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Set up and stop angular movement support added

This commit is contained in:
Robin Engman 2014-02-11 09:15:21 +01:00
parent 26e151f9b4
commit 985dcf9691
5 changed files with 74 additions and 23 deletions
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36
Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
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@ -24,6 +24,8 @@ API_Impl::API_Impl()
this->dispatcher = NULL;
this->solver = NULL;
this->dynamicsWorld = NULL;
this->timeStep = 1.0f/120.0f;
}
API_Impl::~API_Impl()
@ -39,7 +41,7 @@ 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;
@ -164,27 +166,33 @@ 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);
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 +203,6 @@ 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 +253,7 @@ 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. */ }

4
Code/GamePhysics/Implementation/PhysicsAPI_Impl.h
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@ -26,6 +26,8 @@ namespace Oyster
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 +39,8 @@ namespace Oyster
btSequentialImpulseConstraintSolver* solver;
btDiscreteDynamicsWorld* dynamicsWorld;
std::vector<ICustomBody*> customBodies;
float timeStep;
};
namespace Default

43
Code/GamePhysics/Implementation/SimpleRigidBody.cpp
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@ -134,6 +134,49 @@ 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::SetUpAndRight(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 right)
{
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] = upVector.cross(rightVector).normalized();
btQuaternion quaternion;
rotation.getRotation(quaternion);
this->state.quaternion = Quaternion(Float3(quaternion.x(), quaternion.y(), quaternion.z()), quaternion.w());
btTransform trans;
this->motionState->getWorldTransform(trans);
trans.setRotation(quaternion);
this->motionState->setWorldTransform(trans);
}
void SimpleRigidBody::SetUpAndForward(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 forward)
{
btMatrix3x3 rotation;
btVector3 upVector(up.x, up.y, up.z);
btVector3 forwardVector(forward.x, forward.y, forward.z);
rotation[1] = upVector.normalized();
rotation[0] = forwardVector.normalized();
rotation[2] = upVector.cross(forwardVector).normalized();
btQuaternion quaternion;
rotation.getRotation(quaternion);
this->state.quaternion = Quaternion(Float3(quaternion.x(), quaternion.y(), quaternion.z()), quaternion.w());
btTransform trans;
this->motionState->getWorldTransform(trans);
trans.setRotation(quaternion);
this->motionState->setWorldTransform(trans);
}
Float4x4 SimpleRigidBody::GetRotation() const
{
return this->state.GetRotation();

8
Code/GamePhysics/Implementation/SimpleRigidBody.h
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@ -26,10 +26,14 @@ 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 SetUpAndRight(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 right);
void SetUpAndForward(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 forward);
Math::Float4x4 GetRotation() const;
Math::Float4x4 GetOrientation() const;

6
Code/GamePhysics/PhysicsAPI.h
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@ -84,6 +84,8 @@ namespace Oyster
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;
@ -135,6 +137,10 @@ 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;
virtual void SetUpAndRight(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 right) = 0;
virtual void SetUpAndForward(::Oyster::Math::Float3 up, ::Oyster::Math::Float3 forward) = 0;
::Oyster::Math::Float4x4 GetRotation() const;
::Oyster::Math::Float4x4 GetOrientation() const;