void CPhysicsObject::SetMass(float mass) {
btVector3 btvec = m_pObject->getInvInertiaDiagLocal();
// Invert the inverse intertia to get inertia
btvec.setX(SAFE_DIVIDE(1.0, btvec.x()));
btvec.setY(SAFE_DIVIDE(1.0, btvec.y()));
btvec.setZ(SAFE_DIVIDE(1.0, btvec.z()));
m_pObject->setMassProps(mass, btvec);
}
void CPhysicsObject::SetInertia(const Vector &inertia) {
btVector3 btvec;
ConvertDirectionToBull(inertia, btvec);
btvec = btvec.absolute();
btvec.setX(SAFE_DIVIDE(1.0f, btvec.x()));
btvec.setY(SAFE_DIVIDE(1.0f, btvec.y()));
btvec.setZ(SAFE_DIVIDE(1.0f, btvec.z()));
m_pObject->setInvInertiaDiagLocal(btvec);
m_pObject->updateInertiaTensor();
}
void CShadowController::DetachObject() {
btRigidBody* body = btRigidBody::upcast(m_pObject->GetObject());
btVector3 btvec = body->getInvInertiaDiagLocal();
btvec.setX(SAFE_DIVIDE(1.0, btvec.x()));
btvec.setY(SAFE_DIVIDE(1.0, btvec.y()));
btvec.setZ(SAFE_DIVIDE(1.0, btvec.z()));
body->setMassProps(m_savedMass, btvec);
m_pObject->SetMaterialIndex(m_savedMaterialIndex);
body->setCollisionFlags(body->getCollisionFlags() & ~btCollisionObject::CF_KINEMATIC_OBJECT);
body->setActivationState(ACTIVE_TAG);
}
Vector CPhysicsObject::GetInertia() const {
btVector3 btvec = m_pObject->getInvInertiaDiagLocal();
// Invert the inverse inertia to get inertia
btvec.setX(SAFE_DIVIDE(1.0f, btvec.x()));
btvec.setY(SAFE_DIVIDE(1.0f, btvec.y()));
btvec.setZ(SAFE_DIVIDE(1.0f, btvec.z()));
Vector hlvec;
ConvertDirectionToHL(btvec, hlvec);
VectorAbs(hlvec, hlvec);
return hlvec;
}
void CPhysicsObject::SetMass(float mass) {
if (IsStatic()) return;
m_fMass = mass;
btVector3 inertia = m_pObject->getInvInertiaDiagLocal();
// Inverse the inverse to get the not inverse (unless in the case that the not inverse is inverse, therefore you must inverse the universe)
inertia.setX(SAFE_DIVIDE(1.0f, inertia.x()));
inertia.setY(SAFE_DIVIDE(1.0f, inertia.y()));
inertia.setZ(SAFE_DIVIDE(1.0f, inertia.z()));
m_pObject->setMassProps(mass, inertia);
}
void CPhysicsObject::SetMaterialIndex(int materialIndex) {
surfacedata_t *pSurface = g_SurfaceDatabase.GetSurfaceData(materialIndex);
if (pSurface) {
m_materialIndex = materialIndex;
m_pObject->setFriction(pSurface->physics.friction);
//m_pObject->setRollingFriction(pSurface->physics.friction);
m_pObject->setRestitution(min(pSurface->physics.elasticity, 1));
// FIXME: Figure out how to convert damping values.
// ratio = (mass / volume) / density
// or (actual density) / (prop density)
m_fBuoyancyRatio = SAFE_DIVIDE(SAFE_DIVIDE(m_fMass, m_fVolume), pSurface->physics.density);
}
}
void CShadowController::DetachObject() {
if (!m_pObject)
return;
btRigidBody *body = btRigidBody::upcast(m_pObject->GetObject());
btVector3 btvec = body->getInvInertiaDiagLocal();
btvec.setX(SAFE_DIVIDE(1.0f, btvec.x()));
btvec.setY(SAFE_DIVIDE(1.0f, btvec.y()));
btvec.setZ(SAFE_DIVIDE(1.0f, btvec.z()));
body->setMassProps(m_savedMass, btvec);
m_pObject->SetMaterialIndex(m_savedMaterialIndex);
body->setActivationState(ACTIVE_TAG);
m_pObject->DetachEventListener(this);
m_pObject = NULL;
}
void CShadowController::AttachObject() {
btRigidBody* body = btRigidBody::upcast(m_pObject->GetObject());
m_savedMass = SAFE_DIVIDE(1, body->getInvMass());
m_savedMaterialIndex = m_pObject->GetMaterialIndex();
m_pObject->SetMaterialIndex(MATERIAL_INDEX_SHADOW);
if ( !m_allowPhysicsMovement ) {
m_pObject->SetMass(1e6f);
m_pObject->EnableGravity(false);
}
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
body->setActivationState(DISABLE_DEACTIVATION);
}
void CShadowController::AttachObject() {
if (!m_pObject)
return;
btRigidBody *body = btRigidBody::upcast(m_pObject->GetObject());
m_savedMass = SAFE_DIVIDE(1, body->getInvMass());
m_savedMaterialIndex = m_pObject->GetMaterialIndex();
m_pObject->SetMaterialIndex(MATERIAL_INDEX_SHADOW);
if (!AllowsTranslation()) {
m_pObject->SetMass(0);
m_pObject->EnableGravity(false);
}
body->setActivationState(DISABLE_DEACTIVATION);
m_pObject->AttachEventListener(this);
}
void CPlayerController::CalculateVelocity(float dt) {
btRigidBody *body = m_pObject->GetObject();
m_secondsToArrival -= dt;
if (m_secondsToArrival < 0) m_secondsToArrival = 0;
float psiScale = m_pEnv->GetInvPSIScale();
btTransform transform;
((btMassCenterMotionState *)body->getMotionState())->getGraphicTransform(transform);
btVector3 deltaPos = m_targetPosition - transform.getOrigin();
ComputeController(m_linVelocity, deltaPos, m_maxSpeed, SAFE_DIVIDE(psiScale, dt), m_dampFactor);
// Apply gravity velocity for stepping.
/*
if (m_onground) {
btVector3 gravVel = body->getGravity() * dt;
m_linVelocity += gravVel;
}
*/
}
float CPhysicsObject::GetInvMass() const {
return SAFE_DIVIDE(1, m_fMass);
}
float CPhysicsObject::GetMass() const {
btScalar invmass = m_pObject->getInvMass();
return SAFE_DIVIDE(1.0, invmass);
}
float ComputeShadowControllerBull(btRigidBody *object, shadowcontrol_params_t ¶ms, float secondsToArrival, float dt) {
// Fraction of the movement we need to complete by this tick
float fraction = 1;
if (secondsToArrival > 0) {
fraction = dt / secondsToArrival;
if (fraction > 1) fraction = 1;
}
secondsToArrival -= dt;
if (secondsToArrival < 0) secondsToArrival = 0;
if (fraction <= 0) return secondsToArrival;
float scale = SAFE_DIVIDE(fraction, dt);
btTransform transform = object->getWorldTransform();
transform *= ((btMassCenterMotionState *)object->getMotionState())->m_centerOfMassOffset.inverse();
//-------------------
// Translation
//-------------------
btVector3 posbull = transform.getOrigin();
btVector3 delta_position = params.targetPosition - posbull;
// Teleportation
// If our distance is greater than teleport distance, teleport instead.
if (params.teleportDistance > 0) {
btScalar qdist;
if (!params.lastPosition.isZero()) {
btVector3 tmpDelta = posbull - params.lastPosition;
qdist = tmpDelta.length2();
} else {
qdist = delta_position.length2();
}
if (qdist > params.teleportDistance * params.teleportDistance) {
transform.setOrigin(params.targetPosition);
transform.setRotation(params.targetRotation);
object->setWorldTransform(transform * ((btMassCenterMotionState *)object->getMotionState())->m_centerOfMassOffset);
}
}
btVector3 speed = object->getLinearVelocity();
ComputeController(speed, delta_position, btVector3(params.maxSpeed, params.maxSpeed, params.maxSpeed), scale, params.dampFactor);
object->setLinearVelocity(speed);
params.lastPosition = posbull + (speed * dt);
//-------------------
// Rotation
//-------------------
btVector3 axis;
btScalar angle;
btTransformUtil::calculateDiffAxisAngleQuaternion(transform.getRotation(), params.targetRotation, axis, angle);
// So we don't end up having a huge delta angle (such as instead of doing 379 deg turn, do a -1 deg turn)
if (angle > M_PI) {
angle -= btScalar(2 * M_PI);
}
btVector3 deltaAngles = axis * angle;
btVector3 rot_speed = object->getAngularVelocity();
ComputeController(rot_speed, deltaAngles, btVector3(params.maxAngular, params.maxAngular, params.maxAngular), scale, params.dampFactor);
object->setAngularVelocity(rot_speed);
object->activate();
return secondsToArrival;
}
