//-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~
void
PhysicsActor::setAutoFreeze(bool _bFreeze)
{
NewtonBodySetAutoFreeze(m_pActor, _bFreeze ? 1 : 0);
setActivationState(true);
m_activationState = 1;
}
void btCollisionObject::activate(bool forceActivation)
{
if (forceActivation || !(m_collisionFlags & (CF_STATIC_OBJECT|CF_KINEMATIC_OBJECT)))
{
setActivationState(ACTIVE_TAG);
m_deactivationTime = btScalar(0.);
}
}
//-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~
void
PhysicsActor::setAngularVelocity(const Math::Vector3& _omega)
{
setActivationState(true);
m_activationState = 1;
NewtonBodySetOmega(m_pActor, _omega.m_array);
}
//-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~
void
PhysicsActor::setLinearVelocity(const Math::Vector3& _velocity)
{
setActivationState(true);
m_activationState = 1;
NewtonBodySetVelocity(m_pActor, _velocity.m_array);
}
//-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~
void
PhysicsActor::setPosition(const Math::Point3& _pos)
{
Zen::Math::Matrix4 mat;
//mat.identity();
getOrientation(mat);
mat.setPosition(_pos);
setActivationState(true);
m_activationState = 1;
NewtonBodySetMatrix(m_pActor, mat.m_array);
}
void World::
reset()
{
btCollisionObjectArray a = dynamicsWorld->getCollisionObjectArray();
for (int i = 0; i < a.size(); i++) {
auto o = a[i];
if (!o->isStaticOrKinematicObject()) {
std::cout << "Object: " << o->getUserPointer() << std::endl;
btTransform t = o->getWorldTransform();
btVector3 v = t.getOrigin();
if (v.getY() < -10) {
std::shared_ptr<app::gl::AppObject> new_object;
dynamicsWorld->removeCollisionObject(o);
for (auto i = objects.begin(); i != objects.end(); ++i) {
if (i->get() == o->getUserPointer()) {
new_object = std::make_shared<app::gl::AppObject>(*(i->get()));
v.setX(disx(gen));
v.setY(disy(gen));
v.setZ(disz(gen));
t.setOrigin(v);
new_object->setWorldTransform(t);
objects.erase(i);
break;
}
}
addToWorld(new_object,
btRigidBody::btRigidBodyConstructionInfo(new_object->getMass(),
nullptr, nullptr, new_object->getInitialInertia()));
} else {
v.setX(disx(gen));
v.setY(disy(gen));
v.setZ(disz(gen));
t.setOrigin(v);
o->setWorldTransform(t);
o->setInterpolationLinearVelocity(btVector3(0,0,0));
o->setInterpolationAngularVelocity(btVector3(0,0,0));
o->setActivationState(1);
o->activate(true);
}
}
}
}
void RigidBody::init( const Format &format )
{
mType = getPhyObjType( format.mCollShape->getName() );
mCollGroup = format.mCollisionGroup;
mCollMask = format.mCollisionMask;
mCollisionShape = format.mCollShape;
mCollisionShape->setLocalScaling( toBullet(format.mInitialScale) );
recalculateBoundingSphere();
btVector3 localInertia(0,0,0);
if( format.mMass != 0.0f && ! format.mSetKinematic ) {
mCollisionShape->calculateLocalInertia( format.mMass, localInertia );
}
mMotionState = format.mMotionState;
btRigidBody::btRigidBodyConstructionInfo cInfo( format.mMass, mMotionState.get(), mCollisionShape.get(), localInertia );
cInfo.m_friction = format.mFriction;
cInfo.m_restitution = format.mRestitution;
mRigidBody.reset( new btRigidBody(cInfo) );
if( format.mSetKinematic ) {
mRigidBody->setCollisionFlags( mRigidBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT );
setActivationState( DISABLE_DEACTIVATION );
}
if( format.mAddToWorld ) {
Context()->addRigidBody( mRigidBody.get(), mCollGroup, mCollMask );
mAddedToWorld = true;
}
if( ! mMotionState ) {
btTransform trans;
trans.setOrigin( toBullet( format.mInitialPosition ) );
trans.setRotation( toBullet( format.mInitialRotation ) );
mRigidBody->setWorldTransform( trans );
}
mRigidBody->setUserPointer( format.mRigidBodyUserPtr ? format.mRigidBodyUserPtr : this );
}
//-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~
void
PhysicsActor::setOrientation(const Math::Matrix4& _orient)
{
// transfer values from input matrix to temporary matrix:
Math::Matrix4 matrix;
for (int i = 0; i < 16; i++)
{
matrix.m_array[i] = _orient.m_array[i];
}
// add offset to orientation matrix before setting body:
Math::Point3 pos;
pos = getPosition();
matrix.setPosition(pos);
setActivationState(true);
m_activationState = 1;
NewtonBodySetMatrix(m_pActor, matrix.m_array);
}
