a5e2ef24d5
2) Fixed bug in collision detection (a kart-kart crash could cause a sigsegv). 3) Fixed bug in track loader, which caused somer track objects (e.g. zipper in bsod castle) not to get the correct pitch/roll, causing them to 'stick out') 4) Fixed wheelie handling for AI (though wheelies are still disabled by default, change wheelie-max-speed-ratio to 0.5 to test). 5) Some cleanup of non-bullet code. git-svn-id: svn+ssh://svn.code.sf.net/p/supertuxkart/code/trunk/supertuxkart@1370 178a84e3-b1eb-0310-8ba1-8eac791a3b58
109 lines
4.4 KiB
C++
109 lines
4.4 KiB
C++
// $Id: physics.hpp 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 of
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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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#ifndef HEADER_PHYSICS_H
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#define HEADER_PHYSICS_H
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#include "kart.hpp"
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#include "flyable.hpp"
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#include <plib/sg.h>
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#include <set>
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#include "btBulletDynamicsCommon.h"
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#include "bullet/Demos/OpenGL/GLDebugDrawer.h"
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class Physics : public btSequentialImpulseConstraintSolver
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{
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private:
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btDynamicsWorld *m_dynamics_world;
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Kart *m_kart;
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GLDebugDrawer *m_debug_drawer;
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btCollisionDispatcher *m_dispatcher;
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btBroadphaseInterface *m_axis_sweep;
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btDefaultCollisionConfiguration *m_collision_conf;
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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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// While this is a natural application of std::set, the set has some
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// overhead (since it will likely use a tree to sort the entries).
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// Considering that the number of collisions is usually rather small
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// a simple list and linear search is being used here.
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class CollisionPair {
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public:
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void *a, *b;
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UserPointer::UserPointerType type_a, type_b;
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// The entries in Collision Pairs are sorted: if a projectile
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// is included, it's always 'a'. If only two karts are reported
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// the first kart pointer is the smaller one
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CollisionPair(void *a1, UserPointer::UserPointerType atype,
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void *b1, UserPointer::UserPointerType btype) {
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if(atype==Moveable::UP_KART && btype==Moveable::UP_KART && a1>b1) {
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a=b1;b=a1; type_a=btype; type_b=atype;
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} else {
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a=a1; b=b1; type_a=atype; type_b=btype;
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}
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}; // CollisionPair
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bool operator==(const CollisionPair p) {
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return (p.a==a && p.b==b);
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}
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};
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// This class is the list of collision objects, where each collision
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// pair is stored as most once.
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class CollisionList : public std::vector<CollisionPair> {
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public:
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void push_back(CollisionPair p) {
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// only add a pair if it's not already in there
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for(iterator i=begin(); i!=end(); i++) {
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if((*i)==p) return;
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}
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std::vector<CollisionPair>::push_back(p);
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}; // push_back
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};
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CollisionList m_all_collisions;
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void KartKartCollision(Kart *ka, Kart *kb);
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public:
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Physics (float gravity);
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~Physics ();
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void addKart (const Kart *k, btRaycastVehicle *v);
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void addBody (btRigidBody* b) {m_dynamics_world->addRigidBody(b);}
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void removeKart (const Kart *k);
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void removeBody (btRigidBody* b) {m_dynamics_world->removeRigidBody(b);}
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void update (float dt);
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void draw ();
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btDynamicsWorld*
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getPhysicsWorld () const {return m_dynamics_world;}
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void debugDraw (float m[16], btCollisionShape *s, const btVector3 color);
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virtual btScalar 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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};
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#endif
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/* EOF */
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