mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-22 01:00:04 +00:00
1326 lines
35 KiB
C++
1326 lines
35 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "CcdPhysicsEnvironment.h"
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#include "CcdPhysicsController.h"
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//#include "GL_LineSegmentShape.h"
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#include "CollisionShapes/BoxShape.h"
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#include "CollisionShapes/SphereShape.h"
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#include "CollisionShapes/ConeShape.h"
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#include "CollisionShapes/ConvexHullShape.h"
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#include "CollisionShapes/TriangleMesh.h"
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#include "CollisionShapes/ConvexTriangleMeshShape.h"
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#include "CollisionShapes/TriangleMeshShape.h"
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#include "CollisionShapes/Simplex1to4Shape.h"
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#include "CollisionShapes/EmptyShape.h"
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#include "Dynamics/RigidBody.h"
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#include "CollisionDispatch/CollisionDispatcher.h"
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#include "BroadphaseCollision/SimpleBroadphase.h"
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#include "BroadphaseCollision/AxisSweep3.h"
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#include "ConstraintSolver/Point2PointConstraint.h"
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#include "ConstraintSolver/HingeConstraint.h"
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#include "quickprof.h"
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#include "IDebugDraw.h"
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#include "GLDebugDrawer.h"
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//Collada Physics test
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//#define NO_LIBXML //need LIBXML, because FCDocument/FCDPhysicsRigidBody.h needs FUDaeWriter, through FCDPhysicsParameter.hpp
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#include "FUtils/FUtils.h"
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#include "FCDocument/FCDocument.h"
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#include "FCDocument/FCDSceneNode.h"
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#include "FUtils/FUFileManager.h"
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#include "FUtils/FULogFile.h"
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#include "FCDocument/FCDPhysicsSceneNode.h"
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#include "FCDocument/FCDPhysicsModelInstance.h"
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#include "FCDocument/FCDPhysicsRigidBodyInstance.h"
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#include "FCDocument/FCDPhysicsRigidBody.h"
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#include "FCDocument/FCDGeometryInstance.h"
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#include "FCDocument/FCDGeometrySource.h"
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#include "FCDocument/FCDGeometryMesh.h"
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#include "FCDocument/FCDGeometryPolygons.h"
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#include "FCDocument/FCDGeometry.h"
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#include "FCDocument/FCDPhysicsAnalyticalGeometry.h"
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//aaa
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#include "PHY_Pro.h"
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#include "BMF_Api.h"
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#include <stdio.h> //printf debugging
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float deltaTime = 1.f/60.f;
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float bulletSpeed = 40.f;
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#ifdef WIN32
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#if _MSC_VER >= 1310
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//only use SIMD Hull code under Win32
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#define USE_HULL 1
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#include "NarrowPhaseCollision/Hull.h"
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#endif //_MSC_VER
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#endif //WIN32
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#ifdef WIN32 //needed for glut.h
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#include <windows.h>
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#endif
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#include <GL/glut.h>
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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extern float eye[3];
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extern int glutScreenWidth;
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extern int glutScreenHeight;
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int numObjects = 0;
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const int maxNumObjects = 450;
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DefaultMotionState ms[maxNumObjects];
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CcdPhysicsController* physObjects[maxNumObjects] = {0,0,0,0};
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CcdPhysicsEnvironment* physicsEnvironmentPtr = 0;
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#define CUBE_HALF_EXTENTS 1
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#define EXTRA_HEIGHT -20.f
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CollisionShape* gShapePtr[maxNumObjects];//1 rigidbody has 1 shape (no re-use of shapes)
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////////////////////////////////////
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///Very basic import
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void CreatePhysicsObject(bool isDynamic, float mass, const SimdTransform& startTransform,CollisionShape* shape)
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{
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PHY_ShapeProps shapeProps;
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shapeProps.m_do_anisotropic = false;
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shapeProps.m_do_fh = false;
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shapeProps.m_do_rot_fh = false;
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shapeProps.m_friction_scaling[0] = 1.;
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shapeProps.m_friction_scaling[1] = 1.;
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shapeProps.m_friction_scaling[2] = 1.;
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shapeProps.m_inertia = 1.f;
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shapeProps.m_lin_drag = 0.2f;
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shapeProps.m_ang_drag = 0.1f;
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shapeProps.m_mass = 10.0f;
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PHY_MaterialProps materialProps;
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materialProps.m_friction = 10.5f;
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materialProps.m_restitution = 0.0f;
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CcdConstructionInfo ccdObjectCi;
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ccdObjectCi.m_friction = 0.5f;
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ccdObjectCi.m_linearDamping = shapeProps.m_lin_drag;
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ccdObjectCi.m_angularDamping = shapeProps.m_ang_drag;
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SimdTransform tr;
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tr.setIdentity();
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int i = numObjects;
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{
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gShapePtr[i] = shape;
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shapeProps.m_shape = gShapePtr[i];
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shapeProps.m_shape->SetMargin(0.05f);
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SimdQuaternion orn = startTransform.getRotation();
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ms[i].setWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
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ms[i].setWorldPosition(startTransform.getOrigin().getX(),startTransform.getOrigin().getY(),startTransform.getOrigin().getZ());
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ccdObjectCi.m_MotionState = &ms[i];
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ccdObjectCi.m_gravity = SimdVector3(0,0,0);
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ccdObjectCi.m_localInertiaTensor =SimdVector3(0,0,0);
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if (!isDynamic)
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{
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shapeProps.m_mass = 0.f;
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ccdObjectCi.m_mass = shapeProps.m_mass;
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ccdObjectCi.m_collisionFlags = CollisionObject::isStatic;
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}
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else
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{
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shapeProps.m_mass = mass;
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ccdObjectCi.m_mass = shapeProps.m_mass;
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ccdObjectCi.m_collisionFlags = 0;
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}
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SimdVector3 localInertia(0.f,0.f,0.f);
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if (isDynamic)
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{
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gShapePtr[i]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
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}
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ccdObjectCi.m_localInertiaTensor = localInertia;
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ccdObjectCi.m_collisionShape = gShapePtr[i];
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physObjects[i]= new CcdPhysicsController( ccdObjectCi);
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// Only do CCD if motion in one timestep (1.f/60.f) exceeds CUBE_HALF_EXTENTS
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physObjects[i]->GetRigidBody()->m_ccdSquareMotionTreshold = 0.f;
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//Experimental: better estimation of CCD Time of Impact:
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//physObjects[i]->GetRigidBody()->m_ccdSweptShereRadius = 0.5*CUBE_HALF_EXTENTS;
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physicsEnvironmentPtr->addCcdPhysicsController( physObjects[i]);
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}
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numObjects++;
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}
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bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
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{
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assert(inputNode);
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/// FRSceneNodeList nodesToDelete;
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// FRMeshPhysicsController::StartCooking();
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FCDPhysicsModelInstanceList models = inputNode->GetInstances();
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//Go through all of the physics models
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for (FCDPhysicsModelInstanceList::iterator itM=models.begin(); itM != models.end(); itM++)
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{
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FCDEntityInstanceList& instanceList = (*itM)->GetInstances();
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//create one node per physics model. This node is pretty much only a middle man,
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//but better describes the structure we get from the input file
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//FRSceneNode* modelNode = new FRSceneNode();
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//modelNode->SetParent(outputNode);
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//outputNode->AddChild(modelNode);
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//Go through all of the rigid bodies and rigid constraints in that model
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for (FCDEntityInstanceList::iterator itE=instanceList.begin(); itE!=instanceList.end(); itE++)
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{
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if ((*itE)->GetType() == FCDEntityInstance::PHYSICS_RIGID_CONSTRAINT)
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{
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//not yet, could add point to point / hinge support easily
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}
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else
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if ((*itE)->GetType() == FCDEntityInstance::PHYSICS_RIGID_BODY)
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{
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printf("PHYSICS_RIGID_BODY\n");
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//Create a controller per rigid-body
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physicsEnvironmentPtr->setGravity(inputNode->GetGravity().x,inputNode->GetGravity().y,inputNode->GetGravity().z);
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//FRMeshPhysicsController* controller = new FRMeshPhysicsController(inputNode->GetGravity(), inputNode->GetTimestep());
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FCDPhysicsRigidBodyInstance* rbInstance = (FCDPhysicsRigidBodyInstance*)(*itE);
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FCDSceneNode* targetNode = rbInstance->GetTargetNode();
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if (!targetNode)
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{
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//DebugOut("FCTranslator: No target node defined in rigid body instance");
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//SAFE_DELETE(controller);
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continue;
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}
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//Transfer all the transforms in n into cNode, and bake
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//at the same time the scalings. It is necessary to re-translate the
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//transforms as they will get deleted when we delete the old node.
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//A better way to do this would be to steal the transforms from the old
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//nodes, and make sure they're not deleted later, but this is impractical
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//right now as we would also have to migrate all the animation curves.
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//FRTScaleList scaleTransforms;
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SimdTransform accumulatedWorldTransform;
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accumulatedWorldTransform.setIdentity();
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uint32 numTransforms = targetNode->GetTransformCount();
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for (uint32 i=0; i<numTransforms; i++)
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{
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FMMatrix44 mat = (targetNode->GetTransforms()[i])->ToMatrix();
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SimdVector3 pos(mat.GetTranslation().x,mat.GetTranslation().y,mat.GetTranslation().z);
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SimdMatrix3x3 rotMat(
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mat.m[0][0],mat.m[0][1],mat.m[0][2],
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mat.m[1][0],mat.m[1][1],mat.m[1][2],
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mat.m[2][0],mat.m[2][1],mat.m[2][2]);
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rotMat = rotMat.transpose();
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SimdTransform trans(rotMat,pos);
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//TODO: check pre or post multiply
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accumulatedWorldTransform = accumulatedWorldTransform * trans;
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}
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//Then affect all of its geometry instances.
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//Collect all the entities inside the entity vector and inside the children nodes
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/*
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FREntityList childEntities = n->GetEntities();
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FRSceneNodeList childrenToParse = n->GetChildren();
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while (!childrenToParse.empty())
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{
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FRSceneNode* child = *childrenToParse.begin();
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const FREntityList& e = child->GetEntities();
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//add the entities of that child
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childEntities.insert(childEntities.end(), e.begin(), e.end());
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//queue the grand-children nodes
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childrenToParse.insert(childrenToParse.end(), child->GetChildren().begin(), child->GetChildren().end());
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childrenToParse.erase(childrenToParse.begin());
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}
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*/
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//now check which ones are geometry mesh (right now an entity is only derived by mesh
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//but do this to avoid problems in the future)
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/*
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for (FREntityList::iterator itT = childEntities.begin(); itT != childEntities.end(); itT++)
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{
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if ((*itT)->GetType() == FREntity::MESH || (*itT)->GetType() == FREntity::MESH_CONTROLLER)
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{
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FRMesh* cMesh = (FRMesh*)*itT;
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//while we're here, bake the scaling transforms into the meshes
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BakeScalingIntoMesh(cMesh, scaleTransforms);
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controller->AddBindMesh((FRMesh*)*itT);
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}
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}
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*/
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/////////////////////////////////////////////////////////////////////
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//We're done with the targets. Now take care of the physics shapes.
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FCDPhysicsRigidBody* rigidBody = rbInstance->FlattenRigidBody();
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FCDPhysicsMaterial* mat = rigidBody->GetPhysicsMaterial();
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FCDPhysicsShapeList shapes = rigidBody->GetPhysicsShapeList();
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CollisionShape* collisionShape = 0;
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FCDPhysicsParameter<bool>* dyn = (FCDPhysicsParameter<bool>*)rigidBody->FindParameterByReference(DAE_DYNAMIC_ELEMENT);
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bool isDynamic = true;
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if (dyn)
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{
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isDynamic = *dyn->GetValue();
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printf("isDynamic %i\n",isDynamic);
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}
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for (uint32 i=0; i<shapes.size(); i++)
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{
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FCDPhysicsShape* OldShape = shapes[i];
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OldShape->GetType();//
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//controller->SetDensity(OldShape->GetDensity());
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if (OldShape->GetGeometryInstance())
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{
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printf("mesh/convex geometry\n");
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FCDGeometry* geoTemp = (FCDGeometry*)(OldShape->GetGeometryInstance()->GetEntity());
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FCDGeometryMesh* colladaMesh = geoTemp->GetMesh();
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if (colladaMesh)
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{
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if (1)
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{
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bool useConvexHull = false;
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//useConvexHull uses just the points. works, but there is no rendering at the moment
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//for convex hull shapes
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if (useConvexHull)
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{
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int count = colladaMesh->GetVertexSourceCount();
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for (int i=0;i<count;i++)
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{
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const FCDGeometrySource* geomSource = colladaMesh->GetVertexSource(i);
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if (geomSource->GetSourceType()==FUDaeGeometryInput::POSITION)
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{
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int numPoints = geomSource->GetSourceData().size()/3;
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SimdPoint3* points = new SimdPoint3[numPoints];
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for (int p=0;p<numPoints;p++)
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{
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points[p].setValue(geomSource->GetSourceData()[p*3],
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geomSource->GetSourceData()[p*3+1],
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geomSource->GetSourceData()[p*3+2]);
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}
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collisionShape = new ConvexHullShape(points,numPoints);
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delete points;
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break;
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}
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}
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}
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else
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{
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TriangleMesh* trimesh = new TriangleMesh();
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int polyCount = colladaMesh->GetPolygonsCount();
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for (uint32 j=0; j<polyCount; j++)
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{
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FCDGeometryPolygons* poly = colladaMesh->GetPolygons(j);
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poly->Triangulate();
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int numfaces = poly->GetFaceCount();
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int numfacevertex = poly->GetFaceVertexCount();
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std::vector<UInt32List> dataIndices;
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//for (FCDGeometryPolygonsInputList::iterator itI = poly->idxOwners.begin(); itI != idxOwners.end(); ++itI)
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//{
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// UInt32List* indices = &(*itI)->indices;
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// dataIndices.push_back(*indices);
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//}
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FCDGeometryPolygonsInput* inputs = poly->FindInput(FUDaeGeometryInput::POSITION);
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int startIndex = 0;
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for (int p=0;p<numfaces;p++)
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{
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int numfacevertices = poly->GetFaceVertexCounts()[p];
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switch (numfacevertices)
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{
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case 3:
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{
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//float value = inputs->source->GetSourceData()[index];
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int offset = poly->GetFaceVertexOffset(p);
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int index;
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index = inputs->indices[offset];
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SimdVector3 vertex0(
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inputs->source->GetSourceData()[index*3],
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inputs->source->GetSourceData()[index*3+1],
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inputs->source->GetSourceData()[index*3+2]);
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index = inputs->indices[offset+1];
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SimdVector3 vertex1(
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inputs->source->GetSourceData()[index*3],
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inputs->source->GetSourceData()[index*3+1],
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inputs->source->GetSourceData()[index*3+2]);
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index = inputs->indices[offset+2];
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SimdVector3 vertex2(
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inputs->source->GetSourceData()[index*3],
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inputs->source->GetSourceData()[index*3+1],
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inputs->source->GetSourceData()[index*3+2]);
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trimesh->AddTriangle(vertex0,vertex1,vertex2);
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break;
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}
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case 4:
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{
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int offset = poly->GetFaceVertexOffset(p);
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int index;
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index = inputs->indices[offset];
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SimdVector3 vertex0(
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inputs->source->GetSourceData()[index*3],
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inputs->source->GetSourceData()[index*3+1],
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inputs->source->GetSourceData()[index*3+2]);
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index = inputs->indices[offset+1];
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SimdVector3 vertex1(
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inputs->source->GetSourceData()[index*3],
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inputs->source->GetSourceData()[index*3+1],
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inputs->source->GetSourceData()[index*3+2]);
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index = inputs->indices[offset+2];
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SimdVector3 vertex2(
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inputs->source->GetSourceData()[index*3],
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inputs->source->GetSourceData()[index*3+1],
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inputs->source->GetSourceData()[index*3+2]);
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index = inputs->indices[offset+3];
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SimdVector3 vertex3(
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inputs->source->GetSourceData()[index*3],
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inputs->source->GetSourceData()[index*3+1],
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inputs->source->GetSourceData()[index*3+2]);
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trimesh->AddTriangle(vertex0,vertex1,vertex2);
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trimesh->AddTriangle(vertex0,vertex2,vertex3);
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break;
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}
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default:
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{
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}
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}
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}
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if (colladaMesh->m_convex || isDynamic)
|
|
{
|
|
collisionShape = new ConvexTriangleMeshShape(trimesh);
|
|
} else
|
|
{
|
|
collisionShape = new TriangleMeshShape(trimesh);
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
} else
|
|
{
|
|
|
|
//should be static triangle mesh!
|
|
|
|
//FRMesh* cMesh = ToFREntityGeometry(geoTemp);
|
|
//BakeScalingIntoMesh(cMesh, scaleTransforms);
|
|
|
|
for (uint32 j=0; j<colladaMesh->GetPolygonsCount(); j++)
|
|
{
|
|
|
|
/*
|
|
FRMeshPhysicsShape* NewShape = new FRMeshPhysicsShape(controller);
|
|
|
|
if (!NewShape->CreateTriangleMesh(cMesh, j, true))
|
|
|
|
{
|
|
|
|
SAFE_DELETE(NewShape);
|
|
|
|
continue;
|
|
|
|
}
|
|
if (mat)
|
|
{
|
|
NewShape->SetMaterial(mat->GetStaticFriction(), mat->GetDynamicFriction(), mat->GetRestitution());
|
|
//FIXME
|
|
//NewShape->material->setFrictionCombineMode();
|
|
//NewShape->material->setSpring();
|
|
}
|
|
|
|
controller->AddShape(NewShape);
|
|
|
|
*/
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
//FRMeshPhysicsShape* NewShape = new FRMeshPhysicsShape(controller);
|
|
|
|
FCDPhysicsAnalyticalGeometry* analGeom = OldShape->GetAnalyticalGeometry();
|
|
|
|
//increse the following value for nicer shapes with more vertices
|
|
|
|
uint16 superEllipsoidSubdivisionLevel = 2;
|
|
|
|
if (!analGeom)
|
|
|
|
continue;
|
|
|
|
switch (analGeom->GetGeomType())
|
|
|
|
{
|
|
|
|
case FCDPhysicsAnalyticalGeometry::BOX:
|
|
|
|
{
|
|
|
|
FCDPASBox* box = (FCDPASBox*)analGeom;
|
|
printf("Box\n");
|
|
collisionShape = new BoxShape(SimdVector3(box->halfExtents.x,box->halfExtents.y,box->halfExtents.z));
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
case FCDPhysicsAnalyticalGeometry::PLANE:
|
|
|
|
{
|
|
|
|
FCDPASPlane* plane = (FCDPASPlane*)analGeom;
|
|
printf("Plane\n");
|
|
break;
|
|
|
|
}
|
|
|
|
case FCDPhysicsAnalyticalGeometry::SPHERE:
|
|
|
|
{
|
|
|
|
FCDPASSphere* sphere = (FCDPASSphere*)analGeom;
|
|
collisionShape = new SphereShape(sphere->radius);
|
|
printf("Sphere\n");
|
|
break;
|
|
|
|
}
|
|
|
|
case FCDPhysicsAnalyticalGeometry::CYLINDER:
|
|
|
|
{
|
|
|
|
//FIXME: only using the first radius of the cylinder
|
|
|
|
FCDPASCylinder* cylinder = (FCDPASCylinder*)analGeom;
|
|
printf("Cylinder\n");
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
case FCDPhysicsAnalyticalGeometry::CAPSULE:
|
|
|
|
{
|
|
|
|
//FIXME: only using the first radius of the capsule
|
|
|
|
FCDPASCapsule* capsule = (FCDPASCapsule*)analGeom;
|
|
printf("Capsule\n");
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
case FCDPhysicsAnalyticalGeometry::TAPERED_CAPSULE:
|
|
|
|
{
|
|
|
|
//FIXME: only using the first radius of the capsule
|
|
|
|
FCDPASTaperedCapsule* tcapsule = (FCDPASTaperedCapsule*)analGeom;
|
|
printf("TaperedCapsule\n");
|
|
break;
|
|
|
|
}
|
|
|
|
case FCDPhysicsAnalyticalGeometry::TAPERED_CYLINDER:
|
|
|
|
{
|
|
|
|
//FIXME: only using the first radius of the cylinder
|
|
|
|
FCDPASTaperedCylinder* tcylinder = (FCDPASTaperedCylinder*)analGeom;
|
|
printf("TaperedCylinder\n");
|
|
break;
|
|
|
|
}
|
|
|
|
default:
|
|
|
|
{
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
//controller->AddShape(NewShape);
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
FCDPhysicsParameter<float>* mass = (FCDPhysicsParameter<float>*)rigidBody->FindParameterByReference(DAE_MASS_ELEMENT);
|
|
|
|
float mymass = 1.f;
|
|
|
|
if (mass)
|
|
{
|
|
mymass = *mass->GetValue();
|
|
printf("RB mass:%f\n",mymass);
|
|
}
|
|
|
|
FCDPhysicsParameter<FMVector3>* inertia = (FCDPhysicsParameter<FMVector3>*)rigidBody->FindParameterByReference(DAE_INERTIA_ELEMENT);
|
|
|
|
if (inertia)
|
|
{
|
|
inertia->GetValue();//this should be calculated from shape
|
|
}
|
|
|
|
FCDPhysicsParameter<FMVector3>* velocity = (FCDPhysicsParameter<FMVector3>*)rigidBody->FindParameterByReference(DAE_VELOCITY_ELEMENT);
|
|
|
|
if (velocity)
|
|
{
|
|
velocity->GetValue();
|
|
}
|
|
|
|
FCDPhysicsParameter<FMVector3>* angularVelocity = (FCDPhysicsParameter<FMVector3>*)rigidBody->FindParameterByReference(DAE_ANGULAR_VELOCITY_ELEMENT);
|
|
|
|
if (angularVelocity)
|
|
{
|
|
angularVelocity->GetValue();
|
|
}
|
|
|
|
static int once = true;
|
|
|
|
if (collisionShape)
|
|
{
|
|
once = false;
|
|
printf("create Physics Object\n");
|
|
//void CreatePhysicsObject(bool isDynamic, float mass, const SimdTransform& startTransform,CollisionShape* shape)
|
|
|
|
CreatePhysicsObject(isDynamic, mymass, accumulatedWorldTransform,collisionShape);
|
|
|
|
|
|
}
|
|
//controller->SetGlobalPose(n->CalculateWorldTransformation());//??
|
|
|
|
//SAFE_DELETE(rigidBody);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
////////////////////////////////////
|
|
|
|
|
|
|
|
GLDebugDrawer debugDrawer;
|
|
|
|
int main(int argc,char** argv)
|
|
{
|
|
|
|
///Setup a Physics Simulation Environment
|
|
CollisionDispatcher* dispatcher = new CollisionDispatcher();
|
|
SimdVector3 worldAabbMin(-10000,-10000,-10000);
|
|
SimdVector3 worldAabbMax(10000,10000,10000);
|
|
BroadphaseInterface* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax);
|
|
//BroadphaseInterface* broadphase = new SimpleBroadphase();
|
|
physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
|
|
physicsEnvironmentPtr->setDeactivationTime(2.f);
|
|
physicsEnvironmentPtr->setGravity(0,-10,0);
|
|
physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
|
|
|
|
|
|
/// Import Collada 1.4 Physics objects
|
|
|
|
//char* filename = "analyticalGeomPhysicsTest.dae";//ColladaPhysics.dae";
|
|
//char* filename = "colladaphysics_spherebox.dae";
|
|
char* filename = "friction.dae";
|
|
|
|
|
|
|
|
FCDocument* document = new FCDocument();
|
|
FUStatus status = document->LoadFromFile(filename);
|
|
bool success = status.IsSuccessful();
|
|
printf ("Collada import %i\n",success);
|
|
|
|
if (success)
|
|
{
|
|
const FCDPhysicsSceneNode* physicsSceneRoot = document->GetPhysicsSceneRoot();
|
|
if (ConvertColladaPhysicsToBulletPhysics( physicsSceneRoot ))
|
|
{
|
|
printf("ConvertColladaPhysicsToBulletPhysics successfull\n");
|
|
} else
|
|
{
|
|
printf("ConvertColladaPhysicsToBulletPhysics failed\n");
|
|
}
|
|
}
|
|
|
|
clientResetScene();
|
|
|
|
setCameraDistance(26.f);
|
|
|
|
return glutmain(argc, argv,640,480,"Bullet Collada Physics Viewer. http://www.continuousphysics.com/Bullet/phpBB2/");
|
|
}
|
|
|
|
//to be implemented by the demo
|
|
void renderme()
|
|
{
|
|
debugDrawer.SetDebugMode(getDebugMode());
|
|
|
|
|
|
|
|
float m[16];
|
|
int i;
|
|
|
|
|
|
if (getDebugMode() & IDebugDraw::DBG_DisableBulletLCP)
|
|
{
|
|
//don't use Bullet, use quickstep
|
|
physicsEnvironmentPtr->setSolverType(0);
|
|
} else
|
|
{
|
|
//Bullet LCP solver
|
|
physicsEnvironmentPtr->setSolverType(1);
|
|
}
|
|
|
|
if (getDebugMode() & IDebugDraw::DBG_EnableCCD)
|
|
{
|
|
physicsEnvironmentPtr->setCcdMode(3);
|
|
} else
|
|
{
|
|
physicsEnvironmentPtr->setCcdMode(0);
|
|
}
|
|
|
|
|
|
bool isSatEnabled = (getDebugMode() & IDebugDraw::DBG_EnableSatComparison);
|
|
|
|
physicsEnvironmentPtr->EnableSatCollisionDetection(isSatEnabled);
|
|
|
|
|
|
|
|
for (i=0;i<numObjects;i++)
|
|
{
|
|
SimdTransform transA;
|
|
transA.setIdentity();
|
|
|
|
float pos[3];
|
|
float rot[4];
|
|
|
|
ms[i].getWorldPosition(pos[0],pos[1],pos[2]);
|
|
ms[i].getWorldOrientation(rot[0],rot[1],rot[2],rot[3]);
|
|
|
|
SimdQuaternion q(rot[0],rot[1],rot[2],rot[3]);
|
|
transA.setRotation(q);
|
|
|
|
SimdPoint3 dpos;
|
|
dpos.setValue(pos[0],pos[1],pos[2]);
|
|
|
|
transA.setOrigin( dpos );
|
|
transA.getOpenGLMatrix( m );
|
|
|
|
|
|
SimdVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
|
|
if (i & 1)
|
|
{
|
|
wireColor = SimdVector3(0.f,0.0f,1.f);
|
|
}
|
|
///color differently for active, sleeping, wantsdeactivation states
|
|
if (physObjects[i]->GetRigidBody()->GetActivationState() == 1) //active
|
|
{
|
|
if (i & 1)
|
|
{
|
|
wireColor += SimdVector3 (1.f,0.f,0.f);
|
|
} else
|
|
{
|
|
wireColor += SimdVector3 (.5f,0.f,0.f);
|
|
}
|
|
}
|
|
if (physObjects[i]->GetRigidBody()->GetActivationState() == 2) //ISLAND_SLEEPING
|
|
{
|
|
if (i & 1)
|
|
{
|
|
wireColor += SimdVector3 (0.f,1.f, 0.f);
|
|
} else
|
|
{
|
|
wireColor += SimdVector3 (0.f,0.5f,0.f);
|
|
}
|
|
}
|
|
|
|
char extraDebug[125];
|
|
sprintf(extraDebug,"islId, Body=%i , %i",physObjects[i]->GetRigidBody()->m_islandTag1,physObjects[i]->GetRigidBody()->m_debugBodyId);
|
|
physObjects[i]->GetRigidBody()->GetCollisionShape()->SetExtraDebugInfo(extraDebug);
|
|
GL_ShapeDrawer::DrawOpenGL(m,physObjects[i]->GetRigidBody()->GetCollisionShape(),wireColor,getDebugMode());
|
|
|
|
///this block is just experimental code to show some internal issues with replacing shapes on the fly.
|
|
if (getDebugMode()!=0 && (i>0))
|
|
{
|
|
if (physObjects[i]->GetRigidBody()->GetCollisionShape()->GetShapeType() == EMPTY_SHAPE_PROXYTYPE)
|
|
{
|
|
physObjects[i]->GetRigidBody()->SetCollisionShape(gShapePtr[1]);
|
|
|
|
//remove the persistent collision pairs that were created based on the previous shape
|
|
|
|
BroadphaseProxy* bpproxy = physObjects[i]->GetRigidBody()->m_broadphaseHandle;
|
|
|
|
physicsEnvironmentPtr->GetBroadphase()->CleanProxyFromPairs(bpproxy);
|
|
|
|
SimdVector3 newinertia;
|
|
SimdScalar newmass = 10.f;
|
|
physObjects[i]->GetRigidBody()->GetCollisionShape()->CalculateLocalInertia(newmass,newinertia);
|
|
physObjects[i]->GetRigidBody()->setMassProps(newmass,newinertia);
|
|
physObjects[i]->GetRigidBody()->updateInertiaTensor();
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
if (!(getDebugMode() & IDebugDraw::DBG_NoHelpText))
|
|
{
|
|
|
|
float xOffset = 10.f;
|
|
float yStart = 20.f;
|
|
|
|
float yIncr = -2.f;
|
|
|
|
char buf[124];
|
|
|
|
glColor3f(0, 0, 0);
|
|
|
|
#ifdef USE_QUICKPROF
|
|
|
|
|
|
if ( getDebugMode() & IDebugDraw::DBG_ProfileTimings)
|
|
{
|
|
static int counter = 0;
|
|
counter++;
|
|
std::map<std::string, hidden::ProfileBlock*>::iterator iter;
|
|
for (iter = Profiler::mProfileBlocks.begin(); iter != Profiler::mProfileBlocks.end(); ++iter)
|
|
{
|
|
char blockTime[128];
|
|
sprintf(blockTime, "%s: %lf",&((*iter).first[0]),Profiler::getBlockTime((*iter).first, Profiler::BLOCK_CYCLE_SECONDS));//BLOCK_TOTAL_PERCENT));
|
|
glRasterPos3f(xOffset,yStart,0);
|
|
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),blockTime);
|
|
yStart += yIncr;
|
|
|
|
}
|
|
}
|
|
#endif //USE_QUICKPROF
|
|
//profiling << Profiler::createStatsString(Profiler::BLOCK_TOTAL_PERCENT);
|
|
//<< std::endl;
|
|
|
|
|
|
|
|
glRasterPos3f(xOffset,yStart,0);
|
|
sprintf(buf,"mouse to interact");
|
|
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
|
yStart += yIncr;
|
|
|
|
glRasterPos3f(xOffset,yStart,0);
|
|
sprintf(buf,"space to reset");
|
|
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
|
yStart += yIncr;
|
|
|
|
glRasterPos3f(xOffset,yStart,0);
|
|
sprintf(buf,"cursor keys and z,x to navigate");
|
|
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
|
yStart += yIncr;
|
|
|
|
glRasterPos3f(xOffset,yStart,0);
|
|
sprintf(buf,"i to toggle simulation, s single step");
|
|
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
|
yStart += yIncr;
|
|
|
|
glRasterPos3f(xOffset,yStart,0);
|
|
sprintf(buf,"q to quit");
|
|
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
|
yStart += yIncr;
|
|
|
|
glRasterPos3f(xOffset,yStart,0);
|
|
sprintf(buf,"d to toggle deactivation");
|
|
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
|
yStart += yIncr;
|
|
|
|
glRasterPos3f(xOffset,yStart,0);
|
|
sprintf(buf,"a to draw temporal AABBs");
|
|
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
|
yStart += yIncr;
|
|
|
|
|
|
glRasterPos3f(xOffset,yStart,0);
|
|
sprintf(buf,"h to toggle help text");
|
|
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
|
yStart += yIncr;
|
|
|
|
bool useBulletLCP = !(getDebugMode() & IDebugDraw::DBG_DisableBulletLCP);
|
|
|
|
bool useCCD = (getDebugMode() & IDebugDraw::DBG_EnableCCD);
|
|
|
|
glRasterPos3f(xOffset,yStart,0);
|
|
sprintf(buf,"m Bullet GJK = %i",!isSatEnabled);
|
|
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
|
yStart += yIncr;
|
|
|
|
glRasterPos3f(xOffset,yStart,0);
|
|
sprintf(buf,"n Bullet LCP = %i",useBulletLCP);
|
|
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
|
yStart += yIncr;
|
|
|
|
glRasterPos3f(xOffset,yStart,0);
|
|
sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
|
|
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
|
yStart += yIncr;
|
|
|
|
glRasterPos3f(xOffset,yStart,0);
|
|
sprintf(buf,"+- shooting speed = %10.2f",bulletSpeed);
|
|
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
|
yStart += yIncr;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
void clientMoveAndDisplay()
|
|
{
|
|
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
|
|
|
|
|
|
|
physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
|
|
|
|
renderme();
|
|
|
|
glFlush();
|
|
glutSwapBuffers();
|
|
|
|
}
|
|
|
|
|
|
|
|
void clientDisplay(void) {
|
|
|
|
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
|
|
|
|
|
physicsEnvironmentPtr->UpdateAabbs(deltaTime);
|
|
|
|
renderme();
|
|
|
|
|
|
glFlush();
|
|
glutSwapBuffers();
|
|
}
|
|
|
|
|
|
|
|
///make this positive to show stack falling from a distance
|
|
///this shows the penalty tresholds in action, springy/spungy look
|
|
|
|
void clientResetScene()
|
|
{
|
|
|
|
//delete and reload, or keep transforms ready?
|
|
}
|
|
|
|
|
|
|
|
void shootBox(const SimdVector3& destination)
|
|
{
|
|
//no objects to shoot
|
|
if (!numObjects)
|
|
return;
|
|
|
|
int i = numObjects-1;
|
|
|
|
|
|
|
|
SimdVector3 linVel(destination[0]-eye[0],destination[1]-eye[1],destination[2]-eye[2]);
|
|
linVel.normalize();
|
|
linVel*=bulletSpeed;
|
|
|
|
physObjects[i]->setPosition(eye[0],eye[1],eye[2]);
|
|
physObjects[i]->setOrientation(0,0,0,1);
|
|
physObjects[i]->SetLinearVelocity(linVel[0],linVel[1],linVel[2],false);
|
|
physObjects[i]->SetAngularVelocity(0,0,0,false);
|
|
}
|
|
|
|
void clientKeyboard(unsigned char key, int x, int y)
|
|
{
|
|
|
|
if (key == '.')
|
|
{
|
|
shootBox(SimdVector3(0,0,0));
|
|
}
|
|
|
|
if (key == '+')
|
|
{
|
|
bulletSpeed += 10.f;
|
|
}
|
|
if (key == '-')
|
|
{
|
|
bulletSpeed -= 10.f;
|
|
}
|
|
|
|
defaultKeyboard(key, x, y);
|
|
}
|
|
|
|
int gPickingConstraintId = 0;
|
|
SimdVector3 gOldPickingPos;
|
|
float gOldPickingDist = 0.f;
|
|
RigidBody* pickedBody = 0;//for deactivation state
|
|
|
|
|
|
SimdVector3 GetRayTo(int x,int y)
|
|
{
|
|
float top = 1.f;
|
|
float bottom = -1.f;
|
|
float nearPlane = 1.f;
|
|
float tanFov = (top-bottom)*0.5f / nearPlane;
|
|
float fov = 2.0 * atanf (tanFov);
|
|
|
|
SimdVector3 rayFrom(eye[0],eye[1],eye[2]);
|
|
SimdVector3 rayForward = -rayFrom;
|
|
rayForward.normalize();
|
|
float farPlane = 600.f;
|
|
rayForward*= farPlane;
|
|
|
|
SimdVector3 rightOffset;
|
|
SimdVector3 vertical(0.f,1.f,0.f);
|
|
SimdVector3 hor;
|
|
hor = rayForward.cross(vertical);
|
|
hor.normalize();
|
|
vertical = hor.cross(rayForward);
|
|
vertical.normalize();
|
|
|
|
float tanfov = tanf(0.5f*fov);
|
|
hor *= 2.f * farPlane * tanfov;
|
|
vertical *= 2.f * farPlane * tanfov;
|
|
SimdVector3 rayToCenter = rayFrom + rayForward;
|
|
SimdVector3 dHor = hor * 1.f/float(glutScreenWidth);
|
|
SimdVector3 dVert = vertical * 1.f/float(glutScreenHeight);
|
|
SimdVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
|
|
rayTo += x * dHor;
|
|
rayTo -= y * dVert;
|
|
return rayTo;
|
|
}
|
|
void clientMouseFunc(int button, int state, int x, int y)
|
|
{
|
|
//printf("button %i, state %i, x=%i,y=%i\n",button,state,x,y);
|
|
//button 0, state 0 means left mouse down
|
|
|
|
SimdVector3 rayTo = GetRayTo(x,y);
|
|
|
|
switch (button)
|
|
{
|
|
case 2:
|
|
{
|
|
if (state==0)
|
|
{
|
|
shootBox(rayTo);
|
|
}
|
|
break;
|
|
};
|
|
case 1:
|
|
{
|
|
if (state==0)
|
|
{
|
|
//apply an impulse
|
|
if (physicsEnvironmentPtr)
|
|
{
|
|
float hit[3];
|
|
float normal[3];
|
|
PHY_IPhysicsController* hitObj = physicsEnvironmentPtr->rayTest(0,eye[0],eye[1],eye[2],rayTo.getX(),rayTo.getY(),rayTo.getZ(),hit[0],hit[1],hit[2],normal[0],normal[1],normal[2]);
|
|
if (hitObj)
|
|
{
|
|
CcdPhysicsController* physCtrl = static_cast<CcdPhysicsController*>(hitObj);
|
|
RigidBody* body = physCtrl->GetRigidBody();
|
|
if (body)
|
|
{
|
|
body->SetActivationState(ACTIVE_TAG);
|
|
SimdVector3 impulse = rayTo;
|
|
impulse.normalize();
|
|
float impulseStrength = 10.f;
|
|
impulse *= impulseStrength;
|
|
SimdVector3 relPos(
|
|
hit[0] - body->getCenterOfMassPosition().getX(),
|
|
hit[1] - body->getCenterOfMassPosition().getY(),
|
|
hit[2] - body->getCenterOfMassPosition().getZ());
|
|
|
|
body->applyImpulse(impulse,relPos);
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
} else
|
|
{
|
|
|
|
}
|
|
break;
|
|
}
|
|
case 0:
|
|
{
|
|
if (state==0)
|
|
{
|
|
//add a point to point constraint for picking
|
|
if (physicsEnvironmentPtr)
|
|
{
|
|
float hit[3];
|
|
float normal[3];
|
|
PHY_IPhysicsController* hitObj = physicsEnvironmentPtr->rayTest(0,eye[0],eye[1],eye[2],rayTo.getX(),rayTo.getY(),rayTo.getZ(),hit[0],hit[1],hit[2],normal[0],normal[1],normal[2]);
|
|
if (hitObj)
|
|
{
|
|
|
|
CcdPhysicsController* physCtrl = static_cast<CcdPhysicsController*>(hitObj);
|
|
RigidBody* body = physCtrl->GetRigidBody();
|
|
|
|
if (body)
|
|
{
|
|
pickedBody = body;
|
|
pickedBody->SetActivationState(DISABLE_DEACTIVATION);
|
|
|
|
SimdVector3 pickPos(hit[0],hit[1],hit[2]);
|
|
|
|
SimdVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
|
|
|
|
gPickingConstraintId = physicsEnvironmentPtr->createConstraint(physCtrl,0,PHY_POINT2POINT_CONSTRAINT,
|
|
localPivot.getX(),
|
|
localPivot.getY(),
|
|
localPivot.getZ(),
|
|
0,0,0);
|
|
//printf("created constraint %i",gPickingConstraintId);
|
|
|
|
//save mouse position for dragging
|
|
gOldPickingPos = rayTo;
|
|
|
|
|
|
SimdVector3 eyePos(eye[0],eye[1],eye[2]);
|
|
|
|
gOldPickingDist = (pickPos-eyePos).length();
|
|
|
|
Point2PointConstraint* p2p = static_cast<Point2PointConstraint*>(physicsEnvironmentPtr->getConstraintById(gPickingConstraintId));
|
|
if (p2p)
|
|
{
|
|
//very weak constraint for picking
|
|
p2p->m_setting.m_tau = 0.1f;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
} else
|
|
{
|
|
if (gPickingConstraintId && physicsEnvironmentPtr)
|
|
{
|
|
physicsEnvironmentPtr->removeConstraint(gPickingConstraintId);
|
|
//printf("removed constraint %i",gPickingConstraintId);
|
|
gPickingConstraintId = 0;
|
|
pickedBody->ForceActivationState(ACTIVE_TAG);
|
|
pickedBody->m_deactivationTime = 0.f;
|
|
pickedBody = 0;
|
|
|
|
|
|
}
|
|
}
|
|
|
|
break;
|
|
|
|
}
|
|
default:
|
|
{
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
void clientMotionFunc(int x,int y)
|
|
{
|
|
|
|
if (gPickingConstraintId && physicsEnvironmentPtr)
|
|
{
|
|
|
|
//move the constraint pivot
|
|
|
|
Point2PointConstraint* p2p = static_cast<Point2PointConstraint*>(physicsEnvironmentPtr->getConstraintById(gPickingConstraintId));
|
|
if (p2p)
|
|
{
|
|
//keep it at the same picking distance
|
|
|
|
SimdVector3 newRayTo = GetRayTo(x,y);
|
|
SimdVector3 eyePos(eye[0],eye[1],eye[2]);
|
|
SimdVector3 dir = newRayTo-eyePos;
|
|
dir.normalize();
|
|
dir *= gOldPickingDist;
|
|
|
|
SimdVector3 newPos = eyePos + dir;
|
|
p2p->SetPivotB(newPos);
|
|
}
|
|
|
|
}
|
|
}
|