Merge remote-tracking branch 'origin/GamePhysics' into Camera

This commit is contained in:
Dander7BD 2014-02-11 14:15:00 +01:00
commit 813a97cfbf
8 changed files with 192 additions and 27 deletions

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@ -24,6 +24,11 @@ API_Impl::API_Impl()
this->dispatcher = NULL;
this->solver = NULL;
this->dynamicsWorld = NULL;
this->timeStep = 1.0f/120.0f;
this->gravityPoint = Float3(0.0f, 0.0f, 0.0f);
this->gravity = 10.0f;
}
API_Impl::~API_Impl()
@ -39,13 +44,23 @@ API_Impl::~API_Impl()
delete this->broadphase;
this->broadphase = NULL;
for(int i = 0; i < this->customBodies.size(); i++)
for(unsigned int i = 0; i < this->customBodies.size(); i++)
{
delete this->customBodies[i];
this->customBodies[i] = NULL;
}
}
void API_Impl::SetGravityPoint(::Oyster::Math::Float3 gravityPoint)
{
this->gravityPoint = gravityPoint;
}
void API_Impl::SetGravity(float gravity)
{
this->gravity = gravity;
}
// Bullet physics
ICustomBody* API_Impl::AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction)
{
@ -164,27 +179,38 @@ ICustomBody* API_Impl::AddCollisionCylinder(::Oyster::Math::Float3 halfSize, ::O
return body;
}
void API_Impl::SetTimeStep(float timeStep)
{
this->timeStep = timeStep;
}
void API_Impl::UpdateWorld()
{
this->dynamicsWorld->stepSimulation(1.0f/60.0f, 1.0f, 1.0f/60.0f);
for(unsigned int i = 0; i < this->customBodies.size(); i++ )
{
this->customBodies[i]->SetGravity(-(this->customBodies[i]->GetState().centerPos - this->gravityPoint).GetNormalized()*this->gravity);
}
this->dynamicsWorld->stepSimulation(this->timeStep, 1, this->timeStep);
ICustomBody::State state;
for(unsigned int i = 0; i < this->customBodies.size(); i++ )
{
SimpleRigidBody* simpleBody = dynamic_cast<SimpleRigidBody*>(this->customBodies[i]);
btTransform trans;
dynamic_cast<SimpleRigidBody*>(this->customBodies[i])->GetMotionState()->getWorldTransform(trans);
simpleBody->GetMotionState()->getWorldTransform(trans);
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)
if(simpleBody->GetRigidBody()->getActivationState() == ACTIVE_TAG)
{
dynamic_cast<SimpleRigidBody*>(this->customBodies[i])->CallSubscription_Move();
simpleBody->CallSubscription_Move();
}
}
int numManifolds = this->dynamicsWorld->getDispatcher()->getNumManifolds();
for (int i=0;i<numManifolds;i++)
for (int i = 0; i < numManifolds; i++)
{
btPersistentManifold* contactManifold = this->dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
const btCollisionObject* obA = contactManifold->getBody0();
@ -195,18 +221,6 @@ void API_Impl::UpdateWorld()
dynamic_cast<SimpleRigidBody*>(bodyA)->CallSubscription_AfterCollisionResponse(bodyA, bodyB, 0.0f);
dynamic_cast<SimpleRigidBody*>(bodyB)->CallSubscription_AfterCollisionResponse(bodyB, bodyA, 0.0f);
int numContacts = contactManifold->getNumContacts();
for (int j=0;j<numContacts;j++)
{
btManifoldPoint& pt = contactManifold->getContactPoint(j);
if (pt.getDistance()<0.f)
{
const btVector3& ptA = pt.getPositionWorldOnA();
const btVector3& ptB = pt.getPositionWorldOnB();
const btVector3& normalOnB = pt.m_normalWorldOnB;
}
}
}
}
@ -257,9 +271,7 @@ namespace Oyster
}
void EventAction_AfterCollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss )
{ /* Do nothing except returning business as usual. */
}
{ /* Do nothing except returning business as usual. */ }
void EventAction_Move( const ::Oyster::Physics::ICustomBody *object )
{ /* Do nothing. */ }

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@ -21,11 +21,16 @@ namespace Oyster
void MoveToLimbo( const ICustomBody* objRef );
void ReleaseFromLimbo( const ICustomBody* objRef );
void SetGravityPoint(::Oyster::Math::Float3 gravityPoint);
void SetGravity(float gravity);
// Bullet physics
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 SetTimeStep(float timeStep);
void UpdateWorld();
void ApplyEffect( const Oyster::Collision3D::ICollideable& collideable, void* args, void(hitAction)(ICustomBody*, void*) );
@ -37,6 +42,11 @@ namespace Oyster
btSequentialImpulseConstraintSolver* solver;
btDiscreteDynamicsWorld* dynamicsWorld;
std::vector<ICustomBody*> customBodies;
float timeStep;
::Oyster::Math::Float3 gravityPoint;
float gravity;
};
namespace Default

View File

@ -134,10 +134,80 @@ void SimpleRigidBody::SetRotation(Float3 eulerAngles)
this->state.quaternion = Quaternion(Float3(trans.getRotation().x(), trans.getRotation().y(), trans.getRotation().z()), trans.getRotation().w());
}
void SimpleRigidBody::SetAngularFactor(Float factor)
{
this->rigidBody->setAngularFactor(factor);
}
void SimpleRigidBody::SetGravity(Float3 gravity)
{
this->rigidBody->setGravity(btVector3(gravity.x, gravity.y, gravity.z));
this->gravity = gravity;
}
void SimpleRigidBody::SetUpAndRight(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 right)
{
btTransform trans;
btMatrix3x3 rotation;
btVector3 upVector(up.x, up.y, up.z);
btVector3 rightVector(right.x, right.y, right.z);
rotation[1] = upVector.normalized();
rotation[0] = rightVector.normalized();
rotation[2] = rightVector.cross(upVector).normalized();
trans = this->rigidBody->getWorldTransform();
trans.setBasis(rotation);
this->rigidBody->setWorldTransform(trans);
btQuaternion quaternion;
quaternion = trans.getRotation();
this->state.quaternion = Quaternion(Float3(quaternion.x(), quaternion.y(), quaternion.z()), quaternion.w());
}
void SimpleRigidBody::SetUpAndForward(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 forward)
{
btTransform trans;
btMatrix3x3 rotation;
btVector3 upVector(up.x, up.y, up.z);
btVector3 forwardVector(forward.x, forward.y, forward.z);
rotation[1] = upVector.normalized();
rotation[2] = forwardVector.normalized();
rotation[0] = forwardVector.cross(upVector).normalized();
trans = this->rigidBody->getWorldTransform();
trans.setBasis(rotation);
this->rigidBody->setWorldTransform(trans);
btQuaternion quaternion;
quaternion = trans.getRotation();
this->state.quaternion = Quaternion(Float3(quaternion.x(), quaternion.y(), quaternion.z()), quaternion.w());
}
Float4x4 SimpleRigidBody::GetRotation() const
{
return this->state.GetRotation();
}
Float4 SimpleRigidBody::GetRotationAsAngularAxis()
{
Float4 axis = Float4::null;
Float s = sqrtf(1 - this->state.quaternion.real*this->state.quaternion.real);
axis.w = 2*acos(this->state.quaternion.real*this->state.quaternion.real);
if(1 - this->state.quaternion.real > 0.001f)
{
axis.x = this->state.quaternion.imaginary.x/s;
axis.y = this->state.quaternion.imaginary.y/s;
axis.z = this->state.quaternion.imaginary.z/s;
}
else
{
axis.x = this->state.quaternion.imaginary.x;
axis.y = this->state.quaternion.imaginary.y;
axis.z = this->state.quaternion.imaginary.z;
}
return axis;
}
Float4x4 SimpleRigidBody::GetOrientation() const
{

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@ -26,12 +26,19 @@ namespace Oyster
void SetSubscription(EventAction_Move function);
void SetLinearVelocity(Math::Float3 velocity);
void SetPosition(::Oyster::Math::Float3 position);
void SetPosition(Math::Float3 position);
void SetRotation(Math::Float4 quaternion);
void SetRotation(::Oyster::Math::Quaternion quaternion);
void SetRotation(Math::Quaternion quaternion);
void SetRotation(Math::Float3 eulerAngles);
void SetAngularFactor(Math::Float factor);
void SetGravity(Math::Float3 gravity);
void SetUpAndRight(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 right);
void SetUpAndForward(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 forward);
Math::Float4x4 GetRotation() const;
Math::Float4 GetRotationAsAngularAxis();
Math::Float4x4 GetOrientation() const;
Math::Float4x4 GetView() const;
Math::Float4x4 GetView( const ::Oyster::Math::Float3 &offset ) const;
@ -47,6 +54,7 @@ namespace Oyster
void* GetCustomTag() const;
private:
btCollisionShape* collisionShape;
btDefaultMotionState* motionState;
btRigidBody* rigidBody;
@ -57,6 +65,8 @@ namespace Oyster
EventAction_Move onMovement;
void *customTag;
::Oyster::Math::Float3 gravity;
};
}
}

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@ -78,12 +78,16 @@ namespace Oyster
********************************************************/
virtual void ReleaseFromLimbo( const ICustomBody* objRef ) = 0;
virtual void SetGravityPoint(::Oyster::Math::Float3 gravityPoint) = 0;
virtual void SetGravity(float gravity) = 0;
// Bullet physics
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 SetTimeStep(float timeStep) = 0;
virtual void UpdateWorld() = 0;
@ -135,11 +139,18 @@ namespace Oyster
virtual void SetRotation(::Oyster::Math::Float4 quaternion) = 0;
virtual void SetRotation(::Oyster::Math::Quaternion quaternion) = 0;
virtual void SetRotation(::Oyster::Math::Float3 eulerAngles) = 0;
virtual void SetAngularFactor(::Oyster::Math::Float factor) = 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;
virtual void SetGravity(::Oyster::Math::Float3 gravity) = 0;
virtual void SetUpAndRight(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 right) = 0;
virtual void SetUpAndForward(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 forward) = 0;
virtual ::Oyster::Math::Float4x4 GetRotation() const = 0;
virtual ::Oyster::Math::Float4 GetRotationAsAngularAxis() = 0;
virtual ::Oyster::Math::Float4x4 GetOrientation() const = 0;
virtual ::Oyster::Math::Float4x4 GetView() const = 0;
virtual ::Oyster::Math::Float4x4 GetView(const ::Oyster::Math::Float3 &offset) const = 0;
/********************************************************
* @return the void pointer set by SetCustomTag.

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@ -96,6 +96,52 @@ namespace Oyster { namespace Math3D
// return ::LinearAlgebra3D::ExtractAngularAxis( orientationMatrix );
//}
Float4 QuaternionToAngularAxis(Float4 quaternion)
{
Float4 axis = Float4::null;
Float s = sqrtf(1 - quaternion.w*quaternion.w);
axis.w = 2*acos(quaternion.w*quaternion.w);
if(1 - quaternion.w > 0.001f)
{
axis.x = quaternion.x/s;
axis.y = quaternion.y/s;
axis.z = quaternion.z/s;
}
else
{
axis.x = quaternion.x;
axis.y = quaternion.y;
axis.z = quaternion.z;
}
return axis;
}
Float4 QuaternionToAngularAxis(Quaternion quaternion)
{
Float4 axis = Float4::null;
Float s = sqrtf(1 - quaternion.real*quaternion.real);
axis.w = 2*acos(quaternion.real*quaternion.real);
if(1 - quaternion.real > 0.001f)
{
axis.x = quaternion.imaginary.x/s;
axis.y = quaternion.imaginary.y/s;
axis.z = quaternion.imaginary.z/s;
}
else
{
axis.x = quaternion.imaginary.x;
axis.y = quaternion.imaginary.y;
axis.z = quaternion.imaginary.z;
}
return axis;
}
Float4x4 & TranslationMatrix( const Float3 &position, Float4x4 &targetMem )
{
return ::LinearAlgebra3D::TranslationMatrix( position, targetMem );

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@ -149,6 +149,12 @@ namespace Oyster { namespace Math3D //! Oyster's native math library specialized
////! Extracts the angularAxis from orientationMatrix
//Float4 ExtractAngularAxis( const Float4x4 &orientationMatrix );
//! Converts a quaternion as Float4 to angular axis as Float4
Float4 QuaternionToAngularAxis(Float4 quaternion);
//! Converts a quaternion to angular axis as Float4
Float4 QuaternionToAngularAxis(Quaternion quaternion);
//! Sets and returns targetMem to a translationMatrix with position as translation.
Float4x4 & TranslationMatrix( const Float3 &position, Float4x4 &targetMem = Float4x4() );