Separate oimo module
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Lubos Lenco
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package armory.trait.physics.oimo;
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#if arm_oimo
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class PhysicsConstraint extends Trait {
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public function new(body1:String, body2:String) {
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super();
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}
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}
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#end
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package armory.trait.physics.oimo;
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#if arm_oimo
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class PhysicsHook extends Trait {
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public function new(targetName:String, verts:Array<Float>) {
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super();
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}
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}
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#end
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@ -1,124 +0,0 @@
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package armory.trait.physics.oimo;
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#if arm_oimo
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import iron.Trait;
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import iron.system.Time;
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import iron.math.Vec4;
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import iron.math.RayCaster;
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import iron.data.SceneFormat;
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import oimo.physics.dynamics.World;
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class ContactPair {
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public var a:Int;
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public var b:Int;
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public var posA:Vec4;
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public var posB:Vec4;
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public var nor:Vec4;
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public var impulse:Float;
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public function new(a:Int, b:Int) {
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this.a = a;
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this.b = b;
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}
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}
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class PhysicsWorld extends Trait {
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#if arm_debug
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public static var physTime = 0.0;
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#end
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public static var active:PhysicsWorld = null;
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public var world:World;
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public var rbMap:Map<Int, RigidBody>;
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var preUpdates:Array<Void->Void> = null;
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static inline var timeStep = 1 / 60;
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static inline var fixedStep = 1 / 60;
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public var hitPointWorld = new Vec4();
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public function new() {
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super();
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if (active == null) {
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createPhysics();
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}
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else {
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for (rb in active.rbMap) removeRigidBody(rb);
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this.world = active.world;
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}
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rbMap = new Map();
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active = this;
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Scene.active.notifyOnInit(function() {
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notifyOnUpdate(update);
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});
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}
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function createPhysics() {
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// var gravity = iron.Scene.active.raw.gravity == null ? gravityArray() : iron.Scene.active.raw.gravity;
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world = new World();
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}
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// function gravityArray():TFloat32Array {
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// var ar = new TFloat32Array(3);
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// ar[0] = 0.0;
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// ar[1] = 0.0;
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// ar[2] = -9.81;
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// return ar;
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// }
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public function addRigidBody(body:RigidBody) {
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world.addRigidBody(body.body);
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rbMap.set(body.id, body);
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}
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public function removeRigidBody(body:RigidBody) {
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if (world != null) world.removeRigidBody(body.body);
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rbMap.remove(body.id);
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}
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public function getContacts(body:RigidBody):Array<RigidBody> {
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var res:Array<RigidBody> = [];
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return res;
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}
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public function getContactPairs(body:RigidBody):Array<ContactPair> {
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var res:Array<ContactPair> = [];
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return res;
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}
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public function update() {
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#if arm_debug
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var startTime = kha.Scheduler.realTime();
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#end
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if (preUpdates != null) for (f in preUpdates) f();
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world.step(timeStep);
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#if arm_debug
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physTime = kha.Scheduler.realTime() - startTime;
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#end
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}
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public function pickClosest(inputX:Float, inputY:Float):RigidBody {
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return null;
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}
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public function rayCast(from:Vec4, to:Vec4):RigidBody {
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return null;
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}
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public function notifyOnPreUpdate(f:Void->Void) {
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if (preUpdates == null) preUpdates = [];
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preUpdates.push(f);
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}
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public function removePreUpdate(f:Void->Void) {
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preUpdates.remove(f);
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}
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}
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#end
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@ -1,193 +0,0 @@
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package armory.trait.physics.oimo;
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#if arm_oimo
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import iron.Trait;
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import iron.math.Vec4;
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import iron.object.Transform;
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import iron.object.MeshObject;
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class RigidBody extends Trait {
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var shape:Shape;
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public var physics:PhysicsWorld;
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public var transform:Transform = null;
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public var mass:Float;
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public var friction:Float;
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public var restitution:Float;
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public var collisionMargin:Float;
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public var linearDamping:Float;
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public var angularDamping:Float;
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public var passive:Bool;
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public var body:oimo.physics.dynamics.RigidBody = null;
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public var ready = false;
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static var nextId = 0;
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public var id = 0;
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public var onReady:Void->Void = null;
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public function new(mass = 1.0, shape = Shape.Box, friction = 0.5, restitution = 0.0, collisionMargin = 0.0,
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linearDamping = 0.04, angularDamping = 0.1, passive = false) {
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super();
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this.mass = mass;
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this.shape = shape;
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this.friction = friction;
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this.restitution = restitution;
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this.collisionMargin = collisionMargin;
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this.linearDamping = linearDamping;
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this.angularDamping = angularDamping;
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this.passive = passive;
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notifyOnAdd(init);
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notifyOnLateUpdate(lateUpdate);
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notifyOnRemove(removeFromWorld);
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}
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inline function withMargin(f:Float) {
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return f - f * collisionMargin;
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}
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public function notifyOnReady(f:Void->Void) {
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onReady = f;
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if (ready) onReady();
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}
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public function init() {
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if (ready) return;
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ready = true;
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transform = object.transform;
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physics = armory.trait.physics.PhysicsWorld.active;
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var shapeConfig = new oimo.physics.collision.shape.ShapeConfig();
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shapeConfig.friction = friction;
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shapeConfig.restitution = restitution;
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shapeConfig.density = mass > 0 ? mass : 1.0; // todo
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var _shape:oimo.physics.collision.shape.Shape = null;
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if (shape == Shape.Box) {
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_shape = new oimo.physics.collision.shape.BoxShape(shapeConfig,
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withMargin(transform.size.x),
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withMargin(transform.size.y),
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withMargin(transform.size.z));
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}
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else if (shape == Shape.Sphere) {
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_shape = new oimo.physics.collision.shape.SphereShape(shapeConfig,
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withMargin(transform.size.x / 2));
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}
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else {
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throw "Oimo is restricted to Box and Sphere shapes";
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}
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body = new oimo.physics.dynamics.RigidBody(transform.worldx(), transform.worldy(), transform.worldz());
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body.orientation.x = transform.rot.x;
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body.orientation.y = transform.rot.y;
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body.orientation.z = transform.rot.z;
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body.orientation.s = transform.rot.w;
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body.addShape(_shape);
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body.setupMass(mass > 0 ? oimo.physics.dynamics.RigidBody.BODY_DYNAMIC : oimo.physics.dynamics.RigidBody.BODY_STATIC);
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id = nextId;
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nextId++;
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physics.addRigidBody(this);
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if (onReady != null) onReady();
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}
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function lateUpdate() {
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if (!ready) return;
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if (object.animation != null || passive) {
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syncTransform();
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}
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else {
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var p = body.position;
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var q = body.orientation;
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transform.loc.set(p.x, p.y, p.z);
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transform.rot.set(q.x, q.y, q.z, q.s);
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if (object.parent != null) {
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var ptransform = object.parent.transform;
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transform.loc.x -= ptransform.worldx();
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transform.loc.y -= ptransform.worldy();
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transform.loc.z -= ptransform.worldz();
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}
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transform.buildMatrix();
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}
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}
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public function removeFromWorld() {
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if (physics != null) physics.removeRigidBody(this);
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}
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public function activate() {
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body.awake();
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}
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public function disableGravity() {
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}
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public function setActivationState(newState:Int) {
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}
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public function applyImpulse(impulse:Vec4, loc:Vec4 = null) {
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activate();
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if (loc == null) loc = transform.loc;
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body.applyImpulse(new oimo.math.Vec3(loc.x, loc.y, loc.z), new oimo.math.Vec3(impulse.x, impulse.y, impulse.z));
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}
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public function setLinearFactor(x:Float, y:Float, z:Float) {
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}
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public function setAngularFactor(x:Float, y:Float, z:Float) {
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}
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public function getLinearVelocity():Vec4 {
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return null;
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}
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public function setLinearVelocity(x:Float, y:Float, z:Float) {
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}
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public function setAngularVelocity(x:Float, y:Float, z:Float) {
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}
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public function setFriction(f:Float) {
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//TODO
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}
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public function syncTransform() {
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body.position.x = transform.worldx();
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body.position.y = transform.worldy();
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body.position.z = transform.worldz();
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body.orientation.x = transform.rot.x;
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body.orientation.y = transform.rot.y;
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body.orientation.z = transform.rot.z;
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body.orientation.s = transform.rot.w;
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activate();
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}
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}
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@:enum abstract Shape(Int) from Int {
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var Box = 0;
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var Sphere = 1;
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var ConvexHull = 2;
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var Mesh = 3;
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var Cone = 4;
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var Cylinder = 5;
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var Capsule = 6;
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var Terrain = 7;
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var StaticMesh = 8;
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}
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@:enum abstract ActivationState(Int) from Int {
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var Active = 1;
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var NoDeactivation = 4;
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var NoSimulation = 5;
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}
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#end
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@ -1,11 +0,0 @@
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package armory.trait.physics.oimo;
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#if arm_oimo
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class SoftBody extends Trait {
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public function new() { super(); }
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}
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#end
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