void ContactGenerator::sphere_halfspace(const CollisionShape &a, const RigidBody &rbA, const CollisionShape &b, const RigidBody &rbB, ContactManifold &contactManifold)
{
// Make sure we have contacts left and Check if they're the right shapes.
if ( a.getShapeType() != SHAPE_SPHERE || b.getShapeType() != SHAPE_HALFSPACE ) { return; }
// then typecast their appropriate shapes
const ShapeSphere& sphere = (const ShapeSphere&)a;
const ShapeHalfspace& halfspace = (const ShapeHalfspace&)b;
// Get the positions and halfspace normal
Vec3 posSphere = a.getOffset().getPosition() + rbA.getTransform().getPosition();
Vec3 posHalfspace = a.getOffset().getPosition() + rbB.getTransform().getPosition();;
Vec3 normHalfspace = rbB.getTransform() * b.getOffset() * Vec3(0.f, 1.f, 0.f, 0.f);
// Find the distance from the plane to the sphere
Scalar distance = normHalfspace.dot(posSphere) - sphere.getRadius() - (posHalfspace).y;
// Check collision
if(distance < 0)
{
// Create contact data
ContactPoint newContact;
newContact.normal = normHalfspace;
newContact.position = posSphere + -newContact.normal*(sphere.getRadius() - newContact.penetration/2);
newContact.penetration = -distance;
contactManifold.addContactPoint(newContact);
}
return;
}
// Integrate all of the rigid bodies in the scene
void Physics::integrateRigidBodies(real duration)
{
// Integrate all of the particles
for (unsigned int particleIndex = 0; particleIndex < particles.size(); particleIndex++)
{
particles[particleIndex]->integrate(duration);
}
// Integrate all of the cubes
if (rectangleObjects.size() > 0)
{
// Integrate all of the rigid bodies and add them to the bounding sphere heirarchy
for (unsigned int rigidBodyIndex = 0; rigidBodyIndex < rectangleObjects.size(); rigidBodyIndex++)
{
RigidBody *body = rectangleObjects[rigidBodyIndex]->body;
body->integrate(duration);
}
}
// Integrate all of the spheres
if (sphereObjects.size() > 0)
{
for (unsigned int rigidBodyIndex = 0; rigidBodyIndex < sphereObjects.size(); rigidBodyIndex++)
{
sphereObjects[rigidBodyIndex]->body->integrate(duration);
}
}
// Integrate all the cylinders
for (unsigned int rigidBodyIndex = 0; rigidBodyIndex < capsuleObjects.size(); rigidBodyIndex++)
{
capsuleObjects[rigidBodyIndex]->body->integrate(duration);
}
}
/**
* Copy constructor.
* @return A deep copy of this object.
*/
Object* RigidBody::clone() {
RigidBody* rb = new RigidBody(*this);
//rb.setShape(new rb
rb->body_ = NULL;
rb->processBody_();
return rb;
}
Node* buildDrop()
{
// A simple free falling mass.
SharedPtr<Group> group = new Group("Group");
MobileRootJoint* mobileRootJoint = new MobileRootJoint("Root Joint");
mobileRootJoint->setInitialPosition(Vector3(0, 0, -10000));
mobileRootJoint->setInitialAngularVelocity(Vector3(1, 1, 1));
group->addChild(mobileRootJoint);
RigidBody* rigidBody = new RigidBody("Rigid Body");
rigidBody->addLink("externalInteractLink");
group->addChild(rigidBody);
Mass* mass = new Mass("Mass", 1, InertiaMatrix(1, 0, 0, 1, 0, 1));
group->addChild(mass);
ExternalInteract* externalInteract = new ExternalInteract("ExternalInteract");
externalInteract->setPosition(mass->getPosition());
externalInteract->setEnableAllOutputs(true);
group->addChild(externalInteract);
group->connect(mobileRootJoint->getPort("link"),
rigidBody->getPort("link0"));
group->connect(rigidBody->getPort("link1"),
mass->getPort("link"));
group->connect(rigidBody->getPort("externalInteractLink"),
externalInteract->getPort("link"));
return group.release();
}
RigidBody* PhysicsManager::createRigidBody(Ogre::SceneNode* node, Ogre::Entity* ent, RigidBodyInfo* rbInfo) {
RigidBody* rigBod = new RigidBody();
rigBod->setConstructionInfo(rbInfo);
rigBod->setNode(node);
rigBod->setEntity(ent);
return rigBod;
}
void MyGame::Update(float elapsedTime)
{
static float spawnTimer = 0;
spawnTimer += elapsedTime;
if(spawnTimer >= 0.15f)
{
Cube* c = new Cube(Vector3f(1.f, 1.f, 1.f));
c->SetTexture(Texture::Get("!debug.png"));
GetScene().GetRoot()->AddChild(c);
RigidBody* rb = c->AddToPhysic(1, Vector3f(0, 25, 7.5));
rb->ApplyForce(Vector3f(0, -10.f, 0));
spawnTimer = 0;
m_cubeCount++;
}
std::ostringstream fps;
fps << "FPS: " << GetFps();
m_txtFps->SetText(fps.str());
std::ostringstream CubeCount;
CubeCount << "Cube count: " << m_cubeCount;
m_txtCubeCount->SetText(CubeCount.str());
}
void SceneReplication::CreateScene()
{
scene_ = new Scene(context_);
// Create scene content on the server only
ResourceCache* cache = GetSubsystem<ResourceCache>();
// Create octree and physics world with default settings. Create them as local so that they are not needlessly replicated
// when a client connects
scene_->CreateComponent<Octree>(LOCAL);
scene_->CreateComponent<PhysicsWorld>(LOCAL);
// All static scene content and the camera are also created as local, so that they are unaffected by scene replication and are
// not removed from the client upon connection. Create a Zone component first for ambient lighting & fog control.
Node* zoneNode = scene_->CreateChild("Zone", LOCAL);
Zone* zone = zoneNode->CreateComponent<Zone>();
zone->SetBoundingBox(BoundingBox(-1000.0f, 1000.0f));
zone->SetAmbientColor(Color(0.1f, 0.1f, 0.1f));
zone->SetFogStart(100.0f);
zone->SetFogEnd(300.0f);
// Create a directional light without shadows
Node* lightNode = scene_->CreateChild("DirectionalLight", LOCAL);
lightNode->SetDirection(Vector3(0.5f, -1.0f, 0.5f));
Light* light = lightNode->CreateComponent<Light>();
light->SetLightType(LIGHT_DIRECTIONAL);
light->SetColor(Color(0.2f, 0.2f, 0.2f));
light->SetSpecularIntensity(1.0f);
// Create a "floor" consisting of several tiles. Make the tiles physical but leave small cracks between them
for (int y = -20; y <= 20; ++y)
{
for (int x = -20; x <= 20; ++x)
{
Node* floorNode = scene_->CreateChild("FloorTile", LOCAL);
floorNode->SetPosition(Vector3(x * 20.2f, -0.5f, y * 20.2f));
floorNode->SetScale(Vector3(20.0f, 1.0f, 20.0f));
StaticModel* floorObject = floorNode->CreateComponent<StaticModel>();
floorObject->SetModel(cache->GetResource<Model>("Models/Box.mdl"));
floorObject->SetMaterial(cache->GetResource<Material>("Materials/Stone.xml"));
RigidBody* body = floorNode->CreateComponent<RigidBody>();
body->SetFriction(1.0f);
CollisionShape* shape = floorNode->CreateComponent<CollisionShape>();
shape->SetBox(Vector3::ONE);
}
}
// Create the camera. Limit far clip distance to match the fog
// The camera needs to be created into a local node so that each client can retain its own camera, that is unaffected by
// network messages. Furthermore, because the client removes all replicated scene nodes when connecting to a server scene,
// the screen would become blank if the camera node was replicated (as only the locally created camera is assigned to a
// viewport in SetupViewports() below)
cameraNode_ = scene_->CreateChild("Camera", LOCAL);
Camera* camera = cameraNode_->CreateComponent<Camera>();
camera->SetFarClip(300.0f);
// Set an initial position for the camera scene node above the plane
cameraNode_->SetPosition(Vector3(0.0f, 5.0f, 0.0f));
}
RigidBody* RigidBody::clone() {
RigidBody* obj = new RigidBody();
obj->setPosition(this->position);
for (std::vector<Object*>::iterator it = this->childs.begin(); it != this->childs.end(); ++it) {
obj->addChild(*it);
}
this->bindVBO();
obj->setRotation(this->rotation);
obj->setVAO(this->vao);
obj->setShader(this->shader);
obj->setVertexCounter(this->vertexCounter);
obj->setVertices(this->g_vp);
obj->setVPVBO(this->vp_vbo);
obj->setBoundingBox(this->vbo_vertices_bounding_box,
this->ibo_elements,
this->sizeBoundingBox,
this->centerBoundingBox,
this->minBoundingBox,
this->maxBoundingBox);
return obj;
}
void Grid::ResolveCollisions(Entity* ent)
{
RigidBody* rigid = ent->GetComponent<RigidBody>();
if (rigid)
{
rigid->ResolveCollisions();
BoxCollider* box = ent->GetComponent<BoxCollider>();
if (box)
{
Vector3& max = box->GetMaxCoord();
Vector3& min = box->GetMinCoord();
if (min.x < 0 || min.y < 0 || max.x > GridWidth || max.y > GridHeight)
ent->OnCollisionEnter(Collision());
}
}
for (auto &child : ent->GetChildren())
{
ResolveCollisions(child);
}
}
void StateCharacterTurning::Update(float timeStep)
{
StateCharacterGrounded::Update();
RigidBody* body = pawn_->GetBody();
AnimationController* animCtrl = static_cast<PawnAnimated*>(pawn_)->GetAnimationController();
//apply a force to slow it down further, since we are changing direction
body->ApplyImpulse(moveDir_ * pawn_->GetMoveForce() *0.25);//0.25 to dampen it
//get the speed that we are travelling, that will determine when we turn around
if(!flipped_)
{
//before we are flipped around, we drive the turning animation
//float spd = pawn_->GetPlaneVelocity().Length();
//float turnTime = Fit(spd,0.0f,speed_,1.0f,0.0f);
animCtrl->PlayExclusive("Models/Man/MAN_TurnSkidGunning.ani", 0,false, 0.1f);
//animCtrl->SetTime("Models/Man/MAN_TurnSkidGunning.ani",turnTime);
if(animCtrl->IsAtEnd("Models/Man/MAN_TurnSkidGunning.ani"))
{
Turn();
animCtrl->Play("Models/Man/MAN_TurnSkidGunningFlipped.ani", false, 0.0f);
flipped_=true;
}
}
else
{
animCtrl->Play("Models/Man/MAN_TurnSkidGunningFlipped.ani", false, 0.0f);
//now that we are flipped we can set it to the next state too
pawn_->SetState( new StateCharacterRunning(context_) );
}
}
bool RigidBody::CollidesWith(const RigidBody& other) const {
bool ignored =
this == &other || adjacentTo(other) ||
(collision_filter_group_ & other.getCollisionFilterIgnores()).any() ||
(other.getCollisionFilterGroup() & collision_filter_ignores_).any();
return !ignored;
}
void Gravity::ForceUpdate(RigidBody & body, REAL dt)
{
if (body.HasInfiniteMass())
return;
body.AddForce(gravity*body.GetMass());
}
/**
* 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);
}
void ContactGenerator::box_halfspace(const CollisionShape &a, const RigidBody &rbA, const CollisionShape &b, const RigidBody &rbB, ContactManifold &contactManifold)
{
// Make sure we have contacts left and Check if they're the right shapes.
if (a.getShapeType() != SHAPE_BOX || b.getShapeType() != SHAPE_HALFSPACE ) { return; }
// then typecast their appropriate shapes
const ShapeBox& box = (const ShapeBox&)a;
const ShapeHalfspace& halfspace = (const ShapeHalfspace&)b;
const Vec3& boxHalfExtents = box.getHalfExtents();
// generate a array of all of the box's vertices
Vec3 boxVertex[8] =
{
Vec3(-boxHalfExtents.x, -boxHalfExtents.y, -boxHalfExtents.z),
Vec3(-boxHalfExtents.x, -boxHalfExtents.y, +boxHalfExtents.z),
Vec3(-boxHalfExtents.x, +boxHalfExtents.y, -boxHalfExtents.z),
Vec3(-boxHalfExtents.x, +boxHalfExtents.y, +boxHalfExtents.z),
Vec3(+boxHalfExtents.x, -boxHalfExtents.y, -boxHalfExtents.z),
Vec3(+boxHalfExtents.x, -boxHalfExtents.y, +boxHalfExtents.z),
Vec3(+boxHalfExtents.x, +boxHalfExtents.y, -boxHalfExtents.z),
Vec3(+boxHalfExtents.x, +boxHalfExtents.y, +boxHalfExtents.z),
};
const Transform& boxTransform = rbA.getTransform();
// Apply collision object offset
for (int i = 0; i < 8; i++)
{
boxVertex[i] = boxTransform * a.getOffset() * boxVertex[i];
}
// Calculate halfspace's position and normal
Vec3 posHalfspace = b.getOffset().getPosition() + rbB.getPosition();
Vec3 normHalfspace = rbB.getTransform() * b.getOffset() * Vec3(0.f, 1.f, 0.f, 0.f);
// Check each vertice for intersection with the halfspace
Scalar vertexDistance;
unsigned int numContacts = 0;
for (int i = 0; i < 8; i++)
{
vertexDistance = boxVertex[i].dot(normHalfspace) - posHalfspace.y;
if(vertexDistance <= 0)
{
// Create contact data
ContactPoint newContact;
newContact.normal = normHalfspace;
newContact.penetration = -vertexDistance;
newContact.position = boxVertex[i] + newContact.normal*(newContact.penetration*0.5f);
contactManifold.addContactPoint(newContact);
}
}
return;
}
void WheelInfo::UpdateWheel(const RigidBody& chassis,RaycastInfo& raycastInfo)
{
if (m_raycastInfo.m_isInContact)
{
SimdScalar project= m_raycastInfo.m_contactNormalWS.dot( m_raycastInfo.m_wheelDirectionWS );
SimdVector3 chassis_velocity_at_contactPoint;
SimdVector3 relpos = m_raycastInfo.m_contactPointWS - chassis.getCenterOfMassPosition();
chassis_velocity_at_contactPoint = chassis.getVelocityInLocalPoint( relpos );
SimdScalar projVel = m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
if ( project >= -0.1f)
{
m_suspensionRelativeVelocity = 0.0f;
m_clippedInvContactDotSuspension = 1.0f / 0.1f;
}
else
{
SimdScalar inv = -1.f / project;
m_suspensionRelativeVelocity = projVel * inv;
m_clippedInvContactDotSuspension = inv;
}
}
else // Not in contact : position wheel in a nice (rest length) position
{
m_raycastInfo.m_suspensionLength = this->GetSuspensionRestLength();
m_suspensionRelativeVelocity = 0.0f;
m_raycastInfo.m_contactNormalWS = -m_raycastInfo.m_wheelDirectionWS;
m_clippedInvContactDotSuspension = 1.0f;
}
}
// -------------------------------------------------------------------------
RigidBody *OgreBulletListener::addSphere(const Ogre::String instanceName,
const Ogre::Vector3 &pos, const Ogre::Quaternion &q, const Ogre::Real radius,
const Ogre::Real bodyRestitution, const Ogre::Real bodyFriction,
const Ogre::Real bodyMass)
{
Entity *entity = mSceneMgr->createEntity(
instanceName + StringConverter::toString(mNumEntitiesInstanced),
"ellipsoid.mesh");
entity->setQueryFlags (GEOMETRY_QUERY_MASK);
#if (OGRE_VERSION < ((1 << 16) | (5 << 8) | 0)) // only applicable before shoggoth (1.5.0)
entity->setNormaliseNormals(true);
#endif
entity->setCastShadows(true);
entity->setMaterialName("Bullet/box");
SphereCollisionShape *sceneCubeShape = new SphereCollisionShape(radius);
RigidBody *defaultBody = new RigidBody(
"defaultSphereRigid" + StringConverter::toString(mNumEntitiesInstanced),
mWorld);
SceneNode *node = mSceneMgr->getRootSceneNode ()->createChildSceneNode ();
node->attachObject (entity);
defaultBody->setShape (node, sceneCubeShape, bodyRestitution, bodyFriction, bodyMass, pos, q);
mEntities.push_back(entity);
mShapes.push_back(sceneCubeShape);
mBodies.push_back(defaultBody);
mNumEntitiesInstanced++;
return defaultBody;
}
bool CaptureWorld::setObjectRigidBody(int oid, int rid, bool offset)
{
ClientHandler* client = AppData::getInstance()->getClient();
if (!client) return false;
RigidBody* rb;
// detach object
if (rid < 0)
{
rb = NULL;
}
else
{
// check if has ownership of rigid body transformation
rb = client->getRigidBody(rid);
if (!rb ||
rb->getWorldID() >=0 && rb->getWorldID() != this->id)
return false;
rb->setWorldID(this->id);
}
CaptureObject* object = getObject(oid);
object->setRigidBody(rb, offset);
updateObjectsNode();
MainFormController::getInstance()->objectUpdateGridView(oid);
return true;
}
// -------------------------------------------------------------------------
RigidBody *OgreBulletListener::addStaticTrimesh(const Ogre::String &instanceName,
const Ogre::String &meshName,
const Ogre::Vector3 &pos,
const Ogre::Quaternion &q,
const Ogre::Real bodyRestitution,
const Ogre::Real bodyFriction,
bool castShadow)
{
Entity *sceneEntity = mSceneMgr->createEntity(instanceName + StringConverter::toString(mNumEntitiesInstanced), meshName);
sceneEntity->setCastShadows (castShadow);
StaticMeshToShapeConverter *trimeshConverter = new StaticMeshToShapeConverter(sceneEntity);
TriangleMeshCollisionShape *sceneTriMeshShape = trimeshConverter->createTrimesh();
delete trimeshConverter;
RigidBody *sceneRigid = new RigidBody(
instanceName + "Rigid" + StringConverter::toString(mNumEntitiesInstanced),
mWorld);
SceneNode *node = mSceneMgr->getRootSceneNode ()->createChildSceneNode ();
node->attachObject (sceneEntity);
sceneRigid->setStaticShape(node, sceneTriMeshShape, bodyRestitution, bodyFriction, pos);
mEntities.push_back(sceneEntity);
mBodies.push_back(sceneRigid);
mNumEntitiesInstanced++;
return sceneRigid;
}
vector<pair<RigidBody *, RigidBody *>> &NSquared::ComputePairs()
{
ColliderPairList.clear();
//Outer Loop
for(vector<RigidBody *>::iterator i = ColliderList.begin(); i != ColliderList.end(); ++i)
{
vector<RigidBody *>::iterator jStart = i;
for(vector<RigidBody *>::iterator j = ++jStart; j != ColliderList.end(); ++j)
{
RigidBody *rBodyA = *i;
RigidBody *rBodyB = *j;
AABB *aabbA = rBodyA->GetBoundingBox();
AABB *aabbB = rBodyB->GetBoundingBox();
if(aabbA->checkCollision(*aabbB))
{
ColliderPairList.push_back(make_pair(rBodyA, rBodyB));
}
}
}
return ColliderPairList;
}
/**
* This method is used when a mouse event gets generated. This method returns true if the message gets processed, false otherwise.
*/
bool InteractiveWorld::onMouseEvent(int eventType, int button, int mouseX, int mouseY){
//need to figure out if the mouse is in the push interface window (and if we care)...
if (Globals::drawPushInterface == 1 && button == MOUSE_LBUTTON && eventType != MOUSE_UP){
Vector3d input;
Point3d p;
if (bInterface == false){
tprintf("Warning: No interaction interface was created!\n");
return false;
}
if (world == NULL){
tprintf("Warning: There is no valid reference to a world!\n");
return false;
}
RigidBody* dBall = world->getRBByName("dodgeBall");
if (dBall == NULL){
tprintf("Warning: No dodgeBall loaded!\n");
return false;
}
bool eventHandled = bInterface->handleMouseEvent(mouseX, mouseY, &input);
if (eventHandled ){
if (input.length() > 0){
//get the object that we will be throwing...
getDodgeBallPosAndVel(-input.x, input.y, input.length(), &p, &input);
dBall->setCMPosition(p);
dBall->setCMVelocity(input);
// dBall->updateToWorldTransformation();
}
return true;
}
}
return false;
}
Node* SceneReplication::CreateControllableObject()
{
ResourceCache* cache = GetSubsystem<ResourceCache>();
// Create the scene node & visual representation. This will be a replicated object
Node* ballNode = scene_->CreateChild("Ball");
ballNode->SetPosition(Vector3(Random(40.0f) - 20.0f, 5.0f, Random(40.0f) - 20.0f));
ballNode->SetScale(0.5f);
StaticModel* ballObject = ballNode->CreateComponent<StaticModel>();
ballObject->SetModel(cache->GetResource<Model>("Models/Sphere.mdl"));
ballObject->SetMaterial(cache->GetResource<Material>("Materials/StoneSmall.xml"));
// Create the physics components
RigidBody* body = ballNode->CreateComponent<RigidBody>();
body->SetMass(1.0f);
body->SetFriction(1.0f);
// In addition to friction, use motion damping so that the ball can not accelerate limitlessly
body->SetLinearDamping(0.5f);
body->SetAngularDamping(0.5f);
CollisionShape* shape = ballNode->CreateComponent<CollisionShape>();
shape->SetSphere(1.0f);
// Create a random colored point light at the ball so that can see better where is going
Light* light = ballNode->CreateComponent<Light>();
light->SetRange(3.0f);
light->SetColor(Color(0.5f + (Rand() & 1) * 0.5f, 0.5f + (Rand() & 1) * 0.5f, 0.5f + (Rand() & 1) * 0.5f));
return ballNode;
}
void AiController::OnTick(const natU64 _dt)
{
if(!m_lifeController->IsAlive())
{
// called spawner first
//m_spawner->OnKilled(GetEntity());
Spawned* spawned = GetEntity()->GetComponent<Spawned>();
assert(spawned);
spawned->Kill();
}
else
{
// move toward player
Entity* player = m_playersManager->GetLocalPlayer();
Transform* transform_player = player->GetComponent<Transform>();
Transform* transform = GetEntity()->GetComponent<Transform>();
RigidBody* rigidbody = GetEntity()->GetComponent<RigidBody>();
glm::vec3 direction = transform_player->GetPos() - transform->GetPos();
if(direction != glm::vec3(0.f))
{
direction = glm::normalize(direction);
//transform->m_pos += static_cast<natF32>(_dt) * direction * m_speed;
direction = static_cast<natF32>(_dt) * direction;
rigidbody->ApplyLinearImpulse(direction);
}
}
}
void PhysicsWorld::ConvexCast(PhysicsRaycastResult& result, CollisionShape* shape, const Vector3& startPos, const Quaternion& startRot, const Vector3& endPos, const Quaternion& endRot, unsigned collisionMask)
{
if (!shape || !shape->GetCollisionShape())
{
LOGERROR("Null collision shape for convex cast");
result.body_ = 0;
result.position_ = Vector3::ZERO;
result.normal_ = Vector3::ZERO;
result.distance_ = M_INFINITY;
return;
}
// If shape is attached in a rigidbody, set its collision group temporarily to 0 to make sure it is not returned in the sweep result
RigidBody* bodyComp = shape->GetComponent<RigidBody>();
btRigidBody* body = bodyComp ? bodyComp->GetBody() : (btRigidBody*)0;
btBroadphaseProxy* proxy = body ? body->getBroadphaseProxy() : (btBroadphaseProxy*)0;
short group = 0;
if (proxy)
{
group = proxy->m_collisionFilterGroup;
proxy->m_collisionFilterGroup = 0;
}
ConvexCast(result, shape->GetCollisionShape(), startPos, startRot, endPos, endRot, collisionMask);
// Restore the collision group
if (proxy)
proxy->m_collisionFilterGroup = group;
}
//------------------------------------------------------------------------------
void SoccerBall::frameMove(float dt)
{
RigidBody::frameMove(dt);
return;
if (!proxy_object_) return;
RigidBody * body = (RigidBody*)game_state_->getGameObject(rel_object_id_);
if (body)
{
Vector new_pos = body->getTransform().transformPoint(rel_pos_);
setPosition(new_pos);
// setGlobalLinearVel(body->getGlobalLinearVel());
// getTarget()->setPosition(new_pos);
// getTarget()->setGlobalLinearVel(body->getGlobalLinearVel());
// handleProxyInterpolation();
// handleProxyInterpolation();
// proxy_object_->setPosition(proxy_object_->getPosition() + dt*body->getGlobalLinearVel());
}
}
void Ragdolls::SpawnObject()
{
ResourceCache* cache = GetContext()->m_ResourceCache.get();
Node* boxNode = scene_->CreateChild("Sphere");
boxNode->SetPosition(cameraNode_->GetPosition());
boxNode->SetRotation(cameraNode_->GetRotation());
boxNode->SetScale(0.25f);
StaticModel* boxObject = boxNode->CreateComponent<StaticModel>();
boxObject->SetModel(cache->GetResource<Model>("Models/Sphere.mdl"));
boxObject->SetMaterial(cache->GetResource<Material>("Materials/StoneSmall.xml"));
boxObject->SetCastShadows(true);
RigidBody* body = boxNode->CreateComponent<RigidBody>();
body->SetMass(1.0f);
body->SetRollingFriction(0.15f);
CollisionShape* shape = boxNode->CreateComponent<CollisionShape>();
shape->SetSphere(1.0f);
const float OBJECT_VELOCITY = 10.0f;
// Set initial velocity for the RigidBody based on camera forward vector. Add also a slight up component
// to overcome gravity better
body->SetLinearVelocity(cameraNode_->GetRotation() * Vector3(0.0f, 0.25f, 1.0f) * OBJECT_VELOCITY);
}
bool testBodyTreeModel1(unsigned numLevels, unsigned numBodies)
{
SharedPtr<Group> group = new Group("Group");
MobileRootJoint* mechanicRootJoint = new MobileRootJoint("RootJoint");
group->addChild(mechanicRootJoint);
RigidBody* rigidBody = new RigidBody("RigidBody");
group->addChild(rigidBody);
group->connect(mechanicRootJoint->getPort("link"),
rigidBody->addLink("rootLink"));
Mass* mass = new Mass("Mass", 1, InertiaMatrix(1, 0, 0, 1, 0, 1));
group->addChild(mass);
group->connect(mass->getPort("link"), rigidBody->addLink("massLink"));
addBodiesRecursive(numLevels, numBodies, rigidBody, group);
SharedPtr<System> system = new System("Closed kinematic Loop 1");
system->setNode(group);
if (!system->init()) {
std::cerr << "Initialization of single body model failed!" << std::endl;
return false;
}
return true;
}
double ExcludedVolumeRestraint::unprotected_evaluate(DerivativeAccumulator *da)
const {
IMP_OBJECT_LOG;
if (!initialized_) {
initialize();
} else {
IMP_IF_CHECK(USAGE) {
Model *m = get_model();
IMP_CONTAINER_FOREACH(SingletonContainer, sc_, {
if (RigidMember::get_is_setup(m, _1)) {
RigidBody rb = RigidMember(m, _1).get_rigid_body();
using IMP::operator<<;
IMP_USAGE_CHECK(
std::find(rbs_.begin(), rbs_.end(),
rb.get_particle()->get_index()) != rbs_.end(),
"You cannot change the contents of the singleton container "
<< "passed to ExcludedVolume after the first evaluate."
<< " Found unexpected rigid body " << rb->get_name()
<< " not in " << rbs_);
} else {
IMP_USAGE_CHECK(
std::find(xyzrs_.begin(), xyzrs_.end(), _1) != xyzrs_.end(),
"You cannot change the contents of the singleton container "
<< "passed to ExcludedVolume after the first evaluate."
<< " Found unexpected particle " << m->get_particle_name(_1));
}
});
}
}
bool testClosedKinematicLoop2()
{
SharedPtr<Group> group = new Group("Group");
MobileRootJoint* mechanicRootJoint = new MobileRootJoint("RootJoint");
group->addChild(mechanicRootJoint);
RigidBody* rigidBody = new RigidBody("RigidBody");
group->addChild(rigidBody);
group->connect(mechanicRootJoint->getPort("link"),
rigidBody->addLink("rootLink"));
PrismaticJoint* prismaticJoint = new PrismaticJoint("PrismaticJoint");
group->addChild(prismaticJoint);
group->connect(rigidBody->addLink("jointLink0"),
prismaticJoint->getPort("link0"));
group->connect(rigidBody->addLink("jointLink1"),
prismaticJoint->getPort("link1"));
SharedPtr<System> system = new System("Closed kinematic Loop 1");
system->setNode(group);
if (system->init()) {
std::cerr << "Detection of klosed kinematic loop failed!" << std::endl;
return false;
}
return true;
}
void PhysicsStressTest::SpawnObject()
{
ResourceCache* cache = GetSubsystem<ResourceCache>();
// Create a smaller box at camera position
Node* boxNode = scene_->CreateChild("SmallBox");
boxNode->SetPosition(cameraNode_->GetPosition());
boxNode->SetRotation(cameraNode_->GetRotation());
boxNode->SetScale(0.25f);
StaticModel* boxObject = boxNode->CreateComponent<StaticModel>();
boxObject->SetModel(cache->GetResource<Model>("Models/Box.mdl"));
boxObject->SetMaterial(cache->GetResource<Material>("Materials/StoneSmall.xml"));
boxObject->SetCastShadows(true);
// Create physics components, use a smaller mass also
RigidBody* body = boxNode->CreateComponent<RigidBody>();
body->SetMass(0.25f);
body->SetFriction(0.75f);
CollisionShape* shape = boxNode->CreateComponent<CollisionShape>();
shape->SetBox(Vector3::ONE);
const float OBJECT_VELOCITY = 10.0f;
// Set initial velocity for the RigidBody based on camera forward vector. Add also a slight up component
// to overcome gravity better
body->SetLinearVelocity(cameraNode_->GetRotation() * Vector3(0.0f, 0.25f, 1.0f) * OBJECT_VELOCITY);
}
void ContactGenerator::sphere_sphere(const CollisionShape &a, const RigidBody &rbA, const CollisionShape &b, const RigidBody &rbB, ContactManifold &contactManifold)
{
// Make sure we have contacts left and Check if they're spheres.
if ( a.getShapeType() != SHAPE_SPHERE || b.getShapeType() != SHAPE_SPHERE ) { return; }
// then typecast their shape to a sphere
const ShapeSphere& shapeA = (const ShapeSphere&)a;
const ShapeSphere& shapeB = (const ShapeSphere&)b;
// Get the sphere positions
Vec3 posA = a.getOffset().getPosition() + rbA.getPosition();
Vec3 posB = b.getOffset().getPosition() + rbB.getPosition();
// Find the vector between the two object
Vec3 midLine = posA - posB;
Scalar distance = midLine.length();
// Check for collision
if (distance <= 0.0f || distance >= shapeA.getRadius() + shapeB.getRadius())
{
return;
}
// Create contact data
ContactPoint newContact;
newContact.normal = midLine * ( ((Scalar)1.0) / distance );
newContact.position = posA + (midLine * (Scalar)-0.5);
newContact.penetration = (shapeA.getRadius() + shapeA.getRadius() - distance);
contactManifold.addContactPoint(newContact);
}
