// 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* PhysicsMgr::createRigidBodyMesh(Mesh* mesh, Matrix44* transform)
{
auto rig = new PhysicsRigidBody();
btScalar mass(0.0f);
btTransform startTransform;
btTriangleMesh * meshInterface = new btTriangleMesh();
auto idxSize = mesh->getIndicesSize();
for(auto i =0; i < idxSize; i+=3)
{
auto v1 = mesh->getVertex(i);
auto v2 = mesh->getVertex(i + 1);
auto v3 = mesh->getVertex(i + 2);
meshInterface->addTriangle(btVector3(v1.m_pos.x, v1.m_pos.y, v1.m_pos.z), btVector3(v2.m_pos.x, v2.m_pos.y, v2.m_pos.z), btVector3(v3.m_pos.x, v3.m_pos.y, v3.m_pos.z));
}
auto tetraShape = new btBvhTriangleMeshShape(meshInterface, true, true);
startTransform.setIdentity();
if (transform)
{
startTransform.setFromOpenGLMatrix(transform->data());
}
auto btRig = shared()->createRigidBodyInternal(mass, startTransform, tetraShape, btVector4(1, 0, 0, 1));
btRig->setContactProcessingThreshold(BT_LARGE_FLOAT);
btRig->setFriction (btScalar(0.9));
btRig->setCcdMotionThreshold(.1);
btRig->setCcdSweptSphereRadius(0);
rig->setRigidBody(btRig);
rig->genUserIndex();
btRig->setUserIndex(rig->userIndex());
btRig->setUserPointer(rig);
return rig;
}
PhysicsRigidBody* PhysicsMgr::createRigidBodyFromCompund(float mass, Matrix44* transform, PhysicsCompoundShape * tzwShape)
{
auto rig = new PhysicsRigidBody();
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0, 0, 0);
auto shape = tzwShape->getShape();
if (isDynamic)
shape->calculateLocalInertia(mass, localInertia);
btTransform startTransform;
startTransform.setFromOpenGLMatrix(transform->data());
auto btRig = shared()->createRigidBodyInternal(mass, startTransform, shape, btVector4(1, 0, 0, 1));
rig->setRigidBody(btRig);
rig->genUserIndex();
btRig->setUserIndex(rig->userIndex());
btRig->setUserPointer(rig);
return rig;
}
void gpp::CharacterComponent::createCharacterRigidBody(gep::CharacterRigidBodyCInfo cinfo)
{
GEP_ASSERT(m_pWorld != nullptr, "The Physics World for of the CharacterComponent on %s has not been set.", m_pParentGameObject->getName().c_str());
GEP_ASSERT(m_pParentGameObject->getComponent<PhysicsComponent>() == nullptr, "The GameObject already has physical behavior. Currently no character can be added. TODO: FIX ME!");
auto physicsComponent = m_pParentGameObject->createComponent<PhysicsComponent>();
auto* physicsSystem = g_globalManager.getPhysicsSystem();
auto* physicsFactory = physicsSystem->getPhysicsFactory();
m_pCharacterRigidBody = physicsFactory->createCharacterRigidBody(cinfo);
m_pCharacterRigidBody->initialize();
//Note: The world is taking ownership of the rigid body here.
m_pWorld->addCharacter(m_pCharacterRigidBody.get());
physicsComponent->setRigidBody(m_pCharacterRigidBody->getRigidBody());
}
PhysicsRigidBody * PhysicsMgr::createRigidBodyCylinder(float massValue, float topRadius, float bottomRadius, float height, Matrix44 transform)
{
auto rig = new PhysicsRigidBody();
btScalar mass(massValue);
btTransform startTransform;
startTransform.setIdentity();
bool isDynamic = (mass != 0.f);
btCylinderShape* colShape = new btCylinderShapeZ(btVector3(topRadius, bottomRadius, height * 0.5));
btVector3 localInertia(0, 0, 0);
if (isDynamic)
{
colShape->calculateLocalInertia(mass, localInertia);
}
startTransform.setFromOpenGLMatrix(transform.data());
auto btRig = shared()->createRigidBodyInternal(mass, startTransform, colShape, btVector4(1, 0, 0, 1));
rig->setRigidBody(btRig);
rig->genUserIndex();
btRig->setUserIndex(rig->userIndex());
btRig->setUserPointer(rig);
return rig;
}
PhysicsRigidBody* PhysicsMgr::createRigidBody(float massValue, Matrix44& transform, AABB& aabb)
{
auto rig = new PhysicsRigidBody();
btScalar mass(massValue);
btTransform startTransform;
startTransform.setIdentity();
bool isDynamic = (mass != 0.f);
vec3 half = aabb.half();
btBoxShape* colShape = shared()->createBoxShape(btVector3(half.x, half.y, half.z));
btVector3 localInertia(0, 0, 0);
if (isDynamic)
{
colShape->calculateLocalInertia(mass, localInertia);
}
startTransform.setFromOpenGLMatrix(transform.data());
auto btRig = shared()->createRigidBodyInternal(mass, startTransform, colShape, btVector4(1, 0, 0, 1));
rig->setRigidBody(btRig);
rig->genUserIndex();
btRig->setUserIndex(rig->userIndex());
btRig->setUserPointer(rig);
return rig;
}
