[21] | 1 | /* |
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| 2 | SimpleScenes_Crash.h |
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| 3 | ---------------------- |
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| 4 | A reimplementation of the ODE "crashing into a wall" demo |
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| 5 | using Ogre and the OgreOde wrapper. |
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| 6 | */ |
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| 7 | #ifndef _SIMPLESCENES_CRASH_H_ |
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| 8 | #define _SIMPLESCENES_CRASH_H_ |
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| 9 | |
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| 10 | /* |
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| 11 | The crash test extends the base test class |
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| 12 | */ |
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| 13 | class SimpleScenes_Crash:public SimpleScenes |
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| 14 | { |
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| 15 | public: |
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| 16 | // Standard constructor/destructor |
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| 17 | SimpleScenes_Crash(OgreOde::World *world) : |
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| 18 | SimpleScenes(world) |
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| 19 | { |
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| 20 | _rocket_node_explosion = _mgr->getRootSceneNode ()->createChildSceneNode ("rocket_node_explosion_node"); |
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| 21 | |
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| 22 | _rocketParticles_explosion = _mgr->createParticleSystem ("rocket_node_explosion", "myExplosionTemplate"); |
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| 23 | _rocketParticles_smoke_white = _mgr->createParticleSystem ("rocketParticles_smoke_white", "myExplosionSmokewhiteTemplate"); |
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| 24 | _rocketParticles_smoke = _mgr->createParticleSystem ("rocketParticles_smoke", "myExplosionSmokeTemplate"); |
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| 25 | |
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| 26 | _rocket_node_explosion->attachObject(_rocketParticles_explosion); |
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| 27 | _rocket_node_explosion->attachObject(_rocketParticles_smoke_white); |
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| 28 | _rocket_node_explosion->attachObject(_rocketParticles_smoke); |
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| 29 | |
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| 30 | _rocketParticles_explosion->setSpeedFactor(0.0); |
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| 31 | _rocketParticles_smoke_white->setSpeedFactor(0.0); |
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| 32 | _rocketParticles_smoke->setSpeedFactor(0.0); |
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| 33 | |
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| 34 | |
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| 35 | |
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| 36 | _rocket_node_explosion->setVisible(false); |
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| 37 | |
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| 38 | // create helicopter |
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| 39 | { |
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| 40 | // Main bit of the helicopter |
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| 41 | _apache_body = _mgr->createEntity("Apache Body", "apache_body.mesh"); |
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| 42 | |
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| 43 | _apache_body->setQueryFlags(VEHICLE_QUERY_MASK); |
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| 44 | |
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| 45 | _apache_body->setCastShadows(true); |
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| 46 | |
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| 47 | _apache_body_node = _mgr->getRootSceneNode()->createChildSceneNode("Apache Body"); |
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| 48 | _apache_body_node->attachObject(_apache_body); |
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| 49 | _apache_body_node->setPosition(0,1.2,0); |
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| 50 | |
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| 51 | // Main rotor |
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| 52 | _main_rotor = _mgr->createEntity("Main Rotor", "main_rotor.mesh"); |
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| 53 | _main_rotor->setCastShadows(true); |
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| 54 | |
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| 55 | _main_rotor_node = _apache_body_node->createChildSceneNode("Main Rotor"); |
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| 56 | _main_rotor_node->attachObject(_main_rotor); |
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| 57 | _main_rotor_node->setPosition(0,0.987322,0.573885); |
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| 58 | |
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| 59 | // Tail rotor |
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| 60 | _tail_rotor = _mgr->createEntity("Tail Rotor", "tail_rotor.mesh"); |
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| 61 | _tail_rotor->setCastShadows(true); |
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| 62 | |
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| 63 | _tail_rotor_node = _apache_body_node->createChildSceneNode("Tail Rotor"); |
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| 64 | _tail_rotor_node->attachObject(_tail_rotor); |
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| 65 | _tail_rotor_node->setPosition(0.174927,0.173132,-3.50708); |
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| 66 | |
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| 67 | // Set up the parameters for the main rotor |
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| 68 | _main_min = 2.0; |
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| 69 | _main_max = 90.0; |
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| 70 | _main_spd = _main_min; |
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| 71 | _main_response = 40.0; |
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| 72 | _main_scale = 1.0; |
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| 73 | |
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| 74 | // Set up the parameters for the tail rotor |
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| 75 | _tail_min = -80.0; |
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| 76 | _tail_max = 80.0; |
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| 77 | _tail_response = 90.0; |
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| 78 | _tail_scale = 0.5; |
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| 79 | _tail_spd = 0.0; |
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| 80 | |
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| 81 | // Other simulation parameters |
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| 82 | _rotate_scale = 20.0; |
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| 83 | _thrust = 50.0; |
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| 84 | _linear_damp = 12.5; |
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| 85 | _angular_damp = 25.0; |
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| 86 | _thrust_offs = Ogre::Vector3(0,0.1,0); |
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| 87 | _fire_rate = 0.5; |
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| 88 | _fire_time = _fire_rate; |
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| 89 | _fire_force = 250.0; |
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| 90 | _fire_mass = 0.1; |
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| 91 | _fire_size = 0.25; |
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| 92 | _rockets = 0; |
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| 93 | |
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| 94 | |
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| 95 | // Create a space for the helicopter to live in |
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| 96 | _apache_space = new OgreOde::SimpleSpace(_world, _space); |
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| 97 | _apache_space->setInternalCollisions(false); |
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| 98 | _apache_space->setAutoCleanup(false); |
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| 99 | |
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| 100 | // Create the physical body of the helicopter |
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| 101 | OgreOde::BoxMass apache_mass(1.5,Vector3(1.4,1.46,4.24)); |
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| 102 | _apache = new OgreOde::Body(_world); |
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| 103 | _apache_body_node->attachObject(_apache); |
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| 104 | _apache->setMass(apache_mass); |
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| 105 | |
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| 106 | _apache->setDamping(_linear_damp, _angular_damp); |
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| 107 | |
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| 108 | _bodies.push_back(_apache); |
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| 109 | _last_node = _apache_body_node; |
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| 110 | |
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| 111 | // Create the geometry of the helicopter from several bits |
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| 112 | |
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| 113 | // Main body |
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| 114 | OgreOde::TransformGeometry* trans = new OgreOde::TransformGeometry(_world, _apache_space); |
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| 115 | trans->setBody(_apache); |
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| 116 | |
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| 117 | _apache_body->setUserObject(trans); |
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| 118 | |
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| 119 | OgreOde::BoxGeometry* geom = new OgreOde::BoxGeometry(Vector3(1.4,1.46,4.24), world, 0); |
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| 120 | trans->setEncapsulatedGeometry(geom); |
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| 121 | geom->setPosition(Vector3(0.013,0.014,1.052)); |
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| 122 | _geoms.push_back(geom); |
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| 123 | _geoms.push_back(trans); |
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| 124 | |
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| 125 | |
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| 126 | |
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| 127 | // Left wing |
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| 128 | trans = new OgreOde::TransformGeometry(_world, _apache_space); |
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| 129 | geom = new OgreOde::BoxGeometry(Vector3(0.75,0.55,1.05), world, 0); |
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| 130 | trans->setBody(_apache); |
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| 131 | trans->setEncapsulatedGeometry(geom); |
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| 132 | geom->setPosition(Vector3(-1.089,-0.486,0.446)); |
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| 133 | _geoms.push_back(geom); |
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| 134 | _geoms.push_back(trans); |
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| 135 | |
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| 136 | // Right wing |
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| 137 | trans = new OgreOde::TransformGeometry(_world, _apache_space); |
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| 138 | geom = new OgreOde::BoxGeometry(Vector3(0.75,0.55,1.05), world, 0); |
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| 139 | trans->setBody(_apache); |
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| 140 | trans->setEncapsulatedGeometry(geom); |
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| 141 | geom->setPosition(Vector3(1.089,-0.505,0.446)); |
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| 142 | _geoms.push_back(geom); |
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| 143 | _geoms.push_back(trans); |
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| 144 | |
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| 145 | // Tail boom |
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| 146 | trans = new OgreOde::TransformGeometry(_world, _apache_space); |
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| 147 | geom = new OgreOde::BoxGeometry(Vector3(0.73,0.66,3.28), world, 0); |
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| 148 | trans->setBody(_apache); |
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| 149 | trans->setEncapsulatedGeometry(geom); |
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| 150 | geom->setPosition(Vector3(0,-0.533,-2.104)); |
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| 151 | _geoms.push_back(geom); |
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| 152 | _geoms.push_back(trans); |
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| 153 | |
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| 154 | // Tail flipper (probably not the technically correct name!) |
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| 155 | trans = new OgreOde::TransformGeometry(_world, _apache_space); |
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| 156 | geom = new OgreOde::BoxGeometry(Vector3(1.61,0.30,0.45), world, 0); |
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| 157 | trans->setBody(_apache); |
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| 158 | trans->setEncapsulatedGeometry(geom); |
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| 159 | geom->setPosition(Vector3(-0.014,-0.622,-3.778)); |
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| 160 | _geoms.push_back(geom); |
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| 161 | _geoms.push_back(trans); |
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| 162 | |
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| 163 | // Tail fin |
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| 164 | trans = new OgreOde::TransformGeometry(_world, _apache_space); |
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| 165 | geom = new OgreOde::BoxGeometry(Vector3(0.30,1.27,0.96), world, 0); |
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| 166 | trans->setBody(_apache); |
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| 167 | trans->setEncapsulatedGeometry(geom); |
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| 168 | geom->setPosition(Vector3(0,-0.042,-3.491)); |
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| 169 | _geoms.push_back(geom); |
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| 170 | _geoms.push_back(trans); |
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| 171 | |
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| 172 | // Rear wheel - a separate body connected by a ball joint, doesn't have a SceneNode |
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| 173 | OgreOde::SphereMass wheel_mass(0.02,0.06); |
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| 174 | _rear_wheel = new OgreOde::Body(_world); |
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| 175 | _rear_wheel->setMass(wheel_mass); |
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| 176 | _rear_wheel->setPosition(Vector3(0.0,0.068,-3.937)); |
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| 177 | OgreOde::BallJoint* ball_joint = new OgreOde::BallJoint(_world); |
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| 178 | ball_joint->attach(_apache,_rear_wheel); |
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| 179 | ball_joint->setAnchor(_rear_wheel->getPosition()); |
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| 180 | OgreOde::SphereGeometry* sphere = new OgreOde::SphereGeometry(0.06, _world, _apache_space); |
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| 181 | sphere->setBody(_rear_wheel); |
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| 182 | _geoms.push_back(sphere); |
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| 183 | _bodies.push_back(_rear_wheel); |
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| 184 | _joints.push_back(ball_joint); |
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| 185 | |
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| 186 | // Left front wheel - connected by a hinge joint so it can only roll forward |
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| 187 | OgreOde::SphereMass front_wheel_mass(0.03,0.17); |
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| 188 | _left_front = new OgreOde::Body(_world); |
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| 189 | _left_front->setMass(front_wheel_mass); |
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| 190 | _left_front->setPosition(Vector3(-0.699,0.199,1.163)); |
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| 191 | OgreOde::HingeJoint* hinge_joint = new OgreOde::HingeJoint(_world); |
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| 192 | hinge_joint->attach(_apache,_left_front); |
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| 193 | hinge_joint->setAnchor(_left_front->getPosition()); |
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| 194 | hinge_joint->setAxis(Vector3::UNIT_X); |
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| 195 | sphere = new OgreOde::SphereGeometry(0.17, _world, _apache_space); |
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| 196 | sphere->setBody(_left_front); |
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| 197 | _geoms.push_back(sphere); |
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| 198 | _bodies.push_back(_left_front); |
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| 199 | _joints.push_back(hinge_joint); |
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| 200 | |
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| 201 | // Right front wheel - connected by a hinge joint, doesn't have a SceneNode |
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| 202 | _right_front = new OgreOde::Body(_world); |
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| 203 | _right_front->setMass(front_wheel_mass); |
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| 204 | _right_front->setPosition(Vector3(0.699,0.185,1.163)); |
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| 205 | hinge_joint = new OgreOde::HingeJoint(_world); |
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| 206 | hinge_joint->attach(_apache,_right_front); |
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| 207 | hinge_joint->setAnchor(_right_front->getPosition()); |
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| 208 | hinge_joint->setAxis(Vector3::UNIT_X); |
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| 209 | sphere = new OgreOde::SphereGeometry(0.17, _world, _apache_space); |
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| 210 | sphere->setBody(_right_front); |
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| 211 | |
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| 212 | _geoms.push_back(sphere); |
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| 213 | _bodies.push_back(_right_front); |
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| 214 | _joints.push_back(hinge_joint); |
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| 215 | } |
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| 216 | |
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| 217 | |
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| 218 | // Create the wall of boxes to crash into, make it |
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| 219 | // smaller in Debug mode for performance reasons |
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| 220 | int i = 0; |
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| 221 | #ifndef _DEBUG |
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| 222 | for (Real y = 0.0;y <= 5.0;y += 1.0) |
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| 223 | { |
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| 224 | for (Real x = -6.0 + (y * 0.5);x <= 6.0 - (y * 0.5);x += 1.0) |
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| 225 | { |
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| 226 | #else |
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| 227 | for (Real y = 0.0;y <= 1.0;y += 1.0) |
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| 228 | { |
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| 229 | for (Real x = -2.0 + (y * 0.5);x <= 2.0 - (y * 0.5);x += 1.0) |
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| 230 | { |
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| 231 | #endif |
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| 232 | // Create the Ogre box |
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| 233 | String name = String("Box_") + StringConverter::toString(i); |
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| 234 | Entity* box = _mgr->createEntity(name,"crate.mesh"); |
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| 235 | box->setQueryFlags (GEOMETRY_QUERY_MASK); |
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| 236 | box->setCastShadows(true); |
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| 237 | |
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| 238 | SceneNode* node = _mgr->getRootSceneNode()->createChildSceneNode(name); |
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| 239 | node->attachObject(box); |
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| 240 | node->setScale(0.1,0.1,0.1); |
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| 241 | |
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| 242 | // Set the position and rotate that, then rotate the box by the same amount |
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| 243 | Quaternion q; |
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| 244 | q.FromAngleAxis(Degree(45),Vector3::UNIT_Y); |
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| 245 | Vector3 pos(x,y + 0.5,-10.0); |
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| 246 | node->setPosition(q * pos); |
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| 247 | node->setOrientation(q); |
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| 248 | |
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| 249 | // Create a box for ODE and attach it to the Ogre version |
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| 250 | OgreOde::Body* body = new OgreOde::Body(_world, name + "Body"); |
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| 251 | node->attachObject(body); |
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| 252 | body->setMass(OgreOde::BoxMass(0.01,Vector3(1,1,1))); |
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| 253 | body->setDamping (0.005, 0.005); |
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| 254 | |
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| 255 | OgreOde::BoxGeometry* geom = new OgreOde::BoxGeometry(Vector3(1.0,1.0,1.0),_world, _space); |
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| 256 | // Tie the collision geometry to the physical body |
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| 257 | geom->setBody(body); |
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| 258 | box->setUserObject(geom); |
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| 259 | |
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| 260 | // Keep track of the ODE objects for house keeping |
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| 261 | _bodies.push_back(body); |
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| 262 | _geoms.push_back(geom); |
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| 263 | |
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| 264 | i++; |
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| 265 | } |
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| 266 | } |
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| 267 | } |
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| 268 | virtual ~SimpleScenes_Crash() |
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| 269 | { |
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| 270 | // Destroy the non-standard scene nodes that make up the helicopter |
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| 271 | _apache_body_node->removeAndDestroyChild("Main Rotor"); |
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| 272 | _apache_body_node->removeAndDestroyChild("Tail Rotor"); |
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| 273 | |
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| 274 | // Remove the entities that represent the scene nodes we destroyed |
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| 275 | _mgr->destroyEntity("Main Rotor"); |
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| 276 | _mgr->destroyEntity("Tail Rotor"); |
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| 277 | |
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| 278 | // Delete the space in which the helicopter lived |
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| 279 | delete _apache_space; |
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| 280 | } |
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| 281 | |
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| 282 | // Return our name for the test application to display |
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| 283 | virtual const String& getName() |
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| 284 | { |
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| 285 | static String name = "Test Crash"; |
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| 286 | return name; |
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| 287 | } |
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| 288 | |
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| 289 | // Return a description of the keys that the user can use in this test |
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| 290 | virtual const String& getKeys() |
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| 291 | { |
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| 292 | static String keys = "I/K - Throttle, J/L - Turn, G/B/V/N - Thrust, X - Fire"; |
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| 293 | return keys; |
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| 294 | } |
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| 295 | |
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| 296 | #if (OGRE_VERSION_MINOR < 4) |
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| 297 | // Handle the user's key presses |
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| 298 | virtual void frameEnded(Real time,InputReader* input) |
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| 299 | { |
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| 300 | // Do default key handling |
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| 301 | SimpleScenes::frameEnded(time,input); |
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| 302 | #else |
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| 303 | |
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| 304 | virtual void frameEnded(Real time, OIS::Keyboard* input, OIS::Mouse* mouse) |
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| 305 | { |
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| 306 | // Do default processing |
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| 307 | SimpleScenes::frameEnded(time, input, mouse); |
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| 308 | #endif |
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| 309 | |
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| 310 | // Throttle up or down |
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| 311 | if (input->isKeyDown(KC_I)) _main_spd += (_main_response * time); |
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| 312 | else if (input->isKeyDown(KC_K)) _main_spd -= (_main_response * time); |
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| 313 | |
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| 314 | // Thrust left, right, forward, or back |
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| 315 | _thrust_force = Ogre::Vector3::ZERO; |
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| 316 | if (input->isKeyDown(KC_G)) _thrust_force.z += _thrust; |
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| 317 | if (input->isKeyDown(KC_B)) _thrust_force.z -= _thrust; |
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| 318 | if (input->isKeyDown(KC_V)) _thrust_force.x += _thrust; |
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| 319 | if (input->isKeyDown(KC_N)) _thrust_force.x -= _thrust; |
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| 320 | |
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| 321 | // Clamp the main rotor speed |
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| 322 | _main_spd = std::max(_main_min,std::min(_main_max,_main_spd)); |
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| 323 | |
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| 324 | // Turn left or right or automatically stop the tail rotor |
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| 325 | if (input->isKeyDown(KC_J)) _tail_spd += (_tail_response * time); |
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| 326 | else if (input->isKeyDown(KC_L)) _tail_spd -= (_tail_response * time); |
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| 327 | else |
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| 328 | { |
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| 329 | if (_tail_spd < 0.0) |
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| 330 | { |
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| 331 | _tail_spd += (_tail_response * time); |
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| 332 | if (_tail_spd > 0.0) _tail_spd = 0.0; |
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| 333 | } |
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| 334 | else if (_tail_spd > 0.0) |
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| 335 | { |
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| 336 | _tail_spd -= (_tail_response * time); |
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| 337 | if (_tail_spd < 0.0) _tail_spd = 0.0; |
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| 338 | } |
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| 339 | } |
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| 340 | |
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| 341 | // Clamp the tail rotor speed |
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| 342 | _tail_spd = std::max(_tail_min,std::min(_tail_max,_tail_spd)); |
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| 343 | |
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| 344 | // Rotate the tail rotor scene node |
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| 345 | _tail_rotor_node->rotate(Vector3::UNIT_X,Radian(_tail_spd * time * _rotate_scale)); |
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| 346 | |
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| 347 | // If there's some power being applied to the main rotor then... |
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| 348 | if ((_main_spd > _main_min)||(!input->isKeyDown(KC_K))) |
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| 349 | { |
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| 350 | // Rotate the main rotor scene node |
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| 351 | _main_rotor_node->rotate(Vector3::UNIT_Y,Radian(_main_spd * time * _rotate_scale)); |
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| 352 | } |
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| 353 | |
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| 354 | // Fire rockets. Woo! |
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| 355 | _fire_time += time; |
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| 356 | if ((_fire_time > _fire_rate)&&(input->isKeyDown(KC_X))) |
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| 357 | { |
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| 358 | _fire_time = 0.0; |
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| 359 | _rockets++; |
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| 360 | |
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| 361 | // Create a rocket node and attach a particle system to it |
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| 362 | const String name (String("Rocket_") + StringConverter::toString(_rockets)); |
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| 363 | ParticleSystem * rocketParticles = _mgr->createParticleSystem (name, "OgreOdeDemos/Rocket"); |
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| 364 | SceneNode * rocket_node = _mgr->getRootSceneNode ()->createChildSceneNode (name); |
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| 365 | rocket_node->attachObject(rocketParticles); |
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| 366 | |
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| 367 | // Alternate firing between the left and right pods and |
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| 368 | // convert it from body coordinates to world |
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| 369 | // Do the same with the firing "force" vector |
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| 370 | const Vector3 pos (_apache->getPointWorldPosition (Vector3 (1.35 * ((_rockets & 1)?-1.0:1.0),-0.55,0.95))); |
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| 371 | const Vector3 force (_apache->getVectorToWorld (Vector3 (0,0,_fire_force))); |
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| 372 | |
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| 373 | rocket_node->setPosition (pos); |
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| 374 | |
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| 375 | // Create a sphere for the physical body |
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| 376 | OgreOde::Body* rocket_body = new OgreOde::Body (_world); |
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| 377 | OgreOde::SphereGeometry* rocket_geom = |
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| 378 | new OgreOde::SphereGeometry (_fire_size, _world, _space); |
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| 379 | |
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| 380 | rocket_body->setMass (OgreOde::SphereMass (_fire_mass,_fire_size)); |
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| 381 | rocket_body->setAffectedByGravity (false); |
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| 382 | rocket_geom->setBody (rocket_body); |
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| 383 | |
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| 384 | rocket_node->attachObject (rocket_body); |
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| 385 | |
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| 386 | _bodies.push_back (rocket_body); |
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| 387 | _geoms.push_back (rocket_geom); |
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| 388 | |
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| 389 | // Fire it off by applying an initial force |
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| 390 | rocket_body->addForce (force); |
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| 391 | |
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| 392 | // Initialise the rocket's life span to zero |
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| 393 | _rocket_list[rocket_geom] = 0.0f; |
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| 394 | } |
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| 395 | |
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| 396 | // Check all the rockets |
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| 397 | for (std::map<OgreOde::SphereGeometry*,Real>::iterator i = _rocket_list.begin(); |
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| 398 | i != _rocket_list.end();) |
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| 399 | { |
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| 400 | // Increase the time it's lived |
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| 401 | float *rocketTime = &(i->second); |
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| 402 | *rocketTime += time; |
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| 403 | |
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| 404 | // If it had it's emitter disabled (see below) more than 2 seconds ago then kill it |
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| 405 | if ((*rocketTime < 0.0)) |
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| 406 | { |
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| 407 | // Get the geometry's body and kill any particle system attached to the same node |
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| 408 | killParticleSystem (i->first); |
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| 409 | |
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| 410 | OgreOde::Body * const body = i->first->getBody (); |
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| 411 | // Manually remove the body from the list of managed bodies |
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| 412 | for (std::vector<OgreOde::Body*>::iterator bi = _bodies.begin(); |
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| 413 | bi != _bodies.end();) |
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| 414 | { |
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| 415 | if ((*bi) == body) |
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| 416 | bi = _bodies.erase(bi); |
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| 417 | else |
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| 418 | ++bi; |
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| 419 | } |
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| 420 | |
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| 421 | // Manually delete the geometry from the list of managed geometries |
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| 422 | for (std::vector<OgreOde::Geometry*>::iterator gi = _geoms.begin(); |
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| 423 | gi != _geoms.end();) |
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| 424 | { |
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| 425 | if ((*gi) == i->first) |
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| 426 | gi = _geoms.erase(gi); |
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| 427 | else |
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| 428 | ++gi; |
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| 429 | } |
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| 430 | |
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| 431 | // Delete the actual body and geometry |
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| 432 | delete body; |
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| 433 | delete i->first; |
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| 434 | |
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| 435 | // Erase the rocket from the hash map |
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| 436 | _rocket_list.erase(i++); |
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| 437 | } |
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| 438 | else |
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| 439 | { |
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| 440 | // If the rocket has been alive for more than 2 seconds then kill its emitters (so it fades away) |
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| 441 | if (*rocketTime > 3.0) |
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| 442 | { |
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| 443 | OgreOde::SphereGeometry* sphereGeom = i->first; |
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| 444 | killEmitters(sphereGeom, rocketTime); |
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| 445 | } |
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| 446 | ++i; |
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| 447 | } |
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| 448 | } |
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| 449 | } |
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| 450 | |
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| 451 | // Override the base collision callback, 'cos we don't want the "if connected" check doing |
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| 452 | bool collision(OgreOde::Contact* contact) |
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| 453 | { |
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| 454 | OgreOde::Geometry* firstGeom = contact->getFirstGeometry(); |
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| 455 | OgreOde::Geometry* secondGeom = contact->getSecondGeometry(); |
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| 456 | |
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| 457 | OgreOde::SphereGeometry* rocketGeom = 0; |
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| 458 | OgreOde::Geometry* otherGeom = 0; |
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| 459 | float *time = 0; |
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| 460 | std::map<OgreOde::SphereGeometry*,Real>::iterator li; |
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| 461 | if (firstGeom->getClass () == OgreOde::Geometry::Class_Sphere || |
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| 462 | secondGeom->getClass () == OgreOde::Geometry::Class_Sphere) |
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| 463 | { |
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| 464 | |
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| 465 | // If a rocket's hit something then stop emitting particles |
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| 466 | // check if it's a sphere (rocket proxy Geom...) |
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| 467 | if (firstGeom->getClass () == OgreOde::Geometry::Class_Sphere) |
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| 468 | { |
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| 469 | li = _rocket_list.find(static_cast<OgreOde::SphereGeometry*>(firstGeom)); |
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| 470 | if (li != _rocket_list.end()) |
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| 471 | { |
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| 472 | rocketGeom = li->first; |
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| 473 | time = &(li->second); |
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| 474 | otherGeom = secondGeom; |
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| 475 | } |
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| 476 | } |
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| 477 | |
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| 478 | if (secondGeom->getClass () == OgreOde::Geometry::Class_Sphere) |
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| 479 | { |
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| 480 | std::map<OgreOde::SphereGeometry*,Real>::iterator li = |
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| 481 | _rocket_list.find(static_cast<OgreOde::SphereGeometry*>(secondGeom)); |
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| 482 | if (li != _rocket_list.end()) |
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| 483 | { |
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| 484 | rocketGeom = li->first; |
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| 485 | time = &(li->second); |
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| 486 | otherGeom = firstGeom; |
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| 487 | } |
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| 488 | } |
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| 489 | if (rocketGeom && *time > 0) |
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| 490 | { |
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| 491 | // prevent collision against Apache |
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| 492 | if (otherGeom->getSpace() == _apache_space) |
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| 493 | { |
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| 494 | return false; |
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| 495 | } |
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| 496 | |
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| 497 | // there, Add an Explosion Effect (could make two sphere, one that destroy, one for the wave effect only.) |
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| 498 | const Vector3 explosionCenter (contact->getPosition ()); |
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| 499 | Ogre::SphereSceneQuery* explosionAreaQuery = _mgr->createSphereQuery(Sphere(explosionCenter, 20), 0xFFFFFFFF); |
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| 500 | |
---|
| 501 | // asking for movable physic object (no particles system or static geometry (here the plane)) |
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| 502 | explosionAreaQuery->setQueryMask (GEOMETRY_QUERY_MASK | VEHICLE_QUERY_MASK); |
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| 503 | explosionAreaQuery->setQueryTypeMask(SceneManager::ENTITY_TYPE_MASK); |
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| 504 | |
---|
| 505 | const SceneQueryResult& result = explosionAreaQuery->execute (); |
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| 506 | if (!result.movables.empty()) |
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| 507 | { |
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| 508 | SceneQueryResultMovableList::const_iterator i = result.movables.begin(); |
---|
| 509 | while(i != result.movables.end()) |
---|
| 510 | { |
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| 511 | //GEOMETRY_QUERY_MASK |
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| 512 | OgreOde::Geometry *affectedGeom = static_cast <OgreOde::Geometry *> ((*i)->getUserObject ()); |
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| 513 | assert (affectedGeom != rocketGeom); |
---|
| 514 | assert (affectedGeom); |
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| 515 | OgreOde::Body *affectedBody = affectedGeom->getBody (); |
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| 516 | assert (affectedBody); |
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| 517 | Vector3 forceAreaDirection = (*i)->getParentNode()->getPosition() - explosionCenter; |
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| 518 | const Real forcePower = forceAreaDirection.squaredLength () / 5; |
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| 519 | forceAreaDirection.normalise (); |
---|
| 520 | |
---|
| 521 | // Apply the main rotor force |
---|
| 522 | affectedBody->addForce(forceAreaDirection * forcePower); |
---|
| 523 | |
---|
| 524 | ++i; |
---|
| 525 | } |
---|
| 526 | } |
---|
| 527 | |
---|
| 528 | // remove particle and rocket geom |
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| 529 | killEmitters(rocketGeom, time); |
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| 530 | |
---|
| 531 | // add explosion particles |
---|
| 532 | _rocket_node_explosion->setPosition(explosionCenter); |
---|
| 533 | _rocket_node_explosion->setVisible(true); |
---|
| 534 | |
---|
| 535 | resetParticleSystem(_rocketParticles_explosion, true, 0.1); |
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| 536 | resetParticleSystem(_rocketParticles_smoke_white, true, 0.3); |
---|
| 537 | resetParticleSystem(_rocketParticles_smoke, true, 0.6); |
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| 538 | } |
---|
| 539 | |
---|
| 540 | } |
---|
| 541 | // Set the friction at the contact |
---|
| 542 | contact->setCoulombFriction(5.0); |
---|
| 543 | |
---|
| 544 | // Yes, this collision is valid |
---|
| 545 | return true; |
---|
| 546 | } |
---|
| 547 | |
---|
| 548 | // Will get called just before each time step, since a timestep zeros the force accumulators |
---|
| 549 | void addForcesAndTorques() |
---|
| 550 | { |
---|
| 551 | // Apply the main rotor force |
---|
| 552 | _apache->addForce(Vector3(0,_main_spd * _main_scale,0)); |
---|
| 553 | |
---|
| 554 | // Apply the tail rotor torque |
---|
| 555 | _apache->addRelativeTorque(Vector3(0,_tail_spd * _tail_scale,0)); |
---|
| 556 | |
---|
| 557 | // Apply the thrust force |
---|
| 558 | _apache->addRelativeForceAtRelative(_thrust_force,_thrust_offs); |
---|
| 559 | |
---|
| 560 | |
---|
| 561 | } |
---|
| 562 | |
---|
| 563 | protected: |
---|
| 564 | |
---|
| 565 | // Kill the emitters for any particle systems attached to the same node |
---|
| 566 | // as the body with which the specified geometry is associated (if that makes sense!) |
---|
| 567 | void killEmitters(OgreOde::SphereGeometry* geom, Real* time = 0) |
---|
| 568 | { |
---|
| 569 | // Find the body |
---|
| 570 | OgreOde::Body* body = geom->getBody(); |
---|
| 571 | if (body) |
---|
| 572 | { |
---|
| 573 | // Find the associated scene node |
---|
| 574 | SceneNode* node = static_cast<SceneNode*>(body->getParentNode()); |
---|
| 575 | if (node) |
---|
| 576 | { |
---|
| 577 | // Kill the emitters of any attached particle systems |
---|
| 578 | for (int i = 0;i < node->numAttachedObjects();i++) |
---|
| 579 | { |
---|
| 580 | MovableObject* obj = node->getAttachedObject(i); |
---|
| 581 | if (obj->getMovableType() == "ParticleSystem") |
---|
| 582 | { |
---|
| 583 | static_cast<ParticleSystem*>(obj)->removeAllEmitters(); |
---|
| 584 | } |
---|
| 585 | } |
---|
| 586 | } |
---|
| 587 | |
---|
| 588 | // Set the life span value so that we can easily tell |
---|
| 589 | // that its had its emitters deleted |
---|
| 590 | if (time) |
---|
| 591 | *time = -100.0; |
---|
| 592 | } |
---|
| 593 | } |
---|
| 594 | |
---|
| 595 | |
---|
| 596 | void resetParticleSystem(Ogre::ParticleSystem *ps, bool enable, const Ogre::Real delay) |
---|
| 597 | { |
---|
| 598 | const unsigned short numEmitters = ps->getNumEmitters(); |
---|
| 599 | for (unsigned short i = 0; i < numEmitters; i++) |
---|
| 600 | { |
---|
| 601 | Ogre::ParticleEmitter *pe = ps->getEmitter(i); |
---|
| 602 | pe->setEnabled(enable); |
---|
| 603 | pe->setStartTime (delay); |
---|
| 604 | } |
---|
| 605 | |
---|
| 606 | ps->setSpeedFactor(enable ? 1.0 : 0.0); |
---|
| 607 | } |
---|
| 608 | // Kill the particle system and scene node associated with this geometry |
---|
| 609 | void killParticleSystem(OgreOde::SphereGeometry* geom) |
---|
| 610 | { |
---|
| 611 | // Find the body |
---|
| 612 | OgreOde::Body* body = geom->getBody(); |
---|
| 613 | if (body) |
---|
| 614 | { |
---|
| 615 | // Find the scene node |
---|
| 616 | SceneNode* node = static_cast<SceneNode*>(body->getParentNode()); |
---|
| 617 | if (node) |
---|
| 618 | { |
---|
| 619 | MovableObject* obj = 0; |
---|
| 620 | for (int i = 0;i < node->numAttachedObjects();i++) |
---|
| 621 | { |
---|
| 622 | // If this object isn't an OgreOde::Body then it must be |
---|
| 623 | // (in our demo) a particle system that we need to delete |
---|
| 624 | MovableObject* can_obj = node->getAttachedObject(i); |
---|
| 625 | if (can_obj->getMovableType() != "OgreOde::Body") |
---|
| 626 | obj = can_obj; |
---|
| 627 | } |
---|
| 628 | |
---|
| 629 | // Delete the node |
---|
| 630 | _mgr->getRootSceneNode()->removeAndDestroyChild(node->getName()); |
---|
| 631 | |
---|
| 632 | // If we found a particle system then delete it |
---|
| 633 | if (obj) |
---|
| 634 | _mgr->destroyParticleSystem(obj->getName()); |
---|
| 635 | } |
---|
| 636 | } |
---|
| 637 | } |
---|
| 638 | |
---|
| 639 | protected: |
---|
| 640 | // Things we'll control and delete manually |
---|
| 641 | Entity *_apache_body,*_main_rotor,*_tail_rotor; |
---|
| 642 | SceneNode *_apache_body_node,*_main_rotor_node,*_tail_rotor_node; |
---|
| 643 | |
---|
| 644 | Real _rotate_scale; |
---|
| 645 | |
---|
| 646 | // Physical things we'll need to apply forces to and delete manually |
---|
| 647 | OgreOde::Body *_apache,*_rear_wheel,*_left_front,*_right_front; |
---|
| 648 | OgreOde::SimpleSpace* _apache_space; |
---|
| 649 | |
---|
| 650 | |
---|
| 651 | // The worst helicopter flight model in the world! |
---|
| 652 | Real _main_spd,_main_response,_main_scale,_main_min,_main_max; |
---|
| 653 | Real _tail_spd,_tail_response,_tail_scale,_tail_min,_tail_max; |
---|
| 654 | Real _thrust,_linear_damp,_angular_damp; |
---|
| 655 | Vector3 _thrust_offs,_thrust_force; |
---|
| 656 | |
---|
| 657 | // Stuff to help us shoot things |
---|
| 658 | Real _fire_rate,_fire_time,_fire_force,_fire_mass,_fire_size; |
---|
| 659 | std::map<OgreOde::SphereGeometry*,Real> _rocket_list; |
---|
| 660 | int _rockets; |
---|
| 661 | |
---|
| 662 | |
---|
| 663 | SceneNode * _rocket_node_explosion; |
---|
| 664 | ParticleSystem * _rocketParticles_explosion; |
---|
| 665 | ParticleSystem * _rocketParticles_smoke_white; |
---|
| 666 | ParticleSystem * _rocketParticles_smoke; |
---|
| 667 | }; |
---|
| 668 | |
---|
| 669 | #endif |
---|