void DestructibleBridgeUtil::createConvexTranslateShapeAndAddToArray(hkpBoxShape* shape, hkReal posX, hkReal posY, hkReal posZ, hkReal scale, hkArray<hkpShape*>& shapes)
{
hkVector4 position(posX, posY, posZ);
position.mul4(scale);
hkpConvexTranslateShape* translatedShape = new hkpConvexTranslateShape(shape, position);
shapes.pushBack(translatedShape);
}
void WorldLinearCastMultithreadedDemo::buildQueryObects( hkArray<hkpShape*>& shapes, hkArray<QueryObject>& objects )
{
hkpShapeDisplayBuilder::hkpShapeDisplayBuilderEnvironment env;
hkpShapeDisplayBuilder builder(env);
for (int i = 0; i < shapes.getSize(); i++)
{
QueryObject qo;
qo.m_transform = new hkTransform();
qo.m_transform->setIdentity();
qo.m_collidable = new hkpCollidable( shapes[i], qo.m_transform );
objects.pushBack( qo );
hkArray<hkDisplayGeometry*> displayGeometries;
builder.buildDisplayGeometries( shapes[i], displayGeometries );
hkDebugDisplay::getInstance().addGeometry( displayGeometries, hkTransform::getIdentity(), (hkUlong)qo.m_collidable, 0, 0 );
while( displayGeometries.getSize() )
{
delete displayGeometries[0];
displayGeometries.removeAt(0);
}
// Set green color
HK_SET_OBJECT_COLOR((hkUlong)qo.m_collidable, hkColor::rgbFromChars(0,255,0,120));
}
}
bool hkvTextureTransformationSettings::checkFormatCompatibility(
hkArray<hkvAssetLogMessage>& out_messages)
{
// Check if the file and data formats are compatible
if (!hkvTextureFileToDataFormatMapping::getInstance().isMapped(m_targetFileFormat, m_targetDataFormat))
{
hkStringBuf msg;
msg.printf("The target file format (%s) is not compatible with the target data format (%s)",
hkvTextureFileFormatNames[m_targetFileFormat], hkvTextureDataFormatNames[m_targetDataFormat]);
out_messages.pushBack(hkvAssetLogMessage(HKV_MESSAGE_CATEGORY_ASSET_TRANSFORMATION, HKV_MESSAGE_SEVERITY_ERROR, msg));
}
// Check if the platform can handle the target data format
if (m_platform != HKV_TARGET_PLATFORM_ANY)
{
if (!hkvPlatformToTextureDataFormatMapping::getInstance().isMapped(m_platform, m_targetDataFormat))
{
const char* platformName = "";
hkvGetTargetPlatformDefinition().idToString(m_platform, platformName);
hkStringBuf msg;
msg.printf("The target data format (%s) is not compatible with the target platform (%s)",
hkvTextureDataFormatNames[m_targetDataFormat], platformName);
out_messages.pushBack(hkvAssetLogMessage(HKV_MESSAGE_CATEGORY_ASSET_TRANSFORMATION, HKV_MESSAGE_SEVERITY_ERROR, msg));
}
}
// Check if the platform can handle the target file format
if (m_platform != HKV_TARGET_PLATFORM_ANY)
{
if (!hkvPlatformToTextureFileFormatMapping::getInstance().isMapped(m_platform, m_targetFileFormat))
{
const char* platformName = "";
hkvGetTargetPlatformDefinition().idToString(m_platform, platformName);
hkStringBuf msg;
msg.printf("The target file format (%s) is not compatible with the target platform (%s)",
hkvTextureFileFormatNames[m_targetFileFormat], platformName);
out_messages.pushBack(hkvAssetLogMessage(HKV_MESSAGE_CATEGORY_ASSET_TRANSFORMATION, HKV_MESSAGE_SEVERITY_ERROR, msg));
}
}
return true;
}
void DestructibleHierarchy::collectShapeKeys(int nodeIdx, hkArray<hkpShapeKey>& shapeKeys)
{
Node* node = &m_nodes[nodeIdx];
if (node->m_shapeKey)
{
shapeKeys.pushBack(node->m_shapeKey);
}
for (int c = 0; c < node->m_childrenIdx.getSize(); c++)
{
collectShapeKeys(node->m_childrenIdx[c], shapeKeys);
}
}
void FbxToHkxConverter::findChildren(FbxNode* root, hkArray<FbxNode*>& children, FbxNodeAttribute::EType type)
{
for (int childIndex = 0; childIndex < root->GetChildCount(); childIndex++)
{
FbxNode *node = root->GetChild(childIndex);
if (node->GetNodeAttribute() != NULL &&
node->GetNodeAttribute()->GetAttributeType() == type)
{
children.pushBack(node);
}
findChildren(node, children, type);
}
}
void ShapeQueryDemo::buildAabbPhantoms( hkpWorld* world, int numPhantoms, hkArray<hkpAabbPhantom*>& phantoms, hkPseudoRandomGenerator& generator )
{
for (int i = 0; i < numPhantoms; i++)
{
hkAabb aabb;
// create a random position. This is important, otherwise all the phantoms will start in the
// center of the level and will overlap, causing an N squared worst case problem
aabb.m_min.set( i * 10.f, 10.f, generator.getRandRange( -20.f, 20.f ));
aabb.m_max = aabb.m_min;
hkpAabbPhantom* phantom = new hkpAabbPhantom( aabb );
phantoms.pushBack( phantom );
world->addPhantom( phantom );
}
}
void ShapeQueryDemo::buildCachingPhantoms( hkpWorld* world, hkArray<hkpShape*>& shapes, hkArray<hkpCachingShapePhantom*>& phantoms, hkPseudoRandomGenerator& generator )
{
for (int i = 0; i < shapes.getSize(); i++)
{
// create a random position. This is important, otherwise all the phantoms will start in the
// center of the level and will overlap, causing an N squared worst case problem
hkTransform t;
t.getRotation().setIdentity();
t.getTranslation().set( i * 10.f, 10.f, generator.getRandRange( -20.f, 20.f ));
hkpCachingShapePhantom* phantom = new hkpCachingShapePhantom( shapes[i], t );
phantoms.pushBack( phantom );
world->addPhantom( phantom );
// Set red color
HK_SET_OBJECT_COLOR((hkUlong)phantom->getCollidable( ), hkColor::rgbFromChars(255,0,0,120));
}
}
void hkDefaultPhysicsDemo::setupContexts(hkArray<hkProcessContext*>& contexts)
{
if ( m_world )
{
m_world->markForWrite();
if ( (m_physicsViewersContext->findWorld(m_world) < 0) )
{
m_physicsViewersContext->addWorld(m_world);
}
m_world->unmarkForWrite();
}
contexts.pushBack( m_physicsViewersContext );
// Add viewers to the demo display.
// Uncomment these to use them.
// m_debugViewerNames.pushBack( hkpBroadphaseViewer::getName() );
//m_debugViewerNames.pushBack( hkpConstraintViewer::getName() );
// m_debugViewerNames.pushBack( hkpActiveContactPointViewer::getName() );
// m_debugViewerNames.pushBack( hkpInactiveContactPointViewer::getName() );
// m_debugViewerNames.pushBack( hkpRigidBodyCentreOfMassViewer::getName() );
// m_debugViewerNames.pushBack( hkpRigidBodyInertiaViewer::getName() );
// m_debugViewerNames.pushBack( hkpSimulationIslandViewer::getName() );
// m_debugViewerNames.pushBack( hkpVehicleViewer::getName() );
// m_debugViewerNames.pushBack( hkStatisticsProcess::getName() );
// m_debugViewerNames.pushBack( hkpSweptTransformDisplayViewer::getName() );
// m_debugViewerNames.pushBack( hkpToiContactPointViewer::getName() );
// A viewer to look at the collision radius of convex objects.
// m_debugViewerNames.pushBack( hkpConvexRadiusViewer::getName() );
// These are the three "default" viewers which display shapes,
// phantoms and debug lines.
m_debugViewerNames.pushBack( hkpShapeDisplayViewer::getName() );
m_debugViewerNames.pushBack( hkpPhantomDisplayViewer::getName() );
m_debugViewerNames.pushBack( hkDebugDisplayProcess::getName() );
// register all our classes we know about with the vdb for tweaking
if (m_vdbClassReg)
{
m_vdbClassReg->registerList(hkBuiltinTypeRegistry::StaticLinkedTypeInfos, hkBuiltinTypeRegistry::StaticLinkedClasses);
}
}
void hkDefaultDemo::getTimerStreamInfo( hkArray<hkTimerData>& threadStreams, hkArray<hkTimerData>& spuStreams, int maxThreads )
{
hkTimerData info;
info.m_streamBegin = hkMonitorStream::getInstance().getStart();
info.m_streamEnd = hkMonitorStream::getInstance().getEnd();
threadStreams.pushBack(info);
#if defined HK_PLATFORM_PS3_PPU
if ( m_jobThreadPool != HK_NULL )
{
m_jobThreadPool->appendTimerData( spuStreams );
}
#else
if ( m_jobThreadPool != HK_NULL )
{
m_jobThreadPool->appendTimerData( threadStreams );
}
#endif
}
void displayChunks(const hkpMoppCode* code, hkgDisplayHandler* handler, hkArray<hkReferencedObject*>& delayedCleanup )
{
const int numChunks = code->getCodeSize() / HK_MOPP_CHUNK_SIZE;
hkGeometry* geom = new hkGeometry();
for (int chunkId = 0; chunkId < numChunks; ++chunkId)
{
const unsigned char *offsetCmd = code->m_data.begin() + ( HK_MOPP_CHUNK_SIZE * chunkId );
// HK_ASSERT2( 0x43234564, *offsetCmd == HK_MOPP_DATA_OFFSET, "Can't find offset command");
int offsetIntoChunk = (offsetCmd[1] << 8) | offsetCmd[2];
int numTerminalsInChunk = (offsetCmd[3] << 8) | offsetCmd[4];
for (int terminalId=0; terminalId < numTerminalsInChunk; terminalId++)
{
hkpShapeCollection::ShapeBuffer buffer;
// Decompress into the buffer
const void* data = offsetCmd + offsetIntoChunk;
hkpTriangleShape* triangleShape = new(buffer)hkpTriangleShape;
hkpTriangleCompressor::getTriangleShape( *triangleShape, terminalId, data );
hkGeometry::Triangle triangle;
triangle.m_a = geom->m_vertices.getSize();
triangle.m_b = geom->m_vertices.getSize() + 1;
triangle.m_c = geom->m_vertices.getSize() + 2;
geom->m_vertices.pushBack(triangleShape->getVertex(0));
geom->m_vertices.pushBack(triangleShape->getVertex(1));
geom->m_vertices.pushBack(triangleShape->getVertex(2));
geom->m_triangles.pushBack(triangle);
}
}
hkDisplayGeometry* displayGeom = new hkDisplayConvex( geom );
delayedCleanup.pushBack(displayGeom);
hkArray<hkDisplayGeometry*> displayGeometries( &displayGeom, 1, 1 );
handler->addGeometry( displayGeometries, hkTransform::getIdentity(), 12345, 0, 0);
hkgDisplayObject* obj = handler->findDisplayObject( 12345 );
hkgVertexSet* verts = obj->getGeometry(0)->getMaterialFaceSet(0)->getFaceSet(0)->getVertexSet();
verts->lock(HKG_LOCK_READONLY);
// Copy vertices
hkgFaceSet* faceSet = hkgFaceSet::create( handler->getContext() );
hkgVertexSet* copyVerts = hkgVertexSet::create( handler->getContext() );
faceSet->setVertexSet(copyVerts);
copyVerts->removeReference();
{
copyVerts->setNumVerts( verts->getNumVerts(), verts->getVertexFormat());
copyVerts->lock(HKG_LOCK_WRITEDISCARD);
for (int i=0; i < verts->getNumVerts(); i++)
{
copyVerts->copyExistingVertex(i,i,verts);
}
}
verts->unlock();
verts->setNumVerts( verts->getNumVerts(), verts->getVertexFormat() | HKG_VERTEX_FORMAT_COLOR);
verts->lock(HKG_LOCK_WRITEDISCARD);
int vertIdx = 0;
for (int chunkId = 0; chunkId < numChunks; ++chunkId)
{
const unsigned char *offsetCmd = code->m_data.begin() + ( HK_MOPP_CHUNK_SIZE * chunkId );
// HK_ASSERT2( 0x43234564, *offsetCmd == HK_MOPP_DATA_OFFSET, "Can't find offset command");
int numTerminalsInChunk = (offsetCmd[3] << 8) | offsetCmd[4];
int col = hkColor::getRandomColor();
for (int terminalId=0; terminalId < numTerminalsInChunk; terminalId++)
{
verts->copyExistingVertex( vertIdx, vertIdx, copyVerts);
verts->setVertexComponentData( HKG_VERTEX_COMPONENT_COLOR, vertIdx, &col);
vertIdx++;
verts->copyExistingVertex( vertIdx, vertIdx, copyVerts);
verts->setVertexComponentData( HKG_VERTEX_COMPONENT_COLOR, vertIdx, &col);
vertIdx++;
verts->copyExistingVertex( vertIdx, vertIdx, copyVerts);
verts->setVertexComponentData( HKG_VERTEX_COMPONENT_COLOR, vertIdx, &col);
vertIdx++;
}
}
copyVerts->unlock();
verts->unlock();
//Destroy tmp data
faceSet->removeReference();
}
void DestructibleBridgeUtil::createSingleBoardOrBeam(const hkpConvexShape* shape, const hkVector4& position, hkArray<hkpConvexShape*>& shapeArray)
{
hkpConvexTranslateShape* translatedShape = new hkpConvexTranslateShape(shape, position);
shapeArray.pushBack(translatedShape);
}
void ShapeQueryDemo::createShapes(hkArray<hkpShape*>& shapesOut)
{
const hkReal s = 1.25f;
// Create Sphere body
{
hkpConvexShape* shape = new hkpSphereShape(s);
shapesOut.pushBack(shape );
}
// Create Capsule body
{
hkVector4 a(-s * .5f, 0.f, 0.f);
hkVector4 b( s * .5f, 0.f, 0.f);
hkpCapsuleShape* shape = new hkpCapsuleShape(a, b, s);
shapesOut.pushBack(shape );
}
// Create Box body
{
hkVector4 halfExtents; halfExtents.setAll3( s );
hkpBoxShape* shape = new hkpBoxShape(halfExtents, 0 );
shapesOut.pushBack(shape );
}
// Create ConvexVertices body
{
int numVertices = 12;
// 3 for x,y,z (size of float)
int stride = 3 * sizeof(float);
const hkReal t = s * 0.7f;
const hkReal o = 0.0f;
float vertices[] = { // 4 vertices
-s, o, -s,
-s, o, s,
s, o, -s,
s, o, s,
o, s, -t,
o, s, t,
t, s, o,
-t, s, o,
o, -s, -t,
o, -s, t,
t, -s, o,
-t, -s, o,
};
hkpConvexVerticesShape* shape;
{
hkStridedVertices stridedVerts;
{
stridedVerts.m_numVertices = numVertices;
stridedVerts.m_striding = stride;
stridedVerts.m_vertices = vertices;
}
shape = new hkpConvexVerticesShape(stridedVerts);
}
shapesOut.pushBack( shape );
}
}
void WorldLinearCastMultithreadedDemo::createShapes(hkArray<hkpShape*>& shapesOut)
{
const hkReal s = 1.25f;
// Create Sphere body
{
hkpConvexShape* shape = new hkpSphereShape(s);
shapesOut.pushBack(shape );
}
// Create Capsule body
{
hkVector4 a(-s * .5f, 0.f, 0.f);
hkVector4 b( s * .5f, 0.f, 0.f);
hkpCapsuleShape* shape = new hkpCapsuleShape(a, b, s);
shapesOut.pushBack(shape );
}
// Create Box body
{
hkVector4 halfExtents; halfExtents.setAll3( s );
hkpBoxShape* shape = new hkpBoxShape(halfExtents, 0 );
shapesOut.pushBack(shape );
}
// Create ConvexVertices body
{
int numVertices = 12;
// 3 for x,y,z (size of float)
int stride = 3 * sizeof(float);
const hkReal t = s * 0.7f;
const hkReal o = 0.0f;
float vertices[] = { // 4 vertices
-s, o, -s,
-s, o, s,
s, o, -s,
s, o, s,
o, s, -t,
o, s, t,
t, s, o,
-t, s, o,
o, -s, -t,
o, -s, t,
t, -s, o,
-t, -s, o,
};
hkpConvexVerticesShape* shape;
hkArray<hkVector4> planeEquations;
hkGeometry geom;
{
hkStridedVertices stridedVerts;
{
stridedVerts.m_numVertices = numVertices;
stridedVerts.m_striding = stride;
stridedVerts.m_vertices = vertices;
}
hkGeometryUtility::createConvexGeometry( stridedVerts, geom, planeEquations );
{
stridedVerts.m_numVertices = geom.m_vertices.getSize();
stridedVerts.m_striding = sizeof(hkVector4);
stridedVerts.m_vertices = &(geom.m_vertices[0](0));
}
shape = new hkpConvexVerticesShape(stridedVerts, planeEquations);
}
shapesOut.pushBack( shape );
}
}
bool hkvTextureTransformationSettings::ensureDimensionIntegrity(hkArray<hkvAssetLogMessage>& out_messages)
{
if (m_sourceWidth == 0 || m_sourceHeight == 0)
{
out_messages.pushBack(hkvAssetLogMessage(HKV_MESSAGE_CATEGORY_ASSET_TRANSFORMATION, HKV_MESSAGE_SEVERITY_ERROR, "Size of source texture is invalid; cannot continue!"));
return false;
}
// Perform sanity checks
if (m_validationNeedsPowerOfTwo && m_validationNeedsMultipleOf > 1)
{
if (hkvMath::isPowerOf2(m_validationNeedsMultipleOf))
{
// Both Power-of-Two and Multiple-of restrictions are given. However, multiple-of is a power of two,
// so we can drop the multiple-of constraint as long as we limit the minimum size.
m_validationMinSize = hkvMath::Max(m_validationMinSize, m_validationNeedsMultipleOf);
}
else
{
VASSERT_MSG(false, "Both Power-of-Two and Multiple-of restrictions are specified, but Multiple-of is not a power of two. Ignoring Multiple-of.");
}
m_validationNeedsMultipleOf = 1;
}
if (m_validationNeedsPowerOfTwo)
{
if (m_validationMinSize > 0 && !hkvMath::isPowerOf2(m_validationMinSize))
{
VASSERT_MSG(false, "According to set restrictions, system minimum size needs to be Power-of-Two. Adjusting.");
m_validationMinSize = hkvMath::powerOf2_ceil(m_validationMinSize);
}
if (m_userMinSize > 0)
{
m_userMinSize = adjustToNearestPowerOfTwo(m_userMinSize);
}
if (m_validationMaxSize > 0 && !hkvMath::isPowerOf2(m_validationMaxSize))
{
VASSERT_MSG(false, "According to set restrictions, system maximum size needs to be Power-of-Two. Adjusting.");
m_validationMaxSize = hkvMath::powerOf2_floor(m_validationMaxSize);
}
if (m_userMaxSize > 0)
{
m_userMaxSize = adjustToNearestPowerOfTwo(m_userMaxSize);
}
}
if (m_validationNeedsMultipleOf > 1)
{
if ((m_validationMinSize % m_validationNeedsMultipleOf) != 0)
{
VASSERT_MSG(false, "According to set restrictions, system minimum size needs to be Multiple-of. Adjusting.");
m_validationMinSize = ((m_validationMinSize + m_validationNeedsMultipleOf - 1) / m_validationNeedsMultipleOf) * m_validationNeedsMultipleOf;
}
m_userMinSize = ((m_userMinSize + m_validationNeedsMultipleOf - 1) / m_validationNeedsMultipleOf) * m_validationNeedsMultipleOf;
if (m_validationMaxSize % m_validationNeedsMultipleOf != 0)
{
VASSERT_MSG(false, "According to set restrictions, system maximum size needs to be Multiple-of. Adjusting.");
m_validationMaxSize = (m_validationMaxSize / m_validationNeedsMultipleOf) * m_validationNeedsMultipleOf;
}
m_userMaxSize = (m_userMaxSize / m_validationNeedsMultipleOf) * m_validationNeedsMultipleOf;
}
if ((m_validationMinSize > 0) && (m_validationMaxSize > 0) && (m_validationMaxSize < m_validationMinSize))
{
VASSERT_MSG(false, "System maximum size less than system minimum size; adjusting.");
m_validationMinSize = m_validationMaxSize;
}
if ((m_userMinSize > 0) && (m_userMaxSize > 0) && (m_userMaxSize < m_userMinSize))
{
m_userMinSize = m_userMaxSize;
}
if ((m_validationMinSize > 0) && (m_userMinSize > 0) && (m_userMinSize < m_validationMinSize))
{
m_userMinSize = m_validationMinSize;
}
if ((m_validationMaxSize > 0) && (m_userMaxSize > 0) && (m_userMaxSize > m_validationMaxSize))
{
m_userMaxSize = m_validationMaxSize;
}
return true;
}
hkResult BreakOffPartsDemo::breakOffSubPart( const ContactImpulseLimitBreachedEvent& event, hkArray<hkpShapeKey>& keysBrokenOffOut, hkpPhysicsSystem& systemOut )
{
const BreakOffPartsVariant& variant = g_variants[m_variantId];
//
// Remove the broken pieces from the car or landscape
//
hkpRigidBody* breakingBody = event.m_breakingBody;
for (int p = 0; p < event.m_points.getSize(); p++)
{
const ContactImpulseLimitBreachedEvent::PointInfo& pointInfo = event.m_points[p];
hkpShapeKey brokenPieceKey = pointInfo.m_brokenShapeKey;
const hkpShape* newShape = HK_NULL;
{
hkpShape* shape = const_cast<hkpShape*>(breakingBody->getCollidable()->getShape());
switch (shape->m_type )
{
case HK_SHAPE_LIST:
{
hkpListShape* list = static_cast<hkpListShape*>(shape);
newShape = list->m_childInfo[brokenPieceKey].m_shape;
hkpBreakOffPartsUtil::removeKeysFromListShape( breakingBody, &brokenPieceKey, 1 );
removeSubShapeFromDisplay( event.m_breakingBody, list, brokenPieceKey );
keysBrokenOffOut.pushBack( brokenPieceKey );
break;
}
case HK_SHAPE_MOPP:
{
hkpMoppBvTreeShape* moppTree = static_cast<hkpMoppBvTreeShape*>(shape);
hkpShapeCollection* collection = const_cast<hkpShapeCollection*>(moppTree->getShapeCollection());
HK_ASSERT2(0xad875a22, collection->getType() == HK_SHAPE_LIST, "The container must be a list shape..");
hkpListShape* list = static_cast<hkpListShape*>(collection);
newShape = list->m_childInfo[brokenPieceKey].m_shape;
hkpBreakOffPartsUtil::removeKeysFromListShape( breakingBody, &brokenPieceKey, 1 );
removeSubShapeFromDisplay( event.m_breakingBody, list, brokenPieceKey );
keysBrokenOffOut.pushBack( brokenPieceKey );
break;
}
default:
HK_ASSERT2( 0xf03df569, 0, "This shape is not implemented yet" );
return HK_FAILURE;
}
}
//
// Create the new broken off piece
//
hkpRigidBodyCinfo rigidBodyCinfo;
{
rigidBodyCinfo.m_shape = newShape;
rigidBodyCinfo.m_position = breakingBody->getPosition();
rigidBodyCinfo.m_rotation = breakingBody->getRotation();
rigidBodyCinfo.m_linearVelocity = breakingBody->getLinearVelocity();
rigidBodyCinfo.m_angularVelocity = breakingBody->getAngularVelocity();
rigidBodyCinfo.m_mass = 10.0f;
rigidBodyCinfo.m_qualityType = (variant.m_type == BREAK_OFF_PARTS_DEMO_TOI) ? HK_COLLIDABLE_QUALITY_MOVING : HK_COLLIDABLE_QUALITY_DEBRIS;
hkpInertiaTensorComputer::setShapeVolumeMassProperties( newShape, rigidBodyCinfo.m_mass, rigidBodyCinfo );
}
hkReferencedObject::lockAll();
hkpRigidBody* newBody = new hkpRigidBody( rigidBodyCinfo );
systemOut.addRigidBody( newBody );
newBody->removeReference();
hkReferencedObject::unlockAll();
// if the original unbroken body was fixed, the colliding impulse is lost, simply apply the impulse to the new piece
if ( breakingBody->isFixedOrKeyframed() )
{
hkReal maxImpulse = pointInfo.m_properties->m_maxImpulse;
hkVector4 impulse; impulse.setMul4( -maxImpulse, pointInfo.m_contactPoint->getNormal() );
newBody->applyPointImpulse( impulse, pointInfo.m_contactPoint->getPosition() );
}
}
return HK_SUCCESS;
}
void BrickWallBuilder::buildBrickWall(const BrickwallBuilderDescriptor& bwDescriptor, hkArray<hkpRigidBody*>& bricksOut, hkArray<hkpConstraintInstance*>& constraintsOut )
{
hkVector4 halfExtents( bwDescriptor.m_brickShape->getHalfExtents() );
// move start point depending on wall size
hkVector4 posX( hkVector4::getZero() );
posX(0) = -bwDescriptor.m_width * halfExtents(0);
posX(0) += halfExtents(0);
posX(1) = -halfExtents(1);
// reserve space for all bricks and constraints
bricksOut.reserve(bwDescriptor.m_height * bwDescriptor.m_width * 2);
constraintsOut.reserve( (2 * bwDescriptor.m_height - 1) * (2 * bwDescriptor.m_width - 1) + bwDescriptor.m_width - 1);
hkReal thresholdDelta = (bwDescriptor.m_strength > bwDescriptor.m_lowerThreshold)? (bwDescriptor.m_strength - bwDescriptor.m_lowerThreshold) /(bwDescriptor.m_height*2-1) : 0.0f;
// set brick properties, used for all the bricks
hkpRigidBodyCinfo boxInfo;
computeBrickInfo(bwDescriptor.m_brickShape, bwDescriptor.m_brickMass, boxInfo);
// QUI
int colOffset=bwDescriptor.m_height;
for(int x=0;x<bwDescriptor.m_width;x++) // along the ground, left to right
{
hkVector4 pos(posX);
// breaking threshold for this row
hkReal rowThreshold = bwDescriptor.m_strength;
for(int y=0; y<bwDescriptor.m_height; y++) // bottom to top
{
pos(1) += (halfExtents(1) + bwDescriptor.m_brickShape->getRadius()) * 2.0f;
// build rigid body for brick
int brickIndOne;
{
brickIndOne=bricksOut.getSize();
boxInfo.m_position.setRotatedDir( bwDescriptor.m_transform.getRotation() /*bwDescriptor.m_orientation*/,pos);
boxInfo.m_position.add4( bwDescriptor.m_transform.getTranslation() /*bwDescriptor.m_position*/);
boxInfo.m_rotation.set( bwDescriptor.m_transform.getRotation() ); //bwDescriptor.m_orientation;
bricksOut.pushBack(new hkpRigidBody(boxInfo));
}
// At each step 2 constraints are built:
hkBool constraintsAdded[] = {false, false};
// 1 - A constraint to the ground OR a constraint to the brick below the one just built
if( y == 0 ) {
// attach the first row to the ground (if requested)
if(bwDescriptor.m_attachToGround)
constraintsOut.pushBack(buildBreakableConstraintInstance(bricksOut[brickIndOne], bwDescriptor.m_theGround, rowThreshold*1000));
} else {
// create a breakable constraint from the brick and the one below
constraintsOut.pushBack(buildBreakableConstraintInstance(bricksOut[brickIndOne], bricksOut[brickIndOne - 1], rowThreshold));
constraintsAdded[0]=true;
}
// 2 - a constraint to the brick to the left
if( x > 0 ) // check if there is a previous column
{
// create a constraint from the new brick and the corresponding brick from the previous column
// the first row is made of unbreakable constraints
if(y==0 && bwDescriptor.m_attachToGround)
constraintsOut.pushBack(buildConstraintInstance(bricksOut[brickIndOne], bricksOut[brickIndOne - colOffset]));
else
constraintsOut.pushBack(buildBreakableConstraintInstance(bricksOut[brickIndOne], bricksOut[brickIndOne - colOffset], rowThreshold));
constraintsAdded[1]=true;
}
if(bwDescriptor.m_setCollisionFilter)
{
// Set filter info
bool b = constraintsAdded[0];
bool l = constraintsAdded[1];
hkUint32 filterInfo = BrickFilter::calcFilterInfo(y, x, bwDescriptor.m_wallID, l, b);
bricksOut[brickIndOne]->setCollisionFilterInfo(filterInfo);
}
rowThreshold -= thresholdDelta;
} // end of for(..y..)
// advance to next col
posX(0) += bwDescriptor.m_gapWidth + halfExtents(0)*2.0f;
} // end of for(..x..)
}
void hkFlattenShapeHierarchyUtil::getLeafShapesFromShape(const hkpShape* shape, const hkTransform& transform, const hkBool isFixedBody, hkArray<hkpExtendedMeshShape::TrianglesSubpart>& trianglePartsOut, hkArray<hkpConvexShape*>& convexShapesOut, hkArray<hkpShape*>& otherShapesOut)
{
const hkpShapeType type = shape->getType();
hkTransform newTransform;
const hkpShape* childShape = HK_NULL;
hkUlong userData = HK_NULL;
switch(type)
{
case HK_SHAPE_LIST:
case HK_SHAPE_CONVEX_LIST:
{
const hkpShapeContainer* container = shape->getContainer();
hkpShapeContainer::ShapeBuffer buffer;
HK_ASSERT2(0xad67da22, 0 == (0xffff0000 & hkUlong(shape->getUserData())), "We're dropping a non-zero lookupIndex from user data.");
hkUint16 materialId = hkUint16(0xffff & hkUlong(shape->getUserData()));
for (hkpShapeKey key = container->getFirstKey(); key != HK_INVALID_SHAPE_KEY; key = container->getNextKey(key))
{
const hkpShape* child = container->getChildShape(key, buffer);
if (materialId && 0 == (0xffff & hkUlong(child->getUserData())) )
{
// no material id for the child -- copy it
hkUlong childData = hkUlong(child->getUserData()) | materialId;
// Warning: modifying the const input hkpShape*
const_cast<hkpShape*>(child)->setUserData(childData);
}
//HK_ASSERT2(0xad6777dd, isFixedBody || !isLeafShape(child), "A child of a list shape cannot be a terminal node. You must use a transform shape in between." );
getLeafShapesFromShape(child, transform, isFixedBody, trianglePartsOut, convexShapesOut, otherShapesOut);
}
}
break;
case HK_SHAPE_TRANSFORM:
{
const hkpTransformShape* transformShape = static_cast<const hkpTransformShape*>(shape);
newTransform.setMul(transform, transformShape->getTransform());
childShape = transformShape->getChildShape();
userData = hkUlong(transformShape->getUserData());
}
break;
case HK_SHAPE_CONVEX_TRANSFORM:
{
const hkpConvexTransformShape* convexTransformShape = static_cast<const hkpConvexTransformShape*>(shape);
newTransform.setMul(transform, convexTransformShape->getTransform());
childShape = convexTransformShape->getChildShape();
userData = hkUlong(convexTransformShape->getUserData());
}
break;
case HK_SHAPE_CONVEX_TRANSLATE:
{
const hkpConvexTranslateShape* convexTranslateShape = static_cast<const hkpConvexTranslateShape*>(shape);
hkTransform localTransform( static_cast<const hkRotation&>(hkRotation::getIdentity()), convexTranslateShape->getTranslation() );
newTransform.setMul(transform, localTransform);
childShape = convexTranslateShape->getChildShape();
userData = hkUlong(convexTranslateShape->getUserData());
}
break;
case HK_SHAPE_BV_TREE:
{
const hkpBvTreeShape* bvTreeshape = static_cast<const hkpBvTreeShape*>(shape);
HK_ASSERT2(0xad67da22, 0 == (0xffff0000 & hkUlong(bvTreeshape->getUserData())), "We're dropping a non-zero lookupIndex from user data.");
const hkpShapeContainer* container = bvTreeshape->getContainer();
for (hkpShapeKey key = container->getFirstKey(); key!= HK_INVALID_SHAPE_KEY; key = container->getNextKey(key))
{
hkpShapeContainer::ShapeBuffer buffer;
const hkpShape* child = container->getChildShape(key, buffer);
const hkpShapeType childType = child->getType();
if ((childType == HK_SHAPE_LIST) || (childType == HK_SHAPE_CONVEX_LIST))
{
getLeafShapesFromShape(child, transform, isFixedBody, trianglePartsOut, convexShapesOut, otherShapesOut);
}
}
break;
}
case HK_SHAPE_MOPP:
{
const hkpMoppBvTreeShape* bvTreeshape = static_cast<const hkpMoppBvTreeShape*>(shape);
// HK_ASSERT2(0xad67da22, 0 == (0xffff0000 & hkUlong(bvTreeshape->getUserData())), "We're dropping a non-zero lookupIndex from user data.");
getLeafShapesFromShape(bvTreeshape->getShapeCollection(), transform, isFixedBody, trianglePartsOut, convexShapesOut, otherShapesOut);
break;
}
default:
{
//HK_ASSERT2(0xad67ddaa, isFixedBody, "A child of a list was attached without an intermediate transform shape. This is not handled.");
// We can get simple shapes without transforms when processing fixed bodies. We do add a hkpConvexTransformShape as usual then ...
childShape = shape;
newTransform = transform;
userData = hkUlong(shape->getUserData());
//HK_ASSERT2(0XAD678D8D, 0 == (userData & 0xffff0000), "Userdata of a fixed body (other than the one fixed uber body) has a non-zero destructible info index.");
}
break;
}
if (HK_NULL != childShape)
{
hkBool leafDone = false;
if (hkOneFixedMoppUtil::isTerminalConvexShape(childShape))
{
// Create new transform shape to wrap the child terminal shape
hkpConvexTransformShape* newConvexTransformShape = new hkpConvexTransformShape(static_cast<const hkpConvexShape*>(childShape), newTransform);
newConvexTransformShape->setUserData( userData );
HK_ASSERT2(0xad67da23, 0 == (0xffff0000 & hkUlong(childShape->getUserData())) || (0xffff0000 & userData) == (0xffff0000 & hkUlong(childShape->getUserData())), "We're dropping a non-zero user data.");
HK_ASSERT2(0xad67da24, 0 == (0xffff & hkUlong(childShape->getUserData())) || (0xffff & userData) == (0xffff & hkUlong(childShape->getUserData())), "Materials differ in the terminal shape and its wrapping hkpTransformShape.");
// put this transform on the shapesOut list
convexShapesOut.pushBack(newConvexTransformShape);
leafDone = true;
}
else if (isLeafShape(childShape))
{
// It's not a terminal(leaf?) convex shape, but it might be a mesh, or indeed a simplemesh.
// It's most likely to be a storagemesh, but we can't assume that, so check vtable:
const hkClass* childShapeClass = hkBuiltinTypeRegistry::getInstance().getVtableClassRegistry()->getClassFromVirtualInstance(childShape);
if( hkpMeshShapeClass.isSuperClass(*childShapeClass) )
{
const hkpMeshShape* mesh = static_cast<const hkpMeshShape*>(childShape);
// Confirm vertex data not shared, see below
#if defined(HK_DEBUG)
{
for(int i = 0; i < mesh->getNumSubparts(); i++)
{
const hkpMeshShape::Subpart& meshSubPartI = mesh->getSubpartAt(i);
for(int j = i+1; j < mesh->getNumSubparts(); j++)
{
const hkpMeshShape::Subpart& meshSubPartJ = mesh->getSubpartAt(j);
HK_ASSERT2(0x0, meshSubPartI.m_vertexBase != meshSubPartJ.m_vertexBase, "This method can't (currently) collapse chared meshs data as it collpases the transform into the verts\n");
}
}
}
#endif
for(int i = 0; i < mesh->getNumSubparts(); i++)
{
const hkpMeshShape::Subpart& meshSubPart = mesh->getSubpartAt(i);
// Now we have the subpart. We can't know if the data pointed to is 'owned' by the mesh (eg. subclass hkpStorageMeshShape)
// or 'pointed to' (base class hkpMeshShape)
//
// We'll just assume here we can 'share' the data by grabbing the pointers...
hkpExtendedMeshShape::TrianglesSubpart extendedMeshSubPart;
extendedMeshSubPart.m_vertexBase = meshSubPart.m_vertexBase;
extendedMeshSubPart.m_vertexStriding = meshSubPart.m_vertexStriding;
extendedMeshSubPart.m_numVertices = meshSubPart.m_numVertices;
extendedMeshSubPart.m_triangleOffset = meshSubPart.m_triangleOffset;
// .. but we'll have to multiply in the transform! This assumes the vertex data is not shared!
{
for(int j = 0; j < extendedMeshSubPart.m_numVertices ; j++)
{
hkVector4 v;
v(0) = extendedMeshSubPart.m_vertexBase[0 + extendedMeshSubPart.m_vertexStriding/sizeof(float) * j];
v(1) = extendedMeshSubPart.m_vertexBase[1 + extendedMeshSubPart.m_vertexStriding/sizeof(float) * j];
v(2) = extendedMeshSubPart.m_vertexBase[2 + extendedMeshSubPart.m_vertexStriding/sizeof(float) * j];
v.setTransformedPos(transform, v);
const_cast<float*>(extendedMeshSubPart.m_vertexBase)[0 + extendedMeshSubPart.m_vertexStriding/sizeof(float) * j] = v(0);
const_cast<float*>(extendedMeshSubPart.m_vertexBase)[1 + extendedMeshSubPart.m_vertexStriding/sizeof(float) * j] = v(1);
const_cast<float*>(extendedMeshSubPart.m_vertexBase)[2 + extendedMeshSubPart.m_vertexStriding/sizeof(float) * j] = v(2);
}
}
extendedMeshSubPart.m_indexBase = meshSubPart.m_indexBase;
extendedMeshSubPart.m_indexStriding = meshSubPart.m_indexStriding;
extendedMeshSubPart.m_numTriangleShapes = meshSubPart.m_numTriangles;
extendedMeshSubPart.m_stridingType = (meshSubPart.m_stridingType == hkpMeshShape::INDICES_INT16) ? hkpExtendedMeshShape::INDICES_INT16 : hkpExtendedMeshShape::INDICES_INT32;
trianglePartsOut.pushBack(extendedMeshSubPart);
leafDone = true;
}
}
}
if(!leafDone)
{
HK_WARN(0xad678dda, "An extra hkTransform shape has been inserted into the hierarchy. This might be suboptimal.");
// Create new transform shape to wrap the child terminal shape
hkpTransformShape* newTransformShape = new hkpTransformShape(childShape, newTransform);
newTransformShape->setUserData( userData );
HK_ASSERT2(0xad67da23, 0 == (0xffff0000 & hkUlong(childShape->getUserData())) || (0xffff0000 & userData) == (0xffff0000 & hkUlong(childShape->getUserData())), "We're dropping a non-zero user data.");
HK_ASSERT2(0xad67da24, 0 == (0xffff & hkUlong(childShape->getUserData())) || (0xffff & userData) == (0xffff & hkUlong(childShape->getUserData())), "Materials differ in the terminal shape and its wrapping hkpTransformShape.");
// put this transform on the shapesOut list
otherShapesOut.pushBack(newTransformShape);
leafDone = true;
}
if(!leafDone)
{
//HK_ASSERT2(0xad67da23, 0 == (0xffff0000 & shape->getUserData()), "We're dropping a non-zero user data.");
if ( 0xffff0000 & hkUlong(shape->getUserData()) )
{
// copy the destruction info index downwards..
HK_ASSERT2(0xad67da23, 0 == (0xffff0000 & hkUlong(childShape->getUserData())) || (0xffff0000 & userData) == (0xffff0000 & hkUlong(childShape->getUserData())), "We're dropping a non-zero user data.");
HK_ASSERT2(0xad67da24, 0 == (0xffff & hkUlong(childShape->getUserData())) || (0xffff & hkUlong(shape->getUserData())) == (0xffff & hkUlong(childShape->getUserData())), "Materials differ in the terminal shape and its wrapping hkpTransformShape.");
//HK_WORLD_ACCESS_CHECK(parentBody->getWorld(), HK_ACCESS_RW );
// Warning: we're actually modifying the const hkpShape* passed as an input parameter
const_cast<hkpShape*>(childShape)->setUserData( shape->getUserData() );
}
getLeafShapesFromShape(childShape, newTransform, isFixedBody, trianglePartsOut, convexShapesOut, otherShapesOut);
}
}
}
