Physics3DTest.cpp

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/****************************************************************************
 Copyright (c) 2012 cocos2d-x.org
 Copyright (c) 2015-2016 Chukong Technologies Inc.
 Copyright (c) 2017-2018 Xiamen Yaji Software Co., Ltd.
 
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#include "Physics3DTest.h"
 
#include "3d/CCTerrain.h"
#include "3d/CCBundle3D.h"
#include "physics3d/CCPhysics3D.h"
#include "extensions/Particle3D/PU/CCPUParticleSystem3D.h"
USING_NS_CC_EXT;
USING_NS_CC;
 
enum
{
    IDC_NEXT = 100,
    IDC_BACK,
    IDC_RESTART
};
 
#define START_POS_X -0.5
#define START_POS_Y -2.5
#define START_POS_Z -0.5
 
#define ARRAY_SIZE_X 4
#define ARRAY_SIZE_Y 3
#define ARRAY_SIZE_Z 4
 
static cocos2d::Scene *physicsScene = nullptr;
 
Physics3DTests::Physics3DTests()
{
#if CC_USE_3D_PHYSICS == 0
    ADD_TEST_CASE(Physics3DDemoDisabled);
#else
    ADD_TEST_CASE(BasicPhysics3DDemo);
    ADD_TEST_CASE(Physics3DConstraintDemo);
    ADD_TEST_CASE(Physics3DKinematicDemo);
    ADD_TEST_CASE(Physics3DCollisionCallbackDemo);
    ADD_TEST_CASE(Physics3DColliderDemo);
    ADD_TEST_CASE(Physics3DTerrainDemo);
#endif
};
 
#if CC_USE_3D_PHYSICS == 0
void Physics3DDemoDisabled::onEnter()
{
    TTFConfig ttfConfig("fonts/arial.ttf", 16);
    auto label = Label::createWithTTF(ttfConfig, "Should define CC_USE_3D_PHYSICS\n to run this test case");
    
    auto size = Director::getInstance()->getWinSize();
    label->setPosition(Vec2(size.width / 2, size.height / 2));
 
    addChild(label);
 
    TestCase::onEnter();
}
#else
std::string Physics3DTestDemo::title() const
{
    return "Physics3D Test";
}
 
std::string Physics3DTestDemo::subtitle() const
{
    return "";
}
 
bool Physics3DTestDemo::init()
{
    if (!TestCase::init()) return false;
    
    if (initWithPhysics())
    {
        getPhysics3DWorld()->setDebugDrawEnable(false);
        
        physicsScene = this;
        Size size = Director::getInstance()->getWinSize();
        _camera = Camera::createPerspective(30.0f, size.width / size.height, 1.0f, 1000.0f);
        _camera->setPosition3D(Vec3(0.0f, 50.0f, 100.0f));
        _camera->lookAt(Vec3(0.0f, 0.0f, 0.0f), Vec3(0.0f, 1.0f, 0.0f));
        _camera->setCameraFlag(CameraFlag::USER1);
        this->addChild(_camera);
        
        auto listener = EventListenerTouchAllAtOnce::create();
        listener->onTouchesBegan = CC_CALLBACK_2(Physics3DTestDemo::onTouchesBegan, this);
        listener->onTouchesMoved = CC_CALLBACK_2(Physics3DTestDemo::onTouchesMoved, this);
        listener->onTouchesEnded = CC_CALLBACK_2(Physics3DTestDemo::onTouchesEnded, this);
        _eventDispatcher->addEventListenerWithSceneGraphPriority(listener, this);
        
        TTFConfig ttfConfig("fonts/arial.ttf", 10);
        auto label = Label::createWithTTF(ttfConfig,"DebugDraw OFF");
        auto menuItem = MenuItemLabel::create(label, [=](Ref* /*ref*/){
            if (getPhysics3DWorld()->isDebugDrawEnabled()){
                getPhysics3DWorld()->setDebugDrawEnable(false);
                label->setString("DebugDraw OFF");
            }else{
                getPhysics3DWorld()->setDebugDrawEnable(true);
                label->setString("DebugDraw ON");
            }
        });
 
        auto menu = Menu::create(menuItem, nullptr);
        menu->setPosition(Vec2::ZERO);
        menuItem->setAnchorPoint(Vec2::ANCHOR_TOP_LEFT);
        menuItem->setPosition( Vec2(VisibleRect::left().x, VisibleRect::top().y-50) );
        this->addChild(menu);
 
        _angle = 0.0f;
        return true;
    }
    physicsScene = nullptr;
    return false;
}
 
void Physics3DTestDemo::onTouchesBegan(const std::vector<Touch*>& touches, cocos2d::Event  *event)
{
    _needShootBox = true;
    event->stopPropagation();
}
 
void Physics3DTestDemo::onTouchesMoved(const std::vector<Touch*>& touches, cocos2d::Event  *event)
{
    if (touches.size() && _camera)
    {
        auto touch = touches[0];
        auto delta = touch->getDelta();
 
        _angle -= CC_DEGREES_TO_RADIANS(delta.x);
        _camera->setPosition3D(Vec3(100.0f * sinf(_angle), 50.0f, 100.0f * cosf(_angle)));
        _camera->lookAt(Vec3(0.0f, 0.0f, 0.0f), Vec3(0.0f, 1.0f, 0.0f));
 
        if (delta.lengthSquared() > 16)
        {
            _needShootBox = false;
        }
        event->stopPropagation();
    }
}
 
void Physics3DTestDemo::onTouchesEnded(const std::vector<Touch*>& touches, cocos2d::Event  *event)
{
    if (!_needShootBox) return;
    if (!touches.empty())
    {
        auto location = touches[0]->getLocationInView();
 
        Vec3 nearP(location.x, location.y, -1.0f), farP(location.x, location.y, 1.0f);
        nearP = _camera->unproject(nearP);
        farP = _camera->unproject(farP);
        Vec3 dir(farP - nearP);
        shootBox(_camera->getPosition3D() + dir * 10.0f);
        event->stopPropagation();
    }
}
 
Physics3DTestDemo::Physics3DTestDemo()
{
 
}
 
void Physics3DTestDemo::update( float /*delta*/ )
{
    
}
 
Physics3DTestDemo::~Physics3DTestDemo()
{
    
}
 
void Physics3DTestDemo::shootBox( const cocos2d::Vec3 &des )
{
    Physics3DRigidBodyDes rbDes;
    Vec3 linearVel = des - _camera->getPosition3D();
    linearVel.normalize();
    linearVel *= 100.0f;
    rbDes.originalTransform.translate(_camera->getPosition3D());
    rbDes.mass = 1.f;
    rbDes.shape = Physics3DShape::createBox(Vec3(0.5f, 0.5f, 0.5f));
    auto sprite = PhysicsSprite3D::create("Sprite3DTest/box.c3t", &rbDes);
    sprite->setTexture("Images/Icon.png");
 
    auto rigidBody = static_cast<Physics3DRigidBody*>(sprite->getPhysicsObj());
    rigidBody->setLinearFactor(Vec3::ONE);
    rigidBody->setLinearVelocity(linearVel);
    rigidBody->setAngularVelocity(Vec3::ZERO);
    rigidBody->setCcdMotionThreshold(0.5f);
    rigidBody->setCcdSweptSphereRadius(0.4f);
 
    this->addChild(sprite);
    sprite->setPosition3D(_camera->getPosition3D());
    sprite->setScale(0.5f);
    sprite->syncNodeToPhysics();
    
    //optimize, only sync node to physics
    sprite->setSyncFlag(Physics3DComponent::PhysicsSyncFlag::PHYSICS_TO_NODE); //sync node to physics
    
    sprite->setCameraMask((unsigned short)CameraFlag::USER1);
}
 
std::string BasicPhysics3DDemo::subtitle() const
{
    return "Basic Physics3D";
}
 
bool BasicPhysics3DDemo::init()
{
    if (!Physics3DTestDemo::init())
        return false;
 
    //create floor
    Physics3DRigidBodyDes rbDes;
    rbDes.mass = 0.0f;
    rbDes.shape = Physics3DShape::createBox(Vec3(60.0f, 1.0f, 60.0f));
    
    auto floor = PhysicsSprite3D::create("Sprite3DTest/box.c3t", &rbDes);
    floor->setTexture("Sprite3DTest/plane.png");
    floor->setScaleX(60);
    floor->setScaleZ(60);
    this->addChild(floor);
    floor->setCameraMask((unsigned short)CameraFlag::USER1);
    floor->syncNodeToPhysics();
    //static object sync is not needed
    floor->setSyncFlag(Physics3DComponent::PhysicsSyncFlag::NONE);
    
    //create several boxes using PhysicsSprite3D
    rbDes.mass = 1.f;
    rbDes.shape = Physics3DShape::createBox(Vec3(0.8f, 0.8f, 0.8f));
    float start_x = START_POS_X - ARRAY_SIZE_X/2;
    float start_y = START_POS_Y;
    float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
 
    for (int k=0;k<ARRAY_SIZE_Y;k++)
    {
        for (int i=0;i<ARRAY_SIZE_X;i++)
        {
            for(int j = 0;j<ARRAY_SIZE_Z;j++)
            {
                float x = 1.0*i + start_x;
                float y = 5.0+1.0*k + start_y;
                float z = 1.0*j + start_z;
                
                auto sprite = PhysicsSprite3D::create("Sprite3DTest/box.c3t", &rbDes);
                sprite->setTexture("Images/CyanSquare.png");
                sprite->setPosition3D(Vec3(x, y, z));
                sprite->syncNodeToPhysics();
                sprite->setSyncFlag(Physics3DComponent::PhysicsSyncFlag::PHYSICS_TO_NODE);
                sprite->setCameraMask((unsigned short)CameraFlag::USER1);
                sprite->setScale(0.8f);
                this->addChild(sprite);
            }
        }
    }
 
    physicsScene->setPhysics3DDebugCamera(_camera);
 
    return true;
}
 
std::string Physics3DConstraintDemo::subtitle() const
{
    return "Physics3D Constraint";
}
 
std::string Physics3DKinematicDemo::subtitle() const 
{
    return "Physics3D Kinematic";
}
 
bool Physics3DKinematicDemo::init()
{
    if (!Physics3DTestDemo::init())
        return false;
 
    //create floor
    Physics3DRigidBodyDes rbDes;
    rbDes.mass = 0.0f;
    rbDes.shape = Physics3DShape::createBox(Vec3(60.0f, 1.0f, 60.0f));
    auto floor = PhysicsSprite3D::create("Sprite3DTest/box.c3t", &rbDes);
    floor->setTexture("Sprite3DTest/plane.png");
    floor->setScaleX(60);
    floor->setScaleZ(60);
    floor->setPosition3D(Vec3(0.f, -1.f, 0.f));
    this->addChild(floor);
    floor->setCameraMask((unsigned short)CameraFlag::USER1);
    floor->syncNodeToPhysics();
    //static object sync is not needed
    floor->setSyncFlag(Physics3DComponent::PhysicsSyncFlag::NONE);
 
    //create Kinematics
    for (unsigned int i = 0; i < 3; ++i)
    {
        rbDes.mass = 0.f; //kinematic objects. zero mass so that it can not be affected by other dynamic objects
        rbDes.shape = Physics3DShape::createBox(Vec3(2.0f, 2.0f, 2.0f));
        
        auto sprite = PhysicsSprite3D::create("Sprite3DTest/box.c3t", &rbDes);
        sprite->setTexture("Images/CyanSquare.png");
        sprite->setCameraMask((unsigned short)CameraFlag::USER1);
        auto rigidBody = static_cast<Physics3DRigidBody*>(sprite->getPhysicsObj());
        rigidBody->setKinematic(true);
        
        this->addChild(sprite);
 
        sprite->setScale(2.0f);
        sprite->setPosition3D(Vec3(-15.0f, 0.0f, 15.0f - 15.0f * i));
        auto moveby = MoveBy::create(2.0f + i, Vec3(30.0f, 0.0f, 0.0f));
        sprite->runAction(RepeatForever::create(Sequence::create(moveby, moveby->reverse(), nullptr)));
    }
 
    //create Dynamic
    {
        //create several spheres
        rbDes.mass = 1.f;
        rbDes.shape = Physics3DShape::createSphere(0.5f);
        float start_x = START_POS_X - ARRAY_SIZE_X/2;
        float start_y = START_POS_Y + 5.0f;
        float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
 
        for (int k=0;k<ARRAY_SIZE_Y;k++)
        {
            for (int i=0;i<ARRAY_SIZE_X;i++)
            {
                for(int j = 0;j<ARRAY_SIZE_Z;j++)
                {
                    float x = 1.0*i + start_x;
                    float y = 5.0+1.0*k + start_y;
                    float z = 1.0*j + start_z;
                    rbDes.originalTransform.setIdentity();
                    rbDes.originalTransform.translate(x, y, z);
 
                    auto sprite = PhysicsSprite3D::create("Sprite3DTest/sphere.c3b", &rbDes);
                    sprite->setTexture("Sprite3DTest/plane.png");
                    sprite->setCameraMask((unsigned short)CameraFlag::USER1);
                    sprite->setScale(1.0f / sprite->getContentSize().width);
                    this->addChild(sprite);
                    sprite->setPosition3D(Vec3(x, y, z));
                    sprite->syncNodeToPhysics();
                    
                    sprite->setSyncFlag(Physics3DComponent::PhysicsSyncFlag::PHYSICS_TO_NODE);
                }
            }
        }
    }
 
 
    physicsScene->setPhysics3DDebugCamera(_camera);
    return true;
}
 
 
bool Physics3DConstraintDemo::init()
{
    if (!Physics3DTestDemo::init())
        return false;
    
    //PhysicsSprite3D = Sprite3D + Physics3DComponent
    Physics3DRigidBodyDes rbDes;
    rbDes.disableSleep = true;
    //create box
    auto sprite = Sprite3D::create("Sprite3DTest/orc.c3b");
    rbDes.mass = 10.f;
    rbDes.shape = Physics3DShape::createBox(Vec3(5.0f, 5.0f, 5.0f));
    auto rigidBody = Physics3DRigidBody::create(&rbDes);
    Quaternion quat;
    Quaternion::createFromAxisAngle(Vec3(0.f, 1.f, 0.f), CC_DEGREES_TO_RADIANS(180), &quat);
    auto component = Physics3DComponent::create(rigidBody, Vec3(0.f, -3.f, 0.f), quat);
    
    sprite->addComponent(component);
    addChild(sprite);
    sprite->setCameraMask((unsigned short)CameraFlag::USER1);
    sprite->setScale(0.4f);
    sprite->setPosition3D(Vec3(-20.f, 5.f, 0.f));
    //sync node position to physics
    component->syncNodeToPhysics();
    //physics controlled, we will not set position for it, so we can skip sync node position to physics
    component->setSyncFlag(Physics3DComponent::PhysicsSyncFlag::PHYSICS_TO_NODE);
    
    physicsScene->setPhysics3DDebugCamera(_camera);
    
    //create point to point constraint
    Physics3DConstraint* constraint = Physics3DPointToPointConstraint::create(rigidBody, Vec3(2.5f, 2.5f, 2.5f));
    physicsScene->getPhysics3DWorld()->addPhysics3DConstraint(constraint);
    
    //create hinge constraint
    rbDes.mass = 1.0f;
    rbDes.shape = Physics3DShape::createBox(Vec3(8.0f, 8.0f, 1.f));
    rigidBody = Physics3DRigidBody::create(&rbDes);
    component = Physics3DComponent::create(rigidBody);
    sprite = Sprite3D::create("Sprite3DTest/box.c3t");
    sprite->setTexture("Sprite3DTest/plane.png");
    sprite->setScaleX(8.f);
    sprite->setScaleY(8.f);
    sprite->setPosition3D(Vec3(5.f, 0.f, 0.f));
    sprite->addComponent(component);
    sprite->setCameraMask((unsigned short)CameraFlag::USER1);
    this->addChild(sprite);
    component->syncNodeToPhysics();
    rigidBody->setAngularVelocity(Vec3(0,3,0));
    constraint = Physics3DHingeConstraint::create(rigidBody, Vec3(4.f, 4.f, 0.5f), Vec3(0.f, 1.f, 0.f));
    physicsScene->getPhysics3DWorld()->addPhysics3DConstraint(constraint);
    
    
    //create slider constraint
    rbDes.mass = 1.0f;
    rbDes.shape = Physics3DShape::createBox(Vec3(3.0f, 2.0f, 3.f));
    rigidBody = Physics3DRigidBody::create(&rbDes);
    component = Physics3DComponent::create(rigidBody);
    sprite = Sprite3D::create("Sprite3DTest/box.c3t");
    sprite->setTexture("Sprite3DTest/plane.png");
    sprite->setScaleX(3.f);
    sprite->setScaleZ(3.f);
    sprite->setPosition3D(Vec3(30.f, 15.f, 0.f));
    sprite->addComponent(component);
    sprite->setCameraMask((unsigned short)CameraFlag::USER1);
    this->addChild(sprite);
    component->syncNodeToPhysics();
    rigidBody->setLinearVelocity(Vec3(0,3,0));
    
    rbDes.mass = 0.0f;
    rbDes.shape = Physics3DShape::createBox(Vec3(3.0f, 3.0f, 3.f));
    auto rigidBodyB = Physics3DRigidBody::create(&rbDes);
    component = Physics3DComponent::create(rigidBodyB);
    sprite = Sprite3D::create("Sprite3DTest/box.c3t");
    sprite->setTexture("Sprite3DTest/plane.png");
    sprite->setScale(3.f);
    sprite->setPosition3D(Vec3(30.f, 5.f, 0.f));
    sprite->addComponent(component);
    sprite->setCameraMask((unsigned short)CameraFlag::USER1);
    this->addChild(sprite);
    component->syncNodeToPhysics();
 
    Mat4 frameInA, frameInB;
    Mat4::createRotationZ(CC_DEGREES_TO_RADIANS(90), &frameInA);
    frameInB = frameInA;
    frameInA.m[13] = -5.f;
    frameInB.m[13] = 5.f;
    constraint = Physics3DSliderConstraint::create(rigidBody, rigidBodyB, frameInA, frameInB, false);
    physicsScene->getPhysics3DWorld()->addPhysics3DConstraint(constraint);
    ((Physics3DSliderConstraint*)constraint)->setLowerLinLimit(-5.f);
    ((Physics3DSliderConstraint*)constraint)->setUpperLinLimit(5.f);
    
    //create ConeTwist constraint
    rbDes.mass = 1.f;
    rbDes.shape = Physics3DShape::createBox(Vec3(3.f, 3.f, 3.f));
    rigidBody = Physics3DRigidBody::create(&rbDes);
    component = Physics3DComponent::create(rigidBody);
    sprite = Sprite3D::create("Sprite3DTest/box.c3t");
    sprite->setTexture("Sprite3DTest/plane.png");
    sprite->setScale(3.f);
    sprite->setPosition3D(Vec3(-10.f, 5.f, 0.f));
    sprite->addComponent(component);
    sprite->setCameraMask((unsigned short)CameraFlag::USER1);
    this->addChild(sprite);
    component->syncNodeToPhysics();
 
    Mat4::createRotationZ(CC_DEGREES_TO_RADIANS(90), &frameInA);
    frameInA.m[12] = 0.f;
    frameInA.m[13] = -10.f;
    frameInA.m[14] = 0.f;
    constraint = Physics3DConeTwistConstraint::create(rigidBody, frameInA);
    physicsScene->getPhysics3DWorld()->addPhysics3DConstraint(constraint, true);
    ((Physics3DConeTwistConstraint*)constraint)->setLimit(CC_DEGREES_TO_RADIANS(10), CC_DEGREES_TO_RADIANS(10), CC_DEGREES_TO_RADIANS(40));
    
    //create 6 dof constraint
    rbDes.mass = 1.0f;
    rbDes.shape = Physics3DShape::createBox(Vec3(3.0f, 3.0f, 3.f));
    rigidBody = Physics3DRigidBody::create(&rbDes);
    component = Physics3DComponent::create(rigidBody);
    sprite = Sprite3D::create("Sprite3DTest/box.c3t");
    sprite->setTexture("Sprite3DTest/plane.png");
    sprite->setScale(3.f);
    sprite->setPosition3D(Vec3(30.f, -5.f, 0.f));
    sprite->addComponent(component);
    sprite->setCameraMask((unsigned short)CameraFlag::USER1);
    this->addChild(sprite);
    component->syncNodeToPhysics();
    frameInA.setIdentity();
    constraint = Physics3D6DofConstraint::create(rigidBody, frameInA, false);
    physicsScene->getPhysics3DWorld()->addPhysics3DConstraint(constraint);
    ((Physics3D6DofConstraint*)constraint)->setAngularLowerLimit(Vec3(0,0,0));
    ((Physics3D6DofConstraint*)constraint)->setAngularUpperLimit(Vec3(0,0,0));
    ((Physics3D6DofConstraint*)constraint)->setLinearLowerLimit(Vec3(-10,0,0));
    ((Physics3D6DofConstraint*)constraint)->setLinearUpperLimit(Vec3(10,0,0));
 
    return true;
}
 
void Physics3DConstraintDemo::onTouchesBegan(const std::vector<cocos2d::Touch*>& touches, cocos2d::Event  *event)
{
    //ray trace
    if(_camera)
    {
        auto touch = touches[0];
        auto location = touch->getLocationInView();
        Vec3 nearP(location.x, location.y, 0.0f), farP(location.x, location.y, 1.0f);
        
        auto size = Director::getInstance()->getWinSize();
        _camera->unproject(size, &nearP, &nearP);
        _camera->unproject(size, &farP, &farP);
        
        Physics3DWorld::HitResult result;
        bool ret = physicsScene->getPhysics3DWorld()->rayCast(nearP, farP, &result);
        if (ret && result.hitObj->getObjType() == Physics3DObject::PhysicsObjType::RIGID_BODY)
        {
            auto mat = result.hitObj->getWorldTransform().getInversed();
            Vec3 position;
            mat.transformPoint(result.hitPosition, &position);
            
            _constraint = Physics3DPointToPointConstraint::create(static_cast<Physics3DRigidBody*>(result.hitObj), position);
            physicsScene->getPhysics3DWorld()->addPhysics3DConstraint(_constraint, true);
            _pickingDistance = (result.hitPosition - nearP).length();
            event->stopPropagation();
            return;
        }
    }
    Physics3DTestDemo::onTouchesBegan(touches, event);
    _needShootBox = false;
}
void Physics3DConstraintDemo::onTouchesMoved(const std::vector<cocos2d::Touch*>& touches, cocos2d::Event  *event)
{
    if (_constraint)
    {
        auto p2pConstraint = ((Physics3DPointToPointConstraint*)_constraint);
        
        auto touch = touches[0];
        auto location = touch->getLocationInView();
        Vec3 nearP(location.x, location.y, 0.0f), farP(location.x, location.y, 1.0f);
        
        auto size = Director::getInstance()->getWinSize();
        _camera->unproject(size, &nearP, &nearP);
        _camera->unproject(size, &farP, &farP);
        auto dir = (farP - nearP).getNormalized();
        p2pConstraint->setPivotPointInB(nearP + dir * _pickingDistance);
        event->stopPropagation();
        return;
    }
    Physics3DTestDemo::onTouchesMoved(touches, event);
}
void Physics3DConstraintDemo::onTouchesEnded(const std::vector<cocos2d::Touch*>& touches, cocos2d::Event  *event)
{
    if (_constraint)
    {
        physicsScene->getPhysics3DWorld()->removePhysics3DConstraint(_constraint);
        _constraint = nullptr;
        event->stopPropagation();
        return;
    }
    Physics3DTestDemo::onTouchesEnded(touches, event);
}
 
bool Physics3DTerrainDemo::init()
{
    if (!Physics3DTestDemo::init())
        return false;
 
    Terrain::DetailMap r("TerrainTest/dirt.jpg"),g("TerrainTest/Grass2.jpg",10),b("TerrainTest/road.jpg"),a("TerrainTest/GreenSkin.jpg",20);
    
    Terrain::TerrainData data("TerrainTest/heightmap129.jpg","TerrainTest/alphamap.png",r,g,b,a,Size(32,32), 20.0f, 1.0f);
    auto terrain = Terrain::create(data,Terrain::CrackFixedType::SKIRT);
    terrain->setMaxDetailMapAmount(4);
    terrain->setCameraMask(2);
    terrain->setDrawWire(false);
    
    terrain->setSkirtHeightRatio(3);
    terrain->setLODDistance(64,128,192);
    terrain->setCameraMask((unsigned short)CameraFlag::USER1);
 
    //create terrain
    std::vector<float> heidata = terrain->getHeightData();
    auto size = terrain->getTerrainSize();
    Physics3DColliderDes colliderDes;
    colliderDes.shape = Physics3DShape::createHeightfield(size.width, size.height, &heidata[0], 1.0f, terrain->getMinHeight(), terrain->getMaxHeight(), true, false, true);
    auto collider = Physics3DCollider::create(&colliderDes);
    auto component = Physics3DComponent::create(collider);
    terrain->addComponent(component);
    this->addChild(terrain);
    component->syncNodeToPhysics();
    component->setSyncFlag(Physics3DComponent::PhysicsSyncFlag::NONE);
 
 
    //create several spheres
    Physics3DRigidBodyDes rbDes;
    rbDes.mass = 1.f;
    rbDes.shape = Physics3DShape::createSphere(0.5f);
    float start_x = START_POS_X - ARRAY_SIZE_X/2 + 5.0f;
    float start_y = START_POS_Y + 20.0f;
    float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
 
    for (int k=0;k<ARRAY_SIZE_Y;k++)
    {
        for (int i=0;i<ARRAY_SIZE_X;i++)
        {
            for(int j = 0;j<ARRAY_SIZE_Z;j++)
            {
                float x = 1.0*i + start_x;
                float y = 5.0+1.0*k + start_y;
                float z = 1.0*j + start_z;
 
                auto sprite = PhysicsSprite3D::create("Sprite3DTest/sphere.c3b", &rbDes);
                sprite->setTexture("Sprite3DTest/plane.png");
                sprite->setCameraMask((unsigned short)CameraFlag::USER1);
                sprite->setScale(1.0f / sprite->getContentSize().width);
                sprite->setPosition3D(Vec3(x, y, z));
                this->addChild(sprite);
                sprite->syncNodeToPhysics();
                sprite->setSyncFlag(Physics3DComponent::PhysicsSyncFlag::PHYSICS_TO_NODE);
            }
        }
    }
 
    //create mesh
    std::vector<Vec3> trianglesList = Bundle3D::getTrianglesList("Sprite3DTest/boss.c3b");
 
    colliderDes.shape = Physics3DShape::createMesh(&trianglesList[0], (int)trianglesList.size() / 3);
 
    auto sprite = PhysicsSprite3D::createWithCollider("Sprite3DTest/boss.c3b", &colliderDes);
    sprite->setRotation3D(Vec3(-90.0f, 0.0f, 0.0f));
    sprite->setPosition3D(Vec3(0.0f, 15.0f, 0.0f));
    sprite->setCameraMask(2);
    this->addChild(sprite);
    sprite->syncNodeToPhysics();
    sprite->setSyncFlag(Physics3DComponent::PhysicsSyncFlag::NONE);
 
    std::vector<std::pair<Physics3DShape*, Mat4> > shapeList;
    {
        Mat4 localTrans;
        auto bodyshape = Physics3DShape::createBox(Vec3(2.0f, 4.0f, 2.0f));
        Mat4::createTranslation(0.0f, 2.0f, 0.0f, &localTrans);
        shapeList.push_back(std::make_pair(bodyshape, localTrans));
        auto headshape = Physics3DShape::createSphere(1.5f);
        Mat4::createTranslation(0.6f, 5.0f, -1.5f, &localTrans);
        shapeList.push_back(std::make_pair(headshape, localTrans));
        auto lhandshape = Physics3DShape::createBox(Vec3(1.0f, 3.0f, 1.0f));
        Mat4::createRotation(Vec3(1.0f, 0.0f, 0.0f), CC_DEGREES_TO_RADIANS(15.0f), &localTrans);
        localTrans.m[12] = -1.5f; localTrans.m[13] = 2.5f; localTrans.m[14] = -2.5f;
        shapeList.push_back(std::make_pair(lhandshape, localTrans));
        auto rhandshape = Physics3DShape::createBox(Vec3(1.0f, 3.0f, 1.0f));
        Mat4::createRotation(Vec3(1.0f, 0.0f, 0.0f), CC_DEGREES_TO_RADIANS(-15.0f), &localTrans);
        localTrans.m[12] = 2.0f; localTrans.m[13] = 2.5f; localTrans.m[14] = 1.f;
        shapeList.push_back(std::make_pair(rhandshape, localTrans));
 
        rbDes.mass = 10.0f;
        rbDes.shape = Physics3DShape::createCompoundShape(shapeList);
        auto rigidBody = Physics3DRigidBody::create(&rbDes);
        component = Physics3DComponent::create(rigidBody);
        auto sprite = Sprite3D::create("Sprite3DTest/orc.c3b");
        sprite->addComponent(component);
        sprite->setRotation3D(Vec3(0.0f, 180.0f, 0.0f));
        sprite->setPosition3D(Vec3(-5.0f, 20.0f, 0.0f));
        sprite->setScale(0.4f);
        sprite->setCameraMask(2);
        this->addChild(sprite);
    }
 
 
    physicsScene->setPhysics3DDebugCamera(_camera);
    return true;
}
 
std::string Physics3DTerrainDemo::subtitle() const 
{
    return "Physics3D Terrain";
}
 
std::string Physics3DCollisionCallbackDemo::subtitle() const 
{
    return "Physics3D CollisionCallback";
}
 
bool Physics3DCollisionCallbackDemo::init()
{
    if (!Physics3DTestDemo::init())
        return false;
 
    {
        Physics3DRigidBodyDes rbDes;
 
        float scale = 2.0f;
        std::vector<Vec3> trianglesList = Bundle3D::getTrianglesList("Sprite3DTest/boss.c3b");
        for (auto& it : trianglesList) {
            it *= scale;
        }
 
        rbDes.mass = 0.0f;
        rbDes.shape = Physics3DShape::createMesh(&trianglesList[0], (int)trianglesList.size() / 3);
        auto rigidBody = Physics3DRigidBody::create(&rbDes);
        auto component = Physics3DComponent::create(rigidBody);
        auto sprite = Sprite3D::create("Sprite3DTest/boss.c3b");
        sprite->addComponent(component);
        sprite->setRotation3D(Vec3(-90.0f, 0.0f, 0.0f));
        sprite->setScale(scale);
        sprite->setCameraMask((unsigned short)CameraFlag::USER1);
        this->addChild(sprite);
        //preload
        //
        rigidBody->setCollisionCallback([=](const Physics3DCollisionInfo &ci){
            if (!ci.collisionPointList.empty()){
                if (ci.objA->getMask() != 0){
                    auto ps = PUParticleSystem3D::create("Particle3D/scripts/mp_hit_04.pu");
                    ps->setPosition3D(ci.collisionPointList[0].worldPositionOnB);
                    ps->setScale(0.05f);
                    ps->startParticleSystem();
                    ps->setCameraMask(2);
                    this->addChild(ps);
                    ps->runAction(Sequence::create(DelayTime::create(1.0f), CallFunc::create([=](){
                        ps->removeFromParent();
                    }), nullptr));
                    ci.objA->setMask(0);
                }
            }
            //CCLOG("------------BoxB Collision Info------------");
            //CCLOG("Collision Point Num: %d", ci.collisionPointList.size());
            //for (auto &iter : ci.collisionPointList){
            //  CCLOG("Collision Position On A: (%.2f, %.2f, %.2f)", iter.worldPositionOnA.x, iter.worldPositionOnA.y, iter.worldPositionOnA.z);
            //  CCLOG("Collision Position On B: (%.2f, %.2f, %.2f)", iter.worldPositionOnB.x, iter.worldPositionOnB.y, iter.worldPositionOnB.z);
            //  CCLOG("Collision Normal On B: (%.2f, %.2f, %.2f)", iter.worldNormalOnB.x, iter.worldNormalOnB.y, iter.worldNormalOnB.z);
            //}
            //CCLOG("------------BoxB Collision Info------------");
        });
    }
 
    physicsScene->setPhysics3DDebugCamera(_camera);
    return true;
}
 
std::string Physics3DColliderDemo::subtitle() const
{
    return "Physics3D Trigger";
}
 
bool Physics3DColliderDemo::init()
{
    if (!Physics3DTestDemo::init())
        return false;
 
    Physics3DRigidBodyDes rbDes;
    rbDes.mass = 1.0f;
    rbDes.shape = Physics3DShape::createBox(Vec3(3.0f, 3.0f, 3.f));
    auto playerBody = Physics3DRigidBody::create(&rbDes);
    auto component = Physics3DComponent::create(playerBody);
    playerBody->setKinematic(true);
    auto sprite = Sprite3D::create("Sprite3DTest/box.c3t");
    sprite->setTexture("Sprite3DTest/plane.png");
    sprite->setScale(3.f);
    sprite->setPosition3D(Vec3(0.0f, 0.f, 30.f));
    sprite->addComponent(component);
    sprite->setCameraMask((unsigned short)CameraFlag::USER1);
    auto moveby = MoveBy::create(5.0f, Vec3(0.0f, 0.0f, -60.0f));
    sprite->runAction(RepeatForever::create(Sequence::create(moveby, moveby->reverse(), nullptr)));
    this->addChild(sprite);
 
    {
        Physics3DColliderDes colliderDes;
        colliderDes.shape = Physics3DShape::createSphere(10.0f);
        colliderDes.isTrigger = true;
        auto collider = Physics3DCollider::create(&colliderDes);
        auto component = Physics3DComponent::create(collider);
        auto node = Node::create();
        node->addComponent(component);
        node->setCameraMask((unsigned short)CameraFlag::USER1);
        this->addChild(node);
 
        Physics3DRigidBodyDes rbDes;
        rbDes.mass = 1.0f;
        rbDes.shape = Physics3DShape::createBox(Vec3(10.0f, 10.0f, 1.f));
        auto rigidBody = Physics3DRigidBody::create(&rbDes);
        component = Physics3DComponent::create(rigidBody);
        rigidBody->setKinematic(true);
        auto doorLeft = Sprite3D::create("Sprite3DTest/box.c3t");
        doorLeft->setTexture("Sprite3DTest/plane.png");
        doorLeft->setScaleX(10.0f);
        doorLeft->setScaleY(10.0f);
        doorLeft->setScaleZ(1.0f);
        doorLeft->setPosition3D(Vec3(-5.0f, 0.0f, 0.0f));
        doorLeft->addComponent(component);
        doorLeft->setCameraMask((unsigned short)CameraFlag::USER1);
        node->addChild(doorLeft);
 
        rbDes.mass = 1.0f;
        rbDes.shape = Physics3DShape::createBox(Vec3(10.0f, 10.0f, 1.f));
        rigidBody = Physics3DRigidBody::create(&rbDes);
        component = Physics3DComponent::create(rigidBody);
        rigidBody->setKinematic(true);
        auto doorRight = Sprite3D::create("Sprite3DTest/box.c3t");
        doorRight->setTexture("Sprite3DTest/plane.png");
        doorRight->setScaleX(10.0f);
        doorRight->setScaleY(10.0f);
        doorRight->setScaleZ(1.0f);
        doorRight->setPosition3D(Vec3(5.0f, 0.0f, 0.0f));
        doorRight->addComponent(component);
        doorRight->setCameraMask((unsigned short)CameraFlag::USER1);
        node->addChild(doorRight);
 
 
        collider->onTriggerEnter = [=](Physics3DObject *otherObject){
            if (otherObject == playerBody){
                auto moveby = MoveBy::create(1.0f, Vec3(-5.0f, 0.0f, 0.0f));
                doorLeft->runAction(moveby);
                doorRight->runAction(moveby->reverse());
            }
        };
 
        collider->onTriggerExit = [=](Physics3DObject *otherObject){
            if (otherObject == playerBody){
                auto moveby = MoveBy::create(1.0f, Vec3(5.0f, 0.0f, 0.0f));
                doorLeft->runAction(moveby);
                doorRight->runAction(moveby->reverse());
            }
        };
    }
 
    physicsScene->setPhysics3DDebugCamera(_camera);
    return true;
}
 
#endif