bool Skeleton_Builder::BuildTail(float tail_width, float tail_height, float torso_height)
{
Bone* UTail = new Bone();
Bone* MTail = new Bone();
Bone* LTail = new Bone();
Bone* LLTail = new Bone();
tail_height /= 4;
Ogre::Quaternion neckrotation;
neckrotation.FromAngleAxis(Ogre::Radian(Ogre::Degree(mTailIncline)), Ogre::Vector3::UNIT_X);
btTransform t;
btVector3 min, max;
mHipNode->GetCollider()->getAabb(t, min, max);
mBuilder->SetDimensions(tail_width, tail_height, mDepth / 2);
mBuilder->SetRelativePosition(Ogre::Vector3(0, -(torso_height /2), mDepth / 2), neckrotation, *mHipNode->GetNode());
if (!mBuilder->BuildBone(*LLTail, Bone::BoneType::Tail))
return false;
mBuilder->SetDimensions(tail_width, tail_height, mDepth / 2);
mBuilder->SetRelativePosition(Ogre::Vector3(0, -tail_height , 0), neckrotation, *LLTail->GetNode());
if (!mBuilder->BuildBone(*LTail, Bone::BoneType::Tail))
return false;
mBuilder->SetDimensions(tail_width, tail_height, mDepth / 2);
mBuilder->SetRelativePosition(Ogre::Vector3(0, -tail_height, 0), neckrotation, *LTail->GetNode());
if (!mBuilder->BuildBone(*MTail, Bone::BoneType::Tail))
return false;
mBuilder->SetDimensions(tail_width, tail_height, mDepth / 2);
mBuilder->SetRelativePosition(Ogre::Vector3(0, -tail_height, 0), neckrotation, *MTail->GetNode());
if (!mBuilder->BuildBone(*UTail, Bone::BoneType::Tail))
return false;
if (mHasMuscle)
{
mMuscleBuilder->CreateMuscle(mHipNode, LLTail, mMuscles);
mMuscleBuilder->CreateMuscle(LLTail, LTail, mMuscles);
mMuscleBuilder->CreateMuscle(LTail, MTail, mMuscles);
mMuscleBuilder->CreateMuscle(MTail, UTail, mMuscles);
}
//add joints
btTransform localA, localB;
btVector3 JointPos;
JointPos = Utils::OgreBTVector(mHipNode->GetNode()->_getDerivedPosition() + Ogre::Vector3(0, (torso_height / 2), 0));
SetJointTransform(localA, localB, JointPos, mHipNode, LLTail, btVector3(0, btScalar(-M_PI_2), 0));
btConeTwistConstraint* shoulderNeckConst = new btConeTwistConstraint(*mHipNode->GetRigidBody(), *LLTail->GetRigidBody(), localA, localB);
shoulderNeckConst->setLimit(btScalar(M_PI_4 / 4), btScalar(M_PI_4 / 4),btScalar(M_PI_4 / 4));
JointPos = Utils::OgreBTVector(LLTail->GetNode()->_getDerivedPosition() + Ogre::Vector3(0, (tail_height), 0));
SetJointTransform(localA, localB, JointPos, LLTail, LTail, btVector3(0, btScalar(-M_PI_2), 0));
btConeTwistConstraint* LNeckConst = new btConeTwistConstraint(*LLTail->GetRigidBody(), *LTail->GetRigidBody(), localA, localB);
LNeckConst->setLimit(btScalar(M_PI_4 / 4), btScalar(M_PI_4 / 4), btScalar(M_PI_4 / 4));
JointPos = Utils::OgreBTVector(LTail->GetNode()->_getDerivedPosition() + Ogre::Vector3(0, (tail_height), 0));
SetJointTransform(localA, localB, JointPos, LTail, MTail, btVector3(0, btScalar(-M_PI_2), 0));
btConeTwistConstraint* MNeckConst = new btConeTwistConstraint(*LTail->GetRigidBody(), *MTail->GetRigidBody(), localA, localB);
MNeckConst->setLimit(btScalar(M_PI_4 / 4), btScalar(M_PI_4 / 4), btScalar(M_PI_4 / 4));
JointPos = Utils::OgreBTVector(MTail->GetNode()->_getDerivedPosition() + Ogre::Vector3(0, (tail_height), 0));
SetJointTransform(localA, localB, JointPos, MTail, UTail, btVector3(0, btScalar(-M_PI_2), 0));
btConeTwistConstraint* HNeckConst = new btConeTwistConstraint(*MTail->GetRigidBody(), *UTail->GetRigidBody(), localA, localB);
HNeckConst->setLimit(btScalar(M_PI_4 / 4), btScalar(M_PI_4 / 4), btScalar(M_PI_4 / 4));
mConstraints.push_back(shoulderNeckConst);
mConstraints.push_back(LNeckConst);
mConstraints.push_back(MNeckConst);
mConstraints.push_back(HNeckConst);
return true;
}
bool Skeleton_Builder::BuildLeg(float leg_width, float leg_height, float torso_width, float torso_height)
{
auto halfgap = (torso_width / 2) - leg_width;
auto legnodepos = halfgap + leg_width / 2;
Bone* LUpperLeg = new Bone();
Bone* LLowerLeg = new Bone();
Bone* LFoot = new Bone();
Bone* RUpperLeg = new Bone();
Bone* RLowerLeg = new Bone();
Bone* RFoot = new Bone();
if (mLeg == LegType::Uninverted)
{
mBuilder->SetDimensions(leg_width, leg_height / 2, mDepth *0.75f);
mBuilder->SetRelativePosition(Ogre::Vector3(legnodepos, -((torso_height / 2) + (leg_height / 4)), 0), Ogre::Quaternion::IDENTITY, *mHipNode->GetNode());
if (!mBuilder->BuildBone(*LUpperLeg,Bone::BoneType::LUpperLeg))
return false;
mBuilder->SetDimensions(leg_width, leg_height / 2, mDepth *0.75f);
mBuilder->SetRelativePosition(Ogre::Vector3(-legnodepos, -((torso_height / 2) + (leg_height / 4)), 0), Ogre::Quaternion::IDENTITY, *mHipNode->GetNode());
if (!mBuilder->BuildBone(*RUpperLeg, Bone::BoneType::RUpperLeg))
return false;
mBuilder->SetDimensions(leg_width, leg_height / 2, mDepth *0.75f);
mBuilder->SetRelativePosition(Ogre::Vector3(0, -leg_height / 2, 0), Ogre::Quaternion::IDENTITY, *LUpperLeg->GetNode());
if (!mBuilder->BuildBone(*LLowerLeg, Bone::BoneType::LowerLeg))
return false;
mBuilder->SetDimensions(leg_width, leg_height / 2, mDepth *0.75f);
mBuilder->SetRelativePosition(Ogre::Vector3(0, -leg_height / 2, 0), Ogre::Quaternion::IDENTITY, *RUpperLeg->GetNode());
if (!mBuilder->BuildBone(*RLowerLeg, Bone::BoneType::LowerLeg))
return false;
// foot generation
mBuilder->SetDimensions(leg_width*1.5f, leg_height / 4, mDepth);
mBuilder->SetRelativePosition(Ogre::Vector3(0, -leg_height / 2, 0), Ogre::Quaternion::IDENTITY, *LLowerLeg->GetNode());
if (!mBuilder->BuildBone(*LFoot,Bone::BoneType::Foot))
return false;
mBuilder->SetDimensions(leg_width*1.5f, leg_height / 4, mDepth);
mBuilder->SetRelativePosition(Ogre::Vector3(0, -leg_height / 2, 0), Ogre::Quaternion::IDENTITY, *RLowerLeg->GetNode());
if (!mBuilder->BuildBone(*RFoot, Bone::BoneType::Foot))
return false;
}
else
{
//mBuilder->SetDimensions(leg_width, leg_height / 2);
//mBuilder->SetRelativePosition(Ogre::Vector3(legnodepos, 0, 0), Ogre::Quaternion::IDENTITY, *mHipNode->GetNode());
//if (!mBuilder->BuildBone(*LUpperLeg))
// return false;
//mBuilder->SetDimensions(leg_width, leg_height / 2);
//mBuilder->SetRelativePosition(Ogre::Vector3(0, leg_height / 2, 0), Ogre::Quaternion::IDENTITY, *LUpperLeg->GetNode());
//if (!mBuilder->BuildBone(*LLowerLeg))
// return false;
// foot generation
//mBuilder->SetDimensions(leg_width, leg_height / 2);
//mBuilder->SetRelativePosition(Ogre::Vector3(legnodepos, 0, 0), Ogre::Quaternion::IDENTITY, Hip->GetNode());
//if (!mBuilder->BuildBone(LUpperLeg))
// return false;
//mBuilder->SetDimensions(leg_width, leg_height / 2);
//mBuilder->SetRelativePosition(Ogre::Vector3(-legnodepos, 0, 0), Ogre::Quaternion::IDENTITY, *mHipNode->GetNode());
//if (!mBuilder->BuildBone(*RUpperLeg))
// return false;
//mBuilder->SetDimensions(leg_width, leg_height / 2);
//mBuilder->SetRelativePosition(Ogre::Vector3(0, leg_height / 2, 0), Ogre::Quaternion::IDENTITY, *RUpperLeg->GetNode());
//if (!mBuilder->BuildBone(*RLowerLeg))
// return false;
// foot generation
//mBuilder->SetDimensions(leg_width, leg_height / 2);
//mBuilder->SetRelativePosition(Ogre::Vector3(legnodepos, 0, 0), Ogre::Quaternion::IDENTITY, Hip->GetNode());
//if (!mBuilder->BuildBone(LUpperLeg))
// return false;
}
mBones.push_back(LUpperLeg);
mBones.push_back(RUpperLeg);
mBones.push_back(LLowerLeg);
mBones.push_back(RLowerLeg);
mBones.push_back(LFoot);
mBones.push_back(RFoot);
if (mHasMuscle)
{
mMuscleBuilder->CreateMuscle(mHipNode, LUpperLeg, mMuscles);
mMuscleBuilder->CreateMuscle(LUpperLeg, LLowerLeg, mMuscles);
mMuscleBuilder->CreateMuscle(LLowerLeg, LFoot, mMuscles);
mMuscleBuilder->CreateMuscle(mHipNode, RUpperLeg, mMuscles);
mMuscleBuilder->CreateMuscle(RUpperLeg, RLowerLeg, mMuscles);
mMuscleBuilder->CreateMuscle(RLowerLeg, RFoot, mMuscles);
}
//add joints
Ogre::Vector3 offset;
btTransform localA, localB;
btVector3 JointPos;
JointPos = Utils::OgreBTVector(mHipNode->GetNode()->_getDerivedPosition() + Ogre::Vector3(legnodepos, -(torso_height / 2), 0));
SetJointTransform(localA, localB, JointPos, mHipNode, LUpperLeg, btVector3(0, btScalar(M_PI_2), 0));
btConeTwistConstraint* LhipConst = new btConeTwistConstraint(*mHipNode->GetRigidBody(), *LUpperLeg->GetRigidBody(), localA, localB);
LhipConst->setLimit(btScalar(M_PI_4), btScalar(M_PI_4), 0);
JointPos = Utils::OgreBTVector(mHipNode->GetNode()->_getDerivedPosition() + Ogre::Vector3(-legnodepos, -(torso_height / 2), 0));
SetJointTransform(localA, localB, JointPos, mHipNode, RUpperLeg, btVector3(0, 0, btScalar(M_PI_4)));
btConeTwistConstraint* RhipConst = new btConeTwistConstraint(*mHipNode->GetRigidBody(), *RUpperLeg->GetRigidBody(), localA, localB);
RhipConst->setLimit(btScalar(M_PI_4), btScalar(M_PI_4), 0);
JointPos = Utils::OgreBTVector(LUpperLeg->GetNode()->_getDerivedPosition() + Ogre::Vector3(0, -(leg_height / 2), 0));
SetJointTransform(localA, localB, JointPos, LUpperLeg, LLowerLeg, btVector3(0, btScalar(M_PI_2), 0));
btHingeConstraint* LLegConst = new btHingeConstraint(*LUpperLeg->GetRigidBody(), *LLowerLeg->GetRigidBody(), localA, localB);
LLegConst->setLimit(0, btScalar(M_PI_2));
JointPos = Utils::OgreBTVector(RUpperLeg->GetNode()->_getDerivedPosition() + Ogre::Vector3(0, -(leg_height / 2), 0));
SetJointTransform(localA, localB, JointPos, RUpperLeg, RLowerLeg, btVector3(0, btScalar(M_PI_2), 0));
btHingeConstraint* RLegConst = new btHingeConstraint(*RUpperLeg->GetRigidBody(), *RLowerLeg->GetRigidBody(), localA, localB);
RLegConst->setLimit(0, btScalar(M_PI_2));
JointPos = Utils::OgreBTVector(LLowerLeg->GetNode()->_getDerivedPosition() + Ogre::Vector3(0, -(leg_height / 2), 0));
SetJointTransform(localA, localB, JointPos, LLowerLeg, LFoot, btVector3(0, btScalar(M_PI_2), 0));
btHingeConstraint* LFootConst = new btHingeConstraint(*LLowerLeg->GetRigidBody(), *LFoot->GetRigidBody(), localA, localB);
LFootConst->setLimit(0, btScalar(M_PI_2));
JointPos = Utils::OgreBTVector(RLowerLeg->GetNode()->_getDerivedPosition() + Ogre::Vector3(0, -(leg_height / 2), 0));
SetJointTransform(localA, localB, JointPos, RLowerLeg, RFoot, btVector3(0, btScalar(M_PI_2), 0));
btHingeConstraint* RFootConst = new btHingeConstraint(*RLowerLeg->GetRigidBody(), *RFoot->GetRigidBody(), localA, localB);
RFootConst->setLimit(0, btScalar(M_PI_2));
mConstraints.push_back(LhipConst);
mConstraints.push_back(RhipConst);
mConstraints.push_back(LLegConst);
mConstraints.push_back(RLegConst);
mConstraints.push_back(LFootConst);
mConstraints.push_back(RFootConst);
return true;
}
bool Skeleton_Builder::BuildNeck(float neck_width, float neck_height, float torso_height)
{
Bone* UNeck = new Bone();
Bone* MNeck = new Bone();
Bone* LNeck = new Bone();
Bone* LLNeck = new Bone();
neck_height /= 4;
mBuilder->SetDimensions(neck_width, neck_height, mDepth * 0.5f);
Ogre::Quaternion neckrotation;
neckrotation.FromAngleAxis(Ogre::Radian(Ogre::Degree(mNeckIncline)), Ogre::Vector3::UNIT_X);
mBuilder->SetRelativePosition(Ogre::Vector3(0, neck_height, 0), neckrotation, *mShouldernode->GetNode());
if (!mBuilder->BuildBone(*LLNeck,Bone::BoneType::Neck))
return false;
mBuilder->SetDimensions(neck_width, neck_height, mDepth * 0.5f);
mBuilder->SetRelativePosition(Ogre::Vector3(0, neck_height, 0), neckrotation, *LLNeck->GetNode());
if (!mBuilder->BuildBone(*LNeck, Bone::BoneType::Neck))
return false;
mBuilder->SetDimensions(neck_width, neck_height, mDepth * 0.5f);
mBuilder->SetRelativePosition(Ogre::Vector3(0, neck_height, 0), neckrotation, *LNeck->GetNode());
if (!mBuilder->BuildBone(*MNeck, Bone::BoneType::Neck))
return false;
mBuilder->SetDimensions(neck_width, neck_height, mDepth * 0.5f);
mBuilder->SetRelativePosition(Ogre::Vector3(0, neck_height, 0), neckrotation, *MNeck->GetNode());
if (!mBuilder->BuildBone(*UNeck, Bone::BoneType::Neck))
return false;
if (mHasMuscle)
{
mMuscleBuilder->CreateMuscle(mShouldernode, LLNeck, mMuscles);
mMuscleBuilder->CreateMuscle(LLNeck, LNeck, mMuscles);
mMuscleBuilder->CreateMuscle(LNeck, MNeck, mMuscles);
mMuscleBuilder->CreateMuscle(MNeck, UNeck, mMuscles);
}
//add joints
btTransform localA, localB;
btVector3 JointPos;
JointPos = Utils::OgreBTVector(mShouldernode->GetNode()->_getDerivedPosition() + Ogre::Vector3(0, (torso_height / 2), 0));
SetJointTransform(localA, localB, JointPos, mShouldernode, LLNeck, btVector3(0, btScalar(-M_PI_2), 0));
btConeTwistConstraint* shoulderNeckConst = new btConeTwistConstraint(*mShouldernode->GetRigidBody(), *LLNeck->GetRigidBody(), localA, localB);
shoulderNeckConst->setLimit(btScalar(M_PI_4 / 4), btScalar(M_PI_4 / 4), btScalar(M_PI_4 / 4));
JointPos = Utils::OgreBTVector(LLNeck->GetNode()->_getDerivedPosition() + Ogre::Vector3(0, (neck_height / 2), 0));
SetJointTransform(localA, localB, JointPos, LLNeck, LNeck, btVector3(0, btScalar(-M_PI_2), 0));
btConeTwistConstraint* LNeckConst = new btConeTwistConstraint(*LLNeck->GetRigidBody(), *LNeck->GetRigidBody(), localA, localB);
LNeckConst->setLimit(btScalar(M_PI_4 / 4), btScalar(M_PI_4 / 4), btScalar(M_PI_4 / 4));
JointPos = Utils::OgreBTVector(mHipNode->GetNode()->_getDerivedPosition() + Ogre::Vector3(0, (neck_height / 2), 0));
SetJointTransform(localA, localB, JointPos, LNeck, MNeck, btVector3(0, btScalar(-M_PI_2), 0));
btConeTwistConstraint* MNeckConst = new btConeTwistConstraint(*LNeck->GetRigidBody(), *MNeck->GetRigidBody(), localA, localB);
MNeckConst->setLimit(btScalar(M_PI_4 / 4), btScalar(M_PI_4 / 4), btScalar(M_PI_4 / 4));
JointPos = Utils::OgreBTVector(mHipNode->GetNode()->_getDerivedPosition() + Ogre::Vector3(0, (neck_height / 2), 0));
SetJointTransform(localA, localB, JointPos, MNeck, UNeck, btVector3(0, btScalar(-M_PI_2), 0));
btConeTwistConstraint* HNeckConst = new btConeTwistConstraint(*MNeck->GetRigidBody(), *UNeck->GetRigidBody(), localA, localB);
HNeckConst->setLimit(btScalar(M_PI_4 / 4), btScalar(M_PI_4 / 4),btScalar(M_PI_4 / 4));
mConstraints.push_back(shoulderNeckConst);
mConstraints.push_back(LNeckConst);
mConstraints.push_back(MNeckConst);
mConstraints.push_back(HNeckConst);
return true;
}
bool Skeleton_Builder::BuildSkeleton(Skeleton& newSkel, Ogre::Vector3 pos)
{
if (mLeg == LegType::None || mHeight <= 10) // check to ensure all attribs required
return false;
float neck_height;
float torso_height;
float Leg_height;
float tail_height;
//create base node for skeleton
mBase = mSceneMgr->getRootSceneNode()->createChildSceneNode(pos);
// set block area heights
// if longneck neck/legs ratio = 2:1
// if shortneck neck/legs ratio = 1:2
// if upright torso 40%
// else torso 25%
if (IsUpright())
{
auto onepercent = mHeight / 100;
Leg_height = onepercent * 40;
if (IsLongNeck())
{
neck_height = onepercent * 40;
torso_height = onepercent * 20;
}
else
{
neck_height = onepercent * 20;
torso_height = onepercent * 40;
}
}
else
{
auto onepercent = mHeight / 100;
torso_height = onepercent * 25;
if (IsLongNeck())
{
neck_height = onepercent * 50;
Leg_height = onepercent * 25;
}
else
{
neck_height = onepercent * 25;
Leg_height = onepercent * 50;
}
}
if (IsLongTail())
{
auto onepercent = mHeight / 100;
tail_height = onepercent * 50;
}
else
{
auto onepercent = mHeight / 100;
tail_height = onepercent * 25;
}
//set block area widths
float neck_width;
float torso_width;
float Leg_width;
float Arm_width;
auto onepercentW = mWidth / 100;
// arms take 35% of width i.e 17.5% each side if needed
torso_width = onepercentW * 65;
Leg_width = onepercentW * 25; // ensures gaps between legs like realistic bipeds
Arm_width = onepercentW * 17.5f;
neck_width = onepercentW * 35;
//build the torso here
Bone* CentreTorso = new Bone();
if (IsUpright())
{
Bone* TopTorso = new Bone();
Bone* BotTorso = new Bone();
//build 3 torso pieces
torso_height /= 3;
//build centre piece
mBuilder->SetDimensions(torso_width, torso_height, mDepth);
mBuilder->SetRelativePosition(Ogre::Vector3::ZERO, Ogre::Quaternion::IDENTITY,*mBase);
if (!mBuilder->BuildBone(*CentreTorso,Bone::BoneType::Torso))
return false;
//build bot piece
mBuilder->SetDimensions(torso_width, torso_height, mDepth);
mBuilder->SetRelativePosition(Ogre::Vector3(0, -(torso_height), 0), Ogre::Quaternion::IDENTITY, *CentreTorso->GetNode());
if (!mBuilder->BuildBone(*BotTorso,Bone::BoneType::Hip))
return false;
//build top piece
mBuilder->SetDimensions(torso_width, torso_height, mDepth);
mBuilder->SetRelativePosition(Ogre::Vector3(0, (torso_height), 0), Ogre::Quaternion::IDENTITY, *CentreTorso->GetNode());
if (!mBuilder->BuildBone(*TopTorso, Bone::BoneType::Shoulder))
return false;
mShouldernode = TopTorso;
mHipNode = BotTorso;
mBones.push_back(CentreTorso);
mBones.push_back(TopTorso);
mBones.push_back(BotTorso);
//add muscles
mMuscleBuilder->CreateMuscle(CentreTorso, TopTorso, mMuscles);
mMuscleBuilder->CreateMuscle(CentreTorso, BotTorso, mMuscles);
btTransform TransA;
btTransform TransB;
btVector3 JointPos; // world position of transform
/*add constraints*/
// JOINT POS IS THE POSITION ON THE EDGE OF THE BONE ATTACH I.E BONE POS + EDGE OF BONE IN DIRECTION TO NEXT
JointPos = Utils::OgreBTVector(CentreTorso->GetNode()->_getDerivedPosition() + (torso_height / 2));
SetJointTransform(TransA, TransB, JointPos, CentreTorso, TopTorso, btVector3(0, btScalar(-M_PI_2), 0));
btConeTwistConstraint* TopSpine = new btConeTwistConstraint(*CentreTorso->GetRigidBody(), *TopTorso->GetRigidBody(), TransA, TransB);
TopSpine->setLimit(btScalar(M_PI_4 / 4), btScalar(M_PI_4 / 4), btScalar(M_PI_4 / 4));
JointPos = Utils::OgreBTVector(CentreTorso->GetNode()->_getDerivedPosition() - (torso_height / 2));
SetJointTransform(TransA, TransB, JointPos, CentreTorso, BotTorso, btVector3(0, btScalar(-M_PI_2), 0));
btConeTwistConstraint* BotSpine = new btConeTwistConstraint(*CentreTorso->GetRigidBody(), *BotTorso->GetRigidBody(), TransA, TransB);
BotSpine->setLimit(btScalar(M_PI_4 / 4), btScalar(M_PI_4 / 4), btScalar(M_PI_4 / 4));
mConstraints.push_back(TopSpine);
mConstraints.push_back(BotSpine);
}
else
{
//Bone* CentreTorso = new Bone();
//build centre piece
mBuilder->SetDimensions(torso_width, torso_height, mDepth);
mBuilder->SetRelativePosition(Ogre::Vector3::ZERO, Ogre::Quaternion::IDENTITY, *mBase);
if (!mBuilder->BuildBone(*CentreTorso,Bone::BoneType::HipShoulder))
return false;
mBones.push_back(CentreTorso);
mShouldernode = CentreTorso;
mHipNode = CentreTorso;
}
if (mFixed)
CentreTorso->GetRigidBody()->setMassProps(0, btVector3(0, 0, 0));
//if (!BuildArm(Arm_width, Leg_height, torso_width) || !BuildNeck(neck_width, neck_height, torso_height) || !BuildLeg(Leg_width, Leg_height, torso_width, torso_height))
// return false;
if (!mHidearms)
if (!BuildArm(Arm_width, torso_height, torso_width))
return false;
if (!mHideneck)
if (!BuildNeck(neck_width, neck_height, torso_height))
return false;
if (!mHidelegs)
if (!BuildLeg(Leg_width, Leg_height, torso_width, torso_height))
return false;
if (IsShortTail() || IsLongTail())
if(!BuildTail(neck_width,tail_height, torso_height))
return false;
newSkel = Skeleton(mBones,mMuscles, mConstraints, mBase, mWorld);
ClearData();
return true;
}
bool Skeleton_Builder::BuildArm(float arm_Width, float arm_height, float torso_width)
{
// 3 blocks no hands
// only height/ width changes
//if (mArm == ArmType::ShortArms)
//{
// //half height of legs
// Bone* LUpperArm = new Bone();
// Bone* LLowerArm = new Bone();
// //build shoulder piece
// torso_width /= 2;
// mBuilder->SetDimensions(arm_Width, arm_height/2);
// mBuilder->SetRelativePosition(Ogre::Vector3(torso_width, 0, 0), Ogre::Quaternion::IDENTITY, *mShouldernode->GetNode());
// if (!mBuilder->BuildBone(*LUpperArm))
// return false;
//
// mBuilder->SetDimensions(arm_Width, arm_height / 2);
// mBuilder->SetRelativePosition(Ogre::Vector3(0, arm_height / 2, 0), Ogre::Quaternion::IDENTITY, *LUpperArm->GetNode());
// if (!mBuilder->BuildBone(*LLowerArm))
// return false;
// mBones.push_back(LUpperArm);
// mBones.push_back(LLowerArm);
// //Bone* RUpperArm = new Bone();
// //Bone* RLowerArm = new Bone();
// //mBuilder->SetDimensions(arm_Width, arm_height / 2);
// //mBuilder->SetRelativePosition(Ogre::Vector3(-torso_width, 0, 0), Ogre::Quaternion::IDENTITY, *mShouldernode->GetNode());
// //if (!mBuilder->BuildBone(*RUpperArm))
// // return false;
// //
// //mBuilder->SetDimensions(arm_Width, arm_height / 2);
// //mBuilder->SetRelativePosition(Ogre::Vector3(0, arm_height / 2, 0), Ogre::Quaternion::IDENTITY, *RUpperArm->GetNode());
// //if (!mBuilder->BuildBone(*RLowerArm))
// // return false;
// //mBones.push_back(RUpperArm);
// //mBones.push_back(RLowerArm);
// //add joints
// btTransform localA, localB;
// Ogre::Vector3 offset;
// offset = Ogre::Vector3(torso_width, 0, 0);
// //auto vec = mShouldernode->GetNode()->_getDerivedPosition();
// //vec += offset;
// SetJointTransform(localA, localB, Utils::OgreBTVector(mShouldernode->GetNode()->_getDerivedPosition() + offset), mShouldernode, LUpperArm);
// btConeTwistConstraint* LshoulderConst = new btConeTwistConstraint(*mShouldernode->GetRigidBody(), *LUpperArm->GetRigidBody(), localA, localB);
// LshoulderConst->setLimit(M_PI_2, M_PI_2, 0);
// //SetJointTransform(localA, localB, Utils::OgreBTVector(mShouldernode->GetNode()->_getDerivedPosition() - offset), mShouldernode, RUpperArm);
// //btConeTwistConstraint* RshoulderConst = new btConeTwistConstraint(*mShouldernode->GetRigidBody(), *RUpperArm->GetRigidBody(), localA, localB);
// //RshoulderConst->setLimit(M_PI_2, M_PI_2, 0);
// offset = Ogre::Vector3(0, arm_height/4, 0);
// SetJointTransform(localA, localB, Utils::OgreBTVector(LUpperArm->GetNode()->_getDerivedPosition() - offset), LUpperArm, LLowerArm);
// btHingeConstraint* LArmConst = new btHingeConstraint(*LUpperArm->GetRigidBody(), *LLowerArm->GetRigidBody(), localA, localB);
// //SetJointTransform(localA, localB, Utils::OgreBTVector(RUpperArm->GetNode()->_getDerivedPosition() - offset), RUpperArm, RLowerArm);
// //btHingeConstraint* RArmConst = new btHingeConstraint(*RUpperArm->GetRigidBody(), *RLowerArm->GetRigidBody(), localA, localB);
// mConstraints.push_back(LshoulderConst);
// mConstraints.push_back(LArmConst);
// //mConstraints.push_back(RshoulderConst);
// //mConstraints.push_back(RArmConst);
//
//}
//else if (mArm == ArmType::LongArms)
{
//half height of legs
Bone* LUpperArm = new Bone();
Bone* RUpperArm = new Bone();
Bone* LLowerArm = new Bone();
Bone* RLowerArm = new Bone();
//build shoulder piece
//torso_width /= 2;
mBuilder->SetDimensions(arm_Width, arm_height, mDepth * 0.5f);
mBuilder->SetRelativePosition(Ogre::Vector3(((torso_width / 2) + arm_Width/2), 0, 0), Ogre::Quaternion::IDENTITY, *mShouldernode->GetNode());
if (!mBuilder->BuildBone(*LUpperArm,Bone::BoneType::LUpperArm))
return false;
mBuilder->SetDimensions(arm_Width, arm_height, mDepth * 0.5f);
mBuilder->SetRelativePosition(Ogre::Vector3(-((torso_width / 2) + arm_Width/2), 0, 0), Ogre::Quaternion::IDENTITY, *mShouldernode->GetNode());
if (!mBuilder->BuildBone(*RUpperArm, Bone::BoneType::RUpperArm))
return false;
mBuilder->SetDimensions(arm_Width, arm_height, mDepth * 0.5f);
mBuilder->SetRelativePosition(Ogre::Vector3(0, -(arm_height), 0), Ogre::Quaternion::IDENTITY, *LUpperArm->GetNode());
if (!mBuilder->BuildBone(*LLowerArm, Bone::BoneType::LowerArm))
return false;
mBuilder->SetDimensions(arm_Width, arm_height, mDepth * 0.5f);
mBuilder->SetRelativePosition(Ogre::Vector3(0, -(arm_height), 0), Ogre::Quaternion::IDENTITY, *RUpperArm->GetNode());
if (!mBuilder->BuildBone(*RLowerArm, Bone::BoneType::LowerArm))
return false;
mBones.push_back(LUpperArm);
mBones.push_back(RUpperArm);
mBones.push_back(LLowerArm);
mBones.push_back(RLowerArm);
if (mHasMuscle)
{
mMuscleBuilder->CreateMuscle(mShouldernode, LUpperArm, mMuscles);
mMuscleBuilder->CreateMuscle(LUpperArm, LLowerArm, mMuscles);
mMuscleBuilder->CreateMuscle(mShouldernode, RUpperArm, mMuscles);
mMuscleBuilder->CreateMuscle(RUpperArm, RLowerArm, mMuscles);
}
//add joints
btTransform localA, localB;
btVector3 JointPos;
JointPos = Utils::OgreBTVector(mShouldernode->GetNode()->_getDerivedPosition() + (torso_width / 2 + arm_Width * 0.10f));
SetJointTransform(localA, localB, JointPos, mShouldernode, LUpperArm, btVector3(0, 0, 0));
// this needed a special case
localA.getBasis().setEulerZYX(0,0,btScalar(M_PI));
localB.getBasis().setEulerZYX(0, 0, btScalar(M_PI_2));
btConeTwistConstraint* LshoulderConst = new btConeTwistConstraint(*mShouldernode->GetRigidBody(), *LUpperArm->GetRigidBody(), localA, localB);
LshoulderConst->setLimit(btScalar(M_PI_2), btScalar(M_PI_2), 0);
JointPos = Utils::OgreBTVector(mShouldernode->GetNode()->_getDerivedPosition() - (torso_width / 2 + arm_Width * 0.10f));
SetJointTransform(localA, localB, JointPos, mShouldernode, RUpperArm, btVector3(0, 0, 0));
localA.getBasis().setEulerZYX(0, 0, 0);
localB.getBasis().setEulerZYX(0, 0, btScalar(M_PI_2));
btConeTwistConstraint* RshoulderConst = new btConeTwistConstraint(*mShouldernode->GetRigidBody(), *RUpperArm->GetRigidBody(), localA, localB);
RshoulderConst->setLimit(btScalar(M_PI_2), btScalar(M_PI_2), 0);
JointPos = Utils::OgreBTVector(LUpperArm->GetNode()->_getDerivedPosition() - arm_height / 2);
SetJointTransform(localA, localB, JointPos, LUpperArm, LLowerArm, btVector3(0, btScalar(M_PI_2), 0));
btHingeConstraint* LArmConst = new btHingeConstraint(*LUpperArm->GetRigidBody(), *LLowerArm->GetRigidBody(), localA, localB);
LArmConst->setLimit(0, btScalar(M_PI_2));
JointPos = Utils::OgreBTVector(RUpperArm->GetNode()->_getDerivedPosition() - arm_height / 2);
SetJointTransform(localA, localB, JointPos, RUpperArm, RLowerArm, btVector3(0, btScalar(M_PI_2), 0));
btHingeConstraint* RArmConst = new btHingeConstraint(*RUpperArm->GetRigidBody(), *RLowerArm->GetRigidBody(), localA, localB);
RArmConst->setLimit(0, btScalar(M_PI_2));
mConstraints.push_back(LshoulderConst);
mConstraints.push_back(RshoulderConst);
mConstraints.push_back(LArmConst);
mConstraints.push_back(RArmConst);
//auto prestore = mMuscleBuilder->CreateMuscle(LUpperArm, LLowerArm);
//for (auto m : prestore)
// mMuscles.push_back(m);
}
// means no arms to continue
return true;
}
