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/**
* $Id$
*
* ***** 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;
}
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