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collider.cpp
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collider.cpp
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#include <assert.h>
#include <sstream>
#include "collider.h"
#include "scene_object.h"
float Collider::focus_x = 0;
float Collider::focus_y = 0;
float Collider::focus_z = 0;
Collider::Collider(bool f) : m_mass(0) {
focus = f;
}
void Collider::initPhysics(std::string obj_path) {
ConvexDecomposition::WavefrontObj wo;
wo.loadObj((obj_path + m_physicsObjFilename).c_str());
btTriangleMesh* triMesh = new btTriangleMesh();
for (int i = 0; i < wo.mTriCount; i++) {
int index0 = wo.mIndices[i * 3];
int index1 = wo.mIndices[i * 3 + 1];
int index2 = wo.mIndices[i * 3 + 2];
btVector3 vertex0(wo.mVertices[index0 * 3], wo.mVertices[index0 * 3 + 1],
wo.mVertices[index0 * 3 + 2]);
btVector3 vertex1(wo.mVertices[index1 * 3], wo.mVertices[index1 * 3 + 1],
wo.mVertices[index1 * 3 + 2]);
btVector3 vertex2(wo.mVertices[index2 * 3], wo.mVertices[index2 * 3 + 1],
wo.mVertices[index2 * 3 + 2]);
triMesh->addTriangle(vertex0, vertex1, vertex2);
}
ConvexDecomposition::DecompDesc desc;
desc.mVcount = wo.mVertexCount;
desc.mTcount = wo.mTriCount;
desc.mVertices = wo.mVertices;
desc.mIndices = (unsigned int *)wo.mIndices;
desc.mDepth = 5;
desc.mCpercent = 5;
desc.mPpercent = 15;
desc.mMaxVertices = 16;
desc.mSkinWidth = 0;
std::vector<HACD::Vec3<HACD::Real>> points;
std::vector<HACD::Vec3<long>> triangles;
for (int i = 0; i < wo.mVertexCount; i++) {
HACD::Vec3<HACD::Real> v(wo.mVertices[i * 3], wo.mVertices[i * 3 + 1], wo.mVertices[i * 3 + 2]);
points.push_back(v);
}
for (int i = 0; i < wo.mTriCount; i++) {
HACD::Vec3<long> t(wo.mIndices[i * 3], wo.mIndices[i * 3 + 1], wo.mIndices[i * 3 + 2]);
triangles.push_back(t);
}
HACD::HACD hacd;
hacd.SetPoints(&points[0]);
hacd.SetNPoints(points.size());
hacd.SetTriangles(&triangles[0]);
hacd.SetNTriangles(triangles.size());
hacd.SetCompacityWeight(0.1);
hacd.SetVolumeWeight(0);
hacd.SetNClusters(2);
hacd.SetNVerticesPerCH(100);
hacd.SetConcavity(100);
hacd.SetAddExtraDistPoints(false);
hacd.SetAddNeighboursDistPoints(false);
hacd.SetAddFacesPoints(false);
hacd.Compute();
btCompoundShape* compound = new btCompoundShape();
for (int i = 0; i < hacd.GetNClusters(); i++) { // for each cluster from HACD
int numPoints = hacd.GetNPointsCH(i);
int numTriangles = hacd.GetNTrianglesCH(i);
float* vertices = new float[numPoints * 3];
unsigned int* triangles = new unsigned int[numTriangles * 3];
HACD::Vec3<HACD::Real>* pointsCH = new HACD::Vec3<HACD::Real>[numPoints];
HACD::Vec3<long>* trianglesCH = new HACD::Vec3<long>[numTriangles];
hacd.GetCH(i, pointsCH, trianglesCH);
for (int j = 0; j < numPoints; j++) {
vertices[3 * j] = pointsCH[j].X();
vertices[3 * j + 1] = pointsCH[j].Y();
vertices[3 * j + 2] = pointsCH[j].Z();
}
for (int j = 0; j < numTriangles; j++) {
triangles[3 * j] = trianglesCH[j].X();
triangles[3 * j + 1] = trianglesCH[j].Y();
triangles[3 * j + 2] = trianglesCH[j].Z();
}
ConvexDecomposition::ConvexResult result(numPoints, vertices, numTriangles, triangles);
// find the center for each part
btVector3 centeroid(0, 0, 0);
// compute the center
for (unsigned int j = 0; j < result.mHullVcount; j++) {
btVector3 vertex(result.mHullVertices[j * 3], result.mHullVertices[j * 3 + 1],
result.mHullVertices[j * 3 + 2]);
centeroid += vertex;
}
centeroid /= float(result.mHullVcount);
btAlignedObjectArray<btVector3> vArr;
// computer relative position
for (unsigned int j = 0; j < result.mHullVcount; j++) {
btVector3 vertex(result.mHullVertices[j * 3], result.mHullVertices[j * 3 + 1],
result.mHullVertices[j * 3 + 2]);
vertex -= centeroid;
vArr.push_back(vertex);
}
// create convex shape
btConvexHullShape* shape = new btConvexHullShape(&(vArr[0].getX()), vArr.size());
shape->setMargin(0.01f);
btTransform trans;
trans.setIdentity();
trans.setOrigin(centeroid);
compound->addChildShape(trans, shape);
}
btDefaultMotionState* state = new btDefaultMotionState(
btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, 0, 0)));
btVector3 inertia(0, 0, 0);
if (m_mass > 0) {
compound->calculateLocalInertia(m_mass, inertia);
}
btRigidBody::btRigidBodyConstructionInfo info(m_mass, state, compound, inertia);
m_rigidBody = new btRigidBody(info);
m_rigidBody->setRestitution(0.6);
}
void Collider::setInitialPosition(btVector3 pos) {
btTransform t;
m_rigidBody->getMotionState()->getWorldTransform(t);
t.setOrigin(pos);
m_rigidBody->setWorldTransform(t);
}
void Collider::step() {
btTransform trans;
m_rigidBody->getMotionState()->getWorldTransform(trans);
btVector3 origin = trans.getOrigin();
float tx = origin.getX();
float ty = origin.getY();
float tz = origin.getZ();
if (focus)
{
focus_x = tx;
focus_y = ty;
focus_z = tz;
}
// printf("%.3f\n", ty);
btQuaternion quaternion = trans.getRotation();
float qx = quaternion.getX();
float qy = quaternion.getY();
float qz = quaternion.getZ();
float qw = quaternion.getW();
// calculate transformation matrix according to quaternion
float m[] = {
1.0f - 2.0f*qy*qy - 2.0f*qz*qz, 2.0f*qx*qy - 2.0f*qz*qw, 2.0f*qx*qz + 2.0f*qy*qw, tx,
2.0f*qx*qy + 2.0f*qz*qw, 1.0f - 2.0f*qx*qx - 2.0f*qz*qz, 2.0f*qy*qz - 2.0f*qx*qw, ty,
2.0f*qx*qz - 2.0f*qy*qw, 2.0f*qy*qz + 2.0f*qx*qw, 1.0f - 2.0f*qx*qx - 2.0f*qy*qy, tz,
0.0f, 0.0f, 0.0f, 1.0f
};
m_parent->setTransformMatrix(m);
}
void SphereCollider::initPhysics(float radius) {
btCollisionShape* sphereShape = new btSphereShape(1);
btDefaultMotionState* state = new btDefaultMotionState(
btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, 0, 0)));
btVector3 inertia(0, 0, 0);
sphereShape->calculateLocalInertia(m_mass, inertia);
btRigidBody::btRigidBodyConstructionInfo info(m_mass, state, sphereShape, inertia);
m_rigidBody = new btRigidBody(info);
}