mirror of
https://github.com/aharabada/glitchy-engine-beef.git
synced 2026-09-06 05:01:53 +00:00
Invoke on collision enter + start of attach child colliders to rigidbody
+ Changed default Namespace of ScriptCore to GlitchyEngine + Implicit Casts float2 <-> b2Vec2 + Entity constructor internal + Renamed RigidBody2D to Rigidbody2D (notice the B) + Basic Debug Draw actual 2D Colliders + Added Entity::GetParentWithComponent
This commit is contained in:
Simon Lübeß
@@ -6,6 +6,8 @@ using Box2D;
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using GlitchyEngine.Core;
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using GlitchyEngine.Content;
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using GlitchyEngine.Scripting;
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using GlitchyEngine.Math;
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using GlitchyEngine.Scripting.Classes;
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namespace GlitchyEngine.World
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{
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@@ -17,6 +19,8 @@ namespace GlitchyEngine.World
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internal EcsWorld _ecsWorld = new .() ~ delete _;
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internal b2World* _physicsWorld2D;
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b2ContactListener _contactListener;
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b2Draw draw = .();
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private Dictionary<Type, function void(Entity entity, Type componentType, void* component)> _onComponentAddedHandlers = new .() ~ delete _;
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@@ -173,14 +177,143 @@ namespace GlitchyEngine.World
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public void OnSimulationStart()
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{
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_physicsWorld2D = Box2D.World.Create(ref _gravity2D);
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_physicsWorld2D = World.Create(ref _gravity2D);
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_contactListener = b2ContactListener();
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_contactListener.beginContactCallback = (contact, userData) =>
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{
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// TODO: This is bare minimum! Later we need to take hierarchies into account.
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// e.g. A is parent of B and B gets event -> A needs to get event too!
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var fixtureA = Contact.GetFixtureA(contact);
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var fixtureB = Contact.GetFixtureB(contact);
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var bodyA = Fixture.GetBody(fixtureA);
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var bodyB = Fixture.GetBody(fixtureB);
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// Cast is obviously 64bit only
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var colliderEntityHandleA = (EcsEntity)(uint)Fixture.GetUserData(fixtureA);
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var colliderEntityHandleB = (EcsEntity)(uint)Fixture.GetUserData(fixtureB);
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Entity colliderEntityA = .(colliderEntityHandleA, ScriptEngine.Context);
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Entity colliderEntityB = .(colliderEntityHandleB, ScriptEngine.Context);
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// Cast is obviously 64bit only
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var rigidbodyEntityHandleA = (EcsEntity)(uint)Body.GetUserData(bodyA);
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var rigidbodyEntityHandleB = (EcsEntity)(uint)Body.GetUserData(bodyB);
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Entity rigidbodyEntityA = .(rigidbodyEntityHandleA, ScriptEngine.Context);
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Entity rigidbodyEntityB = .(rigidbodyEntityHandleB, ScriptEngine.Context);
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bool fireEventA = colliderEntityA.TryGetComponent<ScriptComponent>(let scriptOfColliderA);
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fireEventA |= rigidbodyEntityA.TryGetComponent<ScriptComponent>(let scriptOfRigidbodyA);
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if (fireEventA)
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{
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Collision2D collision = .();
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collision.Entity = colliderEntityA.UUID;
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collision.OtherEntity = colliderEntityB.UUID;
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collision.Rigidbody = rigidbodyEntityA.UUID;
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collision.OtherRigidbody = rigidbodyEntityB.UUID;
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scriptOfColliderA?.Instance?.InvokeOnCollisionEnter2D(collision);
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scriptOfRigidbodyA?.Instance?.InvokeOnCollisionEnter2D(collision);
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}
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bool fireEventB = colliderEntityB.TryGetComponent<ScriptComponent>(let scriptOfColliderB);
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fireEventB |= rigidbodyEntityB.TryGetComponent<ScriptComponent>(let scriptOfRigidbodyB);
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if (fireEventB)
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{
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Collision2D collision = .();
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collision.Entity = colliderEntityB.UUID;
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collision.OtherEntity = colliderEntityA.UUID;
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collision.Rigidbody = rigidbodyEntityB.UUID;
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collision.OtherRigidbody = rigidbodyEntityA.UUID;
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scriptOfColliderB?.Instance?.InvokeOnCollisionEnter2D(collision);
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scriptOfRigidbodyB?.Instance?.InvokeOnCollisionEnter2D(collision);
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}
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};
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World.SetContactListener(_physicsWorld2D, &_contactListener);
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draw.drawPolygonCallback = (vertices, vertexCount, color, userData) =>
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{
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for (int i = 1; i < vertexCount; i++)
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{
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let start = vertices[i - 1];
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let end = vertices[i];
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Renderer2D.DrawLine(float3(start.x, start.y, 0.0f), float3(end.x, end.y, 0.0f), *(ColorRGBA*)&color);
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}
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let start = vertices[vertexCount - 1];
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let end = vertices[0];
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Renderer2D.DrawLine(float3(start.x, start.y, 0.0f), float3(end.x, end.y, 0.0f), *(ColorRGBA*)&color);
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};
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draw.drawSolidPolygonCallback = (vertices, vertexCount, color, userData) =>
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{
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for (int i = 1; i < vertexCount; i++)
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{
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let start = vertices[i - 1];
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let end = vertices[i];
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Renderer2D.DrawLine(float3(start.x, start.y, 0.0f), float3(end.x, end.y, 0.0f), *(ColorRGBA*)&color);
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}
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let start = vertices[vertexCount - 1];
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let end = vertices[0];
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Renderer2D.DrawLine(float3(start.x, start.y, 0.0f), float3(end.x, end.y, 0.0f), *(ColorRGBA*)&color);
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};
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draw.drawCircleCallback = (center, radius, color, userData) =>
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{
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Renderer2D.DrawCircle(center, radius.XX, *(ColorRGBA*)&color, 0.1f);
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};
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draw.drawSolidCircleCallback = (center, radius, axis, color, userData) =>
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{
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Renderer2D.DrawCircle(center, radius.XX, *(ColorRGBA*)&color);
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};
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draw.drawSegmentCallback = (p1, p2, color, userData) =>
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{
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};
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draw.drawPointCallback = (p, size, color, userData) =>
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{
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};
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draw.drawTransformCallback = (xf, userData) =>
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{
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};
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draw.userData = Internal.UnsafeCastToPtr(_physicsWorld2D);
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World.SetDebugDraw(_physicsWorld2D, &draw);
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World.SetDebugDrawFlags(_physicsWorld2D, .e_shapeBit);
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InitPhysics2D();
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}
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private void InitPhysics2D()
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{
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// Initialize all Rigidbodies
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for (let (ecsHandle, rigidBody) in _ecsWorld.Enumerate<Rigidbody2DComponent>())
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{
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Entity entity = .(ecsHandle, this);
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InitializeRigidbody2D(entity, rigidBody);
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}
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for (let (ecsHandle, boxCollider) in _ecsWorld.Enumerate<BoxCollider2DComponent>())
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{
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Entity entity = .(ecsHandle, this);
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InitBoxCollider2D(entity, boxCollider);
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}
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for (let (ecsHandle, circleCollider) in _ecsWorld.Enumerate<CircleCollider2DComponent>())
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{
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Entity entity = .(ecsHandle, this);
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InitCircleCollider2D(entity, circleCollider);
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}
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}
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private void InitializeRigidbody2D(Entity entity, Rigidbody2DComponent* rigidBody)
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@@ -189,49 +322,117 @@ namespace GlitchyEngine.World
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b2BodyDef def = .();
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def.type = GetBox2DBodyType(rigidBody.BodyType);
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def.userData = (void*)(uint)entity.Handle;
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// TODO: breaks with hierarchy
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def.position = b2Vec2(transform.Position.X, transform.Position.Y);
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def.angle = transform.RotationEuler.Z;
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// TODO: check how stable this is
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Matrix.Decompose(transform.WorldTransform, let worldPosition, let worldRotation, let worldScale);
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float3 worldRotationEuler = Quaternion.ToEulerAngles(worldRotation);
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def.position = b2Vec2(worldPosition.X, worldPosition.Y);
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def.angle = worldRotationEuler.Z;
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b2Body* body = Box2D.World.CreateBody(_physicsWorld2D, &def);
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Box2D.Body.SetFixedRotation(body, rigidBody.FixedRotation);
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rigidBody.RuntimeBody = body;
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}
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if (entity.TryGetComponent<BoxCollider2DComponent>(let boxCollider))
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private Result<void> FindParentWithRigidbody(Entity entity, out Entity walker, out Rigidbody2DComponent* rigidbody, out Matrix rigidbodyTransform)
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{
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walker = entity;
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rigidbody = null;
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rigidbodyTransform = .Identity;
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while (true)
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{
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b2Shape* boxShape = Box2D.Shape.CreatePolygon();
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Box2D.Shape.PolygonSetAsBox(boxShape, boxCollider.Size.X * transform.Scale.X, boxCollider.Size.Y * transform.Scale.Y);
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Box2D.Shape.PolygonSetAsBoxWithCenterAngle(boxShape, boxCollider.Size.X * transform.Scale.X, boxCollider.Size.Y * transform.Scale.Y, ref boxCollider.b2Offset, 0.0f);
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// Found the parent with our beloved component
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if (walker.TryGetComponent<Rigidbody2DComponent>(out rigidbody) == true)
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break;
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b2FixtureDef fixtureDef = .();
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fixtureDef.shape = boxShape;
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fixtureDef.density = boxCollider.Density;
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fixtureDef.friction = boxCollider.Friction;
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fixtureDef.restitution = boxCollider.Restitution;
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fixtureDef.restitutionThreshold = boxCollider.RestitutionThreshold;
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let parent = walker.Parent;
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b2Fixture* fixture = Box2D.Body.CreateFixture(body, &fixtureDef);
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boxCollider.RuntimeFixture = fixture;
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// We need a rigid body
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if (parent == null)
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{
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Log.ClientLogger.Warning($"Entity {entity.Name} ({entity.Handle}) has a collider but no parent with a rigid body!");
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return .Err;
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}
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// Construct transform matrix from our local space to the rigidbody space
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rigidbodyTransform = rigidbodyTransform * walker.Transform.LocalTransform;
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walker = parent.Value;
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}
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if (entity.TryGetComponent<CircleCollider2DComponent>(let circleCollider))
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return .Ok;
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}
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private void InitBoxCollider2D(Entity entity, BoxCollider2DComponent* boxCollider)
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{
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if (FindParentWithRigidbody(entity, let entityWithRigidbody, let rigidbody, let parentToRigidbody) case .Err)
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return;
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let localToWorld = entity.Transform.WorldTransform;
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let worldToRigidbody = entityWithRigidbody.Transform.WorldTransform.Invert();
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let boxShape = Box2D.Shape.CreatePolygon();
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Box2D.b2Vec2[4] points = .(
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.(-1, -1),
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.( 1, -1),
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.( 1, 1),
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.(-1, 1));
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for (int i < 4)
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{
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b2Shape* circleShape = Box2D.Shape.CreateCircle();
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Box2D.Shape.CircleSetPosition(circleShape, ref circleCollider.b2Offset);
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Box2D.Shape.SetRadius(circleShape, circleCollider.Radius);
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points[i] = ((float2)points[i] * boxCollider.Size + boxCollider.Offset);
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b2FixtureDef fixtureDef = .();
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fixtureDef.shape = circleShape;
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fixtureDef.density = circleCollider.Density;
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fixtureDef.friction = circleCollider.Friction;
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fixtureDef.restitution = circleCollider.Restitution;
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fixtureDef.restitutionThreshold = circleCollider.RestitutionThreshold;
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if (entity == entityWithRigidbody)
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points[i] = entity.Transform.Scale.XY * (float2)points[i];
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b2Fixture* fixture = Box2D.Body.CreateFixture(body, &fixtureDef);
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circleCollider.RuntimeFixture = fixture;
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points[i] = (worldToRigidbody * localToWorld * float4(points[i], 0, 1)).XY;
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}
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Shape.PolygonSet(boxShape, &points, 4);
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b2FixtureDef fixtureDef = .();
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fixtureDef.shape = boxShape;
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fixtureDef.density = boxCollider.Density;
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fixtureDef.friction = boxCollider.Friction;
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fixtureDef.restitution = boxCollider.Restitution;
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fixtureDef.restitutionThreshold = boxCollider.RestitutionThreshold;
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fixtureDef.userData = (void*)(uint)entity.Handle;
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Log.EngineLogger.AssertDebug(rigidbody.RuntimeBody != null);
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b2Fixture* fixture = Box2D.Body.CreateFixture(rigidbody.RuntimeBody, &fixtureDef);
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boxCollider.RuntimeFixture = fixture;
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}
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private void InitCircleCollider2D(Entity entity, CircleCollider2DComponent* circleCollider)
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{
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if (FindParentWithRigidbody(entity, let entityWithRigidbody, let rigidbody, let parentToRigidbody) case .Err)
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return;
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let localToWorld = entity.Transform.WorldTransform;
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let worldToRigidbody = entityWithRigidbody.Transform.WorldTransform.Invert();
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b2Vec2 center = (worldToRigidbody * localToWorld * float4(circleCollider.b2Offset, 0, 1)).XY;
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b2Shape* circleShape = Box2D.Shape.CreateCircle();
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Box2D.Shape.CircleSetPosition(circleShape, center);
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Box2D.Shape.SetRadius(circleShape, circleCollider.Radius);
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b2FixtureDef fixtureDef = .();
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fixtureDef.shape = circleShape;
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fixtureDef.density = circleCollider.Density;
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fixtureDef.friction = circleCollider.Friction;
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fixtureDef.restitution = circleCollider.Restitution;
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fixtureDef.restitutionThreshold = circleCollider.RestitutionThreshold;
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fixtureDef.userData = (void*)(uint)entity.Handle;
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Log.EngineLogger.AssertDebug(rigidbody.RuntimeBody != null);
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b2Fixture* fixture = Box2D.Body.CreateFixture(rigidbody.RuntimeBody, &fixtureDef);
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circleCollider.RuntimeFixture = fixture;
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}
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public void OnSimulationStop()
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@@ -335,8 +536,24 @@ namespace GlitchyEngine.World
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b2Vec2 position = Box2D.Body.GetPosition(body);
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float angle = Box2D.Body.GetAngle(body);
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transform.Position = .(position.x, position.y, transform.Position.Z);
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transform.RotationEuler = .(transform.RotationEuler.XY, angle);
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if (entity.Parent != null)
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{
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Matrix worldToParent = entity.Parent.Value.Transform.WorldTransform.Invert();
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float4 newLocalPosition = worldToParent * float4(position, 0, 1);
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transform.Position = float3(newLocalPosition.XY, transform.Position.Z);
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// TODO: when the parent of the rigidbody-entity is rotated, the rotation is applied wrong...
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Matrix.Decompose(worldToParent, let p, var worldToParentRotation, let s);
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Quaternion newLocalRotation = (worldToParentRotation * Quaternion.FromEulerAngles(0, 0, angle))..Normalize();
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// TODO: when the parent has rotation on X or Y everything breaks even more...
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transform.Rotation = (newLocalRotation * Quaternion.FromEulerAngles(transform.RotationEuler.Y, transform.RotationEuler.X, 0))..Normalize();
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}
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else
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{
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transform.Position = .(position.x, position.y, transform.Position.Z);
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transform.RotationEuler = .(transform.RotationEuler.XY, angle);
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}
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}
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}
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}
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