// // Lol Engine // // Copyright: (c) 2010-2012 Sam Hocevar // (c) 2009-2012 Cédric Lecacheur // (c) 2009-2012 Benjamin Huet // This program is free software; you can redistribute it and/or // modify it under the terms of the Do What The Fuck You Want To // Public License, Version 2, as published by Sam Hocevar. See // http://sam.zoy.org/projects/COPYING.WTFPL for more details. // #if defined HAVE_CONFIG_H # include "config.h" #endif #include "LolBtPhysicsIntegration.h" #include "LolPhysics.h" namespace lol { namespace phys { #ifdef HAVE_PHYS_USE_BULLET //------------------------------------------------------------------------- //EASY_PHYSIC //-- EasyPhysic::EasyPhysic() : m_collision_object(NULL), m_rigid_body(NULL), m_ghost_object(NULL), m_collision_shape(NULL), m_motion_state(NULL), m_mass(.0f), m_local_inertia(btVector3(.0f, .0f, .0f)), m_collision_group(1), m_collision_mask(1) { } EasyPhysic::~EasyPhysic() { m_rigid_body = NULL; delete m_collision_object; delete m_collision_shape; delete m_motion_state; } //------------------------------------------------------------------------- //Set Shape functions //-- void EasyPhysic::SetShapeTo(btCollisionShape* collision_shape) { bool bReinitToRigidBody = false; if (m_rigid_body) { bReinitToRigidBody = true; delete m_rigid_body; } if (m_collision_shape) delete m_collision_shape; m_collision_shape = collision_shape; if (bReinitToRigidBody) InitBodyToRigid(); } //Box Shape support void EasyPhysic::SetShapeToBox(lol::vec3& box_size) { vec3 new_box_size = box_size * LOL2BT_UNIT * LOL2BT_SIZE; m_convex_shape = new btBoxShape(LOL2BT_VEC3(new_box_size)); SetShapeTo(m_convex_shape); } void EasyPhysic::SetShapeToSphere(float radius) { m_convex_shape = new btSphereShape(radius * LOL2BT_UNIT * LOL2BT_SIZE); SetShapeTo(m_convex_shape); } void EasyPhysic::SetShapeToCone(float radius, float height) { m_convex_shape = new btConeShape( radius * LOL2BT_UNIT, height * LOL2BT_UNIT); SetShapeTo(m_convex_shape); } void EasyPhysic::SetShapeToCylinder(lol::vec3& cyl_size) { vec3 new_cyl_size = cyl_size * LOL2BT_UNIT; new_cyl_size.y *= LOL2BT_SIZE; m_convex_shape = new btCylinderShape(LOL2BT_VEC3(new_cyl_size)); SetShapeTo(m_convex_shape); } void EasyPhysic::SetShapeToCapsule(float radius, float height) { m_convex_shape = new btCapsuleShape(radius * LOL2BT_UNIT * LOL2BT_SIZE, height * LOL2BT_UNIT * LOL2BT_SIZE); SetShapeTo(m_convex_shape); } //------------------------------------------------------------------------- //Base Location/Rotation setup //-- void EasyPhysic::SetTransform(const lol::vec3& base_location, const lol::quat& base_rotation) { m_local_to_world = lol::mat4::translate(base_location) * mat4(base_rotation); if (m_ghost_object) m_ghost_object->setWorldTransform(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location * LOL2BT_UNIT))); else { if (m_motion_state) m_motion_state->setWorldTransform(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location * LOL2BT_UNIT))); else m_motion_state = new btDefaultMotionState(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location * LOL2BT_UNIT))); } } //------------------------------------------------------------------------- //Mass related functions //-- //Set Shape functions void EasyPhysic::SetMass(float mass) { m_mass = mass; if (m_rigid_body) { SetLocalInertia(m_mass); m_rigid_body->setMassProps(mass, m_local_inertia); } } //------------------------------------------------------------------------- //Final conversion pass functons : Body related //-- //Init to rigid body void EasyPhysic::InitBodyToRigid(bool SetToKinematic) { if (m_collision_object) delete m_collision_object; 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) { if (SetToKinematic) { m_rigid_body->setActivationState(DISABLE_DEACTIVATION); m_rigid_body->setCollisionFlags(m_rigid_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } } else SetMass(m_mass); } //Return correct Ghost Object btGhostObject* EasyPhysic::GetGhostObject() { return new btGhostObject(); } //Init to Ghost object, for Overlap/Sweep Test/Touching logic void EasyPhysic::InitBodyToGhost() { if (m_collision_object) delete m_collision_object; m_ghost_object = GetGhostObject(); m_ghost_object->setCollisionShape(m_collision_shape); m_collision_object = m_ghost_object; SetTransform(m_local_to_world.v3.xyz, lol::quat(m_local_to_world)); m_ghost_object->setCollisionFlags(m_ghost_object->getCollisionFlags()); } //Add Physic object to the simulation void EasyPhysic::AddToSimulation(class Simulation* current_simulation) { btDiscreteDynamicsWorld* dynamics_world = current_simulation->GetWorld(); if (dynamics_world) { if (m_ghost_object) { dynamics_world->addCollisionObject(m_ghost_object, m_collision_group, m_collision_mask); current_simulation->AddToGhost(this); } else if (m_rigid_body) { dynamics_world->addRigidBody(m_rigid_body, m_collision_group, m_collision_mask); if (m_mass != .0f) current_simulation->AddToDynamic(this); else current_simulation->AddToStatic(this); } else dynamics_world->addCollisionObject(m_collision_object, m_collision_group, m_collision_mask); } } //Remove Physic object to the simulation void EasyPhysic::RemoveFromSimulation(class Simulation* current_simulation) { btDiscreteDynamicsWorld* dynamics_world = current_simulation->GetWorld(); if (dynamics_world) { if (m_rigid_body) dynamics_world->removeRigidBody(m_rigid_body); else if (m_collision_object) dynamics_world->removeCollisionObject(m_collision_object); } } //------------------------------------------------------------------------- //Getter functons //-- mat4 EasyPhysic::GetTransform() { m_local_to_world = lol::mat4(1.0f); if (m_rigid_body && m_motion_state) { btTransform CurTransform; m_motion_state->getWorldTransform(CurTransform); CurTransform.getOpenGLMatrix(&m_local_to_world[0][0]); } else if (m_collision_object) m_collision_object->getWorldTransform().getOpenGLMatrix(&m_local_to_world[0][0]); return m_local_to_world; } //Set Local Inertia void EasyPhysic::SetLocalInertia(float mass) { if (mass != .0f) m_collision_shape->calculateLocalInertia(mass, m_local_inertia); else m_local_inertia = btVector3(.0f, .0f, .0f); } //------------------------------------------------------------------------- //EASY_CHARACTER_CONTROLLER //-- //Deactivated for Character controller void EasyCharacterController::InitBodyToRigid(bool ZeroMassIsKinematic) { } //Return correct Ghost Object btGhostObject* EasyCharacterController::GetGhostObject() { return new btPairCachingGhostObject(); } //Init to Pair caching ghost object, since Character uses that one. void EasyCharacterController::InitBodyToGhost() { EasyPhysic::InitBodyToGhost(); m_pair_caching_object = (btPairCachingGhostObject*)m_ghost_object; m_ghost_object->setCollisionFlags(btCollisionObject::CF_CHARACTER_OBJECT | m_ghost_object->getCollisionFlags()); } //Add Physic object to the simulation void EasyCharacterController::AddToSimulation(class Simulation* current_simulation) { EasyPhysic::AddToSimulation(current_simulation); btDiscreteDynamicsWorld* dynamics_world = current_simulation->GetWorld(); if (dynamics_world) { if (m_character) delete m_character; m_character = new btKinematicCharacterController(m_pair_caching_object, m_convex_shape, m_step_height, m_up_axis); dynamics_world->addAction(m_character); } } //Remove Physic object to the simulation void EasyCharacterController::RemoveFromSimulation(class Simulation* current_simulation) { EasyPhysic::RemoveFromSimulation(current_simulation); btDiscreteDynamicsWorld* dynamics_world = current_simulation->GetWorld(); if (dynamics_world) { if (m_character) dynamics_world->removeAction(m_character); } } //Set movement for this frame void EasyCharacterController::SetMovementForFrame(vec3 const &MoveQuantity) { m_character->setWalkDirection(LOL2BT_VEC3(MoveQuantity)); } //------------------------------------------------------------------------- //EASY_CONSTRAINT //-- void EasyConstraint::AddToSimulation(class Simulation* current_simulation) { btDiscreteDynamicsWorld* dynamics_world = current_simulation->GetWorld(); if (dynamics_world && m_typed_constraint) { dynamics_world->addConstraint(m_typed_constraint, m_disable_a2b_collision); current_simulation->AddToConstraint(this); } } void EasyConstraint::RemoveFromSimulation(class Simulation* current_simulation) { btDiscreteDynamicsWorld* dynamics_world = current_simulation->GetWorld(); if (dynamics_world, m_typed_constraint) dynamics_world->removeConstraint(m_typed_constraint); } #endif // HAVE_PHYS_USE_BULLET } /* namespace phys */ } /* namespace lol */