438 lines
13 KiB
C++
438 lines
13 KiB
C++
#include "physics.hh"
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#include "extern/bullet/Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h"
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Physics::Physics() {
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}
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Physics::~Physics() {
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}
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void Physics::init()
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{
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colConfig = new btDefaultCollisionConfiguration();
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dispatcher = new btCollisionDispatcher(colConfig);
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broadphase = new btDbvtBroadphase();
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solver = new btSequentialImpulseConstraintSolver();
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world = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver,colConfig);
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world->setGravity(btVector3(0,-10,-0));
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}
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void Physics::takeUpdateStep(float timeDiff)
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{
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world->stepSimulation(timeDiff);
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for(unsigned i = 0; i < allPositionConstraints.size();i++)
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{
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if(allPositionConstraints[i].position != allPositionConstraints[i].body->getCenterOfMassPosition())
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{
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btVector3 dir = allPositionConstraints[i].body->getCenterOfMassPosition() - allPositionConstraints[i].position;
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allPositionConstraints[i].body->applyCentralForce(dir*allPositionConstraints[i].strength);
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}
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}
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}
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void Physics::removePositionConstraint(int bodyIndice)
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{
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for(unsigned i = 0; i < allPositionConstraints.size(); i++)
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{
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if(allPositionConstraints[i].body == bodies[bodyIndice])
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{
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allPositionConstraints.erase(allPositionConstraints.begin()+i);
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}
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}
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}
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void Physics::addPositionConstraint(int bodyIndice, float strength, glm::vec3 position)
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{
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positionConstraint cons;
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cons.body = bodies[bodyIndice];
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cons.strength = strength;
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cons.position = btVector3(position.x,position.y,position.z);
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allPositionConstraints.push_back(cons);
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}
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//TERRAIN SUBSET
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void Physics::addTerrainTriangles(int width, int length, float** heightData)
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{//not working correctly something with offset wrong?
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btTriangleMesh* trimesh = new btTriangleMesh();
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for(int i = 0; i < width-1;i++)
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{
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for(int j = 0; j < length-1; j++)
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{
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btVector3 v0(i,heightData[j][i],j);
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btVector3 v1(i+1,heightData[j][i+1],j);
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btVector3 v2(i,heightData[j+1][i],j+1);
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trimesh->addTriangle(v0,v1,v2);
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}
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}
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for(int i = 1; i < width;i++)
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{
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for(int j = 1; j < length; j++)
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{
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btVector3 v0(i,heightData[j][i],j);
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btVector3 v1(i-1,heightData[j][i-1],j);
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btVector3 v2(i,heightData[j-1][i],j-1);
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trimesh->addTriangle(v0,v1,v2);
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}
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}
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btBvhTriangleMeshShape* shape = new btBvhTriangleMeshShape(trimesh, true);
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btRigidBody* tBody = new btRigidBody(0, new btDefaultMotionState(),shape);
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tBody->getWorldTransform().setOrigin(btVector3(-length/2,0,-width/2));
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terrainBody = tBody;
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world->addRigidBody(tBody);
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}
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void Physics::addTerrain(int width, int length, float** heightData)
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{
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float* heightfield = new float[width * length];
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int highest = -999999, j = 0, i = 0;
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for (i = 0; i < width; i++)
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{
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for (j = 0; j < length; j++) {
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heightfield[i*length+j] = heightData[j][i];
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if (heightData[j][i] > highest)
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highest = heightData[j][i];
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}
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}
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highest++;
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btHeightfieldTerrainShape* terrianShape = new btHeightfieldTerrainShape(length,width,heightfield,highest,1,true,false);
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btRigidBody* tBody = new btRigidBody(0,new btDefaultMotionState(),terrianShape);
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tBody->getWorldTransform().setOrigin(btVector3(0,((float)highest - 1)/2,0));
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//tBody->getWoorldTransform().setRotation(btQuaternion(0,0,0,1));
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terrainBody = tBody;
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world->addRigidBody(terrainBody, COL_TERRAIN, COL_TERRAIN | COL_OBJECTS);
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}
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//players and objects
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void Physics::addPlayer(float friction, float rad, Entity entity, float mass, float dampningL, float dampningA, unsigned indice)
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{
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if(bodies.size() == indice)
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throw std::invalid_argument( "Bodies out of Sync" );
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btSphereShape* sphere = new btSphereShape(rad);
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btVector3 inertia(0,0,0);
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if(mass != 0.0)
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{
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sphere->calculateLocalInertia((btScalar)mass,inertia);
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}
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btDefaultMotionState* motion = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(entity.getPosition().x,entity.getPosition().y,entity.getPosition().z)));
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btRigidBody::btRigidBodyConstructionInfo info(mass,motion,sphere,inertia);
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info.m_friction = friction;
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info.m_restitution = 0.0f;
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playerBall = new btRigidBody(info);
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playerBall->setDamping(dampningL, dampningA);
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world->addRigidBody(playerBall);
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bodies.push_back(playerBall);
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playerBall->setSleepingThresholds(0,0);
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if(bodies.size() != indice)
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throw std::invalid_argument( "Bodies out of Sync" );
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}
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void Physics::addTriangleMeshBody(Entity entity, std::string path, float mass, float dampningL, float dampningA,unsigned indice)
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{//TODO look at convexHullShapes
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if(bodies.size() == indice)
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throw std::invalid_argument( "Bodies out of Sync" );
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std::vector< unsigned int > vertexIndices;
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std::vector< btVector3 > temp_vertices;
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path = "../Levels/Geometry/" + path;
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FILE * file = fopen(path.c_str(), "r");
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if( file == NULL ){
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printf("Impossible to open the file !\n");
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}
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while( 1 ){
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char lineHeader[128];
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// read the first word of the line
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int res = fscanf(file, "%s", lineHeader);
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if (res == EOF)
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break; // EOF = End Of File. Quit the loop.
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// else : parse lineHeader
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if ( strcmp( lineHeader, "v" ) == 0 ){
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glm::vec3 vertex;
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fscanf(file, "%f %f %f\n", &vertex.x, &vertex.y, &vertex.z );
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temp_vertices.push_back(btVector3(vertex.x,vertex.y,vertex.z));
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}
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else if ( strcmp( lineHeader, "f" ) == 0 ){
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std::string vertex1, vertex2, vertex3;
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unsigned int vertexIndex[3], uvIndex[3], normalIndex[3];
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int matches = fscanf(file, "%d/%d/%d %d/%d/%d %d/%d/%d\n", &vertexIndex[0], &uvIndex[0], &normalIndex[0], &vertexIndex[1], &uvIndex[1], &normalIndex[1], &vertexIndex[2], &uvIndex[2], &normalIndex[2] );
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vertexIndices.push_back(vertexIndex[0]);
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vertexIndices.push_back(vertexIndex[1]);
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vertexIndices.push_back(vertexIndex[2]);
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}
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}
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printf("olla");
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//finally start making body
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btTriangleMesh* triMesh = new btTriangleMesh();
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for(unsigned i = 2; i < vertexIndices.size();i+=3)
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{
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triMesh->addTriangle(temp_vertices[vertexIndices[i]],temp_vertices[vertexIndices[i-1]],temp_vertices[vertexIndices[i-2]]);
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}
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btBvhTriangleMeshShape* shape = new btBvhTriangleMeshShape(triMesh,true);
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btDefaultMotionState* motion = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(entity.getPosition().x,entity.getPosition().y,entity.getPosition().z)));
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btVector3 inertia(0,0,0);
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if(mass != 0.0)
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{
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shape->calculateLocalInertia((btScalar)mass,inertia);
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}
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btRigidBody::btRigidBodyConstructionInfo info(mass,motion,shape,inertia);
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btRigidBody* body = new btRigidBody(info);
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body->setDamping(dampningL,dampningA);
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bodies.push_back(body);
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world->addRigidBody(body);
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if(bodies.size() != indice)
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throw std::invalid_argument( "Bodies out of Sync" );
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}
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void Physics::addBox(float width, float height, float length, Entity entity, float mass, float dampningL, float dampningA, unsigned indice)
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{
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if(bodies.size() == indice)
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throw std::invalid_argument( "Bodies out of Sync" );
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btBoxShape* box = new btBoxShape(btVector3(width/2,height/2,length/2));
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btDefaultMotionState* motion = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(entity.getPosition().x,entity.getPosition().y,entity.getPosition().z)));
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btVector3 inertia(0,0,0);
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if(mass != 0.0)
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{
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box->calculateLocalInertia((btScalar)mass,inertia);
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}
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btRigidBody::btRigidBodyConstructionInfo info(mass,motion,box,inertia);
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btRigidBody* body = new btRigidBody(info);
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body->setDamping(dampningL, dampningA);
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world->addRigidBody(body);
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bodies.push_back(body);
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if(bodies.size() != indice)
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throw std::invalid_argument( "Bodies out of Sync" );
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}
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void Physics::addSphere(float rad, Entity entity, float mass, float dampningL, float dampningA, unsigned indice)
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{
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if(bodies.size() == indice)
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throw std::invalid_argument( "Bodies out of Sync" );
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btSphereShape* sphere = new btSphereShape(rad);
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btVector3 inertia(0,0,0);
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if(mass != 0.0)
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{
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sphere->calculateLocalInertia((btScalar)mass,inertia);
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}
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btDefaultMotionState* motion = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(entity.getPosition().x,entity.getPosition().y,entity.getPosition().z)));
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btRigidBody::btRigidBodyConstructionInfo info(mass,motion,sphere,inertia);
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btRigidBody* body = new btRigidBody(info);
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body->setDamping(dampningL, dampningA);
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world->addRigidBody(body);
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bodies.push_back(body);
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body->setSleepingThresholds(0,0);
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if(bodies.size() != indice)
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throw std::invalid_argument( "Bodies out of Sync" );
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}
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/*
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void Physics::addTriangleMeshBody(Entity entity, float mass, float dampningL, float dampningA,unsigned indice)
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{
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btTriangleMesh* trimesh = new btTriangleMesh();
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btVector3 v0( 0, 0, 0 );
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btVector3 v1( 1, 1, 1 );
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btVector3 v2( 2, 2, 2);
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trimesh->addTriangle( v0, v1, v2 );
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btTriangleMeshShape* shape = new btBvhTriangleMeshShape(trimesh,true);
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btVector3 inertia(0,0,0);
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if(mass != 0.0)
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{
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shape->calculateLocalInertia((btScalar)mass,inertia);
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}
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btDefaultMotionState* motion = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(entity.getPosition().x,entity.getPosition().y,entity.getPosition().z)));
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btRigidBody::btRigidBodyConstructionInfo info(mass,motion,shape,inertia);
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btRigidBody* body = new btRigidBody(info);
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body->setDamping(dampningL,dampningA);
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}*/
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void Physics::addCamera(float rad, float distance)
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{
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btSphereShape* sphere = new btSphereShape(rad);
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btVector3 inertia(0,0,0);
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btDefaultMotionState* motion = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(0,0,0)));
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btRigidBody::btRigidBodyConstructionInfo info(1/(playerBall->getInvMass()/100),motion,sphere,inertia);
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cameraBody = new btRigidBody(info);
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cameraBody->setDamping(0.9f,1.0f);
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world->addRigidBody(cameraBody);
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cameraBody->setSleepingThresholds(0,0);
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btVector3 pivotInA(5,0,0);
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btVector3 pivotInB(-5, 0, 0);
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btDistanceConstraint* pdc = new btDistanceConstraint(*cameraBody,*playerBall,pivotInA,pivotInB, distance);
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world->addConstraint(pdc);
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}
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//update functions
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glm::vec3 Physics::getCameraPosition()
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{
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btVector3 origin = cameraBody->getCenterOfMassPosition();
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glm::vec3 save(origin.getX(),origin.getY(),origin.getZ());
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return save;
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}
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glm::vec3 Physics::getPos(int i)
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{
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btVector3 origin = bodies[i]->getCenterOfMassPosition();
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glm::vec3 save(origin.getX(),origin.getY(),origin.getZ());
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return save;
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}
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glm::mat4 Physics::getRotation(int i)
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{
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btQuaternion quat = bodies[i]->getOrientation();
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glm::mat4 matrix = glm::rotate(
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quat.getAngle(),
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glm::vec3(quat.getAxis().getX(), quat.getAxis().getY(), quat.getAxis().getZ())
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);
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return matrix;
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}
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void Physics::rollForward(glm::vec3 camPos,float strength)
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{
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btVector3 pos(camPos.x,0,camPos.z);
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pos.normalize();
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pos = btCross(pos,btVector3(0,1,0));
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pos *= strength;
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playerBall->applyTorque(pos);
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}
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void Physics::rollBack(glm::vec3 camPos,float strength)
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{
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btVector3 pos(camPos.x,0,camPos.z);
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pos.normalize();
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pos = btCross(btVector3(0,1,0),pos);
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pos *= strength;
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playerBall->applyTorque(pos);
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}
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void Physics::rollLeft(glm::vec3 camPos,float strength)
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{
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btVector3 pos(camPos.x,0,camPos.z);
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pos.normalize();
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pos *= strength;
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playerBall->applyTorque(pos);
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}
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void Physics::rollRight(glm::vec3 camPos,float strength)
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{
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btVector3 pos(camPos.x,0,camPos.z);
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pos.normalize();
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pos *= strength;
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playerBall->applyTorque(-pos);
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}
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//not used right now
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void Physics::addStaticGroundPlane()
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{
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btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0, 1, 0), 0);
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btDefaultMotionState* groundMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, 0, 0)));
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btRigidBody::btRigidBodyConstructionInfo groundRigidBodyCI(0, groundMotionState, groundShape, btVector3(0, 0, 0));
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staticGroundBody = new btRigidBody(groundRigidBodyCI);
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world->addRigidBody(staticGroundBody);
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}
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/*
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void kill()
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{
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//btDynamimcWorld*
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for(int i = 0; i < bodies.size();i++)
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{
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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
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btMotionState* motionState = bodies[i]->getMotionState();
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btCollisionShape* shape = bodies[i]->getCollisionShape();
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delete shape;
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delete motionState;
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delete bodies[i];
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}
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delete dispatcher;
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delete colConfig;
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delete solver;
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}
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delete broadphase;
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delete world;
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}
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*/
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