forked from mirror/openmw-tes3mp
add physic support
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gugus
parent
c60a48b397
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6 changed files with 1355 additions and 0 deletions
45
bullet/CMotionState.cpp
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45
bullet/CMotionState.cpp
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#include "CMotionState.h"
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#include "physic.hpp"
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#include <btBulletDynamicsCommon.h>
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#include <btBulletCollisionCommon.h>
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#include <components\nifbullet\bullet_nif_loader.hpp>
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//#include <apps\openmw\mwworld\world.hpp>
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namespace OEngine {
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namespace Physic
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{
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CMotionState::CMotionState(PhysicEngine* eng,std::string name)
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{
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pEng = eng;
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tr.setIdentity();
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pName = name;
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};
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void CMotionState::getWorldTransform(btTransform &worldTrans) const
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{
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worldTrans = tr;
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}
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void CMotionState::setWorldTransform(const btTransform &worldTrans)
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{
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tr = worldTrans;
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PhysicEvent evt;
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evt.isNPC = isNPC;
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evt.isPC = isPC;
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evt.newTransform = tr;
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evt.RigidBodyName = pName;
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if(isPC)
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{
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pEng->PEventList.push_back(evt);
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}
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else
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{
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pEng->NPEventList.push_back(evt);
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}
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}
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}}
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52
bullet/CMotionState.h
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52
bullet/CMotionState.h
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#ifndef OENGINE_CMOTIONSTATE_H
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#define OENGINE_CMOTIONSTATE_H
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#include <BulletDynamics\Dynamics\btRigidBody.h>
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#include <string>
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namespace OEngine {
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namespace Physic
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{
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class PhysicEngine;
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/**
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*A CMotionState is associated with a single RigidBody.
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*When the RigidBody is moved by bullet, bullet will call the function setWorldTransform.
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*for more info, see the bullet Wiki at btMotionState.
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*/
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class CMotionState:public btMotionState
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{
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public:
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CMotionState(PhysicEngine* eng,std::string name);
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/**
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*Return the position of the RigidBody.
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*/
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virtual void getWorldTransform(btTransform &worldTrans) const;
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/**
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*Function called by bullet when the RigidBody is moved.
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*It add an event to the EventList of the PhysicEngine class.
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*/
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virtual void setWorldTransform(const btTransform &worldTrans);
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protected:
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PhysicEngine* pEng;
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btTransform tr;
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bool isNPC;
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bool isPC;
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std::string pName;
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};
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struct PhysicEvent
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{
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bool isNPC;
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bool isPC;
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btTransform newTransform;
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std::string RigidBodyName;
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};
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}}
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#endif
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629
bullet/btKinematicCharacterController.cpp
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629
bullet/btKinematicCharacterController.cpp
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "LinearMath/btIDebugDraw.h"
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#include "BulletCollision/CollisionDispatch/btGhostObject.h"
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#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
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#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
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#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
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#include "LinearMath/btDefaultMotionState.h"
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#include "btKinematicCharacterController.h"
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#include <iostream>
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///@todo Interact with dynamic objects,
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///Ride kinematicly animated platforms properly
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///Support ducking
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class btKinematicClosestNotMeRayResultCallback : public btCollisionWorld::ClosestRayResultCallback
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{
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public:
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btKinematicClosestNotMeRayResultCallback (btCollisionObject* me) : btCollisionWorld::ClosestRayResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
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{
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m_me[0] = me;
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count = 1;
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}
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btKinematicClosestNotMeRayResultCallback (btCollisionObject* me[], int count_) : btCollisionWorld::ClosestRayResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
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{
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count = count_;
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for(int i = 0; i < count; i++)
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m_me[i] = me[i];
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}
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virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,bool normalInWorldSpace)
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{
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for(int i = 0; i < count; i++)
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if (rayResult.m_collisionObject == m_me[i])
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return 1.0;
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return ClosestRayResultCallback::addSingleResult (rayResult, normalInWorldSpace);
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}
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protected:
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btCollisionObject* m_me[10];
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int count;
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};
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class btKinematicClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
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{
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public:
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btKinematicClosestNotMeConvexResultCallback( btCollisionObject* me, const btVector3& up, btScalar minSlopeDot )
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: btCollisionWorld::ClosestConvexResultCallback( btVector3( 0.0, 0.0, 0.0 ), btVector3( 0.0, 0.0, 0.0 ) ),
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m_me( me ), m_up( up ), m_minSlopeDot( minSlopeDot )
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{
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}
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virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult,bool normalInWorldSpace)
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{
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if( convexResult.m_hitCollisionObject == m_me )
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return btScalar( 1 );
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btVector3 hitNormalWorld;
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if( normalInWorldSpace )
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{
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hitNormalWorld = convexResult.m_hitNormalLocal;
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}
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else
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{
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///need to transform normal into worldspace
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hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal;
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}
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// NOTE : m_hitNormalLocal is not always vertical on the ground with a capsule or a box...
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btScalar dotUp = m_up.dot(hitNormalWorld);
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if( dotUp < m_minSlopeDot )
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return btScalar( 1 );
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return ClosestConvexResultCallback::addSingleResult (convexResult, normalInWorldSpace);
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}
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protected:
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btCollisionObject* m_me;
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const btVector3 m_up;
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btScalar m_minSlopeDot;
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};
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btKinematicCharacterController::btKinematicCharacterController( btPairCachingGhostObject* externalGhostObject_,
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btPairCachingGhostObject* internalGhostObject_,
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btScalar stepHeight,
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btScalar constantScale,
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btScalar gravity,
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btScalar fallVelocity,
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btScalar jumpVelocity,
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btScalar recoveringFactor )
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{
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m_upAxis = btKinematicCharacterController::Y_AXIS;
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m_walkDirection.setValue( btScalar( 0 ), btScalar( 0 ), btScalar( 0 ) );
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m_useGhostObjectSweepTest = true;
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externalGhostObject = externalGhostObject_;
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internalGhostObject = internalGhostObject_;
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m_recoveringFactor = recoveringFactor;
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m_stepHeight = stepHeight;
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m_useWalkDirection = true; // use walk direction by default, legacy behavior
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m_velocityTimeInterval = btScalar( 0 );
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m_verticalVelocity = btScalar( 0 );
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m_verticalOffset = btScalar( 0 );
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m_gravity = constantScale * gravity;
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m_fallSpeed = constantScale * fallVelocity; // Terminal velocity of a sky diver in m/s.
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m_jumpSpeed = constantScale * jumpVelocity; // ?
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m_wasJumping = false;
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setMaxSlope( btRadians( 45.0 ) );
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}
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btKinematicCharacterController::~btKinematicCharacterController ()
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{
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}
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bool btKinematicCharacterController::recoverFromPenetration( btCollisionWorld* collisionWorld )
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{
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//std::cout << "recover!!!!";
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bool penetration = false;
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collisionWorld->getDispatcher()->dispatchAllCollisionPairs( internalGhostObject->getOverlappingPairCache(),
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collisionWorld->getDispatchInfo(),
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collisionWorld->getDispatcher() );
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btVector3 currentPosition = internalGhostObject->getWorldTransform().getOrigin();
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btScalar maxPen = btScalar( 0 );
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for( int i = 0; i < internalGhostObject->getOverlappingPairCache()->getNumOverlappingPairs(); i++ )
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{
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m_manifoldArray.resize(0);
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btBroadphasePair* collisionPair = &internalGhostObject->getOverlappingPairCache()->getOverlappingPairArray()[i];
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if( collisionPair->m_algorithm )
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collisionPair->m_algorithm->getAllContactManifolds( m_manifoldArray );
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for( int j = 0; j < m_manifoldArray.size(); j++ )
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{
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btPersistentManifold* manifold = m_manifoldArray[j];
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btScalar directionSign = manifold->getBody0() == internalGhostObject ? btScalar( -1.0 ) : btScalar( 1.0 );
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for( int p = 0; p < manifold->getNumContacts(); p++ )
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{
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const btManifoldPoint&pt = manifold->getContactPoint( p );
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if(manifold->getBody1() == externalGhostObject) std::cout << "external!!";
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if(manifold->getBody0() == externalGhostObject) std::cout << "external!!";
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if(manifold->getBody1() == internalGhostObject) std::cout << "internal!!";
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if(manifold->getBody0() == internalGhostObject) std::cout << "internal!!";
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if( (manifold->getBody1() == externalGhostObject && manifold->getBody0() == internalGhostObject)
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||(manifold->getBody0() == externalGhostObject && manifold->getBody1() == internalGhostObject) )
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{
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}
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else
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{
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btScalar dist = pt.getDistance();
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if( dist < 0.0 )
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{
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if( dist < maxPen )
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maxPen = dist;
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// NOTE : btScalar affects the stairs but the parkinson...
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// 0.0 , the capsule can break the walls...
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currentPosition += pt.m_normalWorldOnB * directionSign * dist * m_recoveringFactor;
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penetration = true;
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std::cout << "recover!!!!";
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}
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}
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}
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// ???
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//manifold->clearManifold();
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}
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}
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btTransform transform = internalGhostObject->getWorldTransform();
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transform.setOrigin( currentPosition );
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internalGhostObject->setWorldTransform( transform );
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externalGhostObject->setWorldTransform( transform );
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return penetration;
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}
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btVector3 btKinematicCharacterController::stepUp( btCollisionWorld* world, const btVector3& currentPosition, btScalar& currentStepOffset )
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{
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btVector3 targetPosition = currentPosition + getUpAxisDirections()[ m_upAxis ] * ( m_stepHeight + ( m_verticalOffset > btScalar( 0.0 ) ? m_verticalOffset : 0.0 ) );
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// Retrieve the collision shape
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//
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btCollisionShape* collisionShape = externalGhostObject->getCollisionShape();
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btAssert( collisionShape->isConvex() );
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btConvexShape* convexShape = ( btConvexShape* )collisionShape;
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// FIXME: Handle penetration properly
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//
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btTransform start;
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start.setIdentity();
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start.setOrigin( currentPosition + getUpAxisDirections()[ m_upAxis ] * ( convexShape->getMargin() ) );
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btTransform end;
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end.setIdentity();
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end.setOrigin( targetPosition );
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btKinematicClosestNotMeConvexResultCallback callback( externalGhostObject, -getUpAxisDirections()[ m_upAxis ], m_maxSlopeCosine );
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callback.m_collisionFilterGroup = externalGhostObject->getBroadphaseHandle()->m_collisionFilterGroup;
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callback.m_collisionFilterMask = externalGhostObject->getBroadphaseHandle()->m_collisionFilterMask;
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// Sweep test
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//
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if( m_useGhostObjectSweepTest )
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externalGhostObject->convexSweepTest( convexShape, start, end, callback, world->getDispatchInfo().m_allowedCcdPenetration );
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else
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world->convexSweepTest( convexShape, start, end, callback );
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if( callback.hasHit() )
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{
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// Only modify the position if the hit was a slope and not a wall or ceiling.
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//
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if( callback.m_hitNormalWorld.dot(getUpAxisDirections()[m_upAxis]) > btScalar( 0.0 ) )
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{
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// We moved up only a fraction of the step height
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//
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currentStepOffset = m_stepHeight * callback.m_closestHitFraction;
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return currentPosition.lerp( targetPosition, callback.m_closestHitFraction );
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}
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m_verticalVelocity = btScalar( 0.0 );
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m_verticalOffset = btScalar( 0.0 );
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return currentPosition;
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}
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else
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{
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currentStepOffset = m_stepHeight;
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return targetPosition;
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}
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}
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///Reflect the vector d around the vector r
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inline btVector3 reflect( const btVector3& d, const btVector3& r )
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{
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return d - ( btScalar( 2.0 ) * d.dot( r ) ) * r;
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}
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///Project a vector u on another vector v
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inline btVector3 project( const btVector3& u, const btVector3& v )
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{
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return v * u.dot( v );
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}
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///Helper for computing the character sliding
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inline btVector3 slide( const btVector3& direction, const btVector3& planeNormal )
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{
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return direction - project( direction, planeNormal );
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}
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btVector3 slideOnCollision( const btVector3& fromPosition, const btVector3& toPosition, const btVector3& hitNormal )
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{
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btVector3 moveDirection = toPosition - fromPosition;
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btScalar moveLength = moveDirection.length();
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if( moveLength <= btScalar( SIMD_EPSILON ) )
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return toPosition;
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moveDirection.normalize();
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btVector3 reflectDir = reflect( moveDirection, hitNormal );
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reflectDir.normalize();
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return fromPosition + slide( reflectDir, hitNormal ) * moveLength;
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}
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btVector3 btKinematicCharacterController::stepForwardAndStrafe( btCollisionWorld* collisionWorld, const btVector3& currentPosition, const btVector3& walkMove )
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{
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// We go to !
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//
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btVector3 targetPosition = currentPosition + walkMove;
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// Retrieve the collision shape
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//
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btCollisionShape* collisionShape = externalGhostObject->getCollisionShape();
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btAssert( collisionShape->isConvex() );
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btConvexShape* convexShape = ( btConvexShape* )collisionShape;
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btTransform start;
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start.setIdentity();
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btTransform end;
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end.setIdentity();
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btScalar fraction = btScalar( 1.0 );
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// This optimization scheme suffers in the corners.
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// It basically jumps from a wall to another, then fails to find a new
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// position (after 4 iterations here) and finally don't move at all.
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//
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// The stepping algorithm adds some problems with stairs. It seems
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// the treads create some fake corner using capsules for collisions.
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//
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for( int i = 0; i < 4 && fraction > btScalar( 0.01 ); i++ )
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{
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start.setOrigin( currentPosition );
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end.setOrigin( targetPosition );
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btVector3 sweepDirNegative = currentPosition - targetPosition;
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btKinematicClosestNotMeConvexResultCallback callback( externalGhostObject, sweepDirNegative, btScalar( 0.0 ) );
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callback.m_collisionFilterGroup = externalGhostObject->getBroadphaseHandle()->m_collisionFilterGroup;
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callback.m_collisionFilterMask = externalGhostObject->getBroadphaseHandle()->m_collisionFilterMask;
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if( m_useGhostObjectSweepTest )
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externalGhostObject->convexSweepTest( convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration );
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else
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collisionWorld->convexSweepTest( convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration );
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if( callback.hasHit() )
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{
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// Try another target position
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//
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targetPosition = slideOnCollision( currentPosition, targetPosition, callback.m_hitNormalWorld );
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fraction = callback.m_closestHitFraction;
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}
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else
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// Move to the valid target position
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//
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return targetPosition;
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}
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// Don't move if you can't find a valid target position...
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// It prevents some flickering.
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//
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return currentPosition;
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}
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///Handle the gravity
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btScalar btKinematicCharacterController::addFallOffset( bool wasOnGround, btScalar currentStepOffset, btScalar dt )
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{
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btScalar downVelocity = ( m_verticalVelocity < 0.0 ? -m_verticalVelocity : btScalar( 0.0 ) ) * dt;
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||||
|
||||
if( downVelocity > btScalar( 0.0 ) && downVelocity < m_stepHeight && ( wasOnGround || !m_wasJumping ) )
|
||||
downVelocity = m_stepHeight;
|
||||
|
||||
return currentStepOffset + downVelocity;
|
||||
}
|
||||
|
||||
|
||||
btVector3 btKinematicCharacterController::stepDown( btCollisionWorld* collisionWorld, const btVector3& currentPosition, btScalar currentStepOffset )
|
||||
{
|
||||
btVector3 stepDrop = getUpAxisDirections()[ m_upAxis ] * currentStepOffset;
|
||||
|
||||
// Be sure we are falling from the last m_currentPosition
|
||||
// It prevents some flickering
|
||||
//
|
||||
btVector3 targetPosition = currentPosition - stepDrop;
|
||||
|
||||
btTransform start;
|
||||
start.setIdentity();
|
||||
start.setOrigin( currentPosition );
|
||||
|
||||
btTransform end;
|
||||
end.setIdentity();
|
||||
end.setOrigin( targetPosition );
|
||||
|
||||
btKinematicClosestNotMeConvexResultCallback callback( internalGhostObject, getUpAxisDirections()[ m_upAxis ], m_maxSlopeCosine );
|
||||
callback.m_collisionFilterGroup = internalGhostObject->getBroadphaseHandle()->m_collisionFilterGroup;
|
||||
callback.m_collisionFilterMask = internalGhostObject->getBroadphaseHandle()->m_collisionFilterMask;
|
||||
|
||||
// Retrieve the collision shape
|
||||
//
|
||||
btCollisionShape* collisionShape = internalGhostObject->getCollisionShape();
|
||||
btAssert( collisionShape->isConvex() );
|
||||
btConvexShape* convexShape = ( btConvexShape* )collisionShape;
|
||||
|
||||
if( m_useGhostObjectSweepTest )
|
||||
externalGhostObject->convexSweepTest( convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration );
|
||||
|
||||
else
|
||||
collisionWorld->convexSweepTest( convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration );
|
||||
|
||||
if( callback.hasHit() )
|
||||
{
|
||||
m_verticalVelocity = btScalar( 0.0 );
|
||||
m_verticalOffset = btScalar( 0.0 );
|
||||
m_wasJumping = false;
|
||||
|
||||
// We dropped a fraction of the height -> hit floor
|
||||
//
|
||||
return currentPosition.lerp( targetPosition, callback.m_closestHitFraction );
|
||||
}
|
||||
else
|
||||
|
||||
// We dropped the full height
|
||||
//
|
||||
return targetPosition;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void btKinematicCharacterController::setWalkDirection( const btVector3& walkDirection )
|
||||
{
|
||||
m_useWalkDirection = true;
|
||||
m_walkDirection = walkDirection;
|
||||
}
|
||||
|
||||
|
||||
void btKinematicCharacterController::setVelocityForTimeInterval( const btVector3& velocity, btScalar timeInterval )
|
||||
{
|
||||
m_useWalkDirection = false;
|
||||
m_walkDirection = velocity;
|
||||
m_velocityTimeInterval = timeInterval;
|
||||
}
|
||||
|
||||
|
||||
void btKinematicCharacterController::reset()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
void btKinematicCharacterController::warp( const btVector3& origin )
|
||||
{
|
||||
btTransform transform;
|
||||
transform.setIdentity();
|
||||
transform.setOrigin( -origin );
|
||||
|
||||
externalGhostObject->setWorldTransform( transform );
|
||||
internalGhostObject->setWorldTransform( transform );
|
||||
}
|
||||
|
||||
|
||||
void btKinematicCharacterController::preStep( btCollisionWorld* collisionWorld )
|
||||
{
|
||||
BT_PROFILE( "preStep" );
|
||||
|
||||
for( int i = 0; i < 4 && recoverFromPenetration ( collisionWorld ); i++ );
|
||||
}
|
||||
|
||||
|
||||
void btKinematicCharacterController::playerStep( btCollisionWorld* collisionWorld, btScalar dt )
|
||||
{
|
||||
BT_PROFILE( "playerStep" );
|
||||
|
||||
if( !m_useWalkDirection && m_velocityTimeInterval <= btScalar( 0.0 ) )
|
||||
return;
|
||||
|
||||
bool wasOnGround = onGround();
|
||||
|
||||
// Handle the gravity
|
||||
//
|
||||
m_verticalVelocity -= m_gravity * dt;
|
||||
|
||||
if( m_verticalVelocity > 0.0 && m_verticalVelocity > m_jumpSpeed )
|
||||
m_verticalVelocity = m_jumpSpeed;
|
||||
|
||||
if( m_verticalVelocity < 0.0 && btFabs( m_verticalVelocity ) > btFabs( m_fallSpeed ) )
|
||||
m_verticalVelocity = -btFabs( m_fallSpeed );
|
||||
|
||||
m_verticalOffset = m_verticalVelocity * dt;
|
||||
|
||||
// This forced stepping up can cause problems when the character
|
||||
// walks (jump in fact...) under too low ceilings.
|
||||
//
|
||||
btVector3 currentPosition = externalGhostObject->getWorldTransform().getOrigin();
|
||||
btScalar currentStepOffset;
|
||||
|
||||
currentPosition = stepUp( collisionWorld, currentPosition, currentStepOffset );
|
||||
|
||||
// Move in the air and slide against the walls ignoring the stair steps.
|
||||
//
|
||||
if( m_useWalkDirection )
|
||||
currentPosition = stepForwardAndStrafe( collisionWorld, currentPosition, m_walkDirection );
|
||||
|
||||
else
|
||||
{
|
||||
btScalar dtMoving = ( dt < m_velocityTimeInterval ) ? dt : m_velocityTimeInterval;
|
||||
m_velocityTimeInterval -= dt;
|
||||
|
||||
// How far will we move while we are moving ?
|
||||
//
|
||||
btVector3 moveDirection = m_walkDirection * dtMoving;
|
||||
|
||||
currentPosition = stepForwardAndStrafe( collisionWorld, currentPosition, moveDirection );
|
||||
}
|
||||
|
||||
// Finally find the ground.
|
||||
//
|
||||
currentStepOffset = addFallOffset( wasOnGround, currentStepOffset, dt );
|
||||
|
||||
currentPosition = stepDown( collisionWorld, currentPosition, currentStepOffset );
|
||||
|
||||
// Apply the new position to the collision objects.
|
||||
//
|
||||
btTransform tranform;
|
||||
tranform = externalGhostObject->getWorldTransform();
|
||||
tranform.setOrigin( currentPosition );
|
||||
|
||||
externalGhostObject->setWorldTransform( tranform );
|
||||
internalGhostObject->setWorldTransform( tranform );
|
||||
}
|
||||
|
||||
|
||||
void btKinematicCharacterController::setFallSpeed( btScalar fallSpeed )
|
||||
{
|
||||
m_fallSpeed = fallSpeed;
|
||||
}
|
||||
|
||||
|
||||
void btKinematicCharacterController::setJumpSpeed( btScalar jumpSpeed )
|
||||
{
|
||||
m_jumpSpeed = jumpSpeed;
|
||||
}
|
||||
|
||||
|
||||
void btKinematicCharacterController::setMaxJumpHeight( btScalar maxJumpHeight )
|
||||
{
|
||||
m_maxJumpHeight = maxJumpHeight;
|
||||
}
|
||||
|
||||
|
||||
bool btKinematicCharacterController::canJump() const
|
||||
{
|
||||
return onGround();
|
||||
}
|
||||
|
||||
|
||||
void btKinematicCharacterController::jump()
|
||||
{
|
||||
if( !canJump() )
|
||||
return;
|
||||
|
||||
m_verticalVelocity = m_jumpSpeed;
|
||||
m_wasJumping = true;
|
||||
}
|
||||
|
||||
|
||||
void btKinematicCharacterController::setGravity( btScalar gravity )
|
||||
{
|
||||
m_gravity = gravity;
|
||||
}
|
||||
|
||||
|
||||
btScalar btKinematicCharacterController::getGravity() const
|
||||
{
|
||||
return m_gravity;
|
||||
}
|
||||
|
||||
|
||||
void btKinematicCharacterController::setMaxSlope( btScalar slopeRadians )
|
||||
{
|
||||
m_maxSlopeRadians = slopeRadians;
|
||||
m_maxSlopeCosine = btCos( slopeRadians );
|
||||
}
|
||||
|
||||
|
||||
btScalar btKinematicCharacterController::getMaxSlope() const
|
||||
{
|
||||
return m_maxSlopeRadians;
|
||||
}
|
||||
|
||||
|
||||
bool btKinematicCharacterController::onGround() const
|
||||
{
|
||||
return btFabs( m_verticalVelocity ) < btScalar( SIMD_EPSILON ) &&
|
||||
btFabs( m_verticalOffset ) < btScalar( SIMD_EPSILON );
|
||||
}
|
||||
|
||||
|
||||
btVector3* btKinematicCharacterController::getUpAxisDirections()
|
||||
{
|
||||
static btVector3 sUpAxisDirection[] =
|
||||
{
|
||||
btVector3( btScalar( 0.0 ), btScalar( 0.0 ), btScalar( 0.0 ) ),
|
||||
btVector3( btScalar( 0.0 ), btScalar( 1.0 ), btScalar( 0.0 ) ),
|
||||
btVector3( btScalar( 0.0 ), btScalar( 0.0 ), btScalar( 1.0 ) )
|
||||
};
|
||||
|
||||
return sUpAxisDirection;
|
||||
}
|
||||
|
||||
|
||||
void btKinematicCharacterController::debugDraw( btIDebugDraw* debugDrawer )
|
||||
{
|
||||
}
|
||||
164
bullet/btKinematicCharacterController.h
Normal file
164
bullet/btKinematicCharacterController.h
Normal file
|
|
@ -0,0 +1,164 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef KINEMATIC_CHARACTER_CONTROLLER_H
|
||||
#define KINEMATIC_CHARACTER_CONTROLLER_H
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath\btQuickprof.h"
|
||||
|
||||
#include "BulletDynamics\Character\btCharacterControllerInterface.h"
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
|
||||
|
||||
|
||||
class btCollisionShape;
|
||||
class btRigidBody;
|
||||
class btCollisionWorld;
|
||||
class btCollisionDispatcher;
|
||||
class btPairCachingGhostObject;
|
||||
|
||||
///btKinematicCharacterController is an object that supports a sliding motion in a world.
|
||||
///It uses a ghost object and convex sweep test to test for upcoming collisions. This is combined with discrete collision detection to recover from penetrations.
|
||||
///Interaction between btKinematicCharacterController and dynamic rigid bodies needs to be explicity implemented by the user.
|
||||
class btKinematicCharacterController : public btCharacterControllerInterface
|
||||
{
|
||||
public:
|
||||
enum UpAxis
|
||||
{
|
||||
X_AXIS = 0,
|
||||
Y_AXIS = 1,
|
||||
Z_AXIS = 2
|
||||
};
|
||||
|
||||
private:
|
||||
btPairCachingGhostObject* externalGhostObject; // use this for querying collisions for sliding and move
|
||||
btPairCachingGhostObject* internalGhostObject; // and this for recoreving from penetrations
|
||||
|
||||
btScalar m_verticalVelocity;
|
||||
btScalar m_verticalOffset;
|
||||
btScalar m_fallSpeed;
|
||||
btScalar m_jumpSpeed;
|
||||
btScalar m_maxJumpHeight;
|
||||
btScalar m_maxSlopeRadians; // Slope angle that is set (used for returning the exact value)
|
||||
btScalar m_maxSlopeCosine; // Cosine equivalent of m_maxSlopeRadians (calculated once when set, for optimization)
|
||||
btScalar m_gravity;
|
||||
btScalar m_recoveringFactor;
|
||||
|
||||
btScalar m_stepHeight;
|
||||
|
||||
///this is the desired walk direction, set by the user
|
||||
btVector3 m_walkDirection;
|
||||
|
||||
///keep track of the contact manifolds
|
||||
btManifoldArray m_manifoldArray;
|
||||
|
||||
///Gravity attributes
|
||||
bool m_wasJumping;
|
||||
|
||||
bool m_useGhostObjectSweepTest;
|
||||
bool m_useWalkDirection;
|
||||
btScalar m_velocityTimeInterval;
|
||||
|
||||
UpAxis m_upAxis;
|
||||
|
||||
static btVector3* getUpAxisDirections();
|
||||
|
||||
bool recoverFromPenetration ( btCollisionWorld* collisionWorld );
|
||||
|
||||
btVector3 stepUp( btCollisionWorld* collisionWorld, const btVector3& currentPosition, btScalar& currentStepOffset );
|
||||
btVector3 stepForwardAndStrafe( btCollisionWorld* collisionWorld, const btVector3& currentPosition, const btVector3& walkMove );
|
||||
btScalar addFallOffset( bool wasJumping, btScalar currentStepOffset, btScalar dt );
|
||||
btVector3 stepDown( btCollisionWorld* collisionWorld, const btVector3& currentPosition, btScalar currentStepOffset );
|
||||
|
||||
public:
|
||||
/// externalGhostObject is used for querying the collisions for sliding along the wall,
|
||||
/// and internalGhostObject is used for querying the collisions for recovering from large penetrations.
|
||||
/// These parameters can point on the same object.
|
||||
/// Using a smaller internalGhostObject can help for removing some flickering but create some
|
||||
/// stopping artefacts when sliding along stairs or small walls.
|
||||
/// Don't forget to scale gravity and fallSpeed if you scale the world.
|
||||
btKinematicCharacterController( btPairCachingGhostObject* externalGhostObject,
|
||||
btPairCachingGhostObject* internalGhostObject,
|
||||
btScalar stepHeight,
|
||||
btScalar constantScale = btScalar( 1.0 ),
|
||||
btScalar gravity = btScalar( 9.8 ),
|
||||
btScalar fallVelocity = btScalar( 55.0 ),
|
||||
btScalar jumpVelocity = btScalar( 9.8 ),
|
||||
btScalar recoveringFactor = btScalar( 0.2 ) );
|
||||
|
||||
~btKinematicCharacterController ();
|
||||
|
||||
|
||||
///btActionInterface interface
|
||||
virtual void updateAction( btCollisionWorld* collisionWorld, btScalar deltaTime )
|
||||
{
|
||||
preStep( collisionWorld );
|
||||
playerStep( collisionWorld, deltaTime );
|
||||
}
|
||||
|
||||
///btActionInterface interface
|
||||
void debugDraw( btIDebugDraw* debugDrawer );
|
||||
|
||||
void setUpAxis( UpAxis axis )
|
||||
{
|
||||
m_upAxis = axis;
|
||||
}
|
||||
|
||||
/// This should probably be called setPositionIncrementPerSimulatorStep.
|
||||
/// This is neither a direction nor a velocity, but the amount to
|
||||
/// increment the position each simulation iteration, regardless
|
||||
/// of dt.
|
||||
/// This call will reset any velocity set by setVelocityForTimeInterval().
|
||||
virtual void setWalkDirection(const btVector3& walkDirection);
|
||||
|
||||
/// Caller provides a velocity with which the character should move for
|
||||
/// the given time period. After the time period, velocity is reset
|
||||
/// to zero.
|
||||
/// This call will reset any walk direction set by setWalkDirection().
|
||||
/// Negative time intervals will result in no motion.
|
||||
virtual void setVelocityForTimeInterval(const btVector3& velocity,
|
||||
btScalar timeInterval);
|
||||
|
||||
void reset();
|
||||
void warp( const btVector3& origin );
|
||||
|
||||
void preStep( btCollisionWorld* collisionWorld );
|
||||
void playerStep( btCollisionWorld* collisionWorld, btScalar dt );
|
||||
|
||||
void setFallSpeed( btScalar fallSpeed );
|
||||
void setJumpSpeed( btScalar jumpSpeed );
|
||||
void setMaxJumpHeight( btScalar maxJumpHeight );
|
||||
bool canJump() const;
|
||||
|
||||
void jump();
|
||||
|
||||
void setGravity( btScalar gravity );
|
||||
btScalar getGravity() const;
|
||||
|
||||
/// The max slope determines the maximum angle that the controller can walk up.
|
||||
/// The slope angle is measured in radians.
|
||||
void setMaxSlope( btScalar slopeRadians );
|
||||
btScalar getMaxSlope() const;
|
||||
|
||||
void setUseGhostSweepTest( bool useGhostObjectSweepTest )
|
||||
{
|
||||
m_useGhostObjectSweepTest = useGhostObjectSweepTest;
|
||||
}
|
||||
|
||||
bool onGround() const;
|
||||
};
|
||||
|
||||
#endif // KINEMATIC_CHARACTER_CONTROLLER_H
|
||||
275
bullet/physic.cpp
Normal file
275
bullet/physic.cpp
Normal file
|
|
@ -0,0 +1,275 @@
|
|||
#include "physic.hpp"
|
||||
#include <btBulletDynamicsCommon.h>
|
||||
#include <btBulletCollisionCommon.h>
|
||||
#include <components\nifbullet\bullet_nif_loader.hpp>
|
||||
//#include <apps\openmw\mwworld\world.hpp>
|
||||
#include "CMotionState.h"
|
||||
#include "OgreRoot.h"
|
||||
#include "btKinematicCharacterController.h"
|
||||
#include "BtOgrePG.h"
|
||||
#include "BtOgreGP.h"
|
||||
#include "BtOgreExtras.h"
|
||||
|
||||
#define BIT(x) (1<<(x))
|
||||
|
||||
namespace OEngine {
|
||||
namespace Physic
|
||||
{
|
||||
enum collisiontypes {
|
||||
COL_NOTHING = 0, //<Collide with nothing
|
||||
COL_WORLD = BIT(0), //<Collide with world objects
|
||||
COL_ACTOR_INTERNAL = BIT(1), //<Collide internal capsule
|
||||
COL_ACTOR_EXTERNAL = BIT(2) //<collide with external capsule
|
||||
};
|
||||
|
||||
PhysicActor::PhysicActor(std::string name)
|
||||
{
|
||||
mName = name;
|
||||
|
||||
// The capsule is at the origin
|
||||
btTransform transform;
|
||||
transform.setIdentity();
|
||||
|
||||
// External capsule
|
||||
externalGhostObject = new btPairCachingGhostObject();
|
||||
externalGhostObject->setWorldTransform( transform );
|
||||
|
||||
btScalar externalCapsuleHeight = 50;
|
||||
btScalar externalCapsuleWidth = 20;
|
||||
|
||||
externalCollisionShape = new btCapsuleShapeZ( externalCapsuleWidth, externalCapsuleHeight );
|
||||
externalCollisionShape->setMargin( 1 );
|
||||
|
||||
externalGhostObject->setCollisionShape( externalCollisionShape );
|
||||
externalGhostObject->setCollisionFlags( btCollisionObject::CF_CHARACTER_OBJECT );
|
||||
|
||||
// Internal capsule
|
||||
internalGhostObject = new btPairCachingGhostObject();
|
||||
internalGhostObject->setWorldTransform( transform );
|
||||
//internalGhostObject->getBroadphaseHandle()->s
|
||||
btScalar internalCapsuleHeight = 20;
|
||||
btScalar internalCapsuleWidth = 5;
|
||||
|
||||
internalCollisionShape = new btCapsuleShapeZ( internalCapsuleWidth, internalCapsuleHeight );
|
||||
internalCollisionShape->setMargin( 1 );
|
||||
|
||||
internalGhostObject->setCollisionShape( internalCollisionShape );
|
||||
internalGhostObject->setCollisionFlags( btCollisionObject::CF_CHARACTER_OBJECT );
|
||||
|
||||
mCharacter = new btKinematicCharacterController( externalGhostObject,internalGhostObject,btScalar( 0.4 ),1,0 );
|
||||
mCharacter->setUpAxis(btKinematicCharacterController::UpAxis::Z_AXIS);
|
||||
}
|
||||
|
||||
PhysicActor::~PhysicActor()
|
||||
{
|
||||
delete mCharacter;
|
||||
delete internalGhostObject;
|
||||
delete internalCollisionShape;
|
||||
delete externalGhostObject;
|
||||
delete externalCollisionShape;
|
||||
}
|
||||
|
||||
void PhysicActor::setWalkDirection(btVector3& mvt)
|
||||
{
|
||||
mCharacter->setWalkDirection( mvt );
|
||||
}
|
||||
|
||||
void PhysicActor::Rotate(btQuaternion& quat)
|
||||
{
|
||||
externalGhostObject->getWorldTransform().setRotation( externalGhostObject->getWorldTransform().getRotation() * quat );
|
||||
internalGhostObject->getWorldTransform().setRotation( internalGhostObject->getWorldTransform().getRotation() * quat );
|
||||
}
|
||||
|
||||
void PhysicActor::setRotation(btQuaternion& quat)
|
||||
{
|
||||
externalGhostObject->getWorldTransform().setRotation( quat );
|
||||
internalGhostObject->getWorldTransform().setRotation( quat );
|
||||
}
|
||||
|
||||
btVector3 PhysicActor::getPosition(void)
|
||||
{
|
||||
return internalGhostObject->getWorldTransform().getOrigin();
|
||||
}
|
||||
|
||||
btQuaternion PhysicActor::getRotation(void)
|
||||
{
|
||||
return internalGhostObject->getWorldTransform().getRotation();
|
||||
}
|
||||
|
||||
void PhysicActor::setPosition(btVector3& pos)
|
||||
{
|
||||
internalGhostObject->getWorldTransform().setOrigin(pos);
|
||||
externalGhostObject->getWorldTransform().setOrigin(pos);
|
||||
}
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
|
||||
RigidBody::RigidBody(btRigidBody::btRigidBodyConstructionInfo& CI,std::string name)
|
||||
:btRigidBody(CI),mName(name)
|
||||
{
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
|
||||
|
||||
PhysicEngine::PhysicEngine()
|
||||
{
|
||||
// Set up the collision configuration and dispatcher
|
||||
collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
dispatcher = new btCollisionDispatcher(collisionConfiguration);
|
||||
|
||||
// The actual physics solver
|
||||
solver = new btSequentialImpulseConstraintSolver;
|
||||
|
||||
//TODO: memory leak?
|
||||
btOverlappingPairCache* pairCache = new btSortedOverlappingPairCache();
|
||||
pairCache->setInternalGhostPairCallback( new btGhostPairCallback() );
|
||||
|
||||
broadphase = new btDbvtBroadphase(pairCache);
|
||||
|
||||
// The world.
|
||||
dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver,collisionConfiguration);
|
||||
dynamicsWorld->setGravity(btVector3(0,0,-10));
|
||||
|
||||
if(BulletShapeManager::getSingletonPtr() == NULL)
|
||||
{
|
||||
new BulletShapeManager();
|
||||
}
|
||||
//TODO:singleton?
|
||||
ShapeLoader = new ManualBulletShapeLoader();
|
||||
|
||||
isDebugCreated = false;
|
||||
}
|
||||
|
||||
void PhysicEngine::createDebugRendering()
|
||||
{
|
||||
if(!isDebugCreated)
|
||||
{
|
||||
Ogre::SceneManagerEnumerator::SceneManagerIterator iter = Ogre::Root::getSingleton().getSceneManagerIterator();
|
||||
iter.begin();
|
||||
Ogre::SceneManager* scn = iter.getNext();
|
||||
Ogre::SceneNode* node = scn->getRootSceneNode()->createChildSceneNode();
|
||||
node->pitch(Ogre::Degree(-90));
|
||||
mDebugDrawer = new BtOgre::DebugDrawer(node, dynamicsWorld);
|
||||
dynamicsWorld->setDebugDrawer(mDebugDrawer);
|
||||
isDebugCreated = true;
|
||||
dynamicsWorld->debugDrawWorld();
|
||||
}
|
||||
}
|
||||
|
||||
void PhysicEngine::setDebugRenderingMode(int mode)
|
||||
{
|
||||
if(!isDebugCreated)
|
||||
{
|
||||
createDebugRendering();
|
||||
}
|
||||
mDebugDrawer->setDebugMode(mode);
|
||||
}
|
||||
|
||||
PhysicEngine::~PhysicEngine()
|
||||
{
|
||||
delete dynamicsWorld;
|
||||
delete solver;
|
||||
delete collisionConfiguration;
|
||||
delete dispatcher;
|
||||
delete broadphase;
|
||||
delete ShapeLoader;
|
||||
}
|
||||
|
||||
RigidBody* PhysicEngine::createRigidBody(std::string mesh,std::string name)
|
||||
{
|
||||
//get the shape from the .nif
|
||||
ShapeLoader->load(mesh,"General");
|
||||
BulletShapeManager::getSingletonPtr()->load(mesh,"General");
|
||||
BulletShapePtr shape = BulletShapeManager::getSingleton().getByName(mesh,"General");
|
||||
|
||||
//create the motionState
|
||||
CMotionState* newMotionState = new CMotionState(this,name);
|
||||
|
||||
//create the real body
|
||||
btRigidBody::btRigidBodyConstructionInfo CI = btRigidBody::btRigidBodyConstructionInfo(0,newMotionState,shape->Shape);
|
||||
RigidBody* body = new RigidBody(CI,name);
|
||||
|
||||
return body;
|
||||
}
|
||||
|
||||
void PhysicEngine::addRigidBody(RigidBody* body)
|
||||
{
|
||||
dynamicsWorld->addRigidBody(body,COL_WORLD,COL_WORLD|COL_ACTOR_INTERNAL|COL_ACTOR_EXTERNAL);
|
||||
body->setActivationState(DISABLE_DEACTIVATION);
|
||||
RigidBodyMap[body->mName] = body;
|
||||
}
|
||||
|
||||
void PhysicEngine::removeRigidBody(std::string name)
|
||||
{
|
||||
RigidBody* body = RigidBodyMap[name];
|
||||
if(body != NULL)
|
||||
{
|
||||
dynamicsWorld->removeRigidBody(RigidBodyMap[name]);
|
||||
}
|
||||
}
|
||||
|
||||
void PhysicEngine::deleteRigidBody(std::string name)
|
||||
{
|
||||
RigidBody* body = RigidBodyMap[name];
|
||||
if(body != NULL)
|
||||
{
|
||||
delete body;
|
||||
RigidBodyMap[name] = NULL;
|
||||
}
|
||||
}
|
||||
|
||||
RigidBody* PhysicEngine::getRigidBody(std::string name)
|
||||
{
|
||||
RigidBody* body = RigidBodyMap[name];
|
||||
return body;
|
||||
}
|
||||
|
||||
void PhysicEngine::stepSimulation(double deltaT)
|
||||
{
|
||||
dynamicsWorld->stepSimulation(deltaT,1,1/30.);
|
||||
if(isDebugCreated)
|
||||
{
|
||||
mDebugDrawer->step();
|
||||
}
|
||||
}
|
||||
|
||||
void PhysicEngine::addCharacter(std::string 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 );
|
||||
PhysicActorMap[name] = newActor;
|
||||
}
|
||||
|
||||
void PhysicEngine::removeCharacter(std::string name)
|
||||
{
|
||||
PhysicActor* act = PhysicActorMap[name];
|
||||
if(act != NULL)
|
||||
{
|
||||
dynamicsWorld->removeCollisionObject(act->externalGhostObject);
|
||||
dynamicsWorld->removeCollisionObject(act->internalGhostObject);
|
||||
dynamicsWorld->removeAction(act->mCharacter);
|
||||
delete act;
|
||||
PhysicActorMap[name] = NULL;
|
||||
}
|
||||
}
|
||||
|
||||
PhysicActor* PhysicEngine::getCharacter(std::string name)
|
||||
{
|
||||
PhysicActor* act = PhysicActorMap[name];
|
||||
return act;
|
||||
}
|
||||
|
||||
void PhysicEngine::emptyEventLists(void)
|
||||
{
|
||||
}
|
||||
}};
|
||||
190
bullet/physic.hpp
Normal file
190
bullet/physic.hpp
Normal file
|
|
@ -0,0 +1,190 @@
|
|||
#ifndef OENGINE_BULLET_PHYSIC_H
|
||||
#define OENGINE_BULLET_PHYSIC_H
|
||||
|
||||
#include <BulletDynamics\Dynamics\btRigidBody.h>
|
||||
#include "BulletCollision/CollisionDispatch/btGhostObject.h"
|
||||
#include <string>
|
||||
#include <list>
|
||||
#include <map>
|
||||
|
||||
class btRigidBody;
|
||||
class btBroadphaseInterface;
|
||||
class btDefaultCollisionConfiguration;
|
||||
class btSequentialImpulseConstraintSolver;
|
||||
class btCollisionDispatcher;
|
||||
class btDiscreteDynamicsWorld;
|
||||
class btKinematicCharacterController;
|
||||
|
||||
namespace BtOgre
|
||||
{
|
||||
class DebugDrawer;
|
||||
}
|
||||
|
||||
class BulletShapeManager;
|
||||
class ManualBulletShapeLoader;
|
||||
|
||||
namespace MWWorld
|
||||
{
|
||||
class World;
|
||||
}
|
||||
|
||||
namespace OEngine {
|
||||
namespace Physic
|
||||
{
|
||||
class CMotionState;
|
||||
struct PhysicEvent;
|
||||
|
||||
/**
|
||||
*A physic Actor use a modifed KinematicCharacterController taken in the bullet forum.
|
||||
*/
|
||||
class PhysicActor
|
||||
{
|
||||
public:
|
||||
PhysicActor(std::string name);
|
||||
|
||||
~PhysicActor();
|
||||
|
||||
/**
|
||||
*This function set the walkDirection. This is not relative to the actor orientation.
|
||||
*I think it's also needed to take time into account. A typical call should look like this:
|
||||
*setWalkDirection( mvt * orientation * dt)
|
||||
*/
|
||||
void setWalkDirection(btVector3& mvt);
|
||||
|
||||
void Rotate(btQuaternion& quat);
|
||||
|
||||
void setRotation(btQuaternion& quat);
|
||||
|
||||
btVector3 getPosition(void);
|
||||
|
||||
btQuaternion getRotation(void);
|
||||
|
||||
void setPosition(btVector3& pos);
|
||||
|
||||
btKinematicCharacterController* mCharacter;
|
||||
|
||||
btPairCachingGhostObject* internalGhostObject;
|
||||
btCollisionShape* internalCollisionShape;
|
||||
|
||||
btPairCachingGhostObject* externalGhostObject;
|
||||
btCollisionShape* externalCollisionShape;
|
||||
|
||||
std::string mName;
|
||||
};
|
||||
|
||||
/**
|
||||
*This class is just an extension of normal btRigidBody in order to add extra info.
|
||||
*When bullet give back a btRigidBody, you can just do a static_cast to RigidBody,
|
||||
*so one never should use btRigidBody directly!
|
||||
*/
|
||||
class RigidBody: public btRigidBody
|
||||
{
|
||||
public:
|
||||
RigidBody(btRigidBody::btRigidBodyConstructionInfo& CI,std::string name);
|
||||
std::string mName;
|
||||
};
|
||||
|
||||
/**
|
||||
*The PhysicEngine class contain everything which is needed for Physic.
|
||||
*It's needed that Ogre Resources are set up before the PhysicEngine is created.
|
||||
*Note:deleting it WILL NOT delete the RigidBody!
|
||||
*TODO:unload unused resources?
|
||||
*/
|
||||
class PhysicEngine
|
||||
{
|
||||
public:
|
||||
PhysicEngine();
|
||||
~PhysicEngine();
|
||||
|
||||
/**
|
||||
*create a RigidBody.It does not add it to the simulation, but it does add it to the rigidBody Map,
|
||||
*so you can get it with the getRigidBody function.
|
||||
*/
|
||||
RigidBody* createRigidBody(std::string mesh,std::string name);
|
||||
|
||||
/**
|
||||
*Add a RigidBody to the simulation
|
||||
*/
|
||||
void addRigidBody(RigidBody* body);
|
||||
|
||||
/**
|
||||
*Remove a RigidBody from the simulation. It does not delete it, and does not remove it from the RigidBodyMap.
|
||||
*/
|
||||
void removeRigidBody(std::string name);
|
||||
|
||||
/**
|
||||
*delete a RigidBody, and remove it from RigidBodyMap.
|
||||
*/
|
||||
void deleteRigidBody(std::string name);
|
||||
|
||||
/**
|
||||
*Return a pointer to a given rigid body.
|
||||
*TODO:check if exist
|
||||
*/
|
||||
RigidBody* getRigidBody(std::string name);
|
||||
|
||||
/**
|
||||
*Create and add a character to the scene, and add it to the ActorMap.
|
||||
*/
|
||||
void addCharacter(std::string name);
|
||||
|
||||
/**
|
||||
*Remove a character from the scene. TODO:delete it! for now, a small memory leak^^ done?
|
||||
*/
|
||||
void removeCharacter(std::string name);
|
||||
|
||||
/**
|
||||
*return a pointer to a character
|
||||
*TODO:check if the actor exist...
|
||||
*/
|
||||
PhysicActor* getCharacter(std::string name);
|
||||
|
||||
/**
|
||||
*This step the simulation of a given time.
|
||||
*/
|
||||
void stepSimulation(double deltaT);
|
||||
|
||||
/**
|
||||
*Empty events lists
|
||||
*/
|
||||
void emptyEventLists(void);
|
||||
|
||||
/**
|
||||
*Create a debug rendering. It is called by setDebgRenderingMode if it's not created yet.
|
||||
*Important Note: this will crash if the Render is not yet initialise!
|
||||
*/
|
||||
void createDebugRendering();
|
||||
|
||||
/**
|
||||
*Set the debug rendering mode. 0 to turn it off.
|
||||
*Important Note: this will crash if the Render is not yet initialise!
|
||||
*/
|
||||
void setDebugRenderingMode(int mode);
|
||||
|
||||
//event list of non player object
|
||||
std::list<PhysicEvent> NPEventList;
|
||||
|
||||
//event list affecting the player
|
||||
std::list<PhysicEvent> PEventList;
|
||||
|
||||
//Bullet Stuff
|
||||
btBroadphaseInterface* broadphase;
|
||||
btDefaultCollisionConfiguration* collisionConfiguration;
|
||||
btSequentialImpulseConstraintSolver* solver;
|
||||
btCollisionDispatcher* dispatcher;
|
||||
btDiscreteDynamicsWorld* dynamicsWorld;
|
||||
|
||||
//the NIF file loader.
|
||||
ManualBulletShapeLoader* ShapeLoader;
|
||||
|
||||
std::map<std::string,RigidBody*> RigidBodyMap;
|
||||
std::map<std::string,PhysicActor*> PhysicActorMap;
|
||||
|
||||
//debug rendering
|
||||
BtOgre::DebugDrawer* mDebugDrawer;
|
||||
bool isDebugCreated;
|
||||
};
|
||||
|
||||
}}
|
||||
|
||||
#endif
|
||||
Loading…
Reference in a new issue