ilikecats/stk-code_catmod
1
1
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

1) Animations can now be bullet rigid bodies, which means collisions are

Browse Source 
possible.
2) The track exporter supports now exporting a single animation model only even
   if the model is used in several animations.
3) Changed the rad to/from degree macros to be uses as multiplication factors,
   i.e. RAD_TO_DEGREE*x instead if RAD_TO_DEGREE(x). This allows more compact
   code if vectors are convered (RAD_TO_DEGREE*vec3  instead of three separate
   macro invocations, once for each component)


git-svn-id: svn+ssh://svn.code.sf.net/p/supertuxkart/code/main/branches/irrlicht@3688 178a84e3-b1eb-0310-8ba1-8eac791a3b58
This commit is contained in:
hikerstk 2009-07-03 00:51:31 +00:00
parent 853bd9a0d3
commit 88600d7d2e
16 changed files with 150 additions and 52 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
src/animations/animation_base.hpp
View File

@ -48,6 +48,11 @@ private:
/** The current time in the cycle of a cyclic animation. */
float m_current_time;
/** The inital position of this object. */
core::vector3df m_initial_xyz;
/** The initial rotation of this object. */
core::vector3df m_initial_hpr;
protected:
/** All IPOs for this animation. */
std::vector<Ipo*> m_all_ipos;

14
src/animations/ipo.cpp
View File

@ -110,16 +110,16 @@ void Ipo::reset()
void Ipo::update(float dt, core::vector3df *xyz, core::vector3df *hpr)
{
m_time += dt;
if(m_time>m_max_time) m_time = 0;
if(m_extend!=ET_CONST && m_time>m_max_time) m_time = 0;
switch(m_channel)
{
case Ipo::IPO_LOCX : xyz->X = get(); break;
case Ipo::IPO_LOCY : xyz->Y = get(); break;
case Ipo::IPO_LOCZ : xyz->Z = get(); break;
case Ipo::IPO_ROTX : hpr->Y = get()*10.0f; break;
case Ipo::IPO_ROTY : hpr->Y = get()*10.0f; break;
case Ipo::IPO_ROTZ : hpr->Z = get()*10.0f; break;
case Ipo::IPO_ROTX : hpr->X = get(); break;
case Ipo::IPO_ROTY : hpr->Y = get(); break;
case Ipo::IPO_ROTZ : hpr->Z = get(); break;
} // switch
} // update
@ -156,9 +156,9 @@ float Ipo::get() const
// FIXME: only const implemented atm.
return m_points[n].Y;
}
core::vector2df c = 3.0f*(m_handle2[n]-m_points[n]);
core::vector2df b = 3.0f*(m_handle1[n+1]-m_handle2[n])-c;
core::vector2df a = m_points[n+1] - m_points[n] - c - b;
core::vector2df c = 3.0f*(m_handle2[n]-m_points[n]);
core::vector2df b = 3.0f*(m_handle1[n+1]-m_handle2[n])-c;
core::vector2df a = m_points[n+1] - m_points[n] - c - b;
float t = (m_time-m_points[n].X)/(m_points[n+1].X-m_points[n].X);
core::vector2df r = ((a*t+b)*t+c)*t+m_points[n];
return r.Y;

76
src/animations/three_d_animation.cpp
View File

@ -23,9 +23,15 @@
#include "animations/ipo.hpp"
#include "graphics/irr_driver.hpp"
#include "graphics/mesh_tools.hpp"
#include "io/file_manager.hpp"
#include "io/xml_node.hpp"
#include "modes/world.hpp"
#include "physics/physics.hpp"
#include "physics/kart_motion_state.hpp"
#include "race/race_manager.hpp"
#include "tracks/bezier_curve.hpp"
#include "utils/constants.hpp"
ThreeDAnimation::ThreeDAnimation(const std::string &track_name,
const XMLNode &node, float fps)
@ -46,9 +52,69 @@ ThreeDAnimation::ThreeDAnimation(const std::string &track_name,
core::vector3df xyz;
node.get("xyz", &xyz);
m_animated_node->setPosition(xyz);
core::vector3df hpr(0,0,0);
node.get("hpr", &hpr);
m_animated_node->setRotation(hpr);
/** Save the initial position and rotation in the base animation object. */
setInitialTransform(m_animated_node->getPosition(), m_animated_node->getRotation());
m_body = NULL;
m_motion_state = NULL;
m_collision_shape = NULL;
std::string shape;
node.get("shape", &shape);
if(shape!="")
{
createPhysicsBody(shape);
}
} // ThreeDAnimation
// ----------------------------------------------------------------------------
/** Creates a bullet rigid body for this animated model. */
void ThreeDAnimation::createPhysicsBody(const std::string &shape)
{
// 1. Determine size of the object
// -------------------------------
Vec3 min, max;
MeshTools::minMax3D(m_mesh, &min, &max);
Vec3 extend = max-min;
if(shape=="box")
{
m_collision_shape = new btBoxShape(0.5*extend);
}
else if(shape=="cone")
{
float radius = 0.5f*std::max(extend.getX(), extend.getY());
m_collision_shape = new btConeShapeZ(radius, extend.getZ());
}
else
{
fprintf(stderr, "Shape '%s' is not supported, ignored.\n", shape.c_str());
return;
}
const core::vector3df &hpr=m_animated_node->getRotation()*DEGREE_TO_RAD;
btQuaternion q(hpr.X, hpr.Y, hpr.Z);
const core::vector3df &xyz=m_animated_node->getPosition();
Vec3 p(xyz);
btTransform trans(q,p);
m_motion_state = new KartMotionState(trans);
btRigidBody::btRigidBodyConstructionInfo info(0, m_motion_state,
m_collision_shape);
m_body = new btRigidBody(info);
m_user_pointer.set(this);
m_body->setUserPointer(&m_user_pointer);
RaceManager::getWorld()->getPhysics()->addBody(m_body);
m_body->setCollisionFlags( m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
m_body->setActivationState(DISABLE_DEACTIVATION);
} // createPhysicsBody
// ----------------------------------------------------------------------------
/** Destructor. */
ThreeDAnimation::~ThreeDAnimation()
{
} // ~ThreeDAnimation
// ----------------------------------------------------------------------------
/** Updates position and rotation of this model. Called once per time step.
* \param dt Time since last call.
@ -60,4 +126,14 @@ void ThreeDAnimation::update(float dt)
AnimationBase::update(dt, &xyz, &hpr); //updates all IPOs
m_animated_node->setPosition(xyz);
m_animated_node->setRotation(hpr);
// Now update the position of the bullet body if there is one:
if(m_body)
{
hpr = DEGREE_TO_RAD*hpr;
btQuaternion q(hpr.X, hpr.Y, hpr.Z);
Vec3 p(xyz);
btTransform trans(q,p);
m_motion_state->setWorldTransform(trans);
}
} // update

21
src/animations/three_d_animation.hpp
View File

@ -21,12 +21,14 @@
#define HEADER_THREE_D_ANIMATION_HPP
#include <string>
#include <vector>
#include "irrlicht.h"
using namespace irr;
#include "btBulletDynamicsCommon.h"
#include "animations/animation_base.hpp"
#include "physics/user_pointer.hpp"
class XMLNode;
class BezierCurve;
@ -40,10 +42,25 @@ private:
/** The scene node for the model. */
scene::IAnimatedMeshSceneNode *m_animated_node;
/** The bullet collision shape for the physics. */
btCollisionShape *m_collision_shape;
/** The bullet rigid body. */
btRigidBody *m_body;
/** Motion state of the physical object. */
btMotionState *m_motion_state;
/** A user pointer to connect a bullet body with this object. */
UserPointer m_user_pointer;
void createPhysicsBody(const std::string &shape);
public:
ThreeDAnimation(const std::string &track_name,
const XMLNode &node, float fps);
virtual ~ThreeDAnimation(){}
virtual ~ThreeDAnimation();
virtual void update(float dt);
}; // ThreeDAnimation

8
src/graphics/camera.cpp
View File

@ -159,7 +159,7 @@ void Camera::update(float dt)
steering = m_kart->getSteerPercent() * (1.0f + (m_kart->getSkidding() - 1.0f)/2.3f ); // dampen skidding effect
dampened_steer = fabsf(steering) * steering; // quadratically to dampen small variations (but keep sign)
m_angle_around = m_kart->getHPR().getX() + m_rotation_range * dampened_steer * 0.5f;
m_angle_up = m_kart->getHPR().getY() - DEGREE_TO_RAD(30.0f);
m_angle_up = m_kart->getHPR().getY() - 30.0f*DEGREE_TO_RAD;
m_target = m_kart->getXYZ();
m_target.setZ(m_target.getZ()+0.75f);
@ -173,7 +173,7 @@ void Camera::update(float dt)
break;
case CM_REVERSE: // Same as CM_NORMAL except it looks backwards
m_angle_around = m_kart->getHPR().getX() - m_rotation_range * m_kart->getSteerPercent() * m_kart->getSkidding();
m_angle_up = m_kart->getHPR().getY() + DEGREE_TO_RAD(30.0f);
m_angle_up = m_kart->getHPR().getY() + 30.0f*DEGREE_TO_RAD;
m_target = m_kart->getXYZ();
m_target.setZ(m_target.getZ()+0.75f);
@ -187,7 +187,7 @@ void Camera::update(float dt)
break;
case CM_CLOSEUP: // Lower to the ground and closer to the kart
m_angle_around = m_kart->getHPR().getX() + m_rotation_range * m_kart->getSteerPercent() * m_kart->getSkidding();
m_angle_up = m_kart->getHPR().getY() - DEGREE_TO_RAD(20.0f);
m_angle_up = m_kart->getHPR().getY() - 20.0f*DEGREE_TO_RAD;
m_target = m_kart->getXYZ();
m_target.setZ(m_target.getZ()+0.75f);
@ -202,7 +202,7 @@ void Camera::update(float dt)
case CM_LEADER_MODE: // Follows the leader kart, higher off of the ground, further from the kart,
// and turns in the opposite direction from the kart for a nice effect. :)
m_angle_around = RaceManager::getKart(0)->getHPR().getX();
m_angle_up = RaceManager::getKart(0)->getHPR().getY() + DEGREE_TO_RAD(40.0f);
m_angle_up = RaceManager::getKart(0)->getHPR().getY() + 40.0f*DEGREE_TO_RAD;
m_target = RaceManager::getKart(0)->getXYZ();

6
src/graphics/nitro.cpp
View File

@ -72,9 +72,9 @@ void Nitro::update(float t)
// There seems to be no way to randomise the velocity for particles,
// so we have to do this manually, by changing the default velocity.
// Irrlicht expects velocity (called 'direction') in m/ms!!
Vec3 dir(cos(DEGREE_TO_RAD(rand()%180))*0.001f,
sin(DEGREE_TO_RAD(rand()%180))*0.001f,
sin(DEGREE_TO_RAD(rand()%100))*0.001f);
Vec3 dir(cos(DEGREE_TO_RAD*(rand()%180))*0.001f,
sin(DEGREE_TO_RAD*(rand()%180))*0.001f,
sin(DEGREE_TO_RAD*(rand()%100))*0.001f);
m_emitter->setDirection(dir.toIrrVector());
} // update

6
src/graphics/smoke.cpp
View File

@ -84,9 +84,9 @@ void Smoke::update(float t)
// There seems to be no way to randomise the velocity for particles,
// so we have to do this manually, by changing the default velocity.
// Irrlicht expects velocity (called 'direction') in m/ms!!
Vec3 dir(cos(DEGREE_TO_RAD(rand()%180))*0.002f,
sin(DEGREE_TO_RAD(rand()%180))*0.002f,
sin(DEGREE_TO_RAD(rand()%100))*0.002f);
Vec3 dir(cos(DEGREE_TO_RAD*(rand()%180))*0.002f,
sin(DEGREE_TO_RAD*(rand()%180))*0.002f,
sin(DEGREE_TO_RAD*(rand()%100))*0.002f);
m_emitter->setDirection(dir.toIrrVector());
} // update

4
src/graphics/water_splash.cpp
View File

@ -97,8 +97,8 @@ void WaterSplash::update(float t)
float f=m_kart->getSpeed();
if(f<1) return; // avoid problem with modulo 0
Vec3 dir((rand()%int(f))*(left?-1:1)*0.004f,
sin(DEGREE_TO_RAD(rand()%180))*0.004f,
sin(DEGREE_TO_RAD(rand()%100))*0.004f);
sin(DEGREE_TO_RAD*(rand()%180))*0.004f,
sin(DEGREE_TO_RAD*(rand()%100))*0.004f);
m_emitter->setDirection(dir.toIrrVector());
} // update

4
src/modes/linear_world.cpp
View File

@ -616,8 +616,8 @@ void LinearWorld::checkForWrongDirection(unsigned int i)
else if (angle_diff < -M_PI) angle_diff += 2*M_PI;
// Display a warning message if the kart is going back way (unless
// the kart has already finished the race).
if (( angle_diff > DEGREE_TO_RAD( 120.0f) ||
angle_diff < DEGREE_TO_RAD(-120.0f)) &&
if (( angle_diff > DEGREE_TO_RAD* 120.0f ||
angle_diff < -DEGREE_TO_RAD*120.0f) &&
kart->getVelocityLC().getY() > 0.0f &&
!kart->hasFinishedRace() )
{

2
src/physics/physics.cpp
View File

@ -144,7 +144,7 @@ void Physics::update(float dt)
p->a->getPointerFlyable()->hit(p->b->getPointerKart());
}
else // projectile hits projectile
{
{
p->a->getPointerFlyable()->hit(NULL);
p->b->getPointerFlyable()->hit(NULL);
}

23
src/physics/user_pointer.hpp
View File

@ -28,22 +28,29 @@ class Moveable;
class Flyable;
class Kart;
class PhysicalObject;
class ThreeDAnimation;
/** A UserPointer is stored as a user pointer in all bullet bodies. This
* allows easily finding the appropriate STK object for a bullet body.
*/
class UserPointer
{
public:
/** List of all possibles STK objects that are represented in the
* physics. */
enum UserPointerType {UP_UNDEF, UP_KART, UP_FLYABLE, UP_TRACK,
UP_PHYSICAL_OBJECT};
UP_PHYSICAL_OBJECT, UP_ANIMATION};
private:
void* m_pointer;
UserPointerType m_user_pointer_type;
public:
bool is(UserPointerType t) const {return m_user_pointer_type==t; }
TriangleMesh* getPointerTriangleMesh() const {return (TriangleMesh*)m_pointer; }
Moveable* getPointerMoveable() const {return (Moveable*)m_pointer; }
Flyable* getPointerFlyable() const {return (Flyable*)m_pointer; }
Kart* getPointerKart() const {return (Kart*)m_pointer; }
PhysicalObject *getPointerPhysicalObject() const {return (PhysicalObject*)m_pointer;}
bool is(UserPointerType t) const {return m_user_pointer_type==t; }
TriangleMesh* getPointerTriangleMesh() const {return (TriangleMesh*)m_pointer; }
Moveable* getPointerMoveable() const {return (Moveable*)m_pointer; }
Flyable* getPointerFlyable() const {return (Flyable*)m_pointer; }
Kart* getPointerKart() const {return (Kart*)m_pointer; }
PhysicalObject *getPointerPhysicalObject() const {return (PhysicalObject*)m_pointer; }
ThreeDAnimation*getPointerAnimation() const {return (ThreeDAnimation*)m_pointer;}
void set(PhysicalObject* p) { m_user_pointer_type=UP_PHYSICAL_OBJECT;
m_pointer =p; }
void set(Kart* p) { m_user_pointer_type=UP_KART;
@ -52,6 +59,8 @@ public:
m_pointer =p; }
void set(TriangleMesh* p) { m_user_pointer_type=UP_TRACK;
m_pointer =p; }
void set(ThreeDAnimation* p){ m_user_pointer_type=UP_ANIMATION;
m_pointer =p; }
UserPointer() { zero(); }
void zero() { m_user_pointer_type=UP_UNDEF;
m_pointer = NULL; }

6
src/robots/default_robot.cpp
View File

@ -302,7 +302,7 @@ void DefaultRobot::handleBraking()
kart_ang_diff = normalizeAngle(kart_ang_diff);
kart_ang_diff = fabsf(kart_ang_diff);
const float MIN_TRACK_ANGLE = DEGREE_TO_RAD(20.0f);
const float MIN_TRACK_ANGLE = DEGREE_TO_RAD*20.0f;
const float CURVE_INSIDE_PERC = 0.25f;
//Brake only if the road does not goes somewhat straight.
@ -314,7 +314,7 @@ void DefaultRobot::handleBraking()
//out of the curve.
if(!(m_world->getDistanceToCenterForKart(getWorldKartId())
> m_quad_graph->getNode(m_track_node).getPathWidth() *
-CURVE_INSIDE_PERC || m_curve_angle > RAD_TO_DEGREE(getMaxSteerAngle())))
-CURVE_INSIDE_PERC || m_curve_angle > RAD_TO_DEGREE*getMaxSteerAngle()))
{
m_controls.m_brake = false;
return;
@ -324,7 +324,7 @@ void DefaultRobot::handleBraking()
{
if(!(m_world->getDistanceToCenterForKart( getWorldKartId() )
< m_quad_graph->getNode(m_track_node).getPathWidth() *
CURVE_INSIDE_PERC || m_curve_angle < -RAD_TO_DEGREE(getMaxSteerAngle())))
CURVE_INSIDE_PERC || m_curve_angle < -RAD_TO_DEGREE*getMaxSteerAngle()))
{
m_controls.m_brake = false;
return;

2
src/tracks/track.cpp
View File

@ -159,7 +159,7 @@ btTransform Track::getStartTransform(unsigned int pos) const
start.setOrigin(orig);
start.setRotation(btQuaternion(btVector3(0, 0, 1),
pos<m_start_heading.size()
? DEGREE_TO_RAD(m_start_heading[pos])
? DEGREE_TO_RAD*m_start_heading[pos]
: 0.0f ));
return start;
} // getStartTransform

4
src/utils/constants.hpp
View File

@ -54,7 +54,7 @@
#endif
#define NINETY_DEGREE_RAD (M_PI/2.0f)
#define DEGREE_TO_RAD(x) ((x)*M_PI/180.0f)
#define RAD_TO_DEGREE(x) ((x)*180.0f/M_PI)
#define DEGREE_TO_RAD (M_PI/180.0f)
#define RAD_TO_DEGREE (180.0f/M_PI)
#endif

14
src/utils/vec3.cpp
View File

@ -78,9 +78,9 @@ void Vec3::setHPR(const btMatrix3x3& m)
// ----------------------------------------------------------------------------
void Vec3::degreeToRad()
{
m_x=DEGREE_TO_RAD(m_x);
m_y=DEGREE_TO_RAD(m_y);
m_z=DEGREE_TO_RAD(m_z);
m_x=DEGREE_TO_RAD*m_x;
m_y=DEGREE_TO_RAD*m_y;
m_z=DEGREE_TO_RAD*m_z;
} // degreeToRad
// ----------------------------------------------------------------------------
@ -109,12 +109,11 @@ void Vec3::setPitchRoll(const Vec3 &normal)
* FIXME: this function should be inlined, but while debugging it's
* easier (compile-time wise) to modify it here :)
*/
#ifdef HAVE_IRRLICHT
const core::vector3df Vec3::toIrrHPR() const
{
core::vector3df r(RAD_TO_DEGREE(-getY()), // pitch
RAD_TO_DEGREE(-getX()), // heading
RAD_TO_DEGREE(-getZ()) ); // roll
core::vector3df r(RAD_TO_DEGREE*(-getY()), // pitch
RAD_TO_DEGREE*(-getX()), // heading
RAD_TO_DEGREE*(-getZ()) ); // roll
return r;
} // toIrrHPR
@ -124,4 +123,3 @@ const core::vector3df Vec3::toIrrVector() const
core::vector3df v(m_x, m_z, m_y);
return v;
} // toIrrVector
#endif

7
src/utils/vec3.hpp
View File

@ -17,11 +17,8 @@
#ifndef HEADER_VEC3_HPP
#define HEADER_VEC3_HPP
#ifdef HAVE_IRRLICHT
#include "irrlicht.h"
using namespace irr;
#endif
#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"
@ -35,7 +32,6 @@ private:
void setPitchRoll(const Vec3 &normal);
public:
#ifdef HAVE_IRRLICHT
/** Convert an irrlicht vector3df into the internal (bullet) format.
* Irrlicht's and STK's axis are different (STK: Z up, irrlicht: Y up).
* We might want to change this as well, makes it easier to work with
@ -45,7 +41,6 @@ public:
* a vec3).
*/
inline Vec3(const core::vector3df &v) : btVector3(v.X, v.Z, v.Y) {}
#endif
//inline Vec3(sgVec3 a) : btVector3(a[0], a[1], a[2]) {}
inline Vec3(const btVector3& a) : btVector3(a) {}
inline Vec3() : btVector3() {}
@ -68,11 +63,9 @@ public:
inline const void setPitch(float f) {m_y = f;}
inline const void setRoll(float f) {m_z = f;}
float* toFloat() const {return (float*)this; }
#ifdef HAVE_IRRLICHT
/** Converts a Vec3 to an irrlicht 3d floating point vector. */
const core::vector3df toIrrVector() const;
const core::vector3df toIrrHPR() const;
#endif
void degreeToRad();
Vec3& operator=(const btVector3& a) {*(btVector3*)this=a; return *this;}
Vec3& operator=(const btMatrix3x3& m) {setHPR(m); return *this;}