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Added position Constraint structure, an add/remove function for them, and added their handeling to the update function

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This commit is contained in:
Jasper 2015-01-16 16:17:26 +01:00
parent ed16b4aab7
commit a0c73056c6
2 changed files with 50 additions and 13 deletions
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58
physics.cc
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@ -28,10 +28,39 @@ void Physics::init(lua_State* L)
}
void Physics::takeUpdateStep(float timeDiff)
{
{
world->stepSimulation(timeDiff);
for(unsigned i = 0; i < allPositionConstraints.size();i++)
{
if(allPositionConstraints[i].position != allPositionConstraints[i].body->getCenterOfMassPosition())
{
btVector3 dir = allPositionConstraints[i].body->getCenterOfMassPosition() - allPositionConstraints[i].position;
allPositionConstraints[i].body->applyCentralForce(dir*allPositionConstraints[i].strength);
}
}
}
void Physics::removePositionConstraint(int bodyIndice)
{
for(unsigned i = 0; i < allPositionConstraints.size();i++)
{
if(allPositionConstraints[i].body == bodies[i] )
{
allPositionConstraints.erase(allPositionConstraints.begin()+i);
}
}
}
void Physics::addPositionConstraint(int bodyIndice, float strength, glm::vec3 position)
{
positionConstraint cons;
cons.body = bodies[bodyIndice];
cons.strength = strength;
cons.position = btVector3(position.x,position.y,position.z);
allPositionConstraints.push_back(cons);
}
//TERRAIN SUBSET
void Physics::addTerrainTriangles(int width, int length, float** heightData)
{//not working correctly something with offset wrong?
@ -44,7 +73,8 @@ void Physics::addTerrainTriangles(int width, int length, float** heightData)
btVector3 v1(i+1,heightData[j][i+1],j);
btVector3 v2(i,heightData[j+1][i],j+1);
trimesh->addTriangle(v0,v1,v2);
trimesh->addTriangle(v0,v1,v2);
}
}
for(int i = 1; i < width;i++)
@ -100,17 +130,6 @@ void Physics::addTerrain(int width, int length, float** heightData)
world->addRigidBody(terrainBody, COL_TERRAIN, COL_TERRAIN | COL_OBJECTS);
}
void Physics::addStaticGroundPlane()
{
btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0, 1, 0), 0);
btDefaultMotionState* groundMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, 0, 0)));
btRigidBody::btRigidBodyConstructionInfo groundRigidBodyCI(0, groundMotionState, groundShape, btVector3(0, 0, 0));
staticGroundBody = new btRigidBody(groundRigidBodyCI);
world->addRigidBody(staticGroundBody);
}
//players and objects
void Physics::addPlayer(float friction, float rad, Entity entity, float mass, float dampningL, float dampningA, unsigned indice)
{
@ -129,6 +148,7 @@ void Physics::addPlayer(float friction, float rad, Entity entity, float mass, fl
btRigidBody::btRigidBodyConstructionInfo info(mass,motion,sphere,inertia);
info.m_friction = friction;
info.m_restitution = 0.0f;
playerBall = new btRigidBody(info);
@ -389,6 +409,18 @@ void Physics::rollRight(glm::vec3 camPos,float strength)
playerBall->applyTorque(-pos);
}
//not used right now
void Physics::addStaticGroundPlane()
{
btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0, 1, 0), 0);
btDefaultMotionState* groundMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, 0, 0)));
btRigidBody::btRigidBodyConstructionInfo groundRigidBodyCI(0, groundMotionState, groundShape, btVector3(0, 0, 0));
staticGroundBody = new btRigidBody(groundRigidBodyCI);
world->addRigidBody(staticGroundBody);
}
/*
void kill()
{

5
physics.hh
View File

@ -69,6 +69,10 @@ class Physics {
void addPlayer(float friction, float rad, Entity entity, float mass, float dampningL, float dampningA, 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, float dampningL, float dampningA, unsigned indice); //The Indice should be set to physicObjects.size()
void addBox(float width, float height, float length, Entity entity, float mass, float dampningL, float dampningA, unsigned indice); //this is used to ensuer that the system is synchronized
void addPositionConstraint(int bodyIndice, float strength, glm::vec3 position);
void removePositionConstraint(int bodyIndice);
struct positionConstraint{btRigidBody* body; float strength; btVector3 position;};
private:
btRigidBody* playerBall; //allows for easier access to the ball
@ -76,6 +80,7 @@ class Physics {
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;
std::vector<positionConstraint> allPositionConstraints;
btDynamicsWorld* world; //contains physical attributes of the world.
btDispatcher* dispatcher; //