diff options
Diffstat (limited to 'source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp')
| -rw-r--r-- | source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp | 167 |
1 files changed, 150 insertions, 17 deletions
diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp index f035bfb4cf2..2b29b2602a8 100644 --- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp @@ -33,15 +33,20 @@ #include "PHY_IMotionState.h" #include "SumoPhysicsController.h" #include "SM_Scene.h" +#include "SumoPHYCallbackBridge.h" +#include <SOLID/SOLID.h> #ifdef HAVE_CONFIG_H #include <config.h> #endif -MT_Scalar SumoPhysicsEnvironment::PhysicsTicRate = 60.0; SumoPhysicsEnvironment::SumoPhysicsEnvironment() { + m_fixedTimeStep = 1.f/60.f; + m_useFixedTimeStep = true; + m_currentTime = 0.f; + m_sumoScene = new SM_Scene(); } @@ -52,15 +57,7 @@ SumoPhysicsEnvironment::~SumoPhysicsEnvironment() delete m_sumoScene; } -void SumoPhysicsEnvironment::setTicRate(MT_Scalar ticrate) -{ - PhysicsTicRate = ticrate; -} -MT_Scalar SumoPhysicsEnvironment::getTicRate() -{ - return PhysicsTicRate; -} void SumoPhysicsEnvironment::beginFrame() { @@ -72,9 +69,42 @@ void SumoPhysicsEnvironment::endFrame() m_sumoScene->endFrame(); } -bool SumoPhysicsEnvironment::proceed(double curtime) +void SumoPhysicsEnvironment::setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep) { - return m_sumoScene->proceed(curtime, PhysicsTicRate); + m_useFixedTimeStep = useFixedTimeStep; + if (m_useFixedTimeStep) + { + m_fixedTimeStep = fixedTimeStep; + } else + { + m_fixedTimeStep = 0.f; + } + //reset current time ? + m_currentTime = 0.f; +} +float SumoPhysicsEnvironment::getFixedTimeStep() +{ + return m_fixedTimeStep; +} + + +bool SumoPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep) +{ + + bool result = false; + if (m_useFixedTimeStep) + { + m_currentTime += timeStep; + float ticrate = 1.f/m_fixedTimeStep; + + result = m_sumoScene->proceed(curTime, ticrate); + } else + { + m_currentTime += timeStep; + float ticrate = 1.f/timeStep; + result = m_sumoScene->proceed(m_currentTime, timeStep); + } + return result; } void SumoPhysicsEnvironment::setGravity(float x,float y,float z) @@ -100,17 +130,28 @@ void SumoPhysicsEnvironment::removeConstraint(int constraintid) } } -PHY_IPhysicsController* SumoPhysicsEnvironment::rayTest(void* ignoreClient, +PHY_IPhysicsController* SumoPhysicsEnvironment::rayTest(PHY_IPhysicsController* ignoreClientCtrl, float fromX,float fromY,float fromZ, float toX,float toY,float toZ, float& hitX,float& hitY,float& hitZ, float& normalX,float& normalY,float& normalZ) { + SumoPhysicsController* ignoreCtr = static_cast<SumoPhysicsController*> (ignoreClientCtrl); + //collision detection / raytesting MT_Point3 hit, normal; - /* FIXME: Return type is not a PHY_IPhysicsController */ - PHY_IPhysicsController *ret = (PHY_IPhysicsController *) m_sumoScene->rayTest(ignoreClient,MT_Point3(fromX, fromY, fromZ),MT_Point3(toX, toY, toZ), hit, normal); - + PHY_IPhysicsController *ret = 0; + + SM_Object* sm_ignore = 0; + if (ignoreCtr) + sm_ignore = ignoreCtr->GetSumoObject(); + + + SM_Object* smOb = m_sumoScene->rayTest(sm_ignore,MT_Point3(fromX, fromY, fromZ),MT_Point3(toX, toY, toZ), hit, normal); + if (smOb) + { + ret = (PHY_IPhysicsController *) smOb->getPhysicsClientObject(); + } hitX = hit[0]; hitY = hit[1]; hitZ = hit[2]; @@ -119,9 +160,101 @@ PHY_IPhysicsController* SumoPhysicsEnvironment::rayTest(void* ignoreClient, normalY = normal[1]; normalZ = normal[2]; - assert(false); - return ret; } +//gamelogic callbacks +void SumoPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl) +{ + SumoPhysicsController* smctrl = dynamic_cast<SumoPhysicsController*>(ctrl); + SM_Object* smObject = smctrl->GetSumoObject(); + assert(smObject); + if (smObject) + { + m_sumoScene->addSensor(*smObject); + } +} +void SumoPhysicsEnvironment::removeSensor(PHY_IPhysicsController* ctrl) +{ + SumoPhysicsController* smctrl = dynamic_cast<SumoPhysicsController*>(ctrl); + SM_Object* smObject = smctrl->GetSumoObject(); + assert(smObject); + if (smObject) + { + m_sumoScene->remove(*smObject); + } +} + + +void SumoPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user) +{ + + int sumoRespClass = 0; + + //map PHY_ convention into SM_ convention + switch (response_class) + { + case PHY_FH_RESPONSE: + sumoRespClass = FH_RESPONSE; + break; + case PHY_SENSOR_RESPONSE: + sumoRespClass = SENSOR_RESPONSE; + break; + case PHY_CAMERA_RESPONSE: + sumoRespClass =CAMERA_RESPONSE; + break; + case PHY_OBJECT_RESPONSE: + sumoRespClass = OBJECT_RESPONSE; + break; + case PHY_STATIC_RESPONSE: + sumoRespClass = PHY_STATIC_RESPONSE; + break; + default: + assert(0); + return; + } + + SumoPHYCallbackBridge* bridge = new SumoPHYCallbackBridge(user,callback); + + m_sumoScene->addTouchCallback(sumoRespClass,SumoPHYCallbackBridge::StaticSolidToPHYCallback,bridge); +} +void SumoPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctrl) +{ + SumoPhysicsController* smctrl = dynamic_cast<SumoPhysicsController*>(ctrl); + MT_assert(smctrl); + SM_Object* smObject = smctrl->GetSumoObject(); + MT_assert(smObject); + if (smObject) + { + //assert(smObject->getPhysicsClientObject() == ctrl); + smObject->setPhysicsClientObject(ctrl); + + m_sumoScene->requestCollisionCallback(*smObject); + } +} +PHY_IPhysicsController* SumoPhysicsEnvironment::CreateSphereController(float radius,const PHY__Vector3& position) +{ + DT_ShapeHandle shape = DT_NewSphere(0.0); + SM_Object* ob = new SM_Object(shape,0,0,0); + ob->setPosition(MT_Point3(position)); + //testing + MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90)); + ob->setOrientation(rotquatje); + + PHY_IPhysicsController* ctrl = new SumoPhysicsController(m_sumoScene,ob,0,false); + ctrl->SetMargin(radius); + return ctrl; +} +PHY_IPhysicsController* SumoPhysicsEnvironment::CreateConeController(float coneradius,float coneheight) +{ + DT_ShapeHandle shape = DT_NewCone(coneradius,coneheight); + SM_Object* ob = new SM_Object(shape,0,0,0); + ob->setPosition(MT_Point3(0.f,0.f,0.f)); + MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90)); + ob->setOrientation(rotquatje); + + PHY_IPhysicsController* ctrl = new SumoPhysicsController(m_sumoScene,ob,0,false); + + return ctrl; +} |