ScenePlane::ScenePlane(const string &name_, const Planef &plane_) : SceneRigidBodyObject(name_), plane(plane_) {
planeShape = new btStaticPlaneShape(btVector3(plane.v[0], plane.v[1], plane.v[2]), -plane.d);
planeMotionState = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(0,0,0)));
btRigidBody::btRigidBodyConstructionInfo
planeRigidBodyCI(0, planeMotionState, planeShape, btVector3(0,0,0));
planeRigidBodyCI.m_restitution = 0.5;
// planeRigidBodyCI.m_friction = 2.0;
planeRigidBody = new btRigidBody(planeRigidBodyCI);
}
u32 wsScene::addPrimitive(wsPrimitive* myPrimitive) {
wsAssert(numPrimitives < WS_MAX_PRIMITIVES, "Cannot add another primitive to the scene. Maximum already reached.");
primitives[numPrimitives] = myPrimitive;
#if WS_PHYSICS_BACKEND == WS_BACKEND_BULLET
switch (myPrimitive->getType()) {
case WS_PRIM_TYPE_PLANE:
{
wsPlane* plane = (wsPlane*)myPrimitive;
vec4 data = plane->getPosData();
btCollisionShape* planeShape = wsNew(btStaticPlaneShape, btStaticPlaneShape(btVector3(data.x, data.y, data.z), data.w));
btDefaultMotionState* planeState = wsNew(btDefaultMotionState, btDefaultMotionState(btTransform(btQuaternion(0.0f, 0.0f, 0.0f, 1.0f), btVector3(0.0f, 0.0f, 0.0f))));
btRigidBody::btRigidBodyConstructionInfo planeRigidBodyCI(0, planeState, planeShape, btVector3(0,0,0));
btRigidBody* groundRigidBody = wsNew(btRigidBody, btRigidBody(planeRigidBodyCI));
physicsWorld->addRigidBody(groundRigidBody, myPrimitive->getCollisionClass(),
collisionClasses[(u32)wsLog2(myPrimitive->getCollisionClass())]);
}
break;
case WS_PRIM_TYPE_CUBE:
{
wsCube* cube = (wsCube*)myPrimitive;
vec4 dimensions = cube->getDimensions();
vec4 pos = cube->getPos();
quat rot = cube->getRot();
btCollisionShape* cubeShape = wsNew(btBoxShape, btBoxShape(btVector3(dimensions.x/2.0f, dimensions.y/2.0f, dimensions.z/2.0f)));
btDefaultMotionState* cubeState = wsNew(btDefaultMotionState, btDefaultMotionState(btTransform(btQuaternion(rot.x, rot.y, rot.z, rot.w), btVector3(pos.x, pos.y, pos.z))));
btRigidBody::btRigidBodyConstructionInfo cubeRigidBodyCI(0, cubeState, cubeShape, btVector3(0, 0, 0));
btRigidBody* cubeRigidBody = wsNew(btRigidBody, btRigidBody(cubeRigidBodyCI));
physicsWorld->addRigidBody(cubeRigidBody, myPrimitive->getCollisionClass(),
collisionClasses[(u32)wsLog2(myPrimitive->getCollisionClass())]);
}
break;
default:
break;
}
#endif
return numPrimitives++;
}
