source: trunk/test/BtPhysTest.cpp @ 2345 Tweet

//
// BtPhysTest
//
// Copyright: (c) 2009-2013 Benjamin "Touky" Huet <huet.benjamin@gmail.com>
//            (c) 2012-2013 Sam Hocevar <sam@hocevar.net>
//

#if defined HAVE_CONFIG_H
#   include "config.h"
#endif

#if defined _XBOX
#   define _USE_MATH_DEFINES /* for M_PI */
#   include <xtl.h>
#   undef near /* Fuck Microsoft */
#   undef far /* Fuck Microsoft again */
#elif defined _WIN32
#   define _USE_MATH_DEFINES /* for M_PI */
#   define WIN32_LEAN_AND_MEAN
#   include <windows.h>
#   undef near /* Fuck Microsoft */
#   undef far /* Fuck Microsoft again */
#else
#   include <cmath>
#endif

#include "core.h"
#include "loldebug.h"

using namespace lol;

#ifndef HAVE_PHYS_USE_BULLET
#define HAVE_PHYS_USE_BULLET
#endif /* HAVE_PHYS_USE_BULLET */

#include "Physics/Include/LolPhysics.h"
#include "Physics/Include/EasyPhysics.h"
#include "PhysicObject.h"
#include "BtPhysTest.h"

using namespace lol::phys;

#define CUBE_HALF_EXTENTS .5f
#define EXTRA_HEIGHT 1.f

int gNumObjects = 64;

#define USE_WALL        1
#define USE_PLATFORM    1
#define USE_ROPE        0
#define USE_BODIES        1
#define USE_ROTATION    0
#define USE_CHARACTER    1
#define USE_STAIRS        1

#define    IPT_MOVE_FORWARD        "Move_Forward"
#define    IPT_MOVE_BACKWARD        "Move_Backward"
#define    IPT_MOVE_LEFT            "Move_Left"
#define    IPT_MOVE_RIGHT            "Move_Right"
#define    IPT_MOVE_UP                "Move_Up"
#define    IPT_MOVE_DOWN            "Move_Down"
#define    IPT_MOVE_JUMP            "Move_Jump"

BtPhysTest::BtPhysTest(bool editor)
{
    m_loop_value = .0f;

    /* Create a camera that matches the settings of XNA BtPhysTest */
    m_camera = new Camera(vec3(0.f, 600.f, 0.f),
                          vec3(0.f, 0.f, 0.f),
                          vec3(0, 1, 0));
    m_camera->SetRotation(quat::fromeuler_xyz(0.f, 0.f, 0.f));
    m_camera->SetPerspective(45.f, 1280.f, 960.f, .1f, 1000.f);
    //m_camera->SetOrtho(1280.f / 6, 960.f / 6, -1000.f, 1000.f);
    Ticker::Ref(m_camera);

    m_ready = false;

    m_simulation = new Simulation();
    m_simulation->SetWorldLimit(vec3(-1000.0f, -1000.0f, -1000.0f), vec3(1000.0f, 1000.0f, 1000.0f));
    m_simulation->Init();
    vec3 NewGravity = vec3(.0f, -10.0f, .0f);
    m_simulation->SetGravity(NewGravity);
    m_simulation->SetContinuousDetection(true);
    m_simulation->SetTimestep(1.f / 120.f);
    Ticker::Ref(m_simulation);

    float offset = 29.5f;
    vec3 pos_offset = vec3(.0f, 30.f, .0f);
    if (USE_STAIRS)
    {
        vec3 new_offset = vec3(1.0f, .125f, .0f);
        quat NewRotation = quat::fromeuler_xyz(0.f, 0.f, 0.f);
        vec3 NewPosition = pos_offset + vec3(5.0f, -29.f, 15.0f);
        {
            NewRotation = quat::fromeuler_xyz(0.f, 0.f, 30.f);
            NewPosition += vec3(4.0f, .0f, -4.0f);

            PhysicsObject* NewPhyobj = new PhysicsObject(m_simulation, NewPosition, NewRotation, 3);
            Ticker::Ref(NewPhyobj);
            m_stairs_list << NewPhyobj;
        }
        {
            NewRotation = quat::fromeuler_xyz(0.f, 0.f, 40.f);
            NewPosition += vec3(4.0f, .0f, -4.0f);

            PhysicsObject* NewPhyobj = new PhysicsObject(m_simulation, NewPosition, NewRotation, 3);
            Ticker::Ref(NewPhyobj);
            m_stairs_list << NewPhyobj;
        }
        NewPosition = pos_offset + vec3(5.0f, -29.5f, 15.0f);
        NewRotation = quat::fromeuler_xyz(0.f, 0.f, 0.f);
        for (int i=0; i < 15; i++)
        {
            NewPosition += new_offset;

            PhysicsObject* NewPhyobj = new PhysicsObject(m_simulation, NewPosition, NewRotation, 3);
            Ticker::Ref(NewPhyobj);
            m_stairs_list << NewPhyobj;
        }
    }

    if (USE_WALL)
    {
        for (int i=0; i < 6; i++)
        {
            vec3 NewPosition = vec3(.0f);
            quat NewRotation = quat(1.f);

            PhysicsObject* NewPhyobj = new PhysicsObject(m_simulation, NewPosition, NewRotation);

            int idx = i/2;
            NewPosition = pos_offset;
            NewPosition[idx] += offset;
            offset *= -1.f;

            if (idx != 1)
            {
                vec3 NewAxis = vec3(.0f);
                NewAxis[2 - idx] = 1;
                NewRotation = quat::rotate(90.f, NewAxis);
            }

            NewPhyobj->SetTransform(NewPosition, NewRotation);
            Ticker::Ref(NewPhyobj);
            m_ground_list << NewPhyobj;
        }
    }

    PhysicsObject* BasePhyobj = NULL;
    if (USE_PLATFORM)
    {
        quat NewRotation = quat::fromeuler_xyz(0.f, 0.f, 0.f);
        vec3 NewPosition = pos_offset + vec3(5.0f, -25.0f, -15.0f);

        PhysicsObject* NewPhyobj = new PhysicsObject(m_simulation, NewPosition, NewRotation, 1);

        m_platform_list << NewPhyobj;
        Ticker::Ref(NewPhyobj);

        NewPosition = pos_offset + vec3(-15.0f, -25.0f, 5.0f);

        NewPhyobj = new PhysicsObject(m_simulation, NewPosition, NewRotation, 1);
        BasePhyobj = NewPhyobj;

        m_platform_list << NewPhyobj;
        Ticker::Ref(NewPhyobj);

        NewRotation = quat::fromeuler_xyz(0.f, 0.f, 90.f);
        NewPosition = pos_offset + vec3(-20.0f, -25.0f, 5.0f);

        NewPhyobj = new PhysicsObject(m_simulation, NewPosition, NewRotation, 1);

        NewPhyobj->GetPhysic()->AttachTo(BasePhyobj->GetPhysic(), true, true);
        m_platform_list << NewPhyobj;
        Ticker::Ref(NewPhyobj);

        //NewPosition += vec3(-0.0f, .0f, .0f);
        //NewPhyobj = new PhysicsObject(m_simulation, NewPosition, NewRotation, 1);

        //NewPhyobj->GetPhysic()->AttachTo(BasePhyobj->GetPhysic(), true, false);
        //m_platform_list << NewPhyobj;
        //Ticker::Ref(NewPhyobj);

        //NewPosition += vec3(-2.0f, .0f, .0f);
        //NewPhyobj = new PhysicsObject(m_simulation, NewPosition, NewRotation, 1);

        //NewPhyobj->GetPhysic()->AttachTo(BasePhyobj->GetPhysic(), false, false);
        //m_platform_list << NewPhyobj;
        //Ticker::Ref(NewPhyobj);
    }

    if (USE_CHARACTER)
    {
        quat NewRotation = quat::fromeuler_xyz(0.f, 0.f, 0.f);
        vec3 NewPosition = pos_offset + vec3(-5.0f, -10.0f, 15.0f);

        PhysicsObject* NewPhyobj = new PhysicsObject(m_simulation, NewPosition, NewRotation, 2);

        m_character_list << NewPhyobj;
        Ticker::Ref(NewPhyobj);


        Input::LinkActionToKey(IPT_MOVE_FORWARD,        Key::Up);
        Input::LinkActionToKey(IPT_MOVE_BACKWARD,        Key::Down);
        Input::LinkActionToKey(IPT_MOVE_LEFT,            Key::Left);
        Input::LinkActionToKey(IPT_MOVE_RIGHT,            Key::Right);
        Input::LinkActionToKey(IPT_MOVE_JUMP,            Key::Space);
        Input::LinkActionToKey(IPT_MOVE_UP,                Key::PageUp);
        Input::LinkActionToKey(IPT_MOVE_DOWN,            Key::PageDown);

        //NewPhyobj->GetCharacter()->AttachTo(BasePhyobj->GetPhysic(), true, true);
    }

    if (USE_BODIES)
    {
        for (int x=0; x < 6; x++)
        {
            for (int y=0; y < 6; y++)
            {
                for (int z=0; z < 5; z++)
                {
                    PhysicsObject* new_physobj = new PhysicsObject(m_simulation, 1000.f,
                        vec3(-20.f, 15.f, -20.f) +
                        vec3(8.f * (float)x, 8.f * (float)y, 8.f * (float)z));
                    m_physobj_list << new_physobj;
                    Ticker::Ref(new_physobj);
                }
            }
        }
    }

    if (USE_ROPE)
    {
        Array<PhysicsObject*> RopeElements;
        for (int i = 0; i < 14; i++)
        {
            PhysicsObject* new_physobj = new PhysicsObject(m_simulation, 1000.f,
                vec3(0.f, 15.f, -20.f) +
                vec3(0.f, 0.f, 2.f * (float)i), 1);
            RopeElements << new_physobj;
            m_physobj_list << new_physobj;
            Ticker::Ref(new_physobj);
            if (RopeElements.Count() > 1)
            {
                EasyConstraint* new_constraint = new EasyConstraint();

                vec3 A2B = .5f * (RopeElements[i]->GetPhysic()->GetTransform().v3.xyz -
                            RopeElements[i - 1]->GetPhysic()->GetTransform().v3.xyz);
                new_constraint->SetPhysObjA(RopeElements[i - 1]->GetPhysic(), lol::mat4::translate(A2B));
                new_constraint->SetPhysObjB(RopeElements[i]->GetPhysic(), lol::mat4::translate(-A2B));
                new_constraint->InitConstraintToPoint2Point();
                new_constraint->DisableCollisionBetweenObjs(true);
                new_constraint->AddToSimulation(m_simulation);
                m_constraint_list << new_constraint;
            }
        }
    }
}

void BtPhysTest::TickGame(float seconds)
{
    WorldEntity::TickGame(seconds);

    if (Input::WasReleased(Key::Escape))
        Ticker::Shutdown();

    m_loop_value += seconds;
    if (m_loop_value > M_PI * 2.0f)
        m_loop_value -= M_PI * 2.0f;

    vec3 GroundBarycenter = vec3(.0f);
    vec3 PhysObjBarycenter = vec3(.0f);
    float factor = .0f;

    if (USE_WALL)
    {
        for (int i = 0; i < m_ground_list.Count(); i++)
        {
            PhysicsObject* PhysObj = m_ground_list[i];
            mat4 GroundMat = PhysObj->GetTransform();

            GroundBarycenter += GroundMat.v3.xyz;
            factor += 1.f;
        }

        GroundBarycenter /= factor;

        for (int i = 0; i < m_ground_list.Count(); i++)
        {
            PhysicsObject* PhysObj = m_ground_list[i];

            mat4 GroundMat = PhysObj->GetTransform();
            vec3 CenterToGround = GroundMat.v3.xyz - GroundBarycenter;
            vec3 CenterToCam = m_camera->m_position - GroundBarycenter;

            if (dot(normalize(CenterToCam - CenterToGround),
                    normalize(CenterToGround)) > 0.f)
                PhysObj->SetRender(false);
            else
                PhysObj->SetRender(true);
        }
    }

    if (USE_ROTATION)
    {
        for (int i = 0; i < m_ground_list.Count(); i++)
        {
            PhysicsObject* PhysObj = m_ground_list[i];

            mat4 GroundMat = PhysObj->GetTransform();
            mat4 CenterMx = mat4::translate(GroundBarycenter);
            GroundMat = inverse(CenterMx) * GroundMat;
            GroundMat = CenterMx *
                        mat4(quat::fromeuler_xyz(vec3(.0f, 20.f, 20.0f) * seconds))
                        * GroundMat;
            PhysObj->SetTransform(GroundMat.v3.xyz, quat(GroundMat));
        }
    }

    if (USE_PLATFORM)
    {
        for (int i = 0; i < m_platform_list.Count(); i++)
        {
            PhysicsObject* PhysObj = m_platform_list[i];

            mat4 GroundMat = PhysObj->GetTransform();
            if (i == 0)
            {
                GroundMat = GroundMat * mat4(quat::fromeuler_xyz(vec3(20.f, .0f, .0f) * seconds));
                PhysObj->SetTransform(GroundMat.v3.xyz, quat(GroundMat));
            }
            else if (i == 1)
            {
                GroundMat =
                    mat4::translate(vec3(-15.0f, 5.0f, lol::cos(m_loop_value) * 8.f)) *
                    mat4(quat::fromeuler_xyz(vec3(.0f, lol::cos(m_loop_value) * 20.f, .0f)));
                PhysObj->SetTransform(GroundMat.v3.xyz, quat(GroundMat));
            }
        }
    }

    if (USE_CHARACTER)
    {
        for (int i = 0; i < m_character_list.Count(); i++)
        {
            PhysicsObject* PhysObj = m_character_list[i];
            EasyCharacterController* Character = (EasyCharacterController*)PhysObj->GetCharacter();
            mat4 CtlrMx = Character->GetTransform();

            int HMovement = Input::GetStatus(IPT_MOVE_RIGHT) - Input::GetStatus(IPT_MOVE_LEFT);
            int VMovement = Input::GetStatus(IPT_MOVE_FORWARD) - Input::GetStatus(IPT_MOVE_BACKWARD);
            int RMovement = Input::GetStatus(IPT_MOVE_UP) - Input::GetStatus(IPT_MOVE_DOWN);
            vec3 CharMove = vec3((float)VMovement * seconds * 4.f, (float)RMovement * seconds * 10.f, (float)HMovement * seconds * 4.f);

            if (Input::WasReleased(IPT_MOVE_JUMP))
                Character->Jump();
            Character->SetMovementForFrame(CharMove);

            RayCastResult HitResult;
            if (m_simulation->RayHits(HitResult, ERT_Closest, Character->GetTransform().v3.xyz, (Character->GetTransform().v3.xyz + vec3(.0f, -1.f, .0f)), Character))
                Character->AttachTo(HitResult.m_collider_list[0], true, true);
            else
                Character->AttachTo(NULL);
        }
    }

    if (USE_CHARACTER)
    {
        PhysObjBarycenter = vec3(.0f);
        factor = .0f;

        for (int i = 0; i < m_character_list.Count(); i++)
        {
            PhysicsObject* PhysObj = m_character_list[i];
            mat4 GroundMat = PhysObj->GetTransform();

            PhysObjBarycenter += GroundMat.v3.xyz;
            factor += 1.f;
        }

        PhysObjBarycenter /= factor;

        m_camera->SetTarget(m_camera->GetTarget() + (seconds / (seconds + 0.18f)) * (PhysObjBarycenter - m_camera->GetTarget()));
        vec3 CamPosCenter = m_camera->GetTarget() + vec3(.0f, 5.0f, .0f);
        m_camera->SetPosition(CamPosCenter + normalize(m_camera->GetPosition() - CamPosCenter) * 20.0f);
    }
    else
    {
        PhysObjBarycenter = vec3(.0f);
        for (int i = 0; i < m_physobj_list.Count(); i++)
        {
            PhysicsObject* PhysObj = m_physobj_list[i];
            mat4 GroundMat = PhysObj->GetTransform();

            PhysObjBarycenter += GroundMat.v3.xyz;
            factor += 1.f;
        }

        PhysObjBarycenter /= factor;

        m_camera->SetTarget(PhysObjBarycenter);
        m_camera->SetPosition(GroundBarycenter + normalize(GroundBarycenter - PhysObjBarycenter) * 60.0f);
    }

}

void BtPhysTest::TickDraw(float seconds)
{
    WorldEntity::TickDraw(seconds);

    if (!m_ready)
    {
        /* FIXME: this object never cleans up */
        m_ready = true;
    }

    //Video::SetClearColor(vec4(0.0f, 0.0f, 0.12f, 1.0f));

}

BtPhysTest::~BtPhysTest()
{
    Ticker::Unref(m_camera);

    while (m_constraint_list.Count())
    {
        EasyConstraint* CurPop = m_constraint_list.Last();
        m_constraint_list.Pop();
        CurPop->RemoveFromSimulation(m_simulation);
        delete CurPop;
    }
    while (m_ground_list.Count())
    {
        PhysicsObject* CurPop = m_ground_list.Last();
        m_ground_list.Pop();
        CurPop->GetPhysic()->RemoveFromSimulation(m_simulation);
        Ticker::Unref(CurPop);
    }
    while (m_stairs_list.Count())
    {
        PhysicsObject* CurPop = m_stairs_list.Last();
        m_stairs_list.Pop();
        CurPop->GetPhysic()->RemoveFromSimulation(m_simulation);
        Ticker::Unref(CurPop);
    }
    while (m_character_list.Count())
    {
        PhysicsObject* CurPop = m_character_list.Last();
        m_character_list.Pop();
        CurPop->GetCharacter()->RemoveFromSimulation(m_simulation);
        Ticker::Unref(CurPop);
    }
    while (m_platform_list.Count())
    {
        PhysicsObject* CurPop = m_platform_list.Last();
        m_platform_list.Pop();
        CurPop->GetPhysic()->RemoveFromSimulation(m_simulation);
        Ticker::Unref(CurPop);
    }
    while (m_physobj_list.Count())
    {
        PhysicsObject* CurPop = m_physobj_list.Last();
        m_physobj_list.Pop();
        CurPop->GetPhysic()->RemoveFromSimulation(m_simulation);
        Ticker::Unref(CurPop);
    }
    Ticker::Unref(m_simulation);

}

int main(int argc, char **argv)
{
    System::Init(argc, argv);

    Application app("BtPhysTest", ivec2(1280, 720), 60.0f);

    new BtPhysTest(argc > 1);
    app.ShowPointer(false);

    app.Run();

    return EXIT_SUCCESS;
}