ilikecats/stk-code_catmod
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Removed translating the mesh (if graphical mesh and bullet collision body

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are not the same). Instead the difference between the mesh and the body
is applied before setting the new location in update. 
Also fixed some minor line length issues.


git-svn-id: svn+ssh://svn.code.sf.net/p/supertuxkart/code/main/trunk@10051 178a84e3-b1eb-0310-8ba1-8eac791a3b58
This commit is contained in:
hikerstk 2011-10-27 01:07:10 +00:00
parent da80f39ed4
commit 44eec35a43
2 changed files with 24 additions and 22 deletions
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41
src/physics/physical_object.cpp
View File

@ -36,7 +36,7 @@ using namespace irr;
#include <ISceneManager.h>
#include <IMeshManipulator.h>
// -----------------------------------------------------------------------------
// ----------------------------------------------------------------------------
PhysicalObject::PhysicalObject(const XMLNode &xml_node)
: TrackObject(xml_node)
{
@ -80,12 +80,14 @@ PhysicalObject::PhysicalObject(const XMLNode &xml_node)
{
std::string model_name;
xml_node.get("model", &model_name );
fprintf(stderr, "[PhysicalObject] WARNING, could not locate model '%s'\n", model_name.c_str());
fprintf(stderr,
"[PhysicalObject] WARNING, could not locate model '%s'\n",
model_name.c_str());
}
} // PhysicalObject
// -----------------------------------------------------------------------------
// ----------------------------------------------------------------------------
PhysicalObject::PhysicalObject(const std::string& model,
bodyTypes shape, float mass, float radius,
@ -106,7 +108,7 @@ PhysicalObject::PhysicalObject(const std::string& model,
m_init_pos.setOrigin(btVector3(pos.X, pos.Y, pos.Z));
}
// -----------------------------------------------------------------------------
// ----------------------------------------------------------------------------
PhysicalObject::~PhysicalObject()
{
World::getWorld()->getPhysics()->removeBody(m_body);
@ -115,7 +117,7 @@ PhysicalObject::~PhysicalObject()
delete m_shape;
} // ~PhysicalObject
// -----------------------------------------------------------------------------
// ----------------------------------------------------------------------------
/** Additional initialisation after loading of the model is finished.
*/
void PhysicalObject::init()
@ -130,7 +132,7 @@ void PhysicalObject::init()
// Adjust the mesth of the graphical object so that its center is where it
// is in bullet (usually at (0,0,0)). It can be changed in the case clause
// if this is not correct for a particular shape.
Vec3 offset_from_center = -0.5f*(max+min);
m_graphical_offset = -0.5f*(max+min);
switch (m_body_type)
{
case MP_CONE_Y: {
@ -186,24 +188,16 @@ void PhysicalObject::init()
break;
}
// 2. Adjust the mesh so that its center is where it is in bullet
// --------------------------------------------------------------
// This means that the graphical and physical position are identical
// which simplifies drawing later on.
scene::IMeshManipulator *mesh_manipulator =
irr_driver->getSceneManager()->getMeshManipulator();
core::matrix4 transform(core::matrix4::EM4CONST_IDENTITY); //
transform.setTranslation(offset_from_center.toIrrVector());
mesh_manipulator->transform(mesh, transform);
// 2. Create the rigid object
// --------------------------
// m_init_pos is the point on the track - add the offset
m_init_pos.setOrigin(m_init_pos.getOrigin()+btVector3(0,extend.getY()*0.5f, 0));
m_init_pos.setOrigin(m_init_pos.getOrigin() +
btVector3(0,extend.getY()*0.5f, 0));
m_motion_state = new btDefaultMotionState(m_init_pos);
btVector3 inertia;
m_shape->calculateLocalInertia(m_mass, inertia);
btRigidBody::btRigidBodyConstructionInfo info(m_mass, m_motion_state, m_shape, inertia);
btRigidBody::btRigidBodyConstructionInfo info(m_mass, m_motion_state,
m_shape, inertia);
// Make sure that the cones stop rolling by defining angular friction != 0.
info.m_angularDamping = 0.5f;
@ -214,7 +208,7 @@ void PhysicalObject::init()
World::getWorld()->getPhysics()->addBody(m_body);
} // init
// -----------------------------------------------------------------------------
// ----------------------------------------------------------------------------
void PhysicalObject::update(float dt)
{
btTransform t;
@ -228,6 +222,9 @@ void PhysicalObject::update(float dt)
m_body->setAngularVelocity(btVector3(0,0,0));
xyz = Vec3(m_init_pos.getOrigin());
}
// Offset the graphical position correctly:
xyz += t.getBasis()*m_graphical_offset;
m_node->setPosition(xyz.toIrrVector());
Vec3 hpr;
hpr.setHPR(t.getRotation());
@ -235,7 +232,7 @@ void PhysicalObject::update(float dt)
return;
} // update
// -----------------------------------------------------------------------------
// ----------------------------------------------------------------------------
void PhysicalObject::reset()
{
m_body->setCenterOfMassTransform(m_init_pos);
@ -244,7 +241,7 @@ void PhysicalObject::reset()
m_body->activate();
} // reset
// -----------------------------------------------------------------------------
// ----------------------------------------------------------------------------
void PhysicalObject::handleExplosion(const Vec3& pos, bool direct_hit)
{
@ -275,6 +272,6 @@ void PhysicalObject::handleExplosion(const Vec3& pos, bool direct_hit)
} // handleExplosion
// -----------------------------------------------------------------------------
// ----------------------------------------------------------------------------
/* EOF */

5
src/physics/physical_object.hpp
View File

@ -65,6 +65,11 @@ private:
/** This is the initial position of the object for the physics. */
btTransform m_init_pos;
/** The mesh might not have the same center as bullet does. This
* offset is used to offset the location of the graphical mesh
* so that the graphics are aligned with the bullet collision shape. */
Vec3 m_graphical_offset;
/** Radius of the object - this obviously depends on the actual shape.
* As a default the radius is being determined from the shape of the
* mesh, but in somce cases that could lead to incorrect results