void ModelPhysics::insert(ModelInstance & modelInst,
f32 mass,
f32 friction,
vec3 linearFactor,
vec3 angularFactor,
u32 group,
const ivec4 & mask03,
const ivec4 & mask47)
{
if (mBodies.find(modelInst.model().uid()) == mBodies.end())
{
ASSERT(modelInst.mHasBody == false);
vec3 halfExtents = modelInst.model().gmdl().halfExtents();
auto colShapeIt = mCollisionShapes.find(halfExtents);
btVector3 btExtents(halfExtents.x, halfExtents.y, halfExtents.z);
btCollisionShape * pCollisionShape = nullptr;
if (colShapeIt != mCollisionShapes.end())
pCollisionShape = colShapeIt->second.get();
else
{
auto empRes = mCollisionShapes.emplace(std::piecewise_construct,
std::forward_as_tuple(halfExtents),
std::forward_as_tuple(GNEW(kMEM_Physics, btBoxShape, btExtents)));
pCollisionShape = empRes.first->second.get();
}
ModelMotionState * pMotionState = GNEW(kMEM_Physics, ModelMotionState, modelInst);
btRigidBody::btRigidBodyConstructionInfo constrInfo(mass, pMotionState, pCollisionShape);
constrInfo.m_friction = friction;
// constrInfo.m_angularDamping = 0.1;
// constrInfo.m_localInertia = btExtents;
ModelBody * pBody = GNEW(kMEM_Physics, ModelBody, pMotionState, group, constrInfo);
mBodies.emplace(modelInst.model().uid(), pBody);
pBody->setLinearFactor(btVector3(linearFactor.x, linearFactor.y, linearFactor.z));
pBody->setAngularFactor(btVector3(angularFactor.x, angularFactor.y, angularFactor.z));
if (group == 0)
{
mpDynamicsWorld->addRigidBody(pBody);
}
else
{
u16 groupMask = maskFromHash(group);
u16 mask = buildMask(mask03, mask47);
mpDynamicsWorld->addRigidBody(pBody, maskFromHash(group), buildMask(mask03, mask47));
}
pBody->setGravity(btVector3(0,0,0));
}
else
{
LOG_ERROR("ModelBody for %u already created", modelInst.model().uid());
}
}
// -------------------------------------------------------------
void
Mask::buildMask(BaseFab<int>& a_mask, const Box& a_dProblem,
const BoxLayout& a_grids, const BoxLayout* a_fineGridsPtr,
int a_nRefFine)
{
ProblemDomain physdomain(a_dProblem);
buildMask(a_mask, physdomain, a_grids, a_fineGridsPtr,
a_nRefFine);
}
// -------------------------------------------------------------
void
Mask::buildMasks(LevelData<BaseFab<int> >& a_masks,
const ProblemDomain& a_dProblem,
const BoxLayout& a_grids, const BoxLayout* a_fineGridsPtr,
int a_nRefFine)
{
// simply iterate over boxes and call single-basefab function
DataIterator dit = a_masks.dataIterator();
for (dit.reset(); dit.ok(); ++dit)
{
buildMask(a_masks[dit()], a_dProblem, a_grids, a_fineGridsPtr,
a_nRefFine);
}
}
