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@ -266,7 +266,6 @@ namespace Physic
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{
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new BulletShapeManager();
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}
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//TODO:singleton?
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mShapeLoader = shapeLoader;
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isDebugCreated = false;
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@ -310,8 +309,6 @@ namespace Physic
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{
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for (std::map<RigidBody*, AnimatedShapeInstance>::iterator it = mAnimatedShapes.begin(); it != mAnimatedShapes.end(); ++it)
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deleteShape(it->second.mCompound);
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for (std::map<RigidBody*, AnimatedShapeInstance>::iterator it = mAnimatedRaycastingShapes.begin(); it != mAnimatedRaycastingShapes.end(); ++it)
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deleteShape(it->second.mCompound);
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HeightFieldContainer::iterator hf_it = mHeightFieldMap.begin();
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for (; hf_it != mHeightFieldMap.end(); ++hf_it)
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@ -332,17 +329,6 @@ namespace Physic
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rb_it->second = NULL;
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}
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}
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rb_it = mRaycastingObjectMap.begin();
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for (; rb_it != mRaycastingObjectMap.end(); ++rb_it)
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{
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if (rb_it->second != NULL)
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{
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mDynamicsWorld->removeRigidBody(rb_it->second);
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delete rb_it->second;
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rb_it->second = NULL;
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}
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}
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PhysicActorContainer::iterator pa_it = mActorMap.begin();
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for (; pa_it != mActorMap.end(); ++pa_it)
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@ -362,9 +348,6 @@ namespace Physic
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delete dispatcher;
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delete broadphase;
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delete mShapeLoader;
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// Moved the cleanup to mwworld/physicssystem
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//delete BulletShapeManager::getSingletonPtr();
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}
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void PhysicEngine::addHeightField(float* heights,
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@ -407,7 +390,7 @@ namespace Physic
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mHeightFieldMap [name] = hf;
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mDynamicsWorld->addRigidBody(body,CollisionType_HeightMap,
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CollisionType_Actor|CollisionType_Raycasting|CollisionType_Projectile);
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CollisionType_Actor|CollisionType_Projectile);
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}
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void PhysicEngine::removeHeightField(int x, int y)
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@ -452,12 +435,12 @@ namespace Physic
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BulletShapeManager::getSingletonPtr()->load(outputstring,"General");
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BulletShapePtr shape = BulletShapeManager::getSingleton().getByName(outputstring,"General");
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adjustRigidBody(body, position, rotation, shape->mBoxTranslation * scale, shape->mBoxRotation);
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//adjustRigidBody(body, position, rotation, shape->mBoxTranslation * scale, shape->mBoxRotation);
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}
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RigidBody* PhysicEngine::createAndAdjustRigidBody(const std::string &mesh, const std::string &name,
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float scale, const Ogre::Vector3 &position, const Ogre::Quaternion &rotation,
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Ogre::Vector3* scaledBoxTranslation, Ogre::Quaternion* boxRotation, bool raycasting, bool placeable)
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Ogre::Vector3* scaledBoxTranslation, Ogre::Quaternion* boxRotation, bool placeable)
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{
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std::string sid = (boost::format("%07.3f") % scale).str();
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std::string outputstring = mesh + sid;
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@ -469,21 +452,17 @@ namespace Physic
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// TODO: add option somewhere to enable collision for placeable meshes
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if (placeable && !raycasting && shape->mCollisionShape)
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if (placeable && shape->mCollisionShape)
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return NULL;
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if (!shape->mCollisionShape && !raycasting)
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return NULL;
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if (!shape->mRaycastingShape && raycasting)
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if (!shape->mCollisionShape)
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return NULL;
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btCollisionShape* collisionShape = raycasting ? shape->mRaycastingShape : shape->mCollisionShape;
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btCollisionShape* collisionShape = shape->mCollisionShape;
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// If this is an animated compound shape, we must duplicate it so we can animate
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// multiple instances independently.
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if (!raycasting && !shape->mAnimatedShapes.empty())
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collisionShape = duplicateCollisionShape(collisionShape);
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if (raycasting && !shape->mAnimatedRaycastingShapes.empty())
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if (!shape->mAnimatedShapes.empty())
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collisionShape = duplicateCollisionShape(collisionShape);
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collisionShape->setLocalScaling( btVector3(scale,scale,scale));
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@ -494,41 +473,24 @@ namespace Physic
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RigidBody* body = new RigidBody(CI,name);
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body->mPlaceable = placeable;
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if (!raycasting && !shape->mAnimatedShapes.empty())
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if (!shape->mAnimatedShapes.empty())
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{
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AnimatedShapeInstance instance;
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instance.mAnimatedShapes = shape->mAnimatedShapes;
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instance.mCompound = collisionShape;
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mAnimatedShapes[body] = instance;
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}
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if (raycasting && !shape->mAnimatedRaycastingShapes.empty())
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{
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AnimatedShapeInstance instance;
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instance.mAnimatedShapes = shape->mAnimatedRaycastingShapes;
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instance.mCompound = collisionShape;
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mAnimatedRaycastingShapes[body] = instance;
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}
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if(scaledBoxTranslation != 0)
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*scaledBoxTranslation = shape->mBoxTranslation * scale;
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if(boxRotation != 0)
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*boxRotation = shape->mBoxRotation;
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//if(scaledBoxTranslation != 0)
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// *scaledBoxTranslation = shape->mBoxTranslation * scale;
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//if(boxRotation != 0)
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// *boxRotation = shape->mBoxRotation;
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adjustRigidBody(body, position, rotation, shape->mBoxTranslation * scale, shape->mBoxRotation);
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//adjustRigidBody(body, position, rotation, shape->mBoxTranslation * scale, shape->mBoxRotation);
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if (!raycasting)
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{
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assert (mCollisionObjectMap.find(name) == mCollisionObjectMap.end());
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mCollisionObjectMap[name] = body;
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mDynamicsWorld->addRigidBody(body,CollisionType_World,CollisionType_Actor|CollisionType_HeightMap);
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}
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else
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{
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assert (mRaycastingObjectMap.find(name) == mRaycastingObjectMap.end());
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mRaycastingObjectMap[name] = body;
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mDynamicsWorld->addRigidBody(body,CollisionType_Raycasting,CollisionType_Raycasting|CollisionType_Projectile);
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body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_DISABLE_VISUALIZE_OBJECT);
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}
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assert (mCollisionObjectMap.find(name) == mCollisionObjectMap.end());
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mCollisionObjectMap[name] = body;
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mDynamicsWorld->addRigidBody(body,CollisionType_World,CollisionType_Actor|CollisionType_HeightMap);
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return body;
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}
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@ -544,15 +506,6 @@ namespace Physic
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mDynamicsWorld->removeRigidBody(body);
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}
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}
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it = mRaycastingObjectMap.find(name);
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if (it != mRaycastingObjectMap.end() )
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{
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RigidBody* body = it->second;
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if(body != NULL)
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{
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mDynamicsWorld->removeRigidBody(body);
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}
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}
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}
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void PhysicEngine::deleteRigidBody(const std::string &name)
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@ -572,30 +525,14 @@ namespace Physic
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}
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mCollisionObjectMap.erase(it);
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}
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it = mRaycastingObjectMap.find(name);
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if (it != mRaycastingObjectMap.end() )
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{
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RigidBody* body = it->second;
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if(body != NULL)
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{
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if (mAnimatedRaycastingShapes.find(body) != mAnimatedRaycastingShapes.end())
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deleteShape(mAnimatedRaycastingShapes[body].mCompound);
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mAnimatedRaycastingShapes.erase(body);
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delete body;
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}
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mRaycastingObjectMap.erase(it);
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}
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}
|
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|
RigidBody* PhysicEngine::getRigidBody(const std::string &name, bool raycasting)
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RigidBody* PhysicEngine::getRigidBody(const std::string &name)
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{
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RigidBodyContainer* map = raycasting ? &mRaycastingObjectMap : &mCollisionObjectMap;
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RigidBodyContainer::iterator it = map->find(name);
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if (it != map->end() )
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RigidBodyContainer::iterator it = mCollisionObjectMap.find(name);
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if (it != mCollisionObjectMap.end() )
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{
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RigidBody* body = (*map)[name];
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RigidBody* body = mCollisionObjectMap[name];
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return body;
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}
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else
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|
@ -617,8 +554,7 @@ namespace Physic
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const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
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{
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const RigidBody* body = dynamic_cast<const RigidBody*>(colObj0Wrap->m_collisionObject);
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if (body && !(colObj0Wrap->m_collisionObject->getBroadphaseHandle()->m_collisionFilterGroup
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& CollisionType_Raycasting))
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if (body)
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mResult.push_back(body->mName);
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return 0.f;
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@ -628,8 +564,7 @@ namespace Physic
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const btCollisionObject* col1, int partId1, int index1)
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{
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const RigidBody* body = dynamic_cast<const RigidBody*>(col0);
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if (body && !(col0->getBroadphaseHandle()->m_collisionFilterGroup
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& CollisionType_Raycasting))
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if (body)
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|
mResult.push_back(body->mName);
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return 0.f;
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@ -698,8 +633,6 @@ namespace Physic
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std::vector<std::string> PhysicEngine::getCollisions(const std::string& name, int collisionGroup, int collisionMask)
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{
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RigidBody* body = getRigidBody(name);
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if (!body) // fall back to raycasting body if there is no collision body
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|
|
body = getRigidBody(name, true);
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|
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ContactTestResultCallback callback;
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callback.m_collisionFilterGroup = collisionGroup;
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callback.m_collisionFilterMask = collisionMask;
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@ -769,17 +702,14 @@ namespace Physic
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}
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}
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std::pair<std::string,float> PhysicEngine::rayTest(const btVector3 &from, const btVector3 &to, bool raycastingObjectOnly, bool ignoreHeightMap, Ogre::Vector3* normal)
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|
|
std::pair<std::string,float> PhysicEngine::rayTest(const btVector3 &from, const btVector3 &to, bool ignoreHeightMap, Ogre::Vector3* normal)
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{
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|
|
std::string name = "";
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|
|
float d = -1;
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|
|
btCollisionWorld::ClosestRayResultCallback resultCallback1(from, to);
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|
|
resultCallback1.m_collisionFilterGroup = 0xff;
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|
|
if(raycastingObjectOnly)
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|
|
|
resultCallback1.m_collisionFilterMask = CollisionType_Raycasting|CollisionType_Actor;
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|
else
|
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|
|
|
resultCallback1.m_collisionFilterMask = CollisionType_World;
|
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|
|
resultCallback1.m_collisionFilterMask = CollisionType_World;
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|
|
if(!ignoreHeightMap)
|
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|
|
|
resultCallback1.m_collisionFilterMask = resultCallback1.m_collisionFilterMask | CollisionType_HeightMap;
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|
|
@ -833,51 +763,6 @@ namespace Physic
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|
|
return std::make_pair(false, 1.0f);
|
|
|
|
|
}
|
|
|
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|
|
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|
|
|
std::vector< std::pair<float, std::string> > PhysicEngine::rayTest2(const btVector3& from, const btVector3& to, int filterGroup)
|
|
|
|
|
{
|
|
|
|
|
MyRayResultCallback resultCallback1;
|
|
|
|
|
resultCallback1.m_collisionFilterGroup = filterGroup;
|
|
|
|
|
resultCallback1.m_collisionFilterMask = CollisionType_Raycasting|CollisionType_Actor|CollisionType_HeightMap;
|
|
|
|
|
mDynamicsWorld->rayTest(from, to, resultCallback1);
|
|
|
|
|
std::vector< std::pair<float, const btCollisionObject*> > results = resultCallback1.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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|
|
|
it != results.end(); ++it)
|
|
|
|
|
{
|
|
|
|
|
results2.push_back( std::make_pair( (*it).first, static_cast<const RigidBody&>(*(*it).second).mName ) );
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
std::sort(results2.begin(), results2.end(), MyRayResultCallback::cmp);
|
|
|
|
|
|
|
|
|
|
return results2;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void PhysicEngine::getObjectAABB(const std::string &mesh, float scale, btVector3 &min, btVector3 &max)
|
|
|
|
|
{
|
|
|
|
|
std::string sid = (boost::format("%07.3f") % scale).str();
|
|
|
|
|
std::string outputstring = mesh + sid;
|
|
|
|
|
|
|
|
|
|
mShapeLoader->load(outputstring, "General");
|
|
|
|
|
BulletShapeManager::getSingletonPtr()->load(outputstring, "General");
|
|
|
|
|
BulletShapePtr shape =
|
|
|
|
|
BulletShapeManager::getSingleton().getByName(outputstring, "General");
|
|
|
|
|
|
|
|
|
|
btTransform trans;
|
|
|
|
|
trans.setIdentity();
|
|
|
|
|
|
|
|
|
|
if (shape->mRaycastingShape)
|
|
|
|
|
shape->mRaycastingShape->getAabb(trans, min, max);
|
|
|
|
|
else if (shape->mCollisionShape)
|
|
|
|
|
shape->mCollisionShape->getAabb(trans, min, max);
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
min = btVector3(0,0,0);
|
|
|
|
|
max = btVector3(0,0,0);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
int PhysicEngine::toggleDebugRendering(Ogre::SceneManager *sceneMgr)
|
|
|
|
|
{
|
|
|
|
|
if(!sceneMgr)
|
|
|
|
|
|
scrawl
10 years ago