsSystem2D : public System<PhysicsSystem2D>
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{
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friend class CollisionComponent2D;
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friend class PhysicsComponent2D;
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using ContactEndCallback = std::function<void(PhysicsSystem2D& world, Nz::Arbiter2D& arbiter, const EntityHandle& bodyA, const EntityHandle& bodyB, void* userdata)>;
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using ContactPreSolveCallback = std::function<bool(PhysicsSystem2D& world, Nz::Arbiter2D& arbiter, const EntityHandle& bodyA, const EntityHandle& bodyB, void* userdata)>;
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using ContactPostSolveCallback = std::function<void(PhysicsSystem2D& world, Nz::Arbiter2D& arbiter, const EntityHandle& bodyA, const EntityHandle& bodyB, void* userdata)>;
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using ContactStartCallback = std::function<bool(PhysicsSystem2D& world, Nz::Arbiter2D& arbiter, const EntityHandle& bodyA, const EntityHandle& bodyB, void* userdata)>;
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using DebugDrawCircleCallback = std::function<void(const Nz::Vector2f& origin, float rotation, float radius, Nz::Color outlineColor, Nz::Color fillColor, void* userdata)>;
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using DebugDrawDotCallback = std::function<void(const Nz::Vector2f& origin, float radius, Nz::Color color, void* userdata)>;
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using DebugDrawPolygonCallback = std::function<void(const Nz::Vector2f* vertices, std::size_t vertexCount, float radius, Nz::Color outlineColor, Nz::Color fillColor, void* userdata)>;
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using DebugDrawSegmentCallback = std::function<void(const Nz::Vector2f& first, const Nz::Vector2f& second, Nz::Color color, void* userdata)>;
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using DebugDrawTickSegmentCallback = std::function<void(const Nz::Vector2f& first, const Nz::Vector2f& second, float thickness, Nz::Color outlineColor, Nz::Color fillColor, void* userdata)>;
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using DebugDrawGetColorCallback = std::function<Nz::Color(const EntityHandle& body, std::size_t shapeIndex, void* userdata)>;
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public:
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struct Callback;
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struct DebugDrawOptions;
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struct NearestQueryResult;
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struct RaycastHit;
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PhysicsSystem2D();
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PhysicsSystem2D(const PhysicsSystem2D& system);
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~PhysicsSystem2D() = default;
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Nz::PhysWorld2D& GetWorld();
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const Nz::PhysWorld2D& GetWorld() const;
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void DebugDraw(const DebugDrawOptions& options, bool drawShapes = true, bool drawConstraints = true, bool drawCollisions = true);
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inline float GetDamping() const;
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inline Nz::Vector2f GetGravity() const;
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inline std::size_t GetIterationCount() const;
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inline std::size_t GetMaxStepCount() const;
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inline float GetStepSize() const;
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bool NearestBodyQuery(const Nz::Vector2f& from, float maxDistance, Nz::UInt32 collisionGroup, Nz::UInt32 categoryMask, Nz::UInt32 collisionMask, EntityHandle* nearestBody = nullptr);
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bool NearestBodyQuery(const Nz::Vector2f& from, float maxDistance, Nz::UInt32 collisionGroup, Nz::UInt32 categoryMask, Nz::UInt32 collisionMask, NearestQueryResult* result);
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bool RaycastQuery(const Nz::Vector2f& from, const Nz::Vector2f& to, float radius, Nz::UInt32 collisionGroup, Nz::UInt32 categoryMask, Nz::UInt32 collisionMask, std::vector<RaycastHit>* hitInfos);
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bool RaycastQueryFirst(const Nz::Vector2f& from, const Nz::Vector2f& to, float radius, Nz::UInt32 collisionGroup, Nz::UInt32 categoryMask, Nz::UInt32 collisionMask, RaycastHit* hitInfo = nullptr);
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void RegionQuery(const Nz::Rectf& boundingBox, Nz::UInt32 collisionGroup, Nz::UInt32 categoryMask, Nz::UInt32 collisionMask, std::vector<EntityHandle>* bodies);
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void RegisterCallbacks(unsigned int collisionId, const Callback& callbacks);
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void RegisterCallbacks(unsigned int collisionIdA, unsigned int collisionIdB, const Callback& callbacks);
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inline void SetDamping(float dampingValue);
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inline void SetGravity(const Nz::Vector2f& gravity);
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inline void SetIterationCount(std::size_t iterationCount);
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inline void SetMaxStepCount(std::size_t maxStepCount);
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inline void SetStepSize(float stepSize);
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inline void UseSpatialHash(float cellSize, std::size_t entityCount);
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struct Callback
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{
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ContactEndCallback endCallback = nullptr;
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ContactPreSolveCallback preSolveCallback = nullptr;
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ContactPostSolveCallback postSolveCallback = nullptr;
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ContactStartCallback startCallback = nullptr;
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void* userdata;
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};
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struct DebugDrawOptions
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{
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Nz::Color constraintColor;
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Nz::Color collisionPointColor;
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Nz::Color shapeOutlineColor;
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DebugDrawCircleCallback circleCallback;
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DebugDrawGetColorCallback colorCallback;
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DebugDrawDotCallback dotCallback;
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DebugDrawPolygonCallback polygonCallback;
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DebugDrawSegmentCallback segmentCallback;
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DebugDrawTickSegmentCallback thickSegmentCallback;
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void* userdata;
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};
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struct NearestQueryResult
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{
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EntityHandle nearestBody;
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Nz::Vector2f closestPoint;
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Nz::Vector2f fraction;
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float distance;
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};
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struct RaycastHit
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{
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EntityHandle body;
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Nz::Vector2f hitPos;
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Nz::Vector2f hitNormal;
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float fraction;
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};
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static SystemIndex systemIndex;
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private:
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void CreatePhysWorld() const;
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const EntityHandle& GetEntityFromBody(const Nz::RigidBody2D& body) const;
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Nz::PhysWorld2D& GetPhysWorld();
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const Nz::PhysWorld2D& GetPhysWorld() const;
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void OnEntityValidation(Entity* entity, bool justAdded) override;
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void OnUpdate(float elapsedTime) override;
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EntityList m_dynamicObjects;
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EntityList m_staticObjects;
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mutable std::unique_ptr<Nz::PhysWorld2D> m_world; ///TODO: std::optional (Should I make a Nz::Optional class?)
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mutable std::unique_ptr<Nz::PhysWorld2D> m_physWorld; ///TODO: std::optional (Should I make a Nz::Optional class?)
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};
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}
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@ -4,17 +4,94 @@
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namespace Ndk
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{
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inline float PhysicsSystem2D::GetDamping() const
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{
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NazaraAssert(m_physWorld, "Invalid physics world");
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return m_physWorld->GetDamping();
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}
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inline Nz::Vector2f PhysicsSystem2D::GetGravity() const
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{
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NazaraAssert(m_physWorld, "Invalid physics world");
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return m_physWorld->GetGravity();
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}
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inline std::size_t PhysicsSystem2D::GetIterationCount() const
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{
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NazaraAssert(m_physWorld, "Invalid physics world");
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return m_physWorld->GetIterationCount();
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}
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inline std::size_t PhysicsSystem2D::GetMaxStepCount() const
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{
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NazaraAssert(m_physWorld, "Invalid physics world");
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return m_physWorld->GetMaxStepCount();
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}
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inline float PhysicsSystem2D::GetStepSize() const
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{
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NazaraAssert(m_physWorld, "Invalid physics world");
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return m_physWorld->GetStepSize();
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}
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inline void PhysicsSystem2D::SetDamping(float dampingValue)
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{
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NazaraAssert(m_physWorld, "Invalid physics world");
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m_physWorld->SetDamping(dampingValue);
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}
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inline void PhysicsSystem2D::SetGravity(const Nz::Vector2f& gravity)
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{
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NazaraAssert(m_physWorld, "Invalid physics world");
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m_physWorld->SetGravity(gravity);
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}
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inline void PhysicsSystem2D::SetIterationCount(std::size_t iterationCount)
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{
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NazaraAssert(m_physWorld, "Invalid physics world");
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m_physWorld->SetIterationCount(iterationCount);
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}
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inline void PhysicsSystem2D::SetMaxStepCount(std::size_t maxStepCount)
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{
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NazaraAssert(m_physWorld, "Invalid physics world");
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m_physWorld->SetMaxStepCount(maxStepCount);
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}
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inline void PhysicsSystem2D::SetStepSize(float stepSize)
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{
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NazaraAssert(m_physWorld, "Invalid physics world");
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m_physWorld->SetStepSize(stepSize);
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}
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inline void PhysicsSystem2D::UseSpatialHash(float cellSize, std::size_t entityCount)
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{
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NazaraAssert(m_physWorld, "Invalid physics world");
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m_physWorld->UseSpatialHash(cellSize, entityCount);
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}
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/*!
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* \brief Gets the physical world
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* \return A reference to the physical world
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*/
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inline Nz::PhysWorld2D& PhysicsSystem2D::GetWorld()
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inline Nz::PhysWorld2D& PhysicsSystem2D::GetPhysWorld()
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{
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if (!m_world)
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if (!m_physWorld)
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CreatePhysWorld();
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return *m_world;
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return *m_physWorld;
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}
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/*!
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@ -22,11 +99,11 @@ namespace Ndk
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* \return A constant reference to the physical world
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*/
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inline const Nz::PhysWorld2D& PhysicsSystem2D::GetWorld() const
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inline const Nz::PhysWorld2D& PhysicsSystem2D::GetPhysWorld() const
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{
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if (!m_world)
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if (!m_physWorld)
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CreatePhysWorld();
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return *m_world;
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return *m_physWorld;
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}
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}
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@ -56,7 +56,7 @@ namespace Ndk
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NazaraAssert(entityWorld, "Entity must have world");
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NazaraAssert(entityWorld->HasSystem<PhysicsSystem2D>(), "World must have a physics system");
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Nz::PhysWorld2D& physWorld = entityWorld->GetSystem<PhysicsSystem2D>().GetWorld();
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Nz::PhysWorld2D& physWorld = entityWorld->GetSystem<PhysicsSystem2D>().GetPhysWorld();
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m_staticBody = std::make_unique<Nz::RigidBody2D>(&physWorld, 0.f, m_geom);
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m_staticBody->SetUserdata(reinterpret_cast<void*>(static_cast<std::ptrdiff_t>(m_entity->GetId())));
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@ -29,7 +29,7 @@ namespace Ndk
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World* entityWorld = m_entity->GetWorld();
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NazaraAssert(entityWorld->HasSystem<PhysicsSystem2D>(), "World must have a 2D physics system");
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Nz::PhysWorld2D& world = entityWorld->GetSystem<PhysicsSystem2D>().GetWorld();
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Nz::PhysWorld2D& world = entityWorld->GetSystem<PhysicsSystem2D>().GetPhysWorld();
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Nz::Collider2DRef geom;
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if (m_entity->HasComponent<CollisionComponent2D>())
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@ -4,6 +4,7 @@
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#include <NDK/Systems/PhysicsSystem2D.hpp>
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#include <Nazara/Physics2D/RigidBody2D.hpp>
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#include <NDK/World.hpp>
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#include <NDK/Components/CollisionComponent2D.hpp>
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#include <NDK/Components/NodeComponent.hpp>
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#include <NDK/Components/PhysicsComponent2D.hpp>
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@ -33,9 +34,108 @@ namespace Ndk
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void PhysicsSystem2D::CreatePhysWorld() const
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{
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NazaraAssert(!m_world, "Physics world should not be created twice");
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NazaraAssert(!m_physWorld, "Physics world should not be created twice");
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m_world = std::make_unique<Nz::PhysWorld2D>();
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m_physWorld = std::make_unique<Nz::PhysWorld2D>();
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}
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void PhysicsSystem2D::DebugDraw(const DebugDrawOptions& options, bool drawShapes, bool drawConstraints, bool drawCollisions)
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{
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Nz::PhysWorld2D::DebugDrawOptions worldOptions{ options.constraintColor, options.collisionPointColor, options.shapeOutlineColor };
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if (options.colorCallback)
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{
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worldOptions.colorCallback = [&options, this](Nz::RigidBody2D& body, std::size_t shapeIndex, void* userdata)
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{
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return options.colorCallback(GetEntityFromBody(body), shapeIndex, userdata);
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};
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}
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worldOptions.circleCallback = options.circleCallback;
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worldOptions.dotCallback = options.dotCallback;
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worldOptions.polygonCallback = options.polygonCallback;
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worldOptions.segmentCallback = options.segmentCallback;
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worldOptions.thickSegmentCallback = options.thickSegmentCallback;
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worldOptions.userdata = options.userdata;
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m_physWorld->DebugDraw(worldOptions, drawShapes, drawConstraints, drawCollisions);
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}
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const EntityHandle& PhysicsSystem2D::GetEntityFromBody(const Nz::RigidBody2D& body) const
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{
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auto entityId = static_cast<EntityId>(reinterpret_cast<std::uintptr_t>(body.GetUserdata()));
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auto& world = GetWorld();
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NazaraAssert(world.IsEntityIdValid(entityId), "All Bodies of this world must be part of the physics world by using PhysicsComponent");
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return world.GetEntity(entityId);
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}
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bool PhysicsSystem2D::NearestBodyQuery(const Nz::Vector2f& from, float maxDistance, Nz::UInt32 collisionGroup, Nz::UInt32 categoryMask, Nz::UInt32 collisionMask, EntityHandle* nearestBody)
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{
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Nz::RigidBody2D* body;
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bool res = m_physWorld->NearestBodyQuery(from, maxDistance, collisionGroup, categoryMask, collisionMask, &body);
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(*nearestBody) = GetEntityFromBody(*body);
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return res;
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}
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bool PhysicsSystem2D::NearestBodyQuery(const Nz::Vector2f& from, float maxDistance, Nz::UInt32 collisionGroup, Nz::UInt32 categoryMask, Nz::UInt32 collisionMask, NearestQueryResult* result)
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{
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Nz::PhysWorld2D::NearestQueryResult queryResult;
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bool res = m_physWorld->NearestBodyQuery(from, maxDistance, collisionGroup, categoryMask, collisionMask, &queryResult);
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result->nearestBody = GetEntityFromBody(*queryResult.nearestBody);
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result->closestPoint = std::move(queryResult.closestPoint);
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result->fraction = std::move(queryResult.fraction);
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result->distance = queryResult.distance;
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return res;
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}
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bool PhysicsSystem2D::RaycastQuery(const Nz::Vector2f& from, const Nz::Vector2f& to, float radius, Nz::UInt32 collisionGroup, Nz::UInt32 categoryMask, Nz::UInt32 collisionMask, std::vector<RaycastHit>* hitInfos)
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{
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std::vector<Nz::PhysWorld2D::RaycastHit> queryResult;
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bool res = m_physWorld->RaycastQuery(from, to, radius, collisionGroup, categoryMask, collisionMask, &queryResult);
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for (auto& hitResult : queryResult)
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{
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hitInfos->push_back({
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GetEntityFromBody(*hitResult.nearestBody),
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std::move(hitResult.hitPos),
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std::move(hitResult.hitNormal),
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hitResult.fraction
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});
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}
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return res;
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}
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bool PhysicsSystem2D::RaycastQueryFirst(const Nz::Vector2f& from, const Nz::Vector2f& to, float radius, Nz::UInt32 collisionGroup, Nz::UInt32 categoryMask, Nz::UInt32 collisionMask, RaycastHit* hitInfo)
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{
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Nz::PhysWorld2D::RaycastHit queryResult;
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bool res = m_physWorld->RaycastQueryFirst(from, to, radius, collisionGroup, categoryMask, collisionMask, &queryResult);
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hitInfo->body = GetEntityFromBody(*queryResult.nearestBody);
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hitInfo->hitPos = std::move(queryResult.hitPos);
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hitInfo->hitNormal = std::move(queryResult.hitNormal);
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hitInfo->fraction = queryResult.fraction;
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return res;
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}
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void PhysicsSystem2D::RegionQuery(const Nz::Rectf& boundingBox, Nz::UInt32 collisionGroup, Nz::UInt32 categoryMask, Nz::UInt32 collisionMask, std::vector<EntityHandle>* bodies)
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{
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std::vector<Nz::RigidBody2D*> queryResult;
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m_physWorld->RegionQuery(boundingBox, collisionGroup, categoryMask, collisionMask, &queryResult);
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for (auto& body : queryResult)
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{
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bodies->emplace_back(GetEntityFromBody(*body));
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}
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}
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/*!
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@ -58,7 +158,7 @@ namespace Ndk
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auto& entities = (entity->HasComponent<PhysicsComponent2D>()) ? m_dynamicObjects : m_staticObjects;
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entities.Insert(entity);
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if (!m_world)
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if (!m_physWorld)
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CreatePhysWorld();
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}
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@ -70,10 +170,10 @@ namespace Ndk
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void PhysicsSystem2D::OnUpdate(float elapsedTime)
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{
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if (!m_world)
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if (!m_physWorld)
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return;
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m_world->Step(elapsedTime);
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m_physWorld->Step(elapsedTime);
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for (const Ndk::EntityHandle& entity : m_dynamicObjects)
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{
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@ -124,5 +224,81 @@ namespace Ndk
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}
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}
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void PhysicsSystem2D::RegisterCallbacks(unsigned int collisionId, const Callback& callbacks)
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{
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Nz::PhysWorld2D::Callback worldCallbacks;
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if (callbacks.endCallback)
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{
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worldCallbacks.endCallback = [&callbacks, this](Nz::PhysWorld2D& world, Nz::Arbiter2D& arbiter, Nz::RigidBody2D& bodyA, Nz::RigidBody2D& bodyB, void* userdata)
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{
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callbacks.endCallback(*this, arbiter, GetEntityFromBody(bodyA), GetEntityFromBody(bodyB), userdata);
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};
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}
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if (callbacks.preSolveCallback)
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{
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worldCallbacks.preSolveCallback = [&callbacks, this](Nz::PhysWorld2D& world, Nz::Arbiter2D& arbiter, Nz::RigidBody2D& bodyA, Nz::RigidBody2D& bodyB, void* userdata)
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{
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return callbacks.preSolveCallback(*this, arbiter, GetEntityFromBody(bodyA), GetEntityFromBody(bodyB), userdata);
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};
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}
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if (callbacks.postSolveCallback)
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{
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worldCallbacks.postSolveCallback = [&callbacks, this](Nz::PhysWorld2D& world, Nz::Arbiter2D& arbiter, Nz::RigidBody2D& bodyA, Nz::RigidBody2D& bodyB, void* userdata)
|
||||
{
|
||||
callbacks.preSolveCallback(*this, arbiter, GetEntityFromBody(bodyA), GetEntityFromBody(bodyB), userdata);
|
||||
};
|
||||
}
|
||||
if (callbacks.startCallback)
|
||||
{
|
||||
worldCallbacks.startCallback = [&callbacks, this](Nz::PhysWorld2D& world, Nz::Arbiter2D& arbiter, Nz::RigidBody2D& bodyA, Nz::RigidBody2D& bodyB, void* userdata)
|
||||
{
|
||||
return callbacks.startCallback(*this, arbiter, GetEntityFromBody(bodyA), GetEntityFromBody(bodyB), userdata);
|
||||
};
|
||||
}
|
||||
|
||||
worldCallbacks.userdata = callbacks.userdata;
|
||||
|
||||
m_physWorld->RegisterCallbacks(collisionId, worldCallbacks);
|
||||
}
|
||||
|
||||
void PhysicsSystem2D::RegisterCallbacks(unsigned int collisionIdA, unsigned int collisionIdB, const Callback& callbacks)
|
||||
{
|
||||
Nz::PhysWorld2D::Callback worldCallbacks{};
|
||||
|
||||
if (callbacks.endCallback)
|
||||
{
|
||||
worldCallbacks.endCallback = [&callbacks, this](Nz::PhysWorld2D& world, Nz::Arbiter2D& arbiter, Nz::RigidBody2D& bodyA, Nz::RigidBody2D& bodyB, void* userdata)
|
||||
{
|
||||
callbacks.endCallback(*this, arbiter, GetEntityFromBody(bodyA), GetEntityFromBody(bodyB), userdata);
|
||||
};
|
||||
}
|
||||
if (callbacks.preSolveCallback)
|
||||
{
|
||||
worldCallbacks.preSolveCallback = [&callbacks, this](Nz::PhysWorld2D& world, Nz::Arbiter2D& arbiter, Nz::RigidBody2D& bodyA, Nz::RigidBody2D& bodyB, void* userdata)
|
||||
{
|
||||
return callbacks.preSolveCallback(*this, arbiter, GetEntityFromBody(bodyA), GetEntityFromBody(bodyB), userdata);
|
||||
};
|
||||
}
|
||||
if (callbacks.postSolveCallback)
|
||||
{
|
||||
worldCallbacks.postSolveCallback = [&callbacks, this](Nz::PhysWorld2D& world, Nz::Arbiter2D& arbiter, Nz::RigidBody2D& bodyA, Nz::RigidBody2D& bodyB, void* userdata)
|
||||
{
|
||||
callbacks.preSolveCallback(*this, arbiter, GetEntityFromBody(bodyA), GetEntityFromBody(bodyB), userdata);
|
||||
};
|
||||
}
|
||||
if (callbacks.startCallback)
|
||||
{
|
||||
worldCallbacks.startCallback = [&callbacks, this](Nz::PhysWorld2D& world, Nz::Arbiter2D& arbiter, Nz::RigidBody2D& bodyA, Nz::RigidBody2D& bodyB, void* userdata)
|
||||
{
|
||||
return callbacks.startCallback(*this, arbiter, GetEntityFromBody(bodyA), GetEntityFromBody(bodyB), userdata);
|
||||
};
|
||||
}
|
||||
|
||||
worldCallbacks.userdata = callbacks.userdata;
|
||||
|
||||
m_physWorld->RegisterCallbacks(collisionIdA, collisionIdB, worldCallbacks);
|
||||
}
|
||||
|
||||
SystemIndex PhysicsSystem2D::systemIndex;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -21,7 +21,7 @@ SCENARIO("PhysicsSystem2D", "[NDK][PHYSICSSYSTEM2D]")
|
|||
Ndk::PhysicsComponent2D& physicsComponent2D = movingEntity->AddComponent<Ndk::PhysicsComponent2D>();
|
||||
|
||||
world.GetSystem<Ndk::PhysicsSystem2D>().SetMaximumUpdateRate(0.f);
|
||||
world.GetSystem<Ndk::PhysicsSystem2D>().GetWorld().SetMaxStepCount(std::numeric_limits<std::size_t>::max());
|
||||
world.GetSystem<Ndk::PhysicsSystem2D>().SetMaxStepCount(std::numeric_limits<std::size_t>::max());
|
||||
|
||||
WHEN("We update the world")
|
||||
{
|
||||
|
|
@ -100,7 +100,7 @@ SCENARIO("PhysicsSystem2D", "[NDK][PHYSICSSYSTEM2D]")
|
|||
|
||||
WHEN("We put a force on it")
|
||||
{
|
||||
float stepSize = world.GetSystem<Ndk::PhysicsSystem2D>().GetWorld().GetStepSize();
|
||||
float stepSize = world.GetSystem<Ndk::PhysicsSystem2D>().GetStepSize();
|
||||
Nz::Vector2f velocity = Nz::Vector2f::UnitX();
|
||||
physicsComponent2D.AddForce(velocity / stepSize);
|
||||
world.Update(1.f);
|
||||
|
|
|
|||
Loading…
Reference in New Issue