147 lines
4.9 KiB
C++
147 lines
4.9 KiB
C++
#include <App/V8/World/ComPlicitNgine.hpp>
|
|
#include <App/V8/World/World.hpp>
|
|
#include <App/V8/World/JointsService.hpp>
|
|
#include <Helpers/Bullet.hpp>
|
|
|
|
namespace RNR
|
|
{
|
|
void ComPlicitNgine::thread()
|
|
{
|
|
float delta;
|
|
float time;
|
|
while(m_world->getPhysicsShouldBeRunningPleaseStopIfItIsStillRunning())
|
|
{
|
|
delta = m_physicsTimer->getMicroseconds() / 1000000.0;
|
|
time += m_physicsTimer->getMilliseconds() / 1000.0;
|
|
m_physicsTimer->reset();
|
|
|
|
m_lastPhysicsDelta = delta;
|
|
m_physicsTime = time;
|
|
|
|
if(m_lastPhysicsDelta == 0)
|
|
std::this_thread::sleep_for(std::chrono::milliseconds(1));
|
|
|
|
if(m_world->getRunService()->getRunning())
|
|
{
|
|
m_world->preStep();
|
|
m_world->step(delta);
|
|
}
|
|
|
|
JointsService* joints = (JointsService*)m_world->getDatamodel()->getService("JointsService");
|
|
joints->fixWelds();
|
|
|
|
m_lastPhysicsDelta = delta;
|
|
}
|
|
}
|
|
|
|
ComPlicitNgine::ComPlicitNgine(World* world)
|
|
{
|
|
m_physicsTimer = new Ogre::Timer();
|
|
m_physicsTime = 0.0;
|
|
m_physicsThread = std::thread(&ComPlicitNgine::thread, this);
|
|
m_dynamicsWorld = world->getDynamicsWorld();
|
|
m_world = world;
|
|
}
|
|
|
|
ComPlicitNgine::~ComPlicitNgine()
|
|
{
|
|
m_physicsThread.join();
|
|
}
|
|
|
|
void ComPlicitNgine::updateTreeRender()
|
|
{
|
|
for(int j = m_dynamicsWorld->getNumCollisionObjects() - 1; j >= 0; j--)
|
|
{
|
|
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[j];
|
|
if(obj->getActivationState() != ACTIVE_TAG)
|
|
continue;
|
|
PartInstance* part = (PartInstance*)obj->getUserPointer();
|
|
if(part)
|
|
{
|
|
part->updateMatrix();
|
|
}
|
|
}
|
|
}
|
|
|
|
void ComPlicitNgine::updateTree()
|
|
{
|
|
m_activeObjects = 0;
|
|
m_sleepingObjects = 0;
|
|
for(int j = m_dynamicsWorld->getNumCollisionObjects() - 1; j >= 0; j--)
|
|
{
|
|
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[j];
|
|
if(obj->getActivationState() != ACTIVE_TAG) { m_sleepingObjects++; continue; }
|
|
m_activeObjects++;
|
|
btRigidBody* body = btRigidBody::upcast(obj);
|
|
btTransform trans;
|
|
if(body && body->getMotionState())
|
|
{
|
|
body->getMotionState()->getWorldTransform(trans);
|
|
}
|
|
else
|
|
{
|
|
trans = obj->getWorldTransform();
|
|
}
|
|
PartInstance* part = (PartInstance*)obj->getUserPointer();
|
|
if(part)
|
|
{
|
|
part->getCFrame().setPosition(Bullet::v3ToOgre(trans.getOrigin()));
|
|
Ogre::Matrix3 partRot;
|
|
Ogre::Quaternion transOgre = Bullet::qtToOgre(trans.getRotation());
|
|
transOgre.ToRotationMatrix(partRot);
|
|
part->getCFrame().setRotation(partRot);
|
|
}
|
|
}
|
|
}
|
|
|
|
void ComPlicitNgine::registerPhysicsPart(PartInstance* partRegistered)
|
|
{
|
|
btCollisionShape* partShape = new btBoxShape(Bullet::v3ToBullet(partRegistered->getSize() / 2.f));
|
|
partShape->setUserPointer(partRegistered);
|
|
|
|
btTransform partTransform;
|
|
partTransform.setIdentity();
|
|
partTransform.setOrigin(Bullet::v3ToBullet(partRegistered->getPosition()));
|
|
partTransform.setRotation(Bullet::qtToBullet(partRegistered->getRotation()));
|
|
|
|
btScalar mass = partRegistered->getSize().length();
|
|
if(partRegistered->getAnchored())
|
|
mass = 0;
|
|
|
|
btVector3 localInertia = btVector3(0,0,0);
|
|
if(mass)
|
|
partShape->calculateLocalInertia(mass, localInertia);
|
|
|
|
btDefaultMotionState* partMotionState = new btDefaultMotionState(partTransform);
|
|
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, partMotionState, partShape, localInertia);
|
|
btRigidBody* body = new btRigidBody(rbInfo);
|
|
body->setUserPointer(partRegistered);
|
|
|
|
m_world->dynamicWorldLock.lock();
|
|
m_dynamicsWorld->addRigidBody(body);
|
|
m_world->dynamicWorldLock.unlock();
|
|
|
|
m_physicsParts[partRegistered] = body;
|
|
}
|
|
|
|
void ComPlicitNgine::updatePhysicsPart(PartInstance* partUpdate)
|
|
{
|
|
btRigidBody* toUpdate = m_physicsParts[partUpdate];
|
|
if(toUpdate)
|
|
{
|
|
btTransform& bodytf = toUpdate->getWorldTransform();
|
|
bodytf.setIdentity();
|
|
bodytf.setOrigin(Bullet::v3ToBullet(partUpdate->getPosition()));
|
|
bodytf.setRotation(Bullet::qtToBullet(partUpdate->getRotation()));
|
|
}
|
|
}
|
|
|
|
void ComPlicitNgine::deletePhysicsPart(PartInstance* partDelete)
|
|
{
|
|
btRigidBody* toDelete = m_physicsParts[partDelete];
|
|
if(toDelete)
|
|
{
|
|
|
|
}
|
|
}
|
|
} |