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Add RigidBodyComponents class

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This commit is contained in:
Daniel Chappuis 2019-07-16 07:15:13 +02:00
parent b93ba5c476
commit ca80d95d84
22 changed files with 485 additions and 222 deletions
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2
CMakeLists.txt
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@ -142,6 +142,7 @@ SET (REACTPHYSICS3D_HEADERS
"src/systems/BroadPhaseSystem.h"
"src/components/Components.h"
"src/components/CollisionBodyComponents.h"
"src/components/RigidBodyComponents.h"
"src/components/TransformComponents.h"
"src/components/ProxyShapeComponents.h"
"src/components/DynamicsComponents.h"
@ -233,6 +234,7 @@ SET (REACTPHYSICS3D_SOURCES
"src/systems/BroadPhaseSystem.cpp"
"src/components/Components.cpp"
"src/components/CollisionBodyComponents.cpp"
"src/components/RigidBodyComponents.cpp"
"src/components/TransformComponents.cpp"
"src/components/ProxyShapeComponents.cpp"
"src/components/DynamicsComponents.cpp"

46
src/body/CollisionBody.cpp
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@ -87,12 +87,12 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, con
// TODO : Maybe this method can directly returns an AABB
collisionShape->getLocalBounds(localBoundsMin, localBoundsMax);
ProxyShapeComponents::ProxyShapeComponent proxyShapeComponent(mEntity, proxyShape, -1,
AABB(localBoundsMin, localBoundsMax),
transform, collisionShape, decimal(1), 0x0001, 0xFFFF);
bool isSleeping = mWorld.mBodyComponents.getIsSleeping(mEntity);
mWorld.mProxyShapesComponents.addComponent(proxyShapeEntity, isSleeping, proxyShapeComponent);
AABB(localBoundsMin, localBoundsMax),
transform, collisionShape, decimal(1), 0x0001, 0xFFFF);
bool isActive = mWorld.mCollisionBodyComponents.getIsActive(mEntity);
mWorld.mProxyShapesComponents.addComponent(proxyShapeEntity, isActive, proxyShapeComponent);
mWorld.mBodyComponents.addProxyShapeToBody(mEntity, proxyShapeEntity);
mWorld.mCollisionBodyComponents.addProxyShapeToBody(mEntity, proxyShapeEntity);
#ifdef IS_PROFILING_ACTIVE
@ -131,7 +131,7 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, con
* @return The number of proxy-shapes associated with this body
*/
uint CollisionBody::getNbProxyShapes() const {
return static_cast<uint>(mWorld.mBodyComponents.getProxyShapes(mEntity).size());
return static_cast<uint>(mWorld.mCollisionBodyComponents.getProxyShapes(mEntity).size());
}
// Return a const pointer to a given proxy-shape of the body
@ -142,7 +142,7 @@ const ProxyShape* CollisionBody::getProxyShape(uint proxyShapeIndex) const {
assert(proxyShapeIndex < getNbProxyShapes());
Entity proxyShapeEntity = mWorld.mBodyComponents.getProxyShapes(mEntity)[proxyShapeIndex];
Entity proxyShapeEntity = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity)[proxyShapeIndex];
return mWorld.mProxyShapesComponents.getProxyShape(proxyShapeEntity);
}
@ -155,7 +155,7 @@ ProxyShape* CollisionBody::getProxyShape(uint proxyShapeIndex) {
assert(proxyShapeIndex < getNbProxyShapes());
Entity proxyShapeEntity = mWorld.mBodyComponents.getProxyShapes(mEntity)[proxyShapeIndex];
Entity proxyShapeEntity = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity)[proxyShapeIndex];
return mWorld.mProxyShapesComponents.getProxyShape(proxyShapeEntity);
}
@ -177,7 +177,7 @@ void CollisionBody::removeCollisionShape(ProxyShape* proxyShape) {
mWorld.mCollisionDetection.removeProxyCollisionShape(proxyShape);
}
mWorld.mBodyComponents.removeProxyShapeFromBody(mEntity, proxyShape->getEntity());
mWorld.mCollisionBodyComponents.removeProxyShapeFromBody(mEntity, proxyShape->getEntity());
// Remove the proxy-shape component
mWorld.mProxyShapesComponents.removeComponent(proxyShape->getEntity());
@ -194,7 +194,7 @@ void CollisionBody::removeAllCollisionShapes() {
// Look for the proxy shape that contains the collision shape in parameter.
// Note that we need to copy the list of proxy shapes entities because we are deleting them in a loop.
const List<Entity> proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity);
const List<Entity> proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity);
for (uint i=0; i < proxyShapesEntities.size(); i++) {
removeCollisionShape(mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]));
@ -217,7 +217,7 @@ const Transform& CollisionBody::getTransform() const {
void CollisionBody::updateBroadPhaseState() const {
// For all the proxy collision shapes of the body
const List<Entity>& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity);
const List<Entity>& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity);
for (uint i=0; i < proxyShapesEntities.size(); i++) {
// Update the proxy
@ -232,9 +232,9 @@ void CollisionBody::updateBroadPhaseState() const {
void CollisionBody::setIsActive(bool isActive) {
// If the state does not change
if (mWorld.mBodyComponents.getIsActive(mEntity) == isActive) return;
if (mWorld.mCollisionBodyComponents.getIsActive(mEntity) == isActive) return;
mWorld.mBodyComponents.setIsActive(mEntity, isActive);
mWorld.mCollisionBodyComponents.setIsActive(mEntity, isActive);
// If we have to activate the body
if (isActive) {
@ -242,7 +242,7 @@ void CollisionBody::setIsActive(bool isActive) {
const Transform& transform = mWorld.mTransformComponents.getTransform(mEntity);
// For each proxy shape of the body
const List<Entity>& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity);
const List<Entity>& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity);
for (uint i=0; i < proxyShapesEntities.size(); i++) {
ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]);
@ -258,7 +258,7 @@ void CollisionBody::setIsActive(bool isActive) {
else { // If we have to deactivate the body
// For each proxy shape of the body
const List<Entity>& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity);
const List<Entity>& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity);
for (uint i=0; i < proxyShapesEntities.size(); i++) {
ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]);
@ -281,7 +281,7 @@ void CollisionBody::setIsActive(bool isActive) {
void CollisionBody::askForBroadPhaseCollisionCheck() const {
// For all the proxy collision shapes of the body
const List<Entity>& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity);
const List<Entity>& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity);
for (uint i=0; i < proxyShapesEntities.size(); i++) {
ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]);
@ -299,7 +299,7 @@ void CollisionBody::askForBroadPhaseCollisionCheck() const {
bool CollisionBody::testPointInside(const Vector3& worldPoint) const {
// For each collision shape of the body
const List<Entity>& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity);
const List<Entity>& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity);
for (uint i=0; i < proxyShapesEntities.size(); i++) {
ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]);
@ -322,13 +322,13 @@ bool CollisionBody::testPointInside(const Vector3& worldPoint) const {
bool CollisionBody::raycast(const Ray& ray, RaycastInfo& raycastInfo) {
// If the body is not active, it cannot be hit by rays
if (!mWorld.mBodyComponents.getIsActive(mEntity)) return false;
if (!mWorld.mCollisionBodyComponents.getIsActive(mEntity)) return false;
bool isHit = false;
Ray rayTemp(ray);
// For each collision shape of the body
const List<Entity>& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity);
const List<Entity>& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity);
for (uint i=0; i < proxyShapesEntities.size(); i++) {
ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]);
@ -351,7 +351,7 @@ AABB CollisionBody::getAABB() const {
AABB bodyAABB;
const List<Entity>& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity);
const List<Entity>& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity);
if (proxyShapesEntities.size() == 0) return bodyAABB;
// TODO : Make sure we compute this in a system
@ -401,7 +401,7 @@ void CollisionBody::setTransform(const Transform& transform) {
* @return True if the body currently active and false otherwise
*/
bool CollisionBody::isActive() const {
return mWorld.mBodyComponents.getIsActive(mEntity);
return mWorld.mCollisionBodyComponents.getIsActive(mEntity);
}
// Return a pointer to the user data attached to this body
@ -409,7 +409,7 @@ bool CollisionBody::isActive() const {
* @return A pointer to the user data you have attached to the body
*/
void* CollisionBody::getUserData() const {
return mWorld.mBodyComponents.getUserData(mEntity);
return mWorld.mCollisionBodyComponents.getUserData(mEntity);
}
// Attach user data to this body
@ -417,7 +417,7 @@ void* CollisionBody::getUserData() const {
* @param userData A pointer to the user data you want to attach to the body
*/
void CollisionBody::setUserData(void* userData) {
mWorld.mBodyComponents.setUserData(mEntity, userData);
mWorld.mCollisionBodyComponents.setUserData(mEntity, userData);
}
// Return the world-space coordinates of a point given the local-space coordinates of the body

34
src/body/RigidBody.cpp
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@ -171,7 +171,7 @@ void RigidBody::applyForce(const Vector3& force, const Vector3& point) {
if (mWorld.mDynamicsComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return;
// Awake the body if it was sleeping
if (mWorld.mBodyComponents.getIsSleeping(mEntity)) {
if (mWorld.mRigidBodyComponents.getIsSleeping(mEntity)) {
setIsSleeping(false);
}
@ -223,7 +223,7 @@ void RigidBody::applyForceToCenterOfMass(const Vector3& force) {
if (mWorld.mDynamicsComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return;
// Awake the body if it was sleeping
if (mWorld.mBodyComponents.getIsSleeping(mEntity)) {
if (mWorld.mRigidBodyComponents.getIsSleeping(mEntity)) {
setIsSleeping(false);
}
@ -408,10 +408,10 @@ ProxyShape* RigidBody::addCollisionShape(CollisionShape* collisionShape,
ProxyShapeComponents::ProxyShapeComponent proxyShapeComponent(mEntity, proxyShape, -1,
AABB(localBoundsMin, localBoundsMax),
transform, collisionShape, mass, 0x0001, 0xFFFF);
bool isSleeping = mWorld.mBodyComponents.getIsSleeping(mEntity);
bool isSleeping = mWorld.mRigidBodyComponents.getIsSleeping(mEntity);
mWorld.mProxyShapesComponents.addComponent(proxyShapeEntity, isSleeping, proxyShapeComponent);
mWorld.mBodyComponents.addProxyShapeToBody(mEntity, proxyShapeEntity);
mWorld.mCollisionBodyComponents.addProxyShapeToBody(mEntity, proxyShapeEntity);
#ifdef IS_PROFILING_ACTIVE
@ -626,7 +626,7 @@ void RigidBody::recomputeMassInformation() {
assert(mWorld.mDynamicsComponents.getBodyType(mEntity) == BodyType::DYNAMIC);
// Compute the total mass of the body
const List<Entity>& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity);
const List<Entity>& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity);
for (uint i=0; i < proxyShapesEntities.size(); i++) {
ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]);
mWorld.mDynamicsComponents.setInitMass(mEntity, mWorld.mDynamicsComponents.getInitMass(mEntity) + proxyShape->getMass());
@ -657,7 +657,7 @@ void RigidBody::recomputeMassInformation() {
if (!mIsInertiaTensorSetByUser) {
// Compute the inertia tensor using all the collision shapes
const List<Entity>& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity);
const List<Entity>& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity);
for (uint i=0; i < proxyShapesEntities.size(); i++) {
ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]);
@ -739,7 +739,7 @@ void RigidBody::applyTorque(const Vector3& torque) {
if (mWorld.mDynamicsComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return;
// Awake the body if it was sleeping
if (mWorld.mBodyComponents.getIsSleeping(mEntity)) {
if (mWorld.mRigidBodyComponents.getIsSleeping(mEntity)) {
setIsSleeping(false);
}
@ -751,26 +751,26 @@ void RigidBody::applyTorque(const Vector3& torque) {
// Set the variable to know whether or not the body is sleeping
void RigidBody::setIsSleeping(bool isSleeping) {
bool isBodySleeping = mWorld.mBodyComponents.getIsSleeping(mEntity);
bool isBodySleeping = mWorld.mRigidBodyComponents.getIsSleeping(mEntity);
if (isBodySleeping == isSleeping) return;
// If the body is not active, do nothing (it is sleeping)
if (!mWorld.mBodyComponents.getIsActive(mEntity)) {
if (!mWorld.mCollisionBodyComponents.getIsActive(mEntity)) {
assert(isBodySleeping);
return;
}
if (isSleeping) {
mWorld.mBodyComponents.setSleepTime(mEntity, decimal(0.0));
mWorld.mRigidBodyComponents.setSleepTime(mEntity, decimal(0.0));
}
else {
if (isBodySleeping) {
mWorld.mBodyComponents.setSleepTime(mEntity, decimal(0.0));
mWorld.mRigidBodyComponents.setSleepTime(mEntity, decimal(0.0));
}
}
mWorld.mBodyComponents.setIsSleeping(mEntity, isSleeping);
mWorld.mRigidBodyComponents.setIsSleeping(mEntity, isSleeping);
// Notify all the components
mWorld.notifyBodyDisabled(mEntity, isSleeping);
@ -795,7 +795,7 @@ void RigidBody::setIsSleeping(bool isSleeping) {
*/
void RigidBody::setIsAllowedToSleep(bool isAllowedToSleep) {
mWorld.mBodyComponents.setIsAllowedToSleep(mEntity, isAllowedToSleep);
mWorld.mRigidBodyComponents.setIsAllowedToSleep(mEntity, isAllowedToSleep);
if (!isAllowedToSleep) setIsSleeping(false);
@ -809,7 +809,7 @@ void RigidBody::setIsAllowedToSleep(bool isAllowedToSleep) {
* @return True if the body is allowed to sleep and false otherwise
*/
bool RigidBody::isAllowedToSleep() const {
return mWorld.mBodyComponents.getIsAllowedToSleep(mEntity);
return mWorld.mRigidBodyComponents.getIsAllowedToSleep(mEntity);
}
// Return whether or not the body is sleeping
@ -817,7 +817,7 @@ bool RigidBody::isAllowedToSleep() const {
* @return True if the body is currently sleeping and false otherwise
*/
bool RigidBody::isSleeping() const {
return mWorld.mBodyComponents.getIsSleeping(mEntity);
return mWorld.mRigidBodyComponents.getIsSleeping(mEntity);
}
// Set whether or not the body is active
@ -827,7 +827,7 @@ bool RigidBody::isSleeping() const {
void RigidBody::setIsActive(bool isActive) {
// If the state does not change
if (mWorld.mBodyComponents.getIsActive(mEntity) == isActive) return;
if (mWorld.mCollisionBodyComponents.getIsActive(mEntity) == isActive) return;
setIsSleeping(!isActive);
@ -842,7 +842,7 @@ void RigidBody::setProfiler(Profiler* profiler) {
CollisionBody::setProfiler(profiler);
// Set the profiler for each proxy shape
const List<Entity>& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity);
const List<Entity>& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity);
for (uint i=0; i < proxyShapesEntities.size(); i++) {
ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]);

2
src/body/RigidBody.h
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@ -195,6 +195,8 @@ class RigidBody : public CollisionBody {
virtual void setIsActive(bool isActive) override;
/// Add a collision shape to the body.
// TODO : Remove the mass from this parameter so that we can correctly use inheritance here
// The user will then need to call ProxyShape->setMass() to set the mass of the shape
virtual ProxyShape* addCollisionShape(CollisionShape* collisionShape,
const Transform& transform,
decimal mass);

4
src/collision/CollisionCallback.cpp
View File

@ -47,12 +47,12 @@ CollisionCallback::ContactPair::ContactPair(const reactphysics3d::ContactPair& c
// Return a pointer to the first body in contact
CollisionBody* CollisionCallback::ContactPair::getBody1() const {
return static_cast<CollisionBody*>(mWorld.mBodyComponents.getBody(mContactPair.body1Entity));
return static_cast<CollisionBody*>(mWorld.mCollisionBodyComponents.getBody(mContactPair.body1Entity));
}
// Return a pointer to the second body in contact
CollisionBody* CollisionCallback::ContactPair::getBody2() const {
return static_cast<CollisionBody*>(mWorld.mBodyComponents.getBody(mContactPair.body2Entity));
return static_cast<CollisionBody*>(mWorld.mCollisionBodyComponents.getBody(mContactPair.body2Entity));
}
// Return a pointer to the first proxy-shape in contact (in body 1)

6
src/collision/CollisionDetection.cpp
View File

@ -243,8 +243,8 @@ void CollisionDetection::computeMiddlePhase(OverlappingPairMap& overlappingPairs
mWorld->mDynamicsComponents.getBodyType(body2Entity) == BodyType::STATIC;
// Check that at least one body is enabled (active and awake) and not static
bool isBody1Active = !mWorld->mBodyComponents.getIsEntityDisabled(body1Entity) && !isStaticRigidBody1;
bool isBody2Active = !mWorld->mBodyComponents.getIsEntityDisabled(body2Entity) && !isStaticRigidBody2;
bool isBody1Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) && !isStaticRigidBody1;
bool isBody2Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body2Entity) && !isStaticRigidBody2;
if (!isBody1Active && !isBody2Active) continue;
// Check if the bodies are in the set of bodies that cannot collide between each other
@ -932,7 +932,7 @@ void CollisionDetection::processPotentialContacts(NarrowPhaseInfoBatch& narrowPh
Entity body1Entity = narrowPhaseInfoBatch.overlappingPairs[i]->getShape1()->getBody()->getEntity();
Entity body2Entity = narrowPhaseInfoBatch.overlappingPairs[i]->getShape2()->getBody()->getEntity();
assert(!mWorld->mBodyComponents.getIsEntityDisabled(body1Entity) || !mWorld->mBodyComponents.getIsEntityDisabled(body2Entity));
assert(!mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) || !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body2Entity));
// TODO : We should probably use a single frame allocator here
const uint newContactPairIndex = contactPairs->size();

4
src/collision/OverlapCallback.cpp
View File

@ -38,12 +38,12 @@ OverlapCallback::OverlapPair::OverlapPair(Pair<Entity, Entity>& overlapPair, Col
// Return a pointer to the first body in contact
CollisionBody* OverlapCallback::OverlapPair::getBody1() const {
return static_cast<CollisionBody*>(mWorld.mBodyComponents.getBody(mOverlapPair.first));
return static_cast<CollisionBody*>(mWorld.mCollisionBodyComponents.getBody(mOverlapPair.first));
}
// Return a pointer to the second body in contact
CollisionBody* OverlapCallback::OverlapPair::getBody2() const {
return static_cast<CollisionBody*>(mWorld.mBodyComponents.getBody(mOverlapPair.second));
return static_cast<CollisionBody*>(mWorld.mCollisionBodyComponents.getBody(mOverlapPair.second));
}
// CollisionCallbackData Constructor

2
src/collision/ProxyShape.cpp
View File

@ -119,7 +119,7 @@ void ProxyShape::setLocalToBodyTransform(const Transform& transform) {
RigidBody* rigidBody = static_cast<RigidBody*>(mBody);
if (rigidBody != nullptr) {
mBody->mWorld.mBodyComponents.setIsSleeping(mBody->getEntity(), false);
mBody->mWorld.mRigidBodyComponents.setIsSleeping(mBody->getEntity(), false);
}
mBody->mWorld.mCollisionDetection.updateProxyShape(mEntity);

29
src/components/CollisionBodyComponents.cpp
View File

@ -35,8 +35,7 @@ using namespace reactphysics3d;
// Constructor
CollisionBodyComponents::CollisionBodyComponents(MemoryAllocator& allocator)
:Components(allocator, sizeof(Entity) + sizeof(CollisionBody*) + sizeof(List<Entity>) +
sizeof(bool) + sizeof(bool) + sizeof(bool) + sizeof(decimal) +
sizeof(void*)) {
sizeof(bool) + sizeof(void*)) {
// Allocate memory for the components data
allocate(INIT_NB_ALLOCATED_COMPONENTS);
@ -58,11 +57,8 @@ void CollisionBodyComponents::allocate(uint32 nbComponentsToAllocate) {
Entity* newBodiesEntities = static_cast<Entity*>(newBuffer);
CollisionBody** newBodies = reinterpret_cast<CollisionBody**>(newBodiesEntities + nbComponentsToAllocate);
List<Entity>* newProxyShapes = reinterpret_cast<List<Entity>*>(newBodies + nbComponentsToAllocate);
bool* newIsAllowedToSleep = reinterpret_cast<bool*>(newProxyShapes + nbComponentsToAllocate);
bool* newIsActive = reinterpret_cast<bool*>(newIsAllowedToSleep + nbComponentsToAllocate);
bool* newIsSleeping = reinterpret_cast<bool*>(newIsActive + nbComponentsToAllocate);
decimal* newSleepTimes = reinterpret_cast<decimal*>(newIsSleeping + nbComponentsToAllocate);
void** newUserData = reinterpret_cast<void**>(newIsSleeping + nbComponentsToAllocate);
bool* newIsActive = reinterpret_cast<bool*>(newProxyShapes + nbComponentsToAllocate);
void** newUserData = reinterpret_cast<void**>(newIsActive + nbComponentsToAllocate);
// If there was already components before
if (mNbComponents > 0) {
@ -71,10 +67,7 @@ void CollisionBodyComponents::allocate(uint32 nbComponentsToAllocate) {
memcpy(newBodiesEntities, mBodiesEntities, mNbComponents * sizeof(Entity));
memcpy(newBodies, mBodies, mNbComponents * sizeof(CollisionBody*));
memcpy(newProxyShapes, mProxyShapes, mNbComponents * sizeof(List<Entity>));
memcpy(newIsAllowedToSleep, mIsAllowedToSleep, mNbComponents * sizeof(bool));
memcpy(newIsActive, mIsActive, mNbComponents * sizeof(bool));
memcpy(newIsSleeping, mIsSleeping, mNbComponents * sizeof(bool));
memcpy(newSleepTimes, mSleepTimes, mNbComponents * sizeof(bool));
memcpy(newUserData, mUserData, mNbComponents * sizeof(void*));
// Deallocate previous memory
@ -85,16 +78,13 @@ void CollisionBodyComponents::allocate(uint32 nbComponentsToAllocate) {
mBodiesEntities = newBodiesEntities;
mBodies = newBodies;
mProxyShapes = newProxyShapes;
mIsAllowedToSleep = newIsAllowedToSleep;
mIsActive = newIsActive;
mIsSleeping = newIsSleeping;
mSleepTimes = newSleepTimes;
mUserData = newUserData;
mNbAllocatedComponents = nbComponentsToAllocate;
}
// Add a component
void CollisionBodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const BodyComponent& component) {
void CollisionBodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const CollisionBodyComponent& component) {
// Prepare to add new component (allocate memory if necessary and compute insertion index)
uint32 index = prepareAddComponent(isSleeping);
@ -103,10 +93,7 @@ void CollisionBodyComponents::addComponent(Entity bodyEntity, bool isSleeping, c
new (mBodiesEntities + index) Entity(bodyEntity);
mBodies[index] = component.body;
new (mProxyShapes + index) List<Entity>(mMemoryAllocator);
mIsAllowedToSleep[index] = true;
mIsActive[index] = true;
mIsSleeping[index] = false;
mSleepTimes[index] = decimal(0);
mUserData[index] = nullptr;
// Map the entity with the new component lookup index
@ -128,10 +115,7 @@ void CollisionBodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destI
new (mBodiesEntities + destIndex) Entity(mBodiesEntities[srcIndex]);
mBodies[destIndex] = mBodies[srcIndex];
new (mProxyShapes + destIndex) List<Entity>(mProxyShapes[srcIndex]);
mIsAllowedToSleep[destIndex] = mIsAllowedToSleep[srcIndex];
mIsActive[destIndex] = mIsActive[srcIndex];
mIsSleeping[destIndex] = mIsSleeping[srcIndex];
mSleepTimes[destIndex] = mSleepTimes[srcIndex];
mUserData[destIndex] = mUserData[srcIndex];
// Destroy the source component
@ -152,10 +136,7 @@ void CollisionBodyComponents::swapComponents(uint32 index1, uint32 index2) {
Entity entity1(mBodiesEntities[index1]);
CollisionBody* body1 = mBodies[index1];
List<Entity> proxyShapes1(mProxyShapes[index1]);
bool isAllowedToSleep1 = mIsAllowedToSleep[index1];
bool isActive1 = mIsActive[index1];
bool isSleeping1 = mIsSleeping[index1];
decimal sleepTime1 = mSleepTimes[index1];
void* userData1 = mUserData[index1];
// Destroy component 1
@ -167,9 +148,7 @@ void CollisionBodyComponents::swapComponents(uint32 index1, uint32 index2) {
new (mBodiesEntities + index2) Entity(entity1);
new (mProxyShapes + index2) List<Entity>(proxyShapes1);
mBodies[index2] = body1;
mIsAllowedToSleep[index2] = isAllowedToSleep1;
mIsActive[index2] = isActive1;
mIsSleeping[index2] = isSleeping1;
mUserData[index2] = userData1;
// Update the entity to component index mapping

87
src/components/CollisionBodyComponents.h
View File

@ -23,8 +23,8 @@
* *
********************************************************************************/
#ifndef REACTPHYSICS3D_BODY_COMPONENTS_H
#define REACTPHYSICS3D_BODY_COMPONENTS_H
#ifndef REACTPHYSICS3D_COLLISION_BODY_COMPONENTS_H
#define REACTPHYSICS3D_COLLISION_BODY_COMPONENTS_H
// Libraries
#include "mathematics/Transform.h"
@ -60,18 +60,9 @@ class CollisionBodyComponents : public Components {
/// Array with the list of proxy-shapes of each body
List<Entity>* mProxyShapes;
/// Array of boolean values to know if the body is allowed to go to sleep
bool* mIsAllowedToSleep;
/// Array of boolean values to know if the body is active.
bool* mIsActive;
/// Array of boolean values to know if the body is sleeping
bool* mIsSleeping;
/// Array with values for elapsed time since the body velocity was below the sleep velocity
decimal* mSleepTimes;
/// Array of pointers that can be used to attach user data to the body
void** mUserData;
@ -91,13 +82,13 @@ class CollisionBodyComponents : public Components {
public:
/// Structure for the data of a body component
struct BodyComponent {
/// Structure for the data of a collision body component
struct CollisionBodyComponent {
CollisionBody* body;
/// Constructor
BodyComponent(CollisionBody* body) : body(body) {
CollisionBodyComponent(CollisionBody* body) : body(body) {
}
};
@ -111,7 +102,7 @@ class CollisionBodyComponents : public Components {
virtual ~CollisionBodyComponents() override = default;
/// Add a component
void addComponent(Entity bodyEntity, bool isSleeping, const BodyComponent& component);
void addComponent(Entity bodyEntity, bool isSleeping, const CollisionBodyComponent& component);
/// Add a proxy-shape to a body component
void addProxyShapeToBody(Entity bodyEntity, Entity proxyShapeEntity);
@ -125,30 +116,12 @@ class CollisionBodyComponents : public Components {
/// Return the list of proxy-shapes of a body
const List<Entity>& getProxyShapes(Entity bodyEntity) const;
/// Return true if the body is allowed to sleep
bool getIsAllowedToSleep(Entity bodyEntity) const;
/// Set the value to know if the body is allowed to sleep
void setIsAllowedToSleep(Entity bodyEntity, bool isAllowedToSleep) const;
/// Return true if the body is active
bool getIsActive(Entity bodyEntity) const;
/// Set the value to know if the body is active
void setIsActive(Entity bodyEntity, bool isActive) const;
/// Return true if the body is sleeping
bool getIsSleeping(Entity bodyEntity) const;
/// Set the value to know if the body is sleeping
void setIsSleeping(Entity bodyEntity, bool isSleeping) const;
/// Return the sleep time
decimal getSleepTime(Entity bodyEntity) const;
/// Set the sleep time
void setSleepTime(Entity bodyEntity, decimal sleepTime) const;
/// Return the user data associated with the body
void* getUserData(Entity bodyEntity) const;
@ -188,22 +161,6 @@ inline const List<Entity>& CollisionBodyComponents::getProxyShapes(Entity bodyEn
return mProxyShapes[mMapEntityToComponentIndex[bodyEntity]];
}
// Return true if the body is allowed to sleep
inline bool CollisionBodyComponents::getIsAllowedToSleep(Entity bodyEntity) const {
assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
return mIsAllowedToSleep[mMapEntityToComponentIndex[bodyEntity]];
}
// Set the value to know if the body is allowed to sleep
inline void CollisionBodyComponents::setIsAllowedToSleep(Entity bodyEntity, bool isAllowedToSleep) const {
assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
mIsAllowedToSleep[mMapEntityToComponentIndex[bodyEntity]] = isAllowedToSleep;
}
// Return true if the body is active
inline bool CollisionBodyComponents::getIsActive(Entity bodyEntity) const {
@ -220,38 +177,6 @@ inline void CollisionBodyComponents::setIsActive(Entity bodyEntity, bool isActiv
mIsActive[mMapEntityToComponentIndex[bodyEntity]] = isActive;
}
// Return true if the body is sleeping
inline bool CollisionBodyComponents::getIsSleeping(Entity bodyEntity) const {
assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
return mIsSleeping[mMapEntityToComponentIndex[bodyEntity]];
}
// Set the value to know if the body is sleeping
inline void CollisionBodyComponents::setIsSleeping(Entity bodyEntity, bool isSleeping) const {
assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
mIsSleeping[mMapEntityToComponentIndex[bodyEntity]] = isSleeping;
}
// Return the sleep time
inline decimal CollisionBodyComponents::getSleepTime(Entity bodyEntity) const {
assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
return mSleepTimes[mMapEntityToComponentIndex[bodyEntity]];
}
// Set the sleep time
inline void CollisionBodyComponents::setSleepTime(Entity bodyEntity, decimal sleepTime) const {
assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
mSleepTimes[mMapEntityToComponentIndex[bodyEntity]] = sleepTime;
}
// Return the user data associated with the body
inline void* CollisionBodyComponents::getUserData(Entity bodyEntity) const {

173
src/components/RigidBodyComponents.cpp Normal file
View File

@ -0,0 +1,173 @@
/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
* Copyright (c) 2010-2018 Daniel Chappuis *
*********************************************************************************
* *
* This software is provided 'as-is', without any express or implied warranty. *
* In no event will the authors be held liable for any damages arising from the *
* use of this software. *
* *
* Permission is granted to anyone to use this software for any purpose, *
* including commercial applications, and to alter it and redistribute it *
* freely, subject to the following restrictions: *
* *
* 1. The origin of this software must not be misrepresented; you must not claim *
* that you wrote the original software. If you use this software in a *
* product, an acknowledgment in the product documentation would be *
* appreciated but is not required. *
* *
* 2. Altered source versions must be plainly marked as such, and must not be *
* misrepresented as being the original software. *
* *
* 3. This notice may not be removed or altered from any source distribution. *
* *
********************************************************************************/
// Libraries
#include "RigidBodyComponents.h"
#include "engine/EntityManager.h"
#include <cassert>
#include <random>
// We want to use the ReactPhysics3D namespace
using namespace reactphysics3d;
// Constructor
RigidBodyComponents::RigidBodyComponents(MemoryAllocator& allocator)
:Components(allocator, sizeof(Entity) + sizeof(RigidBody*) +
sizeof(bool) + sizeof(bool) + sizeof(decimal) ) {
// Allocate memory for the components data
allocate(INIT_NB_ALLOCATED_COMPONENTS);
}
// Allocate memory for a given number of components
void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) {
assert(nbComponentsToAllocate > mNbAllocatedComponents);
// Size for the data of a single component (in bytes)
const size_t totalSizeBytes = nbComponentsToAllocate * mComponentDataSize;
// Allocate memory
void* newBuffer = mMemoryAllocator.allocate(totalSizeBytes);
assert(newBuffer != nullptr);
// New pointers to components data
Entity* newBodiesEntities = static_cast<Entity*>(newBuffer);
RigidBody** newBodies = reinterpret_cast<RigidBody**>(newBodiesEntities + nbComponentsToAllocate);
bool* newIsAllowedToSleep = reinterpret_cast<bool*>(newBodies + nbComponentsToAllocate);
bool* newIsSleeping = reinterpret_cast<bool*>(newIsAllowedToSleep + nbComponentsToAllocate);
decimal* newSleepTimes = reinterpret_cast<decimal*>(newIsSleeping + nbComponentsToAllocate);
// If there was already components before
if (mNbComponents > 0) {
// Copy component data from the previous buffer to the new one
memcpy(newBodiesEntities, mBodiesEntities, mNbComponents * sizeof(Entity));
memcpy(newBodies, mRigidBodies, mNbComponents * sizeof(RigidBody*));
memcpy(newIsAllowedToSleep, mIsAllowedToSleep, mNbComponents * sizeof(bool));
memcpy(newIsSleeping, mIsSleeping, mNbComponents * sizeof(bool));
memcpy(newSleepTimes, mSleepTimes, mNbComponents * sizeof(bool));
// Deallocate previous memory
mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize);
}
mBuffer = newBuffer;
mBodiesEntities = newBodiesEntities;
mRigidBodies = newBodies;
mIsAllowedToSleep = newIsAllowedToSleep;
mIsSleeping = newIsSleeping;
mSleepTimes = newSleepTimes;
mNbAllocatedComponents = nbComponentsToAllocate;
}
// Add a component
void RigidBodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const RigidBodyComponent& component) {
// Prepare to add new component (allocate memory if necessary and compute insertion index)
uint32 index = prepareAddComponent(isSleeping);
// Insert the new component data
new (mBodiesEntities + index) Entity(bodyEntity);
mRigidBodies[index] = component.body;
mIsAllowedToSleep[index] = true;
mIsSleeping[index] = false;
mSleepTimes[index] = decimal(0);
// Map the entity with the new component lookup index
mMapEntityToComponentIndex.add(Pair<Entity, uint32>(bodyEntity, index));
mNbComponents++;
assert(mDisabledStartIndex <= mNbComponents);
assert(mNbComponents == static_cast<uint32>(mMapEntityToComponentIndex.size()));
}
// Move a component from a source to a destination index in the components array
// The destination location must contain a constructed object
void RigidBodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) {
const Entity entity = mBodiesEntities[srcIndex];
// Copy the data of the source component to the destination location
new (mBodiesEntities + destIndex) Entity(mBodiesEntities[srcIndex]);
mRigidBodies[destIndex] = mRigidBodies[srcIndex];
mIsAllowedToSleep[destIndex] = mIsAllowedToSleep[srcIndex];
mIsSleeping[destIndex] = mIsSleeping[srcIndex];
mSleepTimes[destIndex] = mSleepTimes[srcIndex];
// Destroy the source component
destroyComponent(srcIndex);
assert(!mMapEntityToComponentIndex.containsKey(entity));
// Update the entity to component index mapping
mMapEntityToComponentIndex.add(Pair<Entity, uint32>(entity, destIndex));
assert(mMapEntityToComponentIndex[mBodiesEntities[destIndex]] == destIndex);
}
// Swap two components in the array
void RigidBodyComponents::swapComponents(uint32 index1, uint32 index2) {
// Copy component 1 data
Entity entity1(mBodiesEntities[index1]);
RigidBody* body1 = mRigidBodies[index1];
bool isAllowedToSleep1 = mIsAllowedToSleep[index1];
bool isSleeping1 = mIsSleeping[index1];
decimal sleepTime1 = mSleepTimes[index1];
// Destroy component 1
destroyComponent(index1);
moveComponentToIndex(index2, index1);
// Reconstruct component 1 at component 2 location
new (mBodiesEntities + index2) Entity(entity1);
mRigidBodies[index2] = body1;
mIsAllowedToSleep[index2] = isAllowedToSleep1;
mIsSleeping[index2] = isSleeping1;
mSleepTimes[index2] = sleepTime1;
// Update the entity to component index mapping
mMapEntityToComponentIndex.add(Pair<Entity, uint32>(entity1, index2));
assert(mMapEntityToComponentIndex[mBodiesEntities[index1]] == index1);
assert(mMapEntityToComponentIndex[mBodiesEntities[index2]] == index2);
assert(mNbComponents == static_cast<uint32>(mMapEntityToComponentIndex.size()));
}
// Destroy a component at a given index
void RigidBodyComponents::destroyComponent(uint32 index) {
Components::destroyComponent(index);
assert(mMapEntityToComponentIndex[mBodiesEntities[index]] == index);
mMapEntityToComponentIndex.remove(mBodiesEntities[index]);
mBodiesEntities[index].~Entity();
mRigidBodies[index] = nullptr;
}

187
src/components/RigidBodyComponents.h Normal file
View File

@ -0,0 +1,187 @@
/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
* Copyright (c) 2010-2018 Daniel Chappuis *
*********************************************************************************
* *
* This software is provided 'as-is', without any express or implied warranty. *
* In no event will the authors be held liable for any damages arising from the *
* use of this software. *
* *
* Permission is granted to anyone to use this software for any purpose, *
* including commercial applications, and to alter it and redistribute it *
* freely, subject to the following restrictions: *
* *
* 1. The origin of this software must not be misrepresented; you must not claim *
* that you wrote the original software. If you use this software in a *
* product, an acknowledgment in the product documentation would be *
* appreciated but is not required. *
* *
* 2. Altered source versions must be plainly marked as such, and must not be *
* misrepresented as being the original software. *
* *
* 3. This notice may not be removed or altered from any source distribution. *
* *
********************************************************************************/
#ifndef REACTPHYSICS3D_RIGID_BODY_COMPONENTS_H
#define REACTPHYSICS3D_RIGID_BODY_COMPONENTS_H
// Libraries
#include "mathematics/Transform.h"
#include "engine/Entity.h"
#include "components/Components.h"
#include "containers/Map.h"
// ReactPhysics3D namespace
namespace reactphysics3d {
// Class declarations
class MemoryAllocator;
class EntityManager;
class RigidBody;
// Class RigidBodyComponents
/**
* This class represent the component of the ECS that contains data about a rigid body.
* The components of the sleeping entities (bodies) are always stored at the end of the array.
*/
class RigidBodyComponents : public Components {
private:
// -------------------- Attributes -------------------- //
/// Array of body entities of each component
Entity* mBodiesEntities;
/// Array of pointers to the corresponding rigid bodies
RigidBody** mRigidBodies;
/// Array of boolean values to know if the body is allowed to go to sleep
bool* mIsAllowedToSleep;
/// Array of boolean values to know if the body is sleeping
bool* mIsSleeping;
/// Array with values for elapsed time since the body velocity was below the sleep velocity
decimal* mSleepTimes;
// -------------------- Methods -------------------- //
/// Allocate memory for a given number of components
virtual void allocate(uint32 nbComponentsToAllocate) override;
/// Destroy a component at a given index
virtual void destroyComponent(uint32 index) override;
/// Move a component from a source to a destination index in the components array
virtual void moveComponentToIndex(uint32 srcIndex, uint32 destIndex) override;
/// Swap two components in the array
virtual void swapComponents(uint32 index1, uint32 index2) override;
public:
/// Structure for the data of a rigid body component
struct RigidBodyComponent {
RigidBody* body;
/// Constructor
RigidBodyComponent(RigidBody* body) : body(body) {
}
};
// -------------------- Methods -------------------- //
/// Constructor
RigidBodyComponents(MemoryAllocator& allocator);
/// Destructor
virtual ~RigidBodyComponents() override = default;
/// Add a component
void addComponent(Entity bodyEntity, bool isSleeping, const RigidBodyComponent& component);
/// Return a pointer to a rigid body
RigidBody* getRigidBody(Entity bodyEntity);
/// Return true if the body is allowed to sleep
bool getIsAllowedToSleep(Entity bodyEntity) const;
/// Set the value to know if the body is allowed to sleep
void setIsAllowedToSleep(Entity bodyEntity, bool isAllowedToSleep) const;
/// Return true if the body is sleeping
bool getIsSleeping(Entity bodyEntity) const;
/// Set the value to know if the body is sleeping
void setIsSleeping(Entity bodyEntity, bool isSleeping) const;
/// Return the sleep time
decimal getSleepTime(Entity bodyEntity) const;
/// Set the sleep time
void setSleepTime(Entity bodyEntity, decimal sleepTime) const;
};
// Return a pointer to a body rigid
inline RigidBody* RigidBodyComponents::getRigidBody(Entity bodyEntity) {
assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
return mRigidBodies[mMapEntityToComponentIndex[bodyEntity]];
}
// Return true if the body is allowed to sleep
inline bool RigidBodyComponents::getIsAllowedToSleep(Entity bodyEntity) const {
assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
return mIsAllowedToSleep[mMapEntityToComponentIndex[bodyEntity]];
}
// Set the value to know if the body is allowed to sleep
inline void RigidBodyComponents::setIsAllowedToSleep(Entity bodyEntity, bool isAllowedToSleep) const {
assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
mIsAllowedToSleep[mMapEntityToComponentIndex[bodyEntity]] = isAllowedToSleep;
}
// Return true if the body is sleeping
inline bool RigidBodyComponents::getIsSleeping(Entity bodyEntity) const {
assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
return mIsSleeping[mMapEntityToComponentIndex[bodyEntity]];
}
// Set the value to know if the body is sleeping
inline void RigidBodyComponents::setIsSleeping(Entity bodyEntity, bool isSleeping) const {
assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
mIsSleeping[mMapEntityToComponentIndex[bodyEntity]] = isSleeping;
}
// Return the sleep time
inline decimal RigidBodyComponents::getSleepTime(Entity bodyEntity) const {
assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
return mSleepTimes[mMapEntityToComponentIndex[bodyEntity]];
}
// Set the sleep time
inline void RigidBodyComponents::setSleepTime(Entity bodyEntity, decimal sleepTime) const {
assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
mSleepTimes[mMapEntityToComponentIndex[bodyEntity]] = sleepTime;
}
}
#endif

20
src/engine/CollisionWorld.cpp
View File

@ -38,8 +38,9 @@ uint CollisionWorld::mNbWorlds = 0;
// Constructor
CollisionWorld::CollisionWorld(const WorldSettings& worldSettings, Logger* logger, Profiler* profiler)
: mConfig(worldSettings), mEntityManager(mMemoryManager.getPoolAllocator()),
mBodyComponents(mMemoryManager.getBaseAllocator()), mTransformComponents(mMemoryManager.getBaseAllocator()),
mProxyShapesComponents(mMemoryManager.getBaseAllocator()), mDynamicsComponents(mMemoryManager.getBaseAllocator()),
mCollisionBodyComponents(mMemoryManager.getBaseAllocator()), mRigidBodyComponents(mMemoryManager.getBaseAllocator()),
mTransformComponents(mMemoryManager.getBaseAllocator()), mProxyShapesComponents(mMemoryManager.getBaseAllocator()),
mDynamicsComponents(mMemoryManager.getBaseAllocator()),
mCollisionDetection(this, mProxyShapesComponents, mTransformComponents, mDynamicsComponents, mMemoryManager),
mBodies(mMemoryManager.getPoolAllocator()), mEventListener(nullptr),
mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr),
@ -132,7 +133,7 @@ CollisionWorld::~CollisionWorld() {
#endif
assert(mBodies.size() == 0);
assert(mBodyComponents.getNbComponents() == 0);
assert(mCollisionBodyComponents.getNbComponents() == 0);
assert(mTransformComponents.getNbComponents() == 0);
assert(mProxyShapesComponents.getNbComponents() == 0);
}
@ -157,8 +158,8 @@ CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform) {
assert(collisionBody != nullptr);
// Add the components
CollisionBodyComponents::BodyComponent bodyComponent(collisionBody);
mBodyComponents.addComponent(entity, false, bodyComponent);
CollisionBodyComponents::CollisionBodyComponent bodyComponent(collisionBody);
mCollisionBodyComponents.addComponent(entity, false, bodyComponent);
// Add the collision body to the world
mBodies.add(collisionBody);
@ -192,7 +193,7 @@ void CollisionWorld::destroyCollisionBody(CollisionBody* collisionBody) {
// Remove all the collision shapes of the body
collisionBody->removeAllCollisionShapes();
mBodyComponents.removeComponent(collisionBody->getEntity());
mCollisionBodyComponents.removeComponent(collisionBody->getEntity());
mTransformComponents.removeComponent(collisionBody->getEntity());
mEntityManager.destroyEntity(collisionBody->getEntity());
@ -209,12 +210,13 @@ void CollisionWorld::destroyCollisionBody(CollisionBody* collisionBody) {
// Notify the world if a body is disabled (sleeping) or not
void CollisionWorld::notifyBodyDisabled(Entity bodyEntity, bool isDisabled) {
if (isDisabled == mBodyComponents.getIsEntityDisabled(bodyEntity)) return;
if (isDisabled == mCollisionBodyComponents.getIsEntityDisabled(bodyEntity)) return;
// TODO : Make sure we notify all the components here ...
// Notify all the components
mBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled);
mCollisionBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled);
mRigidBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled);
mTransformComponents.setIsEntityDisabled(bodyEntity, isDisabled);
if (mDynamicsComponents.hasComponent(bodyEntity)) {
@ -222,7 +224,7 @@ void CollisionWorld::notifyBodyDisabled(Entity bodyEntity, bool isDisabled) {
}
// For each proxy-shape of the body
const List<Entity>& proxyShapesEntities = mBodyComponents.getProxyShapes(bodyEntity);
const List<Entity>& proxyShapesEntities = mCollisionBodyComponents.getProxyShapes(bodyEntity);
for (uint i=0; i < proxyShapesEntities.size(); i++) {
mProxyShapesComponents.setIsEntityDisabled(proxyShapesEntities[i], isDisabled);

8
src/engine/CollisionWorld.h
View File

@ -34,6 +34,7 @@
#include "memory/MemoryManager.h"
#include "engine/EntityManager.h"
#include "components/CollisionBodyComponents.h"
#include "components/RigidBodyComponents.h"
#include "components/TransformComponents.h"
#include "components/ProxyShapeComponents.h"
#include "components/DynamicsComponents.h"
@ -76,8 +77,11 @@ class CollisionWorld {
/// Entity Manager for the ECS
EntityManager mEntityManager;
/// Body Components
CollisionBodyComponents mBodyComponents;
/// Collision Body Components
CollisionBodyComponents mCollisionBodyComponents;
/// Rigid Body Components
RigidBodyComponents mRigidBodyComponents;
/// Transform Components
TransformComponents mTransformComponents;

33
src/engine/DynamicsWorld.cpp
View File

@ -50,7 +50,7 @@ using namespace std;
DynamicsWorld::DynamicsWorld(const Vector3& gravity, const WorldSettings& worldSettings, Logger* logger, Profiler* profiler)
: CollisionWorld(worldSettings, logger, profiler),
mIslands(mMemoryManager.getSingleFrameAllocator()),
mContactSolver(mMemoryManager, mIslands, mBodyComponents, mDynamicsComponents, mProxyShapesComponents, mConfig),
mContactSolver(mMemoryManager, mIslands, mCollisionBodyComponents, mDynamicsComponents, mProxyShapesComponents, mConfig),
mConstraintSolver(mIslands, mDynamicsComponents),
mNbVelocitySolverIterations(mConfig.defaultVelocitySolverNbIterations),
mNbPositionSolverIterations(mConfig.defaultPositionSolverNbIterations),
@ -384,8 +384,11 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) {
sizeof(RigidBody))) RigidBody(transform, *this, entity);
assert(rigidBody != nullptr);
CollisionBodyComponents::BodyComponent bodyComponent(rigidBody);
mBodyComponents.addComponent(entity, false, bodyComponent);
CollisionBodyComponents::CollisionBodyComponent bodyComponent(rigidBody);
mCollisionBodyComponents.addComponent(entity, false, bodyComponent);
RigidBodyComponents::RigidBodyComponent rigidBodyComponent(rigidBody);
mRigidBodyComponents.addComponent(entity, false, rigidBodyComponent);
// Add the rigid body to the physics world
mBodies.add(rigidBody);
@ -425,7 +428,8 @@ void DynamicsWorld::destroyRigidBody(RigidBody* rigidBody) {
}
// Destroy the corresponding entity and its components
mBodyComponents.removeComponent(rigidBody->getEntity());
mCollisionBodyComponents.removeComponent(rigidBody->getEntity());
mRigidBodyComponents.removeComponent(rigidBody->getEntity());
mTransformComponents.removeComponent(rigidBody->getEntity());
mEntityManager.destroyEntity(rigidBody->getEntity());
@ -678,7 +682,7 @@ void DynamicsWorld::createIslands() {
mIslands.bodyEntities[islandIndex].add(bodyToVisitEntity);
// TODO : Do not use pointer to rigid body here (maybe move getType() into a component)
RigidBody* rigidBodyToVisit = static_cast<RigidBody*>(mBodyComponents.getBody(bodyToVisitEntity));
RigidBody* rigidBodyToVisit = static_cast<RigidBody*>(mCollisionBodyComponents.getBody(bodyToVisitEntity));
// Awake the body if it is sleeping
rigidBodyToVisit->setIsSleeping(false);
@ -703,8 +707,8 @@ void DynamicsWorld::createIslands() {
// Get the other body of the contact manifold
// TODO : Maybe avoid those casts here
RigidBody* body1 = dynamic_cast<RigidBody*>(mBodyComponents.getBody(pair.body1Entity));
RigidBody* body2 = dynamic_cast<RigidBody*>(mBodyComponents.getBody(pair.body2Entity));
RigidBody* body1 = dynamic_cast<RigidBody*>(mCollisionBodyComponents.getBody(pair.body1Entity));
RigidBody* body2 = dynamic_cast<RigidBody*>(mCollisionBodyComponents.getBody(pair.body2Entity));
// If the colliding body is a RigidBody (and not a CollisionBody instead)
if (body1 != nullptr && body2 != nullptr) {
@ -801,8 +805,7 @@ void DynamicsWorld::updateSleepingBodies() {
const Entity bodyEntity = mIslands.bodyEntities[i][b];
// TODO : We should use a RigidBody* type here
CollisionBody* body = mBodyComponents.getBody(bodyEntity);
RigidBody* body = mRigidBodyComponents.getRigidBody(bodyEntity);
// Skip static bodies
if (mDynamicsComponents.getBodyType(body->getEntity()) == BodyType::STATIC) continue;
@ -810,18 +813,18 @@ void DynamicsWorld::updateSleepingBodies() {
// If the body is velocity is large enough to stay awake
if (mDynamicsComponents.getLinearVelocity(bodyEntity).lengthSquare() > sleepLinearVelocitySquare ||
mDynamicsComponents.getAngularVelocity(bodyEntity).lengthSquare() > sleepAngularVelocitySquare ||
!mBodyComponents.getIsAllowedToSleep(body->getEntity())) {
!mRigidBodyComponents.getIsAllowedToSleep(body->getEntity())) {
// Reset the sleep time of the body
mBodyComponents.setSleepTime(body->getEntity(), decimal(0.0));
mRigidBodyComponents.setSleepTime(body->getEntity(), decimal(0.0));
minSleepTime = decimal(0.0);
}
else { // If the body velocity is below the sleeping velocity threshold
// Increase the sleep time
decimal sleepTime = mBodyComponents.getSleepTime(body->getEntity());
mBodyComponents.setSleepTime(body->getEntity(), sleepTime + mTimeStep);
sleepTime = mBodyComponents.getSleepTime(body->getEntity());
decimal sleepTime = mRigidBodyComponents.getSleepTime(body->getEntity());
mRigidBodyComponents.setSleepTime(body->getEntity(), sleepTime + mTimeStep);
sleepTime = mRigidBodyComponents.getSleepTime(body->getEntity());
if (sleepTime < minSleepTime) {
minSleepTime = sleepTime;
}
@ -838,7 +841,7 @@ void DynamicsWorld::updateSleepingBodies() {
// TODO : We should use a RigidBody* type here (remove the cast)
const Entity bodyEntity = mIslands.bodyEntities[i][b];
RigidBody* body = static_cast<RigidBody*>(mBodyComponents.getBody(bodyEntity));
RigidBody* body = static_cast<RigidBody*>(mCollisionBodyComponents.getBody(bodyEntity));
body->setIsSleeping(true);
}
}

10
testbed/common/Box.cpp
View File

@ -160,12 +160,10 @@ void Box::render(openglframework::Shader& shader, const openglframework::Matrix4
shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false);
// Set the vertex color
rp3d::RigidBody* rigidBody = static_cast<rp3d::RigidBody*>(mBody);
if (rigidBody != nullptr) {
openglframework::Color currentColor = rigidBody->isSleeping() ? mSleepingColor : mColor;
openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
shader.setVector4Uniform("vertexColor", color, false);
}
rp3d::RigidBody* rigidBody = dynamic_cast<rp3d::RigidBody*>(mBody);
openglframework::Color currentColor = rigidBody != nullptr && rigidBody->isSleeping() ? mSleepingColor : mColor;
openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
shader.setVector4Uniform("vertexColor", color, false);
// Bind the VAO
mVAO.bind();

10
testbed/common/Capsule.cpp
View File

@ -141,12 +141,10 @@ void Capsule::render(openglframework::Shader& shader,
shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false);
// Set the vertex color
rp3d::RigidBody* rigidBody = static_cast<rp3d::RigidBody*>(mBody);
if (rigidBody != nullptr) {
openglframework::Color currentColor = rigidBody->isSleeping() ? mSleepingColor : mColor;
openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
shader.setVector4Uniform("vertexColor", color, false);
}
rp3d::RigidBody* rigidBody = dynamic_cast<rp3d::RigidBody*>(mBody);
openglframework::Color currentColor = rigidBody != nullptr && rigidBody->isSleeping() ? mSleepingColor : mColor;
openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
shader.setVector4Uniform("vertexColor", color, false);
// Bind the VAO
mVAO.bind();

10
testbed/common/ConcaveMesh.cpp
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@ -150,12 +150,10 @@ void ConcaveMesh::render(openglframework::Shader& shader,
shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false);
// Set the vertex color
rp3d::RigidBody* rigidBody = static_cast<rp3d::RigidBody*>(mBody);
if (rigidBody != nullptr) {
openglframework::Color currentColor = rigidBody->isSleeping() ? mSleepingColor : mColor;
openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
shader.setVector4Uniform("vertexColor", color, false);
}
rp3d::RigidBody* rigidBody = dynamic_cast<rp3d::RigidBody*>(mBody);
openglframework::Color currentColor = rigidBody != nullptr && rigidBody->isSleeping() ? mSleepingColor : mColor;
openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
shader.setVector4Uniform("vertexColor", color, false);
// Bind the VAO
mVAO.bind();

10
testbed/common/ConvexMesh.cpp
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@ -160,12 +160,10 @@ void ConvexMesh::render(openglframework::Shader& shader,
shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false);
// Set the vertex color
rp3d::RigidBody* rigidBody = static_cast<rp3d::RigidBody*>(mBody);
if (rigidBody != nullptr) {
openglframework::Color currentColor = rigidBody->isSleeping() ? mSleepingColor : mColor;
openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
shader.setVector4Uniform("vertexColor", color, false);
}
rp3d::RigidBody* rigidBody = dynamic_cast<rp3d::RigidBody*>(mBody);
openglframework::Color currentColor = rigidBody != nullptr && rigidBody->isSleeping() ? mSleepingColor : mColor;
openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
shader.setVector4Uniform("vertexColor", color, false);
// Bind the VAO
mVAO.bind();

10
testbed/common/Dumbbell.cpp
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@ -178,12 +178,10 @@ void Dumbbell::render(openglframework::Shader& shader,
shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false);
// Set the vertex color
rp3d::RigidBody* rigidBody = static_cast<rp3d::RigidBody*>(mBody);
if (rigidBody != nullptr) {
openglframework::Color currentColor = rigidBody->isSleeping() ? mSleepingColor : mColor;
openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
shader.setVector4Uniform("vertexColor", color, false);
}
rp3d::RigidBody* rigidBody = dynamic_cast<rp3d::RigidBody*>(mBody);
openglframework::Color currentColor = rigidBody != nullptr && rigidBody->isSleeping() ? mSleepingColor : mColor;
openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
shader.setVector4Uniform("vertexColor", color, false);
// Bind the VAO
mVAO.bind();

10
testbed/common/HeightField.cpp
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@ -132,12 +132,10 @@ void HeightField::render(openglframework::Shader& shader,
shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false);
// Set the vertex color
rp3d::RigidBody* rigidBody = static_cast<rp3d::RigidBody*>(mBody);
if (rigidBody != nullptr) {
openglframework::Color currentColor = rigidBody->isSleeping() ? mSleepingColor : mColor;
openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
shader.setVector4Uniform("vertexColor", color, false);
}
rp3d::RigidBody* rigidBody = dynamic_cast<rp3d::RigidBody*>(mBody);
openglframework::Color currentColor = rigidBody != nullptr && rigidBody->isSleeping() ? mSleepingColor : mColor;
openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
shader.setVector4Uniform("vertexColor", color, false);
// Bind the VAO
mVAO.bind();

10
testbed/common/Sphere.cpp
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@ -140,12 +140,10 @@ void Sphere::render(openglframework::Shader& shader, const openglframework::Matr
shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false);
// Set the vertex color
rp3d::RigidBody* rigidBody = static_cast<rp3d::RigidBody*>(mBody);
if (rigidBody != nullptr) {
openglframework::Color currentColor = rigidBody->isSleeping() ? mSleepingColor : mColor;
openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
shader.setVector4Uniform("vertexColor", color, false);
}
rp3d::RigidBody* rigidBody = dynamic_cast<rp3d::RigidBody*>(mBody);
openglframework::Color currentColor = rigidBody != nullptr && rigidBody->isSleeping() ? mSleepingColor : mColor;
openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
shader.setVector4Uniform("vertexColor", color, false);
// Bind the VAO
mVAO.bind();