Major cleanup.
Moved to namespace Cleanup includes
This commit is contained in:
Antoine Pilote
@@ -5,128 +5,131 @@
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#include <src/Vendors/glm/ext/quaternion_common.hpp>
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#include <src/Core/Logger.h>
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namespace Physics
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namespace Nuake
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{
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DynamicWorld::DynamicWorld() {
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///collision configuration contains default setup for memory, collision setup. Advanced users can create their own configuration.
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btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
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///btDbvtBroadphase is a good general purpose broadphase. You can also try out btAxis3Sweep.
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btBroadphaseInterface* overlappingPairCache = new btDbvtBroadphase();
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///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
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btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
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dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher, overlappingPairCache, solver, collisionConfiguration);
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dynamicsWorld->setDebugDrawer(new BulletDebugDrawer());
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m_Bodies = std::map<btRigidBody*, Ref<RigidBody>>();
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SetGravity(Vector3(0, -10000, 0));
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}
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void DynamicWorld::DrawDebug()
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namespace Physics
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{
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dynamicsWorld->debugDrawWorld();
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}
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DynamicWorld::DynamicWorld() {
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///collision configuration contains default setup for memory, collision setup. Advanced users can create their own configuration.
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btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
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void DynamicWorld::SetGravity(glm::vec3 g)
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{
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dynamicsWorld->setGravity(btVector3(g.x, g.y, g.z));
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}
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///btDbvtBroadphase is a good general purpose broadphase. You can also try out btAxis3Sweep.
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btBroadphaseInterface* overlappingPairCache = new btDbvtBroadphase();
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///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
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btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
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void DynamicWorld::AddRigidbody(Ref<RigidBody> rb)
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{
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btRigidBody* bt = rb->GetBulletRigidbody();
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m_Bodies.emplace(std::pair<btRigidBody*, Ref<RigidBody>>(bt, rb));
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dynamicsWorld->addRigidBody(rb->GetBulletRigidbody());
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}
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dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher, overlappingPairCache, solver, collisionConfiguration);
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dynamicsWorld->setDebugDrawer(new BulletDebugDrawer());
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void DynamicWorld::AddGhostbody(Ref<GhostObject> gb)
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{
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dynamicsWorld->addCollisionObject(gb->GetBulletObject(), btBroadphaseProxy::SensorTrigger, btBroadphaseProxy::KinematicFilter);
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}
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m_Bodies = std::map<btRigidBody*, Ref<RigidBody>>();
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void DynamicWorld::AddCharacterController(Ref<CharacterController> cc)
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{
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dynamicsWorld->addRigidBody(cc->m_Rigidbody);
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// Specify filters manually, otherwise ghost doesn't collide with statics for some reason
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dynamicsWorld->addCollisionObject(cc->m_GhostObject, btBroadphaseProxy::KinematicFilter, btBroadphaseProxy::SensorTrigger | btBroadphaseProxy::StaticFilter );
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}
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RaycastResult DynamicWorld::Raycast(glm::vec3 from, glm::vec3 to)
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{
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btVector3 btFrom(from.x, from.y, from.z);
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btVector3 btTo(to.x, to.y, to.z);
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ClosestRayResultCallback res(btFrom, btTo);
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dynamicsWorld->rayTest(btFrom, btTo, res);
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btVector3 localNormal;
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if(res.m_collisionObject)
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{
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// TODO: Fix the godammn fucked up normal
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localNormal = res.m_hitNormalWorld;
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SetGravity(Vector3(0, -10000, 0));
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}
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Vector3 localNorm = glm::vec3(localNormal.x(), localNormal.y(), localNormal.z());
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//Logger::Log("normal: x:" + std::to_string(localNorm.x) + " y:" + std::to_string(localNorm.y )+ "z: " + std::to_string(localNorm.z));
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res.m_closestHitFraction;
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// Map bullet result to dto.
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RaycastResult result{
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glm::vec3(res.m_hitPointWorld.x(), res.m_hitPointWorld.y(), res.m_hitPointWorld.z()),
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glm::vec3(res.m_hitPointWorld.x(), res.m_hitPointWorld.y(), res.m_hitPointWorld.z()),
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localNorm
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};
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return result;
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}
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void DynamicWorld::StepSimulation(Timestep ts)
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{
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dynamicsWorld->stepSimulation(ts, 10);
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for (int j = dynamicsWorld->getNumCollisionObjects() - 1; j >= 0; j--)
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void DynamicWorld::DrawDebug()
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{
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btCollisionObject* obj = dynamicsWorld->getCollisionObjectArray()[j];
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btRigidBody* body = btRigidBody::upcast(obj);
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btTransform trans;
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if (body && body->getMotionState())
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{
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body->getMotionState()->getWorldTransform(trans);
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if(m_Bodies.find(body) != m_Bodies.end())
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m_Bodies[body]->UpdateTransform(trans);
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}
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else
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{
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trans = obj->getWorldTransform();
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if (m_Bodies.find(body) != m_Bodies.end())
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m_Bodies[body]->UpdateTransform(trans);
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}
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//printf("world pos object %d = %f,%f,%f\n", j, float(trans.getOrigin().getX()), float(trans.getOrigin().getY()), float(trans.getOrigin().getZ()));
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dynamicsWorld->debugDrawWorld();
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}
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}
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void DynamicWorld::Clear()
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{
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for (int j = dynamicsWorld->getNumCollisionObjects() - 1; j >= 0; j--)
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void DynamicWorld::SetGravity(glm::vec3 g)
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{
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btCollisionObject* obj = dynamicsWorld->getCollisionObjectArray()[j];
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dynamicsWorld->removeCollisionObject(obj);
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dynamicsWorld->setGravity(btVector3(g.x, g.y, g.z));
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}
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m_Bodies.clear();
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void DynamicWorld::AddRigidbody(Ref<RigidBody> rb)
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{
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btRigidBody* bt = rb->GetBulletRigidbody();
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m_Bodies.emplace(std::pair<btRigidBody*, Ref<RigidBody>>(bt, rb));
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dynamicsWorld->addRigidBody(rb->GetBulletRigidbody());
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}
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void DynamicWorld::AddGhostbody(Ref<GhostObject> gb)
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{
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dynamicsWorld->addCollisionObject(gb->GetBulletObject(), btBroadphaseProxy::SensorTrigger, btBroadphaseProxy::KinematicFilter);
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}
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void DynamicWorld::AddCharacterController(Ref<CharacterController> cc)
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{
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dynamicsWorld->addRigidBody(cc->m_Rigidbody);
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// Specify filters manually, otherwise ghost doesn't collide with statics for some reason
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dynamicsWorld->addCollisionObject(cc->m_GhostObject, btBroadphaseProxy::KinematicFilter, btBroadphaseProxy::SensorTrigger | btBroadphaseProxy::StaticFilter);
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}
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RaycastResult DynamicWorld::Raycast(glm::vec3 from, glm::vec3 to)
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{
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btVector3 btFrom(from.x, from.y, from.z);
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btVector3 btTo(to.x, to.y, to.z);
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ClosestRayResultCallback res(btFrom, btTo);
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dynamicsWorld->rayTest(btFrom, btTo, res);
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btVector3 localNormal;
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if (res.m_collisionObject)
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{
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// TODO: Fix the godammn fucked up normal
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localNormal = res.m_hitNormalWorld;
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}
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Vector3 localNorm = glm::vec3(localNormal.x(), localNormal.y(), localNormal.z());
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//Logger::Log("normal: x:" + std::to_string(localNorm.x) + " y:" + std::to_string(localNorm.y )+ "z: " + std::to_string(localNorm.z));
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res.m_closestHitFraction;
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// Map bullet result to dto.
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RaycastResult result{
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glm::vec3(res.m_hitPointWorld.x(), res.m_hitPointWorld.y(), res.m_hitPointWorld.z()),
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glm::vec3(res.m_hitPointWorld.x(), res.m_hitPointWorld.y(), res.m_hitPointWorld.z()),
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localNorm
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};
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return result;
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}
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void DynamicWorld::StepSimulation(Timestep ts)
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{
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dynamicsWorld->stepSimulation(ts, 10);
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for (int j = dynamicsWorld->getNumCollisionObjects() - 1; j >= 0; j--)
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{
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btCollisionObject* obj = dynamicsWorld->getCollisionObjectArray()[j];
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btRigidBody* body = btRigidBody::upcast(obj);
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btTransform trans;
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if (body && body->getMotionState())
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{
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body->getMotionState()->getWorldTransform(trans);
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if (m_Bodies.find(body) != m_Bodies.end())
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m_Bodies[body]->UpdateTransform(trans);
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}
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else
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{
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trans = obj->getWorldTransform();
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if (m_Bodies.find(body) != m_Bodies.end())
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m_Bodies[body]->UpdateTransform(trans);
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}
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//printf("world pos object %d = %f,%f,%f\n", j, float(trans.getOrigin().getX()), float(trans.getOrigin().getY()), float(trans.getOrigin().getZ()));
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}
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}
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void DynamicWorld::Clear()
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{
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for (int j = dynamicsWorld->getNumCollisionObjects() - 1; j >= 0; j--)
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{
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btCollisionObject* obj = dynamicsWorld->getCollisionObjectArray()[j];
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dynamicsWorld->removeCollisionObject(obj);
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}
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m_Bodies.clear();
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}
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}
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}
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