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ephysics: support forces (and torques) on 3 axes 

SVN revision: 77782
This commit is contained in:
Bruno Dilly 2012-10-10 19:17:49 +00:00
parent bdd5ba2115
commit 59cc6c6f2f
7 changed files with 105 additions and 36 deletions
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14
legacy/ephysics/src/bin/ephysics_sandbox.c
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@ -249,7 +249,7 @@ static void
_body_torque_cb(void *data, Evas_Object *obj, void *event_info __UNUSED__)
{
EPhysics_Body *body = data;
ephysics_body_torque_apply(body, elm_spinner_value_get(obj));
ephysics_body_torque_apply(body, 0, 0, elm_spinner_value_get(obj));
}
static void
@ -334,7 +334,8 @@ _body_force_x_x_cb(void *data, Evas_Object *obj, void *event_info __UNUSED__)
rel_x = elm_spinner_value_get(evas_object_data_get(obj, "relx"));
rel_y = elm_spinner_value_get(evas_object_data_get(obj, "rely"));
ephysics_body_force_apply(body, elm_spinner_value_get(obj), y, rel_x, rel_y);
ephysics_body_force_apply(body, elm_spinner_value_get(obj), y, 0,
rel_x, rel_y, 0);
}
static void
@ -351,7 +352,8 @@ _body_force_x_rel_cb(void *data, Evas_Object *obj, void *event_info __UNUSED__)
y = elm_spinner_value_get(evas_object_data_get(aux, "y"));
rel_y = elm_spinner_value_get(evas_object_data_get(aux, "rely"));
ephysics_body_force_apply(body, x, y, elm_spinner_value_get(obj), rel_y);
ephysics_body_force_apply(body, x, y, 0,
elm_spinner_value_get(obj), rel_y, 0);
}
static void
@ -368,7 +370,8 @@ _body_force_y_y_cb(void *data, Evas_Object *obj, void *event_info __UNUSED__)
rel_x = elm_spinner_value_get(evas_object_data_get(aux, "relx"));
rel_y = elm_spinner_value_get(evas_object_data_get(aux, "rely"));
ephysics_body_force_apply(body, x, elm_spinner_value_get(obj), rel_x, rel_y);
ephysics_body_force_apply(body, x, elm_spinner_value_get(obj), 0,
rel_x, rel_y, 0);
}
static void
@ -385,7 +388,8 @@ _body_force_y_rel_cb(void *data, Evas_Object *obj, void *event_info __UNUSED__)
y = elm_spinner_value_get(evas_object_data_get(aux, "y"));
rel_x = elm_spinner_value_get(evas_object_data_get(aux, "relx"));
ephysics_body_force_apply(body, x, y, rel_x, elm_spinner_value_get(obj));
ephysics_body_force_apply(body, x, y, 0,
rel_x, elm_spinner_value_get(obj), 0);
}
static void

7
legacy/ephysics/src/bin/test_forces.c
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@ -10,7 +10,8 @@ _update_object_cb(void *data __UNUSED__, EPhysics_Body *body, void *event_info _
double x, y, torque, vx, vy, va;
ephysics_body_evas_object_update(body);
ephysics_body_forces_get(body, &x, &y, &torque);
ephysics_body_forces_get(body, &x, &y, NULL);
ephysics_body_torques_get(body, NULL, NULL, &torque);
DBG("Body %p, fx: %lf, fy: %lf, torque: %lf", body, x, y, torque);
ephysics_body_linear_velocity_get(body, &vx, &vy, NULL);
@ -38,7 +39,7 @@ _world_populate(Test_Data *test_data)
_update_object_cb, NULL);
ephysics_body_restitution_set(box_body1, 0.7);
ephysics_body_friction_set(box_body1, 0);
ephysics_body_force_apply(box_body1, 60, 0, 0, 10);
ephysics_body_force_apply(box_body1, 60, 0, 0, 0, 10, 0);
test_data->bodies = eina_list_append(test_data->bodies, box_body1);
box2 = elm_image_add(test_data->win);
@ -55,7 +56,7 @@ _world_populate(Test_Data *test_data)
_update_object_cb, NULL);
ephysics_body_restitution_set(box_body2, 0.7);
ephysics_body_friction_set(box_body2, 0);
ephysics_body_central_force_apply(box_body2, 60, 0);
ephysics_body_central_force_apply(box_body2, 60, 0, 0);
test_data->bodies = eina_list_append(test_data->bodies, box_body2);
test_data->data = box_body2;
}

6
legacy/ephysics/src/bin/test_rotating_forever.c
View File

@ -22,7 +22,7 @@ _increase_torque_cb(void *data)
EPhysics_Body *body = data;
Evas_Object *obj;
ephysics_body_torque_apply(body, 2);
ephysics_body_torque_apply(body, 0, 0, 2);
obj = ephysics_body_evas_object_get(body);
evas_object_data_set(obj, "increase_timer", NULL);
@ -70,7 +70,7 @@ _update_object_cb(void *data __UNUSED__, EPhysics_Body *body, void *event_info _
ephysics_body_rotation_get(body, NULL, NULL, &rot);
ephysics_body_angular_velocity_get(body, NULL, NULL, &vrot);
ephysics_body_forces_get(body, NULL, NULL, &torque);
ephysics_body_torques_get(body, NULL, NULL, &torque);
ephysics_body_evas_object_update(body);
@ -154,7 +154,7 @@ _world_populate(Test_Data *test_data)
EPHYSICS_CALLBACK_BODY_UPDATE,
_update_object_cb, NULL);
ephysics_body_torque_apply(body, 2);
ephysics_body_torque_apply(body, 0, 0, 2);
ephysics_body_event_callback_add(body,
EPHYSICS_CALLBACK_BODY_DEL,
_del_torque_cb, cube);

2
legacy/ephysics/src/bin/test_shapes.c
View File

@ -51,7 +51,7 @@ _world_populate(Test_Data *test_data)
ephysics_body_evas_object_set(hexagon_body, hexagon, EINA_TRUE);
ephysics_body_restitution_set(hexagon_body, 1);
test_data->bodies = eina_list_append(test_data->bodies, hexagon_body);
ephysics_body_torque_apply(hexagon_body, -3);
ephysics_body_torque_apply(hexagon_body, 0, 0, -3);
ephysics_shape_del(pentagon_shape);
ephysics_shape_del(hexagon_shape);

48
legacy/ephysics/src/lib/EPhysics.h
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@ -2895,14 +2895,16 @@ EAPI void *ephysics_body_data_get(const EPhysics_Body *body);
* @param body The physics body which over the force will be applied.
* @param x The axis x component of force.
* @param y The axis y component of force.
* @param z The axis z component of force.
*
* @see ephysics_body_torque_apply().
* @see ephysics_body_force_apply().
* @see ephysics_body_forces_get().
* @see ephysics_body_torques_get().
*
* @ingroup EPhysics_Body
*/
EAPI void ephysics_body_central_force_apply(EPhysics_Body *body, double x, double y);
EAPI void ephysics_body_central_force_apply(EPhysics_Body *body, double x, double y, double z);
/**
* @brief
@ -2913,17 +2915,24 @@ EAPI void ephysics_body_central_force_apply(EPhysics_Body *body, double x, doubl
* And the body will rotate around Z axis considering this angular velocity.
*
* @param body The physics body that will receive the torque.
* @param torque Torque to change angular acceleration of the body around Z
* @param torque_x Torque to change angular acceleration of the body around X
* axis (rotate on y - z plane).
* Negative values will accelerate it on counter clockwise rotation.
* @param torque_y Torque to change angular acceleration of the body around Y
* axis (rotate on x - z plane).
* Negative values will accelerate it on counter clockwise rotation.
* @param torque_z Torque to change angular acceleration of the body around Z
* axis (rotate on x - y plane).
* Negative values will accelerate it on counter clockwise rotation.
*
* @see ephysics_body_central_force_apply().
* @see ephysics_body_force_apply().
* @see ephysics_body_forces_get().
* @see ephysics_body_torques_get().
*
* @ingroup EPhysics_Body
*/
EAPI void ephysics_body_torque_apply(EPhysics_Body *body, double torque);
EAPI void ephysics_body_torque_apply(EPhysics_Body *body, double torque_x, double torque_y, double torque_z);
/**
* @brief
@ -2938,15 +2947,17 @@ EAPI void ephysics_body_torque_apply(EPhysics_Body *body, double torque);
* @ref ephysics_body_torque_apply(), or can be used to lead to both
* behaviors with @ref ephysics_body_force_apply().
*
* It will result in a central force with force (@p x, @p y) and a
* It will result in a central force with force (@p x, @p y, @p z) and a
* torque that will be calculated as a cross product on force
* and relative position.
*
* @param body The physics body that will receive the impulse.
* @param x The axis x component of force.
* @param y The axis y component of force.
* @param z The axis z component of force.
* @param pos_x The axis x component of the relative position to apply force.
* @param pos_y The axis y component of the relative position to apply force.
* @param pos_z The axis z component of the relative position to apply force.
*
* @note Force is measured in kg * p / s / s and position in p (pixels, or
* Evas coordinates).
@ -2954,10 +2965,11 @@ EAPI void ephysics_body_torque_apply(EPhysics_Body *body, double torque);
* @see ephysics_body_central_force_apply().
* @see ephysics_body_torque_apply().
* @see ephysics_body_forces_get().
* @see ephysics_body_torques_get().
*
* @ingroup EPhysics_Body
*/
EAPI void ephysics_body_force_apply(EPhysics_Body *body, double x, double y, Evas_Coord pos_x, Evas_Coord pos_y);
EAPI void ephysics_body_force_apply(EPhysics_Body *body, double x, double y, double z, Evas_Coord pos_x, Evas_Coord pos_y, Evas_Coord pos_z);
/**
* @brief
@ -2969,17 +2981,38 @@ EAPI void ephysics_body_force_apply(EPhysics_Body *body, double x, double y, Eva
* @param body The physics body.
* @param x The axis x component of total force.
* @param y The axis y component of total force.
* @param torque The torque.
* @param z The axis z component of total force.
*
* @see ephysics_body_force_apply() for more details.
* @see ephysics_body_central_force_apply().
* @see ephysics_body_torque_apply().
* @see ephysics_body_torques_get().
* @see ephysics_body_forces_clear().
* @see ephysics_world_gravity_set().
*
* @ingroup EPhysics_Body
*/
EAPI void ephysics_body_forces_get(const EPhysics_Body *body, double *x, double *y, double *torque);
EAPI void ephysics_body_forces_get(const EPhysics_Body *body, double *x, double *y, double *z);
/**
* @brief
* Get physics body torques.
*
* Get all the torques applied over a body.
* Damping is not considered.
*
* @param body The physics body.
* @param x The torque on x axis.
* @param y The torque on y axis.
* @param z The torque on z axis.
*
* @see ephysics_body_torque_apply() for more details.
* @see ephysics_body_force_apply().
* @see ephysics_body_forces_clear().
*
* @ingroup EPhysics_Body
*/
EAPI void ephysics_body_torques_get(const EPhysics_Body *body, double *x, double *y, double *z);
/**
* @brief
@ -2999,6 +3032,7 @@ EAPI void ephysics_body_forces_get(const EPhysics_Body *body, double *x, double
* @see ephysics_body_torque_apply().
* @see ephysics_body_force_apply().
* @see ephysics_body_forces_get().
* @see ephysics_body_torques_get().
*
* @ingroup EPhysics_Body
*/

59
legacy/ephysics/src/lib/ephysics_body.cpp
View File

@ -467,7 +467,10 @@ _ephysics_body_forces_update(EPhysics_Body *body)
{
body->force.x = body->rigid_body->getTotalForce().getX();
body->force.y = body->rigid_body->getTotalForce().getY();
body->force.torque = body->rigid_body->getTotalTorque().getZ();
body->force.z = body->rigid_body->getTotalForce().getZ();
body->force.torque_x = body->rigid_body->getTotalTorque().getX();
body->force.torque_y = body->rigid_body->getTotalTorque().getY();
body->force.torque_z = body->rigid_body->getTotalTorque().getZ();
body->rigid_body->clearForces();
}
@ -1074,14 +1077,19 @@ ephysics_body_forces_apply(EPhysics_Body *body)
{
double rate;
if (!((body->force.x) || (body->force.y) || (body->force.torque)))
if (!((body->force.x) || (body->force.y) || (body->force.z) ||
(body->force.torque_x) || (body->force.torque_y) ||
(body->force.torque_z)))
return;
rate = ephysics_world_rate_get(body->world);
ephysics_body_activate(body, EINA_TRUE);
body->rigid_body->applyCentralForce(btVector3(body->force.x / rate,
body->force.y / rate, 0));
body->rigid_body->applyTorque(btVector3(0, 0, body->force.torque));
body->force.y / rate,
body->force.z / rate));
body->rigid_body->applyTorque(btVector3(body->force.torque_x,
body->force.torque_y,
body->force.torque_z));
}
void
@ -2607,7 +2615,7 @@ ephysics_body_data_get(const EPhysics_Body *body)
}
EAPI void
ephysics_body_central_force_apply(EPhysics_Body *body, double x, double y)
ephysics_body_central_force_apply(EPhysics_Body *body, double x, double y, double z)
{
double rate;
@ -2620,13 +2628,14 @@ ephysics_body_central_force_apply(EPhysics_Body *body, double x, double y)
ephysics_world_lock_take(body->world);
rate = ephysics_world_rate_get(body->world);
ephysics_body_forces_apply(body);
body->rigid_body->applyCentralForce(btVector3(x / rate, - y / rate, 0));
body->rigid_body->applyCentralForce(btVector3(x / rate, - y / rate,
z / rate));
_ephysics_body_forces_update(body);
ephysics_world_lock_release(body->world);
}
EAPI void
ephysics_body_force_apply(EPhysics_Body *body, double x, double y, Evas_Coord pos_x, Evas_Coord pos_y)
ephysics_body_force_apply(EPhysics_Body *body, double x, double y, double z, Evas_Coord pos_x, Evas_Coord pos_y, Evas_Coord pos_z)
{
double rate;
@ -2639,15 +2648,16 @@ ephysics_body_force_apply(EPhysics_Body *body, double x, double y, Evas_Coord po
rate = ephysics_world_rate_get(body->world);
ephysics_world_lock_take(body->world);
ephysics_body_forces_apply(body);
body->rigid_body->applyForce(btVector3(x / rate, - y / rate, 0),
body->rigid_body->applyForce(btVector3(x / rate, - y / rate, z / rate),
btVector3((double) pos_x / rate,
(double) pos_y / rate, 0));
(double) pos_y / rate,
(double) pos_z / rate));
_ephysics_body_forces_update(body);
ephysics_world_lock_release(body->world);
}
EAPI void
ephysics_body_torque_apply(EPhysics_Body *body, double torque)
ephysics_body_torque_apply(EPhysics_Body *body, double torque_x, double torque_y, double torque_z)
{
if (!body)
{
@ -2657,15 +2667,15 @@ ephysics_body_torque_apply(EPhysics_Body *body, double torque)
ephysics_world_lock_take(body->world);
ephysics_body_forces_apply(body);
body->rigid_body->applyTorque(btVector3(0, 0, -torque));
body->rigid_body->applyTorque(btVector3(-torque_x, -torque_y, -torque_z));
_ephysics_body_forces_update(body);
ephysics_world_lock_release(body->world);
}
EAPI void
ephysics_body_forces_get(const EPhysics_Body *body, double *x, double *y, double *torque)
ephysics_body_forces_get(const EPhysics_Body *body, double *x, double *y, double *z)
{
double rate, gx, gy;
double rate, gx, gy, gz;
if (!body)
{
@ -2674,11 +2684,25 @@ ephysics_body_forces_get(const EPhysics_Body *body, double *x, double *y, double
}
rate = ephysics_world_rate_get(body->world);
ephysics_world_gravity_get(body->world, &gx, &gy, NULL);
ephysics_world_gravity_get(body->world, &gx, &gy, &gz);
if (x) *x = body->force.x * rate + gx;
if (y) *y = -body->force.y * rate + gy;
if (torque) *torque = -body->force.torque;
if (z) *z = body->force.z * rate + gz;
}
EAPI void
ephysics_body_torques_get(const EPhysics_Body *body, double *x, double *y, double *z)
{
if (!body)
{
ERR("Can't get torques from a null body.");
return;
}
if (x) *x = -body->force.torque_x;
if (y) *y = -body->force.torque_y;
if (z) *z = -body->force.torque_z;
}
EAPI void
@ -2692,7 +2716,10 @@ ephysics_body_forces_clear(EPhysics_Body *body)
body->force.x = 0;
body->force.y = 0;
body->force.torque = 0;
body->force.z = 0;
body->force.torque_x = 0;
body->force.torque_y = 0;
body->force.torque_z = 0;
}
EAPI void

5
legacy/ephysics/src/lib/ephysics_private.h
View File

@ -93,7 +93,10 @@ struct _EPhysics_Body {
struct {
double x;
double y;
double torque;
double z;
double torque_x;
double torque_y;
double torque_z;
} force;
struct {
double x;