virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& clr)
{
PfxVector3 position1 = getVmVector3(from);
PfxVector3 position2 = getVmVector3(to);
PfxVector3 color = getVmVector3(clr);
render_debug_line(position1,position2,color);
}
void physics_simulate()
{
//run the simulation
static btClock clock;
static bool first = true;
if (first)
{
first=false;
clock.reset();
}
btScalar dt = (btScalar)clock.getTimeMicroseconds();
clock.reset();
m_dynamicsWorld->stepSimulation(dt/1000000.f);
int i;
for (i=0;i<m_dynamicsWorld->getNumCollisionObjects();i++)
{
btRigidBody* body = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[i]);
if (body)
{
PfxRigidState* state = (PfxRigidState*) body->getUserPointer();
PfxVector3 pe_pos = getVmVector3(body->getWorldTransform().getOrigin());
PfxQuat pe_orn = getVmQuat(body->getWorldTransform().getRotation());
PfxVector3 pe_lvel = getVmVector3(body->getLinearVelocity());
PfxVector3 pe_avel = getVmVector3(body->getAngularVelocity());
state->setPosition(pe_pos);
state->setOrientation(pe_orn);
state->setLinearVelocity(pe_lvel);
state->setAngularVelocity(pe_avel);
}
}
}
static void convertShape(btCollisionShape* bulletShape, btAlignedObjectArray<sce::PhysicsEffects::PfxShape>& shapes)
{
switch (bulletShape->getShapeType())
{
case BOX_SHAPE_PROXYTYPE:
{
btBoxShape* boxshape = (btBoxShape*)bulletShape;
sce::PhysicsEffects::PfxBox box(boxshape->getHalfExtentsWithMargin().getX(),boxshape->getHalfExtentsWithMargin().getY(),boxshape->getHalfExtentsWithMargin().getZ());
sce::PhysicsEffects::PfxShape& shape = shapes.expand();
shape.reset();
shape.setBox(box);
break;
}
case TRIANGLE_MESH_SHAPE_PROXYTYPE:
{
btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*) bulletShape;
int numSubParts = trimesh->getMeshInterface()->getNumSubParts();
btAssert(numSubParts>0);
for (int i=0;i<numSubParts;i++)
{
unsigned char* vertexBase=0;
int numVerts = 0;
PHY_ScalarType vertexType;
int vertexStride=0;
unsigned char* indexBase=0;
int indexStride=0;
int numFaces=0;
PHY_ScalarType indexType;
trimesh->getMeshInterface()->getLockedVertexIndexBase(&vertexBase,numVerts,vertexType,vertexStride,&indexBase,indexStride,numFaces,indexType,i);
sce::PhysicsEffects::PfxCreateLargeTriMeshParam param;
btAssert(param.flag&SCE_PFX_MESH_FLAG_16BIT_INDEX);
unsigned short int* copyIndices = new unsigned short int[numFaces*3];
switch (indexType)
{
case PHY_UCHAR:
{
for (int p=0;p<numFaces;p++)
{
copyIndices[p*3]=indexBase[p*indexStride];
copyIndices[p*3+1]=indexBase[p*indexStride+1];
copyIndices[p*3+2]=indexBase[p*indexStride+2];
}
break;
}
//PHY_INTEGER:
//PHY_SHORT:
default:
{
btAssert(0);
}
};
param.verts = (float*)vertexBase;
param.numVerts = numVerts;
param.vertexStrideBytes = vertexStride;
param.triangles = copyIndices;
param.numTriangles = numFaces;
param.triangleStrideBytes = sizeof(unsigned short int)*3;
sce::PhysicsEffects::PfxLargeTriMesh* largeMesh = new sce::PhysicsEffects::PfxLargeTriMesh();
sce::PhysicsEffects::PfxInt32 ret = pfxCreateLargeTriMesh(*largeMesh,param);
if(ret != SCE_PFX_OK) {
SCE_PFX_PRINTF("Can't create large mesh.\n");
}
sce::PhysicsEffects::PfxShape& shape = shapes.expand();
shape.reset();
shape.setLargeTriMesh(largeMesh);
}
break;
}
case SPHERE_SHAPE_PROXYTYPE:
{
btSphereShape* sphereshape = (btSphereShape*)bulletShape;
sce::PhysicsEffects::PfxSphere sphere(sphereshape->getRadius());
sce::PhysicsEffects::PfxShape& shape = shapes.expand();
shape.reset();
shape.setSphere(sphere);
break;
}
case CAPSULE_SHAPE_PROXYTYPE:
{
btCapsuleShape* capsuleshape= (btCapsuleShape*)bulletShape;//assume btCapsuleShapeX for now
sce::PhysicsEffects::PfxCapsule capsule(capsuleshape->getHalfHeight(),capsuleshape->getRadius());
sce::PhysicsEffects::PfxShape& shape = shapes.expand();
shape.reset();
shape.setCapsule(capsule);
break;
}
case CYLINDER_SHAPE_PROXYTYPE:
{
btCylinderShape* cylindershape= (btCylinderShape*)bulletShape;//assume btCylinderShapeX for now
sce::PhysicsEffects::PfxCylinder cylinder(cylindershape->getHalfExtentsWithMargin()[0],cylindershape->getRadius());
sce::PhysicsEffects::PfxShape& shape = shapes.expand();
shape.reset();
shape.setCylinder(cylinder);
break;
}
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
btConvexHullShape* convexHullShape = (btConvexHullShape*)bulletShape;
sce::PhysicsEffects::PfxConvexMesh* convex = new sce::PhysicsEffects::PfxConvexMesh();
convex->m_numVerts = convexHullShape->getNumPoints();
convex->m_numIndices = 0;//todo for ray intersection test support
for (int i=0;i<convex->m_numVerts;i++)
{
convex->m_verts[i].setX(convexHullShape->getPoints()[i].getX());
convex->m_verts[i].setY(convexHullShape->getPoints()[i].getY());
convex->m_verts[i].setZ(convexHullShape->getPoints()[i].getZ());
}
convex->updateAABB();
sce::PhysicsEffects::PfxShape& shape = shapes.expand();
shape.reset();
shape.setConvexMesh(convex);
break;
}
case COMPOUND_SHAPE_PROXYTYPE:
{
btCompoundShape* compound = (btCompoundShape*) bulletShape;
for (int s=0;s<compound->getNumChildShapes();s++)
{
convertShape(compound->getChildShape(s),shapes);
sce::PhysicsEffects::PfxMatrix3 rotMat = getVmMatrix3(compound->getChildTransform(s).getBasis());
sce::PhysicsEffects::PfxVector3 translate = getVmVector3(compound->getChildTransform(s).getOrigin());
sce::PhysicsEffects::PfxTransform3 childtransform(rotMat,translate);
shapes[shapes.size()-1].setOffsetTransform(childtransform);
}
break;
}
default:
{
btAssert(0);
}
};
}
