|
|
|
@ -11,120 +11,159 @@
|
|
|
|
#include <boost/lexical_cast.hpp>
|
|
|
|
#include <boost/lexical_cast.hpp>
|
|
|
|
#include <boost/format.hpp>
|
|
|
|
#include <boost/format.hpp>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
namespace
|
|
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// Create a copy of the given collision shape (responsibility of user to delete the returned shape).
|
|
|
|
|
|
|
|
btCollisionShape *duplicateCollisionShape(btCollisionShape *shape)
|
|
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
if(shape->isCompound())
|
|
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
btCompoundShape *comp = static_cast<btCompoundShape*>(shape);
|
|
|
|
|
|
|
|
btCompoundShape *newShape = new btCompoundShape;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
int numShapes = comp->getNumChildShapes();
|
|
|
|
|
|
|
|
for(int i = 0;i < numShapes;i++)
|
|
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
btCollisionShape *child = duplicateCollisionShape(comp->getChildShape(i));
|
|
|
|
|
|
|
|
btTransform trans = comp->getChildTransform(i);
|
|
|
|
|
|
|
|
newShape->addChildShape(trans, child);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
return newShape;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if(btBvhTriangleMeshShape *trishape = dynamic_cast<btBvhTriangleMeshShape*>(shape))
|
|
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
btTriangleMesh* oldMesh = dynamic_cast<btTriangleMesh*>(trishape->getMeshInterface());
|
|
|
|
|
|
|
|
btTriangleMesh* newMesh = new btTriangleMesh(*oldMesh);
|
|
|
|
|
|
|
|
NifBullet::TriangleMeshShape *newShape = new NifBullet::TriangleMeshShape(newMesh, true);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
return newShape;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
throw std::logic_error(std::string("Unhandled Bullet shape duplication: ")+shape->getName());
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void deleteShape(btCollisionShape* shape)
|
|
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
if(shape!=NULL)
|
|
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
if(shape->isCompound())
|
|
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
btCompoundShape* ms = static_cast<btCompoundShape*>(shape);
|
|
|
|
|
|
|
|
int a = ms->getNumChildShapes();
|
|
|
|
|
|
|
|
for(int i=0; i <a;i++)
|
|
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
deleteShape(ms->getChildShape(i));
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
delete shape;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
namespace OEngine {
|
|
|
|
namespace OEngine {
|
|
|
|
namespace Physic
|
|
|
|
namespace Physic
|
|
|
|
{
|
|
|
|
{
|
|
|
|
|
|
|
|
|
|
|
|
PhysicActor::PhysicActor(const std::string &name, const std::string &mesh, PhysicEngine *engine, const Ogre::Vector3 &position, const Ogre::Quaternion &rotation, float scale)
|
|
|
|
PhysicActor::PhysicActor(const std::string &name, const std::string &mesh, PhysicEngine *engine, const Ogre::Vector3 &position, const Ogre::Quaternion &rotation, float scale)
|
|
|
|
: mName(name), mEngine(engine), mMesh(mesh), mBoxScaledTranslation(0,0,0), mBoxRotationInverse(0,0,0,0)
|
|
|
|
: mName(name), mEngine(engine), mMesh(mesh)
|
|
|
|
, mBody(0), mRaycastingBody(0), mOnGround(false), mCollisionMode(true), mBoxRotation(0,0,0,0)
|
|
|
|
, mBody(0), mOnGround(false), mInternalCollisionMode(true)
|
|
|
|
, mCollisionBody(true)
|
|
|
|
, mExternalCollisionMode(true)
|
|
|
|
, mForce(0.0f)
|
|
|
|
, mForce(0.0f)
|
|
|
|
|
|
|
|
, mScale(scale)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
mBody = mEngine->createAndAdjustRigidBody(mMesh, mName, scale, position, rotation, &mBoxScaledTranslation, &mBoxRotation);
|
|
|
|
if (!NifBullet::getBoundingBox(mMesh, mHalfExtents, mMeshTranslation, mMeshOrientation))
|
|
|
|
mRaycastingBody = mEngine->createAndAdjustRigidBody(mMesh, mName, scale, position, rotation, &mBoxScaledTranslation, &mBoxRotation, true);
|
|
|
|
{
|
|
|
|
Ogre::Quaternion inverse = mBoxRotation.Inverse();
|
|
|
|
mHalfExtents = Ogre::Vector3(0.f);
|
|
|
|
mBoxRotationInverse = Ogre::Quaternion(inverse.w, inverse.x, inverse.y,inverse.z);
|
|
|
|
mMeshTranslation = Ogre::Vector3(0.f);
|
|
|
|
mEngine->addRigidBody(mBody, false, mRaycastingBody,true); //Add rigid body to dynamics world, but do not add to object map
|
|
|
|
mMeshOrientation = Ogre::Quaternion::IDENTITY;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// Use capsule shape only if base is square (nonuniform scaling apparently doesn't work on it)
|
|
|
|
|
|
|
|
if (std::abs(mHalfExtents.x-mHalfExtents.y)<mHalfExtents.x*0.05 && mHalfExtents.z >= mHalfExtents.x)
|
|
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
// Could also be btCapsuleShapeZ, but the movement solver seems to have issues with it (jumping on slopes doesn't work)
|
|
|
|
|
|
|
|
mShape.reset(new btCylinderShapeZ(BtOgre::Convert::toBullet(mHalfExtents)));
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
else
|
|
|
|
|
|
|
|
mShape.reset(new btBoxShape(BtOgre::Convert::toBullet(mHalfExtents)));
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
mShape->setLocalScaling(btVector3(scale,scale,scale));
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
btRigidBody::btRigidBodyConstructionInfo CI = btRigidBody::btRigidBodyConstructionInfo
|
|
|
|
|
|
|
|
(0,0, mShape.get());
|
|
|
|
|
|
|
|
mBody = new RigidBody(CI, name);
|
|
|
|
|
|
|
|
mBody->mPlaceable = false;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
setPosition(position);
|
|
|
|
|
|
|
|
setRotation(rotation);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
mEngine->mDynamicsWorld->addRigidBody(mBody, CollisionType_Actor,
|
|
|
|
|
|
|
|
CollisionType_Actor|CollisionType_World|CollisionType_HeightMap);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
PhysicActor::~PhysicActor()
|
|
|
|
PhysicActor::~PhysicActor()
|
|
|
|
{
|
|
|
|
{
|
|
|
|
if(mBody)
|
|
|
|
if(mBody)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
mEngine->dynamicsWorld->removeRigidBody(mBody);
|
|
|
|
mEngine->mDynamicsWorld->removeRigidBody(mBody);
|
|
|
|
delete mBody;
|
|
|
|
delete mBody;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
if(mRaycastingBody)
|
|
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
mEngine->dynamicsWorld->removeRigidBody(mRaycastingBody);
|
|
|
|
|
|
|
|
delete mRaycastingBody;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void PhysicActor::enableCollisionMode(bool collision)
|
|
|
|
void PhysicActor::enableCollisionMode(bool collision)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
mCollisionMode = collision;
|
|
|
|
mInternalCollisionMode = collision;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void PhysicActor::enableCollisionBody(bool collision)
|
|
|
|
void PhysicActor::enableCollisionBody(bool collision)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
assert(mBody);
|
|
|
|
assert(mBody);
|
|
|
|
if(collision && !mCollisionBody) enableCollisionBody();
|
|
|
|
if(collision && !mExternalCollisionMode) enableCollisionBody();
|
|
|
|
if(!collision && mCollisionBody) disableCollisionBody();
|
|
|
|
if(!collision && mExternalCollisionMode) disableCollisionBody();
|
|
|
|
mCollisionBody = collision;
|
|
|
|
mExternalCollisionMode = collision;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void PhysicActor::setPosition(const Ogre::Vector3 &pos)
|
|
|
|
const Ogre::Vector3& PhysicActor::getPosition() const
|
|
|
|
{
|
|
|
|
{
|
|
|
|
assert(mBody);
|
|
|
|
return mPosition;
|
|
|
|
if(pos != getPosition())
|
|
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
mEngine->adjustRigidBody(mBody, pos, getRotation(), mBoxScaledTranslation, mBoxRotation);
|
|
|
|
|
|
|
|
mEngine->adjustRigidBody(mRaycastingBody, pos, getRotation(), mBoxScaledTranslation, mBoxRotation);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void PhysicActor::setRotation(const Ogre::Quaternion &quat)
|
|
|
|
void PhysicActor::setPosition(const Ogre::Vector3 &position)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
assert(mBody);
|
|
|
|
assert(mBody);
|
|
|
|
if(!quat.equals(getRotation(), Ogre::Radian(0))){
|
|
|
|
|
|
|
|
mEngine->adjustRigidBody(mBody, getPosition(), quat, mBoxScaledTranslation, mBoxRotation);
|
|
|
|
|
|
|
|
mEngine->adjustRigidBody(mRaycastingBody, getPosition(), quat, mBoxScaledTranslation, mBoxRotation);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
mPosition = position;
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
btTransform tr = mBody->getWorldTransform();
|
|
|
|
|
|
|
|
Ogre::Quaternion meshrot = mMeshOrientation;
|
|
|
|
|
|
|
|
Ogre::Vector3 transrot = meshrot * (mMeshTranslation * mScale);
|
|
|
|
|
|
|
|
Ogre::Vector3 newPosition = transrot + position;
|
|
|
|
|
|
|
|
|
|
|
|
Ogre::Vector3 PhysicActor::getPosition()
|
|
|
|
tr.setOrigin(BtOgre::Convert::toBullet(newPosition));
|
|
|
|
{
|
|
|
|
mBody->setWorldTransform(tr);
|
|
|
|
assert(mBody);
|
|
|
|
|
|
|
|
btVector3 vec = mBody->getWorldTransform().getOrigin();
|
|
|
|
|
|
|
|
Ogre::Quaternion rotation = Ogre::Quaternion(mBody->getWorldTransform().getRotation().getW(), mBody->getWorldTransform().getRotation().getX(),
|
|
|
|
|
|
|
|
mBody->getWorldTransform().getRotation().getY(), mBody->getWorldTransform().getRotation().getZ());
|
|
|
|
|
|
|
|
Ogre::Vector3 transrot = rotation * mBoxScaledTranslation;
|
|
|
|
|
|
|
|
Ogre::Vector3 visualPosition = Ogre::Vector3(vec.getX(), vec.getY(), vec.getZ()) - transrot;
|
|
|
|
|
|
|
|
return visualPosition;
|
|
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
Ogre::Quaternion PhysicActor::getRotation()
|
|
|
|
void PhysicActor::setRotation (const Ogre::Quaternion& rotation)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
assert(mBody);
|
|
|
|
btTransform tr = mBody->getWorldTransform();
|
|
|
|
btQuaternion quat = mBody->getWorldTransform().getRotation();
|
|
|
|
tr.setRotation(BtOgre::Convert::toBullet(mMeshOrientation * rotation));
|
|
|
|
return Ogre::Quaternion(quat.getW(), quat.getX(), quat.getY(), quat.getZ()) * mBoxRotationInverse;
|
|
|
|
mBody->setWorldTransform(tr);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void PhysicActor::setScale(float scale){
|
|
|
|
void PhysicActor::setScale(float scale)
|
|
|
|
//We only need to change the scaled box translation, box rotations remain the same.
|
|
|
|
{
|
|
|
|
assert(mBody);
|
|
|
|
mScale = scale;
|
|
|
|
mBoxScaledTranslation = mBoxScaledTranslation / mBody->getCollisionShape()->getLocalScaling().getX();
|
|
|
|
mShape->setLocalScaling(btVector3(scale,scale,scale));
|
|
|
|
mBoxScaledTranslation *= scale;
|
|
|
|
setPosition(mPosition);
|
|
|
|
Ogre::Vector3 pos = getPosition();
|
|
|
|
|
|
|
|
Ogre::Quaternion rot = getRotation();
|
|
|
|
|
|
|
|
if(mBody){
|
|
|
|
|
|
|
|
mEngine->dynamicsWorld->removeRigidBody(mBody);
|
|
|
|
|
|
|
|
mEngine->dynamicsWorld->removeRigidBody(mRaycastingBody);
|
|
|
|
|
|
|
|
delete mBody;
|
|
|
|
|
|
|
|
delete mRaycastingBody;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
//Create the newly scaled rigid body
|
|
|
|
|
|
|
|
mBody = mEngine->createAndAdjustRigidBody(mMesh, mName, scale, pos, rot);
|
|
|
|
|
|
|
|
mRaycastingBody = mEngine->createAndAdjustRigidBody(mMesh, mName, scale, pos, rot, 0, 0, true);
|
|
|
|
|
|
|
|
mEngine->addRigidBody(mCollisionBody ? mBody : 0, false, mRaycastingBody,true); //Add rigid body to dynamics world, but do not add to object map
|
|
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
Ogre::Vector3 PhysicActor::getHalfExtents() const
|
|
|
|
Ogre::Vector3 PhysicActor::getHalfExtents() const
|
|
|
|
{
|
|
|
|
{
|
|
|
|
if(mBody)
|
|
|
|
return mHalfExtents * mScale;
|
|
|
|
{
|
|
|
|
|
|
|
|
btBoxShape *box = static_cast<btBoxShape*>(mBody->getCollisionShape());
|
|
|
|
|
|
|
|
if(box != NULL)
|
|
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
btVector3 size = box->getHalfExtentsWithMargin();
|
|
|
|
|
|
|
|
return Ogre::Vector3(size.getX(), size.getY(), size.getZ());
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
return Ogre::Vector3(0.0f);
|
|
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void PhysicActor::setInertialForce(const Ogre::Vector3 &force)
|
|
|
|
void PhysicActor::setInertialForce(const Ogre::Vector3 &force)
|
|
|
|
@ -139,12 +178,16 @@ namespace Physic
|
|
|
|
|
|
|
|
|
|
|
|
void PhysicActor::disableCollisionBody()
|
|
|
|
void PhysicActor::disableCollisionBody()
|
|
|
|
{
|
|
|
|
{
|
|
|
|
mEngine->dynamicsWorld->removeRigidBody(mBody);
|
|
|
|
mEngine->mDynamicsWorld->removeRigidBody(mBody);
|
|
|
|
|
|
|
|
mEngine->mDynamicsWorld->addRigidBody(mBody, CollisionType_Actor,
|
|
|
|
|
|
|
|
CollisionType_Raycasting);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void PhysicActor::enableCollisionBody()
|
|
|
|
void PhysicActor::enableCollisionBody()
|
|
|
|
{
|
|
|
|
{
|
|
|
|
mEngine->dynamicsWorld->addRigidBody(mBody,CollisionType_Actor,CollisionType_World|CollisionType_HeightMap);
|
|
|
|
mEngine->mDynamicsWorld->removeRigidBody(mBody);
|
|
|
|
|
|
|
|
mEngine->mDynamicsWorld->addRigidBody(mBody, CollisionType_Actor,
|
|
|
|
|
|
|
|
CollisionType_Actor|CollisionType_World|CollisionType_HeightMap);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
@ -189,8 +232,8 @@ namespace Physic
|
|
|
|
broadphase = new btDbvtBroadphase();
|
|
|
|
broadphase = new btDbvtBroadphase();
|
|
|
|
|
|
|
|
|
|
|
|
// The world.
|
|
|
|
// The world.
|
|
|
|
dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver,collisionConfiguration);
|
|
|
|
mDynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver,collisionConfiguration);
|
|
|
|
dynamicsWorld->setGravity(btVector3(0,0,-10));
|
|
|
|
mDynamicsWorld->setGravity(btVector3(0,0,-10));
|
|
|
|
|
|
|
|
|
|
|
|
if(BulletShapeManager::getSingletonPtr() == NULL)
|
|
|
|
if(BulletShapeManager::getSingletonPtr() == NULL)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
@ -208,10 +251,10 @@ namespace Physic
|
|
|
|
if(!isDebugCreated)
|
|
|
|
if(!isDebugCreated)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
Ogre::SceneNode* node = mSceneMgr->getRootSceneNode()->createChildSceneNode();
|
|
|
|
Ogre::SceneNode* node = mSceneMgr->getRootSceneNode()->createChildSceneNode();
|
|
|
|
mDebugDrawer = new BtOgre::DebugDrawer(node, dynamicsWorld);
|
|
|
|
mDebugDrawer = new BtOgre::DebugDrawer(node, mDynamicsWorld);
|
|
|
|
dynamicsWorld->setDebugDrawer(mDebugDrawer);
|
|
|
|
mDynamicsWorld->setDebugDrawer(mDebugDrawer);
|
|
|
|
isDebugCreated = true;
|
|
|
|
isDebugCreated = true;
|
|
|
|
dynamicsWorld->debugDrawWorld();
|
|
|
|
mDynamicsWorld->debugDrawWorld();
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
@ -238,10 +281,15 @@ namespace Physic
|
|
|
|
|
|
|
|
|
|
|
|
PhysicEngine::~PhysicEngine()
|
|
|
|
PhysicEngine::~PhysicEngine()
|
|
|
|
{
|
|
|
|
{
|
|
|
|
|
|
|
|
for (std::map<RigidBody*, AnimatedShapeInstance>::iterator it = mAnimatedShapes.begin(); it != mAnimatedShapes.end(); ++it)
|
|
|
|
|
|
|
|
deleteShape(it->second.mCompound);
|
|
|
|
|
|
|
|
for (std::map<RigidBody*, AnimatedShapeInstance>::iterator it = mAnimatedRaycastingShapes.begin(); it != mAnimatedRaycastingShapes.end(); ++it)
|
|
|
|
|
|
|
|
deleteShape(it->second.mCompound);
|
|
|
|
|
|
|
|
|
|
|
|
HeightFieldContainer::iterator hf_it = mHeightFieldMap.begin();
|
|
|
|
HeightFieldContainer::iterator hf_it = mHeightFieldMap.begin();
|
|
|
|
for (; hf_it != mHeightFieldMap.end(); ++hf_it)
|
|
|
|
for (; hf_it != mHeightFieldMap.end(); ++hf_it)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
dynamicsWorld->removeRigidBody(hf_it->second.mBody);
|
|
|
|
mDynamicsWorld->removeRigidBody(hf_it->second.mBody);
|
|
|
|
delete hf_it->second.mShape;
|
|
|
|
delete hf_it->second.mShape;
|
|
|
|
delete hf_it->second.mBody;
|
|
|
|
delete hf_it->second.mBody;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
@ -251,7 +299,7 @@ namespace Physic
|
|
|
|
{
|
|
|
|
{
|
|
|
|
if (rb_it->second != NULL)
|
|
|
|
if (rb_it->second != NULL)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
dynamicsWorld->removeRigidBody(rb_it->second);
|
|
|
|
mDynamicsWorld->removeRigidBody(rb_it->second);
|
|
|
|
|
|
|
|
|
|
|
|
delete rb_it->second;
|
|
|
|
delete rb_it->second;
|
|
|
|
rb_it->second = NULL;
|
|
|
|
rb_it->second = NULL;
|
|
|
|
@ -262,7 +310,7 @@ namespace Physic
|
|
|
|
{
|
|
|
|
{
|
|
|
|
if (rb_it->second != NULL)
|
|
|
|
if (rb_it->second != NULL)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
dynamicsWorld->removeRigidBody(rb_it->second);
|
|
|
|
mDynamicsWorld->removeRigidBody(rb_it->second);
|
|
|
|
|
|
|
|
|
|
|
|
delete rb_it->second;
|
|
|
|
delete rb_it->second;
|
|
|
|
rb_it->second = NULL;
|
|
|
|
rb_it->second = NULL;
|
|
|
|
@ -281,7 +329,7 @@ namespace Physic
|
|
|
|
|
|
|
|
|
|
|
|
delete mDebugDrawer;
|
|
|
|
delete mDebugDrawer;
|
|
|
|
|
|
|
|
|
|
|
|
delete dynamicsWorld;
|
|
|
|
delete mDynamicsWorld;
|
|
|
|
delete solver;
|
|
|
|
delete solver;
|
|
|
|
delete collisionConfiguration;
|
|
|
|
delete collisionConfiguration;
|
|
|
|
delete dispatcher;
|
|
|
|
delete dispatcher;
|
|
|
|
@ -331,7 +379,7 @@ namespace Physic
|
|
|
|
|
|
|
|
|
|
|
|
mHeightFieldMap [name] = hf;
|
|
|
|
mHeightFieldMap [name] = hf;
|
|
|
|
|
|
|
|
|
|
|
|
dynamicsWorld->addRigidBody(body,CollisionType_HeightMap|CollisionType_Raycasting,
|
|
|
|
mDynamicsWorld->addRigidBody(body,CollisionType_HeightMap,
|
|
|
|
CollisionType_World|CollisionType_Actor|CollisionType_Raycasting);
|
|
|
|
CollisionType_World|CollisionType_Actor|CollisionType_Raycasting);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
@ -343,7 +391,7 @@ namespace Physic
|
|
|
|
|
|
|
|
|
|
|
|
HeightField hf = mHeightFieldMap [name];
|
|
|
|
HeightField hf = mHeightFieldMap [name];
|
|
|
|
|
|
|
|
|
|
|
|
dynamicsWorld->removeRigidBody(hf.mBody);
|
|
|
|
mDynamicsWorld->removeRigidBody(hf.mBody);
|
|
|
|
delete hf.mShape;
|
|
|
|
delete hf.mShape;
|
|
|
|
delete hf.mBody;
|
|
|
|
delete hf.mBody;
|
|
|
|
|
|
|
|
|
|
|
|
@ -367,7 +415,6 @@ namespace Physic
|
|
|
|
{
|
|
|
|
{
|
|
|
|
std::string sid = (boost::format("%07.3f") % scale).str();
|
|
|
|
std::string sid = (boost::format("%07.3f") % scale).str();
|
|
|
|
std::string outputstring = mesh + sid;
|
|
|
|
std::string outputstring = mesh + sid;
|
|
|
|
//std::cout << "The string" << outputstring << "\n";
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//get the shape from the .nif
|
|
|
|
//get the shape from the .nif
|
|
|
|
mShapeLoader->load(outputstring,"General");
|
|
|
|
mShapeLoader->load(outputstring,"General");
|
|
|
|
@ -397,17 +444,38 @@ namespace Physic
|
|
|
|
if (!shape->mRaycastingShape && raycasting)
|
|
|
|
if (!shape->mRaycastingShape && raycasting)
|
|
|
|
return NULL;
|
|
|
|
return NULL;
|
|
|
|
|
|
|
|
|
|
|
|
if (!raycasting)
|
|
|
|
btCollisionShape* collisionShape = raycasting ? shape->mRaycastingShape : shape->mCollisionShape;
|
|
|
|
shape->mCollisionShape->setLocalScaling( btVector3(scale,scale,scale));
|
|
|
|
|
|
|
|
else
|
|
|
|
// If this is an animated compound shape, we must duplicate it so we can animate
|
|
|
|
shape->mRaycastingShape->setLocalScaling( btVector3(scale,scale,scale));
|
|
|
|
// multiple instances independently.
|
|
|
|
|
|
|
|
if (!raycasting && !shape->mAnimatedShapes.empty())
|
|
|
|
|
|
|
|
collisionShape = duplicateCollisionShape(collisionShape);
|
|
|
|
|
|
|
|
if (raycasting && !shape->mAnimatedRaycastingShapes.empty())
|
|
|
|
|
|
|
|
collisionShape = duplicateCollisionShape(collisionShape);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
collisionShape->setLocalScaling( btVector3(scale,scale,scale));
|
|
|
|
|
|
|
|
|
|
|
|
//create the real body
|
|
|
|
//create the real body
|
|
|
|
btRigidBody::btRigidBodyConstructionInfo CI = btRigidBody::btRigidBodyConstructionInfo
|
|
|
|
btRigidBody::btRigidBodyConstructionInfo CI = btRigidBody::btRigidBodyConstructionInfo
|
|
|
|
(0,0, raycasting ? shape->mRaycastingShape : shape->mCollisionShape);
|
|
|
|
(0,0, collisionShape);
|
|
|
|
RigidBody* body = new RigidBody(CI,name);
|
|
|
|
RigidBody* body = new RigidBody(CI,name);
|
|
|
|
body->mPlaceable = placeable;
|
|
|
|
body->mPlaceable = placeable;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (!raycasting && !shape->mAnimatedShapes.empty())
|
|
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
AnimatedShapeInstance instance;
|
|
|
|
|
|
|
|
instance.mAnimatedShapes = shape->mAnimatedShapes;
|
|
|
|
|
|
|
|
instance.mCompound = collisionShape;
|
|
|
|
|
|
|
|
mAnimatedShapes[body] = instance;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
if (raycasting && !shape->mAnimatedRaycastingShapes.empty())
|
|
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
AnimatedShapeInstance instance;
|
|
|
|
|
|
|
|
instance.mAnimatedShapes = shape->mAnimatedRaycastingShapes;
|
|
|
|
|
|
|
|
instance.mCompound = collisionShape;
|
|
|
|
|
|
|
|
mAnimatedRaycastingShapes[body] = instance;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
if(scaledBoxTranslation != 0)
|
|
|
|
if(scaledBoxTranslation != 0)
|
|
|
|
*scaledBoxTranslation = shape->mBoxTranslation * scale;
|
|
|
|
*scaledBoxTranslation = shape->mBoxTranslation * scale;
|
|
|
|
if(boxRotation != 0)
|
|
|
|
if(boxRotation != 0)
|
|
|
|
@ -415,34 +483,20 @@ namespace Physic
|
|
|
|
|
|
|
|
|
|
|
|
adjustRigidBody(body, position, rotation, shape->mBoxTranslation * scale, shape->mBoxRotation);
|
|
|
|
adjustRigidBody(body, position, rotation, shape->mBoxTranslation * scale, shape->mBoxRotation);
|
|
|
|
|
|
|
|
|
|
|
|
return body;
|
|
|
|
if (!raycasting)
|
|
|
|
|
|
|
|
{
|
|
|
|
}
|
|
|
|
assert (mCollisionObjectMap.find(name) == mCollisionObjectMap.end());
|
|
|
|
|
|
|
|
mCollisionObjectMap[name] = body;
|
|
|
|
void PhysicEngine::addRigidBody(RigidBody* body, bool addToMap, RigidBody* raycastingBody,bool actor)
|
|
|
|
mDynamicsWorld->addRigidBody(body,CollisionType_World,CollisionType_World|CollisionType_Actor|CollisionType_HeightMap);
|
|
|
|
{
|
|
|
|
|
|
|
|
if(!body && !raycastingBody)
|
|
|
|
|
|
|
|
return; // nothing to do
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
const std::string& name = (body ? body->mName : raycastingBody->mName);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (body){
|
|
|
|
|
|
|
|
if(actor) dynamicsWorld->addRigidBody(body,CollisionType_Actor,CollisionType_World|CollisionType_HeightMap);
|
|
|
|
|
|
|
|
else dynamicsWorld->addRigidBody(body,CollisionType_World,CollisionType_World|CollisionType_Actor|CollisionType_HeightMap);
|
|
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
else
|
|
|
|
if (raycastingBody)
|
|
|
|
{
|
|
|
|
dynamicsWorld->addRigidBody(raycastingBody,CollisionType_Raycasting,CollisionType_Raycasting|CollisionType_World);
|
|
|
|
assert (mRaycastingObjectMap.find(name) == mRaycastingObjectMap.end());
|
|
|
|
|
|
|
|
mRaycastingObjectMap[name] = body;
|
|
|
|
if(addToMap){
|
|
|
|
mDynamicsWorld->addRigidBody(body,CollisionType_Raycasting,CollisionType_Raycasting);
|
|
|
|
removeRigidBody(name);
|
|
|
|
|
|
|
|
deleteRigidBody(name);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (body)
|
|
|
|
|
|
|
|
mCollisionObjectMap[name] = body;
|
|
|
|
|
|
|
|
if (raycastingBody)
|
|
|
|
|
|
|
|
mRaycastingObjectMap[name] = raycastingBody;
|
|
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
return body;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void PhysicEngine::removeRigidBody(const std::string &name)
|
|
|
|
void PhysicEngine::removeRigidBody(const std::string &name)
|
|
|
|
@ -453,7 +507,7 @@ namespace Physic
|
|
|
|
RigidBody* body = it->second;
|
|
|
|
RigidBody* body = it->second;
|
|
|
|
if(body != NULL)
|
|
|
|
if(body != NULL)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
dynamicsWorld->removeRigidBody(body);
|
|
|
|
mDynamicsWorld->removeRigidBody(body);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
it = mRaycastingObjectMap.find(name);
|
|
|
|
it = mRaycastingObjectMap.find(name);
|
|
|
|
@ -462,7 +516,7 @@ namespace Physic
|
|
|
|
RigidBody* body = it->second;
|
|
|
|
RigidBody* body = it->second;
|
|
|
|
if(body != NULL)
|
|
|
|
if(body != NULL)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
dynamicsWorld->removeRigidBody(body);
|
|
|
|
mDynamicsWorld->removeRigidBody(body);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
@ -476,6 +530,10 @@ namespace Physic
|
|
|
|
|
|
|
|
|
|
|
|
if(body != NULL)
|
|
|
|
if(body != NULL)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
|
|
|
|
if (mAnimatedShapes.find(body) != mAnimatedShapes.end())
|
|
|
|
|
|
|
|
deleteShape(mAnimatedShapes[body].mCompound);
|
|
|
|
|
|
|
|
mAnimatedShapes.erase(body);
|
|
|
|
|
|
|
|
|
|
|
|
delete body;
|
|
|
|
delete body;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
mCollisionObjectMap.erase(it);
|
|
|
|
mCollisionObjectMap.erase(it);
|
|
|
|
@ -487,6 +545,10 @@ namespace Physic
|
|
|
|
|
|
|
|
|
|
|
|
if(body != NULL)
|
|
|
|
if(body != NULL)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
|
|
|
|
if (mAnimatedRaycastingShapes.find(body) != mAnimatedRaycastingShapes.end())
|
|
|
|
|
|
|
|
deleteShape(mAnimatedRaycastingShapes[body].mCompound);
|
|
|
|
|
|
|
|
mAnimatedRaycastingShapes.erase(body);
|
|
|
|
|
|
|
|
|
|
|
|
delete body;
|
|
|
|
delete body;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
mRaycastingObjectMap.erase(it);
|
|
|
|
mRaycastingObjectMap.erase(it);
|
|
|
|
@ -605,7 +667,7 @@ namespace Physic
|
|
|
|
if (!body) // fall back to raycasting body if there is no collision body
|
|
|
|
if (!body) // fall back to raycasting body if there is no collision body
|
|
|
|
body = getRigidBody(name, true);
|
|
|
|
body = getRigidBody(name, true);
|
|
|
|
ContactTestResultCallback callback;
|
|
|
|
ContactTestResultCallback callback;
|
|
|
|
dynamicsWorld->contactTest(body, callback);
|
|
|
|
mDynamicsWorld->contactTest(body, callback);
|
|
|
|
return callback.mResult;
|
|
|
|
return callback.mResult;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
@ -615,16 +677,16 @@ namespace Physic
|
|
|
|
btCollisionObject *object)
|
|
|
|
btCollisionObject *object)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
DeepestNotMeContactTestResultCallback callback(filter, origin);
|
|
|
|
DeepestNotMeContactTestResultCallback callback(filter, origin);
|
|
|
|
|
|
|
|
callback.m_collisionFilterGroup = CollisionType_Actor;
|
|
|
|
callback.m_collisionFilterMask = CollisionType_World | CollisionType_HeightMap | CollisionType_Actor;
|
|
|
|
callback.m_collisionFilterMask = CollisionType_World | CollisionType_HeightMap | CollisionType_Actor;
|
|
|
|
dynamicsWorld->contactTest(object, callback);
|
|
|
|
mDynamicsWorld->contactTest(object, callback);
|
|
|
|
return std::make_pair(callback.mObject, callback.mContactPoint);
|
|
|
|
return std::make_pair(callback.mObject, callback.mContactPoint);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void PhysicEngine::stepSimulation(double deltaT)
|
|
|
|
void PhysicEngine::stepSimulation(double deltaT)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
// This seems to be needed for character controller objects
|
|
|
|
// This seems to be needed for character controller objects
|
|
|
|
dynamicsWorld->stepSimulation(deltaT,10, 1/60.0);
|
|
|
|
mDynamicsWorld->stepSimulation(deltaT,10, 1/60.0);
|
|
|
|
if(isDebugCreated)
|
|
|
|
if(isDebugCreated)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
mDebugDrawer->step();
|
|
|
|
mDebugDrawer->step();
|
|
|
|
@ -640,8 +702,6 @@ namespace Physic
|
|
|
|
|
|
|
|
|
|
|
|
PhysicActor* newActor = new PhysicActor(name, mesh, this, position, rotation, scale);
|
|
|
|
PhysicActor* newActor = new PhysicActor(name, mesh, this, position, rotation, scale);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//dynamicsWorld->addAction( newActor->mCharacter );
|
|
|
|
|
|
|
|
mActorMap[name] = newActor;
|
|
|
|
mActorMap[name] = newActor;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
@ -653,7 +713,6 @@ namespace Physic
|
|
|
|
PhysicActor* act = it->second;
|
|
|
|
PhysicActor* act = it->second;
|
|
|
|
if(act != NULL)
|
|
|
|
if(act != NULL)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
|
|
|
|
|
|
|
|
delete act;
|
|
|
|
delete act;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
mActorMap.erase(it);
|
|
|
|
mActorMap.erase(it);
|
|
|
|
@ -684,14 +743,15 @@ namespace Physic
|
|
|
|
float d = -1;
|
|
|
|
float d = -1;
|
|
|
|
|
|
|
|
|
|
|
|
btCollisionWorld::ClosestRayResultCallback resultCallback1(from, to);
|
|
|
|
btCollisionWorld::ClosestRayResultCallback resultCallback1(from, to);
|
|
|
|
|
|
|
|
resultCallback1.m_collisionFilterGroup = 0xff;
|
|
|
|
if(raycastingObjectOnly)
|
|
|
|
if(raycastingObjectOnly)
|
|
|
|
resultCallback1.m_collisionFilterMask = CollisionType_Raycasting;
|
|
|
|
resultCallback1.m_collisionFilterMask = CollisionType_Raycasting|CollisionType_Actor;
|
|
|
|
else
|
|
|
|
else
|
|
|
|
resultCallback1.m_collisionFilterMask = CollisionType_World;
|
|
|
|
resultCallback1.m_collisionFilterMask = CollisionType_World;
|
|
|
|
|
|
|
|
|
|
|
|
if(!ignoreHeightMap)
|
|
|
|
if(!ignoreHeightMap)
|
|
|
|
resultCallback1.m_collisionFilterMask = resultCallback1.m_collisionFilterMask | CollisionType_HeightMap;
|
|
|
|
resultCallback1.m_collisionFilterMask = resultCallback1.m_collisionFilterMask | CollisionType_HeightMap;
|
|
|
|
dynamicsWorld->rayTest(from, to, resultCallback1);
|
|
|
|
mDynamicsWorld->rayTest(from, to, resultCallback1);
|
|
|
|
if (resultCallback1.hasHit())
|
|
|
|
if (resultCallback1.hasHit())
|
|
|
|
{
|
|
|
|
{
|
|
|
|
name = static_cast<const RigidBody&>(*resultCallback1.m_collisionObject).mName;
|
|
|
|
name = static_cast<const RigidBody&>(*resultCallback1.m_collisionObject).mName;
|
|
|
|
@ -724,6 +784,7 @@ namespace Physic
|
|
|
|
std::pair<bool, float> PhysicEngine::sphereCast (float radius, btVector3& from, btVector3& to)
|
|
|
|
std::pair<bool, float> PhysicEngine::sphereCast (float radius, btVector3& from, btVector3& to)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
OurClosestConvexResultCallback callback(from, to);
|
|
|
|
OurClosestConvexResultCallback callback(from, to);
|
|
|
|
|
|
|
|
callback.m_collisionFilterGroup = 0xff;
|
|
|
|
callback.m_collisionFilterMask = OEngine::Physic::CollisionType_World|OEngine::Physic::CollisionType_HeightMap;
|
|
|
|
callback.m_collisionFilterMask = OEngine::Physic::CollisionType_World|OEngine::Physic::CollisionType_HeightMap;
|
|
|
|
|
|
|
|
|
|
|
|
btSphereShape shape(radius);
|
|
|
|
btSphereShape shape(radius);
|
|
|
|
@ -732,7 +793,7 @@ namespace Physic
|
|
|
|
btTransform from_ (btrot, from);
|
|
|
|
btTransform from_ (btrot, from);
|
|
|
|
btTransform to_ (btrot, to);
|
|
|
|
btTransform to_ (btrot, to);
|
|
|
|
|
|
|
|
|
|
|
|
dynamicsWorld->convexSweepTest(&shape, from_, to_, callback);
|
|
|
|
mDynamicsWorld->convexSweepTest(&shape, from_, to_, callback);
|
|
|
|
|
|
|
|
|
|
|
|
if (callback.hasHit())
|
|
|
|
if (callback.hasHit())
|
|
|
|
return std::make_pair(true, callback.m_closestHitFraction);
|
|
|
|
return std::make_pair(true, callback.m_closestHitFraction);
|
|
|
|
@ -743,8 +804,9 @@ namespace Physic
|
|
|
|
std::vector< std::pair<float, std::string> > PhysicEngine::rayTest2(btVector3& from, btVector3& to)
|
|
|
|
std::vector< std::pair<float, std::string> > PhysicEngine::rayTest2(btVector3& from, btVector3& to)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
MyRayResultCallback resultCallback1;
|
|
|
|
MyRayResultCallback resultCallback1;
|
|
|
|
resultCallback1.m_collisionFilterMask = CollisionType_Raycasting;
|
|
|
|
resultCallback1.m_collisionFilterGroup = 0xff;
|
|
|
|
dynamicsWorld->rayTest(from, to, resultCallback1);
|
|
|
|
resultCallback1.m_collisionFilterMask = CollisionType_Raycasting|CollisionType_Actor|CollisionType_HeightMap;
|
|
|
|
|
|
|
|
mDynamicsWorld->rayTest(from, to, resultCallback1);
|
|
|
|
std::vector< std::pair<float, const btCollisionObject*> > results = resultCallback1.results;
|
|
|
|
std::vector< std::pair<float, const btCollisionObject*> > results = resultCallback1.results;
|
|
|
|
|
|
|
|
|
|
|
|
std::vector< std::pair<float, std::string> > results2;
|
|
|
|
std::vector< std::pair<float, std::string> > results2;
|
|
|
|
|
Marc Zinnschlag
11 years ago