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added setRotation, lil cleanup

This commit is contained in:
Otto Naderer 2022-05-01 12:15:25 +02:00
parent 41d9752cc1
commit d952791303
2 changed files with 76 additions and 60 deletions
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1
include/irrDynamics.h
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@ -110,6 +110,7 @@ class irrDynamics
static void applyTorque(irr::scene::ISceneNode* node, const irr::core::vector3df& torque);
static void setDamping(irr::scene::ISceneNode* node, irr::f32 linearDamping, irr::f32 angularDamping);
static void setPosition(irr::scene::ISceneNode* node, const irr::core::vector3df& newPos);
static void setRotation(irr::scene::ISceneNode* node, const irr::core::vector3df& newRotation);
//! Change default gravity
/** Per default, irrDynamics is set to an earth-like gravitational force. Modify that for other planets
* or your space sim game.

105
src/irrDynamics.cpp
View File

@ -1,6 +1,6 @@
/*
irrDynamics - Light-weight Bullet Physics wrapper for the irrlicht graphics engine
Copyright (C) 2014 Otto Naderer - otto.naderer@aec.at
Copyright (C) 2014 Otto Naderer - otto@socialnerds.org
This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any damages
@ -19,13 +19,17 @@
3. This notice may not be removed or altered from any source distribution.
*/
#include <btBulletCollisionCommon.h>
#include <btBulletDynamicsCommon.h>
#include "irrDynamics.h"
#include <iostream>
#include <btBulletCollisionCommon.h>
#include <btBulletDynamicsCommon.h>
using namespace std;
using namespace irr;
irrDynamics* irrDynamics::instance = NULL;
irrDynamics* irrDynamics::instance = nullptr;
irrDynamics::irrDynamics() : lastStep(0)
{
@ -52,7 +56,6 @@ void irrDynamics::simStep(u32 curTimeStamp)
if (inst->lastStep == 0)
inst->lastStep = curTimeStamp;
// printf("NUMCONST: %i\n", inst->world->getNumConstraints());
inst->world->stepSimulation((curTimeStamp - inst->lastStep) * 0.001f, 5);
inst->updateObjects();
@ -68,7 +71,7 @@ void irrDynamics::shutdown()
delete inst->dispatcher;
delete inst->broadPhase;
delete inst->collisionConfiguration;
instance = 0;
instance = nullptr;
}
void irrDynamics::addTerrain(scene::ITerrainSceneNode* terrain, u32 lodLevel)
@ -93,7 +96,7 @@ void irrDynamics::addTerrain(scene::ITerrainSceneNode* terrain, u32 lodLevel)
core::vector3df terrScale = terrain->getScale();
//Build the triangleMesh
const u32 indexCount = buffer->getIndexCount();
printf("indeces: %u\n", indexCount);
//fprintf("indeces: %u\n", indexCount);
video::S3DVertex2TCoords* mb_vertices = (irr::video::S3DVertex2TCoords*) buffer->getVertexBuffer().getData();
u32* mb_indices = (u32*) buffer->getIndices();
for (j = 0; (u32) j < indexCount; j += 3)
@ -111,7 +114,7 @@ void irrDynamics::addTerrain(scene::ITerrainSceneNode* terrain, u32 lodLevel)
btBvhTriangleMeshShape* mShape = new btBvhTriangleMeshShape(mTriMesh, true);
btRigidBody* rbody = new btRigidBody(0.f, MotionState, mShape);
inst->world->addRigidBody(rbody);
inst->objects.insert(std::pair<scene::ISceneNode*, btRigidBody*>(terrain, rbody));
inst->objects[terrain] = rbody;
terrain->grab();
}
@ -128,7 +131,7 @@ void irrDynamics::setGravity(f32 newGravity)
void irrDynamics::updateObjects()
{
for (std::map<scene::ISceneNode*, btRigidBody*>::iterator iter = objects.begin(); iter != objects.end(); iter++)
for (auto iter = objects.begin(); iter != objects.end(); iter++)
{
btVector3 Point = iter->second->getCenterOfMassPosition();
iter->first->setPosition(core::vector3df((f32)Point[0], (f32)Point[1], (f32)Point[2]));
@ -146,7 +149,7 @@ void irrDynamics::updateObjects()
void irrDynamics::removeObject(scene::ISceneNode* node)
{
irrDynamics* inst = getInstance();
std::map<scene::ISceneNode*, btRigidBody*>::iterator iter = inst->objects.find(node);
auto iter = inst->objects.find(node);
if (iter != inst->objects.end())
{
inst->removeConstraints(iter->second);
@ -161,13 +164,13 @@ void irrDynamics::removeObject(scene::ISceneNode* node)
}
else
{
printf("irrdynamics: object not found in map!\n");
cout << "irrdynamics: object not found in map!" << endl;
}
}
void irrDynamics::clearObjects()
{
for (std::map<scene::ISceneNode*, btRigidBody*>::iterator iter = objects.begin(); iter != objects.end(); iter++)
for (auto iter = objects.begin(); iter != objects.end(); iter++)
{
removeConstraints(iter->second);
world->removeRigidBody(iter->second);
@ -204,7 +207,7 @@ btRigidBody* irrDynamics::addSphericalObject(scene::ISceneNode* node, f32 radius
// Add it to the world
inst->world->addRigidBody(rigidBody);
inst->objects.insert(std::pair<scene::ISceneNode*, btRigidBody*>(node, rigidBody));
inst->objects[node] = rigidBody;
node->grab();
return rigidBody;
}
@ -246,7 +249,7 @@ btRigidBody* irrDynamics::addBoxObject(scene::ISceneNode* node, f32 mass)
// Add it to the world
inst->world->addRigidBody(rigidBody);
inst->objects.insert(std::pair<scene::ISceneNode*, btRigidBody*>(node, rigidBody));
inst->objects[node] = rigidBody;
node->grab();
return rigidBody;
}
@ -261,13 +264,13 @@ bool irrDynamics::createHingeConstraint(scene::ISceneNode* nodeA, scene::ISceneN
if (iterA == inst->objects.end())
{
printf("irrdynamics: Unable to find first node for constraint!\n");
cout << "irrdynamics: Unable to find first node for constraint!" << endl;
return false;
}
if (iterB == inst->objects.end())
{
printf("irrdynamics: Unable to find second node for constraint!\n");
cout << "irrdynamics: Unable to find second node for constraint!" << endl;
return false;
}
@ -282,19 +285,18 @@ bool irrDynamics::createPoint2PointConstraint(scene::ISceneNode* nodeA, scene::I
{
irrDynamics* inst = getInstance();
//find the corresponding rigid bodies:
std::map<scene::ISceneNode*, btRigidBody*>::iterator iterA, iterB;
iterA = inst->objects.find(nodeA);
iterB = inst->objects.find(nodeB);
auto iterA = inst->objects.find(nodeA);
auto iterB = inst->objects.find(nodeB);
if (iterA == inst->objects.end())
{
printf("irrdynamics: Unable to find first node for constraint!\n");
cout << "irrdynamics: Unable to find first node for constraint!" << endl;
return false;
}
if (iterB == inst->objects.end())
{
printf("irrdynamics: Unable to find second node for constraint!\n");
cout << "irrdynamics: Unable to find second node for constraint!" << endl;
return false;
}
@ -314,19 +316,18 @@ bool irrDynamics::createSliderConstraint(scene::ISceneNode* nodeA,
{
irrDynamics* inst = getInstance();
//find the corresponding rigid bodies:
std::map<scene::ISceneNode*, btRigidBody*>::iterator iterA, iterB;
iterA = inst->objects.find(nodeA);
iterB = inst->objects.find(nodeB);
auto iterA = inst->objects.find(nodeA);
auto iterB = inst->objects.find(nodeB);
if (iterA == inst->objects.end())
{
printf("irrdynamics: Unable to find first node for constraint!\n");
cout << "irrdynamics: Unable to find first node for constraint!" << endl;
return false;
}
if (iterB == inst->objects.end())
{
printf("irrdynamics: Unable to find second node for constraint!\n");
cout << "irrdynamics: Unable to find second node for constraint!" << endl;
return false;
}
@ -359,11 +360,10 @@ void irrDynamics::applyCentralForce(scene::ISceneNode* node, const core::vector3
{
irrDynamics* inst = getInstance();
//find the corresponding rigid body:
std::map<scene::ISceneNode*, btRigidBody*>::iterator iter;
iter = inst->objects.find(node);
auto iter = inst->objects.find(node);
if (iter == inst->objects.end())
{
printf("irrdynamics: Unable to find node in list. Force application aborted.\n");
cout << "irrdynamics: Unable to find node in list. Force application aborted." << endl;
return;
}
@ -375,11 +375,10 @@ void irrDynamics::applyCentralImpulse(scene::ISceneNode* node, const core::vecto
{
irrDynamics* inst = getInstance();
//find the corresponding rigid body:
std::map<scene::ISceneNode*, btRigidBody*>::iterator iter;
iter = inst->objects.find(node);
auto iter = inst->objects.find(node);
if (iter == inst->objects.end())
{
printf("irrdynamics: Unable to find node in list. Impulse application aborted.\n");
cout << "irrdynamics: Unable to find node in list. Impulse application aborted." << endl;
return;
}
@ -391,11 +390,10 @@ void irrDynamics::applyTorque(scene::ISceneNode* node, const core::vector3df& to
{
irrDynamics* inst = getInstance();
//find the corresponding rigid body:
std::map<scene::ISceneNode*, btRigidBody*>::iterator iter;
iter = inst->objects.find(node);
auto iter = inst->objects.find(node);
if (iter == inst->objects.end())
{
printf("irrdynamics: Unable to find node in list. Torque application aborted.\n");
cout << "irrdynamics: Unable to find node in list. Torque application aborted." << endl;
return;
}
@ -432,11 +430,10 @@ void irrDynamics::setDamping(scene::ISceneNode* node, f32 linearDamping, f32 ang
{
irrDynamics* inst = getInstance();
//find the corresponding rigid body:
std::map<scene::ISceneNode*, btRigidBody*>::iterator iter;
iter = inst->objects.find(node);
auto iter = inst->objects.find(node);
if (iter == inst->objects.end())
{
printf("irrdynamics: Unable to find node in list. Damping application aborted.\n");
cout << "irrdynamics: Unable to find node in list. Damping application aborted." << endl;
return;
}
@ -447,23 +444,41 @@ void irrDynamics::setPosition(scene::ISceneNode* node, const core::vector3df& ne
{
irrDynamics* inst = getInstance();
//find the corresponding rigid body:
std::map<scene::ISceneNode*, btRigidBody*>::iterator iter;
iter = inst->objects.find(node);
auto iter = inst->objects.find(node);
if (iter == inst->objects.end())
{
printf("irrdynamics: Unable to find node in list. Position update aborted.\n");
cout << "irrdynamics: Unable to find node in list. Position update aborted." << endl;
return;
}
btTransform transform = iter->second->getCenterOfMassTransform();
btTransform transform = iter->second->getWorldTransform();
transform.setOrigin(btVector3(newPos.X, newPos.Y, newPos.Z));
iter->second->setWorldTransform(transform);
}
void irrDynamics::setRotation(scene::ISceneNode* node, const core::vector3df& newRotation)
{
irrDynamics* inst = getInstance();
//find the corresponding rigid body:
auto iter = inst->objects.find(node);
if (iter == inst->objects.end())
{
cout << "irrdynamics: Unable to find node in list. Rotation update aborted." << endl;
return;
}
btTransform transform; // = iter->second->getWorldTransform();
transform.setIdentity();
btQuaternion quat;
quat.setEuler(core::degToRad(newRotation.Y), core::degToRad(newRotation.X), core::degToRad(newRotation.Z));
transform.setRotation(quat);
transform.setOrigin(iter->second->getCenterOfMassPosition());
iter->second->setCenterOfMassTransform(transform);
}
void irrDynamics::removeConstraints(btRigidBody* rigidBody)
{
const int len = rigidBody->getNumConstraintRefs();
printf("CONSTREF A: %i\n", rigidBody->getNumConstraintRefs());
//printf("CONSTREF A: %i\n", rigidBody->getNumConstraintRefs());
//first, remove constraint reference at the other node
for (int i = 0; i < len; i++)
{
@ -474,7 +489,7 @@ void irrDynamics::removeConstraints(btRigidBody* rigidBody)
bodyB->removeConstraintRef(constraint);
}
printf("CONSTREF B: %i\n", rigidBody->getNumConstraintRefs());
//printf("CONSTREF B: %i\n", rigidBody->getNumConstraintRefs());
//then remove/delete at our side
while (rigidBody->getNumConstraintRefs() > 0)
{
@ -482,6 +497,6 @@ void irrDynamics::removeConstraints(btRigidBody* rigidBody)
rigidBody->removeConstraintRef(constraint);
world->removeConstraint(constraint);
delete constraint;
printf("DELETED\n");
//printf("DELETED\n");
}
}