std::vector<match_t> matchBodiesToRings(It begin, It end)
{
std::vector<match_t> batch;
std::transform(begin, end, std::back_inserter(batch), [](b2Body* body)
{
auto f = body->GetFixtureList();
auto shape = static_cast<b2ChainShape*>(f->GetShape());
return std::make_pair(body, convertShape(body->GetWorldCenter(), shape));
});
return batch;
}
void btBulletPhysicsEffectsWorld::createStateAndCollidable(btRigidBody* body)
{
int objectIndex = body->getBroadphaseProxy()->m_uniqueId;
btAssert(objectIndex>=0);
//btAssert(objectIndex<m_maxHandles);
//initialize it
sce::PhysicsEffects::PfxRigidBody* pfxbody = &m_lowLevelBodies[objectIndex];
sce::PhysicsEffects::PfxRigidState* pfxstate = &m_lowLevelStates[objectIndex];
sce::PhysicsEffects::PfxCollidable* pfxcollidable = &m_lowLevelCollidables[objectIndex];
///convert/initialize body, shape, state and collidable
pfxstate->reset();
pfxbody->reset();
pfxcollidable->reset();
pfxbody->setFriction(body->getFriction());
pfxbody->setRestitution(body->getRestitution());
if (body->getInvMass())
{
btScalar mass = 1.f/body->getInvMass();
pfxbody->setMass(mass);
Vectormath::Aos::Matrix3 inertiaInv = inertiaInv.identity();
inertiaInv.setElem(0,0,body->getInvInertiaDiagLocal().getX());
inertiaInv.setElem(1,1,body->getInvInertiaDiagLocal().getY());
inertiaInv.setElem(2,2,body->getInvInertiaDiagLocal().getZ());
pfxbody->setInertiaInv(inertiaInv);
pfxstate->setMotionType(sce::PhysicsEffects::kPfxMotionTypeActive);
} else
{
pfxstate->setMotionType(sce::PhysicsEffects::kPfxMotionTypeFixed);
}
btAlignedObjectArray<sce::PhysicsEffects::PfxShape> shapes;
convertShape(body->getCollisionShape(), shapes);
btAssert(shapes.size()>0);
if (shapes.size()==1)
{
pfxcollidable->addShape(shapes[0]);
pfxcollidable->finish();
} else
{
if (shapes.size()>1)
{
sce::PhysicsEffects::PfxUInt16* ints=new sce::PhysicsEffects::PfxUInt16[shapes.size()];
sce::PhysicsEffects::PfxShape* pfxshapes = new sce::PhysicsEffects::PfxShape[shapes.size()];
int p;
for (p=0;p<shapes.size();p++)
{
ints[p]=p;
pfxshapes[p] = shapes[p];
}
pfxcollidable->reset(pfxshapes,ints,shapes.size());
for (p=0;p<shapes.size();p++)
{
pfxcollidable->addShape(pfxshapes[p]);
}
pfxcollidable->finish();
}
}
pfxstate->setRigidBodyId(objectIndex);
syncRigidBodyState(body);
}
static void convertShape(btCollisionShape* bulletShape, btAlignedObjectArray<sce::PhysicsEffects::PfxShape>& shapes)
{
switch (bulletShape->getShapeType())
{
case BOX_SHAPE_PROXYTYPE:
{
btBoxShape* boxshape = (btBoxShape*)bulletShape;
sce::PhysicsEffects::PfxBox box(boxshape->getHalfExtentsWithMargin().getX(),boxshape->getHalfExtentsWithMargin().getY(),boxshape->getHalfExtentsWithMargin().getZ());
sce::PhysicsEffects::PfxShape& shape = shapes.expand();
shape.reset();
shape.setBox(box);
break;
}
case TRIANGLE_MESH_SHAPE_PROXYTYPE:
{
btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*) bulletShape;
int numSubParts = trimesh->getMeshInterface()->getNumSubParts();
btAssert(numSubParts>0);
for (int i=0;i<numSubParts;i++)
{
unsigned char* vertexBase=0;
int numVerts = 0;
PHY_ScalarType vertexType;
int vertexStride=0;
unsigned char* indexBase=0;
int indexStride=0;
int numFaces=0;
PHY_ScalarType indexType;
trimesh->getMeshInterface()->getLockedVertexIndexBase(&vertexBase,numVerts,vertexType,vertexStride,&indexBase,indexStride,numFaces,indexType,i);
sce::PhysicsEffects::PfxCreateLargeTriMeshParam param;
btAssert(param.flag&SCE_PFX_MESH_FLAG_16BIT_INDEX);
unsigned short int* copyIndices = new unsigned short int[numFaces*3];
switch (indexType)
{
case PHY_UCHAR:
{
for (int p=0;p<numFaces;p++)
{
copyIndices[p*3]=indexBase[p*indexStride];
copyIndices[p*3+1]=indexBase[p*indexStride+1];
copyIndices[p*3+2]=indexBase[p*indexStride+2];
}
break;
}
//PHY_INTEGER:
//PHY_SHORT:
default:
{
btAssert(0);
}
};
param.verts = (float*)vertexBase;
param.numVerts = numVerts;
param.vertexStrideBytes = vertexStride;
param.triangles = copyIndices;
param.numTriangles = numFaces;
param.triangleStrideBytes = sizeof(unsigned short int)*3;
sce::PhysicsEffects::PfxLargeTriMesh* largeMesh = new sce::PhysicsEffects::PfxLargeTriMesh();
sce::PhysicsEffects::PfxInt32 ret = pfxCreateLargeTriMesh(*largeMesh,param);
if(ret != SCE_PFX_OK) {
SCE_PFX_PRINTF("Can't create large mesh.\n");
}
sce::PhysicsEffects::PfxShape& shape = shapes.expand();
shape.reset();
shape.setLargeTriMesh(largeMesh);
}
break;
}
case SPHERE_SHAPE_PROXYTYPE:
{
btSphereShape* sphereshape = (btSphereShape*)bulletShape;
sce::PhysicsEffects::PfxSphere sphere(sphereshape->getRadius());
sce::PhysicsEffects::PfxShape& shape = shapes.expand();
shape.reset();
shape.setSphere(sphere);
break;
}
case CAPSULE_SHAPE_PROXYTYPE:
{
btCapsuleShape* capsuleshape= (btCapsuleShape*)bulletShape;//assume btCapsuleShapeX for now
sce::PhysicsEffects::PfxCapsule capsule(capsuleshape->getHalfHeight(),capsuleshape->getRadius());
sce::PhysicsEffects::PfxShape& shape = shapes.expand();
shape.reset();
shape.setCapsule(capsule);
break;
}
case CYLINDER_SHAPE_PROXYTYPE:
{
btCylinderShape* cylindershape= (btCylinderShape*)bulletShape;//assume btCylinderShapeX for now
sce::PhysicsEffects::PfxCylinder cylinder(cylindershape->getHalfExtentsWithMargin()[0],cylindershape->getRadius());
sce::PhysicsEffects::PfxShape& shape = shapes.expand();
shape.reset();
shape.setCylinder(cylinder);
break;
}
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
btConvexHullShape* convexHullShape = (btConvexHullShape*)bulletShape;
sce::PhysicsEffects::PfxConvexMesh* convex = new sce::PhysicsEffects::PfxConvexMesh();
convex->m_numVerts = convexHullShape->getNumPoints();
convex->m_numIndices = 0;//todo for ray intersection test support
for (int i=0;i<convex->m_numVerts;i++)
{
convex->m_verts[i].setX(convexHullShape->getPoints()[i].getX());
convex->m_verts[i].setY(convexHullShape->getPoints()[i].getY());
convex->m_verts[i].setZ(convexHullShape->getPoints()[i].getZ());
}
convex->updateAABB();
sce::PhysicsEffects::PfxShape& shape = shapes.expand();
shape.reset();
shape.setConvexMesh(convex);
break;
}
case COMPOUND_SHAPE_PROXYTYPE:
{
btCompoundShape* compound = (btCompoundShape*) bulletShape;
for (int s=0;s<compound->getNumChildShapes();s++)
{
convertShape(compound->getChildShape(s),shapes);
sce::PhysicsEffects::PfxMatrix3 rotMat = getVmMatrix3(compound->getChildTransform(s).getBasis());
sce::PhysicsEffects::PfxVector3 translate = getVmVector3(compound->getChildTransform(s).getOrigin());
sce::PhysicsEffects::PfxTransform3 childtransform(rotMat,translate);
shapes[shapes.size()-1].setOffsetTransform(childtransform);
}
break;
}
default:
{
btAssert(0);
}
};
}