diff --git a/configure.ac b/configure.ac
index 90ac1fa..dcd2966 100644
--- a/configure.ac
+++ b/configure.ac
@@ -23,8 +23,6 @@ CFLAGS="$CFLAGS `pkg-config --cflags sigc++-2.0`"
LIBS="$LIBS `pkg-config --libs sigc++-2.0` -lGL -lGLU"
CFLAGS="$CFLAGS `pkg-config --cflags freetype2`"
LIBS="$LIBS `pkg-config --libs freetype2`"
-CFLAGS="$CFLAGS `ode-config --cflags`"
-LIBS="$LIBS `ode-config --libs`"
PKG_CHECK_MODULES(SDL, sdl)
CFLAGS="$CFLAGS $SDL_CFLAGS"
diff --git a/src/dynamic_body.cpp b/src/dynamic_body.cpp
index 80832cd..246bf77 100644
--- a/src/dynamic_body.cpp
+++ b/src/dynamic_body.cpp
@@ -6,35 +6,44 @@
DynamicBody::DynamicBody(void) : ModelBody() {
m_flags = Body::FLAG_CAN_MOVE_FRAME;
- m_body = dBodyCreate(Space::world);
- dMassSetBox(&m_mass, 1, 50, 50, 50);
- dMassAdjust(&m_mass, 1.0f);
- dBodySetMass(m_body, &m_mass);
+ m_orient = matrix4x4d::Identity();
+ m_force = vector3d(0.0);
+ m_torque = vector3d(0.0);
+ m_vel = vector3d(0.0);
+ m_angVel = vector3d(0.0);
+ m_mass = 1;
+ m_angInertia = 1;
+ m_massRadius = 1;
+ m_enabled = true;
}
void DynamicBody::SetForce(const vector3d f) {
- dBodySetForce(m_body, f.x, f.y, f.z);
+ m_force = f;
}
void DynamicBody::AddForce(const vector3d f) {
- dBodyAddForce(m_body, f.x, f.y, f.z);
+ m_force += f;
}
void DynamicBody::AddForceAtPos(const vector3d force, const vector3d pos) {
+ assert(0);
+ /*
dBodyAddForceAtPos(m_body, force.x, force.y, force.z,
pos.x, pos.y, pos.z);
+ */
}
void DynamicBody::AddRelForce(const vector3d f) {
- dBodyAddRelForce(m_body, f.x, f.y, f.z);
+ m_force += m_orient.ApplyRotationOnly(f);
}
void DynamicBody::AddRelTorque(const vector3d t) {
- dBodyAddRelTorque(m_body, t.x, t.y, t.z);
+ m_torque += m_orient.ApplyRotationOnly(t);
}
void DynamicBody::Save(void) {
+ assert(0); /* Add new dynamics stuff. */
using namespace Serializer::Write;
ModelBody::Save();
wr_vector3d(GetAngVelocity());
@@ -49,48 +58,73 @@ void DynamicBody::Load(void) {
}
void DynamicBody::SetTorque(const vector3d t) {
- dBodySetTorque(m_body, t.x, t.y, t.z);
+ m_torque = t;
}
void DynamicBody::SetMass(double mass) {
- dMassAdjust(&m_mass, mass);
- dBodySetMass(m_body, &m_mass);
+ m_mass = mass;
+ /* This is solid sphere mass distribution yo'! */
+ m_angInertia = (2/5.0)*m_mass*m_massRadius*m_massRadius;
+ printf("radius %f, angInert %f\n", m_massRadius, m_angInertia);
}
void DynamicBody::SetPosition(vector3d p) {
- dBodySetPosition(m_body, p.x, p.y, p.z);
+ m_orient[12] = p.x;
+ m_orient[13] = p.y;
+ m_orient[14] = 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];
+vector3d DynamicBody::GetPosition(void) const {
+ return vector3d(m_orient[12], m_orient[13], m_orient[14]);
+}
- TriMeshUpdateLastPos(t);
+void DynamicBody::TimeStepUpdate(const float timeStep) {
+ if(m_enabled) {
+ m_vel += timeStep * m_force * (1.0/m_mass);
+ m_angVel += timeStep * m_torque * (1.0 / m_angInertia);
+
+ const vector3d pos = GetPosition();
+ /* Applying angular velocity :/ */
+ {
+ double len = m_angVel.Length();
+ if(len != 0) {
+ vector3d rotAxis = m_angVel * (1.0 / len);
+ matrix4x4d rotMatrix = matrix4x4d::RotateMatrix(len * timeStep,
+ rotAxis.x, rotAxis.y, rotAxis.z);
+ m_orient = rotMatrix * m_orient;
+ }
+ }
+
+ SetPosition(pos + m_vel * timeStep);
+ m_force = vector3d(0.0);
+ m_torque = vector3d(0.0);
+
+ TriMeshUpdateLastPos(m_orient);
+ }
}
void DynamicBody::Enable(void) {
ModelBody::Enable();
- dBodyEnable(m_body);
+ //dBodyEnable(m_body);
}
void DynamicBody::Disable(void) {
ModelBody::Disable();
- dBodyDisable(m_body);
+ //dBodyDisable(m_body);
}
void DynamicBody::SetRotMatrix(const matrix4x4d& r) {
- dMatrix3 _m;
- r.SaveToOdeMatrix(_m);
- dBodySetRotation(m_body, _m);
+ vector3d pos = GetPosition();
+ m_orient = r;
+ SetPosition(pos);
}
void DynamicBody::GetRotMatrix(matrix4x4d& m) {
- m.LoadFromOdeMatrix(dBodyGetRotation(m_body));
+ m = m_orient;
+ m[12] = 0;
+ m[13] = 0;
+ m[14] = 0;
}
void DynamicBody::SetMassDistributionFromCollMesh(const CollMesh* m) {
@@ -108,37 +142,32 @@ void DynamicBody::SetMassDistributionFromCollMesh(const CollMesh* m) {
max.y = MAX(m->pVertex[i+1], max.y);
max.z = MAX(m->pVertex[i+2], max.z);
}
- float size = ((max.x-min.x) + (max.y-min.y) + (max.z-min.z)) / 6.0f;
- dMassSetSphere(&m_mass, 1, size);
- /* Boxes go mental after a while due to inertia tensor being fishy. */
- //dMassSetBox(&m_mass, 1, max.x-min.x, max.y-min.y, max.z-min.z);
- dBodySetMass(m_body, &m_mass);
+ const vector3d size = max-min;
+ m_massRadius = (size.x + size.y + size.z) * 0.333;
+ SetMass(m_mass);
}
vector3d DynamicBody::GetAngularMomentum(void) {
- matrix4x4d I;
- I.LoadFromOdeMatrix(m_mass.I);
- return I * vector3d(dBodyGetAngularVel(m_body));
-}
-
-vector3d DynamicBody::GetAngVelocity(void) {
- return vector3d(dBodyGetAngularVel(m_body));
+ return m_angInertia * m_angVel;
}
DynamicBody::~DynamicBody(void) {
- dBodyDestroy(m_body);
+
+}
+
+vector3d DynamicBody::GetAngVelocity(void) {
+ return m_angVel;
}
vector3d DynamicBody::GetVelocity(void) {
- const dReal* v = dBodyGetLinearVel(m_body);
- return vector3d(v[0], v[1], v[2]);
+ return m_vel;
}
void DynamicBody::SetVelocity(vector3d v) {
- dBodySetLinearVel(m_body, v.x, v.y, v.z);
+ m_vel = v;
}
void DynamicBody::SetAngVelocity(vector3d v) {
- dBodySetAngularVel(m_body, v.x, v.y, v.z);
+ m_angVel = v;
}
diff --git a/src/dynamic_body.h b/src/dynamic_body.h
index d4a2285..3642280 100644
--- a/src/dynamic_body.h
+++ b/src/dynamic_body.h
@@ -13,6 +13,7 @@ public:
virtual void GetRotMatrix(matrix4x4d& m);
virtual void SetVelocity(vector3d v);
virtual void SetPosition(vector3d p);
+ virtual vector3d GetPosition(void) const;
virtual vector3d GetVelocity(void);
vector3d GetAngVelocity(void);
void SetAngVelocity(vector3d v);
@@ -20,11 +21,11 @@ public:
virtual bool OnCollision(Body* b, Uint32 flags) { return true; }
vector3d GetAngularMomentum(void);
void SetMassDistributionFromCollMesh(const CollMesh* m);
- void DisableBodyOnly(void) { dBodyDisable(m_body); }
- bool IsEnabled(void) { return dBodyIsEnabled(m_body); }
+ void DisableBodyOnly(void) { m_enabled = false; }
+ bool IsEnabled(void) { return m_enabled; }
virtual void Disable(void);
virtual void Enable(void);
- virtual double GetMass(void) const { return m_mass.mass; }
+ virtual double GetMass(void) const { return m_mass; }
virtual void TimeStepUpdate(const float timeStep);
void SetMass(double);
@@ -36,12 +37,19 @@ public:
void AddRelForce(const vector3d);
void AddRelTorque(const vector3d);
- dBodyID m_body;
-
protected:
virtual void Save(void);
virtual void Load(void);
private:
- dMass m_mass;
+ /* New odeless stuff. */
+ matrix4x4d m_orient; /* Contains pos. */
+ vector3d m_force;
+ vector3d m_torque;
+ vector3d m_vel;
+ vector3d m_angVel;
+ double m_mass;
+ double m_massRadius; /* Set in a silly fashion from the collision mesh and used to calculate m_angInertia. */
+ double m_angInertia; /* Always spehere mass distribution. */
+ bool m_enabled;
};
diff --git a/src/frame.cpp b/src/frame.cpp
index 561dc98..04f9b5e 100644
--- a/src/frame.cpp
+++ b/src/frame.cpp
@@ -74,7 +74,6 @@ void Frame::Init(Frame* parent, const char* label, unsigned int flags) {
m_vel = vector3d(0.0);
m_angVel = vector3d(0.0);
m_orient = matrix4x4d::Identity();
- m_dSpaceID = dHashSpaceCreate(0);
m_collisionSpace = new CollisionSpace();
if(m_parent) {
m_parent->m_children.push_back(this);
@@ -83,7 +82,6 @@ void Frame::Init(Frame* parent, const char* label, unsigned int flags) {
}
Frame::~Frame(void) {
- dSpaceDestroy(m_dSpaceID);
delete m_collisionSpace;
for(std::list<Frame*>::iterator i = m_children.begin(); i != m_children.end(); ++i) delete *i;
}
@@ -129,6 +127,6 @@ void Frame::RotateInTimestep(double step) {
vector3d rotAxis = vector3d::Normalize(m_angVel);
matrix4x4d rotMatrix = matrix4x4d::RotateMatrix(ang, rotAxis.x, rotAxis.y, rotAxis.z);
- m_orient = m_orient * rotMatrix;
+ m_orient = rotMatrix * m_orient;
}
diff --git a/src/frame.h b/src/frame.h
index 7020cea..827198d 100644
--- a/src/frame.h
+++ b/src/frame.h
@@ -32,12 +32,9 @@ public:
void SetOrientation(const matrix4x4d& m) { m_orient = m; }
void SetRadius(double radius) { m_radius = radius; }
void RemoveChild(Frame* f);
- void _AddGeom(dGeomID g) { dSpaceAdd(m_dSpaceID, g); }
- void _RemoveGeom(dGeomID g) { dSpaceRemove(m_dSpaceID, g); }
void AddGeom(Geom*);
void RemoveGeom(Geom*);
void SetPlanetGeom(double radius, Body*);
- dSpaceID GetSpaceID(void) const { return m_dSpaceID; }
CollisionSpace* GetCollisionSpace(void) const { return m_collisionSpace; }
void RotateInTimestep(double step);
@@ -69,7 +66,6 @@ private:
std::string m_label;
double m_radius;
int m_flags;
- dSpaceID m_dSpaceID;
CollisionSpace* m_collisionSpace;
};
diff --git a/src/libs.h b/src/libs.h
index cb4708b..36dc3f0 100644
--- a/src/libs.h
+++ b/src/libs.h
@@ -24,11 +24,6 @@
#include "date.h"
-#ifndef dDOUBLE
-#error LibODE is not compiled with double-precision floating point. Please get/compile libode with \
- double-precision floating point.
-#endif
-
#define DEBUG
#define UNIVERSE_SEED 0xabcd1234
diff --git a/src/main.cpp b/src/main.cpp
index 51bf19c..4e5a609 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -101,7 +101,6 @@ void L3D::Init(IniConfig& config) {
InitOpenGL();
- dInitODE();
GLFTInit();
Space::Init();
diff --git a/src/model_body.cpp b/src/model_body.cpp
index 5d3bc69..25a2254 100644
--- a/src/model_body.cpp
+++ b/src/model_body.cpp
@@ -37,9 +37,6 @@ void ModelBody::Enable(void) {
m_geom->Enable();
}
-void ModelBody::GeomsSetBody(dBodyID body) {
-}
-
void ModelBody::GetAabb(Aabb& aabb) {
aabb = m_collMeshSet->aabb;
}
diff --git a/src/model_body.h b/src/model_body.h
index 6b6ed4e..a3e95fc 100644
--- a/src/model_body.h
+++ b/src/model_body.h
@@ -16,13 +16,11 @@ public:
virtual ~ModelBody(void);
void SetPosition(vector3d p);
virtual void SetRotMatrix(const matrix4x4d& r);
- /* Not valid to SetVelocity on these. If you want them to move, use a DynamicBody. */
vector3d GetPosition(void) const;
virtual double GetRadius(void) const;
void TransformToModelCoords(const Frame* camFrame);
void GetRotMatrix(matrix4x4d& m) const;
virtual void SetFrame(Frame* f);
- void GeomsSetBody(dBodyID body);
/* To remove from simulation for a period. */
virtual void Disable(void);
virtual void Enable(void);
diff --git a/src/model_coll_mesh_data.cpp b/src/model_coll_mesh_data.cpp
index 5ee61b2..c3408e1 100644
--- a/src/model_coll_mesh_data.cpp
+++ b/src/model_coll_mesh_data.cpp
@@ -42,7 +42,6 @@ void CollMeshSet::GetMeshParts(void) {
curFlag = triIndices[i].flags;
}
//printf("%d parts\n", numMeshParts);
- meshParts = new dTriMeshDataID[numMeshParts];
meshInfo = new meshinfo_t[numMeshParts];
int tidx = 0;
@@ -51,16 +50,10 @@ void CollMeshSet::GetMeshParts(void) {
int len = 0;
int flag = triIndices[tidx].flags;
while((len < sbreCollMesh->ni/3) && (triIndices[tidx+len].flags == flag)) len++;
- //printf("%d: len %d\n", tidx, len);
-
- dTriMeshDataID triMeshDataID = dGeomTriMeshDataCreate();
- dGeomTriMeshDataBuildSingle(triMeshDataID, (void*)sbreCollMesh->pVertex,
- 3*sizeof(float), sbreCollMesh->nv, (void*)&triIndices[tidx],
- 3*len, 4*sizeof(int));
meshInfo[midx].flags = flag;
meshInfo[midx].triStart = tidx;
meshInfo[midx].numTris = len;
- meshParts[midx++] = triMeshDataID;
+ midx++;
tidx += len;
} while(tidx < sbreCollMesh->ni/3);
}
diff --git a/src/model_coll_mesh_data.h b/src/model_coll_mesh_data.h
index d4b9370..1b82500 100644
--- a/src/model_coll_mesh_data.h
+++ b/src/model_coll_mesh_data.h
@@ -18,7 +18,6 @@ class CollMeshSet {
public:
CollMesh* sbreCollMesh;
coltri_t* triIndices;
- dTriMeshDataID* meshParts;
meshinfo_t* meshInfo;
int numMeshParts;
Aabb aabb;
diff --git a/src/planet.cpp b/src/planet.cpp
index ae4d883..ee341ba 100644
--- a/src/planet.cpp
+++ b/src/planet.cpp
@@ -12,8 +12,6 @@ Planet::Planet(StarSystem::SBody* sbody) : Body() {
}
void Planet::Init(void) {
- geom = dCreateSphere(0, sbody->GetRadius());
- dGeomSetData(geom, static_cast<Body*>(this));
m_mass = sbody->GetMass();
crudDList = 0;
}
@@ -34,7 +32,6 @@ void Planet::Load(void) {
}
Planet::~Planet(void) {
- dGeomDestroy(geom);
}
double Planet::GetRadius(void) const {
@@ -47,12 +44,10 @@ vector3d Planet::GetPosition(void) const {
void Planet::SetPosition(vector3d p) {
pos = p;
- dGeomSetPosition(geom, p.x, p.y, p.z);
}
void Planet::SetRadius(double radius) {
assert(0);
- //dGeomSpehereSetRadius(geom, radius);
}
static void subdivide(vector3d& v1, vector3d& v2, vector3d& v3, vector3d& v4, int depth) {
@@ -908,12 +903,10 @@ void Planet::Render(const Frame* a_camFrame) {
void Planet::SetFrame(Frame* f) {
if(GetFrame()) {
- GetFrame()->_RemoveGeom(geom);
GetFrame()->SetPlanetGeom(0,0);
}
Body::SetFrame(f);
if(f) {
- f->_AddGeom(geom);
GetFrame()->SetPlanetGeom(GetRadius(), this);
}
}
diff --git a/src/planet.h b/src/planet.h
index 1fba988..6b2ec06 100644
--- a/src/planet.h
+++ b/src/planet.h
@@ -30,7 +30,6 @@ private:
double m_mass;
vector3d pos;
- dGeomID geom;
StarSystem::SBody* sbody;
GLuint crudDList;
};
diff --git a/src/ship.cpp b/src/ship.cpp
index c1198bc..e4c2819 100644
--- a/src/ship.cpp
+++ b/src/ship.cpp
@@ -77,7 +77,6 @@ void Ship::Init(void) {
const ShipType& stype = GetShipType();
SetModel(stype.sbreModel);
SetMassDistributionFromCollMesh(GetModelSBRECollMesh(stype.sbreModel));
- GeomsSetBody(m_body);
UpdateMass();
}
@@ -300,7 +299,7 @@ void Ship::TimeStepUpdate(const float timeStep) {
/* LASERZ!! */
for(int i = 0; i < ShipType::GUNMOUNT_MAX; i++) {
/* Free old temp laser geoms. */
- if(m_tempLaserGeom[i]) dGeomDestroy(m_tempLaserGeom[i]);
+ /*if(m_tempLaserGeom[i]) dGeomDestroy(m_tempLaserGeom[i]);
m_tempLaserGeom[i] = 0;
if(!m_gunState[i]) continue;
dGeomID ray = dCreateRay(GetFrame()->GetSpaceID(), 10000);
@@ -312,7 +311,7 @@ void Ship::TimeStepUpdate(const float timeStep) {
dir = m.ApplyRotationOnly(dir);
dGeomRaySet(ray, pos.x, pos.y, pos.z, dir.x, dir.y, dir.z);
dGeomSetData(ray, static_cast<Object*>(&m_laserCollisionObj));
- m_tempLaserGeom[i] = ray;
+ m_tempLaserGeom[i] = ray; */
}
if(m_wheelTransition != 0.0f) {
diff --git a/src/space.cpp b/src/space.cpp
index e81d68d..9eebe0a 100644
--- a/src/space.cpp
+++ b/src/space.cpp
@@ -14,18 +14,13 @@
#include "serializer.h"
#include "collider/collider.h"
-dWorldID Space::world;
std::list<Body*> Space::bodies;
Frame* Space::rootFrame;
-static dJointGroupID _contactgroup;
std::list<Body*> Space::corpses;
void Space::Init(void) {
- world = dWorldCreate();
rootFrame = new Frame(NULL, "System");
rootFrame->SetRadius(FLT_MAX);
- _contactgroup = dJointGroupCreate(0);
- //dWorldSetGravity(world, 0, -9.81, 0);
}
void Space::Serialize(void) {
@@ -342,6 +337,7 @@ static int contact_num;
static void hitCallback(CollisionContact* c) {
if(contact_num++ >= MAX_CONTACTS) return;
printf("AUCH!! %x\n", SDL_GetTicks());
+#if 0
dContact contact;
contact.surface.mode = dContactBounce;
@@ -378,6 +374,7 @@ static void hitCallback(CollisionContact* c) {
dJointID j = dJointCreateContact(Space::world, _contactgroup, &contact);
dJointAttach(j, b1, b2);
+#endif
}
#if 0
@@ -468,8 +465,6 @@ void Space::TimeStep(float step) {
contact_num = 0;
CollideFrame(rootFrame);
- dWorldQuickStep(world, step);
- dJointGroupEmpty(_contactgroup);
/* TODO: Does not need to be done this often. */
UpdateFramesOfReference();
diff --git a/src/space.h b/src/space.h
index 3dc0a12..b172d76 100644
--- a/src/space.h
+++ b/src/space.h
@@ -21,7 +21,6 @@ public:
static void Render(const Frame* cam_frame);
static Frame* GetRootFrame(void) { return rootFrame; }
- static dWorldID world;
static std::list<Body*> bodies;
typedef std::list<Body*>::iterator bodiesIter_t;
static Frame* rootFrame;