Ndk/Physics: Added first physics components/systems

Former-commit-id: 654b7a2a4645487d139474dcbd02c0882d7c8f02

SDK/src/NDK/Systems/PhysicsSystem.cpp

@@ -0,0 +1,40 @@
+// Copyright (C) 2015 Jérôme Leclercq
+// This file is part of the "Nazara Development Kit"
+// For conditions of distribution and use, see copyright notice in Prerequesites.hpp
+
+#include <NDK/Systems/PhysicsSystem.hpp>
+#include <Nazara/Physics/PhysObject.hpp>
+#include <NDK/Components/CollisionComponent.hpp>
+#include <NDK/Components/NodeComponent.hpp>
+#include <NDK/Components/PhysicsComponent.hpp>
+
+namespace Ndk
+{
+	PhysicsSystem::PhysicsSystem()
+	{
+		Requires<NodeComponent, PhysicsComponent>();
+	}
+
+	PhysicsSystem::PhysicsSystem(const PhysicsSystem& system) :
+	System(system),
+	m_world()
+	{
+	}
+
+	void PhysicsSystem::Update(float elapsedTime)
+	{
+		m_world.Step(elapsedTime);
+
+		for (const Ndk::EntityHandle& entity : GetEntities())
+		{
+			NodeComponent& node = entity->GetComponent<NodeComponent>();
+			PhysicsComponent& phys = entity->GetComponent<PhysicsComponent>();
+
+			NzPhysObject& physObj = phys.GetPhysObject();
+			node.SetRotation(physObj.GetRotation(), nzCoordSys_Global);
+			node.SetPosition(physObj.GetPosition(), nzCoordSys_Global);
+		}
+	}
+
+	SystemIndex PhysicsSystem::systemIndex;
+}

SDK/src/NDK/Systems/StaticCollisionSystem.cpp

@@ -0,0 +1,60 @@
+// Copyright (C) 2015 Jérôme Leclercq
+// This file is part of the "Nazara Development Kit"
+// For conditions of distribution and use, see copyright notice in Prerequesites.hpp
+
+#include <NDK/Systems/StaticCollisionSystem.hpp>
+#include <Nazara/Physics/PhysObject.hpp>
+#include <NDK/Components/CollisionComponent.hpp>
+#include <NDK/Components/NodeComponent.hpp>
+
+namespace Ndk
+{
+	StaticCollisionSystem::StaticCollisionSystem()
+	{
+		Requires<CollisionComponent, NodeComponent>();
+		Excludes<PhysicsComponent>();
+	}
+
+	void StaticCollisionSystem::Update(float elapsedTime)
+	{
+		float invElapsedTime = 1.f / elapsedTime;
+		for (const Ndk::EntityHandle& entity : GetEntities())
+		{
+			CollisionComponent& collision = entity->GetComponent<CollisionComponent>();
+			NodeComponent& node = entity->GetComponent<NodeComponent>();
+
+			NzPhysObject* physObj = collision.GetStaticBody();
+
+			NzQuaternionf oldRotation = physObj->GetRotation();
+			NzVector3f oldPosition = physObj->GetPosition();
+			NzQuaternionf newRotation = node.GetRotation(nzCoordSys_Global);
+			NzVector3f newPosition = node.GetPosition(nzCoordSys_Global);
+
+			// Pour déplacer des objets statiques et assurer les collisions, il faut leur définir une vitesse
+			// (note importante: le moteur physique n'applique pas la vitesse sur les objets statiques)
+			if (newPosition != oldPosition)
+			{
+				physObj->SetPosition(newPosition);
+				physObj->SetVelocity((newPosition - oldPosition) * invElapsedTime);
+			}
+			else
+				physObj->SetVelocity(NzVector3f::Zero());
+
+			if (newRotation != oldRotation)
+			{
+				NzQuaternionf transition = newRotation * oldRotation.GetConjugate();
+				NzEulerAnglesf angles = transition.ToEulerAngles();
+				NzVector3f angularVelocity(NzToRadians(angles.pitch * invElapsedTime),
+				                           NzToRadians(angles.yaw * invElapsedTime),
+				                           NzToRadians(angles.roll * invElapsedTime));
+
+				physObj->SetRotation(oldRotation);
+				physObj->SetAngularVelocity(angularVelocity);
+			}
+			else
+				physObj->SetAngularVelocity(NzVector3f::Zero());
+		}
+	}
+
+	SystemIndex StaticCollisionSystem::systemIndex;
+}

SDK/src/NDK/Systems/VelocitySystem.cpp

@@ -4,6 +4,7 @@
 
 #include <NDK/Systems/VelocitySystem.hpp>
 #include <NDK/Components/NodeComponent.hpp>
+#include <NDK/Components/PhysicsComponent.hpp>
 #include <NDK/Components/VelocityComponent.hpp>
 
 namespace Ndk
@@ -11,6 +12,7 @@ namespace Ndk
 	VelocitySystem::VelocitySystem()
 	{
 		Requires<NodeComponent, VelocityComponent>();
+		Excludes<PhysicsComponent>();
 	}
 
 	void VelocitySystem::Update(float elapsedTime)