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Added more data for bodies and added cylinder

This commit is contained in:
Robin Engman 2014-02-10 14:18:45 +01:00
parent 05aa3cc9e9
commit c18eb668aa
6 changed files with 70 additions and 8 deletions
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32
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;
@ -73,7 +73,8 @@ 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;
@ -100,6 +101,33 @@ ICustomBody* API_Impl::AddCollisionBox(Float3 halfSize, ::Oyster::Math::Float4 r
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->setUserPointer(body);
body->SetRigidBody(rigidBody);
// Add rigid body to world
this->dynamicsWorld->addRigidBody(rigidBody);
this->customBodies.push_back(body);
return body;
}
void API_Impl::UpdateWorld()
{
this->dynamicsWorld->stepSimulation(1.0f/60.0f, 1.0f, 1.0f/60.0f);

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();

21
Code/GamePhysics/Implementation/SimpleRigidBody.cpp
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@ -64,6 +64,27 @@ 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::SetRotation(Float4 quaternion)
{
btTransform trans;
this->motionState->getWorldTransform(trans);
trans.setRotation(btQuaternion(quaternion.x, quaternion.y, quaternion.z, quaternion.w));
this->motionState->setWorldTransform(trans);
}
void SimpleRigidBody::SetRotation(Float3 eulerAngles)
{
btTransform trans;
this->motionState->getWorldTransform(trans);
trans.setRotation(btQuaternion(eulerAngles.x, eulerAngles.y, eulerAngles.z));
this->motionState->setWorldTransform(trans);
}
void SimpleRigidBody::CallSubscription_AfterCollisionResponse(ICustomBody* bodyA, ICustomBody* bodyB, Oyster::Math::Float kineticEnergyLoss)
{
if(this->onMovement)

4
Code/GamePhysics/Implementation/SimpleRigidBody.h
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@ -21,6 +21,10 @@ namespace Oyster
void SetSubscription(EventAction_AfterCollisionResponse function);
void SetSubscription(EventAction_Move function);
void SetLinearVelocity(Math::Float3 velocity);
void SetRotation(Math::Float4 quaternion);
void SetRotation(Math::Float3 eulerAngles);
void CallSubscription_AfterCollisionResponse(ICustomBody* bodyA, ICustomBody* bodyB, Math::Float kineticEnergyLoss);
void CallSubscription_Move();

9
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;
@ -144,6 +144,9 @@ namespace Oyster
virtual void SetSubscription(EventAction_AfterCollisionResponse function) = 0;
virtual void SetSubscription(EventAction_Move function) = 0;
virtual void SetLinearVelocity(::Oyster::Math::Float3 velocity) = 0;
virtual void SetRotation(::Oyster::Math::Float4 quaternion) = 0;
virtual void SetRotation(::Oyster::Math::Float3 eulerAngles) = 0;
/********************************************************
* @return the void pointer set by SetCustomTag.

7
Code/GamePhysics/PhysicsStructs.h
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@ -30,8 +30,13 @@ 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);
::Oyster::Math::Float GetMass() const;
::Oyster::Math::Float GetStaticFriction() const;
::Oyster::Math::Float GetDynamicFriction() const;
::Oyster::Math::Float GetRestitution() const;
// Variables for state
::Oyster::Math::Float mass, restitutionCoeff, staticFrictionCoeff, dynamicFrictionCoeff;
::Oyster::Math::Float3 reach, centerPos;