Method readRigidBodies

Utils/SceneLoader.cpp:152–252

}

void SceneLoader::readRigidBodies(const nlohmann::json &j, const std::string &key, const std::string &basePath, SceneData &sceneData)
{
	const nlohmann::json &child = j[key];

	sceneData.m_rigidBodyData.reserve(5000);

	for (auto& rigidBody : child)
	{
		std::string geomFileName;
		if (readValue<std::string>(rigidBody, "geometryFile", geomFileName))
		{
			if (FileSystem::isRelativePath(geomFileName))
			{
				geomFileName = basePath + "/" + geomFileName;
			}

			sceneData.m_rigidBodyData.emplace_back(RigidBodyData());
			RigidBodyData &rbd = sceneData.m_rigidBodyData.back();
			rbd.m_modelFile = geomFileName;

			// id
			rbd.m_id = 0;
			readValue(rigidBody, "id", rbd.m_id);

			// is dynamic body
			rbd.m_isDynamic = true;
			readValue(rigidBody, "isDynamic", rbd.m_isDynamic);

			// is dynamic body
			rbd.m_flatShading = false;
			readValue(rigidBody, "flatShading", rbd.m_flatShading);

			// density
			rbd.m_density = 1.0;
			readValue(rigidBody, "density", rbd.m_density);

			// translation
			rbd.m_x.setZero();
			readVector(rigidBody, "translation", rbd.m_x);
			
			// rotation axis
			Vector3r axis;
			axis.setZero();
			Real angle = 0.0;
			if (readVector(rigidBody, "rotationAxis", axis) &&
				readValue<Real>(rigidBody, "rotationAngle", angle))
			{
				axis.normalize();
				rbd.m_q = Quaternionr(AngleAxisr(angle, axis));
			}
			else
				rbd.m_q = Quaternionr(1.0, 0.0, 0.0, 0.0);
				
			// scale
			rbd.m_scale = Vector3r(1.0, 1.0, 1.0);
			readVector(rigidBody, "scale", rbd.m_scale);

			// velocity