void Ragdoll_experiment::initializeBodies() {
ground = createGround();
ragDoll = createRagdoll();
ground->setFriction(GROUND_FRICTION);
ground->setRestitution(GROUND_RESTITUTION);
}
HingeHittingTableDemo::HingeHittingTableDemo(hkDemoEnvironment* env)
: hkDefaultPhysicsDemo(env)
{
// Disable warnings:
hkError::getInstance().setEnabled(0xafe97523, false); //'This utility is intended primarily for Havok demo use. If you wish to step the world asynchronously,...'
enableDisplayingToiInformation(true);
//
// Setup the camera
//
{
hkVector4 from( 0, 0, 10);
hkVector4 to ( 0, 0, 0);
hkVector4 up ( 0, 1, 0);
setupDefaultCameras(env, from, to, up);
}
//
// Setup and create the hkpWorld
//
{
hkpWorldCinfo info;
info.setBroadPhaseWorldSize(150.0f);
info.m_collisionTolerance = .03f;
info.m_gravity.setZero4();
info.m_simulationType = info.SIMULATION_TYPE_CONTINUOUS;
m_world = new hkpWorld( info );
m_world->lock();
hkpAgentRegisterUtil::registerAllAgents( m_world->getCollisionDispatcher() );
setupGraphics();
}
const HingeHittingTableDemoVariant& variant = g_variants[this->m_variantId];
//
// Collision Filter
//
{
hkpGroupFilter* filter = new hkpGroupFilter();
hkpGroupFilterSetup::setupGroupFilter( filter );
m_world->setCollisionFilter(filter);
filter->disableCollisionsBetween(30,30);
filter->removeReference();
}
// Create a box
{
hkReal mass = 0.0f;
hkVector4 size( 2.0f, 0.2f, 2.0f );
hkVector4 position( 1.0f, 0.0f, 0.0f );
hkpRigidBody* body = HK_NULL;
if( 1 )
{
// use a hkpBoxShape
body = GameUtils::createBox( size, mass, position );
}
else
{
// use a hkpConvexVerticesShape
body = GameUtils::createConvexVerticesBox( size, mass, position );
}
body->setName("table0");
m_world->addEntity( body )->removeReference();
}
hkVector4 pos(-2.0f, 0.0f, 0.0f);
hkVector4 vel(45.0f, 0.0f, 0.0f);
switch(variant.m_sceneType)
{
case VARIANT_HINGE:
createHinge(m_world, variant.m_objectQualityType, variant.m_constraintPriorityLevel, pos, vel);
break;
case VARIANT_RAGDOLL:
case VARIANT_RAGDOLL_INCREASED_INERTIA:
createRagdoll(m_world, variant.m_objectQualityType, variant.m_constraintPriorityLevel, pos, vel, variant.m_sceneType);
break;
}
m_world->unlock();
}
