Physics, kinda works.
This commit is contained in:
xkamikoo
parent
1b2815b668
commit
963c2a86a2
@ -57,7 +57,7 @@ vec3 fastAA()
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void main()
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{
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const float gamma = 0.8;
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const float gamma = 0.9;
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vec3 hdrColor = fastAA(); //texture(scene, vTexCoords).rgb;
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vec3 bloomColor = texture(bloomBlur, vTexCoords).rgb;
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hdrColor += bloomColor;
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@ -82,7 +82,8 @@ Object::Object( std::string name,
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glm::vec3 rotation,
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glm::vec3 scale,
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float angle,
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bool dynamic)
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bool dynamic,
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bool kinematic)
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{
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this->name = name;
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SetMatrix(position, scale, rotation, angle);
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@ -91,6 +92,7 @@ Object::Object( std::string name,
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this->shaderID = shaderID;
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this->color = color;
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this->dynamic = dynamic;
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this->kinematic = kinematic;
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}
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Object::Object( std::string name,
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@ -101,7 +103,8 @@ Object::Object( std::string name,
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glm::vec3 rotation,
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glm::vec3 scale,
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float angle,
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bool dynamic)
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bool dynamic,
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bool kinematic)
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{
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this->name = name;
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SetMatrix(position, scale, rotation, angle);
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@ -110,6 +113,7 @@ Object::Object( std::string name,
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this->shaderID = shaderID;
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this->color = color;
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this->dynamic = dynamic;
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this->kinematic = kinematic;
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}
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12
src/Object.h
12
src/Object.h
@ -30,15 +30,18 @@ public:
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void SetRotation(glm::vec3 rotate, float angle);
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void SetMatrix(glm::vec3 position, glm::vec3 scale, glm::vec3 rotate, float angle);
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void SetMatrix(glm::mat4 _mat) { this->modelM = _mat; }
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void SetMatrix(glm::mat4 _mat) { this->modelM = _mat;
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this->invModelM = glm::inverseTranspose(_mat); }
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std::string GetName() { return this->name; }
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glm::mat4 GetMatrix() { return this->modelM; }
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glm::mat4 GetInvMatrix() { return this->invModelM; }
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glm::vec3 GetColor() { return this->color; }
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glm::vec3 GetPosition() { return position; }
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glm::vec3 GetRotation() { return rotation; }
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glm::vec3 GetScale() { return scale; }
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bool isDynamic() { return dynamic; }
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bool isKinematic() { return kinematic; }
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std::shared_ptr<Model> GetParent() { return modelParent; }
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Object( std::string name,
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@ -50,7 +53,8 @@ public:
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glm::vec3 rotation,
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glm::vec3 scale,
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float angle,
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bool dynamic);
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bool dynamic,
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bool kinematic);
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Object(std::string name,
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std::shared_ptr<Model> modelParent,
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@ -60,7 +64,8 @@ public:
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glm::vec3 rotation,
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glm::vec3 scale,
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float angle,
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bool dynamic);
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bool dynamic,
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bool kinematic);
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glm::vec3 getScaleFromMatrix(glm::mat4 modelMatrix);
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glm::vec3 getPositionFromMatrix(glm::mat4 modelMatrix);
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@ -82,5 +87,6 @@ private:
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glm::vec3 scale;
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float angle;
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bool dynamic;
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bool kinematic;
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};
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181
src/main.cpp
181
src/main.cpp
@ -142,6 +142,7 @@ float cameraAngle = 0;
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glm::vec3 cameraPos = glm::vec3(-6, 0, 0);
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glm::vec3 cameraDir;
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glm::vec3 cameraSide;
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glm::vec3 cameraUp;
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glm::mat4 cameraMatrix, perspectiveMatrix;
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glm::vec3 sunPos = glm::vec3(10.0f, 0.0f, -5.0f);
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@ -154,6 +155,8 @@ physx::PxMaterial* material;
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std::vector<physx::PxRigidDynamic*> dynamicObjects;
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std::vector<physx::PxRigidStatic*> staticObjects;
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physx::PxRigidDynamic* getActor(std::string name);
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Object* findObject(std::string name);
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glm::mat4 shipRotationMatrix;
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//particlepart
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struct Particle {
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@ -227,7 +230,7 @@ void keyboard(unsigned char key, int x, int y)
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auto actor = getActor("Corvette");
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auto move = actor->getLinearVelocity();
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physx::PxVec3 dir = physx::PxVec3(cameraDir.x, cameraDir.y, cameraDir.z);
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glm::vec3 cross = glm::cross(cameraDir, glm::vec3(0, 0, 1));
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glm::vec3 cross = glm::cross(cameraDir, glm::vec3(0, 1, 0));
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physx::PxVec3 dirCross = physx::PxVec3(cross.x, cross.y, cross.z);
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float angleSpeed = 0.1f;
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@ -236,7 +239,8 @@ void keyboard(unsigned char key, int x, int y)
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{
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case 'q':
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{
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cameraAngle -= angleSpeed;
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//cameraAngle -= angleSpeed;
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actor->setAngularVelocity(PxVec3(0.f, -1.f, 0.f));
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lights[3].intensity = 0.05;
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engineLightTimer = 0;
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break;
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@ -244,7 +248,8 @@ void keyboard(unsigned char key, int x, int y)
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case 'e':
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{
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cameraAngle += angleSpeed;
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actor->setAngularVelocity(PxVec3(0.f, 1.f, 0.f));
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//cameraAngle += angleSpeed;
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lights[2].intensity = 0.05;
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engineLightTimer = 0;
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break;
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@ -269,7 +274,12 @@ void keyboard(unsigned char key, int x, int y)
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//cameraPos += glm::cross(cameraDir, glm::vec3(0, 0, 1)) * moveSpeed; break;
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case 'x': actor->setLinearVelocity(PxVec3(move.x, move.y - 3, move.z)); break;
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//cameraPos -= glm::cross(cameraDir, glm::vec3(0, 0, 1)) * moveSpeed; break;
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case ' ':actor->setLinearVelocity(PxVec3(0, 0, 0)); break;
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case ' ':
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{
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actor->setLinearVelocity(PxVec3(0, 0, 0));
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actor->setAngularVelocity(PxVec3(0, 0, 0));
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break;
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}
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case 27: glutDestroyWindow(winId); break;
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}
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}
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@ -351,12 +361,15 @@ void updateAsteroid()
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glm::mat4 createCameraMatrix()
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{
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cameraDir = glm::vec3(cosf(cameraAngle), 0.0f, sinf(cameraAngle));
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glm::vec3 up = glm::vec3(0, 1, 0);
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//cameraDir = glm::vec3(cosf(cameraAngle), 0.0f, sinf(cameraAngle));
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//glm::vec3 up = glm::vec3(0, 1, 0);
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cameraSide = glm::cross(cameraDir, up);
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cameraSide = glm::cross(cameraDir, cameraUp);
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Object* ship = findObject("Corvette");
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return Core::createViewMatrix(cameraPos, cameraDir, up);
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//return Core::createViewMatrix(cameraPos, cameraDir, up);
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return glm::lookAt(cameraPos, ship->getPositionFromMatrix(ship->GetMatrix()), cameraUp);
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}
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void drawAsteroids()
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@ -508,26 +521,6 @@ void drawBloom()
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renderQuad();
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}
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glm::mat4 drawPlanet(float time, glm::vec3 sunPos, glm::vec3 orbit, glm::vec3 translation, glm::vec3 scale)
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{
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glm::mat4 planetModelMatrix = glm::mat4(1.0f);
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planetModelMatrix = glm::translate(planetModelMatrix, sunPos);
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planetModelMatrix = glm::rotate(planetModelMatrix, time, orbit);
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planetModelMatrix = glm::translate(planetModelMatrix, translation);
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planetModelMatrix = glm::scale(planetModelMatrix, scale);
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return planetModelMatrix;
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}
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glm::mat4 drawMoon(glm::mat4 planetModelMatrix, float time, glm::vec3 orbit, glm::vec3 translation, glm::vec3 rotation, glm::vec3 scale)
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{
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glm::mat4 moonModelMatrix = glm::mat4(planetModelMatrix);
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moonModelMatrix = glm::rotate(moonModelMatrix, time, orbit);
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moonModelMatrix = glm::translate(moonModelMatrix, translation);
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moonModelMatrix = glm::rotate(moonModelMatrix, time, rotation);
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moonModelMatrix = glm::scale(moonModelMatrix, scale);
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return moonModelMatrix;
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}
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Object* findObject(std::string name)
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{
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for (int i = 0; i < objects.size(); i++)
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@ -555,42 +548,35 @@ void updateObjects()
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glm::mat4 shipModelMatrix = obj->GetMatrix();
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//glm::translate(cameraPos + cameraDir * 0.7f + glm::vec3(0, -0.25f, 0)) * glm::rotate(-cameraAngle + glm::radians(90.0f), glm::vec3(0, 1, 0)) * glm::scale(glm::vec3(0.0001f));
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//obj->modelM = shipModelMatrix;
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//glm::mat4 offset = glm::translate(shipModelMatrix, glm::vec3(0, 0, 1000));
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//cameraPos = glm::vec3(offset[3][0], offset[3][1], offset[3][2]);
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glm::mat4 offset = glm::translate(shipModelMatrix, glm::vec3(0, -2500, -8000));
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glm::mat4 cameraDirection = glm::translate(shipModelMatrix, glm::vec3(0, 0, 1000));
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glm::mat4 cameraUpwards = glm::translate(shipModelMatrix, glm::vec3(0, -1000, 0));
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cameraDir = glm::vec3(cameraDirection[3][0] - shipModelMatrix[3][0], cameraDirection[3][1] - shipModelMatrix[3][1], cameraDirection[3][2] - shipModelMatrix[3][2]);
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cameraPos = glm::vec3(offset[3][0], offset[3][1], offset[3][2]);
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cameraUp = glm::vec3(cameraUpwards[3][0] - shipModelMatrix[3][0], cameraUpwards[3][1] - shipModelMatrix[3][1], cameraUpwards[3][2] - shipModelMatrix[3][2]);
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glm::mat4 engineLeft = glm::translate(shipModelMatrix, glm::vec3(450, 0, -1500));
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lights[2].position = glm::vec3(engineLeft[3][0], engineLeft[3][1], engineLeft[3][2]);
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glm::mat4 engineRight = glm::translate(shipModelMatrix, glm::vec3(-450, 0, -1500));
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lights[3].position = glm::vec3(engineRight[3][0], engineRight[3][1], engineRight[3][2]);
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/*
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obj = findObject("Space Humster");
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glm::mat4 crewmateModelMatrix = glm::translate(glm::vec3(0, 1, 1)) * glm::rotate(lastTime / 10, glm::vec3(1, 0, 1)) * glm::scale(glm::vec3(0.01));
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obj->modelM = crewmateModelMatrix;
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obj->invModelM = glm::inverse(crewmateModelMatrix);
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*/
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//earth & moon
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//glm::mat4 earthModelMatrix = drawPlanet(lastTime / 5.0f, sunPos*glm::vec3(1.5f, 1, 1), glm::vec3(0.0f, 1.0f, 0.0f), glm::vec3(-10.5f, 0.0f, -10.5f), glm::vec3(0.5f, 0.5f, 0.5f));
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//glm::mat4 moonModelMatrix = drawMoon(earthModelMatrix, lastTime / 2.0f, glm::vec3(1.0f, 0.0f, 0.0f), glm::vec3(0, 2, 2), glm::vec3(1.5f, 1.0f, 1.0f), glm::vec3(0.3f, 0.3f, 0.3f));
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//earthModelMatrix = glm::rotate(earthModelMatrix, lastTime / 5.0f, glm::vec3(0.0f, 0.0f, 0.1f));
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Object *moon = findObject("Moon");
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Object *earth = findObject("Earth");
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//auto earthPos = glm::vec3(-10.5f, 0.0f, -10.5f);
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auto earthPos = earth->findOrbit(lastTime / 5.0f, sunPos, glm::vec3(0, 1, 0), glm::vec3(-10.5f, 0.0f, -10.5f));
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earth->SetPosition(earthPos);
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earth->SetRotation(glm::vec3(0, 0, 1), lastTime);
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auto actorEarth = getActor("Earth");
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actorEarth->setKinematicTarget(PxTransform(PxVec3(earthPos.x, earthPos.y, earthPos.z)));
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auto moonPos = moon->findOrbit(lastTime, earthPos, glm::vec3(1,0,0), glm::vec3(0, 1.5, 0));
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moon->SetPosition(moonPos);
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moon->SetRotation(glm::vec3(1, 0, 0), lastTime / 5.0f);
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auto actorMoon = getActor("Moon");
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actorMoon->setKinematicTarget(PxTransform(PxVec3(moonPos.x, moonPos.y, moonPos.z)));
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Object *mars = findObject("Mars");
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glm::mat4 marsModelMatrix = drawPlanet(lastTime / 5.0f, sunPos2, glm::vec3(0.0f, 1.0f, 0.0f), glm::vec3(-6.5f, 0.0f, -6.5f), glm::vec3(0.4f, 0.4f, 0.4f));
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marsModelMatrix = glm::rotate(marsModelMatrix, lastTime / 3.0f, glm::vec3(0.0f, 0.0f, 1.0f));
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Object *mars = findObject("Mars");
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auto marsPos = mars->findOrbit(lastTime / 5.0f, sunPos2, glm::vec3(0, 1, 0), glm::vec3(-6.5f, 0.0f, -6.5f));
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mars->SetPosition(marsPos);
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mars->SetRotation(glm::vec3(0, 0, 1), lastTime / 2.0f);
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@ -610,21 +596,33 @@ void updatePhysics()
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// of proper renderables.
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if (!actor->userData) continue;
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Object *obj = (Object*)actor->userData;
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if (obj->isKinematic() == true)
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continue;
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// get world matrix of the object (actor)
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PxMat44 transform = actor->getGlobalPose();
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auto &c0 = transform.column0;
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auto &c1 = transform.column1;
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auto &c2 = transform.column2;
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auto &c3 = transform.column3;
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PxTransform transform = actor->getGlobalPose();
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//auto &c0 = transform.column0;
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//auto &c1 = transform.column1;
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//auto &c2 = transform.column2;
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//auto &c3 = transform.column3;
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physx::PxVec3 pxPos = transform.p;
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glm::vec3 pos(pxPos.x, pxPos.y, pxPos.z);
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physx::PxQuat rot = transform.q;
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glm::quat rotQuat = glm::quat(rot.x, rot.y, rot.z, rot.w);
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glm::mat4 rotationMatrix = glm::toMat4(rotQuat);
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if (obj->GetName() == "Corvette")
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shipRotationMatrix = rotationMatrix;
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glm::vec3 scale = obj->GetScale();
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glm::mat4 model = glm::translate(pos)*rotationMatrix*glm::scale(scale);
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// set up the model matrix used for the rendering
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obj->GetMatrix() = glm::mat4(
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obj->SetMatrix(model);/* = glm::mat4(
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c0.x, c0.y, c0.z, c0.w,
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c1.x, c1.y, c1.z, c1.w,
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c2.x, c2.y, c2.z, c2.w,
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c3.x, c3.y, c3.z, c3.w);
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}
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*/ }
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}
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}
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@ -825,25 +823,54 @@ void initPhysics()
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{
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if (obj.isDynamic() == true)
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{
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glm::vec3 pos = obj.getPositionFromMatrix(obj.GetMatrix());
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dynamicObjects.emplace_back(pxScene.physics->createRigidDynamic(PxTransform(pos.x, pos.y, pos.z)));
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auto trans2 = transformMat(obj.GetMatrix());
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auto trans = PxTransform(trans2);
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dynamicObjects.back()->setGlobalPose(trans);
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dynamicObjects.back()->attachShape(*rectangleShape);
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dynamicObjects.back()->userData = &obj;
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dynamicObjects.back()->setLinearVelocity(physx::PxVec3(0, 0, 0));
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dynamicObjects.back()->setAngularVelocity(physx::PxVec3(0, 0, 0));
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pxScene.scene->addActor(*dynamicObjects.back());
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glm::vec3 pos = obj.GetPosition();
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glm::vec3 rot = obj.GetRotation();
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auto dynamicObj = pxScene.physics->createRigidDynamic(PxTransform(pos.x, pos.y, pos.z));
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physx::PxMat44 mat;
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mat.setPosition(PxVec3(pos.x, pos.y, pos.z));
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mat.rotate(PxVec3(rot.x, rot.y, rot.z));
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dynamicObj->setGlobalPose(PxTransform(mat));
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dynamicObj->attachShape(*rectangleShape);
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dynamicObj->userData = &obj;
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dynamicObj->setLinearVelocity(physx::PxVec3(0, 0, 0));
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dynamicObj->setAngularVelocity(physx::PxVec3(0, 0, 0));
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dynamicObj->setAngularDamping(1.0);
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dynamicObj->setLinearDamping(1.0);
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pxScene.scene->addActor(*dynamicObj);
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dynamicObjects.push_back(dynamicObj);
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}
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else
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{
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glm::vec3 pos = obj.getPositionFromMatrix(obj.GetMatrix());
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staticObjects.emplace_back(pxScene.physics->createRigidStatic(PxTransform(pos.x, pos.y, pos.z)));
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staticObjects.back()->setGlobalPose(PxTransform(transformMat(obj.GetMatrix())));
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staticObjects.back()->attachShape(*sphereShape);
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staticObjects.back()->userData = &obj;
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pxScene.scene->addActor(*staticObjects.back());
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if (obj.isKinematic() == true)
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{
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glm::vec3 pos = obj.GetPosition();
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glm::vec3 rot = obj.GetRotation();
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auto dynamicObj = pxScene.physics->createRigidDynamic(PxTransform(pos.x, pos.y, pos.z));
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dynamicObj->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, true);
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physx::PxMat44 mat;
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mat.setPosition(PxVec3(pos.x, pos.y, pos.z));
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mat.rotate(PxVec3(rot.x, rot.y, rot.z));
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dynamicObj->setGlobalPose(PxTransform(mat));
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dynamicObj->attachShape(*rectangleShape);
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dynamicObj->userData = &obj;
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dynamicObj->setLinearVelocity(physx::PxVec3(0, 0, 0));
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dynamicObj->setAngularVelocity(physx::PxVec3(0, 0, 0));
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dynamicObj->setAngularDamping(1.0);
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dynamicObj->setLinearDamping(1.0);
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pxScene.scene->addActor(*dynamicObj);
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dynamicObjects.push_back(dynamicObj);
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}
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else
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{
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glm::vec3 pos = obj.getPositionFromMatrix(obj.GetMatrix());
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staticObjects.emplace_back(pxScene.physics->createRigidStatic(PxTransform(pos.x, pos.y, pos.z)));
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staticObjects.back()->setGlobalPose(PxTransform(transformMat(obj.GetMatrix())));
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staticObjects.back()->attachShape(*sphereShape);
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staticObjects.back()->userData = &obj;
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pxScene.scene->addActor(*staticObjects.back());
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}
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}
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}
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sphereShape->release();
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@ -972,32 +999,32 @@ void initBloom()
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void initObjects()
|
||||
{
|
||||
Object obj = Object("BigSun", sphere, sunTexture, programSun, glm::vec3(3.5f, 3.8f, 3.8f),
|
||||
sunPos, glm::vec3(0.1f), glm::vec3(3.0f, 3.0f, 3.0f), 0.0f, false);
|
||||
sunPos, glm::vec3(0.1f), glm::vec3(3.0f, 3.0f, 3.0f), 0.0f, false, false);
|
||||
objects.push_back(obj);
|
||||
|
||||
obj = Object("SmollSun", sphere, sunTexture, programSun, glm::vec3(0.9f, 0.9f, 2.0f),
|
||||
sunPos2, glm::vec3(0.1f), glm::vec3(1), 0, false);
|
||||
sunPos2, glm::vec3(0.1f), glm::vec3(1), 0, false, false);
|
||||
objects.push_back(obj);
|
||||
|
||||
Object planet = Object("Earth", sphere, earthTexture, programTex, glm::vec3(1.0f),
|
||||
glm::vec3(-10.5f, 0.0f, -10.5f), glm::vec3(0.0f, 0.0f, 0.1f), glm::vec3(0.5f, 0.5f, 0.5f), 0, false);
|
||||
glm::vec3(-10.5f, 0.0f, -10.5f), glm::vec3(0.0f, 0.0f, 0.1f), glm::vec3(0.5f, 0.5f, 0.5f), 0, false, true);
|
||||
objects.push_back(planet);
|
||||
|
||||
planet = Object("Mars", sphere, marsTexture, programTex, glm::vec3(1.0f),
|
||||
glm::vec3(-6.5f, 0.0f, -6.5f), glm::vec3(0.0f, 0.0f, 1.0f), glm::vec3(0.4f), 0, false);
|
||||
glm::vec3(-6.5f, 0.0f, -6.5f), glm::vec3(0.0f, 0.0f, 1.0f), glm::vec3(0.4f), 0, false, true);
|
||||
objects.push_back(planet);
|
||||
|
||||
Object moon = Object("Moon", sphere, moonTexture, programTex, glm::vec3(1.0f),
|
||||
glm::vec3(0, 2, 2), glm::vec3(1.5f, 1.0f, 1.0f), glm::vec3(0.3f, 0.3f, 0.3f), 0, false);
|
||||
glm::vec3(0, 2, 2), glm::vec3(1.5f, 1.0f, 1.0f), glm::vec3(0.3f, 0.3f, 0.3f), 0, false, true);
|
||||
objects.push_back(moon);
|
||||
|
||||
Object crewmateObj = Object("Space Humster", crewmate, programNormal, glm::vec3(1.0f),
|
||||
glm::vec3(0, 1, 1), glm::vec3(1, 0, 1), glm::vec3(0.01), 0, true);
|
||||
glm::vec3(-5, 0, 0), glm::vec3(1, 0, 1), glm::vec3(0.01), 0, true, false);
|
||||
objects.push_back(crewmateObj);
|
||||
|
||||
//glm::mat4 shipModelMatrix = glm::translate(cameraPos + cameraDir * 0.7f + glm::vec3(0, -0.25f, 0)) * glm::rotate(-cameraAngle + glm::radians(90.0f), glm::vec3(0, 1, 0)) * glm::scale(glm::vec3(0.0001f));;
|
||||
Object ship = Object("Corvette", corvette, programNormal, glm::vec3(1.0f),
|
||||
cameraPos+glm::vec3(0.6,-0.3,0), glm::vec3(0, 1, 0), glm::vec3(0.0001f), 75, true);
|
||||
cameraPos+glm::vec3(-10,-0.3,0), glm::vec3(0, 1, 0), glm::vec3(0.0001f), 75, true, false);
|
||||
objects.push_back(ship);
|
||||
}
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user