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Added resolveCombinedVelocities()

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Fixed drot actuator.  The rotation matrix was being mutilated by passing a float[9] instead of float[12].
This commit is contained in:
Kester Maddock 2004-04-08 11:34:50 +00:00
parent fc080d30d6
commit 5398f1ba77
15 changed files with 82 additions and 33 deletions
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20
source/gameengine/Ketsji/KX_GameObject.cpp
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@ -237,12 +237,10 @@ void KX_GameObject::ApplyRotation(const MT_Vector3& drot,bool local)
MT_Matrix3x3 rotmat(drot);
rotmat.transpose();
//if (m_pPhysicsController1) // (IsDynamic())
// m_pPhysicsController1->RelativeRotate(rotmat_,local);
if (m_pPhysicsController1) // (IsDynamic())
m_pPhysicsController1->RelativeRotate(rotmat,local);
// in worldspace
GetSGNode()->RelativeRotate(rotmat,local);
if (m_pPhysicsController1)
m_pPhysicsController1->setOrientation(NodeGetWorldOrientation().getRotation());
}
@ -459,6 +457,20 @@ void KX_GameObject::setAngularVelocity(const MT_Vector3& ang_vel,bool local)
m_pPhysicsController1->SetAngularVelocity(ang_vel,local);
}
void KX_GameObject::ResolveCombinedVelocities(
const MT_Vector3 & lin_vel,
const MT_Vector3 & ang_vel,
bool lin_vel_local,
bool ang_vel_local
){
if (m_pPhysicsController1)
{
m_pPhysicsController1->resolveCombinedVelocities(
lin_vel_local ? NodeGetWorldOrientation() * lin_vel : lin_vel,
ang_vel_local ? NodeGetWorldOrientation() * ang_vel : ang_vel
);
}
}
void KX_GameObject::SetObjectColor(const MT_Vector4& rgbavec)

7
source/gameengine/Ketsji/KX_GameObject.h
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@ -247,6 +247,13 @@ public:
);
void
ResolveCombinedVelocities(
const MT_Vector3 & lin_vel,
const MT_Vector3 & ang_vel,
bool lin_vel_local,
bool ang_vel_local
);
/**

2
source/gameengine/Ketsji/KX_IPhysicsController.h
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@ -68,6 +68,8 @@ public:
virtual MT_Vector3 GetVelocity(const MT_Point3& pos)=0;
virtual void SetAngularVelocity(const MT_Vector3& ang_vel,bool local)=0;
virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local)=0;
virtual void resolveCombinedVelocities(const MT_Vector3 & lin_vel, const MT_Vector3 & ang_vel) = 0;
virtual void getOrientation(MT_Quaternion& orn)=0;
virtual void setOrientation(const MT_Quaternion& orn)=0;
virtual void setPosition(const MT_Point3& pos)=0;

21
source/gameengine/Ketsji/KX_ObjectActuator.cpp
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@ -82,20 +82,13 @@ bool KX_ObjectActuator::Update(double curtime,double deltatime)
// it should reconcile the externally set velocity with it's
// own velocity.
if (m_active_combined_velocity) {
static bool update_resolve_warning = 0;
if (!update_resolve_warning) {
update_resolve_warning = 1;
std::cout << "FIXME: KX_ObjectActuator::Update ResolveCombinedVelocities undefined!" << std::endl;
}
//if (parent->GetSumoObject()) {
//parent->GetPhysicsController()->ResolveCombinedVelocities(
// m_linear_velocity,
// m_angular_velocity,
// (m_bitLocalFlag.LinearVelocity) != 0,
// (m_bitLocalFlag.AngularVelocity) != 0
//);
m_active_combined_velocity = false;
//}
parent->ResolveCombinedVelocities(
m_linear_velocity,
m_angular_velocity,
(m_bitLocalFlag.LinearVelocity) != 0,
(m_bitLocalFlag.AngularVelocity) != 0
);
m_active_combined_velocity = false;
return false;
} else {
return false;

3
source/gameengine/Ketsji/KX_OdePhysicsController.cpp
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@ -225,6 +225,9 @@ SG_Controller* KX_OdePhysicsController::GetReplica(class SG_Node* destnode)
}
void KX_OdePhysicsController::resolveCombinedVelocities(const MT_Vector3 & lin_vel, const MT_Vector3 & ang_vel )
{
}
void KX_OdePhysicsController::SetSumoTransform(bool nondynaonly)

1
source/gameengine/Ketsji/KX_OdePhysicsController.h
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@ -65,6 +65,7 @@ public:
virtual MT_Vector3 GetVelocity(const MT_Point3& pos);
virtual void SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
virtual void resolveCombinedVelocities(const MT_Vector3 & lin_vel, const MT_Vector3 & ang_vel );
virtual void getOrientation(MT_Quaternion& orn);
virtual void setOrientation(const MT_Quaternion& orn);
virtual void setPosition(const MT_Point3& pos);

17
source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
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@ -24,17 +24,17 @@ void KX_SumoPhysicsController::RelativeTranslate(const MT_Vector3& dloc,bool loc
}
void KX_SumoPhysicsController::RelativeRotate(const MT_Matrix3x3& drot,bool local)
{
double oldmat[12];
float oldmat[12];
drot.getValue(oldmat);
float newmat[9];
/* float newmat[9];
float *m = &newmat[0];
double *orgm = &oldmat[0];
*m++ = *orgm++;*m++ = *orgm++;*m++ = *orgm++;orgm++;
*m++ = *orgm++;*m++ = *orgm++;*m++ = *orgm++;orgm++;
*m++ = *orgm++;*m++ = *orgm++;*m++ = *orgm++;orgm++;
*m++ = *orgm++;*m++ = *orgm++;*m++ = *orgm++;orgm++; */
SumoPhysicsController::RelativeRotate(newmat,local);
SumoPhysicsController::RelativeRotate(oldmat,local);
}
void KX_SumoPhysicsController::SetLinearVelocity(const MT_Vector3& lin_vel,bool local)
@ -62,6 +62,15 @@ MT_Vector3 KX_SumoPhysicsController::GetLinearVelocity()
return GetVelocity(MT_Point3(0,0,0));
}
void KX_SumoPhysicsController::resolveCombinedVelocities(
const MT_Vector3 & lin_vel,
const MT_Vector3 & ang_vel
)
{
SumoPhysicsController::resolveCombinedVelocities(lin_vel, ang_vel);
}
void KX_SumoPhysicsController::ApplyTorque(const MT_Vector3& torque,bool local)
{
SumoPhysicsController::ApplyTorque(torque[0],torque[1],torque[2],local);

2
source/gameengine/Ketsji/KX_SumoPhysicsController.h
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@ -76,6 +76,8 @@ public:
MT_Vector3 GetVelocity(const MT_Point3& pos);
void SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
void SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
void resolveCombinedVelocities(const MT_Vector3 & lin_vel, const MT_Vector3 & ang_vel);
void SuspendDynamics();
void RestoreDynamics();

2
source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h
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@ -267,7 +267,7 @@ private:
actualAngVelocity(
) const ;
bool dynamicCollision(const MT_Point3 &local2,
void dynamicCollision(const MT_Point3 &local2,
const MT_Vector3 &normal,
MT_Scalar dist,
const MT_Vector3 &rel_vel,

3
source/gameengine/Physics/Sumo/Fuzzics/src/SM_Object.cpp
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@ -160,7 +160,7 @@ integrateMomentum(
}
}
bool SM_Object::dynamicCollision(const MT_Point3 &local2,
void SM_Object::dynamicCollision(const MT_Point3 &local2,
const MT_Vector3 &normal,
MT_Scalar dist,
const MT_Vector3 &rel_vel,
@ -297,7 +297,6 @@ bool SM_Object::dynamicCollision(const MT_Point3 &local2,
notifyClient();
}
return false;
}
DT_Bool SM_Object::boing(

9
source/gameengine/Physics/Sumo/Fuzzics/src/SM_Scene.cpp
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@ -303,8 +303,13 @@ DT_Bool SM_Scene::boing(
SM_Scene::~SM_Scene()
{
/* if (m_objectList.begin() != m_objectList.end())
std::cout << "SM_Scene::~SM_Scene: There are still objects in the Sumo scene!" << std::endl; */
// if (m_objectList.begin() != m_objectList.end())
// std::cout << "SM_Scene::~SM_Scene: There are still objects in the Sumo scene!" << std::endl;
for (T_ObjectList::iterator it = m_objectList.begin() ; it != m_objectList.end() ; it++)
delete *it;
DT_DestroyRespTable(m_respTable);
DT_DestroyRespTable(m_secondaryRespTable);
DT_DestroyRespTable(m_fixRespTable);
DT_DestroyScene(m_scene);
}

19
source/gameengine/Physics/Sumo/SumoPhysicsController.cpp
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@ -169,7 +169,7 @@ void SumoPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dlo
}
}
void SumoPhysicsController::RelativeRotate(const float drot[9],bool local)
void SumoPhysicsController::RelativeRotate(const float drot[12],bool local)
{
if (m_sumoObj )
@ -185,9 +185,10 @@ void SumoPhysicsController::RelativeRotate(const float drot[9],bool local)
}
void SumoPhysicsController::setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)
{
float orn [4]={quatImag0,quatImag1,quatImag2,quatReal};
MT_Quaternion quat(orn);
m_sumoObj->setOrientation(orn);
// float orn [4]={quatImag0,quatImag1,quatImag2,quatReal};
// MT_Quaternion quat;
m_sumoObj->setOrientation(MT_Quaternion(quatImag0,quatImag1,quatImag2,quatReal));
}
void SumoPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)
@ -271,6 +272,16 @@ void SumoPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,flo
}
}
void SumoPhysicsController::resolveCombinedVelocities(
const MT_Vector3 & lin_vel,
const MT_Vector3 & ang_vel
)
{
if (m_sumoObj)
m_sumoObj->resolveCombinedVelocities(lin_vel, ang_vel);
}
void SumoPhysicsController::applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)
{
if (m_sumoObj)

3
source/gameengine/Physics/Sumo/SumoPhysicsController.h
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@ -61,7 +61,7 @@ public:
// kinematic methods
virtual void RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local);
virtual void RelativeRotate(const float drot[9],bool local);
virtual void RelativeRotate(const float drot[12],bool local);
virtual void getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal);
virtual void setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal);
virtual void setPosition(float posX,float posY,float posZ);
@ -72,6 +72,7 @@ public:
virtual void ApplyForce(float forceX,float forceY,float forceZ,bool local);
virtual void SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local);
virtual void SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local);
virtual void resolveCombinedVelocities(const MT_Vector3 & lin_vel, const MT_Vector3 & ang_vel );
virtual void applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ);
virtual void SetActive(bool active){};
virtual void SuspendDynamics();

3
source/gameengine/Physics/common/PHY_IPhysicsController.h
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@ -32,6 +32,8 @@
#ifndef PHY_IPHYSICSCONTROLLER_H
#define PHY_IPHYSICSCONTROLLER_H
#include "MT_Vector3.h"
/**
PHY_IPhysicsController is the abstract simplified Interface to a physical object.
It contains the IMotionState and IDeformableMesh Interfaces.
@ -70,6 +72,7 @@ class PHY_IPhysicsController
virtual void ApplyForce(float forceX,float forceY,float forceZ,bool local)=0;
virtual void SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)=0;
virtual void SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)=0;
virtual void resolveCombinedVelocities(const MT_Vector3 & lin_vel, const MT_Vector3 & ang_vel ) = 0;
virtual void applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)=0;
virtual void SetActive(bool active)=0;

3
source/gameengine/Physics/common/SConscript
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@ -8,7 +8,8 @@ source_files = ['PHY_IMotionState.cpp',
'PHY_IPhysicsEnvironment.cpp']
phy_physics_env.Append (CPPPATH = ['.',
'../Dummy'
'../Dummy',
'#intern/moto/include'
])
phy_physics_env.Library (target='#'+user_options_dict['BUILD_DIR']+'/lib/PHY_Physics', source=source_files)