diff options
8 files changed, 142 insertions, 148 deletions
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp index 488584b0567..11a97d680bb 100644 --- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp +++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp @@ -80,7 +80,7 @@ GEN_Map<GEN_HashedPtr,DT_ShapeHandle> map_gamemesh_to_sumoshape; // forward declarations -void BL_RegisterSumoObject(KX_GameObject* gameobj,class SM_Scene* sumoScene,DT_SceneHandle solidscene,class SM_Object* sumoObj,const STR_String& matname,bool isDynamic,bool isActor); +void BL_RegisterSumoObject(KX_GameObject* gameobj,class SM_Scene* sumoScene,class SM_Object* sumoObj,const STR_String& matname,bool isDynamic,bool isActor); DT_ShapeHandle CreateShapeFromMesh(RAS_MeshObject* meshobj); @@ -102,7 +102,7 @@ void KX_ConvertSumoObject( KX_GameObject* gameobj, smprop->m_friction_scaling[0] = kxshapeprops->m_friction_scaling[0]; smprop->m_friction_scaling[1] = kxshapeprops->m_friction_scaling[1]; smprop->m_friction_scaling[2] = kxshapeprops->m_friction_scaling[2]; - smprop->m_inertia = kxshapeprops->m_inertia; + smprop->m_inertia = MT_Vector3(1., 1., 1.) * kxshapeprops->m_inertia; smprop->m_lin_drag = kxshapeprops->m_lin_drag; smprop->m_mass = kxshapeprops->m_mass; smprop->m_radius = objprop->m_radius; @@ -131,6 +131,8 @@ void KX_ConvertSumoObject( KX_GameObject* gameobj, { case KX_BOUNDBOX: shape = DT_NewBox(objprop->m_boundobject.box.m_extends[0], objprop->m_boundobject.box.m_extends[1], objprop->m_boundobject.box.m_extends[2]); + smprop->m_inertia.scale(objprop->m_boundobject.box.m_extends[0], objprop->m_boundobject.box.m_extends[1], objprop->m_boundobject.box.m_extends[2]); + smprop->m_inertia /= (objprop->m_boundobject.box.m_extends[0] + objprop->m_boundobject.box.m_extends[1] + objprop->m_boundobject.box.m_extends[2]) / 3.; break; case KX_BOUNDCYLINDER: shape = DT_NewCylinder(objprop->m_radius, objprop->m_boundobject.c.m_height); @@ -158,7 +160,7 @@ void KX_ConvertSumoObject( KX_GameObject* gameobj, sumoObj->setRigidBody(objprop->m_angular_rigidbody?true:false); objprop->m_isactor = objprop->m_dyna = true; - BL_RegisterSumoObject(gameobj,sceneptr,sumoEnv->GetSolidScene(),sumoObj,"",true, true); + BL_RegisterSumoObject(gameobj,sceneptr,sumoObj,"",true, true); } else { @@ -228,7 +230,7 @@ void KX_ConvertSumoObject( KX_GameObject* gameobj, BL_RegisterSumoObject(gameobj,sceneptr, - sumoEnv->GetSolidScene(),sumoObj, + sumoObj, matname, objprop->m_dyna, objprop->m_isactor); @@ -254,21 +256,15 @@ void KX_ConvertSumoObject( KX_GameObject* gameobj, void BL_RegisterSumoObject( KX_GameObject* gameobj, class SM_Scene* sumoScene, - DT_SceneHandle solidscene, class SM_Object* sumoObj, const STR_String& matname, bool isDynamic, bool isActor) { - - - - //gameobj->SetDynamic(isDynamic); - PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode()); // need easy access, not via 'node' etc. - KX_SumoPhysicsController* physicscontroller = new KX_SumoPhysicsController(sumoScene,solidscene,sumoObj,motionstate,isDynamic); + KX_SumoPhysicsController* physicscontroller = new KX_SumoPhysicsController(sumoScene,sumoObj,motionstate,isDynamic); gameobj->SetPhysicsController(physicscontroller); physicscontroller->setClientInfo(gameobj); @@ -279,16 +275,12 @@ void BL_RegisterSumoObject( gameobj->GetSGNode()->AddSGController(physicscontroller); gameobj->getClientInfo()->m_type = (isActor ? KX_ClientObjectInfo::ACTOR : KX_ClientObjectInfo::STATIC); - //gameobj->GetClientInfo()->m_clientobject = gameobj; // store materialname in auxinfo, needed for touchsensors gameobj->getClientInfo()->m_auxilary_info = (matname.Length() ? (void*)(matname.ReadPtr()+2) : NULL); physicscontroller->SetObject(gameobj->GetSGNode()); - - //gameobj->SetDynamicsScaling(MT_Vector3(1.0, 1.0, 1.0)); - -}; +} DT_ShapeHandle CreateShapeFromMesh(RAS_MeshObject* meshobj) { diff --git a/source/gameengine/Ketsji/KX_SumoPhysicsController.h b/source/gameengine/Ketsji/KX_SumoPhysicsController.h index dc038a536e9..b160315ce53 100644 --- a/source/gameengine/Ketsji/KX_SumoPhysicsController.h +++ b/source/gameengine/Ketsji/KX_SumoPhysicsController.h @@ -54,12 +54,12 @@ class KX_SumoPhysicsController : public KX_IPhysicsController, public: KX_SumoPhysicsController( class SM_Scene* sumoScene, - DT_SceneHandle solidscene, +/* DT_SceneHandle solidscene, */ class SM_Object* sumoObj, class PHY_IMotionState* motionstate ,bool dyna) : KX_IPhysicsController(dyna,NULL) , - SumoPhysicsController(sumoScene,solidscene,sumoObj,motionstate,dyna) + SumoPhysicsController(sumoScene,/*solidscene,*/sumoObj,motionstate,dyna) { }; virtual ~KX_SumoPhysicsController(); diff --git a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h index de9d2e20044..c90dfb7296c 100644 --- a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h +++ b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h @@ -47,7 +47,7 @@ class SM_FhObject; struct SM_ShapeProps { MT_Scalar m_mass; // Total mass MT_Scalar m_radius; // Bound sphere size - MT_Scalar m_inertia; // Inertia, should be a tensor some time + MT_Vector3 m_inertia; // Inertia, should be a tensor some time MT_Scalar m_lin_drag; // Linear drag (air, water) 0 = concrete, 1 = vacuum MT_Scalar m_ang_drag; // Angular drag MT_Scalar m_friction_scaling[3]; // Scaling for anisotropic friction. Component in range [0, 1] @@ -71,14 +71,14 @@ struct SM_MaterialProps { class SM_Object : public SM_MotionState { public: - SM_Object() ; - SM_Object( + SM_Object() ; + SM_Object( DT_ShapeHandle shape, const SM_MaterialProps *materialProps, const SM_ShapeProps *shapeProps, SM_Object *dynamicParent ); - virtual ~SM_Object(); + virtual ~SM_Object(); bool isDynamic() const; @@ -106,6 +106,8 @@ public: void calcXform(); void notifyClient(); + void updateInvInertiaTensor(); + // Save the current state information for use in the // velocity computation in the next frame. @@ -116,20 +118,20 @@ public: void clearForce() ; - void clearMomentum() ; - - void setMargin(MT_Scalar margin) ; - - MT_Scalar getMargin() const ; - - const SM_MaterialProps *getMaterialProps() const ; - + void clearMomentum() ; + + void setMargin(MT_Scalar margin) ; + + MT_Scalar getMargin() const ; + + const SM_MaterialProps *getMaterialProps() const ; + const SM_ShapeProps *getShapeProps() const ; - - void setPosition(const MT_Point3& pos); - void setOrientation(const MT_Quaternion& orn); - void setScaling(const MT_Vector3& scaling); - + + void setPosition(const MT_Point3& pos); + void setOrientation(const MT_Quaternion& orn); + void setScaling(const MT_Vector3& scaling); + /** * set an external velocity. This velocity complements @@ -140,12 +142,12 @@ public: */ - void setExternalLinearVelocity(const MT_Vector3& lin_vel) ; + void setExternalLinearVelocity(const MT_Vector3& lin_vel) ; void addExternalLinearVelocity(const MT_Vector3& lin_vel) ; /** Override the physics velocity */ - void addLinearVelocity(const MT_Vector3& lin_vel); + void addLinearVelocity(const MT_Vector3& lin_vel); void setLinearVelocity(const MT_Vector3& lin_vel); /** @@ -155,8 +157,8 @@ public: * is not subject to friction or damping. */ - void setExternalAngularVelocity(const MT_Vector3& ang_vel) ; - void addExternalAngularVelocity(const MT_Vector3& ang_vel); + void setExternalAngularVelocity(const MT_Vector3& ang_vel) ; + void addExternalAngularVelocity(const MT_Vector3& ang_vel); /** Override the physics angular velocity */ @@ -181,22 +183,24 @@ public: MT_Scalar getInvMass() const; - MT_Scalar getInvInertia() const ; - - void applyForceField(const MT_Vector3& accel) ; - - void applyCenterForce(const MT_Vector3& force) ; - - void applyTorque(const MT_Vector3& torque) ; - - void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse) ; - - void applyCenterImpulse(const MT_Vector3& impulse); - - void applyAngularImpulse(const MT_Vector3& impulse); + const MT_Vector3& getInvInertia() const ; + + const MT_Matrix3x3& getInvInertiaTensor() const; - MT_Point3 getWorldCoord(const MT_Point3& local) const; - MT_Point3 getLocalCoord(const MT_Point3& world) const; + void applyForceField(const MT_Vector3& accel) ; + + void applyCenterForce(const MT_Vector3& force) ; + + void applyTorque(const MT_Vector3& torque) ; + + void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse) ; + + void applyCenterImpulse(const MT_Vector3& impulse); + + void applyAngularImpulse(const MT_Vector3& impulse); + + MT_Point3 getWorldCoord(const MT_Point3& local) const; + MT_Point3 getLocalCoord(const MT_Point3& world) const; MT_Vector3 getVelocity(const MT_Point3& local) const; @@ -334,6 +338,11 @@ private: SM_FhObject *m_fh_object; // The ray object used for Fh bool m_suspended; // Is this object frozen? + + // Mass properties + MT_Scalar m_inv_mass; // 1/mass + MT_Vector3 m_inv_inertia; // [1/inertia_x, 1/inertia_y, 1/inertia_z] + MT_Matrix3x3 m_inv_inertia_tensor; // Inverse Inertia Tensor }; #endif diff --git a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Object.cpp b/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Object.cpp index fb02091d4f9..d0d52934768 100644 --- a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Object.cpp +++ b/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Object.cpp @@ -83,16 +83,24 @@ SM_Object::SM_Object( m_error(0.0, 0.0, 0.0), m_combined_lin_vel (0.0, 0.0, 0.0), m_combined_ang_vel (0.0, 0.0, 0.0), - m_fh_object(0) + m_fh_object(0), + m_inv_mass(0.0), + m_inv_inertia(0., 0., 0.) { m_xform.setIdentity(); m_xform.getValue(m_ogl_matrix); - if (shapeProps && - (shapeProps->m_do_fh || shapeProps->m_do_rot_fh)) { - DT_Vector3 zero = {0., 0., 0.}, ray = {0.0, 0.0, -10.0}; - m_fh_object = new SM_FhObject(DT_NewLineSegment(zero, ray), MT_Vector3(ray), this); - //printf("SM_Object:: WARNING! fh disabled.\n"); + if (shapeProps) + { + if (shapeProps->m_do_fh || shapeProps->m_do_rot_fh) + { + DT_Vector3 zero = {0., 0., 0.}, ray = {0.0, 0.0, -10.0}; + m_fh_object = new SM_FhObject(DT_NewLineSegment(zero, ray), MT_Vector3(ray), this); + //printf("SM_Object:: WARNING! fh disabled.\n"); + } + m_inv_mass = 1. / shapeProps->m_mass; + m_inv_inertia = MT_Vector3(1./shapeProps->m_inertia[0], 1./shapeProps->m_inertia[1], 1./shapeProps->m_inertia[2]); } + updateInvInertiaTensor(); m_suspended = false; } @@ -113,8 +121,8 @@ integrateForces( m_lin_mom *= pow(m_shapeProps->m_lin_drag, timeStep); m_ang_mom *= pow(m_shapeProps->m_ang_drag, timeStep); // Set velocities according momentum - m_lin_vel = m_lin_mom / m_shapeProps->m_mass; - m_ang_vel = m_ang_mom / m_shapeProps->m_inertia; + m_lin_vel = m_lin_mom * m_inv_mass; + m_ang_vel = m_inv_inertia_tensor * m_ang_mom; } } @@ -182,8 +190,15 @@ void SM_Object::dynamicCollision(const MT_Point3 &local2, restitution = 0.0; } - MT_Scalar impulse = -(1.0 + restitution) * rel_vel_normal / invMass; - applyCenterImpulse( impulse * normal); + MT_Scalar impulse = -(1.0 + restitution) * rel_vel_normal; + + if (isRigidBody()) + { + MT_Vector3 temp = getInvInertiaTensor() * local2.cross(normal); + applyImpulse(local2 + m_pos, (impulse / (invMass + normal.dot(temp.cross(local2)))) * normal); + } else { + applyCenterImpulse( ( impulse / invMass ) * normal ); + } // The friction part starts here!!!!!!!! @@ -276,7 +291,7 @@ void SM_Object::dynamicCollision(const MT_Point3 &local2, // For rigid bodies we take the inertia into account, // since the friction impulse is going to change the // angular momentum as well. - MT_Vector3 temp = getInvInertia() * local2.cross(lateral); + MT_Vector3 temp = getInvInertiaTensor() * local2.cross(lateral); MT_Scalar impulse_lateral = rel_vel_lateral / (invMass + lateral.dot(temp.cross(local2))); @@ -621,6 +636,7 @@ calcXform() { m_fh_object->setPosition(m_pos); m_fh_object->calcXform(); } + updateInvInertiaTensor(); #ifdef SM_DEBUG_XFORM printf("\n | %-0.5f %-0.5f %-0.5f %-0.5f |\n", m_ogl_matrix[0], m_ogl_matrix[4], m_ogl_matrix[ 8], m_ogl_matrix[12]); @@ -633,6 +649,12 @@ calcXform() { #endif } + void +SM_Object::updateInvInertiaTensor() +{ + m_inv_inertia_tensor = m_xform.getBasis().scaled(m_inv_inertia[0], m_inv_inertia[1], m_inv_inertia[2]) * m_xform.getBasis().transposed(); +} + // Call callbacks to notify the client of a change of placement void SM_Object:: @@ -886,18 +908,25 @@ resolveCombinedVelocities( SM_Object:: getInvMass( ) const { - return m_shapeProps ? 1.0 / m_shapeProps->m_mass : 0.0; + return m_inv_mass; // OPT: cache the result of this division rather than compute it each call } - MT_Scalar + const MT_Vector3& SM_Object:: getInvInertia( ) const { - return m_shapeProps ? 1.0 / m_shapeProps->m_inertia : 0.0; + return m_inv_inertia; // OPT: cache the result of this division rather than compute it each call } + const MT_Matrix3x3& +SM_Object:: +getInvInertiaTensor( +) const { + return m_inv_inertia_tensor; +} + void SM_Object:: applyForceField( @@ -941,7 +970,7 @@ applyCenterImpulse( if (m_shapeProps) { m_lin_mom += impulse; m_reaction_impulse += impulse; - m_lin_vel = m_lin_mom / m_shapeProps->m_mass; + m_lin_vel = m_lin_mom * m_inv_mass; // The linear velocity is immedialtely updated since otherwise // simultaneous collisions will get a double impulse. @@ -955,7 +984,7 @@ applyAngularImpulse( ) { if (m_shapeProps) { m_ang_mom += impulse; - m_ang_vel = m_ang_mom / m_shapeProps->m_inertia; + m_ang_vel = m_inv_inertia_tensor * m_ang_mom; } } diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp b/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp index 5a3c6e19e9b..42a3c23b55e 100644 --- a/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp +++ b/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp @@ -41,7 +41,6 @@ SumoPhysicsController::SumoPhysicsController( class SM_Scene* sumoScene, - DT_SceneHandle solidscene, class SM_Object* sumoObj, class PHY_IMotionState* motionstate, @@ -49,7 +48,6 @@ SumoPhysicsController::SumoPhysicsController( : m_sumoObj(sumoObj) , m_sumoScene(sumoScene), - m_solidscene(solidscene), m_bFirstTime(true), m_bDyna(dyna), m_MotionState(motionstate) @@ -155,8 +153,6 @@ void SumoPhysicsController::GetWorldScaling(MT_Vector3& scale) // kinematic methods void SumoPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local) { - - if (m_sumoObj) { MT_Matrix3x3 mat; @@ -172,7 +168,6 @@ void SumoPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dlo } void SumoPhysicsController::RelativeRotate(const float drot[12],bool local) { - if (m_sumoObj ) { MT_Matrix3x3 drotmat(drot); @@ -186,10 +181,7 @@ void SumoPhysicsController::RelativeRotate(const float drot[12],bool local) } void SumoPhysicsController::setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal) { -// float orn [4]={quatImag0,quatImag1,quatImag2,quatReal}; -// MT_Quaternion quat; m_sumoObj->setOrientation(MT_Quaternion(quatImag0,quatImag1,quatImag2,quatReal)); - } void SumoPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal) @@ -205,6 +197,7 @@ void SumoPhysicsController::setPosition(float posX,float posY,float posZ) { m_sumoObj->setPosition(MT_Point3(posX,posY,posZ)); } + void SumoPhysicsController::setScaling(float scaleX,float scaleY,float scaleZ) { m_sumoObj->setScaling(MT_Vector3(scaleX,scaleY,scaleZ)); @@ -220,10 +213,9 @@ void SumoPhysicsController::ApplyTorque(float torqueX,float torqueY,float torqu MT_Matrix3x3 orn; GetWorldOrientation(orn); m_sumoObj->applyTorque(local ? - orn * torque : - torque); + orn * torque : + torque); } - } void SumoPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bool local) @@ -236,11 +228,9 @@ void SumoPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,b GetWorldOrientation(orn); m_sumoObj->applyCenterForce(local ? - orn * force : - force); - + orn * force : + force); } - } void SumoPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local) @@ -253,9 +243,8 @@ void SumoPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,fl GetWorldOrientation(orn); m_sumoObj->setAngularVelocity(local ? - orn * ang_vel : - ang_vel); - + orn * ang_vel : + ang_vel); } } @@ -299,12 +288,12 @@ void SumoPhysicsController::SuspendDynamics() m_suspendDynamics=true; if (m_sumoObj) - { - m_sumoObj->suspendDynamics(); - m_sumoObj->setLinearVelocity(MT_Vector3(0,0,0)); - m_sumoObj->setAngularVelocity(MT_Vector3(0,0,0)); - m_sumoObj->calcXform(); - } + { + m_sumoObj->suspendDynamics(); + m_sumoObj->setLinearVelocity(MT_Vector3(0,0,0)); + m_sumoObj->setAngularVelocity(MT_Vector3(0,0,0)); + m_sumoObj->calcXform(); + } } void SumoPhysicsController::RestoreDynamics() @@ -315,14 +304,12 @@ void SumoPhysicsController::RestoreDynamics() { m_sumoObj->restoreDynamics(); } - - } - /** - reading out information from physics - */ +/** + reading out information from physics +*/ void SumoPhysicsController::GetLinearVelocity(float& linvX,float& linvY,float& linvZ) { if (m_sumoObj) @@ -340,9 +327,10 @@ void SumoPhysicsController::GetLinearVelocity(float& linvX,float& linvY,float& linvZ = 0.f; } } - /** - GetVelocity parameters are in geometric coordinates (Origin is not center of mass!). - */ + +/** + GetVelocity parameters are in geometric coordinates (Origin is not center of mass!). +*/ void SumoPhysicsController::GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ) { if (m_sumoObj) @@ -363,21 +351,18 @@ void SumoPhysicsController::GetVelocity(const float posX,const float posY,const } } - void SumoPhysicsController::getReactionForce(float& forceX,float& forceY,float& forceZ) { const MT_Vector3& force = m_sumoObj->getReactionForce(); forceX = force[0]; forceY = force[1]; forceZ = force[2]; - - } + void SumoPhysicsController::setRigidBody(bool rigid) { m_sumoObj->setRigidBody(rigid); } - void SumoPhysicsController::PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl) { @@ -425,13 +410,11 @@ void SumoPhysicsController::WriteMotionStateToDynamics(bool nondynaonly) void SumoPhysicsController::do_me() { - const MT_Point3& pos = m_sumoObj->getPosition(); const MT_Quaternion& orn = m_sumoObj->getOrientation(); m_MotionState->setWorldPosition(pos[0],pos[1],pos[2]); m_MotionState->setWorldOrientation(orn[0],orn[1],orn[2],orn[3]); - } diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsController.h b/source/gameengine/Physics/Sumo/SumoPhysicsController.h index e1ce205b667..a48ef013fab 100644 --- a/source/gameengine/Physics/Sumo/SumoPhysicsController.h +++ b/source/gameengine/Physics/Sumo/SumoPhysicsController.h @@ -52,7 +52,6 @@ class SumoPhysicsController : public PHY_IPhysicsController , public SM_Callback public: SumoPhysicsController( class SM_Scene* sumoScene, - DT_SceneHandle solidscene, class SM_Object* sumoObj, class PHY_IMotionState* motionstate, bool dyna); @@ -139,29 +138,28 @@ public: private: - class SM_Object* m_sumoObj; - class SM_Scene* m_sumoScene; // needed for replication - DT_SceneHandle m_solidscene; + class SM_Object* m_sumoObj; + class SM_Scene* m_sumoScene; // needed for replication bool m_bFirstTime; bool m_bDyna; - float m_friction; - float m_restitution; + float m_friction; + float m_restitution; - bool m_suspendDynamics; + bool m_suspendDynamics; - bool m_firstTime; - bool m_bFullRigidBody; - bool m_bPhantom; // special flag for objects that are not affected by physics 'resolver' + bool m_firstTime; + bool m_bFullRigidBody; + bool m_bPhantom; // special flag for objects that are not affected by physics 'resolver' // data to calculate fake velocities for kinematic objects (non-dynas) - bool m_bKinematic; - bool m_bPrevKinematic; + bool m_bKinematic; + bool m_bPrevKinematic; - float m_lastTime; + float m_lastTime; - class PHY_IMotionState* m_MotionState; + class PHY_IMotionState* m_MotionState; }; diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp index a44642de056..78e902ce221 100644 --- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp @@ -38,7 +38,7 @@ #include <config.h> #endif -#include <SOLID/SOLID.h> +//#include <SOLID/SOLID.h> const MT_Scalar UpperBoundForFuzzicsIntegrator = 0.01; // At least 100Hz (isn't this CPU hungry ?) @@ -46,9 +46,6 @@ const MT_Scalar UpperBoundForFuzzicsIntegrator = 0.01; SumoPhysicsEnvironment::SumoPhysicsEnvironment() { - // seperate collision scene for events - m_solidScene = DT_CreateScene(); - m_sumoScene = new SM_Scene(); } @@ -56,10 +53,7 @@ SumoPhysicsEnvironment::SumoPhysicsEnvironment() SumoPhysicsEnvironment::~SumoPhysicsEnvironment() { - std::cout << "delete m_sumoScene " << m_sumoScene << std::endl; delete m_sumoScene; - DT_DestroyScene(m_solidScene); - //DT_DestroyRespTable(m_respTable); } void SumoPhysicsEnvironment::proceed(double timeStep) @@ -70,23 +64,20 @@ void SumoPhysicsEnvironment::proceed(double timeStep) void SumoPhysicsEnvironment::setGravity(float x,float y,float z) { m_sumoScene->setForceField(MT_Vector3(x,y,z)); - } - - - - -int SumoPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type, - float pivotX,float pivotY,float pivotZ,float axisX,float axisY,float axisZ) +int SumoPhysicsEnvironment::createConstraint( + class PHY_IPhysicsController* ctrl, + class PHY_IPhysicsController* ctrl2, + PHY_ConstraintType type, + float pivotX,float pivotY,float pivotZ, + float axisX,float axisY,float axisZ) { - int constraintid = 0; return constraintid; - } -void SumoPhysicsEnvironment::removeConstraint(int constraintid) +void SumoPhysicsEnvironment::removeConstraint(int constraintid) { if (constraintid) { diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h index ff4bf35415e..1f175df6ec9 100644 --- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h +++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h @@ -33,7 +33,6 @@ #define _SUMOPhysicsEnvironment #include "PHY_IPhysicsEnvironment.h" -#include <SOLID/SOLID.h> /** * Physics Environment takes care of stepping the simulation and is a container for physics entities (rigidbodies,constraints, materials etc.) @@ -43,8 +42,6 @@ class SumoPhysicsEnvironment : public PHY_IPhysicsEnvironment { class SM_Scene* m_sumoScene; - - DT_SceneHandle m_solidScene; public: SumoPhysicsEnvironment(); @@ -52,7 +49,7 @@ public: // Perform an integration step of duration 'timeStep'. virtual void proceed(double timeStep); virtual void setGravity(float x,float y,float z); - virtual int createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type, + virtual int createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type, float pivotX,float pivotY,float pivotZ, float axisX,float axisY,float axisZ); @@ -67,11 +64,6 @@ public: return m_sumoScene; } - DT_SceneHandle GetSolidScene() - { - return m_solidScene; - } - private: |