//--------------------------------------------------------------------------------------------------
void q3Box::Render( const q3Transform& tx, bool awake, q3Render* render ) const
{
q3Transform world = q3Mul( tx, local );
q3Vec3 vertices[ 8 ] = {
q3Vec3( -e.x, -e.y, -e.z ),
q3Vec3( -e.x, -e.y, e.z ),
q3Vec3( -e.x, e.y, -e.z ),
q3Vec3( -e.x, e.y, e.z ),
q3Vec3( e.x, -e.y, -e.z ),
q3Vec3( e.x, -e.y, e.z ),
q3Vec3( e.x, e.y, -e.z ),
q3Vec3( e.x, e.y, e.z )
};
for ( i32 i = 0; i < 36; i += 3 )
{
q3Vec3 a = q3Mul( world, vertices[ kBoxIndices[ i ] ] );
q3Vec3 b = q3Mul( world, vertices[ kBoxIndices[ i + 1 ] ] );
q3Vec3 c = q3Mul( world, vertices[ kBoxIndices[ i + 2 ] ] );
q3Vec3 n = q3Normalize( q3Cross( b - a, c - a ) );
//render->SetPenColor( 0.2f, 0.4f, 0.7f, 0.5f );
//render->SetPenPosition( a.x, a.y, a.z );
//render->Line( b.x, b.y, b.z );
//render->Line( c.x, c.y, c.z );
//render->Line( a.x, a.y, a.z );
render->SetTriNormal( n.x, n.y, n.z );
render->Triangle( a.x, a.y, a.z, b.x, b.y, b.z, c.x, c.y, c.z );
}
}
//--------------------------------------------------------------------------------------------------
void q3Box::ComputeAABB( const q3Transform& tx, q3AABB* aabb ) const
{
q3Transform world = q3Mul( tx, local );
q3Vec3 v[ 8 ] = {
q3Vec3( -e.x, -e.y, -e.z ),
q3Vec3( -e.x, -e.y, e.z ),
q3Vec3( -e.x, e.y, -e.z ),
q3Vec3( -e.x, e.y, e.z ),
q3Vec3( e.x, -e.y, -e.z ),
q3Vec3( e.x, -e.y, e.z ),
q3Vec3( e.x, e.y, -e.z ),
q3Vec3( e.x, e.y, e.z )
};
for ( i32 i = 0; i < 8; ++i )
v[ i ] = q3Mul( world, v[ i ] );
q3Vec3 min( Q3_R32_MAX, Q3_R32_MAX, Q3_R32_MAX );
q3Vec3 max( -Q3_R32_MAX, -Q3_R32_MAX, -Q3_R32_MAX );
for ( i32 i = 0; i < 8; ++i )
{
min = q3Min( min, v[ i ] );
max = q3Max( max, v[ i ] );
}
aabb->min = min;
aabb->max = max;
}
bool GrabberRayCastCallBack::ReportShape(q3Box * b){
if (b->body->IsStatic()){
//std::cout << "Not grabbing static object" << std::endl;
return false;
}
else{
// Save the body
mGrabber.mObject = b->body;
/*
std::cout << "Grabbing object which is:"
<< "Static? " << mGrabber.mObject->IsStatic() << std::endl
<< "Kinematic? " << mGrabber.mObject->IsKinematic() << std::endl
<< "Dynamic? " << mGrabber.mObject->IsDynamic() << std::endl;
*/
// Retrieve the point of contact
q3Vec3 worldPoint = mData.start + (mData.dir * mData.toi);
// Save the point of contact in model space
mGrabber.mPoint = b->body->GetLocalPoint(worldPoint);
mGrabber.mIntegralError = q3Vec3( 0, 0, 0 );
// TODO could for example return false if you grab a bullet or something else not grabbable
return true;
}
}
BulletModel::BulletModel(glm::vec3 dir) : Lib3dsModel(), mAge(0)
{
SetPhysicsType(Model::Dynamic);
SetScaling(glm::vec3(0.5, 0.5, 0.5));
mDirection = glm::normalize(dir);
float verticalAngle = -glm::asin(mDirection.y); // approximately good
float horizontalAngle = -((-3.14159 / 2.0) + glm::atan(mDirection.z / mDirection.x));
// ATAN2
if (mDirection.x < 0){
if (mDirection.z >= 0){
horizontalAngle -= 3.14159;
}
else{
horizontalAngle += 3.14159;
}
}
//std::cout << "Bullet model vAngle: " << verticalAngle << " hAngle " << horizontalAngle << " x: " << direction.x << " z: " << direction.z << std::endl;
q3Quaternion rot_vert( q3Vec3(1,0,0), verticalAngle);
q3Quaternion rot_horiz(q3Vec3(0,1,0), horizontalAngle);
mRotation = rot_horiz * rot_vert;
mScaling = glm::vec3(0.01, 0.01, 0.01);
mMeshes.insert(13);
mFileName = "../Assets/Objects/bombs.3ds";
LoadModel();
//mMaxAge = 90; // 90 second exipr date
}
void Demo( )
{
scene.SetIterations( 20 );
scene.SetAllowSleep( true );
scene.RemoveAllBodies( );
//seed = 23;
//printf( "seed: %d\n", seed );
srand( seed++ );
// Create the floor
q3BodyDef bodyDef;
//bodyDef.axis.Set( q3RandomFloat( -1.0f, 1.0f ), q3RandomFloat( -1.0f, 1.0f ), q3RandomFloat( -1.0f, 1.0f ) );
//bodyDef.angle = q3PI * q3RandomFloat( -1.0f, 1.0f );
q3Body* body = scene.CreateBody( bodyDef );
q3BoxDef boxDef;
boxDef.SetRestitution( 0 );
q3Transform tx;
q3Identity( tx );
boxDef.Set( tx, q3Vec3( 50.0f, 1.0f, 50.0f ) );
body->AddBox( boxDef );
// Create boxes
for ( i32 i = 0; i < 10; ++i )
{
bodyDef.position.Set( 0.0f, 1.2f * (i + 1), -0.0f );
//bodyDef.axis.Set( 0.0f, 1.0f, 0.0f );
//bodyDef.angle = q3PI * q3RandomFloat( -1.0f, 1.0f );
//bodyDef.angularVelocity.Set( 3.0f, 3.0f, 3.0f );
//bodyDef.linearVelocity.Set( 2.0f, 0.0f, 0.0f );
bodyDef.bodyType = eDynamicBody;
body = scene.CreateBody( bodyDef );
boxDef.Set( tx, q3Vec3( 1.0f, 1.0f, 1.0f ) );
body->AddBox( boxDef );
}
}
void Grabber::ApplyForce(q3Vec3 & lookAt, q3Vec3 & from){
assert(HasObject());
#if GRABBER_USE_FORCE
q3Vec3 objectPoint = mObject->GetWorldPoint(mPoint);
q3Vec3 force = (from + (lookAt * mCallback.mData.t)) - objectPoint;
// Also integrate the error over time
mIntegralError += force * 0.1;
r32 distance = q3Distance({0,0,0},force);
q3Vec3 velocity = mObject->GetLinearVelocity();
if (q3Dot(velocity, force) < 0.0f){
// If the object is moving away from us, damp its velocity
mObject->SetLinearVelocity(velocity * 0.95f);
}
// Always pull it very hard toward us
force *= distance * distance;
force += mIntegralError;
mObject->ApplyForceAtWorldPoint(force, objectPoint);
#else
// THIS BUGS WITH STATIC OBJECTS
auto tx = mObject->GetTransform();
tx.position = (from + (lookAt * mCallback.mData.t));
mObject->SetTransform(tx.position);
auto v = mObject->GetLinearVelocity();
mObject->SetLinearVelocity(q3Vec3( 0, 0, 0 ));
#endif
}
//--------------------------------------------------------------------------------------------------
const q3Vec3 operator*( r32 f, const q3Vec3& rhs )
{
return q3Vec3( rhs.x * f, rhs.y * f, rhs.z * f );
}
//--------------------------------------------------------------------------------------------------
const q3Vec3 q3Vec3::operator/( r32 f ) const
{
return q3Vec3( x / f, y / f, z / f );
}
//--------------------------------------------------------------------------------------------------
const q3Vec3 q3Vec3::operator*( r32 f ) const
{
return q3Vec3( x * f, y * f, z * f );
}
//--------------------------------------------------------------------------------------------------
const q3Vec3 q3Vec3::operator-( const q3Vec3& rhs ) const
{
return q3Vec3( x - rhs.x, y - rhs.y, z - rhs.z );
}
//--------------------------------------------------------------------------------------------------
const q3Vec3 q3Vec3::operator+( const q3Vec3& rhs ) const
{
return q3Vec3( x + rhs.x, y + rhs.y, z + rhs.z );
}
//--------------------------------------------------------------------------------------------------
q3Vec3 q3Vec3::operator-( void ) const
{
return q3Vec3( -x, -y, -z );
}
