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 "base/vec.h"
  21 #include "object.h"
  22 #include <GL/gl.h>
  23
  24 /**********************
  25  * Collision callback *
  26  **********************/
  27
  28 #define MAX_CONTACTS 3
  29 void collision_callback(void *data, dGeomID g1, dGeomID g2)
  30 {
  31         if (dGeomIsSpace (g1) || dGeomIsSpace (g2)) {
  32
  33                 // colliding a space with something :
  34                 dSpaceCollide2 (g1, g2, data,&collision_callback);
  35
  36                 // collide all geoms internal to the space(s)
  37                 if (dGeomIsSpace (g1))
  38                         dSpaceCollide ((dSpaceID)g1, data, &collision_callback);
  39                 if (dGeomIsSpace (g2))
  40                         dSpaceCollide ((dSpaceID)g2, data, &collision_callback);
  41
  42                 return;
  43         }
  44
  45         dWorld *world = World::Instance()->getWorld();
  46         dJointGroup *jgroup = World::Instance()->getJointGroup();
  47
  48         dContact contacts[MAX_CONTACTS];
  49
  50         Object *o1 = (Object*)dGeomGetData(g1);
  51         Object *o2 = (Object*)dGeomGetData(g2);
  52
  53         int num = dCollide(g1,g2,MAX_CONTACTS,&contacts[0].geom,sizeof(dContact));
  54
  55         if (num && o1 && o2)
  56         {
  57                 if ( o1->collide(o2) && o2->collide(o1) )
  58                 {
  59                         // they collide
  60                 }
  61                 else
  62                 {
  63                         // they don't
  64                         return;
  65                 }
  66         }
  67
  68         dWorldID world_id = world->id();
  69         dJointGroupID jgroup_id = jgroup->id();
  70
  71         for (int i=0; i<num; i++)
  72         {
  73                 contacts[i].surface.mode = dContactBounce;
  74                 contacts[i].surface.bounce = 0.0;//0.1;
  75                 contacts[i].surface.bounce_vel = 0.0;//0.01;
  76                 contacts[i].surface.mu = dInfinity;
  77         }
  78
  79         for (int i=0; i<num; i++)
  80         {
  81                 dJointID c = dJointCreateContact(world_id,jgroup_id,&contacts[i]);
  82                 dJointAttach(c,dGeomGetBody(contacts[i].geom.g1),
  83                                          dGeomGetBody(contacts[i].geom.g2));
  84         }
  85 }
  86
  87 /***************
  88  * World class *
  89  ***************/
  90
  91 World::World() : m_maxcontacts(512), m_stepcount(2), m_stepsize(0.1)
  92 {
  93         m_jointgroup = new dJointGroup(m_maxcontacts);
  94         m_space = new dHashSpace(0);
  95         dReal center[] = {0,0,0};
  96         dReal extents[] = {100,100,10};
  97         m_space = new dQuadTreeSpace(0,center,extents,6);
  98         dInitODE();
  99 }
 100
 101 World::~World()
 102 {
 103         delete m_jointgroup;
 104     delete m_space;
 105 }
 106
 107 World* World::Instance()
 108 {
 109         static World w;
 110         return &w;
 111 }
 112
 113 void World::step()
 114 {
 115         m_space->collide(0,collision_callback);
 116
 117         for (int i=0; i<m_stepcount; i++)
 118         {
 119                 dWorldQuickStep(m_world.id(),m_stepsize/m_stepcount);
 120         }
 121
 122         m_jointgroup->empty();
 123 }
 124
 125 void ray_callback(void *data, dGeomID g1, dGeomID g2)
 126 {
 127         dContactGeom *res = (dContactGeom*)data;
 128
 129         //Object *o1 = (Object*)dGeomGetData(g1);
 130         //Object *o2 = (Object*)dGeomGetData(g2);
 131
 132         if (dGeomGetClass(g1) != dRayClass &&
 133                 dGeomGetClass(g2) != dRayClass) {
 134                 return;
 135         }
 136
 137         dCollide(g1, g2, 1, res, sizeof(dContactGeom));
 138
 139         /*
 140         printf("Got %d contacts\n", num);
 141
 142         if (num) {
 143                 printf("Found one\n");
 144                 if (geom.depth <= res->depth) {
 145                         *res = geom;
 146                         printf("HIT\n");
 147                 }
 148         }
 149         */
 150 }
 151
 152 dReal World::trace(dRay *ray)
 153 {
 154         dContactGeom geom;
 155         geom.depth = dInfinity;
 156         ray->collide2((dGeomID)m_space->id(), &geom, ray_callback);
 157         return geom.depth;
 158 }