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Add support for soft bodies

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This commit is contained in:
oakes
2014-04-18 20:33:13 -04:00
parent dca75ea7ff
commit de27b633ed
1 changed files with 71 additions and 58 deletions
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129
src/play_clj/g3d_physics.clj
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@@ -6,12 +6,15 @@
[com.badlogic.gdx.physics.bullet Bullet]
[com.badlogic.gdx.physics.bullet.collision btBoxShape
btCollisionDispatcher btCylinderShape btCollisionObject
btCollisionWorld btDefaultCollisionConfiguration btDbvtBroadphase
btDefaultCollisionConfiguration btDbvtBroadphase
btSphereShape]
[com.badlogic.gdx.physics.bullet.dynamics btDiscreteDynamicsWorld
btDynamicsWorld btRigidBody btRigidBody$btRigidBodyConstructionInfo
btSequentialImpulseConstraintSolver]
[com.badlogic.gdx.physics.bullet.linearmath btMotionState]))
[com.badlogic.gdx.physics.bullet.linearmath btMotionState]
[com.badlogic.gdx.physics.bullet.softbody btSoftBody
btSoftBodyRigidBodyCollisionConfiguration btSoftBodyWorldInfo
btSoftRigidDynamicsWorld]))
(def ^:private init (delay (Bullet/init)))
@@ -30,51 +33,47 @@
:config config
:dispatcher dispatcher
:broadphase broad
:solver solver)))
:constraint-solver solver)))
(defn ^:private soft-rigid-dynamics
[]
(let [config (btSoftBodyRigidBodyCollisionConfiguration.)
dispatcher (btCollisionDispatcher. config)
broad (btDbvtBroadphase.)
solver (btSequentialImpulseConstraintSolver.)]
(assoc (World3D. (btSoftRigidDynamicsWorld. dispatcher broad solver config))
:config config
:dispatcher dispatcher
:broadphase broad
:constraint-solver solver)))
(defn bullet-3d*
[type]
@init
(case type
:discrete-dynamics (discrete-dynamics)
:rigid (discrete-dynamics)
:soft-rigid (soft-rigid-dynamics)
(u/throw-key-not-found type)))
(defmacro bullet-3d
"Returns a world based on btCollisionWorld.
"Returns a world based on btDynamicsWorld.
(bullet-3d :discrete-dynamics)"
(bullet-3d :rigid) ; can only handle rigid bodies
(bullet-3d :soft-rigid) ; can handle soft and rigid bodies"
[type & options]
`(let [world# (bullet-3d* ~type)
^btCollisionWorld object# (:object world#)]
^btDynamicsWorld object# (:object world#)]
(u/calls! object# ~@options)
world#))
(defmacro bullet-3d!
"Calls a single method on a `bullet-3d`."
[screen k & options]
`(let [^btCollisionWorld object# (:object (u/get-obj ~screen :world))]
`(let [^btDynamicsWorld object# (:object (u/get-obj ~screen :world))]
(u/call! object# ~k ~@options)))
; bodies
(defn basic-body*
[]
(Body3D. (btCollisionObject.)))
(defmacro basic-body
"Returns a body based on btCollisionObject."
[& options]
`(let [body# (basic-body*)
^btCollisionObject object# (:object body#)]
(u/calls! object# ~@options)
body#))
(defmacro basic-body!
"Calls a single method on a `basic-body`."
[object k & options]
`(let [^btCollisionObject object# (:object (u/get-obj ~object :body))]
(u/call! object# ~k ~@options)))
(defn rigid-body*
[info]
(assoc (Body3D. (btRigidBody. info))
@@ -100,10 +99,29 @@
(btRigidBody$btRigidBodyConstructionInfo.
mass motion-state collision-shape local-inertia))
(defmacro rigid-body-info!
"Calls a single method on a `rigid-body-info`."
(defn soft-body*
[info]
(assoc (Body3D. (btSoftBody. info))
:info info))
(defmacro soft-body
"Returns a body based on btSoftBody."
[info & options]
`(let [body# (soft-body* ~info)
^btSoftBody object# (:object body#)]
(u/calls! object# ~@options)
body#))
(defmacro soft-body!
"Calls a single method on a `soft-body`."
[object k & options]
`(u/call! ^btRigidBody$btRigidBodyConstructionInfo ~object ~k ~@options))
`(let [^btSoftBody object# (:object (u/get-obj ~object :body))]
(u/call! object# ~k ~@options)))
(defn soft-body-info
"Returns a btSoftBodyWorldInfo."
[]
(btSoftBodyWorldInfo.))
(defn ^:private body-x
[entity]
@@ -195,8 +213,8 @@
(cond
(isa? (type (:object body)) btRigidBody)
(bullet-3d! screen :add-rigid-body (:object body))
:else
(bullet-3d! screen :add-collision-object (:object body)))
(isa? (type (:object body)) btSoftBody)
(bullet-3d! screen :add-soft-body (:object body)))
body)
(defn ^:private get-bodies
@@ -208,31 +226,27 @@
(defmethod c/update-physics!
World3D
[screen & [entities]]
; initialize bodies
; initialize bodies if necessary
(doseq [e entities]
(let [object (u/get-obj e :object)
body (u/get-obj e :body)]
(when (and object body)
(cond
(isa? (type (:object body)) btRigidBody)
(when-not (rigid-body! e :get-motion-state)
(rigid-body! e
:set-motion-state
(proxy [btMotionState] []
(getWorldTransform [world-t])
(setWorldTransform [world-t]
(m/matrix-4! (. object transform) :set world-t)))))
:else
(basic-body! e :set-world-transform (. object transform))))))
(when (and object (isa? (type (:object body)) btRigidBody))
(when-not (rigid-body! e :get-motion-state)
(->> (proxy [btMotionState] []
(getWorldTransform [world-t])
(setWorldTransform [world-t]
(m/matrix-4! (. object transform) :set world-t)))
(rigid-body! e :set-motion-state))))))
; remove bodies that no longer exist
(when entities
(doseq [body (get-bodies screen)]
(doseq [^btCollisionObject body (get-bodies screen)]
(when-not (some #(= body (-> % :body :object)) entities)
(cond
(isa? (type body) btRigidBody)
(bullet-3d! screen :remove-rigid-body body)
:else
(bullet-3d! screen :remove-collision-object body))))))
(isa? (type body) btSoftBody)
(bullet-3d! screen :remove-soft-body body))
(.dispose body)))))
(defmethod c/step!
World3D
@@ -240,14 +254,13 @@
:or {max-sub-steps 5 time-step (/ 1 60)}
:as screen}
& [entities]]
(when (isa? (type (:object (u/get-obj screen :world))) btDynamicsWorld)
(bullet-3d! screen :step-simulation delta-time max-sub-steps time-step)
(when entities
(map (fn [e]
(if (u/get-obj e :body)
(assoc e
:x (body-x e)
:y (body-y e)
:z (body-z e))
e))
entities))))
(bullet-3d! screen :step-simulation delta-time max-sub-steps time-step)
(when entities
(map (fn [e]
(if (u/get-obj e :body)
(assoc e
:x (body-x e)
:y (body-y e)
:z (body-z e))
e))
entities)))