hkpRigidBody* PhysicsWrapper::SetupSphericalRigidBody(float radius, float mass, D3DXVECTOR3 position, D3DXVECTOR3 velocity, bool isStatic, ProjectStructs::PROJECTILE *projectile){
hkVector4 relPos( 0.0f,radius, 0.0f);
hkpRigidBodyCinfo info;
hkpMassProperties massProperties;
hkpInertiaTensorComputer::computeSphereVolumeMassProperties(radius, mass, massProperties);
info.m_mass = massProperties.m_mass;
info.m_centerOfMass = massProperties.m_centerOfMass;
info.m_friction = 0.75f;
info.m_inertiaTensor = massProperties.m_inertiaTensor;
info.m_shape = new hkpSphereShape( radius );
relPos.add4(hkVector4(position.x, position.y, position.z));
info.m_position = relPos;
info.m_linearVelocity = hkVector4(velocity.x, velocity.y, velocity.z);
if(isStatic)
{
info.m_motionType = hkpMotion::MOTION_FIXED;
info.m_qualityType = HK_COLLIDABLE_QUALITY_FIXED;
}
else{
info.m_motionType = hkpMotion::MOTION_SPHERE_INERTIA;
info.m_qualityType = HK_COLLIDABLE_QUALITY_MOVING;
}
hkpRigidBody* rb = new hkpRigidBody( info );
rb->addProperty(HK_OBJECT_IS_PROJECTILE, hkpPropertyValue(projectile));
physicsWorld->addEntity( rb );
rb->removeReference();
info.m_shape->removeReference();
return rb;
}
void plApplyImpulse(plRigidBodyHandle object, const plVector3 impulse, const plVector3 relativePos) {
btRigidBody* body = reinterpret_cast<btRigidBody*>(object);
btAssert(body);
btVector3 implse(impulse[0], impulse[1], impulse[2]);
btVector3 relPos(relativePos[0], relativePos[1], relativePos[2]);
body->applyImpulse(implse, relPos);
}
void ofApp::newCircle() {
ofVec2f relPos(ofRandom(radius), ofRandom(radius));
unsigned f = ofRandom(fieldPosPtrs.size());
ofVec2f *fPosPtr = fieldPosPtrs.at(f);
ofVec2f pos = (*fPosPtr + relPos) - (radius/2);
shared_ptr <ofxBox2dCircle> c = make_shared<ofxBox2dCircle>();
circles.push_back(c);
circles.back().get()->setFixedRotation(true);
circles.back().get()->setPhysics(3, 0.53, 0.1);
circles.back().get()->setup(world.world.getWorld(), pos.x, pos.y, circRadius);
circles.back().get()->enableGravity(true);
circles.back().get()->setMassFromShape = true;
}
char* CBroadcastData::receiveData(int receiverID,float simulationTime,int dataHeader,std::string& dataName,int antennaHandle,int& dataLength,int& senderID,int& dataHeaderR,std::string& dataNameR,bool removeMessageForThisReceiver)
{
C7Vector antennaConf1;
antennaConf1.setIdentity();
if (_antennaHandle!=sim_handle_default)
{
C3DObject* it=App::ct->objCont->getObject(_antennaHandle);
if (it==NULL)
return(NULL); // the emission antenna was destroyed!
antennaConf1=it->getCumulativeTransformationPart1();
}
C3Vector antennaPos2;
antennaPos2.clear();
if (antennaHandle!=sim_handle_default)
{
C3DObject* it=App::ct->objCont->getObject(antennaHandle);
if (it==NULL)
return(NULL); // that shouldn't happen!
antennaPos2=it->getCumulativeTransformationPart1().X;
}
if ((_emitterID==receiverID)&&(_emitterID!=0)) // second part since 25/9/2012: from c/c++, emitter/receiver ID is always 0
return(NULL); // the emitter cannot receive its own message!
if (simulationTime>_timeOutSimulationTime)
return(NULL); // data timed out!
if ( (dataHeader!=-1)&&(dataHeader!=_dataHeader) )
return(NULL); // wrong data header!
if ( (dataName.length()!=0)&&(dataName.compare(_dataName)!=0) )
return(NULL); // wrong data name!
if (_receiverID!=sim_handle_all)
{ // message not for everyone
if (_receiverID==sim_handle_tree)
{ // we have to check if receiverID has a parent _emitterID:
CLuaScriptObject* rec=App::ct->luaScriptContainer->getScriptFromID(receiverID);
CLuaScriptObject* em=App::ct->luaScriptContainer->getScriptFromID(_emitterID);
if ( (rec==NULL)||(em==NULL) )
return(NULL);
if (em->getScriptType()!=sim_scripttype_mainscript)
{
if (rec->getScriptType()==sim_scripttype_mainscript)
return(NULL);
C3DObject* recObj=App::ct->objCont->getObject(rec->getObjectIDThatScriptIsAttachedTo());
C3DObject* emObj=App::ct->objCont->getObject(em->getObjectIDThatScriptIsAttachedTo());
bool found=false;
while (recObj!=NULL)
{
if (recObj==emObj)
{
found=true;
break;
}
recObj=recObj->getParent();
}
if (!found)
return(NULL);
}
}
if (_receiverID==sim_handle_chain)
{ // we have to check if _emitterID has a parent receiverID:
CLuaScriptObject* rec=App::ct->luaScriptContainer->getScriptFromID(receiverID);
CLuaScriptObject* em=App::ct->luaScriptContainer->getScriptFromID(_emitterID);
if ( (rec==NULL)||(em==NULL) )
return(NULL);
if (rec->getScriptType()!=sim_scripttype_mainscript)
{
if (em->getScriptType()==sim_scripttype_mainscript)
return(NULL);
C3DObject* recObj=App::ct->objCont->getObject(rec->getObjectIDThatScriptIsAttachedTo());
C3DObject* emObj=App::ct->objCont->getObject(em->getObjectIDThatScriptIsAttachedTo());
bool found=false;
while (emObj!=NULL)
{
if (recObj==emObj)
{
found=true;
break;
}
emObj=emObj->getParent();
}
if (!found)
return(NULL);
}
}
if (_receiverID>=0)
{
if (_receiverID!=receiverID)
return(NULL);
}
}
if ((antennaPos2-antennaConf1.X).getLength()>_actionRadius)
return(NULL); // outside of action radius!
if (_emissionAngle1<piValue*0.99f)
{ // Check if inside the vertical "hearing" area:
C3Vector relPos(antennaConf1.getInverse()*antennaPos2);
float h=fabs(relPos(2));
relPos(2)=0.0f;
float l=relPos.getLength();
if (l==0.0f)
return(NULL); // just outside of the vertical active area (border condition)
float a=fabs(atan2(h,l));
if (a>=_emissionAngle1*0.5f)
return(NULL); // just outside of the vertical active area (border condition)
}
if (_emissionAngle2<piValTimes2*0.99f)
{ // Check if inside the horizontal "hearing" area:
C3Vector relPos(antennaConf1.getInverse()*antennaPos2);
if (relPos(0)==0.0f)
return(NULL); // just outside of the horizontal active area (border condition)
float a=fabs(atan2(relPos(1),relPos(0)));
if (a>=_emissionAngle2*0.5f)
return(NULL); // just outside of the horizontal active area (border condition)
}
if (receiverPresent(receiverID))
return(NULL); // data was already read by that script!
// We can receive the data, finally!
if (removeMessageForThisReceiver)
_receivedReceivers.push_back(receiverID); // remember that this receiverID already read the message!
dataLength=_dataLength;
senderID=_emitterID;
dataHeaderR=_dataHeader;
dataNameR=_dataName;
return(_data);
}
void setupPhysics(hkpWorld* physicsWorld)
{
//
// Create the ground box
//
{
hkVector4 groundRadii( 70.0f, 2.0f, 140.0f );
hkpConvexShape* shape = new hkpBoxShape( groundRadii , 0 );
hkpRigidBodyCinfo ci;
ci.m_shape = shape;
ci.m_motionType = hkpMotion::MOTION_FIXED;
ci.m_position = hkVector4( 0.0f, -2.0f, 0.0f );
ci.m_qualityType = HK_COLLIDABLE_QUALITY_FIXED;
physicsWorld->addEntity( new hkpRigidBody( ci ) )->removeReference();
shape->removeReference();
}
hkVector4 groundPos( 0.0f, 0.0f, 0.0f );
hkVector4 posy = groundPos;
//
// Create the walls
//
int wallHeight = 8;
int wallWidth = 8;
int numWalls = 6;
hkVector4 boxSize( 1.0f, 0.5f, 0.5f);
hkpBoxShape* box = new hkpBoxShape( boxSize , 0 );
box->setRadius( 0.0f );
hkReal deltaZ = 25.0f;
posy(2) = -deltaZ * numWalls * 0.5f;
for ( int y = 0; y < numWalls; y ++ ) // first wall
{
createBrickWall( physicsWorld, wallHeight, wallWidth, posy, 0.2f, box, boxSize );
posy(2) += deltaZ;
}
box->removeReference();
//
// Create a ball moving towards the walls
//
const hkReal radius = 1.5f;
const hkReal sphereMass = 150.0f;
hkVector4 relPos( 0.0f,radius + 0.0f, 50.0f );
hkpRigidBodyCinfo info;
hkpMassProperties massProperties;
hkpInertiaTensorComputer::computeSphereVolumeMassProperties(radius, sphereMass, massProperties);
info.m_mass = massProperties.m_mass;
info.m_centerOfMass = massProperties.m_centerOfMass;
info.m_inertiaTensor = massProperties.m_inertiaTensor;
info.m_shape = new hkpSphereShape( radius );
info.m_position.setAdd4(posy, relPos );
info.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
info.m_qualityType = HK_COLLIDABLE_QUALITY_BULLET;
hkpRigidBody* sphereRigidBody = new hkpRigidBody( info );
g_ball = sphereRigidBody;
physicsWorld->addEntity( sphereRigidBody );
sphereRigidBody->removeReference();
info.m_shape->removeReference();
hkVector4 vel( 0.0f,4.9f, -100.0f );
sphereRigidBody->setLinearVelocity( vel );
}
void clientMouseFunc(int button, int state, int x, int y)
{
//printf("button %i, state %i, x=%i,y=%i\n",button,state,x,y);
//button 0, state 0 means left mouse down
SimdVector3 rayTo = GetRayTo(x,y);
switch (button)
{
case 2:
{
if (state==0)
{
shootBox(rayTo);
}
break;
};
case 1:
{
if (state==0)
{
//apply an impulse
if (physicsEnvironmentPtr)
{
float hit[3];
float normal[3];
PHY_IPhysicsController* hitObj = physicsEnvironmentPtr->rayTest(0,eye[0],eye[1],eye[2],rayTo.getX(),rayTo.getY(),rayTo.getZ(),hit[0],hit[1],hit[2],normal[0],normal[1],normal[2]);
if (hitObj)
{
CcdPhysicsController* physCtrl = static_cast<CcdPhysicsController*>(hitObj);
RigidBody* body = physCtrl->GetRigidBody();
if (body)
{
body->SetActivationState(ACTIVE_TAG);
SimdVector3 impulse = rayTo;
impulse.normalize();
float impulseStrength = 10.f;
impulse *= impulseStrength;
SimdVector3 relPos(
hit[0] - body->getCenterOfMassPosition().getX(),
hit[1] - body->getCenterOfMassPosition().getY(),
hit[2] - body->getCenterOfMassPosition().getZ());
body->applyImpulse(impulse,relPos);
}
}
}
} else
{
}
break;
}
case 0:
{
if (state==0)
{
//add a point to point constraint for picking
if (physicsEnvironmentPtr)
{
float hit[3];
float normal[3];
PHY_IPhysicsController* hitObj = physicsEnvironmentPtr->rayTest(0,eye[0],eye[1],eye[2],rayTo.getX(),rayTo.getY(),rayTo.getZ(),hit[0],hit[1],hit[2],normal[0],normal[1],normal[2]);
if (hitObj)
{
CcdPhysicsController* physCtrl = static_cast<CcdPhysicsController*>(hitObj);
RigidBody* body = physCtrl->GetRigidBody();
if (body)
{
pickedBody = body;
pickedBody->SetActivationState(DISABLE_DEACTIVATION);
SimdVector3 pickPos(hit[0],hit[1],hit[2]);
SimdVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
gPickingConstraintId = physicsEnvironmentPtr->createConstraint(physCtrl,0,PHY_POINT2POINT_CONSTRAINT,
localPivot.getX(),
localPivot.getY(),
localPivot.getZ(),
0,0,0);
//printf("created constraint %i",gPickingConstraintId);
//save mouse position for dragging
gOldPickingPos = rayTo;
SimdVector3 eyePos(eye[0],eye[1],eye[2]);
gOldPickingDist = (pickPos-eyePos).length();
Point2PointConstraint* p2p = static_cast<Point2PointConstraint*>(physicsEnvironmentPtr->getConstraintById(gPickingConstraintId));
if (p2p)
{
//very weak constraint for picking
p2p->m_setting.m_tau = 0.1f;
}
}
}
}
} else
{
if (gPickingConstraintId && physicsEnvironmentPtr)
{
physicsEnvironmentPtr->removeConstraint(gPickingConstraintId);
//printf("removed constraint %i",gPickingConstraintId);
gPickingConstraintId = 0;
pickedBody->ForceActivationState(ACTIVE_TAG);
pickedBody->m_deactivationTime = 0.f;
pickedBody = 0;
}
}
break;
}
default:
{
}
}
}
int32 CFont::m_DrawPhrase (FONTPHRASE *phrase, float4 relpos)
{
int32 i, l;
float4 start, end;
float4 animStartScale, animEndScale; // range del keyframer di scaling
float4 animStartRot, animEndRot; // range del keyframer di rotazione
uint32 alpha, r, color;
float4 animScaleX, animScaleY, animPos;
float4 end_animScaleX, end_animScaleY;
AD_Vect3D scale3D;
AD_Matrix rot, end_rot;
mat_identity(&rot);
mat_identity(&end_rot);
l=strlen(phrase->text);
end_animScaleX=phrase->scaleX;
end_animScaleY=phrase->scaleY;
if (p_ScaleTrack.p_NumKeys>0)
{
p_ScaleTrack.m_GetTimeRange(&animStartScale, &animEndScale);
p_ScaleTrack.m_GetData(animEndScale, &scale3D);
end_animScaleX*=scale3D.x;
end_animScaleY*=scale3D.y;
}
animScaleX=phrase->scaleX;
animScaleY=phrase->scaleY;
if (p_RotationTrack.p_NumKeys>0)
{
p_RotationTrack.m_GetTimeRange(&animStartRot, &animEndRot);
p_RotationTrack.m_GetData(animEndRot, &end_rot);
}
// in questo intervallo la frase è tutta visibile completa
// di transizioni (colore, alpha, animazioni) terminate
if ((relpos>=phrase->phraseFixedStart) &&
(relpos<phrase->phraseFixedEnd))
m_DrawAnimatedText(phrase->x, phrase->y,
end_animScaleX, end_animScaleX,
end_animScaleX, end_animScaleY,
phrase->color, phrase->text, 0, l-1, &end_rot);
else
if (relpos<phrase->phraseFixedStart)
{
for (i=0; i<l; i++)
{
animScaleX=phrase->scaleX;
animScaleY=phrase->scaleY;
// calcolo l'inizio e fine della lettera i-esima
start=phrase->relstart+i*phrase->phraseDelayPerChar;
if (relpos<start) continue;
end=start+phrase->phraseTimePerChar;
// scrivo la lettera a colore e trasformazioni piene
if (relpos>=end)
{
m_DrawAnimatedText(phrase->x, phrase->y,
end_animScaleX, end_animScaleY,
end_animScaleX, end_animScaleY,
phrase->color, phrase->text, i, i, &end_rot);
}
else
{
r=(uint32)(255.0f*relPos(start, end, relpos));
alpha=(phrase->color >> 24);
alpha=((alpha*r)>>8) & 255;
color=(phrase->color & 0x00FFFFFF) | (alpha << 24);
// estrazione dell'animazione
if (p_ScaleTrack.p_NumKeys>0)
{
animPos=map_intervals(start, end, animStartScale, animEndScale, relpos);
p_ScaleTrack.m_GetData(animPos, &scale3D);
animScaleX*=scale3D.x;
animScaleY*=scale3D.y;
}
if (p_RotationTrack.p_NumKeys>0)
{
animPos=map_intervals(start, end, animStartRot, animEndRot, relpos);
p_RotationTrack.m_GetData(animPos, &rot);
}
m_DrawAnimatedText(phrase->x, phrase->y,
animScaleX, animScaleY,
end_animScaleX, end_animScaleY,
color, phrase->text, i, i, &rot);
}
}
}
else
// fase di scomparsa della frase
if (relpos>phrase->phraseFixedEnd)
BrickWallDemo::BrickWallDemo(hkDemoEnvironment* env)
: hkDefaultPhysicsDemo(env)
{
// Disable warnings:
hkError::getInstance().setEnabled(0xaf55adde, false); //'No runtime block of size 637136 currently available. Allocating new block from unmanaged memory.'
hkDefaultPhysicsDemo::enableDisplayingToiInformation( true );
m_frameToSimulationFrequencyRatio = 1.0f;
m_timestep = 1.0f / 60.0f;
const BrickWallVariant& variant = g_variants[m_variantId];
int wallHeight = variant.m_height;
int wallWidth = variant.m_width;
int numWalls = variant.m_numWalls;
hkpWorldCinfo::SimulationType simulationType;
simulationType = hkpWorldCinfo::SIMULATION_TYPE_CONTINUOUS;
//
// Setup the camera so that we can see the ball hit the (first) wall.
//
{
hkVector4 from(40.0f, 20.0f, 40.0f);
hkVector4 to ( 0.0f, 10.0f, 0.0f);
hkVector4 up ( 0.0f, 1.0f, 0.0f);
setupDefaultCameras( env, from, to, up );
}
{
hkpWorldCinfo info;
info.setBroadPhaseWorldSize( 5000.0f );
info.setupSolverInfo(hkpWorldCinfo::SOLVER_TYPE_4ITERS_HARD);
info.m_collisionTolerance = 0.01f;
info.m_gravity = hkVector4( 0.0f,-9.8f,0.0f);
info.m_simulationType = simulationType;
info.m_broadPhaseBorderBehaviour = info.BROADPHASE_BORDER_FIX_ENTITY;
//info.m_enableDeactivation = false;
//info.m_enableSimulationIslands = false;
info.m_enableDeactivation = false;
m_world = new hkpWorld( info );
m_world->lock();
}
{
// Register ALL agents (though some may not be necessary)
hkpAgentRegisterUtil::registerAllAgents(m_world->getCollisionDispatcher());
setupGraphics();
// enable instancing (if present on platform)
hkpShapeDisplayViewer* shapeViewer = (hkpShapeDisplayViewer*)getLocalViewerByName( hkpShapeDisplayViewer::getName() );
if (shapeViewer)
{
shapeViewer->setInstancingEnabled( true );
}
}
//
// Create the ground box
//
{
hkVector4 groundRadii( 70.0f, 2.0f, 70.0f );
hkpConvexShape* shape = new hkpBoxShape( groundRadii , 0 );
hkpRigidBodyCinfo ci;
ci.m_shape = shape;
ci.m_motionType = hkpMotion::MOTION_FIXED;
ci.m_position = hkVector4( 0.0f, -2.0f, 0.0f );
ci.m_qualityType = HK_COLLIDABLE_QUALITY_FIXED;
m_world->addEntity( new hkpRigidBody( ci ) )->removeReference();
shape->removeReference();
}
hkVector4 groundPos( 0.0f, 0.0f, 0.0f );
hkVector4 posy = groundPos;
//
// Create the walls
//
if(1)
{
hkVector4 boxSize( 1.0f, 0.5f, 0.5f);
hkpBoxShape* box = new hkpBoxShape( boxSize , 0 );
box->setRadius( 0.0f );
hkReal deltaZ = 25.0f;
posy(2) = -deltaZ * numWalls * 0.5f;
for ( int y = 0; y < numWalls; y ++ ) // first wall
{
createBrickWall( m_world, wallHeight, wallWidth, posy, 0.2f, box, boxSize );
posy(2) += deltaZ;
}
box->removeReference();
}
//
// Create the ball
//
if (1)
{
const hkReal radius = 1.5f;
const hkReal sphereMass = 150.0f;
hkVector4 relPos( 0.0f,radius + 0.0f, 20.0f );
hkpRigidBodyCinfo info;
hkpMassProperties massProperties;
hkpInertiaTensorComputer::computeSphereVolumeMassProperties(radius, sphereMass, massProperties);
info.m_mass = massProperties.m_mass;
info.m_centerOfMass = massProperties.m_centerOfMass;
info.m_inertiaTensor = massProperties.m_inertiaTensor;
info.m_shape = new hkpSphereShape( radius );
info.m_position.setAdd4(posy, relPos );
info.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
if ( variant.m_usePredictive)
{
info.m_qualityType = HK_COLLIDABLE_QUALITY_BULLET;
}
else
{
info.m_qualityType = HK_COLLIDABLE_QUALITY_DEBRIS;
}
hkpRigidBody* sphereRigidBody = new hkpRigidBody( info );
m_world->addEntity( sphereRigidBody );
sphereRigidBody->removeReference();
info.m_shape->removeReference();
hkVector4 vel( 0.0f,4.9f, -200.0f );
sphereRigidBody->setLinearVelocity( vel );
}
m_world->unlock();
}
