b2BodyDef Body::getBodyDef() { b2BodyDef bodyDef; if (!mBody) { // Default static properties bodyDef.type = static_cast<b2BodyType>(StaticBody); bodyDef.active = true; bodyDef.linearDamping = 0.0f; bodyDef.angularDamping = 0.0f; bodyDef.gravityScale = 1.0f; // Default dynamic properties bodyDef.linearVelocity = b2Vec2(0.0f, 0.0f); bodyDef.angularVelocity = 0.0f; } else { bodyDef.type = static_cast<b2BodyType>(getBodyType()); bodyDef.active = isActive(); bodyDef.linearDamping = getLinearDamping(); bodyDef.angularDamping = getAngularDamping(); bodyDef.gravityScale = getGravityScale(); bodyDef.linearVelocity = Box2dUtil::toB2Vec2(getLinearVelocity()); bodyDef.angularVelocity = getAngleInRadians(); } bodyDef.userData = this; return bodyDef; }
void CIrrOdeWorld::setAngularDamping(f32 fScale) { m_fDampingAngular=fScale; if (m_iWorldId) m_pOdeDevice->worldSetAngularDamping(m_iWorldId,fScale); #ifdef _TRACE_CHANGED_PROPERTIES printf("world %i: angular damping: %.5f\n",(s32)m_iWorldId,getAngularDamping()); #endif }
//-------------------------------------------------------------- void ofxBulletBaseShape::setDamping( float a_linear_damp ) { setDamping( a_linear_damp, getAngularDamping() ); }
void EntityItem::update(const quint64& updateTime) { bool wantDebug = false; if (_lastUpdated == 0) { _lastUpdated = updateTime; } float timeElapsed = (float)(updateTime - _lastUpdated) / (float)(USECS_PER_SECOND); if (wantDebug) { qDebug() << "********** EntityItem::update()"; qDebug() << " entity ID=" << getEntityItemID(); qDebug() << " updateTime=" << updateTime; qDebug() << " _lastUpdated=" << _lastUpdated; qDebug() << " timeElapsed=" << timeElapsed; qDebug() << " hasVelocity=" << hasVelocity(); qDebug() << " hasGravity=" << hasGravity(); qDebug() << " isRestingOnSurface=" << isRestingOnSurface(); qDebug() << " hasAngularVelocity=" << hasAngularVelocity(); qDebug() << " getAngularVelocity=" << getAngularVelocity(); qDebug() << " isMortal=" << isMortal(); qDebug() << " getAge()=" << getAge(); qDebug() << " getLifetime()=" << getLifetime(); if (hasVelocity() || (hasGravity() && !isRestingOnSurface())) { qDebug() << " MOVING...="; qDebug() << " hasVelocity=" << hasVelocity(); qDebug() << " hasGravity=" << hasGravity(); qDebug() << " isRestingOnSurface=" << isRestingOnSurface(); qDebug() << " hasAngularVelocity=" << hasAngularVelocity(); qDebug() << " getAngularVelocity=" << getAngularVelocity(); } if (hasAngularVelocity()) { qDebug() << " CHANGING...="; qDebug() << " hasAngularVelocity=" << hasAngularVelocity(); qDebug() << " getAngularVelocity=" << getAngularVelocity(); } if (isMortal()) { qDebug() << " MORTAL...="; qDebug() << " isMortal=" << isMortal(); qDebug() << " getAge()=" << getAge(); qDebug() << " getLifetime()=" << getLifetime(); } } _lastUpdated = updateTime; if (wantDebug) { qDebug() << " ********** EntityItem::update() .... SETTING _lastUpdated=" << _lastUpdated; } if (hasAngularVelocity()) { glm::quat rotation = getRotation(); glm::vec3 angularVelocity = glm::radians(getAngularVelocity()); float angularSpeed = glm::length(angularVelocity); if (angularSpeed < EPSILON_VELOCITY_LENGTH) { setAngularVelocity(NO_ANGULAR_VELOCITY); } else { float angle = timeElapsed * angularSpeed; glm::quat dQ = glm::angleAxis(angle, glm::normalize(angularVelocity)); rotation = dQ * rotation; setRotation(rotation); // handle damping for angular velocity if (getAngularDamping() > 0.0f) { glm::vec3 dampingResistance = getAngularVelocity() * getAngularDamping(); glm::vec3 newAngularVelocity = getAngularVelocity() - (dampingResistance * timeElapsed); setAngularVelocity(newAngularVelocity); if (wantDebug) { qDebug() << " getDamping():" << getDamping(); qDebug() << " dampingResistance:" << dampingResistance; qDebug() << " newAngularVelocity:" << newAngularVelocity; } } } } if (hasVelocity() || hasGravity()) { glm::vec3 position = getPosition(); glm::vec3 velocity = getVelocity(); glm::vec3 newPosition = position + (velocity * timeElapsed); if (wantDebug) { qDebug() << " EntityItem::update()...."; qDebug() << " timeElapsed:" << timeElapsed; qDebug() << " old AACube:" << getMaximumAACube(); qDebug() << " old position:" << position; qDebug() << " old velocity:" << velocity; qDebug() << " old getAABox:" << getAABox(); qDebug() << " getDistanceToBottomOfEntity():" << getDistanceToBottomOfEntity() * (float)TREE_SCALE << " in meters"; qDebug() << " newPosition:" << newPosition; qDebug() << " glm::distance(newPosition, position):" << glm::distance(newPosition, position); } position = newPosition; // handle bounces off the ground... We bounce at the distance to the bottom of our entity if (position.y <= getDistanceToBottomOfEntity()) { velocity = velocity * glm::vec3(1,-1,1); // if we've slowed considerably, then just stop moving if (glm::length(velocity) <= EPSILON_VELOCITY_LENGTH) { velocity = NO_VELOCITY; } position.y = getDistanceToBottomOfEntity(); } // handle gravity.... if (hasGravity() && !isRestingOnSurface()) { velocity += getGravity() * timeElapsed; } // handle resting on surface case, this is definitely a bit of a hack, and it only works on the // "ground" plane of the domain, but for now it if (hasGravity() && isRestingOnSurface()) { velocity.y = 0.0f; position.y = getDistanceToBottomOfEntity(); } // handle damping for velocity glm::vec3 dampingResistance = velocity * getDamping(); if (wantDebug) { qDebug() << " getDamping():" << getDamping(); qDebug() << " dampingResistance:" << dampingResistance; qDebug() << " dampingResistance * timeElapsed:" << dampingResistance * timeElapsed; } velocity -= dampingResistance * timeElapsed; if (wantDebug) { qDebug() << " velocity AFTER dampingResistance:" << velocity; qDebug() << " glm::length(velocity):" << glm::length(velocity); qDebug() << " EPSILON_VELOCITY_LENGTH:" << EPSILON_VELOCITY_LENGTH; } // round velocity to zero if it's close enough... if (glm::length(velocity) <= EPSILON_VELOCITY_LENGTH) { velocity = NO_VELOCITY; } setPosition(position); // this will automatically recalculate our collision shape setVelocity(velocity); if (wantDebug) { qDebug() << " new position:" << position; qDebug() << " new velocity:" << velocity; qDebug() << " new AACube:" << getMaximumAACube(); qDebug() << " old getAABox:" << getAABox(); } } }
OctreeElement::AppendState EntityItem::appendEntityData(OctreePacketData* packetData, EncodeBitstreamParams& params, EntityTreeElementExtraEncodeData* entityTreeElementExtraEncodeData) const { // ALL this fits... // object ID [16 bytes] // ByteCountCoded(type code) [~1 byte] // last edited [8 bytes] // ByteCountCoded(last_edited to last_updated delta) [~1-8 bytes] // PropertyFlags<>( everything ) [1-2 bytes] // ~27-35 bytes... OctreeElement::AppendState appendState = OctreeElement::COMPLETED; // assume the best // encode our ID as a byte count coded byte stream QByteArray encodedID = getID().toRfc4122(); // encode our type as a byte count coded byte stream ByteCountCoded<quint32> typeCoder = getType(); QByteArray encodedType = typeCoder; quint64 updateDelta = getLastUpdated() <= getLastEdited() ? 0 : getLastUpdated() - getLastEdited(); ByteCountCoded<quint64> updateDeltaCoder = updateDelta; QByteArray encodedUpdateDelta = updateDeltaCoder; EntityPropertyFlags propertyFlags(PROP_LAST_ITEM); EntityPropertyFlags requestedProperties = getEntityProperties(params); EntityPropertyFlags propertiesDidntFit = requestedProperties; // If we are being called for a subsequent pass at appendEntityData() that failed to completely encode this item, // then our entityTreeElementExtraEncodeData should include data about which properties we need to append. if (entityTreeElementExtraEncodeData && entityTreeElementExtraEncodeData->entities.contains(getEntityItemID())) { requestedProperties = entityTreeElementExtraEncodeData->entities.value(getEntityItemID()); } LevelDetails entityLevel = packetData->startLevel(); quint64 lastEdited = getLastEdited(); const bool wantDebug = false; if (wantDebug) { float editedAgo = getEditedAgo(); QString agoAsString = formatSecondsElapsed(editedAgo); qDebug() << "Writing entity " << getEntityItemID() << " to buffer, lastEdited =" << lastEdited << " ago=" << editedAgo << "seconds - " << agoAsString; } bool successIDFits = false; bool successTypeFits = false; bool successCreatedFits = false; bool successLastEditedFits = false; bool successLastUpdatedFits = false; bool successPropertyFlagsFits = false; int propertyFlagsOffset = 0; int oldPropertyFlagsLength = 0; QByteArray encodedPropertyFlags; int propertyCount = 0; successIDFits = packetData->appendValue(encodedID); if (successIDFits) { successTypeFits = packetData->appendValue(encodedType); } if (successTypeFits) { successCreatedFits = packetData->appendValue(_created); } if (successCreatedFits) { successLastEditedFits = packetData->appendValue(lastEdited); } if (successLastEditedFits) { successLastUpdatedFits = packetData->appendValue(encodedUpdateDelta); } if (successLastUpdatedFits) { propertyFlagsOffset = packetData->getUncompressedByteOffset(); encodedPropertyFlags = propertyFlags; oldPropertyFlagsLength = encodedPropertyFlags.length(); successPropertyFlagsFits = packetData->appendValue(encodedPropertyFlags); } bool headerFits = successIDFits && successTypeFits && successCreatedFits && successLastEditedFits && successLastUpdatedFits && successPropertyFlagsFits; int startOfEntityItemData = packetData->getUncompressedByteOffset(); if (headerFits) { bool successPropertyFits; propertyFlags -= PROP_LAST_ITEM; // clear the last item for now, we may or may not set it as the actual item // These items would go here once supported.... // PROP_PAGED_PROPERTY, // PROP_CUSTOM_PROPERTIES_INCLUDED, APPEND_ENTITY_PROPERTY(PROP_POSITION, appendPosition, getPosition()); APPEND_ENTITY_PROPERTY(PROP_DIMENSIONS, appendValue, getDimensions()); // NOTE: PROP_RADIUS obsolete if (wantDebug) { qDebug() << " APPEND_ENTITY_PROPERTY() PROP_DIMENSIONS:" << getDimensions(); } APPEND_ENTITY_PROPERTY(PROP_ROTATION, appendValue, getRotation()); APPEND_ENTITY_PROPERTY(PROP_MASS, appendValue, getMass()); APPEND_ENTITY_PROPERTY(PROP_VELOCITY, appendValue, getVelocity()); APPEND_ENTITY_PROPERTY(PROP_GRAVITY, appendValue, getGravity()); APPEND_ENTITY_PROPERTY(PROP_DAMPING, appendValue, getDamping()); APPEND_ENTITY_PROPERTY(PROP_LIFETIME, appendValue, getLifetime()); APPEND_ENTITY_PROPERTY(PROP_SCRIPT, appendValue, getScript()); APPEND_ENTITY_PROPERTY(PROP_REGISTRATION_POINT, appendValue, getRegistrationPoint()); APPEND_ENTITY_PROPERTY(PROP_ANGULAR_VELOCITY, appendValue, getAngularVelocity()); APPEND_ENTITY_PROPERTY(PROP_ANGULAR_DAMPING, appendValue, getAngularDamping()); APPEND_ENTITY_PROPERTY(PROP_VISIBLE, appendValue, getVisible()); APPEND_ENTITY_PROPERTY(PROP_IGNORE_FOR_COLLISIONS, appendValue, getIgnoreForCollisions()); APPEND_ENTITY_PROPERTY(PROP_COLLISIONS_WILL_MOVE, appendValue, getCollisionsWillMove()); appendSubclassData(packetData, params, entityTreeElementExtraEncodeData, requestedProperties, propertyFlags, propertiesDidntFit, propertyCount, appendState); } if (propertyCount > 0) { int endOfEntityItemData = packetData->getUncompressedByteOffset(); encodedPropertyFlags = propertyFlags; int newPropertyFlagsLength = encodedPropertyFlags.length(); packetData->updatePriorBytes(propertyFlagsOffset, (const unsigned char*)encodedPropertyFlags.constData(), encodedPropertyFlags.length()); // if the size of the PropertyFlags shrunk, we need to shift everything down to front of packet. if (newPropertyFlagsLength < oldPropertyFlagsLength) { int oldSize = packetData->getUncompressedSize(); const unsigned char* modelItemData = packetData->getUncompressedData(propertyFlagsOffset + oldPropertyFlagsLength); int modelItemDataLength = endOfEntityItemData - startOfEntityItemData; int newEntityItemDataStart = propertyFlagsOffset + newPropertyFlagsLength; packetData->updatePriorBytes(newEntityItemDataStart, modelItemData, modelItemDataLength); int newSize = oldSize - (oldPropertyFlagsLength - newPropertyFlagsLength); packetData->setUncompressedSize(newSize); } else { assert(newPropertyFlagsLength == oldPropertyFlagsLength); // should not have grown } packetData->endLevel(entityLevel); } else { packetData->discardLevel(entityLevel); appendState = OctreeElement::NONE; // if we got here, then we didn't include the item } // If any part of the model items didn't fit, then the element is considered partial if (appendState != OctreeElement::COMPLETED) { // add this item into our list for the next appendElementData() pass entityTreeElementExtraEncodeData->entities.insert(getEntityItemID(), propertiesDidntFit); } return appendState; }
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); } } }