Added more joint types

supernovaengine · Aug 28, 2023 · eb223b2 · eb223b2
1 parent aebb4f9
commit eb223b2
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Showing 4 changed files with 128 additions and 27 deletions.
diff --git a/engine/core/component/Joint2DComponent.h b/engine/core/component/Joint2DComponent.h
@@ -30,8 +30,14 @@ namespace Supernova{
         Joint2DType type = Joint2DType::DISTANCE;
         bool collideConnected = false;
 
-        Vector2 worldAnchorOnBodyA;
-        Vector2 worldAnchorOnBodyB;
+        Vector2 anchorA;
+        Vector2 anchorB;
+        Vector2 axis;
+        Vector2 groundAnchorA;
+        Vector2 groundAnchorB;
+        float ratio = 0;
+        Entity joint1 = NULL_ENTITY;
+        Entity joint2 = NULL_ENTITY;
 
         bool needUpdate = true;
     };

diff --git a/engine/core/object/physics/Joint2D.cpp b/engine/core/object/physics/Joint2D.cpp
@@ -38,6 +38,65 @@ void Joint2D::setDistanceJoint(Entity bodyA, Entity bodyB, Vector2 worldAnchorOn
 
     joint.bodyA = bodyA;
     joint.bodyB = bodyB;
-    joint.worldAnchorOnBodyA = worldAnchorOnBodyA;
-    joint.worldAnchorOnBodyB = worldAnchorOnBodyB;
+    joint.anchorA = worldAnchorOnBodyA;
+    joint.anchorB = worldAnchorOnBodyB;
+
+    joint.needUpdate = true;
+}
+
+void Joint2D::setRevoluteJoint(Entity bodyA, Entity bodyB, Vector2 worldAnchor){
+    Joint2DComponent& joint = getComponent<Joint2DComponent>();
+
+    joint.type = Joint2DType::REVOLUTE;
+
+    joint.bodyA = bodyA;
+    joint.bodyB = bodyB;
+    joint.anchorA = worldAnchor;
+    joint.anchorB = worldAnchor;
+
+    joint.needUpdate = true;
+}
+
+void Joint2D::setPrismaticJoint(Entity bodyA, Entity bodyB, Vector2 worldAnchor, Vector2 worldAxis){
+    Joint2DComponent& joint = getComponent<Joint2DComponent>();
+
+    joint.type = Joint2DType::PRISMATIC;
+
+    joint.bodyA = bodyA;
+    joint.bodyB = bodyB;
+    joint.anchorA = worldAnchor;
+    joint.anchorB = worldAnchor;
+    joint.axis = worldAxis;
+
+    joint.needUpdate = true;
+}
+
+void Joint2D::setPulleyJoint(Entity bodyA, Entity bodyB, Vector2 groundAnchorA, Vector2 groundAnchorB, Vector2 worldAnchorOnBodyA, Vector2 worldAnchorOnBodyB, Vector2 worldAxis, float ratio){
+    Joint2DComponent& joint = getComponent<Joint2DComponent>();
+
+    joint.type = Joint2DType::PULLEY;
+
+    joint.bodyA = bodyA;
+    joint.bodyB = bodyB;
+    joint.groundAnchorA = groundAnchorA;
+    joint.groundAnchorB = groundAnchorB;
+    joint.anchorA = worldAnchorOnBodyA;
+    joint.anchorB = worldAnchorOnBodyB;
+    joint.ratio = ratio;
+
+    joint.needUpdate = true;
+}
+
+void Joint2D::setGearJoint(Entity bodyA, Entity bodyB, Entity revoluteJoint, Entity prismaticJoint, float ratio){
+    Joint2DComponent& joint = getComponent<Joint2DComponent>();
+
+    joint.type = Joint2DType::PULLEY;
+
+    joint.bodyA = bodyA;
+    joint.bodyB = bodyB;
+    joint.joint1 = revoluteJoint;
+    joint.joint2 = prismaticJoint;
+    joint.ratio = ratio;
+
+    joint.needUpdate = true;
 }
diff --git a/engine/core/object/physics/Joint2D.h b/engine/core/object/physics/Joint2D.h
@@ -19,7 +19,10 @@ namespace Supernova{
         Joint2D& operator=(const Joint2D& rhs);
 
         void setDistanceJoint(Entity bodyA, Entity bodyB, Vector2 worldAnchorOnBodyA, Vector2 worldAnchorOnBodyB);
-
+        void setRevoluteJoint(Entity bodyA, Entity bodyB, Vector2 worldAnchor);
+        void setPrismaticJoint(Entity bodyA, Entity bodyB, Vector2 worldAnchor, Vector2 worldAxis);
+        void setPulleyJoint(Entity bodyA, Entity bodyB, Vector2 groundAnchorA, Vector2 groundAnchorB, Vector2 worldAnchorOnBodyA, Vector2 worldAnchorOnBodyB, Vector2 worldAxis, float ratio);
+        void setGearJoint(Entity bodyA, Entity bodyB, Entity revoluteJoint, Entity prismaticJoint, float ratio);
     };
 }
 

diff --git a/engine/core/subsystem/PhysicsSystem.cpp b/engine/core/subsystem/PhysicsSystem.cpp
@@ -23,16 +23,6 @@ b2BodyType getBodyType(Body2DType type){
     return b2_staticBody;
 }
 
-b2JointType getJointType(Joint2DType type){
-    if (type == Joint2DType::DISTANCE){
-        return e_distanceJoint;
-    }else if (type == Joint2DType::REVOLUTE){
-        return e_revoluteJoint;
-    }
-
-    return e_unknownJoint;
-}
-
 
 PhysicsSystem::PhysicsSystem(Scene* scene): SubSystem(scene){
 	signature.set(scene->getComponentType<Body2DComponent>());
@@ -174,29 +164,72 @@ bool PhysicsSystem::loadJoint2D(Joint2DComponent& joint){
         Signature signatureB = scene->getSignature(joint.bodyB);
 
         if (signatureA.test(scene->getComponentType<Body2DComponent>()) && signatureB.test(scene->getComponentType<Body2DComponent>())){
-            b2JointDef* jointDef;
+            b2JointDef* jointDef = NULL;
 
             Body2DComponent myBodyA = scene->getComponent<Body2DComponent>(joint.bodyA);
             Body2DComponent myBodyB = scene->getComponent<Body2DComponent>(joint.bodyB);
 
             if (joint.type == Joint2DType::DISTANCE){
-                b2Vec2 anchorA(joint.worldAnchorOnBodyA.x / pointsToMeterScale, joint.worldAnchorOnBodyA.y / pointsToMeterScale);
-                b2Vec2 anchorb(joint.worldAnchorOnBodyB.x / pointsToMeterScale, joint.worldAnchorOnBodyB.y / pointsToMeterScale);
+                b2Vec2 anchorA(joint.anchorA.x / pointsToMeterScale, joint.anchorA.y / pointsToMeterScale);
+                b2Vec2 anchorB(joint.anchorB.x / pointsToMeterScale, joint.anchorB.y / pointsToMeterScale);
 
                 jointDef = new b2DistanceJointDef();
-                ((b2DistanceJointDef*)jointDef)->Initialize(myBodyA.body, myBodyB.body, anchorA, anchorb);
-            }
-
-            jointDef->collideConnected = joint.collideConnected;
-            jointDef->type = getJointType(joint.type);
+                ((b2DistanceJointDef*)jointDef)->Initialize(myBodyA.body, myBodyB.body, anchorA, anchorB);
+            }else if(joint.type == Joint2DType::REVOLUTE){
+                b2Vec2 anchor(joint.anchorA.x / pointsToMeterScale, joint.anchorA.y / pointsToMeterScale);
+
+                jointDef = new b2RevoluteJointDef();
+                ((b2RevoluteJointDef*)jointDef)->Initialize(myBodyA.body, myBodyB.body, anchor);
+            }else if(joint.type == Joint2DType::PRISMATIC){
+                b2Vec2 anchor(joint.anchorA.x / pointsToMeterScale, joint.anchorA.y / pointsToMeterScale);
+                b2Vec2 axis(joint.axis.x, joint.axis.y);
+
+                jointDef = new b2PrismaticJointDef();
+                ((b2PrismaticJointDef*)jointDef)->Initialize(myBodyA.body, myBodyB.body, anchor, axis);
+            }else if(joint.type == Joint2DType::PULLEY){
+                b2Vec2 anchorA(joint.anchorA.x / pointsToMeterScale, joint.anchorA.y / pointsToMeterScale);
+                b2Vec2 anchorB(joint.anchorB.x / pointsToMeterScale, joint.anchorB.y / pointsToMeterScale);
+                b2Vec2 groundA(joint.groundAnchorA.x / pointsToMeterScale, joint.groundAnchorA.y / pointsToMeterScale);
+                b2Vec2 groundB(joint.groundAnchorB.x / pointsToMeterScale, joint.groundAnchorB.y / pointsToMeterScale);
+
+                jointDef = new b2PulleyJointDef();
+                ((b2PulleyJointDef*)jointDef)->Initialize(myBodyA.body, myBodyB.body, groundA, groundB, anchorA, anchorB, joint.ratio);
+            }else if(joint.type == Joint2DType::GEAR){
+
+                Signature signatureJ1 = scene->getSignature(joint.joint1);
+                Signature signatureJ2 = scene->getSignature(joint.joint2);
+
+                if (signatureJ1.test(scene->getComponentType<Joint2DComponent>()) && signatureJ2.test(scene->getComponentType<Joint2DComponent>())){
+                    Joint2DComponent myJoint1 = scene->getComponent<Joint2DComponent>(joint.joint1);
+                    Joint2DComponent myJoint2 = scene->getComponent<Joint2DComponent>(joint.joint2);
+
+                    if (myJoint1.joint && myJoint2.joint){
+                        jointDef = new b2GearJointDef();
+                        ((b2GearJointDef*)jointDef)->joint1 = myJoint1.joint;
+                        ((b2GearJointDef*)jointDef)->joint2 = myJoint2.joint;
+                        ((b2GearJointDef*)jointDef)->bodyA = myBodyA.body;
+                        ((b2GearJointDef*)jointDef)->bodyB = myBodyB.body;
+                        ((b2GearJointDef*)jointDef)->ratio = joint.ratio;
+                    }else{
+                        Log::error("Cannot create joint, joint1 or joint2 not created");
+                    }
+                }else{
+                    Log::error("Cannot create joint, error in joint1 or joint2");
+                }
 
-            joint.needUpdate = false;
+            }
+            if (jointDef){
+                jointDef->collideConnected = joint.collideConnected;
+                joint.joint = world2D->CreateJoint(jointDef);
 
-            joint.joint = world2D->CreateJoint(jointDef);
+                joint.needUpdate = false;
 
-            delete jointDef;
+                delete jointDef;
 
-            return true;
+                return true;
+            }else{
+                Log::error("Cannot create joint");
+            }
         }else{
             Log::error("Cannot create joint, error in bodyA or bodyB");
         }