diff --git a/src/collider/geom.cpp b/src/collider/geom.cpp
index 83c1efd..10a34da 100644
--- a/src/collider/geom.cpp
+++ b/src/collider/geom.cpp
@@ -14,6 +14,12 @@ Geom::Geom(GeomTree* geomtree) {
m_data = 0;
}
+matrix4x4d Geom::GetRotation(void) const {
+ matrix4x4d m = GetTransform();
+ m[12] = 0; m [13] = 0; m[14] = 0;
+ return m;
+}
+
void Geom::MoveTo(const matrix4x4d& m) {
m_orientIdx = !m_orientIdx;
m_orient[m_orientIdx] = m;
diff --git a/src/collider/geom.h b/src/collider/geom.h
index c6d8ebd..c4893ef 100644
--- a/src/collider/geom.h
+++ b/src/collider/geom.h
@@ -12,8 +12,9 @@ public:
Geom(GeomTree*);
void MoveTo(const matrix4x4d& m);
void MoveTo(const matrix4x4d& m, const vector3d pos);
- const matrix4x4d& GetInvTransform(void) { return m_invOrient; }
- const matrix4x4d& GetTransform(void) { return m_orient[m_orientIdx]; }
+ const matrix4x4d& GetInvTransform(void) const { return m_invOrient; }
+ const matrix4x4d& GetTransform(void) const { return m_orient[m_orientIdx]; }
+ matrix4x4d GetRotation(void) const;
vector3d GetPosition(void) const;
void Enable(void) { m_active = true; }
void Disable(void) {m_active = false; }
diff --git a/src/dynamic_body.cpp b/src/dynamic_body.cpp
index 8245cfc..736b06b 100644
--- a/src/dynamic_body.cpp
+++ b/src/dynamic_body.cpp
@@ -27,6 +27,22 @@ void DynamicBody::Load(void) {
SetVelocity(rd_vector3d());
}
+void DynamicBody::SetPosition(vector3d p) {
+ dBodySetPosition(m_body, p.x, p.y, p.z);
+ ModelBody::SetPosition(p);
+}
+
+void DynamicBody::TimeStepUpdate(const float timeStep) {
+ matrix4x4d t;
+ GetRotMatrix(t);
+ const dReal* v = dBodyGetPosition(m_body);
+ t[12] = v[0];
+ t[13] = v[1];
+ t[14] = v[2];
+
+ TriMeshUpdateLastPos(t);
+}
+
void DynamicBody::Enable(void) {
ModelBody::Enable();
dBodyEnable(m_body);
diff --git a/src/dynamic_body.h b/src/dynamic_body.h
index 769151b..60dd210 100644
--- a/src/dynamic_body.h
+++ b/src/dynamic_body.h
@@ -14,6 +14,7 @@ public:
virtual void SetRotMatrix(const matrix4x4d& r);
virtual void GetRotMatrix(matrix4x4d& m);
virtual void SetVelocity(vector3d v);
+ virtual void SetPosition(vector3d p);
virtual vector3d GetVelocity(void);
vector3d GetAngVelocity(void);
void SetAngVelocity(vector3d v);
@@ -24,6 +25,7 @@ public:
virtual void Disable(void);
virtual void Enable(void);
virtual double GetMass(void) const { return m_mass.mass; }
+ virtual void TimeStepUpdate(const float timeStep);
dBodyID m_body;
dMass m_mass;
diff --git a/src/model_body.cpp b/src/model_body.cpp
index 75f01af..5d3bc69 100644
--- a/src/model_body.cpp
+++ b/src/model_body.cpp
@@ -10,16 +10,13 @@
#include "collider/collider.h"
ModelBody::ModelBody(void): Body() {
- m_triMeshLastMatrixIndex = 0;
m_collMeshSet = 0;
m_geom = 0;
}
ModelBody::~ModelBody(void) {
SetFrame(0); /* Will remove geom from frame if necessary. */
- for(unsigned int i = 0; i < geoms.size(); i++) {
- dGeomDestroy(geoms[i]);
- }
+ delete m_geom;
}
void ModelBody::Save(void) {
@@ -33,21 +30,14 @@ void ModelBody::Load(void) {
}
void ModelBody::Disable(void) {
- for(unsigned int i = 0; i < geoms.size(); i++) {
- dGeomDisable(geoms[i]);
- }
+ m_geom->Disable();
}
void ModelBody::Enable(void) {
- for(unsigned int i = 0; i < geoms.size(); i++) {
- dGeomEnable(geoms[i]);
- }
+ m_geom->Enable();
}
void ModelBody::GeomsSetBody(dBodyID body) {
- for(unsigned int i = 0; i < geoms.size(); i++) {
- dGeomSetBody(geoms[i], body);
- }
}
void ModelBody::GetAabb(Aabb& aabb) {
@@ -55,22 +45,12 @@ void ModelBody::GetAabb(Aabb& aabb) {
}
void ModelBody::SetModel(int sbreModel) {
- assert(geoms.size() == 0);
assert(m_geom == 0);
CollMeshSet* mset = GetModelCollMeshSet(sbreModel);
m_geom = new Geom(mset->m_geomTree);
m_geom->SetUserData((void*)this);
- geomColl.resize(mset->numMeshParts);
- geoms.resize(mset->numMeshParts);
-
- for(int i = 0; i < mset->numMeshParts; i++) {
- geoms[i] = dCreateTriMesh(0, mset->meshParts[i], NULL, NULL, NULL);
- geomColl[i].parent = this;
- geomColl[i].flags = mset->meshInfo[i].flags;
- dGeomSetData(geoms[i], static_cast<Object*>(&geomColl[i]));
- }
m_collMeshSet = mset;
}
@@ -79,109 +59,50 @@ void ModelBody::SetPosition(vector3d p) {
GetRotMatrix(m);
m_geom->MoveTo(m, p);
m_geom->MoveTo(m, p);
-
- for(unsigned int i = 0; i < geoms.size(); i++) {
- dGeomSetPosition(geoms[i], p.x, p.y, p.z);
- }
}
vector3d ModelBody::GetPosition(void) const {
- const dReal* pos = dGeomGetPosition(geoms[0]);
- return vector3d(pos[0], pos[1], pos[2]);
+ return m_geom->GetPosition();
}
double ModelBody::GetRadius(void) const {
- /* Calculate single AABB containing all geoms. */
- dReal aabbAll[6] = {
- std::numeric_limits<double>::max(),
- std::numeric_limits<double>::min(),
- std::numeric_limits<double>::max(),
- std::numeric_limits<double>::min(),
- std::numeric_limits<double>::max(),
- std::numeric_limits<double>::min()
- };
-
- for(size_t i = 0; i < geoms.size(); ++i) {
- dReal aabbGeom[6];
- dGeomGetAABB(geoms[i], aabbGeom);
- aabbAll[0] = std::min(aabbAll[0], aabbGeom[0]);
- aabbAll[1] = std::max(aabbAll[1], aabbGeom[1]);
- aabbAll[2] = std::min(aabbAll[2], aabbGeom[2]);
- aabbAll[3] = std::max(aabbAll[3], aabbGeom[3]);
- aabbAll[4] = std::min(aabbAll[4], aabbGeom[4]);
- aabbAll[5] = std::max(aabbAll[5], aabbGeom[5]);
- }
+ Aabb aabb = m_geom->GetGeomTree()->GetAabb();
/* Return size of largest dimension. */
- return std::max(aabbAll[1] - aabbAll[0], std::max(aabbAll[3] - aabbAll[2], aabbAll[5] - aabbAll[4]));
+ return std::max(aabb.max.x - aabb.min.x, std::max(aabb.max.y, aabb.max.z - aabb.min.z));
}
void ModelBody::SetRotMatrix(const matrix4x4d& r) {
- dMatrix3 _m;
- r.SaveToOdeMatrix(_m);
- for(unsigned int i = 0; i < geoms.size(); i++) {
- dGeomSetRotation(geoms[i], _m);
- }
vector3d pos = m_geom->GetPosition();
m_geom->MoveTo(r, pos);
m_geom->MoveTo(r, pos);
}
void ModelBody::GetRotMatrix(matrix4x4d& m) const {
- m.LoadFromOdeMatrix(dGeomGetRotation(geoms[0]));
+ m = m_geom->GetRotation();
}
void ModelBody::TransformToModelCoords(const Frame* camFrame) {
- const vector3d pos = GetPosition();
- const dReal* r = dGeomGetRotation(geoms[0]);
- matrix4x4d m, m2;
-
+ matrix4x4d m = m_geom->GetTransform();
+ matrix4x4d m2;
Frame::GetFrameTransform(GetFrame(), camFrame, m2);
- m[ 0] = r[ 0]; m[ 1] = r[ 4]; m[ 2] = r[ 8]; m[ 3] = 0;
- m[ 4] = r[ 1]; m[ 5] = r[ 5]; m[ 6] = r[ 9]; m[ 7] = 0;
- m[ 8] = r[ 2]; m[ 9] = r[ 6]; m[10] = r[10]; m[11] = 0;
- m[12] = pos.x; m[13] = pos.y; m[14] = pos.z; m[15] = 1;
-
m = m2 * m;
glMultMatrixd(&m[0]);
}
void ModelBody::SetFrame(Frame* f) {
if(GetFrame()) {
- for(unsigned int i = 0; i < geoms.size(); i++) {
- GetFrame()->_RemoveGeom(geoms[i]);
- }
GetFrame()->RemoveGeom(m_geom);
}
Body::SetFrame(f);
if(f) {
- for(unsigned int i = 0; i < geoms.size(); i++) {
- f->_AddGeom(geoms[i]);
- }
f->AddGeom(m_geom);
}
}
-void ModelBody::TriMeshUpdateLastPos(void) {
- /* ODE tri mesh likes to know our old position. */
- const dReal* r = dGeomGetRotation(geoms[0]);
- vector3d pos = GetPosition();
- dReal* t = m_triMeshTrans + 16*m_triMeshLastMatrixIndex;
- t[ 0] = r[0]; t[1] = r[1]; t[ 2] = r[ 2]; t[ 3] = 0;
- t[ 4] = r[4]; t[5] = r[5]; t[ 6] = r[ 6]; t[ 7] = 0;
- t[ 8] = r[8]; t[9] = r[9]; t[10] = r[10]; t[11] = 0;
- t[12] = pos.x; t[13] = pos.y; t[14] = pos.z; t[15] = 1;
-
- /* REESTED! */
- matrix4x4d wtf;
- memcpy(&wtf[0], t, 16*sizeof(double));
- m_geom->MoveTo(wtf);
-
- m_triMeshLastMatrixIndex = !m_triMeshLastMatrixIndex;
- for(unsigned int i = 0; i < geoms.size(); i++) {
- dGeomTriMeshSetLastTransform(geoms[i], *(dMatrix4*)(m_triMeshTrans + 16*m_triMeshLastMatrixIndex));
- }
+void ModelBody::TriMeshUpdateLastPos(matrix4x4d currentTransform) {
+ m_geom->MoveTo(currentTransform);
}
void ModelBody::RenderSbreModel(const Frame* camFrame, int model, ObjParams* params) {
@@ -211,7 +132,7 @@ void ModelBody::RenderSbreModel(const Frame* camFrame, int model, ObjParams* par
pos = frameTrans * pos;
Vector p; p.x = pos.x; p.y = pos.y; p.z = -pos.z;
matrix4x4d rot;
- rot.LoadFromOdeMatrix(dGeomGetRotation(geoms[0]));
+ GetRotMatrix(rot);
frameTrans.ClearToRotOnly();
rot = frameTrans * rot;
Matrix m;
diff --git a/src/model_body.h b/src/model_body.h
index 45de130..6b6ed4e 100644
--- a/src/model_body.h
+++ b/src/model_body.h
@@ -28,7 +28,7 @@ public:
virtual void Enable(void);
void GetAabb(Aabb& aabb);
- void TriMeshUpdateLastPos(void);
+ void TriMeshUpdateLastPos(matrix4x4d currentTransform);
void SetModel(int sbreModel);
void RenderSbreModel(const Frame* camFrame, int model, ObjParams* params);
@@ -42,12 +42,8 @@ public:
protected:
virtual void Save(void);
virtual void Load(void);
- std::vector<GeomBit> geomColl;
private:
CollMeshSet* m_collMeshSet;
- std::vector<dGeomID> geoms;
Geom* m_geom;
- dReal m_triMeshTrans[32];
- int m_triMeshLastMatrixIndex;
};
diff --git a/src/ship.cpp b/src/ship.cpp
index 4f7f142..27a1d9d 100644
--- a/src/ship.cpp
+++ b/src/ship.cpp
@@ -252,9 +252,9 @@ void Ship::TestLanded(void) {
}
void Ship::TimeStepUpdate(const float timeStep) {
+ DynamicBody::TimeStepUpdate(timeStep);
+
m_dockingTimer = (m_dockingTimer-timeStep > 0 ? m_dockingTimer-timeStep : 0);
- /* ODE tri mesh likes to know our old position. */
- TriMeshUpdateLastPos();
m_launchLockTimeout -= timeStep;
if(m_launchLockTimeout < 0) m_launchLockTimeout = 0;
diff --git a/src/space_station.cpp b/src/space_station.cpp
index 8bd707b..308fa90 100644
--- a/src/space_station.cpp
+++ b/src/space_station.cpp
@@ -52,7 +52,6 @@ void SpaceStation::GetDockingSurface(CollMeshSet* mset, int midx) {
assert(m_numPorts <= MAX_DOCKING_PORTS);
assert((minfo->flags & 0xf) < MAX_DOCKING_PORTS);
- assert(minfo->flags & 0x10);
assert(minfo->numTris);
dport->center = vector3d(0.0);
@@ -97,11 +96,8 @@ void SpaceStation::Init(void) {
SetModel(sbreModel);
CollMeshSet* mset = GetModelCollMeshSet(sbreModel);
- for(unsigned int i = 0; i < geomColl.size(); i++) {
- if(geomColl[i].flags & 0x10) {
- /* Docking surface. */
- GetDockingSurface(mset, i);
- }
+ for(int i = 0; i < mset->numMeshParts; i++) {
+ if(mset->meshInfo[i].flags & 0x10) GetDockingSurface(mset, i);
}
}