impl::impl(system_impl_ptr sys,compound_sensor_ptr s,/*compound_shape_proxy& s,*/ params_t const& params, decart_position const& pos)
: bt_body_user_info_t(rb_aircraft)
, sys_ (sys)
, chassis_ (sys->dynamics_world())
, raycast_veh_(sys->dynamics_world())
, chassis_shape_(compound_sensor_impl_ptr(s)->cs_)
, params_(params)
, elevator_(0)
, ailerons_(0)
, rudder_(0)
, thrust_(0)
, steer_(0)
, prev_attack_angle_(0)
, has_chassis_contact_(false)
, body_contact_points_(1.5)
{
tuning_.m_maxSuspensionTravelCm = 500;
btTransform tr;
tr.setIdentity();
btVector3 aabbMin,aabbMax;
#if 0
chassis_shape_.get()->getAabb(tr,aabbMin,aabbMax);
#else
chassis_shape_->getAabb(tr,aabbMin,aabbMax);
#endif
btScalar dxx = btScalar(params_.wingspan / 2);
btScalar dyy = btScalar(params_.length / 2);
btScalar dzz = btScalar((aabbMax.z() - aabbMin.z()) / 2);
btScalar m12 = btScalar((params_.mass) /12);
btVector3 inertia = m12 * btVector3(dyy*dyy + dzz*dzz, dxx*dxx + dzz*dzz, dyy*dyy + dxx*dxx);
btDefaultMotionState* motionState = new btDefaultMotionState(tr);
btRigidBody::btRigidBodyConstructionInfo chassis_construction_info(btScalar(params_.mass), NULL/*new custom_ms*//*motionState*/, chassis_shape_/*&*chassis_shape_.get()*/, inertia);
chassis_.reset(phys::bt_rigid_body_ptr(boost::make_shared<btRigidBody>(chassis_construction_info)));
// FIXME TODO
chassis_->setCenterOfMassTransform(to_bullet_transform(pos.pos, pos.orien.cpr()));
FIXME("Off point for bullet")
#if 1
chassis_->setLinearVelocity(to_bullet_vector3(pos.dpos));
#endif
//chassis_->setDamping(0.05f, 0.5f);
chassis_->setRestitution(0.1f);
//chassis_->setActivationState(DISABLE_DEACTIVATION);
chassis_->setFriction(0.3f);
raycast_veh_.reset(boost::make_shared<btRaycastVehicle>(tuning_, &*chassis_.get(), &*sys->vehicle_raycaster()));
raycast_veh_->setCoordinateSystem(0,2,1);
sys_->dynamics_world()->addAction(this);
sys_->register_rigid_body(this);
chassis_->setUserPointer(this);
}
impl::impl(system_impl_ptr sys,compound_sensor_ptr s,params_t const& params, decart_position const& pos)
: bt_body_user_info_t(rb_simple)
, sys_ (sys)
, chassis_ (sys->dynamics_world())
, chassis_shape_ (s?compound_sensor_impl_ptr(s)->cs_: create_compound_shape())
, params_ (params)
, has_chassis_contact_ (false)
, body_contact_points_ (1.5)
{
btTransform tr;
tr.setIdentity();
btVector3 aabbMin,aabbMax;
#if 1
FIXME(chassis_shape_)
chassis_shape_->getAabb(tr,aabbMin,aabbMax);
const float fake_mass = 20;
btScalar dxx = btScalar((aabbMax.x() - aabbMin.x()) / 2);
btScalar dyy = btScalar((aabbMax.y() - aabbMin.y()) / 2);
btScalar dzz = btScalar((aabbMax.z() - aabbMin.z()) / 2);
btScalar m12 = btScalar((fake_mass) /12);
btVector3 inertia = m12 * btVector3(dyy*dyy + dzz*dzz, dxx*dxx + dzz*dzz, dyy*dyy + dxx*dxx);
btDefaultMotionState* motionState = new btDefaultMotionState(tr);
btRigidBody::btRigidBodyConstructionInfo chassis_construction_info(btScalar(fake_mass), /*NULL*//*new custom_ms*/motionState, new btBoxShape(btVector3(.6,.6,.6))/*chassis_shape_*//*&*chassis_shape_.get()*/, inertia);
chassis_.reset(boost::make_shared<btRigidBody>(chassis_construction_info));
// FIXME TODO
chassis_->setCenterOfMassTransform(to_bullet_transform(pos.pos, pos.orien.cpr()));
#if 0
chassis_->setLinearVelocity(to_bullet_vector3(pos.dpos));
#endif
//chassis_->setDamping(0.05f, 0.5f);
chassis_->setRestitution(0.1f);
//chassis_->setActivationState(DISABLE_DEACTIVATION);
chassis_->setFriction(0.3f);
#endif
//sys_->dynamics_world()->addAction(this);
sys_->register_rigid_body(this);
#if 1
chassis_->setUserPointer(this);
#endif
}
void impl::create_rope( bt_softrigid_dynamics_world_ptr bw, params_t::rope_t const& rope, unsigned seg_num)
{
if(!bw)
return;
ropes_.back().get()->reset(bt_create_rope(bw->getWorldInfo(),
to_bullet_vector3(rope.first),
to_bullet_vector3(rope.second),
seg_num,
1+2));
auto& psb = *ropes_.back().get();
psb->m_cfg.piterations = 5;/*4;*/
// psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS; //btSoftBody::fCollision::CL_SS+ btSoftBody::fCollision::CL_RS;
// psb->m_cfg.kAHR = 1.0;
psb->m_materials[0]->m_kLST = 0.2;// 0.1+((n - i)/(btScalar)(n-1))*0.9;
//psb->m_materials[0]->m_kVST = 1.0;
//psb->m_materials[0]->m_kAST = 1.0;
psb->setTotalMass(0.002);
psb->setUserPointer(this);
}
bvh_static_mesh::bvh_static_mesh(system_impl_ptr sys, sensor_ptr s)
: sys_(sys)
{
btAlignedObjectArray<btVector3> points;
//for (size_t i = 0; i < s->chunks_count(); ++i)
//{
// for (size_t j = 0; j < s->triangles_count(i); ++j)
// {
// cg::triangle_3f tr = s->triangle(i, j);
// if (s->material(i) == "ground" || s->material(i) == "building" || s->material(i) == "concrete")
// mesh_.addTriangle(to_bullet_vector3(tr[0]), to_bullet_vector3(tr[1]), to_bullet_vector3(tr[2]), false);
// }
//}
btMatrix3x3 m;
m.setIdentity();
FIXME(Need btBvhTriangleMeshShape shape)
//shape_ = boost::shared_ptr<btCollisionShape>(new btBvhTriangleMeshShape(&mesh_, true));
//shape_ = shared_ptr<btCollisionShape>(new btStaticPlaneShape(btVector3(0, 0, 1), 0));
////////////////////////////
// Stub for the ground
// osg::Vec3 norm = plane.getNormal();
btCollisionShape* groundShape = new btStaticPlaneShape( btVector3(0.0, 0.0, 1.0), 0 );
btTransform groundTransform;
groundTransform.setIdentity();
btDefaultMotionState* motionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rigidInfo( 0.0, motionState, groundShape, btVector3(0.0, 0.0, 0.0) );
body_ = shared_ptr<btRigidBody>(new btRigidBody(rigidInfo));
////////////////////////////
// body_ = shared_ptr<btRigidBody>(new btRigidBody(0, 0, &*shape_));
body_->setRestitution(0.1f);
body_->setCenterOfMassTransform(btTransform(m, to_bullet_vector3(cg::point_3())));
body_->setFriction(0.99f);
body_->setActivationState(DISABLE_SIMULATION);
body_->setUserPointer(new bt_body_user_info_t(rb_terrain));
body_->setCollisionFlags(body_->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
sys_->dynamics_world()->addRigidBody(&*body_);
}
void impl::apply_force (point_3 const& f)
{
chassis_->applyCentralForce(to_bullet_vector3(f));
}
void impl::set_angular_velocity (point_3 const& a)
{
chassis_->setAngularVelocity(to_bullet_vector3(a));
}
void impl::set_linear_velocity (point_3 const& v)
{
chassis_->setLinearVelocity(to_bullet_vector3(v));
}
void impl::set_position(const decart_position& pos)
{
chassis_->setCenterOfMassTransform(to_bullet_transform(pos.pos, pos.orien.cpr()));
chassis_->setLinearVelocity(to_bullet_vector3(pos.dpos));
}
