diff options
Diffstat (limited to 'source/gameengine/Physics/Sumo/Fuzzics')
17 files changed, 0 insertions, 4242 deletions
diff --git a/source/gameengine/Physics/Sumo/Fuzzics/Makefile b/source/gameengine/Physics/Sumo/Fuzzics/Makefile deleted file mode 100644 index 5ed2c31a1d0..00000000000 --- a/source/gameengine/Physics/Sumo/Fuzzics/Makefile +++ /dev/null @@ -1,34 +0,0 @@ -# -# $Id$ -# -# ***** BEGIN GPL LICENSE BLOCK ***** -# -# This program is free software; you can redistribute it and/or -# modify it under the terms of the GNU General Public License -# as published by the Free Software Foundation; either version 2 -# of the License, or (at your option) any later version. -# -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. -# -# You should have received a copy of the GNU General Public License -# along with this program; if not, write to the Free Software Foundation, -# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -# -# The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. -# All rights reserved. -# -# The Original Code is: all of this file. -# -# Contributor(s): none yet. -# -# ***** END GPL LICENSE BLOCK ***** -# -# Bounces make to subdirectories. - -SOURCEDIR = source/gameengine/Physics/Sumo/Fuzzics -DIRS = src - -include nan_subdirs.mk diff --git a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Callback.h b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Callback.h deleted file mode 100644 index 42b5ab48ab6..00000000000 --- a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Callback.h +++ /dev/null @@ -1,11 +0,0 @@ -#ifndef SM_CALLBACK_H -#define SM_CALLBACK_H - -class SM_Callback { -public: - virtual void do_me() = 0; - virtual ~SM_Callback() {} -}; - -#endif - diff --git a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_ClientObjectInfo.h b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_ClientObjectInfo.h deleted file mode 100644 index 6749e7957ec..00000000000 --- a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_ClientObjectInfo.h +++ /dev/null @@ -1,16 +0,0 @@ -#ifndef __SM_CLIENTOBJECT_INFO_H -#define __SM_CLIENTOBJECT_INFO_H - -/** - * Client Type and Additional Info. This structure can be use instead of a bare void* pointer, for safeness, and additional info for callbacks - */ - -struct SM_ClientObjectInfo -{ - int m_type; - void* m_clientobject1; - void* m_auxilary_info; -}; - -#endif //__SM_CLIENTOBJECT_INFO_H - diff --git a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Debug.h b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Debug.h deleted file mode 100644 index 48d5906e53d..00000000000 --- a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Debug.h +++ /dev/null @@ -1,26 +0,0 @@ - - -#ifndef __SM_DEBUG_H__ -#define __SM_DEBUG_H__ - -/* Comment this to disable all SUMO debugging printfs */ - -#define SM_DEBUG - -#ifdef SM_DEBUG - -#include <stdio.h> - -/* Uncomment this to printf all ray casts */ -//#define SM_DEBUG_RAYCAST - -/* Uncomment this to printf collision callbacks */ -//#define SM_DEBUG_BOING - -/* Uncomment this to printf Xform matrix calculations */ -//#define SM_DEBUG_XFORM - -#endif /* SM_DEBUG */ - -#endif /* __SM_DEBUG_H__ */ - diff --git a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_FhObject.h b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_FhObject.h deleted file mode 100644 index b03612ed15e..00000000000 --- a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_FhObject.h +++ /dev/null @@ -1,56 +0,0 @@ -/** - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ -#ifndef SM_FHOBJECT_H -#define SM_FHOBJECT_H - -#include "SM_Object.h" - -class SM_FhObject : public SM_Object { -public: - virtual ~SM_FhObject(); - SM_FhObject(DT_ShapeHandle rayshape, MT_Vector3 ray, SM_Object *parent_object); - - const MT_Vector3& getRay() const { return m_ray; } - MT_Point3 getSpot() const { return getPosition() + m_ray; } - const MT_Vector3& getRayDirection() const { return m_ray_direction; } - SM_Object *getParentObject() const { return m_parent_object; } - - static DT_Bool ray_hit(void *client_data, - void *object1, - void *object2, - const DT_CollData *coll_data); - -private: - MT_Vector3 m_ray; - MT_Vector3 m_ray_direction; - SM_Object *m_parent_object; -}; - -#endif - diff --git a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_MotionState.h b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_MotionState.h deleted file mode 100644 index fdc45af5225..00000000000 --- a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_MotionState.h +++ /dev/null @@ -1,77 +0,0 @@ -/** - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ -#ifndef SM_MOTIONSTATE_H -#define SM_MOTIONSTATE_H - -#include "MT_Transform.h" - -class SM_MotionState { -public: - SM_MotionState() : - m_time(0.0), - m_pos(0.0, 0.0, 0.0), - m_orn(0.0, 0.0, 0.0, 1.0), - m_lin_vel(0.0, 0.0, 0.0), - m_ang_vel(0.0, 0.0, 0.0) - {} - - void setPosition(const MT_Point3& pos) { m_pos = pos; } - void setOrientation(const MT_Quaternion& orn) { m_orn = orn; } - void setLinearVelocity(const MT_Vector3& lin_vel) { m_lin_vel = lin_vel; } - void setAngularVelocity(const MT_Vector3& ang_vel) { m_ang_vel = ang_vel; } - void setTime(MT_Scalar time) { m_time = time; } - - const MT_Point3& getPosition() const { return m_pos; } - const MT_Quaternion& getOrientation() const { return m_orn; } - const MT_Vector3& getLinearVelocity() const { return m_lin_vel; } - const MT_Vector3& getAngularVelocity() const { return m_ang_vel; } - - MT_Scalar getTime() const { return m_time; } - - void integrateMidpoint(MT_Scalar timeStep, const SM_MotionState &prev_state, const MT_Vector3 &velocity, const MT_Quaternion& ang_vel); - void integrateBackward(MT_Scalar timeStep, const MT_Vector3 &velocity, const MT_Quaternion& ang_vel); - void integrateForward(MT_Scalar timeStep, const SM_MotionState &prev_state); - - void lerp(const SM_MotionState &prev, const SM_MotionState &next); - void lerp(MT_Scalar t, const SM_MotionState &other); - - virtual MT_Transform getTransform() const { - return MT_Transform(m_pos, m_orn); - } - -protected: - MT_Scalar m_time; - MT_Point3 m_pos; - MT_Quaternion m_orn; - MT_Vector3 m_lin_vel; - MT_Vector3 m_ang_vel; -}; - -#endif - diff --git a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h deleted file mode 100644 index 2d748a0f251..00000000000 --- a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h +++ /dev/null @@ -1,393 +0,0 @@ -/** - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ -#ifndef SM_OBJECT_H -#define SM_OBJECT_H - -#include <vector> - -#include <SOLID/SOLID.h> - -#include "SM_Callback.h" -#include "SM_MotionState.h" -#include <stdio.h> - -class SM_FhObject; - -/** Properties of dynamic objects */ -struct SM_ShapeProps { - MT_Scalar m_mass; ///< Total mass - MT_Scalar m_radius; ///< Bound sphere size - 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] - bool m_do_anisotropic; ///< Should I do anisotropic friction? - bool m_do_fh; ///< Should the object have a linear Fh spring? - bool m_do_rot_fh; ///< Should the object have an angular Fh spring? -}; - - -/** Properties of collidable objects (non-ghost objects) */ -struct SM_MaterialProps { - MT_Scalar m_restitution; ///< restitution of energy after a collision 0 = inelastic, 1 = elastic - MT_Scalar m_friction; ///< Coulomb friction (= ratio between the normal en maximum friction force) - MT_Scalar m_fh_spring; ///< Spring constant (both linear and angular) - MT_Scalar m_fh_damping; ///< Damping factor (linear and angular) in range [0, 1] - MT_Scalar m_fh_distance; ///< The range above the surface where Fh is active. - bool m_fh_normal; ///< Should the object slide off slopes? -}; - -class SM_ClientObject -{ -public: - SM_ClientObject() {} - virtual ~SM_ClientObject() {} - - virtual bool hasCollisionCallback() = 0; -}; - -/** - * SM_Object is an internal part of the Sumo physics engine. - * - * It encapsulates an object in the physics scene, and is responsible - * for calculating the collision response of objects. - */ -class SM_Object -{ -public: - SM_Object() ; - SM_Object( - DT_ShapeHandle shape, - const SM_MaterialProps *materialProps, - const SM_ShapeProps *shapeProps, - SM_Object *dynamicParent - ); - virtual ~SM_Object(); - - bool isDynamic() const; - - /* nzc experimental. There seem to be two places where kinematics - * are evaluated: proceedKinematic (called from SM_Scene) and - * proceed() in this object. I'll just try and bunge these out for - * now. */ - - void suspend(void); - void resume(void); - - void suspendDynamics(); - - void restoreDynamics(); - - bool isGhost() const; - - void suspendMaterial(); - - void restoreMaterial(); - - SM_FhObject *getFhObject() const; - - void registerCallback(SM_Callback& callback); - - void calcXform(); - void notifyClient(); - void updateInvInertiaTensor(); - - - // Save the current state information for use in the - // velocity computation in the next frame. - - void proceedKinematic(MT_Scalar timeStep); - - void saveReactionForce(MT_Scalar timeStep) ; - - void clearForce() ; - - 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); - - /** - * set an external velocity. This velocity complements - * the physics velocity. So setting it does not override the - * physics velocity. It is your responsibility to clear - * this external velocity. This velocity is not subject to - * friction or damping. - */ - 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 setLinearVelocity(const MT_Vector3& lin_vel); - - /** - * Set an external angular velocity. This velocity complemetns - * the physics angular velocity so does not override it. It is - * your responsibility to clear this velocity. This velocity - * is not subject to friction or damping. - */ - void setExternalAngularVelocity(const MT_Vector3& ang_vel) ; - void addExternalAngularVelocity(const MT_Vector3& ang_vel); - - /** Override the physics angular velocity */ - void addAngularVelocity(const MT_Vector3& ang_vel); - void setAngularVelocity(const MT_Vector3& ang_vel); - - /** Clear the external velocities */ - void clearCombinedVelocities(); - - /** - * Tell the physics system to combine the external velocity - * with the physics velocity. - */ - void resolveCombinedVelocities( - const MT_Vector3 & lin_vel, - const MT_Vector3 & ang_vel - ) ; - - - - MT_Scalar getInvMass() const; - - const MT_Vector3& getInvInertia() const ; - - const MT_Matrix3x3& getInvInertiaTensor() const; - - void applyForceField(const MT_Vector3& accel) ; - - void applyCenterForce(const MT_Vector3& force) ; - - void applyTorque(const MT_Vector3& torque) ; - - /** - * Apply an impulse to the object. The impulse will be split into - * angular and linear components. - * @param attach point to apply the impulse to (in world coordinates) - */ - void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse) ; - - /** - * Applies an impulse through the center of this object. (ie the angular - * velocity will not change. - */ - void applyCenterImpulse(const MT_Vector3& impulse); - /** - * Applies an angular 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; - - - const MT_Vector3& getReactionForce() const ; - - void getMatrix(double *m) const ; - - const double *getMatrix() const ; - - // Still need this??? - const MT_Transform& getScaledTransform() const; - - DT_ObjectHandle getObjectHandle() const ; - DT_ShapeHandle getShapeHandle() const ; - - SM_Object *getDynamicParent() ; - - void integrateForces(MT_Scalar timeStep); - void integrateMomentum(MT_Scalar timeSteo); - - void setRigidBody(bool is_rigid_body) ; - - bool isRigidBody() const ; - - // This is the callback for handling collisions of dynamic objects - static - DT_Bool - boing( - void *client_data, - void *object1, - void *object2, - const DT_CollData *coll_data - ); - - static - DT_Bool - fix( - void *client_data, - void *object1, - void *object2, - const DT_CollData *coll_data - ); - - - SM_ClientObject *getClientObject() { return m_client_object; } - void setClientObject(SM_ClientObject *client_object) { m_client_object = client_object; } - void setPhysicsClientObject(void* physicsClientObject) - { - m_physicsClientObject = physicsClientObject; - } - void* getPhysicsClientObject() { - return m_physicsClientObject; - } - void relax(); - - SM_MotionState &getCurrentFrame(); - SM_MotionState &getPreviousFrame(); - SM_MotionState &getNextFrame(); - - const SM_MotionState &getCurrentFrame() const; - const SM_MotionState &getPreviousFrame() const; - const SM_MotionState &getNextFrame() const; - - // Motion state functions - const MT_Point3& getPosition() const; - const MT_Quaternion& getOrientation() const; - const MT_Vector3& getLinearVelocity() const; - const MT_Vector3& getAngularVelocity() const; - - MT_Scalar getTime() const; - - void setTime(MT_Scalar time); - - void interpolate(MT_Scalar timeStep); - void endFrame(); - -private: - friend class Contact; - // Tweak parameters - static MT_Scalar ImpulseThreshold; - - // return the actual linear_velocity of this object this - // is the addition of m_combined_lin_vel and m_lin_vel. - - const - MT_Vector3 - actualLinVelocity( - ) const ; - - const - MT_Vector3 - actualAngVelocity( - ) const ; - - void dynamicCollision(const MT_Point3 &local2, - const MT_Vector3 &normal, - MT_Scalar dist, - const MT_Vector3 &rel_vel, - MT_Scalar restitution, - MT_Scalar friction_factor, - MT_Scalar invMass - ); - - typedef std::vector<SM_Callback *> T_CallbackList; - - - T_CallbackList m_callbackList; // Each object can have multiple callbacks from the client (=game engine) - SM_Object *m_dynamicParent; // Collisions between parent and children are ignored - - // as the collision callback now has only information - // on an SM_Object, there must be a way that the SM_Object client - // can identify it's clientdata after a collision - SM_ClientObject *m_client_object; - - void* m_physicsClientObject; - - DT_ShapeHandle m_shape; // Shape for collision detection - - // Material and shape properties are not owned by this class. - - const SM_MaterialProps *m_materialProps; - const SM_MaterialProps *m_materialPropsBackup; // Backup in case the object temporarily becomes a ghost. - const SM_ShapeProps *m_shapeProps; - const SM_ShapeProps *m_shapePropsBackup; // Backup in case the object's dynamics is temporarily suspended - DT_ObjectHandle m_object; // A handle to the corresponding object in SOLID. - MT_Scalar m_margin; // Offset for the object's shape (also for collision detection) - MT_Vector3 m_scaling; // Non-uniform scaling of the object's shape - - double m_ogl_matrix[16]; // An OpenGL-type 4x4 matrix - MT_Transform m_xform; // The object's local coordinate system - MT_Transform m_prev_xform; // The object's local coordinate system in the previous frame - SM_MotionState m_prev_state; // The object's motion state in the previous frame - MT_Scalar m_timeStep; // The duration of the last frame - - MT_Vector3 m_reaction_impulse; // The accumulated impulse resulting from collisions - MT_Vector3 m_reaction_force; // The reaction force derived from the reaction impulse - - MT_Vector3 m_lin_mom; // Linear momentum (linear velocity times mass) - MT_Vector3 m_ang_mom; // Angular momentum (angualr velocity times inertia) - MT_Vector3 m_force; // Force on center of mass (afffects linear momentum) - MT_Vector3 m_torque; // Torque around center of mass (affects angular momentum) - - SM_MotionState m_frames[3]; - - MT_Vector3 m_error; // Error in position:- amount object must be moved to prevent intersection with scene - - // Here are the values of externally set linear and angular - // velocity. These are updated from the outside - // (actuators and python) each frame and combined with the - // physics values. At the end of each frame (at the end of a - // call to proceed) they are set to zero. This allows the - // outside world to contribute to the velocity of an object - // but still have it react to physics. - - MT_Vector3 m_combined_lin_vel; - MT_Vector3 m_combined_ang_vel; - - // The force and torque are the accumulated forces and torques applied by the client (game logic, python). - - 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 - - bool m_kinematic; // Have I been displaced (translated, rotated, scaled) in this frame? - bool m_prev_kinematic; // Have I been displaced (translated, rotated, scaled) in the previous frame? - bool m_is_rigid_body; // Should friction give me a change in angular momentum? - int m_static; // temporarily static. - -}; - -#endif - diff --git a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Props.h b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Props.h deleted file mode 100644 index 81b4cb55b45..00000000000 --- a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Props.h +++ /dev/null @@ -1,58 +0,0 @@ -/** - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ -#ifndef SM_PROPSH -#define SM_PROPSH - -#include <MT_Scalar.h> - -// Properties of dynamic objects -struct SM_ShapeProps { - MT_Scalar m_mass; // Total mass - MT_Scalar 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] - bool m_do_anisotropic; // Should I do anisotropic friction? - bool m_do_fh; // Should the object have a linear Fh spring? - bool m_do_rot_fh; // Should the object have an angular Fh spring? -}; - - -// Properties of collidable objects (non-ghost objects) -struct SM_MaterialProps { - MT_Scalar m_restitution; // restitution of energie after a collision 0 = inelastic, 1 = elastic - MT_Scalar m_friction; // Coulomb friction (= ratio between the normal en maximum friction force) - MT_Scalar m_fh_spring; // Spring constant (both linear and angular) - MT_Scalar m_fh_damping; // Damping factor (linear and angular) in range [0, 1] - MT_Scalar m_fh_distance; // The range above the surface where Fh is active. - bool m_fh_normal; // Should the object slide off slopes? -}; - -#endif //SM_PROPSH - diff --git a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Scene.h b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Scene.h deleted file mode 100644 index 3d8eef2bae0..00000000000 --- a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Scene.h +++ /dev/null @@ -1,172 +0,0 @@ -/** - * $Id$ - * Copyright (C) 2001 NaN Technologies B.V. - * The physics scene. - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ -#ifndef SM_SCENE_H -#define SM_SCENE_H - -#ifdef WIN32 -#pragma warning (disable : 4786) -#endif - -#include <vector> -#include <set> -#include <utility> //needed for pair - -#include <SOLID/SOLID.h> - -#include "MT_Vector3.h" -#include "MT_Point3.h" - -#include "SM_Object.h" - -enum -{ - FH_RESPONSE, - SENSOR_RESPONSE, /* Touch Sensors */ - CAMERA_RESPONSE, /* Visibility Culling */ - OBJECT_RESPONSE, /* Object Dynamic Geometry Response */ - STATIC_RESPONSE, /* Static Geometry Response */ - - NUM_RESPONSE -}; - -class SM_Scene { -public: - SM_Scene(); - - ~SM_Scene(); - - DT_RespTableHandle getRespTableHandle() const { - return m_respTable; - } - - const MT_Vector3& getForceField() const { - return m_forceField; - } - - MT_Vector3& getForceField() { - return m_forceField; - } - - void setForceField(const MT_Vector3& forceField) { - m_forceField = forceField; - } - - void addTouchCallback(int response_class, DT_ResponseCallback callback, void *user); - - void addSensor(SM_Object& object); - void add(SM_Object& object); - void remove(SM_Object& object); - - void notifyCollision(SM_Object *obj1, SM_Object *obj2); - - void setSecondaryRespTable(DT_RespTableHandle secondaryRespTable); - DT_RespTableHandle getSecondaryRespTable() { return m_secondaryRespTable; } - - void requestCollisionCallback(SM_Object &object); - - void beginFrame(); - void endFrame(); - - // Perform an integration step of duration 'timeStep'. - // 'subSampling' is the maximum duration of a substep, i.e., - // The maximum time interval between two collision checks. - // 'subSampling' can be used to control aliasing effects - // (fast moving objects traversing through walls and such). - bool proceed(MT_Scalar curtime, MT_Scalar ticrate); - void proceed(MT_Scalar subStep); - - /** - * Test whether any objects lie on the line defined by from and - * to. The search returns the first such bject starting at from, - * or NULL if there was none. - * @returns A reference to the object, or NULL if there was none. - * @param ignore_client Do not look for collisions with this - * object. This can be useful to avoid self-hits if - * starting from the location of an object. - * @param from The start point, in world coordinates, of the search. - * @param to The end point, in world coordinates, of the search. - * @param result A store to return the point where intersection - * took place (if there was an intersection). - * @param normal A store to return the normal of the hit object on - * the location of the intersection, if it took place. - */ - SM_Object *rayTest(void *ignore_client, - const MT_Point3& from, const MT_Point3& to, - MT_Point3& result, MT_Vector3& normal) const; - -private: - - // Clear the user set velocities. - void clearObjectCombinedVelocities(); - // This is the callback for handling collisions of dynamic objects - static - DT_Bool - boing( - void *client_data, - void *object1, - void *object2, - const DT_CollData *coll_data - ); - - /** internal type */ - typedef std::vector<SM_Object *> T_ObjectList; - - /** Handle to the scene in SOLID */ - DT_SceneHandle m_scene; - /** Following response table contains the callbacks for the dynmics */ - DT_RespTableHandle m_respTable; - DT_ResponseClass m_ResponseClass[NUM_RESPONSE]; - /** - * Following response table contains callbacks for the client (= - * game engine) */ - DT_RespTableHandle m_secondaryRespTable; // Handle - DT_ResponseClass m_secondaryResponseClass[NUM_RESPONSE]; - - /** - * Following resposne table contains callbacks for fixing the simulation - * ie making sure colliding objects do not intersect. - */ - DT_RespTableHandle m_fixRespTable; - DT_ResponseClass m_fixResponseClass[NUM_RESPONSE]; - - /** The acceleration from the force field */ - MT_Vector3 m_forceField; - - /** - * The list of objects that receive motion updates and do - * collision tests. */ - T_ObjectList m_objectList; - - unsigned int m_frames; -}; - -#endif - diff --git a/source/gameengine/Physics/Sumo/Fuzzics/sample/Makefile b/source/gameengine/Physics/Sumo/Fuzzics/sample/Makefile deleted file mode 100644 index 672dff39028..00000000000 --- a/source/gameengine/Physics/Sumo/Fuzzics/sample/Makefile +++ /dev/null @@ -1,25 +0,0 @@ -# -# $Id$ -# Copyright (C) 2001 NaN Technologies B.V. - -DIR = $(OCGDIR)/sumo -ALLTARGETS = $(OBJS) $(DIR)/$(DEBUG_DIR)particle $(DIR)/$(DEBUG_DIR)particle0 - -include nan_compile.mk - -CPPFLAGS = -I../../include -I../include -I$(NAN_MOTO)/include -CPPFLAGS += -I$(OPENGL_HEADERS) - -clean:: - @$(RM) $(DIR)/particle $(DIR)/particle0 - @$(RM) $(DIR)/debug/particle $(DIR)/debug/particle0 - -LDFLAGS = -L$(DIR) -L/usr/X11R6/lib -OGL_LDLIBS = -lglut -lGLU -lGL -pthread -LDLIBS = -lfuzzics -lsolid $(NAN_MOTO)/lib/libmoto.a $(OGL_LDLIBS) - -$(DIR)/$(DEBUG_DIR)particle: particle.o $(DIR)/$(DEBUG_DIR)libfuzzics.a $(DIR)/$(DEBUG_DIR)libsolid.a - $(CCC) $(CCFLAGS) $(CPPFLAGS) $(LDFLAGS) $< -o $@ $(LDLIBS) - -$(DIR)/$(DEBUG_DIR)particle0: particle0.o $(DIR)/$(DEBUG_DIR)libfuzzics.a $(DIR)/$(DEBUG_DIR)libsolid.a - $(CCC) $(CCFLAGS) $(CPPFLAGS) $(LDFLAGS) $< -o $@ $(LDLIBS) diff --git a/source/gameengine/Physics/Sumo/Fuzzics/sample/particle.cpp b/source/gameengine/Physics/Sumo/Fuzzics/sample/particle.cpp deleted file mode 100644 index d7aca326b42..00000000000 --- a/source/gameengine/Physics/Sumo/Fuzzics/sample/particle.cpp +++ /dev/null @@ -1,709 +0,0 @@ -//#define FAKE_IT -#define USE_COMPLEX -#define QUADS - -#include <algorithm> -#include <new> -#include <GL/glut.h> - -#include "MT_MinMax.h" -#include "MT_Point3.h" -#include "MT_Vector3.h" -#include "MT_Quaternion.h" -#include "MT_Matrix3x3.h" -#include "MT_Transform.h" - -#include "SM_Object.h" -#include "SM_FhObject.h" -#include "SM_Scene.h" - -#include <SOLID/SOLID.h> - -#ifdef HAVE_CONFIG_H -#include <config.h> -#endif - -const MT_Scalar bowl_curv = 0.10; -const MT_Scalar timeStep = 0.02; -const MT_Scalar ground_margin = 0.0; -const MT_Scalar sphere_radius = 0.5; - -const MT_Vector3 gravity(0, -9.8, 0); - -static MT_Scalar DISTANCE = 5; - -static MT_Scalar ele = 0, azi = 0; -static MT_Point3 eye(0, 0, DISTANCE); -static MT_Point3 center(0, 0, 0); - -inline double irnd() { return 2 * MT_random() - 1; } - -static const double SCALE_BOTTOM = 0.5; -static const double SCALE_FACTOR = 2.0; - -SM_ShapeProps g_shapeProps = { - 1.0, // mass - 1.0, // inertia - 0.1, // linear drag - 0.1, // angular drag - { 1.0, 0.0, 0.0 }, // anisotropic friction - false, // do anisotropic friction? - true, // do fh? - true // do rot fh? -}; - -SM_MaterialProps g_materialProps = { - 0.7, // restitution - 0.0, // friction - 10.0, // Fh spring constant - 1.0, // Fh damping - 0.5, // Fh distance - true // Fh leveling -}; - - -void toggleIdle(); - - -void newRandom(); - -void coordSystem() { - glDisable(GL_LIGHTING); - glBegin(GL_LINES); - glColor3f(1, 0, 0); - glVertex3d(0, 0, 0); - glVertex3d(10, 0, 0); - glColor3f(0, 1, 0); - glVertex3d(0, 0, 0); - glVertex3d(0, 10, 0); - glColor3f(0, 0, 1); - glVertex3d(0, 0, 0); - glVertex3d(0, 0, 10); - glEnd(); - glEnable(GL_LIGHTING); -} - - -void display_bbox(const MT_Point3& min, const MT_Point3& max) { - glDisable(GL_DEPTH_TEST); - glDisable(GL_LIGHTING); - glColor3f(0, 1, 1); - glPolygonMode(GL_FRONT_AND_BACK, GL_LINE); - glBegin(GL_QUAD_STRIP); - glVertex3d(min[0], min[1], min[2]); - glVertex3d(min[0], min[1], max[2]); - glVertex3d(max[0], min[1], min[2]); - glVertex3d(max[0], min[1], max[2]); - glVertex3d(max[0], max[1], min[2]); - glVertex3d(max[0], max[1], max[2]); - glVertex3d(min[0], max[1], min[2]); - glVertex3d(min[0], max[1], max[2]); - glVertex3d(min[0], min[1], min[2]); - glVertex3d(min[0], min[1], max[2]); - glEnd(); - glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); - glEnable(GL_LIGHTING); - glEnable(GL_DEPTH_TEST); -} - - - - -class GLShape { -public: - virtual void paint(GLdouble *m) const = 0; -}; - - -class GLSphere : public GLShape { - MT_Scalar radius; -public: - GLSphere(MT_Scalar r) : radius(r) {} - - void paint(GLdouble *m) const { - glPushMatrix(); - glLoadMatrixd(m); - coordSystem(); - glutSolidSphere(radius, 20, 20); - glPopMatrix(); - } -}; - - -class GLBox : public GLShape { - MT_Vector3 extent; -public: - GLBox(MT_Scalar x, MT_Scalar y, MT_Scalar z) : - extent(x, y, z) {} - - void paint(GLdouble *m) const { - glPushMatrix(); - glLoadMatrixd(m); - coordSystem(); - glPushMatrix(); - glScaled(extent[0], extent[1], extent[2]); - glutSolidCube(1.0); - glPopMatrix(); - glPopMatrix(); - } -}; - - -class GLCone : public GLShape { - MT_Scalar bottomRadius; - MT_Scalar height; - mutable GLuint displayList; - -public: - GLCone(MT_Scalar r, MT_Scalar h) : - bottomRadius(r), - height(h), - displayList(0) {} - - void paint(GLdouble *m) const { - glPushMatrix(); - glLoadMatrixd(m); - coordSystem(); - if (displayList) glCallList(displayList); - else { - GLUquadricObj *quadObj = gluNewQuadric(); - displayList = glGenLists(1); - glNewList(displayList, GL_COMPILE_AND_EXECUTE); - glPushMatrix(); - glRotatef(-90.0, 1.0, 0.0, 0.0); - glTranslatef(0.0, 0.0, -1.0); - gluQuadricDrawStyle(quadObj, (GLenum)GLU_FILL); - gluQuadricNormals(quadObj, (GLenum)GLU_SMOOTH); - gluCylinder(quadObj, bottomRadius, 0, height, 15, 10); - glPopMatrix(); - glEndList(); - } - glPopMatrix(); - } -}; - -class GLCylinder : public GLShape { - MT_Scalar radius; - MT_Scalar height; - mutable GLuint displayList; - -public: - GLCylinder(MT_Scalar r, MT_Scalar h) : - radius(r), - height(h), - displayList(0) {} - - void paint(GLdouble *m) const { - glPushMatrix(); - glLoadMatrixd(m); - coordSystem(); - if (displayList) glCallList(displayList); - else { - GLUquadricObj *quadObj = gluNewQuadric(); - displayList = glGenLists(1); - glNewList(displayList, GL_COMPILE_AND_EXECUTE); - glPushMatrix(); - glRotatef(-90.0, 1.0, 0.0, 0.0); - glTranslatef(0.0, 0.0, -1.0); - gluQuadricDrawStyle(quadObj, (GLenum)GLU_FILL); - gluQuadricNormals(quadObj, (GLenum)GLU_SMOOTH); - gluCylinder(quadObj, radius, radius, height, 15, 10); - glPopMatrix (); - glEndList(); - } - glPopMatrix(); - } -}; - -class Object; - -class Callback : public SM_Callback { -public: - Callback(Object& object) : m_object(object) {} - - virtual void do_me(); - -private: - Object& m_object; -}; - - -class Object { -public: - Object(GLShape *gl_shape, SM_Object& object) : - m_gl_shape(gl_shape), - m_object(object), - m_callback(*this) - { - m_object.registerCallback(m_callback); - } - - ~Object() {} - - void paint() { - if (m_gl_shape) { - m_gl_shape->paint(m); - // display_bbox(m_bbox.lower(), m_bbox.upper()); - } - } - - void print_reaction_force() const { - std::cout << m_object.getReactionForce() << std::endl; - } - - MT_Vector3 getAhead() { - return MT_Vector3(&m[4]); - } - - MT_Vector3 getUp() { - return MT_Vector3(&m[8]); - } - - void clearMomentum() { - m_object.clearMomentum(); - } - - void setMargin(MT_Scalar margin) { - m_object.setMargin(margin); - } - - void setScaling(const MT_Vector3& scaling) { - m_object.setScaling(scaling); - } - - const MT_Point3& getPosition() { - return m_object.getPosition(); - } - - void setPosition(const MT_Point3& pos) { - m_object.setPosition(pos); - } - - void setOrientation(const MT_Quaternion& orn) { - m_object.setOrientation(orn); - } - - void applyCenterForce(const MT_Vector3& force) { - m_object.applyCenterForce(force); - } - - void applyTorque(const MT_Vector3& torque) { - m_object.applyTorque(torque); - } - - MT_Point3 getWorldCoord(const MT_Point3& local) const { - return m_object.getWorldCoord(local); - } - - MT_Vector3 getLinearVelocity() const { - return m_object.getLinearVelocity(); - } - - MT_Vector3 getAngularVelocity() const { - return m_object.getAngularVelocity(); - } - - void setMatrix() { - m_object.calcXform(); - m_object.getMatrix(m); - } - - const double *getMatrix() { - m_object.calcXform(); - return m_object.getMatrix(); - } - -private: - GLShape *m_gl_shape; - SM_Object& m_object; - DT_Scalar m[16]; - Callback m_callback; -}; - - - -const MT_Scalar SPACE_SIZE = 2; - -static GLSphere gl_sphere(sphere_radius); -static GLBox gl_ground(50.0, 0.0, 50.0); - - - -#ifdef USE_COMPLEX - -const int GRID_SCALE = 10; -const MT_Scalar GRID_UNIT = 25.0 / GRID_SCALE; - -DT_ShapeHandle createComplex() { - DT_ShapeHandle shape = DT_NewComplexShape(); - for (int i0 = -GRID_SCALE; i0 != GRID_SCALE; ++i0) { - for (int j0 = -GRID_SCALE; j0 != GRID_SCALE; ++j0) { - int i1 = i0 + 1; - int j1 = j0 + 1; -#ifdef QUADS - DT_Begin(); - DT_Vertex(GRID_UNIT * i0, bowl_curv * i0*i0, GRID_UNIT * j0); - DT_Vertex(GRID_UNIT * i0, bowl_curv * i0*i0, GRID_UNIT * j1); - DT_Vertex(GRID_UNIT * i1, bowl_curv * i1*i1, GRID_UNIT * j1); - DT_Vertex(GRID_UNIT * i1, bowl_curv * i1*i1, GRID_UNIT * j0); - DT_End(); -#else - DT_Begin(); - DT_Vertex(GRID_UNIT * i0, 0, GRID_UNIT * j0); - DT_Vertex(GRID_UNIT * i0, 0, GRID_UNIT * j1); - DT_Vertex(GRID_UNIT * i1, 0, GRID_UNIT * j1); - DT_End(); - - DT_Begin(); - DT_Vertex(GRID_UNIT * i0, 0, GRID_UNIT * j1); - DT_Vertex(GRID_UNIT * i1, 0, GRID_UNIT * j1); - DT_Vertex(GRID_UNIT * i1, 0, GRID_UNIT * j0); - DT_End(); -#endif - - } - } - DT_EndComplexShape(); - return shape; -} - - -static DT_ShapeHandle ground_shape = createComplex(); - -#else - -static DT_ShapeHandle ground_shape = DT_Box(50, 0, 50); - -#endif - -static SM_Object sm_ground(ground_shape, &g_materialProps, 0, 0); -static Object ground(&gl_ground, sm_ground); - -static SM_Object sm_sphere(DT_Sphere(0.0), &g_materialProps, &g_shapeProps, 0); -static Object object(&gl_sphere, sm_sphere); - - -static SM_Scene g_scene; - - -bool g_hit = false; -MT_Point3 g_spot; -MT_Vector3 g_normal; - - -void Callback::do_me() -{ - m_object.setMatrix(); - m_object.print_reaction_force(); -} - -void myinit(void) { - - GLfloat light_ambient[] = { 0.0, 0.0, 0.0, 1.0 }; - GLfloat light_diffuse[] = { 1.0, 1.0, 1.0, 1.0 }; - GLfloat light_specular[] = { 1.0, 1.0, 1.0, 1.0 }; - - /* light_position is NOT default value */ - GLfloat light_position0[] = { 1.0, 1.0, 1.0, 0.0 }; - GLfloat light_position1[] = { -1.0, -1.0, -1.0, 0.0 }; - - glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient); - glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse); - glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular); - glLightfv(GL_LIGHT0, GL_POSITION, light_position0); - - glLightfv(GL_LIGHT1, GL_AMBIENT, light_ambient); - glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse); - glLightfv(GL_LIGHT1, GL_SPECULAR, light_specular); - glLightfv(GL_LIGHT1, GL_POSITION, light_position1); - - - glEnable(GL_LIGHTING); - glEnable(GL_LIGHT0); - glEnable(GL_LIGHT1); - - glShadeModel(GL_SMOOTH); - - glEnable(GL_DEPTH_TEST); - glDepthFunc(GL_LESS); - - // glEnable(GL_CULL_FACE); - // glCullFace(GL_BACK); - - ground.setPosition(MT_Point3(0, -10, 0)); - ground.setOrientation(MT_Quaternion(0, 0, 0, 1)); - ground.setMatrix(); - center.setValue(0.0, 0.0, 0.0); - sm_ground.setMargin(ground_margin); - - g_scene.setForceField(gravity); - g_scene.add(sm_ground); - - object.setMargin(sphere_radius); - - g_scene.add(sm_sphere); - - - newRandom(); -} - - -//MT_Point3 cp1, cp2; -//bool intersection; - -void display(void) { - glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); - - ground.paint(); - object.paint(); - - if (g_hit) { - glDisable(GL_LIGHTING); - glColor3f(1, 0, 0); - - glPointSize(5); - glBegin(GL_POINTS); - glVertex3d(g_spot[0], g_spot[1], g_spot[2]); - glEnd(); - glPointSize(1); - - glColor3f(1, 1, 0); - glBegin(GL_LINES); - glVertex3d(g_spot[0], g_spot[1], g_spot[2]); - glVertex3d(g_spot[0] + g_normal[0], - g_spot[1] + g_normal[1], - g_spot[2] + g_normal[2]); - glEnd(); - glEnable(GL_LIGHTING); - } - - - -#ifdef COLLISION - glDisable(GL_DEPTH_TEST); - glDisable(GL_LIGHTING); - glColor3f(1, 1, 0); - if (intersection) { - glPointSize(5); - glBegin(GL_POINTS); - glVertex3d(cp1[0], cp1[1], cp1[2]); - glEnd(); - glPointSize(1); - } - else { - glBegin(GL_LINES); - glVertex3d(cp1[0], cp1[1], cp1[2]); - glVertex3d(cp2[0], cp2[1], cp2[2]); - glEnd(); - } - glEnable(GL_LIGHTING); - glEnable(GL_DEPTH_TEST); -#endif - - glFlush(); - glutSwapBuffers(); -} - - - - - -void newRandom() { - object.setPosition(MT_Point3(0, 0, 0)); - object.setOrientation(MT_Quaternion::random()); - object.clearMomentum(); - object.setMatrix(); - - display(); -} - -void moveAndDisplay() { - g_scene.proceed(timeStep, 0.01); - - display(); - g_hit = false; -} - - -void turn_left() { - object.applyTorque(5.0 * object.getUp()); -} - -void turn_right() { - object.applyTorque(-5.0 * object.getUp()); -} - -void forward() { - object.applyCenterForce(10.0 * object.getAhead()); -} - -void backward() { - object.applyCenterForce(-10.0 * object.getAhead()); -} - -void jump() { - object.applyCenterForce(MT_Vector3(0.0, 200.0, 0.0)); -} - - -void toggleIdle() { - static bool idle = true; - if (idle) { - glutIdleFunc(moveAndDisplay); - idle = false; - } - else { - glutIdleFunc(NULL); - idle = true; - } -} - - -void setCamera() { - glMatrixMode(GL_PROJECTION); - glLoadIdentity(); - glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 200.0); - MT_Scalar rele = MT_radians(ele); - MT_Scalar razi = MT_radians(azi); - eye.setValue(DISTANCE * sin(razi) * cos(rele), - DISTANCE * sin(rele), - DISTANCE * cos(razi) * cos(rele)); - gluLookAt(eye[0], eye[1], eye[2], - center[0], center[1], center[2], - 0, 1, 0); - glMatrixMode(GL_MODELVIEW); - display(); -} - -const MT_Scalar STEPSIZE = 5; - -void stepLeft() { azi -= STEPSIZE; if (azi < 0) azi += 360; setCamera(); } -void stepRight() { azi += STEPSIZE; if (azi >= 360) azi -= 360; setCamera(); } -void stepFront() { ele += STEPSIZE; if (azi >= 360) azi -= 360; setCamera(); } -void stepBack() { ele -= STEPSIZE; if (azi < 0) azi += 360; setCamera(); } -void zoomIn() { DISTANCE -= 1; setCamera(); } -void zoomOut() { DISTANCE += 1; setCamera(); } - - -void myReshape(int w, int h) { - glViewport(0, 0, w, h); - setCamera(); -} - -void myKeyboard(unsigned char key, int x, int y) -{ - switch (key) - { - case 'w': forward(); break; - case 's': backward(); break; - case 'a': turn_left(); break; - case 'd': turn_right(); break; - case 'e': jump(); break; - case 'l' : stepLeft(); break; - case 'r' : stepRight(); break; - case 'f' : stepFront(); break; - case 'b' : stepBack(); break; - case 'z' : zoomIn(); break; - case 'x' : zoomOut(); break; - case 'i' : toggleIdle(); break; - case ' ' : newRandom(); break; - default: -// std::cout << "unused key : " << key << std::endl; - break; - } -} - -void mySpecial(int key, int x, int y) -{ - switch (key) - { - case GLUT_KEY_LEFT : stepLeft(); break; - case GLUT_KEY_RIGHT : stepRight(); break; - case GLUT_KEY_UP : stepFront(); break; - case GLUT_KEY_DOWN : stepBack(); break; - case GLUT_KEY_PAGE_UP : zoomIn(); break; - case GLUT_KEY_PAGE_DOWN : zoomOut(); break; - case GLUT_KEY_HOME : toggleIdle(); break; - default: -// std::cout << "unused (special) key : " << key << std::endl; - break; - } -} - -void goodbye( void) -{ - g_scene.remove(sm_ground); - g_scene.remove(sm_sphere); - - std::cout << "goodbye ..." << std::endl; - exit(0); -} - -void menu(int choice) -{ - - static int fullScreen = 0; - static int px, py, sx, sy; - - switch(choice) { - case 1: - if (fullScreen == 1) { - glutPositionWindow(px,py); - glutReshapeWindow(sx,sy); - glutChangeToMenuEntry(1,"Full Screen",1); - fullScreen = 0; - } else { - px=glutGet((GLenum)GLUT_WINDOW_X); - py=glutGet((GLenum)GLUT_WINDOW_Y); - sx=glutGet((GLenum)GLUT_WINDOW_WIDTH); - sy=glutGet((GLenum)GLUT_WINDOW_HEIGHT); - glutFullScreen(); - glutChangeToMenuEntry(1,"Close Full Screen",1); - fullScreen = 1; - } - break; - case 2: - toggleIdle(); - break; - case 3: - goodbye(); - break; - default: - break; - } -} - -void createMenu() -{ - glutCreateMenu(menu); - glutAddMenuEntry("Full Screen", 1); - glutAddMenuEntry("Toggle Idle (Start/Stop)", 2); - glutAddMenuEntry("Quit", 3); - glutAttachMenu(GLUT_RIGHT_BUTTON); -} - -int main(int argc, char **argv) { - glutInit(&argc, argv); - glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH); - glutInitWindowPosition(0, 0); - glutInitWindowSize(500, 500); - glutCreateWindow("Physics demo"); - - myinit(); - glutKeyboardFunc(myKeyboard); - glutSpecialFunc(mySpecial); - glutReshapeFunc(myReshape); - createMenu(); - glutIdleFunc(NULL); - - glutDisplayFunc(display); - glutMainLoop(); - return 0; -} - - - - - - - diff --git a/source/gameengine/Physics/Sumo/Fuzzics/sample/particle0.cpp b/source/gameengine/Physics/Sumo/Fuzzics/sample/particle0.cpp deleted file mode 100644 index cdf0a2d8f64..00000000000 --- a/source/gameengine/Physics/Sumo/Fuzzics/sample/particle0.cpp +++ /dev/null @@ -1,695 +0,0 @@ -//#define FAKE_IT -#define USE_COMPLEX -#define QUADS - -#include <algorithm> -#include <new> -#include <GL/glut.h> - -#include "MT_MinMax.h" -#include "MT_Point3.h" -#include "MT_Vector3.h" -#include "MT_Quaternion.h" -#include "MT_Matrix3x3.h" -#include "MT_Transform.h" - -#include "SM_Object.h" -#include "SM_Scene.h" - -#include "solid.h" - -#ifdef HAVE_CONFIG_H -#include <config.h> -#endif - -const MT_Scalar bowl_curv = 0.10; -const MT_Scalar timeStep = 0.04; -const MT_Scalar ground_margin = 0.0; -const MT_Scalar sphere_radius = 0.5; - -const MT_Vector3 gravity(0, -9.8, 0); - -static MT_Scalar DISTANCE = 5; - -static MT_Scalar ele = 0, azi = 0; -static MT_Point3 eye(0, 0, DISTANCE); -static MT_Point3 center(0, 0, 0); - -inline double irnd() { return 2 * MT_random() - 1; } - -static const double SCALE_BOTTOM = 0.5; -static const double SCALE_FACTOR = 2.0; - -SM_ShapeProps g_shapeProps = { - 1.0, // mass - 1.0, // inertia - 0.9, // linear drag - 0.9 // angular drag -}; - -SM_MaterialProps g_materialProps = { - 0.7, // restitution - 0.0, // friction - 0.0, // spring constant - 0.0 // damping -}; - - -void toggleIdle(); - - -void newRandom(); - -void coordSystem() { - glDisable(GL_LIGHTING); - glBegin(GL_LINES); - glColor3f(1, 0, 0); - glVertex3d(0, 0, 0); - glVertex3d(10, 0, 0); - glColor3f(0, 1, 0); - glVertex3d(0, 0, 0); - glVertex3d(0, 10, 0); - glColor3f(0, 0, 1); - glVertex3d(0, 0, 0); - glVertex3d(0, 0, 10); - glEnd(); - glEnable(GL_LIGHTING); -} - - -void display_bbox(const MT_Point3& min, const MT_Point3& max) { - glDisable(GL_DEPTH_TEST); - glDisable(GL_LIGHTING); - glColor3f(0, 1, 1); - glPolygonMode(GL_FRONT_AND_BACK, GL_LINE); - glBegin(GL_QUAD_STRIP); - glVertex3d(min[0], min[1], min[2]); - glVertex3d(min[0], min[1], max[2]); - glVertex3d(max[0], min[1], min[2]); - glVertex3d(max[0], min[1], max[2]); - glVertex3d(max[0], max[1], min[2]); - glVertex3d(max[0], max[1], max[2]); - glVertex3d(min[0], max[1], min[2]); - glVertex3d(min[0], max[1], max[2]); - glVertex3d(min[0], min[1], min[2]); - glVertex3d(min[0], min[1], max[2]); - glEnd(); - glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); - glEnable(GL_LIGHTING); - glEnable(GL_DEPTH_TEST); -} - - - - -class GLShape { -public: - virtual void paint(GLdouble *m) const = 0; -}; - - -class GLSphere : public GLShape { - MT_Scalar radius; -public: - GLSphere(MT_Scalar r) : radius(r) {} - - void paint(GLdouble *m) const { - glPushMatrix(); - glLoadMatrixd(m); - coordSystem(); - glutSolidSphere(radius, 20, 20); - glPopMatrix(); - } -}; - - -class GLBox : public GLShape { - MT_Vector3 extent; -public: - GLBox(MT_Scalar x, MT_Scalar y, MT_Scalar z) : - extent(x, y, z) {} - - void paint(GLdouble *m) const { - glPushMatrix(); - glLoadMatrixd(m); - coordSystem(); - glPushMatrix(); - glScaled(extent[0], extent[1], extent[2]); - glutSolidCube(1.0); - glPopMatrix(); - glPopMatrix(); - } -}; - - -class GLCone : public GLShape { - MT_Scalar bottomRadius; - MT_Scalar height; - mutable GLuint displayList; - -public: - GLCone(MT_Scalar r, MT_Scalar h) : - bottomRadius(r), - height(h), - displayList(0) {} - - void paint(GLdouble *m) const { - glPushMatrix(); - glLoadMatrixd(m); - coordSystem(); - if (displayList) glCallList(displayList); - else { - GLUquadricObj *quadObj = gluNewQuadric(); - displayList = glGenLists(1); - glNewList(displayList, GL_COMPILE_AND_EXECUTE); - glPushMatrix(); - glRotatef(-90.0, 1.0, 0.0, 0.0); - glTranslatef(0.0, 0.0, -1.0); - gluQuadricDrawStyle(quadObj, (GLenum)GLU_FILL); - gluQuadricNormals(quadObj, (GLenum)GLU_SMOOTH); - gluCylinder(quadObj, bottomRadius, 0, height, 15, 10); - glPopMatrix(); - glEndList(); - } - glPopMatrix(); - } -}; - -class GLCylinder : public GLShape { - MT_Scalar radius; - MT_Scalar height; - mutable GLuint displayList; - -public: - GLCylinder(MT_Scalar r, MT_Scalar h) : - radius(r), - height(h), - displayList(0) {} - - void paint(GLdouble *m) const { - glPushMatrix(); - glLoadMatrixd(m); - coordSystem(); - if (displayList) glCallList(displayList); - else { - GLUquadricObj *quadObj = gluNewQuadric(); - displayList = glGenLists(1); - glNewList(displayList, GL_COMPILE_AND_EXECUTE); - glPushMatrix(); - glRotatef(-90.0, 1.0, 0.0, 0.0); - glTranslatef(0.0, 0.0, -1.0); - gluQuadricDrawStyle(quadObj, (GLenum)GLU_FILL); - gluQuadricNormals(quadObj, (GLenum)GLU_SMOOTH); - gluCylinder(quadObj, radius, radius, height, 15, 10); - glPopMatrix (); - glEndList(); - } - glPopMatrix(); - } -}; - -class Object; - -class Callback : public SM_Callback { -public: - Callback(Object& object) : m_object(object) {} - - virtual void do_me(); - -private: - Object& m_object; -}; - - -class Object { -public: - Object(GLShape *gl_shape, SM_Object& object) : - m_gl_shape(gl_shape), - m_object(object), - m_callback(*this) - { - m_object.registerCallback(m_callback); - } - - ~Object() {} - - void paint() { - m_gl_shape->paint(m); - // display_bbox(m_bbox.lower(), m_bbox.upper()); - } - - MT_Vector3 getAhead() { - return MT_Vector3(-m[8], -m[9], -m[10]); - } - - void clearMomentum() { - m_object.clearMomentum(); - } - - void setMargin(MT_Scalar margin) { - m_object.setMargin(margin); - } - - void setScaling(const MT_Vector3& scaling) { - m_object.setScaling(scaling); - } - - void setPosition(const MT_Point3& pos) { - m_object.setPosition(pos); - } - - void setOrientation(const MT_Quaternion& orn) { - m_object.setOrientation(orn); - } - - void applyCenterForce(const MT_Vector3& force) { - m_object.applyCenterForce(force); - } - - void applyTorque(const MT_Vector3& torque) { - m_object.applyTorque(torque); - } - - MT_Point3 getWorldCoord(const MT_Point3& local) const { - return m_object.getWorldCoord(local); - } - - MT_Vector3 getLinearVelocity() const { - return m_object.getLinearVelocity(); - } - - void setMatrix() { - m_object.getMatrix(m); - } - -private: - GLShape *m_gl_shape; - SM_Object& m_object; - DT_Scalar m[16]; - Callback m_callback; -}; - - -void Callback::do_me() -{ - m_object.setMatrix(); -} - - -const MT_Scalar SPACE_SIZE = 2; - -static GLSphere gl_sphere(sphere_radius); -static GLBox gl_ground(50.0, 0.0, 50.0); - - - -#ifdef USE_COMPLEX - -const int GRID_SCALE = 10; -const MT_Scalar GRID_UNIT = 25.0 / GRID_SCALE; - -DT_ShapeHandle createComplex() { - DT_ShapeHandle shape = DT_NewComplexShape(); - for (int i0 = -GRID_SCALE; i0 != GRID_SCALE; ++i0) { - for (int j0 = -GRID_SCALE; j0 != GRID_SCALE; ++j0) { - int i1 = i0 + 1; - int j1 = j0 + 1; -#ifdef QUADS - DT_Begin(); - DT_Vertex(GRID_UNIT * i0, bowl_curv * i0*i0, GRID_UNIT * j0); - DT_Vertex(GRID_UNIT * i0, bowl_curv * i0*i0, GRID_UNIT * j1); - DT_Vertex(GRID_UNIT * i1, bowl_curv * i1*i1, GRID_UNIT * j1); - DT_Vertex(GRID_UNIT * i1, bowl_curv * i1*i1, GRID_UNIT * j0); - DT_End(); -#else - DT_Begin(); - DT_Vertex(GRID_UNIT * i0, 0, GRID_UNIT * j0); - DT_Vertex(GRID_UNIT * i0, 0, GRID_UNIT * j1); - DT_Vertex(GRID_UNIT * i1, 0, GRID_UNIT * j1); - DT_End(); - - DT_Begin(); - DT_Vertex(GRID_UNIT * i0, 0, GRID_UNIT * j1); - DT_Vertex(GRID_UNIT * i1, 0, GRID_UNIT * j1); - DT_Vertex(GRID_UNIT * i1, 0, GRID_UNIT * j0); - DT_End(); -#endif - - } - } - DT_EndComplexShape(); - return shape; -} - - -static DT_ShapeHandle ground_shape = createComplex(); - -#else - -static DT_ShapeHandle ground_shape = DT_Box(50, 0, 50); - -#endif - -static SM_Object sm_ground(ground_shape, &g_materialProps, 0, 0); -static Object ground(&gl_ground, sm_ground); - -static SM_Object sm_sphere(DT_Sphere(0.0), &g_materialProps, &g_shapeProps, 0); -static Object object(&gl_sphere, sm_sphere); - - -static SM_Object sm_ray(DT_Ray(0.0, -1.0, 0.0), 0, 0, 0); - -static SM_Scene g_scene; - - -void myinit(void) { - - GLfloat light_ambient[] = { 0.0, 0.0, 0.0, 1.0 }; - GLfloat light_diffuse[] = { 1.0, 1.0, 1.0, 1.0 }; - GLfloat light_specular[] = { 1.0, 1.0, 1.0, 1.0 }; - - /* light_position is NOT default value */ - GLfloat light_position0[] = { 1.0, 1.0, 1.0, 0.0 }; - GLfloat light_position1[] = { -1.0, -1.0, -1.0, 0.0 }; - - glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient); - glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse); - glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular); - glLightfv(GL_LIGHT0, GL_POSITION, light_position0); - - glLightfv(GL_LIGHT1, GL_AMBIENT, light_ambient); - glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse); - glLightfv(GL_LIGHT1, GL_SPECULAR, light_specular); - glLightfv(GL_LIGHT1, GL_POSITION, light_position1); - - - glEnable(GL_LIGHTING); - glEnable(GL_LIGHT0); - glEnable(GL_LIGHT1); - - glShadeModel(GL_SMOOTH); - - glEnable(GL_DEPTH_TEST); - glDepthFunc(GL_LESS); - - // glEnable(GL_CULL_FACE); - // glCullFace(GL_BACK); - - g_scene.setForceField(gravity); - g_scene.add(sm_ground); - sm_ground.setMargin(ground_margin); - - new(&object) Object(&gl_sphere, sm_sphere); - - - object.setMargin(sphere_radius); - - g_scene.add(sm_sphere); - - ground.setPosition(MT_Point3(0, -10, 0)); - ground.setOrientation(MT_Quaternion(0, 0, 0, 1)); - ground.setMatrix(); - center.setValue(0.0, 0.0, 0.0); - - newRandom(); -} - - -//MT_Point3 cp1, cp2; -//bool intersection; - -bool g_hit = false; -MT_Point3 g_spot; -MT_Vector3 g_normal; - - -void display(void) { - glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); - - ground.paint(); - object.paint(); - - if (g_hit) { - glPointSize(5); - glBegin(GL_POINTS); - glVertex3d(g_spot[0], g_spot[1], g_spot[2]); - glEnd(); - glPointSize(1); - } - - - -#ifdef COLLISION - glDisable(GL_DEPTH_TEST); - glDisable(GL_LIGHTING); - glColor3f(1, 1, 0); - if (intersection) { - glPointSize(5); - glBegin(GL_POINTS); - glVertex3d(cp1[0], cp1[1], cp1[2]); - glEnd(); - glPointSize(1); - } - else { - glBegin(GL_LINES); - glVertex3d(cp1[0], cp1[1], cp1[2]); - glVertex3d(cp2[0], cp2[1], cp2[2]); - glEnd(); - } - glEnable(GL_LIGHTING); - glEnable(GL_DEPTH_TEST); -#endif - - glFlush(); - glutSwapBuffers(); -} - - - - - -void newRandom() { - object.setPosition(MT_Point3(0, 0, 0)); - object.clearMomentum(); - object.setMatrix(); - - display(); -} - -void moveAndDisplay() { - g_scene.proceed(timeStep, 0.01); - - MT_Vector3 normal(0, 1, 0); - - MT_Point3 from = object.getWorldCoord(MT_Point3(0, 0, 0)); - MT_Point3 to = from - normal * 10.0; - - g_hit = DT_ObjectRayTest(sm_ground.getObjectHandle(), - from.getValue(), - to.getValue(), g_spot.getValue(), - g_normal.getValue()); - - // Scrap -#define DO_FH -#ifdef DO_FH - MT_Scalar dist = MT_distance(from, g_spot); - if (dist < 5.0) { - MT_Vector3 lin_vel = object.getLinearVelocity(); - MT_Scalar lin_vel_normal = lin_vel.dot(normal); - - MT_Scalar spring_extent = dist + lin_vel_normal * (timeStep * 0.5); - - MT_Scalar f_spring = (5.0 - spring_extent) * 3.0; - object.applyCenterForce(normal * f_spring); - object.applyCenterForce(-lin_vel_normal * normal); - } - -#endif - - - display(); -} - - -void turn_left() { - object.applyTorque(MT_Vector3(0.0, 10.0, 0.0)); -} - -void turn_right() { - object.applyTorque(MT_Vector3(0.0, -10.0, 0.0)); -} - -void forward() { - object.applyCenterForce(20.0 * object.getAhead()); -} - -void backward() { - object.applyCenterForce(-20.0 * object.getAhead()); -} - -void jump() { - object.applyCenterForce(MT_Vector3(0.0, 200.0, 0.0)); -} - - -void toggleIdle() { - static bool idle = true; - if (idle) { - glutIdleFunc(moveAndDisplay); - idle = false; - } - else { - glutIdleFunc(NULL); - idle = true; - } -} - - -void setCamera() { - glMatrixMode(GL_PROJECTION); - glLoadIdentity(); - glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 200.0); - MT_Scalar rele = MT_radians(ele); - MT_Scalar razi = MT_radians(azi); - eye.setValue(DISTANCE * sin(razi) * cos(rele), - DISTANCE * sin(rele), - DISTANCE * cos(razi) * cos(rele)); - gluLookAt(eye[0], eye[1], eye[2], - center[0], center[1], center[2], - 0, 1, 0); - glMatrixMode(GL_MODELVIEW); - display(); -} - -const MT_Scalar STEPSIZE = 5; - -void stepLeft() { azi -= STEPSIZE; if (azi < 0) azi += 360; setCamera(); } -void stepRight() { azi += STEPSIZE; if (azi >= 360) azi -= 360; setCamera(); } -void stepFront() { ele += STEPSIZE; if (azi >= 360) azi -= 360; setCamera(); } -void stepBack() { ele -= STEPSIZE; if (azi < 0) azi += 360; setCamera(); } -void zoomIn() { DISTANCE -= 1; setCamera(); } -void zoomOut() { DISTANCE += 1; setCamera(); } - - -void myReshape(int w, int h) { - glViewport(0, 0, w, h); - setCamera(); -} - -void myKeyboard(unsigned char key, int x, int y) -{ - switch (key) - { - case 'w': forward(); break; - case 's': backward(); break; - case 'a': turn_left(); break; - case 'd': turn_right(); break; - case 'e': jump(); break; - case 'l' : stepLeft(); break; - case 'r' : stepRight(); break; - case 'f' : stepFront(); break; - case 'b' : stepBack(); break; - case 'z' : zoomIn(); break; - case 'x' : zoomOut(); break; - case 'i' : toggleIdle(); break; - case ' ' : newRandom(); break; - default: -// std::cout << "unused key : " << key << std::endl; - break; - } -} - -void mySpecial(int key, int x, int y) -{ - switch (key) - { - case GLUT_KEY_LEFT : stepLeft(); break; - case GLUT_KEY_RIGHT : stepRight(); break; - case GLUT_KEY_UP : stepFront(); break; - case GLUT_KEY_DOWN : stepBack(); break; - case GLUT_KEY_PAGE_UP : zoomIn(); break; - case GLUT_KEY_PAGE_DOWN : zoomOut(); break; - case GLUT_KEY_HOME : toggleIdle(); break; - default: -// std::cout << "unused (special) key : " << key << std::endl; - break; - } -} - -void goodbye( void) -{ - g_scene.remove(sm_ground); - g_scene.remove(sm_sphere); - - std::cout << "goodbye ..." << std::endl; - exit(0); -} - -void menu(int choice) -{ - - static int fullScreen = 0; - static int px, py, sx, sy; - - switch(choice) { - case 1: - if (fullScreen == 1) { - glutPositionWindow(px,py); - glutReshapeWindow(sx,sy); - glutChangeToMenuEntry(1,"Full Screen",1); - fullScreen = 0; - } else { - px=glutGet((GLenum)GLUT_WINDOW_X); - py=glutGet((GLenum)GLUT_WINDOW_Y); - sx=glutGet((GLenum)GLUT_WINDOW_WIDTH); - sy=glutGet((GLenum)GLUT_WINDOW_HEIGHT); - glutFullScreen(); - glutChangeToMenuEntry(1,"Close Full Screen",1); - fullScreen = 1; - } - break; - case 2: - toggleIdle(); - break; - case 3: - goodbye(); - break; - default: - break; - } -} - -void createMenu() -{ - glutCreateMenu(menu); - glutAddMenuEntry("Full Screen", 1); - glutAddMenuEntry("Toggle Idle (Start/Stop)", 2); - glutAddMenuEntry("Quit", 3); - glutAttachMenu(GLUT_RIGHT_BUTTON); -} - -int main(int argc, char **argv) { - glutInit(&argc, argv); - glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH); - glutInitWindowPosition(0, 0); - glutInitWindowSize(500, 500); - glutCreateWindow("Physics demo"); - - myinit(); - glutKeyboardFunc(myKeyboard); - glutSpecialFunc(mySpecial); - glutReshapeFunc(myReshape); - createMenu(); - glutIdleFunc(NULL); - - glutDisplayFunc(display); - glutMainLoop(); - return 0; -} - - - - - - - diff --git a/source/gameengine/Physics/Sumo/Fuzzics/src/Makefile b/source/gameengine/Physics/Sumo/Fuzzics/src/Makefile deleted file mode 100644 index b2744c5496a..00000000000 --- a/source/gameengine/Physics/Sumo/Fuzzics/src/Makefile +++ /dev/null @@ -1,14 +0,0 @@ -# -# $Id$ -# Copyright (C) 2001 NaN Technologies B.V. - -LIBNAME = fuzzics -DIR = $(OCGDIR)/gameengine/blphys/$(LIBNAME) - -include nan_compile.mk - -CCFLAGS += $(LEVEL_1_CPP_WARNINGS) - -CPPFLAGS += -I../include -I$(NAN_MOTO)/include -I../../include -CPPFLAGS += -I$(NAN_SOLID)/include - diff --git a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_FhObject.cpp b/source/gameengine/Physics/Sumo/Fuzzics/src/SM_FhObject.cpp deleted file mode 100644 index d866cdb4922..00000000000 --- a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_FhObject.cpp +++ /dev/null @@ -1,180 +0,0 @@ -/** - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ -#include "SM_FhObject.h" -#include "MT_MinMax.h" - -#ifdef HAVE_CONFIG_H -#include <config.h> -#endif - -SM_FhObject::SM_FhObject(DT_ShapeHandle rayshape, MT_Vector3 ray, SM_Object *parent_object) : - SM_Object(rayshape, NULL, NULL, NULL), - m_ray(ray), - m_ray_direction(ray.normalized()), - m_parent_object(parent_object) -{ -} - -SM_FhObject::~SM_FhObject() -{ - DT_DeleteShape(getShapeHandle()); -} - -DT_Bool SM_FhObject::ray_hit(void *client_data, - void *client_object1, - void *client_object2, - const DT_CollData *coll_data) -{ - - SM_FhObject *fh_object = dynamic_cast<SM_FhObject *>((SM_Object *)client_object2); - if (!fh_object) - { - std::swap(client_object1, client_object2); - fh_object = dynamic_cast<SM_FhObject *>((SM_Object *)client_object2); - } - - SM_Object *hit_object = (SM_Object *)client_object1; - const SM_MaterialProps *matProps = hit_object->getMaterialProps(); - - if ((matProps == 0) || (matProps->m_fh_distance < MT_EPSILON)) { - return DT_CONTINUE; - } - - SM_Object *cl_object = fh_object->getParentObject(); - - assert(fh_object); - - if (hit_object == cl_object) { - // Shot myself in the foot... - return DT_CONTINUE; - } - - const SM_ShapeProps *shapeProps = cl_object->getShapeProps(); - - // Exit if the client object is not dynamic. - if (shapeProps == 0) { - return DT_CONTINUE; - } - - MT_Point3 lspot; - MT_Vector3 normal; - - DT_Vector3 from, to, dnormal; - DT_Scalar dlspot; - fh_object->getPosition().getValue(from); - fh_object->getSpot().getValue(to); - - - if (DT_ObjectRayCast(hit_object->getObjectHandle(), - from, - to, - 1., - &dlspot, - dnormal)) { - - lspot = fh_object->getPosition() + (fh_object->getSpot() - fh_object->getPosition()) * dlspot; - const MT_Vector3& ray_dir = fh_object->getRayDirection(); - MT_Scalar dist = MT_distance(fh_object->getPosition(), lspot) - - cl_object->getMargin() - shapeProps->m_radius; - - normal = MT_Vector3(dnormal).safe_normalized(); - - if (dist < matProps->m_fh_distance) { - - if (shapeProps->m_do_fh) { - lspot -= hit_object->getPosition(); - MT_Vector3 rel_vel = cl_object->getLinearVelocity() - hit_object->getVelocity(lspot); - MT_Scalar rel_vel_ray = ray_dir.dot(rel_vel); - MT_Scalar spring_extent = 1.0 - dist / matProps->m_fh_distance; - - MT_Scalar i_spring = spring_extent * matProps->m_fh_spring; - MT_Scalar i_damp = rel_vel_ray * matProps->m_fh_damping; - - cl_object->addLinearVelocity(-(i_spring + i_damp) * ray_dir); - if (matProps->m_fh_normal) { - cl_object->addLinearVelocity( - (i_spring + i_damp) * - (normal - normal.dot(ray_dir) * ray_dir)); - } - - MT_Vector3 lateral = rel_vel - rel_vel_ray * ray_dir; - const SM_ShapeProps *shapeProps = cl_object->getShapeProps(); - - if (shapeProps->m_do_anisotropic) { - MT_Matrix3x3 lcs(cl_object->getOrientation()); - MT_Vector3 loc_lateral = lateral * lcs; - const MT_Vector3& friction_scaling = - shapeProps->m_friction_scaling; - - loc_lateral.scale(friction_scaling[0], - friction_scaling[1], - friction_scaling[2]); - lateral = lcs * loc_lateral; - } - - - MT_Scalar rel_vel_lateral = lateral.length(); - - if (rel_vel_lateral > MT_EPSILON) { - MT_Scalar friction_factor = matProps->m_friction; - MT_Scalar max_friction = friction_factor * MT_max(MT_Scalar(0.0), i_spring); - - MT_Scalar rel_mom_lateral = rel_vel_lateral / - cl_object->getInvMass(); - - MT_Vector3 friction = - (rel_mom_lateral > max_friction) ? - -lateral * (max_friction / rel_vel_lateral) : - -lateral; - - cl_object->applyCenterImpulse(friction); - } - } - - if (shapeProps->m_do_rot_fh) { - const double *ogl_mat = cl_object->getMatrix(); - MT_Vector3 up(&ogl_mat[8]); - MT_Vector3 t_spring = up.cross(normal) * matProps->m_fh_spring; - MT_Vector3 ang_vel = cl_object->getAngularVelocity(); - - // only rotations that tilt relative to the normal are damped - ang_vel -= ang_vel.dot(normal) * normal; - - MT_Vector3 t_damp = ang_vel * matProps->m_fh_damping; - - cl_object->addAngularVelocity(t_spring - t_damp); - } - } - } - - return DT_CONTINUE; -} - - - diff --git a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_MotionState.cpp b/source/gameengine/Physics/Sumo/Fuzzics/src/SM_MotionState.cpp deleted file mode 100644 index b8f4e0c591c..00000000000 --- a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_MotionState.cpp +++ /dev/null @@ -1,100 +0,0 @@ -/** - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ -#include <MT_Scalar.h> -#include <MT_Vector3.h> -#include <MT_Quaternion.h> - -#include "SM_MotionState.h" - -void SM_MotionState::integrateMidpoint(MT_Scalar timeStep, const SM_MotionState &prev_state, const MT_Vector3 &velocity, const MT_Quaternion& ang_vel) -{ - m_pos += (prev_state.getLinearVelocity() + velocity) * (timeStep * 0.5); - m_orn += (prev_state.getAngularVelocity() * prev_state.getOrientation() + ang_vel * m_orn) * (timeStep * 0.25); - m_orn.normalize(); -} - -void SM_MotionState::integrateBackward(MT_Scalar timeStep, const MT_Vector3 &velocity, const MT_Quaternion& ang_vel) -{ - m_pos += velocity * timeStep; - m_orn += ang_vel * m_orn * (timeStep * 0.5); - m_orn.normalize(); -} - -void SM_MotionState::integrateForward(MT_Scalar timeStep, const SM_MotionState &prev_state) -{ - m_pos += prev_state.getLinearVelocity() * timeStep; - m_orn += prev_state.getAngularVelocity() * m_orn * (timeStep * 0.5); - m_orn.normalize(); -} - -/* -// Newtonian lerp: interpolate based on Newtonian motion -void SM_MotionState::nlerp(const SM_MotionState &prev, const SM_MotionState &next) -{ - MT_Scalar dt = next.getTime() - prev.getTime(); - MT_Scalar t = getTime() - prev.getTime(); - MT_Vector3 dx = next.getPosition() - prev.getPosition(); - MT_Vector3 a = dx/(dt*dt) - prev.getLinearVelocity()/dt; - - m_pos = prev.getPosition() + prev.getLinearVelocity()*t + a*t*t; -} -*/ - -void SM_MotionState::lerp(const SM_MotionState &prev, const SM_MotionState &next) -{ - MT_Scalar dt = next.getTime() - prev.getTime(); - if (MT_fuzzyZero(dt)) - { - *this = next; - return; - } - - MT_Scalar x = (getTime() - prev.getTime())/dt; - - m_pos = x*next.getPosition() + (1-x)*prev.getPosition(); - - m_orn = prev.getOrientation().slerp(next.getOrientation(), 1-x); - - m_lin_vel = x*next.getLinearVelocity() + (1-x)*prev.getLinearVelocity(); - m_ang_vel = x*next.getAngularVelocity() + (1-x)*prev.getAngularVelocity(); -} - -void SM_MotionState::lerp(MT_Scalar t, const SM_MotionState &other) -{ - MT_Scalar x = (t - getTime())/(other.getTime() - getTime()); - m_pos = (1-x)*m_pos + x*other.getPosition(); - - m_orn = other.getOrientation().slerp(m_orn, x); - - m_lin_vel = (1-x)*m_lin_vel + x*other.getLinearVelocity(); - m_ang_vel = (1-x)*m_ang_vel + x*other.getAngularVelocity(); - - m_time = t; -} - diff --git a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Object.cpp b/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Object.cpp deleted file mode 100644 index 4b2c7cae008..00000000000 --- a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Object.cpp +++ /dev/null @@ -1,1298 +0,0 @@ -/** - * $Id$ - * Copyright (C) 2001 NaN Technologies B.V. - * The basic physics object. - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -#ifdef HAVE_CONFIG_H -#include <config.h> -#endif - -#ifdef WIN32 -// This warning tells us about truncation of __long__ stl-generated names. -// It can occasionally cause DevStudio to have internal compiler warnings. -#pragma warning( disable : 4786 ) -#endif - -#include "MT_assert.h" - -#include "SM_Object.h" -#include "SM_Scene.h" -#include "SM_FhObject.h" -#include "SM_Debug.h" - -#include "MT_MinMax.h" - -MT_Scalar SM_Object::ImpulseThreshold = -1.0; - -struct Contact -{ - SM_Object *obj1; - SM_Object *obj2; - MT_Vector3 normal; - MT_Point3 pos; - - // Sort objects by height - bool operator()(const Contact *a, const Contact *b) - { - return a->pos[2] < b->pos[2]; - } - - Contact(SM_Object *o1, SM_Object *o2, const MT_Vector3 nor, const MT_Point3 p) - : obj1(o1), - obj2(o2), - normal(nor), - pos(p) - { - } - - Contact() - { - } - - void resolve() - { - if (obj1->m_static || obj2->m_static) - { - if (obj1->isDynamic()) - { - if (obj1->m_static && obj2->m_static) - { - if (obj1->m_static < obj2->m_static) - { - obj2->m_error -= normal; - obj2->m_static = obj1->m_static + 1; - } - else - { - obj1->m_error += normal; - obj1->m_static = obj2->m_static + 1; - } - } - else - { - if (obj1->m_static) - { - obj2->m_error -= normal; - obj2->m_static = obj1->m_static + 1; - } - else - { - obj1->m_error += normal; - obj1->m_static = obj2->m_static + 1; - } - } - } - else - { - obj2->m_error -= normal; - obj2->m_static = 1; - } - } - else - { - // This distinction between dynamic and non-dynamic objects should not be - // necessary. Non-dynamic objects are assumed to have infinite mass. - if (obj1->isDynamic()) { - MT_Vector3 error = normal * 0.5f; - obj1->m_error += error; - obj2->m_error -= error; - } - else { - // Same again but now obj1 is non-dynamic - obj2->m_error -= normal; - obj2->m_static = obj1->m_static + 1; - } - } - - } - - - typedef std::set<Contact*, Contact> Set; -}; - -static Contact::Set contacts; - -SM_Object::SM_Object( - DT_ShapeHandle shape, - const SM_MaterialProps *materialProps, - const SM_ShapeProps *shapeProps, - SM_Object *dynamicParent) : - - m_dynamicParent(dynamicParent), - m_client_object(0), - m_physicsClientObject(0), - m_shape(shape), - m_materialProps(materialProps), - m_materialPropsBackup(0), - m_shapeProps(shapeProps), - m_shapePropsBackup(0), - m_margin(0.0), - m_scaling(1.0, 1.0, 1.0), - m_reaction_impulse(0.0, 0.0, 0.0), - m_reaction_force(0.0, 0.0, 0.0), - m_lin_mom(0.0, 0.0, 0.0), - m_ang_mom(0.0, 0.0, 0.0), - m_force(0.0, 0.0, 0.0), - m_torque(0.0, 0.0, 0.0), - 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_inv_mass(0.0), - m_inv_inertia(0., 0., 0.), - m_kinematic(false), - m_prev_kinematic(false), - m_is_rigid_body(false), - m_static(0) -{ - m_object = DT_CreateObject(this, shape); - m_xform.setIdentity(); - m_xform.getValue(m_ogl_matrix); - 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; -} - - - void -SM_Object:: -integrateForces( - MT_Scalar timeStep -){ - if (!m_suspended) { - m_prev_state = getNextFrame(); - m_prev_state.setLinearVelocity(actualLinVelocity()); - m_prev_state.setAngularVelocity(actualAngVelocity()); - if (isDynamic()) { - // Integrate momentum (forward Euler) - m_lin_mom += m_force * timeStep; - m_ang_mom += m_torque * timeStep; - // Drain momentum because of air/water resistance - m_lin_mom *= pow(m_shapeProps->m_lin_drag, timeStep); - m_ang_mom *= pow(m_shapeProps->m_ang_drag, timeStep); - // Set velocities according momentum - getNextFrame().setLinearVelocity(m_lin_mom * m_inv_mass); - getNextFrame().setAngularVelocity(m_inv_inertia_tensor * m_ang_mom); - } - } - -}; - - void -SM_Object:: -integrateMomentum( - MT_Scalar timeStep -){ - // Integrate position and orientation - - // only do it for objects with linear and/or angular velocity - // else clients with hierarchies may get into trouble - if (!actualLinVelocity().fuzzyZero() || !actualAngVelocity().fuzzyZero()) - { - - // those MIDPOINT and BACKWARD integration methods are - // in this form not ok with some testfiles ! - // For a release build please use forward euler unless completely tested - -//#define MIDPOINT -//#define BACKWARD -#ifdef MIDPOINT -// Midpoint rule - getNextFrame().integrateMidpoint(timeStep, m_prev_state, actualLinVelocity(), actualAngVelocity()); -#elif defined BACKWARD -// Backward Euler - getNextFrame().integrateBackward(timeStep, actualLinVelocity(), actualAngVelocity()); -#else -// Forward Euler - getNextFrame().integrateForward(timeStep, m_prev_state); -#endif - - calcXform(); - notifyClient(); - - } -} - -/** - * dynamicCollision computes the response to a collision. - * - * @param local2 the contact point in local coordinates. - * @param normal the contact normal. - * @param dist the penetration depth of the contact. (unused) - * @param rel_vel the relative velocity of the objects - * @param restitution the amount of momentum conserved in the collision. Range: 0.0 - 1.0 - * @param friction_factor the amount of friction between the two surfaces. - * @param invMass the inverse mass of the collision objects (1.0 / mass) - */ -void SM_Object::dynamicCollision(const MT_Point3 &local2, - const MT_Vector3 &normal, - MT_Scalar dist, - const MT_Vector3 &rel_vel, - MT_Scalar restitution, - MT_Scalar friction_factor, - MT_Scalar invMass -) -{ - /** - * rel_vel_normal is the relative velocity in the contact normal direction. - */ - MT_Scalar rel_vel_normal = normal.dot(rel_vel); - - /** - * if rel_vel_normal > 0, the objects are moving apart! - */ - if (rel_vel_normal < -MT_EPSILON) { - /** - * if rel_vel_normal < ImpulseThreshold, scale the restitution down. - * This should improve the simulation where the object is stacked. - */ - restitution *= MT_min(MT_Scalar(1.0), rel_vel_normal/ImpulseThreshold); - - MT_Scalar impulse = -(1.0 + restitution) * rel_vel_normal; - - if (isRigidBody()) - { - MT_Vector3 temp = getInvInertiaTensor() * local2.cross(normal); - impulse /= invMass + normal.dot(temp.cross(local2)); - - /** - * Apply impulse at the collision point. - * Take rotational inertia into account. - */ - applyImpulse(local2 + getNextFrame().getPosition(), impulse * normal); - } else { - /** - * Apply impulse through object center. (no rotation.) - */ - impulse /= invMass; - applyCenterImpulse( impulse * normal ); - } - - MT_Vector3 external = m_combined_lin_vel + m_combined_ang_vel.cross(local2); - MT_Vector3 lateral = rel_vel - external - normal * (rel_vel_normal - external.dot(normal)); -#if 0 - // test - only do friction on the physics part of the - // velocity. - vel1 -= obj1->m_combined_lin_vel; - vel2 -= obj2->m_combined_lin_vel; - - // This should look familiar.... - rel_vel = vel2 - vel1; - rel_vel_normal = normal.dot(rel_vel); -#endif - /** - * The friction part starts here!!!!!!!! - * - * Compute the lateral component of the relative velocity - * lateral actually points in the opposite direction, i.e., - * into the direction of the friction force. - */ - if (m_shapeProps->m_do_anisotropic) { - - /** - * For anisotropic friction we scale the lateral component, - * rather than compute a direction-dependent fricition - * factor. For this the lateral component is transformed to - * local coordinates. - */ - - MT_Matrix3x3 lcs(getNextFrame().getOrientation()); - - /** - * We cannot use m_xform.getBasis() for the matrix, since - * it might contain a non-uniform scaling. - * OPT: it's a bit daft to compute the matrix since the - * quaternion itself can be used to do the transformation. - */ - MT_Vector3 loc_lateral = lateral * lcs; - - /** - * lcs is orthogonal so lcs.inversed() == lcs.transposed(), - * and lcs.transposed() * lateral == lateral * lcs. - */ - const MT_Vector3& friction_scaling = - m_shapeProps->m_friction_scaling; - - // Scale the local lateral... - loc_lateral.scale(friction_scaling[0], - friction_scaling[1], - friction_scaling[2]); - // ... and transform it back to global coordinates - lateral = lcs * loc_lateral; - } - - /** - * A tiny Coulomb friction primer: - * The Coulomb friction law states that the magnitude of the - * maximum possible friction force depends linearly on the - * magnitude of the normal force. - * - * \f[ - F_max_friction = friction_factor * F_normal - \f] - * - * (NB: independent of the contact area!!) - * - * The friction factor depends on the material. - * We use impulses rather than forces but let us not be - * bothered by this. - */ - MT_Scalar rel_vel_lateral = lateral.length(); - - if (rel_vel_lateral > MT_EPSILON) { - lateral /= rel_vel_lateral; - - // Compute the maximum friction impulse - MT_Scalar max_friction = - friction_factor * MT_max(MT_Scalar(0.0), impulse); - - // I guess the GEN_max is not necessary, so let's check it - - MT_assert(impulse >= 0.0); - - /** - * Here's the trick. We compute the impulse to make the - * lateral velocity zero. (Make the objects stick together - * at the contact point. If this impulse is larger than - * the maximum possible friction impulse, then shrink its - * magnitude to the maximum friction. - */ - - if (isRigidBody()) { - - /** - * 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 = getInvInertiaTensor() * local2.cross(lateral); - MT_Scalar impulse_lateral = rel_vel_lateral / - (invMass + lateral.dot(temp.cross(local2))); - - MT_Scalar friction = MT_min(impulse_lateral, max_friction); - applyImpulse(local2 + getNextFrame().getPosition(), -lateral * friction); - } - else { - MT_Scalar impulse_lateral = rel_vel_lateral / invMass; - - MT_Scalar friction = MT_min(impulse_lateral, max_friction); - applyCenterImpulse( -friction * lateral); - } - - - } - - //calcXform(); - //notifyClient(); - - } -} - -static void AddCallback(SM_Scene *scene, SM_Object *obj1, SM_Object *obj2) -{ - // If we have callbacks on either of the client objects, do a collision test - // and add a callback if they intersect. - DT_Vector3 v; - if ((obj1->getClientObject() && obj1->getClientObject()->hasCollisionCallback()) || - (obj2->getClientObject() && obj2->getClientObject()->hasCollisionCallback()) && - DT_GetIntersect(obj1->getObjectHandle(), obj2->getObjectHandle(), v)) - scene->notifyCollision(obj1, obj2); -} - -DT_Bool SM_Object::boing( - void *client_data, - void *object1, - void *object2, - const DT_CollData *coll_data -){ - SM_Scene *scene = (SM_Scene *)client_data; - SM_Object *obj1 = (SM_Object *)object1; - SM_Object *obj2 = (SM_Object *)object2; - - // at this point it is unknown whether we are really intersecting (broad phase) - - DT_Vector3 p1, p2; - if (!obj2->isDynamic()) { - std::swap(obj1, obj2); - } - - // If one of the objects is a ghost then ignore it for the dynamics - if (obj1->isGhost() || obj2->isGhost()) { - AddCallback(scene, obj1, obj2); - return DT_CONTINUE; - } - - // Objects do not collide with parent objects - if (obj1->getDynamicParent() == obj2 || obj2->getDynamicParent() == obj1) { - AddCallback(scene, obj1, obj2); - return DT_CONTINUE; - } - - if (!obj2->isDynamic()) { - AddCallback(scene, obj1, obj2); - return DT_CONTINUE; - } - - // Get collision data from SOLID - if (!DT_GetPenDepth(obj1->getObjectHandle(), obj2->getObjectHandle(), p1, p2)) - return DT_CONTINUE; - - MT_Point3 local1(p1), local2(p2); - MT_Vector3 normal(local2 - local1); - MT_Scalar dist = normal.length(); - - if (dist < MT_EPSILON) - return DT_CONTINUE; - - // Now we are definitely intersecting. - - // Set callbacks for game engine. - if ((obj1->getClientObject() && obj1->getClientObject()->hasCollisionCallback()) || - (obj2->getClientObject() && obj2->getClientObject()->hasCollisionCallback())) - scene->notifyCollision(obj1, obj2); - - local1 -= obj1->getNextFrame().getPosition(); - local2 -= obj2->getNextFrame().getPosition(); - - // Calculate collision parameters - MT_Vector3 rel_vel = obj1->getVelocity(local1) - obj2->getVelocity(local2); - - MT_Scalar restitution = - MT_min(obj1->getMaterialProps()->m_restitution, - obj2->getMaterialProps()->m_restitution); - - MT_Scalar friction_factor = - MT_min(obj1->getMaterialProps()->m_friction, - obj2->getMaterialProps()->m_friction); - - MT_Scalar invMass = obj1->getInvMass() + obj2->getInvMass(); - - normal /= dist; - - // Calculate reactions - if (obj1->isDynamic()) - obj1->dynamicCollision(local1, normal, dist, rel_vel, restitution, friction_factor, invMass); - - if (obj2->isDynamic()) - { - obj2->dynamicCollision(local2, -normal, dist, -rel_vel, restitution, friction_factor, invMass); - if (!obj1->isDynamic() || obj1->m_static) - obj2->m_static = obj1->m_static + 1; - } - - return DT_CONTINUE; -} - -DT_Bool SM_Object::fix( - void *client_data, - void *object1, - void *object2, - const DT_CollData *coll_data -){ - SM_Object *obj1 = (SM_Object *)object1; - SM_Object *obj2 = (SM_Object *)object2; - - // If one of the objects is a ghost then ignore it for the dynamics - if (obj1->isGhost() || obj2->isGhost()) { - return DT_CONTINUE; - } - - if (obj1->getDynamicParent() == obj2 || obj2->getDynamicParent() == obj1) { - return DT_CONTINUE; - } - - if (!obj2->isDynamic()) { - std::swap(obj1, obj2); - } - - if (!obj2->isDynamic()) { - return DT_CONTINUE; - } - - // obj1 points to a dynamic object - DT_Vector3 p1, p2; - if (!DT_GetPenDepth(obj1->getObjectHandle(), obj2->getObjectHandle(), p1, p2)) - return DT_CONTINUE; - MT_Point3 local1(p1), local2(p2); - // Get collision data from SOLID - MT_Vector3 normal(local2 - local1); - - MT_Scalar dist = normal.dot(normal); - if (dist < MT_EPSILON || dist > obj2->m_shapeProps->m_radius*obj2->m_shapeProps->m_radius) - return DT_CONTINUE; - - - if ((obj1->m_static || !obj1->isDynamic()) && obj1->m_static < obj2->m_static) - { - obj2->m_static = obj1->m_static + 1; - } else if (obj2->m_static && obj2->m_static < obj1->m_static) - { - obj1->m_static = obj2->m_static + 1; - } - - contacts.insert(new Contact(obj1, obj2, normal, MT_Point3(local1 + 0.5*(local2 - local1)))); - - - return DT_CONTINUE; -} - -void SM_Object::relax(void) -{ - for (Contact::Set::iterator csit = contacts.begin() ; csit != contacts.end(); ++csit) - { - (*csit)->resolve(); - delete (*csit); - } - - contacts.clear(); - if (m_error.fuzzyZero()) - return; - //std::cout << "SM_Object::relax: { " << m_error << " }" << std::endl; - - getNextFrame().setPosition(getNextFrame().getPosition() + m_error); - m_error.setValue(0., 0., 0.); - //calcXform(); - //notifyClient(); -} - -SM_Object::SM_Object() : - m_dynamicParent(0), - m_client_object(0), - m_physicsClientObject(0), - m_shape(0), - m_materialProps(0), - m_materialPropsBackup(0), - m_shapeProps(0), - m_shapePropsBackup(0), - m_object(0), - m_margin(0.0), - m_scaling(1.0, 1.0, 1.0), - m_reaction_impulse(0.0, 0.0, 0.0), - m_reaction_force(0.0, 0.0, 0.0), - m_lin_mom(0.0, 0.0, 0.0), - m_ang_mom(0.0, 0.0, 0.0), - m_force(0.0, 0.0, 0.0), - m_torque(0.0, 0.0, 0.0), - 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_kinematic(false), - m_prev_kinematic(false), - m_is_rigid_body(false) -{ - // warning no initialization of variables done by moto. -} - -SM_Object:: -~SM_Object() { - if (m_fh_object) - delete m_fh_object; - - DT_DestroyObject(m_object); - m_object = NULL; -} - - bool -SM_Object:: -isDynamic( -) const { - return m_shapeProps != 0; -} - -/* nzc experimental. There seem to be two places where kinematics - * are evaluated: proceedKinematic (called from SM_Scene) and - * proceed() in this object. I'll just try and bunge these out for - * now. */ - void -SM_Object:: -suspend( -){ - if (!m_suspended) { - m_suspended = true; - suspendDynamics(); - } -} - - void -SM_Object:: -resume( -) { - if (m_suspended) { - m_suspended = false; - restoreDynamics(); - } -} - - void -SM_Object:: -suspendDynamics( -) { - if (m_shapeProps) { - m_shapePropsBackup = m_shapeProps; - m_shapeProps = 0; - } -} - - void -SM_Object:: -restoreDynamics( -) { - if (m_shapePropsBackup) { - m_shapeProps = m_shapePropsBackup; - m_shapePropsBackup = 0; - } -} - - bool -SM_Object:: -isGhost( -) const { - return m_materialProps == 0; -} - - void -SM_Object:: -suspendMaterial( -) { - if (m_materialProps) { - m_materialPropsBackup = m_materialProps; - m_materialProps = 0; - } -} - - void -SM_Object:: -restoreMaterial( -) { - if (m_materialPropsBackup) { - m_materialProps = m_materialPropsBackup; - m_materialPropsBackup = 0; - } -} - - SM_FhObject * -SM_Object:: -getFhObject( -) const { - return m_fh_object; -} - - void -SM_Object:: -registerCallback( - SM_Callback& callback -) { - m_callbackList.push_back(&callback); -} - -// Set the local coordinate system according to the current state - void -SM_Object:: -calcXform() { -#ifdef SM_DEBUG_XFORM - printf("SM_Object::calcXform m_pos = { %-0.5f, %-0.5f, %-0.5f }\n", - m_pos[0], m_pos[1], m_pos[2]); - printf(" m_orn = { %-0.5f, %-0.5f, %-0.5f, %-0.5f }\n", - m_orn[0], m_orn[1], m_orn[2], m_orn[3]); - printf(" m_scaling = { %-0.5f, %-0.5f, %-0.5f }\n", - m_scaling[0], m_scaling[1], m_scaling[2]); -#endif - m_xform.setOrigin(getNextFrame().getPosition()); - m_xform.setBasis(MT_Matrix3x3(getNextFrame().getOrientation(), m_scaling)); - m_xform.getValue(m_ogl_matrix); - - /* Blender has been known to crash here. - This usually means SM_Object *this has been deleted more than once. */ - DT_SetMatrixd(m_object, m_ogl_matrix); - if (m_fh_object) { - m_fh_object->setPosition(getNextFrame().getPosition()); - 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]); - printf( " | %-0.5f %-0.5f %-0.5f %-0.5f |\n", - m_ogl_matrix[1], m_ogl_matrix[5], m_ogl_matrix[ 9], m_ogl_matrix[13]); - printf( "m_ogl_matrix = | %-0.5f %-0.5f %-0.5f %-0.5f |\n", - m_ogl_matrix[2], m_ogl_matrix[6], m_ogl_matrix[10], m_ogl_matrix[14]); - printf( " | %-0.5f %-0.5f %-0.5f %-0.5f |\n\n", - m_ogl_matrix[3], m_ogl_matrix[7], m_ogl_matrix[11], m_ogl_matrix[15]); -#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:: -notifyClient() { - T_CallbackList::iterator i; - for (i = m_callbackList.begin(); i != m_callbackList.end(); ++i) { - (*i)->do_me(); - } -} - - -// Save the current state information for use in the velocity computation in the next frame. - void -SM_Object:: -proceedKinematic( - MT_Scalar timeStep -) { - /* nzc: need to bunge this for the logic bubbling as well? */ - if (!m_suspended) { - m_prev_kinematic = m_kinematic; - if (m_kinematic) { - m_prev_xform = m_xform; - m_timeStep = timeStep; - calcXform(); - m_kinematic = false; - } - } -} - - void -SM_Object:: -saveReactionForce( - MT_Scalar timeStep -) { - if (isDynamic()) { - m_reaction_force = m_reaction_impulse / timeStep; - m_reaction_impulse.setValue(0.0, 0.0, 0.0); - } -} - - void -SM_Object:: -clearForce( -) { - m_force.setValue(0.0, 0.0, 0.0); - m_torque.setValue(0.0, 0.0, 0.0); -} - - void -SM_Object:: -clearMomentum( -) { - m_lin_mom.setValue(0.0, 0.0, 0.0); - m_ang_mom.setValue(0.0, 0.0, 0.0); -} - - void -SM_Object:: -setMargin( - MT_Scalar margin -) { - m_margin = margin; - DT_SetMargin(m_object, margin); -} - - MT_Scalar -SM_Object:: -getMargin( -) const { - return m_margin; -} - -const - SM_MaterialProps * -SM_Object:: -getMaterialProps( -) const { - return m_materialProps; -} - -const - SM_ShapeProps * -SM_Object:: -getShapeProps( -) const { - return m_shapeProps; -} - - void -SM_Object:: -setPosition( - const MT_Point3& pos -){ - m_kinematic = true; - getNextFrame().setPosition(pos); - endFrame(); -} - - void -SM_Object:: -setOrientation( - const MT_Quaternion& orn -){ - MT_assert(!orn.fuzzyZero()); - m_kinematic = true; - getNextFrame().setOrientation(orn); - endFrame(); -} - - void -SM_Object:: -setScaling( - const MT_Vector3& scaling -){ - m_kinematic = true; - m_scaling = scaling; -} - -/** - * Functions to handle linear velocity - */ - - void -SM_Object:: -setExternalLinearVelocity( - const MT_Vector3& lin_vel -) { - m_combined_lin_vel=lin_vel; -} - - void -SM_Object:: -addExternalLinearVelocity( - const MT_Vector3& lin_vel -) { - m_combined_lin_vel+=lin_vel; -} - - void -SM_Object:: -addLinearVelocity( - const MT_Vector3& lin_vel -){ - setLinearVelocity(getNextFrame().getLinearVelocity() + lin_vel); -} - - void -SM_Object:: -setLinearVelocity( - const MT_Vector3& lin_vel -){ - getNextFrame().setLinearVelocity(lin_vel); - if (m_shapeProps) { - m_lin_mom = getNextFrame().getLinearVelocity() * m_shapeProps->m_mass; - } -} - -/** - * Functions to handle angular velocity - */ - - void -SM_Object:: -setExternalAngularVelocity( - const MT_Vector3& ang_vel -) { - m_combined_ang_vel = ang_vel; -} - - void -SM_Object:: -addExternalAngularVelocity( - const MT_Vector3& ang_vel -) { - m_combined_ang_vel += ang_vel; -} - - void -SM_Object:: -setAngularVelocity( - const MT_Vector3& ang_vel -) { - getNextFrame().setAngularVelocity(ang_vel); - if (m_shapeProps) { - m_ang_mom = getNextFrame().getAngularVelocity() * m_shapeProps->m_inertia; - } -} - - void -SM_Object:: -addAngularVelocity( - const MT_Vector3& ang_vel -) { - setAngularVelocity(getNextFrame().getAngularVelocity() + ang_vel); -} - - - void -SM_Object:: -clearCombinedVelocities( -) { - m_combined_lin_vel = MT_Vector3(0,0,0); - m_combined_ang_vel = MT_Vector3(0,0,0); -} - - void -SM_Object:: -resolveCombinedVelocities( - const MT_Vector3 & lin_vel, - const MT_Vector3 & ang_vel -) { - - // Different behaviours for dynamic and non-dynamic - // objects. For non-dynamic we just set the velocity to - // zero. For dynmic the physics velocity has to be - // taken into account. We must make an arbitrary decision - // on how to resolve the 2 velocities. Choices are - // Add the physics velocity to the linear velocity. Objects - // will just keep on moving in the direction they were - // last set in - untill external forces affect them. - // Set the combinbed linear and physics velocity to zero. - // Set the physics velocity in the direction of the set velocity - // zero. - if (isDynamic()) { - -#if 1 - getNextFrame().setLinearVelocity(getNextFrame().getLinearVelocity() + lin_vel); - getNextFrame().setAngularVelocity(getNextFrame().getAngularVelocity() + ang_vel); -#else - - //compute the component of the physics velocity in the - // direction of the set velocity and set it to zero. - MT_Vector3 lin_vel_norm = lin_vel.normalized(); - - setLinearVelocity(getNextFrame().getLinearVelocity() - (getNextFrame().getLinearVelocity().dot(lin_vel_norm) * lin_vel_norm)); -#endif - m_lin_mom = getNextFrame().getLinearVelocity() * m_shapeProps->m_mass; - m_ang_mom = getNextFrame().getAngularVelocity() * m_shapeProps->m_inertia; - clearCombinedVelocities(); - - } - -} - - - MT_Scalar -SM_Object:: -getInvMass( -) const { - return m_inv_mass; - // OPT: cache the result of this division rather than compute it each call -} - - const MT_Vector3& -SM_Object:: -getInvInertia( -) const { - 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( - const MT_Vector3& accel -) { - if (m_shapeProps) { - m_force += m_shapeProps->m_mass * accel; // F = m * a - } -} - - void -SM_Object:: -applyCenterForce( - const MT_Vector3& force -) { - m_force += force; -} - - void -SM_Object:: -applyTorque( - const MT_Vector3& torque -) { - m_torque += torque; -} - - void -SM_Object:: -applyImpulse( - const MT_Point3& attach, const MT_Vector3& impulse -) { - applyCenterImpulse(impulse); // Change in linear momentum - applyAngularImpulse((attach - getNextFrame().getPosition()).cross(impulse)); // Change in angular momentump -} - - void -SM_Object:: -applyCenterImpulse( - const MT_Vector3& impulse -) { - if (m_shapeProps) { - m_lin_mom += impulse; - m_reaction_impulse += impulse; - getNextFrame().setLinearVelocity(m_lin_mom * m_inv_mass); - - // The linear velocity is immedialtely updated since otherwise - // simultaneous collisions will get a double impulse. - } -} - - void -SM_Object:: -applyAngularImpulse( - const MT_Vector3& impulse -) { - if (m_shapeProps) { - m_ang_mom += impulse; - getNextFrame().setAngularVelocity( m_inv_inertia_tensor * m_ang_mom); - } -} - - MT_Point3 -SM_Object:: -getWorldCoord( - const MT_Point3& local -) const { - return m_xform(local); -} - - MT_Vector3 -SM_Object:: -getVelocity( - const MT_Point3& local -) const { - if (m_prev_kinematic && !isDynamic()) - { - // For displaced objects the velocity is faked using the previous state. - // Dynamic objects get their own velocity, not the faked velocity. - // (Dynamic objects shouldn't be displaced in the first place!!) - return (m_xform(local) - m_prev_xform(local)) / m_timeStep; - } - - // NB: m_xform.getBasis() * local == m_xform(local) - m_xform.getOrigin() - return actualLinVelocity() + actualAngVelocity().cross(local); -} - - -const - MT_Vector3& -SM_Object:: -getReactionForce( -) const { - return m_reaction_force; -} - - void -SM_Object:: -getMatrix( - double *m -) const { - std::copy(&m_ogl_matrix[0], &m_ogl_matrix[16], &m[0]); -} - -const - double * -SM_Object:: -getMatrix( -) const { - return m_ogl_matrix; -} - -// Still need this??? -const - MT_Transform& -SM_Object:: -getScaledTransform( -) const { - return m_xform; -} - - DT_ObjectHandle -SM_Object:: -getObjectHandle( -) const { - return m_object; -} - - DT_ShapeHandle -SM_Object:: -getShapeHandle( -) const { - return m_shape; -} - - SM_Object * -SM_Object:: -getDynamicParent( -) { - return m_dynamicParent; -} - - void -SM_Object:: -setRigidBody( - bool is_rigid_body -) { - m_is_rigid_body = is_rigid_body; -} - - bool -SM_Object:: -isRigidBody( -) const { - return m_is_rigid_body; -} - -const - MT_Vector3 -SM_Object:: -actualLinVelocity( -) const { - return m_combined_lin_vel + getNextFrame().getLinearVelocity(); -}; - -const - MT_Vector3 -SM_Object:: -actualAngVelocity( -) const { - return m_combined_ang_vel + getNextFrame().getAngularVelocity(); -} - - -SM_MotionState& -SM_Object:: -getCurrentFrame() -{ - return m_frames[1]; -} - -SM_MotionState& -SM_Object:: -getPreviousFrame() -{ - return m_frames[0]; -} - -SM_MotionState & -SM_Object:: -getNextFrame() -{ - return m_frames[2]; -} - -const SM_MotionState & -SM_Object:: -getCurrentFrame() const -{ - return m_frames[1]; -} - -const SM_MotionState & -SM_Object:: -getPreviousFrame() const -{ - return m_frames[0]; -} - -const SM_MotionState & -SM_Object:: -getNextFrame() const -{ - return m_frames[2]; -} - - -const MT_Point3& -SM_Object:: -getPosition() const -{ - return m_frames[1].getPosition(); -} - -const MT_Quaternion& -SM_Object:: -getOrientation() const -{ - return m_frames[1].getOrientation(); -} - -const MT_Vector3& -SM_Object:: -getLinearVelocity() const -{ - return m_frames[1].getLinearVelocity(); -} - -const MT_Vector3& -SM_Object:: -getAngularVelocity() const -{ - return m_frames[1].getAngularVelocity(); -} - -void -SM_Object:: -interpolate(MT_Scalar timeStep) -{ - if (!actualLinVelocity().fuzzyZero() || !actualAngVelocity().fuzzyZero()) - { - getCurrentFrame().setTime(timeStep); - getCurrentFrame().lerp(getPreviousFrame(), getNextFrame()); - notifyClient(); - } -} - -void -SM_Object:: -endFrame() -{ - getPreviousFrame() = getNextFrame(); - getCurrentFrame() = getNextFrame(); - m_static = 0; -} diff --git a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Scene.cpp b/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Scene.cpp deleted file mode 100644 index f0791bbf89f..00000000000 --- a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Scene.cpp +++ /dev/null @@ -1,378 +0,0 @@ -/** - * $Id$ - * Copyright (C) 2001 NaN Technologies B.V. - * The physics scene. - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -#ifdef HAVE_CONFIG_H -#include <config.h> -#endif - -#ifdef WIN32 -#pragma warning(disable : 4786) // shut off 255 char limit debug template warning -#endif - -#include "SM_Scene.h" -#include "SM_Object.h" -#include "SM_FhObject.h" - -#include "SM_Debug.h" - -#include <algorithm> - -SM_Scene::SM_Scene() : - m_scene(DT_CreateScene()), - m_respTable(DT_CreateRespTable()), - m_secondaryRespTable(DT_CreateRespTable()), - m_fixRespTable(DT_CreateRespTable()), - m_forceField(0.0, 0.0, 0.0), - m_frames(0) -{ - for (int i = 0 ; i < NUM_RESPONSE; i++) - { - m_ResponseClass[i] = DT_GenResponseClass(m_respTable); - m_secondaryResponseClass[i] = DT_GenResponseClass(m_secondaryRespTable); - m_fixResponseClass[i] = DT_GenResponseClass(m_fixRespTable); - } - - /* Sensor */ - DT_AddPairResponse(m_respTable, m_ResponseClass[SENSOR_RESPONSE], m_ResponseClass[SENSOR_RESPONSE], 0, DT_NO_RESPONSE, this); - DT_AddPairResponse(m_respTable, m_ResponseClass[SENSOR_RESPONSE], m_ResponseClass[STATIC_RESPONSE], SM_Scene::boing, DT_SIMPLE_RESPONSE, this); - DT_AddPairResponse(m_respTable, m_ResponseClass[SENSOR_RESPONSE], m_ResponseClass[OBJECT_RESPONSE], SM_Scene::boing, DT_SIMPLE_RESPONSE, this); - DT_AddPairResponse(m_respTable, m_ResponseClass[SENSOR_RESPONSE], m_ResponseClass[FH_RESPONSE], 0, DT_NO_RESPONSE, this); - - /* Static */ - DT_AddPairResponse(m_respTable, m_ResponseClass[STATIC_RESPONSE], m_ResponseClass[SENSOR_RESPONSE], SM_Scene::boing, DT_SIMPLE_RESPONSE, this); - DT_AddPairResponse(m_respTable, m_ResponseClass[STATIC_RESPONSE], m_ResponseClass[STATIC_RESPONSE], 0, DT_NO_RESPONSE, this); - DT_AddPairResponse(m_respTable, m_ResponseClass[STATIC_RESPONSE], m_ResponseClass[OBJECT_RESPONSE], SM_Object::boing, DT_BROAD_RESPONSE, this); - DT_AddPairResponse(m_respTable, m_ResponseClass[STATIC_RESPONSE], m_ResponseClass[FH_RESPONSE], SM_FhObject::ray_hit, DT_SIMPLE_RESPONSE, this); - - /* Object */ - DT_AddPairResponse(m_respTable, m_ResponseClass[OBJECT_RESPONSE], m_ResponseClass[SENSOR_RESPONSE], SM_Scene::boing, DT_SIMPLE_RESPONSE, this); - DT_AddPairResponse(m_respTable, m_ResponseClass[OBJECT_RESPONSE], m_ResponseClass[STATIC_RESPONSE], SM_Object::boing, DT_BROAD_RESPONSE, this); - DT_AddPairResponse(m_respTable, m_ResponseClass[OBJECT_RESPONSE], m_ResponseClass[OBJECT_RESPONSE], SM_Object::boing, DT_BROAD_RESPONSE, this); - DT_AddPairResponse(m_respTable, m_ResponseClass[OBJECT_RESPONSE], m_ResponseClass[FH_RESPONSE], SM_FhObject::ray_hit, DT_SIMPLE_RESPONSE, this); - - /* Fh Object */ - DT_AddPairResponse(m_respTable, m_ResponseClass[FH_RESPONSE], m_ResponseClass[SENSOR_RESPONSE], 0, DT_NO_RESPONSE, this); - DT_AddPairResponse(m_respTable, m_ResponseClass[FH_RESPONSE], m_ResponseClass[STATIC_RESPONSE], SM_FhObject::ray_hit, DT_SIMPLE_RESPONSE, this); - DT_AddPairResponse(m_respTable, m_ResponseClass[FH_RESPONSE], m_ResponseClass[OBJECT_RESPONSE], SM_FhObject::ray_hit, DT_SIMPLE_RESPONSE, this); - DT_AddPairResponse(m_respTable, m_ResponseClass[FH_RESPONSE], m_ResponseClass[FH_RESPONSE], 0, DT_NO_RESPONSE, this); - - /* Object (Fix Pass) */ - DT_AddPairResponse(m_fixRespTable, m_ResponseClass[OBJECT_RESPONSE], m_ResponseClass[SENSOR_RESPONSE], 0, DT_NO_RESPONSE, this); - DT_AddPairResponse(m_fixRespTable, m_ResponseClass[OBJECT_RESPONSE], m_ResponseClass[STATIC_RESPONSE], SM_Object::fix, DT_BROAD_RESPONSE, this); - DT_AddPairResponse(m_fixRespTable, m_ResponseClass[OBJECT_RESPONSE], m_ResponseClass[OBJECT_RESPONSE], SM_Object::fix, DT_BROAD_RESPONSE, this); - DT_AddPairResponse(m_fixRespTable, m_ResponseClass[OBJECT_RESPONSE], m_ResponseClass[FH_RESPONSE], 0, DT_NO_RESPONSE, this); -} - -void SM_Scene::addTouchCallback(int response_class, DT_ResponseCallback callback, void *user) -{ - DT_AddClassResponse(m_secondaryRespTable, m_secondaryResponseClass[response_class], callback, DT_BROAD_RESPONSE, user); -} - -void SM_Scene::addSensor(SM_Object& object) -{ - T_ObjectList::iterator i = - std::find(m_objectList.begin(), m_objectList.end(), &object); - if (i == m_objectList.end()) - { - object.calcXform(); - m_objectList.push_back(&object); - DT_AddObject(m_scene, object.getObjectHandle()); - DT_SetResponseClass(m_respTable, object.getObjectHandle(), m_ResponseClass[SENSOR_RESPONSE]); - DT_SetResponseClass(m_secondaryRespTable, object.getObjectHandle(), m_secondaryResponseClass [SENSOR_RESPONSE]); - DT_SetResponseClass(m_fixRespTable, object.getObjectHandle(), m_fixResponseClass[SENSOR_RESPONSE]); - } -} - -void SM_Scene::add(SM_Object& object) { - object.calcXform(); - m_objectList.push_back(&object); - DT_AddObject(m_scene, object.getObjectHandle()); - if (object.isDynamic()) { - DT_SetResponseClass(m_respTable, object.getObjectHandle(), m_ResponseClass[OBJECT_RESPONSE]); - DT_SetResponseClass(m_secondaryRespTable, object.getObjectHandle(), m_secondaryResponseClass[OBJECT_RESPONSE]); - DT_SetResponseClass(m_fixRespTable, object.getObjectHandle(), m_fixResponseClass[OBJECT_RESPONSE]); - } else { - DT_SetResponseClass(m_respTable, object.getObjectHandle(), m_ResponseClass[STATIC_RESPONSE]); - DT_SetResponseClass(m_secondaryRespTable, object.getObjectHandle(), m_secondaryResponseClass[STATIC_RESPONSE]); - DT_SetResponseClass(m_fixRespTable, object.getObjectHandle(), m_fixResponseClass[STATIC_RESPONSE]); - } - - SM_FhObject *fh_object = object.getFhObject(); - - if (fh_object) { - DT_AddObject(m_scene, fh_object->getObjectHandle()); - DT_SetResponseClass(m_respTable, fh_object->getObjectHandle(), m_ResponseClass[FH_RESPONSE]); - DT_SetResponseClass(m_secondaryRespTable, fh_object->getObjectHandle(), m_secondaryResponseClass[FH_RESPONSE]); - DT_SetResponseClass(m_fixRespTable, fh_object->getObjectHandle(), m_fixResponseClass[FH_RESPONSE]); - } -} - -void SM_Scene::requestCollisionCallback(SM_Object &object) -{ - DT_SetResponseClass(m_respTable, object.getObjectHandle(), m_ResponseClass[OBJECT_RESPONSE]); - DT_SetResponseClass(m_secondaryRespTable, object.getObjectHandle(), m_secondaryResponseClass[OBJECT_RESPONSE]); -// DT_SetResponseClass(m_fixRespTable, object.getObjectHandle(), m_fixResponseClass[OBJECT_RESPONSE]); -} - -void SM_Scene::remove(SM_Object& object) { - //std::cout << "SM_Scene::remove this =" << this << "object = " << &object << std::endl; - T_ObjectList::iterator i = - std::find(m_objectList.begin(), m_objectList.end(), &object); - if (!(i == m_objectList.end())) - { - std::swap(*i, m_objectList.back()); - m_objectList.pop_back(); - DT_RemoveObject(m_scene, object.getObjectHandle()); - - SM_FhObject *fh_object = object.getFhObject(); - - if (fh_object) { - DT_RemoveObject(m_scene, fh_object->getObjectHandle()); - } - } - else { - // tried to remove an object that is not in the scene - //assert(false); - } -} - -void SM_Scene::beginFrame() -{ - T_ObjectList::iterator i; - // Apply a forcefield (such as gravity) - for (i = m_objectList.begin(); i != m_objectList.end(); ++i) - (*i)->applyForceField(m_forceField); - -} - -void SM_Scene::endFrame() -{ - T_ObjectList::iterator i; - for (i = m_objectList.begin(); i != m_objectList.end(); ++i) - (*i)->clearForce(); -} - -bool SM_Scene::proceed(MT_Scalar curtime, MT_Scalar ticrate) -{ - if (!m_frames) - { - if (ticrate > 0.) - m_frames = (unsigned int)(curtime*ticrate) + 1.0; - else - m_frames = (unsigned int)(curtime*65536.0); - } - - // Divide the timeStep into a number of subsamples of size roughly - // equal to subS (might be a little smaller). - MT_Scalar subStep; - int num_samples; - int frames = m_frames; - - // Compute the number of steps to do this update. - if (ticrate > 0.0) - { - // Fixed time step - subStep = 1.0/ticrate; - num_samples = (unsigned int)(curtime*ticrate + 1.0) - m_frames; - - if (num_samples > 4) - { - std::cout << "Dropping physics frames! frames:" << num_samples << " substep: " << subStep << std::endl; - MT_Scalar tr = ticrate; - do - { - frames = frames / 2; - tr = tr / 2.0; - num_samples = (unsigned int)(curtime*tr + 1.0) - frames; - subStep *= 2.0; - } while (num_samples > 8); - std::cout << " frames:" << num_samples << " substep: " << subStep << std::endl; - } - } - else - { - // Variable time step. (old update) - // Integrate at least 100 Hz - MT_Scalar timeStep = curtime - m_frames/65536.0; - subStep = timeStep > 0.01 ? 0.01 : timeStep; - num_samples = int(timeStep * 0.01); - if (num_samples < 1) - num_samples = 1; - } - - // Do a physics timestep. - T_ObjectList::iterator i; - if (num_samples > 0) - { - // Do the integration steps per object. - for (int step = 0; step != num_samples; ++step) - { - MT_Scalar time; - if (ticrate > 0.) - time = MT_Scalar(frames + step + 1) * subStep; - else - time = MT_Scalar(m_frames)/65536.0 + MT_Scalar(step + 1)*subStep; - - for (i = m_objectList.begin(); i != m_objectList.end(); ++i) { - (*i)->endFrame(); - // Apply a forcefield (such as gravity) - (*i)->integrateForces(subStep); - // And second we update the object positions by performing - // an integration step for each object - (*i)->integrateMomentum(subStep); - } - - // So now first we let the physics scene respond to - // new forces, velocities set externally. - // The collsion and friction impulses are computed here. - // Collision phase - DT_Test(m_scene, m_respTable); - - // Contact phase - DT_Test(m_scene, m_fixRespTable); - - // Finish this timestep by saving al state information for the next - // timestep and clearing the accumulated forces. - for (i = m_objectList.begin(); i != m_objectList.end(); ++i) { - (*i)->relax(); - (*i)->proceedKinematic(subStep); - (*i)->saveReactionForce(subStep); - (*i)->getNextFrame().setTime(time); - //(*i)->clearForce(); - } - } - } - - if (ticrate > 0) - { - // Interpolate between time steps. - for (i = m_objectList.begin(); i != m_objectList.end(); ++i) - (*i)->interpolate(curtime); - - //only update the m_frames after an actual physics timestep - if (num_samples) - { - m_frames = (unsigned int)(curtime*ticrate) + 1.0; - } - } - else - { - m_frames = (unsigned int)(curtime*65536.0); - } - - return num_samples != 0; -} - -void SM_Scene::notifyCollision(SM_Object *obj1, SM_Object *obj2) -{ - // For each pair of object that collided, call the corresponding callback. - if (m_secondaryRespTable) - DT_CallResponse(m_secondaryRespTable, obj1->getObjectHandle(), obj2->getObjectHandle(), 0); -} - - -SM_Object *SM_Scene::rayTest(void *ignore_client, - const MT_Point3& from, const MT_Point3& to, - MT_Point3& result, MT_Vector3& normal) const { -#ifdef SM_DEBUG_RAYCAST - std::cout << "ray: { " << from << " } - { " << to << " }" << std::endl; -#endif - - DT_Vector3 n, dfrom, dto; - DT_Scalar param; - from.getValue(dfrom); - to.getValue(dto); - SM_Object *hit_object = (SM_Object *) - DT_RayCast(m_scene, ignore_client, dfrom, dto, 1., ¶m, n); - - if (hit_object) { - //result = hit_object->getWorldCoord(from + (to - from)*param); - result = from + (to - from) * param; - normal.setValue(n); -#ifdef SM_DEBUG_RAYCAST - std::cout << "ray: { " << from << " } -> { " << to << " }: { " << result - << " } (" << param << "), normal = { " << normal << " }" << std::endl; -#endif - } - - return hit_object; -} - -void SM_Scene::clearObjectCombinedVelocities() { - - T_ObjectList::iterator i; - - for (i = m_objectList.begin(); i != m_objectList.end(); ++i) { - - (*i)->clearCombinedVelocities(); - - } - -} - - -void SM_Scene::setSecondaryRespTable(DT_RespTableHandle secondaryRespTable) { - m_secondaryRespTable = secondaryRespTable; -} - - -DT_Bool SM_Scene::boing( - void *client_data, - void *object1, - void *object2, - const DT_CollData * -){ - SM_Scene *scene = (SM_Scene *)client_data; - SM_Object *obj1 = (SM_Object *)object1; - SM_Object *obj2 = (SM_Object *)object2; - - scene->notifyCollision(obj1, obj2); // Record this collision for client callbacks - -#ifdef SM_DEBUG_BOING - printf("SM_Scene::boing\n"); -#endif - - return DT_CONTINUE; -} - -SM_Scene::~SM_Scene() -{ - //std::cout << "SM_Scene::~ SM_Scene(): destroy " << this << std::endl; -// if (m_objectList.begin() != m_objectList.end()) -// std::cout << "SM_Scene::~SM_Scene: There are still objects in the Sumo scene!" << std::endl; - for (T_ObjectList::iterator it = m_objectList.begin() ; it != m_objectList.end() ; it++) - delete *it; - - DT_DestroyRespTable(m_respTable); - DT_DestroyRespTable(m_secondaryRespTable); - DT_DestroyRespTable(m_fixRespTable); - DT_DestroyScene(m_scene); -} |