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Reorganized Bullet physics files, added preliminary vehicle simulation files (disabled).

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Requires some changes to projectfiles/makefiles/scons, for the added and removed files!
This commit is contained in:
Erwin Coumans
2006-02-21 05:36:56 +00:00
parent a6e7ff5ee9
commit 90e5a9aa14
42 changed files with 1863 additions and 968 deletions
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39
source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
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@@ -3,6 +3,7 @@
#include "Dynamics/RigidBody.h"
#include "PHY_IMotionState.h"
#include "BroadphaseCollision/BroadphaseProxy.h"
#include "BroadphaseCollision/BroadphaseInterface.h"
#include "CollisionShapes/ConvexShape.h"
#include "CcdPhysicsEnvironment.h"
@@ -29,12 +30,10 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
m_MotionState = ci.m_MotionState;
m_broadphaseHandle = ci.m_broadphaseHandle;
m_collisionShape = ci.m_collisionShape;
CreateRigidbody();
#ifdef WIN32
@@ -44,21 +43,31 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
}
void CcdPhysicsController::CreateRigidbody()
SimdTransform CcdPhysicsController::GetTransformFromMotionState(PHY_IMotionState* motionState)
{
SimdTransform trans;
float tmp[3];
m_MotionState->getWorldPosition(tmp[0],tmp[1],tmp[2]);
motionState->getWorldPosition(tmp[0],tmp[1],tmp[2]);
trans.setOrigin(SimdVector3(tmp[0],tmp[1],tmp[2]));
SimdQuaternion orn;
m_MotionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
motionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
trans.setRotation(orn);
return trans;
}
void CcdPhysicsController::CreateRigidbody()
{
SimdTransform trans = GetTransformFromMotionState(m_cci.m_MotionState);
MassProps mp(m_cci.m_mass, m_cci.m_localInertiaTensor);
m_body = new RigidBody(mp,0,0,m_cci.m_friction,m_cci.m_restitution);
m_body->m_collisionShape = m_cci.m_collisionShape;
//
// init the rigidbody properly
//
@@ -74,7 +83,6 @@ void CcdPhysicsController::CreateRigidbody()
CcdPhysicsController::~CcdPhysicsController()
{
//will be reference counted, due to sharing
//delete m_collisionShape;
m_cci.m_physicsEnv->removeCcdPhysicsController(this);
delete m_MotionState;
delete m_body;
@@ -96,7 +104,7 @@ bool CcdPhysicsController::SynchronizeMotionStates(float time)
float scale[3];
m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]);
SimdVector3 scaling(scale[0],scale[1],scale[2]);
m_collisionShape->setLocalScaling(scaling);
GetCollisionShape()->setLocalScaling(scaling);
return true;
}
@@ -115,12 +123,13 @@ void CcdPhysicsController::WriteDynamicsToMotionState()
// controller replication
void CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)
{
m_MotionState = motionstate;
m_broadphaseHandle = 0;
m_body = 0;
CreateRigidbody();
m_cci.m_physicsEnv->addCcdPhysicsController(this);
@@ -387,8 +396,8 @@ bool CcdPhysicsController::wantsSleeping()
//disable deactivation
if (gDisableDeactivation || (gDeactivationTime == 0.f))
return false;
//2 == ISLAND_SLEEPING, 3 == WANTS_DEACTIVATION
if ( (m_body->GetActivationState() == 2) || (m_body->GetActivationState() == 3))
if ( (m_body->GetActivationState() == ISLAND_SLEEPING) || (m_body->GetActivationState() == WANTS_DEACTIVATION))
return true;
if (m_body->m_deactivationTime> gDeactivationTime)