From 2a5a81dcf346479d37d7bee6d665cbdf05406170 Mon Sep 17 00:00:00 2001
From: Rtch90 <ritchie.cunningham@protonmail.com>
Date: Sat, 18 Nov 2017 18:18:31 +0000
Subject: [PATCH] [Add] Collisions using collision meshes.
---
src/player.cpp | 1 +
src/rigid_body.cpp | 2 --
src/ship.cpp | 57 ++++++++++++++++++++++++---------------
src/ship.h | 3 +--
src/space.cpp | 7 +++--
src/space_station.cpp | 41 +++++++++++++++-------------
src/static_rigid_body.cpp | 49 ++++++++++++++++++++++++++++++---
src/static_rigid_body.h | 5 ++++
8 files changed, 114 insertions(+), 51 deletions(-)
diff --git a/src/player.cpp b/src/player.cpp
index 9f2b61c..82967e7 100644
--- a/src/player.cpp
+++ b/src/player.cpp
@@ -157,6 +157,7 @@ void Player::DrawHUD(const Frame* cam_frame) {
{
for(std::list<Body*>::iterator i = Space::bodies.begin(); i != Space::bodies.end(); ++i) {
+ if((L3D::GetCamType() != L3D::CAM_EXTERNAL) && (*i == this)) continue;
Body* b = *i;
vector3d _pos = b->GetPositionRelTo(cam_frame);
vector3d cam_coord = rot*_pos;
diff --git a/src/rigid_body.cpp b/src/rigid_body.cpp
index 00bde01..9a6cc37 100644
--- a/src/rigid_body.cpp
+++ b/src/rigid_body.cpp
@@ -11,8 +11,6 @@ RigidBody::RigidBody(void) : StaticRigidBody() {
dMassAdjust(&m_mass, 1.0f);
dBodySetMass(m_body, &m_mass);
- dGeomSetBody(m_geom, m_body);
- SetPosition(vector3d(0,0,0));
}
vector3d RigidBody::GetAngularMomentum(void) {
diff --git a/src/ship.cpp b/src/ship.cpp
index e9a03e1..e8ba68e 100644
--- a/src/ship.cpp
+++ b/src/ship.cpp
@@ -3,15 +3,29 @@
#include "frame.h"
#include "l3d.h"
#include "world_view.h"
-#include "sbre/sbre.h"
#include "space.h"
+static ObjParams params = {
+ { 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0 },
+ { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0 },
+ { 0.0f, 0.0f, 1.0f }, { 0.0f, 0.0f, 0.0f },
+
+ /* pColor[3] */
+ {
+ { { 1.0f, 0.0f, 1.0f }, { 0, 0, 0 }, { 0, 0, 0 }, 0 },
+ { { 0.8f, 0.6f, 0.5f }, { 0, 0, 0 }, { 0, 0, 0 }, 0 },
+ { { 0.5f, 0.5f, 0.5f }, { 0, 0, 0 }, { 0, 0, 0 }, 0 }
+ },
+
+ /* pText[3][256] */
+ { "IR-L33T", "ME TOO" },
+};
+
Ship::Ship(ShipType::Type shipType) : RigidBody() {
m_wheelTransition = 0;
m_wheelState = 0;
m_dockedWith = 0;
m_target = 0;
- m_mesh = 0;
m_shipType = shipType;
m_angThrusters[0] = m_angThrusters[1] = m_angThrusters[2] = 0;
m_laserCollisionObj.owner = this;
@@ -20,7 +34,9 @@ Ship::Ship(ShipType::Type shipType) : RigidBody() {
m_tempLaserGeom[i] = 0;
m_gunState[i] = 0;
}
- dGeomSetData(m_geom, static_cast<Body*>(this));
+ const ShipType& stype = GetShipType();
+ SetGeomFromSBREModel(stype.sbreModel, ¶ms);
+ dGeomSetBody(m_geom, m_body);
}
void Ship::UpdateMass(void) {
@@ -61,6 +77,8 @@ void Ship::CalcStats(shipstats_t* stats) {
}
void Ship::AITurn(void) {
+ /* ODE tri mesh likes to know our old position. */
+ TriMeshUpdateLastPos();
const ShipType& stype = GetShipType();
float timeStep = L3D::GetTimeStep();
for(int i = 0; i < ShipType::THRUSTER_MAX; i++) {
@@ -125,10 +143,6 @@ void Ship::SetDockedWith(SpaceStation* s) {
}
}
-void Ship::SetMesh(ObjMesh* m) {
- m_mesh = m;
-}
-
void Ship::SetGunState(int idx, int state) {
m_gunState[idx] = state;
}
@@ -157,20 +171,20 @@ void Ship::RenderLaserfire(void) {
glEnable(GL_LIGHTING);
}
-static ObjParams params = {
- { 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0 },
- { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0 },
- { 0.0f, 0.0f, 1.0f }, { 0.0f, 0.0f, 0.0f },
-
- /* pColor[3] */
- {
- { { 1.0f, 0.0f, 1.0f }, { 0, 0, 0 }, { 0, 0, 0 }, 0 },
- { { 0.8f, 0.6f, 0.5f }, { 0, 0, 0 }, { 0, 0, 0 }, 0 },
- { { 0.5f, 0.5f, 0.5f }, { 0, 0, 0 }, { 0, 0, 0 }, 0 }
- },
- /* pText[3][256] */
- { "IZ-L33T", "ME TOO" },
-};
+#if 0
+static void render_coll_mesh(const CollMesh* m) {
+ glDisable(GL_LIGHTING);
+ glColor3f(1, 0, 1);
+ glBegin(GL_TRIANGLES);
+ for(int i = 0; i < m->ni; i += 3) {
+ glVertex3fv(&m->pVertex[3*m->pIndex[i]]);
+ glVertex3fv(&m->pVertex[3*m->pIndex[i+1]]);
+ glVertex3fv(&m->pVertex[3*m->pIndex[i+2]]);
+ }
+ glEnd();
+ glEnable(GL_LIGHTING);
+}
+#endif
void Ship::Render(const Frame* camFrame) {
const ShipType& stype = GetShipType();
@@ -190,6 +204,7 @@ void Ship::Render(const Frame* camFrame) {
strncpy(params.pText[0], GetLabel().c_str(), sizeof(params.pText));
RenderSbreModel(camFrame, stype.sbreModel, ¶ms);
+
glPushMatrix();
TransformToModelCoords(camFrame);
RenderLaserfire();
diff --git a/src/ship.h b/src/ship.h
index a5e54d1..6a9d400 100644
--- a/src/ship.h
+++ b/src/ship.h
@@ -2,6 +2,7 @@
#include "libs.h"
#include "rigid_body.h"
#include "ship_type.h"
+#include "sbre/sbre.h"
class SpaceStation;
@@ -23,7 +24,6 @@ public:
void SetTarget(Body* const target) { m_target = target; }
Body* GetTarget(void) const { return m_target; }
virtual void Render(const Frame* camFrame);
- void SetMesh(ObjMesh* m);
void SetThrusterState(enum ShipType::Thruster t, float level);
void SetAngThrusterState(int axis, float level) { m_angThrusters[axis] = CLAMP(level, -1, 1); }
void ClearThrusterState(void);
@@ -45,7 +45,6 @@ protected:
SpaceStation* m_dockedWith;
enum ShipType::Type m_shipType;
- ObjMesh* m_mesh;
Uint32 m_gunState[ShipType::GUNMOUNT_MAX];
private:
float m_wheelState;
diff --git a/src/space.cpp b/src/space.cpp
index 7ca99e5..bd9cfa0 100644
--- a/src/space.cpp
+++ b/src/space.cpp
@@ -153,12 +153,11 @@ static void nearCallback(void* data, dGeomID oO, dGeomID o1) {
dContact contact[MAX_CONTACTS];
for(int i = 0; i < MAX_CONTACTS; i++) {
- contact[i].surface.mode = dContactBounce | dContactSoftCFM;
- contact[i].surface.mu = dInfinity;
+ contact[i].surface.mode = dContactBounce;
+ contact[i].surface.mu = 0;
contact[i].surface.mu2 = 0;
- contact[i].surface.bounce = 0.8;
+ contact[i].surface.bounce = 0;
contact[i].surface.bounce_vel = 0.1;
- contact[i].surface.soft_cfm = 0.01;
}
if(int numc = dCollide(oO, o1, MAX_CONTACTS, &contact[0].geom, sizeof(dContact))) {
Object* po1 = static_cast<Object*>(dGeomGetData(oO));
diff --git a/src/space_station.cpp b/src/space_station.cpp
index 17d0168..08c3ce0 100644
--- a/src/space_station.cpp
+++ b/src/space_station.cpp
@@ -2,9 +2,26 @@
#include "ship.h"
#include "objimport.h"
+#define STATION_SBRE_MODEL 65
+
+static ObjParams params = {
+ { 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0 },
+ { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0 },
+ { 0.0f, 0.0f, 1.0f }, { 0.0f, 0.0f, 0.0f },
+
+ /* pColor[3] */
+ {
+ { { 1.0f, 0.0f, 1.0f }, { 0, 0, 0 }, { 0, 0, 0 }, 0 },
+ { { 0.8f, 0.6f, 0.5f }, { 0, 0, 0 }, { 0, 0, 0 }, 0 },
+ { { 0.5f, 0.5f, 0.5f }, { 0, 0, 0 }, { 0, 0, 0 }, 0 }
+ },
+
+ /* pText[3][256] */
+ { "Hello you!", "CATZ" },
+};
+
SpaceStation::SpaceStation(void) : StaticRigidBody() {
- dGeomSphereSetRadius(m_geom, 100.0);
- dGeomSetData(m_geom, static_cast<Body*>(this));
+ SetGeomFromSBREModel(STATION_SBRE_MODEL, ¶ms);
matrix4x4d m = matrix4x4d::RotateYMatrix(M_PI);
dMatrix3 _m;
m.SaveToOdeMatrix(_m);
@@ -17,6 +34,8 @@ SpaceStation::~SpaceStation(void) {
}
bool SpaceStation::OnCollision(Body* b) {
+ return true;
+
if(b->GetType() == Object::SHIP) {
Ship* s = static_cast<Ship*>(b);
if(!s->GetDockedWith()) {
@@ -33,23 +52,7 @@ void SpaceStation::SetMesh(ObjMesh* m) {
m_mesh = m;
}
-static ObjParams params = {
- { 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0 },
- { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0 },
- { 0.0f, 0.0f, 1.0f }, { 0.0f, 0.0f, 0.0f },
-
- /* pColor[3] */
- {
- { { 1.0f, 0.0f, 1.0f }, { 0, 0, 0 }, { 0, 0, 0 }, 0 },
- { { 0.8f, 0.6f, 0.5f }, { 0, 0, 0 }, { 0, 0, 0 }, 0 },
- { { 0.5f, 0.5f, 0.5f }, { 0, 0, 0 }, { 0, 0, 0 }, 0 }
- },
-
- /* pText[3][256] */
- { "Hello old bean", "CATZ!" },
-};
-
void SpaceStation::Render(const Frame* camFrame) {
- RenderSbreModel(camFrame, 65, ¶ms);
+ RenderSbreModel(camFrame, STATION_SBRE_MODEL, ¶ms);
}
diff --git a/src/static_rigid_body.cpp b/src/static_rigid_body.cpp
index d100394..3b264ba 100644
--- a/src/static_rigid_body.cpp
+++ b/src/static_rigid_body.cpp
@@ -7,15 +7,45 @@
#include "world_view.h"
StaticRigidBody::StaticRigidBody(void): Body() {
- m_geom = dCreateSphere(0, 50.0f);
- dGeomSetBody(m_geom, 0);
- SetPosition(vector3d(0,0,0));
+ m_geom = 0;
+ sbreCollMesh = 0;
}
StaticRigidBody::~StaticRigidBody(void) {
+ if(sbreCollMesh) {
+ free(sbreCollMesh->pVertex);
+ free(sbreCollMesh->pIndex);
+ free(sbreCollMesh->pFlag);
+ free(sbreCollMesh);
+ }
dGeomDestroy(m_geom);
}
+void StaticRigidBody::SetGeomSphere(double radius) {
+ assert(!m_geom);
+ m_geom = dCreateSphere(0, radius);
+}
+
+void StaticRigidBody::SetGeomFromSBREModel(int sbreModel, ObjParams* params) {
+ assert(!m_geom);
+ assert(sbreCollMesh == 0);
+ sbreCollMesh = (CollMesh*)calloc(1, sizeof(CollMesh));
+ sbreGenCollMesh(sbreCollMesh, sbreModel, params);
+ /* TODO: Flip Z & X because SBRE is in magicspace. */
+ for(int i = 0; i < 3*sbreCollMesh->nv; i += 3) {
+ sbreCollMesh->pVertex[i] = -sbreCollMesh->pVertex[i];
+ sbreCollMesh->pVertex[i+2] = -sbreCollMesh->pVertex[i+2];
+ }
+ dTriMeshDataID triMeshDataID = dGeomTriMeshDataCreate();
+ dGeomTriMeshDataBuildSingle(triMeshDataID, (void*)sbreCollMesh->pVertex,
+ 3*sizeof(float), sbreCollMesh->nv, (void*)sbreCollMesh->pIndex,
+ sbreCollMesh->ni, 3*sizeof(int));
+
+ /* TODO: Leaking StaticRigidBody m_geom. */
+ m_geom = dCreateTriMesh(0, triMeshDataID, NULL, NULL, NULL);
+ dGeomSetData(m_geom, static_cast<Body*>(this));
+}
+
void StaticRigidBody::SetPosition(vector3d p) {
dGeomSetPosition(m_geom, p.x, p.y, p.z);
}
@@ -67,6 +97,19 @@ void StaticRigidBody::SetFrame(Frame* f) {
if(f) f->AddGeom(m_geom);
}
+void StaticRigidBody::TriMeshUpdateLastPos(void) {
+ /* ODE tri mesh likes to know our old position. */
+ const dReal* r = dGeomGetRotation(m_geom);
+ vector3d pos = GetPosition();
+ dMatrix4 t;
+ /* Row-major. */
+ t[0] = r[0]; t[1] = r[1]; t[ 2] = r[ 2]; t[ 3] = pos.x;
+ t[4] = r[4]; t[5] = r[5]; t[ 6] = r[ 6]; t[ 7] = pos.y;
+ t[8] = r[8]; t[9] = r[9]; t[10] = r[10]; t[11] = pos.z;
+ t[12] = t[13] = t[15] = 0;
+ dGeomTriMeshSetLastTransform(m_geom, t);
+}
+
void StaticRigidBody::RenderSbreModel(const Frame* camFrame, int model, ObjParams* params) {
glPushMatrix();
diff --git a/src/static_rigid_body.h b/src/static_rigid_body.h
index 292ce18..2fc2854 100644
--- a/src/static_rigid_body.h
+++ b/src/static_rigid_body.h
@@ -22,8 +22,13 @@ public:
void GetRotMatrix(matrix4x4d& m);
virtual void SetFrame(Frame* f);
+ void TriMeshUpdateLastPos(void);
+ void SetGeomFromSBREModel(int sbreModel, ObjParams* params);
+ void SetGeomSphere(double radius);
+
void RenderSbreModel(const Frame* camFrame, int model, ObjParams* params);
protected:
dGeomID m_geom;
+ CollMesh* sbreCollMesh;
};