void BulletDynamicsBody::AddAnchor( unsigned int index, const Integration::DynamicsBody* anchorBody, bool collisions )
{
DEBUG_PRINTF("%s\n", __func__);
const BulletDynamicsBody* anchorDynamicsBody( static_cast< const BulletDynamicsBody* >( anchorBody ) );
btSoftBody* softBody( static_cast< btSoftBody* >( mBody ) );
btRigidBody* rigidBody( static_cast< btRigidBody* >( anchorDynamicsBody->GetBody() ) );
softBody->appendAnchor( index, rigidBody, !collisions );
}
/* Function: CallPerFrame
* Description: All the computations are performed for the new frame to obtain the new goal position
* Input: None
* Output: None
*/
void CallPerFrame()
{
pModel *temp;
temp = phyzxModels;
while(temp->next != NULL)
{
// Compute the center of mass
CalcCM(1, temp->pObj);
// Compute the relative positions of the model vertices from center of mass
//CalcRelLoc(1, temp->pObj);
// Compute the Rotational matrix using Apq
CalcRotMat(temp->pObj);
if (temp->pObj->deformMode == 1)
rigidBody(temp->pObj); // Rigid Body Deformation
else if (temp->pObj->deformMode == 2)
linearDeform(temp->pObj); // Linear Deformation
// Compute the Goal position for the current frame
/* if (temp->deformMode == 3)
quadDeform(temp->pObj); // Quadratic Deformation
else
CalcGoalPos(temp->pObj);*/
// Time step using modified Euler
/*if (boundSphereToWallCollisionDetection(temp) == 1)
objCollide = true;
else
objCollide = false;*/
ModEuler(temp->pObj, temp->mIndex, temp->pObj->deformMode);
// Check for collision and perform the response action upon collision
//CollisionDetectionAndResponse(temp);
// Compute the center of the model with the radius of the bounding sphere
glmMeshGeometricParameters(temp->pObj->model, &temp->cModel.x, &temp->cModel.y, &temp->cModel.z, &temp->radius);
// Compute the radius of the best bounding sphere around the model
glmMeshRadius(temp->pObj->model, temp->cModel.x, temp->cModel.y, temp->cModel.z, &temp->radius);
SphereCollisionResponse(temp);
temp = temp->next;
}
}
PlayerPhysicsComponent::PlayerPhysicsComponent(GameObject &gameObject, float mass)
: PhysicsComponent(gameObject, CollisionGroup::Characters, CollisionGroup::Everything) {
collisionShape = UPtr<btCollisionShape>(new btCapsuleShape(PLAYER_RADIUS, PLAYER_MIDDLE_HEIGHT));
collisionShape->setLocalScaling(toBt(gameObject.getScale()));
motionState = UPtr<btMotionState>(new PlayerMotionState(gameObject));
btVector3 inertia(0.0f, 0.0f, 0.0f);
collisionShape->calculateLocalInertia(mass, inertia);
btRigidBody::btRigidBodyConstructionInfo constructionInfo(mass, motionState.get(), collisionShape.get(), inertia);
UPtr<btRigidBody> rigidBody(new btRigidBody(constructionInfo));
rigidBody->setAngularFactor(0.0f); // Prevent the capsule from falling over
rigidBody->setSleepingThresholds(0.0f, 0.0f); // Prevent the capsule from sleeping
collisionObject = std::move(rigidBody);
}
void BulletDynamicsBody::SetKinematic( bool flag )
{
DEBUG_PRINTF("%s( new:%d current:%d)\n", __func__, flag, mKinematic);
if( flag != mKinematic )
{
mKinematic = flag;
btRigidBody* rigidBody( static_cast< btRigidBody* >( mBody ) );
if( flag )
{
rigidBody->setCollisionFlags( rigidBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
mBody->setActivationState(DISABLE_DEACTIVATION);
}
else
{
rigidBody->setCollisionFlags( rigidBody->getCollisionFlags() & ~btCollisionObject::CF_KINEMATIC_OBJECT);
}
}
}
void game::run(void)
{
init();
for(int i = 0; m_network->init(i==0?1:0, 8000+i); i++){}
std::queue<char> inputs;
for(int i = 0; i < 6; i++)
inputs.push(0);
polygon player, floor, wall1, wall2;
std::vector<rigidBody> test;
player.m_vertices.push_back(vec3f(-1.0f,-1.0f));
player.m_vertices.push_back(vec3f(-1.0f, 1.0f));
player.m_vertices.push_back(vec3f(1.0f,1.0f));
player.m_vertices.push_back(vec3f(1.0f,-1.0f));
floor.m_vertices.push_back(vec3f(-19.0f,-19.0f));
floor.m_vertices.push_back(vec3f(-19.0f,-14.0f));
floor.m_vertices.push_back(vec3f(19.0f,-14.0f));
floor.m_vertices.push_back(vec3f(19.0f,-19.0f));
wall1.m_vertices.push_back(vec3f(-14.0f, -19.0f));
wall1.m_vertices.push_back(vec3f(-19.0f, -19.0f));
wall1.m_vertices.push_back(vec3f(-19.0f, 14.0f));
wall1.m_vertices.push_back(vec3f(-14.0f, 14.0f));
wall2.m_vertices.push_back(vec3f(14.0f, -19.0f));
wall2.m_vertices.push_back(vec3f(19.0f, -19.0f));
wall2.m_vertices.push_back(vec3f(19.0f, 14.0f));
wall2.m_vertices.push_back(vec3f(14.0f, 14.0f));
float time = 0;
float dt = 1.0f/30.0f;
bool spawning = false;
while(m_looping)
{
if(m_input->update()) m_looping = false;
for(int i = 0; i < test.size(); i++)
{
test[i].render(m_graphics->getRenderer());
test[i].update(time, dt);
}
time += dt;
player.render(m_graphics->getRenderer());
if(m_input->isKeyPressed(input::e_left))
for(unsigned int i = 0; i < player.m_vertices.size(); i++)
player.m_vertices[i].i -= 0.1f;
if(m_input->isKeyPressed(input::e_right))
for(unsigned int i = 0; i < player.m_vertices.size(); i++)
player.m_vertices[i].i += 0.1f;
if(m_input->isKeyPressed(input::e_up))
for(unsigned int i = 0; i < player.m_vertices.size(); i++)
player.m_vertices[i].j += 0.1f;
if(m_input->isKeyPressed(input::e_down))
for(unsigned int i = 0; i < player.m_vertices.size(); i++)
player.m_vertices[i].j -= 0.1f;
if(m_input->isKeyPressed(input::e_respawn) && spawning == false)
{
test.push_back(rigidBody());
test[test.size()-1].m_vertices.push_back(vec3f(-0.75f,-0.75f));
test[test.size()-1].m_vertices.push_back(vec3f(-0.75f,0.75f));
test[test.size()-1].m_vertices.push_back(vec3f(0.75f,0.75f));
test[test.size()-1].m_vertices.push_back(vec3f(0.75f,-0.75f));
spawning = false;
}else if(!m_input->isKeyPressed(input::e_respawn)) spawning = false;
floor.render(m_graphics->getRenderer());
wall1.render(m_graphics->getRenderer());
wall2.render(m_graphics->getRenderer());
for(int i = 0; i < test.size(); i++)
{
test[i].collideSAT(&wall2);
test[i].collideSAT(&wall1);
test[i].collideSAT(&floor);
test[i].collideSAT(&player);
}
for(int i = 0; i < test.size(); i++)
{
for(int ii = 0; ii < test.size(); ii++)
{
if(i == ii) continue;
test[i].collideSAT(&test[ii]);
}
}
m_network->recievePacket();
m_network->update(dt);
m_graphics->render();
// Sleep(30);
}
}
