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Added a constraint for distances, as such a constraint did not exist in bullet.Why, IDK.

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Jasper 2014-11-28 13:52:03 +01:00
parent 9d39bec46f
commit 594f336204
2 changed files with 81 additions and 0 deletions
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32
physics.cc
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@ -1,5 +1,6 @@
#include "physics.hh"
Physics::Physics() {
}
@ -158,6 +159,37 @@ void Physics::addSphere(float rad, Entity entity, float mass, unsigned indice)
}
void Physics::addCamera(float rad, float distance)
{
btSphereShape* sphere = new btSphereShape(rad);
btVector3 inertia(0,0,0);
btDefaultMotionState* motion = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(0,0,0)));
btRigidBody::btRigidBodyConstructionInfo info(1/(playerBall->getInvMass()/100),motion,sphere,inertia);
cameraBody = new btRigidBody(info);
cameraBody->setDamping(0.2f,0.4f);
world->addRigidBody(cameraBody);
cameraBody->setSleepingThresholds(0,0);
btVector3 pivotInA(5,0,0);
btVector3 pivotInB(-5, 0, 0);
btDistanceConstraint* pdc = new btDistanceConstraint(*cameraBody,*playerBall,pivotInA,pivotInB, distance);
world->addConstraint(pdc);
}
glm::vec3 Physics::getCameraPosition()
{
btVector3 origin = cameraBody->getCenterOfMassPosition();
glm::vec3 save(origin.getX(),origin.getY(),origin.getZ());
return save;
}
glm::vec3 Physics::getPos(int i)
{
btVector3 origin = bodies[i]->getCenterOfMassPosition();

49
physics.hh
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@ -18,6 +18,7 @@
#include "extern/bullet/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h"
#include "extern/bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"//YAY!
#include "extern/bullet/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
#include "extern/bullet/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
#include "extern/bullet/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h"
@ -46,6 +47,8 @@ class Physics {
glm::vec3 getPos(int i);
glm::mat4 getRotation(int i);
void addStaticGroundPlane();
void addCamera(float rad,float distance); //Do NOT impliment before Player has been created;
glm::vec3 getCameraPosition();
void addTerrain(int width, int length, float** heightData);
void addPlayer(float rad, Entity entity, float mass, unsigned indice); //use these AFTER physicObjects.push_back(object)! if mass == 0 then the object is unmoveable
void addSphere(float rad, Entity entity, float mass, unsigned indice); //The Indice should be set to physicObjects.size()
@ -54,6 +57,7 @@ class Physics {
private:
btRigidBody* playerBall; //allows for quicker access to the ball
btRigidBody* terrainBody; //duh
btRigidBody* cameraBody;
std::vector<btRigidBody*> bodies; //list of all bodies. bodies are also in world, but save again to ease cleaning up process.
btRigidBody* staticGroundBody;
@ -64,4 +68,49 @@ class Physics {
btBroadphaseInterface* broadphase; //defines how objects are culled from collision detection.
btConstraintSolver* solver; //solver for forces and impulses.
};
class btDistanceConstraint : public btPoint2PointConstraint
{
protected:
btScalar m_distance;
public:
btDistanceConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, btScalar dist)
: btPoint2PointConstraint(rbA, rbB, pivotInA, pivotInB)
{
m_distance = dist;
}
virtual void getInfo1 (btConstraintInfo1* info)
{
info->m_numConstraintRows = 1;
info->nub = 5;
}
virtual void getInfo2 (btConstraintInfo2* info)
{
btVector3 relA = m_rbA.getCenterOfMassTransform().getBasis() * getPivotInA();
btVector3 relB = m_rbB.getCenterOfMassTransform().getBasis() * getPivotInB();
btVector3 posA = m_rbA.getCenterOfMassTransform().getOrigin() + relA;
btVector3 posB = m_rbB.getCenterOfMassTransform().getOrigin() + relB;
btVector3 del = posB - posA;
btScalar currDist = btSqrt(del.dot(del));
btVector3 ortho = del / currDist;
info->m_J1linearAxis[0] = ortho[0];
info->m_J1linearAxis[1] = ortho[1];
info->m_J1linearAxis[2] = ortho[2];
btVector3 p, q;
p = relA.cross(ortho);
q = relB.cross(ortho);
info->m_J1angularAxis[0] = p[0];
info->m_J1angularAxis[1] = p[1];
info->m_J1angularAxis[2] = p[2];
info->m_J2angularAxis[0] = -q[0];
info->m_J2angularAxis[1] = -q[1];
info->m_J2angularAxis[2] = -q[2];
btScalar rhs = (currDist - m_distance) * info->fps * info->erp;
info->m_constraintError[0] = rhs;
info->cfm[0] = btScalar(0.f);
info->m_lowerLimit[0] = -SIMD_INFINITY;
info->m_upperLimit[0] = SIMD_INFINITY;
}
};
#endif