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/**
* $Id$
*
* ***** BEGIN GPL/BL DUAL 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. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* 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/BL DUAL LICENSE BLOCK *****
*/
#include "SumoPhysicsEnvironment.h"
#include "PHY_IMotionState.h"
#include "SumoPhysicsController.h"
#include "SM_Scene.h"
#include "SumoPHYCallbackBridge.h"
#include <SOLID/SOLID.h>
SumoPhysicsEnvironment::SumoPhysicsEnvironment()
{
m_fixedTimeStep = 1.f/60.f;
m_useFixedTimeStep = true;
m_currentTime = 0.f;
m_sumoScene = new SM_Scene();
}
SumoPhysicsEnvironment::~SumoPhysicsEnvironment()
{
delete m_sumoScene;
}
void SumoPhysicsEnvironment::beginFrame()
{
m_sumoScene->beginFrame();
}
void SumoPhysicsEnvironment::endFrame()
{
m_sumoScene->endFrame();
}
void SumoPhysicsEnvironment::setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep)
{
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;
result = m_sumoScene->proceed(m_currentTime, timeStep);
}
return result;
}
void SumoPhysicsEnvironment::setGravity(float x,float y,float z)
{
m_sumoScene->setForceField(MT_Vector3(x,y,z));
}
int SumoPhysicsEnvironment::createConstraint(
class PHY_IPhysicsController* ctrl,
class PHY_IPhysicsController* ctrl2,
PHY_ConstraintType type,
float pivotX,float pivotY,float pivotZ,
float axisX,float axisY,float axisZ,
float axis1X,float axis1Y,float axis1Z,
float axis2X,float axis2Y,float axis2Z
)
{
int constraintid = 0;
return constraintid;
}
void SumoPhysicsEnvironment::removeConstraint(int constraintid)
{
if (constraintid)
{
}
}
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;
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];
normalX = normal[0];
normalY = normal[1];
normalZ = normal[2];
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;
}
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