sid/NazaraEngine
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Physics3D: Switch from Newton Dynamics to Bullet3

Browse Source
This commit is contained in:
SirLynix
2023-03-07 19:17:49 +01:00
committed by Jérôme Leclercq
parent ec1efb5e56
commit 795efae3a0
13 changed files with 625 additions and 935 deletions
Download Patch File Download Diff File Expand all files Collapse all files

48
examples/PhysicsDemo/main.cpp
View File

@@ -28,6 +28,8 @@ int main()
auto& world = ecs.AddWorld<Nz::EnttWorld>();
Nz::Physics3DSystem& physSytem = world.AddSystem<Nz::Physics3DSystem>();
physSytem.GetPhysWorld().SetGravity(Nz::Vector3f::Zero());
Nz::RenderSystem& renderSystem = world.AddSystem<Nz::RenderSystem>();
std::string windowTitle = "Physics 3D";
@@ -100,7 +102,7 @@ int main()
cameraComponent.UpdateClearColor(Nz::Color(0.5f, 0.5f, 0.5f));
}
auto shipCollider = std::make_shared<Nz::ConvexCollider3D>(vertices, vertexMapper.GetVertexCount(), 0.01f);
auto shipCollider = std::make_shared<Nz::ConvexCollider3D>(vertices, vertexMapper.GetVertexCount());
std::shared_ptr<Nz::MaterialInstance> colliderMat = Nz::Graphics::Instance()->GetDefaultMaterials().basicMaterial->Instantiate();
colliderMat->SetValueProperty("BaseColor", Nz::Color::Green());
@@ -112,7 +114,7 @@ int main()
std::shared_ptr<Nz::Model> colliderModel;
{
std::shared_ptr<Nz::Mesh> colliderMesh = Nz::Mesh::Build(shipCollider->GenerateMesh());
std::shared_ptr<Nz::Mesh> colliderMesh = Nz::Mesh::Build(shipCollider->GenerateDebugMesh());
std::shared_ptr<Nz::GraphicalMesh> colliderGraphicalMesh = Nz::GraphicalMesh::BuildFromMesh(*colliderMesh);
colliderModel = std::make_shared<Nz::Model>(colliderGraphicalMesh);
@@ -132,11 +134,6 @@ int main()
entt::handle headingEntity = world.CreateEntity();
{
auto& entityLight = playerEntity.emplace<Nz::LightComponent>();
auto& spotLight = entityLight.AddLight<Nz::SpotLight>(1);
spotLight.EnableShadowCasting(true);
spotLight.UpdateShadowMapSize(1024);
auto& entityGfx = playerEntity.emplace<Nz::GraphicsComponent>();
entityGfx.AttachRenderable(model, 1);
@@ -145,11 +142,24 @@ int main()
auto& entityPhys = playerEntity.emplace<Nz::RigidBody3DComponent>(physSytem.CreateRigidBody(shipCollider));
entityPhys.SetMass(50.f);
entityPhys.SetAngularDamping(Nz::Vector3f::Zero());
entityPhys.SetAngularDamping(0.1f);
entityPhys.SetLinearDamping(0.5f);
auto& headingNode = headingEntity.emplace<Nz::NodeComponent>();
headingNode.SetInheritRotation(false);
headingNode.SetParent(entityNode);
entt::handle lightEntity = world.CreateEntity();
auto& lightNode = lightEntity.emplace<Nz::NodeComponent>();
lightNode.SetParent(playerEntity);
lightNode.SetPosition(Nz::Vector3f::Forward() * 1.f);
auto& entityLight = lightEntity.emplace<Nz::LightComponent>();
auto& spotLight = entityLight.AddLight<Nz::SpotLight>(1);
spotLight.EnableShadowCasting(true);
spotLight.UpdateShadowMapSize(1024);
}
viewer.get<Nz::NodeComponent>().SetParent(headingEntity);
@@ -171,7 +181,7 @@ int main()
auto& entityPhys = entity.emplace<Nz::RigidBody3DComponent>(physSytem.CreateRigidBody(shipCollider));
entityPhys.SetMass(1.f);
entityPhys.SetAngularDamping(Nz::Vector3f::Zero());
entityPhys.SetAngularDamping(0.f);
entityPhys.SetLinearDamping(0.f);
}
}
@@ -227,7 +237,7 @@ int main()
auto& entityPhys = entity.emplace<Nz::RigidBody3DComponent>(physSytem.CreateRigidBody(shipCollider));
entityPhys.SetMass(1.f);
entityPhys.SetAngularDamping(Nz::Vector3f::Zero());
entityPhys.SetAngularDamping(0.f);
entityPhys.SetLinearDamping(0.f);
}
});
@@ -246,7 +256,7 @@ int main()
headingEntity.get<Nz::NodeComponent>().SetRotation(camQuat);
});
app.AddUpdater([&](Nz::Time elapsedTime)
app.AddUpdater([&](Nz::Time /*elapsedTime*/)
{
if (std::optional<Nz::Time> deltaTime = updateClock.RestartIfOver(Nz::Time::TickDuration(60)))
{
@@ -274,28 +284,28 @@ int main()
Nz::Vector3f currentUp = currentRotation * Nz::Vector3f::Up();
Nz::Vector3f upError = currentUp.CrossProduct(desiredUp);
playerShipBody.AddTorque(headingController.Update(headingError, elapsedTime) * 10.f);
playerShipBody.AddTorque(upController.Update(upError, elapsedTime) * 10.f);
playerShipBody.AddTorque(headingController.Update(headingError, elapsedTime) * 200.f);
playerShipBody.AddTorque(upController.Update(upError, elapsedTime) * 200.f);
float mass = playerShipBody.GetMass();
if (Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::Up) || Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::Z))
playerShipBody.AddForce(Nz::Vector3f::Forward() * 2.5f * mass, Nz::CoordSys::Local);
playerShipBody.AddForce(Nz::Vector3f::Forward() * 10.f * mass, Nz::CoordSys::Local);
if (Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::Down) || Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::S))
playerShipBody.AddForce(Nz::Vector3f::Backward() * 2.5f * mass, Nz::CoordSys::Local);
playerShipBody.AddForce(Nz::Vector3f::Backward() * 10.f * mass, Nz::CoordSys::Local);
if (Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::Left) || Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::Q))
playerShipBody.AddForce(Nz::Vector3f::Left() * 2.5f * mass, Nz::CoordSys::Local);
playerShipBody.AddForce(Nz::Vector3f::Left() * 10.f * mass, Nz::CoordSys::Local);
if (Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::Right) || Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::D))
playerShipBody.AddForce(Nz::Vector3f::Right() * 2.5f * mass, Nz::CoordSys::Local);
playerShipBody.AddForce(Nz::Vector3f::Right() * 10.f * mass, Nz::CoordSys::Local);
if (Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::LShift) || Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::RShift))
playerShipBody.AddForce(Nz::Vector3f::Up() * 3.f * mass, Nz::CoordSys::Local);
playerShipBody.AddForce(Nz::Vector3f::Up() * 15.f * mass, Nz::CoordSys::Local);
if (Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::LControl) || Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::RControl))
playerShipBody.AddForce(Nz::Vector3f::Down() * 3.f * mass, Nz::CoordSys::Local);
playerShipBody.AddForce(Nz::Vector3f::Down() * 15.f * mass, Nz::CoordSys::Local);
}
fps++;