@ -2,6 +2,7 @@
# include <btBulletDynamicsCommon.h>
# include <btBulletCollisionCommon.h>
# include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
# include "pmove.h"
# include <components/nifbullet/bullet_nif_loader.hpp>
# include "CMotionState.h"
# include "OgreRoot.h"
@ -26,111 +27,139 @@ namespace Physic
COL_RAYCASTING = BIT ( 3 )
} ;
PhysicActor : : PhysicActor ( std : : string name )
{
mName = name ;
// The capsule is at the origin
btTransform transform ;
transform . setIdentity ( ) ;
// External capsule
externalGhostObject = new PairCachingGhostObject ( name ) ;
externalGhostObject - > setWorldTransform ( transform ) ;
btScalar externalCapsuleHeight = 120 ;
btScalar externalCapsuleWidth = 19 ;
externalCollisionShape = new btCapsuleShapeZ ( externalCapsuleWidth , externalCapsuleHeight ) ;
externalCollisionShape - > setMargin ( 0.1 ) ;
externalGhostObject - > setCollisionShape ( externalCollisionShape ) ;
externalGhostObject - > setCollisionFlags ( btCollisionObject : : CF_CHARACTER_OBJECT ) ;
// Internal capsule
internalGhostObject = new PairCachingGhostObject ( name ) ;
internalGhostObject - > setWorldTransform ( transform ) ;
//internalGhostObject->getBroadphaseHandle()->s
btScalar internalCapsuleHeight = 110 ;
btScalar internalCapsuleWidth = 17 ;
internalCollisionShape = new btCapsuleShapeZ ( internalCapsuleWidth , internalCapsuleHeight ) ;
internalCollisionShape - > setMargin ( 0.1 ) ;
internalGhostObject - > setCollisionShape ( internalCollisionShape ) ;
internalGhostObject - > setCollisionFlags ( btCollisionObject : : CF_CHARACTER_OBJECT ) ;
mCharacter = new btKinematicCharacterController ( externalGhostObject , internalGhostObject , btScalar ( 40 ) , 1 , 4 , 20 , 9.8 , 0.2 ) ;
mCharacter - > setUpAxis ( btKinematicCharacterController : : Z_AXIS ) ;
mCharacter - > setUseGhostSweepTest ( false ) ;
mCharacter - > mCollision = false ;
setGravity ( 0 ) ;
mTranslation = btVector3 ( 0 , 0 , 70 ) ;
PhysicActor : : PhysicActor ( std : : string name , std : : string mesh , PhysicEngine * engine , Ogre : : Vector3 position , Ogre : : Quaternion rotation , float scale ) :
mName ( name ) , mEngine ( engine ) , mMesh ( mesh ) , mBoxScaledTranslation ( 0 , 0 , 0 ) , mBoxRotationInverse ( 0 , 0 , 0 , 0 ) , mBody ( 0 ) , collisionMode ( false ) , mBoxRotation ( 0 , 0 , 0 , 0 )
{
mBody = mEngine - > createAndAdjustRigidBody ( mMesh , mName , scale , position , rotation , & mBoxScaledTranslation , & mBoxRotation ) ;
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
pmove = new playerMove ;
pmove - > mEngine = mEngine ;
btBoxShape * box = static_cast < btBoxShape * > ( mBody - > getCollisionShape ( ) ) ;
if ( box ! = NULL ) {
btVector3 size = box - > getHalfExtentsWithMargin ( ) ;
Ogre : : Vector3 halfExtents = Ogre : : Vector3 ( size . getX ( ) , size . getY ( ) , size . getZ ( ) ) ;
pmove - > ps . halfExtents = halfExtents ;
}
}
PhysicActor : : ~ PhysicActor ( )
{
delete mCharacter ;
delete internalGhostObject ;
delete internalCollisionShape ;
delete externalGhostObject ;
delete externalCollisionShape ;
if ( mBody ) {
mEngine - > dynamicsWorld - > removeRigidBody ( mBody ) ;
delete mBody ;
}
delete pmove ;
}
void PhysicActor : : setCurrentWater ( bool hasWater , int waterHeight ) {
pmove - > hasWater = hasWater ;
if ( hasWater ) {
pmove - > waterHeight = waterHeight ;
}
}
void PhysicActor : : setGravity ( float gravity )
{
mCharacter - > setGravity ( gravity ) ;
//mCharacter->
pmove - > ps . gravity = gravity ;
}
void PhysicActor : : setSpeed ( float speed )
{
pmove - > ps . speed = speed ;
}
void PhysicActor : : enableCollisions ( bool collision )
{
mCharacter - > mCollision = collision ;
collisionMode = collision ;
if ( collisionMode )
pmove - > ps . move_type = PM_NORMAL ;
else
pmove - > ps . move_type = PM_NOCLIP ;
}
void PhysicActor : : setVerticalVelocity ( float z )
void PhysicActor : : set JumpVelocity( float velocity )
{
mCharacter- > setVerticalVelocity ( z ) ;
pmove- > ps . jump_velocity = velocity ;
}
bool PhysicActor : : getCollisionMode ( )
{
return mChara cter- > mC ollision;
return Mode ;
}
void PhysicActor : : set WalkDirection( const btVector3 & mvt )
void PhysicActor : : set Movement( signed char rightmove , signed char forwardmove , signed char upmove )
{
mCharacter - > setWalkDirection ( mvt ) ;
playerMove : : playercmd & pm_ref = pmove - > cmd ;
pm_ref . rightmove = rightmove ;
pm_ref . forwardmove = forwardmove ;
pm_ref . upmove = upmove ;
}
void PhysicActor : : Rotate ( const btQuaternion & quat )
{
externalGhostObject- > getWorldTransform ( ) . setRotation ( externalGhostObject - > getWorldTransform ( ) . getRotation ( ) * quat ) ;
internalGhostObject- > getWorldTransform ( ) . setRotation ( internalGhostObject - > getWorldTransform ( ) . getRotation ( ) * quat ) ;
void PhysicActor : : setPmoveViewAngles( float pitch , float yaw , float roll ) {
pmove - > ps . viewangles . x = pitch ;
pmove- > ps . viewangles . y = yaw ;
pmove- > ps . viewangles . z = roll ;
}
void PhysicActor : : setRotation ( const btQuaternion & quat )
void PhysicActor : : setRotation ( const Ogre : : Quaternion quat )
{
externalGhostObject - > getWorldTransform ( ) . setRotation ( quat ) ;
internalGhostObject - > getWorldTransform ( ) . setRotation ( quat ) ;
if ( ! quat . equals ( getRotation ( ) , Ogre : : Radian ( 0 ) ) ) {
mEngine - > adjustRigidBody ( mBody , getPosition ( ) , quat , mBoxScaledTranslation , mBoxRotation ) ;
}
}
bt Vector3 PhysicActor : : getPosition ( void )
Ogre: : Vector3 PhysicActor : : getPosition ( )
{
return internalGhostObject - > getWorldTransform ( ) . getOrigin ( ) - mTranslation ;
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 ;
}
btQuaternion PhysicActor : : getRotation ( void )
Ogre: : Quaternion PhysicActor : : getRotation ( )
{
return internalGhostObject - > getWorldTransform ( ) . getRotation ( ) ;
btQuaternion quat = mBody - > getWorldTransform ( ) . getRotation ( ) * mBoxRotationInverse ;
return Ogre : : Quaternion ( quat . getW ( ) , quat . getX ( ) , quat . getY ( ) , quat . getZ ( ) ) ;
}
void PhysicActor : : setPosition ( const btVector3& pos )
void PhysicActor : : setPosition ( const Ogre: : Vector3 pos )
{
internalGhostObject - > getWorldTransform ( ) . setOrigin ( pos + mTranslation ) ;
externalGhostObject - > getWorldTransform ( ) . setOrigin ( pos + mTranslation ) ;
mEngine - > adjustRigidBody ( mBody , pos , getRotation ( ) , mBoxScaledTranslation , mBoxRotation ) ;
btVector3 vec = mBody - > getWorldTransform ( ) . getOrigin ( ) ;
pmove - > ps . origin = Ogre : : Vector3 ( vec . getX ( ) , vec . getY ( ) , vec . getZ ( ) ) ;
}
void PhysicActor : : setScale ( float scale ) {
Ogre : : Vector3 position = getPosition ( ) ;
Ogre : : Quaternion rotation = getRotation ( ) ;
//We only need to change the scaled box translation, box rotations remain the same.
mBoxScaledTranslation = mBoxScaledTranslation / mBody - > getCollisionShape ( ) - > getLocalScaling ( ) . getX ( ) ;
mBoxScaledTranslation * = scale ;
if ( mBody ) {
mEngine - > dynamicsWorld - > removeRigidBody ( mBody ) ;
delete mBody ;
}
//Create the newly scaled rigid body
mBody = mEngine - > createAndAdjustRigidBody ( mMesh , mName , scale , position , rotation ) ;
mEngine - > addRigidBody ( mBody , false ) ; //Add rigid body to dynamics world, but do not add to object map
btBoxShape * box = static_cast < btBoxShape * > ( mBody - > getCollisionShape ( ) ) ;
if ( box ! = NULL ) {
btVector3 size = box - > getHalfExtentsWithMargin ( ) ;
Ogre : : Vector3 halfExtents = Ogre : : Vector3 ( size . getX ( ) , size . getY ( ) , size . getZ ( ) ) ;
pmove - > ps . halfExtents = halfExtents ;
}
}
void PhysicActor : : runPmove ( ) {
Pmove ( pmove ) ;
Ogre : : Vector3 newpos = pmove - > ps . origin ;
mBody - > getWorldTransform ( ) . setOrigin ( btVector3 ( newpos . x , newpos . y , newpos . z ) ) ;
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////
@ -230,8 +259,8 @@ namespace Physic
delete hf_it - > second . mBody ;
}
RigidBodyContainer : : iterator rb_it = RigidBody Map. begin ( ) ;
for ( ; rb_it ! = RigidBody Map. end ( ) ; + + rb_it )
RigidBodyContainer : : iterator rb_it = Object Map. begin ( ) ;
for ( ; rb_it ! = Object Map. end ( ) ; + + rb_it )
{
if ( rb_it - > second ! = NULL )
{
@ -247,9 +276,7 @@ namespace Physic
{
if ( pa_it - > second ! = NULL )
{
dynamicsWorld - > removeCollisionObject ( pa_it - > second - > externalGhostObject ) ;
dynamicsWorld - > removeCollisionObject ( pa_it - > second - > internalGhostObject ) ;
dynamicsWorld - > removeAction ( pa_it - > second - > mCharacter ) ;
delete pa_it - > second ;
pa_it - > second = NULL ;
@ -332,18 +359,42 @@ namespace Physic
mHeightFieldMap . erase ( name ) ;
}
RigidBody * PhysicEngine : : createRigidBody ( std : : string mesh , std : : string name , float scale )
{
void PhysicEngine : : adjustRigidBody ( RigidBody * body , Ogre : : Vector3 position , Ogre : : Quaternion rotation ,
Ogre : : Vector3 scaledBoxTranslation , Ogre : : Quaternion boxRotation ) {
btTransform tr ;
rotation = rotation * boxRotation ;
Ogre : : Vector3 transrot = rotation * scaledBoxTranslation ;
Ogre : : Vector3 newPosition = transrot + position ;
tr . setOrigin ( btVector3 ( newPosition . x , newPosition . y , newPosition . z ) ) ;
tr . setRotation ( btQuaternion ( rotation . x , rotation . y , rotation . z , rotation . w ) ) ;
body - > setWorldTransform ( tr ) ;
}
void PhysicEngine : : boxAdjustExternal ( std : : string mesh , RigidBody * body , float scale , Ogre : : Vector3 position , Ogre : : Quaternion rotation ) {
std : : string sid = ( boost : : format ( " %07.3f " ) % scale ) . str ( ) ;
std : : string outputstring = mesh + sid ;
//std::cout << "The string" << outputstring << "\n";
//get the shape from the .nif
mShapeLoader - > load ( outputstring , " General " ) ;
BulletShapeManager : : getSingletonPtr ( ) - > load ( outputstring , " General " ) ;
BulletShapePtr shape = BulletShapeManager : : getSingleton ( ) . getByName ( outputstring , " General " ) ;
adjustRigidBody ( body , position , rotation , shape - > boxTranslation * scale , shape - > boxRotation ) ;
}
RigidBody * PhysicEngine : : createAndAdjustRigidBody ( std : : string mesh , std : : string name , float scale , Ogre : : Vector3 position , Ogre : : Quaternion rotation ,
Ogre : : Vector3 * scaledBoxTranslation , Ogre : : Quaternion * boxRotation )
{
std : : string sid = ( boost : : format ( " %07.3f " ) % scale ) . str ( ) ;
std : : string outputstring = mesh + sid ;
//get the shape from the .nif
mShapeLoader - > load ( outputstring , " General " ) ;
BulletShapeManager : : getSingletonPtr ( ) - > load ( outputstring , " General " ) ;
BulletShapePtr shape = BulletShapeManager : : getSingleton ( ) . getByName ( outputstring , " General " ) ;
shape - > Shape - > setLocalScaling ( btVector3 ( scale , scale , scale ) ) ;
//btScaledBvhTriangleMeshShape* scaled = new btScaledBvhTriangleMeshShape(dynamic_cast<btBvhTriangleMeshShape*> (shape->Shape), btVector3(scale,scale,scale));
//create the motionState
CMotionState * newMotionState = new CMotionState ( this , name ) ;
@ -352,11 +403,19 @@ namespace Physic
btRigidBody : : btRigidBodyConstructionInfo CI = btRigidBody : : btRigidBodyConstructionInfo ( 0 , newMotionState , shape - > Shape ) ;
RigidBody * body = new RigidBody ( CI , name ) ;
body - > collide = shape - > collide ;
if ( scaledBoxTranslation ! = 0 )
* scaledBoxTranslation = shape - > boxTranslation * scale ;
if ( boxRotation ! = 0 )
* boxRotation = shape - > boxRotation ;
adjustRigidBody ( body , position , rotation , shape - > boxTranslation * scale , shape - > boxRotation ) ;
return body ;
}
void PhysicEngine : : addRigidBody ( RigidBody * body )
void PhysicEngine : : addRigidBody ( RigidBody * body , bool addToMap )
{
if ( body )
{
@ -369,21 +428,23 @@ namespace Physic
dynamicsWorld - > addRigidBody ( body , COL_RAYCASTING , COL_RAYCASTING | COL_WORLD ) ;
}
body - > setActivationState ( DISABLE_DEACTIVATION ) ;
RigidBody * oldBody = RigidBodyMap [ body - > mName ] ;
if ( oldBody ! = NULL )
{
dynamicsWorld - > removeRigidBody ( oldBody ) ;
delete oldBody ;
if ( addToMap ) {
RigidBody * oldBody = ObjectMap [ body - > mName ] ;
if ( oldBody ! = NULL )
{
dynamicsWorld - > removeRigidBody ( oldBody ) ;
delete oldBody ;
}
ObjectMap [ body - > mName ] = body ;
}
RigidBodyMap [ body - > mName ] = body ;
}
}
void PhysicEngine : : removeRigidBody ( std : : string name )
{
RigidBodyContainer : : iterator it = RigidBody Map. find ( name ) ;
if ( it ! = RigidBody Map. end ( ) )
RigidBodyContainer : : iterator it = Object Map. find ( name ) ;
if ( it ! = Object Map. end ( ) )
{
RigidBody * body = it - > second ;
if ( body ! = NULL )
@ -402,8 +463,8 @@ namespace Physic
void PhysicEngine : : deleteRigidBody ( std : : string name )
{
RigidBodyContainer : : iterator it = RigidBody Map. find ( name ) ;
if ( it ! = RigidBody Map. end ( ) )
RigidBodyContainer : : iterator it = Object Map. find ( name ) ;
if ( it ! = Object Map. end ( ) )
{
RigidBody * body = it - > second ;
//btScaledBvhTriangleMeshShape* scaled = dynamic_cast<btScaledBvhTriangleMeshShape*> (body->getCollisionShape());
@ -416,16 +477,16 @@ namespace Physic
{
delete scaled ;
} */
RigidBody Map. erase ( it ) ;
Object Map. erase ( it ) ;
}
}
RigidBody * PhysicEngine : : getRigidBody ( std : : string name )
{
RigidBodyContainer : : iterator it = RigidBody Map. find ( name ) ;
if ( it ! = RigidBody Map. end ( ) )
RigidBodyContainer : : iterator it = Object Map. find ( name ) ;
if ( it ! = Object Map. end ( ) )
{
RigidBody * body = RigidBody Map[ name ] ;
RigidBody * body = Object Map[ name ] ;
return body ;
}
else
@ -443,16 +504,17 @@ namespace Physic
}
}
void PhysicEngine : : addCharacter ( std : : string name )
void PhysicEngine : : addCharacter ( std : : string name , std : : string mesh ,
Ogre : : Vector3 position , float scale , Ogre : : Quaternion rotation )
{
// Remove character with given name, so we don't make memory
// leak when character would be added twice
removeCharacter ( name ) ;
PhysicActor * newActor = new PhysicActor ( name ;
dynamicsWorld - > addCollisionObject ( newActor - > externalGhostObject , COL_ACTOR_EXTERNAL , COL_WORLD | COL_ACTOR_EXTERNAL ) ;
dynamicsWorld - > addCollisionObject ( newActor - > internalGhostObject , COL_ACTOR_INTERNAL , COL_WORLD | COL_ACTOR_INTERNAL ) ;
dynamicsWorld - > addAction ( newActor - > mCharacter ) ;
PhysicActor * newActor = new PhysicActor ( name , mesh , this , position , rotation , scale );
//dynamicsWorld->addAction( newActor->mCharacter );
PhysicActorMap [ name ] = newActor ;
}
@ -465,25 +527,11 @@ namespace Physic
PhysicActor * act = it - > second ;
if ( act ! = NULL )
{
/*broadphase->getOverlappingPairCache()->removeOverlappingPairsContainingProxy(act->externalGhostObject->getBroadphaseHandle(),dispatcher);
broadphase - > getOverlappingPairCache ( ) - > removeOverlappingPairsContainingProxy ( act - > internalGhostObject - > getBroadphaseHandle ( ) , dispatcher ) ;
PhysicActorContainer : : iterator it2 = PhysicActorMap . begin ( ) ;
for ( ; it2 ! = PhysicActorMap . end ( ) ; it + + )
{
it - > second - > internalGhostObject - > getOverlappingPairCache ( ) - > removeOverlappingPairsContainingProxy ( act - > externalGhostObject - > getBroadphaseHandle ( ) , dispatcher ) ;
it - > second - > externalGhostObject - > getOverlappingPairCache ( ) - > removeOverlappingPairsContainingProxy ( act - > externalGhostObject - > getBroadphaseHandle ( ) , dispatcher ) ;
it - > second - > internalGhostObject - > getOverlappingPairCache ( ) - > removeOverlappingPairsContainingProxy ( act - > internalGhostObject - > getBroadphaseHandle ( ) , dispatcher ) ;
it - > second - > externalGhostObject - > getOverlappingPairCache ( ) - > removeOverlappingPairsContainingProxy ( act - > internalGhostObject - > getBroadphaseHandle ( ) , dispatcher ) ;
} */
//act->externalGhostObject->
dynamicsWorld - > removeCollisionObject ( act - > externalGhostObject ) ;
dynamicsWorld - > removeCollisionObject ( act - > internalGhostObject ) ;
dynamicsWorld - > removeAction ( act - > mCharacter ) ;
delete act ;
}
PhysicActorMap . erase ( it ) ;
}
//std::cout << "ok";
}
PhysicActor * PhysicEngine : : getCharacter ( std : : string name )
scrawl
12 years ago