void Convexcast::go(const OgreNewt::World* world, const OgreNewt::ConvexCollisionPtr& col, const Ogre::Vector3& startpt, const Ogre::Quaternion &colori, const Ogre::Vector3& endpt, int maxcontactscount, int threadIndex)
{
if( world->getDebugger().isRaycastRecording() )
{
world->getDebugger().addConvexRay(col, startpt, colori, endpt);
}
// reserve memory
if( mReturnInfoListSize < maxcontactscount )
{
mReturnInfoListSize = 0;
if( mReturnInfoList )
delete[] mReturnInfoList;
mReturnInfoList = new NewtonWorldConvexCastReturnInfo[maxcontactscount];
mReturnInfoListSize = maxcontactscount;
}
memset(mReturnInfoList, 0, sizeof(mReturnInfoList[0])*mReturnInfoListSize);
// perform the cast
float matrix[16];
OgreNewt::Converters::QuatPosToMatrix(colori, startpt, &matrix[0] );
mFirstContactDistance = -1;
mReturnInfoListLength =
NewtonWorldConvexCast( world->getNewtonWorld(), &matrix[0], (float*)&endpt, col->getNewtonCollision(),
&mFirstContactDistance, this, OgreNewt::Convexcast::newtonConvexcastPreFilter,
mReturnInfoList, mReturnInfoListSize, threadIndex);
if( world->getDebugger().isRaycastRecording() && world->getDebugger().isRaycastRecordingHitBodies() )
{
Body* body;
for(int i = 0; i < mReturnInfoListLength; i++)
{
body = (OgreNewt::Body*) NewtonBodyGetUserData(mReturnInfoList[i].m_hitBody);
world->getDebugger().addHitBody(body);
}
}
}
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);
}
}