void PhysicsHelper::CreateTetrahedron(PhysicsWorld& world)
{
Particle* p0 = new Particle(Random::GetF(-kParticleSpawnVariance, kParticleSpawnVariance), Random::GetF(kParticleHeight, kParticleSpawnVariance + kParticleHeight), Random::GetF(-kParticleSpawnVariance, kParticleSpawnVariance), kRadius, kInverseMass);
Particle* p1 = new Particle(Random::GetF(-kParticleSpawnVariance, kParticleSpawnVariance), Random::GetF(kParticleHeight, kParticleSpawnVariance + kParticleHeight), Random::GetF(-kParticleSpawnVariance, kParticleSpawnVariance), kRadius, kInverseMass);
Particle* p2 = new Particle(Random::GetF(-kParticleSpawnVariance, kParticleSpawnVariance), Random::GetF(kParticleHeight, kParticleSpawnVariance + kParticleHeight), Random::GetF(-kParticleSpawnVariance, kParticleSpawnVariance), kRadius, kInverseMass);
Particle* p3 = new Particle(Random::GetF(-kParticleSpawnVariance, kParticleSpawnVariance), Random::GetF(kParticleHeight, kParticleSpawnVariance + kParticleHeight), Random::GetF(-kParticleSpawnVariance, kParticleSpawnVariance), kRadius, kInverseMass);
p0->SetVelocity(Random::GetF(-kParticleVelocityRange, kParticleVelocityRange)*kTimeStep, Random::GetF(0.0f, kParticleVelocityRange)*kTimeStep, Random::GetF(-kParticleVelocityRange, kParticleVelocityRange)*kTimeStep);
p1->SetVelocity(Random::GetF(-kParticleVelocityRange, kParticleVelocityRange)*kTimeStep, Random::GetF(0.0f, kParticleVelocityRange)*kTimeStep, Random::GetF(-kParticleVelocityRange, kParticleVelocityRange)*kTimeStep);
p2->SetVelocity(Random::GetF(-kParticleVelocityRange, kParticleVelocityRange)*kTimeStep, Random::GetF(0.0f, kParticleVelocityRange)*kTimeStep, Random::GetF(-kParticleVelocityRange, kParticleVelocityRange)*kTimeStep);
p3->SetVelocity(Random::GetF(-kParticleVelocityRange, kParticleVelocityRange)*kTimeStep, Random::GetF(0.0f, kParticleVelocityRange)*kTimeStep, Random::GetF(-kParticleVelocityRange, kParticleVelocityRange)*kTimeStep);
world.AddParticle(p0);
world.AddParticle(p1);
world.AddParticle(p2);
world.AddParticle(p3);
Spring* s0 = new Spring(p0, p1, 1.0f);
Spring* s1 = new Spring(p1, p2, 1.0f);
Spring* s2 = new Spring(p2, p3, 1.0f);
Spring* s3 = new Spring(p3, p0, 1.0f);
Spring* s4 = new Spring(p0, p2, 1.0f);
Spring* s5 = new Spring(p1, p3, 1.0f);
world.AddConstraint(s0);
world.AddConstraint(s1);
world.AddConstraint(s2);
world.AddConstraint(s3);
world.AddConstraint(s4);
world.AddConstraint(s5);
}
void PhysicsHelper::CreateCube(PhysicsWorld& world)
{
Particle* p0 = new Particle(Random::GetF(-kParticleSpawnVariance, kParticleSpawnVariance), Random::GetF(kParticleHeight, kParticleSpawnVariance + kParticleHeight), Random::GetF(-kParticleSpawnVariance, kParticleSpawnVariance), kRadius, kInverseMass);
Particle* p1 = new Particle(Random::GetF(-kParticleSpawnVariance, kParticleSpawnVariance), Random::GetF(kParticleHeight, kParticleSpawnVariance + kParticleHeight), Random::GetF(-kParticleSpawnVariance, kParticleSpawnVariance), kRadius, kInverseMass);
Particle* p2 = new Particle(Random::GetF(-kParticleSpawnVariance, kParticleSpawnVariance), Random::GetF(kParticleHeight, kParticleSpawnVariance + kParticleHeight), Random::GetF(-kParticleSpawnVariance, kParticleSpawnVariance), kRadius, kInverseMass);
Particle* p3 = new Particle(Random::GetF(-kParticleSpawnVariance, kParticleSpawnVariance), Random::GetF(kParticleHeight, kParticleSpawnVariance + kParticleHeight), Random::GetF(-kParticleSpawnVariance, kParticleSpawnVariance), kRadius, kInverseMass);
Particle* p4 = new Particle(Random::GetF(-kParticleSpawnVariance, kParticleSpawnVariance), Random::GetF(kParticleHeight, kParticleSpawnVariance + kParticleHeight), Random::GetF(-kParticleSpawnVariance, kParticleSpawnVariance), kRadius, kInverseMass);
Particle* p5 = new Particle(Random::GetF(-kParticleSpawnVariance, kParticleSpawnVariance), Random::GetF(kParticleHeight, kParticleSpawnVariance + kParticleHeight), Random::GetF(-kParticleSpawnVariance, kParticleSpawnVariance), kRadius, kInverseMass);
Particle* p6 = new Particle(Random::GetF(-kParticleSpawnVariance, kParticleSpawnVariance), Random::GetF(kParticleHeight, kParticleSpawnVariance + kParticleHeight), Random::GetF(-kParticleSpawnVariance, kParticleSpawnVariance), kRadius, kInverseMass);
Particle* p7 = new Particle(Random::GetF(-kParticleSpawnVariance, kParticleSpawnVariance), Random::GetF(kParticleHeight, kParticleSpawnVariance + kParticleHeight), Random::GetF(-kParticleSpawnVariance, kParticleSpawnVariance), kRadius, kInverseMass);
p0->SetVelocity(Random::GetF(-kParticleVelocityRange, kParticleVelocityRange)*kTimeStep, Random::GetF(0.0f, kParticleVelocityRange)*kTimeStep, Random::GetF(-kParticleVelocityRange, kParticleVelocityRange)*kTimeStep);
p1->SetVelocity(Random::GetF(-kParticleVelocityRange, kParticleVelocityRange)*kTimeStep, Random::GetF(0.0f, kParticleVelocityRange)*kTimeStep, Random::GetF(-kParticleVelocityRange, kParticleVelocityRange)*kTimeStep);
p2->SetVelocity(Random::GetF(-kParticleVelocityRange, kParticleVelocityRange)*kTimeStep, Random::GetF(0.0f, kParticleVelocityRange)*kTimeStep, Random::GetF(-kParticleVelocityRange, kParticleVelocityRange)*kTimeStep);
p3->SetVelocity(Random::GetF(-kParticleVelocityRange, kParticleVelocityRange)*kTimeStep, Random::GetF(0.0f, kParticleVelocityRange)*kTimeStep, Random::GetF(-kParticleVelocityRange, kParticleVelocityRange)*kTimeStep);
p4->SetVelocity(Random::GetF(-kParticleVelocityRange, kParticleVelocityRange)*kTimeStep, Random::GetF(0.0f, kParticleVelocityRange)*kTimeStep, Random::GetF(-kParticleVelocityRange, kParticleVelocityRange)*kTimeStep);
p5->SetVelocity(Random::GetF(-kParticleVelocityRange, kParticleVelocityRange)*kTimeStep, Random::GetF(0.0f, kParticleVelocityRange)*kTimeStep, Random::GetF(-kParticleVelocityRange, kParticleVelocityRange)*kTimeStep);
p6->SetVelocity(Random::GetF(-kParticleVelocityRange, kParticleVelocityRange)*kTimeStep, Random::GetF(0.0f, kParticleVelocityRange)*kTimeStep, Random::GetF(-kParticleVelocityRange, kParticleVelocityRange)*kTimeStep);
p7->SetVelocity(Random::GetF(-kParticleVelocityRange, kParticleVelocityRange)*kTimeStep, Random::GetF(0.0f, kParticleVelocityRange)*kTimeStep, Random::GetF(-kParticleVelocityRange, kParticleVelocityRange)*kTimeStep);
world.AddParticle(p0);
world.AddParticle(p1);
world.AddParticle(p2);
world.AddParticle(p3);
world.AddParticle(p4);
world.AddParticle(p5);
world.AddParticle(p6);
world.AddParticle(p7);
Spring* s0 = new Spring(p0, p1, 1.0f);
Spring* s1 = new Spring(p1, p2, 1.0f);
Spring* s2 = new Spring(p2, p3, 1.0f);
Spring* s3 = new Spring(p3, p0, 1.0f);
Spring* s4 = new Spring(p0, p4, 1.0f);
Spring* s5 = new Spring(p1, p5, 1.0f);
Spring* s6 = new Spring(p2, p6, 1.0f);
Spring* s7 = new Spring(p3, p7, 1.0f);
Spring* s8 = new Spring(p4, p5, 1.0f);
Spring* s9 = new Spring(p5, p6, 1.0f);
Spring* s10 = new Spring(p6, p7, 1.0f);
Spring* s11 = new Spring(p7, p4, 1.0f);
f32 const kRootTwo = Math::Sqrt(2.0f);
Spring* s12 = new Spring(p0, p2, kRootTwo);
Spring* s13 = new Spring(p1, p3, kRootTwo);
Spring* s14 = new Spring(p1, p6, kRootTwo);
Spring* s15 = new Spring(p5, p2, kRootTwo);
Spring* s16 = new Spring(p4, p6, kRootTwo);
Spring* s17 = new Spring(p5, p7, kRootTwo);
Spring* s18 = new Spring(p4, p3, kRootTwo);
Spring* s19 = new Spring(p0, p7, kRootTwo);
Spring* s20 = new Spring(p0, p5, kRootTwo);
Spring* s21 = new Spring(p1, p4, kRootTwo);
Spring* s22 = new Spring(p3, p6, kRootTwo);
Spring* s23 = new Spring(p2, p7, kRootTwo);
world.AddConstraint(s0);
world.AddConstraint(s1);
world.AddConstraint(s2);
world.AddConstraint(s3);
world.AddConstraint(s4);
world.AddConstraint(s5);
world.AddConstraint(s6);
world.AddConstraint(s7);
world.AddConstraint(s8);
world.AddConstraint(s9);
world.AddConstraint(s10);
world.AddConstraint(s11);
world.AddConstraint(s12);
world.AddConstraint(s13);
world.AddConstraint(s14);
world.AddConstraint(s15);
world.AddConstraint(s16);
world.AddConstraint(s17);
world.AddConstraint(s18);
world.AddConstraint(s19);
world.AddConstraint(s20);
world.AddConstraint(s21);
world.AddConstraint(s22);
world.AddConstraint(s23);
}
void Spawned()
{
physics = corpse->game_state->physics_world;
// get bone pos/ori info
vector<Mat4> mats = vector<Mat4>();
unsigned int count = character->skeleton->bones.size();
for(unsigned int i = 0; i < count; ++i)
{
Bone* bone = character->skeleton->bones[i];
bone_offsets.push_back(bone->rest_pos);
mats.push_back(whole_xform * bone->GetTransformationMatrix());
}
UberModel::BonePhysics** bone_physes = new UberModel::BonePhysics* [count];
// create rigid bodies
for(unsigned int i = 0; i < count; ++i)
{
Bone* bone = character->skeleton->bones[i];
Mat4 mat = mats[i];
float ori_values[] = {mat[0], mat[1], mat[2], mat[4], mat[5], mat[6], mat[8], mat[9], mat[10]};
bone->ori = Quaternion::FromRotationMatrix(Mat3(ori_values));
Vec3 bone_pos = mat.TransformVec3(bone_offsets[i], 1);
UberModel::BonePhysics* phys = NULL;
for(unsigned int j = 0; j < model->bone_physics.size(); ++j)
if(Bone::string_table[model->bone_physics[j].bone_name] == bone->name)
phys = &model->bone_physics[j];
bone_physes[i] = phys;
if(phys != NULL)
{
btCollisionShape* shape = phys->shape;
if(shape != NULL)
{
RigidBodyInfo* rigid_body = new RigidBodyInfo(shape, MassInfo::FromCollisionShape(shape, phys->mass), bone_pos, bone->ori);
rigid_body->SetLinearVelocity(initial_vel);
// these constants taken from the ragdoll demo
rigid_body->SetDamping(0.05f, 0.85f);
rigid_body->SetDeactivationTime(0.8f);
rigid_body->SetSleepingThresholds(1.6f, 2.5f);
rigid_body->SetFriction(1.0f);
rigid_body->SetRestitution(0.01f);
physics->AddRigidBody(rigid_body);
rigid_bodies.push_back(rigid_body);
CorpseBoneShootable* shootable = new CorpseBoneShootable(corpse->game_state, corpse, rigid_body, blood_material);
shootables.push_back(shootable);
rigid_body->SetCustomCollisionEnabled(shootable);
bone_indices.push_back(i);
}
}
}
// create constraints between bones
for(unsigned int i = 0; i < rigid_bodies.size(); ++i)
{
unsigned int bone_index = bone_indices[i];
UberModel::BonePhysics* phys = bone_physes[bone_index];
if(phys != NULL)
{
Bone* bone = character->skeleton->bones[bone_index];
Bone* parent = bone->parent;
if(parent != NULL)
{
// find index of parent (bone's index is the same as rigid body info's index)
for(unsigned int j = 0; j < rigid_bodies.size(); ++j)
{
unsigned int j_index = bone_indices[j];
if(character->skeleton->bones[j_index] == parent)
{
if(bone_physes[j_index] != NULL)
{
RigidBodyInfo* my_body = rigid_bodies[i];
RigidBodyInfo* parent_body = rigid_bodies[j];
ConeTwistConstraint* c = new ConeTwistConstraint(my_body, parent_body, Quaternion::Identity(), Vec3(), phys->ori, phys->pos);
c->SetLimit(phys->span);
c->SetDamping(0.1f); // default is 0.01
constraints.push_back(c);
physics->AddConstraint(c, true); // true = prevent them from colliding normally
break;
}
}
}
}
}
}
// emancipate bones
for(unsigned int i = 0; i < count; ++i)
{
Bone* bone = character->skeleton->bones[i];
bone->parent = NULL; // orientation and position are no longer relative to a parent!
}
if(rigid_bodies.size() == 0)
corpse->is_valid = false;
delete[] bone_physes;
}
