impl::impl(system_impl_ptr sys,compound_sensor_ptr s,/*compound_shape_proxy& s,*/ params_t const& params, decart_position const& pos)
: bt_body_user_info_t(rb_aircraft)
, sys_ (sys)
, chassis_ (sys->dynamics_world())
, raycast_veh_(sys->dynamics_world())
, chassis_shape_(compound_sensor_impl_ptr(s)->cs_)
, params_(params)
, elevator_(0)
, ailerons_(0)
, rudder_(0)
, thrust_(0)
, steer_(0)
, prev_attack_angle_(0)
, has_chassis_contact_(false)
, body_contact_points_(1.5)
{
tuning_.m_maxSuspensionTravelCm = 500;
btTransform tr;
tr.setIdentity();
btVector3 aabbMin,aabbMax;
#if 0
chassis_shape_.get()->getAabb(tr,aabbMin,aabbMax);
#else
chassis_shape_->getAabb(tr,aabbMin,aabbMax);
#endif
btScalar dxx = btScalar(params_.wingspan / 2);
btScalar dyy = btScalar(params_.length / 2);
btScalar dzz = btScalar((aabbMax.z() - aabbMin.z()) / 2);
btScalar m12 = btScalar((params_.mass) /12);
btVector3 inertia = m12 * btVector3(dyy*dyy + dzz*dzz, dxx*dxx + dzz*dzz, dyy*dyy + dxx*dxx);
btDefaultMotionState* motionState = new btDefaultMotionState(tr);
btRigidBody::btRigidBodyConstructionInfo chassis_construction_info(btScalar(params_.mass), NULL/*new custom_ms*//*motionState*/, chassis_shape_/*&*chassis_shape_.get()*/, inertia);
chassis_.reset(phys::bt_rigid_body_ptr(boost::make_shared<btRigidBody>(chassis_construction_info)));
// FIXME TODO
chassis_->setCenterOfMassTransform(to_bullet_transform(pos.pos, pos.orien.cpr()));
FIXME("Off point for bullet")
#if 1
chassis_->setLinearVelocity(to_bullet_vector3(pos.dpos));
#endif
//chassis_->setDamping(0.05f, 0.5f);
chassis_->setRestitution(0.1f);
//chassis_->setActivationState(DISABLE_DEACTIVATION);
chassis_->setFriction(0.3f);
raycast_veh_.reset(boost::make_shared<btRaycastVehicle>(tuning_, &*chassis_.get(), &*sys->vehicle_raycaster()));
raycast_veh_->setCoordinateSystem(0,2,1);
sys_->dynamics_world()->addAction(this);
sys_->register_rigid_body(this);
chassis_->setUserPointer(this);
}
impl::impl(system_impl_ptr sys,compound_sensor_ptr s,params_t const& params, decart_position const& pos)
: bt_body_user_info_t(rb_simple)
, sys_ (sys)
, chassis_ (sys->dynamics_world())
, chassis_shape_ (s?compound_sensor_impl_ptr(s)->cs_: create_compound_shape())
, params_ (params)
, has_chassis_contact_ (false)
, body_contact_points_ (1.5)
{
btTransform tr;
tr.setIdentity();
btVector3 aabbMin,aabbMax;
#if 1
FIXME(chassis_shape_)
chassis_shape_->getAabb(tr,aabbMin,aabbMax);
const float fake_mass = 20;
btScalar dxx = btScalar((aabbMax.x() - aabbMin.x()) / 2);
btScalar dyy = btScalar((aabbMax.y() - aabbMin.y()) / 2);
btScalar dzz = btScalar((aabbMax.z() - aabbMin.z()) / 2);
btScalar m12 = btScalar((fake_mass) /12);
btVector3 inertia = m12 * btVector3(dyy*dyy + dzz*dzz, dxx*dxx + dzz*dzz, dyy*dyy + dxx*dxx);
btDefaultMotionState* motionState = new btDefaultMotionState(tr);
btRigidBody::btRigidBodyConstructionInfo chassis_construction_info(btScalar(fake_mass), /*NULL*//*new custom_ms*/motionState, new btBoxShape(btVector3(.6,.6,.6))/*chassis_shape_*//*&*chassis_shape_.get()*/, inertia);
chassis_.reset(boost::make_shared<btRigidBody>(chassis_construction_info));
// FIXME TODO
chassis_->setCenterOfMassTransform(to_bullet_transform(pos.pos, pos.orien.cpr()));
#if 0
chassis_->setLinearVelocity(to_bullet_vector3(pos.dpos));
#endif
//chassis_->setDamping(0.05f, 0.5f);
chassis_->setRestitution(0.1f);
//chassis_->setActivationState(DISABLE_DEACTIVATION);
chassis_->setFriction(0.3f);
#endif
//sys_->dynamics_world()->addAction(this);
sys_->register_rigid_body(this);
#if 1
chassis_->setUserPointer(this);
#endif
}