[21] | 1 | |
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| 2 | #include "OgreOdeWorld.h" |
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| 3 | #include "OgreOdeBody.h" |
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| 4 | #include "OgreOdeJoint.h" |
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| 5 | #include "OgreOdeGeometry.h" |
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| 6 | #include "OgreOdeSpace.h" |
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| 7 | #include "OgreOdeEntityInformer.h" |
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| 8 | #include "OgreOdeMass.h" |
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| 9 | #include "OgreOdeUtility.h" |
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| 10 | |
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| 11 | #include "OgreOde_Prefab.h" |
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| 12 | #include "OgreOdeRagdoll.h" |
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| 13 | |
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| 14 | using namespace Ogre; |
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| 15 | using namespace OgreOde; |
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| 16 | using namespace OgreOde_Prefab; |
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| 17 | |
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| 18 | |
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| 19 | //------------------------------------------------------------------------------------------------ |
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| 20 | Ragdoll::PhysicalBone::PhysicalBone() |
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| 21 | { |
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| 22 | _body = 0; |
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| 23 | _geometry = 0; |
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| 24 | _original_position = Ogre::Vector3::ZERO; |
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| 25 | _original_orientation = Ogre::Quaternion::IDENTITY; |
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| 26 | _bone = 0; |
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| 27 | _parent_bone = 0; |
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| 28 | _joint = 0; |
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| 29 | _motor = 0; |
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| 30 | } |
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| 31 | //------------------------------------------------------------------------------------------------ |
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| 32 | Ragdoll::PhysicalBone::~PhysicalBone() |
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| 33 | { |
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| 34 | delete _joint; |
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| 35 | delete _geometry; |
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| 36 | delete _body; |
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| 37 | delete _motor; |
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| 38 | |
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| 39 | for (RagdollPhysicalBoneList::iterator i = _child_bones.begin(); |
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| 40 | i != _child_bones.end(); ++i) |
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| 41 | delete (*i); |
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| 42 | } |
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| 43 | //------------------------------------------------------------------------------------------------ |
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| 44 | Ragdoll::BoneSettings::BoneSettings() |
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| 45 | { |
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| 46 | _geometry_class = Geometry::Class_Capsule; |
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| 47 | _joint_type = Joint::Type_BallJoint; |
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| 48 | _primary_axis = Ogre::Vector3::UNIT_X; |
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| 49 | _secondary_axis = Ogre::Vector3::UNIT_Y; |
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| 50 | _collapse = Ragdoll::BoneSettings::Collapse_None; |
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| 51 | _mass = 1.0; |
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| 52 | _radius = 1.0; |
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| 53 | _primary_histop = OgreOde::Utility::Infinity; |
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| 54 | _primary_lostop = -OgreOde::Utility::Infinity; |
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| 55 | _secondary_histop = OgreOde::Utility::Infinity; |
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| 56 | _secondary_lostop = -OgreOde::Utility::Infinity; |
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| 57 | _linear_damping = 0.0; |
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| 58 | _angular_damping = 0.0; |
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| 59 | } |
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| 60 | //------------------------------------------------------------------------------------------------ |
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| 61 | Ragdoll::BoneSettings::~BoneSettings() |
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| 62 | { |
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| 63 | } |
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| 64 | //------------------------------------------------------------------------------------------------ |
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| 65 | Ragdoll::Ragdoll(const String& name, MeshPtr& ptr): |
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| 66 | Entity(name, ptr), |
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| 67 | Object(OgreOde_Prefab::ObjectType_Ragdoll, 0) |
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| 68 | { |
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| 69 | setDefaultBoneSettings(Ragdoll::BoneSettings()); |
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| 70 | _ei = 0; |
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| 71 | _joint_group = 0; |
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| 72 | _is_static = true; |
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| 73 | _space = 0; |
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| 74 | _is_physical = false; |
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| 75 | |
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| 76 | _node_trans = Matrix4::IDENTITY; |
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| 77 | _node_trans_inv = _node_trans.inverse(); |
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| 78 | _node_orient = Ogre::Quaternion::IDENTITY; |
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| 79 | _node_posn = Ogre::Vector3::ZERO; |
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| 80 | _is_hardwareAnimationRemovedByMe = false; |
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| 81 | |
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| 82 | //mDisplaySkeleton = true; |
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| 83 | } |
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| 84 | |
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| 85 | //------------------------------------------------------------------------------------------------ |
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| 86 | void Ragdoll::sleep(Ragdoll::PhysicalBone* bone) |
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| 87 | { |
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| 88 | bone->_body->sleep(); |
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| 89 | for (RagdollPhysicalBoneList::iterator i = bone->_child_bones.begin(); |
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| 90 | i != bone->_child_bones.end();++i) |
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| 91 | { |
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| 92 | sleep(*i); |
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| 93 | } |
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| 94 | } |
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| 95 | //------------------------------------------------------------------------------------------------ |
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| 96 | void Ragdoll::sleep() |
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| 97 | { |
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| 98 | if (!_is_static) |
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| 99 | { |
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| 100 | for (RagdollPhysicalBoneList::iterator i = _root_bones.begin(); |
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| 101 | i != _root_bones.end();++i) |
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| 102 | { |
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| 103 | sleep(*i); |
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| 104 | } |
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| 105 | } |
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| 106 | } |
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| 107 | //------------------------------------------------------------------------------------------------ |
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| 108 | bool Ragdoll::isAwake(Ragdoll::PhysicalBone* bone) |
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| 109 | { |
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| 110 | if (bone->_body->isAwake()) |
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| 111 | return true; |
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| 112 | for (RagdollPhysicalBoneList::iterator i = bone->_child_bones.begin(); |
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| 113 | i != bone->_child_bones.end();++i) |
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| 114 | { |
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| 115 | if (isAwake(*i) == true) |
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| 116 | return true; |
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| 117 | } |
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| 118 | return false; |
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| 119 | } |
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| 120 | //------------------------------------------------------------------------------------------------ |
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| 121 | bool Ragdoll::isAwake() |
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| 122 | { |
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| 123 | if (!_is_static) |
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| 124 | { |
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| 125 | for (RagdollPhysicalBoneList::iterator i = _root_bones.begin(); |
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| 126 | i != _root_bones.end();++i) |
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| 127 | { |
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| 128 | if (isAwake(*i) == true) |
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| 129 | return true; |
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| 130 | } |
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| 131 | } |
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| 132 | return false; |
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| 133 | } |
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| 134 | //------------------------------------------------------------------------------------------------ |
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| 135 | void Ragdoll::wake(Ragdoll::PhysicalBone* bone) |
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| 136 | { |
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| 137 | bone->_body->wake(); |
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| 138 | for (RagdollPhysicalBoneList::iterator i = bone->_child_bones.begin(); |
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| 139 | i != bone->_child_bones.end();++i) |
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| 140 | { |
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| 141 | wake(*i); |
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| 142 | } |
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| 143 | } |
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| 144 | //------------------------------------------------------------------------------------------------ |
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| 145 | void Ragdoll::wake() |
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| 146 | { |
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| 147 | if (!_is_static) |
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| 148 | { |
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| 149 | for (RagdollPhysicalBoneList::iterator i = _root_bones.begin(); |
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| 150 | i != _root_bones.end();++i) |
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| 151 | { |
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| 152 | wake(*i); |
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| 153 | } |
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| 154 | } |
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| 155 | } |
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| 156 | //------------------------------------------------------------------------------------------------ |
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| 157 | void Ragdoll::setDefaultBoneSettings(const Ragdoll::BoneSettings &settings) |
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| 158 | { |
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| 159 | _default_bone_settings = settings; |
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| 160 | } |
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| 161 | //------------------------------------------------------------------------------------------------ |
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| 162 | void Ragdoll::setBoneSettings(const String& bone_name,const Ragdoll::BoneSettings &settings) |
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| 163 | { |
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| 164 | _bone_settings.insert(std::pair<String,Ragdoll::BoneSettings>(bone_name,settings)); |
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| 165 | } |
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| 166 | //------------------------------------------------------------------------------------------------ |
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| 167 | void Ragdoll::setSelfCollisions(bool collide) |
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| 168 | { |
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| 169 | _space->setInternalCollisions(collide); |
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| 170 | } |
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| 171 | //------------------------------------------------------------------------------------------------ |
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| 172 | void Ragdoll::takePhysicalControl(World *world, Space* space,bool static_geometry) |
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| 173 | { |
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| 174 | _world = world; |
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| 175 | // disable Hardware Animation |
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| 176 | assert (hasSkeleton()) ; |
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| 177 | if (isHardwareAnimationEnabled()) |
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| 178 | { |
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| 179 | const unsigned int numSubEntities = getNumSubEntities (); |
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| 180 | for (unsigned int k = 0; k < numSubEntities; k++) |
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| 181 | { |
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| 182 | SubEntity *subEntity = getSubEntity (k); |
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| 183 | |
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| 184 | MaterialPtr mHWAnimated = MaterialManager::getSingleton().getByName(subEntity->getMaterialName ()); |
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| 185 | // check if we didn't modify that once before |
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| 186 | MaterialPtr mSWAnimated = MaterialManager::getSingleton().getByName(subEntity->getMaterialName () + "ClonedSW"); |
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| 187 | if (mSWAnimated.isNull ()) |
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| 188 | { |
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| 189 | mSWAnimated = mHWAnimated->clone (subEntity->getMaterialName () + "ClonedSW"); |
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| 190 | mSWAnimated->load (); |
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| 191 | |
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| 192 | bool notEmptiedOfHWTechnique = true; |
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| 193 | bool removedAtLeastOne = false; |
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| 194 | Technique *t; |
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| 195 | while (notEmptiedOfHWTechnique) |
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| 196 | { |
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| 197 | unsigned short i = 0 ; |
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| 198 | const unsigned short numTechniques = mSWAnimated->getNumSupportedTechniques (); |
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| 199 | while (i < numTechniques) |
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| 200 | { |
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| 201 | t = mSWAnimated->getSupportedTechnique (i); |
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| 202 | if (t->getPass(0) && |
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| 203 | t->getPass(0)->hasVertexProgram() && |
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| 204 | t->getPass(0)->getVertexProgram()->isSkeletalAnimationIncluded() |
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| 205 | //t->getPass(0)->getVertexProgram()->isPoseAnimationIncluded() ?? |
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| 206 | ) |
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| 207 | { |
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| 208 | mSWAnimated->removeTechnique (i); |
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| 209 | removedAtLeastOne = true; |
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| 210 | break; |
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| 211 | } |
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| 212 | i++; |
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| 213 | } |
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| 214 | if (i == numTechniques) |
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| 215 | { |
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| 216 | notEmptiedOfHWTechnique = false; |
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| 217 | mSWAnimated->reload (); |
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| 218 | } |
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| 219 | // re-loop to ensure there is no HW animation left... |
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| 220 | } |
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| 221 | } |
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| 222 | subEntity->setMaterialName (mSWAnimated->getName()); |
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| 223 | } |
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| 224 | _is_hardwareAnimationRemovedByMe = true; |
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| 225 | } |
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| 226 | |
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| 227 | // Cache node transformations |
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| 228 | _node_posn = mParentNode->_getDerivedPosition(); |
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| 229 | _node_orient = mParentNode->_getDerivedOrientation(); |
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| 230 | _node_trans = mParentNode->_getFullTransform(); |
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| 231 | _node_trans_inv = _node_trans.inverse(); |
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| 232 | |
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| 233 | _space = new SimpleSpace(world, space); |
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| 234 | _space->setInternalCollisions(false); |
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| 235 | _space->setAutoCleanup(false); |
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| 236 | |
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| 237 | _is_physical = true; |
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| 238 | _is_static = static_geometry; |
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| 239 | |
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| 240 | _joint_group = new JointGroup(_world); |
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| 241 | |
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| 242 | _ei = new EntityInformer(this, _node_trans); |
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| 243 | |
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| 244 | |
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| 245 | addSoftwareAnimationRequest(false); |
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| 246 | |
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| 247 | Skeleton::BoneIterator rbi = mSkeletonInstance->getRootBoneIterator(); |
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| 248 | |
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| 249 | while(rbi.hasMoreElements()) |
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| 250 | { |
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| 251 | createBoneBody(rbi.getNext(), 0, static_geometry); |
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| 252 | } |
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| 253 | |
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| 254 | } |
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| 255 | //------------------------------------------------------------------------------------------------ |
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| 256 | void Ragdoll::createBoneBody(Bone *bone,Ragdoll::PhysicalBone *parent,bool static_geometry) |
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| 257 | { |
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| 258 | // We're controlling the bone now |
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| 259 | bone->setManuallyControlled (true); |
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| 260 | //bone->setInheritOrientation (false); |
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| 261 | |
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| 262 | // Make up a name |
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| 263 | String body_name = mName + bone->getName(); |
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| 264 | |
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| 265 | // Cache bone transformations |
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| 266 | Matrix4 bone_trans = bone->_getFullTransform(); |
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| 267 | Vector3 bone_posn = bone->_getDerivedPosition(); |
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| 268 | Quaternion bone_orient = bone->_getDerivedOrientation(); |
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| 269 | |
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| 270 | // Find the settings for this bone, or use defaults |
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| 271 | std::map<String,Ragdoll::BoneSettings>::iterator i = _bone_settings.find(bone->getName()); |
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| 272 | Ragdoll::BoneSettings settings = (i != _bone_settings.end())? i->second : _default_bone_settings; |
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| 273 | Ragdoll::PhysicalBone *physical_bone = 0; |
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| 274 | |
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| 275 | // Create an oriented capsule |
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| 276 | if (settings._geometry_class == Geometry::Class_Capsule) |
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| 277 | { |
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| 278 | // Create the geometry |
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| 279 | CapsuleGeometry *geom = _ei->createOrientedCapsule(bone->getHandle(), _world, _space); |
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| 280 | if (geom) |
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| 281 | { |
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| 282 | // Create a bone |
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| 283 | physical_bone = new Ragdoll::PhysicalBone(); |
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| 284 | physical_bone->_body = (static_geometry)?0:(new Body(_world, body_name)); |
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| 285 | physical_bone->_geometry = geom; |
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| 286 | |
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| 287 | // Don't collapse, set capsule inertia tensor |
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| 288 | if (settings._collapse == Ragdoll::BoneSettings::Collapse_None) |
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| 289 | { |
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| 290 | if (physical_bone->_body) |
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| 291 | physical_bone->_body->setMass( |
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| 292 | CapsuleMass(settings._mass, |
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| 293 | geom->getRadius(), |
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| 294 | Ogre::Vector3::UNIT_Z, |
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| 295 | geom->getLength())); |
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| 296 | } |
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| 297 | else |
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| 298 | { |
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| 299 | // Get the details of the capsule we created and work out where it is in relation to the bone (joint) |
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| 300 | const Ogre::Real radius = geom->getRadius(); |
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| 301 | const Ogre::Real length = geom->getLength(); |
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| 302 | const Ogre::Quaternion orient = geom->getOrientation(); |
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| 303 | |
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| 304 | const Ogre::Vector3 jpos = _node_trans * bone_posn; |
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| 305 | const Ogre::Vector3 posn = geom->getPosition(); |
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| 306 | const Ogre::Vector3 offs = jpos - posn; |
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| 307 | |
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| 308 | // Don't need the capsule geometry anymore, create a new sphere one |
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| 309 | delete geom; |
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| 310 | SphereGeometry *newGeom = new SphereGeometry(radius, _world, _space); |
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| 311 | physical_bone->_geometry = newGeom; |
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| 312 | if (physical_bone->_body) |
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| 313 | physical_bone->_body->setMass(SphereMass(settings._mass,radius)); |
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| 314 | |
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| 315 | // Move the geometry up away from the joint, or down to the joint |
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| 316 | if (settings._collapse == Ragdoll::BoneSettings::Collapse_Up) |
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| 317 | { |
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| 318 | newGeom->setPosition(posn - offs); |
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| 319 | newGeom->setOrientation(orient); |
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| 320 | } |
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| 321 | else |
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| 322 | { |
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| 323 | newGeom->setPosition(posn + offs); |
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| 324 | newGeom->setOrientation(orient); |
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| 325 | } |
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| 326 | } |
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| 327 | } |
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| 328 | } |
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| 329 | // Create an oriented box |
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| 330 | else if (settings._geometry_class == Geometry::Class_Box) |
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| 331 | { |
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| 332 | BoxGeometry *geom = _ei->createOrientedBox(bone->getHandle(), _world, _space); |
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| 333 | if (geom) |
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| 334 | { |
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| 335 | physical_bone = new Ragdoll::PhysicalBone(); |
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| 336 | physical_bone->_body = (static_geometry)?0:(new Body(_world, body_name)); |
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| 337 | physical_bone->_geometry = geom; |
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| 338 | |
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| 339 | if (physical_bone->_body) |
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| 340 | physical_bone->_body->setMass( |
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| 341 | BoxMass(settings._mass, geom->getSize())); |
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| 342 | } |
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| 343 | } |
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| 344 | // Don't create any geometry |
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| 345 | else if (settings._geometry_class == Geometry::Class_NoGeometry) |
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| 346 | { |
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| 347 | physical_bone = new Ragdoll::PhysicalBone(); |
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| 348 | physical_bone->_body = (static_geometry)?0:(new Body(_world, body_name)); |
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| 349 | |
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| 350 | if (physical_bone->_body) |
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| 351 | { |
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| 352 | physical_bone->_body->setMass(SphereMass(settings._mass,settings._radius)); |
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| 353 | physical_bone->_body->setPosition(_node_trans * bone_posn); |
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| 354 | } |
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| 355 | } |
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| 356 | |
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| 357 | if (physical_bone) |
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| 358 | { |
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| 359 | // set what does control the bone |
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| 360 | physical_bone->_parent_bone = parent; |
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| 361 | physical_bone->_bone = bone; |
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| 362 | |
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| 363 | // Sync the body and geometry |
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| 364 | if ((physical_bone->_body) && (physical_bone->_geometry)) |
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| 365 | { |
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| 366 | physical_bone->_body->setPosition(physical_bone->_geometry->getPosition()); |
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| 367 | physical_bone->_body->setOrientation(physical_bone->_geometry->getOrientation()); |
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| 368 | } |
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| 369 | |
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| 370 | if (physical_bone->_geometry) |
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| 371 | { |
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| 372 | physical_bone->_geometry->setBody(physical_bone->_body); |
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| 373 | physical_bone->_geometry->setUserObject(this); |
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| 374 | } |
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| 375 | |
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| 376 | if (physical_bone->_body) |
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| 377 | { |
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| 378 | physical_bone->_original_orientation = bone_orient.UnitInverse() * (_node_orient.UnitInverse() * physical_bone->_body->getOrientation()); |
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| 379 | physical_bone->_original_position = physical_bone->_body->getPointBodyPosition(_node_trans * bone_posn); |
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| 380 | |
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| 381 | physical_bone->_body->setDamping(settings._linear_damping,settings._angular_damping); |
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| 382 | } |
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| 383 | |
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| 384 | // update and record in parent |
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| 385 | if ((physical_bone->_parent_bone) |
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| 386 | && (physical_bone->_parent_bone->_body) |
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| 387 | && (physical_bone->_body)) |
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| 388 | { |
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| 389 | if (settings._joint_type == Joint::Type_BallJoint) |
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| 390 | { |
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| 391 | physical_bone->_joint = new BallJoint(_world, _joint_group); |
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| 392 | physical_bone->_joint->attach(physical_bone->_parent_bone->_body,physical_bone->_body); |
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| 393 | physical_bone->_joint->setAnchor(_node_trans * bone_posn); |
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| 394 | |
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| 395 | physical_bone->_motor = new AngularMotorJoint(_world, _joint_group); |
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| 396 | physical_bone->_motor->attach(physical_bone->_parent_bone->_body,physical_bone->_body); |
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| 397 | physical_bone->_motor->setMode(AngularMotorJoint::Mode_UserAngularMotor); |
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| 398 | physical_bone->_motor->setAnchor(_node_trans * bone_posn); |
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| 399 | physical_bone->_motor->setAxisCount(2); |
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| 400 | |
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| 401 | physical_bone->_motor->setAxis(1,AngularMotorJoint::RelativeOrientation_FirstBody,(_node_orient * physical_bone->_parent_bone->_bone->_getDerivedOrientation()) * settings._primary_axis); |
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| 402 | physical_bone->_motor->setAngle(1,0); |
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| 403 | physical_bone->_motor->setParameter(Joint::Parameter_LowStop,settings._primary_lostop,1); |
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| 404 | physical_bone->_motor->setParameter(Joint::Parameter_HighStop,settings._primary_histop,1); |
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| 405 | |
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| 406 | physical_bone->_motor->setAxis(2,AngularMotorJoint::RelativeOrientation_FirstBody,(_node_orient * physical_bone->_parent_bone->_bone->_getDerivedOrientation()) * settings._secondary_axis); |
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| 407 | physical_bone->_motor->setAngle(2,0); |
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| 408 | physical_bone->_motor->setParameter(Joint::Parameter_LowStop,settings._secondary_lostop,2); |
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| 409 | physical_bone->_motor->setParameter(Joint::Parameter_HighStop,settings._secondary_histop,2); |
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| 410 | } |
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| 411 | else if (settings._joint_type == Joint::Type_HingeJoint) |
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| 412 | { |
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| 413 | physical_bone->_joint = new HingeJoint(_world, _joint_group); |
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| 414 | physical_bone->_joint->attach(physical_bone->_parent_bone->_body,physical_bone->_body); |
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| 415 | physical_bone->_joint->setAnchor(_node_trans * bone_posn); |
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| 416 | physical_bone->_joint->setAxis((_node_orient * physical_bone->_parent_bone->_bone->_getDerivedOrientation()) * settings._primary_axis); |
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| 417 | |
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| 418 | physical_bone->_joint->setParameter(Joint::Parameter_LowStop,settings._primary_lostop); |
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| 419 | physical_bone->_joint->setParameter(Joint::Parameter_HighStop,settings._primary_histop); |
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| 420 | } |
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| 421 | else if (settings._joint_type == Joint::Type_UniversalJoint) |
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| 422 | { |
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| 423 | physical_bone->_joint = new UniversalJoint(_world, _joint_group); |
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| 424 | physical_bone->_joint->attach(physical_bone->_parent_bone->_body,physical_bone->_body); |
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| 425 | physical_bone->_joint->setAnchor(_node_trans * bone_posn); |
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| 426 | physical_bone->_joint->setAxis((_node_orient * physical_bone->_parent_bone->_bone->_getDerivedOrientation()) * settings._primary_axis); |
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| 427 | physical_bone->_joint->setAdditionalAxis((_node_orient * physical_bone->_parent_bone->_bone->_getDerivedOrientation()) * settings._secondary_axis); |
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| 428 | |
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| 429 | physical_bone->_joint->setParameter(Joint::Parameter_LowStop,settings._primary_lostop); |
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| 430 | physical_bone->_joint->setParameter(Joint::Parameter_HighStop,settings._primary_histop); |
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| 431 | |
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| 432 | physical_bone->_joint->setParameter(Joint::Parameter_LowStop,settings._secondary_lostop,2); |
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| 433 | physical_bone->_joint->setParameter(Joint::Parameter_HighStop,settings._secondary_histop,2); |
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| 434 | } |
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| 435 | else if (settings._joint_type == Joint::Type_FixedJoint) |
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| 436 | { |
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| 437 | physical_bone->_joint = new FixedJoint(_world, _joint_group); |
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| 438 | physical_bone->_joint->attach(physical_bone->_parent_bone->_body,physical_bone->_body); |
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| 439 | physical_bone->_joint->setAnchor(_node_trans * bone_posn); |
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| 440 | } |
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| 441 | |
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| 442 | physical_bone->_parent_bone->_child_bones.push_back(physical_bone); |
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| 443 | } |
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| 444 | else |
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| 445 | { |
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| 446 | _root_bones.push_back(physical_bone); |
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| 447 | } |
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| 448 | } |
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| 449 | |
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| 450 | Node::ChildNodeIterator cni = bone->getChildIterator(); |
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| 451 | while(cni.hasMoreElements()) |
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| 452 | { |
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| 453 | createBoneBody((Bone*)cni.getNext(),(physical_bone)?physical_bone:parent,static_geometry); |
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| 454 | } |
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| 455 | } |
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| 456 | //------------------------------------------------------------------------------------------------ |
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| 457 | void Ragdoll::turnToStone(Ragdoll::PhysicalBone* bone) |
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| 458 | { |
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| 459 | if(bone->_geometry != 0) |
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| 460 | bone->_geometry->setBody(0); |
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| 461 | |
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| 462 | delete bone->_motor; |
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| 463 | delete bone->_joint; |
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| 464 | delete bone->_body; |
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| 465 | |
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| 466 | bone->_motor = 0; |
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| 467 | bone->_joint = 0; |
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| 468 | bone->_body = 0; |
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| 469 | |
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| 470 | for (RagdollPhysicalBoneList::iterator i = bone->_child_bones.begin();i != bone->_child_bones.end();++i) |
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| 471 | { |
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| 472 | turnToStone(*i); |
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| 473 | } |
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| 474 | } |
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| 475 | //------------------------------------------------------------------------------------------------ |
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| 476 | void Ragdoll::turnToStone() |
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| 477 | { |
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| 478 | if (!_is_static) |
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| 479 | { |
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| 480 | for (RagdollPhysicalBoneList::iterator i = _root_bones.begin(); |
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| 481 | i != _root_bones.end();++i) |
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| 482 | { |
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| 483 | turnToStone(*i); |
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| 484 | } |
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| 485 | |
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| 486 | delete _joint_group; |
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| 487 | _joint_group = 0; |
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| 488 | |
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| 489 | _is_static = true; |
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| 490 | } |
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| 491 | } |
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| 492 | //------------------------------------------------------------------------------------------------ |
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| 493 | void Ragdoll::releasePhysicalControl(Ragdoll::PhysicalBone* bone) |
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| 494 | { |
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| 495 | bone->_bone->setManuallyControlled(false); |
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| 496 | |
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| 497 | delete bone->_geometry; |
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| 498 | bone->_geometry = 0; |
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| 499 | |
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| 500 | for (RagdollPhysicalBoneList::iterator i = bone->_child_bones.begin();i != bone->_child_bones.end();++i) |
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| 501 | { |
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| 502 | releasePhysicalControl(*i); |
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| 503 | } |
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| 504 | } |
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| 505 | //------------------------------------------------------------------------------------------------ |
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| 506 | void Ragdoll::releasePhysicalControl() |
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| 507 | { |
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| 508 | turnToStone(); |
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| 509 | |
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| 510 | if (_is_physical) |
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| 511 | { |
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| 512 | // re-enable hardware Animation if previously disabled |
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| 513 | if (_is_hardwareAnimationRemovedByMe) |
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| 514 | { |
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| 515 | const unsigned int numSubEntities = getNumSubEntities (); |
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| 516 | for (unsigned int k = 0; k < numSubEntities; k++) |
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| 517 | { |
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| 518 | SubEntity *subEntity = getSubEntity (k); |
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| 519 | const String hwMatName (subEntity->getMaterialName ()); |
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| 520 | MaterialPtr mSWAnimated = MaterialManager::getSingleton().getByName(hwMatName); |
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| 521 | assert (std::string::npos != hwMatName.find("ClonedSW")); |
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| 522 | const String swMatName(hwMatName, 0, hwMatName.find("ClonedSW")); |
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| 523 | MaterialPtr mHWAnimated = MaterialManager::getSingleton().getByName(swMatName); |
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| 524 | assert (!mHWAnimated.isNull ()); |
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| 525 | |
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| 526 | subEntity->setMaterialName (mHWAnimated->getName()); |
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| 527 | } |
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| 528 | _is_hardwareAnimationRemovedByMe = false; |
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| 529 | } |
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| 530 | |
---|
| 531 | for (RagdollPhysicalBoneList::iterator i = _root_bones.begin();i != _root_bones.end();++i) |
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| 532 | { |
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| 533 | releasePhysicalControl(*i); |
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| 534 | delete (*i); |
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| 535 | } |
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| 536 | _root_bones.clear(); |
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| 537 | |
---|
| 538 | delete _space; |
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| 539 | _space = 0; |
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| 540 | |
---|
| 541 | _is_physical = false; |
---|
| 542 | |
---|
| 543 | removeSoftwareAnimationRequest(false); |
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| 544 | } |
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| 545 | } |
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| 546 | //------------------------------------------------------------------------------------------------ |
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| 547 | void Ragdoll::updatePhysicalBone(Ragdoll::PhysicalBone *physical_bone,const Matrix4 &this_trans,const Matrix4 &base_trans) |
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| 548 | { |
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| 549 | |
---|
| 550 | // USE OF BASE_TRANS ??? |
---|
| 551 | Quaternion body_orient = physical_bone->_body->getOrientation() * physical_bone->_original_orientation.UnitInverse(); |
---|
| 552 | Quaternion bone_orient = Ogre::Quaternion::IDENTITY; |
---|
| 553 | |
---|
| 554 | Vector3 body_posn = physical_bone->_body->getPointWorldPosition(physical_bone->_original_position); |
---|
| 555 | Vector3 bone_posn = Ogre::Vector3::ZERO; |
---|
| 556 | |
---|
| 557 | Matrix3 bone_rot; |
---|
| 558 | body_orient.ToRotationMatrix(bone_rot); |
---|
| 559 | |
---|
| 560 | Matrix4 bone_trans = Matrix4::IDENTITY; |
---|
| 561 | bone_trans = bone_rot; |
---|
| 562 | bone_trans.setTrans(body_posn); |
---|
| 563 | |
---|
| 564 | bone_trans = this_trans.inverse() * bone_trans; |
---|
| 565 | |
---|
| 566 | bone_posn = Ogre::Vector3(bone_trans[0][3], bone_trans[1][3], bone_trans[2][3]); |
---|
| 567 | bone_trans.extract3x3Matrix(bone_rot); |
---|
| 568 | bone_orient.FromRotationMatrix(bone_rot); |
---|
| 569 | |
---|
| 570 | physical_bone->_bone->setOrientation(bone_orient); |
---|
| 571 | physical_bone->_bone->setPosition(bone_posn); |
---|
| 572 | |
---|
| 573 | //physical_bone->_bone->needUpdate (true); |
---|
| 574 | |
---|
| 575 | for (RagdollPhysicalBoneList::iterator i = physical_bone->_child_bones.begin(); |
---|
| 576 | i != physical_bone->_child_bones.end();++i) |
---|
| 577 | { |
---|
| 578 | updatePhysicalBone(*i, |
---|
| 579 | base_trans * (*i)->_bone->getParent()->_getFullTransform(), |
---|
| 580 | base_trans); |
---|
| 581 | } |
---|
| 582 | } |
---|
| 583 | //------------------------------------------------------------------------------------------------ |
---|
| 584 | void Ragdoll::update() |
---|
| 585 | { |
---|
| 586 | if ((_is_physical) && (!_is_static)) |
---|
| 587 | { |
---|
| 588 | for (RagdollPhysicalBoneList::iterator i = _root_bones.begin(); |
---|
| 589 | i != _root_bones.end();++i) |
---|
| 590 | { |
---|
| 591 | updatePhysicalBone(*i, _node_trans, _node_trans); |
---|
| 592 | } |
---|
| 593 | mParentNode->needUpdate(); |
---|
| 594 | } |
---|
| 595 | } |
---|
| 596 | //------------------------------------------------------------------------------------------------ |
---|
| 597 | const AxisAlignedBox& Ragdoll::getBoundingBox(void) const |
---|
| 598 | { |
---|
| 599 | if (_space) |
---|
| 600 | { |
---|
| 601 | // Get from space and convert to local |
---|
| 602 | mFullBoundingBox = _space->getAxisAlignedBox(); |
---|
| 603 | mFullBoundingBox.transform(_node_trans_inv); |
---|
| 604 | } |
---|
| 605 | else |
---|
| 606 | { |
---|
| 607 | // Get from Mesh |
---|
| 608 | mFullBoundingBox = mMesh->getBounds(); |
---|
| 609 | mFullBoundingBox.merge(getChildObjectsBoundingBox()); |
---|
| 610 | } |
---|
| 611 | return mFullBoundingBox; |
---|
| 612 | } |
---|
| 613 | //------------------------------------------------------------------------------------------------ |
---|
| 614 | bool Ragdoll::collision(Contact* contact) |
---|
| 615 | { |
---|
| 616 | Body *body = contact->getFirstGeometry()->getBody(); |
---|
| 617 | if (!body) |
---|
| 618 | body = contact->getSecondGeometry()->getBody(); |
---|
| 619 | _hit_list.push_back(std::pair<Body*,Vector3>(body,contact->getPosition())); |
---|
| 620 | return false; |
---|
| 621 | } |
---|
| 622 | //------------------------------------------------------------------------------------------------ |
---|
| 623 | void Ragdoll::pick(Ragdoll::PhysicalBone *bone,RayGeometry *ray) |
---|
| 624 | { |
---|
| 625 | if (bone->_geometry) |
---|
| 626 | ray->collide(bone->_geometry,this); |
---|
| 627 | |
---|
| 628 | for (RagdollPhysicalBoneList::iterator i = bone->_child_bones.begin(); |
---|
| 629 | i != bone->_child_bones.end();++i) |
---|
| 630 | { |
---|
| 631 | pick(*i,ray); |
---|
| 632 | } |
---|
| 633 | } |
---|
| 634 | //------------------------------------------------------------------------------------------------ |
---|
| 635 | bool Ragdoll::pick(RayGeometry *ray,Body* &body,Vector3 &position) |
---|
| 636 | { |
---|
| 637 | _hit_list.clear(); |
---|
| 638 | for (RagdollPhysicalBoneList::iterator i = _root_bones.begin(); |
---|
| 639 | i != _root_bones.end();++i) |
---|
| 640 | { |
---|
| 641 | pick(*i, ray); |
---|
| 642 | } |
---|
| 643 | |
---|
| 644 | const bool rc = (_hit_list.empty())? false : true; |
---|
| 645 | |
---|
| 646 | if (rc) |
---|
| 647 | { |
---|
| 648 | const Ogre::Real dist = ray->getLength(); |
---|
| 649 | for (std::vector<std::pair<Body*,Vector3> >::iterator i = _hit_list.begin(); |
---|
| 650 | i != _hit_list.end();++i) |
---|
| 651 | { |
---|
| 652 | const Ogre::Real this_dist = (i->second - ray->getPosition()).length(); |
---|
| 653 | if (this_dist < dist) |
---|
| 654 | { |
---|
| 655 | body = i->first; |
---|
| 656 | position = i->second; |
---|
| 657 | } |
---|
| 658 | } |
---|
| 659 | } |
---|
| 660 | |
---|
| 661 | return rc; |
---|
| 662 | } |
---|
| 663 | //------------------------------------------------------------------------------------------------ |
---|
| 664 | Ragdoll::~Ragdoll() |
---|
| 665 | { |
---|
| 666 | releasePhysicalControl (); |
---|
| 667 | for (RagdollPhysicalBoneList::iterator i = _root_bones.begin();i != _root_bones.end();++i) |
---|
| 668 | delete (*i); |
---|
| 669 | delete _space; |
---|
| 670 | delete _ei; |
---|
| 671 | delete _joint_group; |
---|
| 672 | } |
---|
| 673 | |
---|
| 674 | //----------------------------------------------------------------------- |
---|
| 675 | //----------------------------------------------------------------------- |
---|
| 676 | String RagdollFactory::FACTORY_TYPE_NAME = "ODERagdoll"; |
---|
| 677 | //----------------------------------------------------------------------- |
---|
| 678 | const String& RagdollFactory::getType(void) const |
---|
| 679 | { |
---|
| 680 | return FACTORY_TYPE_NAME; |
---|
| 681 | } |
---|
| 682 | //----------------------------------------------------------------------- |
---|
| 683 | MovableObject* RagdollFactory::createInstanceImpl( const String& name, |
---|
| 684 | const NameValuePairList* params) |
---|
| 685 | { |
---|
| 686 | // must have mesh parameter |
---|
| 687 | MeshPtr pMesh; |
---|
| 688 | if (params != 0) |
---|
| 689 | { |
---|
| 690 | NameValuePairList::const_iterator ni = params->find("mesh"); |
---|
| 691 | if (ni != params->end()) |
---|
| 692 | { |
---|
| 693 | // Get mesh (load if required) |
---|
| 694 | pMesh = MeshManager::getSingleton().load( |
---|
| 695 | ni->second, |
---|
| 696 | // note that you can change the group by pre-loading the mesh |
---|
| 697 | ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME ); |
---|
| 698 | } |
---|
| 699 | } |
---|
| 700 | if (pMesh.isNull()) |
---|
| 701 | { |
---|
| 702 | OGRE_EXCEPT(Exception::ERR_INVALIDPARAMS, |
---|
| 703 | "'mesh' parameter required when constructing an Ragdoll.", |
---|
| 704 | "RagdollFactory::createInstance"); |
---|
| 705 | } |
---|
| 706 | return new Ragdoll(name, pMesh); |
---|
| 707 | |
---|
| 708 | } |
---|
| 709 | //----------------------------------------------------------------------- |
---|
| 710 | void RagdollFactory::destroyInstance( MovableObject* obj) |
---|
| 711 | { |
---|
| 712 | delete obj; |
---|
| 713 | } |
---|