void PhysXPhysics::AddShape(Actor* pActor, PxGeometry* geometry, float density, const std::string& physicsMaterial, bool gravityEnabled, float linearDamping, float angularDamping, const std::string& bodyType)
{
BE_ASSERT(pActor);
ActorId actorId = pActor->GetId();
BE_ASSERTf(m_actorRigidBodyMap.find(actorId) == m_actorRigidBodyMap.end(), "Actor with more than one rigidbody");
Mat4x4 transform = Mat4x4::g_Identity;
TransformComponent* pTransformComponent = pActor->GetComponent<TransformComponent>(TransformComponent::g_Name);
if (pTransformComponent)
{
transform = pTransformComponent->GetTransform();
}
else
{
//Doesnt work without transform
BE_ERROR("Actor %s PhysicsComponent requires Shape to have Transform Component: %d", actorId);
return;
}
PhysicsMaterialData material(LookupMaterialData(physicsMaterial));
PxMaterial* mat = m_pPhysicsSdk->createMaterial(material.m_friction, material.m_friction, material.m_restitution);
Vec3 translation, scale;
Quaternion rotation;
bool ok = transform.Decompose(translation, rotation, scale);
PxQuat pxRot;
PxVec3 pxLoc;
Vec3ToPxVec(translation, &pxLoc);
QuaternionToPxQuat(rotation, &pxRot);
PxTransform t(pxLoc, pxRot);
if (bodyType == "Dynamic")
{
PxRigidDynamic* body = PxCreateDynamic(*m_pPhysicsSdk, t, *geometry, *mat, density);
body->setActorFlag(PxActorFlag::eDISABLE_GRAVITY, !gravityEnabled);
PxRigidBodyExt::updateMassAndInertia(*body, density);
body->setLinearDamping(linearDamping);
body->setAngularDamping(angularDamping);
m_pScene->addActor(*body);
m_actorRigidBodyMap[actorId] = body;
m_rigidBodyActorMap[body] = actorId;
}
else
{
BE_ERROR("[Physics] BodyType not supported: %s", bodyType.c_str());
return;
}
}
void BulletPhysics::AddShape(StrongGameObjectPtr pGameObject, btCollisionShape* shape, float mass, const std::string& physicsMaterial)
{
CB_ASSERT(pGameObject);
// make sure this object is only added once
GameObjectId id = pGameObject->GetId();
CB_ASSERT(m_ObjectIdToRigidBody.find(id) == m_ObjectIdToRigidBody.end() && "GameObjects can only have one physics body");
// look up material
MaterialData material(LookupMaterialData(physicsMaterial));
// local inertia defines how the objects mass is distributed
btVector3 localInertia(0.0f, 0.0f, 0.0f);
if (mass > 0.0f)
{
shape->calculateLocalInertia(mass, localInertia);
}
// get the objects transform
Mat4x4 transform = Mat4x4::Identity;
shared_ptr<TransformComponent> pTransformComponent = MakeStrongPtr(pGameObject->GetComponent<TransformComponent>(TransformComponent::g_Name));
CB_ASSERT(pTransformComponent);
if (pTransformComponent)
{
transform = pTransformComponent->GetTransform();
}
else
{
// Physics can't work on an object that doesn't have a TransformComponent
return;
}
ObjectMotionState* motionState = CB_NEW ObjectMotionState(transform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, motionState, shape, localInertia);
// set up material properties
rbInfo.m_restitution = material.m_Restitution;
rbInfo.m_friction = material.m_Friction;
// add body to physics world
btRigidBody* body = new btRigidBody(rbInfo);
m_DynamicsWorld->addRigidBody(body);
// update the maps
m_ObjectIdToRigidBody[id] = body;
m_RigidBodyToObjectId[body] = id;
}
