Small name refactor & correct Kinematic integration.

+ Constraint hollow class.

test/PhysicObject.h

@@ -30,7 +30,7 @@ public:
 		m_physics.SetShapeToBox(BoxSize);
 		m_physics.SetMass(.0f);
 		m_physics.SetTransform(base_location, base_rotation);
-		m_physics.InitBodyToRigid();
+		m_physics.InitBodyToRigid(true);
 		m_physics.AddToSimulation(new_sim);
 	}
 
@@ -164,7 +164,7 @@ protected:
 private:
 	//Base datas
 	EasyMesh		m_mesh;
-	EasyPhysics		m_physics;
+	EasyPhysic		m_physics;
 
 	bool			m_ready;
 	bool			m_should_render;

test/Physics/EasyPhysics.cpp

@@ -30,7 +30,7 @@ namespace phys
 
 #ifdef HAVE_PHYS_USE_BULLET
 
-EasyPhysics::EasyPhysics() : 
+EasyPhysic::EasyPhysic() : 
 	m_collision_object(NULL),
 	m_rigid_body(NULL),
 	m_collision_shape(NULL),
@@ -42,7 +42,7 @@ EasyPhysics::EasyPhysics() :
 {
 }
 
-EasyPhysics::~EasyPhysics()
+EasyPhysic::~EasyPhysic()
 {
 	m_rigid_body = NULL;
 	delete m_collision_object;
@@ -54,7 +54,7 @@ EasyPhysics::~EasyPhysics()
 //Set Shape functions
 //--
 
-void EasyPhysics::SetShapeTo(btCollisionShape* collision_shape)
+void EasyPhysic::SetShapeTo(btCollisionShape* collision_shape)
 {
 	bool bReinitToRigidBody = false;
 	if (m_rigid_body)
@@ -72,60 +72,43 @@ void EasyPhysics::SetShapeTo(btCollisionShape* collision_shape)
 }
 
 //Box Shape support
-void EasyPhysics::SetShapeToBox(lol::vec3& box_size)
+void EasyPhysic::SetShapeToBox(lol::vec3& box_size)
 {
 	vec3 new_box_size = box_size * LOL2BT_UNIT * LOL2BT_SIZE;
 	SetShapeTo(new btBoxShape(LOL2BT_VEC3(new_box_size)));
 }
 
-void EasyPhysics::SetShapeToSphere(float radius)
+void EasyPhysic::SetShapeToSphere(float radius)
 {
 	SetShapeTo(new btSphereShape(radius * LOL2BT_UNIT * LOL2BT_SIZE));
 }
 
-void EasyPhysics::SetShapeToCone(float radius, float height)
+void EasyPhysic::SetShapeToCone(float radius, float height)
 {
 	SetShapeTo(new btConeShape(	radius * LOL2BT_UNIT,
 								height * LOL2BT_UNIT));
 }
 
-void EasyPhysics::SetShapeToCylinder(lol::vec3& cyl_size)
+void EasyPhysic::SetShapeToCylinder(lol::vec3& cyl_size)
 {
 	vec3 new_cyl_size = cyl_size * LOL2BT_UNIT;
 	new_cyl_size.y *= LOL2BT_SIZE;
 	SetShapeTo(new btCylinderShape(LOL2BT_VEC3(new_cyl_size)));
 }
 
-void EasyPhysics::SetShapeToCapsule(float radius, float height)
+void EasyPhysic::SetShapeToCapsule(float radius, float height)
 {
 	SetShapeTo(new btCapsuleShape(	radius * LOL2BT_UNIT * LOL2BT_SIZE,
 									height * LOL2BT_UNIT * LOL2BT_SIZE));
 }
 
-//-------------------------------------------------------------------------
-//Bullet collision channel setup
-//--
-void EasyPhysics::CustomSetCollisionChannel(int NewGroup, int NewMask)
-{
-	if (m_rigid_body)
-		m_rigid_body->setCollisionFlags(m_collision_mask);
-}
-
 //-------------------------------------------------------------------------
 //Base Location/Rotation setup
 //--
-void EasyPhysics::SetTransform(const lol::vec3& base_location, const lol::quat& base_rotation)
+void EasyPhysic::SetTransform(const lol::vec3& base_location, const lol::quat& base_rotation)
 {
 	if (m_motion_state)
-	{
-		if (m_mass != .0f)
-			m_motion_state->setWorldTransform(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location)));
-		else
-		{
-			m_rigid_body->setWorldTransform(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location)));
-			m_motion_state->setWorldTransform(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location)));
-		}
-	}
+		m_motion_state->setWorldTransform(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location)));
 	else
 		m_motion_state = new btDefaultMotionState(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location)));
 }
@@ -134,7 +117,7 @@ void EasyPhysics::SetTransform(const lol::vec3& base_location, const lol::quat&
 //Mass related functions
 //--
 //Set Shape functions
-void EasyPhysics::SetMass(float mass)
+void EasyPhysic::SetMass(float mass)
 {
 	m_mass = mass;
 
@@ -150,7 +133,7 @@ void EasyPhysics::SetMass(float mass)
 //--
 
 //Init to rigid body
-void EasyPhysics::InitBodyToRigid()
+void EasyPhysic::InitBodyToRigid(bool SetToKinematic)
 {
 	if (m_collision_object)
 		delete m_collision_object;
@@ -158,12 +141,19 @@ void EasyPhysics::InitBodyToRigid()
 	SetLocalInertia(m_mass);
 	if (!m_motion_state)
 		SetTransform(vec3(.0f));
+
 	btRigidBody::btRigidBodyConstructionInfo NewInfos(m_mass, m_motion_state, m_collision_shape, m_local_inertia);
 	m_rigid_body = new btRigidBody(NewInfos);
 	m_collision_object = m_rigid_body;
+
+	if (m_mass == .0f && SetToKinematic)
+	{
+		m_rigid_body->setActivationState(DISABLE_DEACTIVATION);
+		m_rigid_body->setCollisionFlags(m_rigid_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+	}
 }
 
-void EasyPhysics::AddToSimulation(class Simulation* current_simulation)
+void EasyPhysic::AddToSimulation(class Simulation* current_simulation)
 {
 	btDiscreteDynamicsWorld* dynamics_world = current_simulation->GetWorld();
 	if (m_rigid_body)
@@ -182,7 +172,7 @@ void EasyPhysics::AddToSimulation(class Simulation* current_simulation)
 //Getter functons
 //--
 
-mat4 EasyPhysics::GetTransform()
+mat4 EasyPhysic::GetTransform()
 {
 	m_local_to_world = lol::mat4(1.0f);
 	if (m_rigid_body && m_motion_state)
@@ -197,14 +187,15 @@ mat4 EasyPhysics::GetTransform()
 }
 
 //Set Local Inertia
-void EasyPhysics::SetLocalInertia(float mass)
+void EasyPhysic::SetLocalInertia(float mass)
 {
 	if (mass != .0f)
 		m_collision_shape->calculateLocalInertia(mass, m_local_inertia);
 	else
 		m_local_inertia = btVector3(.0f, .0f, .0f);
 }
-#endif
+
+#endif // HAVE_PHYS_USE_BULLET
 
 } /* namespace phys */
 

test/Physics/EasyPhysics.h

@@ -10,7 +10,7 @@
 //
 
 //
-// The EasyPhysics class
+// The EasyPhysic class
 // ------------------
 //
 
@@ -29,12 +29,14 @@ namespace lol
 namespace phys
 {
 
-class EasyPhysics
+class EasyPhysic
 {
+
 #ifdef HAVE_PHYS_USE_BULLET
+
 public:
-	EasyPhysics();
-	~EasyPhysics();
+	EasyPhysic();
+	~EasyPhysic();
 
 	void SetShapeToBox(lol::vec3& box_size);
 	void SetShapeToSphere(float radius);
@@ -42,10 +44,10 @@ public:
 	void SetShapeToCylinder(lol::vec3& cyl_size);
 	void SetShapeToCapsule(float radius, float height);
 
-	void CustomSetCollisionChannel(int NewGroup, int NewMask);
+	bool CanChangeCollisionChannel() { return (m_rigid_body == NULL); }
 	void SetTransform(const lol::vec3& base_location, const lol::quat& base_rotation=lol::quat(lol::mat4(1.0f)));
 	void SetMass(float mass);
-	void InitBodyToRigid();
+	void InitBodyToRigid(bool ZeroMassIsKinematic=false);
 	void AddToSimulation(class Simulation* current_simulation);
 	mat4 GetTransform();
 
@@ -60,9 +62,11 @@ protected:
 
 	btCollisionShape*							m_collision_shape;
 	btMotionState*								m_motion_state;
-#else
+
+#else  // NO PHYSIC IMPLEMENTATION
+
 public:
-	EasyPhysics() { }
+	EasyPhysic() { }
 
 	void SetShapeToBox(lol::vec3& BoxSize) { }
 	void SetShapeToSphere(float radius) { }
@@ -70,22 +74,27 @@ public:
 	void SetShapeToCylinder(lol::vec3& cyl_size) { }
 	void SetShapeToCapsule(float radius, float height) { }
 
-	void CustomSetCollisionChannel(int NewGroup, int NewMask) { }
+	bool CanChangeCollisionChannel() { return true; }
 	void SetTransform(const lol::vec3& base_location, const lol::quat& base_rotation=lol::quat(lol::mat4(1.0f))) { }
 	void SetMass(float mass) { }
 	void InitBodyToRigid() { }
 	void AddToSimulation(class Simulation* current_simulation) { }
 	mat4 GetTransform() { return mat4(1.0f); }
-#endif
+
+#endif // PHYSIC IMPLEMENTATION
 
 public:
 	//Sets the collision Group & Mask.
 	//Mask can change at runtime, not group !
-	void SetCollisionChannel(int NewGroup, int NewMask)
+	bool SetCollisionChannel(int NewGroup, int NewMask)
 	{
-		m_collision_group = (1<<NewGroup);
-		m_collision_mask = NewMask;
-		CustomSetCollisionChannel(NewGroup, NewMask);
+		if (CanChangeCollisionChannel())
+		{
+			m_collision_group = (1<<NewGroup);
+			m_collision_mask = NewMask;
+			return true;
+		}
+		return false;
 	}
 	int GetCollisionGroup() { return m_collision_group; }
 	int GetCollisionMask()	{ return m_collision_mask; }
@@ -97,6 +106,27 @@ protected:
 	int											m_collision_mask;
 };
 
+class EasyConstraint
+{
+	EasyConstraint()
+	{
+		//btPoint2PointConstraint(bA, bB, PivotA, PivotB)
+		//btHingeConstraint(bA, bB, TransfA, TransfB, UseRefA)
+		//btSliderConstraint(bA, bB, TransfA, TransfB, UseRefA)
+		//btConeTwistConstraint(bA, bB, TransfA, TransfB)
+		//btGeneric6DofConstraint(bA, bB, TransfA, TransfB, UseRefA)
+	}
+
+#ifdef HAVE_PHYS_USE_BULLET
+
+	btTypedConstraint*			m_typed_constraint;
+
+#else  // NO PHYSIC IMPLEMENTATION
+
+#endif // PHYSIC IMPLEMENTATION
+
+};
+
 } /* namespace phys */
 
 } /* namespace lol */

test/Physics/LolBtPhysicsIntegration.h

@@ -20,6 +20,8 @@
 namespace lol
 {
 
+#ifdef HAVE_PHYS_USE_BULLET
+
 #define LOL2BT_UNIT				1.0f
 #define BT2LOL_UNIT				1.0f
 
@@ -32,6 +34,8 @@ namespace lol
 #define LOL2BT_QUAT(ELEMENT)	btQuaternion((ELEMENT).x, (ELEMENT).y, (ELEMENT).z, (ELEMENT).w)
 #define BT2LOL_QUAT(ELEMENT)	lol::quat((ELEMENT).getW(), BT2LOL_VEC3((ELEMENT).getAxis())
 
+#endif // HAVE_PHYS_USE_BULLET
+
 } /* namespace lol */
 
 #endif /* __LOLBTPHYSICSINTEGRATION_H__ */

test/Physics/LolPhysics.h

@@ -23,8 +23,6 @@ namespace phys
 
 class Simulation : public Entity
 {
-	friend class EasyPhysics;
-
 public:
 	Simulation() :
 		m_broadphase(0),
@@ -109,7 +107,9 @@ private:
 	btSequentialImpulseConstraintSolver*	m_solver;
 	// The world.
 	btDiscreteDynamicsWorld*				m_dynamics_world;
-#else
+
+#else  // NO PHYSIC IMPLEMENTATION
+
 public:
 	void Init() { }
 	void TickGame(float seconds) { }
@@ -118,7 +118,8 @@ private:
 	void CustomSetContinuousDetection(bool ShouldUseCCD) { }
 	void CustomSetGravity(vec3 &NewGravity) { }
 	void CustomSetTimestep(float NewTimestep) { }
-#endif //HAVE_PHYS_USE_BULLET
+
+#endif // PHYSIC IMPLEMENTATION
 
 public:
 	//Main logic :
@@ -150,13 +151,18 @@ public:
 	}
 
 private:
-	//Adds the given EasyPhysics to the correct list.
-	void AddToDynamic(EasyPhysics* dynamic_EP)	{ m_dynamic_list << dynamic_EP; }
-	void AddToStatic(EasyPhysics* static_EP)	{ m_static_list	<< static_EP; }
+	friend class EasyPhysic;
+	friend class EasyConstraint;
+
+	//Adds the given EasyPhysic to the correct list.
+	void AddToDynamic(EasyPhysic* NewEPDynamic)	{ m_dynamic_list << NewEPDynamic; }
+	void AddToStatic(EasyPhysic* NewEPStatic)	{ m_static_list	<< NewEPStatic; }
+	void AddToConstraint(EasyConstraint* NewEC)	{ m_constraint_list	<< NewEC; }
 
 	//Easy Physics body List
-	Array<EasyPhysics*>						m_dynamic_list;
-	Array<EasyPhysics*>						m_static_list;
+	Array<EasyPhysic*>						m_dynamic_list;
+	Array<EasyPhysic*>						m_static_list;
+	Array<EasyConstraint*>					m_constraint_list;
 
 	//Easy Physics data storage
 	float									m_timestep;