bool CPhysxSkeleton::AddFixedJoint(CXMLTreeNode _XMLObjects)
{
string l_szActor1, l_szActor2, l_szDirection;
l_szActor1 = _XMLObjects.GetAttribute<std::string>("Actor1" , "");
l_szActor2 = _XMLObjects.GetAttribute<std::string>("Actor2" , "");
l_szDirection = _XMLObjects.GetAttribute<std::string>("Direction" , "");
CPhysxBone* l_pBone1 = GetPhysxBoneByName(l_szActor1);
CPhysxBone* l_pBone2 = GetPhysxBoneByName(l_szActor2);
CPhysicActor* l_pActor1 = 0;
CPhysicActor* l_pActor2 = 0;
CPhysicFixedJoint* l_pFixedJoint = 0;
l_pFixedJoint = new CPhysicFixedJoint();
l_pActor1 = l_pBone1->GetPhysxActor();
if (l_szActor2 == "NULL")
{
l_pFixedJoint->SetInfo(l_pActor1);
}
else
{
l_pActor2 = l_pBone2->GetPhysxActor();
l_pFixedJoint->SetInfo(l_pActor1, l_pActor2);
}
PhysXMInstance->AddPhysicFixedJoint(l_pFixedJoint);
m_vFixedJoints.push_back(l_pFixedJoint);
return true;
}
bool CPhysxSkeleton::AddFixedJoint(CXMLTreeNode _XMLObjects)
{
string l_szActor1,l_szActor2, l_szDirection;
l_szActor1 = _XMLObjects.GetPszISOProperty("Actor1" ,"");
l_szActor2 = _XMLObjects.GetPszISOProperty("Actor2" ,"");
l_szDirection = _XMLObjects.GetPszISOProperty("Direction" ,"");
CPhysxBone* l_pBone1 = GetPhysxBoneByName(l_szActor1);
CPhysxBone* l_pBone2 = GetPhysxBoneByName(l_szActor2);
CPhysicActor* l_pActor1 = 0;
CPhysicActor* l_pActor2 = 0;
CPhysicFixedJoint* l_pFixedJoint = 0;
l_pFixedJoint = new CPhysicFixedJoint();
l_pActor1 = l_pBone1->GetPhysxActor();
if (l_szActor2=="NULL")
{
l_pFixedJoint->SetInfo(l_pActor1);
}
else
{
l_pActor2 = l_pBone2->GetPhysxActor();
l_pFixedJoint->SetInfo(l_pActor1,l_pActor2);
}
CORE->GetPhysicsManager()->AddPhysicFixedJoint(l_pFixedJoint);
m_vFixedJoints.push_back(l_pFixedJoint);
return true;
}
void CPhysxSkeleton::InitParents()
{
for(size_t i = 0; i < m_vBones.size(); ++i)
{
if (!m_vBones[i]->IsBoneRoot())
{
int l_iParentId = m_vBones[i]->GetParentID();
if (l_iParentId != -1)
{
string l_szNameParent = m_pCalSkeleton->getBone(l_iParentId)->getCoreBone()->getName();
CPhysxBone* l_pParentPhysBone = GetPhysxBoneByName(l_szNameParent);
m_vBones[i]->SetParent(l_pParentPhysBone);
}
else
{
m_vBones[i]->SetParent(0);
}
}
else
{
m_vBones[i]->SetParent(0);
}
}
}
bool CPhysxSkeleton::Load(const string& _szFileName)
{
CXMLTreeNode l_XML;
CXMLTreeNode l_XMLObjects;
if(!l_XML.LoadFile(_szFileName.c_str()))
{
LOGGER->AddNewLog(ELL_WARNING,"CPhysxRagdoll:: No s'ha trobat el XML \"%s\"", _szFileName.c_str());
return false;
}
l_XMLObjects = l_XML(0);
int l_iNumObjects = l_XMLObjects.GetNumChildren();
for(int i = 0; i < l_iNumObjects; i++)
{
CXMLTreeNode l_XMLObject = l_XMLObjects(i);
string l_szType,l_szName;
if(l_XMLObject.IsComment())
{
continue;
}
l_szName = l_XMLObject.GetPszISOProperty("name" ,"");
l_szType = l_XMLObject.GetPszISOProperty("type" ,"");
CPhysxBone* l_pBone = GetPhysxBoneByName(l_szName);
if (l_pBone!=0)
{
if (l_szType=="box")
{
l_pBone->AddBoxActor(l_XMLObject, m_pEntity);
}
if (l_szType=="sphere")
{
l_pBone->AddSphereActor(l_XMLObject, m_pEntity);
}
if (l_szType=="capsule")
{
l_pBone->AddCapsuleActor(l_XMLObject, m_pEntity);
}
}
}
if (!m_bRagdollActive)
{
SleepPhysxBones();
}
return true;
}
void CPhysxSkeleton::UpdateCal3dFromPhysx()
{
for(size_t i = 0; i < m_vBones.size(); ++i)
{
m_vBones[i]->UpdateCal3dFromPhysx();
}
m_mTransform = GetPhysxBoneByName("Bip01 Pelvis")->GetTransform();
m_pCalSkeleton->calculateState();
}
bool CPhysxSkeleton::Load(const std::string& _szFileName)
{
ASSERT(false,"No deberia de hacer esto!!!!");
bool lOk = true;
CXMLTreeNode l_XML;
CXMLTreeNode l_XMLObjects;
if(!l_XML.LoadAndFindNode(_szFileName.c_str(), "node" , l_XMLObjects))
{
LOG_WARNING_APPLICATION( "Could not open file %s", _szFileName.c_str());
lOk = false;
}
else
{
for(uint32 i = 0, l_iNumObjects = l_XMLObjects.GetNumChildren(); i < l_iNumObjects; ++i)
{
const CXMLTreeNode& l_XMLObject = l_XMLObjects(i);
const std::string& l_szName = l_XMLObject.GetAttribute<std::string>("name" , "");
CPhysxBone* l_pBone = GetPhysxBoneByName(l_szName);
if (l_pBone )
{
const std::string& l_szType = l_XMLObject.GetAttribute<std::string>("type" , "");
if (l_szType == "box")
{
l_pBone->AddBoxActor(l_XMLObject, m_pEntity);
}
else if (l_szType == "sphere")
{
l_pBone->AddSphereActor(l_XMLObject, m_pEntity);
}
else if (l_szType == "capsule")
{
l_pBone->AddCapsuleActor(l_XMLObject, m_pEntity);
}
}
}
if (!m_bRagdollActive)
{
SleepPhysxBones();
}
}
return lOk;
}
bool CPhysxSkeleton::AddSphericalJoint(CXMLTreeNode _XMLObjects)
{
string l_szActor1, l_szActor2, l_szDirection;
l_szActor1 = _XMLObjects.GetAttribute<std::string>("Actor1" , "");
l_szActor2 = _XMLObjects.GetAttribute<std::string>("Actor2" , "");
l_szDirection = _XMLObjects.GetAttribute<std::string>("Direction" , "");
SSphericalLimitInfo l_pJointInfo = GetJointParameterInfo(_XMLObjects);
CPhysxBone* l_pBone1 = GetPhysxBoneByName(l_szActor1);
CPhysxBone* l_pBone2 = GetPhysxBoneByName(l_szActor2);
CPhysicActor* l_pActor1 = 0;
CPhysicActor* l_pActor2 = 0;
l_pActor1 = l_pBone1->GetPhysxActor();
CPhysicSphericalJoint* l_pSphericalJoint = 0;
l_pSphericalJoint = new CPhysicSphericalJoint();
CalVector l_vCalVect = l_pBone1->GetCalBone()->getTranslationAbsolute();
Math::Vect3f l_vJointPoint(-l_vCalVect.x, l_vCalVect.y, l_vCalVect.z);
l_vJointPoint = m_mTransform * l_vJointPoint;
Math::Vect3f l_vAxis;
CalVector l_vVect;
//MES PROVES
if (l_szDirection == "Out")
{
if (l_pBone1->GetChildList().size() > 0)
{
int l_pChildId = l_pBone1->GetChildList()[0];
string l_szNameChild = m_pCalSkeleton->getBone(l_pChildId)->getCoreBone()->getName();
CPhysxBone* l_pPhysChild = GetPhysxBoneByName(l_szNameChild);
l_vVect = l_pPhysChild->GetCalBone()->getTranslationAbsolute();
l_vVect.x = -l_vVect.x;
/* l_vAxis = Math::Vect3f(l_vVect.x-l_vJointPoint.x,l_vVect.y-l_vJointPoint.y,l_vVect.z-l_vJointPoint.z);
l_vAxis.Normalize();*/
}
else
{
Math::Vect3f l_vMiddle = l_pBone1->GetMiddlePoint();
l_vVect = CalVector(l_vMiddle.x, l_vMiddle.y, l_vMiddle.z);
/* l_vAxis(l_vMiddle.x-l_vJointPoint.x,l_vMiddle.y-l_vJointPoint.y,l_vMiddle.z-l_vJointPoint.z);
l_vAxis.Normalize();*/
}
}
else if (l_szDirection == "In")
{
/*
if (!l_pBone1->IsBoneRoot())
{
int l_pParentID = l_pBone1->GetParentID();
string l_szNameParent = m_pCalSkeleton->getBone(l_pParentID)->getCoreBone()->getName();
CPhysxBone* l_pPhysParent = GetPhysxBoneByName(l_szNameParent);
CalVector l_vVect = l_pPhysParent->GetCalBone()->getTranslationAbsolute();
l_vVect.x = -l_vVect.x;
/* l_vAxis = Math::Vect3f(l_vVect.x-l_vJointPoint.x,l_vVect.y-l_vJointPoint.y,l_vVect.z-l_vJointPoint.z);
l_vAxis.Normalize();
}
*/
}
Math::Vect3f l_vAxisAux(l_vVect.x, l_vVect.y, l_vVect.z);
l_vAxisAux = m_mTransform * l_vAxisAux;
l_vAxis = Math::Vect3f(l_vAxisAux.x - l_vJointPoint.x, l_vAxisAux.y - l_vJointPoint.y, l_vAxisAux.z - l_vJointPoint.z);
l_vAxis.Normalize();
l_pJointInfo.m_vAnchor = l_vJointPoint;
l_pJointInfo.m_vAxis = l_vAxis;
if (l_szActor2 == "NULL")
{
//l_pSphericalJoint->SetInfoComplete(l_vJointPoint,l_vAxis,l_pActor1);
l_pSphericalJoint->SetInfoRagdoll(l_pJointInfo, l_pActor1);
}
else
{
l_pActor2 = l_pBone2->GetPhysxActor();
//l_pSphericalJoint->SetInfoComplete(l_vJointPoint,l_vAxis,l_pActor1,l_pActor2);
l_pSphericalJoint->SetInfoRagdoll(l_pJointInfo, l_pActor1, l_pActor2);
}
PhysXMInstance->AddPhysicSphericalJoint(l_pSphericalJoint);
m_vSphericalJoints.push_back(l_pSphericalJoint);
return true;
}
