luboslenco
112 lines
3.5 KiB
TypeScript
112 lines
3.5 KiB
TypeScript
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/// if arm_physics
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/// include "../libs/asim.h"
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declare function asim_body_create(shape: i32, mass: f32, dimx: f32, dimy: f32, dimz: f32, x: f32, y: f32, z: f32, triangles: f32[]): any;
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declare function asim_body_apply_impulse(body: any, x: f32, y: f32, z: f32): void;
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declare function asim_body_get_pos(body: any, pos: vec4_t): void; // vec4_ptr_t
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declare function asim_body_get_rot(body: any, rot: quat_t): void; // quat_ptr_t
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declare function asim_body_sync_transform(body: any, pos: vec4_t, rot: quat_t): void;
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declare function asim_body_remove(body: any): void;
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type physics_body_t = {
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_body?: any;
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shape?: physics_shape_t;
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mass?: f32;
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dimx?: f32;
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dimy?: f32;
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dimz?: f32;
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obj?: object_t;
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};
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enum physics_shape_t {
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BOX = 0,
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SPHERE = 1,
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HULL = 2,
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TERRAIN = 3,
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MESH = 4,
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}
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let physics_body_object_map: map_t<i32, physics_body_t> = map_create();
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function physics_body_create(): physics_body_t {
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let body: physics_body_t = {};
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return body;
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}
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function physics_body_init(body: physics_body_t, obj: object_t) {
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map_set(physics_body_object_map, obj.uid, body);
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body.obj = obj;
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transform_compute_dim(obj.transform);
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body.dimx = obj.transform.dim.x;
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body.dimy = obj.transform.dim.y;
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body.dimz = obj.transform.dim.z;
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let scale_pos: f32 = 1.0;
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let posa: i16[] = null;
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let inda: u32[] = null;
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if (body.shape == physics_shape_t.MESH || body.shape == physics_shape_t.HULL || body.shape == physics_shape_t.TERRAIN) {
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let mo: mesh_object_t = obj.ext;
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let data: mesh_data_t = mo.data;
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let scale: vec4_t = obj.transform.scale;
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let positions: i16_array_t = mesh_data_get_vertex_array(data, "pos").values;
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let indices0: u32_array_t = data.index_array;
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scale_pos = scale.x * data.scale_pos;
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posa = positions;
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inda = indices0;
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// triangles = f32_array_create(indices0.length * 3);
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// let ar: u32_array_t = indices[0];
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// for (let i: i32 = 0; i < math_floor(ar.length / 3); ++i) {
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// triangles[i * 9 ] = positions[ar[i * 3 ] * 4 ] * sx;
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// triangles[i * 9 + 1] = positions[ar[i * 3 ] * 4 + 1] * sy;
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// triangles[i * 9 + 2] = positions[ar[i * 3 ] * 4 + 2] * sz;
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// triangles[i * 9 + 3] = positions[ar[i * 3 + 1] * 4 ] * sx;
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// triangles[i * 9 + 4] = positions[ar[i * 3 + 1] * 4 + 1] * sy;
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// triangles[i * 9 + 5] = positions[ar[i * 3 + 1] * 4 + 2] * sz;
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// triangles[i * 9 + 6] = positions[ar[i * 3 + 2] * 4 ] * sx;
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// triangles[i * 9 + 7] = positions[ar[i * 3 + 2] * 4 + 1] * sy;
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// triangles[i * 9 + 8] = positions[ar[i * 3 + 2] * 4 + 2] * sz;
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// }
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}
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let loc: vec4_t = obj.transform.loc;
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body._body = asim_body_create(body.shape, body.mass, body.dimx, body.dimy, body.dimz, loc.x, loc.y, loc.z, posa, inda, scale_pos);
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}
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function physics_body_remove(uid: i32) {
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let body: physics_body_t = map_get(physics_body_object_map, uid);
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if (body == null) {
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return;
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}
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map_delete(physics_body_object_map, uid);
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asim_body_remove(body._body);
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}
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function physics_body_apply_impulse(body: physics_body_t, dir: vec4_t) {
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asim_body_apply_impulse(body._body, dir.x, dir.y, dir.z);
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}
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function physics_body_sync_transform(body: physics_body_t) {
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let transform: transform_t = body.obj.transform;
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asim_body_sync_transform(body._body, transform.loc, transform.rot);
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}
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function physics_body_update(body: physics_body_t) {
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if (body.shape == physics_shape_t.MESH) {
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return; ////
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}
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let transform: transform_t = body.obj.transform;
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asim_body_get_pos(body._body, ADDRESS(transform.loc));
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asim_body_get_rot(body._body, ADDRESS(transform.rot));
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transform_build_matrix(transform);
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}
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/// end
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