BulletObject::BulletObject(Scene * scene, btCollisionWorld *collisionWorld, UserNode *_userNode, const Matrix4 &pWorldTransform)
:collWorld(collisionWorld),
collisionPartTransform(&((Matrix4&)pWorldTransform)),
userNode(_userNode),
updateFlag(true),
shape(NULL),
collisionObject(0),
trimesh(0),
meshNode(0),
entity(0),
box(0)
{
CreateBoxObject();
}
void BulletObject::UpdateCollisionObject()
{
if (!updateFlag)
return;
if (!(*collisionPartTransform == createdWith))
{
DeleteCollisionObject();
if(box)
CreateFromAABox();
else if(entity)
CreateFromEntity();
else if(meshNode)
CreateCollisionObject();
else if(userNode)
CreateBoxObject();
}
/*
btTransform btt;
btt.setIdentity();
//scale
Vector3 scale = collisionPartTransform->GetScaleVector();
shape->setLocalScaling(btVector3(scale.x, scale.y, scale.z));
//origin
Vector3 origin = collisionPartTransform->GetTranslationVector();
btt.setOrigin(btVector3(origin.x, origin.y, origin.z));
//rotation
Quaternion qt;
qt.Construct(*collisionPartTransform);
btt.setRotation(btQuaternion(qt.x, qt.y, qt.z, qt.w));
btt.setFromOpenGLMatrix(collisionPartTransform->data);
collisionObject->setWorldTransform(btt);
*/
}
virtual bool BulldozerTest::Setup(Pint& pint, const PintCaps& caps)
{
CreateMeshesFromRegisteredSurfaces(pint, caps, *this, &mHighFrictionMaterial);
VehicleData* UserData = ICE_NEW(VehicleData);
pint.mUserData = UserData;
const float TrackWidth = mInsideCylinder.mHalfHeight + mOutsideCylinder.mHalfHeight*2.0f;
const float TrackGap = 0.1f;
const Point ChassisExtents(3.0f, 2.0f, 1.0f);
const float GroundClearance = 0.5f;
const Point ChassisPos(0.0f, ChassisExtents.y+GroundClearance, 0.0f);
const float ChassisMass = 100.0f;
const float ChassisGap = (TrackWidth+TrackGap)*2.0f;
const float SideDistToGround = 0.5f*2.0f;
const Point SideExtents(4.0f, 0.2f, 0.2f);
const Point LeftSidePos(SideExtents.x-ChassisExtents.x, SideExtents.y+SideDistToGround, -ChassisExtents.z-ChassisGap-SideExtents.z);
const Point RightSidePos(SideExtents.x-ChassisExtents.x, SideExtents.y+SideDistToGround, ChassisExtents.z+ChassisGap+SideExtents.z);
const float SideMass = 1.0f;
PINT_BOX_CREATE ChassisBoxDesc;
ChassisBoxDesc.mExtents = ChassisExtents;
ChassisBoxDesc.mRenderer = CreateBoxRenderer(ChassisExtents);
PintObjectHandle ChassisObject = null;
if(1)
{
// Caterpillar tracks
const udword NbGears = 3;
Point GearOffsets[3];
const float GearMass = 10.0f;
GearOffsets[0] = Point(0.0f, 2.0f, 0.0f);
GearOffsets[1] = Point(-2.0f, 0.0f, 0.0f);
GearOffsets[2] = Point(2.0f, 0.0f, 0.0f);
if(0)
{
CaterpillarTrackObjects CTO;
for(udword i=0;i<2;i++)
{
const float Coeff = i ? -1.0f : 1.0f;
const Point Pos(0.0f, 1.5f, Coeff*(ChassisExtents.z+TrackGap+TrackWidth));
CreateCaterpillarTrackWIP(pint, CTO, &mHighFrictionMaterial, Pos,
mInsideCylinder, GetRegisteredRenderers()[0], mOutsideCylinder, GetRegisteredRenderers()[1],
NbGears, GearOffsets, GearMass
);
}
}
else
{
PINT_SHAPE_CREATE* StartShape = null;
PINT_SHAPE_CREATE* CurrentShape = null;
for(udword i=0;i<2;i++)
{
const float Coeff = i ? -1.0f : 1.0f;
/*const*/ Point Pos(0.0f, 1.5f, Coeff*(ChassisExtents.z+TrackGap+TrackWidth));
Pos -= ChassisPos;
{
Point GearCenter(0.0f, 0.0f, 0.0f);
for(udword i=0;i<NbGears;i++)
{
const Point GearPos = Pos + GearOffsets[i];
GearCenter += GearPos;
}
GearCenter /= float(NbGears);
StartShape = CreateGearHolderShapes(StartShape, CurrentShape, Pos, GearCenter, NbGears, GearOffsets, mInsideCylinder, &mHighFrictionMaterial, GearCenter);
}
}
PintObjectHandle GearHolder = null;
if(StartShape)
{
if(1)
{
ChassisBoxDesc.mNext = StartShape;
PINT_OBJECT_CREATE ChassisObjectDesc;
ChassisObjectDesc.mPosition = ChassisPos;
ChassisObjectDesc.mShapes = &ChassisBoxDesc;
ChassisObjectDesc.mMass = ChassisMass;
GearHolder = CreatePintObject(pint, ChassisObjectDesc);
ChassisObject = GearHolder;
}
else
{
PINT_OBJECT_CREATE ObjectDesc;
ObjectDesc.mShapes = StartShape;
ObjectDesc.mMass = 10.0f;
ObjectDesc.mPosition = Point(0.0f, 0.0f, 0.0f);
GearHolder = CreatePintObject(pint, ObjectDesc);
}
while(StartShape)
{
PINT_SHAPE_CREATE* NextShape = const_cast<PINT_SHAPE_CREATE*>(StartShape->mNext);
DELETESINGLE(StartShape);
StartShape = NextShape;
}
}
if(1)
{
UserData->mChassis = GearHolder;
UserData->mFront[0].mParent = GearHolder;
UserData->mFront[1].mParent = GearHolder;
UserData->mRear[0].mParent = GearHolder;
UserData->mRear[1].mParent = GearHolder;
for(udword i=0;i<2;i++)
{
const float Coeff = i ? -1.0f : 1.0f;
/*const*/ Point Pos(0.0f, 1.5f, Coeff*(ChassisExtents.z+TrackGap+TrackWidth));
Point GearCenter(0.0f, 0.0f, 0.0f);
for(udword j=0;j<NbGears;j++)
{
const Point GearPos = Pos + GearOffsets[j];
GearCenter += GearPos;
}
GearCenter /= float(NbGears);
GearCenter -= ChassisPos;
CaterpillarTrackObjects CTO;
CreateCaterpillarTrackWIP(pint, CTO, &mHighFrictionMaterial, Pos,
mInsideCylinder, GetRegisteredRenderers()[0], mOutsideCylinder, GetRegisteredRenderers()[1],
NbGears, GearOffsets, GearMass, GearHolder, &GearCenter);
{
UserData->mFront[i].mWheel = CTO.mGears[1];
UserData->mRear[i].mWheel = CTO.mGears[2];
}
}
}
}
}
PintObjectHandle LeftSideObject = CreateBoxObject(pint, SideExtents, LeftSidePos, SideMass);
PintObjectHandle RightSideObject = CreateBoxObject(pint, SideExtents, RightSidePos, SideMass);
const Point HingeAxis(0.0f, 0.0f, 1.0f);
CreateHinge(pint, ChassisObject, LeftSideObject, Point(-ChassisExtents.x, -ChassisExtents.y+SideExtents.y, -ChassisExtents.z-ChassisGap), Point(-SideExtents.x, 0.0f, SideExtents.z), HingeAxis, HingeAxis);
CreateHinge(pint, ChassisObject, RightSideObject, Point(-ChassisExtents.x, -ChassisExtents.y+SideExtents.y, ChassisExtents.z+ChassisGap), Point(-SideExtents.x, 0.0f, -SideExtents.z), HingeAxis, HingeAxis);
// Blade
if(1)
{
const float BladeMinSize = ChassisExtents.z + ChassisGap + SideExtents.z * 2.0f;
const float BladeSize = BladeMinSize + 0.5f;
const Point BladeExtents(0.1f, 0.75f, BladeSize);
const Point BladePos( LeftSidePos.x + SideExtents.x + BladeExtents.x,
SideDistToGround + BladeExtents.y,
0.0f);
const float BladeMass = 1.0f;
PintObjectHandle BladeObject = CreateBoxObject(pint, BladeExtents, BladePos, BladeMass);
const float dz = fabsf(BladePos.z - LeftSidePos.z);
CreateHinge(pint, BladeObject, LeftSideObject, Point(-BladeExtents.x, -BladeExtents.y+SideExtents.y, -dz), Point(SideExtents.x, 0.0f, 0.0f), HingeAxis, HingeAxis);
CreateHinge(pint, BladeObject, RightSideObject, Point(-BladeExtents.x, -BladeExtents.y+SideExtents.y, dz), Point(SideExtents.x, 0.0f, 0.0f), HingeAxis, HingeAxis);
{
const Point Ext1(-BladeExtents.x, BladeExtents.y, dz);
const Point p1 = BladePos + Ext1;
const Point Ext0(0.0f, SideExtents.y, 0.0f);
const Point p0 = RightSidePos + Ext0;
CreatePrismatic(pint, p0, p1, RightSideObject, Ext0, BladeObject, Ext1);
}
{
const Point Ext1(-BladeExtents.x, BladeExtents.y, -dz);
const Point p1 = BladePos + Ext1;
const Point Ext0(0.0f, SideExtents.y, 0.0f);
const Point p0 = LeftSidePos + Ext0;
CreatePrismatic(pint, p0, p1, LeftSideObject, Ext0, BladeObject, Ext1);
}
for(udword i=0;i<2;i++)
{
const float Coeff = i ? -1.0f : 1.0f;
const float Offset = Coeff*0.5f;
const Point Ext0(ChassisExtents.x, ChassisExtents.y, Offset);
const Point p0 = ChassisPos + Ext0;
const Point Ext1(-BladeExtents.x, 0.0f, Offset);
const Point p1 = BladePos + Ext1;
CreatePrismatic(pint, p0, p1, ChassisObject, Ext0, BladeObject, Ext1);
}
}
if(1)
{
PINT_CONVEX_CREATE ConvexCreate[14];
MyConvex C[14];
for(udword i=0;i<14;i++)
{
C[i].LoadFile(i);
ConvexCreate[i].mNbVerts = C[i].mNbVerts;
ConvexCreate[i].mVerts = C[i].mVerts;
ConvexCreate[i].mRenderer = CreateConvexRenderer(ConvexCreate[i].mNbVerts, ConvexCreate[i].mVerts);
}
const float Amplitude = 1.5f;
const udword NbLayers = 12;
const udword NbX = 12+4;
const udword NbY = 12+4;
BasicRandom Rnd(42);
for(udword j=0;j<NbLayers;j++)
{
const float Scale = 4.0f;
for(udword y=0;y<NbY;y++)
{
for(udword x=0;x<NbX;x++)
{
const float xf = (float(x)-float(NbX)*0.5f)*Scale;
const float yf = (float(y)-float(NbY)*0.5f)*Scale;
const Point pos = Point(xf+40.0f, Amplitude + (Amplitude * 2.0f * float(j)), yf);
const udword Index = 10 + Rnd.Randomize() % 4;
PintObjectHandle Handle = CreateSimpleObject(pint, &ConvexCreate[Index], 0.1f, pos);
ASSERT(Handle);
}
}
}
}
return true;
}
