|
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|
|
@ -25,11 +25,10 @@ namespace Physic
|
|
|
|
|
if(name == "player")
|
|
|
|
|
collisionMode = false;
|
|
|
|
|
mBody = mEngine->createAndAdjustRigidBody(mMesh, mName, scale, position, rotation, &mBoxScaledTranslation, &mBoxRotation);
|
|
|
|
|
mRaycastingBody = mEngine->createAndAdjustRigidBody(mMesh, mName, scale, position, rotation, &mBoxScaledTranslation, &mBoxRotation, true);
|
|
|
|
|
Ogre::Quaternion inverse = mBoxRotation.Inverse();
|
|
|
|
|
mBoxRotationInverse = btQuaternion(inverse.x, inverse.y, inverse.z,inverse.w);
|
|
|
|
|
mEngine->addRigidBody(mBody, false); //Add rigid body to dynamics world, but do not add to object map
|
|
|
|
|
//mBody->setCollisionFlags(COL_NOTHING);
|
|
|
|
|
//mBody->setMas
|
|
|
|
|
mEngine->addRigidBody(mBody, false, mRaycastingBody); //Add rigid body to dynamics world, but do not add to object map
|
|
|
|
|
}
|
|
|
|
|
|
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|
|
|
PhysicActor::~PhysicActor()
|
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|
|
|
@ -39,6 +38,11 @@ namespace Physic
|
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|
|
|
mEngine->dynamicsWorld->removeRigidBody(mBody);
|
|
|
|
|
delete mBody;
|
|
|
|
|
}
|
|
|
|
|
if(mRaycastingBody)
|
|
|
|
|
{
|
|
|
|
|
mEngine->dynamicsWorld->removeRigidBody(mRaycastingBody);
|
|
|
|
|
delete mRaycastingBody;
|
|
|
|
|
}
|
|
|
|
|
}
|
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|
|
void PhysicActor::enableCollisions(bool collision)
|
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|
|
@ -52,13 +56,18 @@ namespace Physic
|
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|
|
|
void PhysicActor::setPosition(const Ogre::Vector3 &pos)
|
|
|
|
|
{
|
|
|
|
|
if(pos != getPosition())
|
|
|
|
|
{
|
|
|
|
|
mEngine->adjustRigidBody(mBody, pos, getRotation(), mBoxScaledTranslation, mBoxRotation);
|
|
|
|
|
mEngine->adjustRigidBody(mRaycastingBody, pos, getRotation(), mBoxScaledTranslation, mBoxRotation);
|
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|
|
|
}
|
|
|
|
|
}
|
|
|
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|
|
void PhysicActor::setRotation(const Ogre::Quaternion &quat)
|
|
|
|
|
{
|
|
|
|
|
if(!quat.equals(getRotation(), Ogre::Radian(0))){
|
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|
|
|
mEngine->adjustRigidBody(mBody, getPosition(), quat, mBoxScaledTranslation, mBoxRotation);
|
|
|
|
|
mEngine->adjustRigidBody(mRaycastingBody, getPosition(), quat, mBoxScaledTranslation, mBoxRotation);
|
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|
|
|
|
|
|
|
}
|
|
|
|
|
}
|
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|
@ -135,7 +144,6 @@ namespace Physic
|
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|
|
RigidBody::RigidBody(btRigidBody::btRigidBodyConstructionInfo& CI,std::string name)
|
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|
|
|
: btRigidBody(CI)
|
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|
|
|
, mName(name)
|
|
|
|
|
, mIgnore(false)
|
|
|
|
|
{
|
|
|
|
|
}
|
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|
@ -226,8 +234,19 @@ namespace Physic
|
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|
|
|
delete hf_it->second.mBody;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
RigidBodyContainer::iterator rb_it = ObjectMap.begin();
|
|
|
|
|
for (; rb_it != ObjectMap.end(); ++rb_it)
|
|
|
|
|
RigidBodyContainer::iterator rb_it = mCollisionObjectMap.begin();
|
|
|
|
|
for (; rb_it != mCollisionObjectMap.end(); ++rb_it)
|
|
|
|
|
{
|
|
|
|
|
if (rb_it->second != NULL)
|
|
|
|
|
{
|
|
|
|
|
dynamicsWorld->removeRigidBody(rb_it->second);
|
|
|
|
|
|
|
|
|
|
delete rb_it->second;
|
|
|
|
|
rb_it->second = NULL;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
rb_it = mRaycastingObjectMap.begin();
|
|
|
|
|
for (; rb_it != mRaycastingObjectMap.end(); ++rb_it)
|
|
|
|
|
{
|
|
|
|
|
if (rb_it->second != NULL)
|
|
|
|
|
{
|
|
|
|
|
@ -243,8 +262,6 @@ namespace Physic
|
|
|
|
|
{
|
|
|
|
|
if (pa_it->second != NULL)
|
|
|
|
|
{
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
delete pa_it->second;
|
|
|
|
|
pa_it->second = NULL;
|
|
|
|
|
}
|
|
|
|
|
@ -296,7 +313,6 @@ namespace Physic
|
|
|
|
|
|
|
|
|
|
btRigidBody::btRigidBodyConstructionInfo CI = btRigidBody::btRigidBodyConstructionInfo(0,newMotionState,hfShape);
|
|
|
|
|
RigidBody* body = new RigidBody(CI,name);
|
|
|
|
|
body->mCollide = true;
|
|
|
|
|
body->getWorldTransform().setOrigin(btVector3( (x+0.5)*triSize*(sqrtVerts-1), (y+0.5)*triSize*(sqrtVerts-1), (maxh+minh)/2.f));
|
|
|
|
|
|
|
|
|
|
HeightField hf;
|
|
|
|
|
@ -347,12 +363,12 @@ namespace Physic
|
|
|
|
|
BulletShapeManager::getSingletonPtr()->load(outputstring,"General");
|
|
|
|
|
BulletShapePtr shape = BulletShapeManager::getSingleton().getByName(outputstring,"General");
|
|
|
|
|
|
|
|
|
|
adjustRigidBody(body, position, rotation, shape->boxTranslation * scale, shape->boxRotation);
|
|
|
|
|
adjustRigidBody(body, position, rotation, shape->mBoxTranslation * scale, shape->mBoxRotation);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
RigidBody* PhysicEngine::createAndAdjustRigidBody(const std::string &mesh, const std::string &name,
|
|
|
|
|
float scale, const Ogre::Vector3 &position, const Ogre::Quaternion &rotation,
|
|
|
|
|
Ogre::Vector3* scaledBoxTranslation, Ogre::Quaternion* boxRotation)
|
|
|
|
|
Ogre::Vector3* scaledBoxTranslation, Ogre::Quaternion* boxRotation, bool raycasting)
|
|
|
|
|
{
|
|
|
|
|
std::string sid = (boost::format("%07.3f") % scale).str();
|
|
|
|
|
std::string outputstring = mesh + sid;
|
|
|
|
|
@ -361,72 +377,77 @@ namespace Physic
|
|
|
|
|
mShapeLoader->load(outputstring,"General");
|
|
|
|
|
BulletShapeManager::getSingletonPtr()->load(outputstring,"General");
|
|
|
|
|
BulletShapePtr shape = BulletShapeManager::getSingleton().getByName(outputstring,"General");
|
|
|
|
|
shape->Shape->setLocalScaling( btVector3(scale,scale,scale));
|
|
|
|
|
|
|
|
|
|
if (!shape->mCollisionShape && !raycasting)
|
|
|
|
|
return NULL;
|
|
|
|
|
if (!shape->mRaycastingShape && raycasting)
|
|
|
|
|
return NULL;
|
|
|
|
|
|
|
|
|
|
if (!raycasting)
|
|
|
|
|
shape->mCollisionShape->setLocalScaling( btVector3(scale,scale,scale));
|
|
|
|
|
else
|
|
|
|
|
shape->mRaycastingShape->setLocalScaling( btVector3(scale,scale,scale));
|
|
|
|
|
|
|
|
|
|
//create the motionState
|
|
|
|
|
CMotionState* newMotionState = new CMotionState(this,name);
|
|
|
|
|
|
|
|
|
|
//create the real body
|
|
|
|
|
btRigidBody::btRigidBodyConstructionInfo CI = btRigidBody::btRigidBodyConstructionInfo(0,newMotionState,shape->Shape);
|
|
|
|
|
btRigidBody::btRigidBodyConstructionInfo CI = btRigidBody::btRigidBodyConstructionInfo
|
|
|
|
|
(0,newMotionState, raycasting ? shape->mRaycastingShape : shape->mCollisionShape);
|
|
|
|
|
RigidBody* body = new RigidBody(CI,name);
|
|
|
|
|
body->mCollide = shape->mCollide;
|
|
|
|
|
body->mIgnore = shape->mIgnore;
|
|
|
|
|
|
|
|
|
|
if(scaledBoxTranslation != 0)
|
|
|
|
|
*scaledBoxTranslation = shape->boxTranslation * scale;
|
|
|
|
|
*scaledBoxTranslation = shape->mBoxTranslation * scale;
|
|
|
|
|
if(boxRotation != 0)
|
|
|
|
|
*boxRotation = shape->boxRotation;
|
|
|
|
|
*boxRotation = shape->mBoxRotation;
|
|
|
|
|
|
|
|
|
|
adjustRigidBody(body, position, rotation, shape->boxTranslation * scale, shape->boxRotation);
|
|
|
|
|
adjustRigidBody(body, position, rotation, shape->mBoxTranslation * scale, shape->mBoxRotation);
|
|
|
|
|
|
|
|
|
|
return body;
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void PhysicEngine::addRigidBody(RigidBody* body, bool addToMap)
|
|
|
|
|
void PhysicEngine::addRigidBody(RigidBody* body, bool addToMap, RigidBody* raycastingBody)
|
|
|
|
|
{
|
|
|
|
|
if(body)
|
|
|
|
|
{
|
|
|
|
|
if (body->mIgnore)
|
|
|
|
|
return;
|
|
|
|
|
if(body->mCollide)
|
|
|
|
|
{
|
|
|
|
|
dynamicsWorld->addRigidBody(body,CollisionType_World,CollisionType_World|CollisionType_ActorInternal|CollisionType_ActorExternal);
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
dynamicsWorld->addRigidBody(body,CollisionType_Raycasting,CollisionType_Raycasting|CollisionType_World);
|
|
|
|
|
}
|
|
|
|
|
body->setActivationState(DISABLE_DEACTIVATION);
|
|
|
|
|
if(addToMap){
|
|
|
|
|
RigidBody* oldBody = ObjectMap[body->mName];
|
|
|
|
|
if (oldBody != NULL)
|
|
|
|
|
{
|
|
|
|
|
dynamicsWorld->removeRigidBody(oldBody);
|
|
|
|
|
delete oldBody;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
ObjectMap[body->mName] = body;
|
|
|
|
|
}
|
|
|
|
|
if(!body && !raycastingBody)
|
|
|
|
|
return; // nothing to do
|
|
|
|
|
|
|
|
|
|
const std::string& name = (body ? body->mName : raycastingBody->mName);
|
|
|
|
|
|
|
|
|
|
if (body)
|
|
|
|
|
dynamicsWorld->addRigidBody(body,CollisionType_World,CollisionType_World|CollisionType_ActorInternal|CollisionType_ActorExternal);
|
|
|
|
|
|
|
|
|
|
if (raycastingBody)
|
|
|
|
|
dynamicsWorld->addRigidBody(raycastingBody,CollisionType_Raycasting,CollisionType_Raycasting|CollisionType_World);
|
|
|
|
|
|
|
|
|
|
if(addToMap){
|
|
|
|
|
removeRigidBody(name);
|
|
|
|
|
deleteRigidBody(name);
|
|
|
|
|
|
|
|
|
|
if (body)
|
|
|
|
|
mCollisionObjectMap[name] = body;
|
|
|
|
|
if (raycastingBody)
|
|
|
|
|
mRaycastingObjectMap[name] = raycastingBody;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void PhysicEngine::removeRigidBody(const std::string &name)
|
|
|
|
|
{
|
|
|
|
|
RigidBodyContainer::iterator it = ObjectMap.find(name);
|
|
|
|
|
if (it != ObjectMap.end() )
|
|
|
|
|
RigidBodyContainer::iterator it = mCollisionObjectMap.find(name);
|
|
|
|
|
if (it != mCollisionObjectMap.end() )
|
|
|
|
|
{
|
|
|
|
|
RigidBody* body = it->second;
|
|
|
|
|
if(body != NULL)
|
|
|
|
|
{
|
|
|
|
|
dynamicsWorld->removeRigidBody(body);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
it = mRaycastingObjectMap.find(name);
|
|
|
|
|
if (it != mRaycastingObjectMap.end() )
|
|
|
|
|
{
|
|
|
|
|
RigidBody* body = it->second;
|
|
|
|
|
if(body != NULL)
|
|
|
|
|
{
|
|
|
|
|
// broadphase->getOverlappingPairCache()->removeOverlappingPairsContainingProxy(body->getBroadphaseProxy(),dispatcher);
|
|
|
|
|
/*PhysicActorContainer::iterator it2 = PhysicActorMap.begin();
|
|
|
|
|
for(;it2!=PhysicActorMap.end();it++)
|
|
|
|
|
{
|
|
|
|
|
it2->second->internalGhostObject->getOverlappingPairCache()->removeOverlappingPairsContainingProxy(body->getBroadphaseProxy(),dispatcher);
|
|
|
|
|
it2->second->externalGhostObject->getOverlappingPairCache()->removeOverlappingPairsContainingProxy(body->getBroadphaseProxy(),dispatcher);
|
|
|
|
|
}*/
|
|
|
|
|
dynamicsWorld->removeRigidBody(body);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
@ -434,35 +455,42 @@ namespace Physic
|
|
|
|
|
|
|
|
|
|
void PhysicEngine::deleteRigidBody(const std::string &name)
|
|
|
|
|
{
|
|
|
|
|
RigidBodyContainer::iterator it = ObjectMap.find(name);
|
|
|
|
|
if (it != ObjectMap.end() )
|
|
|
|
|
RigidBodyContainer::iterator it = mCollisionObjectMap.find(name);
|
|
|
|
|
if (it != mCollisionObjectMap.end() )
|
|
|
|
|
{
|
|
|
|
|
RigidBody* body = it->second;
|
|
|
|
|
//btScaledBvhTriangleMeshShape* scaled = dynamic_cast<btScaledBvhTriangleMeshShape*> (body->getCollisionShape());
|
|
|
|
|
|
|
|
|
|
if(body != NULL)
|
|
|
|
|
{
|
|
|
|
|
delete body;
|
|
|
|
|
}
|
|
|
|
|
/*if(scaled != NULL)
|
|
|
|
|
mCollisionObjectMap.erase(it);
|
|
|
|
|
}
|
|
|
|
|
it = mRaycastingObjectMap.find(name);
|
|
|
|
|
if (it != mRaycastingObjectMap.end() )
|
|
|
|
|
{
|
|
|
|
|
RigidBody* body = it->second;
|
|
|
|
|
|
|
|
|
|
if(body != NULL)
|
|
|
|
|
{
|
|
|
|
|
delete scaled;
|
|
|
|
|
}*/
|
|
|
|
|
ObjectMap.erase(it);
|
|
|
|
|
delete body;
|
|
|
|
|
}
|
|
|
|
|
mRaycastingObjectMap.erase(it);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
RigidBody* PhysicEngine::getRigidBody(const std::string &name)
|
|
|
|
|
RigidBody* PhysicEngine::getRigidBody(const std::string &name, bool raycasting)
|
|
|
|
|
{
|
|
|
|
|
RigidBodyContainer::iterator it = ObjectMap.find(name);
|
|
|
|
|
if (it != ObjectMap.end() )
|
|
|
|
|
RigidBodyContainer* map = raycasting ? &mRaycastingObjectMap : &mCollisionObjectMap;
|
|
|
|
|
RigidBodyContainer::iterator it = map->find(name);
|
|
|
|
|
if (it != map->end() )
|
|
|
|
|
{
|
|
|
|
|
RigidBody* body = ObjectMap[name];
|
|
|
|
|
RigidBody* body = (*map)[name];
|
|
|
|
|
return body;
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
return 0;
|
|
|
|
|
return NULL;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
@ -530,7 +558,7 @@ namespace Physic
|
|
|
|
|
|
|
|
|
|
float d1 = 10000.;
|
|
|
|
|
btCollisionWorld::ClosestRayResultCallback resultCallback1(from, to);
|
|
|
|
|
resultCallback1.m_collisionFilterMask = CollisionType_World|CollisionType_Raycasting;
|
|
|
|
|
resultCallback1.m_collisionFilterMask = CollisionType_Raycasting;
|
|
|
|
|
dynamicsWorld->rayTest(from, to, resultCallback1);
|
|
|
|
|
if (resultCallback1.hasHit())
|
|
|
|
|
{
|
|
|
|
|
@ -539,35 +567,16 @@ namespace Physic
|
|
|
|
|
d = d1;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
btCollisionWorld::ClosestRayResultCallback resultCallback2(from, to);
|
|
|
|
|
resultCallback2.m_collisionFilterMask = CollisionType_ActorInternal|CollisionType_ActorExternal;
|
|
|
|
|
dynamicsWorld->rayTest(from, to, resultCallback2);
|
|
|
|
|
float d2 = 10000.;
|
|
|
|
|
if (resultCallback2.hasHit())
|
|
|
|
|
{
|
|
|
|
|
d2 = resultCallback1.m_closestHitFraction;
|
|
|
|
|
if(d2<=d1)
|
|
|
|
|
{
|
|
|
|
|
name = static_cast<const PairCachingGhostObject&>(*resultCallback2.m_collisionObject).mName;
|
|
|
|
|
d = d2;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
return std::pair<std::string,float>(name,d);
|
|
|
|
|
}
|
|
|
|
|
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std::vector< std::pair<float, std::string> > PhysicEngine::rayTest2(btVector3& from, btVector3& to)
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{
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MyRayResultCallback resultCallback1;
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resultCallback1.m_collisionFilterMask = CollisionType_World|CollisionType_Raycasting;
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resultCallback1.m_collisionFilterMask = CollisionType_Raycasting;
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dynamicsWorld->rayTest(from, to, resultCallback1);
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std::vector< std::pair<float, const btCollisionObject*> > results = resultCallback1.results;
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MyRayResultCallback resultCallback2;
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resultCallback2.m_collisionFilterMask = CollisionType_ActorInternal|CollisionType_ActorExternal;
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dynamicsWorld->rayTest(from, to, resultCallback2);
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std::vector< std::pair<float, const btCollisionObject*> > actorResults = resultCallback2.results;
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std::vector< std::pair<float, std::string> > results2;
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for (std::vector< std::pair<float, const btCollisionObject*> >::iterator it=results.begin();
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@ -576,12 +585,6 @@ namespace Physic
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results2.push_back( std::make_pair( (*it).first, static_cast<const RigidBody&>(*(*it).second).mName ) );
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}
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for (std::vector< std::pair<float, const btCollisionObject*> >::iterator it=actorResults.begin();
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it != actorResults.end(); ++it)
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{
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results2.push_back( std::make_pair( (*it).first, static_cast<const PairCachingGhostObject&>(*(*it).second).mName ) );
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}
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std::sort(results2.begin(), results2.end(), MyRayResultCallback::cmp);
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return results2;
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@ -600,6 +603,6 @@ namespace Physic
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btTransform trans;
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trans.setIdentity();
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shape->Shape->getAabb(trans, min, max);
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shape->mCollisionShape->getAabb(trans, min, max);
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}
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}}
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scrawl
12 years ago