void PhysicsModel::deserialize(database::IArchive& ar)
{
ar.readStringChunk("name", name);
database::IArchive::chunk_info info;
if ( !ar.openChunk("collisionObjects", info) ) {
throw database::serialization_error(AUTO_LOGGER, "Missing collision objects chunk");
}
while ( ar.openChunk("collision_object", info) )
{
std::string target;
ar.readStringChunk("target", target);
collision_object_ptr rbody = ar.readSerializable<CollisionObject>(false, true);
addCollisionObject(rbody, target);
ar.closeChunk();
}
ar.closeChunk();
if ( !ar.openChunk("constraints", info) ) {
throw database::serialization_error(AUTO_LOGGER, "Missing constraints chunk");
}
while ( Constraint* constraint = ar.readSerializable<Constraint>(false, true) ) {
constraints.insert( constraint_ptr(constraint) );
}
ar.closeChunk();
}
/**
* Constructs a new WavefrontBody object.
*
* @param name the name of this WavefrontBody.
*/
WavefrontBody::WavefrontBody(const QString &name, const QString& filename, double scale)
: SimBody(name), mReferenceObjectName(0), mLocalPosition(0), mReferenceObject(0)
{
mScale = new DoubleValue(scale);
mFilename = new FileNameValue(filename);
//mFilename->useAsFileName(true);
mReferenceObjectName = new StringValue("");
mLocalPosition = new Vector3DValue(0.0, 0.0, 0.0);
mLocalOrientation = new Vector3DValue(0.0, 0.0, 0.0);
addParameter("Scale", mScale);
addParameter("FileName", mFilename);
addParameter("ReferenceObject", mReferenceObjectName);
addParameter("LocalPosition", mLocalPosition);
addParameter("LocalOrientation", mLocalOrientation);
//Collision and visualization geometries (will be initialized in update().
mBodyCollisionObject = new CollisionObject(WavefrontGeom(this, filename, scale));
addGeometry(mBodyCollisionObject->getGeometry());
mBodyCollisionObject->setMaterialType(mMaterialValue->get());
mBodyCollisionObject->setTextureType("Default");
mBodyCollisionObject->getGeometry()->setColor(mGeometryColorValue->get());
addCollisionObject(mBodyCollisionObject);
}
void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
{
body->setGravity(m_gravity);
if (body->getCollisionShape())
{
addCollisionObject(body);
}
}
void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, short group, short mask)
{
if (!body->isStaticOrKinematicObject())
{
body->setGravity(m_gravity);
}
if (body->getCollisionShape())
{
addCollisionObject(body,group,mask);
}
}
void BulletDS::addCollisionShape(SP::btCollisionShape shape,
SP::SiconosVector pos,
SP::SiconosVector ori,
int group)
{
SP::btCollisionObject collisionObject(new btCollisionObject());
collisionObject->setUserPointer(this);
collisionObject->setCollisionFlags(collisionObject->getCollisionFlags()|
btCollisionObject::CF_KINEMATIC_OBJECT);
collisionObject->setCollisionShape(&*shape);
addCollisionObject(collisionObject, pos, ori, group);
}
/**
* Copy constructor.
*
* @param other the CapsuleBody object to copy.
*/
CapsuleBody::CapsuleBody(const CapsuleBody &other)
: Object(), ValueChangedListener(), SimBody(other)
{
mRadius = dynamic_cast<DoubleValue*>(getParameter("Radius"));
mLength = dynamic_cast<DoubleValue*>(getParameter("Length"));
mBodyCollisionObject = new CollisionObject(
CapsuleGeom(this, mLength->get(), mRadius->get()));
mBodyCollisionObject->getGeometry()->setColor(mGeometryColorValue->get());
mBodyCollisionObject->setMaterialType(mMaterialValue->get());
mBodyCollisionObject->setTextureType(mTexturesValue->get());
addGeometry(mBodyCollisionObject->getGeometry());
addCollisionObject(mBodyCollisionObject);
}
void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
{
if (!body->isStaticOrKinematicObject())
{
body->setGravity(m_gravity);
}
if (body->getCollisionShape())
{
bool isDynamic = !(body->isStaticObject() || body->isKinematicObject());
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
addCollisionObject(body,collisionFilterGroup,collisionFilterMask);
}
}
/**
* Constructs a new CapsuleBody.
*/
CapsuleBody::CapsuleBody(const QString &name, double length, double radius)
: SimBody(name), mRadius(0), mLength(0)
{
mRadius = new DoubleValue(radius);
mLength = new DoubleValue(length);
addParameter("Radius", mRadius);
addParameter("Length", mLength);
//Collision and visualization geometries (will be initialized in update().
mBodyCollisionObject = new CollisionObject(
CapsuleGeom(this, mLength->get(), mRadius->get()));
addGeometry(mBodyCollisionObject->getGeometry());
mBodyCollisionObject->setMaterialType(mMaterialValue->get());
mBodyCollisionObject->setTextureType("None");
mBodyCollisionObject->getGeometry()->setColor(mGeometryColorValue->get());
addCollisionObject(mBodyCollisionObject);
}
/**
* Creates a copy of object body.
* The default CollisionObject and Geometry of a BoxBody are copied as well.
* @param body the BoxBody to copy.
*/
BoxBody::BoxBody(const BoxBody &body)
: Object(), ValueChangedListener(), SimBody(body)
{
mWidth = dynamic_cast<DoubleValue*>(getParameter("Width"));
mHeight = dynamic_cast<DoubleValue*>(getParameter("Height"));
mDepth = dynamic_cast<DoubleValue*>(getParameter("Depth"));
mBodyCollisionObject = new CollisionObject(
BoxGeom(this, mWidth->get(), mHeight->get(), mDepth->get()));
//mBodyCollisionObject = new CollisionObject(WavefrontGeom(this, "alice.obj", 0.1));
mBodyCollisionObject->getGeometry()->setColor(mGeometryColorValue->get());
mBodyCollisionObject->setMaterialType(mMaterialValue->get());
mBodyCollisionObject->setTextureType(mTexturesValue->get());
addGeometry(mBodyCollisionObject->getGeometry());
addCollisionObject(mBodyCollisionObject);
}
/**
* Creates a copy of object body.
* The default CollisionObject and Geometry of a WavefrontBody are copied as well.
* @param body the WavefrontBody to copy.
*/
WavefrontBody::WavefrontBody(const WavefrontBody &body)
: Object(), ValueChangedListener(), SimBody(body), mReferenceObjectName(0),
mLocalPosition(0), mReferenceObject(0)
{
mScale = dynamic_cast<DoubleValue*>(getParameter("Scale"));
mFilename = dynamic_cast<FileNameValue*>(getParameter("FileName"));
mReferenceObjectName = dynamic_cast<StringValue*>(getParameter("ReferenceObject"));
mLocalPosition = dynamic_cast<Vector3DValue*>(getParameter("LocalPosition"));
mLocalOrientation = dynamic_cast<Vector3DValue*>(getParameter("LocalOrientation"));
mBodyCollisionObject = new CollisionObject(WavefrontGeom(this, mFilename->get(), mScale->get()));
addGeometry(mBodyCollisionObject->getGeometry());
mBodyCollisionObject->setMaterialType(mMaterialValue->get());
mBodyCollisionObject->setTextureType("Default");
mBodyCollisionObject->getGeometry()->setColor(mGeometryColorValue->get());
addCollisionObject(mBodyCollisionObject);
}
void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, short group, short mask)
{
if (!body->isStaticOrKinematicObject() && !(body->getFlags() &BT_DISABLE_WORLD_GRAVITY))
{
body->setGravity(m_gravity);
}
if (body->getCollisionShape())
{
if (!body->isStaticObject())
{
m_nonStaticRigidBodies.push_back(body);
}
else
{
body->setActivationState(ISLAND_SLEEPING);
}
addCollisionObject(body,group,mask);
}
}
BoxBody::BoxBody(const QString &name, double width, double height, double depth)
: SimBody(name)
{
mWidth = new DoubleValue(width);
mHeight = new DoubleValue(height);
mDepth = new DoubleValue(depth);
addParameter("Width", mWidth);
addParameter("Height", mHeight);
addParameter("Depth", mDepth);
//Collision and visualization geometries (will be initialized in update().
mBodyCollisionObject = new CollisionObject(
BoxGeom(this, mWidth->get(), mHeight->get(), mDepth->get()));
//mBodyCollisionObject = new CollisionObject(WavefrontGeom(this, "alice.obj", 0.1));
addGeometry(mBodyCollisionObject->getGeometry());
mBodyCollisionObject->setMaterialType(mMaterialValue->get());
mBodyCollisionObject->setTextureType("Default");
mBodyCollisionObject->getGeometry()->setColor(mGeometryColorValue->get());
addCollisionObject(mBodyCollisionObject);
}
void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
{
if (!body->isStaticOrKinematicObject() && !(body->getFlags() &BT_DISABLE_WORLD_GRAVITY))
{
body->setGravity(m_gravity);
}
if (body->getCollisionShape())
{
if (!body->isStaticObject())
{
m_nonStaticRigidBodies.push_back(body);
} else
{
body->setActivationState(ISLAND_SLEEPING);
}
bool isDynamic = !(body->isStaticObject() || body->isKinematicObject());
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
addCollisionObject(body,collisionFilterGroup,collisionFilterMask);
}
}
void SimpleLightSource::createCollisionObject() {
if(mBodyCollisionObject != 0) {
delete mBodyCollisionObject;
}
mBodyCollisionObject = 0;
CylinderGeom geom(this, mRadius->get(), 0.05);
Quaternion orientation;
if(mSwitchYZAxes != 0 && mSwitchYZAxes->get()) {
orientation.setFromAngles(90.0, 0.0, 0.0);
}
else {
orientation.setFromAngles(0.0, 0.0, 90.0);
}
geom.setLocalOrientation(orientation);
mBodyCollisionObject = new CollisionObject(geom);
addGeometry(mBodyCollisionObject->getGeometry());
mBodyCollisionObject->setMaterialType("Light");
mBodyCollisionObject->setTextureType("None");
mBodyCollisionObject->getGeometry()->setColor(mLightColor->get());
addCollisionObject(mBodyCollisionObject);
}
