commit 2d3c7fabe6365c0454266fae23b68fc0632043da
parent e70b07560de2dc0c8ab9f4ea3981341b4d24f008
Author: kel <distransient@protonmail.com>
Date: Thu, 27 Dec 2018 18:15:25 -0500
Refactor enum out of dynamicbody
Diffstat:
3 files changed, 102 insertions(+), 145 deletions(-)
diff --git a/src/bodies.rs b/src/bodies.rs
@@ -1,15 +1,24 @@
-use amethyst::ecs::world::Index;
use amethyst::ecs::{Component, FlaggedStorage};
use nalgebra::Matrix3;
use nphysics3d::math::{Force, Point, Velocity};
use nphysics3d::object::BodyHandle;
-use std::collections::HashMap;
-/// Physics body component for describing (currently) rigid body dynamics.
-#[derive(Serialize, Deserialize, Debug, Clone, Copy)]
-pub enum DynamicBody {
- RigidBody(RigidPhysicsBody),
- Multibody(PhysicsMultibody),
+/// Rigid physics body, for use in `PhysicsBody` Component.
+/// Currently only the velocity is read and updated at runtime.
+/// The properties of mass are only written at physics body creation time.
+#[derive(Serialize, Deserialize, Clone, Copy, Debug, new)]
+pub struct DynamicBody {
+ #[serde(skip)]
+ #[new(default)]
+ pub(crate) handle: Option<BodyHandle>,
+ pub velocity: Velocity<f32>,
+
+ // TODO: update these in the physics system below.
+ pub mass: f32,
+ pub angular_mass: Matrix3<f32>,
+ pub center_of_mass: Point<f32>,
+
+ pub external_forces: Force<f32>,
}
impl DynamicBody {
@@ -18,12 +27,14 @@ impl DynamicBody {
angular_mass: Matrix3<f32>,
center_of_mass: Point<f32>,
) -> Self {
- DynamicBody::new_rigidbody_with_velocity(
- Velocity::<f32>::zero(),
+ DynamicBody {
+ handle: None,
+ velocity: Velocity::<f32>::zero(),
mass,
angular_mass,
center_of_mass,
- )
+ external_forces: Force::<f32>::zero(),
+ }
}
pub fn new_rigidbody_with_velocity(
@@ -32,51 +43,21 @@ impl DynamicBody {
angular_mass: Matrix3<f32>,
center_of_mass: Point<f32>,
) -> Self {
- DynamicBody::RigidBody(RigidPhysicsBody {
+ DynamicBody {
handle: None,
velocity,
mass,
angular_mass,
center_of_mass,
external_forces: Force::<f32>::zero(),
- })
+ }
}
pub fn handle(&self) -> Option<BodyHandle> {
- match self {
- DynamicBody::RigidBody(x) => x.handle,
- DynamicBody::Multibody(x) => x.handle,
- }
+ self.handle
}
}
impl Component for DynamicBody {
type Storage = FlaggedStorage<Self>;
}
-
-/// Rigid physics body, for use in `PhysicsBody` Component.
-/// Currently only the velocity is read and updated at runtime.
-/// The properties of mass are only written at physics body creation time.
-#[derive(Serialize, Deserialize, Clone, Copy, Debug, new)]
-pub struct RigidPhysicsBody {
- #[serde(skip)]
- #[new(default)]
- pub(crate) handle: Option<BodyHandle>,
- pub velocity: Velocity<f32>,
-
- // TODO: update these in the physics system below.
- pub mass: f32,
- pub angular_mass: Matrix3<f32>,
- pub center_of_mass: Point<f32>,
-
- pub external_forces: Force<f32>,
-}
-
-/// Multipart physics body, for use in `PhysicsBody` Component. Not implemented yet.
-#[derive(Serialize, Deserialize, Clone, Copy, Debug)]
-pub struct PhysicsMultibody {
- #[serde(skip)]
- pub handle: Option<BodyHandle>,
-}
-
-pub type DynamicsBodyRelations = HashMap<Index, BodyHandle>;
diff --git a/src/systems/sync_bodies_from_physics.rs b/src/systems/sync_bodies_from_physics.rs
@@ -59,74 +59,63 @@ impl<'a> System<'a> for SyncBodiesFromPhysicsSystem {
.join()
{
if let Some(updated_body_handle) = body.handle() {
- let updated_body = physical_world.body(updated_body_handle);
+ if let Some(updated_body) = physical_world.rigid_body(updated_body_handle) {
+ if !updated_body.is_active() || updated_body.is_static() {
+ trace!(
+ "Skipping synchronizing data from non-dynamic body: {:?}",
+ updated_body.handle()
+ );
+ continue;
+ }
- if updated_body.is_ground() || !updated_body.is_active() || updated_body.is_static()
- {
trace!(
- "Skipping synchronizing data from non-dynamic body: {:?}",
+ "Synchronizing RigidBody from handle: {:?}",
updated_body.handle()
);
- continue;
- }
- match (body, updated_body) {
- (
- DynamicBody::RigidBody(ref mut rigid_body),
- Body::RigidBody(ref updated_rigid_body),
- ) => {
- trace!(
- "Synchronizing RigidBody from handle: {:?}",
- updated_rigid_body.handle()
- );
+ trace!(
+ "Synchronized RigidBody's updated position: {:?}",
+ updated_body.position()
+ );
- trace!(
- "Synchronized RigidBody's updated position: {:?}",
- updated_rigid_body.position()
+ global_transform.0 = updated_body
+ .position()
+ .to_homogeneous()
+ .prepend_nonuniform_scaling(
+ &local_transform
+ .as_ref()
+ .map(|tr| tr.scale().clone())
+ .unwrap_or(Vector3::new(1.0, 1.0, 1.0)),
);
- global_transform.0 = updated_rigid_body
- .position()
- .to_homogeneous()
- .prepend_nonuniform_scaling(
- &local_transform
- .as_ref()
- .map(|tr| *tr.scale())
- .unwrap_or_else(|| Vector3::new(1.0, 1.0, 1.0)),
- );
-
- if let Some(ref mut local_transform) = local_transform {
- *local_transform.isometry_mut() = updated_rigid_body.position();
- }
+ if let Some(ref mut local_transform) = local_transform {
+ *local_transform.isometry_mut() = updated_body.position().clone();
+ }
- trace!(
- "Synchronized RigidBody's updated velocity: {:?}",
- updated_rigid_body.velocity()
- );
- rigid_body.velocity = *updated_rigid_body.velocity();
+ trace!(
+ "Synchronized RigidBody's updated velocity: {:?}",
+ updated_body.velocity()
+ );
+ body.velocity = *updated_body.velocity();
- trace!(
- "Synchronized RigidBody's updated inertia: {:?}",
- updated_rigid_body.inertia()
- );
- let inertia = updated_rigid_body.inertia();
- rigid_body.mass = inertia.linear;
- rigid_body.angular_mass = inertia.angular;
+ trace!(
+ "Synchronized RigidBody's updated inertia: {:?}",
+ updated_body.inertia()
+ );
+ let inertia = updated_body.inertia();
+ body.mass = inertia.linear;
+ body.angular_mass = inertia.angular;
- trace!(
- "Synchronized RigidBody's updated center of mass: {:?}",
- updated_rigid_body.center_of_mass()
- );
- rigid_body.center_of_mass = updated_rigid_body.center_of_mass();
- }
- (DynamicBody::Multibody(_multibody), Body::Multibody(_updated_multibody)) => {
- error!("Multibody found; not implemented currently, sorry!")
- }
- // TODO: Add data to unexpected pair message. Not straightforward.
- _ => error!("Unexpected dynamics body pair!"),
- };
+ trace!(
+ "Synchronized RigidBody's updated center of mass: {:?}",
+ updated_body.center_of_mass()
+ );
+ body.center_of_mass = updated_body.center_of_mass();
+ } else {
+ error!("Found body without pair in physics world!");
+ }
} else {
- warn!("Found body in physics world not registered in the ECS world!");
+ error!("Found body without handle!");
}
}
diff --git a/src/systems/sync_bodies_to_physics.rs b/src/systems/sync_bodies_to_physics.rs
@@ -78,60 +78,47 @@ impl<'a> System<'a> for SyncBodiesToPhysicsSystem {
if inserted_transforms.contains(id) || inserted_physics_bodies.contains(id) {
trace!("Detected inserted dynamics body with id {}", id);
- match body {
- DynamicBody::RigidBody(ref mut rigid_body) => {
- // Just inserted. Remove old one and insert new.
- if let Some(handle) = rigid_body.handle {
- if physical_world.rigid_body(handle).is_some() {
- trace!("Removing body marked as inserted that already exists with handle: {:?}", handle);
- physical_world.remove_bodies(&[handle]);
- }
- }
+ // Just inserted. Remove old one and insert new.
+ if let Some(handle) = body.handle {
+ if physical_world.rigid_body(handle).is_some() {
+ trace!("Removing body marked as inserted that already exists with handle: {:?}", handle);
+ physical_world.remove_bodies(&[handle]);
+ }
+ }
- rigid_body.handle = Some(physical_world.add_rigid_body(
- try_convert(transform.0).unwrap(),
- Inertia::new(rigid_body.mass, rigid_body.angular_mass),
- rigid_body.center_of_mass,
- ));
+ body.handle = Some(physical_world.add_rigid_body(
+ try_convert(transform.0).unwrap(),
+ Inertia::new(body.mass, body.angular_mass),
+ body.center_of_mass,
+ ));
- trace!("Inserted rigid body to world with values: {:?}", rigid_body);
+ trace!("Inserted rigid body to world with values: {:?}", body);
- let physical_body = physical_world
- .rigid_body_mut(rigid_body.handle.unwrap())
- .unwrap();
+ let physical_body = physical_world.rigid_body_mut(body.handle.unwrap()).unwrap();
- physical_body.set_velocity(rigid_body.velocity);
- physical_body.apply_force(&rigid_body.external_forces);
- rigid_body.external_forces = Force::<f32>::zero();
+ physical_body.set_velocity(body.velocity);
+ physical_body.apply_force(&body.external_forces);
+ body.external_forces = Force::<f32>::zero();
- trace!("Velocity and external forces applied, external forces reset to zero, for body with handle: {:?}", rigid_body.handle);
- }
- DynamicBody::Multibody(_) => {
- // TODO
- error!("Multibody found; not implemented currently, sorry!")
- }
- }
+ trace!("Velocity and external forces applied, external forces reset to zero, for body with handle: {:?}", body.handle);
} else if modified_transforms.contains(id) || modified_physics_bodies.contains(id) {
trace!("Detected changed dynamics body with id {}", id);
- match body {
- DynamicBody::RigidBody(ref mut rigid_body) => {
- if let Some(physical_body) = physical_world.rigid_body_mut(rigid_body.handle.unwrap()) {
- let position: Isometry<f32> = try_convert(transform.0).unwrap();
- trace!(
- "Updating rigid body in physics world with isometry: {}",
- position
- );
- physical_body.set_position(position);
- physical_body.set_velocity(rigid_body.velocity);
- physical_body.apply_force(&rigid_body.external_forces);
-
- // if you changed the mass properties at all... too bad!
- }
- }
- DynamicBody::Multibody(_) => {
- // TODO
- error!("Multibody found; not implemented currently, sorry!")
+ match physical_world.rigid_body_mut(body.handle.unwrap()) {
+ Some(physical_body) => {
+ let position: Isometry<f32> = try_convert(transform.0).unwrap();
+ trace!(
+ "Updating rigid body in physics world with isometry: {}",
+ position
+ );
+ physical_body.set_position(position);
+
+ physical_body.set_velocity(body.velocity);
+ physical_body.apply_force(&body.external_forces);
+ body.external_forces = Force::<f32>::zero();
+
+ // if you changed the mass properties at all... too bad!
}
+ None => {}
}
}
}
