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-rw-r--r--src/crepe/api/Config.h2
-rw-r--r--src/crepe/api/Rigidbody.h4
-rw-r--r--src/crepe/system/AISystem.cpp10
-rw-r--r--src/crepe/system/PhysicsSystem.cpp134
4 files changed, 78 insertions, 72 deletions
diff --git a/src/crepe/api/Config.h b/src/crepe/api/Config.h
index 6472270..ca2d3f1 100644
--- a/src/crepe/api/Config.h
+++ b/src/crepe/api/Config.h
@@ -53,7 +53,7 @@ struct Config final {
*
* Gravity value of game.
*/
- double gravity = 1;
+ float gravity = 10;
} physics;
//! default window settings
diff --git a/src/crepe/api/Rigidbody.h b/src/crepe/api/Rigidbody.h
index 40c6bf1..b08c8db 100644
--- a/src/crepe/api/Rigidbody.h
+++ b/src/crepe/api/Rigidbody.h
@@ -53,7 +53,7 @@ public:
*/
struct Data {
//! objects mass
- float mass = 0.0;
+ float mass = 1;
/**
* \brief Gravity scale factor.
*
@@ -79,7 +79,7 @@ public:
//! Linear velocity of the object (speed and direction).
vec2 linear_velocity;
//! Maximum linear velocity of the object. This limits the object's speed.
- vec2 max_linear_velocity = {INFINITY, INFINITY};
+ float max_linear_velocity = INFINITY;
//! Linear velocity coefficient. This scales the object's velocity for adjustment or damping.
vec2 linear_velocity_coefficient = {1, 1};
//! \}
diff --git a/src/crepe/system/AISystem.cpp b/src/crepe/system/AISystem.cpp
index d231c7c..6578ecb 100644
--- a/src/crepe/system/AISystem.cpp
+++ b/src/crepe/system/AISystem.cpp
@@ -13,12 +13,10 @@ using namespace std::chrono;
void AISystem::update() {
const Mediator & mediator = this->mediator;
ComponentManager & mgr = mediator.component_manager;
- LoopTimerManager & timer = mediator.loop_timer;
- RefVector<AI> ai_components = mgr.get_components_by_type<AI>();
LoopTimerManager & loop_timer = mediator.loop_timer;
+ RefVector<AI> ai_components = mgr.get_components_by_type<AI>();
- //TODO: Use fixed loop dt (this is not available at master at the moment)
- duration_t dt = loop_timer.get_delta_time();
+ duration_t dt = loop_timer.get_scaled_fixed_delta_time();
// Loop through all AI components
for (AI & ai : ai_components) {
@@ -45,7 +43,7 @@ void AISystem::update() {
// Calculate the acceleration (using the above calculated force)
vec2 acceleration = force / rigidbody.data.mass;
// Finally, update Rigidbody's velocity
- rigidbody.data.linear_velocity += acceleration * duration_cast<seconds>(dt).count();
+ rigidbody.data.linear_velocity += acceleration * duration<float>(dt).count();
}
}
@@ -146,7 +144,7 @@ vec2 AISystem::arrive(const AI & ai, const Rigidbody & rigidbody,
}
float speed = distance / ai.arrive_deceleration;
- speed = std::min(speed, rigidbody.data.max_linear_velocity.length());
+ speed = std::min(speed, rigidbody.data.max_linear_velocity);
vec2 desired_velocity = to_target * (speed / distance);
return desired_velocity - rigidbody.data.linear_velocity;
diff --git a/src/crepe/system/PhysicsSystem.cpp b/src/crepe/system/PhysicsSystem.cpp
index ebf4439..a1d35bb 100644
--- a/src/crepe/system/PhysicsSystem.cpp
+++ b/src/crepe/system/PhysicsSystem.cpp
@@ -5,88 +5,96 @@
#include "../api/Transform.h"
#include "../api/Vector2.h"
#include "../manager/ComponentManager.h"
+#include "../manager/LoopTimerManager.h"
+#include "../manager/Mediator.h"
#include "PhysicsSystem.h"
using namespace crepe;
+using namespace std::chrono;
void PhysicsSystem::update() {
- ComponentManager & mgr = this->mediator.component_manager;
+
+ const Mediator & mediator = this->mediator;
+ ComponentManager & mgr = mediator.component_manager;
+ LoopTimerManager & loop_timer = mediator.loop_timer;
RefVector<Rigidbody> rigidbodies = mgr.get_components_by_type<Rigidbody>();
- RefVector<Transform> transforms = mgr.get_components_by_type<Transform>();
- double gravity = Config::get_instance().physics.gravity;
+ duration_t delta_time = loop_timer.get_scaled_fixed_delta_time();
+ float dt = duration<float>(delta_time).count();
+
+ float gravity = Config::get_instance().physics.gravity;
for (Rigidbody & rigidbody : rigidbodies) {
if (!rigidbody.active) continue;
+ Transform & transform
+ = mgr.get_components_by_id<Transform>(rigidbody.game_object_id).front().get();
switch (rigidbody.data.body_type) {
case Rigidbody::BodyType::DYNAMIC:
- for (Transform & transform : transforms) {
- if (transform.game_object_id == rigidbody.game_object_id) {
-
- // Add gravity
- if (rigidbody.data.gravity_scale > 0) {
- rigidbody.data.linear_velocity.y
- += (rigidbody.data.mass * rigidbody.data.gravity_scale
- * gravity);
- }
- // Add damping
- if (rigidbody.data.angular_velocity_coefficient > 0) {
- rigidbody.data.angular_velocity
- *= rigidbody.data.angular_velocity_coefficient;
- }
- if (rigidbody.data.linear_velocity_coefficient.x > 0
- && rigidbody.data.linear_velocity_coefficient.y > 0) {
- rigidbody.data.linear_velocity
- *= rigidbody.data.linear_velocity_coefficient;
- }
+ if (transform.game_object_id == rigidbody.game_object_id) {
+ // Add gravity
- // Max velocity check
- if (rigidbody.data.angular_velocity
- > rigidbody.data.max_angular_velocity) {
- rigidbody.data.angular_velocity
- = rigidbody.data.max_angular_velocity;
- } else if (rigidbody.data.angular_velocity
- < -rigidbody.data.max_angular_velocity) {
- rigidbody.data.angular_velocity
- = -rigidbody.data.max_angular_velocity;
- }
+ if (rigidbody.data.mass <= 0) {
+ throw std::runtime_error("Mass must be greater than 0");
+ }
- if (rigidbody.data.linear_velocity.x
- > rigidbody.data.max_linear_velocity.x) {
- rigidbody.data.linear_velocity.x
- = rigidbody.data.max_linear_velocity.x;
- } else if (rigidbody.data.linear_velocity.x
- < -rigidbody.data.max_linear_velocity.x) {
- rigidbody.data.linear_velocity.x
- = -rigidbody.data.max_linear_velocity.x;
- }
+ if (gravity <= 0) {
+ throw std::runtime_error("Config Gravity must be greater than 0");
+ }
- if (rigidbody.data.linear_velocity.y
- > rigidbody.data.max_linear_velocity.y) {
- rigidbody.data.linear_velocity.y
- = rigidbody.data.max_linear_velocity.y;
- } else if (rigidbody.data.linear_velocity.y
- < -rigidbody.data.max_linear_velocity.y) {
- rigidbody.data.linear_velocity.y
- = -rigidbody.data.max_linear_velocity.y;
- }
+ if (rigidbody.data.gravity_scale > 0) {
+ rigidbody.data.linear_velocity.y
+ += (rigidbody.data.mass * rigidbody.data.gravity_scale * gravity
+ * dt);
+ }
+ // Add coefficient rotation
+ if (rigidbody.data.angular_velocity_coefficient > 0) {
+ rigidbody.data.angular_velocity
+ *= std::pow(rigidbody.data.angular_velocity_coefficient, dt);
+ }
- // Move object
- if (!rigidbody.data.constraints.rotation) {
- transform.rotation += rigidbody.data.angular_velocity;
- transform.rotation = std::fmod(transform.rotation, 360.0);
- if (transform.rotation < 0) {
- transform.rotation += 360.0;
- }
- }
- if (!rigidbody.data.constraints.x) {
- transform.position.x += rigidbody.data.linear_velocity.x;
- }
- if (!rigidbody.data.constraints.y) {
- transform.position.y += rigidbody.data.linear_velocity.y;
+ // Add coefficient movement horizontal
+ if (rigidbody.data.linear_velocity_coefficient.x > 0) {
+ rigidbody.data.linear_velocity.x
+ *= std::pow(rigidbody.data.linear_velocity_coefficient.x, dt);
+ }
+
+ // Add coefficient movement horizontal
+ if (rigidbody.data.linear_velocity_coefficient.y > 0) {
+ rigidbody.data.linear_velocity.y
+ *= std::pow(rigidbody.data.linear_velocity_coefficient.y, dt);
+ }
+
+ // Max velocity check
+ if (rigidbody.data.angular_velocity
+ > rigidbody.data.max_angular_velocity) {
+ rigidbody.data.angular_velocity = rigidbody.data.max_angular_velocity;
+ } else if (rigidbody.data.angular_velocity
+ < -rigidbody.data.max_angular_velocity) {
+ rigidbody.data.angular_velocity = -rigidbody.data.max_angular_velocity;
+ }
+
+ // Set max velocity to maximum length
+ if (rigidbody.data.linear_velocity.length()
+ > rigidbody.data.max_linear_velocity) {
+ rigidbody.data.linear_velocity.normalize();
+ rigidbody.data.linear_velocity *= rigidbody.data.max_linear_velocity;
+ }
+
+ // Move object
+ if (!rigidbody.data.constraints.rotation) {
+ transform.rotation += rigidbody.data.angular_velocity * dt;
+ transform.rotation = std::fmod(transform.rotation, 360.0);
+ if (transform.rotation < 0) {
+ transform.rotation += 360.0;
}
}
+ if (!rigidbody.data.constraints.x) {
+ transform.position.x += rigidbody.data.linear_velocity.x * dt;
+ }
+ if (!rigidbody.data.constraints.y) {
+ transform.position.y += rigidbody.data.linear_velocity.y * dt;
+ }
}
break;
case Rigidbody::BodyType::KINEMATIC: