//--------------------------------------------------------------
void ofxBulletSphere::create( btDiscreteDynamicsWorld* a_world, btTransform a_bt_tr, float a_mass, float a_radius ) {
if(!_bInited || _shape == NULL) {
ofxBulletBaseShape::create( a_world, (btCollisionShape*)new btSphereShape( a_radius ), a_bt_tr, a_mass );
} else {
ofxBulletBaseShape::create( a_world, _shape, a_bt_tr, a_mass );
}
createInternalUserData();
}
//--------------------------------------------------------------
void ofxBulletCapsule::create( btDiscreteDynamicsWorld* a_world, btTransform &a_bt_tr, float a_mass, float a_radius, float a_height ) {
if(!_bInited || _shape == NULL) {
ofxBulletRigidBody::create( a_world, (btCollisionShape*)new btCapsuleShape(a_radius, a_height ), a_bt_tr, a_mass );
} else {
ofxBulletRigidBody::create( a_world, _shape, a_bt_tr, a_mass );
}
createInternalUserData();
}
//--------------------------------------------------------------
void ofxBulletConvexShape::create( btDiscreteDynamicsWorld* a_world, btTransform &a_bt_tr, float a_mass ) {
if(!_bInited || _shape == NULL) {
ofLogWarning("ofxBulletConvexShape :: create : must call init first");
return;
}
ofxBulletBaseShape::create( a_world, _shape, a_bt_tr, a_mass );
createInternalUserData();
}
//--------------------------------------------------------------
void ofxBulletSoftTriMesh::create( ofxBulletWorldSoft* a_world, ofMesh& aMesh, btTransform &a_bt_tr, float a_mass ) {
if(a_world == NULL) {
ofLogError("ofxBulletSoftTriMesh") << "create(): a_world param is NULL";
return;
}
if( aMesh.getMode() != OF_PRIMITIVE_TRIANGLES ) {
ofLogError("ofxBulletSoftTriMesh") << " only excepts meshes that are triangles";
return;
}
_world = a_world;
_cachedMesh.clear();
_cachedMesh = aMesh;
if( bullet_vertices != NULL ) {
delete bullet_vertices;
bullet_vertices = NULL;
}
int vertStride = sizeof(btVector3);
int indexStride = 3*sizeof(int);
int totalVerts = (int)aMesh.getNumVertices();
int totalIndices = (int)aMesh.getNumIndices();
bullet_vertices = new btScalar[ totalVerts * 3 ];
int* bullet_indices = new int[ totalIndices ];
auto& tverts = aMesh.getVertices();
vector< ofIndexType >& tindices = aMesh.getIndices();
for( int i = 0; i < totalVerts; i++ ) {
bullet_vertices[i*3+0] = tverts[i].x;
bullet_vertices[i*3+1] = tverts[i].y;
bullet_vertices[i*3+2] = tverts[i].z;
}
for( int i = 0; i < totalIndices; i++ ) {
bullet_indices[i] = tindices[i];
}
_softBody = btSoftBodyHelpers::CreateFromTriMesh( _world->getInfo(),
bullet_vertices,
bullet_indices,
totalIndices/3 );
_softBody->transform( a_bt_tr );
setMass( a_mass, true );
setCreated(_softBody);
createInternalUserData();
delete [] bullet_indices;
}
//--------------------------------------------------------------
void ofxBulletEllipsoid::create(ofxBulletWorldSoft* a_world, const ofVec3f& a_center, const ofVec3f& a_radius, int a_res) {
if(a_world == NULL) {
ofLogError("ofxBulletEllipsoid") << "create(): a_world param is NULL";
return;
}
_radius = a_radius;
_world = a_world;
_softBody = btSoftBodyHelpers::CreateEllipsoid(_world->getInfo(), btVector3(a_center.x, a_center.y, a_center.z), btVector3(a_radius.x, a_radius.y, a_radius.z), a_res);
setCreated(_softBody);
createInternalUserData();
}
//--------------------------------------------------------------
void ofxBulletPatch::create(ofxBulletWorldSoft* a_world, const ofVec3f& a_p0, const ofVec3f& a_p1, const ofVec3f& a_p2, const ofVec3f& a_p3, int a_resx, int a_resy) {
if(a_world == NULL) {
ofLogError("ofxBulletPatch") << "create(): a_world param is NULL";
return;
}
_resx = a_resx;
_resy = a_resy;
_world = a_world;
_softBody = btSoftBodyHelpers::CreatePatch(_world->getInfo(), btVector3(a_p0.x, a_p0.y, a_p0.z), btVector3(a_p1.x, a_p1.y, a_p1.z), btVector3(a_p2.x, a_p2.y, a_p2.z), btVector3(a_p3.x, a_p3.y, a_p3.z), a_resx, a_resy, 0, true );
setCreated(_softBody);
createInternalUserData();
}
//--------------------------------------------------------------
void ofxBulletCustomShape::add() {
_bAdded = true;
btTransform trans;
trans.setIdentity();
for(int i = 0; i < centroids.size(); i++) {
_centroid += centroids[i];
}
if(centroids.size() > 0)
_centroid /= (float)centroids.size();
btVector3 shiftCentroid;
for(int i = 0; i < shapes.size(); i++) {
shiftCentroid = btVector3(centroids[i].x, centroids[i].y, centroids[i].z);
shiftCentroid -= btVector3(_centroid.x, _centroid.y, _centroid.z);
trans.setOrigin( ( shiftCentroid ) );
((btCompoundShape*)_shape)->addChildShape( trans, shapes[i]);
}
_rigidBody = ofGetBtRigidBodyFromCollisionShape( _shape, _startTrans, _mass);
createInternalUserData();
_world->addRigidBody(_rigidBody);
setProperties(.4, .75);
setDamping( .25 );
}
//--------------------------------------------------------------
void ofxBulletTriMeshShape::create( btDiscreteDynamicsWorld* a_world, ofMesh& aMesh, btTransform &a_bt_tr, float a_mass, glm::vec3 aAAbbMin, glm::vec3 aAAbbMax ) {
if( aMesh.getMode() != OF_PRIMITIVE_TRIANGLES ) {
ofLogWarning() << " ofxBulletTriMeshShape :: create : mesh must be using triangles, not creating!!" << endl;
return;
}
if( aMesh.getNumIndices() < 3 ) {
ofLogWarning() << " ofxBulletTriMeshShape :: create : mesh must have indices, not creating!" << endl;
return;
}
if( !_bInited || _shape == NULL ) {
int vertStride = sizeof(btVector3);
int indexStride = 3*sizeof(int);
totalVerts = (int)aMesh.getNumVertices();
totalIndices = (int)aMesh.getNumIndices();
const int totalTriangles = totalIndices / 3;
if( bullet_indices != NULL ) {
removeShape();
}
if( bullet_vertices != NULL ) {
removeShape();
}
if( bullet_indexVertexArrays != NULL ) {
removeShape();
}
if( _shape != NULL ) {
removeShape();
}
bullet_vertices = new btVector3[ totalVerts ];
bullet_indices = new int[ totalIndices ];
auto& tverts = aMesh.getVertices();
auto& tindices = aMesh.getIndices();
for( int i = 0; i < totalVerts; i++ ) {
bullet_vertices[i].setValue( tverts[i].x, tverts[i].y, tverts[i].z );
}
for( int i = 0; i < totalIndices; i++ ) {
bullet_indices[i] = (int)tindices[i];
}
bullet_indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles, bullet_indices, indexStride,
totalVerts, (btScalar*) &bullet_vertices[0].x(), vertStride);
// if you are having trouble with objects falling through, try passing in smaller or larger aabbMin and aabbMax
// to something closer to the size of your object //
// btVector3 aabbMin(-10000,-10000,-10000),aabbMax(10000,10000,10000);
if( aAAbbMin.length() > 0 && aAAbbMax.length() > 0 ) {
btVector3 aabbMin( aAAbbMin.x, aAAbbMin.y, aAAbbMin.z );
btVector3 aabbMax( aAAbbMax.x, aAAbbMax.y, aAAbbMax.z );
_shape = new btBvhTriangleMeshShape(bullet_indexVertexArrays, true, aabbMin, aabbMax );
} else {
_shape = new btBvhTriangleMeshShape(bullet_indexVertexArrays, true, true );
}
}
ofxBulletRigidBody::create( a_world, _shape, a_bt_tr, a_mass );
createInternalUserData();
updateMesh( a_world, aMesh );
}
