void PhysicsComponent::loadFromXml(const XMLNode* description) {
GameLog::logMessage("LOADING BULLET FROM XML");
// Delete old physics representation
//release();
Matrix4f objTrans;
m_owner->executeEvent(&GameEvent(GameEvent::E_TRANSFORMATION, &GameEventData((float*) objTrans.x, 16), this));
Vec3f t, r, s;
objTrans.decompose(t, r, s);
// Parse Physics Node Configuration
float mass = static_cast<float>(atof(description->getAttribute("mass", "0.0")));
const char* shape = description->getAttribute("shape", "Box");
// create collision shape based on the node configuration
if (shape && _stricmp(shape, "Box") == 0) // Bounding Box Shape
{
float dimX = static_cast<float>(atof(description->getAttribute("x", "1.0")));
float dimY = static_cast<float>(atof(description->getAttribute("y", "1.0")));
float dimZ = static_cast<float>(atof(description->getAttribute("z", "1.0")));
// update box settings with node scaling (TODO is this necessary if we already set the scale by using setLocalScaling?)
//m_collisionShape = new btBoxShape(btVector3(dimX * s.x, dimY * s.y, dimZ * s.z));
m_collisionShape = new btBoxShape(btVector3(dimX, dimY, dimZ));
} else if (shape && _stricmp(shape, "Sphere") == 0) // Sphere Shape
{
float radius = static_cast<float>(atof(description->getAttribute("radius", "1.0")));
m_collisionShape = new btSphereShape(radius);
} else if (shape && _stricmp(shape, "Cylinder") == 0) // Cylinder Shape
{
float radius0 = static_cast<float>(atof(description->getAttribute("radius", "1.0")));
float height = static_cast<float>(atof(description->getAttribute("height", "1.0")));
m_collisionShape = new btCylinderShape(btVector3(radius0, height, radius0));
} else // Mesh Shape
{
MeshData meshData;
GameEvent meshEvent(GameEvent::E_MESH_DATA, &meshData, this);
// get mesh data from graphics engine
m_owner->executeEvent(&meshEvent);
if (meshData.VertexBase && (meshData.TriangleBase32 || meshData.TriangleBase16)) {
// Create new mesh in physics engine
m_btTriangleMesh = new btTriangleMesh();
int offset = 3;
if (meshData.TriangleMode == 5) // Triangle Strip
offset = 1;
// copy mesh from graphics to physics
bool index16 = false;
if (meshData.TriangleBase16)
index16 = true;
for (unsigned int i = 0; i < meshData.NumTriangleIndices - 2; i += offset) {
unsigned int index1 = index16 ? (meshData.TriangleBase16[i] - meshData.VertRStart) * 3 : (meshData.TriangleBase32[i] - meshData.VertRStart) * 3;
unsigned int index2 = index16 ? (meshData.TriangleBase16[i + 1] - meshData.VertRStart) * 3 : (meshData.TriangleBase32[i + 1] - meshData.VertRStart) * 3;
unsigned int index3 = index16 ? (meshData.TriangleBase16[i + 2] - meshData.VertRStart) * 3 : (meshData.TriangleBase32[i + 2] - meshData.VertRStart) * 3;
m_btTriangleMesh->addTriangle(btVector3(meshData.VertexBase[index1], meshData.VertexBase[index1 + 1], meshData.VertexBase[index1 + 2]),
btVector3(meshData.VertexBase[index2], meshData.VertexBase[index2 + 1], meshData.VertexBase[index2 + 2]),
btVector3(meshData.VertexBase[index3], meshData.VertexBase[index3 + 1], meshData.VertexBase[index3 + 2]));
}
bool useQuantizedAabbCompression = true;
if (mass > 0) {
//btGImpactMeshShape* shape = new btGImpactMeshShape(m_btTriangleMesh);
btGImpactConvexDecompositionShape* shape = new btGImpactConvexDecompositionShape(m_btTriangleMesh, btVector3(1.f, 1.f, 1.f), btScalar(0.1f), true);
shape->updateBound();
//btCollisionDispatcher* dispatcher = static_cast<btCollisionDispatcher *>(Physics::instance()->dispatcher());
//btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher);
m_collisionShape = shape;
//m_collisionShape = new btConvexTriangleMeshShape(m_btTriangleMesh);
} else
// BvhTriangleMesh can be used only for static objects
m_collisionShape = new btBvhTriangleMeshShape(m_btTriangleMesh, useQuantizedAabbCompression);
} else {
GameLog::errorMessage("The mesh data for the physics representation couldn't be retrieved");
return;
}
}
GameLog::logMessage("PARSED SHAPE FROM XML");
bool kinematic = _stricmp(description->getAttribute("kinematic", "false"), "true") == 0 || _stricmp(description->getAttribute("kinematic", "0"), "1") == 0;
bool nondynamic = _stricmp(description->getAttribute("static", "false"), "true") == 0 || _stricmp(description->getAttribute("static", "0"), "1") == 0;
bool ragdoll = _stricmp(description->getAttribute("ragdoll", "false"), "true") == 0 || _stricmp(description->getAttribute("ragdoll", "0"), "1") == 0;
// Create initial transformation without scale
btTransform tr;
tr.setIdentity();
tr.setRotation(btQuaternion(r.x, r.y, r.z));
btMatrix3x3 rot = tr.getBasis();
XMLNode offsetXMLNode = description->getChildNode("Offset");
if (!offsetXMLNode.isEmpty()) {
lX = static_cast<float>(atof(offsetXMLNode.getAttribute("lX", "0.0")));
lY = static_cast<float>(atof(offsetXMLNode.getAttribute("lY", "0.0")));
lZ = static_cast<float>(atof(offsetXMLNode.getAttribute("lZ", "0.0")));
}
btVector3 offset = btVector3(lX * s.x, lY * s.y, lZ * s.z);
tr.setOrigin(btVector3(t.x, t.y, t.z) + rot * offset);
// Set local scaling in collision shape because Bullet does not support scaling in the world transformation matrices
m_collisionShape->setLocalScaling(btVector3(s.x, s.y, s.z));
btVector3 localInertia(0, 0, 0);
//rigidbody is dynamic if and only if mass is non zero otherwise static
if (mass != 0)
m_collisionShape->calculateLocalInertia(mass, localInertia);
if (mass != 0 || kinematic)
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
m_motionState = new btDefaultMotionState(tr);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, m_motionState, m_collisionShape, localInertia);
rbInfo.m_startWorldTransform = tr;
//rbInfo.m_restitution = btScalar( atof(description->getAttribute("restitution", "0")) );
//rbInfo.m_friction = btScalar( atof(description->getAttribute("static_friction", "0.5")) );
// Threshold for deactivation of objects (if movement is below this value the object gets deactivated)
//rbInfo.m_angularSleepingThreshold = 0.8f;
//rbInfo.m_linearSleepingThreshold = 0.8f;
m_rigidBody = new btRigidBody(rbInfo);
m_rigidBody->setUserPointer(this);
m_rigidBody->setDeactivationTime(2.0f);
// Add support for collision detection if mass is zero but kinematic is explicitly enabled
if (kinematic && mass == 0 && !nondynamic) {
m_rigidBody->setCollisionFlags(m_rigidBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
m_rigidBody->setActivationState(DISABLE_DEACTIVATION);
}
if (nondynamic && mass == 0) {
m_rigidBody->setCollisionFlags(m_rigidBody->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT);
}
bool isTrigger = _stricmp(description->getAttribute("solid", "true"), "false") == 0 || _stricmp(description->getAttribute("solid", "1"), "0") == 0;
if (isTrigger) {
setCollisionResponse(true);
}
GameLog::logMessage("I'm a new Physics body: %s my Motion state: %d", m_owner->id().c_str(), m_motionState);
printf("I'm a new Physics body: %s my Motion state: %d\n", m_owner->id().c_str(), m_motionState);
if(!ragdoll) Physics::instance()->addObject(this);
/*Geometry Proxy*/
XMLNode proxyXMLNode = description->getChildNode("Proxy");
if (proxyXMLNode.isEmpty())
return;
m_proxy = GameModules::gameWorld()->entity(proxyXMLNode.getAttribute("name", ""));
if (m_proxy) {
m_proxy->addListener(GameEvent::E_SET_TRANSFORMATION, this);
m_proxy->addListener(GameEvent::E_SET_TRANSLATION, this);
m_proxy->addListener(GameEvent::E_SET_ROTATION, this);
m_proxy->addListener(GameEvent::E_TRANSLATE_LOCAL, this);
m_proxy->addListener(GameEvent::E_TRANSLATE_GLOBAL, this);
m_proxy->addListener(GameEvent::E_ROTATE_LOCAL, this);
} else
printf("No PROXY FOUND with EntityID: %s\n", proxyXMLNode.getAttribute("name", ""));
/*Adding constraints*/
XMLNode constraintXMLNode = description->getChildNode("Constraint");
if (constraintXMLNode.isEmpty())
return;
const char* constraintType = constraintXMLNode.getAttribute("type", "Hinge");
const char* parentName = constraintXMLNode.getAttribute("parent", "");
PhysicsComponent* parent = getParent(parentName);
if (!parent) {
printf("NO PARENT FOUND\n");
return;
}
XMLNode transformXMLNode = constraintXMLNode.getChildNode("TransformA");
float qX = static_cast<float>(atof(transformXMLNode.getAttribute("qx", "1.0")));
float qY = static_cast<float>(atof(transformXMLNode.getAttribute("qy", "1.0")));
float qZ = static_cast<float>(atof(transformXMLNode.getAttribute("qz", "1.0")));
float qW = static_cast<float>(atof(transformXMLNode.getAttribute("qw", "1.0")));
float vX = static_cast<float>(atof(transformXMLNode.getAttribute("vx", "1.0")));
float vY = static_cast<float>(atof(transformXMLNode.getAttribute("vy", "1.0")));
float vZ = static_cast<float>(atof(transformXMLNode.getAttribute("vz", "1.0")));
btTransform transformA;
transformA.setIdentity();
printf("%f \t %f \t %f \n ", qX, qY, qZ);
transformA.getBasis().setEulerZYX(qZ, qY, qX);
// transformA.getBasis().setEulerZYX(M_PI_2,0,0);
transformA.setOrigin(btVector3(vX * s.x, vY * s.y, vZ * s.z));
// printf("%f \t %f \t %f \t %s \n ", vX*s.x, vY*s.y, vZ*s.z, m_owner ? m_owner->id().c_str() : "no name");
// btTransform transformA = btTransform(btQuaternion(qX, qY, qZ, qW), btVector3(vX*s.x, vY*s.y, vZ*s.z));
transformXMLNode = constraintXMLNode.getChildNode("TransformB");
qX = static_cast<float>(atof(transformXMLNode.getAttribute("qx", "1.0")));
qY = static_cast<float>(atof(transformXMLNode.getAttribute("qy", "1.0")));
qZ = static_cast<float>(atof(transformXMLNode.getAttribute("qz", "1.0")));
qW = static_cast<float>(atof(transformXMLNode.getAttribute("qw", "1.0")));
vX = static_cast<float>(atof(transformXMLNode.getAttribute("vx", "1.0")));
vY = static_cast<float>(atof(transformXMLNode.getAttribute("vy", "1.0")));
vZ = static_cast<float>(atof(transformXMLNode.getAttribute("vz", "1.0")));
// btTransform transformB = btTransform(btQuaternion(qX, qY, qZ, qW), btVector3(vX*s.x, vY*s.y, vZ*s.z));
btTransform transformB;
transformB.setIdentity();
transformB.getBasis().setEulerZYX(qZ, qY, qX);
// transformB.getBasis().setEulerZYX(M_PI_2,0,0);
transformB.setOrigin(btVector3(vX * s.x, vY * s.y, vZ * s.z));
XMLNode limitXMLNode = constraintXMLNode.getChildNode("Limit");
if (_stricmp(constraintType, "Hinge") == 0) {
btHingeConstraint* parentConstraint = new btHingeConstraint(*(parent->rigidBody()), *m_rigidBody, transformA, transformB);
float low = static_cast<float>(atof(limitXMLNode.getAttribute("low", "0.0")));
float high = static_cast<float>(atof(limitXMLNode.getAttribute("high", "0.75")));
float softness = static_cast<float>(atof(limitXMLNode.getAttribute("softness", "0.9")));
float biasFactor = static_cast<float>(atof(limitXMLNode.getAttribute("biasFactor", "0.3")));
float relaxationFactor = static_cast<float>(atof(limitXMLNode.getAttribute("relaxationFactor", "1.0")));
parentConstraint->setLimit(low, high, softness, biasFactor, relaxationFactor);
m_parentConstraint = parentConstraint;
} else if (_stricmp(constraintType, "ConeTwist") == 0) {
btConeTwistConstraint* parentConstraint = new btConeTwistConstraint(*(parent->rigidBody()), *m_rigidBody, transformA, transformB);
float swingSpan1 = static_cast<float>(atof(limitXMLNode.getAttribute("swingSpan1", "1.0")));
float swingSpan2 = static_cast<float>(atof(limitXMLNode.getAttribute("swingSpan2", "1.0")));
float twistSpan = static_cast<float>(atof(limitXMLNode.getAttribute("twistSpan", "1.0")));
float softness = static_cast<float>(atof(limitXMLNode.getAttribute("softness", "0.9")));
float biasFactor = static_cast<float>(atof(limitXMLNode.getAttribute("biasFactor", "0.3")));
float relaxationFactor = static_cast<float>(atof(limitXMLNode.getAttribute("relaxationFactor", "1.0")));
parentConstraint->setLimit(swingSpan1, swingSpan2, twistSpan, softness, biasFactor, relaxationFactor);
m_parentConstraint = parentConstraint;
}
if(!ragdoll) Physics::instance()->addConstraint(m_parentConstraint);
}
