static void RagdollAddConstraint( IPhysicsEnvironment *pPhysEnv, ragdoll_t &ragdoll, const ragdollparams_t ¶ms, constraint_ragdollparams_t &constraint )
{
if( constraint.childIndex == constraint.parentIndex )
{
DevMsg( 1, "Bogus constraint on ragdoll %s\n", params.pStudioHdr->pszName() );
constraint.childIndex = -1;
constraint.parentIndex = -1;
}
if ( constraint.childIndex >= 0 && constraint.parentIndex >= 0 )
{
Assert(constraint.childIndex<ragdoll.listCount);
ragdollelement_t &childElement = ragdoll.list[constraint.childIndex];
// save parent index
childElement.parentIndex = constraint.parentIndex;
if ( params.jointFrictionScale > 0 )
{
for ( int k = 0; k < 3; k++ )
{
constraint.axes[k].torque *= params.jointFrictionScale;
}
}
// this parent/child pair is not usually a parent/child pair in the skeleton. There
// are often bones in between that are collapsed for simulation. So we need to compute
// the transform.
Studio_CalcBoneToBoneTransform( params.pStudioHdr, ragdoll.boneIndex[constraint.childIndex], ragdoll.boneIndex[constraint.parentIndex], constraint.constraintToAttached );
MatrixGetColumn( constraint.constraintToAttached, 3, childElement.originParentSpace );
// UNDONE: We could transform the constraint limit axes relative to the bone space
// using this data. Do we need that feature?
SetIdentityMatrix( constraint.constraintToReference );
childElement.pConstraint = pPhysEnv->CreateRagdollConstraint( childElement.pObject, ragdoll.list[constraint.parentIndex].pObject, ragdoll.pGroup, constraint );
}
}
void CStudioPhysics::Load( MDLHandle_t mdlHandle )
{
m_MDLHandle = mdlHandle;
LoadPhysicsProperties();
vcollide_t *pVCollide = GetVCollide( );
if ( !pVCollide )
{
m_pList = NULL;
m_listCount = 0;
return;
}
m_pList = new CPhysmesh[pVCollide->solidCount];
m_listCount = pVCollide->solidCount;
int i;
for ( i = 0; i < pVCollide->solidCount; i++ )
{
m_pList[i].Clear();
m_pList[i].m_vertCount = physcollision->CreateDebugMesh( pVCollide->solids[i], &m_pList[i].m_pVerts );
m_pList[i].m_pCollisionModel = physcollision->CreateQueryModel( pVCollide->solids[i] );
}
ParseKeydata();
CStudioHdr studioHdr( g_pMDLCache->GetStudioHdr( mdlHandle ), g_pMDLCache );
for ( i = 0; i < pVCollide->solidCount; i++ )
{
CPhysmesh *pmesh = m_pList + i;
int boneIndex = FindBoneIndex( &studioHdr, pmesh->m_boneName );
if ( boneIndex < 0 )
continue;
if ( pmesh->m_constraint.parentIndex >= 0 )
{
CPhysmesh *pparent = m_pList + pmesh->m_constraint.parentIndex;
int parentIndex = FindBoneIndex( &studioHdr, pparent->m_boneName );
Studio_CalcBoneToBoneTransform( &studioHdr, boneIndex, parentIndex, pmesh->m_matrix );
}
else
{
MatrixInvert( studioHdr.pBone(boneIndex)->poseToBone, pmesh->m_matrix );
}
}
// doesn't have a root bone? Make it the first bone
if ( !m_edit.rootName[0] )
{
strcpy( m_edit.rootName, m_pList[0].m_boneName );
}
}
Vector GetAttachmentPositionInSpaceOfBone( CStudioHdr *pStudioHdr, const char *pAttachmentName, int outputBoneIndex )
{
if( !pStudioHdr || !pAttachmentName )
return vec3_origin;
int attachment = Studio_FindAttachment( pStudioHdr, pAttachmentName );
Vector localAttach;
const mstudioattachment_t &pAttachment = pStudioHdr->pAttachment(attachment);
int iBone = pStudioHdr->GetAttachmentBone( attachment );
MatrixGetColumn( pAttachment.local, 3, localAttach );
matrix3x4_t inputToOutputBone;
Studio_CalcBoneToBoneTransform( pStudioHdr, iBone, outputBoneIndex, inputToOutputBone );
Vector out;
VectorTransform( localAttach, inputToOutputBone, out );
return out;
}
static void RagdollCreateObjects( IPhysicsCollision *pPhysCollision, IPhysicsEnvironment *pPhysEnv, IPhysicsSurfaceProps *pSurfaceDatabase, ragdoll_t &ragdoll, const ragdollparams_t ¶ms )
{
ragdoll.listCount = 0;
ragdoll.pGroup = NULL;
memset( ragdoll.list, 0, sizeof(ragdoll.list) );
if ( !params.pCollide || params.pCollide->solidCount > RAGDOLL_MAX_ELEMENTS )
return;
IVPhysicsKeyParser *pParse = pPhysCollision->VPhysicsKeyParserCreate( params.pCollide->pKeyValues );
ragdoll.pGroup = pPhysEnv->CreateConstraintGroup();
while ( !pParse->Finished() )
{
const char *pBlock = pParse->GetCurrentBlockName();
if ( !strcmpi( pBlock, "solid" ) )
{
solid_t solid;
// collisions off by default
pParse->ParseSolid( &solid, NULL );
if ( solid.index >= 0 && solid.index < params.pCollide->solidCount)
{
Assert( ragdoll.listCount == solid.index );
int boneIndex = Studio_BoneIndexByName( params.pStudioHdr, solid.name );
ragdoll.boneIndex[ragdoll.listCount] = boneIndex;
if ( boneIndex >= 0 )
{
solid.params.rotInertiaLimit = 0.5;
solid.params.pGameData = params.pGameData;
int surfaceData = pSurfaceDatabase->GetSurfaceIndex( solid.surfaceprop );
if ( surfaceData < 0 )
surfaceData = pSurfaceDatabase->GetSurfaceIndex( "default" );
solid.params.pName = params.pStudioHdr->name;
ragdoll.list[ragdoll.listCount].pObject = pPhysEnv->CreatePolyObject( params.pCollide->solids[solid.index], surfaceData, vec3_origin, vec3_angle, &solid.params );
ragdoll.list[ragdoll.listCount].pObject->SetPositionMatrix( params.pCurrentBones[boneIndex], true );
ragdoll.list[ragdoll.listCount].parentIndex = -1;
ragdoll.listCount++;
}
else
{
Msg( "CRagdollProp::CreateObjects: Couldn't Lookup Bone %s\n",
solid.name );
}
}
}
else if ( !strcmpi( pBlock, "ragdollconstraint" ) )
{
constraint_ragdollparams_t constraint;
pParse->ParseRagdollConstraint( &constraint, NULL );
if ( constraint.childIndex >= 0 && constraint.parentIndex >= 0 )
{
Assert(constraint.childIndex<ragdoll.listCount);
ragdollelement_t &childElement = ragdoll.list[constraint.childIndex];
// save parent index
childElement.parentIndex = constraint.parentIndex;
if ( params.jointFrictionScale > 0 )
{
for ( int k = 0; k < 3; k++ )
{
constraint.axes[k].torque *= params.jointFrictionScale;
}
}
// this parent/child pair is not usually a parent/child pair in the skeleton. There
// are often bones in between that are collapsed for simulation. So we need to compute
// the transform.
Studio_CalcBoneToBoneTransform( params.pStudioHdr, ragdoll.boneIndex[constraint.childIndex], ragdoll.boneIndex[constraint.parentIndex], constraint.constraintToAttached );
MatrixGetColumn( constraint.constraintToAttached, 3, childElement.originParentSpace );
// UNDONE: We could transform the constraint limit axes relative to the bone space
// using this data. Do we need that feature?
SetIdentityMatrix( constraint.constraintToReference );
pPhysEnv->DisableCollisions( ragdoll.list[constraint.parentIndex].pObject, childElement.pObject );
childElement.pConstraint = pPhysEnv->CreateRagdollConstraint( childElement.pObject, ragdoll.list[constraint.parentIndex].pObject, ragdoll.pGroup, constraint );
}
}
else
{
pParse->SkipBlock();
}
}
pPhysCollision->VPhysicsKeyParserDestroy( pParse );
}
static cache_ragdoll_t *ParseRagdollIntoCache( CStudioHdr *pStudioHdr, vcollide_t *pCollide, int modelIndex )
{
IVPhysicsKeyParser *pParse = physcollision->VPhysicsKeyParserCreate( pCollide );
cache_ragdollsolid_t solidList[RAGDOLL_MAX_ELEMENTS];
cache_ragdollconstraint_t constraintList[RAGDOLL_MAX_ELEMENTS];
solid_t solid;
int constraintCount = 0;
int solidCount = 0;
cache_ragdoll_t cache;
V_memset( &cache, 0, sizeof(cache) );
while ( !pParse->Finished() )
{
const char *pBlock = pParse->GetCurrentBlockName();
if ( !strcmpi( pBlock, "solid" ) )
{
pParse->ParseSolid( &solid, &g_SolidSetup );
cache_ragdollsolid_t *pSolid = &solidList[solidCount];
pSolid->boneIndex = Studio_BoneIndexByName( pStudioHdr, solid.name );
if ( pSolid->boneIndex >= 0 )
{
pSolid->collideIndex = solid.index;
pSolid->surfacePropIndex = physprops->GetSurfaceIndex( solid.surfaceprop );
if ( pSolid->surfacePropIndex < 0 )
{
pSolid->surfacePropIndex = physprops->GetSurfaceIndex( "default" );
}
pSolid->params = solid.params;
pSolid->params.enableCollisions = false;
solidCount++;
}
else
{
Msg( "ParseRagdollIntoCache: Couldn't Lookup Bone %s\n", solid.name );
}
}
else if ( !strcmpi( pBlock, "ragdollconstraint" ) )
{
constraint_ragdollparams_t constraint;
pParse->ParseRagdollConstraint( &constraint, NULL );
if( constraint.childIndex != constraint.parentIndex && constraint.childIndex >= 0 && constraint.parentIndex >= 0)
{
cache_ragdollconstraint_t *pOut = &constraintList[constraintCount];
constraintCount++;
V_memcpy( pOut->axes, constraint.axes, sizeof(constraint.axes) );
pOut->parentIndex = constraint.parentIndex;
pOut->childIndex = constraint.childIndex;
Studio_CalcBoneToBoneTransform( pStudioHdr, solidList[constraint.childIndex].boneIndex, solidList[constraint.parentIndex].boneIndex, pOut->constraintToAttached );
}
}
else if ( !strcmpi( pBlock, "collisionrules" ) )
{
ragdollcollisionrules_t rules;
IPhysicsCollisionSet *pSet = physics->FindOrCreateCollisionSet( modelIndex, pCollide->solidCount );
rules.Defaults(physics, pSet);
pParse->ParseCollisionRules( &rules, NULL );
cache.pCollisionSet = rules.pCollisionSet;
}
else if ( !strcmpi( pBlock, "animatedfriction") )
{
pParse->ParseRagdollAnimatedFriction( &cache.animfriction, NULL );
}
else
{
pParse->SkipBlock();
}
}
physcollision->VPhysicsKeyParserDestroy( pParse );
cache.solidCount = solidCount;
cache.constraintCount = constraintCount;
return CreateRagdollCache( pCollide, solidList, constraintList, &cache );
}