void BulletDebugDrawer::drawLine( const btVector3& from, const btVector3& to, const btVector3& color )
{
ci::ColorA colorA = ci::ColorA( color.getX(), color.getY(), color.getZ() );
ci::gl::color( colorA );
ci::gl::drawLine( fromBullet( from ), fromBullet( to ) );
}
bool Context::closestRayCast( const ci::vec3 &startPosition, const ci::vec3 &direction, RayResult &result )
{
if( ! world() )
return false;
btVector3 rayTo = toBullet( direction * 1000.0f );
btVector3 rayFrom = toBullet( startPosition );
btCollisionWorld::ClosestRayResultCallback rayCallback( rayFrom, rayTo );
world()->rayTest( rayFrom, rayTo, rayCallback );
if( rayCallback.hasHit() ) {
btRigidBody* pBody = (btRigidBody*) btRigidBody::upcast( rayCallback.m_collisionObject );
if(!pBody)
return false;
result.pBody = pBody;
result.hitPoint = fromBullet( rayCallback.m_hitPointWorld );
result.hitNormal = fromBullet( rayCallback.m_hitNormalWorld );
return true;
}
return false;
}
void BulletDebugDrawer::drawSphere( btScalar radius, const btTransform& transform, const btVector3& color )
{
ci::ColorA colorA = ci::ColorA( color.getX(), color.getY(), color.getZ() );
ci::gl::enableWireframe();
ci::gl::color( colorA );
ci::gl::pushMatrices();
ci::gl::translate( fromBullet( transform.getOrigin() ) );
ci::gl::rotate( fromBullet( transform.getRotation() ) );
ci::gl::drawSphere( ci::Vec3f::zero(), radius, 20 );
ci::gl::popMatrices();
ci::gl::disableWireframe();
}
void BulletDebugDrawer::drawCylinder( btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color )
{
btIDebugDraw::drawCylinder( radius, halfHeight, upAxis, transform, color );
return;
ci::ColorA colorA = ci::ColorA( color.getX(), color.getY(), color.getZ() );
ci::gl::enableWireframe();
ci::gl::color( colorA );
ci::gl::pushMatrices();
ci::gl::translate( fromBullet( transform.getOrigin() ) );
ci::gl::rotate( fromBullet( transform.getRotation() ) );
ci::gl::drawCylinder( radius, radius, halfHeight, 20, 3 );
ci::gl::popMatrices();
ci::gl::disableWireframe();
}
void reEnemy::messageProcess( reMessageDispatcher* sender, reMessage* message )
{
switch (message->id)
{
case reM_MOUSE_PRESS:
{
reMouseMessage* mouseMessage = (reMouseMessage*)message;
reVec3 dir = glm::normalize(mouseMessage->dir);
reVec3 p(0,1,0);
target = mouseMessage->p + mouseMessage->dir*(glm::dot(p, mouseMessage->p)/glm::dot(p, -mouseMessage->dir));
reVec3 d = (mouseMessage->p.y / -dir.y) * dir + mouseMessage->p;
assert(glm::length(d-target) < 0.1f);
}
break;
case reM_TIMER:
{
reVec4 pos = worldTransform().matrix * reVec4(0,0,0,1);
reVec3 dir = target - reVec3(pos);
if (glm::length(dir)>.5f)
{
dir = glm::normalize(dir);
body->btBody->applyCentralForce(toBullet(dir)*1000);
}
else
{
dir = -fromBullet(body->btBody->getLinearVelocity());
body->btBody->applyCentralForce(toBullet(dir)*100);
}
reVec3 v = fromBullet(body->btBody->getLinearVelocity());
reNode* node = (reNode*)children->objectByName("model");
reAnimator* animator = node->children->findObject<reAnimator>();
if (glm::length(v) > 0.001f)
{
float angle = atan2(v.x, v.z);
node->transform(reTransform(glm::rotate(reMat4(), glm::degrees(angle), reVec3(0,1,0))));
animator->play((reSequence*)node->objectByName("walk"), .3);
animator->stopAnimation("idle", .3);
}
else
{
animator->play((reSequence*)node->objectByName("idle"), .3);
animator->stopAnimation("walk", .3);
}
}
break;
}
}
void RigidBody::recalculateBoundingSphere()
{
btVector3 center;
mCollisionShape->getBoundingSphere( center, mBoundingSphereRadius );
mBoundingSphereCenter = fromBullet( center );
}
void rePlayer::messageProcess( reMessageDispatcher* sender, reMessage* message )
{
reVec3 deltaAngle(0,0,0);
float rs = .5f;
switch (message->id)
{
case reM_TIMER:
if (model())
{
reVec3 dirZ = reVec3(model()->worldTransform().matrix * reVec4(0,0,-1, 0));
reVec3 dirX = reVec3(model()->worldTransform().matrix * reVec4(1,0,0, 0));
if (reRadial::shared()->input()->keyStates['W'])
{
body->btBody->applyCentralForce(toBullet(dirZ * 50.0f));
}
if (reRadial::shared()->input()->keyStates['S'])
{
body->btBody->applyCentralForce(toBullet(dirZ * -50.0f));
}
if (reRadial::shared()->input()->keyStates[' '])
{
body->btBody->applyCentralForce(toBullet(dirX * 1.0f));
//reVec4 f = worldTransform().matrix * reVec4(0,-200,0,0);
//btVector3 bf(f.x, f.y, f.z);
//body->btBody->applyCentralForce(bf);
}
if (reRadial::shared()->input()->keyStates['A'])
{
reVec3 v = reVec3(glm::rotate(reMat4(), rs, reVec3(0,1,0)) * reVec4(fromBullet(body->btBody->getLinearVelocity()), 0));
body->btBody->setLinearVelocity(toBullet(v));
model()->transform(glm::rotate(reMat4(), rs, reVec3(0,1,0)) * model()->transform().matrix);
//body->btBody->applyCentralForce(toBullet(f));
}
if (reRadial::shared()->input()->keyStates['D'])
{
reVec3 v = reVec3(glm::rotate(reMat4(), -rs, reVec3(0,1,0)) * reVec4(fromBullet(body->btBody->getLinearVelocity()), 0));
body->btBody->setLinearVelocity(toBullet(v));
model()->transform(glm::rotate(reMat4(), -rs, reVec3(0,1,0)) * model()->transform().matrix);
//deltaAngle += reVec3(0,-1,0);
//model()->transform(glm::rotate(reMat4(), -1.0f, reVec3(0,1,0)) * model()->transform().matrix);
}
reVec3 pos = worldTransform().position();
camera->lookAt(pos);
light->lookAt(pos);
if (pos.y < calculateVertex(reVec4(pos,1)).y)
{
//__debugbreak();
}
break;
}
}
if (glm::length(fromBullet(body->btBody->getLinearVelocity())))
{
reVec3 dir = glm::normalize(fromBullet(body->btBody->getLinearVelocity()));
if (!dir.z)
{
return;
}
float yaw = dir.z < 0 ? glm::atan(dir.x / dir.z) : M_PI - glm::atan(dir.x / -dir.z);
float pitch = glm::atan(dir.y / abs(dir.z));
reMat4 y(glm::rotate(reMat4(), glm::degrees(yaw), reVec3(0,1,0)));
reMat4 p(glm::rotate(reMat4(), glm::degrees(pitch), reVec3(1,0,0)));
model()->children->at(0)->transform(p);
reVec3 da = reVec3(0, glm::degrees(yaw), 0) - camera->lookAngles();
camera->lookAngles(camera->lookAngles() + da / 5.0f );
}
}
