void Entity::InitializePhysics() {
btTransform transform(btQuaternion(0, 0, 0, 1), btVector3(mPosition.x, mPosition.y, 0));
transform.setIdentity();
//btTransform transform;
transform.setIdentity();
btScalar mass(1.f);
btVector3 local_inertia(0, 0, 0);
if(mUID.substr(0,5) == "empty") {
mCollisionShape = boost::shared_ptr<btCollisionShape>(new btBoxShape(btVector3(15*mScale, 1*mScale, 1)));
} else if(mImageFile == "evil1") {
mCollisionShape = boost::shared_ptr<btCollisionShape>(new btBoxShape(btVector3(0.5*mScale, 0.22*mScale, 1)));
} else if(mImageFile == "evil2") {
mCollisionShape = boost::shared_ptr<btCollisionShape>(new btBoxShape(btVector3(0.5*mScale, 0.05*mScale, 1)));
} else {
mCollisionShape = boost::shared_ptr<btCollisionShape>(new btBoxShape(btVector3(1.2*mScale, 1.2*mScale, 1)));
}
mCollisionShape->calculateLocalInertia(mass, local_inertia);
transform.setOrigin(btVector3(mPosition.x, mPosition.y, 0));
transform.setRotation(btQuaternion(0, 0, PI - mRotation));
mMotionState = boost::shared_ptr<btDefaultMotionState>(new btDefaultMotionState(transform));
btRigidBody::btRigidBodyConstructionInfo rb_info(mass, mMotionState.get(), mCollisionShape.get(), local_inertia);
mBody = boost::shared_ptr<btRigidBody>(new btRigidBody(rb_info));
mBody->setDamping(0.2f, 0.2f);
//mBody->setActivationState(DISABLE_DEACTIVATION);
mBody->setLinearFactor(btVector3(1,1,0));
mBody->setAngularFactor(btVector3(0,0,1));
//mBody->setAngularFactor(btVector3(0,0,1));
mBody->setUserPointer(this);
}
void EQPhysics::RegisterMesh(const std::string &ident, const std::vector<glm::vec3>& verts, const std::vector<unsigned int>& inds, const glm::vec3 &pos, EQPhysicsFlags flag) {
UnregisterMesh(ident);
if (verts.size() == 0 || inds.size() == 0) {
return;
}
btTriangleMesh *mesh = new btTriangleMesh();
int face_count = (int)inds.size() / 3;
for (int i = 0; i < face_count; ++i) {
unsigned int i1 = inds[i * 3 + 0];
unsigned int i2 = inds[i * 3 + 1];
unsigned int i3 = inds[i * 3 + 2];
btVector3 v1(verts[i1].x, verts[i1].y, verts[i1].z);
btVector3 v2(verts[i2].x, verts[i2].y, verts[i2].z);
btVector3 v3(verts[i3].x, verts[i3].y, verts[i3].z);
mesh->addTriangle(v1, v2, v3);
}
btBvhTriangleMeshShape *mesh_shape = new btBvhTriangleMeshShape(mesh, true, true);
btTransform origin_transform;
origin_transform.setIdentity();
origin_transform.setOrigin(btVector3(pos.x, pos.y, pos.z));
btDefaultMotionState* motionState = new btDefaultMotionState(origin_transform);
btRigidBody::btRigidBodyConstructionInfo rb_info(0.0f, motionState, mesh_shape, btVector3(0.0f, 0.0f, 0.0f));
btRigidBody *rb = new btRigidBody(rb_info);
imp->collision_world->addRigidBody(rb, (short)flag, (short)flag);
imp->entity_info->insert(std::make_pair(ident, btMeshInfo(mesh, mesh_shape, rb)));
}
void OCModel::init()
{
collision_configuration_ = new btDefaultCollisionConfiguration();
dispatcher_ = new btCollisionDispatcher(collision_configuration_);
broadphase_ = new btDbvtBroadphase();
solver_ = new btSequentialImpulseConstraintSolver;
dynamics_world_ = new btDiscreteDynamicsWorld(dispatcher_, broadphase_,
solver_, collision_configuration_);
dynamics_world_->setGravity(btVector3(0, -10, 0));
dynamics_world_->setDebugDrawer(new OCDebugDraw());
//Temporary stuff to get it working
btBoxShape *ground_shape =
new btBoxShape(btVector3(btScalar(50.), btScalar(50.), btScalar(50.)));
btTransform ground_transform;
ground_transform.setIdentity();
ground_transform.setOrigin(btVector3(0, -50, 0));
btScalar mass(0.);
btVector3 local_inertia(0, 0, 0);
btDefaultMotionState *my_motion_state = new btDefaultMotionState(ground_transform);
btRigidBody::btRigidBodyConstructionInfo ground_info(mass,
my_motion_state,
ground_shape,
local_inertia);
btRigidBody *ground = new btRigidBody(ground_info);
dynamics_world_->addRigidBody(ground);
//collision_shapes_.push_back(col_shape);
//std::cout << "local inertia: ( " << local_inertia.x() << ", " << local_inertia.y() << ", " << local_inertia.z() << " )\n";
//CreatureNode *creature = new CreatureNode(1, 1, btVector3(1, 1, 1));
//CreatureNode *creature = new CreatureNode(1, 1, col_shape);
//creatures_.push_back(creature);
//creature->AddToWorld(dynamics_world_, btVector3(
// btScalar(start_x + 20),
// btScalar(20 + start_y),
// btScalar(start_z + 20)));
mass = 1.f;
btTransform start_transform;
start_transform.setIdentity();
start_transform.setOrigin(btVector3(
btScalar(-5),
btScalar(15),
btScalar(-5)));
my_motion_state = new btDefaultMotionState(start_transform);
btBoxShape *col_shape = new btBoxShape(btVector3(1, 1, 1));
col_shape->calculateLocalInertia(mass, local_inertia);
btRigidBody::btRigidBodyConstructionInfo rb_info(mass,
my_motion_state,
col_shape,
local_inertia);
btRigidBody *body = new btRigidBody(rb_info);
dynamics_world_->addRigidBody(body);
CreatureNode *c = new CreatureNode(1, 1, btVector3(2, 3, 2));
c->AddToWorld(dynamics_world_, btVector3(0, 15, 0));
c = new CreatureNode(1, 1, c->shape_);
c->AddToWorld(dynamics_world_, btVector3(10, 15, 10));
}