PhysicsInterface::BodyObject Bullet::createCapsuleBody(float height, float radius, float mass, bool fixed,
const Entity* entity, const SimpleTransform& initialTransform)
{
auto collisionShape = new btCapsuleShape(radius, height);
// Calculate inertia
auto localInertia = btVector3(0.0f, 0.0f, 0.0f);
if (!fixed)
collisionShape->calculateLocalInertia(mass, localInertia);
// Motion state for this body
auto motionState = new btDefaultMotionState(toBullet(initialTransform));
// Create Bullet rigid body
auto bulletBody = new btRigidBody(
btRigidBody::btRigidBodyConstructionInfo(fixed ? 0.0f : mass, motionState, collisionShape, localInertia));
bulletBody->setDamping(DefaultLinearDamping, DefaultAngularDamping);
bulletBody->setSleepingThresholds(DefaultLinearSleepingThreshold, DefaultAngularSleepingThreshold);
bulletBody->setRestitution(0.0f);
// Add body to the simulation
dynamicsWorld_->addRigidBody(bulletBody);
// Create local body
auto body = new Body(bulletBody, entity, fixed);
bodies_.append(body);
body->ownedCollisionShape = collisionShape;
bulletBody->setUserPointer(body);
return body;
}
PhysicsRigidBody* PhysicsMgr::createRigidBodyFromCompund(float mass, Matrix44* transform, PhysicsCompoundShape * tzwShape)
{
auto rig = new PhysicsRigidBody();
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0, 0, 0);
auto shape = tzwShape->getShape();
if (isDynamic)
shape->calculateLocalInertia(mass, localInertia);
btTransform startTransform;
startTransform.setFromOpenGLMatrix(transform->data());
auto btRig = shared()->createRigidBodyInternal(mass, startTransform, shape, btVector4(1, 0, 0, 1));
rig->setRigidBody(btRig);
rig->genUserIndex();
btRig->setUserIndex(rig->userIndex());
btRig->setUserPointer(rig);
return rig;
}
PhysicsInterface::BodyObject Bullet::createBoundingBoxBody(const AABB& aabb, float mass, bool fixed,
const Entity* entity,
const SimpleTransform& initialTransform)
{
auto collisionShape = new btBoxShape(toBullet((aabb.getMaximum() - aabb.getMinimum()) * 0.5f));
// Calculate inertia
auto localInertia = btVector3(0.0f, 0.0f, 0.0f);
if (!fixed)
collisionShape->calculateLocalInertia(mass, localInertia);
// Motion state for this body
auto motionState = new btDefaultMotionState(toBullet(initialTransform),
btTransform(btQuaternion::getIdentity(), toBullet(aabb.getCenter())));
// Create Bullet rigid body
auto bulletBody = new btRigidBody(
btRigidBody::btRigidBodyConstructionInfo(fixed ? 0.0f : mass, motionState, collisionShape, localInertia));
bulletBody->setDamping(DefaultLinearDamping, DefaultAngularDamping);
bulletBody->setSleepingThresholds(DefaultLinearSleepingThreshold, DefaultAngularSleepingThreshold);
bulletBody->setRestitution(0.0f);
// Add body to the simulation
dynamicsWorld_->addRigidBody(bulletBody);
// Create local body
auto body = new Body(bulletBody, entity, fixed);
bodies_.append(body);
body->ownedCollisionShape = collisionShape;
bulletBody->setUserPointer(body);
return body;
}
bool Physics3DRigidBody::init(Physics3DRigidBodyDes* info)
{
if (info->shape == nullptr)
return false;
btScalar mass = info->mass;
auto shape = info->shape->getbtShape();
auto localInertia = convertVec3TobtVector3(info->localInertia);
if (mass != 0.f)
{
shape->calculateLocalInertia(mass,localInertia);
}
auto transform = convertMat4TobtTransform(info->originalTransform);
btDefaultMotionState* myMotionState = new btDefaultMotionState(transform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
_btRigidBody = new btRigidBody(rbInfo);
_type = Physics3DObject::PhysicsObjType::RIGID_BODY;
_physics3DShape = info->shape;
_physics3DShape->retain();
if (info->disableSleep)
_btRigidBody->setActivationState(DISABLE_DEACTIVATION);
return true;
}
bool CLiftableObject::lift() {
assert(m_eState == LOS_AT_DEFAULT_LOCATION);
m_eState = LOS_LIFTED;
sendCreateInnerObjectEvent(IOCE_LIFT);
btRigidBody *pRB = btRigidBody::upcast(m_pCollisionObject);
btRigidBody *pNewRB(NULL);
assert(pRB);
if (m_bRecreateOnLift) {
Ogre::String meshFile;
// create dynamic close of pRB -> pNewRB, and delete the other one in the next frame
auto pSN = m_ObjectManager.getMap().getRootSceneNode()->createChildSceneNode();
CPhysicsCollisionObject *pCO = m_ObjectManager.getMap().getPhysicsManager()->findCollisionShape(m_pCollisionObject->getCollisionShape());
auto shape = pCO->getShape();
meshFile = m_ObjectManager.getMap().getPhysicsManager()->getCollisionShapeKey(*pCO);
float mass = 100.0f;
btVector3 inertia;
shape->calculateLocalInertia(mass, inertia);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,
new BtOgre::RigidBodyState(pSN, m_pCollisionObject->getWorldTransform(), btTransform(btQuaternion::getIdentity(), BtOgre::Convert::toBullet(-pCO->getOffset()))),
shape,inertia);
pNewRB = new btRigidBody(rbInfo);
// object now belongs to player, so dont interact with each other
// create the entity
Ogre::Entity *pEnt = m_ObjectManager.getMap().getSceneManager()->createEntity(meshFile);
pSN->attachObject(pEnt);
//m_ObjectManager.getMap().destroyObjectsEntity(this, NULL, BtOgre::Convert::toOgre(pNewRB->getWorldTransform().getOrigin()));
//m_ObjectManager.getMap().getPhysicsManager()->createLater(const_cast<btRigidBody*>(pNewRB));
//m_ObjectManager.getMap().getPhysicsManager()->deleteLater(const_cast<btRigidBody*>(pRB));
delete pRB->getMotionState();
delete pRB;
m_pCollisionObject = pNewRB;
setAsUserPointer(pNewRB);
}
else {
pNewRB = pRB;
}
assert(pNewRB);
m_ObjectManager.getMap().getPhysicsManager()->getWorld()->removeCollisionObject(const_cast<btRigidBody*>(pRB));
m_ObjectManager.getMap().getPhysicsManager()->getWorld()->addRigidBody(pNewRB, COL_DAMAGE_P, COL_STATIC | COL_WALL | COL_CHARACTER_N);
// is there an linked object to delete on lift?
Ogre::String sRemoveObjectOnLift(m_UserData.getStringUserData("removeObjectOnLift"));
if (sRemoveObjectOnLift.length() > 0) {
m_ObjectManager.getObjectBySafeStateId(sRemoveObjectOnLift)->suicide();
}
return true;
}
void RigidBodyNode::sync_shapes(bool do_not_lock) {
has_static_shapes_ = false;
if (!shapes_.size()) {
if (body_->getCollisionShape() != bullet_empty_shape_) {
CONDITION_LOCK(ph_ && !do_not_lock, ph_->lock());
body_->setCollisionShape(bullet_empty_shape_);
}
} else {
if (body_->isStaticObject()) { //Static rigid body shape construction
if (shapes_.size() == 1 && shapes_[0].shape->is_static_shape()) {
//Rigid body has only one collision shape
//
//TODO: Implement offset transform for static rigid bodies.
// Now the transform of the collision shape is ignored.
// Do not forget to fix set_mass and set_kinematic funcs.
auto sh = shapes_[0].shape->construct_static();
assert(sh);
CONDITION_LOCK(ph_ && !do_not_lock, ph_->lock());
body_->setCollisionShape(sh);
if (!shapes_[0].shape->has_identical_shape_constructor())
has_static_shapes_ = true;
} else {
//Rigid body has more than one collision shape or
//it cannot be static
auto cs = new btCompoundShape();
for (auto sh : shapes_) {
if (sh.shape->is_static_shape()) {
cs->addChildShape(
math::mat4_to_btTransform(sh.transform),
sh.shape->construct_static());
if (!sh.shape->has_identical_shape_constructor())
has_static_shapes_ = true;
} else if (sh.shape->is_dynamic_shape())
sh.shape->construct_dynamic(
cs, math::mat4_to_btTransform(sh.transform));
}
//If all the shapes support dynamic bodies, recalculate inertia
//(in case if the body becomes dynamic)
if (!has_static_shapes_) {
cs->calculateLocalInertia(mass_, inertia_);
body_->setMassProps(mass_, inertia_);
}
CONDITION_LOCK(ph_ && !do_not_lock, ph_->lock());
body_->setCollisionShape(cs);
if (bullet_compound_shape_)
delete bullet_compound_shape_;
bullet_compound_shape_ = cs;
}
}
else { //Dynamic rigid body shape construction
auto cs = new btCompoundShape();
for (auto sh : shapes_) {
if (sh.shape->is_dynamic_shape())
sh.shape->construct_dynamic(
cs, math::mat4_to_btTransform(sh.transform));
}
cs->calculateLocalInertia(mass_, inertia_);
body_->setMassProps(mass_, inertia_);
CONDITION_LOCK(ph_ && !do_not_lock, ph_->lock());
body_->setCollisionShape(cs);
if (bullet_compound_shape_)
delete bullet_compound_shape_;
bullet_compound_shape_ = cs;
}
}
}
