Changeset 3347

Timestamp:

02/01/10 12:08:08 (7 weeks ago)

Author:

Azaezel

Message:

bullet userdata and applyForce conversions, zone simulation stepping, adds applyImpulse to both plugins. also: setAdvancedCollisionPrediction made irrelevant for this plugin.

NOTE: major difference in applyImpulse implementations: for newton, the position is in world-space. for bullet, it's in object-space... need to resolve that

Location:

plugins/branches/0185_GEN_PHYSICS_REFACTOR_2

Files:

• ZBullet/src/PhysicsActor.cpp (modified) (3 diffs)
• ZBullet/src/PhysicsActor.hpp (modified) (1 diff)
• ZBullet/src/PhysicsService.cpp (modified) (1 diff)
• ZBullet/src/PhysicsZone.cpp (modified) (3 diffs)
• ZNewton/src/PhysicsActor.cpp (modified) (1 diff)
• ZNewton/src/PhysicsActor.hpp (modified) (1 diff)

plugins/branches/0185_GEN_PHYSICS_REFACTOR_2/ZBullet/src/PhysicsActor.cpp

@@ -141 +141 @@
 PhysicsActor::setAdvancedCollisionPrediction(bool _mode)
 {
-    if (_mode)
-    {
-        btRigidBodySetContinuousCollisionMode(m_pActor, 1);
-    }
-    else
-    {
-        btRigidBodySetContinuousCollisionMode(m_pActor, 0);
-    }
+//no ccd switch available
 }
 
@@ -155 +148 @@
 PhysicsActor::getAdvancedCollisionPrediction() const
 {
-    return (btRigidBodyGetContinuousCollisionMode(m_pActor) != 0);
+    return 1;//no ccd switch available
 }
 
@@ -512 +505 @@
 PhysicsActor::applyForce(const Math::Vector3& _force)
 {
-    btRigidBodyAddForce(m_pActor, _force.m_array);
+    m_pActor->applyCentralImpulse(btVector3(_force.m_x,_force.m_y,_force.m_z));
+}
+
+//-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~
+void
+PhysicsActor::applyImpulse(const Math::Vector3& _force, const Math::Vector3& _worldPos)
+{
+    //todo: bullet needs it's force fed to it in local space coords
+     m_pActor->applyForce(btVector3(_force.m_x,_force.m_y,_force.m_z), btVector3(_worldPos.m_x,_worldPos.m_y,_worldPos.m_z));
 }
 

plugins/branches/0185_GEN_PHYSICS_REFACTOR_2/ZBullet/src/PhysicsActor.hpp

@@ -116 +116 @@
     static void TransformCallback(const btRigidBody* _body, const Zen::Math::Real* _matrix);
     void applyForce(const Math::Vector3& _force);
+    void applyImpulse(const Math::Vector3& _force, const Math::Vector3& _worldPos);
+
     void applyTorque(const Math::Vector3& _torque);
     /// @}

plugins/branches/0185_GEN_PHYSICS_REFACTOR_2/ZBullet/src/PhysicsService.cpp

@@ -56 +56 @@
     // TODO evaluate whether or not we should have an unregister function for removing worlds from the list.
 
-    PhysicsZone* pRawZone = new PhysicsZone();
+    PhysicsZone* pRawZone = new PhysicsZone(_min,_max);
     pPhysicsZone_type pZone = pPhysicsZone_type(pRawZone, boost::bind(&PhysicsService::onDestroyPhysicsZone, this, _1));
     m_zoneSet.insert(pZone);

plugins/branches/0185_GEN_PHYSICS_REFACTOR_2/ZBullet/src/PhysicsZone.cpp

@@ -269 +269 @@
 {
     PhysicsZone::RayCastResult* pCastquery = static_cast<PhysicsZone::RayCastResult*>(_pUserData);
-    PhysicsActor* pRawPhysicsActor = static_cast<PhysicsActor*>(btRigidBodyGetUserData(_pBody));
+    PhysicsActor* pRawPhysicsActor = static_cast<PhysicsActor*>(_pBody->getUserPointer());
     assert(pCastquery != NULL);
     assert(pRawPhysicsActor != NULL);
@@ -290 +290 @@
 {
     PhysicsZone::RayCastResult* pCastquery = static_cast<PhysicsZone::RayCastResult*>(_pUserData);
-    PhysicsActor* pRawPhysicsActor = static_cast<PhysicsActor*>(btRigidBodyGetUserData(_pBody));
+    PhysicsActor* pRawPhysicsActor = static_cast<PhysicsActor*>(_pBody->getUserPointer());
     assert(pCastquery != NULL);
     assert(pRawPhysicsActor != NULL);
@@ -594 +594 @@
 PhysicsZone::stepSimulation(double _elapsedTime)
 {
-    NewtonUpdate(getZonePtr(), (Zen::Math::Real)_elapsedTime);
+    getZonePtr()->stepSimulation((Zen::Math::Real)_elapsedTime);
 }
 

plugins/branches/0185_GEN_PHYSICS_REFACTOR_2/ZNewton/src/PhysicsActor.cpp

@@ -618 +618 @@
 //-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~
 void
+PhysicsActor::applyImpulse(const Math::Vector3& _force, const Math::Vector3& _worldPos)
+{
+    //todo: bullet needs it's force fed to it in local space coords
+     NewtonAddBodyImpulse(m_pActor, _force.m_array, _worldPos.m_array);
+}
+
+//-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~
+void
 PhysicsActor::applyTorque(const Math::Vector3& _torque)
 {

plugins/branches/0185_GEN_PHYSICS_REFACTOR_2/ZNewton/src/PhysicsActor.hpp

@@ -117 +117 @@
 
     void applyForce(const Math::Vector3& _force);
+    void applyImpulse(const Math::Vector3& _force, const Math::Vector3& _worldPos);
     void applyTorque(const Math::Vector3& _torque);
     /// @}