138 lines
6.2 KiB
C++
138 lines
6.2 KiB
C++
#ifndef PHYSICS_HH_INCLUDED
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#define PHYSICS_HH_INCLUDED
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#include <ACGL/Base/Settings.hh>
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#include <ACGL/Math/Math.hh>
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#include <vector>
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#include <string>
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#include <stdio.h>
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extern "C" {
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#include "extern/lua/src/lua.h"
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#include "extern/lua/src/lualib.h"
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#include "extern/lua/src/lauxlib.h"
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}
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#include "extern/luabridge/LuaBridge.h"
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#include "entity.hh"
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#include "extern/bullet/src/BulletDynamics/Dynamics/btRigidBody.h"
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#include "extern/bullet/src/BulletDynamics/Dynamics/btDynamicsWorld.h"
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#include "extern/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
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#include "extern/bullet/src/BulletCollision/CollisionShapes/btSphereShape.h"
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#include "extern/bullet/src/BulletCollision/CollisionShapes/btBoxShape.h"
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#include "extern/bullet/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
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#include "extern/bullet/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h"
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#include "extern/bullet/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
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#include "extern/bullet/src/BulletCollision/CollisionShapes/btTriangleMesh.h"
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#include "extern/bullet/src/BulletCollision/CollisionShapes/btCollisionShape.h"
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#include "extern/bullet/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
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#include "extern/bullet/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h"
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#include "extern/bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"//YAY!
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#include "extern/bullet/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
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#include "extern/bullet/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
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#include "extern/bullet/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h"
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#include "extern/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
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#include "extern/bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h"
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#include "extern/bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h"
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#include "extern/bullet/src/LinearMath/btScalar.h"
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#include "extern/bullet/src/LinearMath/btMotionState.h"
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#include "extern/bullet/src/LinearMath/btDefaultMotionState.h"
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#include "extern/bullet/src/LinearMath/btQuaternion.h"
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#include "extern/bullet/src/LinearMath/btVector3.h"
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#include "extern/bullet/src/LinearMath/btMatrix3x3.h"
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class Physics {
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public:
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Physics();
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~Physics();
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void init(lua_State* L);
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void takeUpdateStep(float timeDiff); //must be used in level.update to proagate the physics
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void rollForward(glm::vec3 camPos, float strength); //self explainitory
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void rollLeft(glm::vec3 camPos, float strength);
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void rollRight(glm::vec3 camPos, float strength);
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void rollBack(glm::vec3 camPos, float strength);
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glm::vec3 getPos(int i);
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glm::mat4 getRotation(int i);
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void addStaticGroundPlane();
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void addCamera(float rad, float distance); //Do NOT impliment before Player has been created;
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glm::vec3 getCameraPosition();
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void addRigidBodyFromFile(Entity entity, float mass, float dampningL, float dampningA, std::string modelLocation, unsigned indice);
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void addTriangleMeshBody(Entity entity, std::string path, float mass, float dampningL, float dampningA, unsigned indice);
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void addTerrain(int width, int length, float** heightData);
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void addTerrainTriangles(int width, int length, float** heightData); //add the terrain as a trimesh instead of a heightmap
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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
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void addSphere(float rad, Entity entity, float mass, float dampningL, float dampningA, unsigned indice); //The Indice should be set to physicObjects.size()
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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
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private:
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btRigidBody* playerBall; //allows for easier access to the ball
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btRigidBody* terrainBody; //duh
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btRigidBody* cameraBody;
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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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btRigidBody* staticGroundBody;
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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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};
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enum collisionTypes{
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COL_NOTHING = 0,
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COL_TERRAIN = 1,
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COL_OBJECTS = 2,
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COL_OBJECTS_NO_TERRAIN = 4
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};
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class btDistanceConstraint : public btPoint2PointConstraint
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{
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protected:
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btScalar m_distance;
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public:
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btDistanceConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, btScalar dist)
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: btPoint2PointConstraint(rbA, rbB, pivotInA, pivotInB)
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{
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m_distance = dist;
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}
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virtual void getInfo1 (btConstraintInfo1* info)
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{
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info->m_numConstraintRows = 1;
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info->nub = 5;
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}
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virtual void getInfo2 (btConstraintInfo2* info)
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{
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btVector3 relA = m_rbA.getCenterOfMassTransform().getBasis() * getPivotInA();
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btVector3 relB = m_rbB.getCenterOfMassTransform().getBasis() * getPivotInB();
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btVector3 posA = m_rbA.getCenterOfMassTransform().getOrigin() + relA;
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btVector3 posB = m_rbB.getCenterOfMassTransform().getOrigin() + relB;
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btVector3 del = posB - posA;
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btScalar currDist = btSqrt(del.dot(del));
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btVector3 ortho = del / currDist;
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info->m_J1linearAxis[0] = ortho[0];
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info->m_J1linearAxis[1] = ortho[1];
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info->m_J1linearAxis[2] = ortho[2];
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btVector3 p, q;
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p = relA.cross(ortho);
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q = relB.cross(ortho);
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info->m_J1angularAxis[0] = p[0];
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info->m_J1angularAxis[1] = p[1];
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info->m_J1angularAxis[2] = p[2];
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info->m_J2angularAxis[0] = -q[0];
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info->m_J2angularAxis[1] = -q[1];
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info->m_J2angularAxis[2] = -q[2];
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btScalar rhs = (currDist - m_distance) * info->fps * info->erp;
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info->m_constraintError[0] = rhs;
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info->cfm[0] = btScalar(0.f);
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info->m_lowerLimit[0] = -SIMD_INFINITY;
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info->m_upperLimit[0] = SIMD_INFINITY;
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}
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};
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#endif
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