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#include "CcdPhysicsController.h"
#include "Dynamics/RigidBody.h"
#include "PHY_IMotionState.h"
#include "BroadphaseCollision/BroadphaseProxy.h"
#include "CollisionShapes/ConvexShape.h"
class BP_Proxy;
//'temporarily' global variables
float gDeactivationTime = 2.f;
float gLinearSleepingTreshold = 0.8f;
float gAngularSleepingTreshold = 1.0f;
#include "Dynamics/MassProps.h"
SimdVector3 startVel(0,0,0);//-10000);
CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
{
m_collisionDelay = 0;
m_MotionState = ci.m_MotionState;
SimdTransform trans;
float tmp[3];
m_MotionState->getWorldPosition(tmp[0],tmp[1],tmp[2]);
trans.setOrigin(SimdVector3(tmp[0],tmp[1],tmp[2]));
SimdQuaternion orn;
m_MotionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
trans.setRotation(orn);
MassProps mp(ci.m_mass, ci.m_localInertiaTensor);
m_body = new RigidBody(mp,0,0,ci.m_friction,ci.m_restitution);
m_broadphaseHandle = ci.m_broadphaseHandle;
m_collisionShape = ci.m_collisionShape;
//
// init the rigidbody properly
//
m_body->setMassProps(ci.m_mass, ci.m_localInertiaTensor);
m_body->setGravity( ci.m_gravity);
m_body->setDamping(ci.m_linearDamping, ci.m_angularDamping);
m_body->setCenterOfMassTransform( trans );
#ifdef WIN32
if (m_body->getInvMass())
m_body->setLinearVelocity(startVel);
#endif
}
CcdPhysicsController::~CcdPhysicsController()
{
//will be reference counted, due to sharing
//delete m_collisionShape;
delete m_MotionState;
delete m_body;
}
/**
SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
*/
bool CcdPhysicsController::SynchronizeMotionStates(float time)
{
const SimdVector3& worldPos = m_body->getCenterOfMassPosition();
m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
const SimdQuaternion& worldquat = m_body->getOrientation();
m_MotionState->setWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]);
m_MotionState->calculateWorldTransformations();
float scale[3];
m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]);
SimdVector3 scaling(scale[0],scale[1],scale[2]);
m_collisionShape->setLocalScaling(scaling);
return true;
}
/**
WriteMotionStateToDynamics synchronizes dynas, kinematic and deformable entities (and do 'late binding')
*/
void CcdPhysicsController::WriteMotionStateToDynamics(bool nondynaonly)
{
}
void CcdPhysicsController::WriteDynamicsToMotionState()
{
}
// controller replication
void CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)
{
}
// kinematic methods
void CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)
{
SimdTransform xform = m_body->getCenterOfMassTransform();
xform.setOrigin(xform.getOrigin() + SimdVector3(dlocX,dlocY,dlocZ));
this->m_body->setCenterOfMassTransform(xform);
}
void CcdPhysicsController::RelativeRotate(const float drot[9],bool local)
{
}
void CcdPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)
{
}
void CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)
{
}
void CcdPhysicsController::setPosition(float posX,float posY,float posZ)
{
}
void CcdPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
{
}
void CcdPhysicsController::getPosition(PHY__Vector3& pos) const
{
assert(0);
}
void CcdPhysicsController::setScaling(float scaleX,float scaleY,float scaleZ)
{
}
// physics methods
void CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local)
{
}
void CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bool local)
{
}
void CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)
{
SimdVector3 angvel(ang_velX,ang_velY,ang_velZ);
m_body->setAngularVelocity(angvel);
}
void CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)
{
SimdVector3 linVel(lin_velX,lin_velY,lin_velZ);
m_body->setLinearVelocity(linVel);
}
void CcdPhysicsController::applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)
{
}
void CcdPhysicsController::SetActive(bool active)
{
}
// reading out information from physics
void CcdPhysicsController::GetLinearVelocity(float& linvX,float& linvY,float& linvZ)
{
}
void CcdPhysicsController::GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ)
{
}
void CcdPhysicsController::getReactionForce(float& forceX,float& forceY,float& forceZ)
{
}
// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted
void CcdPhysicsController::setRigidBody(bool rigid)
{
}
// clientinfo for raycasts for example
void* CcdPhysicsController::getNewClientInfo()
{
return 0;
}
void CcdPhysicsController::setNewClientInfo(void* clientinfo)
{
}
void CcdPhysicsController::UpdateDeactivation(float timeStep)
{
if ( (m_body->GetActivationState() == 2))
return;
if ((m_body->getLinearVelocity().length2() < gLinearSleepingTreshold*gLinearSleepingTreshold) &&
(m_body->getAngularVelocity().length2() < gAngularSleepingTreshold*gAngularSleepingTreshold))
{
m_body->m_deactivationTime += timeStep;
} else
{
m_body->m_deactivationTime=0.f;
m_body->SetActivationState(0);
}
}
bool CcdPhysicsController::wantsSleeping()
{
//disable deactivation
if (gDeactivationTime == 0.f)
return false;
//2 == ISLAND_SLEEPING, 3 == WANTS_DEACTIVATION
if ( (m_body->GetActivationState() == 2) || (m_body->GetActivationState() == 3))
return true;
if (m_body->m_deactivationTime> gDeactivationTime)
{
return true;
}
return false;
}
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