bool PhysicsSystem::AddRigidBody(CollisionBody* collision_body) {
eid entity_id = collision_body->entity_id;
RemoveRigidBody(entity_id);
if (!collision_body->shape) {
return false;
}
btVector3 fallInertia(0, 0, 0);
if (collision_body->mass > 0.0) {
if (collision_body->shape) {
collision_body->shape->calculateLocalInertia(collision_body->mass, fallInertia);
}
}
btRigidBody::btRigidBodyConstructionInfo fallRigidBodyCI(collision_body->mass,
&collision_body->motion_state, collision_body->shape.get(), fallInertia);
auto body = new btRigidBody(fallRigidBodyCI);
if (!body) {
return false;
}
this->bodies[entity_id] = body;
body->setUserPointer(collision_body);
return true;
}
PhysicsInterface::BodyObject Bullet::createCapsuleBody(float height, float radius, float mass, bool fixed,
const Entity* entity, const SimpleTransform& initialTransform)
{
auto collisionShape = new btCapsuleShape(radius, height);
// Calculate inertia
auto localInertia = btVector3(0.0f, 0.0f, 0.0f);
if (!fixed)
collisionShape->calculateLocalInertia(mass, localInertia);
// Motion state for this body
auto motionState = new btDefaultMotionState(toBullet(initialTransform));
// Create Bullet rigid body
auto bulletBody = new btRigidBody(
btRigidBody::btRigidBodyConstructionInfo(fixed ? 0.0f : mass, motionState, collisionShape, localInertia));
bulletBody->setDamping(DefaultLinearDamping, DefaultAngularDamping);
bulletBody->setSleepingThresholds(DefaultLinearSleepingThreshold, DefaultAngularSleepingThreshold);
bulletBody->setRestitution(0.0f);
// Add body to the simulation
dynamicsWorld_->addRigidBody(bulletBody);
// Create local body
auto body = new Body(bulletBody, entity, fixed);
bodies_.append(body);
body->ownedCollisionShape = collisionShape;
bulletBody->setUserPointer(body);
return body;
}
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;
}
PhysicsInterface::BodyObject Bullet::createGeometryBodyFromTemplate(BodyTemplateObject bodyTemplateObject, float mass,
bool fixed, const Entity* entity,
const SimpleTransform& initialTransform)
{
auto bodyTemplate = reinterpret_cast<BodyTemplate*>(bodyTemplateObject);
if (!bodyTemplateObject || !bodyTemplate->collisionShape)
{
LOG_ERROR << "Invalid body template";
return nullptr;
}
// Calculate inertia
auto localInertia = btVector3(0.0f, 0.0f, 0.0f);
if (!fixed)
bodyTemplate->collisionShape->calculateLocalInertia(mass, localInertia);
// Motion state for this body
auto motionState = new btDefaultMotionState(toBullet(initialTransform),
btTransform(btQuaternion::getIdentity(), toBullet(Vec3::Zero)));
// Create Bullet rigid body
auto bulletBody = new btRigidBody(
btRigidBody::btRigidBodyConstructionInfo((fixed ? 0.0f : mass), motionState, bodyTemplate->collisionShape,
(fixed ? btVector3(0.0f, 0.0f, 0.0f) : localInertia)));
bulletBody->setDamping(DefaultLinearDamping, DefaultAngularDamping);
bulletBody->setSleepingThresholds(DefaultLinearSleepingThreshold, DefaultAngularSleepingThreshold);
bulletBody->setRestitution(0.0f);
// Add body to the simulation
dynamicsWorld_->addRigidBody(bulletBody);
// Create local body
auto body = new Body(bulletBody, entity, fixed);
bodies_.append(body);
bulletBody->setUserPointer(body);
return body;
}
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;
}
PhysicsInterface::BodyObject Bullet::createBoundingBoxBody(const AABB& aabb, float mass, bool fixed,
const Entity* entity,
const SimpleTransform& initialTransform)
{
auto collisionShape = new btBoxShape(toBullet((aabb.getMaximum() - aabb.getMinimum()) * 0.5f));
// Calculate inertia
auto localInertia = btVector3(0.0f, 0.0f, 0.0f);
if (!fixed)
collisionShape->calculateLocalInertia(mass, localInertia);
// Motion state for this body
auto motionState = new btDefaultMotionState(toBullet(initialTransform),
btTransform(btQuaternion::getIdentity(), toBullet(aabb.getCenter())));
// Create Bullet rigid body
auto bulletBody = new btRigidBody(
btRigidBody::btRigidBodyConstructionInfo(fixed ? 0.0f : mass, motionState, collisionShape, localInertia));
bulletBody->setDamping(DefaultLinearDamping, DefaultAngularDamping);
bulletBody->setSleepingThresholds(DefaultLinearSleepingThreshold, DefaultAngularSleepingThreshold);
bulletBody->setRestitution(0.0f);
// Add body to the simulation
dynamicsWorld_->addRigidBody(bulletBody);
// Create local body
auto body = new Body(bulletBody, entity, fixed);
bodies_.append(body);
body->ownedCollisionShape = collisionShape;
bulletBody->setUserPointer(body);
return body;
}
