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source: code/branches/physics/src/ogrebullet/Dynamics/OgreBulletDynamicsWorld.cpp @ 2258

Last change on this file since 2258 was 2192, checked in by rgrieder, 16 years ago

Reverted all changes of attempt to update physics branch.

  • Property svn:eol-style set to native
File size: 6.0 KB
Line 
1/***************************************************************************
2
3This source file is part of OGREBULLET
4(Object-oriented Graphics Rendering Engine Bullet Wrapper)
5For the latest info, see http://www.ogre3d.org/phpBB2addons/viewforum.php?f=10
6
7Copyright (c) 2007 tuan.kuranes@gmail.com (Use it Freely, even Statically, but have to contribute any changes)
8
9
10
11This program is free software; you can redistribute it and/or modify it under
12the terms of the GPL General Public License with runtime exception as published by the Free Software
13Foundation; either version 2 of the License, or (at your option) any later
14version.
15
16This program is distributed in the hope that it will be useful, but WITHOUT
17ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
18FOR A PARTICULAR PURPOSE. See the GPL General Public License with runtime exception for more details.
19
20You should have received a copy of the GPL General Public License with runtime exception along with
21this program; if not, write to the Free Software Foundation, Inc., 59 Temple
22Place - Suite 330, Boston, MA 02111-1307, USA, or go to
23http://www.gnu.org/licenses/old-licenses/gpl-2.0.html
24-----------------------------------------------------------------------------
25*/
26
27#include "OgreBulletDynamics.h"
28
29#include "OgreBulletCollisionsShape.h"
30
31#include "OgreBulletDynamicsWorld.h"
32#include "OgreBulletDynamicsObjectState.h"
33#include "OgreBulletDynamicsRigidBody.h"
34#include "OgreBulletDynamicsConstraint.h"
35
36#include "Constraints/OgreBulletDynamicsRaycastVehicle.h"
37
38#include "BulletCollision/GIMPACT/btGImpactShape.h"
39#include "BulletCollision/GIMPACT/btGImpactCollisionAlgorithm.h"
40
41using namespace Ogre;
42using namespace OgreBulletCollisions;
43
44namespace OgreBulletDynamics
45{
46
47    DynamicsWorld::DynamicsWorld(Ogre::SceneManager *mgr, 
48                const Ogre::AxisAlignedBox &bounds, 
49                const Ogre::Vector3 &gravity,
50                bool init) :
51        CollisionsWorld(mgr, bounds, false),
52            mDebugDrawer(0)
53    {
54        //btSequentialImpulseConstraintSolver
55        //btSequentialImpulseConstraintSolver3
56        mConstraintsolver = new btSequentialImpulseConstraintSolver();
57
58        //only if init is true, otherwise you have to create mWorld manually later on
59        if (init) {
60            mWorld = new btDiscreteDynamicsWorld(mDispatcher, mBroadphase, mConstraintsolver, &mDefaultCollisionConfiguration);
61                        static_cast <btDiscreteDynamicsWorld *> (mWorld)->setGravity(btVector3(gravity.x,gravity.y,gravity.z));
62
63                        btCollisionDispatcher * dispatcher = static_cast<btCollisionDispatcher *>(mWorld->getDispatcher());
64                        btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher);
65                }
66
67    }
68    // -------------------------------------------------------------------------
69    DynamicsWorld::~DynamicsWorld()
70    {
71        delete mConstraintsolver;
72    }
73
74    // -------------------------------------------------------------------------
75    void DynamicsWorld::addRigidBody (RigidBody *rb, short collisionGroup, short collisionMask)
76    {
77        mObjects.push_back (static_cast <Object *> (rb));
78
79                if (collisionGroup == 0 && collisionMask == 0)
80                {
81                        // use default collision group/mask values (dynamic/kinematic/static)
82                        static_cast <btDiscreteDynamicsWorld *> (mWorld)->addRigidBody(rb->getBulletRigidBody());     
83                }
84                else
85                {
86                        static_cast <btDiscreteDynamicsWorld *> (mWorld)->addRigidBody(rb->getBulletRigidBody(), collisionGroup, collisionMask);     
87                }
88    }
89    // -------------------------------------------------------------------------
90    void DynamicsWorld::stepSimulation(const Ogre::Real elapsedTime, int maxSubSteps, const Ogre::Real fixedTimestep)
91    {
92        // Reset Debug Lines
93        if (mDebugDrawer) 
94            mDebugDrawer->clear ();
95
96        static_cast <btDiscreteDynamicsWorld *> (mWorld)->stepSimulation(elapsedTime, maxSubSteps, fixedTimestep);
97
98        if (mDebugDrawer) 
99        {
100            // draw lines that step Simulation sent.
101            mDebugDrawer->draw();
102
103            const bool drawFeaturesText = (mDebugDrawer->getDebugMode () & btIDebugDraw::DBG_DrawFeaturesText) != 0;
104            if (drawFeaturesText)
105            {
106                // on all bodies we have
107                // we get all shapes and draw more information
108                //depending on mDebugDrawer mode.
109                std::deque<Object*>::iterator it = mObjects.begin();
110                while (it != mObjects.end())
111                {
112                    //(*it)->drawFeaturesText();
113                    ++it;
114                }
115            }
116        }
117    }
118    // -------------------------------------------------------------------------
119    void DynamicsWorld::removeConstraint(TypedConstraint *constraint)
120    {
121        getBulletDynamicsWorld()->removeConstraint(constraint->getBulletTypedConstraint());
122        std::deque <TypedConstraint*>::iterator it = mConstraints.begin();
123        while (it != mConstraints.end())
124        {
125            if ((*it) == constraint)
126            {
127                mConstraints.erase (it);
128                break;
129            }
130            ++it;
131        }
132    }
133    // -------------------------------------------------------------------------
134    void DynamicsWorld::addConstraint(TypedConstraint *constraint)
135    {
136        getBulletDynamicsWorld()->addConstraint(constraint->getBulletTypedConstraint());
137        mConstraints.push_back(constraint);
138    }
139    // -------------------------------------------------------------------------
140    void DynamicsWorld::addVehicle(RaycastVehicle *v)
141    {
142        getBulletDynamicsWorld()->addVehicle(v->getBulletVehicle ());
143        mConstraints.push_back(static_cast <TypedConstraint *> (v));
144
145        //mVehicles.push_back(v);
146    }
147    // -------------------------------------------------------------------------
148    bool DynamicsWorld::isConstraintRegistered(TypedConstraint *constraint) const
149    {
150        std::deque <TypedConstraint*>::const_iterator it = mConstraints.begin();
151        while (it != mConstraints.end())
152        {
153            if ((*it) == constraint)
154                return true;
155            ++it;
156        }
157        return false;
158    }
159}
160
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