axmol/core/physics3d/Physics3DShape.cpp

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 Copyright (c) 2015-2016 Chukong Technologies Inc.
 Copyright (c) 2017-2018 Xiamen Yaji Software Co., Ltd.

 https://axmolengine.github.io/

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#include "physics3d/Physics3D.h"

#if AX_USE_3D_PHYSICS

#    if (AX_ENABLE_BULLET_INTEGRATION)
#        include "bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"

NS_AX_BEGIN

Physics3DShape::ShapeType Physics3DShape::getShapeType() const
{
    return _shapeType;
}

Physics3DShape::Physics3DShape() : _shapeType(ShapeType::UNKNOWN)
{
#        if (AX_ENABLE_BULLET_INTEGRATION)
    _btShape         = nullptr;
    _heightfieldData = nullptr;
#        endif
}
Physics3DShape::~Physics3DShape()
{
#        if (AX_ENABLE_BULLET_INTEGRATION)
    AX_SAFE_DELETE(_btShape);
    AX_SAFE_DELETE_ARRAY(_heightfieldData);
    for (auto&& iter : _compoundChildShapes)
    {
        AX_SAFE_RELEASE(iter);
    }
    _compoundChildShapes.clear();
#        endif
}

Physics3DShape* Physics3DShape::createBox(const ax::Vec3& extent)
{
    auto shape = new Physics3DShape();
    shape->initBox(extent);
    shape->autorelease();
    return shape;
}

Physics3DShape* Physics3DShape::createSphere(float radius)
{
    auto shape = new Physics3DShape();
    shape->initSphere(radius);
    shape->autorelease();
    return shape;
}

Physics3DShape* Physics3DShape::createCylinder(float radius, float height)
{
    auto shape = new Physics3DShape();
    shape->initCylinder(radius, height);
    shape->autorelease();
    return shape;
}

Physics3DShape* Physics3DShape::createCapsule(float radius, float height)
{
    auto shape = new Physics3DShape();
    shape->initCapsule(radius, height);
    shape->autorelease();
    return shape;
}

Physics3DShape* Physics3DShape::createConvexHull(const ax::Vec3* points, int numPoints)
{
    auto shape = new Physics3DShape();
    shape->initConvexHull(points, numPoints);
    shape->autorelease();
    return shape;
}

Physics3DShape* Physics3DShape::createMesh(const ax::Vec3* triangles, int numTriangles)
{
    auto shape = new Physics3DShape();
    shape->initMesh(triangles, numTriangles);
    shape->autorelease();
    return shape;
}

Physics3DShape* Physics3DShape::createHeightfield(int heightStickWidth,
                                                  int heightStickLength,
                                                  const void* heightfieldData,
                                                  float heightScale,
                                                  float minHeight,
                                                  float maxHeight,
                                                  bool useFloatDatam,
                                                  bool flipQuadEdges,
                                                  bool useDiamondSubdivision)
{
    auto shape = new Physics3DShape();
    shape->initHeightfield(heightStickWidth, heightStickLength, heightfieldData, heightScale, minHeight, maxHeight,
                           useFloatDatam, flipQuadEdges, useDiamondSubdivision);
    shape->autorelease();
    return shape;
}

Physics3DShape* Physics3DShape::createCompoundShape(const std::vector<std::pair<Physics3DShape*, Mat4>>& shapes)
{
    auto shape = new Physics3DShape();
    shape->initCompoundShape(shapes);
    shape->autorelease();
    return shape;
}

bool Physics3DShape::initBox(const ax::Vec3& ext)
{
    _shapeType = ShapeType::BOX;
    _btShape   = new btBoxShape(convertVec3TobtVector3(ext * 0.5f));
    return true;
}
bool Physics3DShape::initSphere(float radius)
{
    _shapeType = ShapeType::SPHERE;
    _btShape   = new btSphereShape(radius);
    return true;
}
bool Physics3DShape::initCylinder(float radius, float height)
{
    _shapeType = ShapeType::CYLINDER;
    _btShape   = new btCylinderShape(convertVec3TobtVector3(ax::Vec3(radius, height, radius) * 0.5f));
    return true;
}
bool Physics3DShape::initCapsule(float radius, float height)
{
    _shapeType = ShapeType::CAPSULE;
    _btShape   = new btCapsuleShape(radius, height);
    return true;
}

bool Physics3DShape::initConvexHull(const ax::Vec3* points, int numPoints)
{
    _shapeType = ShapeType::CONVEX;
    _btShape   = new btConvexHullShape((btScalar*)points, numPoints, sizeof(ax::Vec3));
    return true;
}

bool Physics3DShape::initMesh(const ax::Vec3* triangles, int numTriangles)
{
    _shapeType = ShapeType::MESH;
    auto mesh  = new btTriangleMesh(false);
    for (int i = 0; i < numTriangles * 3; i += 3)
    {
        mesh->addTriangle(convertVec3TobtVector3(triangles[i]), convertVec3TobtVector3(triangles[i + 1]),
                          convertVec3TobtVector3(triangles[i + 2]));
    }
    _btShape = new btBvhTriangleMeshShape(mesh, true);
    return true;
}

bool Physics3DShape::initHeightfield(int heightStickWidth,
                                     int heightStickLength,
                                     const void* heightfieldData,
                                     float heightScale,
                                     float minHeight,
                                     float maxHeight,
                                     bool useFloatDatam,
                                     bool flipQuadEdges,
                                     bool useDiamondSubdivision)
{
    _shapeType                  = ShapeType::HEIGHT_FIELD;
    PHY_ScalarType type         = PHY_UCHAR;
    unsigned int dataSizeInByte = heightStickWidth * heightStickLength;
    if (useFloatDatam)
    {
        type = PHY_FLOAT;
        dataSizeInByte *= sizeof(float);
    }
    _heightfieldData = new unsigned char[dataSizeInByte];
    memcpy(_heightfieldData, heightfieldData, dataSizeInByte);
    auto heightfield = new btHeightfieldTerrainShape(heightStickWidth, heightStickLength, _heightfieldData, heightScale,
                                                     minHeight, maxHeight, 1, type, flipQuadEdges);
    heightfield->setUseDiamondSubdivision(useDiamondSubdivision);
    _btShape = heightfield;
    return true;
}

bool Physics3DShape::initCompoundShape(const std::vector<std::pair<Physics3DShape*, Mat4>>& shapes)
{
    _shapeType    = ShapeType::COMPOUND;
    auto compound = new btCompoundShape;
    for (auto&& iter : shapes)
    {
        compound->addChildShape(convertMat4TobtTransform(iter.second), iter.first->getbtShape());
        AX_SAFE_RETAIN(iter.first);
        _compoundChildShapes.emplace_back(iter.first);
    }
    _btShape = compound;
    return true;
}

NS_AX_END

#    endif  // AX_ENABLE_BULLET_INTEGRATION

#endif  // AX_USE_3D_PHYSICS