TemporalObject::TemporalObject(const CollisionShape3D *shape, const PhysicsTransform &from, const PhysicsTransform &to) :
shape(shape),
localObject(shape->toConvexObject(PhysicsTransform())),
from(from),
to(to)
{
}
void BodyShapeDisplayer::displayBodyShapeFor(const SceneObject *sceneObject)
{
cleanCurrentDisplay();
if(sceneObject)
{
const Transform<float> &modelTransform = sceneObject->getModel()->getTransform();
std::shared_ptr<const CollisionShape3D> bodyShape = sceneObject->getRigidBody()->getScaledShape();
if(bodyShape->isConcave())
{
PhysicsTransform transform(modelTransform.getPosition(), modelTransform.getOrientation());
AABBox<float> heightfieldAABBox = bodyShape->toAABBox(transform);
GeometryModel *geometryModel = new AABBoxModel(heightfieldAABBox);
geometryModel->setColor(0.0, 1.0, 0.0);
bodyShapeModels.push_back(geometryModel);
} else if(bodyShape->isCompound())
{
const auto *compoundShape = dynamic_cast<const CollisionCompoundShape *>(bodyShape.get());
const std::vector<std::shared_ptr<const LocalizedCollisionShape>> &localizedShapes = compoundShape->getLocalizedShapes();
for (const auto &localizedShape : localizedShapes)
{
PhysicsTransform transform = PhysicsTransform(modelTransform.getPosition(), modelTransform.getOrientation()) * localizedShape->transform;
std::unique_ptr<CollisionConvexObject3D, ObjectDeleter> bodyObject = localizedShape->shape->toConvexObject(transform);
GeometryModel *geometryModel = retrieveSingleGeometry(localizedShape->shape->getShapeType(), bodyObject);
if (selectedCompoundShapeComponent != nullptr && selectedCompoundShapeComponent->position == localizedShape->position)
{
geometryModel->setColor(1.0, 1.0, 1.0);
} else
{
geometryModel->setColor(0.0, 1.0, 0.0);
}
bodyShapeModels.push_back(geometryModel);
}
} else if(bodyShape->isConvex())
{
PhysicsTransform transform(modelTransform.getPosition(), modelTransform.getOrientation());
std::unique_ptr<CollisionConvexObject3D, ObjectDeleter> bodyObject = bodyShape->toConvexObject(transform);
GeometryModel *geometryModel = retrieveSingleGeometry(bodyShape->getShapeType(), bodyObject);
geometryModel->setColor(0.0, 1.0, 0.0);
bodyShapeModels.push_back(geometryModel);
} else
{
throw std::invalid_argument("Unknown shape type category: " + std::to_string(bodyShape->getShapeType()));
}
for (auto &bodyShapeModel : bodyShapeModels)
{
sceneManager->getActiveRenderer3d()->getGeometryManager()->addGeometry(bodyShapeModel);
}
}
}
Vector3<float> CollisionConvexHullShape::computeLocalInertia(float mass) const
{
AABBox<float> aabbox = toAABBox(PhysicsTransform());
float width = 2.0 * aabbox.getHalfSize(0);
float height = 2.0 * aabbox.getHalfSize(1);
float depth = 2.0 * aabbox.getHalfSize(2);
float localInertia1 = (1.0/12.0) * mass * (height*height + depth*depth);
float localInertia2 = (1.0/12.0) * mass * (width*width + depth*depth);
float localInertia3 = (1.0/12.0) * mass * (width*width + height*height);
return Vector3<float>(localInertia1, localInertia2, localInertia3);
}
void CollisionConvexHullShape::initializeDistances()
{
AABBox<float> aabbox = toAABBox(PhysicsTransform());
maxDistanceToCenter = aabbox.getMaxHalfSize();
minDistanceToCenter = aabbox.getMinHalfSize();
}
