btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btConvexShape* shape)
{
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
shape->calculateLocalInertia(mass,localInertia);
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
m_ownerWorld->addRigidBody(body);
btVector3 color(1,0,0);
btVector3 scaling(1,1,1);
btShapeHull* hull = new btShapeHull(shape);
hull->buildHull(0.01);
{
int strideInBytes = 9*sizeof(float);
int numVertices = hull->numVertices();
int numIndices =hull->numIndices();
btAlignedObjectArray<GraphicsVertex> gvertices;
for (int i=0;i<numVertices;i++)
{
GraphicsVertex vtx;
btVector3 pos =hull->getVertexPointer()[i];
vtx.pos[0] = pos.x();
vtx.pos[1] = pos.y();
vtx.pos[2] = pos.z();
vtx.pos[3] = 1.f;
pos.normalize();
vtx.normal[0] =pos.x();
vtx.normal[1] =pos.y();
vtx.normal[2] =pos.z();
vtx.texcoord[0] = 0.5f;
vtx.texcoord[1] = 0.5f;
gvertices.push_back(vtx);
}
btAlignedObjectArray<int> indices;
for (int i=0;i<numIndices;i++)
indices.push_back(hull->getIndexPointer()[i]);
int shapeId = m_app->m_instancingRenderer->registerShape(&gvertices[0].pos[0],numVertices,&indices[0],numIndices);
m_app->m_instancingRenderer->registerGraphicsInstance(shapeId,body->getWorldTransform().getOrigin(),body->getWorldTransform().getRotation(),color,scaling);
}
delete hull;
return body;
}
void AddBody(const Json::Value& bodyDesc) {
std::string shapeName = bodyDesc["shape"].asString();
float mass = bodyDesc["mass"].asFloat();
float friction = bodyDesc["friction"].asFloat();
Json::Value transform = bodyDesc["transform"];
btCollisionShape* shape = boxShape;
if (shapes.count(shapeName) == 0) {
NaClAMPrintf("Could not find shape %s defaulting to unit cube.", shapeName.c_str());
} else {
shape = shapes[shapeName];
}
btTransform T;
T.setIdentity();
{
float m[16];
for (int i = 0; i < transform.size(); i++) {
m[i] = transform[i].asFloat();
}
T.setFromOpenGLMatrix(&m[0]);
}
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
shape->calculateLocalInertia(mass,localInertia);
btDefaultMotionState* myMotionState = new btDefaultMotionState(T);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
body->setFriction(friction);
dynamicsWorld->addRigidBody(body);
}
void AddBox(const btTransform& T, float mass) {
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
boxShape->calculateLocalInertia(mass,localInertia);
btDefaultMotionState* myMotionState = new btDefaultMotionState(T);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,boxShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
dynamicsWorld->addRigidBody(body);
}
RigidBody(Object3D* parent, Float mass, btCollisionShape* bShape, btDynamicsWorld& bWorld): Object3D{parent}, _bWorld(bWorld) {
/* Calculate inertia so the object reacts as it should with
rotation and everything */
btVector3 bInertia(0.0f, 0.0f, 0.0f);
if(!Math::TypeTraits<Float>::equals(mass, 0.0f))
bShape->calculateLocalInertia(mass, bInertia);
/* Bullet rigid body setup */
auto* motionState = new BulletIntegration::MotionState{*this};
_bRigidBody.emplace(btRigidBody::btRigidBodyConstructionInfo{
mass, &motionState->btMotionState(), bShape, bInertia});
_bRigidBody->forceActivationState(DISABLE_DEACTIVATION);
bWorld.addRigidBody(_bRigidBody.get());
}
void AddGroundPlane() {
btTransform groundTransform;
groundTransform.setIdentity();
btScalar mass = 0.0f;
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
groundShape->calculateLocalInertia(mass,localInertia);
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
//add the body to the dynamics world
dynamicsWorld->addRigidBody(body);
}
btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
{
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
shape->calculateLocalInertia(mass,localInertia);
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
m_ownerWorld->addRigidBody(body);
return body;
}