ODEFluid.cpp

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#include "ODEFluid.h"
#include "MercuryLog.h"

REGISTER_ODE_OBJECT_CLASS( ODEFluid )

ODEFluid::~ODEFluid()
{
    //Do nothing?
}

bool ODEFluid::LoadFromINI( MercuryINI & pINI, const MString & sShapeName, const dWorldID & oWorld )
{
    MercuryODEObjectLoadable::LoadFromINI( pINI, sShapeName, oWorld );

    m_fViscosity = GetParameter( "Viscosity" ).GetValueF();
    m_pDirection = MercuryPoint( 
        GetParameter( "DirectionX" ).GetValueF(),
        GetParameter( "DirectionY" ).GetValueF(),
        GetParameter( "DirectionZ" ).GetValueF() );

    m_pForce = MercuryPoint( 
        GetParameter( "ForceX" ).GetValueF(),
        GetParameter( "ForceY" ).GetValueF(),
        GetParameter( "ForceZ" ).GetValueF() );

    SetDrawOrder(40000);
    SetDiffuse( MercuryColor(1,1,1,0.5) );
    return true;
}

void ODEFluid::Update( const float dTime )
{
    //Do nothing?
}

void ODEFluid::PreCycleUpdate( const float dTime )
{
    float fRelForce = 10.0f;

    for( std::map< dBodyID, HitObject >::iterator i = m_pHitObjects.begin(); i != m_pHitObjects.end(); ++i )
    {
        HitObject * pHit = &i->second;
        float fHitForcePart = fRelForce/(float(pHit->m_pDirectionForce.size()));

        for( unsigned j = 0; j < pHit->m_pDirectionForce.size(); j++ )
        {
            float fForceAmount = fHitForcePart * ( pHit->m_pDirectionForce[j] * pHit->m_pDirectionForce[j] * pHit->m_pDirectionForce[j] / 40 );
            fForceAmount = Clamp(fForceAmount,0.0f,7.0f);
            dBodyAddForceAtPos( (i->first), 
                m_pForce.x * fForceAmount, m_pForce.y * fForceAmount, m_pForce.z * fForceAmount,
                pHit->m_pAtForces[j].x, pHit->m_pAtForces[j].y, pHit->m_pAtForces[j].z );
        }

        const float * fCurLinearVel = dBodyGetLinearVel( i->first );
        const float * fCurAngularVel = dBodyGetAngularVel( i->first );

        float fViscAmount = m_fViscosity*dTime*i->second.fFric;
        fViscAmount=Clamp(fViscAmount,0.0f,1.0f);

        dBodySetLinearVel( i->first, fCurLinearVel[0] * (1-fViscAmount) + m_pDirection.x * fViscAmount,
            fCurLinearVel[1] * (1-fViscAmount) + m_pDirection.y * fViscAmount,
            fCurLinearVel[2] * (1-fViscAmount) + m_pDirection.z * fViscAmount );
        dBodySetAngularVel( i->first, fCurAngularVel[0] * (1-fViscAmount) * (1-fViscAmount),
            fCurAngularVel[1] * (1-fViscAmount) * (1-fViscAmount),
            fCurAngularVel[2] * (1-fViscAmount) * (1-fViscAmount) );
    }
    m_pHitObjects.clear();
}

bool ODEFluid::Collide( MercuryODEObject * pHit, dContact & pContact, MercuryODEWorld * pWorld )
{
    if ( pHit->m_oBody )
    {
        //If the body isn't enabled; don't don't start piling on forces to it
        if( !dBodyIsEnabled( pHit->m_oBody ) )
            return false;

        m_pHitObjects[pHit->m_oBody].m_pDirectionForce.push_back( pContact.geom.depth );
        m_pHitObjects[pHit->m_oBody].m_pAtForces.push_back( MercuryPoint( 
            pContact.geom.pos[0], pContact.geom.pos[1], pContact.geom.pos[2] ) );

        if( pHit->GetParameter("FluidFriction").GetType() == PSElement::NIL )
            m_pHitObjects[pHit->m_oBody].fFric = 1;
        else
            m_pHitObjects[pHit->m_oBody].fFric = pHit->GetParameter("FluidFriction").GetValueF();
    }
    return false;   //Don't make a contact joint for this object.
}

/* 
 * Copyright (c) 2006, Charles Lohr
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or
 * without modification, are permitted provided that the following
 * conditions are met:
 *  -   Redistributions of source code must retain the above
 *      copyright notice, this list of conditions and the following disclaimer.
 *  -   Redistributions in binary form must reproduce the above copyright
 *      notice, this list of conditions and the following disclaimer in
 *      the documentation and/or other materials provided with the distribution.
 *  -   Neither the name of the Mercury Engine nor the names of its
 *      contributors may be used to endorse or promote products derived from
 *      this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
 * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

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