67 lines
2.2 KiB
C++
67 lines
2.2 KiB
C++
#include <cstdio>
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#include <glm/ext/matrix_float3x3.hpp>
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#include <glm/gtc/quaternion.hpp>
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#include <reactphysics3d/collision/shapes/BoxShape.h>
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#include <reactphysics3d/collision/shapes/CollisionShape.h>
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#include <reactphysics3d/components/RigidBodyComponents.h>
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#include <reactphysics3d/mathematics/Quaternion.h>
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#include <reactphysics3d/mathematics/Transform.h>
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#include <reactphysics3d/mathematics/Vector3.h>
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#include <reactphysics3d/memory/DefaultAllocator.h>
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#include <reactphysics3d/memory/MemoryAllocator.h>
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#include <reactphysics3d/reactphysics3d.h>
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#include <vector>
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#include "../part.h"
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#include "util.h"
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#include "simulation.h"
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namespace rp = reactphysics3d;
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extern std::vector<Part> parts;
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rp::PhysicsCommon physicsCommon;
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rp::PhysicsWorld* world;
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void simulationInit() {
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world = physicsCommon.createPhysicsWorld();
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rp::Vector3 position(0, 20, 0);
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rp::Quaternion orientation = rp::Quaternion::identity();
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rp::Transform transform(position, orientation);
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rp::RigidBody* body = world->createRigidBody(transform);
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world->setGravity(rp::Vector3(0, -196.2, 0));
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}
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void syncPartPhysics(Part& part) {
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glm::mat4 rotMat = glm::mat4(1.0f);
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rp::Transform transform(glmToRp(part.position), glmToRp(part.rotation));
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if (!part.rigidBody) {
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part.rigidBody = world->createRigidBody(transform);
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} else {
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part.rigidBody->setTransform(transform);
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}
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rp::BoxShape* shape = physicsCommon.createBoxShape(glmToRp(part.scale * glm::vec3(0.5f)));
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if (part.rigidBody->getNbColliders() > 0) {
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part.rigidBody->removeCollider(part.rigidBody->getCollider(0));
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}
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if (part.rigidBody->getNbColliders() == 0)
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part.rigidBody->addCollider(shape, rp::Transform());
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part.rigidBody->setType(part.anchored ? rp::BodyType::STATIC : rp::BodyType::DYNAMIC);
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}
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void physicsStep(float deltaTime) {
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// Step the simulation a few steps
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world->update(deltaTime / 2);
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for (Part& part : parts) {
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const rp::Transform& transform = part.rigidBody->getTransform();
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part.position = rpToGlm(transform.getPosition());
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// part.rotation = glm::eulerAngles(rpToGlm(transform.getOrientation()));
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part.rotation = rpToGlm(transform.getOrientation());
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}
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} |