Made physics let you move stuff

Dialogs.rc

@@ -5,7 +5,7 @@
 #include <windows.h>
 #include <commctrl.h>
 #include <richedit.h>
-#include "resource.h"
+#include "src/include/resource.h"
 
 
 

resource.h

@@ -1,10 +0,0 @@
-//{{NO_DEPENDENCIES}}
-// Microsoft Visual C++ generated include file.
-// Used by dialogs.rc
-//
-#define IDI_ICON1                       101
-#define IDB_BITMAP1                     102
-#define IDD_DIALOG1                     103
-#define IDC_EDIT1                       1001
-#define IDC_PROPERTYGRID                2000
-

src/include/DataModelV2/PartInstance.h

@@ -49,6 +49,7 @@ public:
 	void setVelocity(Vector3);
 	void setRotVelocity(Vector3);
 	void setCFrame(CoordinateFrame);
+	void setCFrameNoSync(CoordinateFrame);
 	void setSize(Vector3);
 	void setShape(Enum::Shape::Value shape);
 	void setChanged();

src/include/XplicitNgine/XplicitNgine.h

@@ -3,7 +3,7 @@
 #include "DatamodelV2/Instance.h"
 #include "DatamodelV2/PartInstance.h"
 
-class XplicitNgine : Instance
+class XplicitNgine : public Instance
 {
 public:
 	XplicitNgine();
@@ -13,4 +13,6 @@ public:
 	dJointGroupID contactgroup;
 
 	void createBody(PartInstance* partInstance);
+	void deleteBody(PartInstance* partInstance);
+	void updateBody(PartInstance* partInstance, CoordinateFrame * cFrame);
 };

src/include/resource.h

@@ -1,7 +1,7 @@
 #define IDC_PROPERTYGRID                2000
 #define IDC_STATIC						2
 
-#define IDE_EDIT								105
+#define IDC_EDIT1								105
 #define IDI_ICON1                               102
 #define IDB_BITMAP1                             103
 #define IDD_DIALOG1                             104

src/source/DataModelV2/DataModelInstance.cpp

@@ -43,6 +43,11 @@ void DataModelInstance::resetEngine()
 		delete xplicitNgine;
 	xplicitNgine = new XplicitNgine();
 	g_xplicitNgine = xplicitNgine;
+	for(size_t i = 0; i < getWorkspace()->partObjects.size(); i++)
+	{
+		PartInstance* partInstance = getWorkspace()->partObjects[i];
+		partInstance->physBody = NULL;
+	}
 }
 
 XplicitNgine * DataModelInstance::getEngine()
@@ -53,6 +58,8 @@ XplicitNgine * DataModelInstance::getEngine()
 void DataModelInstance::toggleRun()
 {
 	running = !running;
+	//if(!running)
+		//resetEngine();
 }
 bool DataModelInstance::isRunning()
 {

src/source/DataModelV2/PartInstance.cpp

@@ -8,6 +8,7 @@
 PartInstance::PartInstance(void)
 {
 	PVInstance::PVInstance();
+	physBody = NULL;
     glList = glGenLists(1);
 	name = "Unnamed PVItem";
 	className = "Part";
@@ -25,7 +26,6 @@ PartInstance::PartInstance(void)
 	left = Enum::SurfaceType::Smooth;
 	bottom = Enum::SurfaceType::Smooth;
 	shape = Enum::Shape::Block;
-	physBody = NULL;
 }
 
 
@@ -110,6 +110,7 @@ void PartInstance::setSurface(int face, Enum::SurfaceType::Value surface)
 
 void PartInstance::setParent(Instance* prnt)
 {
+	g_dataModel->getEngine()->deleteBody(this);
 	Instance * cparent = getParent();
 	while(cparent != NULL)
 	{
@@ -144,7 +145,7 @@ PartInstance::PartInstance(const PartInstance &oinst)
 	setParent(oinst.parent);
 	anchored = oinst.anchored;
 	size = oinst.size;
-	setCFrame(oinst.cFrame);
+	setCFrameNoSync(oinst.cFrame);
 	color = oinst.color;
 	velocity = oinst.velocity;
 	rotVelocity = oinst.rotVelocity;
@@ -156,7 +157,6 @@ PartInstance::PartInstance(const PartInstance &oinst)
 	bottom = oinst.bottom;
 	shape = oinst.shape;
 	changed = true;
-	physBody = NULL;
 }
 
 void PartInstance::setSize(Vector3 newSize)
@@ -222,7 +222,7 @@ void PartInstance::setShape(Enum::Shape::Value shape)
 void PartInstance::setPosition(Vector3 pos)
 {
 	position = pos;
-	cFrame = CoordinateFrame(cFrame.rotation, pos);
+	setCFrame(CoordinateFrame(cFrame.rotation, pos));
 	changed = true;
 }
 
@@ -231,6 +231,12 @@ CoordinateFrame PartInstance::getCFrame()
 	return cFrame;
 }
 void PartInstance::setCFrame(CoordinateFrame coordinateFrame)
+{
+	g_dataModel->getEngine()->updateBody(this, &coordinateFrame);
+	setCFrameNoSync(coordinateFrame);
+}
+
+void PartInstance::setCFrameNoSync(CoordinateFrame coordinateFrame)
 {
 	cFrame = coordinateFrame;
 	position = coordinateFrame.translation;

src/source/XplicitNgine/XplicitNgine.cpp

@@ -66,6 +66,20 @@ void collisionCallback(void *data, dGeomID o1, dGeomID o2)
 	}
 }
 
+void XplicitNgine::deleteBody(PartInstance* partInstance)
+{
+	if(partInstance->physBody != NULL)
+	{
+		while(dBodyGetNumJoints(partInstance->physBody) > 0) {
+			dJointDestroy(dBodyGetJoint(partInstance->physBody, 0));
+		}
+		dBodyDestroy(partInstance->physBody);
+		dGeomDestroy(partInstance->physGeom[0]);
+		printf("Body should be destroyed");
+		partInstance->physBody = NULL;
+	}
+}
+
 void XplicitNgine::createBody(PartInstance* partInstance)
 {
 	// calculate collisions
@@ -131,7 +145,7 @@ void XplicitNgine::createBody(PartInstance* partInstance)
 			// 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(
+			partInstance->setCFrameNoSync(CoordinateFrame(
 				Matrix3(physRotation[0],physRotation[1],physRotation[2],
 						physRotation[4],physRotation[5],physRotation[6],
 						physRotation[8],physRotation[9],physRotation[10]),
@@ -142,3 +156,30 @@ void XplicitNgine::createBody(PartInstance* partInstance)
 	dWorldQuickStep(physWorld,0.05F);
 	dJointGroupEmpty(contactgroup);
 }
+
+void XplicitNgine::updateBody(PartInstance *partInstance, CoordinateFrame * cFrame)
+{
+	if(partInstance->physBody != NULL)
+	{
+		
+		printf("Position is supposed to be set\n");
+		Vector3 position = cFrame->translation;
+
+		dBodySetPosition(partInstance->physBody, 
+			position[0],
+			position[1],
+			position[2]
+		);
+
+		Matrix3 g3dRot = cFrame->rotation;
+		float rotation [12] = {	g3dRot[0][0], g3dRot[0][1], g3dRot[0][2], 0,
+								g3dRot[1][0], g3dRot[1][1], g3dRot[1][2], 0,
+								g3dRot[2][0], g3dRot[2][1], g3dRot[2][2], 0};
+
+		dBodySetRotation(partInstance->physBody, rotation);
+	}
+	else
+	{
+		printf("Null???\n");
+	}
+}