Added more collision shapes and rigidbody driving

core/CollisionShape.cpp

@@ -0,0 +1,17 @@
+#include "CollisionShape.h"
+
+CollisionShape::CollisionShape() {
+  shape = nullptr;
+}
+
+SphereCollisionShape::SphereCollisionShape(cfloat radius) {
+  shape = new btSphereShape(radius);
+}
+
+BoxCollisionShape::BoxCollisionShape(cfloat width, cfloat height, cfloat depth) {
+  shape = new btBoxShape(btVector3(width / 2.0f, height / 2.0f, depth / 2.0f));
+}
+
+CapsuleCollisionShape::CapsuleCollisionShape(cfloat radius, cfloat height) {
+  shape = new btCapsuleShape(radius, height);
+}

core/CollisionShape.h

@@ -0,0 +1,32 @@
+#ifndef COLLISIONSHAPE_H
+#define COLLISIONSHAPE_H
+
+#include <btBulletDynamicsCommon.h>
+
+#include "types.h"
+
+class CollisionShape {
+public:
+  CollisionShape();
+protected:
+  btCollisionShape *shape;
+private:
+  friend class Rigidbody;
+};
+
+class SphereCollisionShape : public CollisionShape {
+public:
+  SphereCollisionShape(cfloat radius);
+};
+
+class BoxCollisionShape : public CollisionShape {
+public:
+  BoxCollisionShape(cfloat width, cfloat height, cfloat depth);
+};
+
+class CapsuleCollisionShape: public CollisionShape {
+public:
+  CapsuleCollisionShape(cfloat radius, cfloat height);
+};
+
+#endif /* COLLISIONSHAPE_H */

core/Material.cpp

@@ -1,17 +1,5 @@
 #include "Material.h"
 
-Color::Color() {
-  this->r = 0.0f;
-  this->g = 0.0f;
-  this->b = 0.0f;
-}
-
-Color::Color(cfloat r, cfloat g, cfloat b) {
-  this->r = r;
-  this->g = g;
-  this->b = b;
-}
-
 Texture::Texture() {}
 
 Texture Texture::FromFile(const char *filename) {

core/Material.h

@@ -7,11 +7,7 @@
 #include "types.h"
 #include "Util.h"
 
-struct Color {
-  cfloat r, g, b;
-  Color();
-  Color(cfloat r, cfloat g, cfloat b);
-};
+typedef Vector3 Color;
 
 class Texture {
 public:

core/Rigidbody.cpp

@@ -1,7 +1,9 @@
 #include "Rigidbody.h"
 #include "World.h"
 
-Rigidbody::Rigidbody() {}
+Rigidbody::Rigidbody() {
+  collisionShape = new btSphereShape(1.0f);
+}
 
 Rigidbody *Rigidbody::Create() {
   return new Rigidbody;
@@ -19,9 +21,9 @@ Rigidbody *Rigidbody::Duplicate() {
 Rigidbody *Rigidbody::Instance() {
   Rigidbody *rigidbody = static_cast<Rigidbody*>(Node::Instance());
 
-  rigidbody->collisionShape = new btSphereShape(1.0f);
+  rigidbody->collisionShape = collisionShape;
   rigidbody->btBody = new btRigidBody(rigidbody->mass, new RigidbodyMotionState(rigidbody), rigidbody->collisionShape);
-  assert(rigidbody);
+  rigidbody->btBody->setAngularFactor(character ? 0.0f : 1.0f);
 
   World *world = World::GetWorld();
   world->AddRigidbody(rigidbody);
@@ -29,6 +31,26 @@ Rigidbody *Rigidbody::Instance() {
   return rigidbody;
 }
 
+void Rigidbody::SetCollisionShape(CollisionShape collisionShape) {
+  if (this->collisionShape) {
+    delete this->collisionShape;
+  }
+  this->collisionShape = collisionShape.shape;
+}
+
+void Rigidbody::ApplyImpulse(Vector3 impulse) {
+  btBody->applyCentralImpulse(btVector3(impulse.x, impulse.y, impulse.z));
+}
+
+void Rigidbody::ApplyForce(Vector3 force) {
+  btBody->applyCentralForce(btVector3(force.x, force.y, force.z));
+}
+
+void Rigidbody::SetCharacter(bool character) {
+  this->character = character;
+}
+
+
 RigidbodyMotionState::RigidbodyMotionState(Rigidbody *rigidbody) {
   this->rigidbody = rigidbody;
 }

core/Rigidbody.h

@@ -5,6 +5,7 @@
 
 #include "types.h"
 #include "Spatial.h"
+#include "CollisionShape.h"
 
 class Rigidbody : public Spatial {
 public:
@@ -12,8 +13,16 @@ public:
   virtual Rigidbody *Create();
   virtual Rigidbody *Duplicate();
   virtual Rigidbody *Instance();
+  
+  void SetCollisionShape(CollisionShape collisionShape);
   cfloat mass = 1.0f;
+
+  void ApplyImpulse(Vector3 impulse);
+  void ApplyForce(Vector3 force);
+
+  void SetCharacter(bool character);
 private:
+  bool character = false;
   btRigidBody *btBody;
   btCollisionShape *collisionShape;
   friend class World;

demo/capsule.mtl

@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 500
+Ka 0.8 0.8 0.8
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2

demo/main.lua

@@ -1,6 +1,8 @@
 local min = math.min
 local max = math.max
 local cube
+local physics_ball
+local character
 local ball
 local camera
 
@@ -8,6 +10,8 @@ local vx = 0.0
 local vy = 0.0
 local vz = 0.0
 
+local character_move_vec = couch.Vector3(0.0, 0.0, 0.0)
+
 local ballvy = -1.0
 
 local cam_rot_x = 0.0
@@ -15,9 +19,9 @@ local cam_rot_y = 0.0
 
 local SPEED = 30
 
-local WHITE = couch.Color(1.0, 1.0, 1.0)
-local RED = couch.Color(1.0, 0.0, 0.0)
-local BLUE = couch.Color(0.0, 0.0, 1.0)
+local WHITE = couch.Vector3(1.0, 1.0, 1.0)
+local RED = couch.Vector3(1.0, 0.0, 0.0)
+local BLUE = couch.Vector3(0.0, 0.0, 1.0)
 
 local light
 
@@ -54,11 +58,26 @@ function init()
    physics_ball_mesh:SetMaterial(0, material)
    physics_ball_prefab.children:Append(physics_ball_mesh);
    physics_ball_prefab.transform.position = couch.Vector3(0.0, 30.0, -10.0)   
-   local physics_ball = physics_ball_prefab:Instance()
+   physics_ball = physics_ball_prefab:Instance()
    couch.Node.GetRoot().children:Append(physics_ball)
 
    make_ground()
 
+   local character_prefab = couch.Mesh.FromFile("capsule.obj")
+   material = character_prefab:GetMaterial(0)
+   material.ambient = BLUE
+   material.diffuse = BLUE
+   material.specular = WHITE * 0.1
+   character_prefab:SetMaterial(0, material)
+   local character_body = couch.Rigidbody()
+   character_body.mass = 1.0
+   character_body:SetCollisionShape(couch.CapsuleCollisionShape(1.0, 1.0))
+   character_body:SetCharacter(true)
+   character_body.children:Append(character_prefab)
+   character_body.transform.position = couch.Vector3(0.0, 3.0, 0.0)
+   character = character_body:Instance()
+   couch.Node.GetRoot().children:Append(character)
+
    local cube_prefab = couch.Mesh.FromFile("cube.obj")
    material = cube_prefab:GetMaterial(0)
    material.ambient = RED
@@ -133,6 +152,9 @@ function update(delta)
 
    cube.transform.rotation.y = cube.transform.rotation.y + 2.0 * delta;
    cube.transform.rotation.z = cube.transform.rotation.z + 1.0 * delta;
+
+   character:ApplyForce(character_move_vec * 10.0)
+   print(character_move_vec.z)
 end
 
 function action_dir(key, action, pos, neg, curr)
@@ -151,12 +173,12 @@ function onkey(key, code, action, mod)
    vz = action_dir(key, action, couch.KEY_W, couch.KEY_S, vz)
    vx = action_dir(key, action, couch.KEY_D, couch.KEY_A, vx)
    vy = action_dir(key, action, couch.KEY_SPACE, couch.KEY_LEFT_CONTROL, vy)
-   if key == couch.KEY_DOWN and action == couch.ACTION_PRESS then
-      light.ambient = max(light.ambient - 0.1, 0.0)
-   elseif key == couch.KEY_UP and action == couch.ACTION_PRESS then
-      light.ambient = light.ambient + 0.1
-      print(light.ambient)
+   
+   if key == couch.KEY_J and action == couch.ACTION_PRESS then
+      physics_ball:ApplyImpulse(couch.Vector3(0.0, 1.0, 0.0) * 10)
    end
+
+   character_move_vec.z = action_dir(key, action, couch.KEY_DOWN, couch.KEY_UP, character_move_vec.z)
 end
 
 function onmousemotion(_, _, relx, rely)
@@ -172,6 +194,13 @@ function make_ground()
    ground = couch.Spatial():Instance()
    couch.Node.GetRoot().children:Append(ground)
 
+   -- Add a collisionshape
+   local ground_shape_prefab = couch.Rigidbody()
+   ground_shape_prefab.mass = 0.0
+   ground_shape_prefab:SetCollisionShape(couch.BoxCollisionShape(180.0, 1.0, 180.0))
+   ground_shape_prefab.transform:Translate(0.0, -2.5, 0.0)
+   ground.children:Append(ground_shape_prefab:Instance())
+
    for x = -20, 20, 1 do
       for z = -20, 20, 1 do
 	 local piece = ground_prefab:Instance()

scripting/couch.i

@@ -17,6 +17,7 @@
 #include "Light.h"
 #include "Skybox.h"
 #include "Rigidbody.h"
+#include "CollisionShape.h"
 %}
 
 typedef float cfloat;
@@ -50,3 +51,4 @@ public:
 %include "Light.h"
 %include "Skybox.h"
 %include "Rigidbody.h"
+%include "CollisionShape.h"