void Package::update (uint32_t deltaTime)
{
CollectableEntity::update(deltaTime);
if (_addRopeJointTo) {
addRopeJoint(_addRopeJointTo);
_addRopeJointTo = nullptr;
}
if ((_arrived || _delivered || isDestroyed()) && _ropeJoint) {
removeRopeJoint();
}
if (isCollected()) {
setLinearDamping(0.0f);
setAngularDamping(0.0);
}
if (!_target) {
_target = _map.getPackageTarget();
// if we can't find a package target, we will destroy the package
if (!_target)
setDestroyed();
}
if (!isCounted() && isDelivered()) {
_map.countTransferedPackage();
setCounted();
}
}
void Package::endContact (b2Contact* contact, IEntity* entity)
{
CollectableEntity::endContact(contact, entity);
if (entity->isSolid() || entity->isPackage() || entity->isStone() || entity->isBorder()) {
setLinearDamping(0.0f);
setAngularDamping(0.0);
}
}
void Package::onContact (b2Contact* contact, IEntity* entity)
{
const bool oldCollectedState = isCollected();
CollectableEntity::onContact(contact, entity);
if (!oldCollectedState && isCollected()) {
_addRopeJointTo = entity;
} else {
if (entity->isSolid() || entity->isStone() || entity->isPackage()) {
setLinearDamping(3.0f);
setAngularDamping(1.0);
if (isImpactVelocityMoreThan(contact, 1.5f))
_map.sendSound(getVisMask(), SoundTypes::SOUND_PACKAGE_COLLIDE, getPos());
} else if (entity->isBorder()) {
const Border *b = assert_cast<const Border*, const IEntity*>(entity);
if (!b->isTop()) {
setLinearDamping(4.0f);
setAngularDamping(1.0);
}
} else if (entity->isNpcAttacking()) {
setDestroyed(true);
}
}
}
cocos2d::PhysicsBody* RubeBody::createPhysicsBody() {
if (0 == fixtures.size()) {
return nullptr;
}
auto pb = cocos2d::PhysicsBody::create();
pb->setRotationEnable(this->getRotationEnable());
if (this->getBodyType() == 0) { //0 = static, 1 = kinematic, 2 = dynamic
pb->setDynamic(false);
}
for (auto fixture: fixtures) {
auto shape = fixture->getShape(this->scale);
pb->addShape(shape);
}
pb->setLinearDamping(this->getLinearDamping());
pb->setAngularDamping(this->getAngularDamping());
//pb->setCollisionBitmask(1);
//pb->setCategoryBitmask(1);
return pb;
}
Player::Player(Item* parent)
: QBody(parent),
m_currentPathPoint(),
m_going(false),
m_punchSound(std::make_shared<QSound>(":/resources/punch_sound.wav")),
m_object(this),
m_score() {
setBodyType(QBody::BodyType::Dynamic);
auto circle = std::make_unique<Box2DCircle>();
circle->setRadius(2.5);
circle->setFriction(0.0);
circle->setDensity(1.0);
circle->setPosition(QPointF(-2.5, -2.5));
circle->setCategories(QFixture::Category2);
circle->setCollidesWith(QFixture::Category1);
circle->setRestitution(0.2);
addFixture(std::move(circle));
setPosition(QPointF(70, 950));
setLinearDamping(5);
setAngularDamping(5);
}
void CollisionMesh::loadImpl (void)
{
APP_ASSERT(masterShape==NULL);
Ogre::DataStreamPtr file;
try {
file = Ogre::ResourceGroupManager::getSingleton().openResource(name.substr(1), "GRIT");
} catch (Ogre::Exception &e) {
GRIT_EXCEPT(e.getDescription());
}
std::string ext = name.substr(name.length()-5);
uint32_t fourcc = 0;
for (int i=0 ; i<4 ; ++i) {
unsigned char c;
file->read(&c, 1);
fourcc |= c << (i*8);
}
file->seek(0);
std::string dir = grit_dirname(name);
const btVector3 ZV(0,0,0);
const btQuaternion ZQ(0,0,0,1);
bool compute_inertia = false;
bool is_static = false;
if (fourcc==0x4c4f4342) { //BCOL
Ogre::MemoryDataStreamPtr mem =
Ogre::MemoryDataStreamPtr(OGRE_NEW Ogre::MemoryDataStream(name,file));
BColFile &bcol = *reinterpret_cast<BColFile*>(mem->getPtr());
is_static = bcol.mass == 0.0f; // static
masterShape = new btCompoundShape();
BColMaterialMap mmap(dir,name);
for (unsigned i=0 ; i<bcol.hullNum ; ++i) {
BColHull &p = *bcol.hulls(i);
btConvexHullShape *s2 = new btConvexHullShape();
s2->setMargin(p.margin);
for (unsigned j=0 ; j<p.vertNum ; ++j) {
BColVert &v = *p.verts(j);
s2->addPoint(btVector3(v.x, v.y, v.z));
}
masterShape->addChildShape(btTransform(ZQ,ZV), s2);
partMaterials.push_back(mmap(p.mat.name()));
}
for (unsigned i=0 ; i<bcol.boxNum ; ++i) {
BColBox &p = *bcol.boxes(i);
btBoxShape *s2 = new btBoxShape(btVector3(p.dx/2,p.dy/2,p.dz/2));
s2->setMargin(p.margin);
masterShape->addChildShape(btTransform(btQuaternion(p.qx,p.qy,p.qz,p.qw),
btVector3(p.px,p.py,p.pz)), s2);
partMaterials.push_back(mmap(p.mat.name()));
}
for (unsigned i=0 ; i<bcol.cylNum ; ++i) {
BColCyl &p = *bcol.cyls(i);
btCylinderShape *s2 = new btCylinderShapeZ(btVector3(p.dx/2,p.dy/2,p.dz/2));
s2->setMargin(p.margin);
masterShape->addChildShape(btTransform(btQuaternion(p.qx,p.qy,p.qz,p.qw),
btVector3(p.px,p.py,p.pz)), s2);
partMaterials.push_back(mmap(p.mat.name()));
}
for (unsigned i=0 ; i<bcol.coneNum ; ++i) {
BColCone &p = *bcol.cones(i);
btConeShape *s2 = new btConeShapeZ(p.radius,p.height);
s2->setMargin(p.margin);
masterShape->addChildShape(btTransform(btQuaternion(p.qx,p.qy,p.qz,p.qw),
btVector3(p.px,p.py,p.pz)), s2);
partMaterials.push_back(mmap(p.mat.name()));
}
for (unsigned i=0 ; i<bcol.planeNum ; ++i) {
BColPlane &p = *bcol.planes(i);
btStaticPlaneShape *s2 = new btStaticPlaneShape(btVector3(p.nx,p.ny,p.nz),p.d);
masterShape->addChildShape(btTransform(ZQ,ZV), s2);
partMaterials.push_back(mmap(p.mat.name()));
}
for (unsigned i=0 ; i<bcol.sphereNum ; ++i) {
BColSphere &p = *bcol.spheres(i);
btSphereShape *s2 = new btSphereShape(p.radius);
masterShape->addChildShape(btTransform(ZQ, btVector3(p.px,p.py,p.pz)), s2);
partMaterials.push_back(mmap(p.mat.name()));
}
if (bcol.triMeshFaceNum > 0) {
bcolVerts.resize(bcol.triMeshVertNum);
bcolFaces.resize(bcol.triMeshFaceNum);
memcpy(&bcolVerts[0], bcol.triMeshVerts(0), bcol.triMeshVertNum * sizeof(BColVert));
memcpy(&bcolFaces[0], bcol.triMeshFaces(0), bcol.triMeshFaceNum * sizeof(BColFace));
faceMaterials.reserve(bcol.triMeshFaceNum);
int counter = 0;
float accum_area = 0;
for (unsigned i=0 ; i<bcol.triMeshFaceNum ; ++i) {
BColFace &face = *bcol.triMeshFaces(i);
PhysicalMaterial *mat = mmap(face.mat.name());
faceMaterials.push_back(mat);
CollisionMesh::ProcObjFace po_face(to_v3(bcolVerts[face.v1]),
to_v3(bcolVerts[face.v2]),
to_v3(bcolVerts[face.v3]));
procObjFaceDB[mat->id].faces.push_back(po_face);
float area = (po_face.AB.cross(po_face.AC)).length();
APP_ASSERT(area>=0);
procObjFaceDB[mat->id].areas.push_back(area);
procObjFaceDB[mat->id].totalArea += area;
if (++counter = 10) {
counter = 0;
accum_area = 0;
procObjFaceDB[mat->id].areas10.push_back(accum_area);
}
accum_area += area;
}
btTriangleIndexVertexArray *v = new btTriangleIndexVertexArray(
bcolFaces.size(), reinterpret_cast<int*>(&(bcolFaces[0].v1)), sizeof(BColFace),
bcolVerts.size(), &(bcolVerts[0].x), sizeof(BColVert));
if (is_static) {
btBvhTriangleMeshShape *tm = new btBvhTriangleMeshShape(v,true,true);
tm->setMargin(bcol.triMeshMargin);
btTriangleInfoMap* tri_info_map = new btTriangleInfoMap();
tri_info_map->m_edgeDistanceThreshold = bcol.triMeshEdgeDistanceThreshold;
btGenerateInternalEdgeInfo(tm,tri_info_map);
masterShape->addChildShape(btTransform::getIdentity(), tm);
} else {
// skip over dynamic trimesh
}
}
setMass(bcol.mass);
setLinearDamping(bcol.linearDamping);
setAngularDamping(bcol.angularDamping);
setLinearSleepThreshold(bcol.linearSleepThreshold);
setAngularSleepThreshold(bcol.angularSleepThreshold);
setCCDMotionThreshold(bcol.ccdMotionThreshold);
setCCDSweptSphereRadius(bcol.ccdSweptSphereRadius);
setInertia(Vector3(bcol.inertia[0],bcol.inertia[1],bcol.inertia[2]));
compute_inertia = !bcol.inertiaProvided;
} else if (fourcc==0x4c4f4354) { //TCOL
ProxyStreamBuf proxy(file);
std::istream stream(&proxy);
quex::tcol_lexer qlex(&stream);
TColFile tcol;
parse_tcol_1_0(name,&qlex,tcol);
is_static = tcol.mass == 0.0f; // static
masterShape = new btCompoundShape();
if (tcol.usingCompound) {
TColCompound &c = tcol.compound;
for (size_t i=0 ; i<c.hulls.size() ; ++i) {
const TColHull &h = c.hulls[i];
btConvexHullShape *s2 = new btConvexHullShape();
s2->setMargin(h.margin);
for (unsigned j=0 ; j<h.vertexes.size() ; ++j) {
const Vector3 &v = h.vertexes[j];
s2->addPoint(to_bullet(v));
}
masterShape->addChildShape(btTransform(ZQ,ZV), s2);
partMaterials.push_back(phys_mats.getMaterial(dir,name,h.material));
}
for (size_t i=0 ; i<c.boxes.size() ; ++i) {
const TColBox &b = c.boxes[i];
/* implement with hulls
btConvexHullShape *s2 = new btConvexHullShape();
s2->addPoint(btVector3(-b.dx/2+b.margin, -b.dy/2+b.margin, -b.dz/2+b.margin));
s2->addPoint(btVector3(-b.dx/2+b.margin, -b.dy/2+b.margin, b.dz/2-b.margin));
s2->addPoint(btVector3(-b.dx/2+b.margin, b.dy/2-b.margin, -b.dz/2+b.margin));
s2->addPoint(btVector3(-b.dx/2+b.margin, b.dy/2-b.margin, b.dz/2-b.margin));
s2->addPoint(btVector3( b.dx/2-b.margin, -b.dy/2+b.margin, -b.dz/2+b.margin));
s2->addPoint(btVector3( b.dx/2-b.margin, -b.dy/2+b.margin, b.dz/2-b.margin));
s2->addPoint(btVector3( b.dx/2-b.margin, b.dy/2-b.margin, -b.dz/2+b.margin));
s2->addPoint(btVector3( b.dx/2-b.margin, b.dy/2-b.margin, b.dz/2-b.margin));
*/
btBoxShape *s2 =new btBoxShape(btVector3(b.dx/2,b.dy/2,b.dz/2));
s2->setMargin(b.margin);
masterShape->addChildShape(btTransform(btQuaternion(b.qx,b.qy,b.qz,b.qw),
btVector3(b.px,b.py,b.pz)), s2);
partMaterials.push_back(phys_mats.getMaterial(dir,name,b.material));
}
for (size_t i=0 ; i<c.cylinders.size() ; ++i) {
const TColCylinder &cyl = c.cylinders[i];
btCylinderShape *s2 =
new btCylinderShapeZ(btVector3(cyl.dx/2,cyl.dy/2,cyl.dz/2));
s2->setMargin(cyl.margin);
masterShape->addChildShape(
btTransform(btQuaternion(cyl.qx,cyl.qy,cyl.qz,cyl.qw),
btVector3(cyl.px,cyl.py,cyl.pz)), s2);
partMaterials.push_back(phys_mats.getMaterial(dir,name,cyl.material));
}
for (size_t i=0 ; i<c.cones.size() ; ++i) {
const TColCone &cone = c.cones[i];
btConeShapeZ *s2 = new btConeShapeZ(cone.radius,cone.height);
s2->setMargin(cone.margin);
masterShape->addChildShape(
btTransform(btQuaternion(cone.qx,cone.qy,cone.qz,cone.qw),
btVector3(cone.px,cone.py,cone.pz)), s2);
partMaterials.push_back(phys_mats.getMaterial(dir,name,cone.material));
}
for (size_t i=0 ; i<c.planes.size() ; ++i) {
const TColPlane &p = c.planes[i];
btStaticPlaneShape *s2 =
new btStaticPlaneShape(btVector3(p.nx,p.ny,p.nz),p.d);
masterShape->addChildShape(btTransform(ZQ,ZV), s2);
partMaterials.push_back(phys_mats.getMaterial(dir,name,p.material));
}
for (size_t i=0 ; i<c.spheres.size() ; ++i) {
const TColSphere &sp = c.spheres[i];
btSphereShape *s2 = new btSphereShape(sp.radius);
masterShape->addChildShape(btTransform(ZQ,
btVector3(sp.px,sp.py,sp.pz)), s2);
partMaterials.push_back(phys_mats.getMaterial(dir,name,sp.material));
}
}
if (tcol.usingTriMesh) {
TColTriMesh &t = tcol.triMesh;
std::swap(verts, t.vertexes);
std::swap(faces, t.faces);
faceMaterials.reserve(faces.size());
int counter = 0;
float accum_area = 0;
for (TColFaces::const_iterator i=faces.begin(), i_=faces.end() ; i!=i_ ; ++i) {
//optimisation possible here by changing the TCol struct to be more liek what
//bullet wants, and then re-using memory
PhysicalMaterial *mat = phys_mats.getMaterial(dir,name,i->material);
faceMaterials.push_back(mat);
CollisionMesh::ProcObjFace po_face(verts[i->v1], verts[i->v2], verts[i->v3]);
procObjFaceDB[mat->id].faces.push_back(po_face);
float area = (po_face.AB.cross(po_face.AC)).length();
APP_ASSERT(area>=0);
procObjFaceDB[mat->id].areas.push_back(area);
procObjFaceDB[mat->id].totalArea += area;
if (++counter = 10) {
counter = 0;
accum_area = 0;
procObjFaceDB[mat->id].areas10.push_back(accum_area);
}
accum_area += area;
}
btTriangleIndexVertexArray *v = new btTriangleIndexVertexArray(
faces.size(), &(faces[0].v1), sizeof(TColFace),
verts.size(), &(verts[0].x), sizeof(Vector3));
if (is_static) {
btBvhTriangleMeshShape *tm = new btBvhTriangleMeshShape(v,true,true);
tm->setMargin(t.margin);
btTriangleInfoMap* tri_info_map = new btTriangleInfoMap();
tri_info_map->m_edgeDistanceThreshold = t.edgeDistanceThreshold;
btGenerateInternalEdgeInfo(tm,tri_info_map);
masterShape->addChildShape(btTransform::getIdentity(), tm);
} else {
// Skip over dynamic trimesh
}
}
setMass(tcol.mass);
setInertia(Vector3(tcol.inertia_x,tcol.inertia_y,tcol.inertia_z));
setLinearDamping(tcol.linearDamping);
setAngularDamping(tcol.angularDamping);
setLinearSleepThreshold(tcol.linearSleepThreshold);
setAngularSleepThreshold(tcol.angularSleepThreshold);
setCCDMotionThreshold(tcol.ccdMotionThreshold);
setCCDSweptSphereRadius(tcol.ccdSweptSphereRadius);
compute_inertia = !tcol.hasInertia;
} else {
GRIT_EXCEPT("Collision mesh \""+name+"\" seems to be corrupt.");
}
if (is_static) {
setInertia(Vector3(0,0,0));
} else {
if (faceMaterials.size() > 0) {
CERR << "While loading \"" + name + "\": Dynamic trimesh not supported." << std::endl;
}
if (compute_inertia) {
btVector3 i;
masterShape->calculateLocalInertia(mass,i);
setInertia(from_bullet(i));
}
}
}
void PhysicsBody::setDamping (Real32 linear_scale, Real32 angular_scale)
{
setLinearDamping(linear_scale);
setAngularDamping(angular_scale);
}
//Damping
void PhysicsBody::setDampingDefaults (void)
{
dBodySetDampingDefaults(_BodyID);
setLinearDamping(dBodyGetLinearDamping(_BodyID));
setAngularDamping(dBodyGetAngularDamping(_BodyID));
}
void CIrrOdeWorld::initPhysics() {
if (m_bPhysicsInitialized) return;
m_iNodesInitialized=0;
CIrrOdeSceneNode::initPhysics();
m_iWorldId=m_pOdeDevice->worldCreate();
m_iJointGroupId=m_pOdeDevice->jointGroupCreate(0);
if (!m_pWorldSpace) m_pWorldSpace=new CIrrOdeSpace(this,m_pSceneManager);
if (m_pWorldSpace!=NULL) m_pWorldSpace->initPhysics();
setLinearDamping (m_fDampingLinear );
setAngularDamping (m_fDampingAngular );
setLinearDampingThreshold (m_fDampingLinearThreshold );
setAngularDampingThreshold(m_fDampingAngularThreshold);
setAutoDisableFlag (m_iAutoDisableFlag );
setAutoDisableLinearThreshold (m_fAutoDisableLinearThreshold );
setAutoDisableAngularThreshold(m_fAutoDisableAngularThreshold);
setAutoDisableSteps (m_iAutoDisableSteps );
setAutoDisableTime (m_fAutoDisableTime );
setGravity(m_cGravity);
if (m_fMaxAngularSpeed!=_DEFAULT_MAX_ANGULAR_SPEED) setMaxAngularSpeed(m_fMaxAngularSpeed);
#ifdef _TRACE_INIT_PHYSICS
printf("world created .. id=%i\n",(int)m_iWorldId);
#endif
irr::core::list<CIrrOdeSpace *>::Iterator s;
for (s=m_pSpaces.begin(); s!=m_pSpaces.end(); s++) {
#ifdef _TRACE_INIT_PHYSICS
printf("CIrrOdeWorld::initPhysics: init space\n");
#endif
CIrrOdeSpace *pSpace=(*s);
pSpace->initPhysics();
}
irr::core::list<CIrrOdeGeom *>::Iterator i;
for (i=m_pGeoms.begin(); i!=m_pGeoms.end(); i++) {
#ifdef _TRACE_INIT_PHYSICS
printf("CIrrOdeWorld::initPhysics: init geom\n");
#endif
CIrrOdeGeom *pGeom=(*i);
pGeom->initPhysics();
}
irr::core::list<CIrrOdeBody *>::Iterator b,ib2;
for (b=m_pBodies.begin(); b!=m_pBodies.end(); b++) {
#ifdef _TRACE_INIT_PHYSICS
printf("CIrrOdeWorld::initPhysics: init body\n");
#endif
CIrrOdeBody *b1=*b;
b1->initPhysics();
}
irr::core::list<irr::ode::IIrrOdeStepMotor *>::Iterator it;
for (it=m_lStepMotors.begin(); it!=m_lStepMotors.end(); it++) (*it)->initPhysics();
m_bPhysicsInitialized = true;
}
