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Merge branch 'master' into physics3d-material

This commit is contained in:
Lynix 2017-12-14 18:15:35 +01:00
parent afa874de26 5aab9b248d
commit e302667c21
11 changed files with 161 additions and 31 deletions
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20
SDK/include/NDK/Components/PhysicsComponent3D.hpp
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@ -19,7 +19,7 @@ namespace Ndk
friend class PhysicsSystem3D;
public:
PhysicsComponent3D() = default;
inline PhysicsComponent3D();
PhysicsComponent3D(const PhysicsComponent3D& physics);
~PhysicsComponent3D() = default;
@ -28,6 +28,7 @@ namespace Ndk
void AddTorque(const Nz::Vector3f& torque, Nz::CoordSys coordSys = Nz::CoordSys_Global);
void EnableAutoSleep(bool autoSleep);
void EnableNodeSynchronization(bool nodeSynchronization);
Nz::Boxf GetAABB() const;
Nz::Vector3f GetAngularDamping() const;
@ -43,6 +44,7 @@ namespace Ndk
bool IsAutoSleepEnabled() const;
bool IsMoveable() const;
bool IsNodeSynchronizationEnabled() const;
bool IsSleeping() const;
void SetAngularDamping(const Nz::Vector3f& angularDamping);
@ -60,7 +62,10 @@ namespace Ndk
static ComponentIndex componentIndex;
private:
void ApplyPhysicsState(Nz::RigidBody3D& rigidBody) const;
void CopyPhysicsState(const Nz::RigidBody3D& rigidBody);
Nz::RigidBody3D& GetRigidBody();
const Nz::RigidBody3D& GetRigidBody() const;
void OnAttached() override;
void OnComponentAttached(BaseComponent& component) override;
@ -70,7 +75,20 @@ namespace Ndk
void OnEntityDisabled() override;
void OnEntityEnabled() override;
struct PendingPhysObjectStates
{
Nz::Vector3f angularDamping;
Nz::Vector3f massCenter;
bool autoSleep;
bool valid = false;
float gravityFactor;
float linearDamping;
float mass;
};
std::unique_ptr<Nz::RigidBody3D> m_object;
PendingPhysObjectStates m_pendingStates;
bool m_nodeSynchronizationEnabled;
};
}

80
SDK/include/NDK/Components/PhysicsComponent3D.inl
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@ -7,16 +7,21 @@
namespace Ndk
{
inline PhysicsComponent3D::PhysicsComponent3D() :
m_nodeSynchronizationEnabled(true)
{
}
/*!
* \brief Constructs a PhysicsComponent3D object by copy semantic
*
* \param physics PhysicsComponent3D to copy
*/
inline PhysicsComponent3D::PhysicsComponent3D(const PhysicsComponent3D& physics)
inline PhysicsComponent3D::PhysicsComponent3D(const PhysicsComponent3D& physics) :
m_nodeSynchronizationEnabled(physics.m_nodeSynchronizationEnabled)
{
// No copy of physical object (because we only create it when attached to an entity)
NazaraUnused(physics);
// We can't make a copy of the RigidBody3D, as we are not attached yet (and will possibly be attached to another world)
CopyPhysicsState(physics.GetRigidBody());
}
/*!
@ -75,7 +80,6 @@ namespace Ndk
*
* \remark Produces a NazaraAssert if the physics object is invalid
*/
inline void PhysicsComponent3D::EnableAutoSleep(bool autoSleep)
{
NazaraAssert(m_object, "Invalid physics object");
@ -83,6 +87,22 @@ namespace Ndk
m_object->EnableAutoSleep(autoSleep);
}
/*!
* \brief Enables position/rotation synchronization with the NodeComponent
*
* By default, at every update of the PhysicsSystem3D, the NodeComponent's position and rotation (if any) will be synchronized with
* the values of the PhysicsComponent3D. This function allows to enable/disable this behavior on a per-entity basis.
*
* \param nodeSynchronization Should synchronization occur between NodeComponent and PhysicsComponent3D
*/
inline void PhysicsComponent3D::EnableNodeSynchronization(bool nodeSynchronization)
{
m_nodeSynchronizationEnabled = nodeSynchronization;
if (m_entity)
m_entity->Invalidate();
}
/*!
* \brief Gets the AABB of the physics object
* \return AABB of the object
@ -178,7 +198,7 @@ namespace Ndk
* \brief Gets the gravity center of the physics object
* \return Gravity center of the object
*
* \param coordSys System coordinates to consider
* \param coordSys System coordinates to consider
*
* \remark Produces a NazaraAssert if the physics object is invalid
*/
@ -258,13 +278,23 @@ namespace Ndk
return m_object->IsMoveable();
}
/*!
* \brief Checks if position & rotation are synchronized with NodeComponent
* \return true If synchronization is enabled
*
* \see EnableNodeSynchronization
*/
inline bool PhysicsComponent3D::IsNodeSynchronizationEnabled() const
{
return m_nodeSynchronizationEnabled;
}
/*!
* \brief Checks whether the entity is currently sleeping
* \return true If it is the case
*
* \remark Produces a NazaraAssert if the physics object is invalid
*/
inline bool PhysicsComponent3D::IsSleeping() const
{
NazaraAssert(m_object, "Invalid physics object");
@ -353,7 +383,8 @@ namespace Ndk
inline void PhysicsComponent3D::SetMass(float mass)
{
NazaraAssert(m_object, "Invalid physics object");
NazaraAssert(mass > 0.f, "Mass should be positive");
NazaraAssert(mass >= 0.f, "Mass must be positive and finite");
NazaraAssert(std::isfinite(mass), "Mass must be positive and finite");
m_object->SetMass(mass);
}
@ -430,13 +461,44 @@ namespace Ndk
m_object->SetRotation(rotation);
}
inline void PhysicsComponent3D::ApplyPhysicsState(Nz::RigidBody3D& rigidBody) const
{
assert(m_pendingStates.valid);
rigidBody.EnableAutoSleep(m_pendingStates.autoSleep);
rigidBody.SetAngularDamping(m_pendingStates.angularDamping);
rigidBody.SetGravityFactor(m_pendingStates.gravityFactor);
rigidBody.SetLinearDamping(m_pendingStates.linearDamping);
rigidBody.SetMass(m_pendingStates.mass);
rigidBody.SetMassCenter(m_pendingStates.massCenter);
}
inline void PhysicsComponent3D::CopyPhysicsState(const Nz::RigidBody3D& rigidBody)
{
m_pendingStates.autoSleep = rigidBody.IsAutoSleepEnabled();
m_pendingStates.angularDamping = rigidBody.GetAngularDamping();
m_pendingStates.gravityFactor = rigidBody.GetGravityFactor();
m_pendingStates.linearDamping = rigidBody.GetLinearDamping();
m_pendingStates.mass = rigidBody.GetMass();
m_pendingStates.massCenter = rigidBody.GetMassCenter(Nz::CoordSys_Local);
m_pendingStates.valid = true;
}
/*!
* \brief Gets the underlying physics object
* \return A reference to the physics object
*/
inline Nz::RigidBody3D& PhysicsComponent3D::GetRigidBody()
{
return *m_object.get();
}
/*!
* \brief Gets the underlying physics object
* \return A reference to the physics object
*/
inline const Nz::RigidBody3D& PhysicsComponent3D::GetRigidBody() const
{
return *m_object.get();
}
}

14
SDK/src/NDK/Components/PhysicsComponent3D.cpp
View File

@ -41,8 +41,12 @@ namespace Ndk
matrix.MakeIdentity();
m_object = std::make_unique<Nz::RigidBody3D>(&world, geom, matrix);
m_object->SetMass(1.f);
m_object->SetUserdata(reinterpret_cast<void*>(static_cast<std::ptrdiff_t>(m_entity->GetId())));
if (m_pendingStates.valid)
ApplyPhysicsState(*m_object);
else
m_object->SetMass(1.f);
}
/*!
@ -58,6 +62,7 @@ namespace Ndk
if (IsComponent<CollisionComponent3D>(component))
{
NazaraAssert(m_object, "Invalid object");
m_object->SetGeom(static_cast<CollisionComponent3D&>(component).GetGeom());
}
}
@ -75,6 +80,7 @@ namespace Ndk
if (IsComponent<CollisionComponent3D>(component))
{
NazaraAssert(m_object, "Invalid object");
m_object->SetGeom(Nz::NullCollider3D::New());
}
}
@ -85,7 +91,11 @@ namespace Ndk
void PhysicsComponent3D::OnDetached()
{
m_object.reset();
if (m_object)
{
CopyPhysicsState(*m_object);
m_object.reset();
}
}
void PhysicsComponent3D::OnEntityDestruction()

20
SDK/src/NDK/Systems/PhysicsSystem3D.cpp
View File

@ -47,16 +47,20 @@ namespace Ndk
void PhysicsSystem3D::OnEntityValidation(Entity* entity, bool justAdded)
{
// It's possible our entity got revalidated because of the addition/removal of a PhysicsComponent3D
if (!justAdded)
if (entity->HasComponent<PhysicsComponent3D>())
{
// We take the opposite array from which the entity should belong to
auto& entities = (entity->HasComponent<PhysicsComponent3D>()) ? m_staticObjects : m_dynamicObjects;
entities.Remove(entity);
}
if (entity->GetComponent<PhysicsComponent3D>().IsNodeSynchronizationEnabled())
m_dynamicObjects.Insert(entity);
else
m_dynamicObjects.Remove(entity);
auto& entities = (entity->HasComponent<PhysicsComponent3D>()) ? m_dynamicObjects : m_staticObjects;
entities.Insert(entity);
m_staticObjects.Remove(entity);
}
else
{
m_dynamicObjects.Remove(entity);
m_staticObjects.Insert(entity);
}
if (!m_world)
CreatePhysWorld();

2
include/Nazara/Core/Thread.hpp
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@ -64,7 +64,7 @@ namespace Nz
NAZARA_CORE_API friend std::ostream& operator<<(std::ostream& o, const Id& id);
private:
Id(ThreadImpl* thread);
explicit Id(ThreadImpl* thread);
ThreadImpl* m_id = nullptr;
};

3
include/Nazara/Network/ENetPeer.inl
View File

@ -1,4 +1,4 @@
// Copyright (C) 2017 Jérôme Leclercq
// Copyright (C) 2017 Jérôme Leclercq
// This file is part of the "Nazara Engine - Network module"
// For conditions of distribution and use, see copyright notice in Config.hpp
@ -8,6 +8,7 @@ namespace Nz
{
inline ENetPeer::ENetPeer(ENetHost* host, UInt16 peerId) :
m_host(host),
m_state(ENetPeerState::Disconnected),
m_incomingSessionID(0xFF),
m_outgoingSessionID(0xFF),
m_incomingPeerID(peerId),

1
src/Nazara/Core/Thread.cpp
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@ -7,6 +7,7 @@
#include <Nazara/Core/Error.hpp>
#include <Nazara/Core/HardwareInfo.hpp>
#include <Nazara/Core/MovablePtr.hpp>
#include <ostream>
#if defined(NAZARA_PLATFORM_WINDOWS)
#include <Nazara/Core/Win32/ThreadImpl.hpp>

3
src/Nazara/Network/Linux/SocketPollerImpl.cpp
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@ -48,7 +48,8 @@ namespace Nz
NazaraAssert(!IsRegistered(socket), "Socket is already registered");
epoll_event entry;
entry.events = 0;
std::memset(&entry, 0, sizeof(epoll_event));
entry.data.fd = socket;
if (eventFlags & SocketPollEvent_Read)

12
src/Nazara/Network/Posix/SocketImpl.cpp
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@ -25,6 +25,8 @@ namespace Nz
NazaraAssert(handle != InvalidHandle, "Invalid handle");
IpAddressImpl::SockAddrBuffer nameBuffer;
std::fill(nameBuffer.begin(), nameBuffer.end(), 0);
socklen_t bufferLength = sizeof(sockaddr_in);
SocketHandle newClient = accept(handle, reinterpret_cast<sockaddr*>(&nameBuffer), &bufferLength);
@ -376,7 +378,9 @@ namespace Nz
NazaraAssert(handle != InvalidHandle, "Invalid handle");
IpAddressImpl::SockAddrBuffer nameBuffer;
socklen_t bufferLength = sizeof(sockaddr_in);
std::fill(nameBuffer.begin(), nameBuffer.end(), 0);
socklen_t bufferLength = sizeof(nameBuffer.size());
if (getpeername(handle, reinterpret_cast<sockaddr*>(nameBuffer.data()), &bufferLength) == SOCKET_ERROR)
{
@ -416,6 +420,8 @@ namespace Nz
NazaraAssert(handle != InvalidHandle, "Invalid handle");
IpAddressImpl::SockAddrBuffer nameBuffer;
std::fill(nameBuffer.begin(), nameBuffer.end(), 0);
socklen_t bufferLength = sizeof(sockaddr_in);
if (getsockname(handle, reinterpret_cast<sockaddr*>(nameBuffer.data()), &bufferLength) == SOCKET_ERROR)
@ -509,6 +515,8 @@ namespace Nz
NazaraAssert(buffer && length > 0, "Invalid buffer");
IpAddressImpl::SockAddrBuffer nameBuffer;
std::fill(nameBuffer.begin(), nameBuffer.end(), 0);
socklen_t bufferLength = static_cast<socklen_t>(nameBuffer.size());
IpAddress senderIp;
@ -580,6 +588,8 @@ namespace Nz
msgHdr.msg_iovlen = static_cast<int>(bufferCount);
IpAddressImpl::SockAddrBuffer nameBuffer;
std::fill(nameBuffer.begin(), nameBuffer.end(), 0);
if (from)
{
msgHdr.msg_name = nameBuffer.data();

10
src/Nazara/Network/Win32/SocketImpl.cpp
View File

@ -33,6 +33,8 @@ namespace Nz
NazaraAssert(handle != InvalidHandle, "Invalid handle");
IpAddressImpl::SockAddrBuffer nameBuffer;
std::fill(nameBuffer.begin(), nameBuffer.end(), 0);
int bufferLength = static_cast<int>(nameBuffer.size());
SocketHandle newClient = accept(handle, reinterpret_cast<sockaddr*>(&nameBuffer), &bufferLength);
@ -392,6 +394,8 @@ namespace Nz
NazaraAssert(handle != InvalidHandle, "Invalid handle");
IpAddressImpl::SockAddrBuffer nameBuffer;
std::fill(nameBuffer.begin(), nameBuffer.end(), 0);
int bufferLength = static_cast<int>(nameBuffer.size());
if (getpeername(handle, reinterpret_cast<sockaddr*>(nameBuffer.data()), &bufferLength) == SOCKET_ERROR)
@ -413,6 +417,8 @@ namespace Nz
NazaraAssert(handle != InvalidHandle, "Invalid handle");
IpAddressImpl::SockAddrBuffer nameBuffer;
std::fill(nameBuffer.begin(), nameBuffer.end(), 0);
int bufferLength = static_cast<int>(nameBuffer.size());
if (getsockname(handle, reinterpret_cast<sockaddr*>(nameBuffer.data()), &bufferLength) == SOCKET_ERROR)
@ -537,6 +543,8 @@ namespace Nz
NazaraAssert(buffer && length > 0, "Invalid buffer");
IpAddressImpl::SockAddrBuffer nameBuffer;
std::fill(nameBuffer.begin(), nameBuffer.end(), 0);
int bufferLength = static_cast<int>(nameBuffer.size());
IpAddress senderIp;
@ -592,6 +600,8 @@ namespace Nz
NazaraAssert(buffers && bufferCount > 0, "Invalid buffers");
IpAddressImpl::SockAddrBuffer nameBuffer;
std::fill(nameBuffer.begin(), nameBuffer.end(), 0);
int bufferLength = static_cast<int>(nameBuffer.size());
IpAddress senderIp;

27
src/Nazara/Physics3D/RigidBody3D.cpp
View File

@ -6,6 +6,7 @@
#include <Nazara/Physics3D/PhysWorld3D.hpp>
#include <Newton/Newton.h>
#include <algorithm>
#include <cmath>
#include <Nazara/Physics3D/Debug.hpp>
namespace Nz
@ -31,6 +32,7 @@ namespace Nz
m_body = NewtonCreateDynamicBody(m_world->GetHandle(), m_geom->GetHandle(m_world), m_matrix);
NewtonBodySetUserData(m_body, this);
NewtonBodySetTransformCallback(m_body, &TransformCallback);
}
RigidBody3D::RigidBody3D(const RigidBody3D& object) :
@ -47,6 +49,7 @@ namespace Nz
m_body = NewtonCreateDynamicBody(m_world->GetHandle(), m_geom->GetHandle(m_world), m_matrix);
NewtonBodySetUserData(m_body, this);
NewtonBodySetTransformCallback(m_body, &TransformCallback);
SetMass(object.m_mass);
SetAngularDamping(object.GetAngularDamping());
@ -303,16 +306,27 @@ namespace Nz
void RigidBody3D::SetMass(float mass)
{
NazaraAssert(mass >= 0.f, "Mass must be positive and finite");
NazaraAssert(std::isfinite(mass), "Mass must be positive and finite");
if (m_mass > 0.f)
{
// If we already have a mass, we already have an inertial matrix as well, just rescale it
float Ix, Iy, Iz;
NewtonBodyGetMassMatrix(m_body, &m_mass, &Ix, &Iy, &Iz);
if (mass > 0.f)
{
// If we already have a mass, we already have an inertial matrix as well, just rescale it
float Ix, Iy, Iz;
NewtonBodyGetMassMatrix(m_body, &m_mass, &Ix, &Iy, &Iz);
float scale = mass/m_mass;
NewtonBodySetMassMatrix(m_body, mass, Ix*scale, Iy*scale, Iz*scale);
float scale = mass / m_mass;
NewtonBodySetMassMatrix(m_body, mass, Ix*scale, Iy*scale, Iz*scale);
}
else
{
NewtonBodySetMassMatrix(m_body, 0.f, 0.f, 0.f, 0.f);
NewtonBodySetForceAndTorqueCallback(m_body, nullptr);
}
}
else if (mass > 0.f)
else
{
Vector3f inertia, origin;
m_geom->ComputeInertialMatrix(&inertia, &origin);
@ -320,7 +334,6 @@ namespace Nz
NewtonBodySetCentreOfMass(m_body, &origin.x);
NewtonBodySetMassMatrix(m_body, mass, inertia.x*mass, inertia.y*mass, inertia.z*mass);
NewtonBodySetForceAndTorqueCallback(m_body, &ForceAndTorqueCallback);
NewtonBodySetTransformCallback(m_body, &TransformCallback);
}
m_mass = mass;