Add more functionality to the rigid body

.gitignore

@@ -13,5 +13,6 @@
 !*.glslp
 !*.anki*
 !*.blend
+!*.lua
 !CMakeLists.txt
 build*/*

samples/physics_playground/Main.cpp

@@ -46,6 +46,9 @@ Error MyApp::userMainLoop(Bool& quit)
 			StringAuto(getAllocator()).sprintf("bmonkey%u", instance++).toCString(), body, "assets/Suzanne.ankicl"));
 		body->getComponent<BodyComponent>().setTransform(camTrf);
 
+		PhysicsBodyPtr pbody = body->getComponent<BodyComponent>().getPhysicsBody();
+		pbody->applyForce(camTrf.getRotation().getZAxis().xyz() * -1500.0f, Vec3(0.0f, 0.0f, 0.0f));
+
 		body->addChild(monkey);
 	}
 

samples/physics_playground/assets/scene.lua

@@ -0,0 +1,68 @@
+local scene = getSceneGraph()
+local events = getEventManager()
+local rot
+local node
+local inst
+local lcomp
+
+node = scene:newReflectionProbeNode("reflprobe0", Vec4.new(-12.6741, -12.6741, -12.6741, 0), Vec4.new(12.6741, 12.6741, 12.6741, 0))
+trf = Transform.new()
+trf:setOrigin(Vec4.new(0, 9.1132, 0, 0))
+rot = Mat3x4.new()
+rot:setAll(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0)
+trf:setRotation(rot)
+trf:setScale(1)
+node:getSceneNodeBase():getMoveComponent():setLocalTransform(trf)
+
+node = scene:newModelNode("floorMaterial-materialnone0", "assets/floorMaterial-material.ankimdl")
+trf = Transform.new()
+trf:setOrigin(Vec4.new(0, 0, 0, 0))
+rot = Mat3x4.new()
+rot:setAll(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0)
+trf:setRotation(rot)
+trf:setScale(1)
+node:getSceneNodeBase():getMoveComponent():setLocalTransform(trf)
+node = scene:newStaticCollisionNode("floorMaterial-materialnone0_cl", "assets/floor.ankicl", trf)
+
+node = scene:newModelNode("wallsMaterial_001-materialnone1", "assets/wallsMaterial_001-material.ankimdl")
+trf = Transform.new()
+trf:setOrigin(Vec4.new(0, 9.10935, 0, 0))
+rot = Mat3x4.new()
+rot:setAll(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0)
+trf:setRotation(rot)
+trf:setScale(1)
+node:getSceneNodeBase():getMoveComponent():setLocalTransform(trf)
+
+node = scene:newModelNode("SuzanneMaterial-materialnone2", "assets/SuzanneMaterial-material.ankimdl")
+trf = Transform.new()
+trf:setOrigin(Vec4.new(-23.0149, 9.70113, 0, 0))
+rot = Mat3x4.new()
+rot:setAll(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0)
+trf:setRotation(rot)
+trf:setScale(1)
+node:getSceneNodeBase():getMoveComponent():setLocalTransform(trf)
+node = scene:newStaticCollisionNode("SuzanneMaterial-materialnone2_cl", "assets/Suzanne.ankicl", trf)
+
+node = scene:newPointLightNode("Lamp")
+lcomp = node:getSceneNodeBase():getLightComponent()
+lcomp:setDiffuseColor(Vec4.new(100, 100, 100, 1))
+lcomp:setRadius(30.0003)
+trf = Transform.new()
+trf:setOrigin(Vec4.new(4.07624, 5.90386, -1.00545, 0))
+rot = Mat3x4.new()
+rot:setAll(-0.290865, -0.771075, 0.566429, 0, -0.0551891, 0.604562, 0.794644, 0, -0.955171, 0.199873, -0.2184, 0)
+trf:setRotation(rot)
+trf:setScale(1)
+node:getSceneNodeBase():getMoveComponent():setLocalTransform(trf)
+lcomp:setShadowEnabled(1)
+
+node = scene:newPerspectiveCameraNode("Camera")
+scene:setActiveCameraNode(node:getSceneNodeBase())
+node:setAll(1.22173, 1.0 / getMainRenderer():getAspectRatio() * 1.22173, 0.1, 100)
+trf = Transform.new()
+trf:setOrigin(Vec4.new(7.48113, 5.34367, 6.50764, 0))
+rot = Mat3x4.new()
+rot:setAll(0.685921, -0.323983, 0.651573, 0, 0, 0.895416, 0.44523, 0, -0.727676, -0.305392, 0.614184, 0)
+trf:setRotation(rot)
+trf:setScale(1)
+node:getSceneNodeBase():getMoveComponent():setLocalTransform(trf)

src/anki/physics/PhysicsBody.h

@@ -42,6 +42,7 @@ public:
 	void setTransform(const Transform& trf)
 	{
 		m_trf = trf;
+		m_body->setWorldTransform(toBt(trf));
 	}
 
 	F32 getFriction() const
@@ -69,6 +70,11 @@ public:
 		m_materialBits = bits;
 	}
 
+	void applyForce(const Vec3& force, const Vec3& relPos)
+	{
+		m_body->applyForce(toBt(force), toBt(relPos));
+	}
+
 private:
 	class MotionState;
 

src/anki/physics/PhysicsCollisionShape.cpp

@@ -19,12 +19,14 @@ PhysicsSphere::PhysicsSphere(PhysicsWorld* world, F32 radius)
 	: PhysicsCollisionShape(world)
 {
 	m_shape = getAllocator().newInstance<btSphereShape>(radius);
+	m_shape->setMargin(getWorld().getCollisionMargin());
 }
 
 PhysicsBox::PhysicsBox(PhysicsWorld* world, const Vec3& extend)
 	: PhysicsCollisionShape(world)
 {
 	m_shape = getAllocator().newInstance<btBoxShape>(toBt(extend));
+	m_shape->setMargin(getWorld().getCollisionMargin());
 }
 
 PhysicsTriangleSoup::PhysicsTriangleSoup(
@@ -42,12 +44,14 @@ PhysicsTriangleSoup::PhysicsTriangleSoup(
 
 	// Create the dynamic shape
 	btGImpactMeshShape* shape = getAllocator().newInstance<btGImpactMeshShape>(m_mesh);
+	shape->setMargin(getWorld().getCollisionMargin());
 	shape->updateBound();
 	m_shape = shape;
 
 	// And the static one
 	btBvhTriangleMeshShape* triShape = getAllocator().newInstance<btBvhTriangleMeshShape>(m_mesh, true);
 	m_staticShape = triShape;
+	m_staticShape->setMargin(getWorld().getCollisionMargin());
 }
 
 PhysicsTriangleSoup::~PhysicsTriangleSoup()

src/anki/physics/PhysicsWorld.h

@@ -53,6 +53,11 @@ anki_internal:
 		m_forDeletion.pushBack(m_alloc, obj);
 	}
 
+	F32 getCollisionMargin() const
+	{
+		return 0.04;
+	}
+
 private:
 	HeapAllocator<U8> m_alloc;