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properly handle joint changes in runtime - fixes #1060

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This commit is contained in:
Mikulas Florek 2017-10-19 17:22:05 +02:00
parent 89fac86756
commit 4d6cafd825
2 changed files with 64 additions and 29 deletions
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6
external/imgui/imgui_user.inl vendored
View file

@ -129,7 +129,7 @@ namespace ImGui
frame_bb.Max +
ImVec2(label_size.x > 0.0f ? style.ItemInnerSpacing.x + label_size.x : 0.0f, 0));
ItemSize(total_bb, style.FramePadding.y);
if (!ItemAdd(total_bb, NULL)) return -1;
if (!ItemAdd(total_bb, 0)) return -1;
// Determine scale from values if not specified
if (scale_min == FLT_MAX || scale_max == FLT_MAX)
@ -684,7 +684,7 @@ namespace ImGui
const ImRect inner_bb(frame_bb.Min + style.FramePadding, frame_bb.Max - style.FramePadding);
const ImRect total_bb(frame_bb.Min, frame_bb.Max);
ItemSize(total_bb, style.FramePadding.y);
if (!ItemAdd(total_bb, NULL)) return;
if (!ItemAdd(total_bb, 0)) return;
double graph_length = double(scele_max - scale_min);
const ImU32 col_base = GetColorU32(ImGuiCol_PlotHistogram);
@ -725,7 +725,7 @@ namespace ImGui
ImVec2 end_pos = screen_pos + ImVec2(w, h);
ImRect total_bb(screen_pos, end_pos);
ItemSize(total_bb);
if (!ItemAdd(total_bb, NULL)) return;
if (!ItemAdd(total_bb, 0)) return;
win->DrawList->AddRectFilled(screen_pos, end_pos, color);
}

87
src/physics/physics_scene.cpp
View file

@ -977,7 +977,11 @@ struct PhysicsSceneImpl LUMIX_FINAL : public PhysicsScene
void setJointConnectedBody(ComponentHandle cmp, Entity entity) override
{
m_joints[{cmp.index}].connected_body = entity;
int idx = m_joints.find({cmp.index});
Joint& joint = m_joints.at(idx);
Entity join_entity = m_joints.getKey(idx);
joint.connected_body = entity;
if (m_is_game_running) initJoint(join_entity, joint);
}
@ -1206,15 +1210,31 @@ struct PhysicsSceneImpl LUMIX_FINAL : public PhysicsScene
m_universe.destroyComponent(entity, type, this, cmp);
}
else if (type == RIGID_ACTOR_TYPE || type == MESH_ACTOR_TYPE || type == BOX_ACTOR_TYPE || type == CAPSULE_ACTOR_TYPE ||
type == SPHERE_ACTOR_TYPE)
type == SPHERE_ACTOR_TYPE)
{
Entity entity = {cmp.index};
Entity entity = { cmp.index };
auto* actor = m_actors[entity];
actor->setPhysxActor(nullptr);
LUMIX_DELETE(m_allocator, actor);
m_actors.erase(entity);
m_dynamic_actors.eraseItem(actor);
m_universe.destroyComponent(entity, type, this, cmp);
if (m_is_game_running)
{
for (int i = 0, c = m_joints.size(); i < c; ++i)
{
Joint& joint = m_joints.at(i);
if (m_joints.getKey(i) == entity || joint.connected_body == entity)
{
if (joint.physx) joint.physx->release();
joint.physx = PxDistanceJointCreate(m_scene->getPhysics(),
m_dummy_actor,
PxTransform::createIdentity(),
nullptr,
PxTransform::createIdentity());
}
}
}
}
else if (type == RAGDOLL_TYPE)
{
@ -2284,34 +2304,38 @@ struct PhysicsSceneImpl LUMIX_FINAL : public PhysicsScene
}
void initJoint(Entity entity, Joint& joint)
{
PxRigidActor* actors[2] = { nullptr, nullptr };
int idx = m_actors.find(entity);
if (idx >= 0) actors[0] = m_actors.at(idx)->physx_actor;
idx = m_actors.find(joint.connected_body);
if (idx >= 0) actors[1] = m_actors.at(idx)->physx_actor;
if (!actors[0] || !actors[1]) return;
Vec3 pos0 = m_universe.getPosition(entity);
Quat rot0 = m_universe.getRotation(entity);
Vec3 pos1 = m_universe.getPosition(joint.connected_body);
Quat rot1 = m_universe.getRotation(joint.connected_body);
PxTransform entity0_frame(toPhysx(pos0), toPhysx(rot0));
PxTransform entity1_frame(toPhysx(pos1), toPhysx(rot1));
PxTransform axis_local_frame1 = entity1_frame.getInverse() * entity0_frame * joint.local_frame0;
joint.physx->setLocalPose(PxJointActorIndex::eACTOR0, joint.local_frame0);
joint.physx->setLocalPose(PxJointActorIndex::eACTOR1, axis_local_frame1);
joint.physx->setActors(actors[0], actors[1]);
joint.physx->setConstraintFlag(PxConstraintFlag::eVISUALIZATION, true);
}
void initJoints()
{
for (int i = 0, c = m_joints.size(); i < c; ++i)
{
auto& joint = m_joints.at(i);
Joint& joint = m_joints.at(i);
Entity entity = m_joints.getKey(i);
PxRigidActor* actors[2] = { nullptr, nullptr };
int idx = m_actors.find(entity);
if (idx >= 0) actors[0] = m_actors.at(idx)->physx_actor;
idx = m_actors.find(joint.connected_body);
if (idx >= 0) actors[1] = m_actors.at(idx)->physx_actor;
if (!actors[0] || !actors[1]) continue;
Vec3 pos0 = m_universe.getPosition(entity);
Quat rot0 = m_universe.getRotation(entity);
Vec3 pos1 = m_universe.getPosition(joint.connected_body);
Quat rot1 = m_universe.getRotation(joint.connected_body);
PxTransform entity0_frame(toPhysx(pos0), toPhysx(rot0));
PxTransform entity1_frame(toPhysx(pos1), toPhysx(rot1));
PxTransform axis_local_frame1 = entity1_frame.getInverse() * entity0_frame * joint.local_frame0;
joint.physx->setLocalPose(PxJointActorIndex::eACTOR0, joint.local_frame0);
joint.physx->setLocalPose(PxJointActorIndex::eACTOR1, axis_local_frame1);
joint.physx->setActors(actors[0], actors[1]);
joint.physx->setConstraintFlag(PxConstraintFlag::eVISUALIZATION, true);
initJoint(entity, joint);
}
}
@ -2462,6 +2486,16 @@ struct PhysicsSceneImpl LUMIX_FINAL : public PhysicsScene
return status;
}
void onEntityDestroyed(Entity entity)
{
for (int i = 0, c = m_joints.size(); i < c; ++i)
{
if (m_joints.at(i).connected_body == entity)
{
setJointConnectedBody({m_joints.getKey(i).index}, INVALID_ENTITY);
}
}
}
void onEntityMoved(Entity entity)
{
@ -4970,6 +5004,7 @@ PhysicsScene* PhysicsScene::create(PhysicsSystem& system, Universe& context, Eng
{
PhysicsSceneImpl* impl = LUMIX_NEW(allocator, PhysicsSceneImpl)(context, allocator);
impl->m_universe.entityTransformed().bind<PhysicsSceneImpl, &PhysicsSceneImpl::onEntityMoved>(impl);
impl->m_universe.entityDestroyed().bind<PhysicsSceneImpl, &PhysicsSceneImpl::onEntityDestroyed>(impl);
impl->m_engine = &engine;
PxSceneDesc sceneDesc(system.getPhysics()->getTolerancesScale());
sceneDesc.gravity = PxVec3(0.0f, -9.8f, 0.0f);