From d6adcce07c1a40d8bd2fed05acd1ac26ab225e68 Mon Sep 17 00:00:00 2001
From: Rtch90 <ritchie.cunningham@protonmail.com>
Date: Fri, 6 Apr 2018 23:23:57 +0100
Subject: [PATCH] [Change] Abstract dynamic body stuff ready for ODE removal.
---
src/dynamic_body.cpp | 30 ++++++++++++++++++++++++++++++
src/dynamic_body.h | 13 ++++++++++++-
src/main.cpp | 2 +-
src/player.cpp | 4 ++--
src/ship.cpp | 42 +++++++++++++++++++++---------------------
src/space.cpp | 11 +++--------
src/space_station.cpp | 4 ++--
7 files changed, 71 insertions(+), 35 deletions(-)
diff --git a/src/dynamic_body.cpp b/src/dynamic_body.cpp
index 736b06b..80832cd 100644
--- a/src/dynamic_body.cpp
+++ b/src/dynamic_body.cpp
@@ -13,6 +13,27 @@ DynamicBody::DynamicBody(void) : ModelBody() {
dBodySetMass(m_body, &m_mass);
}
+void DynamicBody::SetForce(const vector3d f) {
+ dBodySetForce(m_body, f.x, f.y, f.z);
+}
+
+void DynamicBody::AddForce(const vector3d f) {
+ dBodyAddForce(m_body, f.x, f.y, f.z);
+}
+
+void DynamicBody::AddForceAtPos(const vector3d force, const vector3d pos) {
+ 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);
+}
+
+void DynamicBody::AddRelTorque(const vector3d t) {
+ dBodyAddRelTorque(m_body, t.x, t.y, t.z);
+}
+
void DynamicBody::Save(void) {
using namespace Serializer::Write;
ModelBody::Save();
@@ -27,6 +48,15 @@ void DynamicBody::Load(void) {
SetVelocity(rd_vector3d());
}
+void DynamicBody::SetTorque(const vector3d t) {
+ dBodySetTorque(m_body, t.x, t.y, t.z);
+}
+
+void DynamicBody::SetMass(double mass) {
+ dMassAdjust(&m_mass, mass);
+ dBodySetMass(m_body, &m_mass);
+}
+
void DynamicBody::SetPosition(vector3d p) {
dBodySetPosition(m_body, p.x, p.y, p.z);
ModelBody::SetPosition(p);
diff --git a/src/dynamic_body.h b/src/dynamic_body.h
index ec5de19..d4a2285 100644
--- a/src/dynamic_body.h
+++ b/src/dynamic_body.h
@@ -20,17 +20,28 @@ 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); }
virtual void Disable(void);
virtual void Enable(void);
virtual double GetMass(void) const { return m_mass.mass; }
virtual void TimeStepUpdate(const float timeStep);
+ void SetMass(double);
+ void AddForceAtPos(const vector3d force, const vector3d pos);
+ void AddForce(const vector3d);
+ void SetForce(const vector3d);
+ void SetTorque(const vector3d);
+ /* body-relative forces. */
+ void AddRelForce(const vector3d);
+ void AddRelTorque(const vector3d);
+
dBodyID m_body;
- dMass m_mass;
protected:
virtual void Save(void);
virtual void Load(void);
private:
+ dMass m_mass;
};
diff --git a/src/main.cpp b/src/main.cpp
index 90880dc..51bf19c 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -133,7 +133,7 @@ void L3D::SetTimeAccel(float s) {
/* We don't want player spinning like crazy when hitting time accel. */
if(s > 10) {
player->SetAngVelocity(vector3d(0,0,0));
- dBodySetTorque(player->m_body, 0, 0, 0);
+ player->SetTorque(vector3d(0,0,0));
player->SetAngThrusterState(0, 0.0f);
player->SetAngThrusterState(1, 0.0f);
player->SetAngThrusterState(2, 0.0f);
diff --git a/src/player.cpp b/src/player.cpp
index 4036dc1..109ad3c 100644
--- a/src/player.cpp
+++ b/src/player.cpp
@@ -170,8 +170,8 @@ void Player::DrawHUD(const Frame* cam_frame) {
/* Direction indicator. */
const float sz = HUD_CROSSHAIR_SIZE;
- const dReal* vel = dBodyGetLinearVel(m_body);
- vector3d loc_v = cam_frame->GetOrientation().InverseOf() * vector3d(vel[0], vel[1], vel[2]);
+ const vector3d vel = GetVelocity();
+ vector3d loc_v = cam_frame->GetOrientation().InverseOf() * vel;
if(loc_v.z < 0) {
GLdouble pos[3];
if(Gui::Screen::Project(loc_v[0], loc_v[1], loc_v[2], modelMatrix, projMatrix,
diff --git a/src/ship.cpp b/src/ship.cpp
index f2fbcfa..c1198bc 100644
--- a/src/ship.cpp
+++ b/src/ship.cpp
@@ -113,8 +113,7 @@ Ship::Ship(ShipType::Type shipType) : DynamicBody() {
void Ship::UpdateMass(void) {
CalcStats();
- dMassAdjust(&m_mass, m_stats.total_mass*1000);
- dBodySetMass(m_body, &m_mass);
+ SetMass(m_stats.total_mass*1000);
}
bool Ship::OnCollision(Body* b, Uint32 flags) {
@@ -140,8 +139,7 @@ bool Ship::OnCollision(Body* b, Uint32 flags) {
vector3d Ship::CalcRotDamping(void) {
/* Rotation damping. */
- const dReal* _av = dBodyGetAngularVel(m_body);
- vector3d angVel(_av[0], _av[1], _av[2]);
+ vector3d angVel = GetAngVelocity();
matrix4x4d rot;
GetRotMatrix(rot);
angVel = rot.InverseOf() * angVel;
@@ -198,10 +196,13 @@ void Ship::Blastoff(void) {
Enable();
const double planetRadius = 0.1 + GetFrame()->m_astroBody->GetRadius();
vector3d up = vector3d::Normalize(GetPosition());
- dBodySetLinearVel(m_body, 0, 0, 0);
- dBodySetAngularVel(m_body, 0, 0, 0);
- dBodySetForce(m_body, 0, 0, 0);
- dBodySetTorque(m_body, 0, 0, 0);
+ SetVelocity(vector3d(0,0,0));
+ SetAngVelocity(vector3d(0,0,0));
+
+ SetVelocity(vector3d(0,0,0));
+ SetAngVelocity(vector3d(0,0,0));
+ SetForce(vector3d(0,0,0));
+ SetTorque(vector3d(0,0,0));
Aabb aabb;
GetAabb(aabb);
@@ -214,8 +215,7 @@ void Ship::TestLanded(void) {
m_testLanded = false;
if(m_launchLockTimeout != 0) return;
if(GetFrame()->m_astroBody) {
- const dReal* vel = dBodyGetLinearVel(m_body);
- double speed = vector3d(vel[0], vel[1], vel[2]).Length();
+ double speed = GetVelocity().Length();
const double planetRadius = GetFrame()->m_astroBody->GetRadius();
if(speed < MAX_LANDING_SPEED) {
@@ -246,16 +246,16 @@ void Ship::TestLanded(void) {
rot = rot.InverseOf();
SetRotMatrix(rot);
- dBodySetLinearVel(m_body, 0,0,0);
- dBodySetAngularVel(m_body,0,0,0);
- dBodySetForce(m_body,0,0,0);
- dBodySetTorque(m_body,0,0,0);
+ SetVelocity(vector3d(0,0,0));
+ SetAngVelocity(vector3d(0,0,0));
+ SetForce(vector3d(0,0,0));
+ SetTorque(vector3d(0,0,0));
/*
* We don't use DynamicBody::Disable because that also disables
* the geom, and that must still get collisions.
*/
- dBodyDisable(m_body);
+ DisableBodyOnly();
ClearThrusterState();
m_flightState = LANDED;
}
@@ -284,18 +284,18 @@ void Ship::TimeStepUpdate(const float timeStep) {
switch(i) {
case ShipType::THRUSTER_REAR:
case ShipType::THRUSTER_FRONT:
- dBodyAddRelForce(m_body, 0, 0, force); break;
+ AddRelForce(vector3d(0,0,force)); break;
case ShipType::THRUSTER_TOP:
case ShipType::THRUSTER_BOTTOM:
- dBodyAddRelForce(m_body, 0, force, 0); break;
+ AddRelForce(vector3d(0, force, 0)); break;
case ShipType::THRUSTER_LEFT:
case ShipType::THRUSTER_RIGHT:
- dBodyAddRelForce(m_body, force, 0, 0); break;
+ AddRelForce(vector3d(force, 0, 0)); break;
}
}
- dBodyAddRelTorque(m_body, stype.angThrust*m_angThrusters[0],
+ AddRelTorque(vector3d(stype.angThrust*m_angThrusters[0],
stype.angThrust*m_angThrusters[1],
- stype.angThrust*m_angThrusters[2]);
+ stype.angThrust*m_angThrusters[2]));
/* LASERZ!! */
for(int i = 0; i < ShipType::GUNMOUNT_MAX; i++) {
@@ -424,7 +424,7 @@ static void render_coll_mesh(const CollMesh* m) {
}
void Ship::Render(const Frame* camFrame) {
- if((!dBodyIsEnabled(m_body)) && !m_flightState) return;
+ if((!IsEnabled()) && !m_flightState) return;
const ShipType& stype = GetShipType();
params.angthrust[0] = m_angThrusters[0];
params.angthrust[1] = m_angThrusters[1];
diff --git a/src/space.cpp b/src/space.cpp
index 5a20f45..e81d68d 100644
--- a/src/space.cpp
+++ b/src/space.cpp
@@ -289,13 +289,8 @@ static bool _OnCollision(dGeomID g1, dGeomID g2, Object* o1, Object* o2,
DynamicBody* rb = (DynamicBody*)o1;
dVector3 start, dir;
dGeomRayGet(g2, start, dir);
- dBodyAddForceAtPos(rb->m_body,
- 100*dir[0],
- 100*dir[1],
- 100*dir[2],
- contacts[0].geom.pos[0],
- contacts[0].geom.pos[1],
- contacts[0].geom.pos[2]);
+ rb->AddForceAtPos(vector3d(dir[0], dir[1], dir[2])*100,
+ vector3d(contacts[0].geom.pos[0], contacts[0].geom.pos[1], contacts[0].geom.pos[2]));
}
return false;
} else {
@@ -464,7 +459,7 @@ void Space::ApplyGravity(void) {
const double force = G*m1m2 / (r*r);
b1b2.Normalize();
b1b2 = b1b2 * force;
- dBodyAddForce(L3D::player->m_body, b1b2.x, b1b2.y, b1b2.z);
+ L3D::player->AddForce(b1b2);
}
}
diff --git a/src/space_station.cpp b/src/space_station.cpp
index 308fa90..d071f97 100644
--- a/src/space_station.cpp
+++ b/src/space_station.cpp
@@ -182,8 +182,8 @@ bool SpaceStation::OnCollision(Body* b, Uint32 flags) {
/* Hitting docking area of a station. */
if(b->IsType(Object::SHIP)) {
Ship* s = static_cast<Ship*>(b);
- const dReal* vel = dBodyGetLinearVel(s->m_body);
- double speed = vector3d(vel[0], vel[1], vel[2]).Length();
+
+ double speed = s->GetVelocity().Length();
/* Must be oriented sensibly and have wheels down. */
if(IsGroundStation()) {