ilikecats/stk-code_catmod
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1) Removed some memory leaks in physics.

Browse Source 
2) Fixed bug 1827284 (sand track bridge could not be used with bullet) by not
   converting triangles which have the 'ignore' property set.
3) Fixed bug 1826773 (jumping while in air was possible)
4) Started adding support for projectiles which stay close
   to the ground (not finished yet).


git-svn-id: svn+ssh://svn.code.sf.net/p/supertuxkart/code/trunk/supertuxkart@1284 178a84e3-b1eb-0310-8ba1-8eac791a3b58
This commit is contained in:
hikerstk 2007-11-08 12:31:54 +00:00
parent 9f7c370334
commit c21c9b5573
10 changed files with 69 additions and 33 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
src/kart.cpp
View File

@ -585,6 +585,16 @@ float Kart::getActualWheelForce()
} // getActualWheelForce
#endif
//-----------------------------------------------------------------------------
#ifdef BULLET
bool Kart::isOnGround()
{
return m_vehicle->getWheelInfo(0).m_raycastInfo.m_isInContact &&
m_vehicle->getWheelInfo(1).m_raycastInfo.m_isInContact &&
m_vehicle->getWheelInfo(2).m_raycastInfo.m_isInContact &&
m_vehicle->getWheelInfo(3).m_raycastInfo.m_isInContact;
} // isOnGround
#endif
//-----------------------------------------------------------------------------
void Kart::handleExplosion(const sgVec3& pos, bool direct_hit)
{
@ -740,7 +750,7 @@ void Kart::update (float dt)
updatePhysics(dt);
sgCopyVec2 ( m_last_track_coords, m_curr_track_coords );
if(m_material_hot && m_on_ground)
if(m_material_hot && isOnGround())
{
float r=m_material_hot->getFriction();
if(r<m_current_friction)
@ -944,8 +954,8 @@ void Kart::updatePhysics (float dt)
{ // going backward, apply reverse gear ratio
if ( fabs(m_speed) < m_max_speed*m_max_speed_reverse_ratio )
{
m_vehicle->applyEngineForce(-m_controls.brake*engine_power, 2);
m_vehicle->applyEngineForce(-m_controls.brake*engine_power, 3);
m_vehicle->applyEngineForce(-engine_power*m_controls.brake, 2);
m_vehicle->applyEngineForce(-engine_power*m_controls.brake, 3);
}
else
{
@ -961,7 +971,7 @@ void Kart::updatePhysics (float dt)
}
}
if(m_controls.jump)
if(isOnGround() && m_controls.jump)
{
//Vector3 impulse(0.0f, 0.0f, 10.0f);
// getVehicle()->getRigidBody()->applyCentralImpulse(impulse);
@ -1299,7 +1309,7 @@ void Kart::processSkidMarks()
if(m_skid_rear || m_skid_front)
{
if(m_on_ground)
if(isOnGround())
{
const float LENGTH = 0.57f;
if(m_skidmark_left)

1
src/kart.hpp
View File

@ -242,6 +242,7 @@ public:
float getSpeed () const {return m_speed; }
float handleWheelie(float dt);
float getActualWheelForce();
bool isOnGround ();
#endif
void adjustSpeedWeight(float f);
void forceRescue ();

13
src/moveable.cpp
View File

@ -70,7 +70,9 @@ Moveable::~Moveable()
//-----------------------------------------------------------------------------
void Moveable::reset ()
{
#ifndef BULLET
m_on_ground = true;
#endif
m_collided = false;
m_crashed = false;
m_material_hot = NULL;
@ -176,16 +178,7 @@ void Moveable::update (float dt)
} // if m_history_position
const float HAT = m_curr_pos.xyz[2]-HOT;
#ifdef BULLET
m_on_ground = ( HAT <= 1.5 );
// FIXME: we need a correct test here, HOT/HAT are currently not defined
// for bullet (and would require a separate raycast, which can be
// expensive. Perhaps add a function to bullet to indicate if
// all/some/?? wheels toucht the ground.
// m_on_ground is currently only used (in the bullet version) for
// the gui display anyway
#else
#ifndef BULLET
m_on_ground = ( HAT <= 0.01 );
doCollisionAnalysis(dt, HOT);
#endif

4
src/moveable.hpp
View File

@ -56,7 +56,9 @@ protected:
int m_crashed;
sgVec3 m_surface_avoidance_vector ;
int m_first_time ;
#ifndef BULLET
int m_on_ground ;
#endif
float collectIsectData ( sgVec3 start, sgVec3 end ) ;
sgCoord* m_history_velocity;
@ -75,7 +77,9 @@ public:
virtual ~Moveable();
ssgTransform* getModel () {return m_model ; }
#ifndef BULLET
int isOnGround () {return m_on_ground; }
#endif
MoveableType getMoveableType() const {return m_moveable_type; }
void setMoveableType(MoveableType m){m_moveable_type=m; }
sgCoord* getVelocity () {return & m_velocity; }

29
src/physics.cpp
View File

@ -30,6 +30,7 @@
#include "moving_physics.hpp"
#include "user_config.hpp"
#include "sound_manager.hpp"
#include "material_manager.hpp"
/** Initialise physics. */
@ -38,17 +39,18 @@ float Physics::NOHIT=-99999.9f;
Physics::Physics(float gravity)
{
btDefaultCollisionConfiguration* collisionConf
= new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(collisionConf);
m_collision_conf = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collision_conf);
btVector3 worldMin(-1000, -1000, -1000);
btVector3 worldMax( 1000, 1000, 1000);
btBroadphaseInterface *axis_sweep = new btAxisSweep3(worldMin, worldMax);
m_axis_sweep = new btAxisSweep3(worldMin, worldMax);
btConstraintSolver *constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamics_world = new btDiscreteDynamicsWorld(m_dispatcher, axis_sweep,
constraintSolver, collisionConf);
m_constraint_solver = new btSequentialImpulseConstraintSolver();
m_dynamics_world = new btDiscreteDynamicsWorld(m_dispatcher,
m_axis_sweep,
m_constraint_solver,
m_collision_conf);
m_dynamics_world->setGravity(btVector3(0.0f, 0.0f, -gravity));
if(user_config->m_bullet_debug)
{
@ -63,6 +65,11 @@ Physics::~Physics()
{
delete m_dispatcher;
delete m_dynamics_world;
delete m_axis_sweep;
delete m_collision_conf;
delete m_constraint_solver;
if(user_config->m_bullet_debug) delete m_debug_drawer;
} // ~Physics
// -----------------------------------------------------------------------------
@ -104,6 +111,10 @@ void Physics::convertTrack(ssgEntity *track, sgMat4 m, btTriangleMesh* track_mes
else if(track->isAKindOf(ssgTypeLeaf()))
{
ssgLeaf *leaf = (ssgLeaf*)(track);
Material *mat = material_manager->getMaterial(leaf);
// Don't convert triangles with material that is ignored (e.g. fuzzy_sand)
if(!mat || mat->isIgnore()) return;
for(int i=0; i<leaf->getNumTriangles(); i++)
{
short v1,v2,v3;
@ -280,7 +291,7 @@ void Physics::handleCollisions() {
} // handleCollisions
// -----------------------------------------------------------------------------
float Physics::getHOT(btVector3 pos)
float Physics::getHAT(btVector3 pos)
{
btVector3 to_pos(pos);
to_pos.setZ(-100000.f);
@ -289,7 +300,7 @@ float Physics::getHOT(btVector3 pos)
m_dynamics_world->rayTest(pos, to_pos, rayCallback);
if(!rayCallback.HasHit()) return NOHIT;
return 1.0f;
return rayCallback.m_hitPointWorld.getZ() - pos.getZ();
} // getHOT
// -----------------------------------------------------------------------------
bool Physics::getTerrainNormal(btVector3 pos, btVector3* normal)

5
src/physics.hpp
View File

@ -33,6 +33,9 @@ protected:
Kart *m_kart;
GLDebugDrawer *m_debug_drawer;
btCollisionDispatcher *m_dispatcher;
btBroadphaseInterface *m_axis_sweep;
btDefaultCollisionConfiguration *m_collision_conf;
btConstraintSolver *m_constraint_solver;
void convertTrack(ssgEntity *track, sgMat4 m, btTriangleMesh* track_mesh);
public:
@ -50,7 +53,7 @@ public:
getPhysicsWorld () const {return m_dynamics_world;}
void debugDraw (float m[16], btCollisionShape *s, const btVector3 color);
static float NOHIT;
float getHOT (btVector3 pos);
float getHAT (btVector3 pos);
bool getTerrainNormal(btVector3 pos, btVector3* normal);
};
// For non-bullet version: empty object

2
src/player_kart.cpp
View File

@ -147,7 +147,7 @@ void PlayerKart::update(float dt)
m_collectable.use() ;
m_controls.fire = false;
}
if ( m_on_ground && m_controls.rescue )
if ( isOnGround() && m_controls.rescue )
{
sound_manager -> playSfx ( SOUND_BEEP ) ;
forceRescue();

7
src/projectile.cpp
View File

@ -112,6 +112,7 @@ void Projectile::init(Kart *kart, int collectable_)
// terrain is under the rocket). Once hot is done with bullet as
// well, this shouldn't be necessary anymore.
placeModel();
m_current_HAT = world->getHAT(offset.getOrigin());
#else
sgCoord c;
@ -147,6 +148,12 @@ void Projectile::update (float dt)
#ifdef BULLET
if(m_exploded) return;
m_body->setLinearVelocity(m_initial_velocity);
m_HAT_counter++;
if(m_HAT_counter==10)
{
m_current_HAT = world->getHAT(getBody()->getCenterOfMassPosition());
m_HAT_counter = 0;
}
#else
// we don't even do any physics here - just set the
// velocity, and ignore everything else for projectiles.

3
src/projectile.hpp
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@ -36,6 +36,9 @@ class Projectile : public Moveable
#ifdef BULLET
bool m_exploded;
btVector3 m_initial_velocity;
float m_current_HAT; // height above terrain
int m_HAT_counter; // compute HAT only every N timesteps
#endif
public:

4
src/world.hpp
View File

@ -101,6 +101,10 @@ public:
Phase getPhase() const { return m_phase; }
float getGravity() const { return m_track->getGravity(); }
Physics *getPhysics() const { return m_physics; }
Track *getTrack() const { return m_track; }
#ifdef BULLET
float getHAT(btVector3 pos) const { return m_physics->getHAT(pos); }
#endif
Kart* getFastestKart() const { return m_fastest_kart; }
float getFastestLapTime() const { return m_fastest_lap; }
void setFastestLap(Kart *k, float time) {m_fastest_kart=k;m_fastest_lap=time;}