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clang-format files in rwengine/src/dynamics
This commit is contained in:
Daniel Evans
parent
d5e853d23f
commit
8534d7ff5d
@ -1,165 +1,163 @@
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#include <dynamics/CollisionInstance.hpp>
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#include <objects/GameObject.hpp>
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#include <engine/GameWorld.hpp>
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#include <engine/GameData.hpp>
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#include <engine/GameWorld.hpp>
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#include <objects/GameObject.hpp>
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class GameObjectMotionState : public btMotionState
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{
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class GameObjectMotionState : public btMotionState {
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public:
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GameObjectMotionState(GameObject *object)
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: m_object(object)
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{ }
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GameObjectMotionState(GameObject* object) : m_object(object) {
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}
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virtual void getWorldTransform(btTransform& tform) const
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{
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auto& position = m_object->getPosition();
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auto& rotation = m_object->getRotation();
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tform.setOrigin(btVector3(position.x, position.y, position.z));
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tform.setRotation(btQuaternion(rotation.x, rotation.y, rotation.z, rotation.w));
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}
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virtual void getWorldTransform(btTransform& tform) const {
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auto& position = m_object->getPosition();
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auto& rotation = m_object->getRotation();
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tform.setOrigin(btVector3(position.x, position.y, position.z));
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tform.setRotation(
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btQuaternion(rotation.x, rotation.y, rotation.z, rotation.w));
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}
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virtual void setWorldTransform(const btTransform& tform)
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{
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auto& o = tform.getOrigin();
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auto r = tform.getRotation();
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glm::vec3 position(o.x(), o.y(), o.z());
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glm::quat rotation(r.w(), r.x(), r.y(), r.z());
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m_object->updateTransform(position, rotation);
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}
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virtual void setWorldTransform(const btTransform& tform) {
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auto& o = tform.getOrigin();
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auto r = tform.getRotation();
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glm::vec3 position(o.x(), o.y(), o.z());
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glm::quat rotation(r.w(), r.x(), r.y(), r.z());
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m_object->updateTransform(position, rotation);
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}
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private:
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GameObject *m_object;
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GameObject* m_object;
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};
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CollisionInstance::~CollisionInstance()
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{
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if( m_body ) {
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GameObject* object = static_cast<GameObject*>(m_body->getUserPointer());
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CollisionInstance::~CollisionInstance() {
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if (m_body) {
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GameObject* object = static_cast<GameObject*>(m_body->getUserPointer());
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// Remove body from existance.
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object->engine->dynamicsWorld->removeRigidBody(m_body);
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for(btCollisionShape* shape : m_shapes) {
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delete shape;
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}
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delete m_body;
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}
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if( m_vertArray ) {
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delete m_vertArray;
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}
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if( m_motionState ) {
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delete m_motionState;
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}
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// Remove body from existance.
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object->engine->dynamicsWorld->removeRigidBody(m_body);
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for (btCollisionShape* shape : m_shapes) {
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delete shape;
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}
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delete m_body;
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}
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if (m_vertArray) {
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delete m_vertArray;
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}
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if (m_motionState) {
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delete m_motionState;
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}
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}
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bool CollisionInstance::createPhysicsBody(GameObject *object, const std::string& modelName, DynamicObjectData *dynamics, VehicleHandlingInfo *handling)
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{
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auto phyit = object->engine->data->collisions.find(modelName);
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if( phyit != object->engine->data->collisions.end()) {
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btCompoundShape* cmpShape = new btCompoundShape;
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bool CollisionInstance::createPhysicsBody(GameObject* object,
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const std::string& modelName,
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DynamicObjectData* dynamics,
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VehicleHandlingInfo* handling) {
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auto phyit = object->engine->data->collisions.find(modelName);
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if (phyit != object->engine->data->collisions.end()) {
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btCompoundShape* cmpShape = new btCompoundShape;
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m_motionState = new GameObjectMotionState(object);
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m_shapes.push_back(cmpShape);
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m_motionState = new GameObjectMotionState(object);
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m_shapes.push_back(cmpShape);
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btRigidBody::btRigidBodyConstructionInfo info(0.f, m_motionState, cmpShape);
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btRigidBody::btRigidBodyConstructionInfo info(0.f, m_motionState,
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cmpShape);
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CollisionModel& physInst = *phyit->second.get();
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CollisionModel& physInst = *phyit->second.get();
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float colMin = std::numeric_limits<float>::max(),
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colMax = std::numeric_limits<float>::lowest();
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float colMin = std::numeric_limits<float>::max(),
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colMax = std::numeric_limits<float>::lowest();
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// Boxes
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for( size_t i = 0; i < physInst.boxes.size(); ++i ) {
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auto& box = physInst.boxes[i];
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auto size = (box.max - box.min) / 2.f;
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auto mid = (box.min + box.max) / 2.f;
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btCollisionShape* bshape = new btBoxShape( btVector3(size.x, size.y, size.z) );
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btTransform t; t.setIdentity();
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t.setOrigin(btVector3(mid.x, mid.y, mid.z));
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cmpShape->addChildShape(t, bshape);
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// Boxes
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for (size_t i = 0; i < physInst.boxes.size(); ++i) {
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auto& box = physInst.boxes[i];
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auto size = (box.max - box.min) / 2.f;
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auto mid = (box.min + box.max) / 2.f;
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btCollisionShape* bshape =
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new btBoxShape(btVector3(size.x, size.y, size.z));
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btTransform t;
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t.setIdentity();
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t.setOrigin(btVector3(mid.x, mid.y, mid.z));
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cmpShape->addChildShape(t, bshape);
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colMin = std::min(colMin, mid.z - size.z);
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colMax = std::max(colMax, mid.z + size.z);
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colMin = std::min(colMin, mid.z - size.z);
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colMax = std::max(colMax, mid.z + size.z);
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m_shapes.push_back(bshape);
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}
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m_shapes.push_back(bshape);
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}
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// Spheres
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for( size_t i = 0; i < physInst.spheres.size(); ++i ) {
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auto& sphere = physInst.spheres[i];
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btCollisionShape* sshape = new btSphereShape(sphere.radius);
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btTransform t; t.setIdentity();
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t.setOrigin(btVector3(sphere.center.x, sphere.center.y, sphere.center.z));
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cmpShape->addChildShape(t, sshape);
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// Spheres
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for (size_t i = 0; i < physInst.spheres.size(); ++i) {
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auto& sphere = physInst.spheres[i];
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btCollisionShape* sshape = new btSphereShape(sphere.radius);
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btTransform t;
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t.setIdentity();
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t.setOrigin(
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btVector3(sphere.center.x, sphere.center.y, sphere.center.z));
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cmpShape->addChildShape(t, sshape);
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colMin = std::min(colMin, sphere.center.z - sphere.radius);
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colMax = std::max(colMax, sphere.center.z + sphere.radius);
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colMin = std::min(colMin, sphere.center.z - sphere.radius);
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colMax = std::max(colMax, sphere.center.z + sphere.radius);
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m_shapes.push_back(sshape);
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}
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m_shapes.push_back(sshape);
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}
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if( physInst.vertices.size() > 0 && physInst.indices.size() >= 3 ) {
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m_vertArray = new btTriangleIndexVertexArray(
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physInst.indices.size()/3,
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(int*) physInst.indices.data(),
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sizeof(uint32_t)*3,
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physInst.vertices.size(),
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&(physInst.vertices[0].x),
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sizeof(glm::vec3));
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btBvhTriangleMeshShape* trishape = new btBvhTriangleMeshShape(m_vertArray, false);
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trishape->setMargin(0.05f);
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btTransform t; t.setIdentity();
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cmpShape->addChildShape(t, trishape);
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if (physInst.vertices.size() > 0 && physInst.indices.size() >= 3) {
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m_vertArray = new btTriangleIndexVertexArray(
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physInst.indices.size() / 3, (int*)physInst.indices.data(),
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sizeof(uint32_t) * 3, physInst.vertices.size(),
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&(physInst.vertices[0].x), sizeof(glm::vec3));
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btBvhTriangleMeshShape* trishape =
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new btBvhTriangleMeshShape(m_vertArray, false);
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trishape->setMargin(0.05f);
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btTransform t;
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t.setIdentity();
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cmpShape->addChildShape(t, trishape);
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m_shapes.push_back(trishape);
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}
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m_shapes.push_back(trishape);
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}
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m_collisionHeight = colMax - colMin;
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m_collisionHeight = colMax - colMin;
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if( dynamics ) {
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if( dynamics->uprootForce > 0.f ) {
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info.m_mass = 0.f;
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}
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else {
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btVector3 inert;
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cmpShape->calculateLocalInertia(dynamics->mass, inert);
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info.m_mass = dynamics->mass;
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info.m_localInertia = inert;
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}
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}
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else if( handling ) {
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btVector3 inert;
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cmpShape->calculateLocalInertia(handling->mass, inert);
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info.m_mass = handling->mass;
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info.m_localInertia = inert;
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}
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if (dynamics) {
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if (dynamics->uprootForce > 0.f) {
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info.m_mass = 0.f;
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} else {
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btVector3 inert;
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cmpShape->calculateLocalInertia(dynamics->mass, inert);
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info.m_mass = dynamics->mass;
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info.m_localInertia = inert;
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}
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} else if (handling) {
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btVector3 inert;
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cmpShape->calculateLocalInertia(handling->mass, inert);
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info.m_mass = handling->mass;
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info.m_localInertia = inert;
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}
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m_body = new btRigidBody(info);
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m_body->setUserPointer(object);
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object->engine->dynamicsWorld->addRigidBody(m_body);
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m_body = new btRigidBody(info);
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m_body->setUserPointer(object);
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object->engine->dynamicsWorld->addRigidBody(m_body);
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if( dynamics && dynamics->uprootForce > 0.f ) {
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m_body->setCollisionFlags(m_body->getCollisionFlags()
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| btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
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}
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}
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else
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{
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return false;
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}
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if (dynamics && dynamics->uprootForce > 0.f) {
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m_body->setCollisionFlags(
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m_body->getCollisionFlags() |
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btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
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}
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} else {
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return false;
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}
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return true;
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return true;
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}
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void CollisionInstance::changeMass(float newMass)
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{
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GameObject* object = static_cast<GameObject*>(m_body->getUserPointer());
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auto dynamicsWorld = object->engine->dynamicsWorld;
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dynamicsWorld->removeRigidBody(m_body);
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btVector3 inert;
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m_body->getCollisionShape()->calculateLocalInertia(newMass, inert);
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m_body->setMassProps(newMass, inert);
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dynamicsWorld->addRigidBody(m_body);
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void CollisionInstance::changeMass(float newMass) {
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GameObject* object = static_cast<GameObject*>(m_body->getUserPointer());
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auto dynamicsWorld = object->engine->dynamicsWorld;
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dynamicsWorld->removeRigidBody(m_body);
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btVector3 inert;
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m_body->getCollisionShape()->calculateLocalInertia(newMass, inert);
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m_body->setMassProps(newMass, inert);
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dynamicsWorld->addRigidBody(m_body);
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}
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@ -3,8 +3,8 @@
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#define _COLLISIONINSTANCE_HPP_
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#include <btBulletDynamicsCommon.h>
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#include <vector>
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#include <string>
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#include <vector>
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class GameObject;
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struct DynamicObjectData;
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@ -13,38 +13,38 @@ struct VehicleHandlingInfo;
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/**
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* @brief CollisionInstance stores bullet body information
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*/
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class CollisionInstance
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{
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class CollisionInstance {
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public:
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CollisionInstance()
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: m_body(nullptr)
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, m_vertArray(nullptr)
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, m_motionState(nullptr)
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, m_collisionHeight(0.f) {
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}
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CollisionInstance()
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: m_body(nullptr)
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, m_vertArray(nullptr)
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, m_motionState(nullptr)
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, m_collisionHeight(0.f)
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{ }
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~CollisionInstance();
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~CollisionInstance();
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bool createPhysicsBody(GameObject* object, const std::string& modelName,
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DynamicObjectData* dynamics = nullptr,
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VehicleHandlingInfo* handling = nullptr);
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bool createPhysicsBody(GameObject* object,
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const std::string &modelName,
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DynamicObjectData* dynamics = nullptr,
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VehicleHandlingInfo* handling = nullptr);
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btRigidBody* getBulletBody() const {
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return m_body;
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}
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btRigidBody *getBulletBody() const { return m_body; }
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float getBoundingHeight() const {
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return m_collisionHeight;
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}
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float getBoundingHeight() const { return m_collisionHeight; }
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void changeMass(float newMass);
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void changeMass(float newMass);
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private:
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btRigidBody* m_body;
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std::vector<btCollisionShape*> m_shapes;
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btTriangleIndexVertexArray* m_vertArray;
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btMotionState* m_motionState;
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float m_collisionHeight;
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btRigidBody* m_body;
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std::vector<btCollisionShape*> m_shapes;
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btTriangleIndexVertexArray* m_vertArray;
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btMotionState* m_motionState;
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float m_collisionHeight;
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};
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#endif
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@ -4,19 +4,22 @@
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/**
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* Implements raycast callback that ignores a specified btCollisionObject
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*/
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class ClosestNotMeRayResultCallback : public btCollisionWorld::ClosestRayResultCallback
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{
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btCollisionObject* _self;
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class ClosestNotMeRayResultCallback
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: public btCollisionWorld::ClosestRayResultCallback {
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btCollisionObject* _self;
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public:
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ClosestNotMeRayResultCallback(btCollisionObject* self,
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const btVector3& from, const btVector3& to)
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: ClosestRayResultCallback(from, to), _self(self) {
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}
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ClosestNotMeRayResultCallback( btCollisionObject* self, const btVector3& from, const btVector3& to )
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: ClosestRayResultCallback( from, to ), _self( self ) {}
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virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult &rayResult, bool normalInWorldSpace)
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{
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if( rayResult.m_collisionObject == _self ) {
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return 1.0;
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}
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return ClosestRayResultCallback::addSingleResult( rayResult, normalInWorldSpace );
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}
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virtual btScalar addSingleResult(
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btCollisionWorld::LocalRayResult& rayResult, bool normalInWorldSpace) {
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if (rayResult.m_collisionObject == _self) {
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return 1.0;
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}
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return ClosestRayResultCallback::addSingleResult(rayResult,
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normalInWorldSpace);
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}
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};
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