Chernetcov
30-03-2009 22:17:38
I made program based on SimpleScenes Demo and wiki example (http://www.ogre3d.org/wiki/index.php/First_steps_with_OgreODE and http://www.ogre3d.org/wiki/index.php/OgreOde_Collision_Handling) to understand principes of working OgreOde.
All parameters as in the demo, but crate is falling down on the plane, sink in the plane partically and then float to the surface of the plane as water.
I think I made mistake somewhere in the parameters of the crate or plane, but can't find it
here is my code OgreODE2.h
and OgreODE2.cpp
Anoser thing that I notised is that crate is tremble if look at it from small distance.
Can you explain that?
All parameters as in the demo, but crate is falling down on the plane, sink in the plane partically and then float to the surface of the plane as water.
I think I made mistake somewhere in the parameters of the crate or plane, but can't find it
here is my code OgreODE2.h
#include "ExampleApplication.h"
#include "OgreOde_Core.h"
OgreOde::World *mWorld;
OgreOde::Space *mSpace;
OgreOde::StepHandler *mStepper;
OgreOde::InfinitePlaneGeometry *mGround;
OgreOde::Body *mBody;
OgreOde::Geometry *mGeom;
OgreOde::BoxMass mMass;
Ogre::SceneNode *mNode;
Ogre::Entity *mEntity;
class CollisionTestedObject
{
public:
CollisionTestedObject(void);
virtual ~CollisionTestedObject(void);
bool virtual Collide(bool MineIsFirst, OgreOde::Contact *Contact) = 0;
};
class TutorialFrameListener : public ExampleFrameListener
{
protected:
OgreOde::World* mWorld;
OgreOde::StepHandler* mStepper;
public:
TutorialFrameListener(RenderWindow* win, Camera* cam, OgreOde::World* _world,
OgreOde::StepHandler* _stepper): ExampleFrameListener(win, cam), mWorld(_world), mStepper(_stepper)
{ }
bool frameEnded(const FrameEvent& evt);
};
class TutorialApplication : public ExampleApplication , public OgreOde::CollisionListener
{
protected:
public:
TutorialApplication() { }
~TutorialApplication() { }
protected:
void createScene(void);
void createFrameListener(void);
virtual bool collision(OgreOde::Contact* contact);
};and OgreODE2.cpp
#include "OgreODE2.h"
#if OGRE_PLATFORM == OGRE_PLATFORM_WIN32
#define WIN32_LEAN_AND_MEAN
#include "windows.h"
INT WINAPI WinMain( HINSTANCE hInst, HINSTANCE, LPSTR strCmdLine, INT )
#else
int main(int argc, char **argv)
#endif
{
TutorialApplication app;
try {
app.go();
} catch( Exception& e ) {
#if OGRE_PLATFORM == OGRE_PLATFORM_WIN32
MessageBox( NULL, e.what(), "An exception has occurred!", MB_OK | MB_ICONERROR | MB_TASKMODAL);
#else
fprintf(stderr, "An exception has occurred: %s\n",
e.what());
#endif
}
return 0;
}
bool TutorialFrameListener::frameEnded(const FrameEvent& evt)
{
Real time = evt.timeSinceLastFrame;
if ( mStepper->step(time) )
mWorld->synchronise();
return ExampleFrameListener::frameEnded(evt);
}
void TutorialApplication::createFrameListener(void)
{
mFrameListener = new TutorialFrameListener(mWindow, mCamera, mWorld, mStepper);
mRoot->addFrameListener(mFrameListener);
}
void TutorialApplication::createScene(void)
{ mCamera->setPosition(13,4.5,0);
mCamera->lookAt(0,0,0);
mCamera->setNearClipDistance(0.5);
mWorld = new OgreOde::World(mSceneMgr);
mWorld->setGravity(Ogre::Vector3(0,-9.80665,0));
mWorld->setCFM(10e-5);
mWorld->setERP(0.8);
mWorld->setAutoSleep(true);
mWorld->setAutoSleepAverageSamplesCount(10);
mWorld->setContactCorrectionVelocity(1.0);
mSpace = mWorld->getDefaultSpace();
mWorld->setCollisionListener(this);
// mWorld->setShowDebugGeometries(!mWorld->getShowDebugGeometries());
// mWorld->setShowDebugContact(!mWorld->getShowDebugContact());
const Ogre::Real _time_step = 0.5;
const Ogre::Real time_scale = Ogre::Real(1.7);
const Ogre::Real max_frame_time = Ogre::Real(1.0 / 4);
mStepper = new OgreOde::StepHandler(mWorld, OgreOde::StepHandler::QuickStep,_time_step, max_frame_time,
time_scale);
mGround = new OgreOde::InfinitePlaneGeometry(Plane(Ogre::Vector3(0,1,0),0), mWorld, mWorld->getDefaultSpace());
int i = 0;
StaticGeometry* s;
s = mSceneMgr->createStaticGeometry("StaticFloor");
s->setRegionDimensions(Ogre::Vector3(160.0, 100.0, 160.0));
// Set the region origin so the center is at 0 world
s->setOrigin(Ogre::Vector3::ZERO);
for (Real z = -80.0;z <= 80.0;z += 20.0)
{
for (Real x = -80.0;x <= 80.0;x += 20.0)
{
String name = String("Ground") + StringConverter::toString(i++);
Entity* entity = mSceneMgr->createEntity(name, "plane.mesh");
entity->setQueryFlags (1<<0);
entity->setUserObject(mGround);
entity->setCastShadows(false);
s->addEntity(entity, Ogre::Vector3(x,0,z));
}
}
s->build();
mEntity = mSceneMgr->createEntity("crate","crate.mesh");
mEntity->setQueryFlags (1<<2);
mNode = mSceneMgr->getRootSceneNode()->createChildSceneNode("crate");
mNode->attachObject(mEntity);
mEntity->setCastShadows(true);
mBody = new OgreOde::Body(mWorld);
mNode->attachObject(mBody);
// Vector3 size(10.0,10.0,10.0);
Vector3 size(1.75,1.75,1.75);
OgreOde::BoxMass mMass(5.0,size);
mMass.setDensity(1.0,size);
mGeom = (OgreOde::Geometry*)new OgreOde::BoxGeometry(size, mWorld, mSpace);
mNode->setScale(size.x * 0.1,size.y * 0.1,size.z * 0.1);
mBody->setMass(mMass);
mGeom->setBody(mBody);
mEntity->setUserObject(mGeom); //Quaternion q(, Vector3::UNIT_Z);
mBody->setOrientation(Quaternion(Degree(45),Vector3::UNIT_Y));
mBody->setPosition(Vector3(0,200,-20));
}
bool TutorialApplication::collision(OgreOde::Contact* contact)
{
// Check for collisions between things that are connected and ignore them
OgreOde::Geometry * const g1 = contact->getFirstGeometry();
OgreOde::Geometry * const g2 = contact->getSecondGeometry();
if (g1 && g2)
{
const OgreOde::Body * const b1 = g1->getBody();
const OgreOde::Body * const b2 = g2->getBody();
if (b1 && b2 && OgreOde::Joint::areConnected(b1, b2))
return false;
}
return true;
}Anoser thing that I notised is that crate is tremble if look at it from small distance.
Can you explain that?