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Physics working

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This commit is contained in:
Confideo-IOM
2026-08-24 20:59:24 +01:00
parent 20c0794d10
commit 1253571c17
146 changed files with 4469 additions and 1273 deletions
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HydraEngine/source/ecs/components/HydraPhysicsComponent.h
+11 -6
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@@ -1,15 +1,20 @@
#ifndef HYDRAECSPHYSICSCOMPONENT
#define HYDRAECSPHYSICSCOMPONENT
#include "../engine/HydraEngine.h"
#include "../../engine/HydraEngine.h"
//#include "../physics/HydraPhysicsDefinition.h"
#include <box3d/box3d.h>
struct HydraPhysicsComponent
{
//
HYDRA_STATE physics_state = HYDRA_STATE::Empty;
// HydraPhysicsDefinitionStruct physics_definition;
HYDRA_PHYSICS_TYPE phyics_type = HYDRA_PHYSICS_TYPE::HYDRA_INVALID_PHYSICS_TYPE;
HYDRA_PHYSICS_SHAPE physics_shape = HYDRA_PHYSICS_SHAPE::HYDRA_INVALID_PHYSICS_TYPE;
float mass = 0;
float height = 0;
float width = 0;
float depth = 0;
b3BodyId body_id = {};
bool initialised = false;
bool needs_update = false;
};
HydraEngine/source/ecs/systems/HydraPhysicsSystem.cpp
+98
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@@ -0,0 +1,98 @@
#include "HydraPhysicsSystem.h"
#include "../../engine/HydraEngine.h"
#include "../../scheduler/HydraTaskScheduler.h"
#include "../../task/physics/HydraInitialisePhysicsWorldTask.hpp"
#include "../../task/physics/HydraDestroyPhysicsWorldTask.hpp"
#include "../../task/physics/HydraCreatePhysicsObjectTask.hpp"
#include "../../task/physics/HydraSetPhysicsTransform.hpp"
#include "../../task/physics/HydraGetPhysicsUpdatesTask.hpp"
#include "../../task/physics/HydraStepPhysicsTask.h"
#include "../../ecs/HydraECS.h"
#include "../../ecs/components/HydraPhysicsComponent.h"
#include "../../ecs/components/HydraPositionComponent.h"
void HydraPhysicsSystem::Initialise()
{
HydraTaskScheduler *task_scheduler = GetEngine()->TaskScheduler();
HydraID task_id = task_scheduler->CreateTask<HydraInitialisePhysicsWorldTask>(HydraThreadAffinity::Physics);
HydraInitialisePhysicsWorldTask *task = static_cast<HydraInitialisePhysicsWorldTask *>(task_scheduler->GetTask(task_id));
task->Initialise(&m_world_id);
task_scheduler->WaitForTask(task_id);
}
void HydraPhysicsSystem::Shutdown()
{
//TODO destroy all objects here then
HydraTaskScheduler *task_scheduler = GetEngine()->TaskScheduler();
HydraID task_id = task_scheduler->CreateTask<HydraDestroyPhysicsWorldTask>(HydraThreadAffinity::Physics);
HydraDestroyPhysicsWorldTask *task = static_cast<HydraDestroyPhysicsWorldTask *>(task_scheduler->GetTask(task_id));
task->Initialise(m_world_id);
task_scheduler->WaitForTask(task_id);
}
void HydraPhysicsSystem::SetTransform(HydraID entity_id)
{
HydraPhysicsComponent &phys_comp = GetEngine()->ECS()->GetComponent<HydraPhysicsComponent>(entity_id);
if(!phys_comp.needs_update)
{
m_bodies_to_set.push(entity_id);
phys_comp.needs_update = true;
}
}
void HydraPhysicsSystem::InitialiseComponent(HydraID entity_id)
{
b3BodyId body_id = {};
HydraPhysicsComponent& phys_comp = GetEngine()->ECS()->GetComponent<HydraPhysicsComponent>(entity_id);
HydraPositionComponent& pos_comp = GetEngine()->ECS()->GetComponent<HydraPositionComponent>(entity_id);
HydraTaskScheduler *task_scheduler = GetEngine()->TaskScheduler();
HydraID task_id = task_scheduler->CreateTask<HydraCreatePhysicsObjectTask>(HydraThreadAffinity::Physics);
HydraCreatePhysicsObjectTask *task = static_cast<HydraCreatePhysicsObjectTask *>(task_scheduler->GetTask(task_id));
task->Initialise(m_world_id, phys_comp, &body_id, entity_id);
task_scheduler->WaitForTask(task_id);
phys_comp.body_id = body_id;
task_id = task_scheduler->CreateTask<HydraSetPhysicsTransform>(HydraThreadAffinity::Physics);
HydraSetPhysicsTransform *set_task = static_cast<HydraSetPhysicsTransform *>(task_scheduler->GetTask(task_id));
set_task->Initialise(body_id, pos_comp.position, glm::quat(pos_comp.orientation));
task_scheduler->WaitForTask(task_id);
phys_comp.initialised = true;
}
void HydraPhysicsSystem::DestroyComponent(HydraID entity_id)
{
}
void HydraPhysicsSystem::UpdateSystem(float delta_t_seconds)
{
HydraTaskScheduler *task_scheduler = GetEngine()->TaskScheduler();
while(m_bodies_to_set.size() >0)
{
HydraID entity_id = m_bodies_to_set.front();
m_bodies_to_set.pop();
HydraPhysicsComponent& phys_comp = GetEngine()->ECS()->GetComponent<HydraPhysicsComponent>(entity_id);
HydraPositionComponent& pos_comp = GetEngine()->ECS()->GetComponent<HydraPositionComponent>(entity_id);
HydraID task_id = task_scheduler->CreateTask<HydraSetPhysicsTransform>(HydraThreadAffinity::Physics);
HydraSetPhysicsTransform *set_task = static_cast<HydraSetPhysicsTransform *>(task_scheduler->GetTask(task_id));
set_task->Initialise(phys_comp.body_id, pos_comp.position, glm::quat(pos_comp.orientation));
task_scheduler->WaitForTask(task_id);
}
}
void HydraPhysicsSystem::StepPhysics(float delta_t)
{
HydraID physics_step_task_id = GetEngine()->TaskScheduler()->CreateTask<HydraStepPhysicsTask>(HydraThreadAffinity::Physics);
HydraStepPhysicsTask* physics_task = static_cast<HydraStepPhysicsTask*>(GetEngine()->TaskScheduler()->GetTask(physics_step_task_id));
physics_task->Initialise(m_world_id, delta_t);
GetEngine()->TaskScheduler()->WaitForTask(physics_step_task_id);
}
HydraEngine/source/ecs/systems/HydraPhysicsSystem.h
+29
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@@ -0,0 +1,29 @@
#ifndef HYDRAPHYSICSSYSTEM
#define HYDRAPHYSICSSYSTEM
#include "../../engine/HydraObject.h"
#include "../HydraSystem.h"
#include <GLMIncludes.h>
#include <queue>
#include <box3d/box3d.h>
class HydraPhysicsSystem : public HydraSystem
{
public:
void Initialise() override;
void Shutdown() override;
void SetTransform(HydraID entity_id);
void StepPhysics(float delta_t);
protected:
void InitialiseComponent(HydraID entity_id) override;
void DestroyComponent(HydraID entity_id) override;
virtual void UpdateSystem(float delta_t_seconds);
private:
b3WorldId m_world_id;
std::queue<HydraID> m_bodies_to_set;
};
#endif /* HYDRAPHYSICSSYSTEM */
HydraEngine/source/ecs/systems/HydraTransformSystem.cpp
+39 -12
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@@ -1,20 +1,31 @@
#include "HydraTransformSystem.h"
#include "../../engine/HydraEngine.h"
#include "../HydraECS.h"
#include "HydraPhysicsSystem.h"
#include "../components/HydraPositionComponent.h"
#include "../../scheduler/HydraTaskScheduler.h"
#include "../../task/buffer/HydraCreateGPUBufferTask.hpp"
#include "../../task/buffer/HydraDeleteGPUBufferTask.hpp"
#include "../../task/buffer/HydraUpdateWholeGPUBufferTask.hpp"
#include "../../task/physics/HydraSetPhysicsTransform.hpp"
#include "../../actor/HydraActorManager.h"
#include "../components/HydraPhysicsComponent.h"
void HydraTransformSystem::UpdateTransform(HydraID actor_id)
void HydraTransformSystem::UpdateTransform(HydraID actor_id, bool ignore_physics)
{
HydraECS *ecs = GetEngine()->ECS();
HydraPositionComponent &pos_comp = ecs->GetComponent<HydraPositionComponent>(actor_id);
pos_comp.needs_update = true;
m_entities_to_update.push(actor_id);
pos_comp.needs_update = true;
m_entities_to_update.push(actor_id);
if (!ignore_physics)
{
if (ecs->HasComponent<HydraPhysicsComponent>(actor_id))
{
std::shared_ptr<HydraPhysicsSystem> phys_sys = GetEngine()->ECS()->GetSystem<HydraPhysicsSystem>();
phys_sys->SetTransform(actor_id);
}
}
}
void HydraTransformSystem::Initialise()
@@ -23,7 +34,7 @@ void HydraTransformSystem::Initialise()
HydraID create_gpu_buffer_task_id = task_scheduler->CreateTask<HydraCreateGPUBufferTask>(HydraThreadAffinity::Render);
HydraCreateGPUBufferTask *task = static_cast<HydraCreateGPUBufferTask *>(task_scheduler->GetTask(create_gpu_buffer_task_id));
task->Intialise("PositionsBuffer", 1, MAX_ACTORS * sizeof(glm::mat4),
&m_transform_buffer_id, HYDRA_BUFFER_TYPE::HYDRA_SSBO_BUFFER);
&m_transform_buffer_id, HYDRA_BUFFER_TYPE::HYDRA_SSBO_BUFFER);
task_scheduler->WaitForTask(create_gpu_buffer_task_id);
m_model_matrix.resize(MAX_ACTORS);
}
@@ -35,22 +46,22 @@ void HydraTransformSystem::FreeSystemResources()
HydraID delete_gpu_buffer_task_id = task_scheduler->CreateTask<HydraDeleteGPUBufferTask>(HydraThreadAffinity::Render);
HydraDeleteGPUBufferTask *task = static_cast<HydraDeleteGPUBufferTask *>(task_scheduler->GetTask(delete_gpu_buffer_task_id));
task->Intialise(m_transform_buffer_id);
task_scheduler->WaitForTask(delete_gpu_buffer_task_id);
task_scheduler->WaitForTask(delete_gpu_buffer_task_id);
}
void HydraTransformSystem::UpdateSystem(float delta_t_seconds)
{
HydraECS *ecs = GetEngine()->ECS();
while(m_entities_to_update.size() > 0)
while (m_entities_to_update.size() > 0)
{
HydraID actor_id = m_entities_to_update.front();
m_entities_to_update.pop();
HydraPositionComponent &pos_comp = ecs->GetComponent<HydraPositionComponent>(actor_id);
if(pos_comp.needs_update)
if (pos_comp.needs_update)
{
HydraID parent_id = GetEngine()->ActorManager()->GetRoot(actor_id);
glm::mat4 identity = glm::mat4(1);
glm::mat4 identity = glm::mat4(1);
_UpdateChild(INVALID_HYDRA_ID, parent_id, identity);
}
}
@@ -83,10 +94,26 @@ void HydraTransformSystem::_UpdateChild(HydraID parent_id, HydraID actor_id, glm
glm::mat4 scale_matrix = glm::scale(pos_comp.scale);
glm::mat4 model_matrix = trans_matrix * rot_matrix * scale_matrix;
pos_comp.transform = trans * model_matrix;
pos_comp.transform = trans * model_matrix;
pos_comp.needs_update = false;
m_model_matrix[actor_id] = pos_comp.transform;
trans = pos_comp.transform;
if (ecs->HasComponent<HydraPhysicsComponent>(actor_id))
{
HydraPhysicsComponent phys_comp = ecs->GetComponent<HydraPhysicsComponent>(actor_id);
if (phys_comp.initialised)
{
HydraTaskScheduler *task_scheduler = GetEngine()->TaskScheduler();
HydraID task_id = task_scheduler->CreateTask<HydraSetPhysicsTransform>(HydraThreadAffinity::Render);
HydraSetPhysicsTransform *task = static_cast<HydraSetPhysicsTransform *>(task_scheduler->GetTask(task_id));
task->Initialise(phys_comp.body_id,
glm::vec3(pos_comp.position.x, pos_comp.position.y, pos_comp.position.z),
glm::quat(pos_comp.orientation));
task_scheduler->WaitForTask(task_id);
}
}
trans = pos_comp.transform;
}
for (uint32_t child_idx = 0; child_idx < child_ids.size(); child_idx++)
{
HydraEngine/source/ecs/systems/HydraTransformSystem.h
+1 -1
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@@ -8,7 +8,7 @@ class HydraTransformSystem : public HydraSystem
{
public:
void UpdateTransform(HydraID actor_id);
void UpdateTransform(HydraID actor_id, bool ignore_physics = false);
void Initialise() override;
protected: