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/*
core/physics.cc
This file is part of the Osirion project and is distributed under
the terms and conditions of the GNU General Public License version 2
*/
#include "model/collisionmesh.h"
#include "core/physics.h"
#include "core/zone.h"
#include "btBulletDynamicsCommon.h"
#include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h"
namespace core {
/* ---- Bullet collision callbacks --------------------------------- */
//extern ContactAddedCallback gContactAddedCallback;
/*
* see http://bulletphysics.org/mediawiki-1.5.8/index.php/Collision_Callbacks_and_Triggers
*/
#if (BT_BULLET_VERSION < 281)
// bullet 2.80 or older
bool bullet_contact_added_callback(btManifoldPoint &cp, const btCollisionObject *body0, int partId0, int index0, const btCollisionObject *body1, int partId1, int index1)
{
Entity *entity0 = static_cast<Entity *>(body0->getUserPointer());
Entity *entity1 = static_cast<Entity *>(body1->getUserPointer());
#else
// bullet 2.81 or newer
bool bullet_contact_added_callback(btManifoldPoint &cp, const btCollisionObjectWrapper *body0, int partId0, int index0, const btCollisionObjectWrapper *body1, int partId1, int index1)
{
Entity *entity0 = static_cast<Entity *>(body0->getCollisionObject()->getUserPointer());
Entity *entity1 = static_cast<Entity *>(body1->getCollisionObject()->getUserPointer());
#endif
assert(entity0 && entity1);
// FIXME there should probably be an entity flag indiciating wether or not it has a collision callback
if ((entity0->type() == Entity::Dynamic) || (entity0->type() == Entity::Controlable) || (entity0->type() == Entity::Projectile)) {
static_cast<EntityDynamic *>(entity0)->collision(entity1);
}
if ((entity1->type() == Entity::Dynamic) || (entity1->type() == Entity::Controlable) || (entity1->type() == Entity::Projectile)) {
static_cast<EntityDynamic *>(entity1)->collision(entity0);
}
// the return value should be ignored by bullet.
return true;
}
//bool bullet_contact_processed_callback(btManifoldPoint& cp,void* body0, void* body1);
//bool bullet_contact_destroyed_callback(void* userPersistentData);
/* ---- Bullet physics engine and algorithms ----------------------- */
btDefaultCollisionConfiguration *Physics::physics_configuration = 0;
btCollisionDispatcher *Physics::physics_dispatcher = 0;
btSequentialImpulseConstraintSolver *Physics::physics_solver = 0;
void Physics::init()
{
con_print << "^BInitializing physics engine..." << std::endl;
model::CollisionModel::init();
physics_configuration = new btDefaultCollisionConfiguration();
physics_dispatcher = new btCollisionDispatcher(physics_configuration);
btGImpactCollisionAlgorithm::registerAlgorithm(physics_dispatcher);
physics_solver = new btSequentialImpulseConstraintSolver;
// set custom bullet callbacks
gContactAddedCallback = bullet_contact_added_callback;
}
void Physics::done()
{
con_print << "^BShutting down physics engine..." << std::endl;
model::CollisionModel::shutdown();
delete physics_solver;
delete physics_dispatcher;
delete physics_configuration;
physics_configuration = 0;
physics_dispatcher = 0;
physics_solver = 0;
}
void Physics::frame(const unsigned long elapsed)
{
const float seconds = (float) elapsed / 1000.0f;
for (core::Zone::Registry::iterator it = core::Zone::registry().begin(); it != core::Zone::registry().end(); it++) {
(*it).second->physics()->stepSimulation(seconds, 8);
}
}
} // namespace core
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