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577
engines/hpl1/engine/impl/PhysicsWorldNewton.cpp
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577
engines/hpl1/engine/impl/PhysicsWorldNewton.cpp
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/* ScummVM - Graphic Adventure Engine
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*
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* ScummVM is the legal property of its developers, whose names
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* are too numerous to list here. Please refer to the COPYRIGHT
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* file distributed with this source distribution.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/*
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* Copyright (C) 2006-2010 - Frictional Games
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*
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* This file is part of HPL1 Engine.
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*/
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#include "hpl1/engine/impl/PhysicsWorldNewton.h"
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#include "hpl1/engine/impl/CharacterBodyNewton.h"
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#include "hpl1/engine/impl/CollideShapeNewton.h"
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#include "hpl1/engine/impl/PhysicsBodyNewton.h"
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#include "hpl1/engine/impl/PhysicsMaterialNewton.h"
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#include "hpl1/engine/impl/PhysicsJointBallNewton.h"
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#include "hpl1/engine/impl/PhysicsJointHingeNewton.h"
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#include "hpl1/engine/impl/PhysicsJointScrewNewton.h"
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#include "hpl1/engine/impl/PhysicsJointSliderNewton.h"
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#include "hpl1/engine/impl/PhysicsControllerNewton.h"
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#include "hpl1/engine/math/MathTypes.h"
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#include "hpl1/engine/math/Vector3.h"
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#include "hpl1/engine/physics/CollideShape.h"
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#include "hpl1/engine/scene/PortalContainer.h"
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#include "hpl1/engine/scene/World3D.h"
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#include "hpl1/engine/graphics/LowLevelGraphics.h"
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#include "hpl1/engine/graphics/VertexBuffer.h"
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#include "hpl1/engine/math/Math.h"
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#include "hpl1/engine/system/low_level_system.h"
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namespace hpl {
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//////////////////////////////////////////////////////////////////////////
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// CONSTRUCTORS
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//////////////////////////////////////////////////////////////////////////
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//-----------------------------------------------------------------------
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cPhysicsWorldNewton::cPhysicsWorldNewton()
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: iPhysicsWorld() {
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mpNewtonWorld = NewtonCreate();
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if (mpNewtonWorld == NULL) {
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Warning("Couldn't create newton world!\n");
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}
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/////////////////////////////////
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// Set default values to properties
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mvWorldSizeMin = cVector3f(0, 0, 0);
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mvWorldSizeMax = cVector3f(0, 0, 0);
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mvGravity = cVector3f(0, -9.81f, 0);
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mfMaxTimeStep = 1.0f / 60.0f;
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/////////////////////////////////
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// Create default material.
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int lDefaultMatId = 0; // NewtonMaterialGetDefaultGroupID(mpNewtonWorld);
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cPhysicsMaterialNewton *pMaterial = hplNew(cPhysicsMaterialNewton, ("Default", this, lDefaultMatId));
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tPhysicsMaterialMap::value_type Val("Default", pMaterial);
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m_mapMaterials.insert(Val);
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pMaterial->UpdateMaterials();
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mpTempDepths = hplNewArray(float, 500);
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mpTempNormals = hplNewArray(float, 500 * 3);
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mpTempPoints = hplNewArray(float, 500 * 3);
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}
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//-----------------------------------------------------------------------
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cPhysicsWorldNewton::~cPhysicsWorldNewton() {
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DestroyAll();
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NewtonDestroy(mpNewtonWorld);
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hplDeleteArray(mpTempDepths);
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hplDeleteArray(mpTempNormals);
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hplDeleteArray(mpTempPoints);
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}
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//-----------------------------------------------------------------------
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//////////////////////////////////////////////////////////////////////////
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// PUBLIC METHODS
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//////////////////////////////////////////////////////////////////////////
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//-----------------------------------------------------------------------
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void cPhysicsWorldNewton::Simulate(float afTimeStep) {
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// cPhysicsBodyNewton::SetUseCallback(false);
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// static lUpdate =0;
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// if(lUpdate % 30==0)
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{
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while (afTimeStep > mfMaxTimeStep) {
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NewtonUpdate(mpNewtonWorld, mfMaxTimeStep);
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afTimeStep -= mfMaxTimeStep;
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}
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NewtonUpdate(mpNewtonWorld, afTimeStep);
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}
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// lUpdate++;
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// cPhysicsBodyNewton::SetUseCallback(true);
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tPhysicsBodyListIt it = mlstBodies.begin();
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for (; it != mlstBodies.end(); ++it) {
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cPhysicsBodyNewton *pBody = static_cast<cPhysicsBodyNewton *>(*it);
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pBody->ClearForces();
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}
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}
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//-----------------------------------------------------------------------
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void cPhysicsWorldNewton::SetMaxTimeStep(float afTimeStep) {
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mfMaxTimeStep = afTimeStep;
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}
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float cPhysicsWorldNewton::GetMaxTimeStep() {
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return mfMaxTimeStep;
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}
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//-----------------------------------------------------------------------
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void cPhysicsWorldNewton::SetWorldSize(const cVector3f &avMin, const cVector3f &avMax) {
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mvWorldSizeMin = avMin;
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mvWorldSizeMax = avMax;
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VEC3_CONST_ARRAY(min, avMin);
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VEC3_CONST_ARRAY(max, avMax);
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NewtonSetWorldSize(mpNewtonWorld, min, max);
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}
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cVector3f cPhysicsWorldNewton::GetWorldSizeMin() {
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return mvWorldSizeMin;
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}
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cVector3f cPhysicsWorldNewton::GetWorldSizeMax() {
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return mvWorldSizeMax;
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}
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//-----------------------------------------------------------------------
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void cPhysicsWorldNewton::SetGravity(const cVector3f &avGravity) {
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mvGravity = avGravity;
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}
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//-----------------------------------------------------------------------
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cVector3f cPhysicsWorldNewton::GetGravity() {
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return mvGravity;
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}
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//-----------------------------------------------------------------------
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void cPhysicsWorldNewton::SetAccuracyLevel(ePhysicsAccuracy aAccuracy) {
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mAccuracy = aAccuracy;
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switch (mAccuracy) {
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case ePhysicsAccuracy_Low:
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NewtonSetSolverModel(mpNewtonWorld, 8);
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NewtonSetFrictionModel(mpNewtonWorld, 1);
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Log("SETTING LOW!\n");
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break;
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case ePhysicsAccuracy_Medium:
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NewtonSetSolverModel(mpNewtonWorld, 1);
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NewtonSetFrictionModel(mpNewtonWorld, 1);
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break;
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case ePhysicsAccuracy_High:
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NewtonSetSolverModel(mpNewtonWorld, 0);
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NewtonSetFrictionModel(mpNewtonWorld, 0);
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break;
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default:
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break;
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}
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}
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//-----------------------------------------------------------------------
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ePhysicsAccuracy cPhysicsWorldNewton::GetAccuracyLevel() {
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return mAccuracy;
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}
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//-----------------------------------------------------------------------
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iCollideShape *cPhysicsWorldNewton::CreateNullShape() {
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iCollideShape *pShape = hplNew(cCollideShapeNewton, (eCollideShapeType_Null, 0, NULL,
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mpNewtonWorld, this));
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mlstShapes.push_back(pShape);
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return pShape;
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}
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//-----------------------------------------------------------------------
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iCollideShape *cPhysicsWorldNewton::CreateBoxShape(const cVector3f &avSize, cMatrixf *apOffsetMtx) {
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iCollideShape *pShape = hplNew(cCollideShapeNewton, (eCollideShapeType_Box, avSize, apOffsetMtx,
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mpNewtonWorld, this));
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mlstShapes.push_back(pShape);
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return pShape;
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}
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//-----------------------------------------------------------------------
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iCollideShape *cPhysicsWorldNewton::CreateSphereShape(const cVector3f &avRadii, cMatrixf *apOffsetMtx) {
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iCollideShape *pShape = hplNew(cCollideShapeNewton, (eCollideShapeType_Sphere, avRadii, apOffsetMtx,
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mpNewtonWorld, this));
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mlstShapes.push_back(pShape);
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return pShape;
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}
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//-----------------------------------------------------------------------
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iCollideShape *cPhysicsWorldNewton::CreateCylinderShape(float afRadius, float afHeight, cMatrixf *apOffsetMtx) {
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iCollideShape *pShape = hplNew(cCollideShapeNewton, (eCollideShapeType_Cylinder,
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cVector3f(afRadius, afHeight, afRadius),
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apOffsetMtx,
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mpNewtonWorld, this));
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mlstShapes.push_back(pShape);
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return pShape;
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}
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//-----------------------------------------------------------------------
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iCollideShape *cPhysicsWorldNewton::CreateCapsuleShape(float afRadius, float afHeight, cMatrixf *apOffsetMtx) {
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iCollideShape *pShape = hplNew(cCollideShapeNewton, (eCollideShapeType_Capsule,
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cVector3f(afRadius, afHeight, afRadius),
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apOffsetMtx,
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mpNewtonWorld, this));
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mlstShapes.push_back(pShape);
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return pShape;
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}
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//-----------------------------------------------------------------------
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iCollideShape *cPhysicsWorldNewton::CreateMeshShape(iVertexBuffer *apVtxBuffer) {
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cCollideShapeNewton *pShape = hplNew(cCollideShapeNewton, (eCollideShapeType_Mesh,
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0, NULL, mpNewtonWorld, this));
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pShape->CreateFromVertices(apVtxBuffer->GetIndices(), apVtxBuffer->GetIndexNum(),
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apVtxBuffer->GetArray(eVertexFlag_Position),
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kvVertexElements[cMath::Log2ToInt(eVertexFlag_Position)],
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apVtxBuffer->GetVertexNum());
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mlstShapes.push_back(pShape);
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return pShape;
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}
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//-----------------------------------------------------------------------
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iCollideShape *cPhysicsWorldNewton::CreateCompundShape(tCollideShapeVec &avShapes) {
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cCollideShapeNewton *pShape = hplNew(cCollideShapeNewton, (eCollideShapeType_Compound,
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0, NULL, mpNewtonWorld, this));
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pShape->CreateFromShapeVec(avShapes);
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mlstShapes.push_back(pShape);
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return pShape;
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}
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//-----------------------------------------------------------------------
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iPhysicsJointBall *cPhysicsWorldNewton::CreateJointBall(const tString &asName,
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const cVector3f &avPivotPoint,
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iPhysicsBody *apParentBody, iPhysicsBody *apChildBody) {
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iPhysicsJointBall *pJoint = hplNew(cPhysicsJointBallNewton, (asName, apParentBody, apChildBody, this,
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avPivotPoint));
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mlstJoints.push_back(pJoint);
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return pJoint;
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}
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iPhysicsJointHinge *cPhysicsWorldNewton::CreateJointHinge(const tString &asName,
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const cVector3f &avPivotPoint, const cVector3f &avPinDir,
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iPhysicsBody *apParentBody, iPhysicsBody *apChildBody) {
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iPhysicsJointHinge *pJoint = hplNew(cPhysicsJointHingeNewton, (asName, apParentBody, apChildBody, this,
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avPivotPoint, avPinDir));
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mlstJoints.push_back(pJoint);
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return pJoint;
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}
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iPhysicsJointSlider *cPhysicsWorldNewton::CreateJointSlider(const tString &asName,
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const cVector3f &avPivotPoint, const cVector3f &avPinDir,
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iPhysicsBody *apParentBody, iPhysicsBody *apChildBody) {
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iPhysicsJointSlider *pJoint = hplNew(cPhysicsJointSliderNewton, (asName, apParentBody, apChildBody, this,
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avPivotPoint, avPinDir));
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mlstJoints.push_back(pJoint);
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return pJoint;
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}
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iPhysicsJointScrew *cPhysicsWorldNewton::CreateJointScrew(const tString &asName,
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const cVector3f &avPivotPoint, const cVector3f &avPinDir,
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iPhysicsBody *apParentBody, iPhysicsBody *apChildBody) {
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iPhysicsJointScrew *pJoint = hplNew(cPhysicsJointScrewNewton, (asName, apParentBody, apChildBody, this,
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avPivotPoint, avPinDir));
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mlstJoints.push_back(pJoint);
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return pJoint;
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}
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//-----------------------------------------------------------------------
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iPhysicsBody *cPhysicsWorldNewton::CreateBody(const tString &asName, iCollideShape *apShape) {
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cPhysicsBodyNewton *pBody = hplNew(cPhysicsBodyNewton, (asName, this, apShape));
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mlstBodies.push_back(pBody);
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if (mpWorld3D)
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mpWorld3D->GetPortalContainer()->AddEntity(pBody);
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return pBody;
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}
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//-----------------------------------------------------------------------
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iCharacterBody *cPhysicsWorldNewton::CreateCharacterBody(const tString &asName, const cVector3f &avSize) {
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cCharacterBodyNewton *pChar = hplNew(cCharacterBodyNewton, (asName, this, avSize));
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mlstCharBodies.push_back(pChar);
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return pChar;
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}
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//-----------------------------------------------------------------------
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iPhysicsMaterial *cPhysicsWorldNewton::CreateMaterial(const tString &asName) {
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cPhysicsMaterialNewton *pMaterial = hplNew(cPhysicsMaterialNewton, (asName, this));
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tPhysicsMaterialMap::value_type Val(asName, pMaterial);
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m_mapMaterials.insert(Val);
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pMaterial->UpdateMaterials();
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return pMaterial;
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}
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//-----------------------------------------------------------------------
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iPhysicsController *cPhysicsWorldNewton::CreateController(const tString &asName) {
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iPhysicsController *pController = hplNew(cPhysicsControllerNewton, (asName, this));
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mlstControllers.push_back(pController);
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return pController;
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}
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//-----------------------------------------------------------------------
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static bool gbRayCalcDist;
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static bool gbRayCalcNormal;
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static bool gbRayCalcPoint;
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static iPhysicsRayCallback *gpRayCallback;
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static cVector3f gvRayOrigin;
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static cVector3f gvRayEnd;
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static cVector3f gvRayDelta;
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static float gfRayLength;
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static cPhysicsRayParams gRayParams;
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//////////////////////////////////////
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static unsigned RayCastPrefilterFunc(const NewtonBody *apNewtonBody, const NewtonCollision *collision, void *userData) {
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cPhysicsBodyNewton *pRigidBody = (cPhysicsBodyNewton *)NewtonBodyGetUserData(apNewtonBody);
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if (pRigidBody->IsActive() == false)
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return 0;
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bool bRet = gpRayCallback->BeforeIntersect(pRigidBody);
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if (bRet)
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return 1;
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else
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return 0;
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}
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static float RayCastFilterFunc(const NewtonBody *apNewtonBody, const float *apNormalVec,
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int alCollisionID, void *apUserData, float afIntersetParam) {
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cPhysicsBodyNewton *pRigidBody = (cPhysicsBodyNewton *)NewtonBodyGetUserData(apNewtonBody);
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if (pRigidBody->IsActive() == false)
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return 1;
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gRayParams.mfT = afIntersetParam;
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// Calculate stuff needed.
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if (gbRayCalcDist) {
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gRayParams.mfDist = gfRayLength * afIntersetParam;
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}
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if (gbRayCalcNormal) {
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gRayParams.mvNormal.FromVec(apNormalVec);
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}
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if (gbRayCalcPoint) {
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gRayParams.mvPoint = gvRayOrigin + gvRayDelta * afIntersetParam;
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}
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// Call the call back
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bool bRet = gpRayCallback->OnIntersect(pRigidBody, &gRayParams);
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// return correct value.
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if (bRet)
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return 1; // afIntersetParam;
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else
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return 0;
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}
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//////////////////////////////////////
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void cPhysicsWorldNewton::CastRay(iPhysicsRayCallback *apCallback,
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const cVector3f &avOrigin, const cVector3f &avEnd,
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bool abCalcDist, bool abCalcNormal, bool abCalcPoint,
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bool abUsePrefilter) {
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gbRayCalcPoint = abCalcPoint;
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gbRayCalcNormal = abCalcNormal;
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gbRayCalcDist = abCalcDist;
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gvRayOrigin = avOrigin;
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gvRayEnd = avEnd;
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gvRayDelta = avEnd - avOrigin;
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gfRayLength = gvRayDelta.Length();
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gpRayCallback = apCallback;
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VEC3_CONST_ARRAY(origin, avOrigin);
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VEC3_CONST_ARRAY(end, avEnd);
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if (abUsePrefilter)
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NewtonWorldRayCast(mpNewtonWorld, origin, end, RayCastFilterFunc, NULL, RayCastPrefilterFunc);
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else
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NewtonWorldRayCast(mpNewtonWorld, origin, end, RayCastFilterFunc, NULL, NULL);
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}
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//-----------------------------------------------------------------------
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// Fix found in HPL2 (https://github.com/FrictionalGames/AmnesiaTheDarkDescent)
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static void correctNormal(cVector3f &normal, const cVector3f &collidePoint, const cVector3f &shapeCenter) {
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cVector3f vCenterToCollidePoint = collidePoint - shapeCenter;
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// A check if the normal points in the wrong direction.
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if (cMath::Vector3Dot(vCenterToCollidePoint, normal) > 0)
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normal = normal * -1;
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}
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bool cPhysicsWorldNewton::CheckShapeCollision(iCollideShape *apShapeA, const cMatrixf &a_mtxA,
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iCollideShape *apShapeB, const cMatrixf &a_mtxB,
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cCollideData &aCollideData, int alMaxPoints,
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bool correctNormalDirection) {
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cCollideShapeNewton *pNewtonShapeA = static_cast<cCollideShapeNewton *>(apShapeA);
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cCollideShapeNewton *pNewtonShapeB = static_cast<cCollideShapeNewton *>(apShapeB);
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cMatrixf mtxTransposeA = a_mtxA.GetTranspose();
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cMatrixf mtxTransposeB = a_mtxB.GetTranspose();
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||||
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||||
//////////////////////////////
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||||
// Check compound collision
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||||
if (pNewtonShapeA->GetType() == eCollideShapeType_Compound ||
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||||
pNewtonShapeB->GetType() == eCollideShapeType_Compound) {
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||||
int lACount = pNewtonShapeA->GetSubShapeNum();
|
||||
int lBCount = pNewtonShapeB->GetSubShapeNum();
|
||||
|
||||
bool bCollision = false;
|
||||
aCollideData.mlNumOfPoints = 0;
|
||||
int lCollideDataStart = 0;
|
||||
|
||||
for (int a = 0; a < lACount; a++) {
|
||||
for (int b = 0; b < lBCount; b++) {
|
||||
cCollideShapeNewton *pSubShapeA = static_cast<cCollideShapeNewton *>(pNewtonShapeA->GetSubShape(a));
|
||||
cCollideShapeNewton *pSubShapeB = static_cast<cCollideShapeNewton *>(pNewtonShapeB->GetSubShape(b));
|
||||
|
||||
int lNum = NewtonCollisionCollide(mpNewtonWorld, alMaxPoints,
|
||||
pSubShapeA->GetNewtonCollision(), &(mtxTransposeA.m[0][0]),
|
||||
pSubShapeB->GetNewtonCollision(), &(mtxTransposeB.m[0][0]),
|
||||
mpTempPoints, mpTempNormals, mpTempDepths, 0);
|
||||
if (lNum < 1)
|
||||
continue;
|
||||
if (lNum > alMaxPoints)
|
||||
lNum = alMaxPoints;
|
||||
|
||||
bCollision = true;
|
||||
|
||||
// Log("Collided %d vs %d. Num: %d\n",a,b,lNum);
|
||||
|
||||
// Negate for each iteration.
|
||||
alMaxPoints -= lNum;
|
||||
|
||||
for (int i = 0; i < lNum; i++) {
|
||||
cCollidePoint &CollPoint = aCollideData.mvContactPoints[lCollideDataStart + i];
|
||||
CollPoint.mfDepth = mpTempDepths[i];
|
||||
|
||||
int lVertex = i * 3;
|
||||
|
||||
CollPoint.mvNormal.x = mpTempNormals[lVertex + 0];
|
||||
CollPoint.mvNormal.y = mpTempNormals[lVertex + 1];
|
||||
CollPoint.mvNormal.z = mpTempNormals[lVertex + 2];
|
||||
|
||||
CollPoint.mvPoint.x = mpTempPoints[lVertex + 0];
|
||||
CollPoint.mvPoint.y = mpTempPoints[lVertex + 1];
|
||||
CollPoint.mvPoint.z = mpTempPoints[lVertex + 2];
|
||||
|
||||
if (correctNormalDirection && apShapeA->GetType() != eCollideShapeType_Mesh)
|
||||
correctNormal(CollPoint.mvNormal, CollPoint.mvPoint, a_mtxA.GetTranslation());
|
||||
}
|
||||
|
||||
lCollideDataStart += lNum;
|
||||
aCollideData.mlNumOfPoints += lNum;
|
||||
|
||||
if (alMaxPoints <= 0)
|
||||
break;
|
||||
}
|
||||
if (alMaxPoints <= 0)
|
||||
break;
|
||||
}
|
||||
|
||||
return bCollision;
|
||||
}
|
||||
//////////////////////////////
|
||||
// Check NON compound collision
|
||||
else {
|
||||
int lNum = NewtonCollisionCollide(mpNewtonWorld, alMaxPoints,
|
||||
pNewtonShapeA->GetNewtonCollision(), &(mtxTransposeA.m[0][0]),
|
||||
pNewtonShapeB->GetNewtonCollision(), &(mtxTransposeB.m[0][0]),
|
||||
mpTempPoints, mpTempNormals, mpTempDepths, 0);
|
||||
|
||||
if (lNum < 1)
|
||||
return false;
|
||||
if (lNum > alMaxPoints)
|
||||
lNum = alMaxPoints;
|
||||
|
||||
for (int i = 0; i < lNum; i++) {
|
||||
cCollidePoint &CollPoint = aCollideData.mvContactPoints[i];
|
||||
CollPoint.mfDepth = mpTempDepths[i];
|
||||
|
||||
int lVertex = i * 3;
|
||||
|
||||
CollPoint.mvNormal.x = mpTempNormals[lVertex + 0];
|
||||
CollPoint.mvNormal.y = mpTempNormals[lVertex + 1];
|
||||
CollPoint.mvNormal.z = mpTempNormals[lVertex + 2];
|
||||
|
||||
CollPoint.mvPoint.x = mpTempPoints[lVertex + 0];
|
||||
CollPoint.mvPoint.y = mpTempPoints[lVertex + 1];
|
||||
CollPoint.mvPoint.z = mpTempPoints[lVertex + 2];
|
||||
|
||||
if (correctNormalDirection && apShapeA->GetType() != eCollideShapeType_Mesh)
|
||||
correctNormal(CollPoint.mvNormal, CollPoint.mvPoint, a_mtxA.GetTranslation());
|
||||
}
|
||||
|
||||
aCollideData.mlNumOfPoints = lNum;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
//-----------------------------------------------------------------------
|
||||
|
||||
void cPhysicsWorldNewton::RenderDebugGeometry(iLowLevelGraphics *apLowLevel, const cColor &aColor) {
|
||||
tPhysicsBodyListIt it = mlstBodies.begin();
|
||||
for (; it != mlstBodies.end(); ++it) {
|
||||
iPhysicsBody *pBody = *it;
|
||||
pBody->RenderDebugGeometry(apLowLevel, aColor);
|
||||
}
|
||||
}
|
||||
|
||||
//-----------------------------------------------------------------------
|
||||
} // namespace hpl
|
||||
Reference in New Issue
Block a user