void CPHWorld::Create()
{
dWorldID phWorld=0;
if (psDeviceFlags.test(mtPhysics)) Device.seqFrameMT.Add (this,REG_PRIORITY_HIGH);
else Device.seqFrame.Add (this,REG_PRIORITY_LOW);
m_commander =xr_new<CPHCommander>();
//dVector3 extensions={2048,256,2048};
/*
Fbox level_box = Level().ObjectSpace.GetBoundingVolume();
Fvector level_size,level_center;
level_box . getsize (level_size);
level_box . getcenter (level_center);
dVector3 extensions = { level_size.x ,256.f,level_size.z};
dVector3 center = {level_center.x,0.f,level_center.z};
*/
#ifdef ODE_SLOW_SOLVER
#else
dWorldSetAutoEnableDepthSF1(phWorld, 100000000);
///dWorldSetContactSurfaceLayer(phWorld,0.f);
//phWorld->contactp.min_depth =0.f;
#endif
ContactGroup = dJointGroupCreate(0);
dWorldSetGravity (phWorld, 0,-Gravity(), 0);//-2.f*9.81f
Mesh.Create (0,phWorld);
#ifdef PH_PLAIN
plane=dCreatePlane(Space,0,1,0,0.3f);
#endif
//const dReal k_p=2400000.f;//550000.f;///1000000.f;
//const dReal k_d=200000.f;
dWorldSetERP(phWorld, ERP(world_spring,world_damping) );
dWorldSetCFM(phWorld, CFM(world_spring,world_damping));
//dWorldSetERP(phWorld, 0.2f);
//dWorldSetCFM(phWorld, 0.000001f);
disable_count=0;
m_motion_ray=dCreateRayMotions(0);
phBoundaries.set(Level().ObjectSpace.GetBoundingVolume());
phBoundaries.y1-=30.f;
CPHCollideValidator::Init();
b_exist=true;
}
static void command (int cmd)
{
switch (cmd) {
case 'a': case 'A':
speed += 0.3;
break;
case 'z': case 'Z':
speed -= 0.3;
break;
case ',':
turn += 0.1;
if (turn > 0.3)
turn = 0.3;
break;
case '.':
turn -= 0.1;
if (turn < -0.3)
turn = -0.3;
break;
case ' ':
speed = 0;
turn = 0;
break;
case 'f': case 'F':
doFast = !doFast;
break;
case '+':
dWorldSetAutoEnableDepthSF1 (world, dWorldGetAutoEnableDepthSF1 (world) + 1);
break;
case '-':
dWorldSetAutoEnableDepthSF1 (world, dWorldGetAutoEnableDepthSF1 (world) - 1);
break;
case 'r': case 'R':
resetSimulation();
break;
case '[':
cannon_angle += 0.1;
break;
case ']':
cannon_angle -= 0.1;
break;
case '1':
cannon_elevation += 0.1;
break;
case '2':
cannon_elevation -= 0.1;
break;
case 'x': case 'X': {
dMatrix3 R2,R3,R4;
dRFromAxisAndAngle (R2,0,0,1,cannon_angle);
dRFromAxisAndAngle (R3,0,1,0,cannon_elevation);
dMultiply0 (R4,R2,R3,3,3,3);
dReal cpos[3] = {CANNON_X,CANNON_Y,1};
for (int i=0; i<3; i++) cpos[i] += 3*R4[i*4+2];
dBodySetPosition (cannon_ball_body,cpos[0],cpos[1],cpos[2]);
dReal force = 10;
dBodySetLinearVel (cannon_ball_body,force*R4[2],force*R4[6],force*R4[10]);
dBodySetAngularVel (cannon_ball_body,0,0,0);
break;
}
}
}
