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Made XplicitNgine secret instance of DataModel

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This commit is contained in:
Vulpovile
2022-10-02 11:24:05 -07:00
parent d3f9b74ba1
commit 226f2adda4
7 changed files with 62 additions and 42 deletions
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42
src/source/XplicitNgine/XplicitNgine.cpp
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@@ -16,6 +16,8 @@ XplicitNgine::XplicitNgine()
contactgroup = dJointGroupCreate(0);
dWorldSetGravity(physWorld, 0, -0.5, 0);
this->name = "PhysicsService";
//dGeomID ground_geom = dCreatePlane(physSpace, 0, 1, 0, 0);
}
@@ -41,14 +43,16 @@ void collisionCallback(void *data, dGeomID o1, dGeomID o2)
n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact));
if (n > 0) {
for (i=0; i<n; i++) {
contact[i].surface.mode = dContactSlip1 | dContactSlip2 | dContactSoftERP | dContactSoftCFM | dContactApprox1;
contact[i].surface.mode = dContactBounce | dContactSlip1 | dContactSlip2 | dContactSoftERP | dContactSoftCFM | dContactApprox1;
// Define contact surface properties
contact[i].surface.mu = 0.5;
contact[i].surface.bounce = 0.5; //Elasticity
contact[i].surface.mu = 0.3F; //Friction
contact[i].surface.slip1 = 0.0;
contact[i].surface.slip2 = 0.0;
contact[i].surface.soft_erp = 0.8;
contact[i].surface.soft_cfm = 0.01;
contact[i].surface.soft_erp = 0.8F;
contact[i].surface.soft_cfm = 0.01F;
// Create joints
dJointID c = dJointCreateContact(
@@ -119,22 +123,22 @@ void XplicitNgine::createBody(PartInstance* partInstance)
dGeomSetBody(partInstance->physGeom[0], partInstance->physBody);
} else {
if(partInstance->anchored)
return;
const dReal* physPosition = dBodyGetPosition(partInstance->physBody);
// TODO: Rotation code
// Probably should be done AFTER we get physics KINDA working!!!
const dReal* physRotation = dGeomGetRotation(partInstance->physGeom[0]);
//partInstance->setPosition(Vector3(physPosition[0], physPosition[1], physPosition[2]));
partInstance->setCFrame(CoordinateFrame(
Matrix3(physRotation[0],physRotation[1],physRotation[2],
physRotation[4],physRotation[5],physRotation[6],
physRotation[8],physRotation[9],physRotation[10]),
Vector3(physPosition[0], physPosition[1], physPosition[2])));
if(!partInstance->anchored)
{
const dReal* physPosition = dBodyGetPosition(partInstance->physBody);
// TODO: Rotation code
// Probably should be done AFTER we get physics KINDA working!!!
const dReal* physRotation = dGeomGetRotation(partInstance->physGeom[0]);
//partInstance->setPosition(Vector3(physPosition[0], physPosition[1], physPosition[2]));
partInstance->setCFrame(CoordinateFrame(
Matrix3(physRotation[0],physRotation[1],physRotation[2],
physRotation[4],physRotation[5],physRotation[6],
physRotation[8],physRotation[9],physRotation[10]),
Vector3(physPosition[0], physPosition[1], physPosition[2])));
}
}
dWorldQuickStep(physWorld,0.05);
dWorldQuickStep(physWorld,0.05F);
dJointGroupEmpty(contactgroup);
}