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Physics stuff

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This commit is contained in:
Confideo-IOM
2026-08-25 22:10:54 +01:00
parent 1253571c17
commit 30538ae7ab
59 changed files with 1403 additions and 518 deletions
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HydraEngine/source/ecs/HydraSystem.h
+2 -1
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@@ -13,13 +13,14 @@ class HydraSystem : public HydraObject
void Update(float delta_t_seconds);
void InitialiseComponents();
virtual void InitialiseComponent(HydraID actor_id) {};
void DestroyComponents(HydraID actor_id);
virtual void Shutdown();
virtual void Initialise(){};
protected:
virtual void UpdateSystem(float delta_t_seconds) = 0;
virtual void InitialiseComponent(HydraID actor_id) {};
virtual void DestroyComponent(HydraID actor_id) {};
virtual void FreeSystemResources(){};
};
HydraEngine/source/ecs/HydraSystemManager.h
+4
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@@ -54,6 +54,7 @@ public:
}
void EntitySignatureChanged(HydraID entity_id, HydraSignature signature)
{
// Notify each system that an entity's signature changed
for (auto const& pair : m_systems)
{
@@ -68,6 +69,8 @@ public:
{
system->EntitiesToCreate.insert(entity_id);
system->Entities.insert(entity_id);
//system->InitialiseComponent(entity_id);
}
// Entity signature does not match system signature - erase from set
else
@@ -77,6 +80,7 @@ public:
system->EntitiesToCreate.erase(entity_id);
}
}
}
void EntityDeleted(HydraID entity_id)
{
HydraEngine/source/ecs/components/HydraPositionComponent.h
+1
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@@ -2,6 +2,7 @@
#define HYDRAECSPOSITIONCOMPONENT
#include "../../engine/HydraEngine.h"
struct HydraPositionComponent
{
glm::dvec3 position = {};
HydraEngine/source/ecs/components/HydraTickComponent.h
+12
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@@ -0,0 +1,12 @@
#ifndef HYDRAFIXEDTICKCOMPONENT
#define HYDRAFIXEDTICKCOMPONENT
#include "../../engine/HydraEngine.h"
struct HydraTickComponent
{
HydraID entity_id;
bool fixed = false;
bool every_frame = false;
};
#endif /* HYDRAFIXEDTICKCOMPONENT */
HydraEngine/source/ecs/systems/HydraDirectionalShadowSourceSystem.h
+2 -1
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@@ -12,8 +12,9 @@ class HydraDirectionalShadowSourceSystem : public HydraSystem
{
public:
virtual void Initialise() override;
protected:
void InitialiseComponent(HydraID entity_id) override;
protected:
void DestroyComponent(HydraID entity_id) override;
void UpdateSystem(float delta_t_seconds) override;
private:
HydraEngine/source/ecs/systems/HydraLightSystem.h
+2 -2
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@@ -14,9 +14,9 @@ class HydraLightSystem : public HydraSystem
{
public:
void Initialise() override;
//uint32_t GetLightCount();
protected:
void InitialiseComponent(HydraID entity_id) override;
protected:
void DestroyComponent(HydraID actor_id) override;
virtual void UpdateSystem(float delta_t_seconds);
private:
HydraEngine/source/ecs/systems/HydraMaterialSystem.h
+1 -3
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@@ -13,12 +13,10 @@ class HydraMaterialSystem : public HydraSystem
{
public:
void Initialise() override;
protected:
void InitialiseComponent(HydraID entity_id) override;
protected:
void FreeSystemResources() override;
virtual void UpdateSystem(float delta_t_seconds);
private:
void _WriteToGPU();
HydraID m_material_buffer_id = INVALID_HYDRA_ID;
HydraEngine/source/ecs/systems/HydraMeshSystem.h
+1 -4
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@@ -9,13 +9,10 @@
class HydraMeshSystem : public HydraSystem
{
public:
void Initialise() override;
protected:
void InitialiseComponent(HydraID entity_id) override;
protected:
void DestroyComponent(HydraID entity_id) override;
virtual void UpdateSystem(float delta_t_seconds){}
};
HydraEngine/source/ecs/systems/HydraPhysicsSystem.cpp
+38 -5
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@@ -7,6 +7,7 @@
#include "../../task/physics/HydraSetPhysicsTransform.hpp"
#include "../../task/physics/HydraGetPhysicsUpdatesTask.hpp"
#include "../../task/physics/HydraStepPhysicsTask.h"
#include "../../task/physics/HydraSetPhysicsLinearVelocity.hpp"
#include "../../ecs/HydraECS.h"
#include "../../ecs/components/HydraPhysicsComponent.h"
#include "../../ecs/components/HydraPositionComponent.h"
@@ -40,14 +41,35 @@ 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);
m_bodies_to_set_transform.push(entity_id);
phys_comp.needs_update = true;
}
// HydraTaskScheduler *task_scheduler = GetEngine()->TaskScheduler();
// 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::SetLinearVelocity(HydraID entity_id, glm::vec3 velocity)
{
PhysicsVelocity vel = {entity_id, velocity};
m_bodies_to_set_velocity.push(vel);
// HydraPhysicsComponent& phys_comp = GetEngine()->ECS()->GetComponent<HydraPhysicsComponent>(entity_id);
// HydraTaskScheduler *task_scheduler = GetEngine()->TaskScheduler();
// HydraID task_id = task_scheduler->CreateTask<HydraSetPhysicsLinearVelocity>(HydraThreadAffinity::Physics);
// HydraSetPhysicsLinearVelocity *set_task = static_cast<HydraSetPhysicsLinearVelocity *>(task_scheduler->GetTask(task_id));
// set_task->Initialise(phys_comp.body_id, velocity);
// task_scheduler->WaitForTask(task_id);
}
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);
@@ -69,15 +91,16 @@ void HydraPhysicsSystem::InitialiseComponent(HydraID entity_id)
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)
while(m_bodies_to_set_transform.size() >0)
{
HydraID entity_id = m_bodies_to_set.front();
m_bodies_to_set.pop();
HydraID entity_id = m_bodies_to_set_transform.front();
m_bodies_to_set_transform.pop();
HydraPhysicsComponent& phys_comp = GetEngine()->ECS()->GetComponent<HydraPhysicsComponent>(entity_id);
HydraPositionComponent& pos_comp = GetEngine()->ECS()->GetComponent<HydraPositionComponent>(entity_id);
@@ -86,7 +109,17 @@ void HydraPhysicsSystem::UpdateSystem(float delta_t_seconds)
set_task->Initialise(phys_comp.body_id, pos_comp.position, glm::quat(pos_comp.orientation));
task_scheduler->WaitForTask(task_id);
}
while(m_bodies_to_set_velocity.size() >0)
{
PhysicsVelocity vel = m_bodies_to_set_velocity.front();
m_bodies_to_set_velocity.pop();
HydraPhysicsComponent& phys_comp = GetEngine()->ECS()->GetComponent<HydraPhysicsComponent>(vel.entity_id);
HydraID task_id = task_scheduler->CreateTask<HydraSetPhysicsLinearVelocity>(HydraThreadAffinity::Physics);
HydraSetPhysicsLinearVelocity *set_task = static_cast<HydraSetPhysicsLinearVelocity *>(task_scheduler->GetTask(task_id));
set_task->Initialise(phys_comp.body_id, vel.velocity);
task_scheduler->WaitForTask(task_id);
}
}
void HydraPhysicsSystem::StepPhysics(float delta_t)
HydraEngine/source/ecs/systems/HydraPhysicsSystem.h
+11 -3
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@@ -8,6 +8,12 @@
#include <box3d/box3d.h>
struct PhysicsVelocity
{
HydraID entity_id;
glm::vec3 velocity;
};
class HydraPhysicsSystem : public HydraSystem
{
public:
@@ -15,15 +21,17 @@ class HydraPhysicsSystem : public HydraSystem
void Initialise() override;
void Shutdown() override;
void SetTransform(HydraID entity_id);
void SetLinearVelocity(HydraID entity_id, glm::vec3 velocity);
void StepPhysics(float delta_t);
protected:
void InitialiseComponent(HydraID entity_id) override;
protected:
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;
std::queue<HydraID> m_bodies_to_set_transform;
std::queue<PhysicsVelocity> m_bodies_to_set_velocity;
};
#endif /* HYDRAPHYSICSSYSTEM */
HydraEngine/source/ecs/systems/HydraPointShadowSourceSystem.h
+1 -1
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@@ -13,8 +13,8 @@ class HydraPointShadowSourceSystem : public HydraSystem
{
public:
virtual void Initialise() override;
protected:
void InitialiseComponent(HydraID entity_id) override;
protected:
void UpdateSystem(float delta_t_seconds) override;
void DestroyComponent(HydraID entity_id) override;
private:
HydraEngine/source/ecs/systems/HydraSpotShadowSourceSystem.h
+2 -1
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@@ -14,8 +14,9 @@ class HydraSpotShadowSourceSystem : public HydraSystem
{
public:
virtual void Initialise() override;
protected:
void InitialiseComponent(HydraID entity_id) override;
protected:
void UpdateSystem(float delta_t_seconds) override;
void DestroyComponent(HydraID entity_id) override;
private:
HydraEngine/source/ecs/systems/HydraTickActorsSystem.cpp
+25
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@@ -0,0 +1,25 @@
#include "HydraTickActorsSystem.h"
#include "../../actor/HydraActorManager.h"
#include "../components/HydraTickComponent.h"
#include "../HydraECS.h"
void HydraTickActorsSystem::FixedUpdate(float delta_t_seconds)
{
HydraActorManager* actor_manager = GetEngine()->ActorManager();
HydraECS* ecs = GetEngine()->ECS();
for(HydraID entity_id:Entities)
{
HydraTickComponent tick_comp = ecs->GetComponent<HydraTickComponent>(entity_id);
if(tick_comp.fixed)
{
actor_manager->FixedTickActor(entity_id, delta_t_seconds);
}
}
}
void HydraTickActorsSystem::UpdateSystem(float delta_t_seconds)
{
}
HydraEngine/source/ecs/systems/HydraTickActorsSystem.h
+23
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@@ -0,0 +1,23 @@
#ifndef HYDRATICKACTORSSYSTEM
#define HYDRATICKACTORSSYSTEM
#include "../../engine/HydraObject.h"
#include "../HydraSystem.h"
#include "../components/HydraLightComponent.h"
#include <GLMIncludes.h>
#include <queue>
#include <vector>
class HydraTickActorsSystem : public HydraSystem
{
public:
void FixedUpdate(float delta_t_seconds);
protected:
void UpdateSystem(float delta_t_seconds) override;
private:
};
#endif /* HYDRAFIXEDTICKACTORSSYSTEM */
HydraEngine/source/ecs/systems/HydraTransformSystem.cpp
-1
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@@ -13,7 +13,6 @@
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;
HydraEngine/source/ecs/systems/HydraTransformSystem.h
+2 -4
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@@ -10,11 +10,9 @@ class HydraTransformSystem : public HydraSystem
void UpdateTransform(HydraID actor_id, bool ignore_physics = false);
void Initialise() override;
protected:
virtual void UpdateSystem(float delta_t_seconds) override;
void InitialiseComponent(HydraID actor_id) override;
protected:
virtual void UpdateSystem(float delta_t_seconds) override;
void FreeSystemResources() override;
private:
void _UpdateChild(HydraID parent_id, HydraID actor_id, glm::mat4 parent_transform);