#include "PHY_IMotionState.h"
#include "SumoPhysicsController.h"
#include "SM_Scene.h"
-
-
-const MT_Scalar UpperBoundForFuzzicsIntegrator = 0.01;
-// At least 100Hz (isn't this CPU hungry ?)
-
+#include "SumoPHYCallbackBridge.h"
+#include <SOLID/SOLID.h>
SumoPhysicsEnvironment::SumoPhysicsEnvironment()
{
- // seperate collision scene for events
- m_solidScene = DT_CreateScene();
- m_respTable = DT_CreateRespTable();
+ m_fixedTimeStep = 1.f/60.f;
+ m_useFixedTimeStep = true;
+ m_currentTime = 0.f;
m_sumoScene = new SM_Scene();
- m_sumoScene->setSecondaryRespTable(m_respTable);
-
}
SumoPhysicsEnvironment::~SumoPhysicsEnvironment()
{
delete m_sumoScene;
-
- DT_DeleteScene(m_solidScene);
- DT_DeleteRespTable(m_respTable);
}
-void SumoPhysicsEnvironment::proceed(double timeStep)
+
+
+void SumoPhysicsEnvironment::beginFrame()
{
- m_sumoScene->proceed(timeStep,UpperBoundForFuzzicsIntegrator);
+ m_sumoScene->beginFrame();
}
-void SumoPhysicsEnvironment::setGravity(float x,float y,float z)
+void SumoPhysicsEnvironment::endFrame()
{
- m_sumoScene->setForceField(MT_Vector3(x,y,z));
-
+ m_sumoScene->endFrame();
}
+void SumoPhysicsEnvironment::setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep)
+{
+ m_useFixedTimeStep = useFixedTimeStep;
+ if (m_useFixedTimeStep)
+ {
+ m_fixedTimeStep = fixedTimeStep;
+ } else
+ {
+ m_fixedTimeStep = 0.f;
+ }
+ //reset current time ?
+ m_currentTime = 0.f;
+}
+float SumoPhysicsEnvironment::getFixedTimeStep()
+{
+ return m_fixedTimeStep;
+}
+bool SumoPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
+{
+
+ bool result = false;
+ if (m_useFixedTimeStep)
+ {
+ m_currentTime += timeStep;
+ float ticrate = 1.f/m_fixedTimeStep;
+ result = m_sumoScene->proceed(curTime, ticrate);
+ } else
+ {
+ m_currentTime += timeStep;
+ result = m_sumoScene->proceed(m_currentTime, timeStep);
+ }
+ return result;
+}
-int SumoPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
- float pivotX,float pivotY,float pivotZ,float axisX,float axisY,float axisZ)
+void SumoPhysicsEnvironment::setGravity(float x,float y,float z)
{
+ m_sumoScene->setForceField(MT_Vector3(x,y,z));
+}
+int SumoPhysicsEnvironment::createConstraint(
+ class PHY_IPhysicsController* ctrl,
+ class PHY_IPhysicsController* ctrl2,
+ PHY_ConstraintType type,
+ float pivotX,float pivotY,float pivotZ,
+ float axisX,float axisY,float axisZ)
+{
int constraintid = 0;
return constraintid;
-
}
-void SumoPhysicsEnvironment::removeConstraint(int constraintid)
+void SumoPhysicsEnvironment::removeConstraint(int constraintid)
{
if (constraintid)
{
}
}
-PHY_IPhysicsController* SumoPhysicsEnvironment::rayTest(void* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ,
- float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)
+PHY_IPhysicsController* SumoPhysicsEnvironment::rayTest(PHY_IPhysicsController* ignoreClientCtrl,
+ float fromX,float fromY,float fromZ,
+ float toX,float toY,float toZ,
+ float& hitX,float& hitY,float& hitZ,
+ float& normalX,float& normalY,float& normalZ)
{
+ SumoPhysicsController* ignoreCtr = static_cast<SumoPhysicsController*> (ignoreClientCtrl);
+
//collision detection / raytesting
- //m_sumoScene->rayTest(ignoreclient,from,to,result,normal);
+ MT_Point3 hit, normal;
+ PHY_IPhysicsController *ret = 0;
+
+ SM_Object* sm_ignore = 0;
+ if (ignoreCtr)
+ sm_ignore = ignoreCtr->GetSumoObject();
- return NULL;
+
+ SM_Object* smOb = m_sumoScene->rayTest(sm_ignore,MT_Point3(fromX, fromY, fromZ),MT_Point3(toX, toY, toZ), hit, normal);
+ if (smOb)
+ {
+ ret = (PHY_IPhysicsController *) smOb->getPhysicsClientObject();
+ }
+ hitX = hit[0];
+ hitY = hit[1];
+ hitZ = hit[2];
+
+ normalX = normal[0];
+ normalY = normal[1];
+ normalZ = normal[2];
+
+ return ret;
+}
+//gamelogic callbacks
+void SumoPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
+{
+ SumoPhysicsController* smctrl = dynamic_cast<SumoPhysicsController*>(ctrl);
+ SM_Object* smObject = smctrl->GetSumoObject();
+ assert(smObject);
+ if (smObject)
+ {
+ m_sumoScene->addSensor(*smObject);
+ }
+}
+void SumoPhysicsEnvironment::removeSensor(PHY_IPhysicsController* ctrl)
+{
+ SumoPhysicsController* smctrl = dynamic_cast<SumoPhysicsController*>(ctrl);
+ SM_Object* smObject = smctrl->GetSumoObject();
+ assert(smObject);
+ if (smObject)
+ {
+ m_sumoScene->remove(*smObject);
+ }
}
+void SumoPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)
+{
+
+ int sumoRespClass = 0;
+
+ //map PHY_ convention into SM_ convention
+ switch (response_class)
+ {
+ case PHY_FH_RESPONSE:
+ sumoRespClass = FH_RESPONSE;
+ break;
+ case PHY_SENSOR_RESPONSE:
+ sumoRespClass = SENSOR_RESPONSE;
+ break;
+ case PHY_CAMERA_RESPONSE:
+ sumoRespClass =CAMERA_RESPONSE;
+ break;
+ case PHY_OBJECT_RESPONSE:
+ sumoRespClass = OBJECT_RESPONSE;
+ break;
+ case PHY_STATIC_RESPONSE:
+ sumoRespClass = PHY_STATIC_RESPONSE;
+ break;
+ default:
+ assert(0);
+ return;
+ }
+
+ SumoPHYCallbackBridge* bridge = new SumoPHYCallbackBridge(user,callback);
+
+ m_sumoScene->addTouchCallback(sumoRespClass,SumoPHYCallbackBridge::StaticSolidToPHYCallback,bridge);
+}
+void SumoPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctrl)
+{
+ SumoPhysicsController* smctrl = dynamic_cast<SumoPhysicsController*>(ctrl);
+ MT_assert(smctrl);
+ SM_Object* smObject = smctrl->GetSumoObject();
+ MT_assert(smObject);
+ if (smObject)
+ {
+ //assert(smObject->getPhysicsClientObject() == ctrl);
+ smObject->setPhysicsClientObject(ctrl);
+
+ m_sumoScene->requestCollisionCallback(*smObject);
+ }
+}
+PHY_IPhysicsController* SumoPhysicsEnvironment::CreateSphereController(float radius,const PHY__Vector3& position)
+{
+ DT_ShapeHandle shape = DT_NewSphere(0.0);
+ SM_Object* ob = new SM_Object(shape,0,0,0);
+ ob->setPosition(MT_Point3(position));
+ //testing
+ MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90));
+ ob->setOrientation(rotquatje);
+
+ PHY_IPhysicsController* ctrl = new SumoPhysicsController(m_sumoScene,ob,0,false);
+ ctrl->SetMargin(radius);
+ return ctrl;
+}
+PHY_IPhysicsController* SumoPhysicsEnvironment::CreateConeController(float coneradius,float coneheight)
+{
+ DT_ShapeHandle shape = DT_NewCone(coneradius,coneheight);
+ SM_Object* ob = new SM_Object(shape,0,0,0);
+ ob->setPosition(MT_Point3(0.f,0.f,0.f));
+ MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90));
+ ob->setOrientation(rotquatje);
+
+ PHY_IPhysicsController* ctrl = new SumoPhysicsController(m_sumoScene,ob,0,false);
+
+ return ctrl;
+}
+
projects / blender-staging.git / blobdiff