Changeset 2292 for code/branches/physics/src/orxonox/objects/Scene.cc

Timestamp:

Nov 28, 2008, 1:25:16 AM (16 years ago)

Author:

rgrieder

Message:

Finally managed to work out some physics. According to my tests, collisions with simple spheres should work with dynamic/kinematic/static objects. There are currently only a limited number of XML parameters, but we're surely going to extend that. Furthermore there is some more thinking to be done concerning changes of btRigidBody properties when it's already added to the world.

File:

• code/branches/physics/src/orxonox/objects/Scene.cc (modified) (4 diffs)

code/branches/physics/src/orxonox/objects/Scene.cc

@@ -39 +39 @@
 #include "core/XMLPort.h"
 
+#include "BulletCollision/BroadphaseCollision/btAxisSweep3.h"
+#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
+#include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h"
+
 namespace orxonox
 {
@@ -70 +74 @@
         }
 
-        /////////////
-        // Physics //
-        /////////////
-
-        // create bullet world; bullet solver etc.
-
-        // int maxProxies = 1024;
-
-        btVector3 worldAabbMin(-10000,-10000,-10000);
-        btVector3 worldAabbMax(10000,10000,10000);
-        bt32BitAxisSweep3* broadphase = new bt32BitAxisSweep3(worldAabbMin,worldAabbMax);
-
-        this -> collisionConfiguration_ = new btDefaultCollisionConfiguration();
-        this -> dispatcher_ = new btCollisionDispatcher(collisionConfiguration_);
-
-        this -> solver_ = new btSequentialImpulseConstraintSolver;
-
-        this -> dynamicsWorld_ =  new btDiscreteDynamicsWorld(dispatcher_,broadphase,solver_,collisionConfiguration_);
-
-        dynamicsWorld_->setGravity(btVector3(0,-10,0));
-
+        // No physics for default
+        this->physicalWorld_ = 0;
 
         // test test test
@@ -130 +115 @@
         XMLPortParam(Scene, "shadow", setShadow, getShadow, xmlelement, mode).defaultValues(true);
 
+        const int defaultMaxWorldSize = 100000;
+        Vector3 worldAabbMin(-defaultMaxWorldSize, -defaultMaxWorldSize, -defaultMaxWorldSize);
+        Vector3 worldAabbMax( defaultMaxWorldSize,  defaultMaxWorldSize,  defaultMaxWorldSize);
+        XMLPortParamVariable(Scene, "negativeWorldRange", worldAabbMin, xmlelement, mode);
+        XMLPortParamVariable(Scene, "positiveWorldRange", worldAabbMax, xmlelement, mode);
+        XMLPortParam(Scene, "hasPhysics", setPhysicalWorld, hasPhysics, xmlelement, mode).defaultValue(0, true).defaultValue(1, worldAabbMin).defaultValue(2, worldAabbMax);
+
         XMLPortObjectExtended(Scene, BaseObject, "", addObject, getObject, xmlelement, mode, true, false);
     }
@@ -137 +129 @@
         REGISTERSTRING(this->skybox_,     network::direction::toclient, new network::NetworkCallback<Scene>(this, &Scene::networkcallback_applySkybox));
         REGISTERDATA(this->ambientLight_, network::direction::toclient, new network::NetworkCallback<Scene>(this, &Scene::networkcallback_applyAmbientLight));
+    }
+
+    void Scene::setPhysicalWorld(bool wantPhysics, const Vector3& worldAabbMin, const Vector3& worldAabbMax)
+    {
+        if (wantPhysics && !hasPhysics())
+        {
+            btVector3 worldAabbMin(worldAabbMin.x, worldAabbMin.y, worldAabbMin.z);
+            btVector3 worldAabbMax(worldAabbMax.x, worldAabbMax.y, worldAabbMax.z);
+
+            btDefaultCollisionConfiguration*     collisionConfig = new btDefaultCollisionConfiguration();
+            btCollisionDispatcher*               dispatcher      = new btCollisionDispatcher(collisionConfig);
+            bt32BitAxisSweep3*                   broadphase      = new bt32BitAxisSweep3(worldAabbMin,worldAabbMax);
+            btSequentialImpulseConstraintSolver* solver          = new btSequentialImpulseConstraintSolver;
+
+            this->physicalWorld_ =  new btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfig);
+
+            // test test test
+            this->physicalWorld_->setGravity(btVector3(0,0,0));
+            // test test test
+        }
+        else
+        {
+            // TODO: Destroy Bullet physics
+        }
+    }
+
+    void Scene::tick(float dt)
+    {
+        if (physicalWorld_)
+            physicalWorld_->stepSimulation(dt,10);
     }