Joint2D development

supernovaengine · Aug 21, 2023 · c0de374 · c0de374
1 parent 7caa1d7
commit c0de374
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Showing 5 changed files with 73 additions and 24 deletions.
diff --git a/engine/core/component/Joint2DComponent.h b/engine/core/component/Joint2DComponent.h
@@ -3,33 +3,34 @@
 
 #include "Supernova.h"
 
+class b2JointDef;
 class b2Joint;
 
 namespace Supernova{
 
     enum class Joint2DType{
         DISTANCE,
-        REVOLUTE
+        REVOLUTE,
+        PRISMATIC,
+        PULLEY,
+        GEAR,
+        MOUSE,
+        WHEEL,
+        WELD,
+        ROPE,
+        FRICTION,
+        MOTOR
     };
 
     struct Joint2DComponent{
+        b2JointDef* jointDef = NULL;
         b2Joint* joint = NULL;
 
         Entity bodyA;
         Entity bodyB;
         Joint2DType type = Joint2DType::DISTANCE;
         bool collideConnected = false;
 
-		Vector2 localAnchorA = Vector2(0.0f, 0.0f);
-		Vector2 localAnchorB = Vector2(0.0f, 0.0f);
-		float referenceAngle = 0.0f;
-		float lowerAngle = 0.0f;
-		float upperAngle = 0.0f;
-		float maxMotorTorque = 0.0f;
-		float motorSpeed = 0.0f;
-		float enableLimit = false;
-		float enableMotor = false;
-
         bool needUpdate = true;
     };
 

diff --git a/engine/core/object/physics/Joint2D.cpp b/engine/core/object/physics/Joint2D.cpp
@@ -4,11 +4,16 @@
 
 #include "Joint2D.h"
 
+#include "Scene.h"
 #include "subsystem/PhysicsSystem.h"
-#include "component/Body2DComponent.h"
+#include "component/Joint2DComponent.h"
 
 using namespace Supernova;
 
+Joint2D::Joint2D(Scene* scene): EntityHandle(scene){
+    addComponent<Joint2DComponent>({});
+}
+
 Joint2D::Joint2D(Scene* scene, Entity entity): EntityHandle(scene, entity){
 
 }
@@ -24,4 +29,8 @@ Joint2D::Joint2D(const Joint2D& rhs): EntityHandle(rhs){
 Joint2D& Joint2D::operator=(const Joint2D& rhs){
 
     return *this;
+}
+
+void Joint2D::initDistanceJoint(Entity bodyA, Entity bodyB, Vector2 worldAnchorOnBodyA, Vector2 worldAnchorOnBodyB){
+    scene->getSystem<PhysicsSystem>()->getBody(1);
 }
diff --git a/engine/core/object/physics/Joint2D.h b/engine/core/object/physics/Joint2D.h
@@ -11,12 +11,15 @@ namespace Supernova{
 
     class Joint2D: public EntityHandle{
     public:
+        Joint2D(Scene* scene);
         Joint2D(Scene* scene, Entity entity);
         virtual ~Joint2D();
 
         Joint2D(const Joint2D& rhs);
         Joint2D& operator=(const Joint2D& rhs);
 
+        void initDistanceJoint(Entity bodyA, Entity bodyB, Vector2 worldAnchorOnBodyA, Vector2 worldAnchorOnBodyB);
+
     };
 }
 

diff --git a/engine/core/subsystem/PhysicsSystem.cpp b/engine/core/subsystem/PhysicsSystem.cpp
@@ -157,15 +157,19 @@ void PhysicsSystem::destroyBody2D(Body2DComponent& body){
 
 bool PhysicsSystem::loadJoint2D(Joint2DComponent& joint){
     if (world2D && !joint.joint){
-        b2JointDef jointDef;
-        jointDef.bodyA = getBody(joint.bodyA);
-        jointDef.bodyB = getBody(joint.bodyB);
-        jointDef.collideConnected = joint.collideConnected;
-        jointDef.type = getJointType(joint.type);
+        if (!joint.jointDef){
+            joint.jointDef = new b2JointDef();
+        }
+        joint.jointDef->bodyA = getBody(joint.bodyA);
+        joint.jointDef->bodyB = getBody(joint.bodyB);
+        joint.jointDef->collideConnected = joint.collideConnected;
+        joint.jointDef->type = getJointType(joint.type);
 
         joint.needUpdate = false;
 
-        joint.joint = world2D->CreateJoint(&jointDef);
+        joint.joint = world2D->CreateJoint(joint.jointDef);
+
+        delete joint.jointDef;
 
         return true;
     }
@@ -179,8 +183,38 @@ void PhysicsSystem::destroyJoint2D(Joint2DComponent& joint){
 
         joint.joint = NULL;
     }
+
+    if (joint.jointDef){
+        delete joint.jointDef;
+    }
 }
 
+void PhysicsSystem::initDistanceJoint(Entity entity, Entity bodyA, Entity bodyB, Vector2 worldAnchorOnBodyA, Vector2 worldAnchorOnBodyB){
+    Joint2DComponent joint = scene->getComponent<Joint2DComponent>(entity);
+
+    if (joint.jointDef){
+        delete joint.jointDef;
+    }
+
+    joint.jointDef = new b2DistanceJointDef();
+
+    Signature signatureA = scene->getSignature(bodyA);
+    Signature signatureB = scene->getSignature(bodyB);
+
+    if (signatureA.test(scene->getComponentType<Body2DComponent>()) && signatureB.test(scene->getComponentType<Body2DComponent>())){
+        Body2DComponent myBodyA = scene->getComponent<Body2DComponent>(bodyA);
+        Body2DComponent myBodyB = scene->getComponent<Body2DComponent>(bodyB);
+
+        b2Vec2 anchorA(worldAnchorOnBodyA.x, worldAnchorOnBodyA.y);
+        b2Vec2 anchorb(worldAnchorOnBodyB.x, worldAnchorOnBodyB.y);
+
+        ((b2DistanceJointDef*)joint.jointDef)->Initialize(myBodyA.body, myBodyB.body, anchorA, anchorb);
+    }else{
+        Log::error("Cannot create joint, error in bodyA or bodyB");
+    }
+
+    //joint.joint
+}
 
 void PhysicsSystem::load(){
     if (!world2D){
@@ -255,16 +289,13 @@ void PhysicsSystem::update(double dt){
 		Entity entity = joints2d->getEntity(i);
 		Signature signature = scene->getSignature(entity);
 
-        loadJoint2D(joint);
-
         if (joint.needUpdate){
-            if (joint.type == Joint2DType::DISTANCE){
-                b2DistanceJoint* distJoint = (b2DistanceJoint*)joint.joint;
-                //distJoint.se
-            }
+            destroyJoint2D(joint);
 
             joint.needUpdate = false;
         }
+
+        loadJoint2D(joint);
     }
 
     if (bodies2d->size() > 0){
@@ -317,4 +348,7 @@ void PhysicsSystem::entityDestroyed(Entity entity){
     if (signature.test(scene->getComponentType<Body2DComponent>())){
         destroyBody2D(scene->getComponent<Body2DComponent>(entity));
     }
+    if (signature.test(scene->getComponentType<Joint2DComponent>())){
+        destroyJoint2D(scene->getComponent<Joint2DComponent>(entity));
+    }
 }
diff --git a/engine/core/subsystem/PhysicsSystem.h b/engine/core/subsystem/PhysicsSystem.h
@@ -36,6 +36,8 @@ namespace Supernova{
 		bool loadJoint2D(Joint2DComponent& joint);
 		void destroyJoint2D(Joint2DComponent& joint);
 
+        void initDistanceJoint(Entity entity, Entity bodyA, Entity bodyB, Vector2 worldAnchorOnBodyA, Vector2 worldAnchorOnBodyB);
+
 		virtual void load();
 		virtual void destroy();
 		virtual void update(double dt);