void RearWheel::setPosAndRot(float posX, float posY, float posZ,
float rotX, float rotY, float rotZ) // In Radians
{
drawable->setPosAndRot(posX, posY, posZ,
rotX, rotY, rotZ);
hkQuaternion quat;
quat.setAxisAngle(hkVector4(1.0f, 0.0f, 0.0f), rotX);
quat.mul(hkQuaternion(hkVector4(0.0f, 1.0f, 0.0f), rotY));
quat.mul(hkQuaternion(hkVector4(0.0f, 0.0f, 1.0f), rotZ));
hkVector4 pos = hkVector4(posX, posY, posZ);
body->setPositionAndRotation(hkVector4(posX, posY, posZ), quat);
}
void BoxHavok::Init(ObjectInfo* o)
{
hkRefPtr<hkpBoxShape> boxShape = new hkpBoxShape(halfExtent);
hkpRigidBodyCinfo bodyCinfo;
bodyCinfo.m_shape = boxShape;
bodyCinfo.m_solverDeactivation = bodyCinfo.SOLVER_DEACTIVATION_MEDIUM;
// Place box somewhere above floor...
bodyCinfo.m_position = this->startingPosition;
bodyCinfo.m_rotation = hkQuaternion(this->startingRotation);
bodyCinfo.m_restitution = this->restitution;
bodyCinfo.m_friction = this->friction;
if(moveable)
{
// Calculate the mass properties for the shape
const hkReal boxMass = this->mass;
hkMassProperties massProperties;
hkpInertiaTensorComputer::computeShapeVolumeMassProperties(boxShape, boxMass, massProperties);
bodyCinfo.setMassProperties(massProperties);
}
else
{
bodyCinfo.m_motionType = hkpMotion::MOTION_FIXED;
}
// Create the rigid body
this->m_RigidBody = new hkpRigidBody(bodyCinfo);
this->AddBodyToHavok();
}
void Object_Player::convertPosition()
{
D3DXVECTOR3 NormRot;
position.x = (float)objectBody->getPosition().getComponent(0);
position.y = (float)objectBody->getPosition().getComponent(1);
position.z = (float)objectBody->getPosition().getComponent(2);
position.w = (float)objectBody->getPosition().getComponent(3);
D3DXVec3Normalize(&NormRot, &rotation);
hk_rotation = hkQuaternion(NormRot.x, NormRot.y, NormRot.z, 0.0f);
}
void Racer::setPosAndRot(float posX, float posY, float posZ,
float rotX, float rotY, float rotZ) // In Radians
{
drawable->setPosAndRot(posX, posY, posZ,
rotX, rotY, rotZ);
hkQuaternion quat;
quat.setAxisAngle(hkVector4(1.0f, 0.0f, 0.0f), rotX);
quat.mul(hkQuaternion(hkVector4(0.0f, 1.0f, 0.0f), rotY));
quat.mul(hkQuaternion(hkVector4(0.0f, 0.0f, 1.0f), rotZ));
hkVector4 pos = hkVector4(posX, posY, posZ);
body->setPositionAndRotation(hkVector4(posX, posY, posZ), quat);
wheelFL->setPosAndRot(attachFL(0) + pos(0), attachFL(1) + pos(1), attachFL(2) + pos(2), rotX, rotY, rotZ);
wheelFR->setPosAndRot(attachFR(0) + pos(0), attachFR(1) + pos(1), attachFR(2) + pos(2), rotX, rotY, rotZ);
wheelRL->setPosAndRot(attachRL(0) + pos(0), attachRL(1) + pos(1), attachRL(2) + pos(2), rotX, rotY, rotZ);
wheelRR->setPosAndRot(attachRR(0) + pos(0), attachRR(1) + pos(1), attachRR(2) + pos(2), rotX, rotY, rotZ);
update();
}
void AddRemoveBodiesDemo::createGround()
{
const hkVector4 halfExtents(20.0f, 4.0f, 20.0f);
hkpShape* groundShape = new hkpBoxShape(halfExtents, 0.05f );
hkpRigidBodyCinfo bodyInfo;
bodyInfo.m_mass = 0.0f;
bodyInfo.m_shape = groundShape;
bodyInfo.m_motionType = hkpMotion::MOTION_FIXED;
bodyInfo.m_position.set(0.0f, 0.0f, 0.0f);
hkVector4 axis(0.0f, 0.0f, 1.0f);
bodyInfo.m_rotation = hkQuaternion(axis, -0.3f);
hkpRigidBody* groundBody = new hkpRigidBody(bodyInfo);
groundShape->removeReference();
m_world->addEntity(groundBody);
groundBody->removeReference();
}
Wall::Wall(Ogre::Vector3 Pos, Ogre::Vector3 size,Physics * physics, Ogre::SceneManager * manager, float rotation)
: StaticObject(Pos,
Ogre::Vector3(size.x, size.y, 20.0f),
"cube.mesh",
physics,
manager)
{
mOrintation = Ogre::Quaternion(Ogre::Radian(Ogre::Degree(rotation)), Ogre::Vector3(0,1,0));
hkVector4 HalfSize( mSize.x / 2.0, mSize.y / 2.0, mSize.z / 2.0);
hkpBoxShape* Hbox = new hkpBoxShape(HalfSize,0);
Hbox->setRadius(0.0f);
hkpRigidBodyCinfo WallInfo;
WallInfo.m_mass = 100.0f;
hkMassProperties massProperties;
hkpInertiaTensorComputer::computeBoxVolumeMassProperties(
HalfSize, WallInfo.m_mass, massProperties);
WallInfo.m_mass = massProperties.m_mass;
WallInfo.m_centerOfMass = massProperties.m_centerOfMass;
WallInfo.m_inertiaTensor = massProperties.m_inertiaTensor;
WallInfo.m_solverDeactivation = WallInfo.SOLVER_DEACTIVATION_MEDIUM;
WallInfo.m_shape = Hbox;
WallInfo.m_restitution = 0.0f;
WallInfo.m_qualityType = HK_COLLIDABLE_QUALITY_FIXED;
WallInfo.m_motionType = hkpMotion::MOTION_FIXED;
WallInfo.m_rotation = hkQuaternion(mOrintation.x, mOrintation.y, mOrintation.z, mOrintation.w);
WallInfo.m_position = hkVector4(mPosition.x,mPosition.y,mPosition.z);
Body = new hkpRigidBody(WallInfo);
Body->setUserData(hkUlong(this));
mPhysicsManager->GetPhysicsWorld()->addEntity(Body);
ObjectNode->setScale(mSize.x / ObjectEnt->getBoundingBox().getSize().x,
mSize.y / ObjectEnt->getBoundingBox().getSize().y, mSize.z / ObjectEnt->getBoundingBox().getSize().z);
ObjectNode->setPosition(Ogre::Vector3(Body->getPosition()(0), Body->getPosition()(1),Body->getPosition()(2)));
ObjectEnt->setMaterialName("Examples/RustySteel");
hkQuaternion GetBodyAngle = Body->getRotation();
hkVector4 GetrotationAxis(0,0,0);
if(GetBodyAngle.hasValidAxis())
{
GetBodyAngle.getAxis(GetrotationAxis);
}
Ogre::Quaternion UpdateOrintation(Ogre::Radian(GetBodyAngle.getAngle()), Ogre::Vector3(GetrotationAxis(0),GetrotationAxis(1),GetrotationAxis(2)));
ObjectNode->setOrientation(UpdateOrintation);
}
Turret::Turret(Ogre::Vector3 Pos, Ogre::SceneManager* manager, Physics* physicsManager)
: DynamicObject( Pos,
"cube.mesh",
Ogre::Vector3(20.0,50.0,20.0),
Ogre::Quaternion( Ogre::Radian(0), Ogre::Vector3(0,1,0)),
manager,
physicsManager )
,mRotateValue(0)
,mChangeInRotation(0.001)
,mKillTimer(0)
,mShutdown(false)
{
hkVector4 HalfSize( mSize.x / 2.0, mSize.y / 2.0, mSize.z / 2.0);
hkpBoxShape* Hbox = new hkpBoxShape(HalfSize,0);
Hbox->setRadius(0.0f);
hkpRigidBodyCinfo TurretInfo;
TurretInfo.m_mass = 5000.0f;
hkMassProperties massProperties;
hkpInertiaTensorComputer::computeBoxVolumeMassProperties(
HalfSize, TurretInfo.m_mass, massProperties);
TurretInfo.m_mass = massProperties.m_mass;
TurretInfo.m_centerOfMass = hkVector4(massProperties.m_centerOfMass(0),massProperties.m_centerOfMass(1) - 20,massProperties.m_centerOfMass(2));
TurretInfo.m_inertiaTensor = massProperties.m_inertiaTensor;
TurretInfo.m_solverDeactivation = TurretInfo.SOLVER_DEACTIVATION_MEDIUM;
TurretInfo.m_shape = Hbox;
TurretInfo.m_restitution = 0.0f;
TurretInfo.m_qualityType = HK_COLLIDABLE_QUALITY_MOVING;
TurretInfo.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
TurretInfo.m_rotation = hkQuaternion(mOrintation.x, mOrintation.y, mOrintation.z, mOrintation.w);
TurretInfo.m_position = hkVector4(mPosition.x,mPosition.y,mPosition.z);
Body = new hkpRigidBody(TurretInfo);
Body->setUserData(hkUlong(this));
mPhysicsManager->GetPhysicsWorld()->addEntity(Body);
ObjectNode->setScale(mSize.x / ObjectEnt->getBoundingBox().getSize().x,
mSize.y / ObjectEnt->getBoundingBox().getSize().y, mSize.z / ObjectEnt->getBoundingBox().getSize().z);
ObjectNode->setPosition(Ogre::Vector3(Body->getPosition()(0), Body->getPosition()(1),Body->getPosition()(2)));
}
Create::Create(Ogre::Vector3 Pos, Ogre::SceneManager* manager, Physics* physicsManager)
: DynamicObject( Pos,
"cube.mesh",
Ogre::Vector3(34.0,34.0,34.0),
Ogre::Quaternion( Ogre::Radian(0), Ogre::Vector3(0,1,0)),
manager,
physicsManager )
,Hit(false)
{
hkVector4 HalfSize( mSize.x / 2.0, mSize.y / 2.0, mSize.z / 2.0);
hkpBoxShape* Hbox = new hkpBoxShape(HalfSize,0);
Hbox->setRadius(0.0f);
hkpRigidBodyCinfo CreateInfo;
CreateInfo.m_mass = 100.0f;
hkMassProperties massProperties;
hkpInertiaTensorComputer::computeBoxVolumeMassProperties(
HalfSize, CreateInfo.m_mass, massProperties);
CreateInfo.m_mass = massProperties.m_mass;
CreateInfo.m_centerOfMass = massProperties.m_centerOfMass;
CreateInfo.m_inertiaTensor = massProperties.m_inertiaTensor;
CreateInfo.m_solverDeactivation = CreateInfo.SOLVER_DEACTIVATION_MEDIUM;
CreateInfo.m_shape = Hbox;
CreateInfo.m_restitution = 0.0f;
CreateInfo.m_qualityType = HK_COLLIDABLE_QUALITY_MOVING;
CreateInfo.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
CreateInfo.m_rotation = hkQuaternion(mOrintation.x, mOrintation.y, mOrintation.z, mOrintation.w);
CreateInfo.m_position = hkVector4(mPosition.x,mPosition.y,mPosition.z);
Body = new hkpRigidBody(CreateInfo);
Body->setUserData(hkUlong(this));
RecptorFront = mOrintation * Ogre::Vector3::UNIT_X;
RecptorSide = mOrintation * Ogre::Vector3::UNIT_Z;
mPhysicsManager->GetPhysicsWorld()->addEntity(Body);
ObjectNode->setScale(mSize.x / ObjectEnt->getBoundingBox().getSize().x,
mSize.y / ObjectEnt->getBoundingBox().getSize().y, mSize.z / ObjectEnt->getBoundingBox().getSize().z);
ObjectNode->setPosition(Ogre::Vector3(Body->getPosition()(0), Body->getPosition()(1),Body->getPosition()(2)));
}
SqueezedBallDemo::SqueezedBallDemo(hkDemoEnvironment* env)
: hkDefaultPhysicsDemo(env)
{
enableDisplayingToiInformation( true );
// Disable warnings
hkError::getInstance().setEnabled(0xf0de4356, false); // 'Your m_contactRestingVelocity seems to be too small'
hkError::getInstance().setEnabled(0xad45d441, false); // 'SCR generated invalid velocities'
hkError::getInstance().setEnabled(0xafe97523, false); //'This utility is intended primarily for Havok demo use. If you wish to step the world asynchronously,...'
//
// Setup the camera
//
{
hkVector4 from( 6, 0, 50);
hkVector4 to ( 6, 0, 0);
hkVector4 up ( 0, 1, 0);
setupDefaultCameras(env, from, to, up);
}
//
// Setup and create the hkpWorld
//
{
hkpWorldCinfo info;
info.setBroadPhaseWorldSize(350.0f);
info.m_collisionTolerance = .03f;
info.m_gravity.set(0.0f, -100.0f, 0.0f);
info.m_enableDeactivation = false;
info.m_simulationType = info.SIMULATION_TYPE_CONTINUOUS;
m_world = new hkpWorld( info );
m_world->lock();
m_debugViewerNames.pushBack( hkpBroadphaseViewer::getName() );
hkRegisterAlternateShapeTypes( m_world->getCollisionDispatcher() );
hkpPredGskfAgent::registerAgent( m_world->getCollisionDispatcher() );
setupGraphics();
}
// Create a row of boxes
int numBodies = 0;
for (int r = 0; r < 1; r++)
{
for (int i = 0; i < 1; i++)
{
//hkVector4 boxSize( 0.5f, 0.5f, 0.5f); // the end pos
//hkpConvexShape* shape = new hkpBoxShape( boxSize, 0.05f );
hkpConvexShape* shape = new hkpSphereShape( 0.5f );
hkpRigidBodyCinfo ci;
ci.m_motionType = hkpMotion::MOTION_DYNAMIC;
ci.m_shape = shape;
ci.m_mass = 1.0f;
ci.m_angularDamping = 0.0f;
ci.m_linearDamping = 0.0f;
hkReal d = 1.0f;
ci.m_inertiaTensor.setDiagonal( d,d,d );
ci.m_position.set( i * -5.0f, i * -5.0f, 0);
ci.m_restitution = 0.9f;
ci.m_qualityType = HK_COLLIDABLE_QUALITY_CRITICAL;
ci.m_maxLinearVelocity = 1000.0f;
hkpRigidBody* body = new hkpRigidBody(ci);
char buff[10];
hkString::sprintf(buff, "body%d", numBodies++);
body->setName(buff);
hkVector4 vel(1500.0f, 500.0f, 0.0f);
body->setLinearVelocity(vel);
m_world->addEntity( body )->removeReference();
shape->removeReference();
}
}
hkVector4 halfSize(40.0f, 0.5f, 10.0f);
// Create bottom fixed body
{
hkpConvexShape* shape = new hkpBoxShape(halfSize, 0.0f);
hkpRigidBodyCinfo ci;
ci.m_motionType = hkpMotion::MOTION_FIXED;
ci.m_shape = shape;
ci.m_mass = 1.0f;
ci.m_angularDamping = 0.0f;
ci.m_linearDamping = 0.0f;
hkReal d = 1.0f;
ci.m_inertiaTensor.setDiagonal( d,d,d );
ci.m_position.set( halfSize(0), -2.0f, 0);
ci.m_restitution = 0.9f;
hkpRigidBody* body = new hkpRigidBody(ci);
char buff[10];
hkString::sprintf(buff, "wall%d", 0);
body->setName(buff);
//bodies.pushBack( body );
m_world->addEntity( body );
body->removeReference();
shape->removeReference();
}
// Create top body
{
hkpConvexShape* shape = new hkpBoxShape(halfSize, 0.0f);
hkpRigidBodyCinfo ci;
ci.m_motionType = hkpMotion::MOTION_DYNAMIC;
ci.m_shape = shape;
ci.m_mass = 1000.0f;
ci.m_angularDamping = 0.0f;
ci.m_linearDamping = 0.0f;
ci.m_inertiaTensor.setDiagonal( 10e7,10e7,10e5 );
ci.m_position.set( halfSize(0), 2.1f, 0);
ci.m_restitution = 0.9f;
ci.m_rotation = hkQuaternion(hkVector4(0,0,-1), 4.0f * HK_REAL_PI / 180.0f);
ci.m_qualityType = HK_COLLIDABLE_QUALITY_MOVING;
hkpMassProperties mp;
hkpInertiaTensorComputer::computeBoxVolumeMassProperties(halfSize, ci.m_mass, mp);
hkpRigidBody* body = new hkpRigidBody(ci);
char buff[10];
hkString::sprintf(buff, "wall%d", 1);
body->setName(buff);
//bodies.pushBack( body );
m_world->addEntity( body );
body->removeReference();
shape->removeReference();
}
m_world->unlock();
}
OffsetObject* ObjectPool::getObject(const irr::core::vector3df& apos, const irr::core::vector3df& scale, const irr::core::vector3df& rot, bool addToOffsetManager)
{
//dprintf(MY_DEBUG_NOTE, "ObjectPool::getObject(): %s\n", name.c_str());
OffsetObject* offsetObject = 0;
if (!objectList.empty())
{
offsetObject = objectList.front(); // *objectList.begin();
objectList.erase(objectList.begin());
}
else
{
offsetObject = createNewInstance();
}
offsetObject->setUpdateCB(0);
//offsetObject->setPos(apos);
offsetObject->getNode()->setPosition(apos);
offsetObject->getNode()->setScale(scale);
offsetObject->getNode()->setRotation(rot);
offsetObject->getNode()->setMaterialType(material);
if (Shaders::getInstance()->getSupportedSMVersion() < 2)
{
offsetObject->getNode()->setMaterialFlag(irr::video::EMF_LIGHTING, Settings::getInstance()->nonshaderLight);
}
else
{
offsetObject->getNode()->setMaterialFlag(irr::video::EMF_LIGHTING, false);
}
//printf("-------------- texture: %p\n", texture);
offsetObject->getNode()->setMaterialTexture(0, texture);
if (hkShape)
{
hk::lock();
hkpRigidBodyCinfo groundInfo;
groundInfo.m_shape = hkShape;
groundInfo.m_position.set(apos.X, apos.Y, apos.Z);
if (rot != irr::core::vector3df())
{
irr::core::vector3df rotRad = rot * irr::core::DEGTORAD;
irr::core::quaternion rotQuat(rotRad);
groundInfo.m_rotation = hkQuaternion(rotQuat.X, rotQuat.Y, rotQuat.Z, rotQuat.W);
}
if (objectType == Vehicle)
{
groundInfo.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
groundInfo.m_mass = mass;
// TODO
//groundInfo.m_position.set(0.0f, 0.0f, 0.0f);
groundInfo.m_inertiaTensor.setDiagonal(1.0f, 1.0f, 1.0f);
groundInfo.m_centerOfMass.set(center.X, center.Y, center.Z);
groundInfo.m_collisionFilterInfo = hkpGroupFilter::calcFilterInfo(hk::materialType::vehicleId);
}
else
{
groundInfo.m_motionType = hkpMotion::MOTION_FIXED;
groundInfo.m_collisionFilterInfo = hkpGroupFilter::calcFilterInfo(hk::materialType::treeId);
}
groundInfo.m_friction = friction;
hkpRigidBody* hkBody = new hkpRigidBody(groundInfo);
if (objectType != Vehicle)
{
hkpPropertyValue val(1);
hkBody->addProperty(hk::materialType::treeId, val);
hk::hkWorld->addEntity(hkBody);
}
else
{
hkpPropertyValue val(1);
hkBody->addProperty(hk::materialType::vehicleId, val);
}
hk::unlock();
offsetObject->setBody(hkBody);
//hkBody->activate();
}
offsetObject->setPool(this);
inUse++;
if (addToOffsetManager)
{
offsetObject->addToManager();
}
offsetObject->getNode()->setVisible(true);
switch (objectType)
{
case Grass:
case MyTree:
break;
default:
ObjectPoolManager::getInstance()->addShadowNode(offsetObject->getNode());
break;
}
return offsetObject;
}
void Game::dropSphere(){
pSphere->getRigidBody()->setPosition(hkVector4(pLevel1->getPos().x+0.1,pLevel1->getPos().y + 3.0,pLevel1->getPos().z));
pSphere->getRigidBody()->setRotation(hkQuaternion(1,0,0,0));
pSphere->getRigidBody()->setAngularVelocity(hkVector4(0,0,0));
pSphere->getRigidBody()->setLinearVelocity(hkVector4(0,0,0));
}
void Game::rotatePlatformXZZero(){
pLevel1->getRigidBody()->setRotation(hkQuaternion(1, 0, 0, 0));
}
void Game::rotatePlatformZPostiveXNegative(){
pLevel1->getRigidBody()->setRotation(hkQuaternion(0.9980973490458728, 0.04357787137382908, -0.0019026509541272335, -0.04357787137382908));
}
void Game::rotatePlatformZAxisNegative(){
// hkQuaternion* quat = pLevel1->getRigidBody()->getRotation().getAngle;
pLevel1->getRigidBody()->setRotation(hkQuaternion(0.9990482215818578, -0.04361938736533599, 0,0));
}
void DemoKeeper::createGround( void )
{
const hkVector4 halfExtents(12.0f, 1.0f, 12.0f);
hkpShape* groundShape = new hkpBoxShape(halfExtents, 0 );
hkpRigidBodyCinfo bodyInfo;
bodyInfo.m_mass = 0.0f;
bodyInfo.m_shape = groundShape;
bodyInfo.m_motionType = hkpMotion::MOTION_FIXED;
bodyInfo.m_position.set(0.0f, 10.0f, 0.0f);
hkVector4 axis(1.0f, 0.0f, 0.0f);
{
axis.set(1,0,1);
axis.normalize3();
bodyInfo.m_rotation = hkQuaternion(axis, 0.5f);
bodyInfo.m_position.set(10.0f, 10.0f, -10.0f);
hkpRigidBody* groundBody = new hkpRigidBody(bodyInfo);
mWorld->addEntity(groundBody);
groundBody->removeReference();
//render it with Ogre
Ogre::SceneNode* boxNode = mSceneMgr->getRootSceneNode()->createChildSceneNode();
//scale and rotate
boxNode->scale(24, 2, 24);
Ogre::Quaternion q = HkOgre::Convert::hkQuatToOgre(bodyInfo.m_rotation);
boxNode->rotate(q);
//display and sync
Ogre::Entity *ent = mSceneMgr->createEntity(Ogre::StringConverter::toString(mLabMgr->getEntityCount()),"defCube.mesh");
mLabMgr->setColor(ent, Ogre::Vector3(0.3047,0.3047,0.3047));
HkOgre::Renderable* rend = new HkOgre::Renderable(boxNode, groundBody, mWorld);
boxNode->attachObject(ent);
//register to lab manager
mLabMgr->registerEnity( boxNode, groundBody);
}
{
axis.set(-1,0,1);
axis.normalize3();
bodyInfo.m_rotation = hkQuaternion(axis, 0.5f);
bodyInfo.m_position.set(10.0f, 10.0f, 10.0f);
hkpRigidBody* groundBody = new hkpRigidBody(bodyInfo);
mWorld->addEntity(groundBody);
groundBody->removeReference();
//render it with Ogre
Ogre::SceneNode* boxNode = mSceneMgr->getRootSceneNode()->createChildSceneNode();
//scale and rotate
boxNode->scale(24, 2, 24);
Ogre::Quaternion q = HkOgre::Convert::hkQuatToOgre(bodyInfo.m_rotation);
boxNode->rotate(q);
//display and sync
Ogre::Entity *ent = mSceneMgr->createEntity(Ogre::StringConverter::toString(mLabMgr->getEntityCount()),"defCube.mesh");
mLabMgr->setColor(ent, Ogre::Vector3(0.3047,0.3047,0.3047));
HkOgre::Renderable* rend = new HkOgre::Renderable(boxNode, groundBody, mWorld);
boxNode->attachObject(ent);
//register to lab manager
mLabMgr->registerEnity( boxNode, groundBody);
}
{
axis.set(1,0,-1);
axis.normalize3();
bodyInfo.m_rotation = hkQuaternion(axis, 0.5f);
bodyInfo.m_position.set(-10.0f, 10.0f, -10.0f);
hkpRigidBody* groundBody = new hkpRigidBody(bodyInfo);
mWorld->addEntity(groundBody);
groundBody->removeReference();
//render it with Ogre
Ogre::SceneNode* boxNode = mSceneMgr->getRootSceneNode()->createChildSceneNode();
//scale and rotate
boxNode->scale(24, 2, 24);
Ogre::Quaternion q = HkOgre::Convert::hkQuatToOgre(bodyInfo.m_rotation);
boxNode->rotate(q);
//display and sync
Ogre::Entity *ent = mSceneMgr->createEntity(Ogre::StringConverter::toString(mLabMgr->getEntityCount()),"defCube.mesh");
mLabMgr->setColor(ent, Ogre::Vector3(0.3047,0.3047,0.3047));
HkOgre::Renderable* rend = new HkOgre::Renderable(boxNode, groundBody, mWorld);
boxNode->attachObject(ent);
//register to lab manager
mLabMgr->registerEnity( boxNode, groundBody);
}
{
axis.set(-1,0,-1);
axis.normalize3();
bodyInfo.m_rotation = hkQuaternion(axis, 0.5f);
bodyInfo.m_position.set(-10.0f, 10.0f, 10.0f);
hkpRigidBody* groundBody = new hkpRigidBody(bodyInfo);
mWorld->addEntity(groundBody);
groundBody->removeReference();
//render it with Ogre
Ogre::SceneNode* boxNode = mSceneMgr->getRootSceneNode()->createChildSceneNode();
//scale and rotate
boxNode->scale(24, 2, 24);
Ogre::Quaternion q = HkOgre::Convert::hkQuatToOgre(bodyInfo.m_rotation);
boxNode->rotate(q);
//display and sync
Ogre::Entity *ent = mSceneMgr->createEntity(Ogre::StringConverter::toString(mLabMgr->getEntityCount()),"defCube.mesh");
mLabMgr->setColor(ent, Ogre::Vector3(0.3047,0.3047,0.3047));
HkOgre::Renderable* rend = new HkOgre::Renderable(boxNode, groundBody, mWorld);
boxNode->attachObject(ent);
//register to lab manager
mLabMgr->registerEnity( boxNode, groundBody);
}
groundShape->removeReference();
}
FrictionChangeDemo::FrictionChangeDemo( hkDemoEnvironment* env ) :
hkDefaultPhysicsDemo( env )
{
// Setup the camera.
{
hkVector4 from(0.0f, 10.0f, 40.0f);
hkVector4 to (0.0f, 0.0f, 0.0f);
hkVector4 up (0.0f, 1.0f, 0.0f);
setupDefaultCameras(env, from, to, up);
}
// Create the world.
{
hkpWorldCinfo info;
info.setBroadPhaseWorldSize( 1000.0f );
m_world = new hkpWorld(info);
m_world->lock();
setupGraphics();
}
//
// Setup game logic variables
//
m_frameCount = 0;
m_frictionChangePeriod = 100;
//
// Register the agents
//
{
hkpAgentRegisterUtil::registerAllAgents(m_world->getCollisionDispatcher());
}
// In this demo we have two rigid bodies (both hkBoxShapes); the floor, which is fixed, and the sliding dynamic box.
// These are constructed in the usual manner by filling out the hkpRigidBodyCinfo template for each. Both
// bodies have initially been given a frictional value of 1.0:
//
// Create a fixed body
//
{
const hkVector4 halfExtents(20.0f, 2.f, 10.0f);
hkpShape* shape = new hkpBoxShape(halfExtents, 0 );
// Compute the inertia tensor from the shape
hkpMassProperties massProperties;
hkpInertiaTensorComputer::computeShapeVolumeMassProperties(shape, 5.0f, massProperties);
// Assign the rigid body properties
hkpRigidBodyCinfo bodyInfo;
bodyInfo.m_motionType = hkpMotion::MOTION_FIXED;
bodyInfo.m_shape = shape;
hkVector4 axis(0.0f, 0.0f, 1.0f);
bodyInfo.m_rotation = hkQuaternion(axis, -0.3f);
bodyInfo.m_friction = 1.f;
hkpRigidBody *body = new hkpRigidBody(bodyInfo);
m_world->addEntity( body );
body->removeReference();
shape->removeReference();
}
//
// Create a moving body - we update the friction to this in the stepGame function
//
{
const hkVector4 halfExtents(2.0f, .5f, 2.0f);
hkpShape* shape = new hkpBoxShape(halfExtents, 0 );
// Compute the inertia tensor from the shape
hkpMassProperties massProperties;
hkpInertiaTensorComputer::computeShapeVolumeMassProperties(shape, 5.0f, massProperties);
// Assign the rigid body properties
hkpRigidBodyCinfo bodyInfo;
bodyInfo.m_mass = massProperties.m_mass;
bodyInfo.m_centerOfMass = massProperties.m_centerOfMass;
bodyInfo.m_inertiaTensor = massProperties.m_inertiaTensor;
bodyInfo.m_shape = shape;
bodyInfo.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
bodyInfo.m_position.set(-10.0f, 8.0f, 0.0f);
bodyInfo.m_friction = 1.f;
m_movingBody = new hkpRigidBody(bodyInfo);
m_world->addEntity( m_movingBody );
m_movingBody->removeReference();
shape->removeReference();
}
/// As the demo runs we will dynamically alter the friction value for the moving body, alternatively setting it to 0.0 and 1.0.
m_world->unlock();
}
void KeyframingDemo::createGround()
{
///
const hkVector4 halfExtents(12.0f, 1.0f, 12.0f);
hkpShape* groundShape = new hkpBoxShape(halfExtents, 0 );
hkpRigidBodyCinfo bodyInfo;
bodyInfo.m_mass = 0.0f;
bodyInfo.m_shape = groundShape;
bodyInfo.m_motionType = hkpMotion::MOTION_FIXED;
bodyInfo.m_position.set(0.0f, 0.0f, 0.0f);
hkVector4 axis(1.0f, 0.0f, 0.0f);
{
axis.set(1,0,1);
axis.normalize3();
bodyInfo.m_rotation = hkQuaternion(axis, 0.5f);
bodyInfo.m_position.set(10.0f, 0.0f, -10.0f);
hkpRigidBody* groundBody = new hkpRigidBody(bodyInfo);
m_world->addEntity(groundBody);
groundBody->removeReference();
}
{
axis.set(-1,0,1);
axis.normalize3();
bodyInfo.m_rotation = hkQuaternion(axis, 0.5f);
bodyInfo.m_position.set(10.0f, 0.0f, 10.0f);
hkpRigidBody* groundBody = new hkpRigidBody(bodyInfo);
m_world->addEntity(groundBody);
groundBody->removeReference();
}
{
axis.set(1,0,-1);
axis.normalize3();
bodyInfo.m_rotation = hkQuaternion(axis, 0.5f);
bodyInfo.m_position.set(-10.0f, 0.0f, -10.0f);
hkpRigidBody* groundBody = new hkpRigidBody(bodyInfo);
m_world->addEntity(groundBody);
groundBody->removeReference();
}
{
axis.set(-1,0,-1);
axis.normalize3();
bodyInfo.m_rotation = hkQuaternion(axis, 0.5f);
bodyInfo.m_position.set(-10.0f, 0.0f, 10.0f);
hkpRigidBody* groundBody = new hkpRigidBody(bodyInfo);
m_world->addEntity(groundBody);
groundBody->removeReference();
}
groundShape->removeReference();
}
void Turret::Update()
{
bool PlayerInRoom = false;
DynamicObject::Update();
hkpWorldRayCastOutput OutPut;
hkpWorldRayCastInput Ray;
Player* theplayer = 0;
Ogre::Vector3 RayDirection = (mPlayerPos - mPosition).normalisedCopy();
Ray.m_from = hkVector4(mPosition.x + (RayDirection.x * 25)
,mPosition.y + (RayDirection.y * 25)
,mPosition.z + (RayDirection.z * 25));
Ray.m_to = hkVector4(mPlayerPos.x, mPlayerPos.y, mPlayerPos.z);
mPhysicsManager->GetPhysicsWorld()->castRay(Ray,OutPut);
if(OutPut.hasHit())
{
const hkpCollidable* col = OutPut.m_rootCollidable;
hkpRigidBody* body = hkpGetRigidBody(col);
theplayer = dynamic_cast<Player*> ((BaseObject *)body->getUserData());
if(theplayer != 0)
{
PlayerInRoom = true;
}
else
{
mPlayerInSight = false;
mKillTimer = 0;
}
}
Ogre::Vector3 NewDir = Ogre::Vector3(RayDirection.x,0,RayDirection.z);
NewDir.normalise();
Ogre::Radian angle = NewDir.angleBetween(ObjectNode->getOrientation() * Ogre::Vector3::UNIT_X);
if(PlayerInRoom || !mPlayerInSight)
{
if(angle.valueDegrees() < 20 || angle.valueDegrees() > -20)
{
mPlayerInSight = true;
}
}
if(mPlayerInSight)
{
mRotateValue += angle.valueRadians();
Body->setRotation(hkQuaternion(hkVector4(0,1,0),mRotateValue));
mKillTimer++;
if(mKillTimer > 800)
{
mShutdown = true;
//theplayer->OnDeath();
}
}
else
{
if(mRotateValue < -2)
{
mChangeInRotation = 0.001;
}
else if (mRotateValue > 2)
{
mChangeInRotation = -0.001;
}
mRotateValue += mChangeInRotation;
Body->setRotation(hkQuaternion(hkVector4(0,1,0),mRotateValue));
}
}