//************************************
// Method: PBPhysicalize
// FullName: PBPhysicalize
// Access: public
// Returns: int
// Qualifier:
// Parameter: const CKBehaviorContext& behcontext
//************************************
int PBPhysicalize(const CKBehaviorContext& behcontext)
{
using namespace vtTools::BehaviorTools;
using namespace vtTools;
using namespace vtTools::AttributeTools;
//////////////////////////////////////////////////////////////////////////
//basic parameters
CKBehavior* beh = behcontext.Behavior;
CKContext* ctx = behcontext.Context;
PhysicManager *pm = GetPMan();
pFactory *pf = pFactory::Instance();
//////////////////////////////////////////////////////////////////////////
//settings
int useDWorld; beh->GetLocalParameterValue(bbS_USE_DEFAULT_WORLD,&useDWorld);
// int useWorldSS; beh->GetLocalParameterValue(bbS_USE_WORLD_SLEEP_SETTINGS,&useWorldSS);
// int useWorldDS; beh->GetLocalParameterValue(bbS_USE_WORLD_DAMPING_SETTINGS,&useWorldDS);
int useWorldM; beh->GetLocalParameterValue(bbS_USE_WORLD_MATERIAL,&useWorldM);
int addAttributes; beh->GetLocalParameterValue(bbS_ADD_ATTRIBUTES,&addAttributes);
//////////////////////////////////////////////////////////////////////////
//the object :
CK3dEntity *referenceObject = (CK3dEntity *) beh->GetTarget();
if( !referenceObject ) return CKBR_OWNERERROR;
//////////////////////////////////////////////////////////////////////////
//the world :
CK3dEntity*worldRef = NULL;
if (!useDWorld)
{
worldRef = (CK3dEntity *) beh->GetInputParameterObject(bbI_TargetWorld);
}
// the world :
pWorld *world=GetPMan()->getWorld(worldRef,referenceObject);
if (!world)
{
beh->ActivateOutput(0);
return 0;
}
pRigidBody*result = world->getBody(referenceObject);
if (result)
{
beh->ActivateOutput(0);
return 0;
}
//////////////////////////////////////////////////////////////////////////
//pick up some parameters :
int flags = GetInputParameterValue<int>(beh,bbI_Flags);
int hType = GetInputParameterValue<int>(beh,bbI_HullType);
float density = GetInputParameterValue<float>(beh,bbI_Density);
float skinWidth = GetInputParameterValue<float>(beh,bbI_SkinWidth);
int hierarchy = GetInputParameterValue<int>(beh,bbI_Hierachy);
float newDensity = GetInputParameterValue<float>(beh,bbI_NewDensity);
float totalMass = GetInputParameterValue<float>(beh,bbI_TotalMass);
VxVector massOffset = GetInputParameterValue<VxVector>(beh,bbI_MassShift);
VxVector shapeOffset = GetInputParameterValue<VxVector>(beh,bbI_ShapeShift);
//////////////////////////////////////////////////////////////////////////
// we remove the old physic attribute :
if (referenceObject->HasAttribute(GetPMan()->GetPAttribute()))
{
referenceObject->RemoveAttribute(GetPMan()->GetPAttribute());
}
referenceObject->SetAttribute(GetPMan()->GetPAttribute());
SetAttributeValue<int>(referenceObject,GetPMan()->GetPAttribute(),E_PPS_HIRARCHY,&hierarchy);
SetAttributeValue<int>(referenceObject,GetPMan()->GetPAttribute(),E_PPS_HULLTYPE,&hType);
SetAttributeValue<int>(referenceObject,GetPMan()->GetPAttribute(),E_PPS_BODY_FLAGS,&flags);
SetAttributeValue<float>(referenceObject,GetPMan()->GetPAttribute(),E_PPS_DENSITY,&density);
SetAttributeValue<float>(referenceObject,GetPMan()->GetPAttribute(),E_PPS_NEW_DENSITY,&newDensity);
SetAttributeValue<float>(referenceObject,GetPMan()->GetPAttribute(),E_PPS_TOTAL_MASS,&totalMass);
SetAttributeValue<VxVector>(referenceObject,GetPMan()->GetPAttribute(),E_PPS_MASS_OFFSET,&massOffset);
//SetAttributeValue<VxVector>(referenceObject,GetPMan()->GetPAttribute(),E_PPS_MASS_OFFSET,&massOffset);
CK_ID wID = world->getReference()->GetID();
AttributeTools::SetAttributeValue<CK_ID>(referenceObject,GetPMan()->GetPAttribute(),E_PPS_WORLD,&wID);
//////////////////////////////////////////////////////////////////////////
//Material :
if (!useWorldM)
{
if (referenceObject->HasAttribute(GetPMan()->att_surface_props))
{
referenceObject->RemoveAttribute(GetPMan()->att_surface_props);
}
referenceObject->SetAttribute(GetPMan()->att_surface_props);
CKParameterIn *pMatIn = beh->GetInputParameter(bbI_Material);
CKParameter *pMat = pMatIn->GetRealSource();
CKParameterOut* pout = referenceObject->GetAttributeParameter(GetPMan()->att_surface_props);
int error = pout->CopyValue(pMat);
pout->Update();
}
pRigidBody *body = pFactory::Instance()->createRigidBodyFull(referenceObject,worldRef);
if (body)
{
body->translateLocalShapePosition(shapeOffset);
}
//GetPMan()->checkWorlds();
if (!addAttributes)
{
referenceObject->RemoveAttribute(GetPMan()->GetPAttribute());
referenceObject->RemoveAttribute(GetPMan()->att_surface_props);
}
beh->ActivateOutput(0);
return 0;
}
/*
*******************************************************************
* Function: int BehaviourFunction()
*
* Description : Returns the number of plugins in this DLL
*
* Paramters :
* CKBehaviorContext& r The virtools behaviour context
*
* Returns : One of the many virtools return values
*
*******************************************************************
*/
int CGBLLOGetMOStatus::BehaviourFunction(const CKBehaviorContext& behContext)
{
CKBehavior* beh = behContext.Behavior;
CKBOOL localError = false;
CGBLCOError retVal(CGBLCOError::EGBLCOErrorType::GBLCO_OK);
MeasuredObjectiveControllerMgr* MOMngr =
static_cast<MeasuredObjectiveControllerMgr*>(behContext.Context->GetManagerByGuid(MeasuredObjectiveControllerMgrGUID));
// Check to see if we got the manager ok
if (!MOMngr)
{
assert(NULL);
return CKBR_OK;
}
if (beh->IsInputActive(eBehInputStart))
{
// Get the details of the MO P-In
CKParameterIn *pIn = beh->GetInputParameter(eParamInputMO);
CKParameter *moParam = pIn->GetRealSource();
// Ensure we read the P-In ok
if (!moParam)
{
// Report the error
CKParameterOut *pOut = beh->GetOutputParameter(eParamOutputGetError);
TGBLError::SetTGBLError(pOut, CGBLCOError::EGBLCOErrorType::GBLCO_LOCAL,
GBLLO_ERROR_NO_PARAM_FROM_BB,GBLLO_ERROR_NO_DATA_FROM_BB_DESC);
beh->ActivateOutput(eBehOutputError, TRUE);
localError = true;
}
if (!localError)
{
// Get the data from the P-In
CGBLMOData *moData = static_cast<CGBLMOData*>(moParam->GetAppData());
if (moData)
{
// Get the name from the MO and use this to get the
// runtime MO from the controller
XString moName = moData->GetName();
CGBLLOMeasuredObjective *mo=NULL;
retVal=MOMngr->GetRunTimeMO(moName,mo);
// See if the controller gave us the MO
if((retVal==CGBLCOError::EGBLCOErrorType::GBLCO_OK)&&(mo))
{
// Get the status of the MO
bool moStatus=mo->GetMOStatus();
// return the status of the MO back to Virtools Dev
beh->SetOutputParameterValue(eParamOutputGetStatus, &moStatus);
}
}
else
{
// Report the fact that we couldnt create a runtime MO from the param
CKParameterOut *pOut = beh->GetOutputParameter(eParamOutputGetError);
TGBLError::SetTGBLError(pOut, CGBLCOError::EGBLCOErrorType::GBLCO_LOCAL,
GBLLO_ERROR_NO_DATA_FROM_BB,GBLLO_ERROR_NO_DATA_FROM_BB_DESC);
beh->ActivateOutput(eBehOutputError, TRUE);
localError = true;
}
}
}
if (localError)
{
// error allready dealt with
}
else if (retVal!=CGBLCOError::EGBLCOErrorType::GBLCO_OK)
{
// Report the error back to Virtools dev
CKParameterOut *pOut = beh->GetOutputParameter(eParamOutputGetError);
const char* errorString = retVal;
TGBLError::SetTGBLError(pOut, retVal,retVal,(CKSTRING)errorString);
beh->ActivateOutput(eBehOutputError, TRUE);
}
else
{
// We are ok
beh->ActivateOutput(eBehOutputDone, TRUE);
}
return CKBR_OK;
}
//************************************
// Method: PVWSet
// FullName: PVWSet
// Access: public
// Returns: int
// Qualifier:
// Parameter: const CKBehaviorContext& behcontext
//************************************
int PVWSet(const CKBehaviorContext& behcontext)
{
CKBehavior* beh = behcontext.Behavior;
CKContext* ctx = behcontext.Context;
PhysicManager *pm = GetPMan();
pFactory *pf = pFactory::Instance();
using namespace vtTools::BehaviorTools;
if( beh->IsInputActive(0) )
{
beh->ActivateInput(0,FALSE);
//////////////////////////////////////////////////////////////////////////
//the object :
CK3dEntity *target = (CK3dEntity *) beh->GetTarget();
if( !target ) bbErrorME("No Reference Object specified");
pRigidBody *body = NULL;
body = GetPMan()->getBody(target);
if (!body) bbErrorME("No Reference Object specified");
pWheel *wheel = body->getWheel(target);
if (!wheel)bbErrorME("pWheel object doesnt exist!");
pWheel2 *wheel2 = wheel->castWheel2();
if (!wheel2)bbErrorME("Couldnt cast a pWheel2 object");
BB_DECLARE_PIMAP;
/************************************************************************/
/* engel
kuehne un partner
*/
/************************************************************************/
/************************************************************************/
/* retrieve settings state */
/************************************************************************/
BBSParameter(bbI_XML);
BBSParameter(bbI_AxleSpeed);
BBSParameter(bbI_Steer);
BBSParameter(bbI_MotorTorque);
BBSParameter(bbI_BrakeTorque);
BBSParameter(bbI_SuspensionSpring);
BBSParameter(bbI_SuspensionTravel);
BBSParameter(bbI_Radius);
BBSParameter(bbI_WFlags);
BBSParameter(bbI_WSFlags);
BBSParameter(bbI_LatFunc);
BBSParameter(bbI_LongFunc);
/************************************************************************/
/* retrieve values */
/************************************************************************/
int xmlValue = GetInputParameterValue<int>(beh,BB_IP_INDEX(bbI_XML));
float axleVel = GetInputParameterValue<float>(beh,BB_IP_INDEX(bbI_AxleSpeed));
float steer = GetInputParameterValue<float>(beh,BB_IP_INDEX(bbI_Steer));
float mTorque = GetInputParameterValue<float>(beh,BB_IP_INDEX(bbI_MotorTorque));
float bTorque = GetInputParameterValue<float>(beh,BB_IP_INDEX(bbI_BrakeTorque));
float suspensionTravel = GetInputParameterValue<float>(beh,BB_IP_INDEX(bbI_SuspensionTravel));
int wFlags = GetInputParameterValue<int>(beh,BB_IP_INDEX(bbI_WFlags));
int wSFlags = GetInputParameterValue<int>(beh,BB_IP_INDEX(bbI_WSFlags));
pSpring sSpring;
if (sbbI_SuspensionSpring)
{
CKParameterIn *par = beh->GetInputParameter(bbI_SuspensionSpring);
if (par)
{
CKParameter *rPar = par->GetRealSource();
if (rPar)
{
sSpring = pFactory::Instance()->createSpringFromParameter(rPar);
NxSpringDesc xsp;
xsp.damper = sSpring.damper;
xsp.spring = sSpring.spring;
xsp.targetValue = sSpring.targetValue;
if (xsp.isValid())
{
wheel2->setSuspensionSpring(sSpring);
}else
bbErrorME("Invalid Spring Setings!");
}
}
}
/************************************************************************/
/* Update Object ! */
/************************************************************************/
//////////////////////////////////////////////////////////////////////////
// load some settings from XML
if(sbbI_XML)
{
}
if (sbbI_Steer)wheel2->setAngle(steer);
if (sbbI_AxleSpeed)wheel2->setAxleSpeed(axleVel);
if (sbbI_MotorTorque)wheel2->setMotorTorque(mTorque);
if (sbbI_BrakeTorque)wheel2->setBreakTorque(bTorque);
if (sbbI_SuspensionSpring)wheel2->setSuspensionSpring(sSpring);
if (sbbI_SuspensionTravel)wheel2->setSuspensionTravel(suspensionTravel);
if (sbbI_WFlags)
{
//////////////////////////////////////////////////////////////////////////
//
//
wheel2->setFlags(wFlags);
}
if (sbbI_WSFlags)
{
wheel2->getWheelShape()->setWheelFlags(wSFlags);
}
if (sbbI_LatFunc)
{
CKParameterIn *par = beh->GetInputParameter(BB_IP_INDEX(bbI_LatFunc));
if (par)
{
CKParameter *rPar = par->GetRealSource();
if (rPar)
{
pTireFunction func = pFactory::Instance()->createTireFuncFromParameter(rPar);
if (func.isValid())
{
NxTireFunctionDesc xFn;
xFn.asymptoteSlip = func.asymptoteSlip;
xFn.asymptoteValue = func.asymptoteValue;
xFn.extremumSlip= func.extremumSlip;
xFn.extremumValue= func.extremumValue;
xFn.stiffnessFactor= func.stiffnessFactor;
wheel2->getWheelShape()->setLongitudalTireForceFunction(xFn);
}else
bbErrorME("Invalid Tire Function Settings!");
}
}
}
if (sbbI_LongFunc)
{
CKParameterIn *par = beh->GetInputParameter(BB_IP_INDEX(bbI_LongFunc));
if (par)
{
CKParameter *rPar = par->GetRealSource();
if (rPar)
{
pTireFunction func = pFactory::Instance()->createTireFuncFromParameter(rPar);
if (func.isValid())
{
NxTireFunctionDesc xFn;
xFn.asymptoteSlip = func.asymptoteSlip;
xFn.asymptoteValue = func.asymptoteValue;
xFn.extremumSlip= func.extremumSlip;
xFn.extremumValue= func.extremumValue;
xFn.stiffnessFactor= func.stiffnessFactor;
wheel2->getWheelShape()->setLongitudalTireForceFunction(xFn);
}else
bbErrorME("Invalid Tire Function Settings!");
}
}
}
}
beh->ActivateOutput(0);
return 0;
}
//************************************
// Method: PJRevolute
// FullName: PJRevolute
// Access: public
// Returns: int
// Qualifier:
// Parameter: const CKBehaviorContext& behcontext
//************************************
int PJRevolute(const CKBehaviorContext& behcontext)
{
CKBehavior* beh = behcontext.Behavior;
CKContext* ctx = behcontext.Context;
PhysicManager *pm = GetPMan();
pFactory *pf = pFactory::Instance();
using namespace vtTools::BehaviorTools;
if( beh->IsInputActive(0) )
{
beh->ActivateInput(0,FALSE);
//////////////////////////////////////////////////////////////////////////
//the object A:
CK3dEntity *target = (CK3dEntity *) beh->GetTarget();
CK3dEntity *targetB = (CK3dEntity *) beh->GetInputParameterObject(bI_ObjectB);
if (!pFactory::Instance()->jointCheckPreRequisites(target,targetB,JT_Revolute))
{
return CK_OK;
}
// the world :
pWorld *worldA=GetPMan()->getWorldByBody(target);
pWorld *worldB=GetPMan()->getWorldByBody(targetB);
if (!worldA && ! worldB )
{
return 0;
}
if (!worldA)
{
worldA = worldB;
}
if (!worldA)
{
beh->ActivateOutput(0);
return 0;
}
// the physic object A :
pRigidBody*bodyA= worldA->getBody(target);
pRigidBody*bodyB= worldA->getBody(targetB);
//anchor :
VxVector anchor = GetInputParameterValue<VxVector>(beh,bI_Anchor);
VxVector anchorOut = anchor;
CK3dEntity*anchorReference = (CK3dEntity *) beh->GetInputParameterObject(bI_AnchorRef);
if (anchorReference)
{
anchorReference->Transform(&anchorOut,&anchor);
}
//swing axis
VxVector Axis = GetInputParameterValue<VxVector>(beh,bI_Axis);
VxVector axisOut = Axis;
CK3dEntity*axisReference = (CK3dEntity *) beh->GetInputParameterObject(bI_AxisRef);
if (axisReference)
{
VxVector dir,up,right;
axisReference->GetOrientation(&dir,&up,&right);
axisReference->TransformVector(&axisOut,&up);
}
//////////////////////////////////////////////////////////////////////////
//limit high :
pJointLimit limitH;
pJointLimit limitL;
DWORD limit;
beh->GetLocalParameterValue(1,&limit);
if (limit)
{
CKParameterIn *par = beh->GetInputParameter(bbI_HighLimit);
if (par)
{
CKParameter *rPar = par->GetRealSource();
if (rPar)
{
limitH = pFactory::Instance()->createLimitFromParameter(rPar);
}
}
}
if (limit)
{
CKParameterIn *par = beh->GetInputParameter(bbI_LowLimit);
if (par)
{
CKParameter *rPar = par->GetRealSource();
if (rPar)
{
limitL = pFactory::Instance()->createLimitFromParameter(rPar);
}
}
}
//////////////////////////////////////////////////////////////////////////
DWORD spring;
pSpring sSpring;
beh->GetLocalParameterValue(0,&spring);
if (spring)
{
CKParameterIn *par = beh->GetInputParameter(bbI_Spring);
if (par)
{
CKParameter *rPar = par->GetRealSource();
if (rPar)
{
sSpring = pFactory::Instance()->createSpringFromParameter(rPar);
}
}
}
pMotor motor;
DWORD hasMotor;
beh->GetLocalParameterValue(2,&hasMotor);
if (hasMotor)
{
CKParameterIn *par = beh->GetInputParameter(bbI_Motor);
if (par)
{
CKParameter *rPar = par->GetRealSource();
if (rPar)
{
motor = pFactory::Instance()->createMotorFromParameter(rPar);
}
}
}
int col = GetInputParameterValue<int>(beh,bbI_Collision);
ProjectionMode mode =GetInputParameterValue<ProjectionMode>(beh,bbI_PMode);
float distance = GetInputParameterValue<float>(beh,bbI_PDistance);
float angle= GetInputParameterValue<float>(beh,bbI_PAngle);
//////////////////////////////////////////////////////////////////////////
//
pJointRevolute *joint = static_cast<pJointRevolute*>(worldA->getJoint(target,targetB,JT_Revolute));
if(bodyA || bodyB)
{
//////////////////////////////////////////////////////////////////////////
//joint create ?
if (!joint)
{
joint = static_cast<pJointRevolute*>(pFactory::Instance()->createRevoluteJoint(target,targetB,anchorOut,axisOut));
}
////////////////////////////////////////////////////////////////////////// Modification :
if (joint)
{
joint->setGlobalAxis(axisOut);
joint->setGlobalAnchor(anchorOut);
if (mode!=0)
{
joint->setProjectionMode(mode);
joint->setProjectionDistance(distance);
joint->setProjectionAngle(angle);
}
//////////////////////////////////////////////////////////////////////////
if(limit)
{
joint->setHighLimit(limitH);
joint->setLowLimit(limitL);
}
//////////////////////////////////////////////////////////////////////////
if (spring)
{
joint->setSpring(sSpring);
}
if (hasMotor)
{
joint->setMotor(motor);
}
joint->enableCollision(col);
}
}
beh->ActivateOutput(0);
}
return 0;
}
/*
*******************************************************************
* Function: int BehaviourFunction()
*
* Description : Returns the number of plugins in this DLL
*
* Paramters :
* CKBehaviorContext& r The virtools behaviour context
*
* Returns : One of the many virtools return values
*
*******************************************************************
*/
int CGBLLOStopTimer::BehaviourFunction(const CKBehaviorContext& behContext)
{
CKBehavior* beh = behContext.Behavior;
CKBOOL localError = false;
CGBLCOError retVal(CGBLCOError::EGBLCOErrorType::GBLCO_OK);
MeasuredObjectiveControllerMgr* MOMngr =
static_cast<MeasuredObjectiveControllerMgr*>(behContext.Context->GetManagerByGuid(MeasuredObjectiveControllerMgrGUID));
// Check to see if we got the manager ok
if (!MOMngr)
{
assert(NULL);
return CKBR_OK;
}
if (beh->IsInputActive(eBehInputStart))
{
// Get the details of the MO P-In
CKParameterIn *pInMO = beh->GetInputParameter(eParamInputMO);
CKParameter *moParam = pInMO->GetRealSource();
// Get the details of the Measurement P-In
CKParameterIn *pInMeas= beh->GetInputParameter(eParamInputMeasurement);
CKParameter *measParam = pInMeas->GetRealSource();
// Ensure we read the P-In ok
if (!moParam)
{
// Report the error
CKParameterOut *pOut = beh->GetOutputParameter(eParamOutputGetError);
TGBLError::SetTGBLError(pOut, CGBLCOError::EGBLCOErrorType::GBLCO_LOCAL,
GBLLO_ERROR_NO_PARAM_FROM_BB,GBLLO_ERROR_NO_DATA_FROM_BB_DESC);
beh->ActivateOutput(eBehOutputError, TRUE);
localError = true;
}
if (!localError)
{
// Get the data from the P-In
CGBLMOData *moData = static_cast<CGBLMOData*>(moParam->GetAppData());
if (moData)
{
// Get the name from the MO and use this to get the
// runtime MO from the controller
XString moName = moData->GetName();
CGBLLOMeasuredObjective *mo=NULL;
retVal=MOMngr->GetRunTimeMO(moName,mo);
// See if the controller gave us the MO
if((retVal==CGBLCOError::EGBLCOErrorType::GBLCO_OK)&&(mo))
{
// Get the data from the P-In
CGBLMeasurementData *measData = static_cast<CGBLMeasurementData*>(measParam->GetAppData());
if (measData)
{
// Get the measurement
XString measName = measData->GetName();
EGBLLOMeasurementType measType=measData->GetType();
CGBLMeasurement *meas=NULL;
retVal=mo->GetMeasurement(measName,meas);
// See if the MO gave us the measurement
if((retVal==CGBLCOError::EGBLCOErrorType::GBLCO_OK)&&(meas))
{
// Based on the measurement type, get the value from the P-Im
// and pass the value to the measurement.
switch (measType)
{
case eTimer:
{
CGBLLOMeasurementTimer *timeMeas=NULL;
timeMeas=static_cast<CGBLLOMeasurementTimer*>(meas);
retVal=timeMeas->StopTimer();
}
break;
default:
{
CKParameterOut *pOut = beh->GetOutputParameter(eParamOutputGetError);
TGBLError::SetTGBLError(pOut, CGBLCOError::EGBLCOErrorType::GBLCO_LOCAL,
GBLLO_ERROR_TRIED_START_TIMER_NOT,GBLLO_ERROR_TRIED_START_TIMER_NOT_DESC);
beh->ActivateOutput(eBehOutputError, TRUE);
localError = true;
}
break;
}
}
}
}
}
else
{
// Report the fact that we couldnt create a runtime MO from the param
CKParameterOut *pOut = beh->GetOutputParameter(eParamOutputGetError);
TGBLError::SetTGBLError(pOut, CGBLCOError::EGBLCOErrorType::GBLCO_LOCAL,
GBLLO_ERROR_NO_DATA_FROM_BB,GBLLO_ERROR_NO_DATA_FROM_BB_DESC);
beh->ActivateOutput(eBehOutputError, TRUE);
localError = true;
}
}
}
if (localError)
{
// error allready dealt with
}
else if (retVal!=CGBLCOError::EGBLCOErrorType::GBLCO_OK)
{
// Report the error back to Virtools dev
CKParameterOut *pOut = beh->GetOutputParameter(eParamOutputGetError);
const char* errorString = retVal;
TGBLError::SetTGBLError(pOut, retVal,retVal,(CKSTRING)errorString);
beh->ActivateOutput(eBehOutputError, TRUE);
}
else
{
// We are ok
beh->ActivateOutput(eBehOutputDone, TRUE);
}
return CKBR_OK;
}
