CrashTestDummiesDemo::CrashTestDummiesDemo(hkDemoEnvironment* env): hkDefaultPhysicsDemo( env )
{
// Disable warnings:
hkError::getInstance().setEnabled(0xafe97523, false); //'This utility is intended primarily for Havok demo use. If you wish to step the world asynchronously,...'
// XXX remove once async stepping fixed
hkpWorld::IgnoreForceMultithreadedSimulation ignoreForceMultithreaded;
enableDisplayingToiInformation(true);
m_ragdoll = HK_NULL;
//
// Create the world
//
{
hkpWorldCinfo info;
info.m_gravity.set( 0.0f, 0.0f, -10.0f );
//info.m_enableDeactivation = false;
info.m_simulationType = hkpWorldCinfo::SIMULATION_TYPE_CONTINUOUS;
//info.m_simulationType = hkpWorldCinfo::SIMULATION_TYPE_BACKSTEP_SIMPLE;
m_world = new hkpWorld( info );
m_world->lock();
// Register ALL agents (though some may not be necessary)
hkpAgentRegisterUtil::registerAllAgents(m_world->getCollisionDispatcher());
}
//
// Collision Filter
//
{
m_filter = new hkpGroupFilter();
hkpGroupFilterSetup::setupGroupFilter( m_filter );
m_world->setCollisionFilter(m_filter);
}
//
// Setup the camera
//
{
hkVector4 from(0.0f, 8.0f, 3.0f);
hkVector4 to(0.0f, 0.0f, 1.0f);
hkVector4 up(0.0f, 0.0f, 1.0f);
setupDefaultCameras( env, from, to, up, 1.f, 1000.0f );
setupGraphics();
}
m_car = createSimpleCarHull();
m_world->addEntity( m_car )->removeReference();
HK_SET_OBJECT_COLOR(hkUlong(m_car->getCollidable()), hkColor::rgbFromChars(255, 255, 255, 50));
fitRagdollsIn(hkVector4::getZero());
//hkVector4 pos(3.0f, 1.0f, 0.8f);
//putBoxesIn( pos );
//putBoxesIn(hkVector4(4.1f, 1.0f, 0.8f));
createGroundBox();
createFastObject();
m_world->unlock();
}
SqueezedBallDemo::SqueezedBallDemo(hkDemoEnvironment* env)
: hkDefaultPhysicsDemo(env)
{
enableDisplayingToiInformation( true );
// Disable warnings
hkError::getInstance().setEnabled(0xf0de4356, false); // 'Your m_contactRestingVelocity seems to be too small'
hkError::getInstance().setEnabled(0xad45d441, false); // 'SCR generated invalid velocities'
hkError::getInstance().setEnabled(0xafe97523, false); //'This utility is intended primarily for Havok demo use. If you wish to step the world asynchronously,...'
//
// Setup the camera
//
{
hkVector4 from( 6, 0, 50);
hkVector4 to ( 6, 0, 0);
hkVector4 up ( 0, 1, 0);
setupDefaultCameras(env, from, to, up);
}
//
// Setup and create the hkpWorld
//
{
hkpWorldCinfo info;
info.setBroadPhaseWorldSize(350.0f);
info.m_collisionTolerance = .03f;
info.m_gravity.set(0.0f, -100.0f, 0.0f);
info.m_enableDeactivation = false;
info.m_simulationType = info.SIMULATION_TYPE_CONTINUOUS;
m_world = new hkpWorld( info );
m_world->lock();
m_debugViewerNames.pushBack( hkpBroadphaseViewer::getName() );
hkRegisterAlternateShapeTypes( m_world->getCollisionDispatcher() );
hkpPredGskfAgent::registerAgent( m_world->getCollisionDispatcher() );
setupGraphics();
}
// Create a row of boxes
int numBodies = 0;
for (int r = 0; r < 1; r++)
{
for (int i = 0; i < 1; i++)
{
//hkVector4 boxSize( 0.5f, 0.5f, 0.5f); // the end pos
//hkpConvexShape* shape = new hkpBoxShape( boxSize, 0.05f );
hkpConvexShape* shape = new hkpSphereShape( 0.5f );
hkpRigidBodyCinfo ci;
ci.m_motionType = hkpMotion::MOTION_DYNAMIC;
ci.m_shape = shape;
ci.m_mass = 1.0f;
ci.m_angularDamping = 0.0f;
ci.m_linearDamping = 0.0f;
hkReal d = 1.0f;
ci.m_inertiaTensor.setDiagonal( d,d,d );
ci.m_position.set( i * -5.0f, i * -5.0f, 0);
ci.m_restitution = 0.9f;
ci.m_qualityType = HK_COLLIDABLE_QUALITY_CRITICAL;
ci.m_maxLinearVelocity = 1000.0f;
hkpRigidBody* body = new hkpRigidBody(ci);
char buff[10];
hkString::sprintf(buff, "body%d", numBodies++);
body->setName(buff);
hkVector4 vel(1500.0f, 500.0f, 0.0f);
body->setLinearVelocity(vel);
m_world->addEntity( body )->removeReference();
shape->removeReference();
}
}
hkVector4 halfSize(40.0f, 0.5f, 10.0f);
// Create bottom fixed body
{
hkpConvexShape* shape = new hkpBoxShape(halfSize, 0.0f);
hkpRigidBodyCinfo ci;
ci.m_motionType = hkpMotion::MOTION_FIXED;
ci.m_shape = shape;
ci.m_mass = 1.0f;
ci.m_angularDamping = 0.0f;
ci.m_linearDamping = 0.0f;
hkReal d = 1.0f;
ci.m_inertiaTensor.setDiagonal( d,d,d );
ci.m_position.set( halfSize(0), -2.0f, 0);
ci.m_restitution = 0.9f;
hkpRigidBody* body = new hkpRigidBody(ci);
char buff[10];
hkString::sprintf(buff, "wall%d", 0);
body->setName(buff);
//bodies.pushBack( body );
m_world->addEntity( body );
body->removeReference();
shape->removeReference();
}
// Create top body
{
hkpConvexShape* shape = new hkpBoxShape(halfSize, 0.0f);
hkpRigidBodyCinfo ci;
ci.m_motionType = hkpMotion::MOTION_DYNAMIC;
ci.m_shape = shape;
ci.m_mass = 1000.0f;
ci.m_angularDamping = 0.0f;
ci.m_linearDamping = 0.0f;
ci.m_inertiaTensor.setDiagonal( 10e7,10e7,10e5 );
ci.m_position.set( halfSize(0), 2.1f, 0);
ci.m_restitution = 0.9f;
ci.m_rotation = hkQuaternion(hkVector4(0,0,-1), 4.0f * HK_REAL_PI / 180.0f);
ci.m_qualityType = HK_COLLIDABLE_QUALITY_MOVING;
hkpMassProperties mp;
hkpInertiaTensorComputer::computeBoxVolumeMassProperties(halfSize, ci.m_mass, mp);
hkpRigidBody* body = new hkpRigidBody(ci);
char buff[10];
hkString::sprintf(buff, "wall%d", 1);
body->setName(buff);
//bodies.pushBack( body );
m_world->addEntity( body );
body->removeReference();
shape->removeReference();
}
m_world->unlock();
}
HingeHittingTableDemo::HingeHittingTableDemo(hkDemoEnvironment* env)
: hkDefaultPhysicsDemo(env)
{
// Disable warnings:
hkError::getInstance().setEnabled(0xafe97523, false); //'This utility is intended primarily for Havok demo use. If you wish to step the world asynchronously,...'
enableDisplayingToiInformation(true);
//
// Setup the camera
//
{
hkVector4 from( 0, 0, 10);
hkVector4 to ( 0, 0, 0);
hkVector4 up ( 0, 1, 0);
setupDefaultCameras(env, from, to, up);
}
//
// Setup and create the hkpWorld
//
{
hkpWorldCinfo info;
info.setBroadPhaseWorldSize(150.0f);
info.m_collisionTolerance = .03f;
info.m_gravity.setZero4();
info.m_simulationType = info.SIMULATION_TYPE_CONTINUOUS;
m_world = new hkpWorld( info );
m_world->lock();
hkpAgentRegisterUtil::registerAllAgents( m_world->getCollisionDispatcher() );
setupGraphics();
}
const HingeHittingTableDemoVariant& variant = g_variants[this->m_variantId];
//
// Collision Filter
//
{
hkpGroupFilter* filter = new hkpGroupFilter();
hkpGroupFilterSetup::setupGroupFilter( filter );
m_world->setCollisionFilter(filter);
filter->disableCollisionsBetween(30,30);
filter->removeReference();
}
// Create a box
{
hkReal mass = 0.0f;
hkVector4 size( 2.0f, 0.2f, 2.0f );
hkVector4 position( 1.0f, 0.0f, 0.0f );
hkpRigidBody* body = HK_NULL;
if( 1 )
{
// use a hkpBoxShape
body = GameUtils::createBox( size, mass, position );
}
else
{
// use a hkpConvexVerticesShape
body = GameUtils::createConvexVerticesBox( size, mass, position );
}
body->setName("table0");
m_world->addEntity( body )->removeReference();
}
hkVector4 pos(-2.0f, 0.0f, 0.0f);
hkVector4 vel(45.0f, 0.0f, 0.0f);
switch(variant.m_sceneType)
{
case VARIANT_HINGE:
createHinge(m_world, variant.m_objectQualityType, variant.m_constraintPriorityLevel, pos, vel);
break;
case VARIANT_RAGDOLL:
case VARIANT_RAGDOLL_INCREASED_INERTIA:
createRagdoll(m_world, variant.m_objectQualityType, variant.m_constraintPriorityLevel, pos, vel, variant.m_sceneType);
break;
}
m_world->unlock();
}
