void Physics3DComponent::syncNodeToPhysics()
{
if (_physics3DObj->getObjType() == Physics3DObject::PhysicsObjType::RIGID_BODY
|| _physics3DObj->getObjType() == Physics3DObject::PhysicsObjType::COLLIDER)
{
auto mat = _owner->getNodeToWorldTransform();
//remove scale, no scale support for physics
float oneOverLen = 1.f / sqrtf(mat.m[0] * mat.m[0] + mat.m[1] * mat.m[1] + mat.m[2] * mat.m[2]);
mat.m[0] *= oneOverLen;
mat.m[1] *= oneOverLen;
mat.m[2] *= oneOverLen;
oneOverLen = 1.f / sqrtf(mat.m[4] * mat.m[4] + mat.m[5] * mat.m[5] + mat.m[6] * mat.m[6]);
mat.m[4] *= oneOverLen;
mat.m[5] *= oneOverLen;
mat.m[6] *= oneOverLen;
oneOverLen = 1.f / sqrtf(mat.m[8] * mat.m[8] + mat.m[9] * mat.m[9] + mat.m[10] * mat.m[10]);
mat.m[8] *= oneOverLen;
mat.m[9] *= oneOverLen;
mat.m[10] *= oneOverLen;
mat *= _invTransformInPhysics;
if (_physics3DObj->getObjType() == Physics3DObject::PhysicsObjType::RIGID_BODY)
{
auto body = static_cast<Physics3DRigidBody*>(_physics3DObj)->getRigidBody();
auto motionState = body->getMotionState();
motionState->setWorldTransform(convertMat4TobtTransform(mat));
body->setMotionState(motionState);
}
else if (_physics3DObj->getObjType() == Physics3DObject::PhysicsObjType::COLLIDER)
{
auto object = static_cast<Physics3DCollider*>(_physics3DObj)->getGhostObject();
object->setWorldTransform(convertMat4TobtTransform(mat));
}
}
}
bool FrustumPhysicsObject::frustumInit(unsigned int attributeIndex,short collisionFilterGroup)
{
if(attributeIndex < 0)
{
return false;
}
attributeIndex_ = attributeIndex;
collisionFilterGroup_ = collisionFilterGroup;
AttributePtr<Attribute_Camera> ptr_camera = itrCamera_3.at(attributeIndex);
btVector3 localInertia;
localInertia.setZero();
btCollisionShape* collisionShape = CollisionShapes::Instance()->getFrustumShape(attributeIndex_);
btScalar mass = static_cast<btScalar>(1);
setMassProps(mass, localInertia);
setCollisionShape(collisionShape);
btTransform world;
AttributePtr<Attribute_Spatial> ptr_spatial = itrCamera_3.at(attributeIndex_)->ptr_spatial;
AttributePtr<Attribute_Position> ptr_position = ptr_spatial->ptr_position;
world.setOrigin(convert(ptr_position->position));
world.setRotation(convert(ptr_spatial->rotation));
setWorldTransform(world);
setCollisionFlags(getCollisionFlags() | CF_NO_CONTACT_RESPONSE);
forceActivationState(DISABLE_DEACTIVATION);
return true;
}
PhysicsTrigger::PhysicsTrigger(Trigger *trigger) {
// We use the radius of the scale for the trigger since it takes half extents.
auto shape = new btBoxShape(btConvert(trigger->getScale() * 0.5f));
shape->setMargin(0.01f);
// Set the physic's object transformation matrix to be the same
// as the transform matrix of the game object.
btTransform transform;
transform.setIdentity();
transform.setOrigin(btConvert(trigger->getPosition()));
transform.setRotation(btConvert(trigger->getRotation()));
auto state = new btDefaultMotionState();
state->setWorldTransform(transform);
mActor = new btRigidBody(0.0f, state, shape);
// Set the trigger flag on the actor.
// CF_NO_CONTACT_RESPONSE set's it to be a trigger interaction
// CF_CUSTOM_MATERIAL_CALLBACK let's us get notifications.
mActor->setCollisionFlags(
mActor->getCollisionFlags() |
btCollisionObject::CF_NO_CONTACT_RESPONSE |
btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK
);
// create a relationship between the trigger and the physics representation
mTrigger = trigger;
}
void PlayerPhysicsObject::handleInput(float delta)
{
std::vector<int> playerAttributes = itrPhysics_3.ownerAt(attributeIndex_)->getAttributes(ATTRIBUTE_PLAYER);
if(playerAttributes.size() > 1)
{
ERROR_MESSAGEBOX("More than one controller for one player. Not tested.")
}
for(unsigned int i=0; i<playerAttributes.size(); i++)
{
AttributePtr<Attribute_Player> ptr_player = ptr_player = itrPlayer.at(playerAttributes.at(i));
AttributePtr<Attribute_Input> ptr_input = ptr_player->ptr_input;
AttributePtr<Attribute_Health> health = ptr_player->ptr_health;
if(health->health <= 0)
{
continue;
}
//--------------------------------------------------------------------------------------
//Look and move
//--------------------------------------------------------------------------------------
yaw_ += ptr_input->rotation.x;
btVector3 move = ptr_player->currentSpeed*btVector3(ptr_input->position.x, 0, ptr_input->position.y);
//lower player speed when recently damaged
if(ptr_player->timeSinceLastDamageTaken < 1.0f)
{
move *= 0.75f;
}
//Move player
move = move.rotate(btVector3(0,1,0),yaw_);
move = btVector3(move.x(), getLinearVelocity().y(), move.z());
setLinearVelocity(move);
//Rotate player
btTransform world;
world = getWorldTransform();
world.setRotation(btQuaternion(yaw_,0,0));
setWorldTransform(world);
//Jetpack
if(ptr_player->jetpack)
{
float jetpackPower = -getGravity().y()*1.5f;
world = getWorldTransform();
btVector3 velocity = getLinearVelocity();
if(world.getOrigin().y() < 18.0f)
{
setLinearVelocity(btVector3(move.x(), velocity.y()+jetpackPower*delta, move.z()));
}
}
else if(ptr_input->jump && ptr_player->hovering) //Jump
{
float jumpPower = 600.0f;
applyCentralImpulse(btVector3(0.0f, jumpPower, 0.0f));
//applyCentralForce(btVector3(0.0f, jumpPower, 0.0f));
}
}
}
void the::camera::deserialize(const pugi::xml_node &node)
{
_fov = node.attribute("FOV").as_float();
_zFar = node.attribute("zFar").as_float();
_zNear = node.attribute("zNear").as_float();
setWorldTransform(mat4(node));
//setLocalPosition(eyePosition);
}
void PlayerPhysicsObject::hover(float delta, float hoverHeight)
{
float deltaHeightMaximum = 0.0f;
btVector3 offset[] = {btVector3( 0.15f, 0.0f, 0.15f),
btVector3( 0.15f, 0.0f, -0.15f),
btVector3(-0.15f, 0.0f, 0.15f),
btVector3(-0.15f, 0.0f, -0.15f)
};
for(unsigned int i=0; i<4; i++)
{
btVector3 from = btVector3(0.0f, 0.0f, 0.0f);
btVector3 to = (from - btVector3(0.0f,hoverHeight*2.0f,0.0f)) + offset[i];
from += offset[i];
from += getWorldTransform().getOrigin();
to += getWorldTransform().getOrigin();
btQuaternion btqt = getWorldTransform().getRotation();
btCollisionWorld::ClosestRayResultCallback ray(from,to);
ray.m_collisionFilterGroup = XKILL_Enums::PhysicsAttributeType::RAY;
ray.m_collisionFilterMask = XKILL_Enums::PhysicsAttributeType::WORLD;
dynamicsWorld_->rayTest(from,to,ray); //cast ray from player position straight down
if(ray.hasHit())
{
btVector3 point = from.lerp(to,ray.m_closestHitFraction);
float length = (point - from).length();
float deltaHeight = hoverHeight-length;
if(deltaHeight > deltaHeightMaximum)
{
deltaHeightMaximum = deltaHeight;
}
}
debugDrawer_->drawLine(from, to, btVector3(0.2f, 1.0f, 0.2f));
}
bool isHovering = false;
if(deltaHeightMaximum > 0.0f)
{
btTransform worldTransform;
worldTransform = getWorldTransform();
worldTransform.setOrigin(worldTransform.getOrigin() + btVector3(0.0f,deltaHeightMaximum,0.0f)*delta/0.25f);
setWorldTransform(worldTransform);
setLinearVelocity(getLinearVelocity()+btVector3(0.0f,-getLinearVelocity().y(),0.0f));
isHovering = true;
}
std::vector<int> playerAttributes = itrPhysics_3.ownerAt(attributeIndex_)->getAttributes(ATTRIBUTE_PLAYER);
for(unsigned int i=0; i<playerAttributes.size(); i++)
{
AttributePtr<Attribute_Player> ptr_player = itrPlayer.at(playerAttributes.at(i));
ptr_player->hovering = isHovering;
}
}
void PhysicsObject::handleOutOfBounds()
{
btTransform transform;
btVector3 newPosition = btVector3(0.0f, 10.0f, 0.0f);
transform = getWorldTransform();
transform.setOrigin(newPosition);
setWorldTransform(transform);
DEBUGPRINT("A physics object was out of bounds. It was moved to a new position " << newPosition.x() << " " << newPosition.y() << " " << newPosition.z());
}
void FrustumPhysicsObject::onUpdate(float delta)
{
btMatrix3x3 view = convert(itrCamera_3.at(attributeIndex_)->mat_view);
btVector3 pos = convert(itrCamera_3.at(attributeIndex_)->ptr_spatial->ptr_position->position);
btQuaternion q;
view.getRotation(q);
btTransform world = getWorldTransform();
world.setRotation(q);
world.setOrigin(pos);
setWorldTransform(world);
setCollisionShape(CollisionShapes::Instance()->getFrustumShape(attributeIndex_));
}
void World::
reset()
{
btCollisionObjectArray a = dynamicsWorld->getCollisionObjectArray();
for (int i = 0; i < a.size(); i++) {
auto o = a[i];
if (!o->isStaticOrKinematicObject()) {
std::cout << "Object: " << o->getUserPointer() << std::endl;
btTransform t = o->getWorldTransform();
btVector3 v = t.getOrigin();
if (v.getY() < -10) {
std::shared_ptr<app::gl::AppObject> new_object;
dynamicsWorld->removeCollisionObject(o);
for (auto i = objects.begin(); i != objects.end(); ++i) {
if (i->get() == o->getUserPointer()) {
new_object = std::make_shared<app::gl::AppObject>(*(i->get()));
v.setX(disx(gen));
v.setY(disy(gen));
v.setZ(disz(gen));
t.setOrigin(v);
new_object->setWorldTransform(t);
objects.erase(i);
break;
}
}
addToWorld(new_object,
btRigidBody::btRigidBodyConstructionInfo(new_object->getMass(),
nullptr, nullptr, new_object->getInitialInertia()));
} else {
v.setX(disx(gen));
v.setY(disy(gen));
v.setZ(disz(gen));
t.setOrigin(v);
o->setWorldTransform(t);
o->setInterpolationLinearVelocity(btVector3(0,0,0));
o->setInterpolationAngularVelocity(btVector3(0,0,0));
o->setActivationState(1);
o->activate(true);
}
}
}
}
void WPainter::drawPie(const WRectF& rectangle, int startAngle, int spanAngle)
{
WTransform oldTransform = WTransform(worldTransform());
translate(rectangle.center().x(), rectangle.center().y());
scale(1., rectangle.height() / rectangle.width());
WPainterPath path(WPointF(0.0, 0.0));
path.arcTo(0.0, 0.0, rectangle.width() / 2.0,
startAngle / 16., spanAngle / 16.);
path.closeSubPath();
drawPath(path);
setWorldTransform(oldTransform);
}
void btRigidBody::internalWritebackVelocity(btScalar timeStep)
{
(void) timeStep;
if (m_inverseMass)
{
setLinearVelocity(getLinearVelocity()+ m_deltaLinearVelocity);
setAngularVelocity(getAngularVelocity()+m_deltaAngularVelocity);
//correct the position/orientation based on push/turn recovery
btTransform newTransform;
btTransformUtil::integrateTransform(getWorldTransform(),m_pushVelocity,m_turnVelocity,timeStep,newTransform);
setWorldTransform(newTransform);
//m_originalBody->setCompanionId(-1);
}
// m_deltaLinearVelocity.setZero();
// m_deltaAngularVelocity .setZero();
// m_pushVelocity.setZero();
// m_turnVelocity.setZero();
}
void WPainter::drawChord(const WRectF& rectangle, int startAngle, int spanAngle)
{
WTransform oldTransform = WTransform(worldTransform());
translate(rectangle.center().x(), rectangle.center().y());
scale(1., rectangle.height() / rectangle.width());
double start = startAngle / 16.;
double span = spanAngle / 16.;
WPainterPath path;
path.arcMoveTo(0, 0, rectangle.width()/2., start);
path.arcTo(0, 0, rectangle.width()/2., start, span);
path.closeSubPath();
drawPath(path);
setWorldTransform(oldTransform);
}
void PhysicsObject::hover(float delta, float hoverHeight)
{
btVector3 from = getWorldTransform().getOrigin();
btVector3 to = from - btVector3(0.0f,hoverHeight*2.0f,0.0f);
btCollisionWorld::ClosestRayResultCallback ray(from,to);
ray.m_collisionFilterGroup = XKILL_Enums::PhysicsAttributeType::RAY;
ray.m_collisionFilterMask = XKILL_Enums::PhysicsAttributeType::WORLD;
dynamicsWorld_->rayTest(from,to,ray); //cast ray from player position straight down
if(ray.hasHit())
{
btVector3 point = from.lerp(to,ray.m_closestHitFraction);
float length = (point - from).length();
float something = hoverHeight-length;
if(something > 0.0f)
{
btTransform worldTransform;
worldTransform = getWorldTransform();
worldTransform.setOrigin(worldTransform.getOrigin() + btVector3(0.0f,something,0.0f)*delta/0.25f);
setWorldTransform(worldTransform);
setLinearVelocity(getLinearVelocity()+btVector3(0.0f,-getLinearVelocity().y(),0.0f));
}
}
}
void BulletElement::updateWorldTransform(const Matrix4d& T_link_to_world)
{
setWorldTransform(T_link_to_world*(this->T_elem_to_link));
}
void Element::updateWorldTransform(const Eigen::Matrix4d& T_local_to_world)
{
setWorldTransform(T_local_to_world*(this->T_element_to_local));
}
void SimoxMotionState::updateTransform()
{
//Eigen::Matrix4f m = Eigen::Matrix4f::Identity();
//m.block(0,3,3,1) = com;
setWorldTransform(m_startWorldTrans);
}
BulletElement::BulletElement(const Matrix4d& T_elem_to_link, Shape shape,
const vector<double>& params)
: T_elem_to_link(T_elem_to_link),shape(shape)
{
//DEBUG
//std::cout << "BulletElement::BulletElement: START" << std::endl;
//END_DEBUG
btCollisionShape* bt_shape;
switch (shape) {
case BOX:
//DEBUG
//std::cout << "BulletElement::BulletElement: Create BOX ..." << std::endl;
//END_DEBUG
bt_shape = new btBoxShape( btVector3(params[0]/2,params[1]/2,params[2]/2) );
bt_shape->setMargin(0.0);
//DEBUG
//std::cout << "BulletElement::BulletElement: Created BOX" << std::endl;
//END_DEBUG
break;
case SPHERE:
if (true || params[0] != 0) {
//DEBUG
//std::cout << "BulletElement::BulletElement: Create SPHERE ..." << std::endl;
//END_DEBUG
bt_shape = new btSphereShape(params[0]) ;
//DEBUG
//std::cout << "BulletElement::BulletElement: Created SPHERE" << std::endl;
//END_DEBUG
} else {
//DEBUG
//std::cout << "BulletElement::BulletElement: THROW" << std::endl;
//END_DEBUG
throw zeroRadiusSphereException();
}
break;
case CYLINDER:
//DEBUG
//std::cout << "BulletElement::BulletElement: Create CYLINDER ..." << std::endl;
//END_DEBUG
bt_shape = new btCylinderShapeZ( btVector3(params[0],params[0],params[1]/2) );
//DEBUG
//std::cout << "BulletElement::BulletElement: Created CYLINDER ..." << std::endl;
//END_DEBUG
break;
case MESH:
//DEBUG
//std::cout << "BulletElement::BulletElement: Create MESH ..." << std::endl;
//END_DEBUG
//bt_shape = new btConvexHullShape( (btScalar*) params.data(),
//params.size()/3,
//(int) 3*sizeof(double) );
bt_shape = new btConvexHullShape();
bt_shape->setMargin(0.05);
for (int i=0; i<params.size(); i+=3){
//DEBUG
//std::cout << "BulletElement::BulletElement: Adding point " << i/3 + 1 << std::endl;
//END_DEBUG
dynamic_cast<btConvexHullShape*>(bt_shape)->addPoint(btVector3(params[i],params[i+1],params[i+2]));
}
//DEBUG
//std::cout << "BulletElement::BulletElement: Created MESH ..." << std::endl;
//END_DEBUG
break;
case CAPSULE:
bt_shape = new btConvexHullShape();
dynamic_cast<btConvexHullShape*>(bt_shape)->addPoint(btVector3(0,0,-params[1]/2));
dynamic_cast<btConvexHullShape*>(bt_shape)->addPoint(btVector3(0,0,params[1]/2));
bt_shape->setMargin(params[0]);
break;
default:
cerr << "Warning: Collision element has an unknown type " << shape << endl;
//DEBUG
//std::cout << "BulletElement::BulletElement: THROW" << std::endl;
//END_DEBUG
throw unknownShapeException(shape);
break;
}
//DEBUG
//cout << "BulletElement::BulletElement: Creating btCollisionObject" << endl;
//END_DEBUG
bt_obj = make_shared<btCollisionObject>();
//DEBUG
//cout << "BulletElement::BulletElement: Setting bt_shape for bt_ob" << endl;
//END_DEBUG
bt_obj->setCollisionShape(bt_shape);
//DEBUG
//cout << "BulletElement::BulletElement: Setting world transform for bt_ob" << endl;
//END_DEBUG
setWorldTransform(Matrix4d::Identity());
//DEBUG
//cout << "BulletElement::BulletElement: END" << std::endl;
//END_DEBUG
}
void Element::updateWorldTransform(
const Eigen::Isometry3d& T_local_to_world_in) {
setWorldTransform(T_local_to_world_in * (T_element_to_local));
}
bool PhysicsObject::init(unsigned int attributeIndex, short collisionFilterGroup)
{
if(attributeIndex < 0)
{
return false;
}
attributeIndex_ = attributeIndex;
collisionFilterGroup_ = collisionFilterGroup;
//Get the init data from a physics attribute
AttributePtr<Attribute_Physics> ptr_physics = itrPhysics_.at(attributeIndex);
btScalar mass = static_cast<btScalar>(ptr_physics->mass);
//Resolve mass, local inertia of the collision shape, and also the collision shape itself.
btCollisionShape* collisionShape = subClassSpecificCollisionShape();
if(collisionShape != nullptr)
{
setCollisionShape(collisionShape);
}
else
{
ERROR_MESSAGEBOX("Error in PhysicsObject::init. Expected collision shape pointer unexpectedly set to nullptr. Using default shape instead.");
setCollisionShape(CollisionShapes::Instance()->getDefaultShape());
}
btVector3 localInertia = subClassCalculateLocalInertiaHook(mass);
setMassProps(mass, localInertia); //Set inverse mass and inverse local inertia
updateInertiaTensor();
if((getCollisionFlags() & btCollisionObject::CF_STATIC_OBJECT))
{
btTransform world;
AttributePtr<Attribute_Spatial> ptr_spatial = itrPhysics_.at(attributeIndex_)->ptr_spatial;
AttributePtr<Attribute_Position> ptr_position = ptr_spatial->ptr_position;
world.setOrigin(convert(ptr_position->position));
world.setRotation(convert(ptr_spatial->rotation));
setWorldTransform(world); //Static physics objects: transform once
}
else
{
//Non-static physics objects: let a derived btMotionState handle transforms.
MotionState* customMotionState = new MotionState(attributeIndex);
setMotionState(customMotionState);
setAngularVelocity(btVector3(ptr_physics->angularVelocity.x,
ptr_physics->angularVelocity.y,
ptr_physics->angularVelocity.z));
setLinearVelocity(btVector3(ptr_physics->linearVelocity.x,
ptr_physics->linearVelocity.y,
ptr_physics->linearVelocity.z));
//Gravity is set after "addRigidBody" for non-static physics objects
}
if(ptr_physics->collisionResponse)
{
setCollisionFlags(getCollisionFlags() & ~CF_NO_CONTACT_RESPONSE); //Activate collision response
}
else
{
setCollisionFlags(getCollisionFlags() | CF_NO_CONTACT_RESPONSE); //Deactivate collision response
}
return subClassSpecificInitHook();
}
/******************************************************************************
* Renders the current animation frame.
******************************************************************************/
bool ViewportSceneRenderer::renderFrame(FrameBuffer* frameBuffer, QProgressDialog* progress)
{
OVITO_ASSERT(_glcontext == QOpenGLContext::currentContext());
// Set up OpenGL state.
OVITO_REPORT_OPENGL_ERRORS();
OVITO_CHECK_OPENGL(glDisable(GL_STENCIL_TEST));
OVITO_CHECK_OPENGL(glEnable(GL_DEPTH_TEST));
OVITO_CHECK_OPENGL(glDepthFunc(GL_LESS));
OVITO_CHECK_OPENGL(glDepthRange(0, 1));
OVITO_CHECK_OPENGL(glDepthMask(GL_TRUE));
OVITO_CHECK_OPENGL(glClearDepth(1));
OVITO_CHECK_OPENGL(glDisable(GL_SCISSOR_TEST));
_translucentPass = false;
// Clear background.
OVITO_CHECK_OPENGL(glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT));
renderScene();
// Render visual 3D representation of the modifiers.
renderModifiers(false);
if(isInteractive()) {
// Render construction grid.
if(viewport()->isGridVisible())
renderGrid();
// Render input mode 3D overlays.
MainWindow* mainWindow = renderDataset()->mainWindow();
if(mainWindow) {
for(const auto& handler : mainWindow->viewportInputManager()->stack()) {
if(handler->hasOverlay())
handler->renderOverlay3D(viewport(), this);
}
}
}
// Render visual 2D representation of the modifiers.
renderModifiers(true);
// Render input mode 2D overlays.
if(isInteractive()) {
MainWindow* mainWindow = renderDataset()->mainWindow();
if(mainWindow) {
for(const auto& handler : mainWindow->viewportInputManager()->stack()) {
if(handler->hasOverlay())
handler->renderOverlay2D(viewport(), this);
}
}
}
// Render translucent objects in a second pass.
_translucentPass = true;
for(auto& record : _translucentPrimitives) {
setWorldTransform(std::get<0>(record));
std::get<1>(record)->render(this);
}
_translucentPrimitives.clear();
return true;
}
/******************************************************************************
* Renders the construction grid.
******************************************************************************/
void ViewportSceneRenderer::renderGrid()
{
if(isPicking())
return;
FloatType gridSpacing;
Box2I gridRange;
std::tie(gridSpacing, gridRange) = determineGridRange(viewport());
if(gridSpacing <= 0) return;
// Determine how many grid lines need to be rendered.
int xstart = gridRange.minc.x();
int ystart = gridRange.minc.y();
int numLinesX = gridRange.size(0) + 1;
int numLinesY = gridRange.size(1) + 1;
FloatType xstartF = (FloatType)xstart * gridSpacing;
FloatType ystartF = (FloatType)ystart * gridSpacing;
FloatType xendF = (FloatType)(xstart + numLinesX - 1) * gridSpacing;
FloatType yendF = (FloatType)(ystart + numLinesY - 1) * gridSpacing;
// Allocate vertex buffer.
int numVertices = 2 * (numLinesX + numLinesY);
std::unique_ptr<Point3[]> vertexPositions(new Point3[numVertices]);
std::unique_ptr<ColorA[]> vertexColors(new ColorA[numVertices]);
// Build lines array.
ColorA color = Viewport::viewportColor(ViewportSettings::COLOR_GRID);
ColorA majorColor = Viewport::viewportColor(ViewportSettings::COLOR_GRID_INTENS);
ColorA majorMajorColor = Viewport::viewportColor(ViewportSettings::COLOR_GRID_AXIS);
Point3* v = vertexPositions.get();
ColorA* c = vertexColors.get();
FloatType x = xstartF;
for(int i = xstart; i < xstart + numLinesX; i++, x += gridSpacing, c += 2) {
*v++ = Point3(x, ystartF, 0);
*v++ = Point3(x, yendF, 0);
if((i % 10) != 0)
c[0] = c[1] = color;
else if(i != 0)
c[0] = c[1] = majorColor;
else
c[0] = c[1] = majorMajorColor;
}
FloatType y = ystartF;
for(int i = ystart; i < ystart + numLinesY; i++, y += gridSpacing, c += 2) {
*v++ = Point3(xstartF, y, 0);
*v++ = Point3(xendF, y, 0);
if((i % 10) != 0)
c[0] = c[1] = color;
else if(i != 0)
c[0] = c[1] = majorColor;
else
c[0] = c[1] = majorMajorColor;
}
OVITO_ASSERT(c == vertexColors.get() + numVertices);
// Render grid lines.
setWorldTransform(viewport()->gridMatrix());
if(!_constructionGridGeometry || !_constructionGridGeometry->isValid(this))
_constructionGridGeometry = createLinePrimitive();
_constructionGridGeometry->setVertexCount(numVertices);
_constructionGridGeometry->setVertexPositions(vertexPositions.get());
_constructionGridGeometry->setVertexColors(vertexColors.get());
_constructionGridGeometry->render(this);
}
BulletElement::BulletElement(const Matrix4d& T_elem_to_link, Shape shape,
const vector<double>& params,
const string& group_name,
bool use_margins)
: T_elem_to_link(T_elem_to_link),shape(shape)
{
setGroupName(group_name);
//DEBUG
//std::cout << "BulletElement::BulletElement: START" << std::endl;
//END_DEBUG
btCollisionShape* bt_shape;
double small_margin = 1e-9;
switch (shape) {
case BOX:
{
//DEBUG
//std::cout << "BulletElement::BulletElement: Create BOX ..." << std::endl;
//END_DEBUG
btBoxShape bt_box( btVector3(params[0]/2,params[1]/2,params[2]/2) );
/* Strange things happen to the collision-normals when we use the
* convex interface to the btBoxShape. Instead, we'll explicitly create
* a btConvexHullShape.
*/
bt_shape = new btConvexHullShape();
if (use_margins)
bt_shape->setMargin(0.05);
else
bt_shape->setMargin(small_margin);
for (int i=0; i<8; ++i){
btVector3 vtx;
bt_box.getVertex(i,vtx);
dynamic_cast<btConvexHullShape*>(bt_shape)->addPoint(vtx);
}
//DEBUG
//std::cout << "BulletElement::BulletElement: Created BOX" << std::endl;
//END_DEBUG
}
break;
case SPHERE:
if (true || params[0] != 0) {
//DEBUG
//std::cout << "BulletElement::BulletElement: Create SPHERE ..." << std::endl;
//END_DEBUG
bt_shape = new btSphereShape(params[0]) ;
//DEBUG
//std::cout << "BulletElement::BulletElement: Created SPHERE" << std::endl;
//END_DEBUG
} else {
//DEBUG
//std::cout << "BulletElement::BulletElement: THROW" << std::endl;
//END_DEBUG
throw zeroRadiusSphereException();
}
break;
case CYLINDER:
//DEBUG
//std::cout << "BulletElement::BulletElement: Create CYLINDER ..." << std::endl;
//END_DEBUG
bt_shape = new btCylinderShapeZ( btVector3(params[0],params[0],params[1]/2) );
//DEBUG
//std::cout << "BulletElement::BulletElement: Created CYLINDER ..." << std::endl;
//END_DEBUG
break;
case MESH:
//DEBUG
//std::cout << "BulletElement::BulletElement: Create MESH ..." << std::endl;
//END_DEBUG
//bt_shape = new btConvexHullShape( (btScalar*) params.data(),
//params.size()/3,
//(int) 3*sizeof(double) );
bt_shape = new btConvexHullShape();
if (use_margins)
bt_shape->setMargin(0.05);
else
bt_shape->setMargin(small_margin);
for (int i=0; i<params.size(); i+=3){
//DEBUG
//std::cout << "BulletElement::BulletElement: Adding point " << i/3 + 1 << std::endl;
//END_DEBUG
dynamic_cast<btConvexHullShape*>(bt_shape)->addPoint(btVector3(params[i],params[i+1],params[i+2]));
}
//DEBUG
//std::cout << "BulletElement::BulletElement: Created MESH ..." << std::endl;
//END_DEBUG
break;
case CAPSULE:
bt_shape = new btConvexHullShape();
dynamic_cast<btConvexHullShape*>(bt_shape)->addPoint(btVector3(0,0,-params[1]/2));
dynamic_cast<btConvexHullShape*>(bt_shape)->addPoint(btVector3(0,0,params[1]/2));
bt_shape->setMargin(params[0]);
break;
default:
cerr << "Warning: Collision element has an unknown type " << shape << endl;
//DEBUG
//std::cout << "BulletElement::BulletElement: THROW" << std::endl;
//END_DEBUG
throw unknownShapeException(shape);
break;
}
//DEBUG
//cout << "BulletElement::BulletElement: Creating btCollisionObject" << endl;
//END_DEBUG
bt_obj = make_shared<btCollisionObject>();
//DEBUG
//cout << "BulletElement::BulletElement: Setting bt_shape for bt_ob" << endl;
//END_DEBUG
bt_obj->setCollisionShape(bt_shape);
//DEBUG
//cout << "BulletElement::BulletElement: Setting world transform for bt_ob" << endl;
//END_DEBUG
setWorldTransform(Matrix4d::Identity());
//DEBUG
//cout << "BulletElement::BulletElement: END" << std::endl;
//END_DEBUG
}
