Added collision meshes from files

core/CollisionShape.cpp

@@ -1,3 +1,24 @@
+/*
+  Dane Johnson <dane@danejohnson.org>
+ 
+  LICENSE
+ 
+  Couch  Copyright (C) 2021 Dane Johnson
+
+  This program comes with ABSOLUTELY NO WARRANTY; without event the
+  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+  See the GNU General Public License for details at
+  https://www.gnu.org/licenses/gpl-3.0.html
+  
+  This is free software, and you are welcome to redistribute it
+  under the terms of the GNU General Public License as published
+  by the Free Software Foundation; either version 3 of the License,
+  or (at your option) any later version.
+ 
+  DESCRIPTION
+ 
+  Defines various collision shapes for rigidbodies and trigger areas
+*/
 #include "CollisionShape.h"
 
 CollisionShape::CollisionShape() {
@@ -15,3 +36,24 @@ BoxCollisionShape::BoxCollisionShape(float width, float height, float depth) {
 CapsuleCollisionShape::CapsuleCollisionShape(float radius, float height) {
   shape = new btCapsuleShape(radius, height);
 }
+
+MeshCollisionShape::MeshCollisionShape(Mesh *mesh) {
+  btCompoundShape *compoundShape = new btCompoundShape();
+
+  for (SubMesh *submesh : mesh->submeshes) {
+    btTriangleIndexVertexArray *indexVertexArray = new btTriangleIndexVertexArray(
+      submesh->indices.size(),
+      (int*) &submesh->indices[0],
+      sizeof(Index),
+      submesh->vertices.size(),
+      (float*) &submesh->vertices[0],
+      sizeof(Vertex)
+      );
+    compoundShape->addChildShape(
+      btTransform::getIdentity(),
+      new btBvhTriangleMeshShape(indexVertexArray, true)
+      );
+  }
+
+  shape = compoundShape;
+}

core/CollisionShape.h

@@ -1,10 +1,36 @@
+/**
+   @file
+   @author Dane Johnson <dane@danejohnson.org>
+ 
+   @section LICENSE
+ 
+   Couch  Copyright (C) 2021 Dane Johnson
+
+   This program comes with ABSOLUTELY NO WARRANTY; without event the
+   implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+   See the GNU General Public License for details at
+   https://www.gnu.org/licenses/gpl-3.0.html
+  
+   This is free software, and you are welcome to redistribute it
+   under the terms of the GNU General Public License as published
+   by the Free Software Foundation; either version 3 of the License,
+   or (at your option) any later version.
+ 
+   @section DESCRIPTION
+ 
+   Defines various collision shapes for rigidbodies and trigger areas
+*/
 #ifndef COLLISIONSHAPE_H
 #define COLLISIONSHAPE_H
 
 #include <btBulletDynamicsCommon.h>
 
 #include "types.h"
+#include "Mesh.h"
 
+/**
+   Base collision shape, should not be instanced directly
+*/
 class CollisionShape {
 public:
   CollisionShape();
@@ -16,17 +42,41 @@ private:
 
 class SphereCollisionShape : public CollisionShape {
 public:
+  /**
+     Creates a collision sphere with a defined radius
+     @param radius The radius
+  */
   SphereCollisionShape(float radius);
 };
 
 class BoxCollisionShape : public CollisionShape {
 public:
+  /**
+     Creates a collision cube with the desired width, height, and depth
+     @param width The desired width
+     @param height The desired height
+     @param depth The desired depth
+  */
   BoxCollisionShape(float width, float height, float depth);
 };
 
 class CapsuleCollisionShape: public CollisionShape {
 public:
+  /**
+     Creates a collision shape that is a cylinder with height, capped with a hemisphere of radius
+     @param radius The hemisphere radius
+     @param height The cylinder height
+  */
   CapsuleCollisionShape(float radius, float height);
 };
 
+class MeshCollisionShape: public CollisionShape {
+public:
+  /**
+     Creates a concave mesh with the same faces as mesh
+     @param mesh The mesh who's faces to use
+  */
+  MeshCollisionShape(Mesh *mesh);
+};
+
 #endif /* COLLISIONSHAPE_H */

core/Mesh.h

@@ -105,6 +105,7 @@ public:
 protected:
   SubMeshList submeshes;
   virtual void SetupMesh();
+  friend class MeshCollisionShape;
 };
 
 #endif /* MESH_H */

core/Spatial.cpp

@@ -21,6 +21,7 @@
   They can be instanced on the scene tree as an anchor for some other nodes.
 */
 #include "Spatial.h"
+#include "Util.h"
 
 Name Spatial::GetType() const {return "Spatial";}
 
@@ -32,6 +33,18 @@ void Spatial::SetTransform(Transform transform) {
   this->transform = transform;
 }
 
+Transform Spatial::GetGlobalTransform() {
+  Util::Die("Global transform is not implemented yet.\n"
+	    "I don't fully understand the maths yet!");
+  return Transform();
+}
+
+void Spatial::SetGlobalTransform(Transform globalTransform)  {
+  // TODO
+  Util::Die("Global transform is not implemented yet.\n"
+	    "I don't fully understand the maths yet!");
+}
+
 Spatial *Spatial::Create() {
   return new Spatial;
 }

core/Spatial.h

@@ -46,6 +46,16 @@ public:
      @param transform The transform property
   */
   void SetTransform(Transform transform);
+  /**
+     Gets the translation with relation to the world origin
+     @returns the global transform
+  */
+  Transform GetGlobalTransform();
+  /**
+     Sets the transform with relation to the world origin
+     @param globalTransform The global transform property
+  */
+  void SetGlobalTransform(Transform globalTransform);
 
   /**
      Directly translates the spatial by offset

demo/exampleworld/main.lua

@@ -45,29 +45,29 @@ function init()
    couch.Node.GetRoot():AddChild(light:Instance())
 
    local skybox = couch.Skybox.FromFiles(
-      "skybox/px.png",
-      "skybox/nx.png",
-      "skybox/py.png",
-      "skybox/ny.png",
-      "skybox/pz.png",
-      "skybox/nz.png"
+      "../resources/skybox/px.png",
+      "../resources/skybox/nx.png",
+      "../resources/skybox/py.png",
+      "../resources/skybox/ny.png",
+      "../resources/skybox/pz.png",
+      "../resources/skybox/nz.png"
    )
    couch.Node.GetRoot():AddChild(skybox:Instance())
 
    local physics_ball_prefab = couch.Rigidbody()
-   local physics_ball_mesh = couch.Mesh.FromFile("ball.obj")
+   local physics_ball_mesh = couch.Mesh.FromFile("../resources/ball.obj")
    material = physics_ball_mesh:GetMaterial(0)
    material.ambient = BLUE
    material.diffuse = BLUE
    physics_ball_mesh:SetMaterial(0, material)
    physics_ball_prefab:AddChild(physics_ball_mesh);
-   physics_ball_prefab:Translate(couch.Vector3(0.0, 30.0, -10.0))
+   physics_ball_prefab:Translate(couch.Vector3(-14.0, 30.0, -5.0))
    physics_ball = physics_ball_prefab:Instance()
    couch.Node.GetRoot():AddChild(physics_ball)
 
    make_ground()
 
-   local character_prefab = couch.Mesh.FromFile("capsule.obj")
+   local character_prefab = couch.Mesh.FromFile("../resources/capsule.obj")
    material = character_prefab:GetMaterial(0)
    material.ambient = BLUE
    material.diffuse = BLUE
@@ -78,16 +78,16 @@ function init()
    character_body:SetCollisionShape(couch.CapsuleCollisionShape(1.0, 1.0))
    character_body:SetCharacter(true)
    character_body:AddChild(character_prefab)
-   character_body:Translate(couch.Vector3(0.0, 3.0, 0.0))
+   character_body:Translate(couch.Vector3(-15.0, 3.0, 0.0))
    character = character_body:Instance()
    couch.Node.GetRoot():AddChild(character)
 
-   local cube_prefab = couch.Mesh.FromFile("cube.obj")
+   local cube_prefab = couch.Mesh.FromFile("../resources/cube.obj")
    material = cube_prefab:GetMaterial(0)
    material.ambient = RED
    material.diffuse = RED
    cube_prefab:SetMaterial(0, material)
-   local orbiter = couch.Mesh.FromFile("ball.obj")
+   local orbiter = couch.Mesh.FromFile("../resources/ball.obj")
    orbiter:UniformScale(0.25);
    orbiter:Translate(couch.Vector3(1.0, 0.0, 0.0))
    cube_prefab:AddChild(orbiter)
@@ -97,7 +97,7 @@ function init()
    couch.Node.GetRoot():AddChild(die_cube)
    die_cube:Translate(couch.Vector3(0.0, 0.0, 3.0))
    
-   local ball_prefab = couch.Mesh.FromFile("ball.obj")
+   local ball_prefab = couch.Mesh.FromFile("../resources/ball.obj")
    material = ball_prefab:GetMaterial(0)
    ball_prefab:SetMaterial(0, material)
    ball = ball_prefab:Instance()
@@ -105,12 +105,12 @@ function init()
 
    ball:Translate(couch.Vector3(0.0, 3.0, 0.0))
 
-   local trough_prefab = couch.TexturedMesh("trough.obj", "wood_lowres.png")
+   local trough_prefab = couch.TexturedMesh("../resources/trough.obj", "../resources/wood_lowres.png")
    trough = trough_prefab:Instance()
    couch.Node.GetRoot():AddChild(trough)
    trough:Translate(couch.Vector3(10.0, 0.0, 0.0))
 
-   local scaffold_prefab = couch.TexturedMesh("scaffold.obj", "grate_floor_lowres.png", "railing.png")
+   local scaffold_prefab = couch.TexturedMesh("../resources/scaffold.obj", "../resources/grate_floor_lowres.png", "../resources/railing.png")
    local scaffold = scaffold_prefab:Instance()
    material = scaffold:GetMaterial(0)
    material.alphaScissor = 0.9
@@ -124,14 +124,18 @@ function init()
    couch.Node.GetRoot():AddChild(scaffold)
    scaffold:Translate(couch.Vector3(-3.0, 3.0, 0.0))
 
-   local barn_prefab = couch.TexturedMesh("barn.obj", "paintedwood.jpg", "barnroof_lowres.png", "wood_lowres.png")
-   local barn = barn_prefab:Instance()
-   material = barn:GetMaterial(0)
+   local barn_prefab = couch.TexturedMesh("../resources/barn.obj", "../resources/paintedwood.jpg", "../resources/barnroof_lowres.png", "../resources/wood_lowres.png")
+   material = barn_prefab:GetMaterial(0)
    material.cullBack = false
-   barn:SetMaterial(0, material)
-   material = barn:GetMaterial(1)
+   barn_prefab:SetMaterial(0, material)
+   material = barn_prefab:GetMaterial(1)
    material.cullBack = false
-   barn:SetMaterial(1, material)
+   barn_prefab:SetMaterial(1, material)
+   local barn_body = couch.Rigidbody()
+   barn_body:SetCollisionShape(couch.MeshCollisionShape(barn_prefab))
+   barn_body:SetMass(0.0)
+   barn_body:AddChild(barn_prefab)
+   local barn = barn_body:Instance()
    couch.Node.GetRoot():AddChild(barn)
    barn:Translate(couch.Vector3(-15.0, 0.0, 0.0))
 end
@@ -202,7 +206,7 @@ function onmousemotion(_, _, relx, rely)
 end
 
 function make_ground()
-   local ground_prefab = couch.TexturedMesh("ground.obj", "grass_lowres.png")
+   local ground_prefab = couch.TexturedMesh("../resources/ground.obj", "../resources/grass_lowres.png")
    
    local ground_prefab_transform = ground_prefab:GetTransform()
    ground_prefab_transform.position = couch.Vector3(0.0, -2.0, 0.0)