void handleKeyPress(const int& key)
{
if (key == osgGA::GUIEventAdapter::KEY_F1) {
if (_scene->getNodeMask() == 0x0)
_scene->setNodeMask(0xFFFFFFF);
else
_scene->setNodeMask(0x0);
}
getMainWindow()->requestPicking();
getMainWindow()->getPickEventHandler()->setHierarchicalPickingEnabled(true);
if(key == osgGA::GUIEventAdapter::KEY_F2) {
getPhysics()->pause();
for(unsigned int i = 0; i < _rigidBodies.size(); ++i) {
removeRigidBody(_rigidBodies[i]);
}
getPhysics()->resume();
}
if(key == osgGA::GUIEventAdapter::KEY_F3) {
getPhysics()->pause();
_rigidBodies[0]->setWorldTransform(cefixbt::asBtTransform(osg::Matrix::translate(100,100,100)));
getPhysics()->resume();
}
if(key == osgGA::GUIEventAdapter::KEY_F4) {
bool visible = (_debugNode->getNodeMask() > 0);
_debugNode->setNodeMask(0xffff * (!visible));
}
}
/**
* Adds an Object to the area.
* @param object The Object's pointer.
* @see removeObject()
*/
void Area::addObject(Object* object) {
//object->setArea(this);
DEBUG_M("Entering function...");
GameManager* gm = getGameManager();
if(object->getGameManager() != gm) {
DEBUG_A("Different GameMangers...");
object->setGameManager(gm);
if(gm) {
DEBUG_A("Registering object with gamemanager...");
gm->registerObject(object);
}
}
RigidBody* rb = dynamic_cast<RigidBody*>(object);
if(rb) {
rb->addBody(getPhysics());
}
Light* pl = dynamic_cast<Light*>(object);
if(pl) {
lights_.push_back(pl);
}
addChild(object);
}
/**
* Remove an Object from the area.
* @param object The Object's pointer.
* @see addObject()
*/
void Area::removeObject(Object* object) {
removeChild(object);
RigidBody* rb = dynamic_cast<RigidBody*>(object);
if(rb) {
rb->removeBody(getPhysics());
}
GameManager* gm = getGameManager();
if(gm) {
gm->deregisterObject(object);
}
#warning ['TODO']: Remove lights...
}
/**
* getProjectionBounds
*
* Projects this sphere on a given axis.
*/
void CSphere::getProjectionBounds(const Vector& axis,
float& min,
float& max) const{
// For any of this to work, we need to have an associated rb
const iPhysics* rb = getPhysics();
if (rb) {
// Project our sphere onto our axis
const Vector& pos = rb->worldCentreOfMass();
float mid = dot(axis, pos) / dot(axis, axis);
min = mid - _cinfo.radius;
max = mid + _cinfo.radius;
}
}
/**
* getProjectionBounds
*
* Projects this OBB on a given axis.
*/
void COBB::getProjectionBounds(const Vector& axis,
float& min,
float& max) const{
// For any of this to work, we need to have an associated rb
const iPhysics* rb = getPhysics();
if (rb) {
// Use vertex cache, if possible
std::vector<Vector> locCVerts;
const std::vector<Vector>* cVerts = NULL;
if (_cVerts.size() == 8) {
cVerts = &_cVerts;
} else {
cVerts = &locCVerts;
// Fill temporary vertex cache
locCVerts.push_back(Vector(_cinfo.radius.x, _cinfo.radius.y, _cinfo.radius.z));
locCVerts.push_back(Vector(_cinfo.radius.x, _cinfo.radius.y, -_cinfo.radius.z));
locCVerts.push_back(Vector(_cinfo.radius.x, -_cinfo.radius.y, _cinfo.radius.z));
locCVerts.push_back(Vector(_cinfo.radius.x, -_cinfo.radius.y, -_cinfo.radius.z));
locCVerts.push_back(Vector(-_cinfo.radius.x, _cinfo.radius.y, _cinfo.radius.z));
locCVerts.push_back(Vector(-_cinfo.radius.x, _cinfo.radius.y, -_cinfo.radius.z));
locCVerts.push_back(Vector(-_cinfo.radius.x, -_cinfo.radius.y, _cinfo.radius.z));
locCVerts.push_back(Vector(-_cinfo.radius.x, -_cinfo.radius.y, -_cinfo.radius.z));
}
// Project every vertex in sequence on this axis
const Vector& pos = rb->worldCentreOfMass();
const Matrix& rot = rb->rotation();
for (int i = 0; i < 8; i++) {
float proj = dot(axis, ((*cVerts)[i] * rot) + pos) / dot(axis, axis);
if (i == 0) {
min = proj;
max = proj;
} else {
if (proj < min) min = proj;
else if (proj > max) max = proj;
}
}
}
}
/** Waits till each kart is resting on the ground
*
* Does simulation steps still all karts reach the ground, i.e. are not
* moving anymore
*/
void World::resetAllKarts()
{
// Reset the physics 'remaining' time to 0 so that the number
// of timesteps is reproducible if doing a physics-based history run
getPhysics()->getPhysicsWorld()->resetLocalTime();
// If track checking is requested, check all rescue positions if
// they are heigh enough.
if(UserConfigParams::m_track_debug)
{
// Loop over all karts, in case that some karts are dfferent
for(unsigned int kart_id=0; kart_id<(unsigned int)m_karts.size(); kart_id++)
{
for(unsigned int rescue_pos=0;
rescue_pos<getNumberOfRescuePositions();
rescue_pos++)
{
btTransform t = getRescueTransform(rescue_pos);
// This will print out warnings if there is no terrain under
// the kart, or the kart is being dropped on a reset texture
moveKartTo(m_karts[kart_id], t);
} // rescue_pos<getNumberOfRescuePositions
// Reset the karts back to the original start position.
// This call is a bit of an overkill, but setting the correct
// transforms, positions, motion state is a bit of a hassle.
m_karts[kart_id]->reset();
} // for kart_id<m_karts.size()
} // if m_track_debug
m_schedule_pause = false;
m_schedule_unpause = false;
//Project karts onto track from above. This will lower each kart so
//that at least one of its wheel will be on the surface of the track
for ( KartList::iterator i=m_karts.begin(); i!=m_karts.end(); i++)
{
Vec3 xyz = (*i)->getXYZ();
//start projection from top of kart
Vec3 up_offset(0, 0.5f * ((*i)->getKartHeight()), 0);
(*i)->setXYZ(xyz+up_offset);
bool kart_over_ground = m_track->findGround(*i);
if (!kart_over_ground)
{
Log::error("World",
"No valid starting position for kart %d on track %s.",
(int)(i-m_karts.begin()), m_track->getIdent().c_str());
if (UserConfigParams::m_artist_debug_mode)
{
Log::warn("World", "Activating fly mode.");
(*i)->flyUp();
continue;
}
else
{
exit(-1);
}
}
}
bool all_finished=false;
// kart->isInRest() is not fully correct, since it only takes the
// velocity in count, which might be close to zero when the kart
// is just hitting the floor, before being pushed up again by
// the suspension. So we just do a longer initial simulation,
// which should be long enough for all karts to be firmly on ground.
for(int i=0; i<60; i++) m_physics->update(1.f/60.f);
// Stil wait will all karts are in rest (and handle the case that a kart
// fell through the ground, which can happen if a kart falls for a long
// time, therefore having a high speed when hitting the ground.
int count = 0;
while(!all_finished)
{
if (count++ > 100)
{
Log::error("World", "Infinite loop waiting for all_finished?");
break;
}
m_physics->update(1.f/60.f);
all_finished=true;
for ( KartList::iterator i=m_karts.begin(); i!=m_karts.end(); i++)
{
if(!(*i)->isInRest())
{
Vec3 normal;
Vec3 hit_point;
const Material *material;
// We can't use (*i)->getXYZ(), since this is only defined
// after update() was called. Instead we have to get the
// real position of the rigid body.
btTransform t;
(*i)->getBody()->getMotionState()->getWorldTransform(t);
// This test can not be done only once before the loop, since
// it can happen that the kart falls through the track later!
Vec3 to = t.getOrigin()+Vec3(0, -10000, 0);
m_track->getTriangleMesh().castRay(t.getOrigin(), to,
&hit_point, &material,
&normal);
if(!material)
{
Log::error("World",
"No valid starting position for kart %d "
"on track %s.",
(int)(i-m_karts.begin()),
m_track->getIdent().c_str());
if (UserConfigParams::m_artist_debug_mode)
{
Log::warn("World", "Activating fly mode.");
(*i)->flyUp();
continue;
}
else
{
exit(-1);
}
}
all_finished=false;
break;
}
}
} // while
for ( KartList::iterator i=m_karts.begin(); i!=m_karts.end(); i++)
{
(*i)->kartIsInRestNow();
}
// Initialise the cameras, now that the correct kart positions are set
for(unsigned int i=0; i<Camera::getNumCameras(); i++)
{
Camera::getCamera(i)->setInitialTransform();
}
} // resetAllKarts
void RigidBody::selfAddBody_() {
addBody(getPhysics());
}
void RigidBody::selfRemoveBody_() {
removeBody(getPhysics());
}
/** Waits till each kart is resting on the ground
*
* Does simulation steps still all karts reach the ground, i.e. are not
* moving anymore
*/
void World::resetAllKarts()
{
// Reset the physics 'remaining' time to 0 so that the number
// of timesteps is reproducible if doing a physics-based history run
getPhysics()->getPhysicsWorld()->resetLocalTime();
// If track checking is requested, check all rescue positions if
// they are heigh enough.
if(race_manager->getMinorMode()!=RaceManager::MINOR_MODE_3_STRIKES &&
UserConfigParams::m_track_debug)
{
Vec3 eps = Vec3(0,1.5f*m_karts[0]->getKartHeight(),0);
for(unsigned int quad=0; quad<QuadGraph::get()->getNumNodes(); quad++)
{
const Quad &q = QuadGraph::get()->getQuadOfNode(quad);
const Vec3 center = q.getCenter();
// We have to test for all karts, since the karts have different
// heights and so things might change from kart to kart.
for(unsigned int kart_id=0; kart_id<m_karts.size(); kart_id++)
{
AbstractKart *kart = m_karts[kart_id];
kart->setXYZ(center);
btQuaternion heading(btVector3(0.0f, 1.0f, 0.0f),
m_track->getAngle(quad) );
kart->setRotation(heading);
btTransform pos;
pos.setOrigin(center+eps);
pos.setRotation(btQuaternion(btVector3(0.0f, 1.0f, 0.0f),
m_track->getAngle(quad)) );
kart->getBody()->setCenterOfMassTransform(pos);
bool kart_over_ground = m_physics->projectKartDownwards(kart);
if(kart_over_ground)
{
const Vec3 &xyz = kart->getTrans().getOrigin()
+ Vec3(0,0.3f,0);
if(dynamic_cast<Kart*>(kart))
dynamic_cast<Kart*>(kart)->getTerrainInfo()
->update(xyz);
const Material *material = kart->getMaterial();
if(!material || material->isDriveReset())
kart_over_ground = false;
}
if(!kart_over_ground)
{
printf("Kart '%s' not over quad '%d'\n",
kart->getIdent().c_str(), quad);
printf("Center point: %f %f %f\n",
center.getX(), center.getY(), center.getZ());
}
} // for kart_id<m_karts.size()
} // for quad < quad_graph.getNumNodes
for(unsigned int kart_id=0; kart_id<m_karts.size(); kart_id++)
{
// Reset the karts back to the original start position.
// This call is a bit of an overkill, but setting the correct
// transforms, positions, motion state is a bit of a hassle.
m_karts[kart_id]->reset();
}
} // if m_track_debug
m_schedule_pause = false;
m_schedule_unpause = false;
//Project karts onto track from above. This will lower each kart so
//that at least one of its wheel will be on the surface of the track
for ( KartList::iterator i=m_karts.begin(); i!=m_karts.end(); i++)
{
///start projection from top of kart
btVector3 up_offset(0, 0.5f * ((*i)->getKartHeight()), 0);
(*i)->getVehicle()->getRigidBody()->translate (up_offset);
bool kart_over_ground = m_physics->projectKartDownwards(*i);
if (!kart_over_ground)
{
fprintf(stderr,
"ERROR: no valid starting position for kart %d "
"on track %s.\n",
(int)(i-m_karts.begin()), m_track->getIdent().c_str());
if (UserConfigParams::m_artist_debug_mode)
{
fprintf(stderr, "Activating fly mode.\n");
(*i)->flyUp();
continue;
}
else
{
exit(-1);
}
}
}
bool all_finished=false;
// kart->isInRest() is not fully correct, since it only takes the
// velocity in count, which might be close to zero when the kart
// is just hitting the floor, before being pushed up again by
// the suspension. So we just do a longer initial simulation,
// which should be long enough for all karts to be firmly on ground.
for(int i=0; i<60; i++) m_physics->update(1.f/60.f);
// Stil wait will all karts are in rest (and handle the case that a kart
// fell through the ground, which can happen if a kart falls for a long
// time, therefore having a high speed when hitting the ground.
while(!all_finished)
{
m_physics->update(1.f/60.f);
all_finished=true;
for ( KartList::iterator i=m_karts.begin(); i!=m_karts.end(); i++)
{
if(!(*i)->isInRest())
{
Vec3 normal;
Vec3 hit_point;
const Material *material;
// We can't use (*i)->getXYZ(), since this is only defined
// after update() was called. Instead we have to get the
// real position of the rigid body.
btTransform t;
(*i)->getBody()->getMotionState()->getWorldTransform(t);
// This test can not be done only once before the loop, since
// it can happen that the kart falls through the track later!
Vec3 to = t.getOrigin()+Vec3(0, -10000, 0);
m_track->getTriangleMesh().castRay(t.getOrigin(), to,
&hit_point, &material,
&normal);
if(!material)
{
fprintf(stderr,
"ERROR: no valid starting position for "
"kart %d on track %s.\n",
(int)(i-m_karts.begin()),
m_track->getIdent().c_str());
if (UserConfigParams::m_artist_debug_mode)
{
fprintf(stderr, "Activating fly mode.\n");
(*i)->flyUp();
continue;
}
else
{
exit(-1);
}
}
all_finished=false;
break;
}
}
} // while
for ( KartList::iterator i=m_karts.begin(); i!=m_karts.end(); i++)
{
// Now store the current (i.e. in rest) suspension length for each
// kart, so that the karts can visualise the suspension.
(*i)->setSuspensionLength();
// Initialise the camera (if available), now that the correct
// kart position is set
if((*i)->getCamera())
(*i)->getCamera()->setInitialTransform();
// Update the kart transforms with the newly computed position
// after all karts are reset
(*i)->setTrans((*i)->getBody()->getWorldTransform());
}
} // resetAllKarts
/**
* clone
*
* Returns a clone of this object and the attached rb.
*/
iCollisionGeometry* CSphere::clone() const{
// This is ugly but...
iPhysics* rb = const_cast<iPhysics*>(getPhysics());
if (rb) { rb = rb->clone(); }
return CreateCSphere(rb, _cinfo.radius);
}
osg::Group * createWorld() {
setupPerformanceStatistics();
//getPhysics()->setUseFixedTimeSteps(false);
//getPhysics()->setMaxSubSteps(5);
getPhysics()->addPerformanceStatistics(this);
cefix::log::setInfoLevel(osg::ALWAYS);
getMainWindow()->getCamera()->setClearColor(osg::Vec4(0.2, 0.2, 0.2, 1.0));
// statistics
if (0) {
enablePerformanceStatistics(true);
get2DLayer()->addChild(getPerformanceStatisticsGroup());
}
setUseOptimizerFlag(false);
osg::Group* g = new osg::Group();
{
//btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),1);
cefixbt::StaticPlaneShape* groundShape = new cefixbt::StaticPlaneShape(osg::Vec3(0,0,1),0);
cefixbt::MotionState* groundMotionState = new cefixbt::MotionState( btTransform(btQuaternion(0,0,0,1),btVector3(-250,-250,-1)) );
btRigidBody::btRigidBodyConstructionInfo groundRigidBodyCI(0,groundMotionState,groundShape,btVector3(0,0,0));
osg::ref_ptr<cefixbt::RigidBody> groundRigidBody = new cefixbt::RigidBody(groundRigidBodyCI);
groundRigidBody->setContactCallback(new GroundContactCallback());
addRigidBody(groundRigidBody);
osg::Geode* groundgeode = new osg::Geode();
groundgeode->addDrawable(new cefix::LineGridGeometry(osg::Vec3(500,500,0)));
groundMotionState->addChild(groundgeode);
g->addChild(groundMotionState);
}
for (unsigned int i = 0; i < 00; ++i) {
cefixbt::SphereShape* fallShape = new cefixbt::SphereShape(1);
cefixbt::MotionState* fallMotionState = new cefixbt::MotionState( btTransform(btQuaternion(0,0,0,1),btVector3(cefix::in_between(-5,5), cefix::in_between(-5,5), cefix::in_between(50,500))) );
btScalar mass = cefix::in_between(1,10);
btVector3 fallInertia(0,0,0);
fallShape->calculateLocalInertia(mass,fallInertia);
btRigidBody::btRigidBodyConstructionInfo fallRigidBodyCI(mass,fallMotionState,fallShape,fallInertia);
osg::ref_ptr<cefixbt::RigidBody> fallRigidBody = new cefixbt::RigidBody(fallRigidBodyCI);
addRigidBody(fallRigidBody);
osg::Geode* fallgeode = new osg::Geode();
osg::ShapeDrawable* drawable = new osg::ShapeDrawable(fallShape);
drawable->setColor(osg::Vec4(cefix::randomf(1.0),cefix::randomf(1.0),cefix::randomf(1.0),1.0));
fallgeode->addDrawable(drawable);
fallMotionState->addChild(fallgeode);
g->addChild(fallMotionState);
}
std::vector<osg::ref_ptr<cefixbt::RigidBody> > boxes;
for (unsigned int i = 0; i < 00; ++i) {
cefixbt::BoxShape* fallShape = new cefixbt::BoxShape(osg::Vec3(1,1,1));
cefixbt::MotionState* fallMotionState = new cefixbt::MotionState( btTransform(btQuaternion(0,0,0,1),btVector3(cefix::in_between(-5,5), cefix::in_between(-5,5), cefix::in_between(50,500))) );
btScalar mass = cefix::in_between(1,10);
btVector3 fallInertia(0,0,0);
fallShape->calculateLocalInertia(mass,fallInertia);
btRigidBody::btRigidBodyConstructionInfo fallRigidBodyCI(mass,fallMotionState,fallShape,fallInertia);
osg::ref_ptr<cefixbt::RigidBody> fallRigidBody = new cefixbt::RigidBody(fallRigidBodyCI);
addRigidBody(fallRigidBody);
osg::Geode* fallgeode = new osg::Geode();
osg::ShapeDrawable* drawable = new osg::ShapeDrawable(fallShape);
drawable->setColor(osg::Vec4(cefix::randomf(1.0),cefix::randomf(1.0),cefix::randomf(1.0),1.0));
fallgeode->addDrawable(drawable);
fallMotionState->addChild(fallgeode);
g->addChild(fallMotionState);
boxes.push_back(fallRigidBody);
}
if (1) {
osg::Node* node = osgDB::readNodeFile("w.obj");
osgUtil::Optimizer o;
o.optimize(node);
cefixbt::ConvexHullShape* fallShape = new cefixbt::ConvexHullShape(node, false);
//cefixbt::ConvexTriangleMeshShape* fallShape = new cefixbt::ConvexTriangleMeshShape(node, false);
osg::ref_ptr<cefixbt::RigidBody> last(NULL), current(NULL);
for (unsigned int i = 0; i < 10; ++i) {
cefixbt::MotionState* fallMotionState = new cefixbt::MotionState( btTransform(btQuaternion(0,0,0,1),btVector3(cefix::in_between(-50,50), cefix::in_between(-50,50), cefix::in_between(50,50))) );
btScalar mass = cefix::in_between(1,10);
btVector3 fallInertia(0,0,0);
fallShape->calculateLocalInertia(mass,fallInertia);
btRigidBody::btRigidBodyConstructionInfo fallRigidBodyCI(mass,fallMotionState,fallShape,fallInertia);
osg::ref_ptr<cefixbt::RigidBody> fallRigidBody = new cefixbt::RigidBody(fallRigidBodyCI);
fallRigidBody->setDamping(0.4, 0.4);
addRigidBody(fallRigidBody);
fallMotionState->addChild(node);
fallMotionState->setUserData(new cefixbt::RigidBodyDraggable(fallRigidBody, this));
g->addChild(fallMotionState);
last = current;
current = fallRigidBody;
_rigidBodies.push_back(current);
if (last && current) {
const int mode(0);
switch (mode) {
case -1:
break;
case 0:
{
cefixbt::Point2PointConstraint* constraint = new cefixbt::Point2PointConstraint(last, current, osg::Vec3(7, 7, 0), osg::Vec3(-7, 0 , 0));
addConstraint(constraint);
}
break;
case 1:
{
cefixbt::Generic6DofConstraint* constraint = new cefixbt::Generic6DofConstraint(
last,
current,
osg::Matrix::translate(osg::Vec3(5, 0, 0)),
osg::Matrix::translate(osg::Vec3(-15, 0 , 0)),
true
);
constraint->setLinearLowerLimit(btVector3(0.0f, 0.0f, 0.0f));
constraint->setLinearUpperLimit(btVector3(3.0f, 0.0f, 0.0f));
constraint->setAngularLowerLimit(btVector3(0,0,0));
constraint->setAngularUpperLimit(btVector3(0.2,0,0));
addConstraint(constraint);
}
break;
case 2:
{
cefixbt::Generic6DofSpringConstraint* constraint = new cefixbt::Generic6DofSpringConstraint(
last,
current,
osg::Matrix::translate(osg::Vec3(5, 0, 0)),
osg::Matrix::translate(osg::Vec3(-15, 0 , 0)),
true
);
constraint->setLinearLowerLimit(btVector3(-1.0f, -1.0f, -1.0f));
constraint->setLinearUpperLimit(btVector3(1.0f, 1.0f, 1.0f));
constraint->setAngularLowerLimit(btVector3(-0.5,0,0));
constraint->setAngularUpperLimit(btVector3(0.5,0.0,0));
for(unsigned int i=0; i < 6; ++i) {
constraint->enableSpring(i, true);
constraint->setStiffness(i, 0.01);
constraint->setDamping (i, 0.01);
}
addConstraint(constraint);
}
}
}
}
}
osg::Group* world = new osg::Group();
world->addChild(g);
_scene = g;
// debug-world
if (1) {
_debugNode = getDebugDrawNode(
/*cefixbt::DebugPhysicsDrawer::DBG_DrawAabb | */
cefixbt::DebugPhysicsDrawer::DBG_DrawConstraints |
cefixbt::DebugPhysicsDrawer::DBG_DrawConstraintLimits |
cefixbt::DebugPhysicsDrawer::DBG_DrawFeaturesText |
cefixbt::DebugPhysicsDrawer::DBG_DrawContactPoints |
cefixbt::DebugPhysicsDrawer::DBG_NoDeactivation |
cefixbt::DebugPhysicsDrawer::DBG_NoHelpText |
cefixbt::DebugPhysicsDrawer::DBG_DrawText |
cefixbt::DebugPhysicsDrawer::DBG_ProfileTimings |
cefixbt::DebugPhysicsDrawer::DBG_DrawWireframe
);
world->addChild(_debugNode);
_debugNode->setNodeMask(0x0);
}
return world;
}
