void CPHObject::activate() { R_ASSERT2(dSpacedGeom(),"trying to activate destroyed or not created object!"); if(m_flags.test(st_activated))return; if(m_flags.test(st_freezed)) {UnFreeze();return;} if(m_flags.test(st_recently_deactivated))remove_from_recently_deactivated(); ph_world->AddObject(this); vis_update_activate(); m_flags.set(st_activated,TRUE); }
bool CPHActivationShape:: Activate (const Fvector need_size,u16 steps,float max_displacement,float max_rotation,bool un_freeze_later/* =false*/) { #ifdef DEBUG if(debug_output().ph_dbg_draw_mask().test(phDbgDrawDeathActivationBox)) { debug_output().DBG_OpenCashedDraw(); Fmatrix M; PHDynamicData::DMXPStoFMX(dBodyGetRotation(m_body),dBodyGetPosition(m_body),M); Fvector v;dGeomBoxGetLengths(m_geom,cast_fp(v));v.mul(0.5f); debug_output().DBG_DrawOBB(M,v,D3DCOLOR_XRGB(0,255,0)); } #endif VERIFY(m_geom&&m_body); CPHObject::activate(); ph_world->Freeze(); UnFreeze(); max_depth=0.f; dGeomUserDataSetObjectContactCallback(m_geom,GetMaxDepthCallback) ; //ph_world->Step(); ph_world->StepTouch(); u16 num_it =15; float fnum_it=float(num_it); float fnum_steps=float(steps); float fnum_steps_r=1.f/fnum_steps; float resolve_depth=0.01f; float max_vel=max_depth/fnum_it*fnum_steps_r/fixed_step; float limit_l_vel=_max(_max(need_size.x,need_size.y),need_size.z)/fnum_it*fnum_steps_r/fixed_step; if(limit_l_vel>default_l_limit) limit_l_vel=default_l_limit; if(max_vel>limit_l_vel) max_vel=limit_l_vel; float max_a_vel=max_rotation/fnum_it*fnum_steps_r/fixed_step; if(max_a_vel>default_w_limit) max_a_vel=default_w_limit; //ph_world->CutVelocity(0.f,0.f); dGeomUserDataSetCallbackData(m_geom,this); dGeomUserDataSetObjectContactCallback( m_geom, ActivateTestDepthCallback ); if( m_flags.test( flStaticEnvironment ) ) dGeomUserDataAddObjectContactCallback(m_geom,StaticEnvironment); max_depth=0.f; Fvector from_size; Fvector step_size,size; dGeomBoxGetLengths(m_geom,cast_fp(from_size)); step_size.sub(need_size,from_size); step_size.mul(fnum_steps_r); size.set(from_size); bool ret=false; V_PH_WORLD_STATE temp_state; ph_world->GetState(temp_state); for(int m=0;steps>m;++m) { //float param =fnum_steps_r*(1+m); //InterpolateBox(id,param); size.add(step_size); dGeomBoxSetLengths(m_geom,size.x,size.y,size.z); u16 attempts=10; do{ ret=false; for(int i=0;num_it>i;++i) { max_depth=0.f; ph_world->Step(); CHECK_POS(Position(),"pos after ph_world->Step()",false); ph_world->CutVelocity(max_vel,max_a_vel); CHECK_POS(Position(),"pos after CutVelocity",true); //if(m==0&&i==0)ph_world->GetState(temp_state); if(max_depth < resolve_depth) { ret=true; break; } } attempts--; }while(!ret&&attempts>0); #ifdef DEBUG // Msg("correction attempts %d",10-attempts); #endif } RestoreVelocityState(temp_state); CHECK_POS(Position(),"pos after RestoreVelocityState(temp_state);",true); if(!un_freeze_later)ph_world->UnFreeze(); #ifdef DEBUG if(debug_output().ph_dbg_draw_mask().test(phDbgDrawDeathActivationBox)) { debug_output().DBG_OpenCashedDraw(); Fmatrix M; PHDynamicData::DMXPStoFMX(dBodyGetRotation(m_body),dBodyGetPosition(m_body),M); Fvector v;v.set(need_size);v.mul(0.5f); debug_output().DBG_DrawOBB(M,v,D3DCOLOR_XRGB(0,255,255)); debug_output().DBG_ClosedCashedDraw(30000); } #endif return ret; }
bool CPHMovementControl:: ActivateBoxDynamic(DWORD id,int num_it/*=8*/,int num_steps/*5*/,float resolve_depth/*=0.01f*/) { bool character_exist=CharacterExist(); if(character_exist&&trying_times[id]!=u32(-1)) { Fvector dif;dif.sub(trying_poses[id],cast_fv(dBodyGetPosition(m_character->get_body()))); if(Device.dwTimeGlobal-trying_times[id]<500&&dif.magnitude()<0.05f) return false; } if(!m_character||m_character->PhysicsRefObject()->PPhysicsShell())return false; DWORD old_id=BoxID(); bool character_disabled=character_exist && !m_character->IsEnabled(); if(character_exist&&id==old_id)return true; if(!character_exist) { CreateCharacter(); } //m_PhysicMovementControl->ActivateBox(id); m_character->CPHObject::activate(); ph_world->Freeze(); UnFreeze(); saved_callback=ObjectContactCallback(); SetOjectContactCallback(TestDepthCallback); SetFootCallBack(TestFootDepthCallback); max_depth=0.f; //////////////////////////////////pars/////////////////////////////////////////// // int num_it=8; // int num_steps=5; // float resolve_depth=0.01f; if(!character_exist) { num_it=20; num_steps=1; resolve_depth=0.1f; } /////////////////////////////////////////////////////////////////////// float fnum_it=float(num_it); float fnum_steps=float(num_steps); float fnum_steps_r=1.f/fnum_steps; Fvector vel; Fvector pos; GetCharacterVelocity(vel); GetCharacterPosition(pos); //const Fbox& box =Box(); float pass= character_exist ? _abs(Box().getradius()-boxes[id].getradius()) : boxes[id].getradius(); float max_vel=pass/2.f/fnum_it/fnum_steps/fixed_step; float max_a_vel=M_PI/8.f/fnum_it/fnum_steps/fixed_step; dBodySetForce(GetBody(),0.f,0.f,0.f); dBodySetLinearVel(GetBody(),0.f,0.f,0.f); Calculate(Fvector().set(0,0,0),Fvector().set(1,0,0),0,0,0,0); CVelocityLimiter vl(GetBody(),max_vel,max_vel); max_vel=1.f/fnum_it/fnum_steps/fixed_step; bool ret=false; m_character->SwitchOFFInitContact(); vl.Activate(); vl.l_limit*=(fnum_it*fnum_steps/5.f); vl.y_limit=vl.l_limit; //////////////////////////////////// for(int m=0;30>m;++m) { Calculate(Fvector().set(0,0,0),Fvector().set(1,0,0),0,0,0,0); EnableCharacter(); m_character->ApplyForce(0,ph_world->Gravity()*m_character->Mass(),0); max_depth=0.f; ph_world->Step(); if(max_depth < resolve_depth) { break; } ph_world->CutVelocity(max_vel,max_a_vel); } vl.l_limit/=(fnum_it*fnum_steps/5.f); vl.y_limit=vl.l_limit; ///////////////////////////////////// for(int m=0;num_steps>m;++m) { float param =fnum_steps_r*(1+m); InterpolateBox(id,param); ret=false; for(int i=0;num_it>i;++i){ max_depth=0.f; Calculate(Fvector().set(0,0,0),Fvector().set(1,0,0),0,0,0,0); EnableCharacter(); m_character->ApplyForce(0,ph_world->Gravity()*m_character->Mass(),0); ph_world->Step(); ph_world->CutVelocity(max_vel,max_a_vel); if(max_depth < resolve_depth) { ret=true; break; } } if(!ret) break; } m_character->SwitchInInitContact(); vl.Deactivate(); ph_world->UnFreeze(); if(!ret) { if(!character_exist)DestroyCharacter(); else if(character_disabled)m_character->Disable(); ActivateBox(old_id); SetVelocity(vel); dBodyID b=GetBody(); if(b) { dMatrix3 R; dRSetIdentity (R); dBodySetAngularVel(b,0.f,0.f,0.f); dBodySetRotation(b,R); } SetPosition(pos); //Msg("can not activate!"); } else { ActivateBox(id); //Msg("activate!"); } SetOjectContactCallback(saved_callback); SetVelocity(vel); saved_callback=0; if(!ret&&character_exist) { trying_times[id]=Device.dwTimeGlobal; trying_poses[id].set(cast_fv(dBodyGetPosition(m_character->get_body()))); } else { trying_times[id]=u32(-1); } return ret; }