93 lines
2.2 KiB
C++
93 lines
2.2 KiB
C++
#include "physics.hh"
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#include <vector>
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btDynamicsWorld* world; //contains physical attributes of the world.
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btDispatcher* dispatcher; //
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btCollisionConfiguration* colConfig; //defines the type of collision detection.
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btBroadphaseInterface* broadphase; //defines how objects are culled from collision detection.
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btConstraintSolver* solver; //solver for forces and impulses.
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std::vector<btRigidBody*> bodies; //list of all bodies. bodies are also in world, but save again to ease cleaning up process.
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void 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 takeUpdateStep(float timeDiff)
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{
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world->stepSimulation(timeDiff);
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}
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void addSphere(float rad, float x, float y, float z, float mass)
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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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if(mass == 0.0)
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{
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}
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else
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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(x,y,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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world->addRigidBody(body);
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bodies.push_back(body);
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}
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void getPos(int i)
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{
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btVector3 origin = bodies[i]->getCenterOfMassPosition();
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}
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void getRotation(int i)
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{
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btQuaternion rotQuantrino = bodies[i]->getOrientation(); //TODO return orientation in gl format
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}
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void rollForward()
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{
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//bodies[k].applyTorque(btVector3);
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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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