bea8439052
that we could work with framerates as low as 20 FPS without getting noticeable changes in the physics. git-svn-id: svn+ssh://svn.code.sf.net/p/supertuxkart/code/trunk/supertuxkart@1510 178a84e3-b1eb-0310-8ba1-8eac791a3b58
300 lines
12 KiB
C++
300 lines
12 KiB
C++
// $Id: physics.cpp 839 2006-10-24 00:01:56Z hiker $
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//
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// SuperTuxKart - a fun racing game with go-kart
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// Copyright (C) 2006 Joerg Henrichs
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License
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// as published by the Free Software Foundation; either version 2
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// of the License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty ofati
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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#include "physics.hpp"
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#include "ssg_help.hpp"
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#include "world.hpp"
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#include "flyable.hpp"
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#include "moving_physics.hpp"
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#include "user_config.hpp"
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#include "sound_manager.hpp"
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#include "material_manager.hpp"
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/** Initialise physics. */
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// ----------------------------------------------------------------------------
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Physics::Physics(float gravity) : btSequentialImpulseConstraintSolver()
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{
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m_collision_conf = new btDefaultCollisionConfiguration();
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m_dispatcher = new btCollisionDispatcher(m_collision_conf);
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btVector3 worldMin(-1000, -1000, -1000);
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btVector3 worldMax( 1000, 1000, 1000);
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m_axis_sweep = new btAxisSweep3(worldMin, worldMax);
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m_dynamics_world = new btDiscreteDynamicsWorld(m_dispatcher,
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m_axis_sweep,
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this,
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m_collision_conf);
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m_dynamics_world->setGravity(btVector3(0.0f, 0.0f, -gravity));
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if(user_config->m_bullet_debug)
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{
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m_debug_drawer=new GLDebugDrawer();
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m_debug_drawer->setDebugMode(btIDebugDraw::DBG_DrawWireframe);
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m_dynamics_world->setDebugDrawer(m_debug_drawer);
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}
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} // Physics
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//-----------------------------------------------------------------------------
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Physics::~Physics()
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{
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if(user_config->m_bullet_debug) delete m_debug_drawer;
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delete m_dynamics_world;
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delete m_axis_sweep;
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delete m_dispatcher;
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delete m_collision_conf;
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} // ~Physics
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// -----------------------------------------------------------------------------
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//* Adds a kart to the physics engine
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void Physics::addKart(const Kart *kart, btRaycastVehicle *vehicle)
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{
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m_dynamics_world->addRigidBody(kart->getBody());
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m_dynamics_world->addVehicle(vehicle);
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} // addKart
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//-----------------------------------------------------------------------------
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/** Removes a kart from the physics engine. This is used when rescuing a kart
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* (and during cleanup).
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*/
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void Physics::removeKart(const Kart *kart)
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{
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m_dynamics_world->removeRigidBody(kart->getBody());
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m_dynamics_world->removeVehicle(kart->getVehicle());
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} // removeKart
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//-----------------------------------------------------------------------------
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void Physics::update(float dt)
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{
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// Bullet can report the same collision more than once (up to 4
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// contact points per collision. Additionally, more than one internal
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// substep might be taken, resulting in potentially even more
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// duplicates. To handle this, all collisions (i.e. pair of objects)
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// are stored in a vector, but only one entry per collision pair
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// of objects.
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m_all_collisions.clear();
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// Maximum of three substeps. This will work for framerate down to
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// 20 FPS (bullet default frequency is 60 HZ).
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m_dynamics_world->stepSimulation(dt, 3);
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// Now handle the actual collision. Note: rockets can not be removed
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// inside of this loop, since the same rocket might hit more than one
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// other object. So, only a flag is set in the rockets, the actual
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// clean up is then done later in the projectile manager.
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std::vector<CollisionPair>::iterator p;
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for(p=m_all_collisions.begin(); p!=m_all_collisions.end(); ++p)
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{
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if(p->a->is(UserPointer::UP_KART)) { // kart-kart collision
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KartKartCollision(p->a->getPointerKart(), p->b->getPointerKart());
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} // if kart-kart collision
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else // now the first object must be a projectile
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{
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if(p->b->is(UserPointer::UP_TRACK)) // must be projectile hit track
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{
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p->a->getPointerFlyable()->hitTrack();
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}
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else if(p->b->is(UserPointer::UP_MOVING_PHYSICS))
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{
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p->a->getPointerFlyable()->explode(NULL, p->b->getPointerMovingPhysics());
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}
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else if(p->b->is(UserPointer::UP_KART)) // projectile hit kart
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{
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p->a->getPointerFlyable()->explode((Kart*)(p->b));
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}
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else // projectile hits projectile
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{
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p->a->getPointerFlyable()->explode(NULL);
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p->b->getPointerFlyable()->explode(NULL);
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}
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}
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} // for all p in m_all_collisions
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} // update
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//-----------------------------------------------------------------------------
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/** Handles the special case of two karts colliding with each other
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* If both karts have a bomb, they'll explode immediately
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*/
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void Physics::KartKartCollision(Kart *kartA, Kart *kartB)
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{
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kartA->crashed(); // will play crash sound for player karts
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kartB->crashed();
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Attachment *attachmentA=kartA->getAttachment();
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Attachment *attachmentB=kartB->getAttachment();
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if(attachmentA->getType()==ATTACH_BOMB)
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{
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// If both karts have a bomb, explode them immediately:
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if(attachmentB->getType()==ATTACH_BOMB)
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{
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attachmentA->setTimeLeft(0.0f);
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attachmentB->setTimeLeft(0.0f);
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}
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else // only A has a bomb, move it to B (unless it was from B)
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{
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if(attachmentA->getPreviousOwner()!=kartB)
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{
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attachmentA->moveBombFromTo(kartA, kartB);
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}
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}
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}
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else if(attachmentB->getType()==ATTACH_BOMB &&
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attachmentB->getPreviousOwner()!=kartA)
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{
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attachmentB->moveBombFromTo(kartB, kartA);
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}
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} // KartKartCollision
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//-----------------------------------------------------------------------------
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/** This function is called at each internal bullet timestep. It is used
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* here to do the collision handling: using the contact manifolds after a
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* physics time step might miss some collisions (when more than one internal
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* time step was done, and the collision is added and removed).
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**/
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btScalar Physics::solveGroup(btCollisionObject** bodies, int numBodies,
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btPersistentManifold** manifold,int numManifolds,
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btTypedConstraint** constraints,int numConstraints,
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const btContactSolverInfo& info,
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btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,
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btDispatcher* dispatcher) {
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btScalar returnValue=
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btSequentialImpulseConstraintSolver::solveGroup(bodies, numBodies, manifold,
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numManifolds, constraints,
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numConstraints, info,
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debugDrawer, stackAlloc,
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dispatcher);
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int currentNumManifolds = m_dispatcher->getNumManifolds();
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// We can't explode a rocket in a loop, since a rocket might collide with
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// more than one object, and/or more than once with each object (if there
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// is more than one collision point). So keep a list of rockets that will
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// be exploded after the collisions
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std::vector<Moveable*> rocketsToExplode;
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for(int i=0; i<currentNumManifolds; i++)
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{
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btPersistentManifold* contactManifold = m_dynamics_world->getDispatcher()->getManifoldByIndexInternal(i);
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btCollisionObject* objA = static_cast<btCollisionObject*>(contactManifold->getBody0());
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btCollisionObject* objB = static_cast<btCollisionObject*>(contactManifold->getBody1());
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int numContacts = contactManifold->getNumContacts();
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if(!numContacts) continue; // no real collision
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UserPointer *upA = (UserPointer*)(objA->getUserPointer());
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UserPointer *upB = (UserPointer*)(objB->getUserPointer());
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// FIXME: Must be a moving physics object
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// FIXME: A rocket should explode here!
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if(!upA || !upB) continue;
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// 1) object A is a track
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// =======================
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if(upA->is(UserPointer::UP_TRACK))
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{
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if(upB->is(UserPointer::UP_FLYABLE)) // 1.1 projectile hits track
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m_all_collisions.push_back(upB, upA);
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else if(upB->is(UserPointer::UP_KART))
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// FIXME: sound disabled for now, since the chassis of the karts hits
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// the track when accelerating, causing a constant crash sfx
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// to be played. Might be fixed with better physics parameters
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//upB->getPointerKart()->crashed();
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#if defined(WIN32) && !defined(__CYGWIN__)
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0 // avoid VS compiler warning while the above statement is commented out
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#endif
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;
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}
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// 2) object a is a kart
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// =====================
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else if(upA->is(UserPointer::UP_KART))
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{
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if(upB->is(UserPointer::UP_TRACK))
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// FIXME: sound disabled for now, since the chassis of the karts hits
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// the track when accelerating, causing a constant crash sfx
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// to be played. Might be fixed with better physics parameters
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// upA->getPointerKart()->crashed(); // Kart hit track
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;
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else if(upB->is(UserPointer::UP_FLYABLE))
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m_all_collisions.push_back(upB, upA); // 2.1 projectile hits kart
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else if(upB->is(UserPointer::UP_KART))
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m_all_collisions.push_back(upA, upB); // 2.2 kart hits kart
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}
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// 3) object is a projectile
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// ========================
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else if(upA->is(UserPointer::UP_FLYABLE))
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{
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if(upB->is(UserPointer::UP_TRACK ) || // 3.1) projectile hits track
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upB->is(UserPointer::UP_FLYABLE ) || // 3.2) projectile hits projectile
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upB->is(UserPointer::UP_MOVING_PHYSICS) || // 3.3) projectile hits projectile
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upB->is(UserPointer::UP_KART ) ) // 3.4) projectile hits kart
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{
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m_all_collisions.push_back(upA, upB);
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}
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}
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else if(upA->is(UserPointer::UP_MOVING_PHYSICS))
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{
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if(upB->is(UserPointer::UP_FLYABLE))
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{
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m_all_collisions.push_back(upB, upA);
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}
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}
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else assert("Unknown user pointer"); // 4) Should never happen
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} // for i<numManifolds
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return returnValue;
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} // solveGroup
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// -----------------------------------------------------------------------------
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void Physics::draw()
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{
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if(user_config->m_bullet_debug)
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{
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int num_objects = m_dynamics_world->getNumCollisionObjects();
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for(int i=0; i<num_objects; i++)
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{
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btCollisionObject *obj = m_dynamics_world->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(obj);
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if(!body) continue;
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float m[16];
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btVector3 wireColor(1,0,0);
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btDefaultMotionState *myMotion = (btDefaultMotionState*)body->getMotionState();
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if(myMotion)
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{
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myMotion->m_graphicsWorldTrans.getOpenGLMatrix(m);
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debugDraw(m, obj->getCollisionShape(), wireColor);
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}
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} // for i
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} // if m_bullet_debug
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} // draw
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// -----------------------------------------------------------------------------
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void Physics::debugDraw(float m[16], btCollisionShape *s, const btVector3 color)
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{
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m_shape_drawer.drawOpenGL(m, s, color, 0);
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// btIDebugDraw::DBG_DrawWireframe);
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// btIDebugDraw::DBG_DrawAabb);
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} // debugDraw
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// -----------------------------------------------------------------------------
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/* EOF */
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