source: trunk/test/Physics/EasyPhysics.cpp @ 1633 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.
//

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

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

namespace lol
{

namespace phys
{

#ifdef HAVE_PHYS_USE_BULLET

//-------------------------------------------------------------------------
//EASY_PHYSIC
//--

EasyPhysic::EasyPhysic() : 
        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)),
        m_collision_group(1),
        m_collision_mask(1)
{
}

EasyPhysic::~EasyPhysic()
{
        m_rigid_body = NULL;
        delete m_collision_object;
        delete m_collision_shape;
        delete m_motion_state;
}

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

void EasyPhysic::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 EasyPhysic::SetShapeToBox(lol::vec3& box_size)
{
        vec3 new_box_size = box_size * LOL2BT_UNIT * LOL2BT_SIZE;
        SetShapeTo(new btBoxShape(LOL2BT_VEC3(new_box_size)));
}

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

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

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

//-------------------------------------------------------------------------
//Base Location/Rotation setup
//--
void EasyPhysic::SetTransform(const lol::vec3& base_location, const lol::quat& base_rotation)
{
        if (m_motion_state)
                m_motion_state->setWorldTransform(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location * LOL2BT_UNIT)));
        else
                m_motion_state = new btDefaultMotionState(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location * LOL2BT_UNIT)));
}

//-------------------------------------------------------------------------
//Mass related functions
//--
//Set Shape functions
void EasyPhysic::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 EasyPhysic::InitBodyToRigid(bool SetToKinematic)
{
        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;

        if (m_mass == .0f && SetToKinematic)
        {
                m_rigid_body->setActivationState(DISABLE_DEACTIVATION);
                m_rigid_body->setCollisionFlags(m_rigid_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
        }
}

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

void EasyPhysic::RemoveFromSimulation(class Simulation* current_simulation)
{
        btDiscreteDynamicsWorld* dynamics_world = current_simulation->GetWorld();
        if (dynamics_world)
        {
                if (m_rigid_body)
                        dynamics_world->removeRigidBody(m_rigid_body);
                else
                        dynamics_world->removeCollisionObject(m_collision_object);
        }
}

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

mat4 EasyPhysic::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 EasyPhysic::SetLocalInertia(float mass)
{
        if (mass != .0f)
                m_collision_shape->calculateLocalInertia(mass, m_local_inertia);
        else
                m_local_inertia = btVector3(.0f, .0f, .0f);
}

//-------------------------------------------------------------------------
//EASY_CONSTRAINT
//--

void EasyConstraint::AddToSimulation(class Simulation* current_simulation)
{
        btDiscreteDynamicsWorld* dynamics_world = current_simulation->GetWorld();
        if (dynamics_world && m_typed_constraint)
        {
                dynamics_world->addConstraint(m_typed_constraint, m_disable_a2b_collision);
                current_simulation->AddToConstraint(this);
        }
}

void EasyConstraint::RemoveFromSimulation(class Simulation* current_simulation)
{
        btDiscreteDynamicsWorld* dynamics_world = current_simulation->GetWorld();
        if (dynamics_world, m_typed_constraint)
                dynamics_world->removeConstraint(m_typed_constraint);
}

#endif // HAVE_PHYS_USE_BULLET

} /* namespace phys */

} /* namespace lol */