forked from bartvdbraak/blender
1183 lines
28 KiB
C++
1183 lines
28 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 <algorithm>
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
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//profiling/timings
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#include "LinearMath/btQuickprof.h"
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#include "PHY_IMotionState.h"
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bool useIslands = true;
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#ifdef NEW_BULLET_VEHICLE_SUPPORT
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#include "BulletDynamics/Vehicle/btRaycastVehicle.h"
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#include "BulletDynamics/Vehicle/btVehicleRaycaster.h"
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#include "BulletDynamics/Vehicle/btWheelInfo.h"
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#include "PHY_IVehicle.h"
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btRaycastVehicle::btVehicleTuning gTuning;
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#endif //NEW_BULLET_VEHICLE_SUPPORT
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#include "LinearMath/btAabbUtil2.h"
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#ifdef WIN32
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void DrawRasterizerLine(const float* from,const float* to,int color);
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#endif
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#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
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#include <stdio.h>
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#ifdef NEW_BULLET_VEHICLE_SUPPORT
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class WrapperVehicle : public PHY_IVehicle
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{
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btRaycastVehicle* m_vehicle;
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PHY_IPhysicsController* m_chassis;
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public:
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WrapperVehicle(btRaycastVehicle* vehicle,PHY_IPhysicsController* chassis)
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:m_vehicle(vehicle),
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m_chassis(chassis)
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{
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}
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btRaycastVehicle* GetVehicle()
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{
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return m_vehicle;
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}
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PHY_IPhysicsController* GetChassis()
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{
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return m_chassis;
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}
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virtual void AddWheel(
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PHY_IMotionState* motionState,
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PHY__Vector3 connectionPoint,
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PHY__Vector3 downDirection,
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PHY__Vector3 axleDirection,
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float suspensionRestLength,
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float wheelRadius,
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bool hasSteering
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)
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{
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btVector3 connectionPointCS0(connectionPoint[0],connectionPoint[1],connectionPoint[2]);
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btVector3 wheelDirectionCS0(downDirection[0],downDirection[1],downDirection[2]);
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btVector3 wheelAxle(axleDirection[0],axleDirection[1],axleDirection[2]);
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btWheelInfo& info = m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxle,
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suspensionRestLength,wheelRadius,gTuning,hasSteering);
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info.m_clientInfo = motionState;
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}
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void SyncWheels()
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{
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int numWheels = GetNumWheels();
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int i;
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for (i=0;i<numWheels;i++)
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{
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btWheelInfo& info = m_vehicle->getWheelInfo(i);
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PHY_IMotionState* motionState = (PHY_IMotionState*)info.m_clientInfo ;
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m_vehicle->updateWheelTransform(i);
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btTransform trans = m_vehicle->getWheelTransformWS(i);
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btQuaternion orn = trans.getRotation();
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const btVector3& pos = trans.getOrigin();
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motionState->setWorldOrientation(orn.x(),orn.y(),orn.z(),orn[3]);
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motionState->setWorldPosition(pos.x(),pos.y(),pos.z());
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}
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}
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virtual int GetNumWheels() const
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{
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return m_vehicle->getNumWheels();
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}
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virtual void GetWheelPosition(int wheelIndex,float& posX,float& posY,float& posZ) const
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{
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btTransform trans = m_vehicle->getWheelTransformWS(wheelIndex);
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posX = trans.getOrigin().x();
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posY = trans.getOrigin().y();
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posZ = trans.getOrigin().z();
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}
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virtual void GetWheelOrientationQuaternion(int wheelIndex,float& quatX,float& quatY,float& quatZ,float& quatW) const
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{
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btTransform trans = m_vehicle->getWheelTransformWS(wheelIndex);
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btQuaternion quat = trans.getRotation();
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btMatrix3x3 orn2(quat);
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quatX = trans.getRotation().x();
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quatY = trans.getRotation().y();
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quatZ = trans.getRotation().z();
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quatW = trans.getRotation()[3];
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//printf("test");
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}
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virtual float GetWheelRotation(int wheelIndex) const
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{
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float rotation = 0.f;
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if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
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{
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btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
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rotation = info.m_rotation;
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}
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return rotation;
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}
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virtual int GetUserConstraintId() const
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{
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return m_vehicle->getUserConstraintId();
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}
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virtual int GetUserConstraintType() const
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{
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return m_vehicle->getUserConstraintType();
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}
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virtual void SetSteeringValue(float steering,int wheelIndex)
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{
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m_vehicle->setSteeringValue(steering,wheelIndex);
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}
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virtual void ApplyEngineForce(float force,int wheelIndex)
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{
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m_vehicle->applyEngineForce(force,wheelIndex);
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}
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virtual void ApplyBraking(float braking,int wheelIndex)
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{
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if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
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{
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btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
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info.m_brake = braking;
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}
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}
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virtual void SetWheelFriction(float friction,int wheelIndex)
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{
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if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
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{
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btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
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info.m_frictionSlip = friction;
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}
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}
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virtual void SetSuspensionStiffness(float suspensionStiffness,int wheelIndex)
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{
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if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
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{
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btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
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info.m_suspensionStiffness = suspensionStiffness;
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}
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}
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virtual void SetSuspensionDamping(float suspensionDamping,int wheelIndex)
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{
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if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
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{
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btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
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info.m_wheelsDampingRelaxation = suspensionDamping;
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}
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}
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virtual void SetSuspensionCompression(float suspensionCompression,int wheelIndex)
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{
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if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
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{
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btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
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info.m_wheelsDampingCompression = suspensionCompression;
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}
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}
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virtual void SetRollInfluence(float rollInfluence,int wheelIndex)
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{
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if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
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{
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btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
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info.m_rollInfluence = rollInfluence;
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}
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}
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virtual void SetCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
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{
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m_vehicle->setCoordinateSystem(rightIndex,upIndex,forwardIndex);
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}
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};
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#endif //NEW_BULLET_VEHICLE_SUPPORT
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void CcdPhysicsEnvironment::setDebugDrawer(btIDebugDraw* debugDrawer)
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{
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if (debugDrawer && m_dynamicsWorld)
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m_dynamicsWorld->setDebugDrawer(debugDrawer);
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m_debugDrawer = debugDrawer;
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}
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static void DrawAabb(btIDebugDraw* debugDrawer,const btVector3& from,const btVector3& to,const btVector3& color)
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{
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btVector3 halfExtents = (to-from)* 0.5f;
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btVector3 center = (to+from) *0.5f;
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int i,j;
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btVector3 edgecoord(1.f,1.f,1.f),pa,pb;
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for (i=0;i<4;i++)
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{
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for (j=0;j<3;j++)
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{
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pa = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],
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edgecoord[2]*halfExtents[2]);
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pa+=center;
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int othercoord = j%3;
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edgecoord[othercoord]*=-1.f;
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pb = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],
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edgecoord[2]*halfExtents[2]);
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pb+=center;
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debugDrawer->drawLine(pa,pb,color);
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}
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edgecoord = btVector3(-1.f,-1.f,-1.f);
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if (i<3)
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edgecoord[i]*=-1.f;
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}
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}
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CcdPhysicsEnvironment::CcdPhysicsEnvironment(btDispatcher* dispatcher,btOverlappingPairCache* pairCache)
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:m_scalingPropagated(false),
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m_numIterations(10),
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m_numTimeSubSteps(1),
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m_ccdMode(0),
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m_solverType(-1),
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m_profileTimings(0),
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m_enableSatCollisionDetection(false)
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{
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for (int i=0;i<PHY_NUM_RESPONSE;i++)
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{
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m_triggerCallbacks[i] = 0;
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}
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if (!dispatcher)
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dispatcher = new btCollisionDispatcher();
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if(!pairCache)
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{
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//todo: calculate/let user specify this world sizes
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btVector3 worldMin(-10000,-10000,-10000);
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btVector3 worldMax(10000,10000,10000);
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pairCache = new btAxisSweep3(worldMin,worldMax);
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//broadphase = new btSimpleBroadphase();
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}
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setSolverType(1);//issues with quickstep and memory allocations
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m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,new btSequentialImpulseConstraintSolver2());
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m_debugDrawer = 0;
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m_gravity = btVector3(0.f,-10.f,0.f);
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m_dynamicsWorld->setGravity(m_gravity);
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}
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void CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
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{
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btRigidBody* body = ctrl->GetRigidBody();
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//this m_userPointer is just used for triggers, see CallbackTriggers
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body->setUserPointer(ctrl);
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body->setGravity( m_gravity );
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m_controllers.push_back(ctrl);
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m_dynamicsWorld->addRigidBody(body);
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if (body->isStaticOrKinematicObject())
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{
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body->setActivationState(ISLAND_SLEEPING);
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}
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//CollisionObject(body,ctrl->GetCollisionFilterGroup(),ctrl->GetCollisionFilterMask());
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assert(body->getBroadphaseHandle());
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btBroadphaseInterface* scene = getBroadphase();
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btCollisionShape* shapeinterface = ctrl->GetCollisionShape();
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assert(shapeinterface);
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const btTransform& t = ctrl->GetRigidBody()->getCenterOfMassTransform();
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btPoint3 minAabb,maxAabb;
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shapeinterface->getAabb(t,minAabb,maxAabb);
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float timeStep = 0.02f;
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//extent it with the motion
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btVector3 linMotion = body->getLinearVelocity()*timeStep;
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float maxAabbx = maxAabb.getX();
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float maxAabby = maxAabb.getY();
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float maxAabbz = maxAabb.getZ();
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float minAabbx = minAabb.getX();
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float minAabby = minAabb.getY();
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float minAabbz = minAabb.getZ();
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if (linMotion.x() > 0.f)
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maxAabbx += linMotion.x();
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else
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minAabbx += linMotion.x();
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if (linMotion.y() > 0.f)
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maxAabby += linMotion.y();
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else
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minAabby += linMotion.y();
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if (linMotion.z() > 0.f)
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maxAabbz += linMotion.z();
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else
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minAabbz += linMotion.z();
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minAabb = btVector3(minAabbx,minAabby,minAabbz);
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maxAabb = btVector3(maxAabbx,maxAabby,maxAabbz);
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}
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void CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctrl)
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{
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//also remove constraint
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m_dynamicsWorld->removeRigidBody(ctrl->GetRigidBody());
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{
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std::vector<CcdPhysicsController*>::iterator i =
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std::find(m_controllers.begin(), m_controllers.end(), ctrl);
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if (!(i == m_controllers.end()))
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{
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std::swap(*i, m_controllers.back());
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m_controllers.pop_back();
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}
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}
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//remove it from the triggers
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{
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std::vector<CcdPhysicsController*>::iterator i =
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std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl);
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if (!(i == m_triggerControllers.end()))
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{
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std::swap(*i, m_triggerControllers.back());
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m_triggerControllers.pop_back();
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}
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}
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}
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void CcdPhysicsEnvironment::beginFrame()
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{
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}
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bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
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{
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int i,numCtrl = GetNumControllers();
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for (i=0;i<numCtrl;i++)
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{
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CcdPhysicsController* ctrl = GetPhysicsController(i);
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ctrl->SynchronizeMotionStates(timeStep);
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}
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m_dynamicsWorld->stepSimulation(timeStep,5);//5);
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numCtrl = GetNumControllers();
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for (i=0;i<numCtrl;i++)
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{
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CcdPhysicsController* ctrl = GetPhysicsController(i);
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ctrl->SynchronizeMotionStates(timeStep);
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}
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for (i=0;i<m_wrapperVehicles.size();i++)
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{
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WrapperVehicle* veh = m_wrapperVehicles[i];
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veh->SyncWheels();
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}
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return true;
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}
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void CcdPhysicsEnvironment::setDebugMode(int debugMode)
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{
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if (m_debugDrawer){
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m_debugDrawer->setDebugMode(debugMode);
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}
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}
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void CcdPhysicsEnvironment::setNumIterations(int numIter)
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{
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m_numIterations = numIter;
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}
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void CcdPhysicsEnvironment::setDeactivationTime(float dTime)
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{
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gDeactivationTime = dTime;
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}
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void CcdPhysicsEnvironment::setDeactivationLinearTreshold(float linTresh)
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{
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gLinearSleepingTreshold = linTresh;
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}
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void CcdPhysicsEnvironment::setDeactivationAngularTreshold(float angTresh)
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{
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gAngularSleepingTreshold = angTresh;
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}
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void CcdPhysicsEnvironment::setContactBreakingTreshold(float contactBreakingTreshold)
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{
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gContactBreakingThreshold = contactBreakingTreshold;
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}
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void CcdPhysicsEnvironment::setCcdMode(int ccdMode)
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{
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m_ccdMode = ccdMode;
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}
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void CcdPhysicsEnvironment::setSolverSorConstant(float sor)
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{
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m_solverInfo.m_sor = sor;
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}
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void CcdPhysicsEnvironment::setSolverTau(float tau)
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{
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m_solverInfo.m_tau = tau;
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}
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void CcdPhysicsEnvironment::setSolverDamping(float damping)
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{
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m_solverInfo.m_damping = damping;
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}
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void CcdPhysicsEnvironment::setLinearAirDamping(float damping)
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{
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gLinearAirDamping = damping;
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}
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void CcdPhysicsEnvironment::setUseEpa(bool epa)
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{
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gUseEpa = epa;
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}
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void CcdPhysicsEnvironment::setSolverType(int solverType)
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{
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switch (solverType)
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{
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case 1:
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{
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if (m_solverType != solverType)
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{
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m_solver = new btSequentialImpulseConstraintSolver();
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break;
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}
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}
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case 0:
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default:
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if (m_solverType != solverType)
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{
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// m_solver = new OdeConstraintSolver();
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break;
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}
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};
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m_solverType = solverType ;
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}
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void CcdPhysicsEnvironment::setGravity(float x,float y,float z)
|
|
{
|
|
m_gravity = btVector3(x,y,z);
|
|
m_dynamicsWorld->setGravity(m_gravity);
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
static int gConstraintUid = 1;
|
|
|
|
//Following the COLLADA physics specification for constraints
|
|
int CcdPhysicsEnvironment::createUniversalD6Constraint(
|
|
class PHY_IPhysicsController* ctrlRef,class PHY_IPhysicsController* ctrlOther,
|
|
btTransform& frameInA,
|
|
btTransform& frameInB,
|
|
const btVector3& linearMinLimits,
|
|
const btVector3& linearMaxLimits,
|
|
const btVector3& angularMinLimits,
|
|
const btVector3& angularMaxLimits
|
|
)
|
|
{
|
|
|
|
//we could either add some logic to recognize ball-socket and hinge, or let that up to the user
|
|
//perhaps some warning or hint that hinge/ball-socket is more efficient?
|
|
|
|
btGeneric6DofConstraint* genericConstraint = 0;
|
|
CcdPhysicsController* ctrl0 = (CcdPhysicsController*) ctrlRef;
|
|
CcdPhysicsController* ctrl1 = (CcdPhysicsController*) ctrlOther;
|
|
|
|
btRigidBody* rb0 = ctrl0->GetRigidBody();
|
|
btRigidBody* rb1 = ctrl1->GetRigidBody();
|
|
|
|
if (rb1)
|
|
{
|
|
|
|
|
|
genericConstraint = new btGeneric6DofConstraint(
|
|
*rb0,*rb1,
|
|
frameInA,frameInB);
|
|
genericConstraint->setLinearLowerLimit(linearMinLimits);
|
|
genericConstraint->setLinearUpperLimit(linearMaxLimits);
|
|
genericConstraint->setAngularLowerLimit(angularMinLimits);
|
|
genericConstraint->setAngularUpperLimit(angularMaxLimits);
|
|
} else
|
|
{
|
|
// TODO: Implement single body case...
|
|
//No, we can use a fixed rigidbody in above code, rather then unnecessary duplation of code
|
|
|
|
}
|
|
|
|
if (genericConstraint)
|
|
{
|
|
// m_constraints.push_back(genericConstraint);
|
|
m_dynamicsWorld->addConstraint(genericConstraint);
|
|
|
|
genericConstraint->setUserConstraintId(gConstraintUid++);
|
|
genericConstraint->setUserConstraintType(PHY_GENERIC_6DOF_CONSTRAINT);
|
|
//64 bit systems can't cast pointer to int. could use size_t instead.
|
|
return genericConstraint->getUserConstraintId();
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
|
|
|
|
void CcdPhysicsEnvironment::removeConstraint(int constraintId)
|
|
{
|
|
|
|
int i;
|
|
int numConstraints = m_dynamicsWorld->getNumConstraints();
|
|
for (i=0;i<numConstraints;i++)
|
|
{
|
|
btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
|
|
if (constraint->getUserConstraintId() == constraintId)
|
|
{
|
|
m_dynamicsWorld->removeConstraint(constraint);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
struct FilterClosestRayResultCallback : public btCollisionWorld::ClosestRayResultCallback
|
|
{
|
|
PHY_IPhysicsController* m_ignoreClient;
|
|
|
|
FilterClosestRayResultCallback (PHY_IPhysicsController* ignoreClient,const btVector3& rayFrom,const btVector3& rayTo)
|
|
: btCollisionWorld::ClosestRayResultCallback(rayFrom,rayTo),
|
|
m_ignoreClient(ignoreClient)
|
|
{
|
|
|
|
}
|
|
|
|
virtual ~FilterClosestRayResultCallback()
|
|
{
|
|
}
|
|
|
|
virtual float AddSingleResult( btCollisionWorld::LocalRayResult& rayResult)
|
|
{
|
|
CcdPhysicsController* curHit = static_cast<CcdPhysicsController*>(rayResult.m_collisionObject->getUserPointer());
|
|
//ignore client...
|
|
if (curHit != m_ignoreClient)
|
|
{
|
|
//if valid
|
|
return ClosestRayResultCallback::AddSingleResult(rayResult);
|
|
}
|
|
return m_closestHitFraction;
|
|
}
|
|
|
|
};
|
|
|
|
PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ,
|
|
float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)
|
|
{
|
|
|
|
|
|
float minFraction = 1.f;
|
|
|
|
btVector3 rayFrom(fromX,fromY,fromZ);
|
|
btVector3 rayTo(toX,toY,toZ);
|
|
|
|
btVector3 hitPointWorld,normalWorld;
|
|
|
|
//Either Ray Cast with or without filtering
|
|
|
|
//btCollisionWorld::ClosestRayResultCallback rayCallback(rayFrom,rayTo);
|
|
FilterClosestRayResultCallback rayCallback(ignoreClient,rayFrom,rayTo);
|
|
|
|
|
|
PHY_IPhysicsController* nearestHit = 0;
|
|
|
|
m_dynamicsWorld->rayTest(rayFrom,rayTo,rayCallback);
|
|
if (rayCallback.HasHit())
|
|
{
|
|
nearestHit = static_cast<CcdPhysicsController*>(rayCallback.m_collisionObject->getUserPointer());
|
|
hitX = rayCallback.m_hitPointWorld.getX();
|
|
hitY = rayCallback.m_hitPointWorld.getY();
|
|
hitZ = rayCallback.m_hitPointWorld.getZ();
|
|
|
|
normalX = rayCallback.m_hitNormalWorld.getX();
|
|
normalY = rayCallback.m_hitNormalWorld.getY();
|
|
normalZ = rayCallback.m_hitNormalWorld.getZ();
|
|
|
|
}
|
|
|
|
|
|
return nearestHit;
|
|
}
|
|
|
|
|
|
|
|
int CcdPhysicsEnvironment::getNumContactPoints()
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
void CcdPhysicsEnvironment::getContactPoint(int i,float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)
|
|
{
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
btBroadphaseInterface* CcdPhysicsEnvironment::getBroadphase()
|
|
{
|
|
return m_dynamicsWorld->getBroadphase();
|
|
}
|
|
|
|
|
|
|
|
|
|
CcdPhysicsEnvironment::~CcdPhysicsEnvironment()
|
|
{
|
|
|
|
#ifdef NEW_BULLET_VEHICLE_SUPPORT
|
|
m_wrapperVehicles.clear();
|
|
#endif //NEW_BULLET_VEHICLE_SUPPORT
|
|
|
|
//m_broadphase->DestroyScene();
|
|
//delete broadphase ? release reference on broadphase ?
|
|
|
|
//first delete scene, then dispatcher, because pairs have to release manifolds on the dispatcher
|
|
//delete m_dispatcher;
|
|
delete m_dynamicsWorld;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
int CcdPhysicsEnvironment::GetNumControllers()
|
|
{
|
|
return m_controllers.size();
|
|
}
|
|
|
|
|
|
CcdPhysicsController* CcdPhysicsEnvironment::GetPhysicsController( int index)
|
|
{
|
|
return m_controllers[index];
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
btTypedConstraint* CcdPhysicsEnvironment::getConstraintById(int constraintId)
|
|
{
|
|
return 0;
|
|
/*
|
|
int numConstraint = m_constraints.size();
|
|
int i;
|
|
for (i=0;i<numConstraint;i++)
|
|
{
|
|
btTypedConstraint* constraint = m_constraints[i];
|
|
if (constraint->getUserConstraintId()==constraintId)
|
|
{
|
|
return constraint;
|
|
}
|
|
}
|
|
*/
|
|
|
|
return 0;
|
|
}
|
|
|
|
|
|
void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
|
|
{
|
|
|
|
CcdPhysicsController* ctrl1 = (CcdPhysicsController* )ctrl;
|
|
std::vector<CcdPhysicsController*>::iterator i =
|
|
std::find(m_controllers.begin(), m_controllers.end(), ctrl);
|
|
if ((i == m_controllers.end()))
|
|
{
|
|
addCcdPhysicsController(ctrl1);
|
|
}
|
|
|
|
requestCollisionCallback(ctrl);
|
|
//printf("addSensor\n");
|
|
}
|
|
|
|
void CcdPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl)
|
|
{
|
|
std::vector<CcdPhysicsController*>::iterator i =
|
|
std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl);
|
|
if (!(i == m_triggerControllers.end()))
|
|
{
|
|
std::swap(*i, m_triggerControllers.back());
|
|
m_triggerControllers.pop_back();
|
|
}
|
|
}
|
|
|
|
|
|
void CcdPhysicsEnvironment::removeSensor(PHY_IPhysicsController* ctrl)
|
|
{
|
|
removeCollisionCallback(ctrl);
|
|
//printf("removeSensor\n");
|
|
}
|
|
void CcdPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)
|
|
{
|
|
/* printf("addTouchCallback\n(response class = %i)\n",response_class);
|
|
|
|
//map PHY_ convention into SM_ convention
|
|
switch (response_class)
|
|
{
|
|
case PHY_FH_RESPONSE:
|
|
printf("PHY_FH_RESPONSE\n");
|
|
break;
|
|
case PHY_SENSOR_RESPONSE:
|
|
printf("PHY_SENSOR_RESPONSE\n");
|
|
break;
|
|
case PHY_CAMERA_RESPONSE:
|
|
printf("PHY_CAMERA_RESPONSE\n");
|
|
break;
|
|
case PHY_OBJECT_RESPONSE:
|
|
printf("PHY_OBJECT_RESPONSE\n");
|
|
break;
|
|
case PHY_STATIC_RESPONSE:
|
|
printf("PHY_STATIC_RESPONSE\n");
|
|
break;
|
|
default:
|
|
assert(0);
|
|
return;
|
|
}
|
|
*/
|
|
|
|
m_triggerCallbacks[response_class] = callback;
|
|
m_triggerCallbacksUserPtrs[response_class] = user;
|
|
|
|
}
|
|
void CcdPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctrl)
|
|
{
|
|
CcdPhysicsController* ccdCtrl = static_cast<CcdPhysicsController*>(ctrl);
|
|
|
|
//printf("requestCollisionCallback\n");
|
|
m_triggerControllers.push_back(ccdCtrl);
|
|
}
|
|
|
|
|
|
void CcdPhysicsEnvironment::CallbackTriggers()
|
|
{
|
|
|
|
CcdPhysicsController* ctrl0=0,*ctrl1=0;
|
|
|
|
if (m_triggerCallbacks[PHY_OBJECT_RESPONSE] || (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)))
|
|
{
|
|
//walk over all overlapping pairs, and if one of the involved bodies is registered for trigger callback, perform callback
|
|
int numManifolds = m_dynamicsWorld->getDispatcher()->getNumManifolds();
|
|
for (int i=0;i<numManifolds;i++)
|
|
{
|
|
btPersistentManifold* manifold = m_dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
|
|
int numContacts = manifold->getNumContacts();
|
|
if (numContacts)
|
|
{
|
|
if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints))
|
|
{
|
|
for (int j=0;j<numContacts;j++)
|
|
{
|
|
btVector3 color(1,0,0);
|
|
const btManifoldPoint& cp = manifold->getContactPoint(j);
|
|
if (m_debugDrawer)
|
|
m_debugDrawer->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color);
|
|
}
|
|
}
|
|
btRigidBody* obj0 = static_cast<btRigidBody* >(manifold->getBody0());
|
|
btRigidBody* obj1 = static_cast<btRigidBody* >(manifold->getBody1());
|
|
|
|
//m_internalOwner is set in 'addPhysicsController'
|
|
CcdPhysicsController* ctrl0 = static_cast<CcdPhysicsController*>(obj0->getUserPointer());
|
|
CcdPhysicsController* ctrl1 = static_cast<CcdPhysicsController*>(obj1->getUserPointer());
|
|
|
|
std::vector<CcdPhysicsController*>::iterator i =
|
|
std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl0);
|
|
if (i == m_triggerControllers.end())
|
|
{
|
|
i = std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl1);
|
|
}
|
|
|
|
if (!(i == m_triggerControllers.end()))
|
|
{
|
|
m_triggerCallbacks[PHY_OBJECT_RESPONSE](m_triggerCallbacksUserPtrs[PHY_OBJECT_RESPONSE],
|
|
ctrl0,ctrl1,0);
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#ifdef NEW_BULLET_VEHICLE_SUPPORT
|
|
|
|
//complex constraint for vehicles
|
|
PHY_IVehicle* CcdPhysicsEnvironment::getVehicleConstraint(int constraintId)
|
|
{
|
|
int i;
|
|
|
|
int numVehicles = m_wrapperVehicles.size();
|
|
for (i=0;i<numVehicles;i++)
|
|
{
|
|
WrapperVehicle* wrapperVehicle = m_wrapperVehicles[i];
|
|
if (wrapperVehicle->GetVehicle()->getUserConstraintId() == constraintId)
|
|
return wrapperVehicle;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
#endif //NEW_BULLET_VEHICLE_SUPPORT
|
|
|
|
|
|
int currentController = 0;
|
|
int numController = 0;
|
|
|
|
|
|
|
|
|
|
PHY_IPhysicsController* CcdPhysicsEnvironment::CreateSphereController(float radius,const PHY__Vector3& position)
|
|
{
|
|
|
|
CcdConstructionInfo cinfo;
|
|
cinfo.m_collisionShape = new btSphereShape(radius);
|
|
cinfo.m_MotionState = 0;
|
|
cinfo.m_physicsEnv = this;
|
|
cinfo.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE;
|
|
DefaultMotionState* motionState = new DefaultMotionState();
|
|
cinfo.m_MotionState = motionState;
|
|
motionState->m_worldTransform.setIdentity();
|
|
motionState->m_worldTransform.setOrigin(btVector3(position[0],position[1],position[2]));
|
|
|
|
CcdPhysicsController* sphereController = new CcdPhysicsController(cinfo);
|
|
|
|
|
|
return sphereController;
|
|
}
|
|
|
|
int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl0,class PHY_IPhysicsController* ctrl1,PHY_ConstraintType type,
|
|
float pivotX,float pivotY,float pivotZ,
|
|
float axisX,float axisY,float axisZ)
|
|
{
|
|
|
|
|
|
CcdPhysicsController* c0 = (CcdPhysicsController*)ctrl0;
|
|
CcdPhysicsController* c1 = (CcdPhysicsController*)ctrl1;
|
|
|
|
btRigidBody* rb0 = c0 ? c0->GetRigidBody() : 0;
|
|
btRigidBody* rb1 = c1 ? c1->GetRigidBody() : 0;
|
|
|
|
bool rb0static = rb0 ? rb0->isStaticOrKinematicObject() : true;
|
|
bool rb1static = rb1 ? rb1->isStaticOrKinematicObject() : true;
|
|
|
|
|
|
if (rb0static && rb1static)
|
|
return 0;
|
|
|
|
|
|
ASSERT(rb0);
|
|
|
|
btVector3 pivotInA(pivotX,pivotY,pivotZ);
|
|
btVector3 pivotInB = rb1 ? rb1->getCenterOfMassTransform().inverse()(rb0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
|
|
btVector3 axisInA(axisX,axisY,axisZ);
|
|
btVector3 axisInB = rb1 ?
|
|
(rb1->getCenterOfMassTransform().getBasis().inverse()*(rb0->getCenterOfMassTransform().getBasis() * axisInA)) :
|
|
rb0->getCenterOfMassTransform().getBasis() * axisInA;
|
|
|
|
bool angularOnly = false;
|
|
|
|
switch (type)
|
|
{
|
|
case PHY_POINT2POINT_CONSTRAINT:
|
|
{
|
|
|
|
btPoint2PointConstraint* p2p = 0;
|
|
|
|
if (rb1)
|
|
{
|
|
p2p = new btPoint2PointConstraint(*rb0,
|
|
*rb1,pivotInA,pivotInB);
|
|
} else
|
|
{
|
|
p2p = new btPoint2PointConstraint(*rb0,
|
|
pivotInA);
|
|
}
|
|
|
|
m_dynamicsWorld->addConstraint(p2p);
|
|
// m_constraints.push_back(p2p);
|
|
|
|
p2p->setUserConstraintId(gConstraintUid++);
|
|
p2p->setUserConstraintType(type);
|
|
//64 bit systems can't cast pointer to int. could use size_t instead.
|
|
return p2p->getUserConstraintId();
|
|
|
|
break;
|
|
}
|
|
|
|
case PHY_GENERIC_6DOF_CONSTRAINT:
|
|
{
|
|
btGeneric6DofConstraint* genericConstraint = 0;
|
|
|
|
if (rb1)
|
|
{
|
|
btTransform frameInA;
|
|
btTransform frameInB;
|
|
|
|
btVector3 axis1, axis2;
|
|
btPlaneSpace1( axisInA, axis1, axis2 );
|
|
|
|
frameInA.getBasis().setValue( axisInA.x(), axis1.x(), axis2.x(),
|
|
axisInA.y(), axis1.y(), axis2.y(),
|
|
axisInA.z(), axis1.z(), axis2.z() );
|
|
|
|
|
|
btPlaneSpace1( axisInB, axis1, axis2 );
|
|
frameInB.getBasis().setValue( axisInB.x(), axis1.x(), axis2.x(),
|
|
axisInB.y(), axis1.y(), axis2.y(),
|
|
axisInB.z(), axis1.z(), axis2.z() );
|
|
|
|
frameInA.setOrigin( pivotInA );
|
|
frameInB.setOrigin( pivotInB );
|
|
|
|
genericConstraint = new btGeneric6DofConstraint(
|
|
*rb0,*rb1,
|
|
frameInA,frameInB);
|
|
|
|
|
|
} else
|
|
{
|
|
// TODO: Implement single body case...
|
|
|
|
}
|
|
|
|
|
|
//m_constraints.push_back(genericConstraint);
|
|
m_dynamicsWorld->addConstraint(genericConstraint);
|
|
genericConstraint->setUserConstraintId(gConstraintUid++);
|
|
genericConstraint->setUserConstraintType(type);
|
|
//64 bit systems can't cast pointer to int. could use size_t instead.
|
|
return genericConstraint->getUserConstraintId();
|
|
|
|
break;
|
|
}
|
|
case PHY_ANGULAR_CONSTRAINT:
|
|
angularOnly = true;
|
|
|
|
|
|
case PHY_LINEHINGE_CONSTRAINT:
|
|
{
|
|
btHingeConstraint* hinge = 0;
|
|
|
|
if (rb1)
|
|
{
|
|
hinge = new btHingeConstraint(
|
|
*rb0,
|
|
*rb1,pivotInA,pivotInB,axisInA,axisInB);
|
|
|
|
|
|
} else
|
|
{
|
|
hinge = new btHingeConstraint(*rb0,
|
|
pivotInA,axisInA);
|
|
|
|
}
|
|
hinge->setAngularOnly(angularOnly);
|
|
|
|
//m_constraints.push_back(hinge);
|
|
m_dynamicsWorld->addConstraint(hinge);
|
|
hinge->setUserConstraintId(gConstraintUid++);
|
|
hinge->setUserConstraintType(type);
|
|
//64 bit systems can't cast pointer to int. could use size_t instead.
|
|
return hinge->getUserConstraintId();
|
|
break;
|
|
}
|
|
#ifdef NEW_BULLET_VEHICLE_SUPPORT
|
|
|
|
case PHY_VEHICLE_CONSTRAINT:
|
|
{
|
|
btRaycastVehicle::btVehicleTuning* tuning = new btRaycastVehicle::btVehicleTuning();
|
|
btRigidBody* chassis = rb0;
|
|
btDefaultVehicleRaycaster* raycaster = new btDefaultVehicleRaycaster(m_dynamicsWorld);
|
|
btRaycastVehicle* vehicle = new btRaycastVehicle(*tuning,chassis,raycaster);
|
|
WrapperVehicle* wrapperVehicle = new WrapperVehicle(vehicle,ctrl0);
|
|
m_wrapperVehicles.push_back(wrapperVehicle);
|
|
m_dynamicsWorld->addVehicle(vehicle);
|
|
vehicle->setUserConstraintId(gConstraintUid++);
|
|
vehicle->setUserConstraintType(type);
|
|
return vehicle->getUserConstraintId();
|
|
|
|
break;
|
|
};
|
|
#endif //NEW_BULLET_VEHICLE_SUPPORT
|
|
|
|
default:
|
|
{
|
|
}
|
|
};
|
|
|
|
//btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB
|
|
|
|
return 0;
|
|
|
|
}
|
|
|
|
|
|
|
|
PHY_IPhysicsController* CcdPhysicsEnvironment::CreateConeController(float coneradius,float coneheight)
|
|
{
|
|
CcdConstructionInfo cinfo;
|
|
cinfo.m_collisionShape = new btConeShape(coneradius,coneheight);
|
|
cinfo.m_MotionState = 0;
|
|
cinfo.m_physicsEnv = this;
|
|
DefaultMotionState* motionState = new DefaultMotionState();
|
|
cinfo.m_MotionState = motionState;
|
|
motionState->m_worldTransform.setIdentity();
|
|
// motionState->m_worldTransform.setOrigin(btVector3(position[0],position[1],position[2]));
|
|
|
|
CcdPhysicsController* sphereController = new CcdPhysicsController(cinfo);
|
|
|
|
|
|
return sphereController;
|
|
}
|
|
|
|
float CcdPhysicsEnvironment::getAppliedImpulse(int constraintid)
|
|
{
|
|
int i;
|
|
int numConstraints = m_dynamicsWorld->getNumConstraints();
|
|
for (i=0;i<numConstraints;i++)
|
|
{
|
|
btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
|
|
if (constraint->getUserConstraintId() == constraintid)
|
|
{
|
|
return constraint->getAppliedImpulse();
|
|
}
|
|
}
|
|
|
|
return 0.f;
|
|
}
|