Kester Maddock
a96869198b
If your simulation becomes unstable, crank up the 'Form' control. Removed Solid from class SumoPhysicsEnvironment (since it wasn't actually used.)
112 lines
2.9 KiB
C++
112 lines
2.9 KiB
C++
/**
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* $Id$
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*
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* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version. The Blender
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* Foundation also sells licenses for use in proprietary software under
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* the Blender License. See http://www.blender.org/BL/ for information
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* about this.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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*
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* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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*
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* Contributor(s): none yet.
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*
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* ***** END GPL/BL DUAL LICENSE BLOCK *****
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*/
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#include "SumoPhysicsEnvironment.h"
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#include "PHY_IMotionState.h"
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#include "SumoPhysicsController.h"
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#include "SM_Scene.h"
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#ifdef HAVE_CONFIG_H
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#include <config.h>
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#endif
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//#include <SOLID/SOLID.h>
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const MT_Scalar UpperBoundForFuzzicsIntegrator = 0.01;
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// At least 100Hz (isn't this CPU hungry ?)
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SumoPhysicsEnvironment::SumoPhysicsEnvironment()
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{
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m_sumoScene = new SM_Scene();
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}
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SumoPhysicsEnvironment::~SumoPhysicsEnvironment()
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{
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delete m_sumoScene;
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}
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void SumoPhysicsEnvironment::proceed(double timeStep)
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{
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m_sumoScene->proceed(timeStep,UpperBoundForFuzzicsIntegrator);
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}
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void SumoPhysicsEnvironment::setGravity(float x,float y,float z)
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{
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m_sumoScene->setForceField(MT_Vector3(x,y,z));
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}
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int SumoPhysicsEnvironment::createConstraint(
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class PHY_IPhysicsController* ctrl,
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class PHY_IPhysicsController* ctrl2,
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PHY_ConstraintType type,
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float pivotX,float pivotY,float pivotZ,
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float axisX,float axisY,float axisZ)
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{
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int constraintid = 0;
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return constraintid;
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}
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void SumoPhysicsEnvironment::removeConstraint(int constraintid)
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{
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if (constraintid)
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{
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}
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}
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PHY_IPhysicsController* SumoPhysicsEnvironment::rayTest(void* ignoreClient,
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float fromX,float fromY,float fromZ,
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float toX,float toY,float toZ,
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float& hitX,float& hitY,float& hitZ,
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float& normalX,float& normalY,float& normalZ)
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{
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//collision detection / raytesting
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MT_Point3 hit, normal;
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/* FIXME: Return type is not a PHY_IPhysicsController */
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PHY_IPhysicsController *ret = (PHY_IPhysicsController *) m_sumoScene->rayTest(ignoreClient,MT_Point3(fromX, fromY, fromZ),MT_Point3(toX, toY, toZ), hit, normal);
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hitX = hit[0];
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hitY = hit[1];
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hitZ = hit[2];
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normalX = normal[0];
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normalY = normal[1];
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normalZ = normal[2];
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assert(false);
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return ret;
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}
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