void PhysicObject::savePhysProperties(FILE* f) {
writeChar(isEnabledPhysics(), f);
if (!isEnabledPhysics())
return;
writeFloat(getMass(), f);
writeVector(getAngularFactor(), f);
writeVector(getLinearFactor(), f);
//writeVector(getLinearVelocity(), f);
writeChar(isTrigger(), f);
writeChar(getCollisionShapeType(), f);
writeChar(isEnableDeactivation(), f);
writeFloat(getFriction(), f);
writeFloat(getRestitution(), f);
writeFloat(getLinearDumping(), f);
writeFloat(getAngularDumping(), f);
// save custom collision shape
if (getCollisionShapeType() == CST_CUSTOM) {
if (getCollisionShape() == NULL)
Log::error("Can't save custom col. shape. (shape is NULL) id=%s", objectID.c_str());
writeChar(getCollisionShape()->getCollisionShapeType() , f);
getCollisionShape()->save(f);
}
// save constraints
writeChar(getConstrains().size(), f);
for (unsigned int i = 0; i < getConstrains().size(); i++) {
writeChar(getConstrains().at(i)->getType(), f);
getConstrains().at(i)->save(f);
}
}
void btFractureBody::recomputeConnectivity(btCollisionWorld* world)
{
m_connections.clear();
//@todo use the AABB tree to avoid N^2 checks
if (getCollisionShape()->isCompound())
{
btCompoundShape* compound = (btCompoundShape*)getCollisionShape();
for (int i=0;i<compound->getNumChildShapes();i++)
{
for (int j=i+1;j<compound->getNumChildShapes();j++)
{
struct MyContactResultCallback : public btCollisionWorld::ContactResultCallback
{
bool m_connected;
btScalar m_margin;
MyContactResultCallback() :m_connected(false),m_margin(0.05)
{
}
virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
{
if (cp.getDistance()<=m_margin)
m_connected = true;
return 1.f;
}
};
MyContactResultCallback result;
btCollisionObject obA;
obA.setWorldTransform(compound->getChildTransform(i));
obA.setCollisionShape(compound->getChildShape(i));
btCollisionObject obB;
obB.setWorldTransform(compound->getChildTransform(j));
obB.setCollisionShape(compound->getChildShape(j));
world->contactPairTest(&obA,&obB,result);
if (result.m_connected)
{
btConnection tmp;
tmp.m_childIndex0 = i;
tmp.m_childIndex1 = j;
tmp.m_childShape0 = compound->getChildShape(i);
tmp.m_childShape1 = compound->getChildShape(j);
tmp.m_strength = 1.f;//??
m_connections.push_back(tmp);
}
}
}
}
}
float* PhysicObject::getTransformMatrix() {
if (rigidBody == NULL)
return NULL;
GOCollisionShape* cs = getCollisionShape();
btTransform trans = rigidBody->getWorldTransform();
if (cs != NULL) {
CVector orient = cs->getOrientation();
if (orient.x != 0.0f || orient.y != 0.0f || orient.z != 0.0f)
trans.setRotation(trans.getRotation() * btQuaternion((orient.y*GRAD_TO_RAD_COEF), (orient.x*GRAD_TO_RAD_COEF), (orient.z*GRAD_TO_RAD_COEF)));
}
trans.getOpenGLMatrix(transformMatrix);
transformMatrix[12] = transformMatrix[12] * 100.0f;
transformMatrix[13] = transformMatrix[13] * 100.0f;
transformMatrix[14] = transformMatrix[14] * 100.0f;
if (cs != NULL) {
transformMatrix[12] = transformMatrix[12] + cs->getOffset().x;
transformMatrix[13] = transformMatrix[13] + cs->getOffset().y;
transformMatrix[14] = transformMatrix[14] + cs->getOffset().z;
}
return transformMatrix;
}
btVector3 PhysicsObject::localInertiaBasedOnCollisionShapeAndMass(btScalar mass)
{
btCollisionShape* collisionShape = getCollisionShape();
btVector3 localInertia;
collisionShape->calculateLocalInertia(mass, localInertia);
return localInertia;
}
btVector3 PhysicsShape::calculateLocalInertia(btScalar mass)const
{
btVector3 localInertia(0,0,0);
if(mass > 0.0f)
{
getCollisionShape()->calculateLocalInertia(mass, localInertia);
}
return localInertia;
}
btVector3 PhysicsObject::localInertiaBasedOnFirstChildShapeOfCompoundCollisionShapeAndMass(btScalar mass)
{
btCollisionShape* collisionShape = getCollisionShape();
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(collisionShape); //check error check here
btCollisionShape* childCollisionShape = compoundShape->getChildShape(0);
btVector3 localInertia;
childCollisionShape->calculateLocalInertia(mass, localInertia);
return localInertia;
}
// 从一个Mesh创建碰撞模型
ICollisionShapePtr OpcodeCollisionSystem::createSubMeshCollisionShape(const String &meshName , const String &subMeshName , const Vector3& position, const Quaternion& orient, const Vector3 &scale)
{
//check if a shape with this name already exists
ICollisionShapePtr shape = getCollisionShape(OpcodeCollisionSubMeshShape::SHAPE_TYPE , meshName + "_" + subMeshName);
if(shape.isNull())
{
shape.bind(new OpcodeCollisionSubMeshShape());
if(!static_cast<OpcodeCollisionSubMeshShape*>(shape.getPointer())->init(meshName , subMeshName , position , orient , scale))
{
shape.setNull();
return ICollisionShapePtr();
}
addCollisionShape(shape);
}
return shape;
}
// 从一个顶点和索引缓冲区创建碰撞模型
ICollisionShapePtr OpcodeCollisionSystem::createVertexCollisionShape(const String &name , const Vector3 *vertexBuffer , size_t vertexCount , bool autoDeleteVertex , const uint16 *indexBuffer , size_t indexCount , bool autoDeleteIndex)
{
//check if a shape with this name already exists
ICollisionShapePtr shape = getCollisionShape(OpcodeCollisionVertexShape::SHAPE_TYPE , name);
if(shape.isNull())
{
shape.bind(new OpcodeCollisionVertexShape());
if(!static_cast<OpcodeCollisionVertexShape*>(shape.getPointer())->init(name , vertexBuffer , vertexCount , autoDeleteVertex , indexBuffer , indexCount , autoDeleteVertex))
{
shape.setNull();
return ICollisionShapePtr();
}
addCollisionShape(shape);
}
return shape;
}
void
PhysicsBodyComponent::_buildRigibody() noexcept
{
_body->close();
auto collisionShape = this->getComponent<PhysicsShapeComponent>();
if (!collisionShape)
return;
auto shape = collisionShape->getCollisionShape();
if (!shape)
return;
auto gameObject = this->getGameObject();
_body->setLayer(gameObject->getLayer());
_body->setWorldTransform(gameObject->getWorldTransform());
_body->setup(shape);
}
CsRigidBody* CsRigidBody::Clone() {
btScalar cloneMass = btScalar(1.0) / getInvMass();
btVector3 cloneInertia(btScalar(1.0)/getInvInertiaDiagLocal().x(), btScalar(1.0)/getInvInertiaDiagLocal().y(), btScalar(1.0) / getInvInertiaDiagLocal().z());
CsMotionState *motionState = NULL;
if (getMotionState()) {
CsMotionState *oldState = (CsMotionState*) getMotionState();
motionState = new CsMotionState(*oldState);
// set this from outer scope
motionState->mObj = NULL;
}
CsRigidBody *cloneBody = new CsRigidBody(cloneMass, motionState, getCollisionShape(), cloneInertia);
return cloneBody;
// see test CCDphysics project
}
void btRigidBody::getAabb(btVector3& aabbMin,btVector3& aabbMax) const
{
getCollisionShape()->getAabb(m_worldTransform,aabbMin,aabbMax);
}
PhysicsCollisionShape::Type PhysicsCollisionObject::getShapeType() const
{
GP_ASSERT(getCollisionShape());
return getCollisionShape()->getType();
}
void PhysicsShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
getCollisionShape()->getAabb(t, aabbMin, aabbMax);
}
void PhysicsShape::setLocalScaling(const btVector3& scaling)
{
getCollisionShape()->setLocalScaling(scaling);
}
btRigidBody *PhysicsShape::createRigidBodyWithShape(float mass, btMotionState* motionState, const btVector3& localInertia)
{
btRigidBody *rb = new btRigidBody(mass, motionState, getCollisionShape(), localInertia);
return rb;
}
int PhysicObject::methodsBridge(lua_State* luaVM) {
if (isCurrentMethod("applyImpulse")) {
applyImpulse(CVector(lua_tonumber(luaVM, 1), lua_tonumber(luaVM, 2), lua_tonumber(luaVM, 3)), CVector(lua_tonumber(luaVM, 4), lua_tonumber(luaVM, 5), lua_tonumber(luaVM, 6)));
return 0;
}
if (isCurrentMethod("applyForce")) {
applyForce(CVector(lua_tonumber(luaVM, 1), lua_tonumber(luaVM, 2), lua_tonumber(luaVM, 3)), CVector(lua_tonumber(luaVM, 4), lua_tonumber(luaVM, 5), lua_tonumber(luaVM, 6)));
return 0;
}
if (isCurrentMethod("setLinearVelocity")) {
setLinearVelocity(CVector(lua_tonumber(luaVM, 1), lua_tonumber(luaVM, 2), lua_tonumber(luaVM, 3)));
return 0;
}
if (isCurrentMethod("getLinearVelocity")) {
luaPushVector(luaVM, getLinearVelocity().x, getLinearVelocity().y, getLinearVelocity().z);
return 1;
}
if (isCurrentMethod("setMass")) {
setMass(lua_tonumber(luaVM, 1));
return 0;
}
if (isCurrentMethod("getMass")) {
lua_pushnumber(luaVM, getMass());
return 1;
}
if (isCurrentMethod("setCollisionShapeType")) {
setCollisionShapeType((CollisionShapeType)lua_tointeger(luaVM, 1));
return 0;
}
if (isCurrentMethod("getCollisionShapeType")) {
lua_pushinteger(luaVM, getCollisionShapeType());
return 1;
}
if (isCurrentMethod("enablePhysics")) {
enablePhysics(lua_toboolean(luaVM, 1));
return 0;
}
if (isCurrentMethod("isEnabledPhysics")) {
lua_pushboolean(luaVM, isEnabledPhysics());
return 1;
}
if (isCurrentMethod("setAngularFactor")) {
setAngularFactor(CVector(lua_tonumber(luaVM, 1), lua_tonumber(luaVM, 2), lua_tonumber(luaVM, 3)));
return 0;
}
if (isCurrentMethod("getAngularFactor")) {
luaPushVector(luaVM, getAngularFactor().x, getAngularFactor().y, getAngularFactor().z);
return 1;
}
if (isCurrentMethod("setLinearFactor")) {
setLinearFactor(CVector(lua_tonumber(luaVM, 1), lua_tonumber(luaVM, 2), lua_tonumber(luaVM, 3)));
return 0;
}
if (isCurrentMethod("getLinearFactor")) {
luaPushVector(luaVM, getLinearFactor().x, getLinearFactor().y, getLinearFactor().z);
return 1;
}
if (isCurrentMethod("setTrigger")) {
setTrigger(lua_toboolean(luaVM, 1));
return 0;
}
if (isCurrentMethod("isTrigger")) {
lua_pushboolean(luaVM, isTrigger());
return 1;
}
if (isCurrentMethod("getCollisionShape")) {
if (getCollisionShape() == NULL) {
lua_pushnil(luaVM);
} else {
lua_getglobal(luaVM, getCollisionShape()->getGOID().c_str());
}
return 1;
}
if (isCurrentMethod("setCollisionShape")) {
if (lua_isnil(luaVM, 1)) {
setCollisionShape(NULL);
return 0;
}
lua_pushstring(luaVM, "cpointer");
lua_gettable(luaVM, -2);
GOCollisionShape* o = (GOCollisionShape*)lua_tointeger(luaVM, -1);
setCollisionShape(o);
lua_pop(luaVM, -1);
return 0;
}
if (isCurrentMethod("setEnableDeactivation")) {
setEnableDeactivation(lua_toboolean(luaVM, 1));
return 0;
}
if (isCurrentMethod("isEnableDeactivation")) {
lua_pushboolean(luaVM, isEnableDeactivation());
return 1;
}
if (isCurrentMethod("setFriction")) {
setFriction(lua_tonumber(luaVM, 1));
return 0;
}
if (isCurrentMethod("getFriction")) {
lua_pushnumber(luaVM, getFriction());
return 1;
}
if (isCurrentMethod("setRestitution")) {
setRestitution(lua_tonumber(luaVM, 1));
return 0;
}
if (isCurrentMethod("getRestitution")) {
lua_pushnumber(luaVM, getRestitution());
return 1;
}
if (isCurrentMethod("setLinearDumping")) {
setLinearDumping(lua_tonumber(luaVM, 1));
return 0;
}
if (isCurrentMethod("getLinearDumping")) {
lua_pushnumber(luaVM, getLinearDumping());
return 1;
}
if (isCurrentMethod("setAngularDumping")) {
setAngularDumping(lua_tonumber(luaVM, 1));
return 0;
}
if (isCurrentMethod("getAngularDumping")) {
lua_pushnumber(luaVM, getAngularDumping());
return 1;
}
if (isCurrentMethod("setAngularVelocity")) {
setAngularVelocity(CVector(lua_tonumber(luaVM, 1), lua_tonumber(luaVM, 2), lua_tonumber(luaVM, 3)));
return 0;
}
if (isCurrentMethod("getAngularVelocity")) {
CVector av = getAngularVelocity();
luaPushVector(luaVM, av.x, av.y, av.z);
return 1;
}
if (isCurrentMethod("addConstraint")) {
if (lua_isnil(luaVM, 1)) {
return 0;
}
lua_pushstring(luaVM, "cpointer");
lua_gettable(luaVM, -2);
GOConstraint* o = (GOConstraint*)lua_tointeger(luaVM, -1);
addConstraint(o);
lua_pop(luaVM, -1);
return 0;
}
if (isCurrentMethod("getConstraints")) {
lua_newtable(luaVM);
int tableIndex = lua_gettop(luaVM);
vector<GOConstraint*> objs;
for (unsigned int i = 0; i < constraints.size(); ++i) {
if (constraints.at(i)->id == "undefined" || constraints.at(i)->id == "") continue;
objs.push_back(constraints.at(i));
}
for (unsigned int i = 0; i < objs.size(); ++i) {
lua_pushinteger(luaVM, i+1);
lua_getglobal(luaVM, objs.at(i)->id.c_str());
lua_settable (luaVM, tableIndex);
}
return 1;
}
if (isCurrentMethod("removeConstraint")) {
if (lua_isnil(luaVM, 1)) {
return 0;
}
lua_pushstring(luaVM, "cpointer");
lua_gettable(luaVM, -2);
GOConstraint* o = (GOConstraint*)lua_tointeger(luaVM, -1);
removeConstraint(o);
lua_pop(luaVM, -1);
return 0;
}
if (isCurrentMethod("removeAllConstrains")) {
removeAllConstraints();
return 0;
}
if (isCurrentMethod("secondObjectForConstraint")) {
if (lua_isnil(luaVM, 1)) {
return 0;
}
lua_pushstring(luaVM, "cpointer");
lua_gettable(luaVM, -2);
GOConstraint* o = (GOConstraint*)lua_tointeger(luaVM, -1);
secondObjectForConstraint(o);
lua_pop(luaVM, -1);
return 0;
}
if (isCurrentMethod("isSecondObjectForConstraints")) {
lua_newtable(luaVM);
int tableIndex = lua_gettop(luaVM);
vector<GOConstraint*> objs;
for (unsigned int i = 0; i < secondObjectForConstraints.size(); ++i) {
if (secondObjectForConstraints.at(i)->id == "undefined" || secondObjectForConstraints.at(i)->id == "") continue;
objs.push_back(secondObjectForConstraints.at(i));
}
for (unsigned int i = 0; i < objs.size(); ++i) {
lua_pushinteger(luaVM, i+1);
lua_getglobal(luaVM, objs.at(i)->id.c_str());
lua_settable (luaVM, tableIndex);
}
return 1;
}
if (isCurrentMethod("notUseAsSecondObjectForConstraint")) {
if (lua_isnil(luaVM, 1)) {
return 0;
}
lua_pushstring(luaVM, "cpointer");
lua_gettable(luaVM, -2);
GOConstraint* o = (GOConstraint*)lua_tointeger(luaVM, -1);
notUseAsSecondObjectForConstraint(o);
lua_pop(luaVM, -1);
return 0;
}
return LuaBridge::methodsBridge(luaVM);
}
