346 lines
11 KiB
C++
346 lines
11 KiB
C++
#include "PhysicsAPI_Impl.h"
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#include "OysterPhysics3D.h"
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#include "SimpleRigidBody.h"
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#include "SphericalRigidBody.h"
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using namespace ::Oyster;
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using namespace ::Oyster::Physics;
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using namespace ::Oyster::Math;
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using namespace ::Oyster::Collision3D;
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using namespace ::Utility::DynamicMemory;
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using namespace ::Utility::Value;
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API_Impl API_instance;
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API & API::Instance()
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{
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return API_instance;
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}
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API_Impl::API_Impl()
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{
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this->broadphase = NULL;
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this->collisionConfiguration = NULL;
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this->dispatcher = NULL;
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this->solver = NULL;
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this->dynamicsWorld = NULL;
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this->timeStep = 1.0f/120.0f;
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this->gravityPoint = Float3(0.0f, 0.0f, 0.0f);
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this->gravity = 10.0f;
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}
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API_Impl::~API_Impl()
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{
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delete this->dynamicsWorld;
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this->dynamicsWorld = NULL;
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delete this->solver;
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this->solver = NULL;
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delete this->dispatcher;
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this->dispatcher = NULL;
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delete this->collisionConfiguration;
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this->collisionConfiguration = NULL;
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delete this->broadphase;
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this->broadphase = NULL;
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for(unsigned int i = 0; i < this->customBodies.size(); i++)
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{
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delete this->customBodies[i];
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this->customBodies[i] = NULL;
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}
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}
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void API_Impl::SetGravityPoint(::Oyster::Math::Float3 gravityPoint)
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{
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this->gravityPoint = gravityPoint;
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}
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void API_Impl::SetGravity(float gravity)
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{
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this->gravity = gravity;
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}
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// Bullet physics
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ICustomBody* API_Impl::AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction)
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{
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SimpleRigidBody* body = new SimpleRigidBody;
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SimpleRigidBody::State state;
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// Add collision shape
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btCollisionShape* collisionShape = new btSphereShape(radius);
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body->SetCollisionShape(collisionShape);
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// Add motion state
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btDefaultMotionState* motionState = new btDefaultMotionState(btTransform(btQuaternion(rotation.x, rotation.y, rotation.z, rotation.w),btVector3(position.x, position.y, position.z)));
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body->SetMotionState(motionState);
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// Add rigid body
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btVector3 fallInertia(0, 0, 0);
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collisionShape->calculateLocalInertia(mass, fallInertia);
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btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(mass, motionState, collisionShape, fallInertia);
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btRigidBody* rigidBody = new btRigidBody(rigidBodyCI);
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rigidBody->setFriction(staticFriction);
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rigidBody->setRestitution(restitution);
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rigidBody->setUserPointer(body);
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body->SetRigidBody(rigidBody);
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// Add rigid body to world
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this->dynamicsWorld->addRigidBody(rigidBody);
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this->customBodies.push_back(body);
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state.centerPos = position;
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state.reach = Float3(radius, radius, radius);
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state.dynamicFrictionCoeff = 0.5f;
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state.staticFrictionCoeff = 0.5f;
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state.quaternion = Quaternion(Float3(rotation.xyz), rotation.w);
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state.mass = mass;
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body->SetState(state);
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return body;
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}
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ICustomBody* API_Impl::AddCollisionBox(Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction)
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{
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SimpleRigidBody* body = new SimpleRigidBody;
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SimpleRigidBody::State state;
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// Add collision shape
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btCollisionShape* collisionShape = new btBoxShape(btVector3(halfSize.x, halfSize.y, halfSize.z));
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body->SetCollisionShape(collisionShape);
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// Add motion state
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btDefaultMotionState* motionState = new btDefaultMotionState(btTransform(btQuaternion(rotation.x, rotation.y, rotation.z, rotation.w),btVector3(position.x, position.y, position.z)));
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body->SetMotionState(motionState);
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// Add rigid body
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btVector3 fallInertia(0, 0, 0);
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collisionShape->calculateLocalInertia(mass, fallInertia);
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btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(mass, motionState, collisionShape, fallInertia);
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btRigidBody* rigidBody = new btRigidBody(rigidBodyCI);
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rigidBody->setFriction(staticFriction);
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rigidBody->setRestitution(restitution);
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rigidBody->setUserPointer(body);
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body->SetRigidBody(rigidBody);
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// Add rigid body to world
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this->dynamicsWorld->addRigidBody(rigidBody);
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this->customBodies.push_back(body);
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state.centerPos = position;
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state.reach = halfSize;
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state.dynamicFrictionCoeff = 0.5f;
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state.staticFrictionCoeff = 0.5f;
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state.quaternion = Quaternion(Float3(rotation.xyz), rotation.w);
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state.mass = mass;
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body->SetState(state);
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return body;
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}
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ICustomBody* API_Impl::AddCollisionCylinder(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction)
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{
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SimpleRigidBody* body = new SimpleRigidBody;
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SimpleRigidBody::State state;
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// Add collision shape
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btCollisionShape* collisionShape = new btCylinderShape(btVector3(halfSize.x, halfSize.y, halfSize.z));
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body->SetCollisionShape(collisionShape);
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// Add motion state
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btDefaultMotionState* motionState = new btDefaultMotionState(btTransform(btQuaternion(rotation.x, rotation.y, rotation.z, rotation.w),btVector3(position.x, position.y, position.z)));
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body->SetMotionState(motionState);
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// Add rigid body
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btVector3 fallInertia(0, 0, 0);
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collisionShape->calculateLocalInertia(mass, fallInertia);
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btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(mass, motionState, collisionShape, fallInertia);
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btRigidBody* rigidBody = new btRigidBody(rigidBodyCI);
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rigidBody->setFriction(staticFriction);
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rigidBody->setRestitution(restitution);
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rigidBody->setUserPointer(body);
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body->SetRigidBody(rigidBody);
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// Add rigid body to world
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this->dynamicsWorld->addRigidBody(rigidBody);
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this->customBodies.push_back(body);
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state.centerPos = position;
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state.reach = halfSize;
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state.dynamicFrictionCoeff = 0.5f;
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state.staticFrictionCoeff = 0.5f;
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state.quaternion = Quaternion(Float3(rotation.xyz), rotation.w);
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state.mass = mass;
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body->SetState(state);
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return body;
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}
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void API_Impl::SetTimeStep(float timeStep)
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{
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this->timeStep = timeStep;
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}
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void API_Impl::UpdateWorld()
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{
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for(unsigned int i = 0; i < this->customBodies.size(); i++ )
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{
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this->customBodies[i]->SetGravity(-(this->customBodies[i]->GetState().centerPos - this->gravityPoint).GetNormalized()*this->gravity);
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}
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this->dynamicsWorld->stepSimulation(this->timeStep, 1, this->timeStep);
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ICustomBody::State state;
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for(unsigned int i = 0; i < this->customBodies.size(); i++ )
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{
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SimpleRigidBody* simpleBody = dynamic_cast<SimpleRigidBody*>(this->customBodies[i]);
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btTransform trans;
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simpleBody->GetMotionState()->getWorldTransform(trans);
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this->customBodies[i]->SetPosition(Float3(trans.getOrigin().x(), trans.getOrigin().y(), trans.getOrigin().z()));
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this->customBodies[i]->SetRotation(Quaternion(Float3(trans.getRotation().x(), trans.getRotation().y(), trans.getRotation().z()), trans.getRotation().w()));
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if(simpleBody->GetRigidBody()->getActivationState() == ACTIVE_TAG)
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{
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simpleBody->CallSubscription_Move();
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}
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}
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int numManifolds = this->dynamicsWorld->getDispatcher()->getNumManifolds();
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for (int i = 0; i < numManifolds; i++)
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{
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btPersistentManifold* contactManifold = this->dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
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const btCollisionObject* obA = contactManifold->getBody0();
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const btCollisionObject* obB = contactManifold->getBody1();
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ICustomBody* bodyA = (ICustomBody*)obA->getUserPointer();
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ICustomBody* bodyB = (ICustomBody*)obB->getUserPointer();
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dynamic_cast<SimpleRigidBody*>(bodyA)->CallSubscription_AfterCollisionResponse(bodyA, bodyB, 0.0f);
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dynamic_cast<SimpleRigidBody*>(bodyB)->CallSubscription_AfterCollisionResponse(bodyB, bodyA, 0.0f);
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}
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}
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void API_Impl::Init()
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{
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this->broadphase = new btDbvtBroadphase();
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this->collisionConfiguration = new btDefaultCollisionConfiguration();
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this->dispatcher = new btCollisionDispatcher(this->collisionConfiguration);
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this->solver = new btSequentialImpulseConstraintSolver;
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this->dynamicsWorld = new btDiscreteDynamicsWorld(this->dispatcher,this->broadphase,this->solver,this->collisionConfiguration);
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this->dynamicsWorld->setGravity(btVector3(0,-10,0));
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}
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bool API_Impl::IsInLimbo( const ICustomBody* objRef )
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{
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return true;
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}
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void API_Impl::MoveToLimbo( const ICustomBody* objRef )
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{
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}
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void API_Impl::ReleaseFromLimbo( const ICustomBody* objRef )
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{
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}
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void API_Impl::ApplyEffect(Oyster::Collision3D::ICollideable* collideable, void* args, EventAction_ApplyEffect effect)
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{
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btRigidBody* body;
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btCollisionShape* shape;
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btMotionState* state;
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btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(0, NULL, NULL);
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Sphere* sphere;
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Box* box;
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Cone* cone;
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switch(collideable->type)
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{
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case ICollideable::Type::Type_sphere:
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sphere = dynamic_cast<Sphere*>(collideable);
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// Add collision shape
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shape = new btSphereShape(sphere->radius);
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// Add motion state
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state = new btDefaultMotionState(btTransform(btQuaternion(0.0f, 0.0f, 0.0f, 1.0f),btVector3(sphere->center.x, sphere->center.y, sphere->center.z)));
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// Add rigid body
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rigidBodyCI = btRigidBody::btRigidBodyConstructionInfo(0, state, shape);
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body = new btRigidBody(rigidBodyCI);
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break;
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case ICollideable::Type::Type_box:
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box = dynamic_cast<Box*>(collideable);
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// Add collision shape
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shape = new btBoxShape(btVector3(box->boundingOffset.x, box->boundingOffset.y, box->boundingOffset.z));
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// Add motion state
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state = new btDefaultMotionState(btTransform(btQuaternion(0.0f, 0.0f, 0.0f, 1.0f),btVector3(box->center.x, box->center.y, box->center.z)));
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// Add rigid body
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rigidBodyCI = btRigidBody::btRigidBodyConstructionInfo(0, state, shape);
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body = new btRigidBody(rigidBodyCI);
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break;
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case ICollideable::Type::Type_cone:
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cone = dynamic_cast<Cone*>(collideable);
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// Add collision shape
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shape = new btConeShapeZ(cone->radius, cone->length);
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// Add motion state
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state = new btDefaultMotionState(btTransform(btQuaternion(cone->quaternion.x, cone->quaternion.y, cone->quaternion.z, cone->quaternion.w),btVector3(cone->center.x, cone->center.y, cone->center.z)));
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// Add rigid body
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rigidBodyCI = btRigidBody::btRigidBodyConstructionInfo (0, state, shape);
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body = new btRigidBody(rigidBodyCI);
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break;
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default:
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return;
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}
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ContactSensorCallback callback(*body, effect, args);
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this->dynamicsWorld->contactTest(body, callback);
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delete state;
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state = NULL;
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delete shape;
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shape = NULL;
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delete body;
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body = NULL;
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}
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namespace Oyster
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{
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namespace Physics
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{
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namespace Default
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{
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void EventAction_Destruction( ::Utility::DynamicMemory::UniquePointer<::Oyster::Physics::ICustomBody> proto )
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{ /* Do nothing except allowing the proto uniquePointer destroy itself. */ }
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::Oyster::Physics::ICustomBody::SubscriptMessage EventAction_BeforeCollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter )
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{ /* Do nothing except returning business as usual. */
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return ::Oyster::Physics::ICustomBody::SubscriptMessage_none;
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}
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void EventAction_AfterCollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss )
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{ /* Do nothing except returning business as usual. */ }
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void EventAction_Move( const ::Oyster::Physics::ICustomBody *object )
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{ /* Do nothing. */ }
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}
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}
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} |