void Spawned()
{
physics = corpse->game_state->physics_world;
// get bone pos/ori info
vector<Mat4> mats = vector<Mat4>();
unsigned int count = character->skeleton->bones.size();
for(unsigned int i = 0; i < count; ++i)
{
Bone* bone = character->skeleton->bones[i];
bone_offsets.push_back(bone->rest_pos);
mats.push_back(whole_xform * bone->GetTransformationMatrix());
}
UberModel::BonePhysics** bone_physes = new UberModel::BonePhysics* [count];
// create rigid bodies
for(unsigned int i = 0; i < count; ++i)
{
Bone* bone = character->skeleton->bones[i];
Mat4 mat = mats[i];
float ori_values[] = {mat[0], mat[1], mat[2], mat[4], mat[5], mat[6], mat[8], mat[9], mat[10]};
bone->ori = Quaternion::FromRotationMatrix(Mat3(ori_values));
Vec3 bone_pos = mat.TransformVec3(bone_offsets[i], 1);
UberModel::BonePhysics* phys = NULL;
for(unsigned int j = 0; j < model->bone_physics.size(); ++j)
if(Bone::string_table[model->bone_physics[j].bone_name] == bone->name)
phys = &model->bone_physics[j];
bone_physes[i] = phys;
if(phys != NULL)
{
btCollisionShape* shape = phys->shape;
if(shape != NULL)
{
RigidBodyInfo* rigid_body = new RigidBodyInfo(shape, MassInfo::FromCollisionShape(shape, phys->mass), bone_pos, bone->ori);
rigid_body->SetLinearVelocity(initial_vel);
// these constants taken from the ragdoll demo
rigid_body->SetDamping(0.05f, 0.85f);
rigid_body->SetDeactivationTime(0.8f);
rigid_body->SetSleepingThresholds(1.6f, 2.5f);
rigid_body->SetFriction(1.0f);
rigid_body->SetRestitution(0.01f);
physics->AddRigidBody(rigid_body);
rigid_bodies.push_back(rigid_body);
CorpseBoneShootable* shootable = new CorpseBoneShootable(corpse->game_state, corpse, rigid_body, blood_material);
shootables.push_back(shootable);
rigid_body->SetCustomCollisionEnabled(shootable);
bone_indices.push_back(i);
}
}
}
// create constraints between bones
for(unsigned int i = 0; i < rigid_bodies.size(); ++i)
{
unsigned int bone_index = bone_indices[i];
UberModel::BonePhysics* phys = bone_physes[bone_index];
if(phys != NULL)
{
Bone* bone = character->skeleton->bones[bone_index];
Bone* parent = bone->parent;
if(parent != NULL)
{
// find index of parent (bone's index is the same as rigid body info's index)
for(unsigned int j = 0; j < rigid_bodies.size(); ++j)
{
unsigned int j_index = bone_indices[j];
if(character->skeleton->bones[j_index] == parent)
{
if(bone_physes[j_index] != NULL)
{
RigidBodyInfo* my_body = rigid_bodies[i];
RigidBodyInfo* parent_body = rigid_bodies[j];
ConeTwistConstraint* c = new ConeTwistConstraint(my_body, parent_body, Quaternion::Identity(), Vec3(), phys->ori, phys->pos);
c->SetLimit(phys->span);
c->SetDamping(0.1f); // default is 0.01
constraints.push_back(c);
physics->AddConstraint(c, true); // true = prevent them from colliding normally
break;
}
}
}
}
}
}
// emancipate bones
for(unsigned int i = 0; i < count; ++i)
{
Bone* bone = character->skeleton->bones[i];
bone->parent = NULL; // orientation and position are no longer relative to a parent!
}
if(rigid_bodies.size() == 0)
corpse->is_valid = false;
delete[] bone_physes;
}
