src/phys/world.cpp

   1 /************************************************************************
   2     This file is part of NE.
   3
   4     NE is free software: you can redistribute it and/or modify
   5     it under the terms of the GNU General Public License as published by
   6     the Free Software Foundation, either version 3 of the License, or
   7     (at your option) any later version.
   8
   9     NE is distributed in the hope that it will be useful,
  10     but WITHOUT ANY WARRANTY; without even the implied warranty of
  11     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12     GNU General Public License for more details.
  13
  14     You should have received a copy of the GNU General Public License
  15     along with NE.  If not, see <http://www.gnu.org/licenses/>.
  16 ************************************************************************/
  17
  18 #include "world.h"
  19
  20 #include "object.h"
  21 #include <GL/gl.h>
  22
  23 /**********************
  24  * Collision callback *
  25  **********************/
  26
  27 #define MAX_CONTACTS 3
  28 void collision_callback(void *data, dGeomID g1, dGeomID g2)
  29 {
  30         dWorld *world = World::Instance()->getWorld();
  31         dJointGroup *jgroup = World::Instance()->getJointGroup();
  32
  33     dContact contacts[MAX_CONTACTS];
  34
  35     Object *o1 = (Object*)dGeomGetData(g1);
  36     Object *o2 = (Object*)dGeomGetData(g2);
  37
  38     int num = dCollide(g1,g2,MAX_CONTACTS,&contacts[0].geom,sizeof(dContact));
  39
  40     if (num && o1 && o2)
  41     {
  42                 if ( o1->collide(o2) && o2->collide(o1) )
  43                 {
  44                         // they collide
  45                 }
  46                 else
  47                 {
  48                         // they don't
  49                         return;
  50                 }
  51     }
  52
  53     dWorldID world_id = world->id();
  54     dJointGroupID jgroup_id = jgroup->id();
  55
  56     for (int i=0; i<num; i++)
  57     {
  58         contacts[i].surface.mode = dContactBounce;
  59         contacts[i].surface.bounce = 0.1;
  60         contacts[i].surface.bounce_vel = 0.01;
  61         contacts[i].surface.mu = 5000;
  62         dJointID c = dJointCreateContact(world_id,jgroup_id,&contacts[i]);
  63         dJointAttach(c,dGeomGetBody(contacts[i].geom.g1),
  64                        dGeomGetBody(contacts[i].geom.g2));
  65      }
  66 }
  67
  68 /***************
  69  * World class *
  70  ***************/
  71
  72 World::World() : m_maxcontacts(512), m_stepcount(2), m_stepsize(0.1)
  73 {
  74         m_jointgroup = new dJointGroup(m_maxcontacts);
  75         m_space = new dHashSpace(0);
  76         dReal center[] = {0,0,0};
  77         dReal extents[] = {100,100,10};
  78         m_space = new dQuadTreeSpace(0,center,extents,6);
  79         dInitODE();
  80 }
  81
  82 World::~World()
  83 {
  84         delete m_jointgroup;
  85     delete m_space;
  86 }
  87
  88 World* World::Instance()
  89 {
  90         static World w;
  91         return &w;
  92 }
  93
  94 void World::step()
  95 {
  96         m_space->collide(0,collision_callback);
  97
  98         for (int i=0; i<m_stepcount; i++)
  99         {
 100                 dWorldQuickStep(m_world.id(),m_stepsize/m_stepcount);
 101         }
 102
 103         m_jointgroup->empty();
 104 }