void MScene::preparePhysics(void)
{
MPhysicsContext * physics = MEngine::getInstance()->getPhysicsContext();
if(! physics)
return;
physics->init(MVector3(-10000), MVector3(10000));
physics->setWorldGravity(m_gravity);
// create shapes
unsigned int i;
unsigned int size = getEntitiesNumber();
for(i=0; i<size; i++)
{
MOEntity * entity = getEntityByIndex(i);
prepareCollisionShape(entity);
}
// create objects
for(i=0; i<size; i++)
{
MOEntity * entity = getEntityByIndex(i);
prepareCollisionObject(entity);
}
// create constraints
for(i=0; i<size; i++)
{
MOEntity * entity = getEntityByIndex(i);
prepareConstraints(entity);
}
}
bool ColladaConverter::convert()
{
unsigned i;
//succesfully loaded file, now convert data
if (m_dom->getAsset() && m_dom->getAsset()->getUnit())
{
domAsset::domUnitRef unit = m_dom->getAsset()->getUnit();
domFloat meter = unit->getMeter();
printf("asset unit meter=%f\n",meter);
// m_unitMeterScaling = meter;
}
if ( m_dom->getAsset() && m_dom->getAsset()->getUp_axis() )
{
domAsset::domUp_axis * up = m_dom->getAsset()->getUp_axis();
switch( up->getValue() )
{
case UPAXISTYPE_X_UP:
printf(" X is Up Data and Hiearchies must be converted!\n" );
printf(" Conversion to X axis Up isn't currently supported!\n" );
printf(" COLLADA_RT defaulting to Y Up \n" );
setGravity(CrtVec3f(-10,0,0));
setCameraInfo(btVector3(1,0,0),1);
break;
case UPAXISTYPE_Y_UP:
printf(" Y Axis is Up for this file \n" );
printf(" COLLADA_RT set to Y Up \n" );
setGravity(CrtVec3f(0,-10,0));
setCameraInfo(btVector3(0,1,0),0);
break;
case UPAXISTYPE_Z_UP:
printf(" Z Axis is Up for this file \n" );
printf(" All Geometry and Hiearchies must be converted!\n" );
setGravity(CrtVec3f(0,0,-10));
break;
default:
break;
}
}
//we don't handle visual objects, physics objects are rered as such
for (unsigned int s=0;s<m_dom->getLibrary_visual_scenes_array().getCount();s++)
{
domLibrary_visual_scenesRef scenesRef = m_dom->getLibrary_visual_scenes_array()[s];
for (unsigned int i=0;i<scenesRef->getVisual_scene_array().getCount();i++)
{
domVisual_sceneRef sceneRef = scenesRef->getVisual_scene_array()[i];
for (unsigned int n=0;n<sceneRef->getNode_array().getCount();n++)
{
domNodeRef nodeRef = sceneRef->getNode_array()[n];
nodeRef->getRotate_array();
nodeRef->getTranslate_array();
nodeRef->getScale_array();
}
}
}
// Load all the geometry libraries
for ( i = 0; i < m_dom->getLibrary_geometries_array().getCount(); i++)
{
domLibrary_geometriesRef libgeom = m_dom->getLibrary_geometries_array()[i];
printf(" CrtScene::Reading Geometry Library \n" );
for ( unsigned int i = 0; i < libgeom->getGeometry_array().getCount(); i++)
{
//ReadGeometry( );
domGeometryRef lib = libgeom->getGeometry_array()[i];
domMesh *meshElement = lib->getMesh();
if (meshElement)
{
// Find out how many groups we need to allocate space for
int numTriangleGroups = (int)meshElement->getTriangles_array().getCount();
int numPolygonGroups = (int)meshElement->getPolygons_array().getCount();
int totalGroups = numTriangleGroups + numPolygonGroups;
if (totalGroups == 0)
{
printf("No Triangles or Polygons found int Geometry %s \n", lib->getId() );
} else
{
//printf("Found mesh geometry (%s): numTriangleGroups:%i numPolygonGroups:%i\n",lib->getId(),numTriangleGroups,numPolygonGroups);
}
}
domConvex_mesh *convexMeshElement = lib->getConvex_mesh();
if (convexMeshElement)
{
printf("found convexmesh element\n");
// Find out how many groups we need to allocate space for
int numTriangleGroups = (int)convexMeshElement->getTriangles_array().getCount();
int numPolygonGroups = (int)convexMeshElement->getPolygons_array().getCount();
int totalGroups = numTriangleGroups + numPolygonGroups;
if (totalGroups == 0)
{
printf("No Triangles or Polygons found in ConvexMesh Geometry %s \n", lib->getId() );
}else
{
printf("Found convexmesh geometry: numTriangleGroups:%i numPolygonGroups:%i\n",numTriangleGroups,numPolygonGroups);
}
}//fi
}//for each geometry
}//for all geometry libraries
//m_dom->getLibrary_physics_models_array()
for ( i = 0; i < m_dom->getLibrary_physics_scenes_array().getCount(); i++)
{
domLibrary_physics_scenesRef physicsScenesRef = m_dom->getLibrary_physics_scenes_array()[i];
for (unsigned int s=0;s<physicsScenesRef->getPhysics_scene_array().getCount();s++)
{
domPhysics_sceneRef physicsSceneRef = physicsScenesRef->getPhysics_scene_array()[s];
if (physicsSceneRef->getTechnique_common())
{
if (physicsSceneRef->getTechnique_common()->getGravity())
{
const domFloat3 grav = physicsSceneRef->getTechnique_common()->getGravity()->getValue();
printf("gravity set to %f,%f,%f\n",grav.get(0),grav.get(1),grav.get(2));
setGravity(CrtVec3f((float)grav.get(0),(float)grav.get(1),(float)grav.get(2)));
}
}
for (unsigned int ps=0;ps<physicsSceneRef->getInstance_physics_model_array().getCount();ps++)
{
domInstance_physics_modelRef instance_physicsModelRef = physicsSceneRef->getInstance_physics_model_array()[ps];
daeElementRef ref = instance_physicsModelRef->getUrl().getElement();
domPhysics_modelRef model = *(domPhysics_modelRef*)&ref;
unsigned int p,r;
for ( p=0;p<model->getInstance_physics_model_array().getCount();p++)
{
domInstance_physics_modelRef instancePhysicsModelRef = model->getInstance_physics_model_array()[p];
daeElementRef ref = instancePhysicsModelRef->getUrl().getElement();
domPhysics_modelRef model = *(domPhysics_modelRef*)&ref;
//todo: group some shared functionality in following 2 'blocks'.
for (r=0;r<instancePhysicsModelRef->getInstance_rigid_body_array().getCount();r++)
{
domInstance_rigid_bodyRef instRigidbodyRef = instancePhysicsModelRef->getInstance_rigid_body_array()[r];
btScalar mass = 1.f;
bool isDynamics = true;
btCollisionShape* colShape = 0;
btCompoundShape* compoundShape = 0;
xsNCName bodyName = instRigidbodyRef->getBody();
domInstance_rigid_body::domTechnique_commonRef techniqueRef = instRigidbodyRef->getTechnique_common();
if (techniqueRef)
{
if (techniqueRef->getMass())
{
mass = (btScalar)techniqueRef->getMass()->getValue();
}
if (techniqueRef->getDynamic())
{
isDynamics = techniqueRef->getDynamic()->getValue();
}
}
if (bodyName && model)
{
//try to find the rigid body
for (unsigned int r=0;r<model->getRigid_body_array().getCount();r++)
{
domRigid_bodyRef rigidBodyRef = model->getRigid_body_array()[r];
if (rigidBodyRef->getSid() && !strcmp(rigidBodyRef->getSid(),bodyName))
{
btRigidBodyOutput output;
output.m_colShape = colShape;
output.m_compoundShape = compoundShape;
output.m_mass = 1.f;
output.m_isDynamics = true;
btRigidBodyInput rbInput;
rbInput.m_rigidBodyRef2 = rigidBodyRef;
rbInput.m_instanceRigidBodyRef = instRigidbodyRef;
ConvertRigidBodyRef( rbInput , output );
mass = output.m_mass;
isDynamics = output.m_isDynamics;
colShape = output.m_colShape;
compoundShape = output.m_compoundShape;
}
}
//////////////////////
}
if (compoundShape)
colShape = compoundShape;
if (colShape)
{
btRigidBodyInput input;
input.m_instanceRigidBodyRef = instRigidbodyRef;
input.m_rigidBodyRef2 = 0;
input.m_bodyName = (char*)bodyName;
PreparePhysicsObject(input, isDynamics,mass,colShape);
}
}
}
for (r=0;r<instance_physicsModelRef->getInstance_rigid_body_array().getCount();r++)
{
domInstance_rigid_bodyRef instRigidbodyRef = instance_physicsModelRef->getInstance_rigid_body_array()[r];
btScalar mass = 1.f;
bool isDynamics = true;
btCollisionShape* colShape = 0;
btCompoundShape* compoundShape = 0;
xsNCName bodyName = instRigidbodyRef->getBody();
domInstance_rigid_body::domTechnique_commonRef techniqueRef = instRigidbodyRef->getTechnique_common();
if (techniqueRef)
{
if (techniqueRef->getMass())
{
mass = (btScalar)techniqueRef->getMass()->getValue();
}
if (techniqueRef->getDynamic())
{
isDynamics = techniqueRef->getDynamic()->getValue();
}
}
if (bodyName && model)
{
//try to find the rigid body
for (unsigned int r=0;r<model->getRigid_body_array().getCount();r++)
{
domRigid_bodyRef rigidBodyRef = model->getRigid_body_array()[r];
if (rigidBodyRef->getSid() && !strcmp(rigidBodyRef->getSid(),bodyName))
{
btRigidBodyOutput output;
output.m_colShape = colShape;
output.m_compoundShape = compoundShape;
output.m_mass = 1.f;
output.m_isDynamics = true;
btRigidBodyInput rbInput;
rbInput.m_rigidBodyRef2 = rigidBodyRef;
rbInput.m_instanceRigidBodyRef = instRigidbodyRef;
ConvertRigidBodyRef( rbInput , output );
mass = output.m_mass;
isDynamics = output.m_isDynamics;
colShape = output.m_colShape;
compoundShape = output.m_compoundShape;
}
}
//////////////////////
}
if (compoundShape)
colShape = compoundShape;
if (colShape)
{
btRigidBodyInput input;
input.m_instanceRigidBodyRef = instRigidbodyRef;
input.m_rigidBodyRef2 = 0;
input.m_bodyName = (char*)bodyName;
PreparePhysicsObject(input, isDynamics,mass,colShape);
}
} //for each instance_rigid_body
} //for each physics model
//handle constraints
for (unsigned int ma=0;ma<physicsSceneRef->getInstance_physics_model_array().getCount();ma++)
{
domInstance_physics_modelRef instance_physicsModelRef = physicsSceneRef->getInstance_physics_model_array()[ma];
daeElementRef ref = instance_physicsModelRef->getUrl().getElement();
domPhysics_modelRef model = *(domPhysics_modelRef*)&ref;
{
ConstraintInput cInput;
cInput.m_instance_physicsModelRef = instance_physicsModelRef;
cInput.m_model = model;
prepareConstraints(cInput);
}
//also don't forget the model's 'instance_physics_models!
for ( unsigned int p=0;p<model->getInstance_physics_model_array().getCount();p++)
{
domInstance_physics_modelRef instancePhysicsModelRef = model->getInstance_physics_model_array()[p];
daeElementRef ref = instancePhysicsModelRef->getUrl().getElement();
domPhysics_modelRef model = *(domPhysics_modelRef*)&ref;
ConstraintInput cInput;
cInput.m_instance_physicsModelRef = instancePhysicsModelRef;
cInput.m_model = model;
prepareConstraints(cInput);
}
} //2nd time, for each physics model
}
}
return true;
}
