WIP JointService; make & break joints functions

Projects/Engine/Header/App/V8/Tree/ModelInstance.hpp

@@ -9,6 +9,8 @@ namespace RNR
         ModelInstance();
 
         virtual void build();
+        void makeJoints();
+        void breakJoints();
         Ogre::AxisAlignedBox getBoundingBox() { return m_boundingbox; }
         virtual std::string getClassName() { return "Model"; }
         virtual void onChildAdded(Instance* instance);

Projects/Engine/Header/App/V8/World/JointInstance.hpp

@@ -7,27 +7,34 @@ namespace RNR
 {
     class JointInstance : public Instance
     {
+    protected:
         PartInstance *m_aInstance, *m_bInstance;
         btRigidBody *m_aBody, *m_bBody;
         CoordinateFrame m_c0, m_c1;
+        btTypedConstraint *m_constraint;
+        bool m_dirty;
+        bool m_collidesWithSelf;
         virtual void addProperties(std::vector<ReflectionProperty>& properties);
         virtual void deserializeProperty(char* prop_name, pugi::xml_node prop);
+
+        virtual btTypedConstraint* constraint() { return NULL; };
     public:
         JointInstance();
+        ~JointInstance();
 
         void setBodies(PartInstance* a, PartInstance* b);
         
         PartInstance* getABody() { return m_aInstance; }
-        void setABody(PartInstance* a) { m_aInstance = a; }
+        void setABody(PartInstance* a) { m_aInstance = a; m_dirty = true; }
         PartInstance* getBBody() { return m_bInstance; }
-        void setBBody(PartInstance* b) { m_bInstance = b; }
+        void setBBody(PartInstance* b) { m_bInstance = b; m_dirty = true; }
 
         CoordinateFrame& getC0() { return m_c0; }
-        void setC0(CoordinateFrame c) { m_c0 = c; }
+        void setC0(CoordinateFrame c) { m_c0 = c; m_dirty = true; }
         CoordinateFrame& getC1() { return m_c1; }
-        void setC1(CoordinateFrame c) { m_c1 = c; }
+        void setC1(CoordinateFrame c) { m_c1 = c; m_dirty = true; }
-
 
         void link();
+        bool getDirty() { return m_dirty; };
     };
 }

Projects/Engine/Header/App/V8/World/JointsService.hpp

@@ -1,5 +1,6 @@
 #pragma once
 #include <App/V8/Tree/Instance.hpp>
+#include <App/V8/Tree/ModelInstance.hpp>
 #include <App/V8/DataModel/PartInstance.hpp>
 #include <App/V8/World/Weld.hpp>
 
@@ -14,10 +15,12 @@ namespace RNR
         
         void makeJoints(Instance* w, PartInstance* p);
         void makeJoints(PartInstance* p);
+        void breakJoints(PartInstance* b);
+        void makeModelJoints(ModelInstance* m);
+        void breakModelJoints(ModelInstance* m);
 
         void fixWelds();
 
-        void breakJoints(PartInstance* b);
         bool isWelded(PartInstance* a, PartInstance* b);
     };
 }

Projects/Engine/Header/App/V8/World/Weld.hpp

@@ -8,25 +8,10 @@ namespace RNR
 {
     class Weld : public JointInstance
     {
-        btRigidBody* m_aBody;
+        virtual btTypedConstraint* constraint();
-        PartInstance* m_aInstance;
-
-        btRigidBody* m_bBody;
-        PartInstance* m_bInstance;
-        
-        btFixedConstraint* m_constraint;
     public:
         Weld();
-        ~Weld();
         virtual std::string getClassName() { return "Weld"; }
-
-        void weld(PartInstance* a, PartInstance* b);
-        bool create();
-        void destroy();
-
-        bool getBroken();
-        PartInstance* getPartA() { return m_aInstance; }
-        PartInstance* getPartB() { return m_bInstance; }
     };
 
     class Snap : public Weld

Projects/Engine/Source/App/Humanoid/Humanoid.cpp

@@ -41,7 +41,7 @@ namespace RNR
         {
             Weld* headWeld = new Weld();
             headWeld->setBodies(getTorso(), getHead());
-            headWeld->create();
+            headWeld->link();
             headWeld->setParent(getTorso());
         }
 

Projects/Engine/Source/App/V8/DataModel/PartInstance.cpp

@@ -105,7 +105,7 @@ namespace RNR
         {
             m_surfaces[i].face = (NormalId)i;
             PartSurfaceInfo& surf = m_surfaces[i];
-            Ogre::Vector3 size = ((getSize() / 2.f) * getRotation());
+            Ogre::Vector3 size = ((getSize()) * getRotation());
             Ogre::Vector3 pos = getPosition();
             switch(m_surfaces[i].face)
             {

Projects/Engine/Source/App/V8/Tree/ModelInstance.cpp

@@ -1,5 +1,6 @@
 #include <App/V8/Tree/ModelInstance.hpp>
 #include <App/V8/DataModel/PartInstance.hpp>
+#include <App/V8/World/World.hpp>
 #include <App/Humanoid/Humanoid.hpp>
 
 namespace RNR
@@ -16,6 +17,16 @@ namespace RNR
             childAddBoundingBox(child);
     }
 
+    void ModelInstance::makeJoints()
+    {
+
+    }
+
+    void ModelInstance::breakJoints()
+    {
+        
+    }
+
     void ModelInstance::childAddBoundingBox(Instance* child)
     {
         for(auto& child2 : *child->getChildren())

Projects/Engine/Source/App/V8/World/ComPlicitNgine.cpp

@@ -1,5 +1,6 @@
 #include <App/V8/World/ComPlicitNgine.hpp>
 #include <App/V8/World/World.hpp>
+#include <App/V8/World/JointsService.hpp>
 #include <Helpers/Bullet.hpp>
 
 namespace RNR
@@ -20,8 +21,14 @@ namespace RNR
             if(m_lastPhysicsDelta == 0)
                 std::this_thread::sleep_for(std::chrono::milliseconds(1));
             
-            m_world->preStep();
+            if(m_world->getRunService()->getRunning())
-            m_world->step(delta);
+            {
+                m_world->preStep();
+                m_world->step(delta);
+            }
+
+            JointsService* joints = (JointsService*)m_world->getDatamodel()->getService("JointsService");
+            joints->fixWelds();
 
             m_lastPhysicsDelta = delta;
         }

Projects/Engine/Source/App/V8/World/JointInstance.cpp

@@ -6,6 +6,14 @@ namespace RNR
     JointInstance::JointInstance()
     {
         setName("Joint");
+        m_collidesWithSelf = true;
+        m_dirty = false;
+    }
+
+    JointInstance::~JointInstance()
+    {
+        world->getDynamicsWorld()->removeConstraint(m_constraint);
+        delete m_constraint;
     }
 
     void JointInstance::setBodies(PartInstance* a, PartInstance* b)
@@ -15,6 +23,8 @@ namespace RNR
 
         m_aBody = world->getComPlicitNgine()->getBody(a);
         m_bBody = world->getComPlicitNgine()->getBody(b);
+
+        m_dirty = true;
     }
 
     void JointInstance::addProperties(std::vector<ReflectionProperty>& properties)
@@ -24,10 +34,18 @@ namespace RNR
               ACCESS_NONE, OPERATION_READWRITE, PROPERTY_INSTANCE,         
               REFLECTION_GETTER(JointInstance* instance = (JointInstance*)object; return instance->m_aInstance; ), 
               REFLECTION_SETTER(JointInstance* instance = (JointInstance*)object;  ) },
+            { this, std::string("C0"), std::string(""), 
+              ACCESS_NONE, OPERATION_READWRITE, PROPERTY_CFRAME,         
+              REFLECTION_GETTER(JointInstance* instance = (JointInstance*)object; return &instance->m_c0; ), 
+              REFLECTION_SETTER(JointInstance* instance = (JointInstance*)object;  ) },
             { this, std::string("Part1"), std::string(""), 
               ACCESS_NONE, OPERATION_READWRITE, PROPERTY_INSTANCE,         
               REFLECTION_GETTER(JointInstance* instance = (JointInstance*)object; return instance->m_bInstance; ), 
               REFLECTION_SETTER(JointInstance* instance = (JointInstance*)object;  ) },
+            { this, std::string("C1"), std::string(""), 
+              ACCESS_NONE, OPERATION_READWRITE, PROPERTY_CFRAME,         
+              REFLECTION_GETTER(JointInstance* instance = (JointInstance*)object; return &instance->m_c0; ), 
+              REFLECTION_SETTER(JointInstance* instance = (JointInstance*)object;  ) },
         };
 
         properties.insert(properties.end(), _properties, _properties+(sizeof(_properties)/sizeof(ReflectionProperty)));
@@ -37,4 +55,24 @@ namespace RNR
     {
 
     }
+
+    void JointInstance::link()
+    {
+        if(!m_aBody || !m_bBody)
+        {
+            m_aBody = world->getComPlicitNgine()->getBody(m_aInstance);
+            m_bBody = world->getComPlicitNgine()->getBody(m_bInstance);
+
+            if(!m_aBody || !m_bBody)
+                return;
+        }
+        m_constraint = constraint();
+        m_dirty = false;
+        if(m_constraint)
+        {
+            world->getDynamicsWorld()->addConstraint(m_constraint, !m_collidesWithSelf);
+        }
+        else
+            printf("JointInstance::link: constraint returned NULL\n");
+    }
 }

Projects/Engine/Source/App/V8/World/JointsService.cpp

@@ -20,8 +20,9 @@ namespace RNR
     {
         for(auto& child : *getChildren())
         {
-            Weld* weld = dynamic_cast<Weld*>(child);
+            JointInstance* weld = dynamic_cast<JointInstance*>(child);
-            weld->create();
+            if(weld->getDirty())
+                weld->link();
         }
     }
 
@@ -45,8 +46,6 @@ namespace RNR
                     NormalId n_opp = normalIdOpposite(n);
                     PartSurfaceInfo n_surf = p->getSurface(n);
                     PartSurfaceInfo n_opp_surf = child_p->getSurface(n_opp);
-                    if(n_surf.plane != n_opp_surf.plane)
-                        continue;
                     if(n_surf.intersects(n_opp_surf))
                     {
                         if(n_surf.links(n_opp_surf))
@@ -68,6 +67,43 @@ namespace RNR
         }
     }
 
+    void JointsService::makeModelJoints(ModelInstance* m)
+    {
+        ModelInstance* parent_model = m;
+
+        if(world->getWorkspace()->isAncestorOf(m))
+        {
+            parent_model = world->getWorkspace();
+        }
+
+        for(auto& child : *m->getChildren())
+        {
+            if(dynamic_cast<PartInstance*>(child))
+                makeJoints(parent_model, (PartInstance*)child);            
+        }
+    }
+
+    void JointsService::breakModelJoints(ModelInstance* m)
+    {
+        for(auto& child : *getChildren())
+        {
+            JointInstance* snap = dynamic_cast<JointInstance*>(child);
+            if(snap)
+            {
+                bool brk = false;
+                if(m->isAncestorOf(snap->getABody()))
+                    brk = true;
+                else if(m->isAncestorOf(snap->getBBody()))
+                    brk = true;
+                if(brk)
+                {
+                    snap->setParent(NULL);
+                    delete snap;
+                }
+            }
+        }
+    }
+
     void JointsService::makeJoints(PartInstance* p)
     {
         p->updateSurfaces();
@@ -78,13 +114,13 @@ namespace RNR
     {
         for(auto& child : *getChildren())
         {
-            Snap* snap = dynamic_cast<Snap*>(child);
+            JointInstance* snap = dynamic_cast<JointInstance*>(child);
             if(snap)
             {
                 bool brk = false;
-                if(snap->getPartA() == p)
+                if(snap->getABody() == p)
                     brk = true;
-                else if(snap->getPartB() == p)
+                else if(snap->getBBody() == p)
                     brk = true;
                 if(brk)
                 {
@@ -101,9 +137,9 @@ namespace RNR
             Weld* snap = dynamic_cast<Weld*>(child);
             if(snap)
             {
-                if(snap->getPartA() == a && snap->getPartB() == b)
+                if(snap->getABody() == a && snap->getBBody() == b)
                     return true;
-                else if(snap->getPartA() == b && snap->getPartB() == a)
+                else if(snap->getABody() == b && snap->getBBody() == a)
                     return true;
             }
         }

Projects/Engine/Source/App/V8/World/Weld.cpp

@@ -1,45 +1,25 @@
 #include <App/V8/World/Weld.hpp>
 #include <App/V8/World/World.hpp>
+#include <Helpers/Bullet.hpp>
 
 namespace RNR
 {
     Weld::Weld() : JointInstance()
     {
         setName("Weld");
+        m_collidesWithSelf = true;
     }
 
-    Weld::~Weld()
+    btTypedConstraint* Weld::constraint()
     {
-        destroy();
-    }
-
-    bool Weld::create()
-    {
-        if(!m_aBody || !m_bBody)
-        {
-            printf("Weld::create: invalid body\n");
-            return false;
-        }
-        
         btTransform frameInA, frameInB;
         frameInA = btTransform::getIdentity();
+        frameInA.setOrigin(Bullet::v3ToBullet(m_c0.getPosition()));
+        frameInA.setRotation(Bullet::qtToBullet(m_c0.getRotation()));
         frameInB = btTransform::getIdentity();
+        frameInB.setOrigin(Bullet::v3ToBullet(m_c1.getPosition()));
+        frameInB.setRotation(Bullet::qtToBullet(m_c1.getRotation()));
 
-        m_constraint = new btFixedConstraint(*m_aBody, *m_bBody, frameInA, frameInB);
+        return new btFixedConstraint(*m_aBody, *m_bBody, frameInA, frameInB);
-        printf("Weld::create: welded\n");
-        return true;
-    }
-
-    void Weld::destroy()
-    {
-        delete m_constraint;        
-    }
-
-    bool Weld::getBroken()
-    {
-        if(!m_constraint)
-            return true;
-            
-        return false;
     }
 }

Projects/Engine/Source/App/V8/World/World.cpp

@@ -159,7 +159,6 @@ namespace RNR
             printf("World::load: XML parsed with errors, description '%s', offset %i\n", result.description(), result.offset);
         }        
         m_workspace->build();
-        joints->fixWelds();
     }
 
     void World::preRender(float timestep)

Projects/Engine/Source/Network/Player.cpp

@@ -55,7 +55,7 @@ namespace RNR
         character_humanoid->setParent(m_character);        
         m_character->setParent(world->getWorkspace());
         
-        character_humanoid->buildJoints();
+        
 
         Camera* player_camera = world->getWorkspace()->getCurrentCamera();
         player_camera->setCFrame(CoordinateFrame());