Get collision shapes from collider components

examples/dev_testing/src/main.cpp

@@ -1,4 +1,5 @@
 #include "simpleengine/camera.h"
+#include "simpleengine/ecs/component/box_collision_component.h"
 #include "simpleengine/ecs/component/mesh_component.h"
 #include "simpleengine/ecs/component/rigid_body_component.h"
 #include "simpleengine/ecs/component/transform_component.h"
@@ -11,6 +12,7 @@
 #include "simpleengine/gfx/renderer.h"
 #include "simpleengine/gfx/texture.h"
 #include "simpleengine/vector.h"
+#include <semaphore.h>
 #include <simpleengine/ecs/component/model_component.h>
 #include <simpleengine/ecs/component/rotating_component.h>
 #include <simpleengine/event/event.h>
@@ -152,25 +154,17 @@ int main(int argc, char *argv[]) {
     auto &transform_comp = entity.add_component<se::TransformComponent>();
     transform_comp.translate(4.f, 0.f, 0.f); */
 
-    //brick_e.add_component<se::RotatingComponent>();
-
     se::ecs::Entity brick_e = scene->create_entity();
     brick_e.add_component<se::ecs::ModelComponent>("examples/dev_testing/resources/bricks/bricks.fbx");
-    auto& brick_transf = brick_e.add_component<se::ecs::TransformComponent>(glm::vec3(6.f, 6.f, 0.f));
-
-    btCollisionShape* brick_shape = new btBoxShape(btVector3(btScalar(1.f), btScalar(1.f), btScalar(1.f)));
-    auto& brick_rigid = brick_e.add_component<simpleengine::ecs::RigidBodyComponent>(1.f, se::Vectorf(6.f, 6.f, 0.1f), brick_shape);
-
-
+    brick_e.add_component<se::ecs::TransformComponent>(glm::vec3(6.f, 6.f, 0.f));
+    brick_e.add_component<se::ecs::BoxColliderComponent>(1.f, 1.f, 1.f);
+    brick_e.add_component<se::ecs::RigidBodyComponent>(1.f, se::Vectorf(6.f, 6.f, 0.1f));
 
     se::ecs::Entity floor = scene->create_entity();
     floor.add_component<se::ecs::ModelComponent>("examples/dev_testing/resources/ground/ground.fbx");
-    auto& floor_transf = floor.add_component<se::ecs::TransformComponent>(glm::vec3(6.f, -6.f, 0.f), glm::vec3(0.f), glm::vec3(1.f, 1.f, 1.f));
-
-    btCollisionShape* floor_shape = new btBoxShape(btVector3(btScalar(1.f), btScalar(1.f), btScalar(1.f)));
-    auto& floor_rigid = floor.add_component<simpleengine::ecs::RigidBodyComponent>(0.f, se::Vectorf(6.f, -6.f, 0.f), floor_shape);
-
-
+    floor.add_component<se::ecs::TransformComponent>(glm::vec3(6.f, -6.f, 0.f), glm::vec3(0.f), glm::vec3(1.f, 1.f, 1.f));
+    floor.add_component<se::ecs::BoxColliderComponent>(1.f, 1.f, 1.f);
+    floor.add_component<se::ecs::RigidBodyComponent>(0.f, se::Vectorf(6.f, -6.f, 0.f));
 
     auto light = std::make_shared<se::gfx::Light>(core_shader, glm::vec3(0.f, 0.f, 0.f), glm::vec3(1.f, 1.f, 1.f));
     game.add_event(light);

include/simpleengine/ecs/component/box_collision_component.h

@@ -0,0 +1,44 @@
+#pragma once
+
+#include "../../physics/collision/box_shape.h"
+
+namespace simpleengine::ecs {
+    /**
+     * @brief A component that contains a Box collision shape.
+     * 
+     */
+    class BoxColliderComponent {
+    public:
+        physics::collision::BoxShape box_shape;
+
+        BoxColliderComponent(physics::collision::BoxShape box) : box_shape(box) {
+
+        }
+
+        /**
+         * @brief Create a BoxShape with the extent of the box.
+         *
+         * @note These extents are in half-extents since that's what the underlying Physics engine uses (Bullet).
+         *
+         * @param x_extent The extent of the box in the x direction.
+         * @param y_extent The extent of the box in the y direction.
+         * @param z_extent The extent of the box in the z direction.
+         * 
+         */
+        BoxColliderComponent(const float& x_extent, const float& y_extent, const float& z_extent) : box_shape(x_extent, y_extent, z_extent) {
+
+        }
+
+        /**
+         * @brief Create a BoxShape with the extent of the box.
+         *
+         * @note These extents are in half-extents since that's what the underlying Physics engine uses (Bullet).
+         *
+         * @param extent The extent of the box.
+         * 
+         */
+        BoxColliderComponent(const simpleengine::Vectorf& extent) : box_shape(extent) {
+
+        }
+    };
+}

include/simpleengine/ecs/component/collision_shape_component.h

@@ -0,0 +1,18 @@
+#pragma once
+
+#include "../../physics/collision/collision_shape.h"
+
+namespace simpleengine::ecs {
+    /**
+     * @brief A component that contains a collision shape.
+     * 
+     */
+    class CollisionShapeComponent {
+    public:
+        physics::collision::CollisionShape* collision_shape;
+
+        CollisionShapeComponent(physics::collision::CollisionShape* shape) : collision_shape(shape) {
+
+        }
+    };
+}

include/simpleengine/ecs/component/rigid_body_component.h

@@ -31,11 +31,11 @@ namespace simpleengine::ecs {
         btDefaultMotionState* motion_state;
         btCollisionShape* col_shape;
     public:
-        bool initialized = false;
+        //bool initialized = false;
         btRigidBody* rigid_body;
 
-        RigidBodyComponent(float mass, simpleengine::Vectorf start_origin, btCollisionShape* col_shape) : mass(mass), is_dynamic(mass != 0.f), 
-                col_shape(col_shape) {
+        RigidBodyComponent(float mass, simpleengine::Vectorf start_origin) : mass(mass), is_dynamic(mass != 0.f), rigid_body(nullptr) {
+
         }
     };
 }

include/simpleengine/ecs/component/sphere_collision_component.h

@@ -0,0 +1,22 @@
+#pragma once
+
+#include "../../physics/collision/sphere_shape.h"
+
+namespace simpleengine::ecs {
+    /**
+     * @brief A component that contains a Sphere collision shape.
+     * 
+     */
+    class SphereColliderComponent {
+    public:
+        physics::collision::SphereShape sphere_shape;
+
+        SphereColliderComponent(physics::collision::SphereShape sphere) : sphere_shape(sphere) {
+
+        }
+
+        SphereColliderComponent(const float& radius) : sphere_shape(radius) {
+            
+        }
+    };
+}

include/simpleengine/physics/collision/box_shape.h

@@ -1,7 +1,7 @@
 #pragma once
 
-#include "BulletCollision/CollisionShapes/btBoxShape.h"
-#include "vector.h"
+#include "../../vector.h"
+#include <BulletCollision/CollisionShapes/btBoxShape.h>
 
 namespace simpleengine::physics::collision {
     class BoxShape {

include/simpleengine/physics/physics_system.h

@@ -16,10 +16,13 @@ class btBroadphaseInterface;
 class btSequentialImpulseConstraintSolver;
 class btDiscreteDynamicsWorld;
 class btRigidBody;
+class btCollisionShape;
 
 namespace simpleengine {
     namespace ecs {
         class Registry;
+        class TransformComponent;
+        class RigidBodyComponent;
     }
 
     namespace physics {
@@ -56,6 +59,11 @@ namespace simpleengine {
             virtual void input_update(const float& delta_time) override {}
             virtual void render(const float& interpolate_alpha, const float& frame_time) override {}
             virtual void destroy() override {}
+        protected:
+            // Try get a collision shape from an entities components.
+            btCollisionShape* try_get_collision_shape(const entt::entity& entity);
+            /// Initialize a rigid body component.
+            inline bool init_rigid_body_component(const entt::entity& entity, simpleengine::ecs::TransformComponent& transform_comp, simpleengine::ecs::RigidBodyComponent& rigid_body_comp);
         };
     }
 }

src/physics/physics_system.cpp

@@ -1,5 +1,9 @@
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+#include "ecs/component/box_collision_component.h"
 #include "ecs/component/rigid_body_component.h"
+#include "ecs/component/sphere_collision_component.h"
 #include "ecs/system/system.h"
+#include "entt/entity/fwd.hpp"
 #include "physics/physics_system.h"
 #include "ecs/component/transform_component.h"
 #include "ecs/entity.h"
@@ -45,10 +49,47 @@ namespace simpleengine::physics {
         if (should_simulate) {
             dynamics_world->stepSimulation(delta_time, 10);
 
-            entity_registry->get_inner().view<simpleengine::ecs::TransformComponent, simpleengine::ecs::RigidBodyComponent>().each([this](simpleengine::ecs::TransformComponent& transform_comp, simpleengine::ecs::RigidBodyComponent& rigid_body_comp) {
+            entity_registry->get_inner().view<simpleengine::ecs::TransformComponent, simpleengine::ecs::RigidBodyComponent>()
+                .each([this](const entt::entity& entity, simpleengine::ecs::TransformComponent& transform_comp, simpleengine::ecs::RigidBodyComponent& rigid_body_comp) {
+                    // Initialize the rigid body component if it hasn't already been initialized.
+                    init_rigid_body_component(entity, transform_comp, rigid_body_comp);
+
+                    btRigidBody* rigid_body = rigid_body_comp.rigid_body;
+                    btTransform trans;
+                    if (rigid_body_comp.rigid_body->getMotionState()) {
+                        rigid_body->getMotionState()->getWorldTransform(trans);
+                        
+                        trans.getOpenGLMatrix(glm::value_ptr(transform_comp.transform_matrix));
+                    }
+            });
+        }
+    }
+
+    btCollisionShape* PhysicsSystem::try_get_collision_shape(const entt::entity& entity) {
+        btCollisionShape* collision_shape;
+        if (auto box_col = entity_registry->get_inner().try_get<simpleengine::ecs::BoxColliderComponent>(entity)) {
+            return box_col->box_shape.get_inner_ptr();
+        } else if (auto sphere_col = entity_registry->get_inner().try_get<simpleengine::ecs::SphereColliderComponent>(entity)) {
+            return sphere_col->sphere_shape.get_inner_ptr();
+        }
+        
+        return nullptr;
+    }
+
+    bool PhysicsSystem::init_rigid_body_component(const entt::entity& entity, simpleengine::ecs::TransformComponent& transform_comp, simpleengine::ecs::RigidBodyComponent& rigid_body_comp) {
+        if (!rigid_body_comp.rigid_body) {
+            // Try to get the collision shape
+            btCollisionShape* collision_shape = try_get_collision_shape(entity);
+            if (!collision_shape) {
+                logger.warn("Entity with a rigid body component is missing a collider! The entities rigid body component will be removed!");
+
+                if (entity_registry->get_inner().remove<simpleengine::ecs::RigidBodyComponent>(entity) == 0) {
+                    logger.warn("Failed to remove rigid body component from the entity!");
+                }
+
+                return true;
+            }
 
-                //transform_comp
-                if (!rigid_body_comp.initialized) {
             btTransform start_transform;
             start_transform.setIdentity();
 
@@ -58,7 +99,7 @@ namespace simpleengine::physics {
             glm::quat rot = transform_comp.get_rotation_quat();
             start_transform.setRotation(btQuaternion(rot.x, rot.y, rot.z, rot.w));
 
-                    btScalar mass_scalar(rigid_body_comp.mass);
+            rigid_body_comp.col_shape = collision_shape;
 
             btVector3 local_inertia;
             if (rigid_body_comp.is_dynamic) {
@@ -71,20 +112,11 @@ namespace simpleengine::physics {
             rigid_body_comp.rigid_body = new btRigidBody(rb_info);
             
             this->add_rigid_body(rigid_body_comp.rigid_body);
-                    rigid_body_comp.initialized = true;
 
             logger.debug("Initialized rigid body component");
-                    return;
+            return true;
         }
 
-                btRigidBody* rigid_body = rigid_body_comp.rigid_body;
-                btTransform trans;
-                if (rigid_body_comp.rigid_body->getMotionState()) {
-                    rigid_body->getMotionState()->getWorldTransform(trans);
-                    
-                    trans.getOpenGLMatrix(glm::value_ptr(transform_comp.transform_matrix));
-                }
-            });
-        }
+        return false;
     }
 }