void RigidBody::postUnserialization()
{
Link *link = entity.getLinkPtr();
if (isKinematic())
{
auto p = posFromMat4(link->getGlobalTransform());
setPosition(posFromMat4(link->getGlobalTransform()));
setRotation(link->getOrientation());
}
}
void updateStatic(Entity &e)
{
btTransform transform;
glm::vec3 position = posFromMat4(e->getGlobalTransform());
glm::vec3 scale = scaleFromMat4(e->getGlobalTransform());
glm::vec3 rot = rotFromMat4(e->getGlobalTransform(), true);
transform.setIdentity();
transform.setOrigin(convertGLMVectorToBullet(position));
transform.setRotation(btQuaternion(rot.x, rot.y, rot.z));
auto c = e->getComponent<Component::RigidBody>();
c->getBody().setWorldTransform(transform);
c->getShape().setLocalScaling(convertGLMVectorToBullet(scale));
}
void RigidBody::_copyFrom(const ComponentBase *model)
{
init();
auto m = (RigidBody*)model;
#ifdef EDITOR_ENABLED
editorUpdate();
if (editorStruct)
{
editorStruct->copyDatas(m);
editorStruct->refreshDatas(this);
Link *link = entity.getLinkPtr();
if (isKinematic())
{
auto p = posFromMat4(link->getGlobalTransform());
setPosition(posFromMat4(link->getGlobalTransform()));
setRotation(link->getOrientation());
// global orientation not supported
}
}
#else
setAngularDrag(m->getAngularDrag());
setAngularVelocity(m->getAngularVelocity());
setCenterOfMass(m->getCenterOfMass());
setLinearDrag(m->getLinearDrag());
setLinearVelocity(m->getLinearVelocity());
setMass(m->getMass());
setDiagonalInertiaTensor(m->getDiagonalInertiaTensor());
setMaxAngularVelocity(m->getMaxAngularVelocity());
setMaxDepenetrationVelocity(m->getMaxDepenetrationVelocity());
affectByGravity(m->isAffectedByGravity());
setPosition(m->getPosition());
setRotation(m->getRotation());
setAsKinematic(m->isKinematic());
setCollisionDetectionMode(m->getCollisionDetectionMode());
#endif
}
void updateDynamic(Entity &e)
{
btMotionState &state = e->getComponent<Component::RigidBody>()->getMotionState();
glm::mat4 m;
btTransform trans;
state.getWorldTransform(trans);
glm::mat4 t = convertBulletTransformToGLM(trans);
m = glm::translate(m, posFromMat4(t));
glm::vec3 rot = rotFromMat4(t, false);
m = glm::rotate(m, rot.x, glm::vec3(1, 0, 0));
m = glm::rotate(m, rot.y, glm::vec3(0, 1, 0));
m = glm::rotate(m, rot.z, glm::vec3(0, 0, 1));
glm::vec3 scale = scaleFromMat4(e->getLocalTransform());
m = glm::scale(m, scale);
e->setLocalTransform() = m;
}
void setCollisionShape(CollisionShape c, const std::string &meshName = "")
{
if (c == UNDEFINED)
return;
_meshName = meshName;
_reset();
_shapeType = c;
btTransform transform;
glm::vec3 position = posFromMat4(_entity->getLocalTransform());
glm::vec3 scale = scaleFromMat4(_entity->getLocalTransform());
std::cout << scale.x << " " << scale.y << " " << scale.z << std::endl;
glm::vec3 rot = rotFromMat4(_entity->getLocalTransform(), true);
transform.setIdentity();
transform.setOrigin(convertGLMVectorToBullet(position));
transform.setRotation(btQuaternion(rot.x, rot.y, rot.z));
_motionState = new btDefaultMotionState(transform);
if (c == BOX)
{
_collisionShape = new btBoxShape(btVector3(0.5, 0.5, 0.5));//new btBoxShape(halfScale);
}
else if (c == SPHERE)
{
_collisionShape = new btSphereShape(0.5);//new btSphereShape(scale.x);
}
else if (c == MESH)
{
// THERE IS SOME LEAKS BECAUSE THAT'S TEMPORARY
SmartPointer<Resources::SharedMesh> mesh = _scene->getEngine().getInstance<Resources::ResourceManager>().getResource(meshName);
auto group = new btCompoundShape();
auto &geos = mesh->getGeometry();
for (unsigned int i = 0; i < geos.size(); ++i)
{
const Resources::Geometry &geo = geos[i]; // DIRTY HACK TEMPORARY
// NEED TO REPLACE MESH BY MESH GROUP !
btScalar *t = new btScalar[geo.vertices.size() * 3]();
for (unsigned int it = 0; it < geo.vertices.size(); ++it)
{
t[it * 3] = geo.vertices[it].x;
t[it * 3 + 1] = geo.vertices[it].y;
t[it * 3 + 2] = geo.vertices[it].z;
}
btConvexHullShape *tmp = new btConvexHullShape(t, geo.vertices.size(), 3 * sizeof(btScalar));
btShapeHull *hull = new btShapeHull(tmp);
btScalar margin = tmp->getMargin();
hull->buildHull(margin);
tmp->setUserPointer(hull);
btConvexHullShape *s = new btConvexHullShape();
for (int it = 0; it < hull->numVertices(); ++it)
{
s->addPoint(hull->getVertexPointer()[it], false);
}
s->recalcLocalAabb();
btTransform localTrans;
localTrans.setIdentity();
_collisionShape = s;
group->addChildShape(localTrans,s);
delete[] t;
delete hull;
delete tmp;
}
_collisionShape = group;
}
else if (c == CONCAVE_STATIC_MESH) // dont work
{
SmartPointer<Resources::SharedMesh> mesh = _scene->getEngine().getInstance<Resources::ResourceManager>().getResource(meshName);
auto trimesh = new btTriangleMesh();
auto &geos = mesh->getGeometry();
for (unsigned int j = 0; j < geos.size(); ++j)
{
const Resources::Geometry &geo = geos[j];
for (unsigned int i = 2; i < geo.vertices.size(); i += 3)
{
trimesh->addTriangle(btVector3(geo.vertices[i - 2].x, geo.vertices[i - 2].y, geo.vertices[i - 2].z)
, btVector3(geo.vertices[i - 1].x, geo.vertices[i - 1].y, geo.vertices[i - 1].z)
, btVector3(geo.vertices[i].x, geo.vertices[i].y, geo.vertices[i].z));
}
}
auto bvh = new btBvhTriangleMeshShape(trimesh, true);
bvh->buildOptimizedBvh();
bool isit = bvh->isConcave();
_collisionShape = bvh;
}
if (_mass != 0)
_collisionShape->calculateLocalInertia(_mass, _inertia);
_collisionShape->setLocalScaling(convertGLMVectorToBullet(scale));
_rigidBody = new btRigidBody(_mass, _motionState, _collisionShape, _inertia);
_rigidBody->setUserPointer(&_entity);
_rigidBody->setAngularFactor(convertGLMVectorToBullet(_rotationConstraint));
_rigidBody->setLinearFactor(convertGLMVectorToBullet(_transformConstraint));
if (_rigidBody->isStaticObject())
{
_rigidBody->setActivationState(DISABLE_SIMULATION);
}
_manager->getWorld()->addRigidBody(_rigidBody);
}
