From 58cc753aec941ae206474e415779fa28c96fc6b3 Mon Sep 17 00:00:00 2001
From: Jasper <Jaspermanousek@hotmail.com>
Date: Fri, 14 Nov 2014 14:17:04 +0100
Subject: [PATCH] terrain added

---
 physics.cc | 92 ++++++++++++++++++++++++++++++++++++++++++++++++++++++
 physics.hh | 37 ++++++++++++++++++++++
 2 files changed, 129 insertions(+)
 create mode 100644 physics.cc

diff --git a/physics.cc b/physics.cc
new file mode 100644
index 0000000..7b22507
--- /dev/null
+++ b/physics.cc
@@ -0,0 +1,92 @@
+#include "physics.hh"
+
+#include <vector>
+
+
+btDynamicsWorld* world; //contains physical attributes of the world.
+btDispatcher* dispatcher; //
+btCollisionConfiguration* colConfig; //defines the type of collision detection.
+btBroadphaseInterface* broadphase; //defines how objects are culled from collision detection.
+btConstraintSolver* solver; //solver for forces and impulses.
+
+std::vector<btRigidBody*> bodies; //list of all bodies. bodies are also in world, but save again to ease cleaning up process.
+
+void init()
+{
+	colConfig = new btDefaultCollisionConfiguration();
+	dispatcher = new btCollisionDispatcher(colConfig);
+	broadphase = new btDbvtBroadphase();
+	solver = new btSequentialImpulseConstraintSolver();
+	world = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver,colConfig);
+	
+	world->setGravity(btVector3(0,-10,-0));
+
+	
+}
+
+void takeUpdateStep(float timeDiff)
+{
+	world->stepSimulation(timeDiff);
+}
+
+void addSphere(float rad, float x, float y, float z, float mass)
+{
+	btSphereShape* sphere = new btSphereShape(rad);
+	btVector3 inertia(0,0,0);
+	if(mass == 0.0)
+	{
+	}
+	else
+	{
+		sphere->calculateLocalInertia((btScalar)mass,inertia);
+	}
+
+	btDefaultMotionState* motion = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(x,y,z)));
+
+	btRigidBody::btRigidBodyConstructionInfo info(mass,motion,sphere,inertia);
+
+	btRigidBody* body = new btRigidBody(info);
+
+	world->addRigidBody(body);
+
+	bodies.push_back(body);
+}
+
+void getPos(int i)
+{
+	btVector3 origin = bodies[i]->getCenterOfMassPosition();
+}
+
+void getRotation(int i)
+{
+	btQuaternion rotQuantrino = bodies[i]->getOrientation(); //TODO return orientation in gl format
+}
+
+void rollForward()
+{
+	//bodies[k].applyTorque(btVector3);
+}
+
+/*
+void kill()
+{
+	//btDynamimcWorld*
+	for(int i = 0; i < bodies.size();i++)
+	{
+		world->removeCollisionObject(bodies[i]); //clarification: go through the list of bodies in wordl for each body b, then remove exactly this body b from world
+		btMotionState* motionState = bodies[i]->getMotionState();
+		btCollisionShape* shape = bodies[i]->getCollisionShape();
+		delete shape;
+		delete motionState;
+		delete bodies[i];
+	}
+
+	delete dispatcher;
+	delete colConfig;
+	delete solver;
+}
+	delete broadphase;
+	delete world;
+}
+*/
+
diff --git a/physics.hh b/physics.hh
index 5df0e83..5c25912 100644
--- a/physics.hh
+++ b/physics.hh
@@ -1,8 +1,45 @@
 #ifndef PHYSICS_HH_INCLUDED
 #define PHYSICS_HH_INCLUDED
 
+#include <ACGL/Base/Settings.hh>
+#include <ACGL/Math/Math.hh>
+#include <vector>
+
+#include "extern/bullet/src/BulletDynamics/Dynamics/btRigidBody.h"
+#include "extern/bullet/src/BulletDynamics/Dynamics/btDynamicsWorld.h"
+#include "extern/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
+#include "extern/bullet/src/BulletCollision/CollisionShapes/btSphereShape.h"
+
+#include "extern/bullet/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h"
+#include "extern/bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"//YAY!
+
+#include "extern/bullet/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
+#include "extern/bullet/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h"
+
+#include "extern/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
+#include "extern/bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h"
+#include "extern/bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h"
+
+#include "extern/bullet/src/LinearMath/btScalar.h"
+#include "extern/bullet/src/LinearMath/btMotionState.h"
+#include "extern/bullet/src/LinearMath/btDefaultMotionState.h"
+#include "extern/bullet/src/LinearMath/btQuaternion.h"
+
 class Physics {
     public:
         Physics();
+	~Physics();
+	void rollForward(glm::vec3 camPos, float strength);
+    private:
+	btRigidBody* playerBody;
+	btRigidBody* terrainBody;
+	std::vector<btRigidBody*> bodies; //list of all bodies. bodies are also in world, but save again to ease cleaning up process.
+
+
+	btDynamicsWorld* world; //contains physical attributes of the world.
+	btDispatcher* dispatcher; //
+	btCollisionConfiguration* colConfig; //defines the type of collision detection.
+	btBroadphaseInterface* broadphase; //defines how objects are culled from collision detection.
+	btConstraintSolver* solver; //solver for forces and impulses.
 };
 #endif