impl::impl(system_impl_ptr sys,compound_sensor_ptr s,/*compound_shape_proxy& s,*/ params_t const& params, decart_position const& pos)
: bt_body_user_info_t(rb_aircraft)
, sys_ (sys)
, chassis_ (sys->dynamics_world())
, raycast_veh_(sys->dynamics_world())
, chassis_shape_(compound_sensor_impl_ptr(s)->cs_)
, params_(params)
, elevator_(0)
, ailerons_(0)
, rudder_(0)
, thrust_(0)
, steer_(0)
, prev_attack_angle_(0)
, has_chassis_contact_(false)
, body_contact_points_(1.5)
{
tuning_.m_maxSuspensionTravelCm = 500;
btTransform tr;
tr.setIdentity();
btVector3 aabbMin,aabbMax;
#if 0
chassis_shape_.get()->getAabb(tr,aabbMin,aabbMax);
#else
chassis_shape_->getAabb(tr,aabbMin,aabbMax);
#endif
btScalar dxx = btScalar(params_.wingspan / 2);
btScalar dyy = btScalar(params_.length / 2);
btScalar dzz = btScalar((aabbMax.z() - aabbMin.z()) / 2);
btScalar m12 = btScalar((params_.mass) /12);
btVector3 inertia = m12 * btVector3(dyy*dyy + dzz*dzz, dxx*dxx + dzz*dzz, dyy*dyy + dxx*dxx);
btDefaultMotionState* motionState = new btDefaultMotionState(tr);
btRigidBody::btRigidBodyConstructionInfo chassis_construction_info(btScalar(params_.mass), NULL/*new custom_ms*//*motionState*/, chassis_shape_/*&*chassis_shape_.get()*/, inertia);
chassis_.reset(phys::bt_rigid_body_ptr(boost::make_shared<btRigidBody>(chassis_construction_info)));
// FIXME TODO
chassis_->setCenterOfMassTransform(to_bullet_transform(pos.pos, pos.orien.cpr()));
FIXME("Off point for bullet")
#if 1
chassis_->setLinearVelocity(to_bullet_vector3(pos.dpos));
#endif
//chassis_->setDamping(0.05f, 0.5f);
chassis_->setRestitution(0.1f);
//chassis_->setActivationState(DISABLE_DEACTIVATION);
chassis_->setFriction(0.3f);
raycast_veh_.reset(boost::make_shared<btRaycastVehicle>(tuning_, &*chassis_.get(), &*sys->vehicle_raycaster()));
raycast_veh_->setCoordinateSystem(0,2,1);
sys_->dynamics_world()->addAction(this);
sys_->register_rigid_body(this);
chassis_->setUserPointer(this);
}
static_convex_impl::static_convex_impl(system_impl_ptr sys, sensor_ptr s, point_3 const& pos, quaternion const& orien)
: sys_(sys)
, shape_(get_sensor_convex(s))
, body_(sys->dynamics_world(), boost::make_shared<btRigidBody>(0.f, (btMotionState*)0, shape_.get(), btVector3()))
{
body_.get()->setRestitution(0.01f);
body_.get()->setCenterOfMassTransform(to_bullet_transform(pos, orien));
body_.get()->setFriction(0.99f);
body_.get()->setActivationState(DISABLE_SIMULATION);
body_.get()->setUserPointer(new bt_body_user_info_t(rb_static_convex));
body_.get()->setCollisionFlags(body_.get()->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
}
impl::impl(system_impl_ptr sys,compound_sensor_ptr s,params_t const& params, decart_position const& pos)
: bt_body_user_info_t(rb_simple)
, sys_ (sys)
, chassis_ (sys->dynamics_world())
, chassis_shape_ (s?compound_sensor_impl_ptr(s)->cs_: create_compound_shape())
, params_ (params)
, has_chassis_contact_ (false)
, body_contact_points_ (1.5)
{
btTransform tr;
tr.setIdentity();
btVector3 aabbMin,aabbMax;
#if 1
FIXME(chassis_shape_)
chassis_shape_->getAabb(tr,aabbMin,aabbMax);
const float fake_mass = 20;
btScalar dxx = btScalar((aabbMax.x() - aabbMin.x()) / 2);
btScalar dyy = btScalar((aabbMax.y() - aabbMin.y()) / 2);
btScalar dzz = btScalar((aabbMax.z() - aabbMin.z()) / 2);
btScalar m12 = btScalar((fake_mass) /12);
btVector3 inertia = m12 * btVector3(dyy*dyy + dzz*dzz, dxx*dxx + dzz*dzz, dyy*dyy + dxx*dxx);
btDefaultMotionState* motionState = new btDefaultMotionState(tr);
btRigidBody::btRigidBodyConstructionInfo chassis_construction_info(btScalar(fake_mass), /*NULL*//*new custom_ms*/motionState, new btBoxShape(btVector3(.6,.6,.6))/*chassis_shape_*//*&*chassis_shape_.get()*/, inertia);
chassis_.reset(boost::make_shared<btRigidBody>(chassis_construction_info));
// FIXME TODO
chassis_->setCenterOfMassTransform(to_bullet_transform(pos.pos, pos.orien.cpr()));
#if 0
chassis_->setLinearVelocity(to_bullet_vector3(pos.dpos));
#endif
//chassis_->setDamping(0.05f, 0.5f);
chassis_->setRestitution(0.1f);
//chassis_->setActivationState(DISABLE_DEACTIVATION);
chassis_->setFriction(0.3f);
#endif
//sys_->dynamics_world()->addAction(this);
sys_->register_rigid_body(this);
#if 1
chassis_->setUserPointer(this);
#endif
}
void impl::set_position(const decart_position& pos)
{
chassis_->setCenterOfMassTransform(to_bullet_transform(pos.pos, pos.orien.cpr()));
}
void impl::set_position(const decart_position& pos)
{
chassis_->setCenterOfMassTransform(to_bullet_transform(pos.pos, pos.orien.cpr()));
chassis_->setLinearVelocity(to_bullet_vector3(pos.dpos));
}
