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Physics2D/Collider2D: Implement CompoundCollider2D and ConvexCollider2D

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This commit is contained in:
Jérôme Leclercq
2017-07-27 11:39:23 +02:00
parent b00487c88c
commit afdc018778
5 changed files with 143 additions and 32 deletions
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86
src/Nazara/Physics2D/Collider2D.cpp
View File

@@ -15,7 +15,9 @@ namespace Nz
{
cpShapeFilter filter = cpShapeFilterNew(m_collisionGroup, m_categoryMask, m_collisionMask);
std::vector<cpShape*> shapes = CreateShapes(body);
std::vector<cpShape*> shapes;
CreateShapes(body, shapes);
for (cpShape* shape : shapes)
{
cpShapeSetFilter(shape, filter);
@@ -39,7 +41,7 @@ namespace Nz
{
}
float BoxCollider2D::ComputeInertialMatrix(float mass) const
float BoxCollider2D::ComputeMomentOfInertia(float mass) const
{
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)));
}
@@ -49,12 +51,9 @@ namespace Nz
return ColliderType2D_Box;
}
std::vector<cpShape*> BoxCollider2D::CreateShapes(RigidBody2D* body) const
void BoxCollider2D::CreateShapes(RigidBody2D* body, std::vector<cpShape*>& shapes) const
{
std::vector<cpShape*> shapes;
shapes.push_back(cpBoxShapeNew2(body->GetHandle(), cpBBNew(m_rect.x, m_rect.y, m_rect.x + m_rect.width, m_rect.y + m_rect.height), m_radius));
return shapes;
}
/******************************** CircleCollider2D *********************************/
@@ -65,7 +64,7 @@ namespace Nz
{
}
float CircleCollider2D::ComputeInertialMatrix(float mass) const
float CircleCollider2D::ComputeMomentOfInertia(float mass) const
{
return static_cast<float>(cpMomentForCircle(mass, 0.f, m_radius, cpv(m_offset.x, m_offset.y)));
}
@@ -75,12 +74,66 @@ namespace Nz
return ColliderType2D_Circle;
}
std::vector<cpShape*> CircleCollider2D::CreateShapes(RigidBody2D* body) const
void CircleCollider2D::CreateShapes(RigidBody2D* body, std::vector<cpShape*>& shapes) const
{
std::vector<cpShape*> shapes;
shapes.push_back(cpCircleShapeNew(body->GetHandle(), m_radius, cpv(m_offset.x, m_offset.y)));
}
return shapes;
/******************************** CompoundCollider2D *********************************/
CompoundCollider2D::CompoundCollider2D(std::vector<Collider2DRef> geoms) :
m_geoms(std::move(geoms))
{
}
float CompoundCollider2D::ComputeMomentOfInertia(float mass) const
{
///TODO: Correctly compute moment using parallel axis theorem:
/// https://chipmunk-physics.net/forum/viewtopic.php?t=1056
float momentOfInertia = 0.f;
for (const auto& geom : m_geoms)
momentOfInertia += geom->ComputeMomentOfInertia(mass); //< Eeeer
return momentOfInertia;
}
ColliderType2D CompoundCollider2D::GetType() const
{
return ColliderType2D_Compound;
}
void CompoundCollider2D::CreateShapes(RigidBody2D* body, std::vector<cpShape*>& shapes) const
{
// Since C++ does not allow protected call from other objects, we have to be a friend of Collider2D, yay
for (const auto& geom : m_geoms)
geom->CreateShapes(body, shapes);
}
/******************************** ConvexCollider2D *********************************/
ConvexCollider2D::ConvexCollider2D(SparsePtr<const Vector2f> vertices, std::size_t vertexCount, float radius) :
m_radius(radius)
{
m_vertices.resize(vertexCount);
for (std::size_t i = 0; i < vertexCount; ++i)
m_vertices[i].Set(*vertices++);
}
float ConvexCollider2D::ComputeMomentOfInertia(float mass) const
{
static_assert(sizeof(cpVect) == sizeof(Vector2d), "Chipmunk vector is not equivalent to Vector2d");
return static_cast<float>(cpMomentForPoly(mass, int(m_vertices.size()), reinterpret_cast<const cpVect*>(m_vertices.data()), cpv(0.0, 0.0), m_radius));
}
ColliderType2D ConvexCollider2D::GetType() const
{
return ColliderType2D_Convex;
}
void ConvexCollider2D::CreateShapes(RigidBody2D* body, std::vector<cpShape*>& shapes) const
{
shapes.push_back(cpPolyShapeNew(body->GetHandle(), int(m_vertices.size()), reinterpret_cast<const cpVect*>(m_vertices.data()), cpTransformIdentity, m_radius));
}
/********************************* NullCollider2D **********************************/
@@ -90,19 +143,18 @@ namespace Nz
return ColliderType2D_Null;
}
float NullCollider2D::ComputeInertialMatrix(float /*mass*/) const
float NullCollider2D::ComputeMomentOfInertia(float /*mass*/) const
{
return 0.f;
}
std::vector<cpShape*> NullCollider2D::CreateShapes(RigidBody2D* /*body*/) const
void NullCollider2D::CreateShapes(RigidBody2D* /*body*/, std::vector<cpShape*>& /*shapes*/) const
{
return std::vector<cpShape*>();
}
/******************************** SegmentCollider2D *********************************/
float SegmentCollider2D::ComputeInertialMatrix(float mass) const
float SegmentCollider2D::ComputeMomentOfInertia(float mass) const
{
return static_cast<float>(cpMomentForSegment(mass, cpv(m_first.x, m_first.y), cpv(m_second.x, m_second.y), m_thickness));
}
@@ -112,12 +164,8 @@ namespace Nz
return ColliderType2D_Segment;
}
std::vector<cpShape*> SegmentCollider2D::CreateShapes(RigidBody2D* body) const
void SegmentCollider2D::CreateShapes(RigidBody2D* body, std::vector<cpShape*>& shapes) const
{
std::vector<cpShape*> shapes;
shapes.push_back(cpSegmentShapeNew(body->GetHandle(), cpv(m_first.x, m_first.y), cpv(m_second.x, m_second.y), m_thickness));
return shapes;
}
}

6
src/Nazara/Physics2D/RigidBody2D.cpp
View File

@@ -245,7 +245,7 @@ namespace Nz
cpSpaceAddShape(space, shape);
}
cpBodySetMoment(m_handle, m_geom->ComputeInertialMatrix(m_mass));
cpBodySetMoment(m_handle, m_geom->ComputeMomentOfInertia(m_mass));
}
void RigidBody2D::SetMass(float mass)
@@ -257,7 +257,7 @@ namespace Nz
m_world->RegisterPostStep(this, [mass](Nz::RigidBody2D* body)
{
cpBodySetMass(body->GetHandle(), mass);
cpBodySetMoment(body->GetHandle(), body->GetGeom()->ComputeInertialMatrix(mass));
cpBodySetMoment(body->GetHandle(), body->GetGeom()->ComputeMomentOfInertia(mass));
});
}
else
@@ -271,7 +271,7 @@ namespace Nz
{
cpBodySetType(body->GetHandle(), CP_BODY_TYPE_DYNAMIC);
cpBodySetMass(body->GetHandle(), mass);
cpBodySetMoment(body->GetHandle(), body->GetGeom()->ComputeInertialMatrix(mass));
cpBodySetMoment(body->GetHandle(), body->GetGeom()->ComputeMomentOfInertia(mass));
}
});
}