AsymetricCharacterRbDemo::AsymetricCharacterRbDemo(hkDemoEnvironment* env)
: hkDefaultPhysicsDemo(env)
{
// Create the world
{
hkpWorldCinfo info;
info.setBroadPhaseWorldSize( 350.0f );
info.m_gravity.set(0, -9.8f, 0);
info.m_collisionTolerance = 0.01f;
info.m_contactPointGeneration = hkpWorldCinfo::CONTACT_POINT_ACCEPT_ALWAYS;
m_world = new hkpWorld( info );
m_world->lock();
hkpAgentRegisterUtil::registerAllAgents(m_world->getCollisionDispatcher());
setupGraphics();
}
// Create a terrain (more bumpy as in the classical character proxy demo)
TerrainHeightFieldShape* heightFieldShape;
{
hkpSampledHeightFieldBaseCinfo ci;
ci.m_xRes = 64;
ci.m_zRes = 64;
ci.m_scale.set(1.6f, 0.2f, 1.6f);
// Fill in a data array
m_data = hkAllocate<hkReal>((ci.m_xRes * ci.m_zRes), HK_MEMORY_CLASS_DEMO);
for (int x = 0; x < ci.m_xRes; x++)
{
for (int z = 0; z < ci.m_zRes; z++)
{
hkReal dx,dz,height = 0;
int octave = 1;
// Add together a few sine and cose waves
for (int i=0; i< 3; i++)
{
dx = hkReal(x * octave) / ci.m_xRes;
dz = hkReal(z * octave) / ci.m_zRes;
height += 4 * i * hkMath::cos(dx * HK_REAL_PI) * hkMath::sin(dz * HK_REAL_PI);
height -= 2.5f;
octave *= 2;
}
m_data[x*ci.m_zRes + z] = height;
}
}
heightFieldShape = new TerrainHeightFieldShape( ci , m_data );
// Create terrain as a fixed rigid body
{
hkpRigidBodyCinfo rci;
rci.m_motionType = hkpMotion::MOTION_FIXED;
rci.m_position.setMul4( -0.5f, heightFieldShape->m_extents ); // center the heighfield
rci.m_shape = heightFieldShape;
rci.m_friction = 0.5f;
hkpRigidBody* terrain = new hkpRigidBody( rci );
m_world->addEntity(terrain);
terrain->removeReference();
}
heightFieldShape->removeReference();
}
// Create some random static pilars (green) and smaller dynamic boxes (blue)
{
hkPseudoRandomGenerator randgen(12345);
for (int i=0; i < 80; i++)
{
if (i%2)
{
// Dynamic boxes of random size
hkVector4 size;
randgen.getRandomVector11(size);
size.setAbs4( size );
size.mul4(0.5f);
hkVector4 minSize; minSize.setAll3(0.25f);
size.add4(minSize);
// Random position
hkVector4 position;
randgen.getRandomVector11( position );
position(0) *= 25; position(2) *= 25; position(1) = 4;
{
// To illustrate using the shape, create a rigid body by first defining a template.
hkpRigidBodyCinfo rci;
rci.m_shape = new hkpBoxShape( size );
rci.m_position = position;
rci.m_friction = 0.5f;
rci.m_restitution = 0.0f;
// Density of concrete
const hkReal density = 2000.0f;
rci.m_mass = size(0)*size(1)*size(2)*density;
hkVector4 halfExtents(size(0) * 0.5f, size(1) * 0.5f, size(2) * 0.5f);
hkpMassProperties massProperties;
hkpInertiaTensorComputer::computeBoxVolumeMassProperties(halfExtents, rci.m_mass, massProperties);
rci.m_inertiaTensor = massProperties.m_inertiaTensor;
rci.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
// Create a rigid body (using the template above).
hkpRigidBody* box = new hkpRigidBody(rci);
// Remove reference since the body now "owns" the Shape.
rci.m_shape->removeReference();
box->addProperty(HK_PROPERTY_DEBUG_DISPLAY_COLOR, int(hkColor::DARKBLUE));
// Finally add body so we can see it, and remove reference since the world now "owns" it.
m_world->addEntity(box)->removeReference();
}
}
else
{
// Fixed pilars of random size
hkVector4 size;
randgen.getRandomVector11(size);
size.setAbs4( size );
hkVector4 minSize; minSize.setAll3(0.5f);
size.add4(minSize);
size(1) = 2.5f;
// Random position
hkVector4 position;
randgen.getRandomVector11( position );
position(0) *= 25; position(2) *= 25; position(1) = 0;
{
// To illustrate using the shape, create a rigid body by first defining a template.
hkpRigidBodyCinfo rci;
rci.m_shape = new hkpBoxShape( size );
rci.m_position = position;
rci.m_friction = 0.1f;
rci.m_motionType = hkpMotion::MOTION_FIXED;
// Create a rigid body (using the template above).
hkpRigidBody* pilar = new hkpRigidBody(rci);
// Remove reference since the body now "owns" the shape.
rci.m_shape->removeReference();
pilar->addProperty(HK_PROPERTY_DEBUG_DISPLAY_COLOR, int(hkColor::DARKGREEN));
// Finally add body so we can see it, and remove reference since the world now "owns" it.
m_world->addEntity(pilar);
pilar->removeReference();
}
}
}
}
// Create a character rigid body
{
// Construct a shape
hkVector4 vertexA(0.4f,0,0);
hkVector4 vertexB(-0.4f,0,0);
// Create a capsule to represent the character standing
hkpShape* capsule = new hkpCapsuleShape(vertexA, vertexB, 0.6f);
// Construct a character rigid body
hkpCharacterRigidBodyCinfo info;
info.m_mass = 100.0f;
info.m_shape = capsule;
info.m_maxForce = 1000.0f;
info.m_up = UP;
info.m_position.set(32.0f, 3.0f, 10.0f);
info.m_maxSlope = HK_REAL_PI/2.0f; // Only vertical plane is too steep
m_characterRigidBody = new hkpCharacterRigidBody( info );
m_world->addEntity( m_characterRigidBody->getRigidBody() );
capsule->removeReference();
}
// Create the character state machine and context
{
hkpCharacterState* state;
hkpCharacterStateManager* manager = new hkpCharacterStateManager();
state = new hkpCharacterStateOnGround();
manager->registerState( state, HK_CHARACTER_ON_GROUND);
state->removeReference();
state = new hkpCharacterStateInAir();
manager->registerState( state, HK_CHARACTER_IN_AIR);
state->removeReference();
state = new hkpCharacterStateJumping();
manager->registerState( state, HK_CHARACTER_JUMPING);
state->removeReference();
state = new hkpCharacterStateClimbing();
manager->registerState( state, HK_CHARACTER_CLIMBING);
state->removeReference();
m_characterContext = new hkpCharacterContext(manager, HK_CHARACTER_IN_AIR);
manager->removeReference();
// Set new filter parameters for final output velocity filtering
// Smoother interactions with small dynamic boxes
m_characterContext->setCharacterType(hkpCharacterContext::HK_CHARACTER_RIGIDBODY);
m_characterContext->setFilterParameters(0.9f,12.0f,200.0f);
}
// Initialize hkpSurfaceInfo of ground from previous frame
// Specific case (character is in the air, UP is Y)
m_previousGround = new hkpSurfaceInfo(UP,hkVector4::getZero(),hkpSurfaceInfo::UNSUPPORTED);
m_framesInAir = 0;
// Current camera angle about up
m_currentAngle = 0.0f;
// Init actual time
m_time = 0.0f;
// Init rigid body normal
m_rigidBodyNormal = UP;
m_world->unlock();
}
LowFrequencyCharactersDemo::LowFrequencyCharactersDemo(hkDemoEnvironment* env)
: hkDefaultPhysicsDemo(env)
{
//
// Setup the camera
//
{
hkVector4 from( 0.0f, 20.0f, -80.0f);
hkVector4 to ( 0.0f, 0.0f, 0.0f);
hkVector4 up ( 0.0f, 1.0f, 0.0f);
setupDefaultCameras( env, from, to, up );
forceShadowState(false);
}
//
// Create the world
//
{
hkpWorldCinfo info;
info.setBroadPhaseWorldSize( 350.0f );
info.m_gravity.set(0, -9.8f, 0);
info.m_collisionTolerance = 0.1f;
m_world = new hkpWorld( info );
m_world->lock();
hkpAgentRegisterUtil::registerAllAgents(m_world->getCollisionDispatcher());
setupGraphics();
}
//
// Create a terrain
//
TerrainHeightFieldShape* heightFieldShape;
{
hkpSampledHeightFieldBaseCinfo ci;
ci.m_xRes = 64;
ci.m_zRes = 64;
ci.m_scale.set(4,1,4);
//
// Fill in a data array
//
m_data = hkAllocate<hkReal>(ci.m_xRes * ci.m_zRes, HK_MEMORY_CLASS_DEMO);
for (int x = 0; x < ci.m_xRes; x++)
{
for (int z = 0; z < ci.m_xRes; z++)
{
hkReal dx,dz,height = 0;
int octave = 1;
// Add togther a few sine and cose waves
for (int i=0; i< 3; i++)
{
dx = hkReal(x * octave) / ci.m_xRes;
dz = hkReal(z * octave) / ci.m_zRes;
height += (5 - (i * 2)) * hkMath::cos(dx * HK_REAL_PI) * hkMath::sin(dz * HK_REAL_PI);
octave *= 4;
}
m_data[x*ci.m_zRes + z] = height;
}
}
heightFieldShape = new TerrainHeightFieldShape( ci , m_data );
//
// Create a fixed rigid body
//
{
hkpRigidBodyCinfo rci;
rci.m_motionType = hkpMotion::MOTION_FIXED;
rci.m_position.setMul4( -0.5f, heightFieldShape->m_extents ); // center the heightfield
rci.m_shape = heightFieldShape;
rci.m_friction = 0.05f;
hkpRigidBody* body = new hkpRigidBody( rci );
m_world->addEntity(body)->removeReference();
}
heightFieldShape->removeReference();
}
//
// Create a character proxy object
//
{
m_numBoxes = 0;
m_numCapsules = 0;
m_numSpheres = 0;
// We'll store the simulation frequency in this
hkpPropertyValue val;
// Construct shape phantoms for the characters
hkPseudoRandomGenerator random(123);
for (int i=0; i < NUM_CHARACTERS; i++)
{
// Create a random shape to represent the character
hkpConvexShape* shape = HK_NULL;
{
hkReal scale = random.getRandReal01() * 0.25f + 0.75f;
//Set the simulation frequency
val.setInt( random.getRand32() % 3 );
switch (val.getInt())
{
case 0:
{
hkVector4 top(0, scale * 0.4f, 0);
hkVector4 bottom(0, -scale * 0.4f, 0);
shape = new hkpCapsuleShape(top, bottom, scale * 0.6f);
m_numCapsules++;
}
break;
case 1:
{
hkVector4 size(scale * 0.5f, scale , scale * 0.5f);
shape = new hkpBoxShape(size);
m_numBoxes++;
}
break;
default:
{
shape = new hkpSphereShape(scale);
m_numSpheres++;
}
break;
}
}
hkpShapePhantom* phantom = new hkpSimpleShapePhantom( shape, hkTransform::getIdentity() );
shape->removeReference();
// Add the phantom to the world
m_world->addPhantom(phantom);
phantom->removeReference();
HK_SET_OBJECT_COLOR( (hkUlong)phantom->getCollidable(), 0x7fffffff & hkColor::getRandomColor() );
// Construct a character proxy
hkpCharacterProxyCinfo cpci;
random.getRandomVector11( cpci.m_position );
cpci.m_position.mul4(32);
cpci.m_position(1) = 10;
cpci.m_up.setNeg4( m_world->getGravity() );
cpci.m_up.normalize3();
cpci.m_shapePhantom = phantom;
m_characterProxy[i] = new hkpCharacterProxy( cpci );
// Player is simulated at full frequency
if (i==0)
{
val.setInt(0);
}
// Add the schedule property
phantom->addProperty(HK_SCHEDULE_FREQUENCY, val);
}
}
//
// Create the Character state machine and context
//
hkpCharacterStateManager* manager;
{
hkpCharacterState* state;
manager = new hkpCharacterStateManager();
state = new hkpCharacterStateOnGround();
manager->registerState( state, HK_CHARACTER_ON_GROUND);
state->removeReference();
state = new hkpCharacterStateInAir();
manager->registerState( state, HK_CHARACTER_IN_AIR);
state->removeReference();
state = new hkpCharacterStateJumping();
manager->registerState( state, HK_CHARACTER_JUMPING);
state->removeReference();
state = new hkpCharacterStateClimbing();
manager->registerState( state, HK_CHARACTER_CLIMBING);
state->removeReference();
}
// Create a context for each character
{
for (int i=0; i < NUM_CHARACTERS; i++)
{
m_characterContext[i] = new hkpCharacterContext(manager, HK_CHARACTER_ON_GROUND);
}
manager->removeReference();
}
// Current camera angle about up
m_currentAngle = 0.0f;
//Initialised the round robin counter
m_tick = 0;
m_world->unlock();
}
