void VehicleManagerDemo::setUpWorld()
{
m_tag = 0;
// Initially "controller" is at (0,0), ie. neither pointing left/right nor up/down.
m_inputXPosition = 0.0f;
m_inputYPosition = 0.0f;
//
// Setup the camera. Actually overwritten by step function, and when we first add the vehicle.
//
{
hkVector4 from(0.0f, 0.0f, 10.0f);
hkVector4 to(0.0f, 0.0f, 0.0f);
hkVector4 up(0.0f, 1.0f, 0.0f);
setupDefaultCameras( m_env, from, to, up );
}
//
// Create the world.
//
{
hkpWorldCinfo info;
info.m_collisionTolerance = 0.1f;
info.m_gravity.set(0.0f, -9.8f, 0.0f);
info.setBroadPhaseWorldSize(2050.0f) ;
info.setupSolverInfo(hkpWorldCinfo::SOLVER_TYPE_4ITERS_MEDIUM);
info.m_simulationType = hkpWorldCinfo::SIMULATION_TYPE_MULTITHREADED;
m_world = new hkpWorld( info );
m_world->lock();
// Register all agents.
hkpAgentRegisterUtil::registerAllAgents(m_world->getCollisionDispatcher());
// Graphics.
setupGraphics();
}
//
// Create a filter, so that the ray casts of car do not collide with the ragdolls
//
{
hkpGroupFilter* filter = new hkpGroupFilter();
//filter->disableCollisionsBetween( WHEEL_LAYER, RAGDOLL_LAYER );
m_world->setCollisionFilter( filter );
filter->removeReference();
}
// Build the landscape to drive on and add it to m_world.
buildLandscape();
m_reorientAction = HK_NULL;
m_world->unlock();
}
void VehicleCloning::setUpWorld()
{
m_tag = 0;
//
// Setup the camera.
//
{
hkVector4 from(0.0f, 10.0f, 20.0f);
hkVector4 to(0.0f, 0.0f, -30.0f);
hkVector4 up(0.0f, 1.0f, 0.0f);
setupDefaultCameras( m_env, from, to, up );
}
//
// Create the world.
//
{
hkpWorldCinfo info;
info.m_collisionTolerance = 0.1f;
info.m_gravity.set(0.0f, -9.8f, 0.0f);
info.setBroadPhaseWorldSize(850.0f) ;
info.setupSolverInfo(hkpWorldCinfo::SOLVER_TYPE_4ITERS_MEDIUM);
m_world = new hkpWorld( info );
m_world->lock();
// Register all agents.
hkpAgentRegisterUtil::registerAllAgents(m_world->getCollisionDispatcher());
// Graphics.
setupGraphics();
}
// Build the landscape to drive on and add it to m_world.
buildLandscape();
m_world->unlock();
}
VehicleApiDemo::VehicleApiDemo(hkDemoEnvironment* env)
: hkDefaultPhysicsDemo(env)
{
m_tag = 0;
///[driverInput]
/// Initially controller is set to 0,0 i.e. neither turning left/right or forward/backward,
/// so vehicle is not accelerating or turning. ///
m_inputXPosition = 0.0f;
m_inputYPosition = 0.0f;
///>
{
hkVector4 from(0.0f, 0.0f, 10.0f);
hkVector4 to(0.0f, 0.0f, 0.0f);
hkVector4 up(0.0f, 1.0f, 0.0f);
setupDefaultCameras( env, from, to, up );
}
//
// Create the world.
//
{
hkpWorldCinfo info;
info.m_collisionTolerance = 0.1f;
info.m_gravity.set(0.0f, -9.8f, 0.0f);
info.setBroadPhaseWorldSize(1000.0f) ;
info.setupSolverInfo(hkpWorldCinfo::SOLVER_TYPE_4ITERS_MEDIUM);
m_world = new hkpWorld( info );
m_world->lock();
// Register all agents.
hkpAgentRegisterUtil::registerAllAgents(m_world->getCollisionDispatcher());
// Graphics.
setupGraphics();
}
///[buildLandscape]
/// Build the landscape to drive on and add it to m_world. The landscape is simply five
/// boxes, one for the ground and four for the walls.
///
buildLandscape();
///>
///
/// Create the chassis
///
hkpConvexVerticesShape* chassisShape = VehicleApiUtils::createCarChassisShape();
hkpRigidBody* chassisRigidBody;
{
hkpRigidBodyCinfo chassisInfo;
// NB: The inertia value is reset by the vehicle SDK. However we give it a
// reasonable value so that the hkpRigidBody does not assert on construction. See
// VehicleSetup for the yaw, pitch and roll values used by hkVehicle.
chassisInfo.m_mass = 750.0f;
chassisInfo.m_shape = chassisShape;
chassisInfo.m_friction = 0.4f;
// The chassis MUST have m_motionType hkpMotion::MOTION_BOX_INERTIA to correctly simulate
// vehicle roll, pitch and yaw.
chassisInfo.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
chassisInfo.m_position.set(0.0f, 1.0f, 0.0f);
hkpInertiaTensorComputer::setShapeVolumeMassProperties(chassisInfo.m_shape,
chassisInfo.m_mass,
chassisInfo);
chassisRigidBody = new hkpRigidBody(chassisInfo);
// No longer need reference to shape as the hkpRigidBody holds one.
chassisShape->removeReference();
m_world->addEntity(chassisRigidBody);
}
///>
/// In this example, the chassis is added to the Vehicle Kit in the createVehicle() method.
///
createVehicle( chassisRigidBody );
chassisRigidBody->removeReference();
///>
///[buildVehicleCamera]
/// This camera follows the vehicle when it moves.
///
{
VehicleApiUtils::createCamera( m_camera );
}
///>
createDisplayWheels();
m_world->unlock();
}
SuspendInactiveAgentsDemo::SuspendInactiveAgentsDemo( hkDemoEnvironment* env )
: hkDefaultPhysicsDemo(env)
{
// Disable warnings:
hkError::getInstance().setEnabled(0x7dd65995, false); //'The system has requested a heap allocation on stack overflow.'
hkError::getInstance().setEnabled(0x86bc014f, false); //'For the default implementation to work the class must be passed in'
//
// Setup the camera. Actually overwritten by step function, and when we first add the vehicle.
//
{
hkVector4 from(0.0f, 2.0f, 12.0f);
hkVector4 to(0.0f, 0.0f, 0.0f);
hkVector4 up(0.0f, 1.0f, 0.0f);
setupDefaultCameras( m_env, from, to, up );
}
//
// Create the world.
//
{
hkpWorldCinfo info;
info.m_collisionTolerance = 0.01f;
info.m_gravity.set(0.0f, -9.8f, 0.0f);
info.setBroadPhaseWorldSize(850.0f) ;
info.setupSolverInfo(hkpWorldCinfo::SOLVER_TYPE_4ITERS_MEDIUM);
m_world = new hkpWorld( info );
m_world->lock();
// Register all agents.
hkpAgentRegisterUtil::registerAllAgents(m_world->getCollisionDispatcher());
// Graphics.
m_debugViewerNames.pushBack( hkpSimulationIslandViewer::getName());
setupGraphics();
}
//
// Enable deleting inactive agents
//
{
m_suspendInactiveAgentsUtil = new hkpSuspendInactiveAgentsUtil( m_world, hkpSuspendInactiveAgentsUtil::SUSPEND_ALL_COLLECTION_AGENTS );
}
//
// Create a filter, so that the raycasts of car does not collide with the ragdolls
//
{
hkpGroupFilter* filter = new hkpGroupFilter();
filter->disableCollisionsBetween(1,3);
m_world->setCollisionFilter( filter );
filter->removeReference();
}
// Build the landscape to drive on and add it to m_world.
buildLandscape();
if (getDemoVariant() < 2)
{
int gridSize = hkMath::clamp(m_env->m_cpuMhz / 150, 2, 4);
createRagdollGrid( m_world, gridSize, gridSize, 4.0f, 4.0f );
m_boxRigidBody = HK_NULL;
}
else
{
//
// Warm starting manifold - just illustrate with one box on a simple landscape
//
hkVector4 boxRadii( 1, .2f, 1);
hkpShape* smallBox = new hkpBoxShape(boxRadii, 0 );
hkpRigidBodyCinfo boxInfo;
boxInfo.m_mass = 1.0f;
boxInfo.m_shape = smallBox;
hkpInertiaTensorComputer::setShapeVolumeMassProperties(boxInfo.m_shape, boxInfo.m_mass, boxInfo);
boxInfo.m_rotation.setIdentity();
boxInfo.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
boxInfo.m_position.set(2, 2, 2);
boxInfo.m_restitution = .3f;
boxInfo.m_qualityType = HK_COLLIDABLE_QUALITY_CRITICAL; //XXX
m_boxRigidBody = new hkpRigidBody(boxInfo);
smallBox->removeReference();
m_world->addEntity( m_boxRigidBody );
m_frameCount = 0;
// Change the camera position to view the box close up
hkVector4 from(0.91f, 0.87f, 5.52f);
hkVector4 to(2.66f, -.16f, -.06f);
hkVector4 up(0.0f, 1.0f, 0.0f);
setupDefaultCameras( m_env, from, to, up );
}
m_world->unlock();
}
