Physics2D: Automatically compute center of mass
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Lynix
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439a62a7f8
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@ -169,6 +169,8 @@ Nazara Engine:
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- Fixed TileMap not rendering the right materials if it had no tile using some materials in-between
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- Added Vector[2|3|4](u)i64 typedefs
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- Fixed missing static Vector4::DotProduct implementation
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- ⚠ **By default, Nazara computes the mass center of all 2D physics object when calling SetGeom**
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- ⚠ Added Collider2D::ComputeCenterOfMass
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Nazara Development Kit:
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- Added ImageWidget (#139)
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@ -41,6 +41,7 @@ namespace Nz
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Collider2D(Collider2D&&) = delete;
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virtual ~Collider2D();
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virtual Nz::Vector2f ComputeCenterOfMass() const = 0;
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virtual float ComputeMomentOfInertia(float mass) const = 0;
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inline UInt32 GetCategoryMask() const;
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@ -99,6 +100,7 @@ namespace Nz
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BoxCollider2D(const Vector2f& size, float radius = 0.f);
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BoxCollider2D(const Rectf& rect, float radius = 0.f);
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Nz::Vector2f ComputeCenterOfMass() const override;
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float ComputeMomentOfInertia(float mass) const override;
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inline float GetRadius() const;
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@ -125,6 +127,7 @@ namespace Nz
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public:
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CircleCollider2D(float radius, const Vector2f& offset = Vector2f::Zero());
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Nz::Vector2f ComputeCenterOfMass() const override;
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float ComputeMomentOfInertia(float mass) const override;
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inline const Vector2f& GetOffset() const;
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@ -150,6 +153,7 @@ namespace Nz
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public:
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CompoundCollider2D(std::vector<Collider2DRef> geoms);
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Nz::Vector2f ComputeCenterOfMass() const override;
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float ComputeMomentOfInertia(float mass) const override;
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inline bool DoesOverrideCollisionProperties() const;
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@ -179,6 +183,7 @@ namespace Nz
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public:
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ConvexCollider2D(SparsePtr<const Vector2f> vertices, std::size_t vertexCount, float radius = 0.f);
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Nz::Vector2f ComputeCenterOfMass() const override;
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float ComputeMomentOfInertia(float mass) const override;
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ColliderType2D GetType() const override;
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@ -203,6 +208,7 @@ namespace Nz
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public:
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NullCollider2D() = default;
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Nz::Vector2f ComputeCenterOfMass() const override;
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float ComputeMomentOfInertia(float mass) const override;
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ColliderType2D GetType() const override;
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@ -223,6 +229,7 @@ namespace Nz
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public:
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inline SegmentCollider2D(const Vector2f& first, const Vector2f& second, float thickness = 1.f);
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Nz::Vector2f ComputeCenterOfMass() const override;
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float ComputeMomentOfInertia(float mass) const override;
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inline const Vector2f& GetFirstPoint() const;
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@ -82,7 +82,7 @@ namespace Nz
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void SetElasticity(std::size_t shapeIndex, float elasticity);
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void SetFriction(float friction);
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void SetFriction(std::size_t shapeIndex, float friction);
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void SetGeom(Collider2DRef geom, bool recomputeMoment = true);
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void SetGeom(Collider2DRef geom, bool recomputeMoment = true, bool recomputeMassCenter = true);
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void SetMass(float mass, bool recomputeMoment = true);
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void SetMassCenter(const Vector2f& center, CoordSys coordSys = CoordSys_Local);
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void SetMomentOfInertia(float moment);
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@ -20,7 +20,7 @@ namespace Nz
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{
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cpShape* shape = (*shapes)[i];
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cpShapeSetCollisionType(shape, cpFloat(m_collisionId));
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cpShapeSetCollisionType(shape, m_collisionId);
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cpShapeSetElasticity(shape, cpFloat(m_elasticity));
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cpShapeSetFilter(shape, filter);
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cpShapeSetFriction(shape, cpFloat(m_friction));
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@ -44,6 +44,11 @@ namespace Nz
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{
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}
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Nz::Vector2f BoxCollider2D::ComputeCenterOfMass() const
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{
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return m_rect.GetCenter();
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}
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float BoxCollider2D::ComputeMomentOfInertia(float mass) const
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{
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return static_cast<float>(cpMomentForBox2(mass, cpBBNew(m_rect.x, m_rect.y, m_rect.x + m_rect.width, m_rect.y + m_rect.height)));
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@ -68,6 +73,11 @@ namespace Nz
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{
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}
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Nz::Vector2f CircleCollider2D::ComputeCenterOfMass() const
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{
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return m_offset + Nz::Vector2f(m_radius, m_radius);
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}
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float CircleCollider2D::ComputeMomentOfInertia(float mass) const
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{
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return static_cast<float>(cpMomentForCircle(mass, 0.f, m_radius, cpv(m_offset.x, m_offset.y)));
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@ -92,6 +102,15 @@ namespace Nz
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{
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}
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Nz::Vector2f CompoundCollider2D::ComputeCenterOfMass() const
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{
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Nz::Vector2f centerOfMass = Nz::Vector2f::Zero();
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for (const auto& geom : m_geoms)
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centerOfMass += geom->ComputeCenterOfMass();
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return centerOfMass / float(m_geoms.size());
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}
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float CompoundCollider2D::ComputeMomentOfInertia(float mass) const
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{
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///TODO: Correctly compute moment using parallel axis theorem:
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@ -144,6 +163,15 @@ namespace Nz
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m_vertices[i].Set(*vertices++);
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}
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Nz::Vector2f ConvexCollider2D::ComputeCenterOfMass() const
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{
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static_assert(sizeof(cpVect) == sizeof(Vector2d), "Chipmunk vector is not equivalent to Vector2d");
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cpVect center = cpCentroidForPoly(int(m_vertices.size()), reinterpret_cast<const cpVect*>(m_vertices.data()));
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return Nz::Vector2f(float(center.x), float(center.y));
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}
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float ConvexCollider2D::ComputeMomentOfInertia(float mass) const
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{
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static_assert(sizeof(cpVect) == sizeof(Vector2d), "Chipmunk vector is not equivalent to Vector2d");
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@ -169,6 +197,11 @@ namespace Nz
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return ColliderType2D_Null;
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}
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Nz::Vector2f NullCollider2D::ComputeCenterOfMass() const
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{
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return Nz::Vector2f::Zero();
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}
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float NullCollider2D::ComputeMomentOfInertia(float mass) const
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{
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return (mass > 0.f) ? 1.f : 0.f; //< Null inertia is only possible for static/kinematic objects
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@ -181,6 +214,11 @@ namespace Nz
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/******************************** SegmentCollider2D *********************************/
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Nz::Vector2f SegmentCollider2D::ComputeCenterOfMass() const
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{
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return (m_first + m_second) / 2.f;
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}
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float SegmentCollider2D::ComputeMomentOfInertia(float mass) const
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{
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return static_cast<float>(cpMomentForSegment(mass, cpv(m_first.x, m_first.y), cpv(m_second.x, m_second.y), m_thickness));
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@ -48,7 +48,7 @@ namespace Nz
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NazaraAssert(m_geom, "Invalid geometry");
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m_handle = Create(m_mass, object.GetMomentOfInertia());
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SetGeom(object.GetGeom(), false);
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SetGeom(object.GetGeom(), false, false);
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CopyBodyData(object.GetHandle(), m_handle);
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@ -362,7 +362,7 @@ namespace Nz
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cpShapeSetFriction(m_shapes[shapeIndex], cpFloat(friction));
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}
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void RigidBody2D::SetGeom(Collider2DRef geom, bool recomputeMoment)
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void RigidBody2D::SetGeom(Collider2DRef geom, bool recomputeMoment, bool recomputeMassCenter)
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{
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// We have no public way of getting rid of an existing geom without removing the whole body
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// So let's save some attributes of the body, destroy it and rebuild it
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@ -399,6 +399,9 @@ namespace Nz
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if (!IsStatic() && !IsKinematic())
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cpBodySetMoment(m_handle, m_geom->ComputeMomentOfInertia(m_mass));
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}
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if (recomputeMassCenter)
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SetMassCenter(m_geom->ComputeCenterOfMass());
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}
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void RigidBody2D::SetMass(float mass, bool recomputeMoment)
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