1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
|
#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_newClientInfo = 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)
{
SimdVector3 impulse(impulseX,impulseY,impulseZ);
SimdVector3 pos(attachX,attachY,attachZ);
//it might be sleeping... wake up !
m_body->SetActivationState(1);
m_body->m_deactivationTime = 0.f;
m_body->applyImpulse(impulse,pos);
}
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 m_newClientInfo;
}
void CcdPhysicsController::setNewClientInfo(void* clientinfo)
{
m_newClientInfo = 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;
}
|