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GL - merge with physics

This commit is contained in:
lindaandersson 2014-02-10 14:52:34 +01:00
parent 49d29d87a5 bd8722f107
commit 6d7893c6e9
6 changed files with 127 additions and 52 deletions
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46
Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
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@ -47,7 +47,7 @@ API_Impl::~API_Impl()
}
// Bullet physics
ICustomBody* API_Impl::AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass)
ICustomBody* API_Impl::AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction)
{
SimpleRigidBody* body = new SimpleRigidBody;
@ -64,6 +64,8 @@ ICustomBody* API_Impl::AddCollisionSphere(float radius, ::Oyster::Math::Float4 r
collisionShape->calculateLocalInertia(mass, fallInertia);
btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(mass, motionState, collisionShape, fallInertia);
btRigidBody* rigidBody = new btRigidBody(rigidBodyCI);
rigidBody->setFriction(staticFriction);
rigidBody->setRestitution(restitution);
rigidBody->setUserPointer(body);
body->SetRigidBody(rigidBody);
@ -73,7 +75,8 @@ ICustomBody* API_Impl::AddCollisionSphere(float radius, ::Oyster::Math::Float4 r
return body;
}
ICustomBody* API_Impl::AddCollisionBox(Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass)
ICustomBody* API_Impl::AddCollisionBox(Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction)
{
SimpleRigidBody* body = new SimpleRigidBody;
@ -90,6 +93,37 @@ ICustomBody* API_Impl::AddCollisionBox(Float3 halfSize, ::Oyster::Math::Float4 r
collisionShape->calculateLocalInertia(mass, fallInertia);
btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(mass, motionState, collisionShape, fallInertia);
btRigidBody* rigidBody = new btRigidBody(rigidBodyCI);
rigidBody->setFriction(staticFriction);
rigidBody->setRestitution(restitution);
rigidBody->setUserPointer(body);
body->SetRigidBody(rigidBody);
// Add rigid body to world
this->dynamicsWorld->addRigidBody(rigidBody);
this->customBodies.push_back(body);
return body;
}
ICustomBody* API_Impl::AddCollisionCylinder(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction)
{
SimpleRigidBody* body = new SimpleRigidBody;
// Add collision shape
btCollisionShape* collisionShape = new btCylinderShape(btVector3(halfSize.x, halfSize.y, halfSize.z));
body->SetCollisionShape(collisionShape);
// Add motion state
btDefaultMotionState* motionState = new btDefaultMotionState(btTransform(btQuaternion(rotation.x, rotation.y, rotation.z, rotation.w),btVector3(position.x, position.y, position.z)));
body->SetMotionState(motionState);
// Add rigid body
btVector3 fallInertia(0, 0, 0);
collisionShape->calculateLocalInertia(mass, fallInertia);
btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(mass, motionState, collisionShape, fallInertia);
btRigidBody* rigidBody = new btRigidBody(rigidBodyCI);
rigidBody->setFriction(staticFriction);
rigidBody->setRestitution(restitution);
rigidBody->setUserPointer(body);
body->SetRigidBody(rigidBody);
@ -108,19 +142,15 @@ void API_Impl::UpdateWorld()
for(unsigned int i = 0; i < this->customBodies.size(); i++ )
{
this->customBodies[i]->GetState(state);
btTransform trans;
dynamic_cast<SimpleRigidBody*>(this->customBodies[i])->GetMotionState()->getWorldTransform(trans);
state.centerPos = Float3(trans.getOrigin().x(), trans.getOrigin().y(), trans.getOrigin().z());
state.quaternion = Quaternion(Float3(trans.getRotation().x(), trans.getRotation().y(), trans.getRotation().z()), trans.getRotation().w());
this->customBodies[i]->SetPosition(Float3(trans.getOrigin().x(), trans.getOrigin().y(), trans.getOrigin().z()));
this->customBodies[i]->SetRotation(Quaternion(Float3(trans.getRotation().x(), trans.getRotation().y(), trans.getRotation().z()), trans.getRotation().w()));
if(dynamic_cast<SimpleRigidBody*>(this->customBodies[i])->GetRigidBody()->getActivationState() == ACTIVE_TAG)
{
dynamic_cast<SimpleRigidBody*>(this->customBodies[i])->CallSubscription_Move();
}
this->customBodies[i]->SetState(state);
}
int numManifolds = this->dynamicsWorld->getDispatcher()->getNumManifolds();

5
Code/GamePhysics/Implementation/PhysicsAPI_Impl.h
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@ -22,8 +22,9 @@ namespace Oyster
void ReleaseFromLimbo( const ICustomBody* objRef );
// Bullet physics
ICustomBody* AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass);
ICustomBody* AddCollisionBox(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass);
ICustomBody* AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction);
ICustomBody* AddCollisionBox(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction);
ICustomBody* AddCollisionCylinder(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction);
void UpdateWorld();

77
Code/GamePhysics/Implementation/SimpleRigidBody.cpp
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@ -64,6 +64,67 @@ void SimpleRigidBody::SetSubscription(EventAction_Move function)
this->onMovement = function;
}
void SimpleRigidBody::SetLinearVelocity(Float3 velocity)
{
this->rigidBody->setLinearVelocity(btVector3(velocity.x, velocity.y, velocity.z));
}
void SimpleRigidBody::SetPosition(::Oyster::Math::Float3 position)
{
btTransform trans;
this->motionState->getWorldTransform(trans);
trans.setOrigin(btVector3(position.x, position.y, position.z));
this->motionState->setWorldTransform(trans);
this->state.centerPos = position;
}
void SimpleRigidBody::SetRotation(Float4 quaternion)
{
btTransform trans;
this->motionState->getWorldTransform(trans);
trans.setRotation(btQuaternion(quaternion.x, quaternion.y, quaternion.z, quaternion.w));
this->motionState->setWorldTransform(trans);
this->state.quaternion = Quaternion(quaternion.xyz, quaternion.w);
}
void SimpleRigidBody::SetRotation(::Oyster::Math::Quaternion quaternion)
{
btTransform trans;
this->motionState->getWorldTransform(trans);
trans.setRotation(btQuaternion(quaternion.imaginary.x, quaternion.imaginary.y, quaternion.imaginary.z, quaternion.real));
this->motionState->setWorldTransform(trans);
this->state.quaternion = quaternion;
}
void SimpleRigidBody::SetRotation(Float3 eulerAngles)
{
btTransform trans;
this->motionState->getWorldTransform(trans);
trans.setRotation(btQuaternion(eulerAngles.x, eulerAngles.y, eulerAngles.z));
this->motionState->setWorldTransform(trans);
this->state.quaternion = Quaternion(Float3(trans.getRotation().x(), trans.getRotation().y(), trans.getRotation().z()), trans.getRotation().w());
}
Float4x4 SimpleRigidBody::GetRotation() const
{
return this->state.GetRotation();
}
Float4x4 SimpleRigidBody::GetOrientation() const
{
return this->state.GetOrientation();
}
Float4x4 SimpleRigidBody::GetView() const
{
return this->state.GetView();
}
Float4x4 SimpleRigidBody::GetView( const ::Oyster::Math::Float3 &offset ) const
{
return this->state.GetView(offset);
}
void SimpleRigidBody::CallSubscription_AfterCollisionResponse(ICustomBody* bodyA, ICustomBody* bodyB, Oyster::Math::Float kineticEnergyLoss)
{
if(this->onMovement)
@ -91,22 +152,6 @@ btRigidBody* SimpleRigidBody::GetRigidBody() const
return this->rigidBody;
}
SimpleRigidBody::State SimpleRigidBody::GetState() const
{
return this->state;
}
SimpleRigidBody::State & SimpleRigidBody::GetState( SimpleRigidBody::State &targetMem ) const
{
targetMem = this->state;
return targetMem;
}
void SimpleRigidBody::SetState( const SimpleRigidBody::State &state )
{
this->state = state;
}
void * SimpleRigidBody::GetCustomTag() const
{
return this->customTag;

15
Code/GamePhysics/Implementation/SimpleRigidBody.h
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@ -21,13 +21,20 @@ namespace Oyster
void SetSubscription(EventAction_AfterCollisionResponse function);
void SetSubscription(EventAction_Move function);
void SetLinearVelocity(Math::Float3 velocity);
void SetPosition(::Oyster::Math::Float3 position);
void SetRotation(Math::Float4 quaternion);
void SetRotation(::Oyster::Math::Quaternion quaternion);
void SetRotation(Math::Float3 eulerAngles);
Math::Float4x4 GetRotation() const;
Math::Float4x4 GetOrientation() const;
Math::Float4x4 GetView() const;
Math::Float4x4 GetView( const ::Oyster::Math::Float3 &offset ) const;
void CallSubscription_AfterCollisionResponse(ICustomBody* bodyA, ICustomBody* bodyB, Math::Float kineticEnergyLoss);
void CallSubscription_Move();
State GetState() const;
State & GetState( State &targetMem ) const;
void SetState( const State &state );
btCollisionShape* GetCollisionShape() const;
btDefaultMotionState* GetMotionState() const;
btRigidBody* GetRigidBody() const;

33
Code/GamePhysics/PhysicsAPI.h
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@ -80,9 +80,9 @@ namespace Oyster
// Bullet physics
virtual ICustomBody* AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass) = 0;
virtual ICustomBody* AddCollisionBox(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass) = 0;
virtual ICustomBody* AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction) = 0;
virtual ICustomBody* AddCollisionBox(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction) = 0;
virtual ICustomBody* AddCollisionCylinder(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction) = 0;
virtual void UpdateWorld() = 0;
@ -123,27 +123,20 @@ namespace Oyster
virtual ~ICustomBody() {};
/********************************************************
* Gets the current state of the rigid body
* @return the current state of the rigid body
********************************************************/
virtual State GetState() const = 0;
/********************************************************
* Gets the current state of the rigid body
* @param targetMem: The state is copied into targetMem
* @return the current state of the rigid body
********************************************************/
virtual State & GetState( State &targetMem ) const = 0;
/********************************************************
* Sets the current state of the rigid body
********************************************************/
virtual void SetState( const State &state ) = 0;
virtual void SetSubscription(EventAction_AfterCollisionResponse function) = 0;
virtual void SetSubscription(EventAction_Move function) = 0;
virtual void SetLinearVelocity(::Oyster::Math::Float3 velocity) = 0;
virtual void SetPosition(::Oyster::Math::Float3 position) = 0;
virtual void SetRotation(::Oyster::Math::Float4 quaternion) = 0;
virtual void SetRotation(::Oyster::Math::Quaternion quaternion) = 0;
virtual void SetRotation(::Oyster::Math::Float3 eulerAngles) = 0;
::Oyster::Math::Float4x4 GetRotation() const;
::Oyster::Math::Float4x4 GetOrientation() const;
::Oyster::Math::Float4x4 GetView() const;
::Oyster::Math::Float4x4 GetView( const ::Oyster::Math::Float3 &offset ) const;
/********************************************************
* @return the void pointer set by SetCustomTag.

3
Code/GamePhysics/PhysicsStructs.h
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@ -30,8 +30,7 @@ namespace Oyster
::Oyster::Math::Float4x4 GetOrientation() const;
::Oyster::Math::Float4x4 GetView() const;
::Oyster::Math::Float4x4 GetView( const ::Oyster::Math::Float3 &offset ) const;
void CustomBodyState::ApplyFriction( const ::Oyster::Math::Float3 &j);
// Variables for state
::Oyster::Math::Float mass, restitutionCoeff, staticFrictionCoeff, dynamicFrictionCoeff;
::Oyster::Math::Float3 reach, centerPos;