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@ -1,3 +1,26 @@
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/*
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OpenMW - The completely unofficial reimplementation of Morrowind
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Copyright (C) 2008 Nicolay Korslund
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Email: < korslund@gmail.com >
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WWW: http://openmw.snaptoad.com/
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This file (cpp_bullet.cpp) is part of the OpenMW package.
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OpenMW is distributed as free software: you can redistribute it
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and/or modify it under the terms of the GNU General Public License
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version 3, as published by the Free Software Foundation.
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This program is distributed in the hope that it will be useful, but
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WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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General Public License for more details.
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You should have received a copy of the GNU General Public License
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version 3 along with this program. If not, see
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http://www.gnu.org/licenses/ .
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*/
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#include "btBulletDynamicsCommon.h"
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#include "btBulletDynamicsCommon.h"
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#include <iostream>
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#include <iostream>
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@ -20,20 +43,24 @@ btConvexShape *g_playerShape;
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// Player position. This is updated automatically by the physics
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// Player position. This is updated automatically by the physics
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// system based on g_walkDirection and collisions. It is read by D
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// system based on g_walkDirection and collisions. It is read by D
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// code through cpp_getPlayerPos().
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// code through bullet_getPlayerPos().
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btVector3 g_playerPosition;
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btVector3 g_playerPosition;
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// Walking vector - defines direction and speed that the player
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// Walking vector - defines direction and speed that the player
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// intends to move right now. This is updated from D code each frame
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// intends to move right now. This is updated from D code each frame
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// through cpp_setPlayerDir(), based on player input (and later, AI
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// through bullet_setPlayerDir(), based on player input (and later, AI
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// decisions.) The units of the vector are points per second.
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// decisions.) The units of the vector are points per second.
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btVector3 g_walkDirection;
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btVector3 g_walkDirection;
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// The current trimesh shape being built. All new inserted meshes are
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// added into this, until bullet_getFinalShape() is called.
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btTriangleIndexVertexArray *g_currentMesh;
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// These variables and the class below are used in player collision
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// These variables and the class below are used in player collision
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// detection. The callback is injected into the broadphase and keeps a
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// detection. The callback is injected into the broadphase and keeps a
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// continuously updated list of what objects are colliding with the
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// continuously updated list of what objects are colliding with the
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// player (in g_pairCache). This list is used in the function called
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// player (in g_pairCache). This list is used in the function called
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// recoverFromPenetration() below.
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// recoverFromPenetration().
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btHashedOverlappingPairCache* g_pairCache;
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btHashedOverlappingPairCache* g_pairCache;
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CustomOverlappingPairCallback *g_customPairCallback;
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CustomOverlappingPairCallback *g_customPairCallback;
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@ -77,7 +104,7 @@ public:
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*/
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*/
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};
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};
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extern "C" int32_t cpp_initBullet()
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extern "C" int32_t bullet_init()
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{
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{
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// ------- SET UP THE WORLD -------
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// ------- SET UP THE WORLD -------
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@ -89,9 +116,14 @@ extern "C" int32_t cpp_initBullet()
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// TODO: Figure out what to do with this. We need the user callback
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// TODO: Figure out what to do with this. We need the user callback
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// function used below (I think), but this is only offered by this
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// function used below (I think), but this is only offered by this
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// broadphase implementation (as far as I can see.)
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// broadphase implementation (as far as I can see.) Maybe we can
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btVector3 worldMin(-100000,-100000,-100000);
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// scan through the cell first and find good values that covers all
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btVector3 worldMax(100000,100000,100000);
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// the objects before we set up the dynamic world. Another option is
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// to create a custom broadphase designed for our purpose. (We
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// should probably use different ones for interior and exterior
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// cells in any case.)
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btVector3 worldMin(-40000,-40000,-40000);
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btVector3 worldMax(40000,40000,40000);
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g_broadphase = new btAxisSweep3(worldMin,worldMax);
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g_broadphase = new btAxisSweep3(worldMin,worldMax);
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g_dynamicsWorld =
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g_dynamicsWorld =
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@ -107,18 +139,18 @@ extern "C" int32_t cpp_initBullet()
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// Create the player collision shape.
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// Create the player collision shape.
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float width = 50;
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float width = 50;
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//float height = 50;
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/*
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/*
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// One possible shape is the convex hull around two spheres
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// One possible shape is the convex hull around two spheres
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float height = 100;
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btVector3 spherePositions[2];
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btVector3 spherePositions[2];
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btScalar sphereRadii[2];
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btScalar sphereRadii[2];
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sphereRadii[0] = width;
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sphereRadii[0] = width;
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sphereRadii[1] = width;
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sphereRadii[1] = width;
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spherePositions[0] = btVector3 (0.0, height/2.0, 0.0);
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spherePositions[0] = btVector3 (0.0, height/2.0, 0.0);
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spherePositions[1] = btVector3 (0.0, -height/2.0, 0.0);
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spherePositions[1] = btVector3 (0.0, -height/2.0, 0.0);
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m_shape = new btMultiSphereShape(btVector3(width/2.0, height/2.0, width/2.0),
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g_playerShape = new btMultiSphereShape(btVector3(width/2.0, height/2.0,
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&spherePositions[0], &sphereRadii[0], 2);
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width/2.0), &spherePositions[0], &sphereRadii[0], 2);
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*/
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//*/
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//g_playerShape = new btCylinderShape(btVector3(50, 50, 50));
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//g_playerShape = new btCylinderShape(btVector3(50, 50, 50));
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g_playerShape = new btSphereShape(width);
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g_playerShape = new btSphereShape(width);
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@ -146,13 +178,16 @@ extern "C" int32_t cpp_initBullet()
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//,btBroadphaseProxy::StaticFilter
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//,btBroadphaseProxy::StaticFilter
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);
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);
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// Make sure this is zero at startup
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g_currentMesh = NULL;
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// Success!
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// Success!
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return 0;
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return 0;
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}
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}
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// Warp the player to a specific location. We do not bother setting
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// Warp the player to a specific location. We do not bother setting
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// rotation, since it's completely irrelevant for collision detection.
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// rotation, since it's completely irrelevant for collision detection.
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extern "C" void cpp_movePlayer(float x, float y, float z)
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extern "C" void bullet_movePlayer(float x, float y, float z)
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{
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{
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btTransform tr;
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btTransform tr;
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tr.setIdentity();
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tr.setIdentity();
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@ -161,20 +196,120 @@ extern "C" void cpp_movePlayer(float x, float y, float z)
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}
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}
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// Request that the player moves in this direction
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// Request that the player moves in this direction
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extern "C" void cpp_setPlayerDir(float x, float y, float z)
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extern "C" void bullet_setPlayerDir(float x, float y, float z)
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{ g_walkDirection.setValue(x,y,z); }
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{ g_walkDirection.setValue(x,y,z); }
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// Get the current player position, after physics and collision have
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// Get the current player position, after physics and collision have
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// been applied.
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// been applied.
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extern "C" void cpp_getPlayerPos(float *x, float *y, float *z)
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extern "C" void bullet_getPlayerPos(float *x, float *y, float *z)
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{
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{
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*x = g_playerPosition.getX();
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*x = g_playerPosition.getX();
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*y = g_playerPosition.getY();
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*y = g_playerPosition.getY();
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*z = g_playerPosition.getZ();
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*z = g_playerPosition.getZ();
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}
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}
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unsigned char* copyBuffer(void *buf, int elemSize, int len)
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{
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int size = elemSize * len;
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void *res = malloc(size);
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memcpy(res, buf, size);
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return (unsigned char*)res;
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}
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// Create a triangle shape and insert it into the current index/vertex
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// array. If no array is active, create one.
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extern "C" void bullet_createTriShape(int32_t numFaces,
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void *triArray,
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int32_t numVerts,
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void *vertArray,
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float *trans,
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float *matrix)
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{
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// This struct holds the index and vertex buffers of a single
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// trimesh.
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btIndexedMesh im;
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// Set up the triangles
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int numTriangles = numFaces / 3;
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im.m_numTriangles = numTriangles;
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im.m_triangleIndexStride = 6; // 3 indices * 2 bytes per short
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im.m_triangleIndexBase = copyBuffer(triArray, 6, numTriangles);
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// Set up the vertices
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im.m_numVertices = numVerts;
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im.m_vertexStride = 12; // 4 bytes per float * 3 floats per vertex
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im.m_vertexBase = copyBuffer(vertArray, 12, numVerts);
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// Transform all the vertex values according to 'trans' and 'matrix'
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float *vb = (float*) im.m_vertexBase;
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for(int i=0; i<numVerts; i++)
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{
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float x,y,z;
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// Reinventing basic linear algebra for the win!
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x = matrix[0]*vb[0]+matrix[1]*vb[1]+matrix[2]*vb[2] + trans[0];
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y = matrix[3]*vb[0]+matrix[4]*vb[1]+matrix[5]*vb[2] + trans[1];
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z = matrix[6]*vb[0]+matrix[7]*vb[1]+matrix[8]*vb[2] + trans[2];
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*(vb++) = x;
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*(vb++) = y;
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*(vb++) = z;
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}
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// If no mesh is currently active, create one
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if(g_currentMesh == NULL)
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g_currentMesh = new btTriangleIndexVertexArray;
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// Add the mesh. Nif data stores triangle indices as shorts.
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g_currentMesh->addIndexedMesh(im, PHY_SHORT);
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}
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// Get the shape built up so far, if any. This clears g_currentMesh,
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// so the next call to createTriShape will start a new shape.
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extern "C" btCollisionShape *bullet_getFinalShape()
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{
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// Return null if no meshes have been inserted
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if(g_currentMesh == NULL) return NULL;
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// Create the shape from the completed mesh
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btBvhTriangleMeshShape *shape =
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new btBvhTriangleMeshShape(g_currentMesh, false);
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g_currentMesh = NULL;
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return shape;
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}
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// Insert a static mesh
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extern "C" void bullet_insertStatic(btCollisionShape *shape,
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float *pos,
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float *quat,
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float scale)
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{
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if(scale != 1.0)
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{
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cout << "WARNING: Cannot scale collision meshes yet (wanted "
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<< scale << ")\n";
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return;
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}
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btTransform trafo;
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trafo.setIdentity();
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trafo.setOrigin(btVector3(pos[0], pos[1], pos[2]));
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// Ogre uses WXYZ quaternions, Bullet uses XYZW.
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trafo.setRotation(btQuaternion(quat[1], quat[2], quat[3], quat[0]));
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// Create and insert the collision object
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btCollisionObject *obj = new btCollisionObject();
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obj->setCollisionShape(shape);
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obj->setWorldTransform(trafo);
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g_dynamicsWorld->addCollisionObject(obj);
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}
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/*
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// Insert a debug collision shape
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// Insert a debug collision shape
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extern "C" void cpp_insertBox(float x, float y, float z)
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extern "C" void bullet_insertBox(float x, float y, float z)
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{
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{
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btCollisionShape* groundShape =
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btCollisionShape* groundShape =
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new btSphereShape(50);
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new btSphereShape(50);
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@ -184,21 +319,33 @@ extern "C" void cpp_insertBox(float x, float y, float z)
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btTransform groundTransform;
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(x,y,z));
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groundTransform.setOrigin(btVector3(x,y,z));
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// Use a simple collision object for static objects
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btCollisionObject *obj = new btCollisionObject();
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obj->setCollisionShape(groundShape);
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obj->setWorldTransform(groundTransform);
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g_dynamicsWorld->addCollisionObject(obj);
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// You can also use a rigid body with a motion state, but this is
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// overkill for statics.
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/*
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btDefaultMotionState* myMotionState =
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btDefaultMotionState* myMotionState =
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new btDefaultMotionState(groundTransform);
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new btDefaultMotionState(groundTransform);
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// Create a rigid body from the motion state. Give it zero mass and
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// Create a rigid body from the motion state. Give it zero mass and
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// inertia.
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// zero inertia.
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btRigidBody::btRigidBodyConstructionInfo
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btRigidBody::btRigidBodyConstructionInfo
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rbInfo(0, myMotionState, groundShape, btVector3(0,0,0));
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rbInfo(0, myMotionState, groundShape, btVector3(0,0,0));
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btRigidBody* body = new btRigidBody(rbInfo);
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btRigidBody* body = new btRigidBody(rbInfo);
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// Add the body to the world
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// Add the body to the world
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g_dynamicsWorld->addRigidBody(body);
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g_dynamicsWorld->addRigidBody(body);
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}
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*/
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//}
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// Move the physics simulation 'delta' seconds forward in time
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// Move the physics simulation 'delta' seconds forward in time
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extern "C" void cpp_timeStep(float delta)
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extern "C" void bullet_timeStep(float delta)
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{
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{
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// TODO: We might experiment with the number of time steps. Remember
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// TODO: We might experiment with the number of time steps. Remember
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// that the function also returns the number of steps performed.
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// that the function also returns the number of steps performed.
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@ -206,7 +353,7 @@ extern "C" void cpp_timeStep(float delta)
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}
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}
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// Cleanup in the reverse order of creation/initialization
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// Cleanup in the reverse order of creation/initialization
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extern "C" void cpp_cleanupBullet()
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extern "C" void bullet_cleanup()
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{
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{
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// Remove the rigidbodies from the dynamics world and delete them
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// Remove the rigidbodies from the dynamics world and delete them
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for (int i=g_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
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for (int i=g_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
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nkorslund
16 years ago