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anchoring

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Anchoring kinda works now
This commit is contained in:
Modnark
2022-10-01 21:13:40 -04:00
parent 2f3cb43807
commit 8e73755d80
3 changed files with 25 additions and 22 deletions
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2
Blocks3D.vcproj
View File

@@ -172,7 +172,7 @@
/>
<Tool
Name="VCLinkerTool"
AdditionalDependencies="Advapi32.lib UxTheme.lib Comctl32.lib Comdlg32.lib Shell32.lib Urlmon.lib ole32.lib oleaut32.lib uuid.lib oded.lib OPCODE_D.lib"
AdditionalDependencies="Advapi32.lib UxTheme.lib Comctl32.lib Comdlg32.lib Shell32.lib Urlmon.lib ole32.lib oleaut32.lib uuid.lib ode.lib OPCODE.lib"
OutputFile="./Blocks3D-Debug.exe"
LinkIncremental="2"
SuppressStartupBanner="true"

1
src/source/DataModelV2/PartInstance.cpp
View File

@@ -156,6 +156,7 @@ PartInstance::PartInstance(const PartInstance &oinst)
bottom = oinst.bottom;
shape = oinst.shape;
changed = true;
physBody = NULL;
}
void PartInstance::setSize(Vector3 newSize)

40
src/source/XplicitNgine/XplicitNgine.cpp
View File

@@ -16,7 +16,7 @@ XplicitNgine::XplicitNgine()
contactgroup = dJointGroupCreate(0);
dWorldSetGravity(physWorld, 0, -0.5, 0);
dGeomID ground_geom = dCreatePlane(physSpace, 0, 1, 0, 0);
//dGeomID ground_geom = dCreatePlane(physSpace, 0, 1, 0, 0);
}
XplicitNgine::~XplicitNgine()
@@ -42,16 +42,22 @@ void collisionCallback(void *data, dGeomID o1, dGeomID o2)
if (n > 0) {
for (i=0; i<n; i++) {
contact[i].surface.mode = dContactSlip1 | dContactSlip2 | dContactSoftERP | dContactSoftCFM | dContactApprox1;
if (dGeomGetClass(o1) == dSphereClass || dGeomGetClass(o2) == dSphereClass)
contact[i].surface.mu = 20;
else
// Define contact surface properties
contact[i].surface.mu = 0.5;
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;
dJointID c = dJointCreateContact (g_xplicitNgine->physWorld,g_xplicitNgine->contactgroup,contact+i);
dJointAttach (c,dGeomGetBody(o1),dGeomGetBody(o2));
// Create joints
dJointID c = dJointCreateContact(
g_xplicitNgine->physWorld,
g_xplicitNgine->contactgroup,
contact+i
);
dJointAttach (c,b1,b2);
}
}
}
@@ -66,13 +72,14 @@ void XplicitNgine::createBody(PartInstance* partInstance)
// init body
partInstance->physBody = dBodyCreate(physWorld);
// init geom
// Create geom
partInstance->physGeom[0] = dCreateBox(physSpace,
partInstance->getSize()[0],
partInstance->getSize()[1],
partInstance->getSize()[2]
);
// Debug output
dVector3 result;
dGeomBoxGetLengths(partInstance->physGeom[0], result);
printf("[XplicitNgine] Part Geom Size: %.1f, %.1f, %.1f\n",
@@ -81,8 +88,8 @@ void XplicitNgine::createBody(PartInstance* partInstance)
result[2]
);
// Create rigid body
printf("[XplicitNgine] Created Geom for PartInstance\n");
dBodySetPosition(partInstance->physBody,
partInstance->getPosition()[0],
partInstance->getPosition()[1],
@@ -91,22 +98,17 @@ void XplicitNgine::createBody(PartInstance* partInstance)
printf("[XplicitNgine] Created Body for PartInstance\n");
if(!partInstance->anchored)
dGeomSetBody(partInstance->physGeom[0], partInstance->physBody);
} else {
// There is 100% a better way of doing this, but for now, anchored parts can be like this?
if(partInstance->anchored) {
dBodySetPosition(partInstance->physBody,
partInstance->getPosition()[0],
partInstance->getPosition()[1],
partInstance->getPosition()[2]
);
dBodySetLinearVel(partInstance->physBody, 0, 0, 0);
}
} else {
if(partInstance->anchored)
return;
const dReal* physPosition = dBodyGetPosition(partInstance->physBody);
// I hate matricies
// 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]));