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Add compound shapes #13

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2 changes: 1 addition & 1 deletion Sources/armory/trait/physics/oimo/PhysicsWorld.hx
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Original file line number Diff line number Diff line change
Expand Up @@ -169,7 +169,7 @@ class PhysicsWorld extends Trait {

world.step(Time.fixedStep * ts);
updateContacts();
for (rb in rbMap) { @:privateAccess try { rb.physicsUpdate(); } catch(e: haxe.Exception) { trace(e.message); } } // HACK: see this recommendation: https://github.com/armory3d/armory/issues/3044#issuecomment-2558199944.
for (rb in rbMap) { @:privateAccess try { rb.physicsUpdate(); } catch(e: haxe.Exception) { trace(e.message); } }

#if arm_debug
physTime = kha.Scheduler.realTime() - startTime;
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125 changes: 124 additions & 1 deletion Sources/armory/trait/physics/oimo/RigidBody.hx
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Original file line number Diff line number Diff line change
Expand Up @@ -65,6 +65,9 @@ class RigidBody extends Trait {
public var onContact: Array<RigidBody->Void> = null;
public var heightData: haxe.io.Bytes = null;

// Compound shape children (baked from exporter)
var compoundChildren: Array<CompoundChild> = null;

static var v1: Vec3 = new Vec3();
static var v2: Vec3 = new Vec3();
static var q1: Quat = new Quat();
Expand Down Expand Up @@ -132,6 +135,9 @@ class RigidBody extends Trait {
this.staticObj = flags.staticObj;
this.useDeactivation = flags.useDeactivation;

// Store compound children data if provided
this.compoundChildren = params.compoundChildren;

notifyOnAdd(init);
}

Expand Down Expand Up @@ -171,7 +177,18 @@ class RigidBody extends Trait {
q1.init(transform.rot.x, transform.rot.y, transform.rot.z, transform.rot.w);
body.setOrientation(q1);
body.setRotationFactor(angularFactor);
body.addShape(bodyShape);

// For compound shapes, add all child shapes; otherwise add single shape
if (shapeGeometry == Shape.Compound && compoundChildren != null) {
for (child in compoundChildren) {
var childShape = createChildShape(child);
if (childShape != null) {
body.addShape(childShape);
}
}
} else {
body.addShape(bodyShape);
}
body.userData = this;

currentPos.copyFrom(body.getPosition());
Expand Down Expand Up @@ -275,6 +292,10 @@ class RigidBody extends Trait {
);
shapeConfig.rotation = new Mat3(1, 0, 0, 0, 0, -1, 0, 1, 0);
}
else if (shapeGeometry == Shape.Compound) {
// Compound shapes don't have a parent geometry - child shapes are added in init()
return;
}

shapeConfig.friction = friction;
shapeConfig.restitution = restitution;
Expand All @@ -286,6 +307,92 @@ class RigidBody extends Trait {
bodyShape.setIsTrigger(trigger);
}

/**
* Creates a child shape for compound rigidbodies from baked export data.
* @param child The compound child data containing shape type, local transform, and dimensions
* @return The created Oimo shape, or null if shape type is unsupported
*/
function createChildShape(child: CompoundChild): oimo.dynamics.rigidbody.Shape {
var shapeConfig: ShapeConfig = new ShapeConfig();

// Set local position relative to parent
shapeConfig.position.init(child.posX, child.posY, child.posZ);

// Set local rotation from quaternion
// Convert quaternion to rotation matrix for Oimo
var qx = child.rotX;
var qy = child.rotY;
var qz = child.rotZ;
var qw = child.rotW;

// Quaternion to rotation matrix conversion
var xx = qx * qx;
var xy = qx * qy;
var xz = qx * qz;
var xw = qx * qw;
var yy = qy * qy;
var yz = qy * qz;
var yw = qy * qw;
var zz = qz * qz;
var zw = qz * qw;

shapeConfig.rotation = new Mat3(
1 - 2 * (yy + zz), 2 * (xy - zw), 2 * (xz + yw),
2 * (xy + zw), 1 - 2 * (xx + zz), 2 * (yz - xw),
2 * (xz - yw), 2 * (yz + xw), 1 - 2 * (xx + yy)
);

// Create geometry based on shape type
var childShape: Int = child.shape;
if (childShape == Shape.Box) {
v1.init(withMargin(child.dimX) * 0.5, withMargin(child.dimY) * 0.5, withMargin(child.dimZ) * 0.5);
shapeConfig.geometry = new BoxGeometry(v1);
}
else if (childShape == Shape.Sphere) {
shapeConfig.geometry = new SphereGeometry(withMargin(child.dimX) * 0.5);
}
else if (childShape == Shape.Cone) {
shapeConfig.geometry = new ConeGeometry(
withMargin(child.dimX) * 0.5,
withMargin(child.dimZ) * 0.5
);
// Apply additional rotation for cone alignment (Z-up to Y-up)
var coneRot = new Mat3(1, 0, 0, 0, 0, -1, 0, 1, 0);
shapeConfig.rotation = shapeConfig.rotation.mul(coneRot);
}
else if (childShape == Shape.Cylinder) {
shapeConfig.geometry = new CylinderGeometry(
withMargin(child.dimX) * 0.5,
withMargin(child.dimZ) * 0.5
);
var cylRot = new Mat3(1, 0, 0, 0, 0, -1, 0, 1, 0);
shapeConfig.rotation = shapeConfig.rotation.mul(cylRot);
}
else if (childShape == Shape.Capsule) {
shapeConfig.geometry = new CapsuleGeometry(
withMargin(child.dimX) * 0.5,
withMargin(child.dimZ) * 0.5 - withMargin(child.dimX) * 0.5
);
var capsRot = new Mat3(1, 0, 0, 0, 0, -1, 0, 1, 0);
shapeConfig.rotation = shapeConfig.rotation.mul(capsRot);
}
else {
// Unsupported shape type for compound children (ConvexHull, Mesh, Terrain)
trace("Warning: Unsupported compound child shape type: " + childShape);
return null;
}

shapeConfig.friction = friction;
shapeConfig.restitution = restitution;
shapeConfig.density = mass / shapeConfig.geometry._volume;
shapeConfig.collisionGroup = group;
shapeConfig.collisionMask = mask;

var shape = new oimo.dynamics.rigidbody.Shape(shapeConfig);
shape.setIsTrigger(trigger);
return shape;
}

function update() {
if (interpolate) {
var t: Float = Time.fixedStepInterpolation;
Expand Down Expand Up @@ -578,6 +685,7 @@ class RigidBody extends Trait {
var ConvexHull = 2;
var Mesh = 3;
var Terrain = 7;
var Compound = 8;
}

@:enum abstract ActivationState(Int) from Int to Int {
Expand All @@ -600,6 +708,21 @@ typedef RigidBodyParams = {
var linearDeactivationThreshold: Float;
var angularDeactivationThreshold: Float;
var deactivationTime: Float;
@:optional var compoundChildren: Array<CompoundChild>;
}

typedef CompoundChild = {
var shape: Int; // 0=Box, 1=Sphere, 2=ConvexHull, 3=Mesh, 4=Cone, 5=Cylinder, 6=Capsule
var posX: Float; // Local position relative to parent
var posY: Float;
var posZ: Float;
var rotX: Float; // Local rotation quaternion
var rotY: Float;
var rotZ: Float;
var rotW: Float;
var dimX: Float; // Dimensions for shape creation
var dimY: Float;
var dimZ: Float;
}

typedef RigidBodyFlags = {
Expand Down