GameObject::GameObject(GameWorld& gw, const ObjectPrototype& proto, double x, double y, double z, int id) :
m_meshName(proto.m_meshName), m_sceneEntity(nullptr), m_sceneNode(nullptr), m_lockRotation(proto.m_lockRotation), m_isKinematic(proto.m_isKinematic),
m_maxTurn(proto.m_maxTurnAngle), m_maxForward(proto.m_maxForward), m_maxBackward(proto.m_maxBackward),
m_hitPoints(proto.m_maxHitPoints), m_collisionAccum(0), m_totalDamage(0), m_hasAgent(proto.m_hasAgent), m_gw(gw), m_id(id), m_oldGS(nullptr), m_newGS(nullptr)
{
m_sceneEntity = gw.GetScene()->createEntity(gw.GetMesh(m_meshName));
m_sceneNode = gw.GetScene()->getRootSceneNode()->createChildSceneNode();
m_sceneNode->attachObject(m_sceneEntity);
Ogre::Vector3 size = m_sceneEntity->getBoundingBox().getSize();
m_body = dBodyCreate(gw.GetPhysicsWorld());
m_geom = dCreateBox(gw.GetPhysicsSpace(), size.x, size.y, size.z);
dMassSetBox(&m_mass, proto.m_density, size.x, size.y, size.z);
dBodySetMass(m_body, &m_mass);
dGeomSetBody(m_geom, m_body);
dBodySetPosition(m_body, x, y, z);
// automagically disable things when the body is still for long enough
dBodySetAutoDisableFlag(m_body, 1);
dBodySetAutoDisableLinearThreshold(m_body, 0.1f);
dBodySetAutoDisableAngularThreshold(m_body, 0.25f);
dBodySetAutoDisableSteps(m_body, 1);
// improve simulation accuracy
dBodySetDamping(m_body, 0.0f, 0.1f);
if (proto.m_registerCollisions) {
gw.RegisterForCollisions(this);
}
if (proto.m_isKinematic) {
dBodySetKinematic(m_body);
}
}
BarrelBody(Barrel *b) :
OdeBody(dBodyCreate(gWorld)),
b_(b)
{
dMass m;
dMassSetCylinderTotal(&m, b->mass_, 3, b->radius_, b->height_);
dBodySetMass(id_, &m);
Vec3 pos(b->pos());
dBodySetPosition(id_, pos.x + b->center_.x, pos.y + b->center_.y, pos.z + b->center_.z);
dBodySetData(id_, this);
dBodySetAutoDisableFlag(id_, 1);
// This will roll forever, very slowly, unless I up the tolerance for sleep.
// Compare to a box, which will come to a complete stop easily, and where we
// don't want it stopping balancing on an edge.
dBodySetAutoDisableAngularThreshold(id_, 0.03f);
dBodySetAutoDisableLinearThreshold(id_, 0.03f);
dBodySetAutoDisableAverageSamplesCount(id_, 5);
}
void PhysicsBody::changed(ConstFieldMaskArg whichField,
UInt32 origin,
BitVector details)
{
Inherited::changed(whichField, origin, details);
//Do not respond to changes that have a Sync origin
if(origin & ChangedOrigin::Sync)
{
return;
}
if(whichField & WorldFieldMask)
{
if(_BodyID != 0)
{
dBodyDestroy(_BodyID);
}
if(getWorld() != NULL)
{
_BodyID = dBodyCreate(getWorld()->getWorldID());
}
}
if( ((whichField & PositionFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetPosition(_BodyID, getPosition().x(),getPosition().y(),getPosition().z());
}
if( ((whichField & RotationFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dMatrix3 rotation;
Vec4f v1 = getRotation()[0];
Vec4f v2 = getRotation()[1];
Vec4f v3 = getRotation()[2];
rotation[0] = v1.x();
rotation[1] = v1.y();
rotation[2] = v1.z();
rotation[3] = 0;
rotation[4] = v2.x();
rotation[5] = v2.y();
rotation[6] = v2.z();
rotation[7] = 0;
rotation[8] = v3.x();
rotation[9] = v3.y();
rotation[10] = v3.z();
rotation[11] = 0;
dBodySetRotation(_BodyID, rotation);
}
if( ((whichField & QuaternionFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dQuaternion q;
q[0]=getQuaternion().w();
q[1]=getQuaternion().x();
q[2]=getQuaternion().y();
q[3]=getQuaternion().z();
dBodySetQuaternion(_BodyID,q);
}
if( ((whichField & LinearVelFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetLinearVel(_BodyID, getLinearVel().x(),getLinearVel().y(),getLinearVel().z());
}
if( ((whichField & AngularVelFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetAngularVel(_BodyID, getAngularVel().x(),getAngularVel().y(),getAngularVel().z());
}
if( ((whichField & ForceFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetForce(_BodyID, getForce().x(),getForce().y(),getForce().z());
}
if( ((whichField & TorqueFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetTorque(_BodyID, getTorque().x(),getTorque().y(),getTorque().z());
}
if( ((whichField & AutoDisableFlagFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetAutoDisableFlag(_BodyID, getAutoDisableFlag());
}
if( ((whichField & AutoDisableLinearThresholdFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetAutoDisableLinearThreshold(_BodyID, getAutoDisableLinearThreshold());
}
if( ((whichField & AutoDisableAngularThresholdFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetAutoDisableAngularThreshold(_BodyID, getAutoDisableAngularThreshold());
}
if( ((whichField & AutoDisableStepsFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetAutoDisableSteps(_BodyID, getAutoDisableSteps());
}
if( ((whichField & AutoDisableTimeFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetAutoDisableTime(_BodyID, getAutoDisableTime());
}
if( ((whichField & FiniteRotationModeFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetFiniteRotationMode(_BodyID, getFiniteRotationMode());
}
if( ((whichField & FiniteRotationModeFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetFiniteRotationMode(_BodyID, getFiniteRotationMode());
}
if( ((whichField & FiniteRotationAxisFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetFiniteRotationAxis(_BodyID, getFiniteRotationAxis().x(),getFiniteRotationAxis().y(),getFiniteRotationAxis().z());
}
if( ((whichField & GravityModeFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetGravityMode(_BodyID, getGravityMode());
}
if( ((whichField & LinearDampingFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetLinearDamping(_BodyID, getLinearDamping());
}
if( ((whichField & AngularDampingFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetAngularDamping(_BodyID, getAngularDamping());
}
if( ((whichField & LinearDampingThresholdFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetLinearDampingThreshold(_BodyID, getLinearDampingThreshold());
}
if( ((whichField & AngularDampingThresholdFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dBodySetAngularDampingThreshold(_BodyID, getAngularDampingThreshold());
}
if( ((whichField & MaxAngularSpeedFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
if(getMaxAngularSpeed() >= 0.0)
{
dBodySetMaxAngularSpeed(_BodyID, getMaxAngularSpeed());
}
else
{
dBodySetMaxAngularSpeed(_BodyID, dInfinity);
}
}
if( ((whichField & MassFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dMass TheMass;
dBodyGetMass(_BodyID, &TheMass);
TheMass.mass = getMass();
dBodySetMass(_BodyID, &TheMass);
}
if( ((whichField & MassCenterOfGravityFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
//dMass TheMass;
//dBodyGetMass(_BodyID, &TheMass);
////TheMass.c[0] = getMassCenterOfGravity().x();
////TheMass.c[1] = getMassCenterOfGravity().y();
////TheMass.c[2] = getMassCenterOfGravity().z();
//Vec4f v1 = getMassInertiaTensor()[0];
//Vec4f v2 = getMassInertiaTensor()[1];
//Vec4f v3 = getMassInertiaTensor()[2];
//TheMass.I[0] = v1.x();
//TheMass.I[1] = v1.y();
//TheMass.I[2] = v1.z();
//TheMass.I[3] = getMassCenterOfGravity().x();
//TheMass.I[4] = v2.x();
//TheMass.I[5] = v2.y();
//TheMass.I[6] = v2.z();
//TheMass.I[7] = getMassCenterOfGravity().y();
//TheMass.I[8] = v3.x();
//TheMass.I[9] = v3.y();
//TheMass.I[10] = v3.z();
//TheMass.I[11] = getMassCenterOfGravity().z();
//dBodySetMass(_BodyID, &TheMass);
}
if( ((whichField & MassInertiaTensorFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
dMass TheMass;
dBodyGetMass(_BodyID, &TheMass);
Vec4f v1 = getMassInertiaTensor()[0];
Vec4f v2 = getMassInertiaTensor()[1];
Vec4f v3 = getMassInertiaTensor()[2];
TheMass.I[0] = v1.x();
TheMass.I[1] = v1.y();
TheMass.I[2] = v1.z();
TheMass.I[3] = 0;
TheMass.I[4] = v2.x();
TheMass.I[5] = v2.y();
TheMass.I[6] = v2.z();
TheMass.I[7] = 0;
TheMass.I[8] = v3.x();
TheMass.I[9] = v3.y();
TheMass.I[10] = v3.z();
TheMass.I[11] = 0;
dBodySetMass(_BodyID, &TheMass);
}
if( ((whichField & KinematicFieldMask)
|| (whichField & WorldFieldMask))
&& getWorld() != NULL)
{
if(getKinematic())
{
dBodySetKinematic(_BodyID);
}
else
{
dBodySetDynamic(_BodyID);
}
}
}
