Added walls and better context to the physics.

test/BtPhysTest.cpp

@@ -74,16 +74,42 @@ BtPhysTest::BtPhysTest(bool editor)
 	vec3 NewGravity = vec3(.0f, -10.0f, .0f);
 	m_simulation->SetGravity(NewGravity);
 
-	m_ground_object = new PhysicsObject(m_simulation);
-	Ticker::Ref(m_ground_object);
+	float offset = 30.f;
+	vec3 pos_offset = vec3(.0f, 30.f, .0f);
+	for (int i=0; i < 6; i++)
+	{
+		int idx = i/2;
+		vec3 NewPosition = pos_offset;
+		NewPosition[idx] += offset;
+		offset *= -1.f;
+
+		quat NewRotation = quat(mat4(1.f));
+		PhysicsObject* NewPhyobj = new PhysicsObject(m_simulation, NewPosition, NewRotation);
+
+		if (idx != 1)
+		{
+			vec3 axis = vec3(.0f);
+			axis[idx] = 1;
+			NewRotation = quat::rotate(90.f, axis);
+		}
 
-	for (int x=0; x < 10; x++)
+		NewPhyobj->SetTransform(NewPosition, NewRotation);
+		Ticker::Ref(NewPhyobj);
+		m_ground_list << NewPhyobj;
+	}
+
+	for (int x=0; x < 5; x++)
 	{
-		for (int y=0; y < 10; y++)
+		for (int y=0; y < 5; y++)
 		{
-			PhysicsObject* new_physobj = new PhysicsObject(m_simulation, 10.f, vec3(0.f, 20.f, -20.0f) + vec3(.0f, 4.f * (float)y, 4.f * (float)x));
-			m_physobj_list << new_physobj;
-			Ticker::Ref(new_physobj);
+			for (int z=0; z < 4; z++)
+			{
+				PhysicsObject* new_physobj = new PhysicsObject(m_simulation, 10.f,
+					vec3(-20.f, 40.f, -20.f) +
+					vec3(4.f * (float)x, 4.f * (float)y, 4.f * (float)z));
+				m_physobj_list << new_physobj;
+				Ticker::Ref(new_physobj);
+			}
 		}
 	}
 
@@ -242,8 +268,40 @@ void BtPhysTest::TickGame(float seconds)
 
 	m_simulation->TickContext(seconds);
 
-	m_camera->SetTarget(vec3(.0f));
-	m_camera->SetPosition(vec3(-30.0f, 20.0f, .0f));
+	vec3 barycenter = vec3(.0f);
+	float factor = .0f;
+	for (int i = 0; i < m_ground_list.Count(); i++)
+	{
+		PhysicsObject* PhysObj = m_ground_list[i];
+
+		mat4 GroundMat = PhysObj->GetTransform();
+		vec3 CenterToGround = GroundMat.v3.xyz - vec3(.0f, 50.f, .0f);
+		vec3 CenterToCam = m_camera->m_position - vec3(.0f, 50.f, .0f);
+		if (dot(CenterToCam, CenterToGround) > .0f)
+			PhysObj->SetRender(false);
+		else
+			PhysObj->SetRender(true);
+
+		barycenter += GroundMat.v3.xyz;
+		factor += 1.f;
+	}
+
+	barycenter /= factor;
+
+	for (int i = 0; i < m_ground_list.Count(); i++)
+	{
+		PhysicsObject* PhysObj = m_ground_list[i];
+
+		mat4 GroundMat = PhysObj->GetTransform();
+		mat4 CenterMx = mat4::translate(barycenter);
+		//GroundMat = inverse(CenterMx) * GroundMat;
+		//GroundMat = CenterMx * GroundMat;
+					//mat4(quat::rotate(seconds * 10.0f, vec3(0, 1, 0))) * CenterMx;
+		//PhysObj->SetTransform(GroundMat.v3.xyz, quat(GroundMat));
+	}
+
+	m_camera->SetTarget(barycenter);
+	m_camera->SetPosition(vec3(-40.0f, 60.0f, -40.0f));
 
 #if 0
 	///step the simulation
@@ -322,7 +380,12 @@ void BtPhysTest::TickDraw(float seconds)
 BtPhysTest::~BtPhysTest()
 {
 	Ticker::Unref(m_camera);
-	Ticker::Unref(m_ground_object);
+	while (m_ground_list.Count())
+	{
+		PhysicsObject* CurPop = m_ground_list.Last();
+		m_ground_list.Pop();
+		Ticker::Unref(CurPop);
+	}
 	while (m_physobj_list.Count())
 	{
 		PhysicsObject* CurPop = m_physobj_list.Last();

test/BtPhysTest.h

@@ -26,7 +26,7 @@ private:
 
 	lol::phys::Simulation*				m_simulation;
 	Array<PhysicsObject*>				m_physobj_list;
-	PhysicsObject*						m_ground_object;
+	Array<PhysicsObject*>				m_ground_list;
 
 #if 0
 	EasyMesh							m_ground_mesh;

test/PhysicObject.h

@@ -21,19 +21,20 @@ using namespace lol::phys;
 class PhysicsObject : public WorldEntity
 {
 public:
-	PhysicsObject(Simulation* new_sim)
-		: m_ready(false)
+	PhysicsObject(Simulation* new_sim, const vec3 &base_location, const quat &base_rotation)
+		: m_ready(false), m_should_render(true)
 	{
-		m_mesh.Compile("[sc#add afcb110 1 110 -.1]");
-		vec3 BoxSize = vec3(110.f, 1.f, 110.f);
+		m_mesh.Compile("[sc#add afcb60 1 60 -.1]");
+		vec3 BoxSize = vec3(60.f, 1.f, 60.f);
 		m_physics.SetShapeToBox(BoxSize);
 		m_physics.SetMass(.0f);
+		m_physics.SetTransform(base_location, base_rotation);
 		m_physics.InitBodyToRigid();
 		m_physics.AddToSimulation(new_sim);
 	}
 
 	PhysicsObject(Simulation* new_sim, float base_mass, const vec3 &base_location)
-		: m_ready(false)
+		: m_ready(false), m_should_render(true)
 	{
 		Array<char *> MeshRand;
 
@@ -96,11 +97,26 @@ public:
 			m_physics.SetShapeToCapsule(BoxSize.x, BoxSize.y);
 
 		m_physics.SetMass(base_mass);
-		m_physics.SetBaseTransform(base_location);
+		m_physics.SetTransform(base_location);
 		m_physics.InitBodyToRigid();
 		m_physics.AddToSimulation(new_sim);
 	}
 
+	void SetTransform(const lol::vec3& base_location, const lol::quat& base_rotation=lol::quat(lol::mat4(1.0f)))
+	{
+		m_physics.SetTransform(base_location, base_rotation);
+	}
+
+	lol::mat4 GetTransform()
+	{
+		return m_physics.GetTransform();
+	}
+
+	void SetRender(bool should_render)
+	{
+		m_should_render = should_render;
+	}
+
 	~PhysicsObject()
 	{
 	}
@@ -123,7 +139,8 @@ protected:
 			m_ready = true;
 		}
 
-		m_mesh.Render(m_physics.GetTransform());
+		if (m_should_render)
+			m_mesh.Render(m_physics.GetTransform());
 	}
 
 private:
@@ -132,6 +149,7 @@ private:
 	EasyPhysics		m_physics;
 
 	bool			m_ready;
+	bool			m_should_render;
 };
 
 #endif /* __PHYSICOBJECT_H__ */

test/Physics/EasyPhysics.cpp

@@ -102,10 +102,18 @@ void EasyPhysics::SetShapeToCapsule(float radius, float height)
 //-------------------------------------------------------------------------
 //Base Location/Rotation setup
 //--
-void EasyPhysics::SetBaseTransform(const lol::vec3& base_location, const lol::quat& base_rotation)
+void EasyPhysics::SetTransform(const lol::vec3& base_location, const lol::quat& base_rotation)
 {
 	if (m_motion_state)
-		m_motion_state->setWorldTransform(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location)));
+	{
+		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(m_rigid_body->getWorldTransform());
+		}
+	}
 	else
 		m_motion_state = new btDefaultMotionState(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location)));
 }
@@ -113,7 +121,6 @@ void EasyPhysics::SetBaseTransform(const lol::vec3& base_location, const lol::qu
 //-------------------------------------------------------------------------
 //Mass related functions
 //--
-
 //Set Shape functions
 void EasyPhysics::SetMass(float mass)
 {
@@ -138,7 +145,7 @@ void EasyPhysics::InitBodyToRigid()
 
 	SetLocalInertia(m_mass);
 	if (!m_motion_state)
-		SetBaseTransform(vec3(.0f));
+		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;

test/Physics/EasyPhysics.h

@@ -42,7 +42,7 @@ public:
 	void SetShapeToCylinder(lol::vec3& cyl_size);
 	void SetShapeToCapsule(float radius, float height);
 
-	void SetBaseTransform(const lol::vec3& base_location, const lol::quat& base_rotation=lol::quat(lol::mat4(1.0f)));
+	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);
@@ -72,7 +72,7 @@ public:
 	void SetShapeToCylinder(lol::vec3& cyl_size) { }
 	void SetShapeToCapsule(float radius, float height) { }
 
-	void SetBaseTransform(const lol::vec3& base_location, const lol::quat& base_rotation=lol::quat(lol::mat4(1.0f))) { }
+	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) { }