mirror of https://github.com/OpenMW/openmw.git
Started experimenting with Bullet
git-svn-id: https://openmw.svn.sourceforge.net/svnroot/openmw/trunk@46 ea6a568a-9f4f-0410-981a-c910a81bb256pull/7/head
nkorslund
17 years ago
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4d37d36d1e
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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 (bindings.d) 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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module bullet.bindings;
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/*
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* This module is the interface between D and the C++ code that
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* handles Bullet.
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*/
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extern(C):
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// Initialize the dynamic world. Returns non-zero if an error occurs.
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int cpp_initBullet();
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void cpp_timeStep(float delta);
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void cpp_cleanupBullet();
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// Insert a debug collision object
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void cpp_insertBox(float x, float y, float z);
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// Move the player's collision shape
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int cpp_movePlayerCollision(float x, float y, float z,
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float dx, float dy, float dz);
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@ -0,0 +1,11 @@
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module bullet.bullet;
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import bullet.bindings;
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void initBullet()
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{
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if(cpp_initBullet())
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throw new Exception("Bullet setup failed");
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}
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void cleanupBullet() { cpp_cleanupBullet(); }
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@ -0,0 +1,196 @@
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#include "btBulletCollisionCommon.h"
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#include <iostream>
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using namespace std;
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btDefaultCollisionConfiguration* m_collisionConfiguration;
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btCollisionDispatcher *m_dispatcher;
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btBroadphaseInterface *m_broadphase;
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//btSequentialImpulseConstraintSolver* m_solver;
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//btDynamicsWorld *m_dynamicsWorld;
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btCollisionWorld *m_collisionWorld;
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//btCollisionObject* m_playerObject;
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btConvexShape *playerShape;
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extern "C" int32_t cpp_initBullet()
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{
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// Set up basic objects
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_broadphase = new btDbvtBroadphase();
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m_collisionWorld =
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new btCollisionWorld(m_dispatcher, m_broadphase,
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m_collisionConfiguration);
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/*m_solver = new btSequentialImpulseConstraintSolver;
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m_dynamicsWorld =
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new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase,
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m_solver, m_collisionConfiguration);
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m_dynamicsWorld->setGravity(btVector3(0,-10,0));
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*/
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// Create player collision object
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//playerShape = new btCylinderShape(btVector3(50, 50, 50));
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playerShape = new btSphereShape(50);
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/*
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m_playerObject = new btCollisionObject ();
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m_playerObject->setCollisionShape (m_shape);
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m_playerObject->setCollisionFlags (btCollisionObject::CF_NO_CONTACT_RESPONSE);
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*/
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/*
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// Dynamic shapes:
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// Re-using the same collision is better for memory usage and
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// performance.
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btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
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//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
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//m_collisionShapes.push_back(colShape);
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// Create Dynamic Objects
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btTransform startTransform;
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startTransform.setIdentity();
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mass = 1.f;
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colShape->calculateLocalInertia(mass,localInertia);
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///create 125 (5x5x5) dynamic objects
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#define ARRAY_SIZE_X 5
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#define ARRAY_SIZE_Y 5
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#define ARRAY_SIZE_Z 5
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#define START_POS_X -5
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#define START_POS_Y -5
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#define START_POS_Z -3
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float start_x = START_POS_X - ARRAY_SIZE_X/2;
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float start_y = START_POS_Y;
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float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
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for (int k=0;k<ARRAY_SIZE_Y;k++)
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for (int i=0;i<ARRAY_SIZE_X;i++)
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for(int j = 0;j<ARRAY_SIZE_Z;j++)
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{
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startTransform.setOrigin(btVector3(2.0*i + start_x,
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10+2.0*k + start_y,
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2.0*j + start_z));
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btDefaultMotionState* myMotionState =
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new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo
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rbInfo(mass,myMotionState,colShape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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body->setActivationState(ISLAND_SLEEPING);
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m_dynamicsWorld->addRigidBody(body);
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body->setActivationState(ISLAND_SLEEPING);
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}
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*/
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return 0;
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}
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extern "C" int32_t cpp_movePlayerCollision(float x, float y, float z,
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float dx, float dy, float dz)
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{
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btTransform start, end;
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start.setIdentity();
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end.setIdentity();
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// The sweep test moves the shape from the old position to the
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// new. The 0.1 offset in one of the coordinates is to make sure a
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// sweep is performed even when the player does not move.
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start.setOrigin(btVector3(x, y, z));
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end.setOrigin(btVector3(x+dx,y+dy,z+dz));
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btCollisionWorld::ClosestConvexResultCallback cb(btVector3(0,0,0),
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btVector3(0,0,0));
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m_collisionWorld->convexSweepTest(playerShape, start, end, cb);
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if(cb.hasHit()) return 1;
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else return 0;
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}
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extern "C" void cpp_insertBox(float x, float y, float z)
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{
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btCollisionShape* groundShape =
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new btSphereShape(50);
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//new btBoxShape(btVector3(100,100,100));
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(x,y,z));
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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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m_collisionWorld->addCollisionObject(obj);
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/*
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m_collisionWorld->addCollisionObject(obj,
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btBroadphaseProxy::DebrisFilter, // ??
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btBroadphaseProxy::StaticFilter); // Only static objects
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/*
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btDefaultMotionState* myMotionState =
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new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo
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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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// Add the body to the dynamics world
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m_dynamicsWorld->addRigidBody(body);
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*/
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}
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/*
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extern "C" void cpp_timeStep(float delta)
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{
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// TODO: Find what unit Bullet uses here
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m_dynamicsWorld->stepSimulation(delta / 1000.f);
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}
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*/
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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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{
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// Remove the rigidbodies from the dynamics world and delete them
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for (int i=m_collisionWorld->getNumCollisionObjects()-1; i>=0 ;i--)
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{
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btCollisionObject* obj = m_collisionWorld->getCollisionObjectArray()[i];
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/*
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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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delete body->getMotionState();
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*/
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m_collisionWorld->removeCollisionObject( obj );
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delete obj;
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}
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// Delete collision shapes
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/*
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for (int j=0;j<m_collisionShapes.size();j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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*/
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delete m_collisionWorld;
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//delete m_solver;
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delete m_broadphase;
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delete m_dispatcher;
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delete m_collisionConfiguration;
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}
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