1 | // |
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2 | // Lol Engine |
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3 | // |
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4 | // Copyright: (c) 2010-2012 Sam Hocevar <sam@hocevar.net> |
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5 | // (c) 2009-2012 Cédric Lecacheur <jordx@free.fr> |
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6 | // (c) 2009-2012 Benjamin Huet <huet.benjamin@gmail.com> |
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7 | // This program is free software; you can redistribute it and/or |
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8 | // modify it under the terms of the Do What The Fuck You Want To |
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9 | // Public License, Version 2, as published by Sam Hocevar. See |
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10 | // http://sam.zoy.org/projects/COPYING.WTFPL for more details. |
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11 | // |
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12 | |
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13 | // |
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14 | // The EasyMesh class |
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15 | // ------------------ |
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16 | // |
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17 | |
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18 | #if defined HAVE_CONFIG_H |
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19 | # include "config.h" |
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20 | #endif |
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21 | |
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22 | #include "LolBtPhysicsIntegration.h"
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23 | #include "LolPhysics.h"
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24 | |
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25 | namespace lol |
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26 | { |
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27 | |
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28 | namespace phys |
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29 | { |
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30 | |
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31 | #ifdef HAVE_PHYS_USE_BULLET
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32 |
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33 | EasyPhysics::EasyPhysics() : |
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34 | m_collision_object(NULL), |
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35 | m_rigid_body(NULL), |
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36 | m_collision_shape(NULL),
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37 | m_motion_state(NULL),
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38 | m_mass(.0f), |
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39 | m_local_inertia(btVector3(.0f, .0f, .0f)) |
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40 | { |
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41 | } |
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42 | |
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43 | EasyPhysics::~EasyPhysics() |
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44 | { |
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45 | m_rigid_body = NULL;
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46 | delete m_collision_object;
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47 | delete m_collision_shape;
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48 | delete m_motion_state;
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49 | } |
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50 | |
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51 | //------------------------------------------------------------------------- |
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52 | //Set Shape functions |
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53 | //-- |
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54 | |
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55 | void EasyPhysics::SetShapeTo(btCollisionShape* collision_shape) |
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56 | { |
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57 | bool bReinitToRigidBody = false; |
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58 | if (m_rigid_body) |
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59 | { |
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60 | bReinitToRigidBody = true; |
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61 | delete m_rigid_body; |
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62 | } |
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63 | if (m_collision_shape) |
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64 | delete m_collision_shape; |
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65 | |
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66 | m_collision_shape = collision_shape; |
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67 |
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68 | if (bReinitToRigidBody)
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69 | InitBodyToRigid();
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70 | } |
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71 | |
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72 | //Box Shape support |
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73 | void EasyPhysics::SetShapeToBox(lol::vec3& box_size) |
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74 | { |
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75 | vec3 new_box_size = box_size * LOL2BT_UNIT * LOL2BT_SIZE; |
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76 | SetShapeTo(new btBoxShape(LOL2BT_VEC3(new_box_size)));
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77 | } |
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78 | |
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79 | void EasyPhysics::SetShapeToSphere(float radius) |
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80 | { |
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81 | SetShapeTo(new btSphereShape(radius * LOL2BT_UNIT * LOL2BT_SIZE));
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82 | } |
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83 | |
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84 | void EasyPhysics::SetShapeToCone(float radius, float height) |
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85 | { |
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86 | SetShapeTo(new btConeShape( radius * LOL2BT_UNIT,
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87 | height * LOL2BT_UNIT));
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88 | } |
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89 | |
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90 | void EasyPhysics::SetShapeToCylinder(lol::vec3& cyl_size) |
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91 | { |
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92 | vec3 new_cyl_size = cyl_size * LOL2BT_UNIT; |
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93 | new_cyl_size.y *= LOL2BT_SIZE; |
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94 | SetShapeTo(new btCylinderShape(LOL2BT_VEC3(new_cyl_size)));
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95 | } |
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96 | |
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97 | void EasyPhysics::SetShapeToCapsule(float radius, float height) |
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98 | { |
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99 | SetShapeTo(new btCapsuleShape( radius * LOL2BT_UNIT * LOL2BT_SIZE,
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100 | height * LOL2BT_UNIT * LOL2BT_SIZE));
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101 | } |
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102 | |
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103 | //------------------------------------------------------------------------- |
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104 | //Base Location/Rotation setup |
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105 | //-- |
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106 | void EasyPhysics::SetTransform(const lol::vec3& base_location, const lol::quat& base_rotation) |
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107 | { |
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108 | if (m_motion_state) |
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109 | { |
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110 | if (m_mass != .0f) |
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111 | m_motion_state->setWorldTransform(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location))); |
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112 | else |
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113 | { |
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114 | m_rigid_body->setWorldTransform(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location))); |
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115 | m_motion_state->setWorldTransform(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location))); |
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116 | } |
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117 | } |
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118 | else |
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119 | m_motion_state = new btDefaultMotionState(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location)));
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120 | } |
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121 | |
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122 | //------------------------------------------------------------------------- |
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123 | //Mass related functions |
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124 | //-- |
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125 | //Set Shape functions |
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126 | void EasyPhysics::SetMass(float mass) |
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127 | { |
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128 | m_mass = mass; |
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129 | |
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130 | if (m_rigid_body) |
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131 | { |
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132 | SetLocalInertia(m_mass); |
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133 | m_rigid_body->setMassProps(mass, m_local_inertia); |
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134 | } |
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135 | } |
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136 | |
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137 | //------------------------------------------------------------------------- |
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138 | //Final conversion pass functons : Body related |
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139 | //-- |
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140 | |
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141 | //Init to rigid body |
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142 | void EasyPhysics::InitBodyToRigid() |
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143 | { |
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144 | if (m_collision_object) |
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145 | delete m_collision_object; |
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146 | |
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147 | SetLocalInertia(m_mass); |
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148 | if (!m_motion_state) |
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149 | SetTransform(vec3(.0f)); |
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150 | btRigidBody::btRigidBodyConstructionInfo NewInfos(m_mass, m_motion_state, m_collision_shape, m_local_inertia); |
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151 | m_rigid_body = new btRigidBody(NewInfos); |
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152 | m_collision_object = m_rigid_body;
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153 | } |
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154 | |
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155 | void EasyPhysics::AddToSimulation(class Simulation* current_simulation)
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156 | {
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157 | btDiscreteDynamicsWorld* dynamics_world = current_simulation->GetWorld();
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158 | if (m_rigid_body)
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159 | {
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160 | dynamics_world->addRigidBody(m_rigid_body);
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161 | if (m_mass != .0f)
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162 | current_simulation->AddToDynamic(this);
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163 | else
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164 | current_simulation->AddToStatic(this);
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165 | }
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166 | else
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167 | dynamics_world->addCollisionObject(m_collision_object);
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168 | }
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169 | |
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170 | //------------------------------------------------------------------------- |
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171 | //Getter functons |
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172 | //-- |
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173 | |
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174 | mat4 EasyPhysics::GetTransform() |
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175 | { |
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176 | m_local_to_world = lol::mat4(1.0f); |
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177 | if (m_rigid_body && m_motion_state)
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178 | {
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179 | btTransform CurTransform;
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180 | m_motion_state->getWorldTransform(CurTransform);
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181 | CurTransform.getOpenGLMatrix(&m_local_to_world[0][0]);
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182 | }
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183 | else if (m_collision_object)
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184 | m_collision_object->getWorldTransform().getOpenGLMatrix(&m_local_to_world[0][0]);
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185 | return m_local_to_world;
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186 | } |
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187 | |
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188 | //Set Local Inertia |
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189 | void EasyPhysics::SetLocalInertia(float mass) |
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190 | { |
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191 | if (mass != .0f)
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192 | m_collision_shape->calculateLocalInertia(mass, m_local_inertia); |
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193 | else |
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194 | m_local_inertia = btVector3(.0f, .0f, .0f); |
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195 | } |
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196 | #endif |
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197 | |
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198 | } /* namespace phys */ |
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199 | |
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200 | } /* namespace lol */ |
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