[#17] : Enhanced physics engine stability

ange-yaghi · Jul 2, 2020 · 9182d66 · 9182d66
1 parent 4f450ce
commit 9182d66
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Showing 15 changed files with 417 additions and 389 deletions.
diff --git a/engines/basic/include/shader_controls.h b/engines/basic/include/shader_controls.h
@@ -17,7 +17,7 @@ namespace dbasic {
     };
 
     struct ShaderObjectVariables {
-        ysMatrix Transform = ysMath::LoadIdentity();
+        ysMatrix Transform = ysMath::Constants::Identity;
 
         float TexOffset[2] = { 0.0f, 0.0f };
         float TexScale[2] = { 1.0f, 1.0f };
@@ -43,8 +43,8 @@ namespace dbasic {
     };
 
     struct ShaderScreenVariables {
-        ysMatrix CameraView = ysMath::LoadIdentity();
-        ysMatrix Projection = ysMath::LoadIdentity();
+        ysMatrix CameraView = ysMath::Constants::Identity;
+        ysMatrix Projection = ysMath::Constants::Identity;
 
         ysVector4 Eye = { 0.0f, 0.0f, 0.0f };         
     };

diff --git a/engines/basic/src/scene_object_asset.cpp b/engines/basic/src/scene_object_asset.cpp
@@ -9,7 +9,7 @@ dbasic::SceneObjectAsset::SceneObjectAsset() : ysObject("SceneObjectAsset") {
     m_skeletonIndex = -1;
     m_type = ysObjectData::ObjectType::Undefined;
 
-    m_localTransform = ysMath::LoadIdentity();
+    m_localTransform = ysMath::Constants::Identity;
     m_localOrientation = ysMath::Constants::QuatIdentity;
     m_localPosition = ysMath::Constants::Zero;
 

diff --git a/include/yds_expanding_array.h b/include/yds_expanding_array.h
@@ -12,7 +12,7 @@ class ysExpandingArray {
     ysExpandingArray() {
         m_maxSize = START_SIZE;
         m_nObjects = 0;
-        m_array = NULL;
+        m_array = nullptr;
 
         Preallocate(m_maxSize);
     }
@@ -140,7 +140,7 @@ class ysExpandingArray {
     }
 
     bool IsActive() const {
-        return (m_array != NULL);
+        return (m_array != nullptr);
     }
 
     void Delete(int index, bool maintainOrder = false) {
@@ -149,7 +149,7 @@ class ysExpandingArray {
                 m_array[i] = m_array[i + 1];
             }
 
-            m_array[m_nObjects - 1] = NULL;
+            m_array[m_nObjects - 1] = nullptr;
         }
         else {
             m_array[index] = m_array[m_nObjects - 1];

diff --git a/include/yds_math.h b/include/yds_math.h
@@ -159,6 +159,12 @@ namespace ysMath {
         YS_MATH_CONST ysVector Half = { 0.5f, 0.5f, 0.5f, 0.5f };
         YS_MATH_CONST ysVector Double = { 2.0f, 2.0f, 2.0f, 2.0f };
 
+        YS_MATH_CONST ysMatrix Identity = { 
+            IdentityRow1, 
+            IdentityRow2, 
+            IdentityRow3, 
+            IdentityRow4 };
+
         // Numeral Constants
         YS_MATH_CONST float PI = 3.141592654f;
         YS_MATH_CONST float TWO_PI = 6.2831853071795864769252866f;

diff --git a/physics/include/collision_detector.h b/physics/include/collision_detector.h
@@ -11,17 +11,16 @@ namespace dphysics {
         CollisionDetector();
         ~CollisionDetector();
 
-        bool BoxBoxCollision(Collision &collision, RigidBody *body1, RigidBody *body2, BoxPrimitive *box1, BoxPrimitive *box2);
-        bool CircleBoxCollision(Collision &collision, RigidBody *body1, RigidBody *body2, CirclePrimitive *circle, BoxPrimitive *box);
-        bool CircleCircleCollision(Collision &collision, RigidBody *body1, RigidBody *body2, CirclePrimitive *circle1, CirclePrimitive *circle2);
-        bool RayBoxCollision(Collision &collision, RigidBody *body1, RigidBody *body2, RayPrimitive *ray, BoxPrimitive *box);
-        bool RayCircleCollision(Collision &collision, RigidBody *body1, RigidBody *body2, RayPrimitive *ray, CirclePrimitive *circle);
+        int BoxBoxCollision(Collision *collisions, RigidBody *body1, RigidBody *body2, BoxPrimitive *box1, BoxPrimitive *box2);
+        int CircleBoxCollision(Collision *collisions, RigidBody *body1, RigidBody *body2, CirclePrimitive *circle, BoxPrimitive *box);
+        int CircleCircleCollision(Collision *collisions, RigidBody *body1, RigidBody *body2, CirclePrimitive *circle1, CirclePrimitive *circle2);
+        int RayBoxCollision(Collision *collisions, RigidBody *body1, RigidBody *body2, RayPrimitive *ray, BoxPrimitive *box);
+        int RayCircleCollision(Collision *collisions, RigidBody *body1, RigidBody *body2, RayPrimitive *ray, CirclePrimitive *circle);
 
         bool CircleCircleIntersect(RigidBody *body1, RigidBody *body2, CirclePrimitive *circle1, CirclePrimitive *circle2);
 
     protected:
-        bool _BoxBoxCollision(Collision *collision, BoxPrimitive *body1, BoxPrimitive *body2);
-        bool _BoxBoxEdgeDetect(Collision *collisions, BoxPrimitive *body1, BoxPrimitive *body2);
+        int _BoxBoxCollision(Collision *collisions, BoxPrimitive *body1, BoxPrimitive *body2);
     };
 
 } /* namesapce dbasic */

diff --git a/physics/include/collision_primitives.h b/physics/include/collision_primitives.h
@@ -36,11 +36,23 @@ namespace dphysics {
     class Collision : public ysObject {
         friend RigidBodySystem;
 
+    public:
+        enum class CollisionType {
+            PointFace,
+            EdgeEdge,
+            Generic,
+            Unknown
+        };
+
     public:
         Collision();
-        Collision(Collision &collision);
+        Collision(const Collision &collision);
         ~Collision();
 
+        CollisionType m_collisionType;
+        int m_feature1;
+        int m_feature2;
+
         float m_penetration;
         ysVector m_normal;
         ysVector m_position;
@@ -80,6 +92,8 @@ namespace dphysics {
         ysVector GetContactVelocity() const { return m_initialContactVelocity; }
         ysVector GetContactVelocityWorld() const;
 
+        bool IsSameAs(Collision *other) const;
+
     protected:
         ysVector m_relativePosition[2];
         ysMatrix m_contactSpace;

diff --git a/physics/include/rigid_body.h b/physics/include/rigid_body.h
@@ -139,6 +139,8 @@ namespace dphysics {
 
         bool CheckState();
 
+        Collision *FindMatchingCollision(Collision *collision);
+
     protected:
         // Properties
         bool m_registered;

diff --git a/physics/include/rigid_body_system.h b/physics/include/rigid_body_system.h
@@ -62,8 +62,12 @@ namespace dphysics {
         void CloseReplayFile();
 
     protected:
+        bool CollisionExists(Collision *collision);
+
         void GenerateCollisions();
         void InitializeCollisions();
+        void CleanCollisions();
+        void ClearCollisions();
         void GenerateCollisions(RigidBody *body1, RigidBody *body2);
 
         void ResolveCollisions(float dt);