axmol/cocos/physics3d/CCPhysics3DComponent.cpp

 /****************************************************************************
 Copyright (c) 2015-2017 Chukong Technologies Inc.
 
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 Permission is hereby granted, free of charge, to any person obtaining a copy
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 The above copyright notice and this permission notice shall be included in
 all copies or substantial portions of the Software.
 
 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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#include "physics3d/CCPhysics3D.h"
#include "2d/CCNode.h"
#include "2d/CCScene.h"

#if CC_USE_3D_PHYSICS

#if (CC_ENABLE_BULLET_INTEGRATION)

NS_CC_BEGIN

Physics3DComponent::~Physics3DComponent()
{
    CC_SAFE_RELEASE(_physics3DObj);
}

std::string& Physics3DComponent::getPhysics3DComponentName()
{
    static std::string comName = "___Physics3DComponent___";
    return comName;
}

bool Physics3DComponent::init()
{
    setName(getPhysics3DComponentName());
    return Component::init();
}

Physics3DComponent* Physics3DComponent::create(Physics3DObject* physicsObj, const cocos2d::Vec3& translateInPhysics, const cocos2d::Quaternion& rotInPhsyics)
{
    auto ret = new (std::nothrow) Physics3DComponent();
    if (ret && ret->init())
    {
        ret->setPhysics3DObject(physicsObj);
        ret->setTransformInPhysics(translateInPhysics, rotInPhsyics);
        ret->autorelease();
        return ret;
    }
    CC_SAFE_DELETE(ret);
    return nullptr;
}

void Physics3DComponent::setPhysics3DObject(Physics3DObject* physicsObj)
{
    CC_SAFE_RETAIN(physicsObj);
    CC_SAFE_RELEASE(_physics3DObj);
    _physics3DObj = physicsObj;
}

Physics3DComponent::Physics3DComponent()
: _physics3DObj(nullptr)
, _syncFlag(Physics3DComponent::PhysicsSyncFlag::NODE_AND_NODE)
{
    
}

void Physics3DComponent::setEnabled(bool b)
{
    bool oldBool = _enabled;
    Component::setEnabled(b);
    if (_physics3DObj && oldBool != _enabled)
    {
        _enabled ? _physics3DObj->getPhysicsWorld()->addPhysics3DObject(_physics3DObj) : _physics3DObj->getPhysicsWorld()->removePhysics3DObject(_physics3DObj);
    }
}

void Physics3DComponent::addToPhysicsWorld(Physics3DWorld* world)
{
    //add component to physics world
    if (_physics3DObj)
    {
        _physics3DObj->setPhysicsWorld(world);
        world->addPhysics3DObject(_physics3DObj);
        auto& components = world->_physicsComponents;
        auto it = std::find(components.begin(), components.end(), this);
        if (it == components.end())
        {
            auto parent = _owner->getParent();
            while (parent) {
                for (size_t i = 0; i < components.size(); i++) {
                    if (parent == components[i]->getOwner())
                    {
                        //insert it here
                        components.insert(components.begin() + i, this);
                        return;
                    }
                }
                parent = parent->getParent();
            }
            
            components.insert(components.begin(), this);
        }
    }
}

void Physics3DComponent::onEnter()
{
    Component::onEnter();
    
    if (_physics3DObj->getPhysicsWorld() == nullptr && _owner)
    {
        auto scene = _owner->getScene();
        if (scene)
            addToPhysicsWorld(scene->getPhysics3DWorld());
    }
}

void Physics3DComponent::onExit()
{
    Component::onExit();
    setEnabled(false);
    
    //remove component from physics world
    if (_physics3DObj)
    {
        auto& components = _physics3DObj->getPhysicsWorld()->_physicsComponents;
        auto it = std::find(components.begin(), components.end(), this);
        if (it != components.end())
            components.erase(it);
    }
}

void Physics3DComponent::preSimulate()
{
    if (((int)_syncFlag & (int)Physics3DComponent::PhysicsSyncFlag::NODE_TO_PHYSICS) && _physics3DObj && _owner)
    {
        syncNodeToPhysics();
    }
}

void Physics3DComponent::postSimulate()
{
    if (((int)_syncFlag & (int)Physics3DComponent::PhysicsSyncFlag::PHYSICS_TO_NODE) && _physics3DObj && _owner)
    {
        syncPhysicsToNode();
    }
}

void Physics3DComponent::setTransformInPhysics(const cocos2d::Vec3& translateInPhysics, const cocos2d::Quaternion& rotInPhsyics)
{
    Mat4::createRotation(rotInPhsyics, &_transformInPhysics);
    _transformInPhysics.m[12] = translateInPhysics.x;
    _transformInPhysics.m[13] = translateInPhysics.y;
    _transformInPhysics.m[14] = translateInPhysics.z;
    
    _invTransformInPhysics = _transformInPhysics.getInversed();
}

void Physics3DComponent::setSyncFlag(PhysicsSyncFlag syncFlag)
{
    _syncFlag = syncFlag;
}

void Physics3DComponent::syncPhysicsToNode()
{
    if (_physics3DObj->getObjType() == Physics3DObject::PhysicsObjType::RIGID_BODY
     || _physics3DObj->getObjType() == Physics3DObject::PhysicsObjType::COLLIDER)
    {
        Mat4 parentMat;
        if (_owner->getParent())
            parentMat = _owner->getParent()->getNodeToWorldTransform();
        
        auto mat = parentMat.getInversed() * _physics3DObj->getWorldTransform();
        //remove scale, no scale support for physics
        float oneOverLen = 1.f / sqrtf(mat.m[0] * mat.m[0] + mat.m[1] * mat.m[1] + mat.m[2] * mat.m[2]);
        mat.m[0] *= oneOverLen;
        mat.m[1] *= oneOverLen;
        mat.m[2] *= oneOverLen;
        oneOverLen = 1.f / sqrtf(mat.m[4] * mat.m[4] + mat.m[5] * mat.m[5] + mat.m[6] * mat.m[6]);
        mat.m[4] *= oneOverLen;
        mat.m[5] *= oneOverLen;
        mat.m[6] *= oneOverLen;
        oneOverLen = 1.f / sqrtf(mat.m[8] * mat.m[8] + mat.m[9] * mat.m[9] + mat.m[10] * mat.m[10]);
        mat.m[8] *= oneOverLen;
        mat.m[9] *= oneOverLen;
        mat.m[10] *= oneOverLen;
        
        mat *= _transformInPhysics;
        static Vec3 scale, translation;
        static Quaternion quat;
        mat.decompose(&scale, &quat, &translation);
        _owner->setPosition3D(translation);
        quat.normalize();
        _owner->setRotationQuat(quat);
    }
}

void Physics3DComponent::syncNodeToPhysics()
{
    if (_physics3DObj->getObjType() == Physics3DObject::PhysicsObjType::RIGID_BODY
     || _physics3DObj->getObjType() == Physics3DObject::PhysicsObjType::COLLIDER)
    {
        auto mat = _owner->getNodeToWorldTransform();
        //remove scale, no scale support for physics
        float oneOverLen = 1.f / sqrtf(mat.m[0] * mat.m[0] + mat.m[1] * mat.m[1] + mat.m[2] * mat.m[2]);
        mat.m[0] *= oneOverLen;
        mat.m[1] *= oneOverLen;
        mat.m[2] *= oneOverLen;
        oneOverLen = 1.f / sqrtf(mat.m[4] * mat.m[4] + mat.m[5] * mat.m[5] + mat.m[6] * mat.m[6]);
        mat.m[4] *= oneOverLen;
        mat.m[5] *= oneOverLen;
        mat.m[6] *= oneOverLen;
        oneOverLen = 1.f / sqrtf(mat.m[8] * mat.m[8] + mat.m[9] * mat.m[9] + mat.m[10] * mat.m[10]);
        mat.m[8] *= oneOverLen;
        mat.m[9] *= oneOverLen;
        mat.m[10] *= oneOverLen;
        
        mat *=  _invTransformInPhysics;
        if (_physics3DObj->getObjType() == Physics3DObject::PhysicsObjType::RIGID_BODY)
        {
            auto body = static_cast<Physics3DRigidBody*>(_physics3DObj)->getRigidBody();
            auto motionState = body->getMotionState();
            motionState->setWorldTransform(convertMat4TobtTransform(mat));
            body->setMotionState(motionState);
        }
        else if (_physics3DObj->getObjType() == Physics3DObject::PhysicsObjType::COLLIDER)
        {
            auto object = static_cast<Physics3DCollider*>(_physics3DObj)->getGhostObject();
            object->setWorldTransform(convertMat4TobtTransform(mat));
        }
    }
}

NS_CC_END

#endif // CC_ENABLE_BULLET_INTEGRATION

#endif //CC_USE_3D_PHYSICS