btDiscreteDynamicsWorld* initPhysics()
{
osg::Plane plane(0.0f, 0.0f, 1.0f, 0.0f);
btBroadphaseInterface* _overlappingPairCache (new btDbvtBroadphase);
btDefaultCollisionConfiguration* _configuration = new btDefaultCollisionConfiguration;
btCollisionDispatcher* _dispatcher = new btCollisionDispatcher( _configuration );
btSequentialImpulseConstraintSolver* _solver= new btSequentialImpulseConstraintSolver;
btDiscreteDynamicsWorld* dynamicsWorld= new btDiscreteDynamicsWorld(_dispatcher,_overlappingPairCache, _solver, _configuration);
dynamicsWorld->setGravity( btVector3(0, 0, -9.8) );
dynamicsWorld->getSolverInfo().m_numIterations = 20;
dynamicsWorld->getSolverInfo().m_damping = 1.;
dynamicsWorld->getSolverInfo().m_splitImpulse = false;
dynamicsWorld->getSolverInfo().m_solverMode |= SOLVER_SIMD;
//
// dynamicsWorld->setInternalTickCallback(internal_tick_callback);
osg::Vec3 norm = plane.getNormal();
btCollisionShape* groundShape = new btStaticPlaneShape( btVector3(norm[0], norm[1], norm[2]), plane[3] );
btTransform groundTransform;
groundTransform.setIdentity();
btDefaultMotionState* motionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rigidInfo( 0.0, motionState, groundShape, btVector3(0.0, 0.0, 0.0) );
btRigidBody* body = new btRigidBody(rigidInfo);
dynamicsWorld->addRigidBody( body );
body->setFriction(/*1.3f*/0.99f);
body->setActivationState(DISABLE_SIMULATION);
body->setRestitution(/*0.5f*/0.1f);
// body->setUserPointer(new bt_body_user_info_t(rb_terrain));
return( dynamicsWorld );
}
bvh_static_mesh::bvh_static_mesh(system_impl_ptr sys, sensor_ptr s)
: sys_(sys)
{
btAlignedObjectArray<btVector3> points;
//for (size_t i = 0; i < s->chunks_count(); ++i)
//{
// for (size_t j = 0; j < s->triangles_count(i); ++j)
// {
// cg::triangle_3f tr = s->triangle(i, j);
// if (s->material(i) == "ground" || s->material(i) == "building" || s->material(i) == "concrete")
// mesh_.addTriangle(to_bullet_vector3(tr[0]), to_bullet_vector3(tr[1]), to_bullet_vector3(tr[2]), false);
// }
//}
btMatrix3x3 m;
m.setIdentity();
FIXME(Need btBvhTriangleMeshShape shape)
//shape_ = boost::shared_ptr<btCollisionShape>(new btBvhTriangleMeshShape(&mesh_, true));
//shape_ = shared_ptr<btCollisionShape>(new btStaticPlaneShape(btVector3(0, 0, 1), 0));
////////////////////////////
// Stub for the ground
// osg::Vec3 norm = plane.getNormal();
btCollisionShape* groundShape = new btStaticPlaneShape( btVector3(0.0, 0.0, 1.0), 0 );
btTransform groundTransform;
groundTransform.setIdentity();
btDefaultMotionState* motionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rigidInfo( 0.0, motionState, groundShape, btVector3(0.0, 0.0, 0.0) );
body_ = shared_ptr<btRigidBody>(new btRigidBody(rigidInfo));
////////////////////////////
// body_ = shared_ptr<btRigidBody>(new btRigidBody(0, 0, &*shape_));
body_->setRestitution(0.1f);
body_->setCenterOfMassTransform(btTransform(m, to_bullet_vector3(cg::point_3())));
body_->setFriction(0.99f);
body_->setActivationState(DISABLE_SIMULATION);
body_->setUserPointer(new bt_body_user_info_t(rb_terrain));
body_->setCollisionFlags(body_->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
sys_->dynamics_world()->addRigidBody(&*body_);
}