ilikecats/stk-code_catmod
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1) Changed implementation of wheelies to avoid the jiggering

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that sometimes happened when crossing triangle boundaries.
2) Started replacing sg functions and data structures with
   bullet objects and methods.



git-svn-id: svn+ssh://svn.code.sf.net/p/supertuxkart/code/trunk/supertuxkart@1803 178a84e3-b1eb-0310-8ba1-8eac791a3b58
This commit is contained in:
hikerstk 2008-05-02 03:01:25 +00:00
parent 526819a418
commit 1e17479354
3 changed files with 23 additions and 43 deletions
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16
src/flyable.cpp
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@ -109,13 +109,6 @@ void Flyable::createPhysics(float y_offset, const btVector3 velocity,
}
m_body->setCollisionFlags(btCollisionObject::CF_NO_CONTACT_RESPONSE);
// FIXME: for now it is necessary to synch the graphical position with the
// physical position, since 'hot' computation is done using the
// graphical position (and hot can trigger an explosion when no
// terrain is under the rocket). Once hot is done with bullet as
// well, this shouldn't be necessary anymore.
placeModel();
} // createPhysics
// -----------------------------------------------------------------------------
@ -210,7 +203,6 @@ void Flyable::explode(Kart *kart_hit, MovingPhysics* moving_physics)
if(m_exploded) return;
m_has_hit_something=true;
m_curr_pos.xyz[2] += 1.2f ;
// Notify the projectile manager that this rocket has hit something.
// The manager will create the appropriate explosion object.
projectile_manager->explode();
@ -220,7 +212,9 @@ void Flyable::explode(Kart *kart_hit, MovingPhysics* moving_physics)
m->removeAllKids();
scene->remove(m);
btVector3 pos(m_curr_pos.xyz[0],m_curr_pos.xyz[1],m_curr_pos.xyz[2]);
// The explosion is a bit higher in the air
btVector3 pos_explosion=getPos();
pos_explosion.setZ(pos_explosion.getZ()+1.2f);
world->getPhysics()->removeBody(getBody());
m_exploded=true;
@ -233,10 +227,10 @@ void Flyable::explode(Kart *kart_hit, MovingPhysics* moving_physics)
if(m_owner!=kart || m_owner==kart_hit)
{
// Set a flag it if was a direct hit.
kart->handleExplosion(m_curr_pos.xyz, kart==kart_hit);
kart->handleExplosion(getPos(), kart==kart_hit);
}
}
callback_manager->handleExplosion(pos, moving_physics);
callback_manager->handleExplosion(pos_explosion, moving_physics);
} // explode
/* EOF */

48
src/kart.cpp
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@ -486,7 +486,7 @@ bool Kart::isOnGround() const
m_vehicle->getWheelInfo(3).m_raycastInfo.m_isInContact;
} // isOnGround
//-----------------------------------------------------------------------------
void Kart::handleExplosion(const sgVec3& pos, bool direct_hit)
void Kart::handleExplosion(const btVector3& pos, bool direct_hit)
{
if(direct_hit) {
btVector3 velocity = m_body->getLinearVelocity();
@ -499,12 +499,11 @@ void Kart::handleExplosion(const sgVec3& pos, bool direct_hit)
}
else // only affected by a distant explosion
{
sgVec3 diff;
sgSubVec3(diff, getCoord()->xyz, pos);
btVector3 diff=getPos()-pos;
//if the z component is negative, the resulting impulse could push the
// kart through the floor. So in this case ignore z.
if(diff[2]<0) diff[2]=0.0f;
float len2=sgLengthSquaredVec3(diff);
if(diff.getZ()<0) diff.setZ(0.0f);
float len2=diff.length2();
// The correct formhale would be to first normalise diff,
// then apply the impulse (which decreases 1/r^2 depending
@ -513,9 +512,8 @@ void Kart::handleExplosion(const sgVec3& pos, bool direct_hit)
// = diff*impulseSize/len(diff)^3
// We use diff*impulseSize/len(diff)^2 here, this makes the impulse
// somewhat larger, which is actually more fun :)
sgScaleVec3(diff,stk_config->m_explosion_impulse/len2);
btVector3 impulse(diff[0],diff[1], diff[2]);
getVehicle()->getRigidBody()->applyCentralImpulse(impulse);
diff *= stk_config->m_explosion_impulse/len2;
getVehicle()->getRigidBody()->applyCentralImpulse(diff);
}
} // handleExplosion
@ -737,21 +735,7 @@ float Kart::handleWheelie(float dt)
chassisTrans.getBasis()[2][1]);
btVector3 crossProd = targetUp.cross(forwardW);
crossProd.normalize();
const float gLeanRecovery = m_kart_properties->getWheelieLeanRecovery();
const float step = m_kart_properties->getWheelieStep();
const float balance_recovery= m_kart_properties->getWheelieBalanceRecovery();
float alpha = (targetUp.dot(forwardW));
float deltaalpha = m_wheelie_angle*M_PI/180.0f - alpha;
btVector3 angvel = m_body->getAngularVelocity();
float projvel = angvel.dot(crossProd);
float deltavel = -projvel * gLeanRecovery / step
-deltaalpha * balance_recovery / step;
btVector3 deltaangvel = deltavel * crossProd;
angvel += deltaangvel;
m_body->setAngularVelocity(angvel);
return m_kart_properties->getWheeliePowerBoost() * getMaxPower()
* m_wheelie_angle/getWheelieMaxPitch();
} // handleWheelie
@ -1046,7 +1030,6 @@ void Kart::placeModel ()
if (m_wheel_rear_l) m_wheel_rear_l->setTransform(wheel_rot);
if (m_wheel_rear_r) m_wheel_rear_r->setTransform(wheel_rot);
// We don't have to call Moveable::placeModel, since it does only setTransform
// Only transfer the bullet data to the plib tree if no history is being
// replayed.
@ -1060,14 +1043,17 @@ void Kart::placeModel ()
sgSetCoord(&m_curr_pos, m);
}
sgCoord c ;
sgCopyCoord ( &c, &m_curr_pos ) ;
// c.hpr[1] += m_wheelie_angle ;
// c.xyz[2] += 0.3f*fabs(sin(m_wheelie_angle*SG_DEGREES_TO_RADIANS));
const float CENTER_SHIFT = getGravityCenterShift();
c.xyz[2] -= (0.5f-CENTER_SHIFT)*getKartHeight(); // adjust for center of gravity
m_model_transform->setTransform(&c);
Moveable::placeModel();
sgCopyCoord ( &c, &m_curr_pos );
const float CENTER_SHIFT = getGravityCenterShift();
const float offset_pitch = m_wheelie_angle;
const float offset_z = 0.3f*fabs(sin(m_wheelie_angle*SG_DEGREES_TO_RADIANS))
- (0.5f-CENTER_SHIFT)*getKartHeight();
m_curr_pos.xyz[2] += offset_z;
m_curr_pos.hpr[1] += offset_pitch;
Moveable::placeModel();
m_curr_pos.xyz[2] -= offset_z;
m_curr_pos.hpr[1] -= offset_pitch;
} // placeModel
//-----------------------------------------------------------------------------
void Kart::setFinishingState(float time)

2
src/kart.hpp
View File

@ -205,7 +205,7 @@ public:
void resetBrakes ();
void adjustSpeedWeight(float f);
void forceRescue (bool is_rescue=false);
void handleExplosion (const sgVec3& pos, bool direct_hit);
void handleExplosion (const btVector3& pos, bool direct_hit);
const std::string& getName () const {return m_kart_properties->getName();}
virtual int isPlayerKart () const {return 0; }
// addMessages gets called by world to add messages to the gui