forked from mirror/openmw-tes3mp
Add support for animated collision shapes (Fixes #1549)
This commit is contained in:
scrawl
parent
64a4c2785e
commit
0b34d8d2fd
9 changed files with 312 additions and 97 deletions
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@ -12,6 +12,7 @@
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#include <openengine/bullet/trace.h>
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#include <openengine/bullet/physic.hpp>
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#include <openengine/bullet/BtOgreExtras.h>
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#include <openengine/ogre/renderer.hpp>
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#include <components/nifbullet/bulletnifloader.hpp>
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@ -26,10 +27,49 @@
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#include "../mwworld/esmstore.hpp"
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#include "../mwworld/cellstore.hpp"
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#include "../apps/openmw/mwrender/animation.hpp"
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#include "../apps/openmw/mwbase/world.hpp"
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#include "../apps/openmw/mwbase/environment.hpp"
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#include "ptr.hpp"
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#include "class.hpp"
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using namespace Ogre;
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namespace
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{
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void animateCollisionShapes (std::map<OEngine::Physic::RigidBody*, OEngine::Physic::AnimatedShapeInstance>& map)
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{
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for (std::map<OEngine::Physic::RigidBody*, OEngine::Physic::AnimatedShapeInstance>::iterator it = map.begin();
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it != map.end(); ++it)
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{
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MWWorld::Ptr ptr = MWBase::Environment::get().getWorld()->searchPtrViaHandle(it->first->mName);
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MWRender::Animation* animation = MWBase::Environment::get().getWorld()->getAnimation(ptr);
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OEngine::Physic::AnimatedShapeInstance& instance = it->second;
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std::map<std::string, int>& shapes = instance.mAnimatedShapes;
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for (std::map<std::string, int>::iterator shapeIt = shapes.begin();
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shapeIt != shapes.end(); ++shapeIt)
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{
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Ogre::Node* bone = animation->getNode(shapeIt->first);
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btCompoundShape* compound = dynamic_cast<btCompoundShape*>(instance.mCompound);
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btTransform trans;
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trans.setOrigin(BtOgre::Convert::toBullet(bone->_getDerivedPosition()));
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trans.setRotation(BtOgre::Convert::toBullet(bone->_getDerivedOrientation()));
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compound->getChildShape(shapeIt->second)->setLocalScaling(BtOgre::Convert::toBullet(bone->_getDerivedScale()));
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compound->updateChildTransform(shapeIt->second, trans);
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}
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}
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}
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}
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namespace MWWorld
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{
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@ -564,11 +604,10 @@ namespace MWWorld
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std::string mesh = ptr.getClass().getModel(ptr);
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Ogre::SceneNode* node = ptr.getRefData().getBaseNode();
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handleToMesh[node->getName()] = mesh;
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OEngine::Physic::RigidBody* body = mEngine->createAndAdjustRigidBody(
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mEngine->createAndAdjustRigidBody(
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mesh, node->getName(), node->getScale().x, node->getPosition(), node->getOrientation(), 0, 0, false, placeable);
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OEngine::Physic::RigidBody* raycastingBody = mEngine->createAndAdjustRigidBody(
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mEngine->createAndAdjustRigidBody(
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mesh, node->getName(), node->getScale().x, node->getPosition(), node->getOrientation(), 0, 0, true, placeable);
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mEngine->addRigidBody(body, true, raycastingBody);
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}
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void PhysicsSystem::addActor (const Ptr& ptr)
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@ -770,4 +809,12 @@ namespace MWWorld
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return mMovementResults;
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}
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void PhysicsSystem::stepSimulation(float dt)
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{
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animateCollisionShapes(mEngine->mAnimatedShapes);
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animateCollisionShapes(mEngine->mAnimatedRaycastingShapes);
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mEngine->stepSimulation(dt);
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}
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}
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@ -53,6 +53,8 @@ namespace MWWorld
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bool toggleCollisionMode();
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void stepSimulation(float dt);
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std::vector<std::string> getCollisions(const MWWorld::Ptr &ptr); ///< get handles this object collides with
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Ogre::Vector3 traceDown(const MWWorld::Ptr &ptr);
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@ -1231,7 +1231,7 @@ namespace MWWorld
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if(player != results.end())
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moveObjectImp(player->first, player->second.x, player->second.y, player->second.z);
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mPhysEngine->stepSimulation(duration);
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mPhysics->stepSimulation(duration);
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}
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bool World::castRay (float x1, float y1, float z1, float x2, float y2, float z2)
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@ -49,20 +49,6 @@ typedef unsigned char ubyte;
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namespace NifBullet
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{
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struct TriangleMeshShape : public btBvhTriangleMeshShape
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{
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TriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression)
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: btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression)
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{
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}
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virtual ~TriangleMeshShape()
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{
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delete getTriangleInfoMap();
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delete m_meshInterface;
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}
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};
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ManualBulletShapeLoader::~ManualBulletShapeLoader()
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{
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}
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@ -81,9 +67,8 @@ void ManualBulletShapeLoader::loadResource(Ogre::Resource *resource)
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mBoundingBox = NULL;
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mShape->mBoxTranslation = Ogre::Vector3(0,0,0);
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mShape->mBoxRotation = Ogre::Quaternion::IDENTITY;
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mHasShape = false;
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btTriangleMesh* mesh1 = new btTriangleMesh();
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mCompoundShape = NULL;
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mStaticMesh = NULL;
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// Load the NIF. TODO: Wrap this in a try-catch block once we're out
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// of the early stages of development. Right now we WANT to catch
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@ -111,19 +96,35 @@ void ManualBulletShapeLoader::loadResource(Ogre::Resource *resource)
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mShape->mHasCollisionNode = hasRootCollisionNode(node);
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//do a first pass
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handleNode(mesh1, node,0,false,false,false);
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handleNode(node,0,false,false,false);
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if(mBoundingBox != NULL)
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{
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mShape->mCollisionShape = mBoundingBox;
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delete mesh1;
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}
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else if (mHasShape && mShape->mCollide)
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delete mStaticMesh;
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if (mCompoundShape)
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{
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mShape->mCollisionShape = new TriangleMeshShape(mesh1,true);
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int n = mCompoundShape->getNumChildShapes();
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for(int i=0; i <n;i++)
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delete (mCompoundShape->getChildShape(i));
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delete mCompoundShape;
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}
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}
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else
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delete mesh1;
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{
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if (mCompoundShape)
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{
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mShape->mCollisionShape = mCompoundShape;
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if (mStaticMesh)
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{
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btTransform trans;
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trans.setIdentity();
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mCompoundShape->addChildShape(trans, new TriangleMeshShape(mStaticMesh,true));
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}
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}
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else if (mStaticMesh)
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mShape->mCollisionShape = new TriangleMeshShape(mStaticMesh,true);
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}
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//second pass which create a shape for raycasting.
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mResourceName = mShape->getName();
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@ -131,18 +132,23 @@ void ManualBulletShapeLoader::loadResource(Ogre::Resource *resource)
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mBoundingBox = NULL;
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mShape->mBoxTranslation = Ogre::Vector3(0,0,0);
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mShape->mBoxRotation = Ogre::Quaternion::IDENTITY;
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mHasShape = false;
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mStaticMesh = NULL;
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mCompoundShape = NULL;
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btTriangleMesh* mesh2 = new btTriangleMesh();
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handleNode(node,0,true,true,false);
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handleNode(mesh2, node,0,true,true,false);
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if (mHasShape)
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if (mCompoundShape)
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{
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mShape->mRaycastingShape = new TriangleMeshShape(mesh2,true);
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mShape->mRaycastingShape = mCompoundShape;
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if (mStaticMesh)
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{
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btTransform trans;
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trans.setIdentity();
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mCompoundShape->addChildShape(trans, new TriangleMeshShape(mStaticMesh,true));
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}
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else
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delete mesh2;
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}
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else if (mStaticMesh)
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mShape->mRaycastingShape = new TriangleMeshShape(mStaticMesh,true);
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}
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bool ManualBulletShapeLoader::hasRootCollisionNode(Nif::Node const * node)
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@ -167,14 +173,17 @@ bool ManualBulletShapeLoader::hasRootCollisionNode(Nif::Node const * node)
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return false;
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}
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void ManualBulletShapeLoader::handleNode(btTriangleMesh* mesh, const Nif::Node *node, int flags,
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void ManualBulletShapeLoader::handleNode(const Nif::Node *node, int flags,
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bool isCollisionNode,
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bool raycasting, bool isMarker)
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bool raycasting, bool isMarker, bool isAnimated)
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{
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// Accumulate the flags from all the child nodes. This works for all
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// the flags we currently use, at least.
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flags |= node->flags;
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if (!node->controller.empty() && node->controller->recType == Nif::RC_NiKeyframeController)
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isAnimated = true;
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if (!raycasting)
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isCollisionNode = isCollisionNode || (node->recType == Nif::RC_RootCollisionNode);
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else
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@ -237,7 +246,7 @@ void ManualBulletShapeLoader::handleNode(btTriangleMesh* mesh, const Nif::Node *
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else if(node->recType == Nif::RC_NiTriShape)
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{
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mShape->mCollide = !(flags&0x800);
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handleNiTriShape(mesh, static_cast<const Nif::NiTriShape*>(node), flags, node->getWorldTransform(), raycasting);
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handleNiTriShape(static_cast<const Nif::NiTriShape*>(node), flags, node->getWorldTransform(), raycasting, isAnimated);
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}
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}
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@ -249,13 +258,13 @@ void ManualBulletShapeLoader::handleNode(btTriangleMesh* mesh, const Nif::Node *
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for(size_t i = 0;i < list.length();i++)
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{
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if(!list[i].empty())
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handleNode(mesh, list[i].getPtr(), flags, isCollisionNode, raycasting, isMarker);
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handleNode(list[i].getPtr(), flags, isCollisionNode, raycasting, isMarker, isAnimated);
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}
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}
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}
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void ManualBulletShapeLoader::handleNiTriShape(btTriangleMesh* mesh, const Nif::NiTriShape *shape, int flags, const Ogre::Matrix4 &transform,
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bool raycasting)
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void ManualBulletShapeLoader::handleNiTriShape(const Nif::NiTriShape *shape, int flags, const Ogre::Matrix4 &transform,
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bool raycasting, bool isAnimated)
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{
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assert(shape != NULL);
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@ -278,17 +287,64 @@ void ManualBulletShapeLoader::handleNiTriShape(btTriangleMesh* mesh, const Nif::
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// bother setting it up.
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return;
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mHasShape = true;
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if (!shape->skin.empty())
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isAnimated = false;
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if (isAnimated)
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{
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if (!mCompoundShape)
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mCompoundShape = new btCompoundShape();
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btTriangleMesh* childMesh = new btTriangleMesh();
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const Nif::NiTriShapeData *data = shape->data.getPtr();
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childMesh->preallocateVertices(data->vertices.size());
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childMesh->preallocateIndices(data->triangles.size());
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const std::vector<Ogre::Vector3> &vertices = data->vertices;
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const short *triangles = &data->triangles[0];
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const std::vector<short> &triangles = data->triangles;
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for(size_t i = 0;i < data->triangles.size();i+=3)
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{
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Ogre::Vector3 b1 = vertices[triangles[i+0]];
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Ogre::Vector3 b2 = vertices[triangles[i+1]];
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Ogre::Vector3 b3 = vertices[triangles[i+2]];
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childMesh->addTriangle(btVector3(b1.x,b1.y,b1.z),btVector3(b2.x,b2.y,b2.z),btVector3(b3.x,b3.y,b3.z));
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}
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TriangleMeshShape* childShape = new TriangleMeshShape(childMesh,true);
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childShape->setLocalScaling(btVector3(transform[0][0], transform[1][1], transform[2][2]));
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Ogre::Quaternion q = transform.extractQuaternion();
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Ogre::Vector3 v = transform.getTrans();
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btTransform trans(btQuaternion(q.x, q.y, q.z, q.w), btVector3(v.x, v.y, v.z));
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if (raycasting)
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mShape->mAnimatedRaycastingShapes.insert(std::make_pair(shape->name, mCompoundShape->getNumChildShapes()));
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else
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mShape->mAnimatedShapes.insert(std::make_pair(shape->name, mCompoundShape->getNumChildShapes()));
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mCompoundShape->addChildShape(trans, childShape);
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}
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else
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{
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if (!mStaticMesh)
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mStaticMesh = new btTriangleMesh();
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// Static shape, just transform all vertices into position
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const Nif::NiTriShapeData *data = shape->data.getPtr();
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const std::vector<Ogre::Vector3> &vertices = data->vertices;
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const std::vector<short> &triangles = data->triangles;
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for(size_t i = 0;i < data->triangles.size();i+=3)
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{
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Ogre::Vector3 b1 = transform*vertices[triangles[i+0]];
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Ogre::Vector3 b2 = transform*vertices[triangles[i+1]];
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Ogre::Vector3 b3 = transform*vertices[triangles[i+2]];
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mesh->addTriangle(btVector3(b1.x,b1.y,b1.z),btVector3(b2.x,b2.y,b2.z),btVector3(b3.x,b3.y,b3.z));
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mStaticMesh->addTriangle(btVector3(b1.x,b1.y,b1.z),btVector3(b2.x,b2.y,b2.z),btVector3(b3.x,b3.y,b3.z));
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}
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}
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}
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@ -28,6 +28,7 @@
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#include <string>
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#include <BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h>
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#include <BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h>
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#include <BulletCollision/CollisionShapes/btCompoundShape.h>
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#include <btBulletDynamicsCommon.h>
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#include <openengine/bullet/BulletShapeLoader.h>
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@ -44,6 +45,22 @@ namespace Nif
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namespace NifBullet
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{
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// Subclass btBhvTriangleMeshShape to auto-delete the meshInterface
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struct TriangleMeshShape : public btBvhTriangleMeshShape
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{
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TriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression)
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: btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression)
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{
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}
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virtual ~TriangleMeshShape()
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{
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delete getTriangleInfoMap();
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delete m_meshInterface;
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}
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};
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/**
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*Load bulletShape from NIF files.
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*/
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@ -52,8 +69,9 @@ class ManualBulletShapeLoader : public OEngine::Physic::BulletShapeLoader
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public:
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ManualBulletShapeLoader()
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: mShape(NULL)
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, mStaticMesh(NULL)
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, mCompoundShape(NULL)
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, mBoundingBox(NULL)
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, mHasShape(false)
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{
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}
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@ -88,7 +106,8 @@ private:
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/**
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*Parse a node.
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*/
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void handleNode(btTriangleMesh* mesh, Nif::Node const *node, int flags, bool isCollisionNode, bool raycasting, bool isMarker);
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void handleNode(Nif::Node const *node, int flags, bool isCollisionNode,
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bool raycasting, bool isMarker, bool isAnimated=false);
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/**
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*Helper function
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@ -98,14 +117,17 @@ private:
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/**
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*convert a NiTriShape to a bullet trishape.
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*/
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void handleNiTriShape(btTriangleMesh* mesh, const Nif::NiTriShape *shape, int flags, const Ogre::Matrix4 &transform, bool raycasting);
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void handleNiTriShape(const Nif::NiTriShape *shape, int flags, const Ogre::Matrix4 &transform, bool raycasting, bool isAnimated);
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std::string mResourceName;
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OEngine::Physic::BulletShape* mShape;//current shape
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btBoxShape *mBoundingBox;
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bool mHasShape;
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btCompoundShape* mCompoundShape;
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btTriangleMesh* mStaticMesh;
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btBoxShape *mBoundingBox;
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};
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@ -42,7 +42,7 @@ void BulletShape::deleteShape(btCollisionShape* shape)
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{
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if(shape->isCompound())
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{
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btCompoundShape* ms = static_cast<btCompoundShape*>(mCollisionShape);
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btCompoundShape* ms = static_cast<btCompoundShape*>(shape);
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int a = ms->getNumChildShapes();
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for(int i=0; i <a;i++)
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{
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@ -51,13 +51,14 @@ void BulletShape::deleteShape(btCollisionShape* shape)
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}
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delete shape;
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}
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shape = NULL;
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}
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void BulletShape::unloadImpl()
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{
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deleteShape(mCollisionShape);
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deleteShape(mRaycastingShape);
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mCollisionShape = NULL;
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mRaycastingShape = NULL;
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}
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//TODO:change this?
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@ -30,6 +30,14 @@ public:
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virtual ~BulletShape();
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// Stores animated collision shapes. If any collision nodes in the NIF are animated, then mCollisionShape
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// will be a btCompoundShape (which consists of one or more child shapes).
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// In this map, for each animated collision shape,
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// we store the bone name mapped to the child index of the shape in the btCompoundShape.
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std::map<std::string, int> mAnimatedShapes;
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std::map<std::string, int> mAnimatedRaycastingShapes;
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btCollisionShape* mCollisionShape;
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btCollisionShape* mRaycastingShape;
|
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|
||||
|
|
|
|||
|
|
@ -11,6 +11,59 @@
|
|||
#include <boost/lexical_cast.hpp>
|
||||
#include <boost/format.hpp>
|
||||
|
||||
namespace
|
||||
{
|
||||
|
||||
// Create a copy of the given collision shape (responsibility of user to delete the returned shape).
|
||||
btCollisionShape *duplicateCollisionShape(btCollisionShape *shape)
|
||||
{
|
||||
if(shape->isCompound())
|
||||
{
|
||||
btCompoundShape *comp = static_cast<btCompoundShape*>(shape);
|
||||
btCompoundShape *newShape = new btCompoundShape;
|
||||
|
||||
int numShapes = comp->getNumChildShapes();
|
||||
for(int i = 0;i < numShapes;i++)
|
||||
{
|
||||
btCollisionShape *child = duplicateCollisionShape(comp->getChildShape(i));
|
||||
btTransform trans = comp->getChildTransform(i);
|
||||
newShape->addChildShape(trans, child);
|
||||
}
|
||||
|
||||
return newShape;
|
||||
}
|
||||
|
||||
if(btBvhTriangleMeshShape *trishape = dynamic_cast<btBvhTriangleMeshShape*>(shape))
|
||||
{
|
||||
btTriangleMesh* oldMesh = dynamic_cast<btTriangleMesh*>(trishape->getMeshInterface());
|
||||
btTriangleMesh* newMesh = new btTriangleMesh(*oldMesh);
|
||||
NifBullet::TriangleMeshShape *newShape = new NifBullet::TriangleMeshShape(newMesh, true);
|
||||
|
||||
return newShape;
|
||||
}
|
||||
|
||||
throw std::logic_error(std::string("Unhandled Bullet shape duplication: ")+shape->getName());
|
||||
}
|
||||
|
||||
void deleteShape(btCollisionShape* shape)
|
||||
{
|
||||
if(shape!=NULL)
|
||||
{
|
||||
if(shape->isCompound())
|
||||
{
|
||||
btCompoundShape* ms = static_cast<btCompoundShape*>(shape);
|
||||
int a = ms->getNumChildShapes();
|
||||
for(int i=0; i <a;i++)
|
||||
{
|
||||
deleteShape(ms->getChildShape(i));
|
||||
}
|
||||
}
|
||||
delete shape;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
namespace OEngine {
|
||||
namespace Physic
|
||||
{
|
||||
|
|
@ -228,6 +281,11 @@ namespace Physic
|
|||
|
||||
PhysicEngine::~PhysicEngine()
|
||||
{
|
||||
for (std::map<RigidBody*, AnimatedShapeInstance>::iterator it = mAnimatedShapes.begin(); it != mAnimatedShapes.end(); ++it)
|
||||
deleteShape(it->second.mCompound);
|
||||
for (std::map<RigidBody*, AnimatedShapeInstance>::iterator it = mAnimatedRaycastingShapes.begin(); it != mAnimatedRaycastingShapes.end(); ++it)
|
||||
deleteShape(it->second.mCompound);
|
||||
|
||||
HeightFieldContainer::iterator hf_it = mHeightFieldMap.begin();
|
||||
for (; hf_it != mHeightFieldMap.end(); ++hf_it)
|
||||
{
|
||||
|
|
@ -386,17 +444,38 @@ namespace Physic
|
|||
if (!shape->mRaycastingShape && raycasting)
|
||||
return NULL;
|
||||
|
||||
if (!raycasting)
|
||||
shape->mCollisionShape->setLocalScaling( btVector3(scale,scale,scale));
|
||||
else
|
||||
shape->mRaycastingShape->setLocalScaling( btVector3(scale,scale,scale));
|
||||
btCollisionShape* collisionShape = raycasting ? shape->mRaycastingShape : shape->mCollisionShape;
|
||||
|
||||
// If this is an animated compound shape, we must duplicate it so we can animate
|
||||
// multiple instances independently.
|
||||
if (!raycasting && !shape->mAnimatedShapes.empty())
|
||||
collisionShape = duplicateCollisionShape(collisionShape);
|
||||
if (raycasting && !shape->mAnimatedRaycastingShapes.empty())
|
||||
collisionShape = duplicateCollisionShape(collisionShape);
|
||||
|
||||
collisionShape->setLocalScaling( btVector3(scale,scale,scale));
|
||||
|
||||
//create the real body
|
||||
btRigidBody::btRigidBodyConstructionInfo CI = btRigidBody::btRigidBodyConstructionInfo
|
||||
(0,0, raycasting ? shape->mRaycastingShape : shape->mCollisionShape);
|
||||
(0,0, collisionShape);
|
||||
RigidBody* body = new RigidBody(CI,name);
|
||||
body->mPlaceable = placeable;
|
||||
|
||||
if (!raycasting && !shape->mAnimatedShapes.empty())
|
||||
{
|
||||
AnimatedShapeInstance instance;
|
||||
instance.mAnimatedShapes = shape->mAnimatedShapes;
|
||||
instance.mCompound = collisionShape;
|
||||
mAnimatedShapes[body] = instance;
|
||||
}
|
||||
if (raycasting && !shape->mAnimatedRaycastingShapes.empty())
|
||||
{
|
||||
AnimatedShapeInstance instance;
|
||||
instance.mAnimatedShapes = shape->mAnimatedRaycastingShapes;
|
||||
instance.mCompound = collisionShape;
|
||||
mAnimatedRaycastingShapes[body] = instance;
|
||||
}
|
||||
|
||||
if(scaledBoxTranslation != 0)
|
||||
*scaledBoxTranslation = shape->mBoxTranslation * scale;
|
||||
if(boxRotation != 0)
|
||||
|
|
@ -404,33 +483,20 @@ namespace Physic
|
|||
|
||||
adjustRigidBody(body, position, rotation, shape->mBoxTranslation * scale, shape->mBoxRotation);
|
||||
|
||||
return body;
|
||||
|
||||
}
|
||||
|
||||
void PhysicEngine::addRigidBody(RigidBody* body, bool addToMap, RigidBody* raycastingBody)
|
||||
if (!raycasting)
|
||||
{
|
||||
if(!body && !raycastingBody)
|
||||
return; // nothing to do
|
||||
|
||||
const std::string& name = (body ? body->mName : raycastingBody->mName);
|
||||
|
||||
if (body){
|
||||
assert (mCollisionObjectMap.find(name) == mCollisionObjectMap.end());
|
||||
mCollisionObjectMap[name] = body;
|
||||
mDynamicsWorld->addRigidBody(body,CollisionType_World,CollisionType_World|CollisionType_Actor|CollisionType_HeightMap);
|
||||
}
|
||||
|
||||
if (raycastingBody)
|
||||
mDynamicsWorld->addRigidBody(raycastingBody,CollisionType_Raycasting,CollisionType_Raycasting);
|
||||
|
||||
if(addToMap){
|
||||
removeRigidBody(name);
|
||||
deleteRigidBody(name);
|
||||
|
||||
if (body)
|
||||
mCollisionObjectMap[name] = body;
|
||||
if (raycastingBody)
|
||||
mRaycastingObjectMap[name] = raycastingBody;
|
||||
else
|
||||
{
|
||||
assert (mRaycastingObjectMap.find(name) == mRaycastingObjectMap.end());
|
||||
mRaycastingObjectMap[name] = body;
|
||||
mDynamicsWorld->addRigidBody(body,CollisionType_Raycasting,CollisionType_Raycasting);
|
||||
}
|
||||
|
||||
return body;
|
||||
}
|
||||
|
||||
void PhysicEngine::removeRigidBody(const std::string &name)
|
||||
|
|
@ -464,6 +530,10 @@ namespace Physic
|
|||
|
||||
if(body != NULL)
|
||||
{
|
||||
if (mAnimatedShapes.find(body) != mAnimatedShapes.end())
|
||||
deleteShape(mAnimatedShapes[body].mCompound);
|
||||
mAnimatedShapes.erase(body);
|
||||
|
||||
delete body;
|
||||
}
|
||||
mCollisionObjectMap.erase(it);
|
||||
|
|
@ -475,6 +545,10 @@ namespace Physic
|
|||
|
||||
if(body != NULL)
|
||||
{
|
||||
if (mAnimatedRaycastingShapes.find(body) != mAnimatedRaycastingShapes.end())
|
||||
deleteShape(mAnimatedRaycastingShapes[body].mCompound);
|
||||
mAnimatedRaycastingShapes.erase(body);
|
||||
|
||||
delete body;
|
||||
}
|
||||
mRaycastingObjectMap.erase(it);
|
||||
|
|
@ -609,7 +683,6 @@ namespace Physic
|
|||
return std::make_pair(callback.mObject, callback.mContactPoint);
|
||||
}
|
||||
|
||||
|
||||
void PhysicEngine::stepSimulation(double deltaT)
|
||||
{
|
||||
// This seems to be needed for character controller objects
|
||||
|
|
@ -629,8 +702,6 @@ namespace Physic
|
|||
|
||||
PhysicActor* newActor = new PhysicActor(name, mesh, this, position, rotation, scale);
|
||||
|
||||
|
||||
//dynamicsWorld->addAction( newActor->mCharacter );
|
||||
mActorMap[name] = newActor;
|
||||
}
|
||||
|
||||
|
|
@ -642,7 +713,6 @@ namespace Physic
|
|||
PhysicActor* act = it->second;
|
||||
if(act != NULL)
|
||||
{
|
||||
|
||||
delete act;
|
||||
}
|
||||
mActorMap.erase(it);
|
||||
|
|
|
|||
|
|
@ -117,7 +117,7 @@ namespace Physic
|
|||
const Ogre::Vector3& getPosition() const;
|
||||
|
||||
/**
|
||||
* Returns the half extents for this PhysiActor
|
||||
* Returns the (scaled) half extents
|
||||
*/
|
||||
Ogre::Vector3 getHalfExtents() const;
|
||||
|
||||
|
|
@ -178,6 +178,14 @@ namespace Physic
|
|||
RigidBody* mBody;
|
||||
};
|
||||
|
||||
struct AnimatedShapeInstance
|
||||
{
|
||||
btCollisionShape* mCompound;
|
||||
|
||||
// Maps bone name to child index in the compound shape
|
||||
std::map<std::string, int> mAnimatedShapes;
|
||||
};
|
||||
|
||||
/**
|
||||
* The PhysicEngine class contain everything which is needed for Physic.
|
||||
* It's needed that Ogre Resources are set up before the PhysicEngine is created.
|
||||
|
|
@ -228,11 +236,6 @@ namespace Physic
|
|||
*/
|
||||
void removeHeightField(int x, int y);
|
||||
|
||||
/**
|
||||
* Add a RigidBody to the simulation
|
||||
*/
|
||||
void addRigidBody(RigidBody* body, bool addToMap = true, RigidBody* raycastingBody = NULL);
|
||||
|
||||
/**
|
||||
* Remove a RigidBody from the simulation. It does not delete it, and does not remove it from the RigidBodyMap.
|
||||
*/
|
||||
|
|
@ -335,8 +338,14 @@ namespace Physic
|
|||
typedef std::map<std::string,RigidBody*> RigidBodyContainer;
|
||||
RigidBodyContainer mCollisionObjectMap;
|
||||
|
||||
// Compound shapes that must be animated each frame based on bone positions
|
||||
// the index refers to an element in mCollisionObjectMap
|
||||
std::map<RigidBody*, AnimatedShapeInstance > mAnimatedShapes;
|
||||
|
||||
RigidBodyContainer mRaycastingObjectMap;
|
||||
|
||||
std::map<RigidBody*, AnimatedShapeInstance > mAnimatedRaycastingShapes;
|
||||
|
||||
typedef std::map<std::string, PhysicActor*> PhysicActorContainer;
|
||||
PhysicActorContainer mActorMap;
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue