Пример #1
0
GameObject::GameObject(GameWorld& gw, const ObjectPrototype& proto, double x, double y, double z, int id) :
	m_meshName(proto.m_meshName), m_sceneEntity(nullptr), m_sceneNode(nullptr),	m_lockRotation(proto.m_lockRotation), m_isKinematic(proto.m_isKinematic),
	m_maxTurn(proto.m_maxTurnAngle), m_maxForward(proto.m_maxForward), m_maxBackward(proto.m_maxBackward),
	m_hitPoints(proto.m_maxHitPoints), m_collisionAccum(0), m_totalDamage(0), m_hasAgent(proto.m_hasAgent), m_gw(gw), m_id(id), m_oldGS(nullptr), m_newGS(nullptr)
{
	m_sceneEntity = gw.GetScene()->createEntity(gw.GetMesh(m_meshName));
	m_sceneNode = gw.GetScene()->getRootSceneNode()->createChildSceneNode();
	m_sceneNode->attachObject(m_sceneEntity);

	Ogre::Vector3 size = m_sceneEntity->getBoundingBox().getSize();

	m_body = dBodyCreate(gw.GetPhysicsWorld());
	m_geom = dCreateBox(gw.GetPhysicsSpace(), size.x, size.y, size.z);
	dMassSetBox(&m_mass, proto.m_density, size.x, size.y, size.z);
	dBodySetMass(m_body, &m_mass);
	dGeomSetBody(m_geom, m_body);
	dBodySetPosition(m_body, x, y, z);
	
	// automagically disable things when the body is still for long enough
	dBodySetAutoDisableFlag(m_body, 1);
	dBodySetAutoDisableLinearThreshold(m_body, 0.1f);
	dBodySetAutoDisableAngularThreshold(m_body, 0.25f);
	dBodySetAutoDisableSteps(m_body, 1);

	// improve simulation accuracy
	dBodySetDamping(m_body, 0.0f, 0.1f);

	if (proto.m_registerCollisions) {
		gw.RegisterForCollisions(this);
	}

	if (proto.m_isKinematic) {
		dBodySetKinematic(m_body);
	}
}
Пример #2
0
dBodyID KinematicNodeFixed::attachToODE(PhysicsEnvironment *environment, dSpaceID visualSpaceID, dSpaceID collisionSpaceID, arma::mat44 coordinateFrame)
{
	KinematicNodeDummy::attachToODE(environment, visualSpaceID, collisionSpaceID, coordinateFrame);

	dBodyID body = getODEBody();
	dBodySetKinematic(body);

	return body;
}
Пример #3
0
MarkerData::MarkerData(dWorldID world,dSpaceID space,QObject *parent) :
    QObject(parent)
{
  this->world=world;
  this->space=space;
  data.loadFile("../QtVR/data/data.c3d");
  std::cout << "[markerdata] Marker file loaded...";
  marker_count = data.data.pointsPerFrame;
  std::cout << "  ...this file contains " << marker_count << " markers" << std::endl;
  old_c_frame = c_frame = new C3dFloatFrame(marker_count);
  old_n_frame = n_frame = new C3dFloatFrame(marker_count);

  geom = new dGeomID[marker_count];
  body = new dBodyID[marker_count];
  joint = new dJointID[marker_count];
  try_link = new bool[marker_count];

  //space = dSimpleSpaceCreate(0);
  joint_group = dJointGroupCreate(0);
  for (int ii=0;ii<marker_count;++ii) {
    body[ii] = dBodyCreate(world);
    dBodySetKinematic(body[ii]);
    geom[ii] = dCreateSphere(space,.01);
    dGeomSetBody(geom[ii],body[ii]);
    try_link[ii]=false;
    joint[ii] = dJointCreateBall(world,joint_group);
  }



  frames_per_step=2;
  time_per_step = .015;
  current_frame = 0;
  paused=true;
  single_step=false;


  use_virtual_markers=false;

  grand = new GaussRand;

}
Пример #4
0
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);
        }
    }
}
Пример #5
0
ODEKinematicBody::ODEKinematicBody(dBodyID &b, dGeomID &g):ODESimpleBody(b, g)
{
    dBodySetKinematic(b); 
}