void add_rigid_body(OBJMESH * objmesh, float mass)
{
btCollisionShape *btcollisionshape = new btBoxShape(btVector3(objmesh->dimension.x * 0.5f,
objmesh->dimension.y * 0.5f,
objmesh->dimension.z * 0.5f));
btTransform bttransform;
mat4 mat;
vec4 rotx = { 1.0f, 0.0f, 0.0f, objmesh->rotation.x }, roty = {
0.0f, 1.0f, 0.0f, objmesh->rotation.y}, rotz = {
0.0f, 0.0f, 1.0f, objmesh->rotation.z};
mat4_identity(&mat);
mat4_translate(&mat, &mat, &objmesh->location);
mat4_rotate(&mat, &mat, &rotz);
mat4_rotate(&mat, &mat, &roty);
mat4_rotate(&mat, &mat, &rotx);
bttransform.setFromOpenGLMatrix((float *)&mat);
btDefaultMotionState *btdefaultmotionstate = NULL;
btdefaultmotionstate = new btDefaultMotionState(bttransform);
btVector3 localinertia(0.0f, 0.0f, 0.0f);
if (mass)
btcollisionshape->calculateLocalInertia(mass, localinertia);
objmesh->btrigidbody = new btRigidBody(mass, btdefaultmotionstate, btcollisionshape, localinertia);
objmesh->btrigidbody->setUserPointer(objmesh);
dynamicsworld->addRigidBody(objmesh->btrigidbody);
}
void add_rigid_body(OBJMESH * objmesh, unsigned char bound, float mass, unsigned char dynamic_only)
{
btCollisionShape *btcollisionshape = NULL;
switch (bound) {
case BOX:
{
btcollisionshape = new btBoxShape(btVector3(objmesh->dimension.x * 0.5f, objmesh->dimension.y * 0.5f, objmesh->dimension.z * 0.5f));
break;
}
case SPHERE:
{
btcollisionshape = new btSphereShape(objmesh->radius);
break;
}
case CYLINDER:
{
btcollisionshape = new btCylinderShapeZ(btVector3(objmesh->dimension.x * 0.5f, objmesh->dimension.y * 0.5f, objmesh->dimension.z * 0.5f));
break;
}
}
btTransform bttransform;
bttransform.setIdentity();
bttransform.setOrigin(btVector3(objmesh->location.x, objmesh->location.y, objmesh->location.z));
btDefaultMotionState *btdefaultmotionstate = NULL;
btdefaultmotionstate = new btDefaultMotionState(bttransform);
btVector3 localinertia(0.0f, 0.0f, 0.0f);
if (mass > 0.0f)
btcollisionshape->calculateLocalInertia(mass, localinertia);
objmesh->btrigidbody = new btRigidBody(mass, btdefaultmotionstate, btcollisionshape, localinertia);
if (mass > 0.0f) {
objmesh->btrigidbody->setLinearFactor(btVector3(1.0f, 0.0f, 1.0f));
if (!dynamic_only)
objmesh->btrigidbody->setAngularFactor(btVector3(0.0f, 1.0f, 0.0f));
else
objmesh->btrigidbody->setAngularFactor(0.0f);
}
objmesh->btrigidbody->setUserPointer(objmesh);
dynamicsworld->addRigidBody(objmesh->btrigidbody);
}
void add_rigid_body(OBJMESH *objmesh, float mass)
{
/* Create a new Box collision shape for the current mesh. */
/* Use half of the dimension XYZ to represent the extent of the box
* relative to its pivot point, which is already centered in the middle of
* its bounding box.
*/
btCollisionShape *btcollisionshape = new btBoxShape(btVector3(objmesh->dimension->x * 0.5f,
objmesh->dimension->y * 0.5f,
objmesh->dimension->z * 0.5f));
/* Declare a btTransform variable to be able to contain the transformation
* matrix of the object in a form that Bullet will understand.
*/
btTransform bttransform;
TStack l;
l.loadTranslation(objmesh->location);
// Convert angles to radians & divide by 2.
float alpha = objmesh->rotation->z*DEG_TO_RAD_DIV_2;
float cosAlpha(cosf(alpha)), sinAlpha(sinf(alpha));
float beta = objmesh->rotation->y*DEG_TO_RAD_DIV_2;
float cosBeta(cosf(beta)), sinBeta(sinf(beta));
float gamma = objmesh->rotation->x*DEG_TO_RAD_DIV_2;
float cosGamma(cosf(gamma)), sinGamma(sinf(gamma));
float cAcB(cosAlpha*cosBeta);
float sAsB(sinAlpha*sinBeta);
float cAsB(cosAlpha*sinBeta);
float sAcB(sinAlpha*cosBeta);
l.rotate(quaternion(cAcB*cosGamma+sAsB*sinGamma,
cAcB*sinGamma-sAsB*cosGamma,
cAsB*cosGamma+sAcB*sinGamma,
sAcB*cosGamma-cAsB*sinGamma));
/* Assign the current transformation matrix that you create using the
* standard "OpenGL way" and send it over to the Bullet transform variable.
*/
bttransform.setFromOpenGLMatrix(l.back().m());
/* Create a new motion state in order for Bullet to be able to
* maintain and interpolate the object transformation.
*/
btDefaultMotionState *btdefaultmotionstate = NULL;
btdefaultmotionstate = new btDefaultMotionState(bttransform);
/* Create a Bullet vector to be able to hold the local inertia of
* the object.
*/
btVector3 localinertia(0.0f, 0.0f, 0.0f);
/* If a mass greater than 0 is passed in as a parameter to the function,
* use it to calculate the local inertia. If a mass is equal to 0, it means
* that the object is static and you do not need to execute this calculation.
*/
if (mass > 0.0f)
btcollisionshape->calculateLocalInertia(mass, localinertia);
/* Create a new rigid body and link the information that you have
* calculated above. Note that you are using the btRigidBody pointer already
* contained in the OBJMESH structure to initialize the class. This way, when
* you're drawing, you can easily query the pointer in order to gain access to
* its transformation matrix, which is from now on maintained by Bullet
* internally.
*/
objmesh->btrigidbody = new btRigidBody(mass,
btdefaultmotionstate,
btcollisionshape,
localinertia);
/* Built into the btRigidBody class is a "void *" variable that
* allows you to associate a user-defined pointer with the rigid
* body. By associating the current objmesh pointer to this
* variable, you will have direct access to the OBJMESH structure
* at any time inside any Bullet-driven functions and callbacks.
*/
objmesh->btrigidbody->setUserPointer(objmesh);
/* Only mark the object named "Cube" to receive a contact-added callback. */
if (!strcmp(objmesh->name, "Cube")) {
/* Adjust the collision flags for this body by adding
* CF_CUSTOM_MATERIAL_CALLBACK to the current flags.
*/
objmesh->btrigidbody->setCollisionFlags(objmesh->btrigidbody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
}
/* Add the new rigid body to your physical world. */
dynamicsworld->addRigidBody(objmesh->btrigidbody);
}