void BulletRigidBody::setMass(f32 Mass)
{
DynamicPhysicsObject::setMass(Mass);
if (BtBody_)
{
btVector3 LocalInertia(0, 0, 0);
BtShape_->calculateLocalInertia(Mass_, LocalInertia);
LocalInertia_ = dim::vector3df(LocalInertia.x(), LocalInertia.y(), LocalInertia.z());
BtBody_->setMassProps(Mass_, LocalInertia);
}
}
/**
* addCollisionMap
*/
rigidbody* PhysicsManagerImpl::addCollisionMap(meshscenenode * node)
{
if(node == 0) return 0; // Avoid crashing here in the library
// Bullet specific for now
node->grab();
btTriangleMesh * mesh = getTriangleMesh(node);
if(mesh == 0) // Looks like there was no mesh data - or something went wrong?
{
node->drop();
return 0;
}
map = new mapshape(mesh, false, true);
// Init pos - Irrlicht specific
btTransform trans;
trans.setIdentity();
//trans.setOrigin(vector3dfToBtVector3(node->getAbsolutePosition()));
trans.setOrigin(btVector3(0,0,0));
// Default motion state
btDefaultMotionState * motionstate = new btDefaultMotionState(trans);
// Local Inertia
btVector3 LocalInertia(0,0,0);
// map->calculateLocalInertia(0.0, LocalInertia);
rigidbody * b = new rigidbody(0.0f, motionstate, map, LocalInertia);
b->setUserPointer((void*)node);
b->setGravity(btVector3(0,0,0));
b->setCollisionFlags(1); // Static object
getWorld()->addRigidBody(b);
collisions.push_back(b);
return b;
}
int main(int ArgumentCount, char **Arguments) {
// Set up physics modules
CollisionConfiguration = new btDefaultCollisionConfiguration();
//BroadPhase = new btAxisSweep3(btVector3(-1000, -1000, -1000), btVector3(1000, 1000, 1000));
BroadPhase = new btDbvtBroadphase();
Dispatcher = new btCollisionDispatcher(CollisionConfiguration);
Solver = new btSequentialImpulseConstraintSolver();
World = new btDiscreteDynamicsWorld(Dispatcher, BroadPhase, Solver, CollisionConfiguration);
World->setGravity(btVector3(0.0, -9.81, 0.0));
btContactSolverInfo &SolverInfo = World->getSolverInfo();
//SolverInfo.m_splitImpulseTurnErp = 0.0f;
//SolverInfo.m_splitImpulse = 1;
//SolverInfo.m_splitImpulsePenetrationThreshold = -0.02f;
gContactAddedCallback = CustomMaterialCallback;
{
btScalar Mass = 1.0;
btCollisionShape *Shape = new btSphereShape(0.5);
btVector3 LocalInertia(0.0, 0.0, 0.0);
Shape->calculateLocalInertia(Mass, LocalInertia);
SphereBody = new btRigidBody(Mass, NULL, Shape, LocalInertia);
SphereBody->setFriction(1.0);
SphereBody->setDamping(0.1, 0.3);
SphereBody->setActivationState(DISABLE_DEACTIVATION);
SphereBody->translate(btVector3(0.71, 2.5, -0.8));
World->addRigidBody(SphereBody);
}
// Set to 1 to test static box shape
if(USE_STATIC_BOX) {
btScalar Mass = 0.0;
btCollisionShape *Shape = new btBoxShape(btVector3(1, 1, 1));
btVector3 LocalInertia(0.0, 0.0, 0.0);
Shape->calculateLocalInertia(Mass, LocalInertia);
BoxBody = new btRigidBody(Mass, NULL, Shape, LocalInertia);
BoxBody->setFriction(1.0);
BoxBody->setDamping(0.1, 0.3);
BoxBody->setActivationState(DISABLE_DEACTIVATION);
BoxBody->translate(btVector3(0, -2, 0));
World->addRigidBody(BoxBody);
}
else {
btScalar Mass = 0.0;
int VertexCount = sizeof(Vertices) / sizeof(btScalar);
int FaceCount = sizeof(Indices) / sizeof(int) / 3;
TriangleIndexVertexArray = new btTriangleIndexVertexArray(FaceCount, Indices, 3 * sizeof(int), VertexCount, Vertices, 3 * sizeof(btScalar));
btBvhTriangleMeshShape *Shape = new btBvhTriangleMeshShape(TriangleIndexVertexArray, true);
btTriangleInfoMap *TriangleInfoMap = new btTriangleInfoMap();
btGenerateInternalEdgeInfo(Shape, TriangleInfoMap);
MeshBody = new btRigidBody(Mass, NULL, Shape);
MeshBody->setFriction(1.0);
MeshBody->setDamping(0.1, 0.3);
MeshBody->setCollisionFlags(MeshBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
// Add body
World->addRigidBody(MeshBody);
}
for(int i = 0; i < 100; i++) {
World->stepSimulation(TIMESTEP, 0, 0);
const btTransform &Transform = SphereBody->getCenterOfMassTransform();
const btVector3 &Position = Transform.getOrigin();
printf("%f %f %f\n", Position.getX(), Position.getY(), Position.getZ());
}
World->removeRigidBody(SphereBody);
if(MeshBody)
World->removeRigidBody(MeshBody);
if(BoxBody)
World->removeRigidBody(BoxBody);
delete SphereBody->getCollisionShape();
delete SphereBody;
if(MeshBody) {
delete ((btBvhTriangleMeshShape *)MeshBody->getCollisionShape())->getTriangleInfoMap();
delete ((btBvhTriangleMeshShape *)MeshBody->getCollisionShape())->getMeshInterface();
delete MeshBody->getCollisionShape();
delete MeshBody;
}
if(BoxBody) {
delete BoxBody->getCollisionShape();
delete BoxBody;
}
delete World;
delete Solver;
delete Dispatcher;
delete BroadPhase;
delete CollisionConfiguration;
return 0;
}
