BlMeshBase.cpp

// BlMeshBase.cpp: implementation of the BlMeshBase class.
//

#include "StdAfx.h"
#include "BlOsgGeometry.h"
#include "BlJoint.h"
#include "BlMotorizedJoint.h"
#include "BlRigidBody.h"
#include "BlMeshBase.h"
#include "BlSimulator.h"

namespace BulletAnimatSim
{
        namespace Environment
        {
                namespace Bodies
                {

// Construction/Destruction

BlMeshBase::BlMeshBase()
{
}

BlMeshBase::~BlMeshBase()
{

try
{
}
catch(...)
{Std_TraceMsg(0, "Caught Error in desctructor of BlMeshBase\r\n", "", -1, false, true);}
}

void BlMeshBase::SetThisPointers()
{
        BlRigidBody::SetThisPointers();
        m_lpThisMesh = dynamic_cast<Mesh *>(this);
        if(!m_lpThisMesh)
                THROW_TEXT_ERROR(Bl_Err_lThisPointerNotDefined, Bl_Err_strThisPointerNotDefined, "m_lpThisMesh, " + m_lpThisAB->Name());
}

void BlMeshBase::CreateGraphicsGeometry()
{
        m_osgGeometry = CreateBoxGeometry(1, 1, 1, 1, 1, 1);
}

void BlMeshBase::LoadMeshNode()
{
        std::string strPath = m_lpThisAB->GetSimulator()->ProjectPath();
        std::string strMeshFile;
        
        if(m_lpThisRB->IsCollisionObject() && m_lpThisMesh->CollisionMeshType() == "CONVEX")
                strMeshFile     = m_lpThisMesh->ConvexMeshFile();
        else
                strMeshFile     = m_lpThisMesh->MeshFile();

        std::string strFile = AnimatSim::GetFilePath(strPath, strMeshFile);
        m_osgBaseMeshNode = GetBlSimulator()->MeshMgr()->LoadMesh(strFile);

        if(!m_osgBaseMeshNode.valid())
                CreateDefaultMesh();

        m_osgBaseMeshNode->setName(m_lpThisAB->Name() + "_MeshNodeBase");

        //Enforce turning on of lighting for this object. Some meshes have this turned off by default (3DS in particular)
        //This did not fix the problem.
        //m_osgBaseMeshNode->getOrCreateStateSet()->setMode( GL_LIGHTING, osg::StateAttribute::OVERRIDE | osg::StateAttribute::ON );

        CStdFPoint vScale(1, 1, 1);

        //If this is a convex collision object then it does not get scaled here. That is done
        //when it is converted into a collision mesh by the editor. Otherwise use the scaling.
        if( !(m_lpThisMesh->IsCollisionObject() && m_lpThisMesh->CollisionMeshType() == "CONVEX") )
                vScale= m_lpThisMesh->Scale();

        osg::Matrix osgScaleMatrix = osg::Matrix::identity();
        osgScaleMatrix.makeScale(vScale.x, vScale.y, vScale.z);

        m_osgMeshNode = new osg::MatrixTransform(osgScaleMatrix);

        m_osgMeshNode->getOrCreateStateSet()->setMode(GL_NORMALIZE, osg::StateAttribute::ON); 

        m_osgMeshNode->addChild(m_osgBaseMeshNode.get());
        m_osgMeshNode->setName(m_lpThisAB->Name() + "_MeshNode");
}

void BlMeshBase::CreateDefaultMesh()
{
        CreateGraphicsGeometry();
        m_osgGeometry->setName(m_lpThisAB->Name() + "_Geometry");

        osg::Geode *osgGroup = new osg::Geode;
        osgGroup->addDrawable(m_osgGeometry.get());

        m_osgBaseMeshNode = osgGroup;
}

void BlMeshBase::CreateGeometry(bool bOverrideStatic)
{
    if(m_lpThisRB && (!m_lpThisRB->HasStaticJoint() || bOverrideStatic))
    {
            LoadMeshNode();

            //For the mesh stuff we need to create it immediately after the mesh is loaded, and before we add it to
            //the matrix transforms. This is because when vortex creates the collision geometry it was using the attached
            //matrix transform when setting up the vertex positions and this was causing the mesh to appear in the wrong 
            //position relative to the collision mesh
            CreatePhysicsGeometry();

            //Now add it to the nodes.
            osg::Group *osgNodeGroup = NULL;
            if(m_osgNode.valid())
                    osgNodeGroup = dynamic_cast<osg::Group *>(m_osgNode.get());         
            else
            {
                    osgNodeGroup = new osg::Group;
                    m_osgNode = osgNodeGroup;
            }

            if(!osgNodeGroup)
                    THROW_TEXT_ERROR(Bl_Err_lMeshOsgNodeGroupNotDefined, Bl_Err_strMeshOsgNodeGroupNotDefined, "Body: " + m_lpThisAB->Name() + " Mesh: " + AnimatSim::GetFilePath(m_lpThisAB->GetSimulator()->ProjectPath(), m_lpThisMesh->MeshFile()));

            osgNodeGroup->addChild(m_osgMeshNode.get());
    }
}

void BlMeshBase::CreatePhysicsGeometry()
{
        if(m_lpThisRB->IsCollisionObject())
        {
        DeleteCollisionGeometry();

                if(m_lpThisMesh->CollisionMeshType() == "CONVEX")
        {
            m_eBodyType = CONVEX_HULL_SHAPE_PROXYTYPE;
            if(m_osgMeshNode.get())
                m_btCollisionShape = OsgMeshToConvexHull(m_osgMeshNode.get(), true, 0);
        }
                else
        {
            m_eBodyType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
            if(m_osgMeshNode.get())
                m_btCollisionShape = osgbCollision::btTriMeshCollisionShapeFromOSG(m_osgMeshNode.get());
        }

                if(!m_btCollisionShape)
                        THROW_TEXT_ERROR(Bl_Err_lCreatingGeometry, Bl_Err_strCreatingGeometry, "Body: " + m_lpThisAB->Name() + " Mesh: " + AnimatSim::GetFilePath(m_lpThisAB->GetSimulator()->ProjectPath(), m_lpThisMesh->MeshFile()));
        }
}

void BlMeshBase::Physics_Resize()
{
        //First lets get rid of the current current geometry and then put new geometry in place.
        if(m_osgNode.valid() && m_osgMeshNode.valid())
        {
                osg::Group *osgGroup = dynamic_cast<osg::Group *>(m_osgNode.get());

                if(osgGroup && osgGroup->containsNode(m_osgMeshNode.get()))
                        osgGroup->removeChild(m_osgMeshNode.get());

                m_osgGeometry.release();
                m_osgMeshNode.release();
                m_osgBaseMeshNode.release();

                CreateGeometry();

                //Now lets re-adjust the gripper size.
                if(m_osgDragger.valid())
                        m_osgDragger->SetupMatrix();

                //Reset the user data for the new parts.
                if(m_osgNodeGroup.valid())
                {
                        osg::ref_ptr<OsgUserDataVisitor> osgVisitor = new OsgUserDataVisitor(this);
                        osgVisitor->traverse(*m_osgNodeGroup);
                }

                if(Physics_IsDefined())
                {
                        ResizePhysicsGeometry();
                        //Now get base values, including mass and volume
                        GetBaseValues();
                }

                if(m_lpThisRB->Callback())
                        m_lpThisRB->Callback()->SizeChanged();
        }
}

//void OsgRigidBody::Physics_Resize()
//{
//      //First lets get rid of the current current geometry and then put new geometry in place.
//      if(m_osgNode.valid())
//      {
//              osg::Geode *osgGroup = NULL;
//              if(m_osgGeometryRotationMT.valid())
//                      osgGroup = dynamic_cast<osg::Geode *>(m_osgGeometryRotationMT->getChild(0));
//              else
//                      osgGroup = dynamic_cast<osg::Geode *>(m_osgNode.get());
//
//              if(!osgGroup)
//                      THROW_TEXT_ERROR(Osg_Err_lNodeNotGeode, Osg_Err_strNodeNotGeode, m_lpThisAB->Name());
//
//              if(osgGroup && osgGroup->containsDrawable(m_osgGeometry.get()))
//                      osgGroup->removeDrawable(m_osgGeometry.get());
//
//              m_osgGeometry.release();
//
//              //Create a new box geometry with the new sizes.
//              CreateGraphicsGeometry();
//              if(m_lpThisAB)
//                      m_osgGeometry->setName(m_lpThisAB->Name() + "_Geometry");
//
//              //Add it to the geode.
//              osgGroup->addDrawable(m_osgGeometry.get());
//
//              //Now lets re-adjust the gripper size.
//              if(m_osgDragger.valid())
//                      m_osgDragger->SetupMatrix();
//
//              //Reset the user data for the new parts.
//              if(m_osgNodeGroup.valid())
//              {
//                      osg::ref_ptr<OsgUserDataVisitor> osgVisitor = new OsgUserDataVisitor(this);
//                      osgVisitor->traverse(*m_osgNodeGroup);
//              }
//      }
//
//      if(Physics_IsDefined())
//      {
//              ResizePhysicsGeometry();
//
//              //We need to reset the density in order for it to recompute the mass and volume.
//              if(m_lpThisRB)
//                      Physics_SetDensity(m_lpThisRB->Density());
//
//              //Now get base values, including mass and volume
//              GetBaseValues();
//      }
//}


                }               //Bodies
        }                       // Environment
}                               //BulletAnimatSim