source: trunk/test/Physics/EasyPhysics.cpp @ 1614 Tweet

//
// Lol Engine
//
// Copyright: (c) 2010-2012 Sam Hocevar <sam@hocevar.net>
//            (c) 2009-2012 Cédric Lecacheur <jordx@free.fr>
//            (c) 2009-2012 Benjamin Huet <huet.benjamin@gmail.com>
//   This program is free software; you can redistribute it and/or
//   modify it under the terms of the Do What The Fuck You Want To
//   Public License, Version 2, as published by Sam Hocevar. See
//   http://sam.zoy.org/projects/COPYING.WTFPL for more details.
//

//
// The EasyMesh class
// ------------------
//

#if defined HAVE_CONFIG_H
#   include "config.h"
#endif

#include "LolBtPhysicsIntegration.h"
#include "LolPhysics.h"

namespace lol
{

namespace phys
{

#ifdef HAVE_PHYS_USE_BULLET

EasyPhysics::EasyPhysics() : 
        m_collision_object(NULL),
        m_rigid_body(NULL),
        m_collision_shape(NULL),
        m_motion_state(NULL),
        m_mass(.0f),
        m_local_inertia(btVector3(.0f, .0f, .0f))
{
}

EasyPhysics::~EasyPhysics()
{
        delete m_collision_object;
        delete m_collision_shape;
        delete m_motion_state;
}

//-------------------------------------------------------------------------
//Set Shape functions
//--

void EasyPhysics::SetShapeTo(btCollisionShape* collision_shape)
{
        bool bReinitToRigidBody = false;
        if (m_rigid_body)
        {
                bReinitToRigidBody = true;
                delete m_rigid_body;
        }
        if (m_collision_shape)
                delete m_collision_shape;

        m_collision_shape = collision_shape;

        if (bReinitToRigidBody)
                InitBodyToRigid();
}

//Box Shape support
void EasyPhysics::SetShapeToBox(lol::vec3& box_size)
{
        vec3 new_box_size = box_size * LOL2BT_UNIT * LOL2BT_SIZE;
        SetShapeTo(new btBoxShape(LOL2BT_VEC3(new_box_size)));
}

void EasyPhysics::SetShapeToSphere(float radius)
{
        SetShapeTo(new btSphereShape(radius * LOL2BT_UNIT * LOL2BT_SIZE));
}

void EasyPhysics::SetShapeToCone(float radius, float height)
{
        SetShapeTo(new btConeShape(     radius * LOL2BT_UNIT,
                                                                height * LOL2BT_UNIT));
}

void EasyPhysics::SetShapeToCylinder(lol::vec3& cyl_size)
{
        vec3 new_cyl_size = cyl_size * LOL2BT_UNIT;
        new_cyl_size.y *= LOL2BT_SIZE;
        SetShapeTo(new btCylinderShape(LOL2BT_VEC3(new_cyl_size)));
}

void EasyPhysics::SetShapeToCapsule(float radius, float height)
{
        SetShapeTo(new btCapsuleShape(  radius * LOL2BT_UNIT * LOL2BT_SIZE,
                                                                        height * LOL2BT_UNIT * LOL2BT_SIZE));
}

//-------------------------------------------------------------------------
//Base Location/Rotation setup
//--
void EasyPhysics::SetTransform(const lol::vec3& base_location, const lol::quat& base_rotation)
{
        if (m_motion_state)
        {
                if (m_mass != .0f)
                        m_motion_state->setWorldTransform(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location)));
                else
                {
                        m_rigid_body->setWorldTransform(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location)));
                        m_motion_state->setWorldTransform(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location)));
                }
        }
        else
                m_motion_state = new btDefaultMotionState(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location)));
}

//-------------------------------------------------------------------------
//Mass related functions
//--
//Set Shape functions
void EasyPhysics::SetMass(float mass)
{
        m_mass = mass;

        if (m_rigid_body)
        {
                SetLocalInertia(m_mass);
                m_rigid_body->setMassProps(mass, m_local_inertia);
        }
}

//-------------------------------------------------------------------------
//Final conversion pass functons : Body related
//--

//Init to rigid body
void EasyPhysics::InitBodyToRigid()
{
        if (m_collision_object)
                delete m_collision_object;

        SetLocalInertia(m_mass);
        if (!m_motion_state)
                SetTransform(vec3(.0f));
        btRigidBody::btRigidBodyConstructionInfo NewInfos(m_mass, m_motion_state, m_collision_shape, m_local_inertia);
        m_rigid_body = new btRigidBody(NewInfos);
        m_collision_object = m_rigid_body;
}

void EasyPhysics::AddToSimulation(class Simulation* current_simulation)
{
        btDiscreteDynamicsWorld* dynamics_world = current_simulation->GetWorld();
        if (m_rigid_body)
        {
                dynamics_world->addRigidBody(m_rigid_body);
                if (m_mass != .0f)
                        current_simulation->AddToDynamic(this);
                else
                        current_simulation->AddToStatic(this);
        }
        else
                dynamics_world->addCollisionObject(m_collision_object);
}

//-------------------------------------------------------------------------
//Getter functons
//--

mat4 EasyPhysics::GetTransform()
{
        m_local_to_world = lol::mat4(1.0f);
        if (m_rigid_body && m_motion_state)
        {
                btTransform CurTransform;
                m_motion_state->getWorldTransform(CurTransform);
                CurTransform.getOpenGLMatrix(&m_local_to_world[0][0]);
        }
        else if (m_collision_object)
                m_collision_object->getWorldTransform().getOpenGLMatrix(&m_local_to_world[0][0]);
        return m_local_to_world;
}

//Set Local Inertia
void EasyPhysics::SetLocalInertia(float mass)
{
        if (mass != .0f)
                m_collision_shape->calculateLocalInertia(mass, m_local_inertia);
        else
                m_local_inertia = btVector3(.0f, .0f, .0f);
}
#endif

} /* namespace phys */

} /* namespace lol */