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Made physics work

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This commit is contained in:
Vulpovile
2022-10-02 15:54:38 -07:00
parent 316359a395
commit e17aa16086
7 changed files with 51 additions and 26 deletions
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36
src/source/XplicitNgine/XplicitNgine.cpp
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@@ -75,12 +75,11 @@ void XplicitNgine::deleteBody(PartInstance* partInstance)
}
dBodyDestroy(partInstance->physBody);
dGeomDestroy(partInstance->physGeom[0]);
printf("Body should be destroyed");
partInstance->physBody = NULL;
}
}
void XplicitNgine::createBody(PartInstance* partInstance)
void XplicitNgine::createBody(PartInstance* partInstance, float stepSize)
{
// calculate collisions
dSpaceCollide (physSpace,0,&collisionCallback);
@@ -101,37 +100,46 @@ void XplicitNgine::createBody(PartInstance* partInstance)
dVector3 result;
dGeomBoxGetLengths(partInstance->physGeom[0], result);
printf("[XplicitNgine] Part Geom Size: %.1f, %.1f, %.1f\n",
result[0],
result[1],
result[2]
);
//printf("[XplicitNgine] Part Geom Size: %.1f, %.1f, %.1f\n",
// result[0],
// result[1],
// result[2]
//);
}
else
{
partInstance->physGeom[0] = dCreateSphere(physSpace, partInstance->getSize()[0]/2);
}
dMass mass;
mass.setBox(partInstance->getSize().x, partInstance->getSize().y, partInstance->getSize().z, 0.7F);
dBodySetMass(partInstance->physBody, &mass);
// Debug output
// Create rigid body
printf("[XplicitNgine] Created Geom for PartInstance\n");
//printf("[XplicitNgine] Created Geom for PartInstance\n");
dBodySetPosition(partInstance->physBody,
partInstance->getPosition()[0],
partInstance->getPosition()[1],
partInstance->getPosition()[2]
);
dGeomSetPosition(partInstance->physGeom[0],
partInstance->getPosition()[0],
partInstance->getPosition()[1],
partInstance->getPosition()[2]);
Matrix3 g3dRot = partInstance->getCFrame().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};
dGeomSetRotation(partInstance->physGeom[0], rotation);
dBodySetRotation(partInstance->physBody, rotation);
printf("[XplicitNgine] Created Body for PartInstance\n");
//printf("[XplicitNgine] Created Body for PartInstance\n");
if(!partInstance->anchored)
dGeomSetBody(partInstance->physGeom[0], partInstance->physBody);
@@ -152,8 +160,8 @@ void XplicitNgine::createBody(PartInstance* partInstance)
Vector3(physPosition[0], physPosition[1], physPosition[2])));
}
}
dWorldQuickStep(physWorld,0.05F);
//STEP SHOULD NOT BE HERE!
dWorldQuickStep(physWorld, stepSize);
dJointGroupEmpty(contactgroup);
}
@@ -161,8 +169,6 @@ void XplicitNgine::updateBody(PartInstance *partInstance, CoordinateFrame * cFra
{
if(partInstance->physBody != NULL)
{
printf("Position is supposed to be set\n");
Vector3 position = cFrame->translation;
dBodySetPosition(partInstance->physBody,
@@ -178,8 +184,4 @@ void XplicitNgine::updateBody(PartInstance *partInstance, CoordinateFrame * cFra
dBodySetRotation(partInstance->physBody, rotation);
}
else
{
printf("Null???\n");
}
}