// UNEXPOSED
void CPhysicsObject::ComputeDragBasis(bool isStatic) {
m_dragBasis.setZero();
m_angDragBasis.setZero();
if (!isStatic && GetCollide()) {
btCollisionShape *shape = m_pObject->getCollisionShape();
btVector3 min, max, delta;
btTransform ident = btTransform::getIdentity();
shape->getAabb(ident, min, max);
delta = max - min;
delta = delta.absolute();
m_dragBasis.setX(delta.y() * delta.z());
m_dragBasis.setY(delta.x() * delta.z());
m_dragBasis.setZ(delta.x() * delta.y());
m_dragBasis *= GetInvMass();
btVector3 ang = m_pObject->getInvInertiaDiagLocal();
delta *= 0.5;
m_angDragBasis.setX(AngDragIntegral(ang[0], delta.x(), delta.y(), delta.z()) + AngDragIntegral(ang[0], delta.x(), delta.z(), delta.y()));
m_angDragBasis.setY(AngDragIntegral(ang[1], delta.y(), delta.x(), delta.z()) + AngDragIntegral(ang[1], delta.y(), delta.z(), delta.x()));
m_angDragBasis.setZ(AngDragIntegral(ang[2], delta.z(), delta.x(), delta.y()) + AngDragIntegral(ang[2], delta.z(), delta.y(), delta.x()));
}
}
void CPhysicsObject::OutputDebugInfo() const {
Msg( "-----------------\n" );
// FIXME: requires CBaseEntity!!
// Msg( "Object: %s\n", (CBaseEntity *)GetGameData()->GetModelName() );
Msg( "Mass: %f (inv %f)\n", GetMass(), GetInvMass() );
// FIXME: complete this function via format noted on
// http://facepunch.com/threads/1178143?p=35663773&viewfull=1#post35663773
}
void CPhysicsObject::OutputDebugInfo() const {
Msg("-----------------\n");
if (m_pName)
Msg("Object: %s\n", m_pName);
Msg("Mass: %f (inv %f)\n", GetMass(), GetInvMass());
Vector pos;
QAngle ang;
GetPosition(&pos, &ang);
Msg("Position: %f %f %f\nAngle: %f %f %f\n", pos.x, pos.y, pos.z, ang.x, ang.y, ang.z);
Vector inertia = GetInertia();
Vector invinertia = GetInvInertia();
Msg("Inertia: %f %f %f (inv %f %f %f)\n", inertia.x, inertia.y, inertia.z, invinertia.x, invinertia.y, invinertia.z);
Vector vel;
AngularImpulse angvel;
GetVelocity(&vel, &angvel);
Msg("Velocity: %f, %f, %f\nAng Velocity: %f, %f, %f\n", vel.x, vel.y, vel.z, angvel.x, angvel.y, angvel.z);
float dampspeed, damprot;
GetDamping(&dampspeed, &damprot);
Msg("Damping %f linear, %f angular\n", dampspeed, damprot);
Vector dragBasis;
Vector angDragBasis;
ConvertPosToHL(m_dragBasis, dragBasis);
ConvertDirectionToHL(m_angDragBasis, angDragBasis);
Msg("Linear Drag: %f, %f, %f (factor %f)\n", dragBasis.x, dragBasis.y, dragBasis.z, m_dragCoefficient);
Msg("Angular Drag: %f, %f, %f (factor %f)\n", angDragBasis.x, angDragBasis.y, angDragBasis.z, m_angDragCoefficient);
// TODO: Attached to x controllers
Msg("State: %s, Collision %s, Motion %s, Drag %s, Flags %04X (game %04x, index %d)\n",
IsAsleep() ? "Asleep" : "Awake",
IsCollisionEnabled() ? "Enabled" : "Disabled",
IsStatic() ? "Static" : IsMotionEnabled() ? "Enabled" : "Disabled",
IsDragEnabled() ? "Enabled" : "Disabled",
m_pObject->getFlags(),
GetGameFlags(),
GetGameIndex()
);
const char *pMaterialStr = g_SurfaceDatabase.GetPropName(m_materialIndex);
surfacedata_t *surfaceData = g_SurfaceDatabase.GetSurfaceData(m_materialIndex);
if (surfaceData) {
Msg("Material: %s : density(%f), thickness(%f), friction(%f), elasticity(%f)\n",
pMaterialStr, surfaceData->physics.density, surfaceData->physics.thickness, surfaceData->physics.friction, surfaceData->physics.elasticity);
}
Msg("-- COLLISION SHAPE INFO --\n");
g_PhysicsCollision.OutputDebugInfo((CPhysCollide *)m_pObject->getCollisionShape()->getUserPointer());
}
void dgBody::Freeze ()
{
if (GetInvMass().m_w > dgFloat32 (0.0f)) {
if (!m_freeze) {
m_freeze = true;
for (dgBodyMasterListRow::dgListNode* node = m_masterNode->GetInfo().GetFirst(); node; node = node->GetNext()) {
dgBody* const body = node->GetInfo().m_bodyNode;
body->Freeze ();
}
}
}
}
void dgBody::Unfreeze ()
{
if (GetInvMass().m_w > dgFloat32 (0.0f)) {
// note this is in observation (to prevent bodies from not going to sleep inside triggers
// m_equilibrium = false;
if (m_freeze) {
m_freeze = false;
for (dgBodyMasterListRow::dgListNode* node = m_masterNode->GetInfo().GetFirst(); node; node = node->GetNext()) {
dgBody* const body = node->GetInfo().m_bodyNode;
body->Unfreeze ();
}
}
}
}
void CompoundBody::AddImpulse(AglVector3 pImpulse)
{
if (!mStatic && !mTempStatic)
mVelocity += pImpulse * GetInvMass();
}
void CPhysicsObject::Init( IVP_Real_Object *pObject, int materialIndex, float volume, float drag, float angDrag, const Vector *massCenterOverride )
{
m_materialIndex = materialIndex;
m_pObject = pObject;
pObject->client_data = (void *)this;
m_pGameData = NULL;
m_gameFlags = 0;
m_sleepState = OBJ_SLEEP; // objects start asleep
m_callbacks = CALLBACK_GLOBAL_COLLISION|CALLBACK_GLOBAL_FRICTION|CALLBACK_FLUID_TOUCH|CALLBACK_GLOBAL_TOUCH|CALLBACK_GLOBAL_COLLIDE_STATIC|CALLBACK_DO_FLUID_SIMULATION;
m_activeIndex = 0xFFFF;
m_pShadow = NULL;
m_shadowTempGravityDisable = false;
m_dragBasis = vec3_origin;
m_angDragBasis = vec3_origin;
if ( massCenterOverride )
{
m_massCenterOverride = *massCenterOverride;
}
if ( !IsStatic() && GetCollide() )
{
// Basically we are computing drag as an OBB. Get OBB extents for projection
// scale those extents by appropriate mass/inertia to compute velocity directly (not force)
// in the controller
// NOTE: Compute these even if drag coefficients are zero, because the drag coefficient could change later
// Get an AABB for this object and use the area of each side as a basis for approximating cross-section area for drag
Vector dragMins, dragMaxs;
// NOTE: coordinates in/out of physcollision are in HL units, not IVP
physcollision->CollideGetAABB( dragMins, dragMaxs, GetCollide(), vec3_origin, vec3_angle );
Vector delta = dragMaxs - dragMins;
ConvertPositionToIVP( delta.x, delta.y, delta.z );
delta.x = fabsf(delta.x);
delta.y = fabsf(delta.y);
delta.z = fabsf(delta.z);
// dragBasis is now the area of each side
m_dragBasis.x = delta.y * delta.z;
m_dragBasis.y = delta.x * delta.z;
m_dragBasis.z = delta.x * delta.y;
m_dragBasis *= GetInvMass();
const IVP_U_Float_Point *pInvRI = m_pObject->get_core()->get_inv_rot_inertia();
// This angular basis is the integral of each differential drag area's torque over the whole OBB
// need half lengths for this integral
delta *= 0.5;
// rotation about the x axis
m_angDragBasis.x = AngDragIntegral( pInvRI->k[0], delta.x, delta.y, delta.z ) + AngDragIntegral( pInvRI->k[0], delta.x, delta.z, delta.y );
// rotation about the y axis
m_angDragBasis.y = AngDragIntegral( pInvRI->k[1], delta.y, delta.x, delta.z ) + AngDragIntegral( pInvRI->k[1], delta.y, delta.z, delta.x );
// rotation about the z axis
m_angDragBasis.z = AngDragIntegral( pInvRI->k[2], delta.z, delta.x, delta.y ) + AngDragIntegral( pInvRI->k[2], delta.z, delta.y, delta.x );
}
else
{
drag = 0;
angDrag = 0;
}
m_dragCoefficient = drag;
m_angDragCoefficient = angDrag;
SetVolume( volume );
}
