// Creates a Box object, including the associated Bullet rigid
// body, and sets its collision shape to a bullet box shape.
// If the object is specified to be kinematic, then the appropriate setup
// is done to the rigid body to make it kinematic within Bullet.
// position: where to create the box.
// dimensions: the dimensions of the box
// density: the density of the box (which, with the dimensions, determines its mass)
// isKinematic: flag to determine if this object will be kinematic or not
Box::Box(double position[3], double dimensions[3], double density, bool isKinematic)
{
x = dimensions[0];
y = dimensions[1];
z = dimensions[2];
double mass = x * y * z * density;
btCollisionShape* boxCollision = new btBoxShape(btVector3(x * 0.5, y * 0.5, z * 0.5));
btDefaultMotionState* boxState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(position[0], position[1], position[2])));
btVector3 boxInertia(0, 0, 0);
boxCollision->calculateLocalInertia(mass, boxInertia);
btRigidBody::btRigidBodyConstructionInfo boxInfo(mass, boxState, boxCollision, boxInertia);
btRigidBody* rb = new btRigidBody(boxInfo);
// set the kinematic flag and set up the rigid body as kinematic if necessary
setKinematic(isKinematic);
if (isKinematic)
{
rb->setCollisionFlags(rb->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
rb->setActivationState(DISABLE_DEACTIVATION);
}
// set the rigid body associated with this SceneObject.
setRigidBody(rb);
}
PhysicsRigidBody::PhysicsRigidBody(Node* node, const PhysicsCollisionShape::Definition& shape, const Parameters& parameters, int group, int mask)
: PhysicsCollisionObject(node, group, mask), _body(NULL), _mass(parameters.mass), _constraints(NULL), _inDestructor(false)
{
GP_ASSERT(Game::getInstance()->getPhysicsController());
GP_ASSERT(_node);
// Create our collision shape.
kmVec3 centerOfMassOffset = vec3Zero;
_collisionShape = Game::getInstance()->getPhysicsController()->createShape(node, shape, ¢erOfMassOffset, parameters.mass != 0.0f);
GP_ASSERT(_collisionShape && _collisionShape->getShape());
// Create motion state object.
_motionState = new PhysicsMotionState(node, this, (kmVec3LengthSq(¢erOfMassOffset) > MATH_EPSILON) ? ¢erOfMassOffset : NULL);
// If the mass is non-zero, then the object is dynamic so we calculate the local
// inertia. However, if the collision shape is a triangle mesh, we don't calculate
// inertia since Bullet doesn't currently support this.
btVector3 localInertia(0.0, 0.0, 0.0);
if (parameters.mass != 0.0)
_collisionShape->getShape()->calculateLocalInertia(parameters.mass, localInertia);
// Create the Bullet physics rigid body object.
btRigidBody::btRigidBodyConstructionInfo rbInfo(parameters.mass, NULL, _collisionShape->getShape(), localInertia);
rbInfo.m_friction = parameters.friction;
rbInfo.m_restitution = parameters.restitution;
rbInfo.m_linearDamping = parameters.linearDamping;
rbInfo.m_angularDamping = parameters.angularDamping;
// Create + assign the new bullet rigid body object.
_body = bullet_new<btRigidBody>(rbInfo);
// Set motion state after rigid body assignment, since bullet will callback on the motion state interface to query
// the initial transform and it will need to access to rigid body (_body).
_body->setMotionState(_motionState);
// Set other initially defined properties.
setKinematic(parameters.kinematic);
setAnisotropicFriction(parameters.anisotropicFriction);
setAngularFactor(parameters.angularFactor);
setLinearFactor(parameters.linearFactor);
// Add ourself to the physics world.
Game::getInstance()->getPhysicsController()->addCollisionObject(this);
if (_collisionShape->getType() == PhysicsCollisionShape::SHAPE_HEIGHTFIELD)
{
// Add a listener on the node's transform so we can track dirty changes to calculate
// an inverse kmMat4 for transforming heightfield points between world and local space.
_node->addListener(this);
}
}
PhysicsRigidBody::PhysicsRigidBody(Node* node, const PhysicsCollisionShape::Definition& shape, const Parameters& parameters)
: PhysicsCollisionObject(node), _body(NULL), _mass(parameters.mass), _constraints(NULL), _inDestructor(false)
{
GP_ASSERT(Game::getInstance()->getPhysicsController());
GP_ASSERT(_node);
// Create our collision shape.
Vector3 centerOfMassOffset;
_collisionShape = Game::getInstance()->getPhysicsController()->createShape(node, shape, ¢erOfMassOffset);
GP_ASSERT(_collisionShape && _collisionShape->getShape());
// Create motion state object.
_motionState = new PhysicsMotionState(node, (centerOfMassOffset.lengthSquared() > MATH_EPSILON) ? ¢erOfMassOffset : NULL);
// If the mass is non-zero, then the object is dynamic so we calculate the local
// inertia. However, if the collision shape is a triangle mesh, we don't calculate
// inertia since Bullet doesn't currently support this.
btVector3 localInertia(0.0, 0.0, 0.0);
if (parameters.mass != 0.0 && _collisionShape->getType() != PhysicsCollisionShape::SHAPE_MESH)
_collisionShape->getShape()->calculateLocalInertia(parameters.mass, localInertia);
// Create the Bullet physics rigid body object.
btRigidBody::btRigidBodyConstructionInfo rbInfo(parameters.mass, _motionState, _collisionShape->getShape(), localInertia);
rbInfo.m_friction = parameters.friction;
rbInfo.m_restitution = parameters.restitution;
rbInfo.m_linearDamping = parameters.linearDamping;
rbInfo.m_angularDamping = parameters.angularDamping;
// Create + assign the new bullet rigid body object.
_body = bullet_new<btRigidBody>(rbInfo);
// Set other initially defined properties.
setKinematic(parameters.kinematic);
setAnisotropicFriction(parameters.anisotropicFriction);
setGravity(parameters.gravity);
// Add ourself to the physics world.
Game::getInstance()->getPhysicsController()->addCollisionObject(this);
if (_collisionShape->getType() == PhysicsCollisionShape::SHAPE_HEIGHTFIELD)
{
// Add a listener on the node's transform so we can track dirty changes to calculate
// an inverse matrix for transforming heightfield points between world and local space.
_node->addListener(this);
}
}
void EntityMotionState::updateKinematicState(uint32_t substep) {
setKinematic(_entity->isMoving(), substep);
}
bool Physics3DKinematicDemo::init()
{
if (!Physics3DTestDemo::init())
return false;
//create floor
Physics3DRigidBodyDes rbDes;
rbDes.mass = 0.0f;
rbDes.shape = Physics3DShape::createBox(Vec3(60.0f, 1.0f, 60.0f));
auto floor = PhysicsSprite3D::create("Sprite3DTest/box.c3t", &rbDes);
floor->setTexture("Sprite3DTest/plane.png");
floor->setScaleX(60);
floor->setScaleZ(60);
floor->setPosition3D(Vec3(0.f, -1.f, 0.f));
this->addChild(floor);
floor->setCameraMask((unsigned short)CameraFlag::USER1);
floor->syncNodeToPhysics();
//static object sync is not needed
floor->setSyncFlag(Physics3DComponent::PhysicsSyncFlag::NONE);
//create Kinematics
for (unsigned int i = 0; i < 3; ++i)
{
rbDes.mass = 0.f; //kinematic objects. zero mass so that it can not be affected by other dynamic objects
rbDes.shape = Physics3DShape::createBox(Vec3(2.0f, 2.0f, 2.0f));
auto sprite = PhysicsSprite3D::create("Sprite3DTest/box.c3t", &rbDes);
sprite->setTexture("Images/CyanSquare.png");
sprite->setCameraMask((unsigned short)CameraFlag::USER1);
auto rigidBody = static_cast<Physics3DRigidBody*>(sprite->getPhysicsObj());
rigidBody->setKinematic(true);
this->addChild(sprite);
sprite->setScale(2.0f);
sprite->setPosition3D(Vec3(-15.0f, 0.0f, 15.0f - 15.0f * i));
auto moveby = MoveBy::create(2.0f + i, Vec3(30.0f, 0.0f, 0.0f));
sprite->runAction(RepeatForever::create(Sequence::create(moveby, moveby->reverse(), nullptr)));
}
//create Dynamic
{
//create several spheres
rbDes.mass = 1.f;
rbDes.shape = Physics3DShape::createSphere(0.5f);
float start_x = START_POS_X - ARRAY_SIZE_X/2;
float start_y = START_POS_Y + 5.0f;
float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
for (int k=0;k<ARRAY_SIZE_Y;k++)
{
for (int i=0;i<ARRAY_SIZE_X;i++)
{
for(int j = 0;j<ARRAY_SIZE_Z;j++)
{
float x = 1.0*i + start_x;
float y = 5.0+1.0*k + start_y;
float z = 1.0*j + start_z;
rbDes.originalTransform.setIdentity();
rbDes.originalTransform.translate(x, y, z);
auto sprite = PhysicsSprite3D::create("Sprite3DTest/sphere.c3b", &rbDes);
sprite->setTexture("Sprite3DTest/plane.png");
sprite->setCameraMask((unsigned short)CameraFlag::USER1);
sprite->setScale(1.0f / sprite->getContentSize().width);
this->addChild(sprite);
sprite->setPosition3D(Vec3(x, y, z));
sprite->syncNodeToPhysics();
sprite->setSyncFlag(Physics3DComponent::PhysicsSyncFlag::PHYSICS_TO_NODE);
}
}
}
}
physicsScene->setPhysics3DDebugCamera(_camera);
return true;
}
bool Physics3DColliderDemo::init()
{
if (!Physics3DTestDemo::init())
return false;
Physics3DRigidBodyDes rbDes;
rbDes.mass = 1.0f;
rbDes.shape = Physics3DShape::createBox(Vec3(3.0f, 3.0f, 3.f));
auto playerBody = Physics3DRigidBody::create(&rbDes);
auto component = Physics3DComponent::create(playerBody);
playerBody->setKinematic(true);
auto sprite = Sprite3D::create("Sprite3DTest/box.c3t");
sprite->setTexture("Sprite3DTest/plane.png");
sprite->setScale(3.f);
sprite->setPosition3D(Vec3(0.0f, 0.f, 30.f));
sprite->addComponent(component);
sprite->setCameraMask((unsigned short)CameraFlag::USER1);
auto moveby = MoveBy::create(5.0f, Vec3(0.0f, 0.0f, -60.0f));
sprite->runAction(RepeatForever::create(Sequence::create(moveby, moveby->reverse(), nullptr)));
this->addChild(sprite);
{
Physics3DColliderDes colliderDes;
colliderDes.shape = Physics3DShape::createSphere(10.0f);
colliderDes.isTrigger = true;
auto collider = Physics3DCollider::create(&colliderDes);
auto component = Physics3DComponent::create(collider);
auto node = Node::create();
node->addComponent(component);
node->setCameraMask((unsigned short)CameraFlag::USER1);
this->addChild(node);
Physics3DRigidBodyDes rbDes;
rbDes.mass = 1.0f;
rbDes.shape = Physics3DShape::createBox(Vec3(10.0f, 10.0f, 1.f));
auto rigidBody = Physics3DRigidBody::create(&rbDes);
component = Physics3DComponent::create(rigidBody);
rigidBody->setKinematic(true);
auto doorLeft = Sprite3D::create("Sprite3DTest/box.c3t");
doorLeft->setTexture("Sprite3DTest/plane.png");
doorLeft->setScaleX(10.0f);
doorLeft->setScaleY(10.0f);
doorLeft->setScaleZ(1.0f);
doorLeft->setPosition3D(Vec3(-5.0f, 0.0f, 0.0f));
doorLeft->addComponent(component);
doorLeft->setCameraMask((unsigned short)CameraFlag::USER1);
node->addChild(doorLeft);
rbDes.mass = 1.0f;
rbDes.shape = Physics3DShape::createBox(Vec3(10.0f, 10.0f, 1.f));
rigidBody = Physics3DRigidBody::create(&rbDes);
component = Physics3DComponent::create(rigidBody);
rigidBody->setKinematic(true);
auto doorRight = Sprite3D::create("Sprite3DTest/box.c3t");
doorRight->setTexture("Sprite3DTest/plane.png");
doorRight->setScaleX(10.0f);
doorRight->setScaleY(10.0f);
doorRight->setScaleZ(1.0f);
doorRight->setPosition3D(Vec3(5.0f, 0.0f, 0.0f));
doorRight->addComponent(component);
doorRight->setCameraMask((unsigned short)CameraFlag::USER1);
node->addChild(doorRight);
collider->onTriggerEnter = [=](Physics3DObject *otherObject){
if (otherObject == playerBody){
auto moveby = MoveBy::create(1.0f, Vec3(-5.0f, 0.0f, 0.0f));
doorLeft->runAction(moveby);
doorRight->runAction(moveby->reverse());
}
};
collider->onTriggerExit = [=](Physics3DObject *otherObject){
if (otherObject == playerBody){
auto moveby = MoveBy::create(1.0f, Vec3(5.0f, 0.0f, 0.0f));
doorLeft->runAction(moveby);
doorRight->runAction(moveby->reverse());
}
};
}
physicsScene->setPhysics3DDebugCamera(_camera);
return true;
}
