void CPHObject::activate()
{
R_ASSERT2(dSpacedGeom(),"trying to activate destroyed or not created object!");
if(m_flags.test(st_activated))return;
if(m_flags.test(st_freezed)) {UnFreeze();return;}
if(m_flags.test(st_recently_deactivated))remove_from_recently_deactivated();
ph_world->AddObject(this);
vis_update_activate();
m_flags.set(st_activated,TRUE);
}
bool CPHActivationShape:: Activate (const Fvector need_size,u16 steps,float max_displacement,float max_rotation,bool un_freeze_later/* =false*/)
{
#ifdef DEBUG
if(debug_output().ph_dbg_draw_mask().test(phDbgDrawDeathActivationBox))
{
debug_output().DBG_OpenCashedDraw();
Fmatrix M;
PHDynamicData::DMXPStoFMX(dBodyGetRotation(m_body),dBodyGetPosition(m_body),M);
Fvector v;dGeomBoxGetLengths(m_geom,cast_fp(v));v.mul(0.5f);
debug_output().DBG_DrawOBB(M,v,D3DCOLOR_XRGB(0,255,0));
}
#endif
VERIFY(m_geom&&m_body);
CPHObject::activate();
ph_world->Freeze();
UnFreeze();
max_depth=0.f;
dGeomUserDataSetObjectContactCallback(m_geom,GetMaxDepthCallback) ;
//ph_world->Step();
ph_world->StepTouch();
u16 num_it =15;
float fnum_it=float(num_it);
float fnum_steps=float(steps);
float fnum_steps_r=1.f/fnum_steps;
float resolve_depth=0.01f;
float max_vel=max_depth/fnum_it*fnum_steps_r/fixed_step;
float limit_l_vel=_max(_max(need_size.x,need_size.y),need_size.z)/fnum_it*fnum_steps_r/fixed_step;
if(limit_l_vel>default_l_limit)
limit_l_vel=default_l_limit;
if(max_vel>limit_l_vel)
max_vel=limit_l_vel;
float max_a_vel=max_rotation/fnum_it*fnum_steps_r/fixed_step;
if(max_a_vel>default_w_limit)
max_a_vel=default_w_limit;
//ph_world->CutVelocity(0.f,0.f);
dGeomUserDataSetCallbackData(m_geom,this);
dGeomUserDataSetObjectContactCallback( m_geom, ActivateTestDepthCallback );
if( m_flags.test( flStaticEnvironment ) )
dGeomUserDataAddObjectContactCallback(m_geom,StaticEnvironment);
max_depth=0.f;
Fvector from_size;
Fvector step_size,size;
dGeomBoxGetLengths(m_geom,cast_fp(from_size));
step_size.sub(need_size,from_size);
step_size.mul(fnum_steps_r);
size.set(from_size);
bool ret=false;
V_PH_WORLD_STATE temp_state;
ph_world->GetState(temp_state);
for(int m=0;steps>m;++m)
{
//float param =fnum_steps_r*(1+m);
//InterpolateBox(id,param);
size.add(step_size);
dGeomBoxSetLengths(m_geom,size.x,size.y,size.z);
u16 attempts=10;
do{
ret=false;
for(int i=0;num_it>i;++i)
{
max_depth=0.f;
ph_world->Step();
CHECK_POS(Position(),"pos after ph_world->Step()",false);
ph_world->CutVelocity(max_vel,max_a_vel);
CHECK_POS(Position(),"pos after CutVelocity",true);
//if(m==0&&i==0)ph_world->GetState(temp_state);
if(max_depth < resolve_depth)
{
ret=true;
break;
}
}
attempts--;
}while(!ret&&attempts>0);
#ifdef DEBUG
// Msg("correction attempts %d",10-attempts);
#endif
}
RestoreVelocityState(temp_state);
CHECK_POS(Position(),"pos after RestoreVelocityState(temp_state);",true);
if(!un_freeze_later)ph_world->UnFreeze();
#ifdef DEBUG
if(debug_output().ph_dbg_draw_mask().test(phDbgDrawDeathActivationBox))
{
debug_output().DBG_OpenCashedDraw();
Fmatrix M;
PHDynamicData::DMXPStoFMX(dBodyGetRotation(m_body),dBodyGetPosition(m_body),M);
Fvector v;v.set(need_size);v.mul(0.5f);
debug_output().DBG_DrawOBB(M,v,D3DCOLOR_XRGB(0,255,255));
debug_output().DBG_ClosedCashedDraw(30000);
}
#endif
return ret;
}
bool CPHMovementControl:: ActivateBoxDynamic(DWORD id,int num_it/*=8*/,int num_steps/*5*/,float resolve_depth/*=0.01f*/)
{
bool character_exist=CharacterExist();
if(character_exist&&trying_times[id]!=u32(-1))
{
Fvector dif;dif.sub(trying_poses[id],cast_fv(dBodyGetPosition(m_character->get_body())));
if(Device.dwTimeGlobal-trying_times[id]<500&&dif.magnitude()<0.05f)
return false;
}
if(!m_character||m_character->PhysicsRefObject()->PPhysicsShell())return false;
DWORD old_id=BoxID();
bool character_disabled=character_exist && !m_character->IsEnabled();
if(character_exist&&id==old_id)return true;
if(!character_exist)
{
CreateCharacter();
}
//m_PhysicMovementControl->ActivateBox(id);
m_character->CPHObject::activate();
ph_world->Freeze();
UnFreeze();
saved_callback=ObjectContactCallback();
SetOjectContactCallback(TestDepthCallback);
SetFootCallBack(TestFootDepthCallback);
max_depth=0.f;
//////////////////////////////////pars///////////////////////////////////////////
// int num_it=8;
// int num_steps=5;
// float resolve_depth=0.01f;
if(!character_exist)
{
num_it=20;
num_steps=1;
resolve_depth=0.1f;
}
///////////////////////////////////////////////////////////////////////
float fnum_it=float(num_it);
float fnum_steps=float(num_steps);
float fnum_steps_r=1.f/fnum_steps;
Fvector vel;
Fvector pos;
GetCharacterVelocity(vel);
GetCharacterPosition(pos);
//const Fbox& box =Box();
float pass= character_exist ? _abs(Box().getradius()-boxes[id].getradius()) : boxes[id].getradius();
float max_vel=pass/2.f/fnum_it/fnum_steps/fixed_step;
float max_a_vel=M_PI/8.f/fnum_it/fnum_steps/fixed_step;
dBodySetForce(GetBody(),0.f,0.f,0.f);
dBodySetLinearVel(GetBody(),0.f,0.f,0.f);
Calculate(Fvector().set(0,0,0),Fvector().set(1,0,0),0,0,0,0);
CVelocityLimiter vl(GetBody(),max_vel,max_vel);
max_vel=1.f/fnum_it/fnum_steps/fixed_step;
bool ret=false;
m_character->SwitchOFFInitContact();
vl.Activate();
vl.l_limit*=(fnum_it*fnum_steps/5.f);
vl.y_limit=vl.l_limit;
////////////////////////////////////
for(int m=0;30>m;++m)
{
Calculate(Fvector().set(0,0,0),Fvector().set(1,0,0),0,0,0,0);
EnableCharacter();
m_character->ApplyForce(0,ph_world->Gravity()*m_character->Mass(),0);
max_depth=0.f;
ph_world->Step();
if(max_depth < resolve_depth)
{
break;
}
ph_world->CutVelocity(max_vel,max_a_vel);
}
vl.l_limit/=(fnum_it*fnum_steps/5.f);
vl.y_limit=vl.l_limit;
/////////////////////////////////////
for(int m=0;num_steps>m;++m)
{
float param =fnum_steps_r*(1+m);
InterpolateBox(id,param);
ret=false;
for(int i=0;num_it>i;++i){
max_depth=0.f;
Calculate(Fvector().set(0,0,0),Fvector().set(1,0,0),0,0,0,0);
EnableCharacter();
m_character->ApplyForce(0,ph_world->Gravity()*m_character->Mass(),0);
ph_world->Step();
ph_world->CutVelocity(max_vel,max_a_vel);
if(max_depth < resolve_depth)
{
ret=true;
break;
}
}
if(!ret) break;
}
m_character->SwitchInInitContact();
vl.Deactivate();
ph_world->UnFreeze();
if(!ret)
{
if(!character_exist)DestroyCharacter();
else if(character_disabled)m_character->Disable();
ActivateBox(old_id);
SetVelocity(vel);
dBodyID b=GetBody();
if(b)
{
dMatrix3 R;
dRSetIdentity (R);
dBodySetAngularVel(b,0.f,0.f,0.f);
dBodySetRotation(b,R);
}
SetPosition(pos);
//Msg("can not activate!");
}
else
{
ActivateBox(id);
//Msg("activate!");
}
SetOjectContactCallback(saved_callback);
SetVelocity(vel);
saved_callback=0;
if(!ret&&character_exist)
{
trying_times[id]=Device.dwTimeGlobal;
trying_poses[id].set(cast_fv(dBodyGetPosition(m_character->get_body())));
}
else
{
trying_times[id]=u32(-1);
}
return ret;
}
