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Rigid body physics for non spherical bounding objects.

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If your simulation becomes unstable, crank up the 'Form' control.

Removed Solid from class SumoPhysicsEnvironment (since it wasn't actually used.)
This commit is contained in:
Kester Maddock
2004-04-14 05:57:24 +00:00
parent e0ea7a230a
commit a96869198b
8 changed files with 142 additions and 148 deletions
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59
source/gameengine/Physics/Sumo/SumoPhysicsController.cpp
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@@ -41,7 +41,6 @@
SumoPhysicsController::SumoPhysicsController(
class SM_Scene* sumoScene,
DT_SceneHandle solidscene,
class SM_Object* sumoObj,
class PHY_IMotionState* motionstate,
@@ -49,7 +48,6 @@ SumoPhysicsController::SumoPhysicsController(
:
m_sumoObj(sumoObj) ,
m_sumoScene(sumoScene),
m_solidscene(solidscene),
m_bFirstTime(true),
m_bDyna(dyna),
m_MotionState(motionstate)
@@ -155,8 +153,6 @@ void SumoPhysicsController::GetWorldScaling(MT_Vector3& scale)
// kinematic methods
void SumoPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)
{
if (m_sumoObj)
{
MT_Matrix3x3 mat;
@@ -172,7 +168,6 @@ void SumoPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dlo
}
void SumoPhysicsController::RelativeRotate(const float drot[12],bool local)
{
if (m_sumoObj )
{
MT_Matrix3x3 drotmat(drot);
@@ -186,10 +181,7 @@ void SumoPhysicsController::RelativeRotate(const float drot[12],bool local)
}
void SumoPhysicsController::setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)
{
// float orn [4]={quatImag0,quatImag1,quatImag2,quatReal};
// MT_Quaternion quat;
m_sumoObj->setOrientation(MT_Quaternion(quatImag0,quatImag1,quatImag2,quatReal));
}
void SumoPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)
@@ -205,6 +197,7 @@ void SumoPhysicsController::setPosition(float posX,float posY,float posZ)
{
m_sumoObj->setPosition(MT_Point3(posX,posY,posZ));
}
void SumoPhysicsController::setScaling(float scaleX,float scaleY,float scaleZ)
{
m_sumoObj->setScaling(MT_Vector3(scaleX,scaleY,scaleZ));
@@ -220,10 +213,9 @@ void SumoPhysicsController::ApplyTorque(float torqueX,float torqueY,float torqu
MT_Matrix3x3 orn;
GetWorldOrientation(orn);
m_sumoObj->applyTorque(local ?
orn * torque :
torque);
orn * torque :
torque);
}
}
void SumoPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bool local)
@@ -236,11 +228,9 @@ void SumoPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,b
GetWorldOrientation(orn);
m_sumoObj->applyCenterForce(local ?
orn * force :
force);
orn * force :
force);
}
}
void SumoPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)
@@ -253,9 +243,8 @@ void SumoPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,fl
GetWorldOrientation(orn);
m_sumoObj->setAngularVelocity(local ?
orn * ang_vel :
ang_vel);
orn * ang_vel :
ang_vel);
}
}
@@ -299,12 +288,12 @@ void SumoPhysicsController::SuspendDynamics()
m_suspendDynamics=true;
if (m_sumoObj)
{
m_sumoObj->suspendDynamics();
m_sumoObj->setLinearVelocity(MT_Vector3(0,0,0));
m_sumoObj->setAngularVelocity(MT_Vector3(0,0,0));
m_sumoObj->calcXform();
}
{
m_sumoObj->suspendDynamics();
m_sumoObj->setLinearVelocity(MT_Vector3(0,0,0));
m_sumoObj->setAngularVelocity(MT_Vector3(0,0,0));
m_sumoObj->calcXform();
}
}
void SumoPhysicsController::RestoreDynamics()
@@ -315,14 +304,12 @@ void SumoPhysicsController::RestoreDynamics()
{
m_sumoObj->restoreDynamics();
}
}
/**
reading out information from physics
*/
/**
reading out information from physics
*/
void SumoPhysicsController::GetLinearVelocity(float& linvX,float& linvY,float& linvZ)
{
if (m_sumoObj)
@@ -340,9 +327,10 @@ void SumoPhysicsController::GetLinearVelocity(float& linvX,float& linvY,float&
linvZ = 0.f;
}
}
/**
GetVelocity parameters are in geometric coordinates (Origin is not center of mass!).
*/
/**
GetVelocity parameters are in geometric coordinates (Origin is not center of mass!).
*/
void SumoPhysicsController::GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ)
{
if (m_sumoObj)
@@ -363,21 +351,18 @@ void SumoPhysicsController::GetVelocity(const float posX,const float posY,const
}
}
void SumoPhysicsController::getReactionForce(float& forceX,float& forceY,float& forceZ)
{
const MT_Vector3& force = m_sumoObj->getReactionForce();
forceX = force[0];
forceY = force[1];
forceZ = force[2];
}
void SumoPhysicsController::setRigidBody(bool rigid)
{
m_sumoObj->setRigidBody(rigid);
}
void SumoPhysicsController::PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)
{
@@ -425,13 +410,11 @@ void SumoPhysicsController::WriteMotionStateToDynamics(bool nondynaonly)
void SumoPhysicsController::do_me()
{
const MT_Point3& pos = m_sumoObj->getPosition();
const MT_Quaternion& orn = m_sumoObj->getOrientation();
m_MotionState->setWorldPosition(pos[0],pos[1],pos[2]);
m_MotionState->setWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
}