void Player::Movement( const float aDelta )
{
const float physUnitsPerSecond = 250.f * aDelta;
Vector2f velocity;
if(KeyboardInput->KeyDown(SDL_SCANCODE_D))
{
velocity.x += physUnitsPerSecond;
}
if(KeyboardInput->KeyDown(SDL_SCANCODE_A))
{
velocity.x -= physUnitsPerSecond;
}
if(KeyboardInput->KeyDown(SDL_SCANCODE_S))
{
velocity.y += physUnitsPerSecond;
}
if(KeyboardInput->KeyDown(SDL_SCANCODE_W))
{
velocity.y -= physUnitsPerSecond;
}
myBody->SetLinearVelocity( b2Vec2( velocity.x, velocity.y ) );
const float clampRadius = 150.f;
const b2Vec2& physPos = myBody->GetPosition();
Vector2f worldPos(physPos.x * PTM_RATIO, ( physPos.y * PTM_RATIO ) - 40);
myPosition = worldPos;
}
vec3f MyD3DAssets::transformObjectToWorldGamecube(const BufferCPU *VSConstants, const vec3f &basePos, int blendMatrixStart) const
{
if (VSConstants->data.size() < sizeof(VertexShaderConstantsGamecube))
{
return vec3f::origin;
}
const VertexShaderConstantsGamecube &constants = *((const VertexShaderConstantsGamecube *)VSConstants->data.data());
vec4f rawPos(basePos, 1.0f);
vec4f m0 = constants.posnormalmatrix[0];
vec4f m1 = constants.posnormalmatrix[1];
vec4f m2 = constants.posnormalmatrix[2];
if (blendMatrixStart != -1)
{
m0 = constants.transformmatrices[blendMatrixStart + 0];
m1 = constants.transformmatrices[blendMatrixStart + 1];
m2 = constants.transformmatrices[blendMatrixStart + 2];
}
vec3f worldPos(m0 | rawPos,
m1 | rawPos,
m2 | rawPos);
return worldPos;
}
Vector3 Ray::planeIntersect()
{
float s = -getOrigin().z / getDirection().z;
Vector3 worldPos(0, 0, 0);
worldPos.x = getOrigin().x + getDirection().x*s;
worldPos.y = getOrigin().y + getDirection().y*s;
worldPos.z = 0;
return worldPos;
}
void MapLevel::initSprites()
{
LOG_CALL("MapLevel::initSprites");
for (auto& pos : mDestinationList) {
sf::Sprite sprite(mTexture);
sf::Vector2f worldPos(WorldOffsetX + pos.x * TileWidth, WorldOffsetY + pos.y * TileHeight);
Entity::Ptr entity(new Flag(sprite, mBoxWorld, worldPos));
Flag* flag = dynamic_cast<Flag*>(entity.get());
mEntities.push_back(std::move(entity));
}
for (auto& pos : mSourceList) {
sf::Sprite sprite(mTexture);
Entity::Ptr entity(new PackageEntity(sprite, mBoxWorld));
PackageEntity* package = dynamic_cast<PackageEntity*>(entity.get());
package->setPosition(sf::Vector2f(WorldOffsetX + pos.x * TileWidth, WorldOffsetY + pos.y * TileHeight));
mEntities.push_back(std::move(entity));
}
}
glm::vec3
BodyParticle::modelTransform(unsigned int a_index, const btTransform &a_transform) const{
const btMatrix3x3& basis(a_transform.getBasis());
const btVector3& row_x(basis[0]);
const btVector3& row_y(basis[1]);
const btVector3& row_z(basis[2]);
const btVector3& origin(a_transform.getOrigin());
glm::vec3 worldPos(0.0);
const glm::vec3& objectPos(m_particles[a_index]);
worldPos.x = row_x.getX() * objectPos.x + row_x.getY() * objectPos.y + row_x.getZ() * objectPos.z;
worldPos.y = row_y.getX() * objectPos.x + row_y.getY() * objectPos.y + row_y.getZ() * objectPos.z;
worldPos.z = row_z.getX() * objectPos.x + row_z.getY() * objectPos.y + row_z.getZ() * objectPos.z;
worldPos.x += origin.getX();
worldPos.y += origin.getY();
worldPos.z += origin.getZ();
return worldPos;
}
//-----------------------------------------------------------------------------------------------------------------------------------
void GameObject::CheckVisible()
{
Vector2 worldPos(ScreenManager::GetCamera().GameToScreenCoords(GetWorldPosition()));
SetVisible(ScreenManager::GetCamera().GetBoundingFrame().Contains(worldPos) != ContainmentType::DISJOINT);
if (!IsVisible())
{
const Vector2& screenDimensions = ScreenManager::GetScreenDimensions();
const Vector2& size = GetSize();
if (size.x > screenDimensions.x || size.y > screenDimensions.y)
{
// If we have a really big object just set it's visibility to true for now - improves stability
SetVisible(true);
return;
}
float halfMaxDimensions = max(size.x, size.y) * 0.5f;
if (worldPos.x <= 0)
{
worldPos.x += halfMaxDimensions;
}
else if (worldPos.x >= ScreenManager::GetScreenDimensions().x)
{
worldPos.x -= halfMaxDimensions;
}
if (worldPos.y <= 0)
{
worldPos.y += halfMaxDimensions;
}
else if (worldPos.y >= ScreenManager::GetScreenDimensions().y)
{
worldPos.y -= halfMaxDimensions;
}
SetVisible(ScreenManager::GetCamera().GetBoundingFrame().Contains(worldPos) != ContainmentType::DISJOINT);
}
}
virtual void prepare(CameraInfo const &cam)
{
Vec3 wPos(worldPos());
Vec3 back(wPos);
subFrom(back, cam_->lookAt);
normalize(back);
cam_->back = back;
Vec3 up(0, 0, 1);
Vec3 right;
cross(right, up, back);
normalize(right);
cross(up, back, right);
cam_->mmat_.setRow(0, right);
cam_->mmat_.setRow(1, up);
cam_->mmat_.setRow(2, back);
Vec3 zPos;
cam_->mmat_.setTranslation(zPos);
cam_->mmat_.setRow(3, zPos);
subFrom(zPos, wPos);
multiply(cam_->mmat_, zPos);
cam_->mmat_.setTranslation(zPos);
}
int SceneNode::VRenderChildren( Scene *pScene )
{
for( auto it : m_Children )
{
if( it->VPreRender( pScene ) == S_OK )
{
if( it->VIsVisible( pScene ) )
{
float alpha = it->VGetProperties().GetAlpha( );
if( alpha == fOPAQUE )
{
it->VRender( pScene );
}
else if( alpha != fTRANSPARENT )
{
// The object isn't totally transparent...
AlphaSceneNode *asn = ENG_NEW AlphaSceneNode;
ENG_ASSERT( asn );
asn->m_pNode = it;
asn->m_Concat = pScene->GetTopTransform();
Vec4 worldPos( asn->m_Concat.GetToWorldPosition() );
Mat4x4 fromWorld = pScene->GetCamera( )->VGetProperties().GetFromWorld();
Vec4 screenPos = fromWorld.Xform( worldPos );
asn->m_ScreenZ = screenPos.z;
pScene->AddAlphaSceneNode( asn );
}
it->VRenderChildren( pScene );
}
}
it->VPostRender( pScene );
}
return S_OK;
}
bool Game::onMouseMotion(const SDL_MouseMotionEvent &_event)
{
b2Vec2 worldPos(_event.x, _event.y + m_cameraOffset);
m_lastPos = worldPos;
if(m_grab)
{
if(m_isRotating)
{
if(Entities::Box *box = dynamic_cast<Entities::Box*>(m_grabbed))
{
const float rotAmt = (_event.xrel / float(800)) * M_PI * 2;
b2Body *body = box->body().body();
body->SetTransform(body->GetPosition(), body->GetAngle() + rotAmt);
}
}
else
m_grab->SetTarget(worldToPhysics(worldPos));
}
return false;
}
void MkWindowBaseNode::_StartCursorReport(ePA_SceneNodeEvent evt, const MkInt2& position)
{
// report
MkFloat2 worldPos(static_cast<float>(position.x), static_cast<float>(position.y));
MkFloat2 localPos = worldPos - GetWorldPosition();
MkDataNode arg;
arg.CreateUnit(MkWindowBaseNode::ArgKey_CursorLocalPosition, MkVec2(localPos.x, localPos.y));
arg.CreateUnit(MkWindowBaseNode::ArgKey_CursorWorldPosition, MkVec2(worldPos.x, worldPos.y));
StartNodeReportTypeEvent(evt, &arg);
// call back
if (!m_CallBackTargetWindowPath.Empty())
{
do
{
MkSceneNode* mgrNode = FindNearestDerivedNode(ePA_SNT_WindowManagerNode); // 소속 window mananger
if (mgrNode == NULL)
break;
MkSceneNode* targetNode = mgrNode->GetChildNode(m_CallBackTargetWindowPath); // call back을 호출 할 node
if ((targetNode == NULL) || (!targetNode->IsDerivedFrom(ePA_SNT_WindowBaseNode)))
break;
MkWindowBaseNode* winBase = dynamic_cast<MkWindowBaseNode*>(targetNode);
if (winBase == NULL)
break;
MkArray<MkHashStr> myPath;
GetWindowPath(myPath);
winBase->CallBackOperation(evt, &arg, myPath);
return;
}
while (false);
m_CallBackTargetWindowPath.Clear(); // 부정 경로. 초기화
}
}
void SliderConstraintDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
setCameraDistance(26.f);
// init world
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
m_overlappingPairCache = new btAxisSweep3(worldMin,worldMax);
#if SLIDER_DEMO_USE_ODE_SOLVER
m_constraintSolver = new btOdeQuickstepConstraintSolver();
#else
m_constraintSolver = new btSequentialImpulseConstraintSolver();
#endif
btDiscreteDynamicsWorld* wp = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
// wp->getSolverInfo().m_numIterations = 20; // default is 10
m_dynamicsWorld = wp;
// add floor
//btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-56,0));
btRigidBody* groundBody = localCreateRigidBody(0, groundTransform, groundShape);
// add box shape (will be reused for all bodies)
btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
m_collisionShapes.push_back(shape);
// mass of dymamic bodies
btScalar mass = btScalar(1.);
// add dynamic rigid body A1
btTransform trans;
trans.setIdentity();
btVector3 worldPos(0,0,0);
trans.setOrigin(worldPos);
btRigidBody* pRbA1 = localCreateRigidBody(mass, trans, shape);
pRbA1->setActivationState(DISABLE_DEACTIVATION);
// add dynamic rigid body B1
worldPos.setValue(-10,0,0);
trans.setOrigin(worldPos);
btRigidBody* pRbB1 = localCreateRigidBody(mass, trans, shape);
pRbB1->setActivationState(DISABLE_DEACTIVATION);
// create slider constraint between A1 and B1 and add it to world
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInB = btTransform::getIdentity();
#if SLIDER_DEMO_USE_6DOF
spSlider1 = new btGeneric6DofConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true);
btVector3 lowerSliderLimit = btVector3(-20,0,0);
btVector3 hiSliderLimit = btVector3(-10,0,0);
// btVector3 lowerSliderLimit = btVector3(-20,-5,-5);
// btVector3 hiSliderLimit = btVector3(-10,5,5);
spSlider1->setLinearLowerLimit(lowerSliderLimit);
spSlider1->setLinearUpperLimit(hiSliderLimit);
spSlider1->setAngularLowerLimit(btVector3(0,0,0));
spSlider1->setAngularUpperLimit(btVector3(0,0,0));
#else
spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true);
spSlider1->setLowerLinLimit(-15.0F);
spSlider1->setUpperLinLimit(-5.0F);
// spSlider1->setLowerLinLimit(-10.0F);
// spSlider1->setUpperLinLimit(-10.0F);
spSlider1->setLowerAngLimit(-SIMD_PI / 3.0F);
spSlider1->setUpperAngLimit( SIMD_PI / 3.0F);
#endif
m_dynamicsWorld->addConstraint(spSlider1, true);
// add kinematic rigid body A2
worldPos.setValue(0,2,0);
trans.setOrigin(worldPos);
btRigidBody* pRbA2 = localCreateRigidBody(0, trans, shape);
pRbA2->setActivationState(DISABLE_DEACTIVATION);
// add dynamic rigid body B2
worldPos.setValue(-10,2,0);
trans.setOrigin(worldPos);
btRigidBody* pRbB2 = localCreateRigidBody(mass, trans, shape);
pRbB2->setActivationState(DISABLE_DEACTIVATION);
// create slider constraint between A2 and B2 and add it to world
#if SLIDER_DEMO_USE_6DOF
spSlider2 = new btGeneric6DofConstraint(*pRbA2, *pRbB2, frameInA, frameInB, true);
spSlider2->setLinearLowerLimit(lowerSliderLimit);
spSlider2->setLinearUpperLimit(hiSliderLimit);
spSlider2->setAngularLowerLimit(btVector3(0,0,0));
spSlider2->setAngularUpperLimit(btVector3(0,0,0));
#else
spSlider2 = new btSliderConstraint(*pRbA2, *pRbB2, frameInA, frameInB, true);
spSlider2->setLowerLinLimit(-25.0F);
spSlider2->setUpperLinLimit(-5.0F);
spSlider2->setLowerAngLimit(SIMD_PI / 2.0F);
spSlider2->setUpperAngLimit(-SIMD_PI / 2.0F);
// add motors
spSlider2->setPoweredLinMotor(true);
spSlider2->setMaxLinMotorForce(0.1);
spSlider2->setTargetLinMotorVelocity(5.0);
spSlider2->setPoweredAngMotor(true);
// spSlider2->setMaxAngMotorForce(0.01);
spSlider2->setMaxAngMotorForce(10.0);
spSlider2->setTargetAngMotorVelocity(1.0);
// change default damping and restitution
spSlider2->setDampingDirLin(0.005F);
spSlider2->setRestitutionLimLin(1.1F);
// various ODE tests
// spSlider2->setDampingLimLin(0.1F); // linear bounce factor for ODE == 1.0 - DampingLimLin;
// spSlider2->setDampingLimAng(0.1F); // angular bounce factor for ODE == 1.0 - DampingLimAng;
// spSlider2->setSoftnessOrthoAng(0.1);
// spSlider2->setSoftnessOrthoLin(0.1);
// spSlider2->setSoftnessLimLin(0.1);
// spSlider2->setSoftnessLimAng(0.1);
#endif
m_dynamicsWorld->addConstraint(spSlider2, true);
} // SliderConstraintDemo::initPhysics()
void AllConstraintDemo::initPhysics()
{
m_guiHelper->setUpAxis(1);
m_Time = 0;
setupEmptyDynamicsWorld();
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
//btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(40.),btScalar(50.)));
btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),40);
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-56,0));
btRigidBody* groundBody;
groundBody= createRigidBody(0, groundTransform, groundShape);
btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
m_collisionShapes.push_back(shape);
btTransform trans;
trans.setIdentity();
trans.setOrigin(btVector3(0,20,0));
float mass = 1.f;
#if ENABLE_ALL_DEMOS
///gear constraint demo
#define THETA SIMD_PI/4.f
#define L_1 (2 - tan(THETA))
#define L_2 (1 / cos(THETA))
#define RATIO L_2 / L_1
btRigidBody* bodyA=0;
btRigidBody* bodyB=0;
{
btCollisionShape* cylA = new btCylinderShape(btVector3(0.2,0.25,0.2));
btCollisionShape* cylB = new btCylinderShape(btVector3(L_1,0.025,L_1));
btCompoundShape* cyl0 = new btCompoundShape();
cyl0->addChildShape(btTransform::getIdentity(),cylA);
cyl0->addChildShape(btTransform::getIdentity(),cylB);
btScalar mass = 6.28;
btVector3 localInertia;
cyl0->calculateLocalInertia(mass,localInertia);
btRigidBody::btRigidBodyConstructionInfo ci(mass,0,cyl0,localInertia);
ci.m_startWorldTransform.setOrigin(btVector3(-8,1,-8));
btRigidBody* body = new btRigidBody(ci);//1,0,cyl0,localInertia);
m_dynamicsWorld->addRigidBody(body);
body->setLinearFactor(btVector3(0,0,0));
body->setAngularFactor(btVector3(0,1,0));
bodyA = body;
}
{
btCollisionShape* cylA = new btCylinderShape(btVector3(0.2,0.26,0.2));
btCollisionShape* cylB = new btCylinderShape(btVector3(L_2,0.025,L_2));
btCompoundShape* cyl0 = new btCompoundShape();
cyl0->addChildShape(btTransform::getIdentity(),cylA);
cyl0->addChildShape(btTransform::getIdentity(),cylB);
btScalar mass = 6.28;
btVector3 localInertia;
cyl0->calculateLocalInertia(mass,localInertia);
btRigidBody::btRigidBodyConstructionInfo ci(mass,0,cyl0,localInertia);
ci.m_startWorldTransform.setOrigin(btVector3(-10,2,-8));
btQuaternion orn(btVector3(0,0,1),-THETA);
ci.m_startWorldTransform.setRotation(orn);
btRigidBody* body = new btRigidBody(ci);//1,0,cyl0,localInertia);
body->setLinearFactor(btVector3(0,0,0));
btHingeConstraint* hinge = new btHingeConstraint(*body,btVector3(0,0,0),btVector3(0,1,0),true);
m_dynamicsWorld->addConstraint(hinge);
bodyB= body;
body->setAngularVelocity(btVector3(0,3,0));
m_dynamicsWorld->addRigidBody(body);
}
btVector3 axisA(0,1,0);
btVector3 axisB(0,1,0);
btQuaternion orn(btVector3(0,0,1),-THETA);
btMatrix3x3 mat(orn);
axisB = mat.getRow(1);
btGearConstraint* gear = new btGearConstraint(*bodyA,*bodyB, axisA,axisB,RATIO);
m_dynamicsWorld->addConstraint(gear,true);
#endif
#if ENABLE_ALL_DEMOS
//point to point constraint with a breaking threshold
{
trans.setIdentity();
trans.setOrigin(btVector3(1,30,-5));
createRigidBody( mass,trans,shape);
trans.setOrigin(btVector3(0,0,-5));
btRigidBody* body0 = createRigidBody( mass,trans,shape);
trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
mass = 1.f;
// btRigidBody* body1 = 0;//createRigidBody( mass,trans,shape);
btVector3 pivotInA(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,0);
btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,pivotInA);
m_dynamicsWorld->addConstraint(p2p);
p2p ->setBreakingImpulseThreshold(10.2);
p2p->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
//point to point constraint (ball socket)
{
btRigidBody* body0 = createRigidBody( mass,trans,shape);
trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
mass = 1.f;
// btRigidBody* body1 = 0;//createRigidBody( mass,trans,shape);
// btRigidBody* body1 = createRigidBody( 0.0,trans,0);
//body1->setActivationState(DISABLE_DEACTIVATION);
//body1->setDamping(0.3,0.3);
btVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS);
btVector3 axisInA(0,0,1);
// btVector3 pivotInB = body1 ? body1->getCenterOfMassTransform().inverse()(body0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
// btVector3 axisInB = body1?
// (body1->getCenterOfMassTransform().getBasis().inverse()*(body1->getCenterOfMassTransform().getBasis() * axisInA)) :
body0->getCenterOfMassTransform().getBasis() * axisInA;
#define P2P
#ifdef P2P
btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,pivotInA);
//btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,*body1,pivotInA,pivotInB);
//btTypedConstraint* hinge = new btHingeConstraint(*body0,*body1,pivotInA,pivotInB,axisInA,axisInB);
m_dynamicsWorld->addConstraint(p2p);
p2p->setDbgDrawSize(btScalar(5.f));
#else
btHingeConstraint* hinge = new btHingeConstraint(*body0,pivotInA,axisInA);
//use zero targetVelocity and a small maxMotorImpulse to simulate joint friction
//float targetVelocity = 0.f;
//float maxMotorImpulse = 0.01;
float targetVelocity = 1.f;
float maxMotorImpulse = 1.0f;
hinge->enableAngularMotor(true,targetVelocity,maxMotorImpulse);
m_dynamicsWorld->addConstraint(hinge);
hinge->setDbgDrawSize(btScalar(5.f));
#endif //P2P
}
#endif
#if ENABLE_ALL_DEMOS
{
btTransform trans;
trans.setIdentity();
btVector3 worldPos(-20,0,30);
trans.setOrigin(worldPos);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInB = btTransform::getIdentity();
btRigidBody* pRbA1 = createRigidBody(mass, trans, shape);
// btRigidBody* pRbA1 = createRigidBody(0.f, trans, shape);
pRbA1->setActivationState(DISABLE_DEACTIVATION);
// add dynamic rigid body B1
worldPos.setValue(-30,0,30);
trans.setOrigin(worldPos);
btRigidBody* pRbB1 = createRigidBody(mass, trans, shape);
// btRigidBody* pRbB1 = createRigidBody(0.f, trans, shape);
pRbB1->setActivationState(DISABLE_DEACTIVATION);
// create slider constraint between A1 and B1 and add it to world
btSliderConstraint* spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true);
// spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, false);
spSlider1->setLowerLinLimit(-15.0F);
spSlider1->setUpperLinLimit(-5.0F);
// spSlider1->setLowerLinLimit(5.0F);
// spSlider1->setUpperLinLimit(15.0F);
// spSlider1->setLowerLinLimit(-10.0F);
// spSlider1->setUpperLinLimit(-10.0F);
spSlider1->setLowerAngLimit(-SIMD_PI / 3.0F);
spSlider1->setUpperAngLimit( SIMD_PI / 3.0F);
m_dynamicsWorld->addConstraint(spSlider1, true);
spSlider1->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
//create a slider, using the generic D6 constraint
{
mass = 1.f;
btVector3 sliderWorldPos(0,10,0);
btVector3 sliderAxis(1,0,0);
btScalar angle=0.f;//SIMD_RADS_PER_DEG * 10.f;
btMatrix3x3 sliderOrientation(btQuaternion(sliderAxis ,angle));
trans.setIdentity();
trans.setOrigin(sliderWorldPos);
//trans.setBasis(sliderOrientation);
sliderTransform = trans;
d6body0 = createRigidBody( mass,trans,shape);
d6body0->setActivationState(DISABLE_DEACTIVATION);
btRigidBody* fixedBody1 = createRigidBody(0,trans,0);
m_dynamicsWorld->addRigidBody(fixedBody1);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInB = btTransform::getIdentity();
frameInA.setOrigin(btVector3(0., 5., 0.));
frameInB.setOrigin(btVector3(0., 5., 0.));
// bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits
bool useLinearReferenceFrameA = true;//use fixed frame A for linear llimits
spSlider6Dof = new btGeneric6DofConstraint(*fixedBody1, *d6body0,frameInA,frameInB,useLinearReferenceFrameA);
spSlider6Dof->setLinearLowerLimit(lowerSliderLimit);
spSlider6Dof->setLinearUpperLimit(hiSliderLimit);
//range should be small, otherwise singularities will 'explode' the constraint
// spSlider6Dof->setAngularLowerLimit(btVector3(-1.5,0,0));
// spSlider6Dof->setAngularUpperLimit(btVector3(1.5,0,0));
// spSlider6Dof->setAngularLowerLimit(btVector3(0,0,0));
// spSlider6Dof->setAngularUpperLimit(btVector3(0,0,0));
spSlider6Dof->setAngularLowerLimit(btVector3(-SIMD_PI,0,0));
spSlider6Dof->setAngularUpperLimit(btVector3(1.5,0,0));
spSlider6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true;
spSlider6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = -5.0f;
spSlider6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 6.0f;
m_dynamicsWorld->addConstraint(spSlider6Dof);
spSlider6Dof->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
{ // create a door using hinge constraint attached to the world
btCollisionShape* pDoorShape = new btBoxShape(btVector3(2.0f, 5.0f, 0.2f));
m_collisionShapes.push_back(pDoorShape);
btTransform doorTrans;
doorTrans.setIdentity();
doorTrans.setOrigin(btVector3(-5.0f, -2.0f, 0.0f));
btRigidBody* pDoorBody = createRigidBody( 1.0, doorTrans, pDoorShape);
pDoorBody->setActivationState(DISABLE_DEACTIVATION);
const btVector3 btPivotA(10.f + 2.1f, -2.0f, 0.0f ); // right next to the door slightly outside
btVector3 btAxisA( 0.0f, 1.0f, 0.0f ); // pointing upwards, aka Y-axis
spDoorHinge = new btHingeConstraint( *pDoorBody, btPivotA, btAxisA );
// spDoorHinge->setLimit( 0.0f, SIMD_PI_2 );
// test problem values
// spDoorHinge->setLimit( -SIMD_PI, SIMD_PI*0.8f);
// spDoorHinge->setLimit( 1.f, -1.f);
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI);
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.3f, 0.0f);
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.01f, 0.0f); // "sticky limits"
spDoorHinge->setLimit( -SIMD_PI * 0.25f, SIMD_PI * 0.25f );
// spDoorHinge->setLimit( 0.0f, 0.0f );
m_dynamicsWorld->addConstraint(spDoorHinge);
spDoorHinge->setDbgDrawSize(btScalar(5.f));
//doorTrans.setOrigin(btVector3(-5.0f, 2.0f, 0.0f));
//btRigidBody* pDropBody = createRigidBody( 10.0, doorTrans, shape);
}
#endif
#if ENABLE_ALL_DEMOS
{ // create a generic 6DOF constraint
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(10.), btScalar(6.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
// btRigidBody* pBodyA = createRigidBody( mass, tr, shape);
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
// btRigidBody* pBodyA = createRigidBody( 0.0, tr, 0);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(0.), btScalar(6.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyB = createRigidBody(mass, tr, shape);
// btRigidBody* pBodyB = createRigidBody(0.f, tr, shape);
pBodyB->setActivationState(DISABLE_DEACTIVATION);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInA.setOrigin(btVector3(btScalar(-5.), btScalar(0.), btScalar(0.)));
frameInB = btTransform::getIdentity();
frameInB.setOrigin(btVector3(btScalar(5.), btScalar(0.), btScalar(0.)));
btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true);
// btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false);
pGen6DOF->setLinearLowerLimit(btVector3(-10., -2., -1.));
pGen6DOF->setLinearUpperLimit(btVector3(10., 2., 1.));
// pGen6DOF->setLinearLowerLimit(btVector3(-10., 0., 0.));
// pGen6DOF->setLinearUpperLimit(btVector3(10., 0., 0.));
// pGen6DOF->setLinearLowerLimit(btVector3(0., 0., 0.));
// pGen6DOF->setLinearUpperLimit(btVector3(0., 0., 0.));
// pGen6DOF->getTranslationalLimitMotor()->m_enableMotor[0] = true;
// pGen6DOF->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f;
// pGen6DOF->getTranslationalLimitMotor()->m_maxMotorForce[0] = 6.0f;
// pGen6DOF->setAngularLowerLimit(btVector3(0., SIMD_HALF_PI*0.9, 0.));
// pGen6DOF->setAngularUpperLimit(btVector3(0., -SIMD_HALF_PI*0.9, 0.));
// pGen6DOF->setAngularLowerLimit(btVector3(0., 0., -SIMD_HALF_PI));
// pGen6DOF->setAngularUpperLimit(btVector3(0., 0., SIMD_HALF_PI));
pGen6DOF->setAngularLowerLimit(btVector3(-SIMD_HALF_PI * 0.5f, -0.75, -SIMD_HALF_PI * 0.8f));
pGen6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI * 0.5f, 0.75, SIMD_HALF_PI * 0.8f));
// pGen6DOF->setAngularLowerLimit(btVector3(0.f, -0.75, SIMD_HALF_PI * 0.8f));
// pGen6DOF->setAngularUpperLimit(btVector3(0.f, 0.75, -SIMD_HALF_PI * 0.8f));
// pGen6DOF->setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI * 0.8f, SIMD_HALF_PI * 1.98f));
// pGen6DOF->setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI * 0.8f, -SIMD_HALF_PI * 1.98f));
// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,-0.5, -0.5));
// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0.5, 0.5));
// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,0., 0.));
// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0., 0.));
// pGen6DOF->setAngularLowerLimit(btVector3(0., -0.7,0.));
// pGen6DOF->setAngularUpperLimit(btVector3(0., 0.7, 0.));
// pGen6DOF->setAngularLowerLimit(btVector3(-1., 0.,0.));
// pGen6DOF->setAngularUpperLimit(btVector3(1., 0., 0.));
m_dynamicsWorld->addConstraint(pGen6DOF, true);
pGen6DOF->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
{ // create a ConeTwist constraint
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-10.), btScalar(5.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyA = createRigidBody( 1.0, tr, shape);
// btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-10.), btScalar(-5.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyB = createRigidBody(0.0, tr, shape);
// btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInA.getBasis().setEulerZYX(0, 0, SIMD_PI_2);
frameInA.setOrigin(btVector3(btScalar(0.), btScalar(-5.), btScalar(0.)));
frameInB = btTransform::getIdentity();
frameInB.getBasis().setEulerZYX(0,0, SIMD_PI_2);
frameInB.setOrigin(btVector3(btScalar(0.), btScalar(5.), btScalar(0.)));
m_ctc = new btConeTwistConstraint(*pBodyA, *pBodyB, frameInA, frameInB);
// m_ctc->setLimit(btScalar(SIMD_PI_4), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f);
// m_ctc->setLimit(btScalar(SIMD_PI_4*0.6f), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f, 1.0f); // soft limit == hard limit
m_ctc->setLimit(btScalar(SIMD_PI_4*0.6f), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f, 0.5f);
m_dynamicsWorld->addConstraint(m_ctc, true);
m_ctc->setDbgDrawSize(btScalar(5.f));
// s_bTestConeTwistMotor = true; // use only with old solver for now
s_bTestConeTwistMotor = false;
}
#endif
#if ENABLE_ALL_DEMOS
{ // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
btRigidBody* pBody = createRigidBody( 1.0, tr, shape);
pBody->setActivationState(DISABLE_DEACTIVATION);
const btVector3 btPivotA( 10.0f, 0.0f, 0.0f );
btVector3 btAxisA( 0.0f, 0.0f, 1.0f );
btHingeConstraint* pHinge = new btHingeConstraint( *pBody, btPivotA, btAxisA );
// pHinge->enableAngularMotor(true, -1.0, 0.165); // use for the old solver
pHinge->enableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver
m_dynamicsWorld->addConstraint(pHinge);
pHinge->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
{
// create a universal joint using generic 6DOF constraint
// create two rigid bodies
// static bodyA (parent) on top:
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(20.), btScalar(4.), btScalar(0.)));
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
// dynamic bodyB (child) below it :
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(20.), btScalar(0.), btScalar(0.)));
btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
pBodyB->setActivationState(DISABLE_DEACTIVATION);
// add some (arbitrary) data to build constraint frames
btVector3 parentAxis(1.f, 0.f, 0.f);
btVector3 childAxis(0.f, 0.f, 1.f);
btVector3 anchor(20.f, 2.f, 0.f);
btUniversalConstraint* pUniv = new btUniversalConstraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis);
pUniv->setLowerLimit(-SIMD_HALF_PI * 0.5f, -SIMD_HALF_PI * 0.5f);
pUniv->setUpperLimit(SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld->addConstraint(pUniv, true);
// draw constraint frames and limits for debugging
pUniv->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
{ // create a generic 6DOF constraint with springs
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-20.), btScalar(16.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-10.), btScalar(16.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
pBodyB->setActivationState(DISABLE_DEACTIVATION);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInA.setOrigin(btVector3(btScalar(10.), btScalar(0.), btScalar(0.)));
frameInB = btTransform::getIdentity();
frameInB.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
btGeneric6DofSpringConstraint* pGen6DOFSpring = new btGeneric6DofSpringConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true);
pGen6DOFSpring->setLinearUpperLimit(btVector3(5., 0., 0.));
pGen6DOFSpring->setLinearLowerLimit(btVector3(-5., 0., 0.));
pGen6DOFSpring->setAngularLowerLimit(btVector3(0.f, 0.f, -1.5f));
pGen6DOFSpring->setAngularUpperLimit(btVector3(0.f, 0.f, 1.5f));
m_dynamicsWorld->addConstraint(pGen6DOFSpring, true);
pGen6DOFSpring->setDbgDrawSize(btScalar(5.f));
pGen6DOFSpring->enableSpring(0, true);
pGen6DOFSpring->setStiffness(0, 39.478f);
pGen6DOFSpring->setDamping(0, 0.5f);
pGen6DOFSpring->enableSpring(5, true);
pGen6DOFSpring->setStiffness(5, 39.478f);
pGen6DOFSpring->setDamping(0, 0.3f);
pGen6DOFSpring->setEquilibriumPoint();
}
#endif
#if ENABLE_ALL_DEMOS
{
// create a Hinge2 joint
// create two rigid bodies
// static bodyA (parent) on top:
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-20.), btScalar(4.), btScalar(0.)));
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
// dynamic bodyB (child) below it :
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-20.), btScalar(0.), btScalar(0.)));
btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
pBodyB->setActivationState(DISABLE_DEACTIVATION);
// add some data to build constraint frames
btVector3 parentAxis(0.f, 1.f, 0.f);
btVector3 childAxis(1.f, 0.f, 0.f);
btVector3 anchor(-20.f, 0.f, 0.f);
btHinge2Constraint* pHinge2 = new btHinge2Constraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis);
pHinge2->setLowerLimit(-SIMD_HALF_PI * 0.5f);
pHinge2->setUpperLimit( SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld->addConstraint(pHinge2, true);
// draw constraint frames and limits for debugging
pHinge2->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
{
// create a Hinge joint between two dynamic bodies
// create two rigid bodies
// static bodyA (parent) on top:
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-20.), btScalar(-2.), btScalar(0.)));
btRigidBody* pBodyA = createRigidBody( 1.0f, tr, shape);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
// dynamic bodyB:
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-30.), btScalar(-2.), btScalar(0.)));
btRigidBody* pBodyB = createRigidBody(10.0, tr, shape);
pBodyB->setActivationState(DISABLE_DEACTIVATION);
// add some data to build constraint frames
btVector3 axisA(0.f, 1.f, 0.f);
btVector3 axisB(0.f, 1.f, 0.f);
btVector3 pivotA(-5.f, 0.f, 0.f);
btVector3 pivotB( 5.f, 0.f, 0.f);
spHingeDynAB = new btHingeConstraint(*pBodyA, *pBodyB, pivotA, pivotB, axisA, axisB);
spHingeDynAB->setLimit(-SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld->addConstraint(spHingeDynAB, true);
// draw constraint frames and limits for debugging
spHingeDynAB->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
{ // 6DOF connected to the world, with motor
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(10.), btScalar(-15.), btScalar(0.)));
btRigidBody* pBody = createRigidBody( 1.0, tr, shape);
pBody->setActivationState(DISABLE_DEACTIVATION);
btTransform frameB;
frameB.setIdentity();
btGeneric6DofConstraint* pGen6Dof = new btGeneric6DofConstraint( *pBody, frameB, false );
m_dynamicsWorld->addConstraint(pGen6Dof);
pGen6Dof->setDbgDrawSize(btScalar(5.f));
pGen6Dof->setAngularLowerLimit(btVector3(0,0,0));
pGen6Dof->setAngularUpperLimit(btVector3(0,0,0));
pGen6Dof->setLinearLowerLimit(btVector3(-10., 0, 0));
pGen6Dof->setLinearUpperLimit(btVector3(10., 0, 0));
pGen6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true;
pGen6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f;
pGen6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 6.0f;
}
#endif
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}
Plane PhysPlane::plane() const
{
return Plane(normal(), worldPos());
}
void SliderConstraintDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
setCameraDistance(26.f);
// init world
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
m_overlappingPairCache = new btAxisSweep3(worldMin,worldMax);
#if SLIDER_DEMO_USE_ODE_SOLVER
m_constraintSolver = new btOdeQuickstepConstraintSolver();
#else
m_constraintSolver = new btSequentialImpulseConstraintSolver();
#endif
btDiscreteDynamicsWorld* wp = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
// wp->getSolverInfo().m_numIterations = 20; // default is 10
m_dynamicsWorld = wp;
// wp->getSolverInfo().m_erp = 0.8;
// add floor
//btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-76,0));
btRigidBody* groundBody;
groundBody = localCreateRigidBody(0, groundTransform, groundShape);
// add box shape (will be reused for all bodies)
btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
m_collisionShapes.push_back(shape);
// mass of dymamic bodies
btScalar mass = btScalar(1.);
// add dynamic rigid body A1
btTransform trans;
trans.setIdentity();
btVector3 worldPos(-20,0,0);
trans.setOrigin(worldPos);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInB = btTransform::getIdentity();
#if SLIDER_ENABLE_ALL_DEMOS
btRigidBody* pRbA1 = localCreateRigidBody(mass, trans, shape);
// btRigidBody* pRbA1 = localCreateRigidBody(0.f, trans, shape);
pRbA1->setActivationState(DISABLE_DEACTIVATION);
// add dynamic rigid body B1
worldPos.setValue(-30,0,0);
trans.setOrigin(worldPos);
btRigidBody* pRbB1 = localCreateRigidBody(mass, trans, shape);
// btRigidBody* pRbB1 = localCreateRigidBody(0.f, trans, shape);
pRbB1->setActivationState(DISABLE_DEACTIVATION);
// create slider constraint between A1 and B1 and add it to world
#if SLIDER_DEMO_USE_6DOF
spSlider1 = new btGeneric6DofConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true);
btVector3 lowerSliderLimit = btVector3(-20,0,0);
btVector3 hiSliderLimit = btVector3(-10,0,0);
// btVector3 lowerSliderLimit = btVector3(-20,-5,-5);
// btVector3 hiSliderLimit = btVector3(-10,5,5);
spSlider1->setLinearLowerLimit(lowerSliderLimit);
spSlider1->setLinearUpperLimit(hiSliderLimit);
spSlider1->setAngularLowerLimit(btVector3(0,0,0));
spSlider1->setAngularUpperLimit(btVector3(0,0,0));
#else
spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true);
// spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, false);
spSlider1->setLowerLinLimit(-15.0F);
spSlider1->setUpperLinLimit(-5.0F);
// spSlider1->setLowerLinLimit(5.0F);
// spSlider1->setUpperLinLimit(15.0F);
// spSlider1->setLowerLinLimit(-10.0F);
// spSlider1->setUpperLinLimit(-10.0F);
spSlider1->setLowerAngLimit(-SIMD_PI / 3.0F);
spSlider1->setUpperAngLimit( SIMD_PI / 3.0F);
#endif
m_dynamicsWorld->addConstraint(spSlider1, true);
spSlider1->setDbgDrawSize(btScalar(5.f));
#endif
#if SLIDER_ENABLE_ALL_DEMOS
// add kinematic rigid body A2
// worldPos.setValue(20,4,0);
worldPos.setValue(5,-20,0);
trans.setOrigin(worldPos);
btRigidBody* pRbA2 = localCreateRigidBody(0., trans, shape);
// btRigidBody* pRbA2 = localCreateRigidBody(mass, trans, shape);
// btRigidBody* pRbA2 = localCreateRigidBody(mass * 10000, trans, shape);
pRbA2->setActivationState(DISABLE_DEACTIVATION);
// add dynamic rigid body B2
// worldPos.setValue(-20,4,0);
worldPos.setValue(-5,-20,0);
trans.setOrigin(worldPos);
// btRigidBody* pRbB2 = localCreateRigidBody(0., trans, shape);
btRigidBody* pRbB2 = localCreateRigidBody(mass, trans, shape);
// btRigidBody* pRbB2 = localCreateRigidBody(mass * 10000, trans, shape);
pRbB2->setActivationState(DISABLE_DEACTIVATION);
// frameInA.getBasis().setEulerZYX(1.f, 1.f, 1.f);
// frameInB.getBasis().setEulerZYX(1.f, 1.f, 1.f);
// frameInA.getBasis().setEulerZYX(1.f, 1.f, 1.f);
// frameInB.getBasis().setEulerZYX(1.f, 1.f, 1.f);
// frameInA.setOrigin(btVector3(-20., 5., 0));
// frameInB.setOrigin(btVector3( 20., 5., 0));
frameInA.setOrigin(btVector3(-5., 20., 0));
frameInB.setOrigin(btVector3( 5., 20., 0));
// create slider constraint between A2 and B2 and add it to world
#if SLIDER_DEMO_USE_6DOF
spSlider2 = new btGeneric6DofConstraint(*pRbA2, *pRbB2, frameInA, frameInB, true);
spSlider2->setLinearLowerLimit(lowerSliderLimit);
spSlider2->setLinearUpperLimit(hiSliderLimit);
spSlider2->setAngularLowerLimit(btVector3(0,0,0));
spSlider2->setAngularUpperLimit(btVector3(0,0,0));
#else
spSlider2 = new btSliderConstraint(*pRbA2, *pRbB2, frameInA, frameInB, true);
// spSlider2 = new btSliderConstraint(*pRbA2, *pRbB2, frameInA, frameInB, false);
// spSlider2->setLowerLinLimit(0.0F);
// spSlider2->setUpperLinLimit(0.0F);
spSlider2->setLowerLinLimit(-2.0F);
spSlider2->setUpperLinLimit(2.0F);
// spSlider2->setLowerLinLimit(5.0F);
// spSlider2->setUpperLinLimit(25.0F);
// spSlider2->setUpperLinLimit(-5.0F);
// spSlider2->setUpperLinLimit(-9.99F);
// spSlider2->setLowerAngLimit(SIMD_PI / 2.0F);
// spSlider2->setUpperAngLimit(-SIMD_PI / 2.0F);
// spSlider2->setLowerAngLimit(-SIMD_PI / 2.0F);
// spSlider2->setUpperAngLimit(SIMD_PI / 2.0F);
// spSlider2->setLowerAngLimit(-SIMD_PI);
// spSlider2->setUpperAngLimit(SIMD_PI *0.8F);
// spSlider2->setLowerAngLimit(-0.01F);
// spSlider2->setUpperAngLimit(0.01F);
spSlider2->setLowerAngLimit(-1.570796326F * 0.5f);
spSlider2->setUpperAngLimit(1.570796326F * 0.5f);
// spSlider2->setLowerAngLimit(1.F);
// spSlider2->setUpperAngLimit(-1.F);
// spSlider2->setDampingLimLin(0.5f);
#if 0
// add motors
spSlider2->setPoweredLinMotor(true);
spSlider2->setMaxLinMotorForce(0.1);
spSlider2->setTargetLinMotorVelocity(-5.0);
spSlider2->setPoweredAngMotor(true);
// spSlider2->setMaxAngMotorForce(0.01);
spSlider2->setMaxAngMotorForce(10.0);
spSlider2->setTargetAngMotorVelocity(1.0);
// change default damping and restitution
spSlider2->setDampingDirLin(0.005F);
spSlider2->setRestitutionLimLin(1.1F);
#endif
// various ODE tests
// spSlider2->setDampingLimLin(0.1F); // linear bounce factor for ODE == 1.0 - DampingLimLin;
// spSlider2->setDampingLimAng(0.1F); // angular bounce factor for ODE == 1.0 - DampingLimAng;
// spSlider2->setSoftnessOrthoAng(0.1);
// spSlider2->setSoftnessOrthoLin(0.1);
// spSlider2->setSoftnessLimLin(0.1);
// spSlider2->setSoftnessLimAng(0.1);
#endif
m_dynamicsWorld->addConstraint(spSlider2, true);
spSlider2->setDbgDrawSize(btScalar(5.f));
#endif
#if SLIDER_ENABLE_ALL_DEMOS
{
// add dynamic rigid body A1
trans.setIdentity();
worldPos.setValue(20,0,0);
trans.setOrigin(worldPos);
btRigidBody* pRbA3 = localCreateRigidBody(0.0F, trans, shape);
pRbA3->setActivationState(DISABLE_DEACTIVATION);
// add dynamic rigid body B1
worldPos.setValue(25,0,0);
trans.setOrigin(worldPos);
btRigidBody* pRbB3 = localCreateRigidBody(mass, trans, shape);
pRbB3->setActivationState(DISABLE_DEACTIVATION);
btVector3 pivA( 2.5, 0., 0.);
btVector3 pivB(-2.5, 0., 0.);
spP2PConst = new btPoint2PointConstraint(*pRbA3, *pRbB3, pivA, pivB);
m_dynamicsWorld->addConstraint(spP2PConst, true);
spP2PConst->setDbgDrawSize(btScalar(5.f));
}
#endif
#if 0 // SLIDER_ENABLE_ALL_DEMOS
// add dynamic rigid body A4
trans.setIdentity();
worldPos.setValue(20,10,0);
trans.setOrigin(worldPos);
btRigidBody* pRbA4 = localCreateRigidBody(0.0F, trans, shape);
pRbA4->setActivationState(DISABLE_DEACTIVATION);
// add dynamic rigid body B1
worldPos.setValue(27,10,0);
trans.setOrigin(worldPos);
btRigidBody* pRbB4 = localCreateRigidBody(mass, trans, shape);
pRbB1->setActivationState(DISABLE_DEACTIVATION);
btVector3 pivA( 2., 0., 0.);
btVector3 pivB(-5., 0., 0.);
btVector3 axisA(0., 0., 1.);
btVector3 axisB(0., 0., 1.);
spHingeConst = new btHingeConstraint(*pRbA4, *pRbB4, pivA, pivB, axisA, axisB);
// spHingeConst->setLimit(-1.57, 1.57);
spHingeConst->setLimit(1.57, -1.57);
spHingeConst->enableAngularMotor(true, 10.0, 0.19);
m_dynamicsWorld->addConstraint(spHingeConst, true);
spHingeConst->setDbgDrawSize(btScalar(5.f));
#endif
} // SliderConstraintDemo::initPhysics()
//------------------------------------------------------------------------
void CVehicleMovementStdBoat::UpdateSurfaceEffects(const float deltaTime)
{
FUNCTION_PROFILER( GetISystem(), PROFILE_GAME );
if (0 == g_pGameCVars->v_pa_surface)
{
ResetParticles();
return;
}
IEntity* pEntity = m_pVehicle->GetEntity();
const Matrix34& worldTM = pEntity->GetWorldTM();
float distSq = worldTM.GetTranslation().GetSquaredDistance(gEnv->pRenderer->GetCamera().GetPosition());
if (distSq > sqr(300.f) || (distSq > sqr(50.f) && !m_pVehicle->GetGameObject()->IsProbablyVisible()))
return;
Matrix34 worldTMInv = worldTM.GetInverted();
const SVehicleStatus& status = m_pVehicle->GetStatus();
float velDot = status.vel * worldTM.GetColumn1();
float powerNorm = min(abs(m_movementAction.power), 1.f);
SEnvironmentParticles* envParams = m_pPaParams->GetEnvironmentParticles();
SEnvParticleStatus::TEnvEmitters::iterator end = m_paStats.envStats.emitters.end();
for (SEnvParticleStatus::TEnvEmitters::iterator emitterIt = m_paStats.envStats.emitters.begin(); emitterIt!=end; ++emitterIt)
{
if (emitterIt->layer < 0)
{
assert(0);
continue;
}
const SEnvironmentLayer& layer = envParams->GetLayer(emitterIt->layer);
SEntitySlotInfo info;
info.pParticleEmitter = 0;
pEntity->GetSlotInfo(emitterIt->slot, info);
float countScale = 1.f;
float sizeScale = 1.f;
float speedScale = 1.f;
float speed = 0.f;
// check if helper position is beneath water level
Vec3 emitterWorldPos = worldTM * emitterIt->quatT.t;
float waterLevel = gEnv->p3DEngine->GetWaterLevel(&emitterWorldPos);
int matId = 0;
if (emitterWorldPos.z <= waterLevel+0.1f && m_physStatus[k_mainThread].submergedFraction<0.999f)
{
matId = gEnv->pPhysicalWorld->GetWaterMat();
speed = status.speed;
bool spray = !strcmp(layer.GetName(), "spray");
if (spray)
{
// slip based
speed -= abs(velDot);
}
GetParticleScale(layer, speed, powerNorm, countScale, sizeScale, speedScale);
}
else
{
countScale = 0.f;
}
if (matId && matId != emitterIt->matId)
{
// change effect
IParticleEffect* pEff = 0;
const char* effect = GetEffectByIndex( matId, layer.GetName() );
if (effect && (pEff = gEnv->pParticleManager->FindEffect(effect)))
{
#if ENABLE_VEHICLE_DEBUG
if (DebugParticles())
CryLog("%s changes water sfx to %s (slot %i)", pEntity->GetName(), effect, emitterIt->slot);
#endif
if (info.pParticleEmitter)
{
info.pParticleEmitter->Activate(false);
pEntity->FreeSlot(emitterIt->slot);
}
emitterIt->slot = pEntity->LoadParticleEmitter(emitterIt->slot, pEff);
if (emitterIt->slot != -1)
pEntity->SetSlotLocalTM(emitterIt->slot, Matrix34(emitterIt->quatT));
info.pParticleEmitter = 0;
pEntity->GetSlotInfo(emitterIt->slot, info);
}
else
countScale = 0.f;
}
if (matId)
emitterIt->matId = matId;
if (info.pParticleEmitter)
{
SpawnParams sp;
sp.fSizeScale = sizeScale;
sp.fCountScale = countScale;
sp.fSpeedScale = speedScale;
info.pParticleEmitter->SetSpawnParams(sp);
if (layer.alignToWater && countScale > 0.f)
{
Vec3 worldPos(emitterWorldPos.x, emitterWorldPos.y, waterLevel+0.05f);
Matrix34 localTM(emitterIt->quatT);
localTM.SetTranslation(worldTMInv * worldPos);
pEntity->SetSlotLocalTM(emitterIt->slot, localTM);
}
}
#if ENABLE_VEHICLE_DEBUG
if (DebugParticles() && m_pVehicle->IsPlayerDriving())
{
float color[] = {1,1,1,1};
ColorB red(255,0,0,255);
IRenderAuxGeom* pAuxGeom = gEnv->pRenderer->GetIRenderAuxGeom();
const char* effect = info.pParticleEmitter ? info.pParticleEmitter->GetName() : "";
const Matrix34& slotTM = m_pEntity->GetSlotWorldTM(emitterIt->slot);
Vec3 ppos = slotTM.GetTranslation();
pAuxGeom->DrawSphere(ppos, 0.2f, red);
pAuxGeom->DrawCone(ppos, slotTM.GetColumn1(), 0.1f, 0.5f, red);
gEnv->pRenderer->Draw2dLabel(50.f, (float)(400+10*emitterIt->slot), 1.2f, color, false, "<%s> water fx: slot %i [%s], speed %.1f, sizeScale %.2f, countScale %.2f (pos %.0f,%0.f,%0.f)", pEntity->GetName(), emitterIt->slot, effect, speed, sizeScale, countScale, ppos.x, ppos.y, ppos.z);
}
#endif
}
// generate water splashes
Vec3 wakePos;
if(m_pSplashPos)
{
wakePos = m_pSplashPos->GetWorldSpaceTranslation();
}
else
{
wakePos = worldTM.GetTranslation();
}
float wakeWaterLevel = gEnv->p3DEngine->GetWaterLevel(&wakePos);
const Vec3& localW = m_localSpeed;
if (localW.x >= 0.f)
m_diving = false;
if (!m_diving && localW.x < -0.03f && status.speed > 10.f && wakePos.z < m_lastWakePos.z && wakeWaterLevel+0.1f >= wakePos.z)
{
float speedRatio = min(1.f, status.speed/(m_maxSpeed*m_factorMaxSpeed));
m_diving = true;
if (m_pWaveEffect)
{
if (IParticleEmitter* pEmitter = pEntity->GetParticleEmitter(m_wakeSlot))
{
pEmitter->Activate(false);
pEntity->FreeSlot(m_wakeSlot);
m_wakeSlot = -1;
}
SpawnParams spawnParams;
spawnParams.fSizeScale = spawnParams.fCountScale = 0.5f + 0.25f*speedRatio;
spawnParams.fSizeScale += 0.4f*m_waveRandomMult;
spawnParams.fCountScale += cry_random(0.0f, 0.4f);
m_wakeSlot = pEntity->LoadParticleEmitter(m_wakeSlot, m_pWaveEffect, &spawnParams);
}
// handle splash sound
ExecuteTrigger(eSID_Splash);
SetSoundParam(eSID_Splash, "intensity", 0.2f*speedRatio + 0.5f*m_waveRandomMult);
if (m_rpmPitchDir == 0)
{
m_rpmPitchDir = -1;
m_waveSoundPitch = 0.f;
m_waveSoundAmount = 0.02f + m_waveRandomMult*0.08f;
}
}
if (m_wakeSlot != -1)
{
// update emitter local pos to short above waterlevel
Matrix34 tm;
if(m_pSplashPos)
m_pSplashPos->GetVehicleTM(tm);
else
tm.SetIdentity();
Vec3 pos = tm.GetTranslation();
pos.z = worldTMInv.TransformPoint(Vec3(wakePos.x,wakePos.y,wakeWaterLevel)).z + 0.2f;
tm.SetTranslation(pos);
pEntity->SetSlotLocalTM(m_wakeSlot, tm);
#if ENABLE_VEHICLE_DEBUG
if (IsProfilingMovement())
{
Vec3 wPos = worldTM * tm.GetTranslation();
ColorB col(128, 128, 0, 200);
gEnv->pRenderer->GetIRenderAuxGeom()->DrawSphere(wPos, 0.4f, col);
gEnv->pRenderer->GetIRenderAuxGeom()->DrawLine(wPos, col, wPos+Vec3(0,0,1.5f), col);
}
#endif
}
m_lastWakePos = wakePos;
}
void Pipeline::worldPos(const vec3 & pos)
{
worldPos(pos.x, pos.y, pos.z);
}
virtual void OnIterStart(SActivationInfo *pActInfo)
{
const int type = GetPortInt(pActInfo, EIP_Type);
const char* area = GetPortString(pActInfo, EIP_Area);
// Find the entity
IEntitySystem *pEntitySystem = gEnv->pEntitySystem;
if (pEntitySystem)
{
IEntity *pArea = pEntitySystem->FindEntityByName(area);
if (pArea)
{
IEntityAreaProxy *pAreaProxy = (IEntityAreaProxy*)pArea->GetProxy(ENTITY_PROXY_AREA);
if (pAreaProxy)
{
Vec3 min, max, worldPos(pArea->GetWorldPos());
min.Set(0.f,0.f,0.f);
max.Set(0.f,0.f,0.f);
EEntityAreaType areaType = pAreaProxy->GetAreaType();
// Construct bounding space around area
switch (areaType)
{
case ENTITY_AREA_TYPE_BOX:
{
pAreaProxy->GetBox(min, max);
min += worldPos;
max += worldPos;
}
break;
case ENTITY_AREA_TYPE_SPHERE:
{
Vec3 center;
float radius = 0.f;
pAreaProxy->GetSphere(center, radius);
min.Set(center.x-radius, center.y-radius, center.z-radius);
max.Set(center.x+radius, center.y+radius, center.z+radius);
}
break;
case ENTITY_AREA_TYPE_SHAPE:
{
const Vec3 *points = pAreaProxy->GetPoints();
const int count = pAreaProxy->GetPointsCount();
if (count > 0)
{
Vec3 p = worldPos + points[0];
min = p;
max = p;
for (int i = 1; i < count; ++i)
{
p = worldPos + points[i];
if (p.x < min.x) min.x = p.x;
if (p.y < min.y) min.y = p.y;
if (p.z < min.z) min.z = p.z;
if (p.x > max.x) max.x = p.x;
if (p.y > max.y) max.y = p.y;
if (p.z > max.z) max.z = p.z;
}
}
}
break;
}
IPhysicalWorld *pWorld = gEnv->pPhysicalWorld;
IPhysicalEntity **ppList = NULL;
int numEnts = pWorld->GetEntitiesInBox(min,max,ppList,ent_all);
for (int i = 0; i < numEnts; ++i)
{
const EntityId id = pWorld->GetPhysicalEntityId(ppList[i]);
const EEntityType entityType = GetEntityType(id);
if (IsValidType(type, entityType))
{
// Sanity check - Test entity's position
IEntity *pEntity = pEntitySystem->GetEntity(id);
if (pEntity && pAreaProxy->CalcPointWithin(id, pEntity->GetWorldPos(), pAreaProxy->GetHeight()==0))
{
AddEntity(id);
}
}
}
}
}
}
}
