1. PhysX

2. Kezdeti teendők Letöltés: OgrePhysicsBase.zip Kicsomagol Futtat: OgrePhysics.sln Include és library útvonalak beállítása Working directory beállítása Fordít Futtat

4. #include "Ogre.h" #define OIS_DYNAMIC_LIB #include using namespace Ogre; Root* ogreRoot; SceneManager* sceneManager; Camera* camera; RenderWindow* renderWindow; OIS::InputManager* OISInputManager; SceneNode* box1Node; SceneNode* box2Node; SceneNode* box3Node;

5. createGround(); SceneNode* rootNode = sceneManager->getRootSceneNode(); box1Node = rootNode->createChildSceneNode(); Entity* box1 = sceneManager->createEntity("box1", "doboz.mesh"); box1Node->attachObject(box1); box1Node->setScale(10,10,10); box1Node->setPosition(0,10,0); box2Node = rootNode->createChildSceneNode(); Entity* box2 = sceneManager->createEntity("box2", "doboz.mesh"); box2Node->attachObject(box2); box2Node->setScale(15,15,15); box2Node->setPosition(5,30,0); box3Node = rootNode->createChildSceneNode(); Entity* box3 = sceneManager->createEntity("box3", "doboz.mesh"); box3Node->attachObject(box3); box3Node->setScale(5,5,5); box3Node->setPosition(-2,50,5); sceneManager->setSkyBox(true, "Sky", 10, true);

6. Próba

7. class PhysicsHandler; PhysicsHandler* physicsHandler; class PhysicsHandler: public FrameListener { public: PhysicsHandler () { } ~PhysicsHandler () { } bool frameStarted(const FrameEvent& evt) { return true; } }; class ControlDeviceHandler : public FrameListener void setupListeners() { ogreRoot->addFrameListener(new ControlDeviceHandler()); physicsHandler = new PhysicsHandler(); ogreRoot->addFrameListener(physicsHandler); }

8. Bullet Physics-hez mi kell indulásképpen? #include "btBulletDynamicsCommon.h" Include path beállítása:..\BulletSDK_vc10\include Library path beállítása:..\BulletSDK_vc10\src\lib Library megadása : LinearMath_vs2010_debug.lib BulletCollision_vs2010_debug.lib BulletDynamics_vs2010_debug.lib Próba… fordul-e?

9. class PhysicsHandler : public FrameListener { protected: bool inited; btDiscreteDynamicsWorld * dynamicsWorld; public: PhysicsHandler() { inited = false; //collision configuration contains default setup for memory, collision setup. //Advanced users can create their oconfiguration. btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration(); //use the default collision dispatcher. //For parallel processing you can use a diffent dispatcher ( see Extras/BulletMultiThreaded ) btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration); //btDbvtBoadphase is a good general purpose broadphase. You can also try out btAxis3Sweep. btBroadphaseInterface * overlappingPairCache = new btDbvtBroadphase(); //the default constraint solver. //For parallel processing you can use a different solver (see Extras/BulletMultiThreaded) btSequentialImpulseConstraintSolver * solver = new btSequentialImpulseConstraintSolver; dynamicsWorld = new btDiscreteDynamicsWorld ( dispatcher, overlappingPairCache, solver, collisionConfiguration); dynamicsWorld->setGravity(btVector3(0, -100,0)); inited = true; }

10. Szimuláció bool frameStarted(const FrameEvent& evt) { if(!inited) return true; dynamicsWorld->stepSimulation(evt.timeSinceLastFrame, 7); return true; } Próba… fordul-e, fut-e?

11. class PhysicsHandler : public FrameListener { protected:.. btCollisionShape* groundShape; btDefaultMotionState* groundMotionState; btRigidBody* groundRigidBody; public: PhysicsHandler() {... dynamicsWorld->setGravity(btVector3(0, -100,0)); groundShape = new btStaticPlaneShape(btVector3(0,1,0), 0); groundMotionState = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(0,0,0))); btRigidBody::btRigidBodyConstructionInfo groundRigidBodyCI(0,groundMotionState,groundShape,btVector3(0,0,0)); btRigidBody* groundRigidBody = new btRigidBody(groundRigidBodyCI); dynamicsWorld->addRigidBody(groundRigidBody); inited = true; } Próba… fordul-e, fut-e?

12. class PhysicsHandler : public FrameListener { protected:.. btCollisionShape* groundShape; btDefaultMotionState* groundMotionState; btRigidBody* groundRigidBody; public: PhysicsHandler() {... dynamicsWorld->setGravity(btVector3(0, -100,0)); groundShape = new btStaticPlaneShape(btVector3(0,1,0), 0); groundMotionState = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(0,0,0))); btRigidBody::btRigidBodyConstructionInfo groundRigidBodyCI(0,groundMotionState,groundShape,btVector3(0,0,0)); btRigidBody* groundRigidBody = new btRigidBody(groundRigidBodyCI); dynamicsWorld->addRigidBody(groundRigidBody); inited = true; } Próba… fordul-e, fut-e?

13. class PhysXBoxObject { protected: SceneNode* ogreNode; btRigidBody* physicsBody; btCollisionShape* physicsShape; btDefaultMotionState* physicsMotionState; public: PhysXBoxObject(SceneNode* ogreNode, btDiscreteDynamicsWorld* dynamicsWorld) { this->ogreNode = ogreNode; physicsShape = new btBoxShape( btVector3(btScalar(ogreNode->getScale().x * 0.5), btScalar(ogreNode->getScale().y * 0.5), btScalar(ogreNode->getScale().z * 0.5))); physicsMotionState = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1), btVector3(ogreNode->getPosition().x, ogreNode->getPosition().y, ogreNode->getPosition().z))); btScalar mass = 1; btVector3 inertia(0,0,0); physicsShape->calculateLocalInertia(mass,inertia); btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(mass, physicsMotionState, physicsShape, inertia); physicsBody = new btRigidBody(rigidBodyCI); dynamicsWorld->addRigidBody(physicsBody); } };

14. class PhysicsHandler : public FrameListener { protected:... PhysXBoxObject* boxes[3]; public: PhysicsHandler() { … dynamicsWorld->addRigidBody(groundRigidBody); boxes[0] = new PhysXBoxObject(box1Node, dynamicsWorld); boxes[1] = new PhysXBoxObject(box2Node, dynamicsWorld); boxes[2] = new PhysXBoxObject(box3Node, dynamicsWorld); inited = true; }

15. class PhysXBoxObject { public: void update() { btTransform worldTrans; physicsMotionState->getWorldTransform(worldTrans); btQuaternion rot = worldTrans.getRotation(); ogreNode->setOrientation(rot.w(), rot.x(), rot.y(), rot.z()); ogreNode->setPosition(worldTrans.getOrigin().x(), worldTrans.getOrigin().y(), worldTrans.getOrigin().z()); }

16. Próba class PhysicsHandler : public FrameListener { … bool frameStarted(const FrameEvent& evt) {... boxes[0]->update(); boxes[1]->update(); boxes[2]->update(); return true; }

17. class PhysXBallObject { protected: SceneNode* ogreNode; btRigidBody* physicsBody; btCollisionShape* physicsShape; btDefaultMotionState* physicsMotionState; public: PhysXBallObject(SceneNode* ogreNode, btDiscreteDynamicsWorld* dynamicsWorld) { this->ogreNode = ogreNode; physicsShape = new btSphereShape(btScalar(3)); physicsMotionState = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1), btVector3(camera->getPosition().x, camera->getPosition().y, camera->getPosition().z))); btScalar mass = 1; btVector3 inertia(0,0,0); physicsShape->calculateLocalInertia(mass, inertia); btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(mass, physicsMotionState, physicsShape, inertia); physicsBody = new btRigidBody(rigidBodyCI); dynamicsWorld->addRigidBody(physicsBody); physicsBody->applyCentralImpulse(btVector3(camera->getDirection().x * 200, camera->getDirection().y * 200, camera->getDirection().z * 200)); } void update() { btTransform worldTrans; physicsMotionState->getWorldTransform(worldTrans); btQuaternion rot = worldTrans.getRotation(); ogreNode->setOrientation(rot.w(), rot.x(), rot.y(), rot.z()); ogreNode->setPosition(worldTrans.getOrigin().x(), worldTrans.getOrigin().y(), worldTrans.getOrigin().z()); } };

18. class PhysicsHandler : public FrameListener { protected: … std::vector balls; public: void addBall(SceneNode* ogreNode) { balls.push_back(new PhysXBallObject(ogreNode, mPhysicsScene)); } bool frameStarted(const FrameEvent& evt) { … boxes[0]->update(); boxes[1]->update(); boxes[2]->update(); std::vector ::iterator it = balls.begin(); std::vector ::iterator itend = balls.end(); while(it != itend) { (*it)->update(); it++; } return true; }

19. void addBall() { static int id = 0; SceneNode* ballNode = sceneManager->getRootSceneNode()->createChildSceneNode(); Entity *ballEnt = sceneManager- >createEntity("ball"+StringConverter::toString(id),"strippedBall.mesh"); ballNode->attachObject(ballEnt); ballNode->setScale(3,3,3); physicsHandler->addBall(ballNode); id++; } class ControlDeviceHandler : public FrameListener...

20. class ControlDeviceHandler : public FrameListener { … bool frameStarted(const FrameEvent& evt) { if( mKeyboard->isKeyDown(OIS::KC_SPACE) && mTimeUntilNextToggle < 0) { addBall(); mTimeUntilNextToggle = 0.5f; } …

21. Próba

22. Statikus Actor PhysXBoxObject(SceneNode* ogreNode, btDiscreteDynamicsWorld* dynamicsWorld) {... btScalar mass = 0; … Ekkor az update függvényre sincs szükség!!

23. Utána állítsuk vissza dynamic actor-ra (mass != 0)!!

24. PhysXBallObject:... physicsBody = new btRigidBody(rigidBodyCI); physicsBody->setDamping(0.1, 0.3); physicsBody->setRestitution(0.6); PhysicsHandler:... btRigidBody* groundRigidBody = new btRigidBody(groundRigidBodyCI); groundRigidBody->setRestitution(1.0); Próba… lehet más értékekkel is próbálkozni...

25. Animáció //globális változó SceneNode* hammerNode; … class AnimController : public FrameListener { public: bool frameStarted(const FrameEvent& evt) { hammerNode->rotate(Vector3::UNIT_Y, Radian(evt.timeSinceLastFrame * 2.0f)); return true; } }; void setupListeners() { ogreRoot->addFrameListener(new AnimController()); … }

26. void setupScene() { … hammerNode = rootNode->createChildSceneNode(); SceneNode* tempNode = hammerNode->createChildSceneNode(); Entity* hammer = sceneManager->createEntity("hammer", "TrollMace.mesh"); tempNode->attachObject(hammer); tempNode->rotate(Vector3::UNIT_X,Radian(Degree(90))); hammerNode->setScale(30,30,30); hammerNode->setPosition(0,5,30); … }

27. Próba

28. class PhysXHammerObject { protected: SceneNode* ogreNode; btRigidBody* physicsBody; btCollisionShape* physicsCompoundShape; btCollisionShape* physicsHeadShape; btCollisionShape* physicsHandleShape; btDefaultMotionState* physicsMotionState; public: PhysXHammerObject(SceneNode* ogreNode, btDiscreteDynamicsWorld* dynamicsWorld) { this->ogreNode = ogreNode; physicsHeadShape = new btBoxShape(btVector3(ogreNode->getScale().x *0.25f, ogreNode->getScale().y * 0.25 * 0.5f, ogreNode->getScale().z * 0.25 * 0.5f)); physicsHandleShape = new btBoxShape(btVector3( ogreNode->getScale().x * 0.5f * 0.1f, ogreNode->getScale().y * 0.5f, ogreNode->getScale().z * 0.5f * 0.1f)); btCompoundShape* allShapes = new btCompoundShape(); physicsCompoundShape = allShapes; allShapes->addChildShape(btTransform(btQuaternion(0,0,0,1), btVector3(0,ogreNode->getScale().y * 0.865f,0)), physicsHeadShape); allShapes->addChildShape(btTransform(btQuaternion(0,0,0,1), btVector3(0,ogreNode->getScale().y * 0.5,0)), physicsHandleShape);...

29. physicsMotionState = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1), btVector3(camera->getPosition().x, camera->getPosition().y, camera->getPosition().z))); btScalar mass = 1; btVector3 inertia(0,0,0); physicsCompoundShape->calculateLocalInertia(mass, inertia); btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(mass, physicsMotionState, physicsCompoundShape, inertia); physicsBody = new btRigidBody(rigidBodyCI); dynamicsWorld->addRigidBody(physicsBody); physicsBody->setCollisionFlags( physicsBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); physicsBody->setActivationState(DISABLE_DEACTIVATION); }...

30. void update() { SceneNode* tempNode = ((SceneNode*) ogreNode->getChild(0)); Vector3 pos = tempNode->_getDerivedPosition(); Quaternion orient = tempNode->_getDerivedOrientation(); btTransform worldTrans; worldTrans.setRotation(btQuaternion(orient.x,orient.y,orient.z,orient.w)); worldTrans.setOrigin(btVector3(pos.x, pos.y, pos.z)); physicsMotionState->setWorldTransform(worldTrans); } }; class PhysicsHandler : public FrameListener { protected: PhysXHammerObject* hammer; … PhysicsHandler() { … hammer = new PhysXHammerObject(hammerNode, dynamicsWorld); } bool frameStarted(const FrameEvent& evt) { … hammer->update(); }

31. Próba

32. Önálló (otthoni) feladat Kamera köré egy kinematikus Actor-t. Lehessen löködni a dobozokat.

33. class Explosive { public: Explosive(SceneManager* sceneManager, btDiscreteDynamicsWorld* dynamicsWorld) { static int id = 0; float a = Math::RangeRandom(0, 360); float d = Math::RangeRandom(50, 120); float x = Math::Cos(a) * d; float z = Math::Sin(a) * d; SceneNode* node = sceneManager->getRootSceneNode()->createChildSceneNode(); Entity* entity = sceneManager->createEntity("explosive"+StringConverter::toString(id), "explosive.mesh"); node->attachObject(entity); node->setScale(10,10,10); node->setPosition(x,0,z); id++; } };

34. void setupExplosives() { for(int i = 0; i <8; i ++) new Explosive(sceneManager, physicsHandler->getWorld()); } … int _tmain(int argc, _TCHAR* argv[]) { … setupScene(); setupListeners(); setupExplosives(); … } class PhysicsHandler : public FrameListener { … public: btDiscreteDynamicsWorld* getWorld() { return dynamicsWorld; } …

35. Próba

36. protected: btRigidBody* physicsBody; btCollisionShape* physicsShape; btDefaultMotionState* physicsMotionState; public: Explosive(SceneManager* sceneManager, NxScene* physXScene) { … node->setPosition(x,0,z); physicsShape = new btBoxShape(btVector3(2.5,5,2.5)); physicsMotionState = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1), btVector3(x,5,z))); …

37. btScalar mass = 0; btVector3 inertia(0,0,0); physicsShape->calculateLocalInertia(mass,inertia); btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(mass, physicsMotionState, physicsShape, inertia); physicsBody = new btRigidBody(rigidBodyCI); dynamicsWorld->addRigidBody(physicsBody); physicsBody->setCollisionFlags(physicsBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK); physicsBody->setCollisionFlags(physicsBody->getCollisionFlags() | btCollisionObject::CF_NO_CONTACT_RESPONSE); if(id == 0) gContactProcessedCallback = globalTriggerCallback; id++; }

38. Trigger report //Globális függvény bool globalTriggerCallback(btManifoldPoint& cp, void* body0, void* body1) { btRigidBody* rigidbody0 = (btRigidBody*)body0; btRigidBody* rigidbody1 = (btRigidBody*)body1; if(!(rigidbody0->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) && !(rigidbody1->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)) return true; static int cnt = 0; printf("Trigger Callback %i !!!!\n", cnt++); float f = 100; btVector3 force(Math::RangeRandom(-f, f),Math::RangeRandom(0, 5 * f),Math::RangeRandom(-f, f)); rigidbody0->applyCentralImpulse(force); rigidbody1->applyCentralImpulse(force); return true; }

39. Próba