Beispiel #1
0
void CreateRagdoll::CreateRagdollConstraint(const String& boneName, const String& parentName, ConstraintType type,
    const Vector3& axis, const Vector3& parentAxis, const Vector2& highLimit, const Vector2& lowLimit,
    bool disableCollision)
{
    Node* boneNode = node_->GetChild(boneName, true);
    Node* parentNode = node_->GetChild(parentName, true);
    if (!boneNode)
    {
        URHO3D_LOGWARNING("Could not find bone " + boneName + " for creating ragdoll constraint");
        return;
    }
    if (!parentNode)
    {
        URHO3D_LOGWARNING("Could not find bone " + parentName + " for creating ragdoll constraint");
        return;
    }

    Constraint* constraint = boneNode->CreateComponent<Constraint>();
    constraint->SetConstraintType(type);
    // Most of the constraints in the ragdoll will work better when the connected bodies don't collide against each other
    constraint->SetDisableCollision(disableCollision);
    // The connected body must be specified before setting the world position
    constraint->SetOtherBody(parentNode->GetComponent<RigidBody>());
    // Position the constraint at the child bone we are connecting
    constraint->SetWorldPosition(boneNode->GetWorldPosition());
    // Configure axes and limits
    constraint->SetAxis(axis);
    constraint->SetOtherAxis(parentAxis);
    constraint->SetHighLimit(highLimit);
    constraint->SetLowLimit(lowLimit);
}
Beispiel #2
0
void Vehicle::InitWheel(const String& name, const Vector3& offset, WeakPtr<Node>& wheelNode, unsigned& wheelNodeID)
{
    ResourceCache* cache = GetSubsystem<ResourceCache>();

    // Note: do not parent the wheel to the hull scene node. Instead create it on the root level and let the physics
    // constraint keep it together
    wheelNode = GetScene()->CreateChild(name);
    wheelNode->SetPosition(node_->LocalToWorld(offset));
    wheelNode->SetRotation(node_->GetRotation() * (offset.x_ >= 0.0 ? Quaternion(0.0f, 0.0f, -90.0f) :
        Quaternion(0.0f, 0.0f, 90.0f)));
    wheelNode->SetScale(Vector3(0.8f, 0.5f, 0.8f));
    // Remember the ID for serialization
    wheelNodeID = wheelNode->GetID();

    StaticModel* wheelObject = wheelNode->CreateComponent<StaticModel>();
    RigidBody* wheelBody = wheelNode->CreateComponent<RigidBody>();
    CollisionShape* wheelShape = wheelNode->CreateComponent<CollisionShape>();
    Constraint* wheelConstraint = wheelNode->CreateComponent<Constraint>();

    wheelObject->SetModel(cache->GetResource<Model>("Models/Cylinder.mdl"));
    wheelObject->SetMaterial(cache->GetResource<Material>("Materials/Stone.xml"));
    wheelObject->SetCastShadows(true);
    wheelShape->SetSphere(1.0f);
    wheelBody->SetFriction(1.0f);
    wheelBody->SetMass(1.0f);
    wheelBody->SetLinearDamping(0.2f); // Some air resistance
    wheelBody->SetAngularDamping(0.75f); // Could also use rolling friction
    wheelBody->SetCollisionLayer(1);
    wheelConstraint->SetConstraintType(CONSTRAINT_HINGE);
    wheelConstraint->SetOtherBody(GetComponent<RigidBody>()); // Connect to the hull body
    wheelConstraint->SetWorldPosition(wheelNode->GetPosition()); // Set constraint's both ends at wheel's location
    wheelConstraint->SetAxis(Vector3::UP); // Wheel rotates around its local Y-axis
    wheelConstraint->SetOtherAxis(offset.x_ >= 0.0 ? Vector3::RIGHT : Vector3::LEFT); // Wheel's hull axis points either left or right
    wheelConstraint->SetLowLimit(Vector2(-180.0f, 0.0f)); // Let the wheel rotate freely around the axis
    wheelConstraint->SetHighLimit(Vector2(180.0f, 0.0f));
    wheelConstraint->SetDisableCollision(true); // Let the wheel intersect the vehicle hull
}