CPhysicsObject *CreatePhysicsSphere( CPhysicsEnvironment *pEnvironment, float radius, int materialIndex, const Vector &position, const QAngle &angles, objectparams_t *pParams, bool isStatic )
{
IVP_U_Quat rotation;
IVP_U_Point pos;
ConvertRotationToIVP( angles, rotation );
ConvertPositionToIVP( position, pos );
IVP_Template_Real_Object objectTemplate;
InitObjectTemplate( objectTemplate, materialIndex, pParams, isStatic );
IVP_Template_Ball ballTemplate;
ballTemplate.radius = ConvertDistanceToIVP( radius );
IVP_Ball *realObject = pEnvironment->GetIVPEnvironment()->create_ball( &ballTemplate, &objectTemplate, &rotation, &pos );
float volume = pParams->volume;
if ( volume <= 0 )
{
volume = 4.0f * radius * radius * radius * M_PI / 3.0f;
}
CPhysicsObject *pObject = new CPhysicsObject();
pObject->Init( realObject, materialIndex, volume, 0, 0, NULL ); //, pParams->dragCoefficient, pParams->dragCoefficient
pObject->SetGameData( pParams->pGameData );
if ( pParams->enableCollisions )
{
pObject->EnableCollisions( true );
}
// drag is not supported on spheres
//pObject->EnableDrag( false );
// no rolling drag by default
pObject->SetRollingDrag( 0 );
return pObject;
}
CPhysicsObject* CreatePhysicsSphere(CPhysicsEnvironment *pEnvironment, float radius, int materialIndex, const Vector &position, const QAngle &angles, objectparams_t *pParams, bool isStatic) {
btSphereShape* shape = new btSphereShape(ConvertDistanceToBull(radius));
btVector3 vector;
btMatrix3x3 matrix;
ConvertPosToBull(position, vector);
ConvertRotationToBull(angles, matrix);
btTransform transform(matrix, vector);
float mass = pParams->mass;
if (isStatic) mass = 0;
btMotionState* motionstate = new btMassCenterMotionState(transform);
btRigidBody::btRigidBodyConstructionInfo info(mass,motionstate,shape);
btRigidBody* body = new btRigidBody(info);
if (mass > 0)
pEnvironment->GetBulletEnvironment()->addRigidBody(body);
else
pEnvironment->GetBulletEnvironment()->addRigidBody(body, 2, ~2);
float volume = pParams->volume;
if (volume <= 0) {
volume = 4.0f * radius * radius * radius * M_PI / 3.0f;
}
CPhysicsObject *pObject = new CPhysicsObject();
pObject->Init(pEnvironment, body, materialIndex, volume, 0, 0, NULL);
pObject->SetGameData(pParams->pGameData);
pObject->EnableCollisions(pParams->enableCollisions);
return pObject;
}
CPhysicsObject* CreatePhysicsObject(CPhysicsEnvironment *pEnvironment, const CPhysCollide *pCollisionModel, int materialIndex, const Vector &position, const QAngle& angles, objectparams_t *pParams, bool isStatic) {
btCollisionShape* shape = (btCollisionShape*)pCollisionModel;
btVector3 vector;
btMatrix3x3 matrix;
ConvertPosToBull(position, vector);
ConvertRotationToBull(angles, matrix);
btTransform transform(matrix, vector);
PhysicsShapeInfo *shapeInfo = (PhysicsShapeInfo*)shape->getUserPointer();
btTransform masscenter(btMatrix3x3::getIdentity());
if (shapeInfo) masscenter.setOrigin(shapeInfo->massCenter);
float mass = pParams->mass;
if (isStatic) mass = 0;
btVector3 inertia;
shape->calculateLocalInertia(mass, inertia);
btMotionState* motionstate = new btMassCenterMotionState(transform, masscenter);
btRigidBody::btRigidBodyConstructionInfo info(mass,motionstate,shape,inertia);
info.m_linearDamping = pParams->damping;
info.m_angularDamping = pParams->rotdamping;
//info.m_localInertia = btVector3(pParams->inertia, pParams->inertia, pParams->inertia);
btRigidBody* body = new btRigidBody(info);
if (mass > 0)
pEnvironment->GetBulletEnvironment()->addRigidBody(body);
else
pEnvironment->GetBulletEnvironment()->addRigidBody(body, 2, ~2);
CPhysicsObject *pObject = new CPhysicsObject();
pObject->Init(pEnvironment, body, materialIndex, pParams->volume, pParams->dragCoefficient, pParams->dragCoefficient, pParams->massCenterOverride);
pObject->SetGameData(pParams->pGameData);
pObject->EnableCollisions(pParams->enableCollisions);
if (!isStatic && pParams->dragCoefficient != 0.0f) pObject->EnableDrag(true);
/*if (mass > 0)
{
btVector3 mins, maxs;
shape->getAabb(btTransform::getIdentity(), mins, maxs);
float maxradius = min(min(abs(maxs.getX()), abs(maxs.getY())), abs(maxs.getZ()));
float minradius = min(min(abs(mins.getX()), abs(mins.getY())), abs(mins.getZ()));
float radius = min(maxradius,minradius)/2.0f;
body->setCcdMotionThreshold(radius*0.5f);
body->setCcdSweptSphereRadius(0.2f*radius);
}*/
return pObject;
}
CPhysicsObject *CreatePhysicsObject(CPhysicsEnvironment *pEnvironment, const CPhysCollide *pCollisionModel, int materialIndex, const Vector &position, const QAngle &angles, objectparams_t *pParams, bool isStatic) {
if (!pCollisionModel) return NULL;
// Some checks
Assert(position.IsValid() && angles.IsValid());
btCollisionShape *pShape = (btCollisionShape *)pCollisionModel->GetCollisionShape();
btTransform massCenterTrans = btTransform::getIdentity();
massCenterTrans.setOrigin(pCollisionModel->GetMassCenter());
btMassCenterMotionState *pMotionState = new btMassCenterMotionState(massCenterTrans);
btVector3 bullPos;
btMatrix3x3 bullMatrix;
ConvertPosToBull(position, bullPos);
ConvertRotationToBull(angles, bullMatrix);
btTransform initialWordTrans(bullMatrix, bullPos);
pMotionState->setGraphicTransform(initialWordTrans);
// Grab some parameters
btScalar mass = 0.f;
btVector3 inertia(0, 0, 0);
btVector3 inertiaCoeff(1, 1, 1);
if (pParams && !isStatic) {
mass = pParams->mass;
// TODO: Grab massCenterOverride and set it up correctly.
// Don't allow the inertia coefficient to be less than 0!
if (pParams->inertia >= 0)
inertiaCoeff.setValue(pParams->inertia, pParams->inertia, pParams->inertia);
pShape->calculateLocalInertia(mass, inertia);
//inertia = pCollisionModel->GetRotationInertia();
//inertia *= inertiaCoeff * mass;
}
btRigidBody::btRigidBodyConstructionInfo info(mass, pMotionState, pShape, inertia);
btRigidBody *pBody = new btRigidBody(info);
CPhysicsObject *pObject = new CPhysicsObject();
pObject->Init(pEnvironment, pBody, materialIndex, pParams, isStatic);
return pObject;
}
CPhysicsObject *CreatePhysicsObject( CPhysicsEnvironment *pEnvironment, const CPhysCollide *pCollisionModel, int materialIndex, const Vector &position, const QAngle& angles, objectparams_t *pParams, bool isStatic )
{
IVP_Template_Real_Object objectTemplate;
IVP_U_Quat rotation;
IVP_U_Point pos;
ConvertRotationToIVP( angles, rotation );
ConvertPositionToIVP( position, pos );
InitObjectTemplate( objectTemplate, materialIndex, pParams, isStatic );
IVP_U_Matrix massCenterMatrix;
massCenterMatrix.init();
if ( pParams->massCenterOverride )
{
IVP_U_Point center;
ConvertPositionToIVP( *pParams->massCenterOverride, center );
massCenterMatrix.shift_os( ¢er );
objectTemplate.mass_center_override = &massCenterMatrix;
}
CPhysicsObject *pObject = new CPhysicsObject();
IVP_SurfaceManager *pSurman = CreateSurfaceManager( pCollisionModel, pObject->m_collideType );
BEGIN_IVP_ALLOCATION();
IVP_Polygon *realObject = pEnvironment->GetIVPEnvironment()->create_polygon(pSurman, &objectTemplate, &rotation, &pos);
pObject->Init( realObject, materialIndex, pParams->volume, pParams->dragCoefficient, pParams->dragCoefficient, pParams->massCenterOverride );
pObject->SetGameData( pParams->pGameData );
if ( pParams->enableCollisions )
{
pObject->EnableCollisions( true );
}
if ( !isStatic && pParams->dragCoefficient != 0.0f )
{
pObject->EnableDrag( true );
}
pObject->SetRollingDrag( pParams->rollingDrag );
END_IVP_ALLOCATION();
return pObject;
}
CPhysicsObject *CreatePhysicsSphere(CPhysicsEnvironment *pEnvironment, float radius, int materialIndex, const Vector &position, const QAngle &angles, objectparams_t *pParams, bool isStatic) {
if (!pEnvironment) return NULL;
// Some checks
Assert(position.IsValid() && angles.IsValid());
// Conversion unnecessary as this is an exposed function.
btSphereShape *shape = (btSphereShape *)g_PhysicsCollision.SphereToConvex(radius);
btVector3 vector;
btMatrix3x3 matrix;
ConvertPosToBull(position, vector);
ConvertRotationToBull(angles, matrix);
btTransform transform(matrix, vector);
float mass = 0;
float volume = 0;
if (pParams) {
mass = isStatic ? 0 : pParams->mass;
volume = pParams->volume;
if (volume <= 0) {
pParams->volume = (4 / 3) * M_PI * radius * radius * radius;
}
}
btMassCenterMotionState *motionstate = new btMassCenterMotionState();
motionstate->setGraphicTransform(transform);
btRigidBody::btRigidBodyConstructionInfo info(mass, motionstate, shape);
btRigidBody *body = new btRigidBody(info);
CPhysicsObject *pObject = new CPhysicsObject;
pObject->Init(pEnvironment, body, materialIndex, pParams, isStatic, true);
return pObject;
}