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Ndk/Physics: Merged StaticCollisionSystem with PhysicsSystem 

Former-commit-id: de2127eb967fb29f285e9ebae7c743c07ea39f8a
This commit is contained in:
Lynix 2015-05-03 19:55:16 +02:00
parent 8b5deffe35
commit da36f95b7c
7 changed files with 71 additions and 102 deletions
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4
SDK/include/NDK/Systems/PhysicsSystem.hpp
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@ -27,6 +27,10 @@ namespace Ndk
static SystemIndex systemIndex;
private:
void OnEntityValidation(Entity* entity, bool justAdded) override;
std::vector<EntityHandle> m_dynamicObjects;
std::vector<EntityHandle> m_staticObjects;
NzPhysWorld m_world;
};
}

29
SDK/include/NDK/Systems/StaticCollisionSystem.hpp
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@ -1,29 +0,0 @@
// 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
#pragma once
#ifndef NDK_SYSTEMS_STATICCOLLISIONSYSTEM_HPP
#define NDK_SYSTEMS_STATICCOLLISIONSYSTEM_HPP
#include <NDK/System.hpp>
namespace Ndk
{
class NDK_API StaticCollisionSystem : public System<StaticCollisionSystem>
{
public:
StaticCollisionSystem();
StaticCollisionSystem(const StaticCollisionSystem& system) = default;
~StaticCollisionSystem() = default;
void Update(float elapsedTime);
static SystemIndex systemIndex;
};
}
#include <NDK/Systems/StaticCollisionSystem.inl>
#endif // NDK_SYSTEMS_STATICCOLLISIONSYSTEM_HPP

7
SDK/include/NDK/Systems/StaticCollisionSystem.inl
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@ -1,7 +0,0 @@
// 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
namespace Ndk
{
}

2
SDK/src/NDK/Sdk.cpp
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@ -20,7 +20,6 @@
#include <NDK/Components/VelocityComponent.hpp>
#include <NDK/Systems/ListenerSystem.hpp>
#include <NDK/Systems/PhysicsSystem.hpp>
#include <NDK/Systems/StaticCollisionSystem.hpp>
#include <NDK/Systems/VelocitySystem.hpp>
namespace Ndk
@ -62,7 +61,6 @@ namespace Ndk
// Systèmes
InitializeSystem<ListenerSystem>();
InitializeSystem<PhysicsSystem>();
InitializeSystem<StaticCollisionSystem>();
InitializeSystem<VelocitySystem>();
NazaraNotice("Initialized: SDK");

69
SDK/src/NDK/Systems/PhysicsSystem.cpp
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@ -12,7 +12,8 @@ namespace Ndk
{
PhysicsSystem::PhysicsSystem()
{
Requires<NodeComponent, PhysicsComponent>();
Requires<NodeComponent>();
RequiresAny<CollisionComponent, PhysicsComponent>();
}
PhysicsSystem::PhysicsSystem(const PhysicsSystem& system) :
@ -25,7 +26,7 @@ namespace Ndk
{
m_world.Step(elapsedTime);
for (const Ndk::EntityHandle& entity : GetEntities())
for (const Ndk::EntityHandle& entity : m_dynamicObjects)
{
NodeComponent& node = entity->GetComponent<NodeComponent>();
PhysicsComponent& phys = entity->GetComponent<PhysicsComponent>();
@ -34,6 +35,70 @@ namespace Ndk
node.SetRotation(physObj.GetRotation(), nzCoordSys_Global);
node.SetPosition(physObj.GetPosition(), nzCoordSys_Global);
}
float invElapsedTime = 1.f / elapsedTime;
for (const Ndk::EntityHandle& entity : m_staticObjects)
{
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());
}
}
void PhysicsSystem::OnEntityValidation(Entity* entity, bool justAdded)
{
// Si l'entité ne vient pas d'être ajoutée au système, il est possible qu'elle fasse partie du mauvais tableau
if (!justAdded)
{
// On prend le tableau inverse de celui dont l'entité devrait faire partie
auto& entities = (entity->HasComponent<PhysicsComponent>()) ? m_staticObjects : m_dynamicObjects;
auto it = std::find(entities.begin(), entities.end(), *entity);
if (it != entities.end())
{
// Pour éviter de déplacer beaucoup de handles, on swap le dernier avec celui à supprimer
std::swap(*it, entities.back());
entities.pop_back(); // On le sort du vector
}
}
if (entity->HasComponent<PhysicsComponent>())
m_dynamicObjects.emplace_back(entity);
else
{
NazaraAssert(entity->HasComponent<CollisionComponent>(), "Validated entity should have component CollisionComponent");
m_staticObjects.emplace_back(entity);
}
}
SystemIndex PhysicsSystem::systemIndex;

60
SDK/src/NDK/Systems/StaticCollisionSystem.cpp
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@ -1,60 +0,0 @@
// 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;
}

2
SDK/src/NDK/World.cpp
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@ -6,7 +6,6 @@
#include <Nazara/Core/Error.hpp>
#include <NDK/Systems/ListenerSystem.hpp>
#include <NDK/Systems/PhysicsSystem.hpp>
#include <NDK/Systems/StaticCollisionSystem.hpp>
#include <NDK/Systems/VelocitySystem.hpp>
namespace Ndk
@ -21,7 +20,6 @@ namespace Ndk
{
AddSystem<ListenerSystem>();
AddSystem<PhysicsSystem>();
AddSystem<StaticCollisionSystem>();
AddSystem<VelocitySystem>();
}