297 lines
9.0 KiB
C++
297 lines
9.0 KiB
C++
/* 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/CollideShapeNewton.h"
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#include "hpl1/engine/physics/PhysicsWorld.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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cCollideShapeNewton::cCollideShapeNewton(eCollideShapeType aType, const cVector3f &avSize,
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cMatrixf *apOffsetMtx, NewtonWorld *apNewtonWorld,
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iPhysicsWorld *apWorld)
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: iCollideShape(apWorld) {
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mpNewtonCollision = NULL;
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mpNewtonWorld = apNewtonWorld;
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mvSize = avSize;
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mType = aType;
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mfVolume = 0;
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float *pMtx = NULL;
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cMatrixf mtxTranspose;
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if (apOffsetMtx) {
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m_mtxOffset = *apOffsetMtx;
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mtxTranspose = m_mtxOffset.GetTranspose();
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pMtx = &(mtxTranspose.m[0][0]);
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} else {
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m_mtxOffset = cMatrixf::Identity;
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}
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////////////////////////////////////////////
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// Create Newton collision
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switch (aType) {
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case eCollideShapeType_Null:
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mpNewtonCollision = NewtonCreateNull(apNewtonWorld);
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break;
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case eCollideShapeType_Box:
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mpNewtonCollision = NewtonCreateBox(apNewtonWorld,
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mvSize.x, mvSize.y, mvSize.z,
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0, pMtx);
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break;
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case eCollideShapeType_Sphere:
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mpNewtonCollision = NewtonCreateSphere(apNewtonWorld,
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mvSize.x, mvSize.y, mvSize.z,
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0, pMtx);
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break;
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case eCollideShapeType_Cylinder:
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mpNewtonCollision = NewtonCreateCylinder(apNewtonWorld,
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mvSize.x, mvSize.y,
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0, pMtx);
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break;
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case eCollideShapeType_Capsule:
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mpNewtonCollision = NewtonCreateCapsule(apNewtonWorld,
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mvSize.x, mvSize.y,
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0, pMtx);
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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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// Calculate Bounding volume and volume.
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if (mType == eCollideShapeType_Box) {
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mBoundingVolume.SetSize(mvSize);
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mfVolume = mvSize.x * mvSize.y * mvSize.z;
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} else if (mType == eCollideShapeType_Sphere) {
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mBoundingVolume.SetSize(mvSize * 2);
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mfVolume = (4.0f / 3.0f) * kPif * (mvSize.x * mvSize.x * mvSize.x);
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} else if (mType == eCollideShapeType_Cylinder ||
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mType == eCollideShapeType_Capsule) {
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mBoundingVolume.SetSize(cVector3f(mvSize.y, mvSize.x * 2, mvSize.x * 2));
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// Not gonna be correct for capsule...
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if (mType == eCollideShapeType_Cylinder)
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mfVolume = kPif * (mvSize.x * mvSize.x) * mvSize.y;
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else {
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// Height of the cylinder part.
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float fCylHeight = mvSize.y - (mvSize.x * 2);
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mfVolume = 0;
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// The volume of the cylinder part.
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if (fCylHeight > 0)
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mfVolume += kPif * (mvSize.x * mvSize.x) * fCylHeight;
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// The volume of the sphere part.
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mfVolume += (4.0f / 3.0f) * kPif * (mvSize.x * mvSize.x * mvSize.x);
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}
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}
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mBoundingVolume.SetTransform(m_mtxOffset);
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}
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//-----------------------------------------------------------------------
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cCollideShapeNewton::~cCollideShapeNewton() {
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// Release Newton Collision
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if (mpNewtonCollision)
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NewtonReleaseCollision(mpNewtonWorld, mpNewtonCollision);
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// Release all subshapes (for compound objects)
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for (int i = 0; i < (int)mvSubShapes.size(); i++) {
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mpWorld->DestroyShape(mvSubShapes[i]);
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}
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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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iCollideShape *cCollideShapeNewton::GetSubShape(int alIdx) {
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if (mType == eCollideShapeType_Compound)
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return mvSubShapes[alIdx];
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else
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return this;
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}
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int cCollideShapeNewton::GetSubShapeNum() {
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if (mType == eCollideShapeType_Compound)
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return (int)mvSubShapes.size();
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else
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return 1;
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}
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//-----------------------------------------------------------------------
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cVector3f cCollideShapeNewton::GetInertia(float afMass) {
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cVector3f vInertia(1, 1, 1);
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// Box
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if (mType == eCollideShapeType_Box) {
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float fInv = 1.0f / 12.0f;
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vInertia = cVector3f(
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afMass * (mvSize.y * mvSize.y + mvSize.z * mvSize.z) * fInv,
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afMass * (mvSize.x * mvSize.x + mvSize.z * mvSize.z) * fInv,
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afMass * (mvSize.x * mvSize.x + mvSize.y * mvSize.y) * fInv);
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}
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// Sphere
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else if (mType == eCollideShapeType_Sphere) {
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float fI = 0.4f * afMass * mvSize.x * mvSize.x;
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vInertia = cVector3f(fI, fI, fI);
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}
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// Cylinder
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else if (mType == eCollideShapeType_Cylinder) {
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float fRadius = mvSize.x;
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vInertia.x = afMass * (fRadius * fRadius) * (1.0f / 4.0f) + afMass * (mvSize.y * mvSize.y) * (1.0f / 12.0f);
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vInertia.y = vInertia.x;
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vInertia.z = afMass * (fRadius * fRadius) * (1.0f / 2.0f);
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}
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// Capsule
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else if (mType == eCollideShapeType_Capsule) {
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float fRadius = mvSize.x;
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vInertia.x = afMass * (fRadius * fRadius) * (1.0f / 4.0f) + afMass * (mvSize.y * mvSize.y) * (1.0f / 12.0f);
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vInertia.y = vInertia.x;
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vInertia.z = afMass * (fRadius * fRadius) * (1.0f / 2.0f);
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}
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// Compound
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// This is only a very bad approximation.
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else if (mType == eCollideShapeType_Compound) {
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cVector3f vBoxSize = mBoundingVolume.GetSize();
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float fBoxVolume = vBoxSize.x * vBoxSize.y * vBoxSize.z;
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float fInv = 1.0f / 12.0f;
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vInertia = cVector3f(
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afMass * (vBoxSize.y * vBoxSize.y + vBoxSize.z * vBoxSize.z) * fInv,
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afMass * (vBoxSize.x * vBoxSize.x + vBoxSize.z * vBoxSize.z) * fInv,
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afMass * (vBoxSize.x * vBoxSize.x + vBoxSize.y * vBoxSize.y) * fInv);
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// Scale of a bit of the inertia since the compound is not a 100% solid box
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vInertia = vInertia * (1.0f - ((fBoxVolume / mfVolume) * 0.3f));
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}
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return vInertia;
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}
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//-----------------------------------------------------------------------
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void cCollideShapeNewton::CreateFromShapeVec(tCollideShapeVec &avShapes) {
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Common::Array<NewtonCollision *> vNewtonColliders;
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vNewtonColliders.reserve(avShapes.size());
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mvSubShapes.reserve(avShapes.size());
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mfVolume = 0;
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for (size_t i = 0; i < avShapes.size(); i++) {
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mvSubShapes.push_back(avShapes[i]);
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cCollideShapeNewton *pNewtonShape = static_cast<cCollideShapeNewton *>(avShapes[i]);
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vNewtonColliders.push_back(pNewtonShape->GetNewtonCollision());
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mfVolume += pNewtonShape->GetVolume();
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}
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mpNewtonCollision = NewtonCreateCompoundCollision(mpNewtonWorld, (int)vNewtonColliders.size(),
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&vNewtonColliders[0], 0);
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// Create bounding volume
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cVector3f vFinalMax = avShapes[0]->GetBoundingVolume().GetMax();
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cVector3f vFinalMin = avShapes[0]->GetBoundingVolume().GetMin();
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for (size_t i = 1; i < avShapes.size(); i++) {
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cVector3f vMax = avShapes[i]->GetBoundingVolume().GetMax();
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cVector3f vMin = avShapes[i]->GetBoundingVolume().GetMin();
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if (vFinalMax.x < vMax.x)
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vFinalMax.x = vMax.x;
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if (vFinalMin.x > vMin.x)
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vFinalMin.x = vMin.x;
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if (vFinalMax.y < vMax.y)
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vFinalMax.y = vMax.y;
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if (vFinalMin.y > vMin.y)
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vFinalMin.y = vMin.y;
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if (vFinalMax.z < vMax.z)
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vFinalMax.z = vMax.z;
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if (vFinalMin.z > vMin.z)
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vFinalMin.z = vMin.z;
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}
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mBoundingVolume.SetLocalMinMax(vFinalMin, vFinalMax);
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}
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//-----------------------------------------------------------------------
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void cCollideShapeNewton::CreateFromVertices(const unsigned int *apIndexArray, int alIndexNum,
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const float *apVertexArray, int alVtxStride, int alVtxNum) {
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float vTriVec[9];
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mpNewtonCollision = NewtonCreateTreeCollision(mpNewtonWorld, 0);
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// Log("-- Creating mesh collision.:\n");
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NewtonTreeCollisionBeginBuild(mpNewtonCollision);
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for (int tri = 0; tri < alIndexNum; tri += 3) {
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// Log("tri: %d:\n", tri/3);
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for (int idx = 0; idx < 3; idx++) {
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int lVtx = apIndexArray[tri + 2 - idx] * alVtxStride;
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vTriVec[idx * 3 + 0] = apVertexArray[lVtx + 0];
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vTriVec[idx * 3 + 1] = apVertexArray[lVtx + 1];
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vTriVec[idx * 3 + 2] = apVertexArray[lVtx + 2];
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}
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NewtonTreeCollisionAddFace(mpNewtonCollision, 3, vTriVec, sizeof(float) * 3, 1);
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}
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NewtonTreeCollisionEndBuild(mpNewtonCollision, false);
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// Set bounding box size
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mBoundingVolume.AddArrayPoints(apVertexArray, alVtxNum);
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mBoundingVolume.CreateFromPoints(alVtxStride);
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}
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//-----------------------------------------------------------------------
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} // namespace hpl
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