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Diffstat (limited to 'source/gameengine/Physics/Sumo/SumoPhysicsController.cpp')
| -rw-r--r-- | source/gameengine/Physics/Sumo/SumoPhysicsController.cpp | 568 |
1 files changed, 0 insertions, 568 deletions
diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp b/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp deleted file mode 100644 index 5e77567a95a..00000000000 --- a/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp +++ /dev/null @@ -1,568 +0,0 @@ -/** - * @file $Id$ - * - * ***** 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 "SumoPhysicsController.h" -#include "PHY_IMotionState.h" -#include "SM_Object.h" -#include "MT_Quaternion.h" - - -SumoPhysicsController::SumoPhysicsController( - class SM_Scene* sumoScene, - class SM_Object* sumoObj, - class PHY_IMotionState* motionstate, - - bool dyna) - : - m_sumoObj(sumoObj) , - m_sumoScene(sumoScene), - m_bFirstTime(true), - m_bDyna(dyna), - m_MotionState(motionstate) -{ - if (m_sumoObj) - { - - PHY__Vector3 pos1; - getPosition(pos1); - MT_Point3 pos(pos1); - - //temp debugging check - //assert(pos.length() < 100000.f); - - //need this to do the upcast after the solid/sumo collision callback - m_sumoObj->setPhysicsClientObject(this); - //if it is a dyna, register for a callback - m_sumoObj->registerCallback(*this); - } -}; - - - -SumoPhysicsController::~SumoPhysicsController() -{ - if (m_sumoObj) - { - m_sumoScene->remove(*m_sumoObj); - - delete m_sumoObj; - m_sumoObj = NULL; - } -} - -float SumoPhysicsController::getMass() -{ - if (m_sumoObj) - { - const SM_ShapeProps *shapeprops = m_sumoObj->getShapeProps(); - if(shapeprops!=NULL) return shapeprops->m_mass; - } - return 0.f; -} - -bool SumoPhysicsController::SynchronizeMotionStates(float) -{ - if (m_bFirstTime) - { - setSumoTransform(!m_bFirstTime); - m_bFirstTime = false; - } - return false; -} - - - - -void SumoPhysicsController::GetWorldOrientation(MT_Matrix3x3& mat) -{ - float orn[4]; - m_MotionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]); - MT_Quaternion quat(orn); - mat.setRotation(quat); - -} - -void SumoPhysicsController::getPosition(PHY__Vector3& pos) const -{ - assert(m_sumoObj); - - pos[0] = m_sumoObj->getPosition()[0]; - pos[1] = m_sumoObj->getPosition()[0]; - pos[2] = m_sumoObj->getPosition()[0]; - - //m_MotionState->getWorldPosition(pos[0],pos[1],pos[2]); -} - -void SumoPhysicsController::GetWorldPosition(MT_Point3& pos) -{ -// assert(m_sumoObj); - -// pos[0] = m_sumoObj->getPosition()[0]; -// pos[1] = m_sumoObj->getPosition()[0]; -// pos[2] = m_sumoObj->getPosition()[0]; - - float worldpos[3]; - m_MotionState->getWorldPosition(worldpos[0],worldpos[1],worldpos[2]); - pos[0]=worldpos[0]; - pos[1]=worldpos[1]; - pos[2]=worldpos[2]; -} - -void SumoPhysicsController::GetWorldScaling(MT_Vector3& scale) -{ - float worldscale[3]; - m_MotionState->getWorldScaling(worldscale[0],worldscale[1],worldscale[2]); - scale[0]=worldscale[0]; - scale[1]=worldscale[1]; - scale[2]=worldscale[2]; -} - - - // kinematic methods -void SumoPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local) -{ - if (m_sumoObj) - { - MT_Matrix3x3 mat; - GetWorldOrientation(mat); - MT_Vector3 dloc(dlocX,dlocY,dlocZ); - - MT_Point3 newpos = m_sumoObj->getPosition(); - - newpos += (local ? mat * dloc : dloc); - m_sumoObj->setPosition(newpos); - } - -} -void SumoPhysicsController::RelativeRotate(const float drot[12],bool local) -{ - if (m_sumoObj ) - { - MT_Matrix3x3 drotmat(drot); - MT_Matrix3x3 currentOrn; - GetWorldOrientation(currentOrn); - - m_sumoObj->setOrientation(m_sumoObj->getOrientation()*(local ? - drotmat : (currentOrn.inverse() * drotmat * currentOrn)).getRotation()); - } - -} -void SumoPhysicsController::setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal) -{ - m_sumoObj->setOrientation(MT_Quaternion(quatImag0,quatImag1,quatImag2,quatReal)); -} - -void SumoPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal) -{ - const MT_Quaternion& q = m_sumoObj->getOrientation(); - quatImag0 = q[0]; - quatImag1 = q[1]; - quatImag2 = q[2]; - quatReal = q[3]; -} - -void SumoPhysicsController::setPosition(float posX,float posY,float posZ) -{ - m_sumoObj->setPosition(MT_Point3(posX,posY,posZ)); -} - -void SumoPhysicsController::setScaling(float scaleX,float scaleY,float scaleZ) -{ - if (!m_bDyna) - m_sumoObj->setScaling(MT_Vector3(scaleX,scaleY,scaleZ)); -} - - // physics methods -void SumoPhysicsController::ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local) -{ - if (m_sumoObj) - { - MT_Vector3 torque(torqueX,torqueY,torqueZ); - - MT_Matrix3x3 orn; - GetWorldOrientation(orn); - m_sumoObj->applyTorque(local ? - orn * torque : - torque); - } -} - -void SumoPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bool local) -{ - if (m_sumoObj) - { - MT_Vector3 force(forceX,forceY,forceZ); - - MT_Matrix3x3 orn; - GetWorldOrientation(orn); - - m_sumoObj->applyCenterForce(local ? - orn * force : - force); - } -} - -void SumoPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local) -{ - if (m_sumoObj) - { - MT_Vector3 ang_vel(ang_velX,ang_velY,ang_velZ); - - MT_Matrix3x3 orn; - GetWorldOrientation(orn); - - m_sumoObj->setExternalAngularVelocity(local ? - orn * ang_vel : - ang_vel); - } -} - -void SumoPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local) -{ - if (m_sumoObj ) - { - MT_Matrix3x3 orn; - GetWorldOrientation(orn); - - MT_Vector3 lin_vel(lin_velX,lin_velY,lin_velZ); - m_sumoObj->setExternalLinearVelocity(local ? - orn * lin_vel : - lin_vel); - } -} - -void SumoPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) -{ - if (m_sumoObj) - m_sumoObj->resolveCombinedVelocities(MT_Vector3(linvelX,linvelY,linvelZ),MT_Vector3(angVelX,angVelY,angVelZ)); -} - - - - -void SumoPhysicsController::applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ) -{ - if (m_sumoObj) - { - MT_Point3 attach(attachX,attachY,attachZ); - MT_Vector3 impulse(impulseX,impulseY,impulseZ); - m_sumoObj->applyImpulse(attach,impulse); - } - -} - -void SumoPhysicsController::SuspendDynamics() -{ - m_suspendDynamics=true; - - if (m_sumoObj) - { - m_sumoObj->suspendDynamics(); - m_sumoObj->setLinearVelocity(MT_Vector3(0,0,0)); - m_sumoObj->setAngularVelocity(MT_Vector3(0,0,0)); - m_sumoObj->calcXform(); - } -} - -void SumoPhysicsController::RestoreDynamics() -{ - m_suspendDynamics=false; - - if (m_sumoObj) - { - m_sumoObj->restoreDynamics(); - } -} - - -/** - reading out information from physics -*/ -void SumoPhysicsController::GetLinearVelocity(float& linvX,float& linvY,float& linvZ) -{ - if (m_sumoObj) - { - // get velocity from the physics object (m_sumoObj) - const MT_Vector3& vel = m_sumoObj->getLinearVelocity(); - linvX = vel[0]; - linvY = vel[1]; - linvZ = vel[2]; - } - else - { - linvX = 0.f; - linvY = 0.f; - linvZ = 0.f; - } -} - -/** - GetVelocity parameters are in geometric coordinates (Origin is not center of mass!). -*/ -void SumoPhysicsController::GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ) -{ - if (m_sumoObj) - { - MT_Point3 pos(posX,posY,posZ); - // get velocity from the physics object (m_sumoObj) - const MT_Vector3& vel = m_sumoObj->getVelocity(pos); - linvX = vel[0]; - linvY = vel[1]; - linvZ = vel[2]; - } - else - { - linvX = 0.f; - linvY = 0.f; - linvZ = 0.f; - - } -} - -void SumoPhysicsController::getReactionForce(float& forceX,float& forceY,float& forceZ) -{ - const MT_Vector3& force = m_sumoObj->getReactionForce(); - forceX = force[0]; - forceY = force[1]; - forceZ = force[2]; -} - -void SumoPhysicsController::setRigidBody(bool rigid) -{ - m_sumoObj->setRigidBody(rigid); -} - -void SumoPhysicsController::PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl) -{ - m_MotionState = motionstate; - - SM_Object* dynaparent=0; - SumoPhysicsController* sumoparentctrl = (SumoPhysicsController* )parentctrl; - - if (sumoparentctrl) - { - dynaparent = sumoparentctrl->GetSumoObject(); - } - - SM_Object* orgsumoobject = m_sumoObj; - - - m_sumoObj = new SM_Object( - orgsumoobject->getShapeHandle(), - orgsumoobject->getMaterialProps(), - orgsumoobject->getShapeProps(), - dynaparent); - - m_sumoObj->setRigidBody(orgsumoobject->isRigidBody()); - - m_sumoObj->setMargin(orgsumoobject->getMargin()); - m_sumoObj->setPosition(orgsumoobject->getPosition()); - m_sumoObj->setOrientation(orgsumoobject->getOrientation()); - //if it is a dyna, register for a callback - m_sumoObj->registerCallback(*this); - - m_sumoScene->add(* (m_sumoObj)); -} - -PHY_IMotionState* SumoPhysicsController::GetMotionState() -{ - return m_MotionState; -} - -void SumoPhysicsController::SetSimulatedTime(float) -{ -} - - -void SumoPhysicsController::WriteMotionStateToDynamics(bool) -{ - float tmp[4]; - m_MotionState->getWorldPosition(tmp[0], tmp[1], tmp[2]); - MT_Point3 pos(tmp); - m_sumoObj->setPosition(pos); - m_MotionState->getWorldOrientation(tmp[0], tmp[1], tmp[2], tmp[3]); - MT_Quaternion quat(tmp); - m_sumoObj->setOrientation(quat); -} -// this is the actual callback from sumo, and the position/orientation -//is written to the scenegraph, using the motionstate abstraction - -void SumoPhysicsController::do_me() -{ - MT_assert(m_sumoObj); - const MT_Point3& pos = m_sumoObj->getPosition(); - const MT_Quaternion& orn = m_sumoObj->getOrientation(); - - MT_assert(m_MotionState); - m_MotionState->setWorldPosition(pos[0],pos[1],pos[2]); - m_MotionState->setWorldOrientation(orn[0],orn[1],orn[2],orn[3]); -} - - -void SumoPhysicsController::setSumoTransform(bool nondynaonly) -{ - if (!nondynaonly || !m_bDyna) - { - if (m_sumoObj) - { - MT_Point3 pos; - GetWorldPosition(pos); - - m_sumoObj->setPosition(pos); - if (m_bDyna) - { - m_sumoObj->setScaling(MT_Vector3(1,1,1)); - } else - { - MT_Vector3 scale; - GetWorldScaling(scale); - m_sumoObj->setScaling(scale); - } - MT_Matrix3x3 orn; - GetWorldOrientation(orn); - m_sumoObj->setOrientation(orn.getRotation()); - m_sumoObj->calcXform(); - } - } -} - - - // clientinfo for raycasts for example -void* SumoPhysicsController::getNewClientInfo() -{ - if (m_sumoObj) - return m_sumoObj->getClientObject(); - return 0; - -} -void SumoPhysicsController::setNewClientInfo(void* clientinfo) -{ - if (m_sumoObj) - { - SM_ClientObject* clOb = static_cast<SM_ClientObject*> (clientinfo); - m_sumoObj->setClientObject(clOb); - } - -} - -void SumoPhysicsController::calcXform() -{ - if (m_sumoObj) - m_sumoObj->calcXform(); -} - -void SumoPhysicsController::SetMargin(float margin) -{ - if (m_sumoObj) - m_sumoObj->setMargin(margin); -} - -float SumoPhysicsController::GetMargin() const -{ - if (m_sumoObj) - m_sumoObj->getMargin(); - return 0.f; -} - -float SumoPhysicsController::GetRadius() const -{ - if (m_sumoObj && m_sumoObj->getShapeProps()) - { - return m_sumoObj->getShapeProps()->m_radius; - } - return 0.f; - -} - -/////////////////////////////////////////////////////////// -///A small utility class, SumoDefaultMotionState -/// -/////////////////////////////////////////////////////////// - -SumoDefaultMotionState::SumoDefaultMotionState() -{ - m_worldTransform.setIdentity(); - m_localScaling.setValue(1.f,1.f,1.f); -} - - -SumoDefaultMotionState::~SumoDefaultMotionState() -{ - -} - -void SumoDefaultMotionState::getWorldPosition(float& posX,float& posY,float& posZ) -{ - posX = m_worldTransform.getOrigin().x(); - posY = m_worldTransform.getOrigin().y(); - posZ = m_worldTransform.getOrigin().z(); -} - -void SumoDefaultMotionState::getWorldScaling(float& scaleX,float& scaleY,float& scaleZ) -{ - scaleX = m_localScaling.x(); - scaleY = m_localScaling.y(); - scaleZ = m_localScaling.z(); -} - -void SumoDefaultMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal) -{ - MT_Quaternion quat = m_worldTransform.getRotation(); - quatIma0 = quat.x(); - quatIma1 = quat.y(); - quatIma2 = quat.z(); - quatReal = quat.w(); -} - -void SumoDefaultMotionState::getWorldOrientation(float* ori) -{ - m_worldTransform.getBasis().getValue(ori); -} - -void SumoDefaultMotionState::setWorldOrientation(const float* ori) -{ - m_worldTransform.getBasis().setValue(ori); -} -void SumoDefaultMotionState::setWorldPosition(float posX,float posY,float posZ) -{ - MT_Point3 pos(posX,posY,posZ); - m_worldTransform.setOrigin( pos ); -} - -void SumoDefaultMotionState::setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal) -{ - MT_Quaternion orn(quatIma0,quatIma1,quatIma2,quatReal); - m_worldTransform.setRotation( orn ); -} - -void SumoDefaultMotionState::calculateWorldTransformations() -{ - -} - |