forked from bartvdbraak/blender
Brought back the sumo physics controllers and undid game engine make file
changes. Instead modified the top level nan_definitions.mk to point the NAN_SUMO and NAN_FUZZICS to the right locations. Maarten
This commit is contained in:
Maarten Gribnau
parent
7c59c12dc0
commit
2d5514be28
204
source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
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204
source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
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@ -0,0 +1,204 @@
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#pragma warning (disable : 4786)
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#include "KX_SumoPhysicsController.h"
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#include "SG_Spatial.h"
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#include "SM_Scene.h"
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#include "KX_GameObject.h"
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#include "KX_MotionState.h"
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void KX_SumoPhysicsController::applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse)
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{
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SumoPhysicsController::applyImpulse(attach[0],attach[1],attach[2],impulse[0],impulse[1],impulse[2]);
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}
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void KX_SumoPhysicsController::RelativeTranslate(const MT_Vector3& dloc,bool local)
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{
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SumoPhysicsController::RelativeTranslate(dloc[0],dloc[1],dloc[2],local);
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}
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void KX_SumoPhysicsController::RelativeRotate(const MT_Matrix3x3& drot,bool local)
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{
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double oldmat[12];
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drot.getValue(oldmat);
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float newmat[9];
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float *m = &newmat[0];
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double *orgm = &oldmat[0];
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*m++ = *orgm++;*m++ = *orgm++;*m++ = *orgm++;orgm++;
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*m++ = *orgm++;*m++ = *orgm++;*m++ = *orgm++;orgm++;
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*m++ = *orgm++;*m++ = *orgm++;*m++ = *orgm++;orgm++;
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SumoPhysicsController::RelativeRotate(newmat,local);
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}
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void KX_SumoPhysicsController::SetLinearVelocity(const MT_Vector3& lin_vel,bool local)
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{
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SumoPhysicsController::SetLinearVelocity(lin_vel[0],lin_vel[1],lin_vel[2],local);
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}
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void KX_SumoPhysicsController::SetAngularVelocity(const MT_Vector3& ang_vel,bool local)
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{
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SumoPhysicsController::SetAngularVelocity(ang_vel[0],ang_vel[1],ang_vel[2],local);
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}
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MT_Vector3 KX_SumoPhysicsController::GetVelocity(const MT_Point3& pos)
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{
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float linvel[3];
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SumoPhysicsController::GetVelocity(pos[0],pos[1],pos[2],linvel[0],linvel[1],linvel[2]);
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return MT_Vector3 (linvel);
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}
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MT_Vector3 KX_SumoPhysicsController::GetLinearVelocity()
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{
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return GetVelocity(MT_Point3(0,0,0));
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}
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void KX_SumoPhysicsController::ApplyTorque(const MT_Vector3& torque,bool local)
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{
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SumoPhysicsController::ApplyTorque(torque[0],torque[1],torque[2],local);
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}
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void KX_SumoPhysicsController::ApplyForce(const MT_Vector3& force,bool local)
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{
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SumoPhysicsController::ApplyForce(force[0],force[1],force[2],local);
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}
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bool KX_SumoPhysicsController::Update(double time)
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{
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return SynchronizeMotionStates(time);
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}
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void KX_SumoPhysicsController::SetSimulatedTime(double time)
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{
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}
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void KX_SumoPhysicsController::SetSumoTransform(bool nondynaonly)
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{
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SumoPhysicsController::setSumoTransform(nondynaonly);
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}
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void KX_SumoPhysicsController::SuspendDynamics()
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{
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SumoPhysicsController::SuspendDynamics();
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}
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void KX_SumoPhysicsController::RestoreDynamics()
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{
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SumoPhysicsController::RestoreDynamics();
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}
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SG_Controller* KX_SumoPhysicsController::GetReplica(SG_Node* destnode)
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{
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PHY_IMotionState* motionstate = new KX_MotionState(destnode);
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KX_SumoPhysicsController* physicsreplica = new KX_SumoPhysicsController(*this);
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//parentcontroller is here be able to avoid collisions between parent/child
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PHY_IPhysicsController* parentctrl = NULL;
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if (destnode != destnode->GetRootSGParent())
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{
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KX_GameObject* clientgameobj = (KX_GameObject*) destnode->GetRootSGParent()->GetSGClientObject();
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if (clientgameobj)
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{
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parentctrl = (KX_SumoPhysicsController*)clientgameobj->GetPhysicsController();
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} else
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{
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// it could be a false node, try the children
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NodeList::const_iterator childit;
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for (
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childit = destnode->GetSGChildren().begin();
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childit!= destnode->GetSGChildren().end();
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++childit
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) {
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KX_GameObject* clientgameobj = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
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if (clientgameobj)
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{
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parentctrl = (KX_SumoPhysicsController*)clientgameobj->GetPhysicsController();
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}
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}
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}
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}
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physicsreplica->PostProcessReplica(motionstate,parentctrl);
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return physicsreplica;
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}
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void KX_SumoPhysicsController::SetObject (SG_IObject* object)
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{
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SG_Controller::SetObject(object);
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// cheating here...
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KX_GameObject* gameobj = (KX_GameObject*) object->GetSGClientObject();
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gameobj->SetPhysicsController(this);
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}
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void KX_SumoPhysicsController::setOrientation(const MT_Quaternion& orn)
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{
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SumoPhysicsController::setOrientation(
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orn[0],orn[1],orn[2],orn[3]);
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}
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void KX_SumoPhysicsController::getOrientation(MT_Quaternion& orn)
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{
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float quat[4];
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SumoPhysicsController::getOrientation(quat[0],quat[1],quat[2],quat[3]);
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orn = MT_Quaternion(quat);
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}
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void KX_SumoPhysicsController::setPosition(const MT_Point3& pos)
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{
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SumoPhysicsController::setPosition(pos[0],pos[1],pos[2]);
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}
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void KX_SumoPhysicsController::setScaling(const MT_Vector3& scaling)
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{
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SumoPhysicsController::setScaling(scaling[0],scaling[1],scaling[2]);
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}
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MT_Scalar KX_SumoPhysicsController::GetMass()
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{
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return SumoPhysicsController::getMass();
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}
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MT_Vector3 KX_SumoPhysicsController::getReactionForce()
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{
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float force[3];
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SumoPhysicsController::getReactionForce(force[0],force[1],force[2]);
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return MT_Vector3(force);
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}
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void KX_SumoPhysicsController::setRigidBody(bool rigid)
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{
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SumoPhysicsController::setRigidBody(rigid);
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}
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KX_SumoPhysicsController::~KX_SumoPhysicsController()
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{
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}
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83
source/gameengine/Ketsji/KX_SumoPhysicsController.h
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83
source/gameengine/Ketsji/KX_SumoPhysicsController.h
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@ -0,0 +1,83 @@
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#ifndef __KX_SUMOPHYSICSCONTROLLER_H
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#define __KX_SUMOPHYSICSCONTROLLER_H
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#include "PHY_IPhysicsController.h"
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#include "SM_Object.h" // for SM_Callback
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/**
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Physics Controller, a special kind of Scene Graph Transformation Controller.
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It get's callbacks from Sumo in case a transformation change took place.
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Each time the scene graph get's updated, the controller get's a chance
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in the 'Update' method to reflect changed.
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*/
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#include "SumoPhysicsController.h"
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#include "KX_IPhysicsController.h"
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class KX_SumoPhysicsController : public KX_IPhysicsController,
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public SumoPhysicsController
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{
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public:
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KX_SumoPhysicsController(
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class SM_Scene* sumoScene,
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DT_SceneHandle solidscene,
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class SM_Object* sumoObj,
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class PHY_IMotionState* motionstate
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,bool dyna)
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: SumoPhysicsController(sumoScene,solidscene,sumoObj,motionstate,dyna),
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KX_IPhysicsController(dyna,NULL)
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{
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};
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virtual ~KX_SumoPhysicsController();
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void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse);
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virtual void SetObject (SG_IObject* object);
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void RelativeTranslate(const MT_Vector3& dloc,bool local);
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void RelativeRotate(const MT_Matrix3x3& drot,bool local);
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void ApplyTorque(const MT_Vector3& torque,bool local);
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void ApplyForce(const MT_Vector3& force,bool local);
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MT_Vector3 GetLinearVelocity();
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MT_Vector3 GetVelocity(const MT_Point3& pos);
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void SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
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void SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
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void SuspendDynamics();
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void RestoreDynamics();
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virtual void getOrientation(MT_Quaternion& orn);
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virtual void setOrientation(const MT_Quaternion& orn);
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virtual void setPosition(const MT_Point3& pos);
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virtual void setScaling(const MT_Vector3& scaling);
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virtual MT_Scalar GetMass();
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virtual MT_Vector3 getReactionForce();
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virtual void setRigidBody(bool rigid);
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virtual SG_Controller* GetReplica(class SG_Node* destnode);
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void SetSumoTransform(bool nondynaonly);
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// todo: remove next line !
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virtual void SetSimulatedTime(double time);
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// call from scene graph to update
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virtual bool Update(double time);
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void
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SetOption(
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int option,
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int value
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){
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// intentionally empty
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};
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};
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#endif //__KX_SUMOPHYSICSCONTROLLER_H
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@ -35,6 +35,6 @@ include nan_definitions.mk
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SOURCEDIR = source/gameengine/Physics
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DIR = $(OCGDIR)/gameengine/blphys
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DIRS = common Dummy BlOde
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DIRS = common Sumo Dummy BlOde
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include nan_subdirs.mk
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@ -55,8 +55,8 @@ all debug::
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export NAN_MESA ?= /usr/src/Mesa-3.1
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export NAN_MOTO ?= $(LCGDIR)/moto
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export NAN_SOLID ?= $(SRCHOME)/sumo/SOLID-3.0
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export NAN_SUMO ?= $(SRCHOME)/sumo
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export NAN_FUZZICS ?= $(SRCHOME)/sumo/Fuzzics
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export NAN_SUMO ?= $(SRCHOME)/gameengine/Physics/Sumo
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export NAN_FUZZICS ?= $(SRCHOME)/gameengine/Physics/Sumo/Fuzzics
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export NAN_ODE ?= $(SRCHOME)/ode
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export NAN_OPENSSL ?= $(LCGDIR)/openssl
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export NAN_BLENKEY ?= $(LCGDIR)/blenkey
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