Void CharEntity::_PathTracking_End()
{
Assert( m_pPathController != NULL );
// Disable path controller
KinematicBody * pBody = (KinematicBody*)m_pBody;
m_pPathController->Enabled = false;
pBody->DetachMotionController();
PhysicsFn->DestroyController( m_pPathController );
m_pPathController = NULL;
// Enable character controller
m_pController->Enabled = true;
pBody->AttachController( m_pController );
// Destroy path data
EntityFn->SelectMemory( TEXT("Scratch") );
Delete( m_pAngularTravel );
m_pAngularTravel = NULL;
Delete( m_pLinearTravel );
m_pLinearTravel = NULL;
Delete( m_pAngularPath );
m_pAngularPath = NULL;
Delete( m_pLinearPath );
m_pLinearPath = NULL;
EntityFn->UnSelectMemory();
}
KinematicBody* makeOrb(const Matrix44& globalPose)
{
KinematicBody* orb = mRenderSystem->createKinematicBody(SphereDescription(0.21f), globalPose, "nxogre.orb.mesh");
Light* light = mSceneMgr->createLight();
light->setType(Ogre::Light::LT_POINT);
Ogre::ColourValue colour(65.0f / 255.0f, 105.0f / 255.0f, 225.0f / 255.0f);
light->setDiffuseColour(colour);
orb->getSceneNode()->attachObject(light);
return orb;
}
Void EngineTests::_CreateWorld()
{
// Floor
RigidBody * pFloorBody = PhysicsFn->CreateRigidBody( true, m_pFloorShape, 1.0f, Vertex3(0.0f,0.0f,-10.0f) );
pFloorBody->SetRestitution( 0.0f );
pFloorBody->SetFriction( 0.0f );
pFloorBody->SetRollingFriction( 0.0f );
pFloorBody->SetCollisionGroup( 0x01 );
pFloorBody->SetCollisionMask( 0x7f );
m_pFloor = WorldFn->CreateLeaf( TEXT("Floor") );
m_pFloor->SetMesh( m_pFloorGeometry );
m_pFloor->SetEffectInstance( m_pEffectInstanceFloor );
m_pFloor->SetBody( pFloorBody );
WorldFn->AddChild( m_pFloor );
// Character
Vertex3 vInitialPosition( 0.0f, 0.0f, 2.0f );
KinematicBody * pCharacterBody = PhysicsFn->CreateKinematicBody( false, m_pCharacterShape, 1.0f );
pCharacterBody->SetRestitution( 0.0f );
pCharacterBody->SetFriction( 0.0f );
pCharacterBody->SetRollingFriction( 0.0f );
pCharacterBody->SetCollisionGroup( 0x01 );
pCharacterBody->SetCollisionMask( 0x07 );
m_pCharacterController = PhysicsFn->CreateCharacterController( TEXT("CharacterController"), vInitialPosition, Quaternion::Identity, Vector3::Null, Vector3::Null );
m_pCharacterController->Enabled = true;
m_pCharacterController->EnableForces( false );
m_pCharacterController->SetMovementSpeed( 5.0f );
pCharacterBody->AttachController( m_pCharacterController );
m_pCharacter = WorldFn->CreateLeaf( TEXT("Character") );
m_pCharacter->SetMesh( m_pCharacterGeometry );
m_pCharacter->SetEffectInstance( m_pEffectInstanceCharacter );
m_pCharacter->SetBody( pCharacterBody );
WorldFn->AddChild( m_pCharacter );
// Sphere/Box stack
Vertex3 vBallStackPosition( -10.0f, 10.0f, 0.0f );
Vertex3 vBoxStackPosition( -10.0f, -10.0f, 0.0f );
GChar strName[64];
for( UInt i = 0; i < ENGINE_TEST_STACK_SIZE; ++i ) {
vBallStackPosition.Z = 5.0f * (Scalar)(i+1);
vBoxStackPosition.Z = 5.0f * (Scalar)(i+1);
//StringFn->Format( strName, TEXT("Ball_%d"), i );
//RigidBody * pBallBody = PhysicsFn->CreateRigidBody( false, m_pSphereShape, 1.0f, vBallStackPosition );
//pBallBody->SetRestitution( 0.0f );
//pBallBody->SetFriction( 0.0f );
//pBallBody->SetRollingFriction( 0.0f );
//m_arrBallStack[i] = WorldFn->CreateLeaf( strName );
//m_arrBallStack[i]->SetMesh( m_pSphereGeometry );
//m_arrBallStack[i]->SetEffectInstance( m_pEffectInstanceA );
//m_arrBallStack[i]->SetBody( pBallBody );
//WorldFn->AddChild( m_arrBallStack[i] );
StringFn->Format( strName, TEXT("Box_%d"), i );
RigidBody * pBoxBody = PhysicsFn->CreateRigidBody( false, m_pBoxShape, 1.0f, vBoxStackPosition );
pBoxBody->SetRestitution( 0.0f );
pBoxBody->SetFriction( 0.0f );
pBoxBody->SetRollingFriction( 0.0f );
m_arrBoxStack[i] = WorldFn->CreateLeaf( strName );
m_arrBoxStack[i]->SetMesh( m_pBoxGeometry );
m_arrBoxStack[i]->SetEffectInstance( m_pEffectInstanceA );
m_arrBoxStack[i]->SetBody( pBoxBody );
WorldFn->AddChild( m_arrBoxStack[i] );
}
// Joint systems
//Matrix3 matRotation;
//matRotation.MakeRotate( 0.0f, SCALAR_PI_4, SCALAR_PI_4, EULER_ANGLES_XYZ );
//Vertex3 vFixedObjectPosition( 10.0f, 10.0f, 10.0f );
//Vertex3 vObjectAPosition( 12.0f, 10.0f, 10.0f );
//Quaternion qObjectAOrientation( matRotation );
//Vertex3 vObjectBPosition( 7.0f, 10.0f, 10.0f );
//RigidBody * pFixedBody = PhysicsFn->CreateRigidBody( true, m_pSphereShape, 1.0f, vFixedObjectPosition );
//pFixedBody->SetRestitution( 0.0f );
//pFixedBody->SetFriction( 0.0f );
//pFixedBody->SetRollingFriction( 0.0f );
//pFixedBody->SetCollisionGroup( 0x80 );
//pFixedBody->SetCollisionMask( 0 );
//m_pFixedObject = WorldFn->CreateLeaf( TEXT("FixedObject") );
//m_pFixedObject->SetMesh( m_pSphereGeometry );
//m_pFixedObject->SetEffectInstance( m_pEffectInstanceC );
//m_pFixedObject->SetBody( pFixedBody );
//WorldFn->AddChild( m_pFixedObject );
//RigidBody * pObjectABody = PhysicsFn->CreateRigidBody( false, m_pBoxShape, 1.0f, vObjectAPosition ); //, qObjectAOrientation );
//pObjectABody->SetRestitution( 0.0f );
//pObjectABody->SetFriction( 0.0f );
//pObjectABody->SetRollingFriction( 0.0f );
//pObjectABody->SetCollisionGroup( 0x02 );
//pObjectABody->SetCollisionMask( 0x03 );
//m_pObjectA = WorldFn->CreateLeaf( TEXT("ObjectA") );
//m_pObjectA->SetMesh( m_pBoxGeometry );
//m_pObjectA->SetEffectInstance( m_pEffectInstanceA );
//m_pObjectA->SetBody( pObjectABody );
//WorldFn->AddChild( m_pObjectA );
//RigidBody * pObjectBBody = PhysicsFn->CreateRigidBody( false, m_pBoxShape, 1.0f, vObjectBPosition );
//pObjectBBody->SetRestitution( 0.0f );
//pObjectBBody->SetFriction( 0.0f );
//pObjectBBody->SetRollingFriction( 0.0f );
//pObjectBBody->SetCollisionGroup( 0x04 );
//pObjectBBody->SetCollisionMask( 0x05 );
//m_pObjectB = WorldFn->CreateLeaf( TEXT("ObjectB") );
//m_pObjectB->SetMesh( m_pBoxGeometry );
//m_pObjectB->SetEffectInstance( m_pEffectInstanceB );
//m_pObjectB->SetBody( pObjectBBody );
//WorldFn->AddChild( m_pObjectB );
//Transform3 vJointFrame;
//Matrix3 matJointFrame;
//matJointFrame.SetColumn( 0, Vector3::eJ );
//matJointFrame.SetColumn( 1, Vector3::eK );
//matJointFrame.SetColumn( 2, Vector3::eI );
//vJointFrame.SetRotate( matJointFrame );
//vJointFrame.SetTranslate( Vector3(11.0f, 10.0f, 10.0f) );
//m_pJointAF = PhysicsFn->CreateJoint( JOINT_CONETWIST, pObjectABody, pFixedBody, vJointFrame );
//( (JointConeTwist*)(m_pJointAF->GetJoint()) )->EnableTwistLimits( -SCALAR_PI_4, SCALAR_PI_4 );
//( (JointHinge*)(m_pJointAF->GetJoint()) )->EnableSpring( 0.5f, SCALAR_PI_4 );
//vJointFrame.SetTranslate( Vector3(9.0f, 10.0f, 10.0f) );
//m_pJointBF = PhysicsFn->CreateJoint( JOINT_SLIDER, pObjectBBody, pFixedBody, vJointFrame );
//( (JointSlider*)(m_pJointBF->GetJoint()) )->EnableLimits( -2.0f, +2.0f );
//( (JointSlider*)(m_pJointBF->GetJoint()) )->EnableSpring( 0.5f, -1.0f );
// World camera
m_pRenderCamera = New Camera( true );
m_pWorldCamera = New WorldCamera3rdPerson( m_pRenderCamera, m_pCharacter, NULL, 3.0f );
WorldFn->SetWorldCamera( m_pWorldCamera );
}
Void CharEntity::_PathTracking_Update( const Array<WorldPathWaypoint*> & arrPath )
{
// Destroy path tracking
_PathTracking_End();
// Find which waypoint we need to go to next
Vertex3 vPosition = GetPosition();
Scalar fSqrDistance, fPrevSqrDistance = SCALAR_INFINITE;
//Scalar fPrevPrevSqrDistance;
Assert( m_iLastPassedWaypoint != INVALID_OFFSET );
UInt iNextWaypoint = m_iLastPassedWaypoint;
while( iNextWaypoint < arrPath.Count() ) {
// Detect if the path stops getting closer from our position
fSqrDistance = ( arrPath[iNextWaypoint]->GetPosition() - vPosition ).NormSqr();
if ( fSqrDistance > fPrevSqrDistance ) {
// Either one of those 2 cases : we allways choose i
// -----*--X--|-----*----------*----
// i-1 i
// -----*-----|--X--*----------*---- where i is iNextWaypoint
// i-2 i-1 i
//if ( iNextWaypoint >= 2 ) {
// fPrevPrevSqrDistance = ( arrPath[iNextWaypoint-2]->GetPosition() - vPosition ).NormSqr();
// if ( fPrevPrevSqrDistance < fSqrDistance )
// --iNextWaypoint;
//}
break;
}
fPrevSqrDistance = fSqrDistance;
++iNextWaypoint;
}
// This is a safe assumption ...
// We allways have the last call to this made way before
// path tracking is finished, timing is obviously enforced here.
Assert( iNextWaypoint < arrPath.Count() );
m_iLastPassedWaypoint = ( iNextWaypoint - 1 );
WorldPathFinder * pPathFinder = WorldFn->GetPathFinder();
Bool bFinished = pPathFinder->IsFinished( m_idPathTracking );
// Recreate path tracking
EntityFn->SelectMemory( TEXT("Scratch") );
UInt iControlPointCount = ( arrPath.Count() - iNextWaypoint + 1 );
UInt iDegree = Min<UInt>( iControlPointCount - 1, 3 );
Vertex3 * arrControlPoints = New Vertex3[iControlPointCount];
Scalar * arrParameters = New Scalar[iControlPointCount];
Vertex2 * arrTravelPoints = New Vertex2[iControlPointCount];
arrControlPoints[0] = vPosition;
for( UInt i = 1; i < iControlPointCount - 1; ++i )
arrControlPoints[i] = arrPath[iNextWaypoint + (i-1)]->GetPosition();
if ( bFinished )
arrControlPoints[iControlPointCount - 1] = m_vPathTarget;
else
arrControlPoints[iControlPointCount - 1] = arrPath[iNextWaypoint + (iControlPointCount - 2)]->GetPosition();
m_pLinearPath = New BSplinePatch3( arrControlPoints, iControlPointCount, iDegree, false, false );
m_pLinearPath->SubDivideByParameter( arrParameters, iControlPointCount );
for( UInt i = 0; i < iControlPointCount; ++i ) {
Vector3 vTangent = m_pLinearPath->Tangent( arrParameters[i] );
arrControlPoints[i].X = 0.0f;
arrControlPoints[i].Y = 0.0f;
arrControlPoints[i].Z = MathFn->ArcCos( vTangent * Vector3::eI );
}
m_pAngularPath = New BSplinePatch3( arrControlPoints, iControlPointCount, iDegree, false, false );
Scalar fLength = m_pLinearPath->Curve3::Length();
Scalar fTime = ( fLength / m_pCharacter->GetMovementSpeed() );
Scalar fLengthInterval = ( fLength / (Scalar)(iControlPointCount - 1) );
Scalar fTimeInterval = ( fTime / (Scalar)(iControlPointCount - 1) );
Scalar fX = 0.0f, fY = 0.0f;
for( UInt i = 0; i < iControlPointCount; ++i ) {
arrTravelPoints[i].X = fX;
arrTravelPoints[i].Y = fY;
fX += fLengthInterval;
fY += fTimeInterval;
}
m_pLinearTravel = New BSplinePatch2( arrTravelPoints, iControlPointCount, iDegree, false, false );
m_pAngularTravel = New BSplinePatch2( arrTravelPoints, iControlPointCount, iDegree, false, false );
DeleteA( arrTravelPoints );
arrTravelPoints = NULL;
DeleteA( arrParameters );
arrParameters = NULL;
DeleteA( arrControlPoints );
arrControlPoints = NULL;
EntityFn->UnSelectMemory();
// Disable character controller
m_pController->SetStanding();
KinematicBody * pBody = (KinematicBody*)m_pBody;
m_pController->Enabled = false;
pBody->DetachMotionController();
// Enable path controller
m_pPathController = PhysicsFn->CreatePathController( TEXT("PathController"), m_pLinearPath, m_pLinearTravel,
m_pAngularPath, m_pAngularTravel, EULER_ANGLES_ZYX );
m_pPathController->Enabled = true;
m_pPathController->MaxTime = fTime;
pBody->AttachController( m_pPathController );
}
Void CharEntity::_PathTracking_Start( const Array<WorldPathWaypoint*> & arrPath )
{
Assert( m_pPathController == NULL );
WorldPathFinder * pPathFinder = WorldFn->GetPathFinder();
Bool bFinished = pPathFinder->IsFinished( m_idPathTracking );
// Create path data
EntityFn->SelectMemory( TEXT("Scratch") );
Bool bBias = false;
UInt iControlPointCount = arrPath.Count();
if ( iControlPointCount == 1 ) {
Assert( bFinished );
++iControlPointCount;
bBias = true;
}
UInt iDegree = Min<UInt>( iControlPointCount - 1, 3 );
Vertex3 * arrControlPoints = New Vertex3[iControlPointCount];
Scalar * arrParameters = New Scalar[iControlPointCount];
Vertex2 * arrTravelPoints = New Vertex2[iControlPointCount];
arrControlPoints[0] = GetPosition();
if ( bBias )
arrControlPoints[1] = m_vPathTarget;
else {
for( UInt i = 1; i < iControlPointCount - 1; ++i )
arrControlPoints[i] = arrPath[i]->GetPosition();
if ( bFinished )
arrControlPoints[iControlPointCount - 1] = m_vPathTarget;
else
arrControlPoints[iControlPointCount - 1] = arrPath[iControlPointCount - 1]->GetPosition();
}
m_pLinearPath = New BSplinePatch3( arrControlPoints, iControlPointCount, iDegree, false, false );
m_pLinearPath->SubDivideByParameter( arrParameters, iControlPointCount );
for( UInt i = 0; i < iControlPointCount; ++i ) {
Vector3 vTangent = m_pLinearPath->Tangent( arrParameters[i] );
arrControlPoints[i].X = 0.0f;
arrControlPoints[i].Y = 0.0f;
arrControlPoints[i].Z = MathFn->ArcCos( vTangent * Vector3::eI );
}
m_pAngularPath = New BSplinePatch3( arrControlPoints, iControlPointCount, iDegree, false, false );
Scalar fLength = m_pLinearPath->Curve3::Length();
Scalar fTime = ( fLength / m_pCharacter->GetMovementSpeed() );
Scalar fLengthInterval = ( fLength / (Scalar)(iControlPointCount - 1) );
Scalar fTimeInterval = ( fTime / (Scalar)(iControlPointCount - 1) );
Scalar fX = 0.0f, fY = 0.0f;
for( UInt i = 0; i < iControlPointCount; ++i ) {
arrTravelPoints[i].X = fX;
arrTravelPoints[i].Y = fY;
fX += fLengthInterval;
fY += fTimeInterval;
}
m_pLinearTravel = New BSplinePatch2( arrTravelPoints, iControlPointCount, iDegree, false, false );
m_pAngularTravel = New BSplinePatch2( arrTravelPoints, iControlPointCount, iDegree, false, false );
DeleteA( arrTravelPoints );
arrTravelPoints = NULL;
DeleteA( arrParameters );
arrParameters = NULL;
DeleteA( arrControlPoints );
arrControlPoints = NULL;
EntityFn->UnSelectMemory();
// Disable character controller
m_pController->SetStanding();
KinematicBody * pBody = (KinematicBody*)m_pBody;
m_pController->Enabled = false;
pBody->DetachMotionController();
// Enable path controller
m_pPathController = PhysicsFn->CreatePathController( TEXT("PathController"), m_pLinearPath, m_pLinearTravel,
m_pAngularPath, m_pAngularTravel, EULER_ANGLES_ZYX );
m_pPathController->Enabled = true;
m_pPathController->MaxTime = fTime;
pBody->AttachController( m_pPathController );
}
