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Very basic actor physics (no set scale/rotate functions)

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actorid
Jason Hooks 12 years ago
parent 3e3437f9c3
commit c5b25ef70b
4 changed files with 28 additions and 27 deletions
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1
apps/openmw/mwrender/npcanimation.cpp
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@ -122,6 +122,7 @@ NpcAnimation::NpcAnimation(const MWWorld::Ptr& ptr, OEngine::Render::OgreRendere
}
if(isFemale)
mInsert->scale(race->data.height.female, race->data.height.female, race->data.height.female);
else

1
components/nifbullet/bullet_nif_loader.cpp
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@ -74,6 +74,7 @@ void ManualBulletShapeLoader::loadResource(Ogre::Resource *resource)
cShape->collide = false;
mBoundingBox = NULL;
cShape->boxTranslation = Ogre::Vector3(0,0,0);
cShape->boxRotation = Ogre::Quaternion::IDENTITY;
mTriMesh = new btTriangleMesh();

46
libs/openengine/bullet/physic.cpp
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@ -27,13 +27,10 @@ namespace Physic
};
PhysicActor::PhysicActor(std::string name, std::string mesh, PhysicEngine* engine, Ogre::Vector3 position, Ogre::Quaternion rotation, float scale):
mName(name), mEngine(engine), mMesh(mesh), mBoxTranslation(Ogre::Vector3::ZERO), mBoxRotation(Ogre::Quaternion::ZERO), mBody(0), collisionMode(false)
mName(name), mEngine(engine), mMesh(mesh), mBoxScaledTranslation(0,0,0), mBoxRotationInverse(0,0,0,0), mBody(0), collisionMode(false), mBoxRotation(0,0,0,0)
{
Ogre::Vector3 test;
mBody = mEngine->createAndAdjustRigidBody(mesh, mName, scale, position, rotation, &test);
std::cout << "Test" << test << "\n";
mBody = mEngine->createAndAdjustRigidBody(mesh, mName, scale, position, rotation, &mBoxScaledTranslation, &mBoxRotation, &mBoxRotationInverse);
mEngine->addRigidBody(mBody, false); //Add rigid body to dynamics world, but do not add to object map
}
PhysicActor::~PhysicActor()
@ -79,12 +76,17 @@ namespace Physic
btVector3 PhysicActor::getPosition(void)
{
return mBody->getWorldTransform().getOrigin();//return internalGhostObject->getWorldTransform().getOrigin() -mTranslation;
btVector3 vec = mBody->getWorldTransform().getOrigin();
Ogre::Quaternion rotation = Ogre::Quaternion(mBody->getWorldTransform().getRotation().getW(), mBody->getWorldTransform().getRotation().getX(),
mBody->getWorldTransform().getRotation().getY(), mBody->getWorldTransform().getRotation().getZ());
Ogre::Vector3 transrot = rotation * mBoxScaledTranslation;
btVector3 visualPosition = vec - btVector3(transrot.x, transrot.y, transrot.z);
return visualPosition;
}
btQuaternion PhysicActor::getRotation(void)
{
return mBody->getWorldTransform().getRotation();//return btQuaternion::internalGhostObject->getWorldTransform().getRotation();
return mBody->getWorldTransform().getRotation() * mBoxRotationInverse;
}
void PhysicActor::setPosition(const btVector3& pos)
@ -296,6 +298,7 @@ namespace Physic
rotation = rotation * boxRotation;
Ogre::Vector3 transrot = rotation * scaledBoxTranslation;
Ogre::Vector3 newPosition = transrot + position;
tr.setOrigin(btVector3(newPosition.x, newPosition.y, newPosition.z));
tr.setRotation(btQuaternion(rotation.x,rotation.y,rotation.z,rotation.w));
body->setWorldTransform(tr);
@ -310,21 +313,14 @@ namespace Physic
BulletShapeManager::getSingletonPtr()->load(outputstring,"General");
BulletShapePtr shape = BulletShapeManager::getSingleton().getByName(outputstring,"General");
btBoxShape* box = dynamic_cast<btBoxShape*>(shape->Shape);
if(box != NULL)
adjustRigidBody(body, position, rotation, shape->boxTranslation * scale, shape->boxRotation);
else
adjustRigidBody(body, position, rotation);
adjustRigidBody(body, position, rotation, shape->boxTranslation * scale, shape->boxRotation);
}
RigidBody* PhysicEngine::createAndAdjustRigidBody(std::string mesh,std::string name,float scale, Ogre::Vector3 position, Ogre::Quaternion rotation,
Ogre::Vector3* scaledBoxTranslation, Ogre::Quaternion* boxRotation)
Ogre::Vector3* scaledBoxTranslation, btQuaternion* boxRotation, btQuaternion* boxRotationInverse)
{
if(scaledBoxTranslation != 0)
*scaledBoxTranslation = Ogre::Vector3(0, 5, 0);
std::string sid = (boost::format("%07.3f") % scale).str();
std::string outputstring = mesh + sid;
//std::cout << "The string" << outputstring << "\n";
//get the shape from the .nif
mShapeLoader->load(outputstring,"General");
@ -332,9 +328,6 @@ namespace Physic
BulletShapePtr shape = BulletShapeManager::getSingleton().getByName(outputstring,"General");
shape->Shape->setLocalScaling( btVector3(scale,scale,scale));
//
//create the motionState
CMotionState* newMotionState = new CMotionState(this,name);
@ -344,11 +337,16 @@ namespace Physic
RigidBody* body = new RigidBody(CI,name);
body->collide = shape->collide;
btBoxShape* box = dynamic_cast<btBoxShape*>(shape->Shape);
if(box != NULL)
adjustRigidBody(body, position, rotation, shape->boxTranslation * scale, shape->boxRotation);
else
adjustRigidBody(body, position, rotation);
if(scaledBoxTranslation != 0)
*scaledBoxTranslation = shape->boxTranslation * scale;
if(boxRotation != 0)
*boxRotation = btQuaternion(shape->boxRotation.x, shape->boxRotation.y, shape->boxRotation.z,shape->boxRotation.w);
if(boxRotationInverse != 0){
Ogre::Quaternion inverse = shape->boxRotation.Inverse();
*boxRotationInverse = btQuaternion(inverse.x,inverse.y,inverse.z,inverse.w);
}
adjustRigidBody(body, position, rotation, shape->boxTranslation * scale, shape->boxRotation);
return body;

7
libs/openengine/bullet/physic.hpp
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@ -90,8 +90,9 @@ namespace Physic
private:
OEngine::Physic::RigidBody* mBody;
Ogre::Vector3 mBoxTranslation;
Ogre::Quaternion mBoxRotation;
Ogre::Vector3 mBoxScaledTranslation;
btQuaternion mBoxRotationInverse;
btQuaternion mBoxRotation;
bool collisionMode;
std::string mMesh;
PhysicEngine* mEngine;
@ -143,7 +144,7 @@ namespace Physic
* After created, the body is set to the correct rotation, position, and scale
*/
RigidBody* createAndAdjustRigidBody(std::string mesh,std::string name,float scale, Ogre::Vector3 position, Ogre::Quaternion rotation,
Ogre::Vector3* scaledBoxTranslation = 0, Ogre::Quaternion* boxRotation = 0);
Ogre::Vector3* scaledBoxTranslation = 0, btQuaternion* boxRotation = 0, btQuaternion* boxRotationInverse = 0);
/**
* Adjusts a rigid body to the right position and rotation

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