void OgrePointSpecification::setLocalOrientation(const Vector3& ori)
{
Ogre::Matrix3 m;
m.FromEulerAnglesXYZ(Ogre::Radian(ori.x),Ogre::Radian(ori.y),Ogre::Radian(ori.z));
Ogre::Quaternion q(m);
_node->setOrientation(q);
_node->_update(true,true);
}
void OgrePointSpecification::rotate(const Vector3& orientation)
{
Ogre::Matrix3 m;
m.FromEulerAnglesXYZ(Ogre::Radian(orientation.x),Ogre::Radian(orientation.y),Ogre::Radian(orientation.z));
Ogre::Quaternion q(m);
_node->rotate(q,Ogre::Node::TS_LOCAL);
_node->_update(true,true);
}
Ogre::Quaternion LuaScriptUtilities::QuaternionFromRotationDegrees(
Ogre::Real xRotation, Ogre::Real yRotation, Ogre::Real zRotation)
{
Ogre::Matrix3 matrix;
matrix.FromEulerAnglesXYZ(
Ogre::Degree(xRotation), Ogre::Degree(yRotation), Ogre::Degree(zRotation));
return Ogre::Quaternion(matrix);
}
void OgrePointSpecification::setGlobalOrientation(const Vector3& ori)
{
Ogre::Matrix3 m;
m.FromEulerAnglesXYZ(Ogre::Radian(ori.x),Ogre::Radian(ori.y),Ogre::Radian(ori.z));
Ogre::Quaternion q(m);
if(_parent)
q=shared_dynamic_cast<OgrePointSpecification>(_parent)->_node->convertWorldToLocalOrientation(q);
_node->setOrientation(q);
_node->_update(true,true);
}
Ogre::Quaternion RoomSurface::surfaceOrientationForNormal(Ogre::Vector3 normal) {
Ogre::Real pi_by_two = Ogre::Math::PI/2.0;
Ogre::Matrix3 mat;
if (normal == Ogre::Vector3::UNIT_Y) {
mat.FromEulerAnglesXYZ(Ogre::Radian(0), Ogre::Radian(0), Ogre::Radian(0));
} else if (normal == Ogre::Vector3::UNIT_X) {
mat.FromEulerAnglesXYZ(Ogre::Radian(pi_by_two), Ogre::Radian(0), Ogre::Radian(-pi_by_two));
} else if (normal == -Ogre::Vector3::UNIT_X) {
mat.FromEulerAnglesXYZ(Ogre::Radian(pi_by_two), Ogre::Radian(0), Ogre::Radian(pi_by_two));
} else if (normal == Ogre::Vector3::UNIT_Z) {
mat.FromEulerAnglesXYZ(Ogre::Radian(pi_by_two), Ogre::Radian(0), Ogre::Radian(0));
} else if (normal == -Ogre::Vector3::UNIT_Z) {
// the last component should ideally be Ogre::Radian(2*pi_by_two), however the corresponding
// physics constraint has a problem with that.
mat.FromEulerAnglesXYZ(Ogre::Radian(pi_by_two), Ogre::Radian(2*pi_by_two), Ogre::Radian(0));
}
return Ogre::Quaternion(mat);
}
PhysicsRagDoll::RagBone::RagBone(PhysicsRagDoll* creator, OgreNewt::World* world, PhysicsRagDoll::RagBone* parent, Ogre::Bone* ogreBone, Ogre::MeshPtr mesh,
Ogre::Vector3 dir, PhysicsRagDoll::RagBone::BoneShape shape, Ogre::Vector3 size, Ogre::Real mass, Actor* parentActor)
{
mDoll = creator;
mParent = parent;
mOgreBone = ogreBone;
OgreNewt::ConvexCollisionPtr col;
// in the case of the cylindrical primitives, they need to be rotated to align the main axis with the direction vector.
Ogre::Quaternion orient = Ogre::Quaternion::IDENTITY;
Ogre::Vector3 pos = Ogre::Vector3::ZERO;
Ogre::Matrix3 rot;
if (dir == Ogre::Vector3::UNIT_Y)
{
rot.FromEulerAnglesXYZ(Ogre::Degree(0), Ogre::Degree(0), Ogre::Degree(90));
orient.FromRotationMatrix(rot);
}
if (dir == Ogre::Vector3::UNIT_Z)
{
rot.FromEulerAnglesXYZ(Ogre::Degree(0), Ogre::Degree(90), Ogre::Degree(0));
orient.FromRotationMatrix(rot);
}
// make the rigid body.
switch (shape)
{
case PhysicsRagDoll::RagBone::BS_BOX:
col = OgreNewt::ConvexCollisionPtr(new OgreNewt::CollisionPrimitives::Box(world, size, 0));
break;
case PhysicsRagDoll::RagBone::BS_CAPSULE:
col = OgreNewt::ConvexCollisionPtr(new OgreNewt::CollisionPrimitives::Capsule(world, size.y, size.x, 0, orient, pos));
break;
case PhysicsRagDoll::RagBone::BS_CONE:
col = OgreNewt::ConvexCollisionPtr(new OgreNewt::CollisionPrimitives::Cone(world, size.y, size.x, 0, orient, pos));
break;
case PhysicsRagDoll::RagBone::BS_CYLINDER:
col = OgreNewt::ConvexCollisionPtr(new OgreNewt::CollisionPrimitives::Cylinder(world, size.y, size.x, 0, orient, pos));
break;
case PhysicsRagDoll::RagBone::BS_ELLIPSOID:
col = OgreNewt::ConvexCollisionPtr(new OgreNewt::CollisionPrimitives::Ellipsoid(world, size, 0));
break;
case PhysicsRagDoll::RagBone::BS_CONVEXHULL:
col = _makeConvexHull(world, mesh, size.x);
break;
default:
col = OgreNewt::ConvexCollisionPtr(new OgreNewt::CollisionPrimitives::Box(world, size, 0));
break;
}
if (col)
{
if (col->getNewtonCollision() == NULL)
{
col.reset();
}
}
if (!col)
{
LOG_WARNING(Logger::CORE, " error creating collision for '" + ogreBone->getName() + "', still continuing.");
mBody = NULL;
}
else
{
mBody = new OgreNewt::Body(world, col);
mBody->setUserData(Ogre::Any(parentActor));
mBody->setStandardForceCallback();
const OgreNewt::MaterialID* ragdollMat = PhysicsManager::getSingleton().createMaterialID("default");
mBody->setMaterialGroupID(ragdollMat);
Ogre::Vector3 inertia;
Ogre::Vector3 com;
col->calculateInertialMatrix(inertia, com);
mBody->setMassMatrix(mass, inertia * mass);
mBody->setCenterOfMass(com);
mBody->setCustomTransformCallback(PhysicsRagDoll::_placementCallback);
mOgreBone->setManuallyControlled(true);
}
}