Class: Teien::Physics

Inherits:
Bullet::TickListener
  • Object
show all
Defined in:
lib/teien/base_object/physics.rb

Instance Attribute Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(object_manager) ⇒ Physics

attr_accessor :softBodyWorldInfo



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# File 'lib/teien/base_object/physics.rb', line 33

def initialize(object_manager)
  super()

  @rigid_bodies = []

  @max_sub_steps = 1
  @fixed_time_step = 1.0 / 60.0

  @object_manager = object_manager
  @collision_config = Bullet::BtDefaultCollisionConfiguration.new()
  @collision_dispatcher = Bullet::BtCollisionDispatcher.new(@collision_config)

  worldAabbMin = Bullet::BtVector3.new(-3000.0,-500.0, -3000.0)
  worldAabbMax = Bullet::BtVector3.new(3000.0, 500.0, 3000.0)
  maxProxies = 1024 * 4
  @aabb_cache = Bullet::BtAxisSweep3.new( worldAabbMin, worldAabbMax, maxProxies )

  @solver = Bullet::BtSequentialImpulseConstraintSolver.new();

  @dynamics_world = Bullet::BtDiscreteDynamicsWorld.new(@collision_dispatcher, @aabb_cache,
                                                        @solver, @collision_config)
  gravity = Bullet::BtVector3.new(0.0, -9.8, 0.0)
  @dynamics_world.set_gravity(gravity)

  @dynamics_world.set_internal_tick_callback(self, true);     
  @dynamics_world.set_internal_tick_callback(self, false);     
=begin
  worldAabbCache->getOverlappingPairCache()->setInternalGhostPairCallback(new btGhostPairCallback());
=end    
=begin
  @softBodyWorldInfo = Bullet::BtSoftBodyWorldInfo.new
  softBodyWorldInfo.m_dispatcher = @collisionDispatcher
  softBodyWorldInfo.m_broadphase = @gardenAabbCache
  softBodyWorldInfo.m_gravity.setValue(0, -9.8, 0)
#    softBodyWorldInfo.m_sparsesdf.Initialize();
=end

end

Instance Attribute Details

#dynamics_world ⇒ Object

Returns the value of attribute dynamics_world.



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# File 'lib/teien/base_object/physics.rb', line 28

def dynamics_world
  @dynamics_world
end

#fixed_time_step ⇒ Object

Returns the value of attribute fixed_time_step.



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# File 'lib/teien/base_object/physics.rb', line 30

def fixed_time_step
  @fixed_time_step
end

#max_sub_steps ⇒ Object

Returns the value of attribute max_sub_steps.



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# File 'lib/teien/base_object/physics.rb', line 29

def max_sub_steps
  @max_sub_steps
end

Instance Method Details

#add_physics_object(obj) ⇒ Object 



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# File 'lib/teien/base_object/physics.rb', line 86

def add_physics_object(obj)
  obj.physics_object = PhysicsObjectFactory::create_object(obj, self)

  if (obj.object_info.use_physics &&
      obj.physics_object.rigid_body != nil)
    
    if (obj.physics_info.collision_filter)
      add_rigid_body(obj.physics_object.rigid_body, 
                     obj.physics_info.collision_filter) 
    else
      add_rigid_body(obj.physics_object.rigid_body) 
    end
  end
end

#add_rigid_body(rigid_body, collision_filter = nil) ⇒ Object 



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# File 'lib/teien/base_object/physics.rb', line 101

def add_rigid_body(rigid_body, collision_filter = nil)
  @rigid_bodies.push(rigid_body)
  if (collision_filter)
    @dynamics_world.add_rigid_body(rigid_body, collision_filter.group, collision_filter.mask)
  else
    @dynamics_world.add_rigid_body(rigid_body)
  end
end

#contact_pair_test(colObjA, colObjB) ⇒ Object 



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# File 'lib/teien/base_object/physics.rb', line 132

def contact_pair_test(colObjA, colObjB)
  result = ContactResult.new
  @dynamics_world.contact_pair_test(colObjA, colObjB, result)
  return result
end

#del_rigid_body(rigid_body) ⇒ Object 



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# File 'lib/teien/base_object/physics.rb', line 110

def del_rigid_body(rigid_body)
  @rigid_bodies.delete(rigid_body)
  @dynamics_world.remove_rigid_body(rigid_body)
end

#finalize ⇒ Object 



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# File 'lib/teien/base_object/physics.rb', line 76

def finalize
  # clear all objects.
  @rigid_bodies.each{|body|
    @dynamics_world.remove_rigid_body(body)
  }
  @rigid_bodies = []

#    @dynamics_world.finalize()
end

#flush_pair_cache(rigid_body) ⇒ Object 



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# File 'lib/teien/base_object/physics.rb', line 126

def flush_pair_cache(rigid_body)
  pair_cache = @dynamics_world.get_broadphase().get_overlapping_pair_cache()
  pair_cache.remove_overlapping_pairs_containing_proxy(rigid_body.get_broadphase_handle(), 
                                                       @dynamics_world.get_dispatcher())
end

#frame_rendering_queued(evt) ⇒ Object 



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# File 'lib/teien/base_object/physics.rb', line 120

def frame_rendering_queued(evt)
#    print "Physics::tick: ", evt.timeSinceLastFrame * 1000, "ms\n"
  @dynamics_world.step_simulation(evt.timeSinceLastFrame, @max_sub_steps, @fixed_time_step)
  return true
end

#pre_tick_callback(timeStep) ⇒ Object 



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# File 'lib/teien/base_object/physics.rb', line 138

def pre_tick_callback(timeStep)
#    print "pre_tick_callback: ", timeStep * 1000, "ms\n"
  delta = Bullet::BtVector3.new(timeStep, timeStep, timeStep)

  @object_manager.objects.each {|name, obj|
    if (obj.get_mass() > 0)
      newVel = obj.get_linear_velocity() + Vector3D.to_bullet(obj.get_acceleration()) * delta
      obj.set_linear_velocity(obj.limit_velocity(newVel))
      lastVel = obj.get_linear_velocity()
    end
  }
end

#set_gravity(vec) ⇒ Object 



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# File 'lib/teien/base_object/physics.rb', line 72

def set_gravity(vec)
  @dynamics_world.set_gravity(vec)
end

#tick_callback(timeStep) ⇒ Object 



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# File 'lib/teien/base_object/physics.rb', line 151

def tick_callback(timeStep)
#    print "tick_callback: ", timeStep * 1000, "ms\n"
end

#update(delta) ⇒ Object 



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# File 'lib/teien/base_object/physics.rb', line 115

def update(delta)
  @dynamics_world.step_simulation(delta, @max_sub_steps, @fixed_time_step)
  return true
end