void VRPhysics::setGravity(OSG::Vec3f v) { Lock lock(mtx()); if (body) body->setGravity(btVector3 (v.x(),v.y(),v.z())); }
void LuaCore::setupRsFunctionsAndTw(QTreeWidget* tw)
{
int top;
std::string namespc; // namespace (with '.' at the end)
// two namespaces
tw->setColumnCount(2);
// setup tree widget (after ColumnCount was set!)
// no headers to not to confuse the user
tw->setHeaderHidden(true);
// make it big enough to show the full functionnames
tw->setColumnWidth(0,250);
// second col is only a "container" for the paste value, therefore it needs no width
tw->setColumnWidth(1,0);
// we need to mess around with lua
RsStackMutex mtx(_mutex); /******* LOCKED MUTEX *****/
// rs namespace
namespc = "rs.";
QTreeWidgetItem* rs = new QTreeWidgetItem(tw);
rs->setText(0, QString::fromStdString(namespc));
rs->setText(1, QString::fromStdString(namespc));
lua_newtable(L);
top = lua_gettop(L);
addFunctionToLuaAndTw(top, namespc, rs, rs_clear, "clear()", QObject::tr("clears the output"));
addFunctionToLuaAndTw(top, namespc, rs, rs_print, "print()", QObject::tr("prints to output"));
addFunctionToLuaAndTw(top, namespc, rs, rs_luaFolder, "luaFolder()", QObject::tr("path to Lua4RS folder"));
lua_setglobal(L, "rs");
// peers namespace
namespc = "peers.";
QTreeWidgetItem* peers = new QTreeWidgetItem(tw);
peers->setText(0, QString::fromStdString(namespc));
peers->setText(1, QString::fromStdString(namespc));
lua_newtable(L);
top = lua_gettop(L);
addFunctionToLuaAndTw(top, namespc, peers, peers_getOwnId, "getOwnId()", QObject::tr("returns own SSL id (peer id)"));
addFunctionToLuaAndTw(top, namespc, peers, peers_getOnlineList, "getOnlineList()", QObject::tr("returns list of online friends (SSL id)"));
addFunctionToLuaAndTw(top, namespc, peers, peers_getFriendList, "getFriendList()", QObject::tr("returns list of all friends (SSL id)"));
addFunctionToLuaAndTw(top, namespc, peers, peers_getPeerCount, "getPeerCount()", QObject::tr("returns number of all friends and online friends"));
addFunctionToLuaAndTw(top, namespc, peers, peers_isFriend, "isFriend()", QObject::tr("returns if a peer is a friend"));
addFunctionToLuaAndTw(top, namespc, peers, peers_isGPGAccepted, "isGPGAccepted()", QObject::tr("returns is a PGP key is accepted"));
addFunctionToLuaAndTw(top, namespc, peers, peers_isOnline, "isOnline()", QObject::tr("returns if a peer is online"));
addFunctionToLuaAndTw(top, namespc, peers, peers_getGPGName, "getGPGName()", QObject::tr("returns the PGP name for a given PGP id"));
addFunctionToLuaAndTw(top, namespc, peers, peers_getPeerName, "getPeerName()", QObject::tr("returns the name for a given SSL/PGP id"));
addFunctionToLuaAndTw(top, namespc, peers, peers_getPeerDetails, "getPeerDetails()", QObject::tr("returns peer details as a table for a given SSL id"));
addFunctionToLuaAndTw(top, namespc, peers, peers_getGPGOwnId, "getGPGOwnId()", QObject::tr("returns own PGP id"));
addFunctionToLuaAndTw(top, namespc, peers, peers_getGPGId, "getGPGId()", QObject::tr("returns the PGP id for a given SSL/PGP id"));
//groups
addFunctionToLuaAndTw(top, namespc, peers, peers_addGroup, "addGroup()", QObject::tr("creates a new group"));
addFunctionToLuaAndTw(top, namespc, peers, peers_editGroup, "editGroup()", QObject::tr("edits an existing group"));
addFunctionToLuaAndTw(top, namespc, peers, peers_removeGroup, "removeGroup()", QObject::tr("removes the group with the given groupd id"));
addFunctionToLuaAndTw(top, namespc, peers, peers_getGroupInfo, "getGroupInfo()", QObject::tr("returns group info for a given group id"));
addFunctionToLuaAndTw(top, namespc, peers, peers_getGroupInfoList, "getGroupInfoList()", QObject::tr("returns an array with all groups and their group infos"));
addFunctionToLuaAndTw(top, namespc, peers, peers_assignPeerToGroup, "assignPeerToGroup()", QObject::tr("returns the PGP id for a given SSL/PGP id"));
lua_setglobal(L, "peers");
// server config
namespc = "config.";
QTreeWidgetItem* config = new QTreeWidgetItem(tw);
config->setText(0, QString::fromStdString(namespc));
config->setText(1, QString::fromStdString(namespc));
lua_newtable(L);
top = lua_gettop(L);
addFunctionToLuaAndTw(top, namespc, config, config_getOperatingMode, "getOperatingMode()", QObject::tr("returns the current operation mode as int and string"));
addFunctionToLuaAndTw(top, namespc, config, config_setOperatingMode, "setOperatingMode()", QObject::tr("sets the openration mode (takes int or string)"));
addFunctionToLuaAndTw(top, namespc, config, config_setMaxDataRates, "setMaxDataRates()", QObject::tr("sets max down-/upload bandwidth in kB"));
addFunctionToLuaAndTw(top, namespc, config, config_getMaxDataRates, "getMaxDataRates()", QObject::tr("gets max down-/upload bandwidth in kB"));
addFunctionToLuaAndTw(top, namespc, config, config_getCurrentDataRates, "getCurrentDataRates()",QObject::tr("gets current down-/upload bandwidth in kB"));
lua_setglobal(L, "config");
// discovery
namespc = "disc.";
QTreeWidgetItem* discovery = new QTreeWidgetItem(tw);
discovery->setText(0, QString::fromStdString(namespc));
discovery->setText(1, QString::fromStdString(namespc));
lua_newtable(L);
top = lua_gettop(L);
addFunctionToLuaAndTw(top, namespc, discovery, disc_getDiscFriends, "getDiscFriends()", QObject::tr("gets discovery infos for a SSLID"));
addFunctionToLuaAndTw(top, namespc, discovery, disc_getDiscPgpFriends, "getDiscPgpFriends()", QObject::tr("gets discovery infos for a PGPID"));
addFunctionToLuaAndTw(top, namespc, discovery, disc_getPeerVersion, "getPeerVersion()", QObject::tr("gets RS version from a given peer"));
addFunctionToLuaAndTw(top, namespc, discovery, disc_getWaitingDiscCount,"getWaitingDiscCount()",QObject::tr("gets current pending discovery packets (down und up)"));
lua_setglobal(L, "disc");
// chat
namespc = "chat.";
QTreeWidgetItem* chat = new QTreeWidgetItem(tw);
chat->setText(0, QString::fromStdString(namespc));
chat->setText(1, QString::fromStdString(namespc));
lua_newtable(L);
top = lua_gettop(L);
addFunctionToLuaAndTw(top, namespc, chat, chat_sendChat, "sendChat()", QObject::tr("send a chat message (ChatId, msg)"));
lua_setglobal(L, "chat");
// files
namespc = "files.";
QTreeWidgetItem* files = new QTreeWidgetItem(tw);
files->setText(0, QString::fromStdString(namespc));
files->setText(1, QString::fromStdString(namespc));
lua_newtable(L);
top = lua_gettop(L);
addFunctionToLuaAndTw(top, namespc, files, file_fileRequest, "fileRequest()", QObject::tr("request a download (params: *name*, *hash*, *size*"));
lua_setglobal(L, "files");
}
btPairCachingGhostObject* VRPhysics::getGhostBody() { Lock lock(mtx()); return ghost_body; }
btCollisionShape* VRPhysics::getCollisionShape() { Lock lock(mtx()); return shape; }
btCollisionObject* VRPhysics::getCollisionObject() { Lock lock(mtx()); return ghost ? (btCollisionObject*)ghost_body : (btCollisionObject*)body; }
btRigidBody* VRPhysics::getRigidBody() { Lock lock(mtx()); return body; }
void VRPhysics::addConstantTorque(OSG::Vec3f i) { Lock lock(mtx()); constantTorque = toBtVector3(i); }
void VRPhysics::setTransformation(btTransform t) {
if (body == 0) return;
Lock lock(mtx());
body->setWorldTransform(t);
}
void VRPhysics::addForce(OSG::Vec3f i) {
if (body == 0 || mass == 0) return;
Lock lock(mtx());
body->applyForce(toBtVector3(i), btVector3(0.0,0.0,0.0));
}
void VRPhysics::addTorque(OSG::Vec3f i) {
if (body == 0 || mass == 0) return;
Lock lock(mtx());
body->applyTorque(toBtVector3(i));
}
void VRPhysics::applyImpulse(OSG::Vec3f i) {
if (body == 0) return;
if (mass == 0) return;
Lock lock(mtx());
body->setLinearVelocity(btVector3(i[0]/mass, i[1]/mass, i[2]/mass));
}
void VRPhysics::update() {
OSG::VRScene* scene = OSG::VRSceneManager::getCurrent();
if (scene == 0) return;
if (world == 0) world = scene->bltWorld();
if (world == 0) return;
Lock lock(mtx());
scene->unphysicalize(vr_obj);
if (body != 0) {
for (auto j : joints) {
if (j.second->btJoint != 0) {
VRPhysicsJoint* joint = j.second;
world->removeConstraint(joint->btJoint);
delete joint->btJoint;
joint->btJoint = 0;
}
}
for (auto j : joints2) {
if (j.first->joints.count(this) == 0) continue;
VRPhysicsJoint* joint = j.first->joints[this];
if (joint->btJoint != 0) {
world->removeConstraint(joint->btJoint);
delete joint->btJoint;
joint->btJoint = 0;
}
}
world->removeRigidBody(body);
delete body;
body = 0;
}
if (ghost_body != 0) {
world->removeCollisionObject(ghost_body);
delete ghost_body;
ghost_body = 0;
}
if (shape != 0) { delete shape; shape = 0; }
if (motionState != 0) { delete motionState; motionState = 0; }
if (!physicalized) return;
motionState = new btDefaultMotionState(fromVRTransform( vr_obj, scale ));
if (physicsShape == "Box") shape = getBoxShape();
if (physicsShape == "Sphere") shape = getSphereShape();
if (physicsShape == "Convex") shape = getConvexShape();
if (physicsShape == "Concave") shape = getConcaveShape();
if (shape == 0) return;
btVector3 inertiaVector(0,0,0);
float _mass = mass;
if (!dynamic) _mass = 0;
if (_mass != 0) shape->calculateLocalInertia(_mass, inertiaVector);
btRigidBody::btRigidBodyConstructionInfo rbInfo( _mass, motionState, shape, inertiaVector );
if (ghost) {
ghost_body = new btPairCachingGhostObject();
ghost_body->setCollisionShape( shape );
ghost_body->setUserPointer( vr_obj );
ghost_body->setCollisionFlags( btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_NO_CONTACT_RESPONSE );
world->addCollisionObject(ghost_body, collisionGroup, collisionMask);
} else {
body = new btRigidBody(rbInfo);
body->setActivationState(activation_mode);
world->addRigidBody(body, collisionGroup, collisionMask);
}
scene->physicalize(vr_obj);
updateConstraints();
}
vector<VRCollision> VRPhysics::getCollisions() {
Lock lock(mtx());
vector<VRCollision> res;
if (!physicalized) return res;
if (!ghost) {
int numManifolds = world->getDispatcher()->getNumManifolds();
for (int i=0;i<numManifolds;i++) {
btPersistentManifold* contactManifold = world->getDispatcher()->getManifoldByIndexInternal(i);
//btCollisionObject* obA = (btCollisionObject*)(contactManifold->getBody0());
//btCollisionObject* obB = (btCollisionObject*)(contactManifold->getBody1());
int numContacts = contactManifold->getNumContacts();
for (int j=0;j<numContacts;j++) {
btManifoldPoint& pt = contactManifold->getContactPoint(j);
if (pt.getDistance()<0.f) {
VRCollision c;
c.obj1 = vr_obj;
// c.obj2 = // TODO
c.pos1 = toVec3f( pt.getPositionWorldOnA() );
c.pos2 = toVec3f( pt.getPositionWorldOnB() );
c.norm = toVec3f( pt.m_normalWorldOnB );
c.distance = pt.getDistance();
res.push_back(c);
}
}
}
return res;
}
// --------- ghost object --------------
btManifoldArray manifoldArray;
btBroadphasePairArray& pairArray = ghost_body->getOverlappingPairCache()->getOverlappingPairArray();
int numPairs = pairArray.size();
for (int i=0;i<numPairs;i++) {
manifoldArray.clear();
const btBroadphasePair& pair = pairArray[i];
//unless we manually perform collision detection on this pair, the contacts are in the dynamics world paircache:
btBroadphasePair* collisionPair = world->getPairCache()->findPair(pair.m_pProxy0,pair.m_pProxy1);
if (!collisionPair)
continue;
if (collisionPair->m_algorithm)
collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
for (int j=0;j<manifoldArray.size();j++) {
btPersistentManifold* manifold = manifoldArray[j];
btScalar directionSign = manifold->getBody0() == ghost_body ? btScalar(-1.0) : btScalar(1.0);
for (int p=0;p<manifold->getNumContacts();p++) {
const btManifoldPoint&pt = manifold->getContactPoint(p);
if (pt.getDistance()<0.f) {
VRCollision c;
c.pos1 = toVec3f( pt.getPositionWorldOnA() );
c.pos2 = toVec3f( pt.getPositionWorldOnB() );
c.norm = toVec3f( pt.m_normalWorldOnB*directionSign );
c.distance = pt.getDistance();
res.push_back(c);
}
}
}
}
return res;
}
OSG::Vec3f VRPhysics::getTorque() { Lock lock(mtx()); return toVec3f(body->getTotalTorque());}
void VRPhysics::setDamping(float lin, float ang) { Lock lock(mtx()); body->setDamping(btScalar(lin),btScalar(ang)); }
