diff options
Diffstat (limited to 'source/gameengine/Physics/BlOde/OdePhysicsEnvironment.cpp')
| -rw-r--r-- | source/gameengine/Physics/BlOde/OdePhysicsEnvironment.cpp | 277 |
1 files changed, 0 insertions, 277 deletions
diff --git a/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.cpp b/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.cpp deleted file mode 100644 index 54e97858b7f..00000000000 --- a/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.cpp +++ /dev/null @@ -1,277 +0,0 @@ -/** - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * The contents of this file may be used under the terms of either the GNU - * General Public License Version 2 or later (the "GPL", see - * http://www.gnu.org/licenses/gpl.html ), or the Blender License 1.0 or - * later (the "BL", see http://www.blender.org/BL/ ) which has to be - * bought from the Blender Foundation to become active, in which case the - * above mentioned GPL option does not apply. - * - * The Original Code is Copyright (C) 2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ -#include "OdePhysicsEnvironment.h" -#include "PHY_IMotionState.h" -#include "OdePhysicsController.h" - -#include <ode/ode.h> -#include <../ode/src/joint.h> -#include <ode/odemath.h> - -ODEPhysicsEnvironment::ODEPhysicsEnvironment() -{ - m_OdeWorld = dWorldCreate(); - m_OdeSpace = dHashSpaceCreate(); - m_OdeContactGroup = dJointGroupCreate (0); - dWorldSetCFM (m_OdeWorld,1e-5f); - - m_JointGroup = dJointGroupCreate(0); - - setFixedTimeStep(true,1.f/60.f); -} - - - -ODEPhysicsEnvironment::~ODEPhysicsEnvironment() -{ - dJointGroupDestroy (m_OdeContactGroup); - dJointGroupDestroy (m_JointGroup); - - dSpaceDestroy (m_OdeSpace); - dWorldDestroy (m_OdeWorld); -} - - - -void ODEPhysicsEnvironment::setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep) -{ - m_useFixedTimeStep = useFixedTimeStep; - - if (useFixedTimeStep) - { - m_fixedTimeStep = fixedTimeStep; - } else - { - m_fixedTimeStep = 0.f; - } - m_currentTime = 0.f; - - //todo:implement fixed timestepping - -} -float ODEPhysicsEnvironment::getFixedTimeStep() -{ - return m_fixedTimeStep; -} - - - -bool ODEPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep1,float interval) -{ - - float deltaTime = timeStep1; - int numSteps = 1; - - if (m_useFixedTimeStep) - { - m_currentTime += timeStep1; - // equal to subSampling (might be a little smaller). - numSteps = (int)(m_currentTime / m_fixedTimeStep); - m_currentTime -= m_fixedTimeStep * (float)numSteps; - deltaTime = m_fixedTimeStep; - //todo: experiment by smoothing the remaining time over the substeps - } - - for (int i=0;i<numSteps;i++) - { - // ode collision update - dSpaceCollide (m_OdeSpace,this,&ODEPhysicsEnvironment::OdeNearCallback); - - int m_odeContacts = GetNumOdeContacts(); - - //physics integrator + resolver update - //dWorldStep (m_OdeWorld,deltaTime); - //dWorldQuickStep (m_OdeWorld,deltaTime); - //dWorldID w, dReal stepsize) - - //clear collision points - this->ClearOdeContactGroup(); - } - return true; -} - -void ODEPhysicsEnvironment::setGravity(float x,float y,float z) -{ - dWorldSetGravity (m_OdeWorld,x,y,z); -} - - - -int ODEPhysicsEnvironment::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; - ODEPhysicsController* dynactrl = (ODEPhysicsController*)ctrl; - ODEPhysicsController* dynactrl2 = (ODEPhysicsController*)ctrl2; - - switch (type) - { - case PHY_POINT2POINT_CONSTRAINT: - { - if (dynactrl) - { - dJointID jointid = dJointCreateBall (m_OdeWorld,m_JointGroup); - struct dxBody* bodyid1 = dynactrl->GetOdeBodyId(); - struct dxBody* bodyid2=0; - const dReal* pos = dBodyGetPosition(bodyid1); - const dReal* R = dBodyGetRotation(bodyid1); - dReal offset[3] = {pivotX,pivotY,pivotZ}; - dReal newoffset[3]; - dMULTIPLY0_331 (newoffset,R,offset); - newoffset[0] += pos[0]; - newoffset[1] += pos[1]; - newoffset[2] += pos[2]; - - - if (dynactrl2) - bodyid2 = dynactrl2->GetOdeBodyId(); - - dJointAttach (jointid, bodyid1, bodyid2); - - dJointSetBallAnchor (jointid, newoffset[0], newoffset[1], newoffset[2]); - - constraintid = (int) jointid; - } - break; - } - case PHY_LINEHINGE_CONSTRAINT: - { - if (dynactrl) - { - dJointID jointid = dJointCreateHinge (m_OdeWorld,m_JointGroup); - struct dxBody* bodyid1 = dynactrl->GetOdeBodyId(); - struct dxBody* bodyid2=0; - const dReal* pos = dBodyGetPosition(bodyid1); - const dReal* R = dBodyGetRotation(bodyid1); - dReal offset[3] = {pivotX,pivotY,pivotZ}; - dReal axisset[3] = {axisX,axisY,axisZ}; - - dReal newoffset[3]; - dReal newaxis[3]; - dMULTIPLY0_331 (newaxis,R,axisset); - - dMULTIPLY0_331 (newoffset,R,offset); - newoffset[0] += pos[0]; - newoffset[1] += pos[1]; - newoffset[2] += pos[2]; - - - if (dynactrl2) - bodyid2 = dynactrl2->GetOdeBodyId(); - - dJointAttach (jointid, bodyid1, bodyid2); - - dJointSetHingeAnchor (jointid, newoffset[0], newoffset[1], newoffset[2]); - dJointSetHingeAxis(jointid,newaxis[0],newaxis[1],newaxis[2]); - - constraintid = (int) jointid; - } - break; - } - default: - { - //not yet - } - } - - return constraintid; - -} - -void ODEPhysicsEnvironment::removeConstraint(void *constraintid) -{ - if (constraintid) - { - dJointDestroy((dJointID) constraintid); - } -} - -PHY_IPhysicsController* ODEPhysicsEnvironment::rayTest(PHY_IRayCastFilterCallback &filterCallback,float fromX,float fromY,float fromZ, float toX,float toY,float toZ) -{ - - //m_OdeWorld - //collision detection / raytesting - return NULL; -} - - -void ODEPhysicsEnvironment::OdeNearCallback (void *data, dGeomID o1, dGeomID o2) -{ - // \todo if this is a registered collision sensor - // fire the callback - - int i; - // if (o1->body && o2->body) return; - ODEPhysicsEnvironment* env = (ODEPhysicsEnvironment*) data; - dBodyID b1,b2; - - b1 = dGeomGetBody(o1); - b2 = dGeomGetBody(o2); - // exit without doing anything if the two bodies are connected by a joint - if (b1 && b2 && dAreConnected (b1,b2)) return; - - ODEPhysicsController * ctrl1 =(ODEPhysicsController *)dGeomGetData(o1); - ODEPhysicsController * ctrl2 =(ODEPhysicsController *)dGeomGetData(o2); - float friction=ctrl1->getFriction(); - float restitution = ctrl1->getRestitution(); - //for friction, take minimum - - friction=(friction < ctrl2->getFriction() ? - friction :ctrl2->getFriction()); - - //restitution:take minimum - restitution = restitution < ctrl2->getRestitution()? - restitution : ctrl2->getRestitution(); - - dContact contact[3]; // up to 3 contacts per box - for (i=0; i<3; i++) { - contact[i].surface.mode = dContactBounce; //dContactMu2; - contact[i].surface.mu = friction;//dInfinity; - contact[i].surface.mu2 = 0; - contact[i].surface.bounce = restitution;//0.5; - contact[i].surface.bounce_vel = 0.1f; - contact[i].surface.slip1=0.0; - } - - if (int numc = dCollide (o1,o2,3,&contact[0].geom,sizeof(dContact))) { - // dMatrix3 RI; - // dRSetIdentity (RI); - // const dReal ss[3] = {0.02,0.02,0.02}; - for (i=0; i<numc; i++) { - dJointID c = dJointCreateContact (env->m_OdeWorld,env->m_OdeContactGroup,contact+i); - dJointAttach (c,b1,b2); - } - } -} - - -void ODEPhysicsEnvironment::ClearOdeContactGroup() -{ - dJointGroupEmpty (m_OdeContactGroup); -} - -int ODEPhysicsEnvironment::GetNumOdeContacts() -{ - return m_OdeContactGroup->num; -} - |