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overhauled physics engine

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This commit is contained in:
Dynamitos
2023-01-21 18:43:21 +01:00
parent 3c7346cf7b
commit 2208ab438a
164 changed files with 22606 additions and 928 deletions
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src/Engine/Physics/PhysicsSystem.h
+43 -40
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@@ -11,35 +11,35 @@ namespace Seele
class PhysicsSystem
{
public:
PhysicsSystem();
PhysicsSystem(entt::registry& registry);
~PhysicsSystem();
void update(entt::registry& registry, float deltaTime);
void update(float deltaTime);
private:
struct Body
{
entt::entity id;
float inverseMass;
Math::Vector centerOfMass;
Math::Matrix3 iBody, iBodyInv;
Math::Vector scale;
Vector centerOfMass;
Matrix3 iBody, iBodyInv;
Vector scale;
Math::Vector x;
Math::Quaternion q;
Math::Vector P;
Math::Vector L;
Vector x;
Quaternion q;
Vector P;
Vector L;
Math::Matrix3 iInv;
Math::Matrix3 R;
Math::Vector v;
Math::Vector omega;
Math::Vector force;
Math::Vector torque;
Math::Matrix4 matrix;
Math::Vector ptVelocity(Math::Vector p) const {return v + glm::cross(omega, p - x + centerOfMass);}
Matrix3 iInv;
Matrix3 R;
Vector v;
Vector omega;
Vector force;
Vector torque;
Matrix4 matrix;
Vector ptVelocity(Vector p) const {return v + glm::cross(omega, p - x + centerOfMass);}
void updateMatrix() {
Math::Matrix4 scaleMatrix = glm::scale(Math::Matrix4(1), scale);
Math::Matrix4 rotationMatrix = glm::mat4_cast(q);
Math::Matrix4 translationMatrix = glm::translate(Math::Matrix4(1), x);
Matrix4 scaleMatrix = glm::scale(Matrix4(1), scale);
Matrix4 rotationMatrix = glm::mat4_cast(q);
Matrix4 translationMatrix = glm::translate(Matrix4(1), x);
matrix = translationMatrix * rotationMatrix * scaleMatrix;
}
Body()
@@ -57,8 +57,8 @@ private:
, L(physics.angularMomentum)
, iInv(glm::mat3())
, R(glm::mat3())
, v(Math::Vector())
, omega(Math::Vector())
, v(Vector())
, omega(Vector())
, force(physics.force)
, torque(physics.torque)
{
@@ -76,14 +76,14 @@ private:
, scale(transform.getScale())
, x(transform.getPosition())
, q(transform.getRotation())
, P(Math::Vector(0))
, L(Math::Vector(0))
, P(Vector(0))
, L(Vector(0))
, iInv(glm::mat3())
, R(glm::mat3())
, v(Math::Vector())
, omega(Math::Vector())
, force(Math::Vector(0))
, torque(Math::Vector(0))
, v(Vector())
, omega(Vector())
, force(Vector(0))
, torque(Vector(0))
{
R = glm::mat3_cast(glm::normalize(q));
iInv = R * iBodyInv * glm::transpose(R);
@@ -99,9 +99,10 @@ private:
glm::vec3 eb;
bool vf;
};
static constexpr size_t FLOATS_PER_RB = sizeof(Body) / sizeof(float);
static constexpr size_t FLOATS_PER_RB = 13;
entt::registry& registry;
CollisionSystem collisionSystem;
bool pause = false;
void serializeRB(const Body& rb, float* y) const;
@@ -111,30 +112,32 @@ private:
void deserializeArray(Array<Body>& bodies, const Array<float>& x) const;
void readRigidBodies(Array<Body>& bodies, entt::registry& registry) const;
void readRigidBodies(Array<Body>& bodies) const;
void writeRigidBodies(const Array<Body>& bodies, entt::registry& registry) const;
void writeRigidBodies(const Array<Body>& bodies) const;
Body readRigidBody(entt::entity entity, entt::registry& regsitry) const;
Body readRigidBody(entt::entity entity) const;
void writeRigidBody(const Body& body, entt::registry& registry) const;
void writeRigidBody(const Body& body) const;
Array<Body> integratePhysics(const Array<Body>& bodies, const float t0, const float tdelta) const;
void rewindCollisions(const Array<Body>& t0Bodies, entt::registry& registry, const float t0, const float t1, size_t remainingDepth);
void rewindCollisions(const Array<Body>& t0Bodies, const float t0, const float t1, size_t remainingDepth);
void calculateContacts(entt::entity id1, const Component::ShapeBase& shape1, entt::entity id2, const Component::ShapeBase& shape2, Array<Contact>& contacts) const;
void resolveRestingContacts(const Array<Contact>& contacts, entt::registry& registry) const;
void resolveRestingContacts(const Array<Contact>& contacts) const;
void resolvePenetratingContact(const Contact& c, Body& a, Body& b) const;
Math::Vector computeNdot(const Contact& c, const Body& a, const Body& b) const;
Vector computeNdot(const Contact& c, const Body& a, const Body& b) const;
float computeAij(const Contact& ci, const Contact& cj, entt::registry& registry) const;
float computeAij(const Contact& ci, const Contact& cj) const;
void computeAMatrix(const Array<Contact>& contacts, Array<Array<float>>& amat, entt::registry& registry) const;
void computeAMatrix(const Array<Contact>& contacts, Array<Array<float>>& amat) const;
void computeBVector(const Array<Contact>& contacts, Array<float>& avec, entt::registry& registry) const;
void computeBVector(const Array<Contact>& contacts, Array<float>& avec) const;
void solveQP(const Array<Array<float>>& A, const Array<float>& b, Array<float>& f) const;
};
} // namespace Seele