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Merge remote branch 'mmm/master'
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Conflicts:
	src/awayphysics/collision/dispatch/AWPCollisionObject.as
	src/awayphysics/debug/AWPDebugDraw.as
	src/awayphysics/dynamics/AWPDynamicsWorld.as
	src/awayphysics/math/AWPTransform.as
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ben_beaumont committed Nov 15, 2011
2 parents 032e96f + 526ec8b commit b28bb05
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Showing 14 changed files with 350 additions and 63 deletions.
140 changes: 131 additions & 9 deletions alchemy/AwayPhysics.c
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,21 @@ AS3_Val as3_ptr;
//////////////////////////////////////////////////////////////////////////


btDiscreteDynamicsWorld* dynamicsWorld;
struct RayInfo
{
RayInfo(btCollisionObject* collisionObject, const btVector3& rayFromLocal, const btVector3& rayToLocal)
:m_collisionObject(collisionObject),
m_rayFromLocal(rayFromLocal),
m_rayToLocal(rayToLocal)
{
}
btCollisionObject* m_collisionObject;
btVector3 m_rayFromLocal;
btVector3 m_rayToLocal;
};
btAlignedObjectArray<RayInfo*> rays;

btCollisionWorld* collisionWorld;

/// create the discrete dynamics world with btDbvtBroadphase
AS3_Val createDiscreteDynamicsWorldWithDbvt(void* data, AS3_Val args) {
Expand All @@ -49,9 +63,9 @@ AS3_Val createDiscreteDynamicsWorldWithDbvt(void* data, AS3_Val args) {
overlappingPairCache->getOverlappingPairCache()->setInternalGhostPairCallback(new btGhostPairCallback());
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();

dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,solver,collisionConfiguration);
collisionWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,solver,collisionConfiguration);

return_as3_ptr(dynamicsWorld);
return_as3_ptr(collisionWorld);
}

/// create the discrete dynamics world with btAxisSweep3
Expand All @@ -73,9 +87,9 @@ AS3_Val createDiscreteDynamicsWorldWithAxisSweep3(void* data, AS3_Val args) {
overlappingPairCache->getOverlappingPairCache()->setInternalGhostPairCallback(new btGhostPairCallback());
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();

dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,solver,collisionConfiguration);
collisionWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,solver,collisionConfiguration);

return_as3_ptr(dynamicsWorld);
return_as3_ptr(collisionWorld);
}

// create a static plane shape
Expand Down Expand Up @@ -310,7 +324,7 @@ AS3_Val createGImpactMeshShape(void* data, AS3_Val args){
btGImpactMeshShape* gimpactMesh = new btGImpactMeshShape(indexVertexArrays);
gimpactMesh->updateBound();

//btCollisionDispatcher * dispatcher = static_cast<btCollisionDispatcher *>(dynamicsWorld ->getDispatcher());
//btCollisionDispatcher * dispatcher = static_cast<btCollisionDispatcher *>(collisionWorld ->getDispatcher());
//btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher);

return_as3_ptr(gimpactMesh);
Expand Down Expand Up @@ -358,6 +372,57 @@ AS3_Val setShapeScaling(void* data, AS3_Val args){
return AS3_Null();
}

AS3_Val createCollisionObject(void* data, AS3_Val args){
AS3_Val as3_Object;
btCollisionShape* shape;
AS3_ArrayValue(args, "AS3ValType,PtrType",&as3_Object,&shape);

btCollisionObject* obj = new btCollisionObject();
obj->setCollisionShape(shape);
obj->setUserPointer(as3_Object);

return_as3_ptr(obj);

}
AS3_Val addCollisionObject(void* data, AS3_Val args){
btCollisionObject* obj;
int group;
int mask;
AS3_ArrayValue(args, "PtrType,IntType,IntType", &obj, &group, &mask);

collisionWorld->addCollisionObject(obj,group,mask);

return AS3_Null();
}
AS3_Val removeCollisionObject(void* data, AS3_Val args){
btCollisionObject* obj;
AS3_ArrayValue(args, "PtrType", &obj);

collisionWorld->removeCollisionObject(obj);

return AS3_Null();
}

AS3_Val addRay(void* data, AS3_Val args){
btCollisionObject* obj;
double fromx, fromy, fromz;
double tox, toy, toz;
AS3_ArrayValue(args, "PtrType,DoubleType,DoubleType,DoubleType,DoubleType,DoubleType,DoubleType", &obj, &fromx, &fromy, &fromz, &tox, &toy, &toz);

RayInfo* ray=new RayInfo(obj,btVector3(fromx, fromy, fromz),btVector3(tox, toy, toz));
rays.push_back(ray);

return_as3_ptr(ray);
}
AS3_Val removeRay(void* data, AS3_Val args){
RayInfo* ray;
AS3_ArrayValue(args, "PtrType", &ray);

rays.remove(ray);

return AS3_Null();
}

// create rigidbody
AS3_Val createBody(void* data, AS3_Val args){
AS3_Val as3_Body;
Expand Down Expand Up @@ -386,6 +451,7 @@ AS3_Val addBody(void* data, AS3_Val args){
btRigidBody* body;
AS3_ArrayValue(args, "PtrType", &body);

btDiscreteDynamicsWorld* dynamicsWorld=(btDiscreteDynamicsWorld*)collisionWorld;
dynamicsWorld->addRigidBody(body);

return AS3_Null();
Expand All @@ -398,6 +464,7 @@ AS3_Val addBodyWithGroup(void* data, AS3_Val args){
int mask;
AS3_ArrayValue(args, "PtrType,IntType,IntType", &body, &group, &mask);

btDiscreteDynamicsWorld* dynamicsWorld=(btDiscreteDynamicsWorld*)collisionWorld;
dynamicsWorld->addRigidBody(body,group,mask);

return AS3_Null();
Expand All @@ -408,6 +475,7 @@ AS3_Val removeBody(void* data, AS3_Val args){
btRigidBody* body;
AS3_ArrayValue(args, "PtrType", &body);

btDiscreteDynamicsWorld* dynamicsWorld=(btDiscreteDynamicsWorld*)collisionWorld;
dynamicsWorld->removeRigidBody(body);

return AS3_Null();
Expand Down Expand Up @@ -671,6 +739,7 @@ AS3_Val addConstraint(void* data, AS3_Val args){
int disableCollisions;
AS3_ArrayValue(args, "PtrType,IntType", &constraint, &disableCollisions);

btDiscreteDynamicsWorld* dynamicsWorld=(btDiscreteDynamicsWorld*)collisionWorld;
dynamicsWorld->addConstraint(constraint,disableCollisions==1);

return AS3_Null();
Expand All @@ -681,6 +750,7 @@ AS3_Val removeConstraint(void* data, AS3_Val args){
btTypedConstraint* constraint;
AS3_ArrayValue(args, "PtrType", &constraint);

btDiscreteDynamicsWorld* dynamicsWorld=(btDiscreteDynamicsWorld*)collisionWorld;
dynamicsWorld->removeConstraint(constraint);

return AS3_Null();
Expand All @@ -699,6 +769,7 @@ AS3_Val createVehicle(void* data, AS3_Val args) {
m_tuning.m_frictionSlip=AS3_NumberValue( AS3_GetS( tuning, "frictionSlip" ) );
m_tuning.m_maxSuspensionForce=AS3_NumberValue( AS3_GetS( tuning, "maxSuspensionForce" ) );

btDiscreteDynamicsWorld* dynamicsWorld=(btDiscreteDynamicsWorld*)collisionWorld;
btVehicleRaycaster* m_vehicleRayCaster = new btDefaultVehicleRaycaster(dynamicsWorld);
btRaycastVehicle* m_vehicle = new btRaycastVehicle(m_tuning,chassis,m_vehicleRayCaster);
m_vehicle->setCoordinateSystem(0,1,2);
Expand Down Expand Up @@ -742,6 +813,7 @@ AS3_Val addVehicle(void* data, AS3_Val args){
btActionInterface* vehicle;
AS3_ArrayValue(args, "PtrType", &vehicle);

btDiscreteDynamicsWorld* dynamicsWorld=(btDiscreteDynamicsWorld*)collisionWorld;
dynamicsWorld->addVehicle(vehicle);

return AS3_Null();
Expand All @@ -751,6 +823,7 @@ AS3_Val removeVehicle(void* data, AS3_Val args){
btActionInterface* vehicle;
AS3_ArrayValue(args, "PtrType", &vehicle);

btDiscreteDynamicsWorld* dynamicsWorld=(btDiscreteDynamicsWorld*)collisionWorld;
dynamicsWorld->removeVehicle(vehicle);

return AS3_Null();
Expand Down Expand Up @@ -788,6 +861,7 @@ AS3_Val addCharacter(void* data, AS3_Val args){
int mask;
AS3_ArrayValue(args, "PtrType,IntType,IntType", &character,&group,&mask);

btDiscreteDynamicsWorld* dynamicsWorld=(btDiscreteDynamicsWorld*)collisionWorld;
dynamicsWorld->addCollisionObject(character->m_ghostObject,group,mask);
dynamicsWorld->addCharacter(character);

Expand All @@ -798,6 +872,7 @@ AS3_Val removeCharacter(void* data, AS3_Val args){
btKinematicCharacterController* character;
AS3_ArrayValue(args, "PtrType", &character);

btDiscreteDynamicsWorld* dynamicsWorld=(btDiscreteDynamicsWorld*)collisionWorld;
dynamicsWorld->removeCollisionObject(character->m_ghostObject);
dynamicsWorld->removeCharacter(character);

Expand All @@ -810,6 +885,8 @@ AS3_Val step(void* data, AS3_Val args) {
int maxsubstep;
double fixedtime;
AS3_ArrayValue(args, "DoubleType,IntType,DoubleType",&timestep,&maxsubstep,&fixedtime);

btDiscreteDynamicsWorld* dynamicsWorld=(btDiscreteDynamicsWorld*)collisionWorld;
dynamicsWorld->stepSimulation(timestep,maxsubstep,fixedtime);

int vehiclesLen=dynamicsWorld->m_vehicles.size();
Expand All @@ -821,6 +898,27 @@ AS3_Val step(void* data, AS3_Val args) {
vehicle->updateWheelTransform(j,true);
}
}

int rayLen = rays.size();
for (int i=0;i<rayLen;i++)
{
RayInfo* ray = rays[i];
btVector3 rayFrom = ray->m_collisionObject->m_worldTransform*ray->m_rayFromLocal;
btVector3 rayTo = ray->m_collisionObject->m_worldTransform*ray->m_rayToLocal;
btCollisionWorld::ClosestRayResultCallback resultCallback(rayFrom, rayTo);
collisionWorld->rayTest(rayFrom,rayTo,resultCallback);
if (resultCallback.hasHit()){
btManifoldPoint* mpt=new btManifoldPoint();
mpt->m_localPointA=rayFrom;
mpt->m_localPointB=resultCallback.m_collisionObject->m_worldTransform.invXform(resultCallback.m_hitPointWorld);
mpt->m_normalWorldOnB=resultCallback.m_hitNormalWorld;
mpt->m_appliedImpulse=0;

AS3_CallTS("rayCastCallback",(AS3_Val)ray->m_collisionObject->getUserPointer(), "PtrType, AS3ValType", mpt,(AS3_Val)resultCallback.m_collisionObject->getUserPointer());

delete mpt;
}
}

if(dynamicsWorld->m_collisionCallbackOn){
int numManifolds = dynamicsWorld->getDispatcher()->getNumManifolds();
Expand Down Expand Up @@ -916,11 +1014,17 @@ int main() {
AS3_Val createGImpactMeshShapeMethod = AS3_Function( NULL, createGImpactMeshShape );
AS3_Val createTriangleShapeMethod = AS3_Function( NULL, createTriangleShape );
AS3_Val setShapeScalingMethod = AS3_Function( NULL, setShapeScaling );


AS3_Val createCollisionObjectMethod = AS3_Function( NULL, createCollisionObject );
AS3_Val addCollisionObjectMethod = AS3_Function( NULL, addCollisionObject );
AS3_Val removeCollisionObjectMethod = AS3_Function( NULL, removeCollisionObject );
AS3_Val addRayMethod = AS3_Function( NULL, addRay );
AS3_Val removeRayMethod = AS3_Function( NULL, removeRay );
AS3_Val createBodyMethod = AS3_Function( NULL, createBody );
AS3_Val addBodyWithGroupMethod = AS3_Function( NULL, addBodyWithGroup );
AS3_Val addBodyMethod = AS3_Function( NULL, addBody );
AS3_Val removeBodyMethod = AS3_Function( NULL, removeBody );

AS3_Val createP2PConstraintMethod1 = AS3_Function( NULL, createP2PConstraint1 );
AS3_Val createP2PConstraintMethod2 = AS3_Function( NULL, createP2PConstraint2 );
AS3_Val createHingeConstraintMethod1 = AS3_Function( NULL, createHingeConstraint1 );
Expand Down Expand Up @@ -966,10 +1070,16 @@ int main() {
"createTriangleShapeMethod:AS3ValType,"
"setShapeScalingMethod:AS3ValType,"

"createCollisionObjectMethod:AS3ValType,"
"addCollisionObjectMethod:AS3ValType,"
"removeCollisionObjectMethod:AS3ValType,"
"addRayMethod:AS3ValType,"
"removeRayMethod:AS3ValType,"
"createBodyMethod:AS3ValType,"
"addBodyWithGroupMethod:AS3ValType,"
"addBodyMethod:AS3ValType,"
"removeBodyMethod:AS3ValType,"

"createP2PConstraintMethod1:AS3ValType,"
"createP2PConstraintMethod2:AS3ValType,"
"createHingeConstraintMethod1:AS3ValType,"
Expand Down Expand Up @@ -1014,11 +1124,17 @@ int main() {
createGImpactMeshShapeMethod,
createTriangleShapeMethod,
setShapeScalingMethod,


createCollisionObjectMethod,
addCollisionObjectMethod,
removeCollisionObjectMethod,
addRayMethod,
removeRayMethod,
createBodyMethod,
addBodyWithGroupMethod,
addBodyMethod,
removeBodyMethod,

createP2PConstraintMethod1,
createP2PConstraintMethod2,
createHingeConstraintMethod1,
Expand Down Expand Up @@ -1063,11 +1179,17 @@ int main() {
AS3_Release( createGImpactMeshShapeMethod );
AS3_Release( createTriangleShapeMethod );
AS3_Release( setShapeScalingMethod );


AS3_Release( createCollisionObjectMethod );
AS3_Release( addCollisionObjectMethod );
AS3_Release( removeCollisionObjectMethod );
AS3_Release( addRayMethod );
AS3_Release( removeRayMethod );
AS3_Release( createBodyMethod );
AS3_Release( addBodyWithGroupMethod );
AS3_Release( addBodyMethod );
AS3_Release( removeBodyMethod );

AS3_Release( createP2PConstraintMethod1 );
AS3_Release( createP2PConstraintMethod2 );
AS3_Release( createHingeConstraintMethod1 );
Expand Down
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