polycode-engine/Modules/Contents/3DPhysics/Source/PolyCollisionSceneEntity.cpp

/*
 *  PolyCollisionSceneEntity.cpp
 *  Poly
 *
 *  Created by Ivan Safrin on 6/17/08.
 *  Copyright 2008 __MyCompanyName__. All rights reserved.
 *
 */

#include "PolyCollisionSceneEntity.h"

using namespace Polycode;

CollisionSceneEntity::CollisionSceneEntity(SceneEntity *entity, bool autoCollide, int type) {
	gravityEnabled = false;
	this->autoCollide = autoCollide;
	sceneEntity = entity;
	gravityVector.y = -1.0f;
	
	this->type = type;
	enabled = true;
	
	gravityStrength = 5.0f;
	lastPosition = entity->getPosition();	
	
	
	btMatrix3x3 basisA;
	basisA.setIdentity();
	
	collisionObject = new btCollisionObject();
	collisionObject->getWorldTransform().setBasis(basisA);
	

	shape = createCollisionShape(entity, type);;
	if(shape) {
		collisionObject->setCollisionShape(shape);
	}	
	
//	if(type == SHAPE_MESH) {		
//		concaveShape = dynamic_cast<btConcaveShape*>(shape);
//	} else {
		convexShape	= dynamic_cast<btConvexShape*>(shape);		
//	}
		
	gVelocity.set(0,0,0);
}

btCollisionShape *CollisionSceneEntity::createCollisionShape(SceneEntity *entity, int type) {
	
	btCollisionShape *collisionShape = NULL;	
	
	switch(type) {
		case SHAPE_CAPSULE:
		case CHARACTER_CONTROLLER:
			collisionShape = new btCapsuleShape(entity->bBox.x/2.0f, entity->bBox.y/2.0f);			
		break;
		case SHAPE_PLANE:
			collisionShape = new btBoxShape(btVector3(entity->bBox.x/2.0f, entity->bBox.y/2.0f,0.1f));			
			break;
		case SHAPE_BOX:
			collisionShape = new btBoxShape(btVector3(entity->bBox.x/2.0f, entity->bBox.y/2.0f,entity->bBox.z/2.0f));			
			break;
		case SHAPE_SPHERE:
			collisionShape = new btSphereShape(entity->bBox.x/2.0f);
			break;
		case SHAPE_MESH:
		{
			SceneMesh* sceneMesh = dynamic_cast<SceneMesh*>(entity);
			if(sceneMesh != NULL) {
				/*
				btTriangleMesh *btMesh = new btTriangleMesh();
				for(int i=0; i < sceneMesh->getMesh()->getPolygonCount(); i++) {
					Polygon *poly = sceneMesh->getMesh()->getPolygon(i);
					btVector3 v0 = btVector3(btScalar(poly->getVertex(0)->x),btScalar(poly->getVertex(0)->y),btScalar(poly->getVertex(0)->z));
					btVector3 v1= btVector3(btScalar(poly->getVertex(1)->x),btScalar(poly->getVertex(1)->y),btScalar(poly->getVertex(1)->z));
					btVector3 v2= btVector3(btScalar(poly->getVertex(2)->x),btScalar(poly->getVertex(2)->y),btScalar(poly->getVertex(2)->z));					
					btMesh->addTriangle(v2,v1,v0);
				}
				collisionShape = new btBvhTriangleMeshShape(btMesh, true);
				*/
				btConvexHullShape *hullShape = new btConvexHullShape();
				for(int i=0; i < sceneMesh->getMesh()->getPolygonCount(); i++) {
					Polygon *poly = sceneMesh->getMesh()->getPolygon(i);
					for(int j=0; j < poly->getVertexCount(); j++) {					
						hullShape->addPoint(btVector3((btScalar)poly->getVertex(j)->x, (btScalar)poly->getVertex(j)->y,(btScalar)poly->getVertex(j)->z));
					}
				}
				
				collisionShape = hullShape;
				
			} else {
				Logger::log("Tried to make a mesh collision object from a non-mesh\n");
				collisionShape = new btBoxShape(btVector3(entity->bBox.x/2.0f, entity->bBox.y/2.0f,entity->bBox.z/2.0f));			
			}
		}
		break;
	}	
	return collisionShape; 
}

void CollisionSceneEntity::Update() {
	
//	lastPosition = *getSceneEntity()->getPosition();	
	if(gravityEnabled) {	
		float elapsed = CoreServices::getInstance()->getCore()->getElapsed();
		Vector3 elapsedGrav = gravityVector;
		elapsedGrav * elapsed * gravityStrength;
		gVelocity = gVelocity+(elapsedGrav);
		sceneEntity->Translate(gVelocity.x * elapsed, gVelocity.y * elapsed,gVelocity.z * elapsed);
		sceneEntity->rebuildTransformMatrix();
	}

	btQuaternion orn;
//	collisionObject->getCollisionShape()->setLocalScaling
	collisionObject->getWorldTransform().setFromOpenGLMatrix((float*)sceneEntity->getConcatenatedMatrix().ml);

/*	
	float rads = PI/180.0f;
	orn.setEuler(sceneEntity->getCombinedYaw()*rads,sceneEntity->getCombinedPitch()*rads,sceneEntity->getCombinedRoll()*rads);
	collisionObject->getWorldTransform().setRotation(orn);
	collisionObject->getWorldTransform().setOrigin(btVector3(sceneEntity->getCombinedPosition().x, sceneEntity->getCombinedPosition().y, sceneEntity->getCombinedPosition().z));
*/	
}

SceneEntity *CollisionSceneEntity::getSceneEntity() {
	return sceneEntity;
}

CollisionSceneEntity::~CollisionSceneEntity() {

}