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#include "KX_ConvertPhysicsObject.h"
#ifdef USE_SUMO_SOLID
#ifdef WIN32
#pragma warning (disable : 4786)
#endif
#include "KX_SumoPhysicsController.h"
#include "SG_Spatial.h"
#include "SM_Scene.h"
#include "KX_GameObject.h"
#include "KX_MotionState.h"
#include "KX_ClientObjectInfo.h"
#include "PHY_IPhysicsEnvironment.h"
#ifdef HAVE_CONFIG_H
#include <config.h>
#endif
void KX_SumoPhysicsController::applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse)
{
SumoPhysicsController::applyImpulse(attach[0],attach[1],attach[2],impulse[0],impulse[1],impulse[2]);
}
void KX_SumoPhysicsController::RelativeTranslate(const MT_Vector3& dloc,bool local)
{
SumoPhysicsController::RelativeTranslate(dloc[0],dloc[1],dloc[2],local);
}
void KX_SumoPhysicsController::RelativeRotate(const MT_Matrix3x3& drot,bool local)
{
float oldmat[12];
drot.getValue(oldmat);
/* float newmat[9];
float *m = &newmat[0];
double *orgm = &oldmat[0];
*m++ = *orgm++;*m++ = *orgm++;*m++ = *orgm++;orgm++;
*m++ = *orgm++;*m++ = *orgm++;*m++ = *orgm++;orgm++;
*m++ = *orgm++;*m++ = *orgm++;*m++ = *orgm++;orgm++; */
SumoPhysicsController::RelativeRotate(oldmat,local);
}
void KX_SumoPhysicsController::SetLinearVelocity(const MT_Vector3& lin_vel,bool local)
{
SumoPhysicsController::SetLinearVelocity(lin_vel[0],lin_vel[1],lin_vel[2],local);
}
void KX_SumoPhysicsController::SetAngularVelocity(const MT_Vector3& ang_vel,bool local)
{
SumoPhysicsController::SetAngularVelocity(ang_vel[0],ang_vel[1],ang_vel[2],local);
}
MT_Vector3 KX_SumoPhysicsController::GetVelocity(const MT_Point3& pos)
{
float linvel[3];
SumoPhysicsController::GetVelocity(pos[0],pos[1],pos[2],linvel[0],linvel[1],linvel[2]);
return MT_Vector3 (linvel);
}
MT_Vector3 KX_SumoPhysicsController::GetLinearVelocity()
{
return GetVelocity(MT_Point3(0,0,0));
}
void KX_SumoPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
{
SumoPhysicsController::resolveCombinedVelocities(linvelX,linvelY,linvelZ,angVelX,angVelY,angVelZ);
}
void KX_SumoPhysicsController::ApplyTorque(const MT_Vector3& torque,bool local)
{
SumoPhysicsController::ApplyTorque(torque[0],torque[1],torque[2],local);
}
void KX_SumoPhysicsController::ApplyForce(const MT_Vector3& force,bool local)
{
SumoPhysicsController::ApplyForce(force[0],force[1],force[2],local);
}
bool KX_SumoPhysicsController::Update(double time)
{
return SynchronizeMotionStates(time);
}
void KX_SumoPhysicsController::SetSimulatedTime(double time)
{
}
void KX_SumoPhysicsController::SetSumoTransform(bool nondynaonly)
{
SumoPhysicsController::setSumoTransform(nondynaonly);
}
void KX_SumoPhysicsController::SuspendDynamics()
{
SumoPhysicsController::SuspendDynamics();
}
void KX_SumoPhysicsController::RestoreDynamics()
{
SumoPhysicsController::RestoreDynamics();
}
SG_Controller* KX_SumoPhysicsController::GetReplica(SG_Node* destnode)
{
PHY_IMotionState* motionstate = new KX_MotionState(destnode);
KX_SumoPhysicsController* physicsreplica = new KX_SumoPhysicsController(*this);
//parentcontroller is here be able to avoid collisions between parent/child
PHY_IPhysicsController* parentctrl = NULL;
if (destnode != destnode->GetRootSGParent())
{
KX_GameObject* clientgameobj = (KX_GameObject*) destnode->GetRootSGParent()->GetSGClientObject();
if (clientgameobj)
{
parentctrl = (KX_SumoPhysicsController*)clientgameobj->GetPhysicsController();
} else
{
// it could be a false node, try the children
NodeList::const_iterator childit;
for (
childit = destnode->GetSGChildren().begin();
childit!= destnode->GetSGChildren().end();
++childit
) {
KX_GameObject *clientgameobj = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
if (clientgameobj)
{
parentctrl = (KX_SumoPhysicsController*)clientgameobj->GetPhysicsController();
}
}
}
}
physicsreplica->PostProcessReplica(motionstate,parentctrl);
return physicsreplica;
}
void KX_SumoPhysicsController::SetObject (SG_IObject* object)
{
SG_Controller::SetObject(object);
// cheating here...
//should not be necessary, is it for duplicates ?
KX_GameObject* gameobj = (KX_GameObject*) object->GetSGClientObject();
gameobj->SetPhysicsController(this,gameobj->IsDynamic());
GetSumoObject()->setClientObject(gameobj->getClientInfo());
}
void KX_SumoPhysicsController::setMargin(float collisionMargin)
{
SumoPhysicsController::SetMargin(collisionMargin);
}
void KX_SumoPhysicsController::setOrientation(const MT_Quaternion& orn)
{
SumoPhysicsController::setOrientation(
orn[0],orn[1],orn[2],orn[3]);
}
void KX_SumoPhysicsController::getOrientation(MT_Quaternion& orn)
{
float quat[4];
SumoPhysicsController::getOrientation(quat[0],quat[1],quat[2],quat[3]);
orn = MT_Quaternion(quat);
}
void KX_SumoPhysicsController::setPosition(const MT_Point3& pos)
{
SumoPhysicsController::setPosition(pos[0],pos[1],pos[2]);
}
void KX_SumoPhysicsController::setScaling(const MT_Vector3& scaling)
{
SumoPhysicsController::setScaling(scaling[0],scaling[1],scaling[2]);
}
MT_Scalar KX_SumoPhysicsController::GetMass()
{
return SumoPhysicsController::getMass();
}
MT_Vector3 KX_SumoPhysicsController::getReactionForce()
{
float force[3];
SumoPhysicsController::getReactionForce(force[0],force[1],force[2]);
return MT_Vector3(force);
}
void KX_SumoPhysicsController::setRigidBody(bool rigid)
{
SumoPhysicsController::setRigidBody(rigid);
}
KX_SumoPhysicsController::~KX_SumoPhysicsController()
{
}
#endif//USE_SUMO_SOLID
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