8cab401d08
-=-=-=-=-=-=-=-=-=-=-=-=-=-
3D Physics:
-Fixed "Bounce" parameter in 3D
-Fixed bug affecting Area (sometims it would not detect properly)
-Vehicle Body has seen heavy work
-Added Query API for doing space queries in 3D. Needs some docs though.
-Added JOINTS! Adapted Bullet Joints: and created easy gizmos for setting them up:
-PinJoint
-HingeJoint (with motor)
-SliderJoint
-ConeTwistJoint
-Generic6DOFJoint
-Added OBJECT PICKING! based on the new query API. Any physics object now (Area or Body) has the following signals and virtual functions:
-input_event (mouse or multitouch input over the body)
-mouse_enter (mouse entered the body area)
-mouse_exit (mouse exited body area)
For Area it needs to be activated manually, as it isn't by default (ray goes thru).
Other:
-Begun working on Windows 8 (RT) port. Compiles but does not work yet.
-Added TheoraPlayer library for improved to-texture and portable video support.
-Fixed a few bugs in the renderer, collada importer, collada exporter, etc.
663 lines
21 KiB
C++
663 lines
21 KiB
C++
/*************************************************************************/
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/* test_physics.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "test_physics.h"
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#include "servers/visual_server.h"
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#include "servers/physics_server.h"
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#include "os/main_loop.h"
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#include "math_funcs.h"
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#include "print_string.h"
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#include "map.h"
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#include "os/os.h"
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#include "quick_hull.h"
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class TestPhysicsMainLoop : public MainLoop {
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OBJ_TYPE( TestPhysicsMainLoop, MainLoop );
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enum {
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LINK_COUNT = 20,
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};
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RID test_cube;
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RID plane;
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RID sphere;
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RID light;
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RID camera;
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RID mover;
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RID scenario;
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RID space;
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RID character;
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float ofs_x,ofs_y;
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Point2 joy_direction;
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List<RID> bodies;
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Map<PhysicsServer::ShapeType,RID> type_shape_map;
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Map<PhysicsServer::ShapeType,RID> type_mesh_map;
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void body_changed_transform(Object *p_state, RID p_visual_instance) {
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PhysicsDirectBodyState *state = (PhysicsDirectBodyState*)p_state;
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VisualServer *vs=VisualServer::get_singleton();
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Transform t=state->get_transform();
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//t.basis.scale( Vector3(1.0,0.5,0.2) );
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vs->instance_set_transform(p_visual_instance,t);
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}
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bool quit;
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protected:
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static void _bind_methods() {
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ObjectTypeDB::bind_method("body_changed_transform",&TestPhysicsMainLoop::body_changed_transform);
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}
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RID create_body(PhysicsServer::ShapeType p_shape, PhysicsServer::BodyMode p_body,const Transform p_location,bool p_active_default=true,const Transform&p_shape_xform=Transform()) {
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VisualServer *vs=VisualServer::get_singleton();
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PhysicsServer * ps = PhysicsServer::get_singleton();
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RID mesh_instance = vs->instance_create2(type_mesh_map[p_shape],scenario);
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RID body = ps->body_create(p_body,!p_active_default);
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ps->body_set_space(body,space);
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ps->body_set_param(body,PhysicsServer::BODY_PARAM_BOUNCE,0.0);
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//todo set space
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ps->body_add_shape(body,type_shape_map[p_shape]);
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ps->body_set_force_integration_callback(body,this,"body_changed_transform",mesh_instance);
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ps->body_set_state( body, PhysicsServer::BODY_STATE_TRANSFORM,p_location);
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bodies.push_back(body);
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if (p_body==PhysicsServer::BODY_MODE_STATIC) {
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vs->instance_set_transform(mesh_instance,p_location);
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}
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return body;
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}
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RID create_static_plane(const Plane& p_plane) {
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PhysicsServer * ps = PhysicsServer::get_singleton();
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RID plane_shape = ps->shape_create(PhysicsServer::SHAPE_PLANE);;
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ps->shape_set_data( plane_shape, p_plane );
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RID b = ps->body_create( PhysicsServer::BODY_MODE_STATIC );
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ps->body_set_space(b,space);
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//todo set space
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ps->body_add_shape(b, plane_shape);
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return b;
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}
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void configure_body(RID p_body,float p_mass, float p_friction, float p_bounce) {
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PhysicsServer * ps = PhysicsServer::get_singleton();
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ps->body_set_param( p_body, PhysicsServer::BODY_PARAM_MASS, p_mass );
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ps->body_set_param( p_body, PhysicsServer::BODY_PARAM_FRICTION, p_friction );
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ps->body_set_param( p_body, PhysicsServer::BODY_PARAM_BOUNCE, p_bounce );
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}
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void init_shapes() {
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VisualServer *vs=VisualServer::get_singleton();
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PhysicsServer * ps = PhysicsServer::get_singleton();
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/* SPHERE SHAPE */
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RID sphere_mesh = vs->make_sphere_mesh(10,20,0.5);
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RID sphere_material = vs->fixed_material_create();
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//vs->material_set_flag( sphere_material, VisualServer::MATERIAL_FLAG_WIREFRAME, true );
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vs->fixed_material_set_param( sphere_material, VisualServer::FIXED_MATERIAL_PARAM_DIFFUSE, Color(0.7,0.8,3.0) );
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vs->mesh_surface_set_material( sphere_mesh, 0, sphere_material );
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type_mesh_map[PhysicsServer::SHAPE_SPHERE]=sphere_mesh;
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RID sphere_shape=ps->shape_create(PhysicsServer::SHAPE_SPHERE);
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ps->shape_set_data( sphere_shape, 0.5 );
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type_shape_map[PhysicsServer::SHAPE_SPHERE]=sphere_shape;
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/* BOX SHAPE */
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DVector<Plane> box_planes = Geometry::build_box_planes(Vector3(0.5,0.5,0.5));
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RID box_material = vs->fixed_material_create();
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vs->fixed_material_set_param( box_material, VisualServer::FIXED_MATERIAL_PARAM_DIFFUSE, Color(1.0,0.2,0.2) );
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RID box_mesh = vs->mesh_create();
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Geometry::MeshData box_data = Geometry::build_convex_mesh(box_planes);
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vs->mesh_add_surface_from_mesh_data(box_mesh,box_data);
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vs->mesh_surface_set_material( box_mesh, 0, box_material );
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type_mesh_map[PhysicsServer::SHAPE_BOX]=box_mesh;
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RID box_shape=ps->shape_create(PhysicsServer::SHAPE_BOX);
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ps->shape_set_data( box_shape, Vector3(0.5,0.5,0.5) );
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type_shape_map[PhysicsServer::SHAPE_BOX]=box_shape;
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/* CAPSULE SHAPE */
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DVector<Plane> capsule_planes = Geometry::build_capsule_planes(0.5,0.7,12,Vector3::AXIS_Z);
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RID capsule_material = vs->fixed_material_create();
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vs->fixed_material_set_param( capsule_material, VisualServer::FIXED_MATERIAL_PARAM_DIFFUSE, Color(0.3,0.4,1.0) );
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RID capsule_mesh = vs->mesh_create();
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Geometry::MeshData capsule_data = Geometry::build_convex_mesh(capsule_planes);
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vs->mesh_add_surface_from_mesh_data(capsule_mesh,capsule_data);
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vs->mesh_surface_set_material( capsule_mesh, 0, capsule_material );
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type_mesh_map[PhysicsServer::SHAPE_CAPSULE]=capsule_mesh;
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RID capsule_shape=ps->shape_create(PhysicsServer::SHAPE_CAPSULE);
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Dictionary capsule_params;
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capsule_params["radius"]=0.5;
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capsule_params["height"]=1.4;
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ps->shape_set_data( capsule_shape, capsule_params );
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type_shape_map[PhysicsServer::SHAPE_CAPSULE]=capsule_shape;
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/* CONVEX SHAPE */
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DVector<Plane> convex_planes = Geometry::build_cylinder_planes(0.5,0.7,5,Vector3::AXIS_Z);
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RID convex_material = vs->fixed_material_create();
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vs->fixed_material_set_param( convex_material, VisualServer::FIXED_MATERIAL_PARAM_DIFFUSE, Color(0.8,0.2,0.9));
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RID convex_mesh = vs->mesh_create();
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Geometry::MeshData convex_data = Geometry::build_convex_mesh(convex_planes);
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QuickHull::build(convex_data.vertices,convex_data);
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vs->mesh_add_surface_from_mesh_data(convex_mesh,convex_data);
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vs->mesh_surface_set_material( convex_mesh, 0, convex_material );
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type_mesh_map[PhysicsServer::SHAPE_CONVEX_POLYGON]=convex_mesh;
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RID convex_shape=ps->shape_create(PhysicsServer::SHAPE_CONVEX_POLYGON);
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ps->shape_set_data( convex_shape, convex_data.vertices );
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type_shape_map[PhysicsServer::SHAPE_CONVEX_POLYGON]=convex_shape;
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}
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void make_trimesh(Vector<Vector3> p_faces,const Transform& p_xform=Transform()) {
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VisualServer *vs=VisualServer::get_singleton();
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PhysicsServer * ps = PhysicsServer::get_singleton();
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RID trimesh_shape = ps->shape_create(PhysicsServer::SHAPE_CONCAVE_POLYGON);
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ps->shape_set_data(trimesh_shape, p_faces);
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p_faces=ps->shape_get_data(trimesh_shape); // optimized one
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Vector<Vector3> normals; // for drawing
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for (int i=0;i<p_faces.size()/3;i++) {
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Plane p( p_faces[i*3+0],p_faces[i*3+1], p_faces[i*3+2] );
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normals.push_back(p.normal);
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normals.push_back(p.normal);
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normals.push_back(p.normal);
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}
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RID trimesh_mesh = vs->mesh_create();
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Array d;
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d.resize(VS::ARRAY_MAX);
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d[VS::ARRAY_VERTEX]=p_faces;
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d[VS::ARRAY_NORMAL]=normals;
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vs->mesh_add_surface(trimesh_mesh, VS::PRIMITIVE_TRIANGLES, d );
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RID trimesh_mat = vs->fixed_material_create();
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vs->fixed_material_set_param( trimesh_mat, VisualServer::FIXED_MATERIAL_PARAM_DIFFUSE, Color(1.0,0.5,0.8));
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//vs->material_set_flag( trimesh_mat, VisualServer::MATERIAL_FLAG_UNSHADED,true);
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vs->mesh_surface_set_material( trimesh_mesh, 0, trimesh_mat );
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RID triins = vs->instance_create2(trimesh_mesh,scenario);
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RID tribody = ps->body_create( PhysicsServer::BODY_MODE_STATIC);
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ps->body_set_space(tribody,space);
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//todo set space
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ps->body_add_shape(tribody, trimesh_shape);
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Transform tritrans = p_xform;
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ps->body_set_state( tribody, PhysicsServer::BODY_STATE_TRANSFORM, tritrans );
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vs->instance_set_transform( triins, tritrans );
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//RID trimesh_material = vs->fixed_material_create();
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//vs->material_generate( trimesh_material, Color(0.2,0.4,0.6) );
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//vs->mesh_surface_set_material( trimesh_mesh, 0, trimesh_material );
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}
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void make_grid(int p_width,int p_height,float p_cellsize,float p_cellheight,const Transform& p_xform=Transform()) {
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Vector< Vector< float > > grid;
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grid.resize(p_width);
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for (int i=0;i<p_width;i++) {
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grid[i].resize(p_height);
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for (int j=0;j<p_height;j++) {
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grid[i][j]=1.0+Math::random(-p_cellheight, p_cellheight );
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}
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}
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Vector<Vector3> faces;
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for (int i=1;i<p_width;i++) {
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for (int j=1;j<p_height;j++) {
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#define MAKE_VERTEX(m_x,m_z)\
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faces.push_back( Vector3( (m_x-p_width/2)*p_cellsize, grid[m_x][m_z], (m_z-p_height/2)*p_cellsize ) )
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MAKE_VERTEX(i,j-1);
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MAKE_VERTEX(i,j);
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MAKE_VERTEX(i-1,j);
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MAKE_VERTEX(i-1,j-1);
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MAKE_VERTEX(i,j-1);
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MAKE_VERTEX(i-1,j);
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}
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}
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make_trimesh(faces,p_xform);
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}
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public:
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virtual void input_event(const InputEvent& p_event) {
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if (p_event.type==InputEvent::MOUSE_MOTION && p_event.mouse_motion.button_mask&4) {
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ofs_y-=p_event.mouse_motion.relative_y/200.0;
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ofs_x+=p_event.mouse_motion.relative_x/200.0;
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}
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if (p_event.type==InputEvent::MOUSE_MOTION && p_event.mouse_motion.button_mask&1) {
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float y=-p_event.mouse_motion.relative_y/20.0;
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float x=p_event.mouse_motion.relative_x/20.0;
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if (mover.is_valid()) {
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PhysicsServer * ps = PhysicsServer::get_singleton();
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Transform t = ps->body_get_state(mover,PhysicsServer::BODY_STATE_TRANSFORM);
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t.origin+=Vector3(x,y,0);
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ps->body_set_state(mover,PhysicsServer::BODY_STATE_TRANSFORM,t);
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}
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}
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if (p_event.type == InputEvent::JOYSTICK_MOTION) {
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if (p_event.joy_motion.axis == 0) {
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joy_direction.x = p_event.joy_motion.axis_value;
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};
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if (p_event.joy_motion.axis == 1) {
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joy_direction.y = p_event.joy_motion.axis_value;
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};
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};
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}
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virtual void request_quit() {
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quit=true;
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}
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virtual void init() {
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ofs_x=ofs_y=0;
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init_shapes();
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PhysicsServer *ps = PhysicsServer::get_singleton();
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space=ps->space_create();
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ps->space_set_active(space,true);
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VisualServer *vs=VisualServer::get_singleton();
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/* LIGHT */
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RID lightaux = vs->light_create( VisualServer::LIGHT_DIRECTIONAL );
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//vs->light_set_color( lightaux, VisualServer::LIGHT_COLOR_AMBIENT, Color(0.0,0.0,0.0) );
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scenario = vs->scenario_create();
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vs->light_set_shadow(lightaux,true);
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light = vs->instance_create2( lightaux,scenario );
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Transform t;
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t.rotate(Vector3(1.0,0,0),0.6);
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vs->instance_set_transform(light,t);
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/* CAMERA */
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camera = vs->camera_create();
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RID viewport = vs->viewport_create();
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vs->viewport_attach_camera( viewport, camera );
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vs->viewport_attach_to_screen(viewport);
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vs->viewport_set_scenario( viewport, scenario );
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vs->camera_set_perspective(camera,60,0.1,40.0);
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vs->camera_set_transform(camera,Transform( Matrix3(), Vector3(0,9,12)));
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//vs->scenario_set_debug(scenario,VS::SCENARIO_DEBUG_WIREFRAME);
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Transform gxf;
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gxf.basis.scale(Vector3(1.4,0.4,1.4));
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gxf.origin=Vector3(-2,1,-2);
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make_grid(5,5,2.5,1,gxf);
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// create_body(PhysicsServer::SHAPE_BOX,PhysicsServer::BODY_MODE_STATIC,gxf);
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//create_static_plane( Plane( Vector3(0,1,0), -2) );
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// test_joint();
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test_fall();
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//test_joint();
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/*
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Vector<Vector3> faces;
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faces.push_back( Vector3(10,0,-5) );
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faces.push_back( Vector3(0,0,10) );
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faces.push_back( Vector3(-10,-0.2,-5) );
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make_trimesh(faces);
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*/
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/* Make Trimesh */
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quit=false;
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return;
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#if 0
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#define GRID_SIZE 5
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float grid[GRID_SIZE][GRID_SIZE];
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for (int i=0;i<GRID_SIZE;i++) {
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for (int j=0;j<GRID_SIZE;j++) {
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grid[j][i]=Math::random(0.0, 1.0 );
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}
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}
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Vector<Vector3> faces;
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for (int i=1;i<GRID_SIZE;i++) {
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for (int j=1;j<GRID_SIZE;j++) {
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#define MAKE_VERTEX(m_x,m_z)\
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faces.push_back( Vector3( m_x-GRID_SIZE/2.0, grid[m_x][m_z], m_z-GRID_SIZE/2.0 )*3.0 )
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MAKE_VERTEX(i,j-1);
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MAKE_VERTEX(i,j);
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MAKE_VERTEX(i-1,j);
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MAKE_VERTEX(i-1,j-1);
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MAKE_VERTEX(i,j-1);
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MAKE_VERTEX(i-1,j);
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}
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}
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/*
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faces.clear();
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faces.push_back( Vector3(0,0,-5) );
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faces.push_back( Vector3(1,0,-1) );
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faces.push_back( Vector3(-1,-0,-1) );
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*/
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RID trimesh_shape = ps->shape_create();
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ps->shape_set_data(trimesh_shape, PhysicsServer::SHAPE_CONCAVE_POLYGON,faces);
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faces=ps->shape_get_shape(trimesh_shape, 0);
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Vector<Vector3> normals; // for drawing
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for (int i=0;i<faces.size()/3;i++) {
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Plane p( faces[i*3+0],faces[i*3+1], faces[i*3+2] );
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normals.push_back(p.normal);
|
|
normals.push_back(p.normal);
|
|
normals.push_back(p.normal);
|
|
}
|
|
|
|
RID trimesh_mesh = vs->mesh_create();
|
|
vs->mesh_add_surface(trimesh_mesh, VS::PRIMITIVE_TRIANGLES, VS::ARRAY_FORMAT_VERTEX|VS::ARRAY_FORMAT_NORMAL, faces.size() );
|
|
vs->mesh_surface_set_array(trimesh_mesh,0,VS::ARRAY_VERTEX, faces );
|
|
vs->mesh_surface_set_array(trimesh_mesh,0,VS::ARRAY_NORMAL, normals );
|
|
RID trimesh_mat = vs->fixed_material_create();
|
|
vs->material_generate( trimesh_mat, Color(1.0,0.5,0.3) );
|
|
vs->mesh_surface_set_material( trimesh_mesh, 0, trimesh_mat );
|
|
|
|
RID triins = vs->instance_create2(trimesh_mesh);
|
|
|
|
|
|
|
|
RID tribody = ps->body_create( PhysicsServer::BODY_MODE_STATIC, trimesh_shape);
|
|
Transform tritrans = Transform( Matrix3(), Vector3(0,0,-2) );
|
|
ps->body_set_state( tribody, PhysicsServer::BODY_STATE_TRANSFORM, tritrans );
|
|
vs->instance_set_transform( triins, tritrans );
|
|
RID trimesh_material = vs->fixed_material_create();
|
|
vs->material_generate( trimesh_material, Color(0.2,0.4,0.6) );
|
|
vs->mesh_surface_set_material( trimesh_mesh, 0, trimesh_material );
|
|
#endif
|
|
}
|
|
virtual bool iteration(float p_time) {
|
|
|
|
if (mover) {
|
|
static float joy_speed = 10;
|
|
PhysicsServer * ps = PhysicsServer::get_singleton();
|
|
Transform t = ps->body_get_state(mover,PhysicsServer::BODY_STATE_TRANSFORM);
|
|
t.origin+=Vector3(joy_speed * joy_direction.x * p_time, -joy_speed * joy_direction.y * p_time,0);
|
|
ps->body_set_state(mover,PhysicsServer::BODY_STATE_TRANSFORM,t);
|
|
};
|
|
|
|
|
|
Transform cameratr;
|
|
cameratr.rotate(Vector3(0,1,0),ofs_x);
|
|
cameratr.rotate(Vector3(1,0,0),-ofs_y);
|
|
cameratr.translate(Vector3(0,2,8));
|
|
VisualServer *vs=VisualServer::get_singleton();
|
|
vs->camera_set_transform(camera,cameratr);
|
|
|
|
return quit;
|
|
}
|
|
virtual void finish() {
|
|
|
|
}
|
|
|
|
void test_joint() {
|
|
#if 0
|
|
PhysicsServer * ps = PhysicsServer::get_singleton();
|
|
|
|
mover = create_body(PhysicsServer::SHAPE_BOX,PhysicsServer::BODY_MODE_STATIC,Transform(Matrix3(),Vector3(0,0,-24)));
|
|
RID b = create_body(PhysicsServer::SHAPE_CAPSULE,PhysicsServer::BODY_MODE_RIGID,Transform());
|
|
|
|
ps->joint_create_double_pin(b,Vector3(0,0,1.0),mover,Vector3(0,0,0));
|
|
ps->body_add_collision_exception(mover,b);
|
|
|
|
|
|
List<String> cmdline = OS::get_singleton()->get_cmdline_args();
|
|
int link_count = LINK_COUNT;
|
|
if (cmdline.size() > 0 && cmdline[cmdline.size()-1].to_int()) {
|
|
link_count = cmdline[cmdline.size()-1].to_int();
|
|
};
|
|
|
|
for(int i=0;i<link_count;i++) {
|
|
|
|
RID c = create_body(PhysicsServer::SHAPE_CAPSULE,PhysicsServer::BODY_MODE_RIGID,Transform());
|
|
ps->joint_create_double_pin(b,Vector3(0,0,-0.7),c,Vector3(0,0,0.7));
|
|
ps->body_add_collision_exception(c,b);
|
|
b=c;
|
|
}
|
|
|
|
|
|
create_static_plane(Plane(Vector3(0,1,0),-8));
|
|
#endif
|
|
}
|
|
|
|
void test_hinge() {
|
|
#if 0
|
|
PhysicsServer * ps = PhysicsServer::get_singleton();
|
|
|
|
|
|
mover = create_body(PhysicsServer::SHAPE_BOX,PhysicsServer::BODY_MODE_STATIC,Transform(Matrix3(),Vector3(0,0,-24)));
|
|
RID b = create_body(PhysicsServer::SHAPE_BOX,PhysicsServer::BODY_MODE_RIGID,Transform());
|
|
|
|
ps->joint_create_double_hinge(b,Transform(Matrix3(),Vector3(1,1,1.0)),mover,Transform(Matrix3(),Vector3(0,0,0)));
|
|
ps->body_add_collision_exception(mover,b);
|
|
|
|
/*
|
|
for(int i=0;i<20;i++) {
|
|
|
|
RID c = create_body(PhysicsServer::SHAPE_CAPSULE,PhysicsServer::BODY_MODE_RIGID,Transform());
|
|
ps->joint_create_double_hinge(b,Transform(Matrix3(),Vector3(0,0,-0.7)),c,Transform(Matrix3(),Vector3(0,0,0.7)));
|
|
ps->body_add_collision_exception(c,b);
|
|
b=c;
|
|
}
|
|
|
|
*/
|
|
//create_static_plane(Plane(Vector3(0,1,0),-8));
|
|
#endif
|
|
}
|
|
|
|
void test_character() {
|
|
|
|
VisualServer *vs=VisualServer::get_singleton();
|
|
PhysicsServer * ps = PhysicsServer::get_singleton();
|
|
|
|
|
|
DVector<Plane> capsule_planes = Geometry::build_capsule_planes(0.5,1,12,5,Vector3::AXIS_Y);
|
|
RID capsule_material = vs->fixed_material_create();
|
|
|
|
vs->fixed_material_set_param( capsule_material, VisualServer::FIXED_MATERIAL_PARAM_DIFFUSE, Color(1,1,1) );
|
|
|
|
|
|
RID capsule_mesh = vs->mesh_create();
|
|
Geometry::MeshData capsule_data = Geometry::build_convex_mesh(capsule_planes);
|
|
vs->mesh_add_surface_from_mesh_data(capsule_mesh,capsule_data);
|
|
vs->mesh_surface_set_material( capsule_mesh, 0, capsule_material );
|
|
type_mesh_map[PhysicsServer::SHAPE_CAPSULE]=capsule_mesh;
|
|
|
|
RID capsule_shape=ps->shape_create(PhysicsServer::SHAPE_CAPSULE);
|
|
Dictionary capsule_params;
|
|
capsule_params["radius"]=0.5;
|
|
capsule_params["height"]=1;
|
|
Transform shape_xform;
|
|
shape_xform.rotate(Vector3(1,0,0),Math_PI/2.0);
|
|
//shape_xform.origin=Vector3(1,1,1);
|
|
ps->shape_set_data( capsule_shape, capsule_params);
|
|
|
|
|
|
RID mesh_instance = vs->instance_create2(capsule_mesh,scenario);
|
|
character = ps->body_create(PhysicsServer::BODY_MODE_CHARACTER);
|
|
ps->body_set_space(character,space);
|
|
//todo add space
|
|
ps->body_add_shape(character,capsule_shape);
|
|
|
|
ps->body_set_force_integration_callback(character,this,"body_changed_transform",mesh_instance);
|
|
|
|
|
|
ps->body_set_state( character, PhysicsServer::BODY_STATE_TRANSFORM,Transform(Matrix3(),Vector3(-2,5,-2)));
|
|
bodies.push_back(character);
|
|
|
|
|
|
}
|
|
|
|
void test_fall() {
|
|
|
|
|
|
for (int i=0;i<35;i++) {
|
|
|
|
static const PhysicsServer::ShapeType shape_idx[]={
|
|
PhysicsServer::SHAPE_CAPSULE,
|
|
PhysicsServer::SHAPE_BOX,
|
|
PhysicsServer::SHAPE_SPHERE,
|
|
PhysicsServer::SHAPE_CONVEX_POLYGON
|
|
};
|
|
|
|
PhysicsServer::ShapeType type=shape_idx[i%4];
|
|
//type=PhysicsServer::SHAPE_CONVEX_POLYGON;
|
|
|
|
Transform t;
|
|
|
|
t.origin=Vector3(0.0*i,3.5+1.1*i,0.7+0.0*i);
|
|
//t.origin=Vector3(-0.7+0.0*i,0.5+4.1*i,0);
|
|
t.basis.rotate(Vector3(0.2,-1,0),Math_PI/2*0.6);
|
|
//t.basis.rotate(Vector3(0,-1,0),Math_PI/4*i);
|
|
//t.basis.rotate(Vector3(0,-1,0),Math_PI/4*i);
|
|
//t.basis.rotate(Vector3(-1,0,0),Math_PI/4*i);
|
|
|
|
|
|
RID b = create_body(type,PhysicsServer::BODY_MODE_RIGID,t);
|
|
//RID b = create_body(type,i==0?PhysicsServer::BODY_MODE_STATIC:PhysicsServer::BODY_MODE_RIGID,t);
|
|
|
|
}
|
|
|
|
create_static_plane( Plane( Vector3(0,1,0), -1) );
|
|
|
|
|
|
/*
|
|
create_static_plane( Plane( Vector3(1,0,0), -2) );
|
|
create_static_plane( Plane( Vector3(-1,0,0), -2) );
|
|
create_static_plane( Plane( Vector3(0,0,1), -2) );
|
|
create_static_plane( Plane( Vector3(0,0,-1), -2) );
|
|
*/
|
|
|
|
|
|
}
|
|
|
|
void test_activate() {
|
|
|
|
create_body(PhysicsServer::SHAPE_BOX,PhysicsServer::BODY_MODE_RIGID,Transform(Matrix3(),Vector3(0,2,0)),true);
|
|
//create_body(PhysicsServer::SHAPE_SPHERE,PhysicsServer::BODY_MODE_RIGID,Transform(Matrix3(),Vector3(0,6,0)),true);
|
|
create_static_plane( Plane( Vector3(0,1,0), -1) );
|
|
|
|
}
|
|
|
|
|
|
virtual bool idle(float p_time) {
|
|
return false;
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
TestPhysicsMainLoop() {
|
|
|
|
}
|
|
};
|
|
|
|
namespace TestPhysics {
|
|
|
|
MainLoop* test() {
|
|
|
|
return memnew( TestPhysicsMainLoop );
|
|
|
|
}
|
|
|
|
}
|