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added inital rotation to physics, had the springs fixed (was NOT my fault)

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Jasper 2015-01-30 17:29:48 +01:00
parent 198dc0614f
commit 5e2d2d4e57
3 changed files with 74 additions and 35 deletions
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52
level.cc
View File

@ -144,7 +144,7 @@ void Level::load() {
directionalLight = Light(glm::vec3(xOffset,yOffset,zOffset), glm::vec3(rColour,gColour,bColour), intensity); directionalLight = Light(glm::vec3(xOffset,yOffset,zOffset), glm::vec3(rColour,gColour,bColour), intensity);
//load Objects //load Objects
std::vector<std::vector<int>> objectIdentifiers = std::vector<std::vector<int>>(); //The first entry is the index in objects, the others are idGreen, idBlue and objectNum. std::vector<std::vector<int>> objectIdentifiers = std::vector<std::vector<int>>(); //The first entry is the index in objects, the second one the index in physicObjects, the others are idGreen, idBlue and objectNum.
XMLDocument* compositions = new XMLDocument(); XMLDocument* compositions = new XMLDocument();
const char* compositionsFile = "../Levels/ObjectSetups/Compositions.xml"; const char* compositionsFile = "../Levels/ObjectSetups/Compositions.xml";
compositions->LoadFile(compositionsFile); compositions->LoadFile(compositionsFile);
@ -232,23 +232,27 @@ void Level::load() {
errorCheck(xmlObject->FirstChildElement("zRot")->QueryFloatText(&objectRot[2])); errorCheck(xmlObject->FirstChildElement("zRot")->QueryFloatText(&objectRot[2]));
Object* object = new Object(model, material, objectPosition, compRot+objectRot); Object* object = new Object(model, material, objectPosition, compRot+objectRot);
objects.push_back(object); objects.push_back(object);
//create an identifier for this object
std::vector<int> objectIdentifier = std::vector<int>(4);
objectIdentifier[0] = objects.size()-1;
int idGreen, idBlue;
errorCheck(thisComposition->FirstChildElement("idGreen")->QueryIntText(&idGreen));
errorCheck(thisComposition->FirstChildElement("idBlue")->QueryIntText(&idBlue));
objectIdentifier[1] = idGreen;
objectIdentifier[2] = idBlue;
objectIdentifier[3] = objectNum;
objectIdentifiers.push_back(objectIdentifier);
physicObjects.push_back(object); physicObjects.push_back(object);
const char* charPhysicType = objectData->FirstChildElement("physicType")->GetText(); const char* charPhysicType = objectData->FirstChildElement("physicType")->GetText();
if(charPhysicType == NULL){ if(charPhysicType == NULL){
printf("XMLError: No physicType found.\n"); printf("XMLError: No physicType found.\n");
exit(-1); exit(-1);
} }
//create an identifier for this object
std::vector<int> objectIdentifier = std::vector<int>(5);
objectIdentifier[0] = objects.size()-1;
objectIdentifier[1] = physicObjects.size()-1;
int idGreen, idBlue;
errorCheck(thisComposition->FirstChildElement("idGreen")->QueryIntText(&idGreen));
errorCheck(thisComposition->FirstChildElement("idBlue")->QueryIntText(&idBlue));
objectIdentifier[2] = idGreen;
objectIdentifier[3] = idBlue;
objectIdentifier[4] = objectNum;
objectIdentifiers.push_back(objectIdentifier);
std::string physicType = charPhysicType; std::string physicType = charPhysicType;
//add object to physics //add object to physics
float mass; float mass;
@ -276,6 +280,9 @@ void Level::load() {
this->physics.addButton(width, height, length, *object, mass, dampningL, dampningA, physicObjects.size(), rotate); this->physics.addButton(width, height, length, *object, mass, dampningL, dampningA, physicObjects.size(), rotate);
}else if (physicType.compare("TriangleMesh") == 0){ }else if (physicType.compare("TriangleMesh") == 0){
this->physics.addTriangleMeshBody(*object, modelPath, mass, dampningL, dampningA, physicObjects.size(),objectScale, rotate); this->physics.addTriangleMeshBody(*object, modelPath, mass, dampningL, dampningA, physicObjects.size(),objectScale, rotate);
}else if (physicType.compare("OuterSwitch") == 0){
//physicObjects.push_back(object);
} else{ } else{
printf("XMLError: Not a valid physicType.\n"); printf("XMLError: Not a valid physicType.\n");
exit(-1); exit(-1);
@ -380,7 +387,7 @@ void Level::load() {
errorCheck(xmlTrigger->FirstChildElement("objectNum")->QueryIntText(&objectNum)); errorCheck(xmlTrigger->FirstChildElement("objectNum")->QueryIntText(&objectNum));
Object* object=0; Object* object=0;
for (unsigned int i = 0; i<objectIdentifiers.size(); i++){ for (unsigned int i = 0; i<objectIdentifiers.size(); i++){
if (objectIdentifiers[i][1]==idGreen && objectIdentifiers[i][2]==idBlue && objectIdentifiers[i][3]==objectNum){ if (objectIdentifiers[i][2]==idGreen && objectIdentifiers[i][3]==idBlue && objectIdentifiers[i][4]==objectNum){
object = objects[objectIdentifiers[i][0]]; object = objects[objectIdentifiers[i][0]];
} }
} }
@ -396,7 +403,7 @@ void Level::load() {
errorCheck(xmlTrigger->FirstChildElement("toChangeIdBlue")->QueryIntText(&toChangeIdBlue)); errorCheck(xmlTrigger->FirstChildElement("toChangeIdBlue")->QueryIntText(&toChangeIdBlue));
errorCheck(xmlTrigger->FirstChildElement("toChangeObjNum")->QueryIntText(&toChangeObjNum)); errorCheck(xmlTrigger->FirstChildElement("toChangeObjNum")->QueryIntText(&toChangeObjNum));
for (unsigned int i = 0; i<objectIdentifiers.size(); i++){ for (unsigned int i = 0; i<objectIdentifiers.size(); i++){
if (objectIdentifiers[i][1]==toChangeIdGreen && objectIdentifiers[i][2]==toChangeIdBlue && objectIdentifiers[i][3]==toChangeObjNum){ if (objectIdentifiers[i][2]==toChangeIdGreen && objectIdentifiers[i][3]==toChangeIdBlue && objectIdentifiers[i][4]==toChangeObjNum){
objectToChange = objectIdentifiers[i][0]; objectToChange = objectIdentifiers[i][0];
} }
} }
@ -426,11 +433,21 @@ void Level::load() {
errorCheck(positionConstraint->FirstChildElement("objectNum")->QueryIntText(&objectNum)); errorCheck(positionConstraint->FirstChildElement("objectNum")->QueryIntText(&objectNum));
errorCheck(composition->FirstChildElement("idGreen")->QueryIntText(&idGreen)); errorCheck(composition->FirstChildElement("idGreen")->QueryIntText(&idGreen));
errorCheck(composition->FirstChildElement("idBlue")->QueryIntText(&idBlue)); errorCheck(composition->FirstChildElement("idBlue")->QueryIntText(&idBlue));
bool ok = false;
for (unsigned int i = 0; i<objectIdentifiers.size(); i++){ for (unsigned int i = 0; i<objectIdentifiers.size(); i++){
if (objectIdentifiers[i][1]==idGreen && objectIdentifiers[i][2]==idBlue && objectIdentifiers[i][3]==objectNum){ if (objectIdentifiers[i][2]==idGreen && objectIdentifiers[i][3]==idBlue && objectIdentifiers[i][4]==objectNum){
objectIndex = objectIdentifiers[i][0]; objectIndex = objectIdentifiers[i][1];
if(ok){
printf("2 objects have the same ID while loading constraints.");
exit(-1);
}
ok = true;
} }
} }
if(!ok){
printf("No index found for a trigger object.");
exit(-1);
}
glm::vec3 position = glm::vec3(xPos, yPos, zPos); glm::vec3 position = glm::vec3(xPos, yPos, zPos);
physics.addPositionConstraint(objectIndex, strength, position); physics.addPositionConstraint(objectIndex, strength, position);
} }
@ -461,8 +478,7 @@ void Level::update(float runTime, glm::vec2 mouseDelta, bool wPressed, bool aPre
camera.setPosition(physics.getCameraPosition()); camera.setPosition(physics.getCameraPosition());
camera.setDirection(physics.getCameraToPlayer()); camera.setDirection(physics.getCameraToPlayer());
} }
strength = 50;
if(wPressed){ if(wPressed){
physics.rollForward(camera.getVector(),strength); physics.rollForward(camera.getVector(),strength);
} }

53
physics.cc
View File

@ -19,29 +19,36 @@ void Physics::init() //prepares bullet by creating all initial classes
} }
void Physics::takeUpdateStep(float timeDiff) void Physics::takeUpdateStep(float timeDiff)
{ {
world->stepSimulation(timeDiff); //allows the world to be simmulated correctly indipendant of the timedifferences between frames world->stepSimulation(timeDiff); //allows the world to be simmulated correctly indipendant of the timedifferences between frames
counter++;
if(counter<10)
return;
for(unsigned i = 0; i < allPositionConstraints.size();i++) //this handles the spring constraints for(unsigned i = 0; i < allPositionConstraints.size();i++) //this handles the spring constraints
{ {
if(allPositionConstraints[i].position != allPositionConstraints[i].body->getCenterOfMassPosition()) //if constraint != position of the body because otherwise dir = 0 if(allPositionConstraints[i].position != allPositionConstraints[i].body->getCenterOfMassPosition()) //if constraint != position of the body because otherwise dir = 0
{ {
btVector3 dir = allPositionConstraints[i].position - allPositionConstraints[i].body->getCenterOfMassPosition(); btVector3 dir = allPositionConstraints[i].position - allPositionConstraints[i].body->getCenterOfMassPosition();
dir = dir*allPositionConstraints[i].strength;
allPositionConstraints[i].body->applyCentralForce(dir*allPositionConstraints[i].strength); //apply a foce upon the object pushing it towards the constraint position allPositionConstraints[i].body->applyCentralForce(dir*allPositionConstraints[i].strength); //apply a foce upon the object pushing it towards the constraint position
} }
} }
btVector3 position = cameraBody->getCenterOfMassPosition() - playerBall->getCenterOfMassPosition(); //gets a vector from the player to the camera btVector3 position = cameraBody->getCenterOfMassPosition() - playerBall->getCenterOfMassPosition(); //gets a vector from the player to the camera
position.normalize(); position.normalize();
position *=5; position *= 5;
position += playerBall->getCenterOfMassPosition(); //is the position 5 units away from the player in the direction of the camera position += playerBall->getCenterOfMassPosition(); //is the position 5 units away from the player in the direction of the camera
btVector3 dir = cameraBody->getCenterOfMassPosition() - position; btVector3 dir = cameraBody->getCenterOfMassPosition() - position;
float str = cameraBody->getInvMass()*10 * dir.length(); float str = cameraBody->getInvMass()*30 * dir.length();
cameraBody->applyCentralForce(-dir*str);//scale the force by camera mass cameraBody->applyCentralForce(-dir*str);//scale the force by camera mass
cameraBody->applyCentralForce(btVector3(0,12,0)); //we leave gravity in because by contrasting gravity to this force we force the camera slightly higher than the ball when still, but it follows more closer to the level of the ball (though still slightly higher) when it is moving. cameraBody->applyCentralForce(btVector3(0,96,0)); //we leave gravity in because by contrasting gravity to this force we force the camera slightly higher than the ball when still, but it follows more closer to the level of the ball (though still slightly higher) when it is moving.
counter=0;
} }
void Physics::removePositionConstraint(int bodyIndice) //remover function for deleting all pos constraints on one body void Physics::removePositionConstraint(int bodyIndice) //remover function for deleting all pos constraints on one body
@ -77,19 +84,21 @@ void Physics::addPlayer(float friction, float rad, Entity entity, float mass, fl
sphere->calculateLocalInertia((btScalar)mass,inertia); //from this shape we can then calculate the innertia, as long as the mass != 0 (otherwise inertia = 0) sphere->calculateLocalInertia((btScalar)mass,inertia); //from this shape we can then calculate the innertia, as long as the mass != 0 (otherwise inertia = 0)
} }
btDefaultMotionState* motion = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(entity.getPosition().x,entity.getPosition().y,entity.getPosition().z))); //next we define the motionstate, wich describes the innital position and rotation glm::quat glmQuat = glm::quat_cast(entity.getRotation());
btDefaultMotionState* motion = new btDefaultMotionState(btTransform(btQuaternion(glmQuat.x,glmQuat.y,glmQuat.z,glmQuat.w),btVector3(entity.getPosition().x,entity.getPosition().y,entity.getPosition().z))); //next we define the motionstate, wich describes the innital position and rotation
btRigidBody::btRigidBodyConstructionInfo info(mass,motion,sphere,inertia); //next we process all data for the rigid body into info btRigidBody::btRigidBodyConstructionInfo info(mass,motion,sphere,inertia); //next we process all data for the rigid body into info
info.m_friction = friction*2; //here we modify the friction and restitution (bounciness) of the object info.m_friction = friction*2; //here we modify the friction and restitution (bounciness) of the object
info.m_restitution = 0.8f; info.m_restitution = 0;
playerBall = new btRigidBody(info); //finally we create the rigid body using the info playerBall = new btRigidBody(info); //finally we create the rigid body using the info
playerBall->setDamping(dampningL, dampningA); //here we can set the dampning (how much of the motion is lost) playerBall->setDamping(dampningL, dampningA); //here we can set the dampning (how much of the motion is lost)
world->addRigidBody(playerBall,COL_OBJECTS,COL_OBJECTS|COL_OBJECTS_NO_TERRAIN|COL_TERRAIN); //then we add the rigid body to the wiorld, allowing it to be simulated world->addRigidBody(playerBall,COL_OBJECTS,COL_OBJECTS|COL_OBJECTS_NO_TERRAIN|COL_TERRAIN); //then we add the rigid body to the wiorld, allowing it to be simulated
bodies.push_back(playerBall); //next we add the rigid body to our own list (for cleanup and for synchronitaation with level) bodies.push_back(playerBall); //next we add the rigid body to our own list (for cleanup and for synchronitaation with level)
//note, while we can always access playerBall through its global name, we add it to this array for synchronization purposes //note, while we can always access playerBall through its global name, we add it to this array for synchronization purposes
@ -119,8 +128,11 @@ void Physics::addTerrain(int width, int length, float** heightData) //The terria
highest++; highest++;
btHeightfieldTerrainShape* terrianShape = new btHeightfieldTerrainShape(length,width,heightfield,highest,1,true,false); btHeightfieldTerrainShape* terrianShape = new btHeightfieldTerrainShape(length,width,heightfield,highest,1,true,false);
btRigidBody* tBody = new btRigidBody(0,new btDefaultMotionState(),terrianShape); btRigidBody::btRigidBodyConstructionInfo info(0,new btDefaultMotionState(),terrianShape,btVector3(0,0,0)); //next we process all data for the rigid body into info
info.m_restitution = 0;
btRigidBody* tBody = new btRigidBody(info);
tBody->getWorldTransform().setOrigin(btVector3(0,((float)highest)/2,0)); //we have to move the origin of our rigid body down, because bullet sets the origin (0,0,0) at (width/2, height/2, length/2) in the map the x and z are correct in our level, but y needs to be addapted tBody->getWorldTransform().setOrigin(btVector3(0,((float)highest)/2,0)); //we have to move the origin of our rigid body down, because bullet sets the origin (0,0,0) at (width/2, height/2, length/2) in the map the x and z are correct in our level, but y needs to be addapted
@ -174,7 +186,11 @@ void Physics::addTriangleMeshBody(Entity entity, std::string path, float mass, f
btBvhTriangleMeshShape* shape = new btBvhTriangleMeshShape(triMesh,true); btBvhTriangleMeshShape* shape = new btBvhTriangleMeshShape(triMesh,true);
shape->setLocalScaling(btVector3(scaling,scaling,scaling)); //we need to add a scaling here because the objects seem to have diffrent sizes when loaded (no clue why, see composition.xml for exact scaling factors) shape->setLocalScaling(btVector3(scaling,scaling,scaling)); //we need to add a scaling here because the objects seem to have diffrent sizes when loaded (no clue why, see composition.xml for exact scaling factors)
btDefaultMotionState* motion = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(entity.getPosition().x,entity.getPosition().y,entity.getPosition().z)));
glm::quat glmQuat = glm::quat_cast(entity.getRotation());
btDefaultMotionState* motion = new btDefaultMotionState(btTransform(btQuaternion(glmQuat.x,glmQuat.y,glmQuat.z,glmQuat.w),btVector3(entity.getPosition().x,entity.getPosition().y,entity.getPosition().z)));
btVector3 inertia(0,0,0); btVector3 inertia(0,0,0);
if(mass != 0.0 && rotate) //&& rotate lets certain objects get inertia (0,0,0) (not rotateable) if(mass != 0.0 && rotate) //&& rotate lets certain objects get inertia (0,0,0) (not rotateable)
@ -204,8 +220,10 @@ void Physics::addButton(float width, float height, float length, Entity entity,
throw std::invalid_argument( "Bodies out of Sync" ); throw std::invalid_argument( "Bodies out of Sync" );
btBoxShape* box = new btBoxShape(btVector3(width/2,height/2,length/2)); btBoxShape* box = new btBoxShape(btVector3(width/2,height/2,length/2));
btDefaultMotionState* motion = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(entity.getPosition().x,entity.getPosition().y,entity.getPosition().z))); glm::quat glmQuat = glm::quat_cast(entity.getRotation());
btDefaultMotionState* motion = new btDefaultMotionState(btTransform(btQuaternion(glmQuat.x,glmQuat.y,glmQuat.z,glmQuat.w),btVector3(entity.getPosition().x,entity.getPosition().y,entity.getPosition().z)));
btVector3 inertia(0,0,0); btVector3 inertia(0,0,0);
if(mass != 0.0 && rotate) //&& rotate lets certain objects get inertia (0,0,0) (not rotateable) if(mass != 0.0 && rotate) //&& rotate lets certain objects get inertia (0,0,0) (not rotateable)
@ -232,8 +250,9 @@ void Physics::addBox(float width, float height, float length, Entity entity, flo
if(bodies.size() == indice) if(bodies.size() == indice)
throw std::invalid_argument( "Bodies out of Sync" ); throw std::invalid_argument( "Bodies out of Sync" );
glm::quat glmQuat = glm::quat_cast(entity.getRotation());
btBoxShape* box = new btBoxShape(btVector3(width/2,height/2,length/2)); btBoxShape* box = new btBoxShape(btVector3(width/2,height/2,length/2));
btDefaultMotionState* motion = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(entity.getPosition().x,entity.getPosition().y,entity.getPosition().z))); btDefaultMotionState* motion = new btDefaultMotionState(btTransform(btQuaternion(glmQuat.x,glmQuat.y,glmQuat.z,glmQuat.w),btVector3(entity.getPosition().x,entity.getPosition().y,entity.getPosition().z)));
btVector3 inertia(0,0,0); btVector3 inertia(0,0,0);
if(mass != 0.0) if(mass != 0.0)
@ -267,8 +286,10 @@ void Physics::addSphere(float rad, Entity entity, float mass, float dampningL, f
{ {
sphere->calculateLocalInertia((btScalar)mass,inertia); sphere->calculateLocalInertia((btScalar)mass,inertia);
} }
glm::quat glmQuat = glm::quat_cast(entity.getRotation());
btDefaultMotionState* motion = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(entity.getPosition().x,entity.getPosition().y,entity.getPosition().z))); btDefaultMotionState* motion = new btDefaultMotionState(btTransform(btQuaternion(glmQuat.x,glmQuat.y,glmQuat.z,glmQuat.w),btVector3(entity.getPosition().x,entity.getPosition().y,entity.getPosition().z)));
btRigidBody::btRigidBodyConstructionInfo info(mass,motion,sphere,inertia); btRigidBody::btRigidBodyConstructionInfo info(mass,motion,sphere,inertia);

4
physics.hh
View File

@ -54,7 +54,6 @@ class Physics {
glm::vec3 getPos(int i); glm::vec3 getPos(int i);
glm::mat4 getRotation(int i); glm::mat4 getRotation(int i);
void addStaticGroundPlane(); void addStaticGroundPlane();
void addCamera(); //Do NOT impliment before Player has been created;
void updateCameraPos(glm::vec2 mouseMovement, float strength); void updateCameraPos(glm::vec2 mouseMovement, float strength);
glm::vec3 getCameraPosition(); glm::vec3 getCameraPosition();
void addRigidBodyFromFile(Entity entity, float mass, float dampningL, float dampningA, std::string modelLocation, unsigned indice); void addRigidBodyFromFile(Entity entity, float mass, float dampningL, float dampningA, std::string modelLocation, unsigned indice);
@ -68,6 +67,7 @@ class Physics {
void addButton(float width, float height, float length, Entity entity, float mass, float dampningL, float dampningA, unsigned indice,bool rotate); void addButton(float width, float height, float length, Entity entity, float mass, float dampningL, float dampningA, unsigned indice,bool rotate);
glm::vec3 getCameraToPlayer(); glm::vec3 getCameraToPlayer();
void kill(); void kill();
void addButtonFrame(Entity entity);
struct positionConstraint{btRigidBody* body; float strength; btVector3 position;}; struct positionConstraint{btRigidBody* body; float strength; btVector3 position;};
@ -78,6 +78,7 @@ class Physics {
std::vector<btRigidBody*> bodies; //list of all bodies. bodies are also in world, but save again to ease cleaning up process. std::vector<btRigidBody*> bodies; //list of all bodies. bodies are also in world, but save again to ease cleaning up process.
btRigidBody* staticGroundBody; btRigidBody* staticGroundBody;
std::vector<positionConstraint> allPositionConstraints; std::vector<positionConstraint> allPositionConstraints;
void addCamera(); //Do NOT impliment before Player has been created;
btDynamicsWorld* world; //contains physical attributes of the world. btDynamicsWorld* world; //contains physical attributes of the world.
btDispatcher* dispatcher; // btDispatcher* dispatcher; //
@ -87,6 +88,7 @@ class Physics {
int objectsPhysicsCollision = 1 | 2 | 4; int objectsPhysicsCollision = 1 | 2 | 4;
int specialPhysicsCollision = 2 | 4; int specialPhysicsCollision = 2 | 4;
int terrainPhysicsCollision = 2; int terrainPhysicsCollision = 2;
int counter = 0;
}; };