Babylon.js/Babylon/Physics/Plugins/babylon.oimoJSPlugin.ts

module BABYLON {
    declare var OIMO;

    export class OimoJSPlugin implements IPhysicsEnginePlugin {
        private _world;
        private _registeredMeshes = [];

        public initialize(iterations: number): void {
            this._world = new OIMO.World();
            this._world.clear();
        }

        public setGravity(gravity: Vector3): void {
            this._world.gravity = gravity;
        }

        public registerMesh(mesh: AbstractMesh, impostor: number, options: PhysicsBodyCreationOptions): any {
            var body = null;
            this.unregisterMesh(mesh);
            mesh.computeWorldMatrix(true);

            // register mesh
            switch (impostor) {
                case BABYLON.PhysicsEngine.SphereImpostor:
                    var bsphere = mesh.getBoundingInfo().boundingSphere;
                    var size = bsphere.maximum.subtract(bsphere.minimum).scale(0.5).multiply(mesh.scaling);
                    body = new OIMO.Body({
                        type: 'sphere',
                        size: [size.x],
                        pos: [mesh.position.x, mesh.position.y, mesh.position.z],
                        rot: [mesh.rotation.x / OIMO.TO_RAD, mesh.rotation.y / OIMO.TO_RAD, mesh.rotation.z / OIMO.TO_RAD],
                        move: options.mass != 0,
                        config: [options.mass, options.friction, options.restitution],
                        world: this._world
                    });
                    this._registeredMeshes.push({
                        mesh: mesh,
                        body: body
                    });
                    break;

                case BABYLON.PhysicsEngine.PlaneImpostor:
                case BABYLON.PhysicsEngine.BoxImpostor:
                    var bbox = mesh.getBoundingInfo().boundingBox;
                    size = bbox.extends.scale(2).multiply(mesh.scaling);
                    body = new OIMO.Body({
                        type: 'box',
                        size: [size.x || 0.1, size.y || 0.1, size.z || 0.1],
                        pos: [mesh.position.x, mesh.position.y, mesh.position.z],
                        rot: [mesh.rotation.x / OIMO.TO_RAD, mesh.rotation.y / OIMO.TO_RAD, mesh.rotation.z / OIMO.TO_RAD],
                        move: options.mass != 0,
                        config: [options.mass, options.friction, options.restitution],
                        world: this._world
                    });

                    this._registeredMeshes.push({
                        mesh: mesh,
                        body: body
                    });
                    break;

            }
            return body;
        }

        public registerMeshesAsCompound(parts: PhysicsCompoundBodyPart[], options: PhysicsBodyCreationOptions): any {
            var types = [],
                sizes = [],
                positions = [],
                rotations = [];

            var initialMesh = parts[0].mesh;

            for (var index = 0; index < parts.length; index++) {
                var part = parts[index];
                var bodyParameters = this._createBodyAsCompound(part, options, initialMesh);
                types.push(bodyParameters.type);
                sizes.push.apply(sizes, bodyParameters.size);
                positions.push.apply(positions, bodyParameters.pos);
                rotations.push.apply(rotations, bodyParameters.rot);
            }

            var body = new OIMO.Body({
                type: types,
                size: sizes,
                pos: positions,
                rot: rotations,
                move: options.mass != 0,
                config: [options.mass, options.friction, options.restitution],
                world: this._world
            });

            this._registeredMeshes.push({
                mesh: initialMesh,
                body: body
            });

            return body;
        }

        private _createBodyAsCompound(part: PhysicsCompoundBodyPart, options: PhysicsBodyCreationOptions, initialMesh: AbstractMesh): any {
            var bodyParameters = null;
            var mesh = part.mesh;

            switch (part.impostor) {
                case BABYLON.PhysicsEngine.SphereImpostor:
                    var bsphere = mesh.getBoundingInfo().boundingSphere;
                    var size = bsphere.maximum.subtract(bsphere.minimum).scale(0.5).multiply(mesh.scaling);
                    bodyParameters = {
                        type: 'sphere',
                        /* bug with oimo : sphere needs 3 sizes in this case */
                        size: [size.x, -1, -1],
                        pos: [mesh.position.x, mesh.position.y, mesh.position.z],
                        rot: [mesh.rotation.x / OIMO.TO_RAD, mesh.rotation.y / OIMO.TO_RAD, mesh.rotation.z / OIMO.TO_RAD]
                    };
                    break;

                case BABYLON.PhysicsEngine.PlaneImpostor:
                case BABYLON.PhysicsEngine.BoxImpostor:
                    var bbox = part.mesh.getBoundingInfo().boundingBox;
                    size = bbox.extends.scale(2).multiply(mesh.scaling);
                    var relativePosition = mesh.position;
                    bodyParameters = {
                        type: 'box',
                        size: [size.x || 0.1, size.y || 0.1, size.z || 0.1],
                        pos: [relativePosition.x, relativePosition.y, relativePosition.z],
                        rot: [mesh.rotation.x / OIMO.TO_RAD, mesh.rotation.y / OIMO.TO_RAD, mesh.rotation.z / OIMO.TO_RAD]
                    };
                    break;
            }

            return bodyParameters;
        }

        public unregisterMesh(mesh: AbstractMesh): void {
            for (var index = 0; index < this._registeredMeshes.length; index++) {
                var registeredMesh = this._registeredMeshes[index];
                if (registeredMesh.mesh === mesh || registeredMesh.mesh === mesh.parent) {
                    if (registeredMesh.body) {
                        this._world.removeRigidBody(registeredMesh.body.body);
                        this._unbindBody(registeredMesh.body);
                    }
                    this._registeredMeshes.splice(index, 1);
                    return;
                }
            }
        }

        private _unbindBody(body: any): void {
            for (var index = 0; index < this._registeredMeshes.length; index++) {
                var registeredMesh = this._registeredMeshes[index];
                if (registeredMesh.body === body) {
                    registeredMesh.body = null;
                }
            }
        }

        /**
         * Update the body position according to the mesh position
         * @param mesh
         */
        public updateBodyPosition = function (mesh: AbstractMesh): void {
            for (var index = 0; index < this._registeredMeshes.length; index++) {
                var registeredMesh = this._registeredMeshes[index];
                if (registeredMesh.mesh === mesh || registeredMesh.mesh === mesh.parent) {
                    var body = registeredMesh.body.body;
                    body.setPosition(mesh.position.x, mesh.position.y, mesh.position.z);
                    body.setOrientation(mesh.rotation.x, mesh.rotation.y, mesh.rotation.z);
                    return;
                }
            }
        }

        public applyImpulse(mesh: AbstractMesh, force: Vector3, contactPoint: Vector3): void {
            for (var index = 0; index < this._registeredMeshes.length; index++) {
                var registeredMesh = this._registeredMeshes[index];
                if (registeredMesh.mesh === mesh || registeredMesh.mesh === mesh.parent) {
                    registeredMesh.body.body.applyImpulse(contactPoint.scale(OIMO.INV_SCALE), force.scale(OIMO.INV_SCALE * 0.01));
                    return;
                }
            }
        }

        public createLink = function (mesh1: AbstractMesh, mesh2: AbstractMesh, pivot1: Vector3, pivot2: Vector3, options: any): boolean {
            var body1 = null,
                body2 = null;
            for (var index = 0; index < this._registeredMeshes.length; index++) {
                var registeredMesh = this._registeredMeshes[index];
                if (registeredMesh.mesh === mesh1) {
                    body1 = registeredMesh.body.body;
                } else if (registeredMesh.mesh === mesh2) {
                    body2 = registeredMesh.body.body;
                }
            }
            if (!body1 || !body2) {
                return false;
            }
            if (!options) {
                options = {};
            }

            new OIMO.Link({
                type: options.type,
                body1: body1,
                body2: body2,
                min: options.min,
                max: options.max,
                axe1: options.axe1,
                axe2: options.axe2,
                pos1: [pivot1.x, pivot1.y, pivot1.z],
                collision: options.collision,
                spring: options.spring,
                world: this.world
            });

            return true;

        };

        public dispose(): void {
            this._world.clear();
            while (this._registeredMeshes.length) {
                this.unregisterMesh(this._registeredMeshes[0].mesh);
            }
        }

        public isSupported(): boolean {
            return OIMO !== undefined;
        }

        private _getLastShape(body: any): any {
            var lastShape = body.shapes;
            while (lastShape.next) {
                lastShape = lastShape.next;
            }
            return lastShape;
        }

        public runOneStep(time: number): void {
            this._world.step();

            // Update the position of all registered meshes
            var i = this._registeredMeshes.length;
            var m;
            while (i--) {

                var body = this._registeredMeshes[i].body.body;
                var mesh = this._registeredMeshes[i].mesh;
                if (!body.sleeping) {

                    if (body.shapes.next) {
                        var parentShape = this._getLastShape(body);
                        mesh.position.x = parentShape.position.x * OIMO.WORLD_SCALE;
                        mesh.position.y = parentShape.position.y * OIMO.WORLD_SCALE;
                        mesh.position.z = parentShape.position.z * OIMO.WORLD_SCALE;
                        var mtx = BABYLON.Matrix.FromArray(body.getMatrix());

                        if (!mesh.rotationQuaternion) {
                            mesh.rotationQuaternion = new BABYLON.Quaternion(0, 0, 0, 1);
                        }
                        mesh.rotationQuaternion.fromRotationMatrix(mtx);

                    } else {
                        m = body.getMatrix();
                        mtx = BABYLON.Matrix.FromArray(m);
                        mesh.position.x = mtx.m[12];
                        mesh.position.y = mtx.m[13];
                        mesh.position.z = mtx.m[14];

                        if (!mesh.rotationQuaternion) {
                            mesh.rotationQuaternion = new BABYLON.Quaternion(0, 0, 0, 1);
                        }
                        mesh.rotationQuaternion.fromRotationMatrix(mtx);
                    }
                }
            }
        }
    }
}