From 40f6d6dc37f179400be742397574d2758d097efd Mon Sep 17 00:00:00 2001
From: Rtch90 <ritchie.cunningham@protonmail.com>
Date: Sun, 8 Apr 2018 17:18:07 +0100
Subject: [PATCH] [Change] Some further work on new dynamics. [Fix] Load/Save
works again. [Meh] Collision test ok, but no response.
---
src/dynamic_body.cpp | 38 +++++++++++++++++++++++++++-----------
src/model_body.cpp | 2 +-
src/model_body.h | 2 +-
src/space.cpp | 3 ++-
4 files changed, 31 insertions(+), 14 deletions(-)
diff --git a/src/dynamic_body.cpp b/src/dynamic_body.cpp
index 246bf77..b1d402e 100644
--- a/src/dynamic_body.cpp
+++ b/src/dynamic_body.cpp
@@ -43,18 +43,31 @@ void DynamicBody::AddRelTorque(const vector3d t) {
}
void DynamicBody::Save(void) {
- assert(0); /* Add new dynamics stuff. */
using namespace Serializer::Write;
ModelBody::Save();
- wr_vector3d(GetAngVelocity());
- wr_vector3d(GetVelocity());
+ for(int i = 0; i < 16; i++) wr_double(m_orient[i]);
+ wr_vector3d(m_force);
+ wr_vector3d(m_torque);
+ wr_vector3d(m_vel);
+ wr_vector3d(m_angVel);
+ wr_double(m_mass);
+ wr_double(m_massRadius);
+ wr_double(m_angInertia);
+ wr_bool(m_enabled);
}
void DynamicBody::Load(void) {
using namespace Serializer::Read;
ModelBody::Load();
- SetAngVelocity(rd_vector3d());
- SetVelocity(rd_vector3d());
+ for(int i = 0; i < 16; i++) m_orient[i] = rd_double();
+ m_force = rd_vector3d();
+ m_torque = rd_vector3d();
+ m_vel = rd_vector3d();
+ m_angVel = rd_vector3d();
+ m_mass = rd_double();
+ m_massRadius = rd_double();
+ m_angInertia = rd_double();
+ m_enabled = rd_bool();
}
void DynamicBody::SetTorque(const vector3d t) {
@@ -84,7 +97,7 @@ void DynamicBody::TimeStepUpdate(const float timeStep) {
m_vel += timeStep * m_force * (1.0/m_mass);
m_angVel += timeStep * m_torque * (1.0 / m_angInertia);
- const vector3d pos = GetPosition();
+ vector3d pos = GetPosition();
/* Applying angular velocity :/ */
{
double len = m_angVel.Length();
@@ -96,22 +109,25 @@ void DynamicBody::TimeStepUpdate(const float timeStep) {
}
}
- SetPosition(pos + m_vel * timeStep);
+ pos += m_vel * timeStep;
+ m_orient[12] = pos.x;
+ m_orient[13] = pos.y;
+ m_orient[14] = pos.z;
+ TriMeshUpdateLastPos(m_orient);
+
m_force = vector3d(0.0);
m_torque = vector3d(0.0);
-
- TriMeshUpdateLastPos(m_orient);
}
}
void DynamicBody::Enable(void) {
ModelBody::Enable();
- //dBodyEnable(m_body);
+ m_enabled = true;
}
void DynamicBody::Disable(void) {
ModelBody::Disable();
- //dBodyDisable(m_body);
+ m_enabled = false;
}
void DynamicBody::SetRotMatrix(const matrix4x4d& r) {
diff --git a/src/model_body.cpp b/src/model_body.cpp
index 25a2254..d208ebe 100644
--- a/src/model_body.cpp
+++ b/src/model_body.cpp
@@ -98,7 +98,7 @@ void ModelBody::SetFrame(Frame* f) {
}
}
-void ModelBody::TriMeshUpdateLastPos(matrix4x4d currentTransform) {
+void ModelBody::TriMeshUpdateLastPos(const matrix4x4d& currentTransform) {
m_geom->MoveTo(currentTransform);
}
diff --git a/src/model_body.h b/src/model_body.h
index a3e95fc..0f3e853 100644
--- a/src/model_body.h
+++ b/src/model_body.h
@@ -26,7 +26,7 @@ public:
virtual void Enable(void);
void GetAabb(Aabb& aabb);
- void TriMeshUpdateLastPos(matrix4x4d currentTransform);
+ void TriMeshUpdateLastPos(const matrix4x4d& currentTransform);
void SetModel(int sbreModel);
void RenderSbreModel(const Frame* camFrame, int model, ObjParams* params);
diff --git a/src/space.cpp b/src/space.cpp
index 9eebe0a..a1407fb 100644
--- a/src/space.cpp
+++ b/src/space.cpp
@@ -333,10 +333,11 @@ static bool _OnCollision2(Object* o1, Object* o2, CollisionContact* c) {
}
#define MAX_CONTACTS 1
+/* XXX SO REESTED!! 1 CONTACT PER PHYSICS TICK?! WTH?! */
static int contact_num;
static void hitCallback(CollisionContact* c) {
if(contact_num++ >= MAX_CONTACTS) return;
- printf("AUCH!! %x\n", SDL_GetTicks());
+ printf("AUCH!! %x (depth %f)\n", SDL_GetTicks(), c->depth);
#if 0
dContact contact;