Erwin Coumans
90e5a9aa14
Requires some changes to projectfiles/makefiles/scons, for the added and removed files!
410 lines
10 KiB
C++
410 lines
10 KiB
C++
#include "CcdPhysicsController.h"
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#include "Dynamics/RigidBody.h"
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#include "PHY_IMotionState.h"
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#include "BroadphaseCollision/BroadphaseProxy.h"
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#include "BroadphaseCollision/BroadphaseInterface.h"
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#include "CollisionShapes/ConvexShape.h"
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#include "CcdPhysicsEnvironment.h"
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class BP_Proxy;
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///todo: fill all the empty CcdPhysicsController methods, hook them up to the RigidBody class
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//'temporarily' global variables
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float gDeactivationTime = 2.f;
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bool gDisableDeactivation = false;
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float gLinearSleepingTreshold = 0.8f;
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float gAngularSleepingTreshold = 1.0f;
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#include "Dynamics/MassProps.h"
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SimdVector3 startVel(0,0,0);//-10000);
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CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
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:m_cci(ci)
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{
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m_collisionDelay = 0;
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m_newClientInfo = 0;
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m_MotionState = ci.m_MotionState;
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CreateRigidbody();
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#ifdef WIN32
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if (m_body->getInvMass())
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m_body->setLinearVelocity(startVel);
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#endif
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}
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SimdTransform CcdPhysicsController::GetTransformFromMotionState(PHY_IMotionState* motionState)
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{
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SimdTransform trans;
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float tmp[3];
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motionState->getWorldPosition(tmp[0],tmp[1],tmp[2]);
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trans.setOrigin(SimdVector3(tmp[0],tmp[1],tmp[2]));
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SimdQuaternion orn;
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motionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
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trans.setRotation(orn);
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return trans;
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}
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void CcdPhysicsController::CreateRigidbody()
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{
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SimdTransform trans = GetTransformFromMotionState(m_cci.m_MotionState);
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MassProps mp(m_cci.m_mass, m_cci.m_localInertiaTensor);
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m_body = new RigidBody(mp,0,0,m_cci.m_friction,m_cci.m_restitution);
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m_body->m_collisionShape = m_cci.m_collisionShape;
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//
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// init the rigidbody properly
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//
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m_body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor);
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m_body->setGravity( m_cci.m_gravity);
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m_body->setDamping(m_cci.m_linearDamping, m_cci.m_angularDamping);
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m_body->setCenterOfMassTransform( trans );
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}
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CcdPhysicsController::~CcdPhysicsController()
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{
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//will be reference counted, due to sharing
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m_cci.m_physicsEnv->removeCcdPhysicsController(this);
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delete m_MotionState;
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delete m_body;
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}
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/**
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SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
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*/
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bool CcdPhysicsController::SynchronizeMotionStates(float time)
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{
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const SimdVector3& worldPos = m_body->getCenterOfMassPosition();
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m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
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const SimdQuaternion& worldquat = m_body->getOrientation();
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m_MotionState->setWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]);
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m_MotionState->calculateWorldTransformations();
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float scale[3];
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m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]);
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SimdVector3 scaling(scale[0],scale[1],scale[2]);
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GetCollisionShape()->setLocalScaling(scaling);
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return true;
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}
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/**
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WriteMotionStateToDynamics synchronizes dynas, kinematic and deformable entities (and do 'late binding')
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*/
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void CcdPhysicsController::WriteMotionStateToDynamics(bool nondynaonly)
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{
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}
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void CcdPhysicsController::WriteDynamicsToMotionState()
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{
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}
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// controller replication
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void CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)
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{
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m_MotionState = motionstate;
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m_body = 0;
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CreateRigidbody();
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m_cci.m_physicsEnv->addCcdPhysicsController(this);
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/* SM_Object* dynaparent=0;
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SumoPhysicsController* sumoparentctrl = (SumoPhysicsController* )parentctrl;
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if (sumoparentctrl)
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{
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dynaparent = sumoparentctrl->GetSumoObject();
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}
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SM_Object* orgsumoobject = m_sumoObj;
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m_sumoObj = new SM_Object(
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orgsumoobject->getShapeHandle(),
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orgsumoobject->getMaterialProps(),
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orgsumoobject->getShapeProps(),
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dynaparent);
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m_sumoObj->setRigidBody(orgsumoobject->isRigidBody());
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m_sumoObj->setMargin(orgsumoobject->getMargin());
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m_sumoObj->setPosition(orgsumoobject->getPosition());
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m_sumoObj->setOrientation(orgsumoobject->getOrientation());
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//if it is a dyna, register for a callback
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m_sumoObj->registerCallback(*this);
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m_sumoScene->add(* (m_sumoObj));
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*/
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}
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// kinematic methods
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void CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)
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{
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SimdVector3 dloc(dlocX,dlocY,dlocZ);
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SimdTransform xform = m_body->getCenterOfMassTransform();
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if (local)
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{
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dloc = xform.getBasis()*dloc;
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}
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xform.setOrigin(xform.getOrigin() + dloc);
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this->m_body->setCenterOfMassTransform(xform);
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}
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void CcdPhysicsController::RelativeRotate(const float rotval[9],bool local)
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{
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if (m_body )
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{
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SimdMatrix3x3 drotmat( rotval[0],rotval[1],rotval[2],
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rotval[4],rotval[5],rotval[6],
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rotval[8],rotval[9],rotval[10]);
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SimdMatrix3x3 currentOrn;
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GetWorldOrientation(currentOrn);
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SimdTransform xform = m_body->getCenterOfMassTransform();
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xform.setBasis(xform.getBasis()*(local ?
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drotmat : (currentOrn.inverse() * drotmat * currentOrn)));
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m_body->setCenterOfMassTransform(xform);
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}
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}
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void CcdPhysicsController::GetWorldOrientation(SimdMatrix3x3& mat)
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{
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float orn[4];
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m_MotionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
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SimdQuaternion quat(orn[0],orn[1],orn[2],orn[3]);
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mat.setRotation(quat);
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}
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void CcdPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)
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{
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SimdQuaternion q = m_body->getCenterOfMassTransform().getRotation();
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quatImag0 = q[0];
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quatImag1 = q[1];
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quatImag2 = q[2];
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quatReal = q[3];
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}
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void CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)
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{
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m_body->activate();
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SimdTransform xform = m_body->getCenterOfMassTransform();
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xform.setRotation(SimdQuaternion(quatImag0,quatImag1,quatImag2,quatReal));
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m_body->setCenterOfMassTransform(xform);
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}
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void CcdPhysicsController::setPosition(float posX,float posY,float posZ)
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{
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m_body->activate();
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SimdTransform xform = m_body->getCenterOfMassTransform();
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xform.setOrigin(SimdVector3(posX,posY,posZ));
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m_body->setCenterOfMassTransform(xform);
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}
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void CcdPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
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{
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}
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void CcdPhysicsController::getPosition(PHY__Vector3& pos) const
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{
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const SimdTransform& xform = m_body->getCenterOfMassTransform();
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pos[0] = xform.getOrigin().x();
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pos[1] = xform.getOrigin().y();
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pos[2] = xform.getOrigin().z();
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}
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void CcdPhysicsController::setScaling(float scaleX,float scaleY,float scaleZ)
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{
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if (!SimdFuzzyZero(m_cci.m_scaling.x()-scaleX) ||
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!SimdFuzzyZero(m_cci.m_scaling.y()-scaleY) ||
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!SimdFuzzyZero(m_cci.m_scaling.z()-scaleZ))
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{
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m_cci.m_scaling = SimdVector3(scaleX,scaleY,scaleZ);
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if (m_body && m_body->GetCollisionShape())
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{
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m_body->GetCollisionShape()->setLocalScaling(m_cci.m_scaling);
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m_body->GetCollisionShape()->CalculateLocalInertia(m_cci.m_mass, m_cci.m_localInertiaTensor);
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m_body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor);
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}
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}
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}
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// physics methods
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void CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local)
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{
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SimdVector3 torque(torqueX,torqueY,torqueZ);
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SimdTransform xform = m_body->getCenterOfMassTransform();
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if (local)
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{
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torque = xform.getBasis()*torque;
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}
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m_body->applyTorque(torque);
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}
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void CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bool local)
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{
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SimdVector3 force(forceX,forceY,forceZ);
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SimdTransform xform = m_body->getCenterOfMassTransform();
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if (local)
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{
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force = xform.getBasis()*force;
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}
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m_body->applyCentralForce(force);
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}
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void CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)
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{
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SimdVector3 angvel(ang_velX,ang_velY,ang_velZ);
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SimdTransform xform = m_body->getCenterOfMassTransform();
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if (local)
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{
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angvel = xform.getBasis()*angvel;
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}
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m_body->setAngularVelocity(angvel);
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}
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void CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)
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{
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SimdVector3 linVel(lin_velX,lin_velY,lin_velZ);
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SimdTransform xform = m_body->getCenterOfMassTransform();
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if (local)
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{
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linVel = xform.getBasis()*linVel;
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}
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m_body->setLinearVelocity(linVel);
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}
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void CcdPhysicsController::applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)
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{
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SimdVector3 impulse(impulseX,impulseY,impulseZ);
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SimdVector3 pos(attachX,attachY,attachZ);
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m_body->activate();
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m_body->applyImpulse(impulse,pos);
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}
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void CcdPhysicsController::SetActive(bool active)
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{
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}
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// reading out information from physics
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void CcdPhysicsController::GetLinearVelocity(float& linvX,float& linvY,float& linvZ)
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{
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const SimdVector3& linvel = this->m_body->getLinearVelocity();
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linvX = linvel.x();
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linvY = linvel.y();
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linvZ = linvel.z();
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}
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void CcdPhysicsController::GetAngularVelocity(float& angVelX,float& angVelY,float& angVelZ)
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{
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const SimdVector3& angvel= m_body->getAngularVelocity();
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angVelX = angvel.x();
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angVelY = angvel.y();
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angVelZ = angvel.z();
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}
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void CcdPhysicsController::GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ)
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{
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SimdVector3 pos(posX,posY,posZ);
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SimdVector3 rel_pos = pos-m_body->getCenterOfMassPosition();
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SimdVector3 linvel = m_body->getVelocityInLocalPoint(rel_pos);
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linvX = linvel.x();
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linvY = linvel.y();
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linvZ = linvel.z();
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}
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void CcdPhysicsController::getReactionForce(float& forceX,float& forceY,float& forceZ)
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{
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}
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// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted
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void CcdPhysicsController::setRigidBody(bool rigid)
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{
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}
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// clientinfo for raycasts for example
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void* CcdPhysicsController::getNewClientInfo()
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{
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return m_newClientInfo;
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}
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void CcdPhysicsController::setNewClientInfo(void* clientinfo)
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{
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m_newClientInfo = clientinfo;
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}
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void CcdPhysicsController::UpdateDeactivation(float timeStep)
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{
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if ( (m_body->GetActivationState() == 2))
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return;
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if ((m_body->getLinearVelocity().length2() < gLinearSleepingTreshold*gLinearSleepingTreshold) &&
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(m_body->getAngularVelocity().length2() < gAngularSleepingTreshold*gAngularSleepingTreshold))
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{
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m_body->m_deactivationTime += timeStep;
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} else
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{
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m_body->m_deactivationTime=0.f;
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m_body->SetActivationState(0);
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}
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}
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bool CcdPhysicsController::wantsSleeping()
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{
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//disable deactivation
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if (gDisableDeactivation || (gDeactivationTime == 0.f))
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return false;
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if ( (m_body->GetActivationState() == ISLAND_SLEEPING) || (m_body->GetActivationState() == WANTS_DEACTIVATION))
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return true;
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if (m_body->m_deactivationTime> gDeactivationTime)
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{
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return true;
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}
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return false;
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}
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