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[Supertuxkart-commit] SF.net SVN: supertuxkart: [1270] trunk/supertuxkart/src
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From: <hik...@us...> - 2007-09-30 14:17:31
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Revision: 1270
http://supertuxkart.svn.sourceforge.net/supertuxkart/?rev=1270&view=rev
Author: hikerstk
Date: 2007-09-30 07:17:28 -0700 (Sun, 30 Sep 2007)
Log Message:
-----------
Bullet only:
1) some minor restructuring as preparation for
converting the missiles to bullet.
2) Added support for later bullet versions (using
btBroadphaseInterface instead of btOverlappingPairCache
in ctor of btDiscreteDynamicsWorld).
Default is still the old interface, use -DNEWBULLET for
physics.cpp if a newer bullet version is available
Modified Paths:
--------------
trunk/supertuxkart/src/kart.cpp
trunk/supertuxkart/src/kart.hpp
trunk/supertuxkart/src/moveable.cpp
trunk/supertuxkart/src/moveable.hpp
trunk/supertuxkart/src/physics.cpp
trunk/supertuxkart/src/projectile_manager.cpp
Modified: trunk/supertuxkart/src/kart.cpp
===================================================================
--- trunk/supertuxkart/src/kart.cpp 2007-09-29 19:08:35 UTC (rev 1269)
+++ trunk/supertuxkart/src/kart.cpp 2007-09-30 14:17:28 UTC (rev 1270)
@@ -184,7 +184,6 @@
btBoxShape *shape = new btBoxShape(btVector3(0.5*kart_width,
0.5*kart_length,
0.5*m_kart_height));
- m_kart_chassis = new btCompoundShape();
btTransform shiftCenterOfGravity;
shiftCenterOfGravity.setIdentity();
// Shift center of gravity downwards, so that the kart
@@ -192,6 +191,9 @@
// (it's in units of kart_height)
const float CENTER_SHIFT = getGravityCenterShift();
shiftCenterOfGravity.setOrigin(btVector3(0.0f,0.0f,CENTER_SHIFT*m_kart_height));
+
+ // kart chassis is actually managed in moveable as shape
+ m_kart_chassis = new btCompoundShape();
m_kart_chassis->addChildShape(shiftCenterOfGravity, shape);
// Set mass and inertia
@@ -204,28 +206,24 @@
// --------------------
btTransform trans;
trans.setIdentity();
- m_motion_state = new btDefaultMotionState(trans);
+ createBody(mass, trans, m_kart_chassis, inertia);
- // Then create a rigid body
- // ------------------------
- m_kart_body = new btRigidBody(mass, m_motion_state,
- m_kart_chassis, inertia);
- m_kart_body->setDamping(m_kart_properties->getChassisLinearDamping(),
- m_kart_properties->getChassisAngularDamping() );
+ m_body->setDamping(m_kart_properties->getChassisLinearDamping(),
+ m_kart_properties->getChassisAngularDamping() );
// Reset velocities
// ----------------
- m_kart_body->setLinearVelocity (btVector3(0.0f,0.0f,0.0f));
- m_kart_body->setAngularVelocity(btVector3(0.0f,0.0f,0.0f));
+ m_body->setLinearVelocity (btVector3(0.0f,0.0f,0.0f));
+ m_body->setAngularVelocity(btVector3(0.0f,0.0f,0.0f));
// Create the actual vehicle
// -------------------------
m_vehicle_raycaster =
new btDefaultVehicleRaycaster(world->getPhysics()->getPhysicsWorld());
m_tuning = new btRaycastVehicle::btVehicleTuning();
- m_vehicle = new btRaycastVehicle(*m_tuning, m_kart_body, m_vehicle_raycaster);
+ m_vehicle = new btRaycastVehicle(*m_tuning, m_body, m_vehicle_raycaster);
// never deactivate the vehicle
- m_kart_body->setActivationState(DISABLE_DEACTIVATION);
+ m_body->setActivationState(DISABLE_DEACTIVATION);
m_vehicle->setCoordinateSystem(/*right: */ 0, /*up: */ 2, /*forward: */ 1);
// Add wheels
@@ -311,9 +309,7 @@
{
delete m_kart_chassis->getChildShape(i);
}
- delete m_kart_chassis;
- delete m_kart_body;
- delete m_motion_state;
+ // the actual shape gets deleted in ~moveable
#endif
} // ~Kart
@@ -325,7 +321,7 @@
#ifdef BULLET
bool Kart::isInRest()
{
- return fabs(m_kart_body->getLinearVelocity ().z())<0.2;
+ return fabs(m_body->getLinearVelocity ().z())<0.2;
} // isInRest
#endif
//-----------------------------------------------------------------------------
@@ -335,12 +331,12 @@
void Kart::adjustSpeedWeight(float f)
{
#ifdef BULLET
- m_kart_body->setLinearVelocity(m_kart_body->getLinearVelocity()*f);
+ m_body->setLinearVelocity(m_body->getLinearVelocity()*f);
// getMass returns the mass increased by the attachment
btVector3 inertia;
float m=getMass();
m_kart_chassis->calculateLocalInertia(m, inertia);
- m_kart_body->setMassProps(m, inertia);
+ m_body->setMassProps(m, inertia);
#else
getVelocity()->xyz[1] *= f;
#endif
@@ -405,9 +401,9 @@
m_reset_pos.xyz[2]+0.5*m_kart_height));
m_vehicle->applyEngineForce (0.0f, 2);
m_vehicle->applyEngineForce (0.0f, 3);
- m_kart_body->setCenterOfMassTransform(*trans);
- m_kart_body->setLinearVelocity (btVector3(0.0f,0.0f,0.0f));
- m_kart_body->setAngularVelocity(btVector3(0.0f,0.0f,0.0f));
+ m_body->setCenterOfMassTransform(*trans);
+ m_body->setLinearVelocity (btVector3(0.0f,0.0f,0.0f));
+ m_body->setAngularVelocity(btVector3(0.0f,0.0f,0.0f));
for(int j=0; j<m_vehicle->getNumWheels(); j++)
{
m_vehicle->updateWheelTransform(j, true);
@@ -594,7 +590,7 @@
{
#ifdef BULLET
if(direct_hit) {
- btVector3 velocity = m_kart_body->getLinearVelocity();
+ btVector3 velocity = m_body->getLinearVelocity();
velocity.setX( 0.0f );
velocity.setY( 0.0f );
@@ -631,7 +627,7 @@
{
m_wheelie_angle = CRASH_PITCH ;
#ifdef BULLET
- btVector3 velocity = m_kart_body->getLinearVelocity();
+ btVector3 velocity = m_body->getLinearVelocity();
velocity.setY( 0.0f );
velocity.setX( 0.0f );
@@ -715,14 +711,14 @@
#ifdef BULLET
m_curr_pos.xyz[2] += rescue_height*dt/rescue_time;
- btTransform pos=m_kart_body->getCenterOfMassTransform();
+ btTransform pos=m_body->getCenterOfMassTransform();
pos.setOrigin(btVector3(m_curr_pos.xyz[0],m_curr_pos.xyz[1],m_curr_pos.xyz[2]));
btQuaternion q_roll (btVector3(0., 1., 0.),
-m_rescue_roll*dt/rescue_time*M_PI/180.0);
btQuaternion q_pitch(btVector3(1., 0., 0.),
-m_rescue_pitch*dt/rescue_time*M_PI/180.0);
pos.setRotation(pos.getRotation()*q_roll*q_pitch);
- m_kart_body->setCenterOfMassTransform(pos);
+ m_body->setCenterOfMassTransform(pos);
m_motion_state->setWorldTransform(pos);
//printf("Set %f %f %f\n",pos.getOrigin().x(),pos.getOrigin().y(),pos.getOrigin().z());
#else
@@ -856,7 +852,7 @@
t.getOpenGLMatrix(m);
btVector3 wire_color(0.5f, 0.5f, 0.5f);
- world->getPhysics()->debugDraw(m, m_kart_body->getCollisionShape(),
+ world->getPhysics()->debugDraw(m, m_body->getCollisionShape(),
wire_color);
btCylinderShapeX *wheelShape =
new btCylinderShapeX( btVector3(0.3,
@@ -895,7 +891,7 @@
}
if(m_wheelie_angle <=0.0f) return 0.0f;
- const btTransform& chassisTrans = m_kart_body->getCenterOfMassTransform();
+ const btTransform& chassisTrans = m_body->getCenterOfMassTransform();
btVector3 targetUp(0.0f, 0.0f, 1.0f);
btVector3 forwardW (chassisTrans.getBasis()[0][1],
chassisTrans.getBasis()[1][1],
@@ -908,14 +904,14 @@
const float balance_recovery= m_kart_properties->getWheelieBalanceRecovery();
float alpha = (targetUp.dot(forwardW));
float deltaalpha = m_wheelie_angle*M_PI/180.0f - alpha;
- btVector3 angvel = m_kart_body->getAngularVelocity();
+ btVector3 angvel = m_body->getAngularVelocity();
float projvel = angvel.dot(crossProd);
float deltavel = -projvel * gLeanRecovery / step
-deltaalpha * balance_recovery / step;
btVector3 deltaangvel = deltavel * crossProd;
angvel += deltaangvel;
- m_kart_body->setAngularVelocity(angvel);
+ m_body->setAngularVelocity(angvel);
return m_kart_properties->getWheeliePowerBoost() * getMaxPower()
* m_wheelie_angle/getWheelieMaxPitch();
} // handleWheelie
@@ -968,7 +964,7 @@
{
//Vector3 impulse(0.0f, 0.0f, 10.0f);
// getVehicle()->getRigidBody()->applyCentralImpulse(impulse);
- btVector3 velocity = m_kart_body->getLinearVelocity();
+ btVector3 velocity = m_body->getLinearVelocity();
velocity.setZ( 3.0f );
getVehicle()->getRigidBody()->setLinearVelocity( velocity );
@@ -997,7 +993,7 @@
{
const float velocity_ratio = max_speed/m_speed;
m_speed = max_speed;
- btVector3 velocity = m_kart_body->getLinearVelocity();
+ btVector3 velocity = m_body->getLinearVelocity();
velocity.setY( velocity.getY() * velocity_ratio );
velocity.setX( velocity.getX() * velocity_ratio );
@@ -1267,17 +1263,17 @@
m_rescue = false ;
#ifdef BULLET
world->getPhysics()->addKart(this, m_vehicle);
- m_kart_body->setLinearVelocity (btVector3(0.0f,0.0f,0.0f));
- m_kart_body->setAngularVelocity(btVector3(0.0f,0.0f,0.0f));
+ m_body->setLinearVelocity (btVector3(0.0f,0.0f,0.0f));
+ m_body->setAngularVelocity(btVector3(0.0f,0.0f,0.0f));
// FIXME: This code positions the kart correctly back on the track
// (nearest waypoint) - but if the kart is simply upside down,
// it feels better if the kart is left where it was. Perhaps
// this code should only be used if a rescue was not triggered
// by the kart being upside down??
- btTransform pos=m_kart_body->getCenterOfMassTransform();
+ btTransform pos=m_body->getCenterOfMassTransform();
pos.setOrigin(btVector3(m_curr_pos.xyz[0],m_curr_pos.xyz[1],
m_curr_pos.xyz[2]+0.5*m_kart_height));
- m_kart_body->setCenterOfMassTransform(pos);
+ m_body->setCenterOfMassTransform(pos);
m_motion_state->setWorldTransform(pos);
#endif
@@ -1522,7 +1518,7 @@
btTransform t;
if(m_rescue)
{
- t=m_kart_body->getCenterOfMassTransform();
+ t=m_body->getCenterOfMassTransform();
// m_motion_state->getWorldTransform(t);
}
else
@@ -1535,7 +1531,7 @@
//printf(" is %f %f %f\n",t.getOrigin().x(),t.getOrigin().y(),t.getOrigin().z());
// Transfer the new position and hpr to m_curr_pos
sgSetCoord(&m_curr_pos, m);
- const btVector3 &v=m_kart_body->getLinearVelocity();
+ const btVector3 &v=m_body->getLinearVelocity();
sgSetVec3(m_velocity.xyz, v.x(), v.y(), v.z());
}
sgCoord c ;
Modified: trunk/supertuxkart/src/kart.hpp
===================================================================
--- trunk/supertuxkart/src/kart.hpp 2007-09-29 19:08:35 UTC (rev 1269)
+++ trunk/supertuxkart/src/kart.hpp 2007-09-30 14:17:28 UTC (rev 1270)
@@ -101,11 +101,9 @@
// physics parameters, storing it saves time
#ifdef BULLET
btRaycastVehicle::btVehicleTuning *m_tuning;
+ btCompoundShape *m_kart_chassis;
btVehicleRaycaster *m_vehicle_raycaster;
btRaycastVehicle *m_vehicle;
- btCompoundShape *m_kart_chassis;
- btRigidBody *m_kart_body;
- btDefaultMotionState *m_motion_state;
float m_kart_height;
float m_time_since_stuck;
#endif
@@ -234,7 +232,6 @@
void createPhysics (ssgEntity *obj);
#ifdef BULLET
btRaycastVehicle *getVehicle () const {return m_vehicle; }
- btRigidBody *getKartBody () const {return m_kart_body; }
void updateBulletPhysics(float dt);
void draw ();
bool isInRest ();
Modified: trunk/supertuxkart/src/moveable.cpp
===================================================================
--- trunk/supertuxkart/src/moveable.cpp 2007-09-29 19:08:35 UTC (rev 1269)
+++ trunk/supertuxkart/src/moveable.cpp 2007-09-30 14:17:28 UTC (rev 1270)
@@ -27,11 +27,15 @@
Moveable::Moveable (bool bHasHistory)
{
- m_shadow = 0;
- m_first_time = true ;
- m_model = new ssgTransform();
+#ifdef BULLET
+ m_body = 0;
+ m_motion_state = 0;
+#endif
+ m_shadow = 0;
+ m_first_time = true ;
+ m_model = new ssgTransform();
- m_model ->ref();
+ m_model->ref();
sgZeroVec3 ( m_reset_pos.xyz ) ; sgZeroVec3 ( m_reset_pos.hpr ) ;
@@ -51,6 +55,10 @@
//-----------------------------------------------------------------------------
Moveable::~Moveable()
{
+#ifdef BULLET
+ if(m_body ) delete m_body;
+ if(m_motion_state) delete m_motion_state;
+#endif
if(m_history_velocity)
{
delete [] m_history_velocity;
@@ -76,6 +84,19 @@
} // reset
//-----------------------------------------------------------------------------
+#ifdef BULLET
+void Moveable::createBody(float mass, btTransform& position,
+ btCollisionShape *shape, btVector3 inertia) {
+
+ m_motion_state = new btDefaultMotionState(position);
+
+ // Then create a rigid body
+ // ------------------------
+ m_body = new btRigidBody(mass, m_motion_state,
+ shape, inertia);
+} // createBody
+#endif
+//-----------------------------------------------------------------------------
void Moveable::update (float dt)
{
if(m_history_velocity)
Modified: trunk/supertuxkart/src/moveable.hpp
===================================================================
--- trunk/supertuxkart/src/moveable.hpp 2007-09-29 19:08:35 UTC (rev 1269)
+++ trunk/supertuxkart/src/moveable.hpp 2007-09-30 14:17:28 UTC (rev 1270)
@@ -23,6 +23,9 @@
#include <plib/ssg.h>
#include "material.hpp"
+#ifdef BULLET
+#include "btBulletDynamicsCommon.h"
+#endif
/* Limits of Kart performance */
#define CRASH_PITCH -45.0f
@@ -55,6 +58,10 @@
float collectIsectData ( sgVec3 start, sgVec3 end ) ;
sgCoord* m_history_velocity;
sgCoord* m_history_position;
+#ifdef BULLET
+ btRigidBody* m_body;
+ btDefaultMotionState* m_motion_state;
+#endif
public:
@@ -86,6 +93,11 @@
float getIsectData (sgVec3 start, sgVec3 end );
void WriteHistory (char* s, int kartNumber, int indx);
void ReadHistory (char* s, int kartNumber, int indx);
+#ifdef BULLET
+ btRigidBody* getBody () const {return m_body; }
+ void createBody(float mass, btTransform& position,
+ btCollisionShape *shape, btVector3 inertia);
+#endif
}
; // class Moveable
Modified: trunk/supertuxkart/src/physics.cpp
===================================================================
--- trunk/supertuxkart/src/physics.cpp 2007-09-29 19:08:35 UTC (rev 1269)
+++ trunk/supertuxkart/src/physics.cpp 2007-09-30 14:17:28 UTC (rev 1270)
@@ -34,8 +34,16 @@
btCollisionDispatcher *dispatcher = new btCollisionDispatcher();
btVector3 worldMin(-1000, -1000, -1000);
btVector3 worldMax( 1000, 1000, 1000);
+
+ // The bullet interface has changed recently, define NEWBULLET
+ // for the new interface, default is the old interface
+#ifdef NEWBULLET
+ btBroadphaseInterface *pairCache = new btAxisSweep3(worldMin, worldMax);
+ btConstraintSolver *constraintSolver = new btSequentialImpulseConstraintSolver();
+#else
btOverlappingPairCache *pairCache = new btAxisSweep3(worldMin, worldMax);
btConstraintSolver *constraintSolver = new btSequentialImpulseConstraintSolver();
+#endif
m_dynamics_world = new btDiscreteDynamicsWorld(dispatcher, pairCache,
constraintSolver);
m_dynamics_world->setGravity(btVector3(0.0f, 0.0f, -gravity));
@@ -133,7 +141,7 @@
//* Adds a kart to the physics engine
void Physics::addKart(const Kart *kart, btRaycastVehicle *vehicle)
{
- m_dynamics_world->addRigidBody(kart->getKartBody());
+ m_dynamics_world->addRigidBody(kart->getBody());
m_dynamics_world->addVehicle(vehicle);
} // addKart
@@ -144,7 +152,7 @@
*/
void Physics::removeKart(const Kart *kart, btRaycastVehicle *vehicle)
{
- m_dynamics_world->removeRigidBody(kart->getKartBody());
+ m_dynamics_world->removeRigidBody(kart->getBody());
m_dynamics_world->removeVehicle(vehicle);
} // removeKart
Modified: trunk/supertuxkart/src/projectile_manager.cpp
===================================================================
--- trunk/supertuxkart/src/projectile_manager.cpp 2007-09-29 19:08:35 UTC (rev 1269)
+++ trunk/supertuxkart/src/projectile_manager.cpp 2007-09-30 14:17:28 UTC (rev 1270)
@@ -75,6 +75,7 @@
m_active_explosions.clear();
} // cleanup
+// -----------------------------------------------------------------------------
/** General projectile update call. */
void ProjectileManager::update(float dt)
{
@@ -122,6 +123,7 @@
} // update
+// -----------------------------------------------------------------------------
/** See if there is an old, unused projectile object available. If so,
* reuse this object, otherwise create a new one. */
Projectile *ProjectileManager::newProjectile(Kart *kart, int type)
@@ -142,6 +144,7 @@
} // newProjectile
+// -----------------------------------------------------------------------------
/** See if there is an old, unused explosion object available. If so,
* reuse this object, otherwise create a new one. */
Explosion* ProjectileManager::newExplosion(sgCoord* coord)
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