BNav * BSpace :: create_sphere(btVector3 &pos, btScalar radius, btScalar mass) {
btSphereShape *sphere = new btSphereShape(radius);
btTransform transform;
transform.setIdentity();
transform.setOrigin(pos);
// rigidbody is dynamic if and only if mass is non zero, otherwise static
bool is_dynamic = (mass != 0.f);
btVector3 local_inertia(0, 0, 0);
if(is_dynamic) {
sphere->calculateLocalInertia(mass, local_inertia);
}
//using motionstate is recommended, it provides interpolation capabilities,
// and only synchronizes 'active' objects
btDefaultMotionState* motion_state = new btDefaultMotionState(transform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(
mass,
motion_state,
sphere,
local_inertia
);
// Dynamics
btRigidBody *body = new btRigidBody(rbInfo);
return new BNav(this, BNav::SPHERE, sphere, body);
}
void Entity::InitializePhysics() {
btTransform transform(btQuaternion(0, 0, 0, 1), btVector3(mPosition.x, mPosition.y, 0));
transform.setIdentity();
//btTransform transform;
transform.setIdentity();
btScalar mass(1.f);
btVector3 local_inertia(0, 0, 0);
if(mUID.substr(0,5) == "empty") {
mCollisionShape = boost::shared_ptr<btCollisionShape>(new btBoxShape(btVector3(15*mScale, 1*mScale, 1)));
} else if(mImageFile == "evil1") {
mCollisionShape = boost::shared_ptr<btCollisionShape>(new btBoxShape(btVector3(0.5*mScale, 0.22*mScale, 1)));
} else if(mImageFile == "evil2") {
mCollisionShape = boost::shared_ptr<btCollisionShape>(new btBoxShape(btVector3(0.5*mScale, 0.05*mScale, 1)));
} else {
mCollisionShape = boost::shared_ptr<btCollisionShape>(new btBoxShape(btVector3(1.2*mScale, 1.2*mScale, 1)));
}
mCollisionShape->calculateLocalInertia(mass, local_inertia);
transform.setOrigin(btVector3(mPosition.x, mPosition.y, 0));
transform.setRotation(btQuaternion(0, 0, PI - mRotation));
mMotionState = boost::shared_ptr<btDefaultMotionState>(new btDefaultMotionState(transform));
btRigidBody::btRigidBodyConstructionInfo rb_info(mass, mMotionState.get(), mCollisionShape.get(), local_inertia);
mBody = boost::shared_ptr<btRigidBody>(new btRigidBody(rb_info));
mBody->setDamping(0.2f, 0.2f);
//mBody->setActivationState(DISABLE_DEACTIVATION);
mBody->setLinearFactor(btVector3(1,1,0));
mBody->setAngularFactor(btVector3(0,0,1));
//mBody->setAngularFactor(btVector3(0,0,1));
mBody->setUserPointer(this);
}
void PhysicsActor::set_scale(Ogre::Vector3 scale) {
rigid_body_->getCollisionShape()->setLocalScaling(toBt(scale));
btVector3 local_inertia(0, 0, 0);
rigid_body_->getCollisionShape()->calculateLocalInertia(mass_, local_inertia);
rigid_body_->setMassProps(mass_, local_inertia);
rigid_body_->updateInertiaTensor();
// This is required to make the new size update immediately, not sure why
if (physics_enabled_) {
removeActorFromDynamicsWorld();
addActorToDynamicsWorld();
}
}
void CreatureNode::AddToWorld(btDynamicsWorld *world, const btVector3 &pos)
{
btTransform start_transform;
start_transform.setIdentity();
start_transform.setOrigin(pos);
btDefaultMotionState *motion_state =
new btDefaultMotionState(start_transform);
//TODO: calculate mass as density * volume using hierarchical scale
btScalar mass(1.f);
btVector3 local_inertia(0, 0, 0);
shape_->calculateLocalInertia(mass, local_inertia);
btRigidBody::btRigidBodyConstructionInfo info(mass,
motion_state,
shape_.get(),
local_inertia);
body_ = new btRigidBody(info);
world->addRigidBody(body_);
}
void make_floor(std::unique_ptr<PhysicsWorld>& world)
{
btTransform trans;
trans.setIdentity();
trans.setOrigin(btVector3(0.0, -5.0, 0.0));
btScalar mass(0.0);
btVector3 local_inertia(0, 0, 0);
btStaticPlaneShape* shape = new btStaticPlaneShape(btVector3(0.0f, 1.0f, 0.0f), 0.0f);
world->get_collision_shapes().push_back(shape);
btDefaultMotionState* motion_state = new btDefaultMotionState(trans);
shape->calculateLocalInertia(mass, local_inertia);
btRigidBody::btRigidBodyConstructionInfo body_info(mass, motion_state, shape, local_inertia);
btRigidBody* body = new btRigidBody(body_info);
body->setRestitution(0);
world->get_dynamics_world()->addRigidBody(body);
}
void OCModel::init()
{
collision_configuration_ = new btDefaultCollisionConfiguration();
dispatcher_ = new btCollisionDispatcher(collision_configuration_);
broadphase_ = new btDbvtBroadphase();
solver_ = new btSequentialImpulseConstraintSolver;
dynamics_world_ = new btDiscreteDynamicsWorld(dispatcher_, broadphase_,
solver_, collision_configuration_);
dynamics_world_->setGravity(btVector3(0, -10, 0));
dynamics_world_->setDebugDrawer(new OCDebugDraw());
//Temporary stuff to get it working
btBoxShape *ground_shape =
new btBoxShape(btVector3(btScalar(50.), btScalar(50.), btScalar(50.)));
btTransform ground_transform;
ground_transform.setIdentity();
ground_transform.setOrigin(btVector3(0, -50, 0));
btScalar mass(0.);
btVector3 local_inertia(0, 0, 0);
btDefaultMotionState *my_motion_state = new btDefaultMotionState(ground_transform);
btRigidBody::btRigidBodyConstructionInfo ground_info(mass,
my_motion_state,
ground_shape,
local_inertia);
btRigidBody *ground = new btRigidBody(ground_info);
dynamics_world_->addRigidBody(ground);
//collision_shapes_.push_back(col_shape);
//std::cout << "local inertia: ( " << local_inertia.x() << ", " << local_inertia.y() << ", " << local_inertia.z() << " )\n";
//CreatureNode *creature = new CreatureNode(1, 1, btVector3(1, 1, 1));
//CreatureNode *creature = new CreatureNode(1, 1, col_shape);
//creatures_.push_back(creature);
//creature->AddToWorld(dynamics_world_, btVector3(
// btScalar(start_x + 20),
// btScalar(20 + start_y),
// btScalar(start_z + 20)));
mass = 1.f;
btTransform start_transform;
start_transform.setIdentity();
start_transform.setOrigin(btVector3(
btScalar(-5),
btScalar(15),
btScalar(-5)));
my_motion_state = new btDefaultMotionState(start_transform);
btBoxShape *col_shape = new btBoxShape(btVector3(1, 1, 1));
col_shape->calculateLocalInertia(mass, local_inertia);
btRigidBody::btRigidBodyConstructionInfo rb_info(mass,
my_motion_state,
col_shape,
local_inertia);
btRigidBody *body = new btRigidBody(rb_info);
dynamics_world_->addRigidBody(body);
CreatureNode *c = new CreatureNode(1, 1, btVector3(2, 3, 2));
c->AddToWorld(dynamics_world_, btVector3(0, 15, 0));
c = new CreatureNode(1, 1, c->shape_);
c->AddToWorld(dynamics_world_, btVector3(10, 15, 10));
}
