void Collider::rotate(const Quaternion& rotation)
{
m_transform.q = rotation * m_transform.q;
calculateAABB();
if (m_pBody)
m_pBody->calculateTree();
}
void Collider::setOrientation(const Quaternion& q)
{
m_transform.q = q;
calculateAABB();
if (m_pBody)
m_pBody->calculateTree();
}
void Collider::setTransform(const Transform& t)
{
m_transform = t;
calculateAABB();
if (m_pBody)
m_pBody->calculateTree();
}
void Light::incRadius(float increment)
{
assert(m_alwaysUpdate);
m_radius += increment;
calculateAABB();
treeUpdate();
}
void Light::setRadius(float radius)
{
assert(m_alwaysUpdate);
m_radius = radius;
calculateAABB();
treeUpdate();
}
ActorDynamic::ActorDynamic(){
aType = ActorType::DYNAMIC;
v3Velocity = glm::vec3(0);
v3Friction = glm::vec3(0.0f);
v3Damping = glm::vec3(0.1f);
// Add our Line from oldpos to new pos
Line *l = new Line();
addShape(l);
Actor::update(0);
bActive = true;
calculateAABB();
}
Collider::Collider(const ColliderDescription& descr)
: m_pBody(nullptr),
m_transform(descr.transform),
m_pMaterial(descr.material),
m_shape(descr.shape),
m_sensor(descr.isSensor),
m_pUserData(nullptr),
m_next(nullptr),
m_collisionGroup(0),
m_collisionFilter(0)
{
calculateMassProperties();
calculateAABB();
}
// This function finds all IndexedFaceSet whitin a group and find the min and max
void calculateAABB(Group *group, Vec3f* min, Vec3f * max) {
max->set(-BIG,-BIG,-BIG);
min->set(BIG,BIG,BIG);
vector<Group*> stack;
Group* curgroup;
stack.push_back(group);
IndexedFaceSet *faceset=0;
Vec3f submax;
Vec3f submin;
while (!stack.empty()) {
curgroup=stack.back();
stack.pop_back();
for(vector<Drawable*>::iterator i=curgroup->children.begin();i!=curgroup->children.end();++i) {
if (Group* gr=dynamic_cast<Group*>(*i))
stack.push_back(gr);
if (Shape* sh=dynamic_cast<Shape*>(*i)) {
faceset=dynamic_cast<IndexedFaceSet*>(sh->geometry);
}
if (faceset!=0) {
calculateAABB(faceset,&submin,&submax);
// Maximum
if ((submax)[0]>(*max)[0])
(*max)[0]=(submax)[0];
if ((submax)[1]>(*max)[1])
(*max)[1]=(submax)[1];
if ((submax)[2]>(*max)[2])
(*max)[2]=(submax)[2];
// Minimum
if ((submin)[0]<(*min)[0])
(*min)[0]=(submin)[0];
if ((submin)[1]<(*min)[1])
(*min)[1]=(submin)[1];
if ((submin)[2]<(*min)[2])
(*min)[2]=(submin)[2];
faceset=0;
}
}
}
}
void Actor::addShape(Shape* a_Shape){
vShapes.push_back(a_Shape);
a_Shape->updateModel(&m4Model);
calculateAABB();
}
bool HGrid::queryShape(ShapePtr shape, const Transform& transform, ShapeQueryCallBack callback, void* userData)
{
m_tick++;
int occupiedLevelsMask = m_occupiedLevelsMask;
AABB aabb = calculateAABB(shape, transform);
vec3 pos = aabb.c;
float radius = length(aabb.e);
bool hit = false;
float size = MIN_CELL_SIZE;
for (int level = 0; level < MAX_LEVELS;
size *= CELL_TO_CELL_RATIO, occupiedLevelsMask >>= 1, ++level)
{
if (occupiedLevelsMask == 0)
break;
if ((occupiedLevelsMask & 1) == 0)
continue;
float ooSize = 1.0f / size;
int x1, y1, z1, x2, y2, z2;
float delta = radius + size*SPHERE_TO_CELL_RATIO + FLT_EPSILON*size;
x1 = (int)floorf((pos.x - delta) * ooSize);
y1 = (int)floorf((pos.y - delta) * ooSize);
z1 = (int)floorf((pos.z - delta) * ooSize);
x2 = (int)ceilf((pos.x + delta) * ooSize);
y2 = (int)ceilf((pos.y + delta) * ooSize);
z2 = (int)ceilf((pos.z + delta) * ooSize);
for (int x = x1; x <= x2; ++x)
{
for (int y = y1; y <= y2; ++y)
{
for (int z = z1; z <= z2; ++z)
{
int bucket = calculateBucketID(x, y, z, level);
if (m_timeStamp[bucket] == m_tick)
continue;
m_timeStamp[bucket] = m_tick;
for (uint32 i = 0; i < m_objectBucket[bucket].size(); ++i)
{
Body* body = m_objectBucket[bucket][i].id->pBody;
if (!body->queryShape(shape,transform, callback, userData))
return true;
else hit = true;
}
}
}
}
}
return hit;
}