void Physics3DComponent::syncNodeToPhysics()
{
if (_physics3DObj->getObjType() == Physics3DObject::PhysicsObjType::RIGID_BODY
|| _physics3DObj->getObjType() == Physics3DObject::PhysicsObjType::COLLIDER)
{
auto mat = _owner->getNodeToWorldTransform();
//remove scale, no scale support for physics
float oneOverLen = 1.f / sqrtf(mat.m[0] * mat.m[0] + mat.m[1] * mat.m[1] + mat.m[2] * mat.m[2]);
mat.m[0] *= oneOverLen;
mat.m[1] *= oneOverLen;
mat.m[2] *= oneOverLen;
oneOverLen = 1.f / sqrtf(mat.m[4] * mat.m[4] + mat.m[5] * mat.m[5] + mat.m[6] * mat.m[6]);
mat.m[4] *= oneOverLen;
mat.m[5] *= oneOverLen;
mat.m[6] *= oneOverLen;
oneOverLen = 1.f / sqrtf(mat.m[8] * mat.m[8] + mat.m[9] * mat.m[9] + mat.m[10] * mat.m[10]);
mat.m[8] *= oneOverLen;
mat.m[9] *= oneOverLen;
mat.m[10] *= oneOverLen;
mat *= _invTransformInPhysics;
if (_physics3DObj->getObjType() == Physics3DObject::PhysicsObjType::RIGID_BODY)
{
auto body = static_cast<Physics3DRigidBody*>(_physics3DObj)->getRigidBody();
auto motionState = body->getMotionState();
motionState->setWorldTransform(convertMat4TobtTransform(mat));
body->setMotionState(motionState);
}
else if (_physics3DObj->getObjType() == Physics3DObject::PhysicsObjType::COLLIDER)
{
auto object = static_cast<Physics3DCollider*>(_physics3DObj)->getGhostObject();
object->setWorldTransform(convertMat4TobtTransform(mat));
}
}
}
FractureBody::FractureBody(const FractureBodyInfo & info) :
btRigidBody(btRigidBodyConstructionInfo(1, 0, info.m_shape, btVector3(1, 1, 1))),
m_connections(info.m_connections),
m_motionState(*this)
{
m_internalType = CO_FRACTURE_TYPE | CO_RIGID_BODY;
// calculate center of mass and inertia
m_centerOfMassOffset = -info.m_massCenter / info.m_mass;
btVector3 inertia = info.m_inertia - getPrincipalInertia(m_centerOfMassOffset, info.m_mass);
setMassProps(info.m_mass, inertia);
// shift children shapes due to new center of mass
for (int i = 0; i < info.m_shape->getNumChildShapes(); ++i)
{
info.m_shape->getChildTransform(i).getOrigin() += m_centerOfMassOffset;
}
info.m_shape->recalculateLocalAabb();
// set motion states
if (info.m_states.size() == m_connections.size() + 1)
{
info.m_states[0]->massCenterOffset = m_centerOfMassOffset;
new (&m_motionState) FrMotionState(*this, info.m_states[0]);
setMotionState(&m_motionState);
for (int i = 0; i < m_connections.size(); ++i)
{
m_connections[i].m_body->setMotionState(info.m_states[i + 1]);
}
}
}
// protected
void AvatarManager::removeAvatarMotionState(AvatarSharedPointer avatar) {
auto rawPointer = std::static_pointer_cast<Avatar>(avatar);
AvatarMotionState* motionState = rawPointer->getMotionState();
if (motionState) {
// clean up physics stuff
motionState->clearObjectBackPointer();
rawPointer->setMotionState(nullptr);
_avatarMotionStates.remove(motionState);
_motionStatesToAdd.remove(motionState);
_motionStatesToDelete.push_back(motionState);
}
}
TTrigger::TTrigger( TPhyBodyInfo& info )
: TPhyEntity( PHY_SENSOR_BODY, info )
{
m_entityType |= ET_TRIGGER;
int flag = getPhyBody()->getCollisionFlags();
getPhyBody()->setCollisionFlags( flag | btCollisionObject::CF_NO_CONTACT_RESPONSE );
m_dbgObj.Object( g_Game->getCurLevel()->getFlyScene().CreateObject() );
TObjMotionState* motion = new TObjMotionState( getTransform() , m_dbgObj.Object() );
setMotionState( motion );
}
TChestTrigger::TChestTrigger() :TBoxTrigger( Vec3D( 100 , 100 , 100 ) )
,m_items( new TItemStorage(MaxItemNum) )
{
m_DTime = 0.0f;
OBJECTid objID = TResManager::instance().cloneModel( "bag" , true );
modelObj.Object( objID );
float scale = 20;
modelObj.Scale( scale , scale , scale , LOCAL );
modelObj.Rotate( X_AXIS , 90 , LOCAL );
modelObj.XForm();
XForm trans;
trans.setIdentity();
TObjMotionState* motionState = new TObjMotionState( trans , objID );
setMotionState( motionState );
}
bool PhysicsObject::init(unsigned int attributeIndex, short collisionFilterGroup)
{
if(attributeIndex < 0)
{
return false;
}
attributeIndex_ = attributeIndex;
collisionFilterGroup_ = collisionFilterGroup;
//Get the init data from a physics attribute
AttributePtr<Attribute_Physics> ptr_physics = itrPhysics_.at(attributeIndex);
btScalar mass = static_cast<btScalar>(ptr_physics->mass);
//Resolve mass, local inertia of the collision shape, and also the collision shape itself.
btCollisionShape* collisionShape = subClassSpecificCollisionShape();
if(collisionShape != nullptr)
{
setCollisionShape(collisionShape);
}
else
{
ERROR_MESSAGEBOX("Error in PhysicsObject::init. Expected collision shape pointer unexpectedly set to nullptr. Using default shape instead.");
setCollisionShape(CollisionShapes::Instance()->getDefaultShape());
}
btVector3 localInertia = subClassCalculateLocalInertiaHook(mass);
setMassProps(mass, localInertia); //Set inverse mass and inverse local inertia
updateInertiaTensor();
if((getCollisionFlags() & btCollisionObject::CF_STATIC_OBJECT))
{
btTransform world;
AttributePtr<Attribute_Spatial> ptr_spatial = itrPhysics_.at(attributeIndex_)->ptr_spatial;
AttributePtr<Attribute_Position> ptr_position = ptr_spatial->ptr_position;
world.setOrigin(convert(ptr_position->position));
world.setRotation(convert(ptr_spatial->rotation));
setWorldTransform(world); //Static physics objects: transform once
}
else
{
//Non-static physics objects: let a derived btMotionState handle transforms.
MotionState* customMotionState = new MotionState(attributeIndex);
setMotionState(customMotionState);
setAngularVelocity(btVector3(ptr_physics->angularVelocity.x,
ptr_physics->angularVelocity.y,
ptr_physics->angularVelocity.z));
setLinearVelocity(btVector3(ptr_physics->linearVelocity.x,
ptr_physics->linearVelocity.y,
ptr_physics->linearVelocity.z));
//Gravity is set after "addRigidBody" for non-static physics objects
}
if(ptr_physics->collisionResponse)
{
setCollisionFlags(getCollisionFlags() & ~CF_NO_CONTACT_RESPONSE); //Activate collision response
}
else
{
setCollisionFlags(getCollisionFlags() | CF_NO_CONTACT_RESPONSE); //Deactivate collision response
}
return subClassSpecificInitHook();
}
