blender/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp
Kent Mein 55af35d795 I'll break this commit into two sections in the moto files
I got rid of a few warnings about blah shadows a previous declaration.

In the gameengine files I fix the following:
	removed some unused vars
	removed dos style line breaks
	added newlines to last line in a couple of files to remove warnings.

Kent
2005-03-25 16:31:05 +00:00

494 lines
11 KiB
C++

/**
* @file $Id$
*
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
#include "SumoPhysicsController.h"
#include "PHY_IMotionState.h"
#include "SM_Object.h"
#include "MT_Quaternion.h"
SumoPhysicsController::SumoPhysicsController(
class SM_Scene* sumoScene,
class SM_Object* sumoObj,
class PHY_IMotionState* motionstate,
bool dyna)
:
m_sumoObj(sumoObj) ,
m_sumoScene(sumoScene),
m_bFirstTime(true),
m_bDyna(dyna),
m_MotionState(motionstate)
{
if (m_sumoObj)
{
PHY__Vector3 pos1;
getPosition(pos1);
MT_Point3 pos(pos1);
//temp debugging check
//assert(pos.length() < 100000.f);
//need this to do the upcast after the solid/sumo collision callback
m_sumoObj->setPhysicsClientObject(this);
//if it is a dyna, register for a callback
m_sumoObj->registerCallback(*this);
}
};
SumoPhysicsController::~SumoPhysicsController()
{
if (m_sumoObj)
{
m_sumoScene->remove(*m_sumoObj);
delete m_sumoObj;
m_sumoObj = NULL;
}
}
float SumoPhysicsController::getMass()
{
if (m_sumoObj)
{
const SM_ShapeProps *shapeprops = m_sumoObj->getShapeProps();
if(shapeprops!=NULL) return shapeprops->m_mass;
}
return 0.f;
}
bool SumoPhysicsController::SynchronizeMotionStates(float)
{
if (m_bFirstTime)
{
setSumoTransform(!m_bFirstTime);
m_bFirstTime = false;
}
return false;
}
void SumoPhysicsController::GetWorldOrientation(MT_Matrix3x3& mat)
{
float orn[4];
m_MotionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
MT_Quaternion quat(orn);
mat.setRotation(quat);
}
void SumoPhysicsController::getPosition(PHY__Vector3& pos) const
{
assert(m_sumoObj);
pos[0] = m_sumoObj->getPosition()[0];
pos[1] = m_sumoObj->getPosition()[0];
pos[2] = m_sumoObj->getPosition()[0];
//m_MotionState->getWorldPosition(pos[0],pos[1],pos[2]);
}
void SumoPhysicsController::GetWorldPosition(MT_Point3& pos)
{
// assert(m_sumoObj);
// pos[0] = m_sumoObj->getPosition()[0];
// pos[1] = m_sumoObj->getPosition()[0];
// pos[2] = m_sumoObj->getPosition()[0];
float worldpos[3];
m_MotionState->getWorldPosition(worldpos[0],worldpos[1],worldpos[2]);
pos[0]=worldpos[0];
pos[1]=worldpos[1];
pos[2]=worldpos[2];
}
void SumoPhysicsController::GetWorldScaling(MT_Vector3& scale)
{
float worldscale[3];
m_MotionState->getWorldScaling(worldscale[0],worldscale[1],worldscale[2]);
scale[0]=worldscale[0];
scale[1]=worldscale[1];
scale[2]=worldscale[2];
}
// kinematic methods
void SumoPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)
{
if (m_sumoObj)
{
MT_Matrix3x3 mat;
GetWorldOrientation(mat);
MT_Vector3 dloc(dlocX,dlocY,dlocZ);
MT_Point3 newpos = m_sumoObj->getPosition();
newpos += (local ? mat * dloc : dloc);
m_sumoObj->setPosition(newpos);
}
}
void SumoPhysicsController::RelativeRotate(const float drot[12],bool local)
{
if (m_sumoObj )
{
MT_Matrix3x3 drotmat(drot);
MT_Matrix3x3 currentOrn;
GetWorldOrientation(currentOrn);
m_sumoObj->setOrientation(m_sumoObj->getOrientation()*(local ?
drotmat : (currentOrn.inverse() * drotmat * currentOrn)).getRotation());
}
}
void SumoPhysicsController::setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)
{
m_sumoObj->setOrientation(MT_Quaternion(quatImag0,quatImag1,quatImag2,quatReal));
}
void SumoPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)
{
const MT_Quaternion& q = m_sumoObj->getOrientation();
quatImag0 = q[0];
quatImag1 = q[1];
quatImag2 = q[2];
quatReal = q[3];
}
void SumoPhysicsController::setPosition(float posX,float posY,float posZ)
{
m_sumoObj->setPosition(MT_Point3(posX,posY,posZ));
}
void SumoPhysicsController::setScaling(float scaleX,float scaleY,float scaleZ)
{
if (!m_bDyna)
m_sumoObj->setScaling(MT_Vector3(scaleX,scaleY,scaleZ));
}
// physics methods
void SumoPhysicsController::ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local)
{
if (m_sumoObj)
{
MT_Vector3 torque(torqueX,torqueY,torqueZ);
MT_Matrix3x3 orn;
GetWorldOrientation(orn);
m_sumoObj->applyTorque(local ?
orn * torque :
torque);
}
}
void SumoPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bool local)
{
if (m_sumoObj)
{
MT_Vector3 force(forceX,forceY,forceZ);
MT_Matrix3x3 orn;
GetWorldOrientation(orn);
m_sumoObj->applyCenterForce(local ?
orn * force :
force);
}
}
void SumoPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)
{
if (m_sumoObj)
{
MT_Vector3 ang_vel(ang_velX,ang_velY,ang_velZ);
MT_Matrix3x3 orn;
GetWorldOrientation(orn);
m_sumoObj->setExternalAngularVelocity(local ?
orn * ang_vel :
ang_vel);
}
}
void SumoPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)
{
if (m_sumoObj )
{
MT_Matrix3x3 orn;
GetWorldOrientation(orn);
MT_Vector3 lin_vel(lin_velX,lin_velY,lin_velZ);
m_sumoObj->setExternalLinearVelocity(local ?
orn * lin_vel :
lin_vel);
}
}
void SumoPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
{
if (m_sumoObj)
m_sumoObj->resolveCombinedVelocities(MT_Vector3(linvelX,linvelY,linvelZ),MT_Vector3(angVelX,angVelY,angVelZ));
}
void SumoPhysicsController::applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)
{
if (m_sumoObj)
{
MT_Point3 attach(attachX,attachY,attachZ);
MT_Vector3 impulse(impulseX,impulseY,impulseZ);
m_sumoObj->applyImpulse(attach,impulse);
}
}
void SumoPhysicsController::SuspendDynamics()
{
m_suspendDynamics=true;
if (m_sumoObj)
{
m_sumoObj->suspendDynamics();
m_sumoObj->setLinearVelocity(MT_Vector3(0,0,0));
m_sumoObj->setAngularVelocity(MT_Vector3(0,0,0));
m_sumoObj->calcXform();
}
}
void SumoPhysicsController::RestoreDynamics()
{
m_suspendDynamics=false;
if (m_sumoObj)
{
m_sumoObj->restoreDynamics();
}
}
/**
reading out information from physics
*/
void SumoPhysicsController::GetLinearVelocity(float& linvX,float& linvY,float& linvZ)
{
if (m_sumoObj)
{
// get velocity from the physics object (m_sumoObj)
const MT_Vector3& vel = m_sumoObj->getLinearVelocity();
linvX = vel[0];
linvY = vel[1];
linvZ = vel[2];
}
else
{
linvX = 0.f;
linvY = 0.f;
linvZ = 0.f;
}
}
/**
GetVelocity parameters are in geometric coordinates (Origin is not center of mass!).
*/
void SumoPhysicsController::GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ)
{
if (m_sumoObj)
{
MT_Point3 pos(posX,posY,posZ);
// get velocity from the physics object (m_sumoObj)
const MT_Vector3& vel = m_sumoObj->getVelocity(pos);
linvX = vel[0];
linvY = vel[1];
linvZ = vel[2];
}
else
{
linvX = 0.f;
linvY = 0.f;
linvZ = 0.f;
}
}
void SumoPhysicsController::getReactionForce(float& forceX,float& forceY,float& forceZ)
{
const MT_Vector3& force = m_sumoObj->getReactionForce();
forceX = force[0];
forceY = force[1];
forceZ = force[2];
}
void SumoPhysicsController::setRigidBody(bool rigid)
{
m_sumoObj->setRigidBody(rigid);
}
void SumoPhysicsController::PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)
{
m_MotionState = motionstate;
SM_Object* dynaparent=0;
SumoPhysicsController* sumoparentctrl = (SumoPhysicsController* )parentctrl;
if (sumoparentctrl)
{
dynaparent = sumoparentctrl->GetSumoObject();
}
SM_Object* orgsumoobject = m_sumoObj;
m_sumoObj = new SM_Object(
orgsumoobject->getShapeHandle(),
orgsumoobject->getMaterialProps(),
orgsumoobject->getShapeProps(),
dynaparent);
m_sumoObj->setRigidBody(orgsumoobject->isRigidBody());
m_sumoObj->setMargin(orgsumoobject->getMargin());
m_sumoObj->setPosition(orgsumoobject->getPosition());
m_sumoObj->setOrientation(orgsumoobject->getOrientation());
//if it is a dyna, register for a callback
m_sumoObj->registerCallback(*this);
m_sumoScene->add(* (m_sumoObj));
}
void SumoPhysicsController::SetSimulatedTime(float)
{
}
void SumoPhysicsController::WriteMotionStateToDynamics(bool)
{
}
// this is the actual callback from sumo, and the position/orientation
//is written to the scenegraph, using the motionstate abstraction
void SumoPhysicsController::do_me()
{
MT_assert(m_sumoObj);
const MT_Point3& pos = m_sumoObj->getPosition();
const MT_Quaternion& orn = m_sumoObj->getOrientation();
MT_assert(m_MotionState);
m_MotionState->setWorldPosition(pos[0],pos[1],pos[2]);
m_MotionState->setWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
}
void SumoPhysicsController::setSumoTransform(bool nondynaonly)
{
if (!nondynaonly || !m_bDyna)
{
if (m_sumoObj)
{
MT_Point3 pos;
GetWorldPosition(pos);
m_sumoObj->setPosition(pos);
if (m_bDyna)
{
m_sumoObj->setScaling(MT_Vector3(1,1,1));
} else
{
MT_Vector3 scale;
GetWorldScaling(scale);
m_sumoObj->setScaling(scale);
}
MT_Matrix3x3 orn;
GetWorldOrientation(orn);
m_sumoObj->setOrientation(orn.getRotation());
m_sumoObj->calcXform();
}
}
}
// clientinfo for raycasts for example
void* SumoPhysicsController::getNewClientInfo()
{
if (m_sumoObj)
return m_sumoObj->getClientObject();
return 0;
}
void SumoPhysicsController::setNewClientInfo(void* clientinfo)
{
if (m_sumoObj)
{
SM_ClientObject* clOb = static_cast<SM_ClientObject*> (clientinfo);
m_sumoObj->setClientObject(clOb);
}
}
void SumoPhysicsController::calcXform()
{
if (m_sumoObj)
m_sumoObj->calcXform();
}
void SumoPhysicsController::SetMargin(float margin)
{
if (m_sumoObj)
m_sumoObj->setMargin(margin);
}
float SumoPhysicsController::GetMargin() const
{
if (m_sumoObj)
m_sumoObj->getMargin();
return 0.f;
}
float SumoPhysicsController::GetRadius() const
{
if (m_sumoObj && m_sumoObj->getShapeProps())
{
return m_sumoObj->getShapeProps()->m_radius;
}
return 0.f;
}