void CPhysxSkeleton::Update()
{
if (IsRagdollActive())
{
UpdateCal3dFromPhysx();
}
else
{
UpdatePhysxFromCal3d();
}
}
void CCharEntity::DeactivateRagdoll()
{
n_assert(IsRagdollActive());
Flags.Clear(RAGDOLL_ACTIVE);
if (RagdollComposite.isvalid())
{
DisableCollision();
SetComposite(DefaultComposite);
EnableCollision();
}
}
void CCharEntity::ActivateRagdoll()
{
n_assert(pNCharacter);
n_assert(!IsRagdollActive());
//!!!many unnecessary matrix copyings!
if (RagdollComposite.isvalid())
{
// Get transform before detaching current composite
matrix44 CurrTfm = GetTransform();
// Switch current composite, this will reset the
// composite's transform to the entity's initial transform
DisableCollision();
SetComposite(RagdollComposite);
EnableCollision();
// Fix transform (all the 180 voodoo is necessary because Nebula2's
// characters are rotated by 180 degree around the Y axis
matrix44 R180 = Rotate180;
R180.mult_simple(CurrTfm);
RagdollComposite->SetTransform(R180);
// Sync physics joint angles with bind pose model
RagdollComposite->ReadJoints();
// Apply a the stored impulse to the ragdoll
if (pRagdollImpulse.isvalid())
{
pRagdollImpulse->Apply();
pRagdollImpulse = NULL;
}
Flags.Set(RAGDOLL_ACTIVE);
}
}
void CCharEntity::OnStepBefore()
{
if (IsCollisionEnabled() && !IsRagdollActive())
{
CEnvInfo EnvInfo;
vector3 Pos = GetTransform().pos_component();
Pos.y += Height;
float DistanceToGround;
if (EnvQueryMgr->GetEnvInfoAt(Pos, EnvInfo, Height + 0.1f, GetUniqueID()))
{
DistanceToGround = Pos.y - Height - EnvInfo.WorldHeight;
GroundMtl = EnvInfo.Material;
}
else
{
DistanceToGround = FLT_MAX;
GroundMtl = InvalidMaterial;
}
CRigidBody* pMasterBody = Composite->GetMasterBody();
bool BodyIsEnabled = IsEnabled();
vector3 AngularVel = pMasterBody->GetAngularVelocity();
vector3 LinearVel = pMasterBody->GetLinearVelocity();
vector3 DesiredLVelChange = DesiredLinearVel - LinearVel;
if (DistanceToGround <= 0.f)
{
// No torques now, angular velocity changes by impulse immediately to desired value
bool Actuated = DesiredAngularVel != AngularVel.y;
if (Actuated)
{
if (!BodyIsEnabled) SetEnabled(true);
pMasterBody->SetAngularVelocity(vector3(0.f, DesiredAngularVel, 0.f));
}
if (!DesiredLVelChange.isequal(vector3::Zero, 0.0001f))
{
if (!Actuated)
{
Actuated = true;
SetEnabled(true);
}
// Vertical movement for non-flying actors is impulse (jump).
// Since speed if already clamped to actor caps, we save vertical desired velocity as is.
// Spring force pushes us from below the ground.
//!!!!!!!!!!!!!!!
//!!!calc correct impulse for the spring!
//!!!!!!!!!!!!!!!
float VerticalDesVelChange = DesiredLVelChange.y - (50.0f * DistanceToGround);
float Mass = pMasterBody->GetMass();
//!!!remove calcs for Y, it is zero (optimization)!
dVector3 ODEForce;
dWorldImpulseToForce(Level->GetODEWorldID(), dReal(Level->GetStepSize()),
DesiredLVelChange.x * Mass, 0.f, DesiredLVelChange.z * Mass, ODEForce);
float SqForceMagnitude = (float)dCalcVectorLengthSquare3(ODEForce);
if (SqForceMagnitude > 0.f)
{
float MaxForceMagnitude = Mass * MaxHorizAccel;
float SqMaxForceMagnitude = MaxForceMagnitude * MaxForceMagnitude;
if (SqForceMagnitude > SqMaxForceMagnitude)
dScaleVector3(ODEForce, MaxForceMagnitude / n_sqrt(SqForceMagnitude));
dBodyAddForce(pMasterBody->GetODEBodyID(), ODEForce[0], ODEForce[1], ODEForce[2]);
}
if (VerticalDesVelChange != 0.f)
{
dWorldImpulseToForce(Level->GetODEWorldID(), dReal(Level->GetStepSize()),
0.f, VerticalDesVelChange * Mass, 0.f, ODEForce);
dBodyAddForce(pMasterBody->GetODEBodyID(), ODEForce[0], ODEForce[1], ODEForce[2]);
}
}
if (BodyIsEnabled && !Actuated && DistanceToGround > -0.002f)
{
const float FreezeThreshold = 0.00001f; //???use TINY?
bool AVelIsAlmostZero = n_fabs(AngularVel.y) < FreezeThreshold;
bool LVelIsAlmostZero = n_fabs(LinearVel.x) * (float)Level->GetStepSize() < FreezeThreshold &&
n_fabs(LinearVel.z) * (float)Level->GetStepSize() < FreezeThreshold;
if (AVelIsAlmostZero)
pMasterBody->SetAngularVelocity(vector3::Zero);
if (LVelIsAlmostZero)
pMasterBody->SetLinearVelocity(vector3::Zero);
if (AVelIsAlmostZero && LVelIsAlmostZero) SetEnabled(false);
}
}
//???!!!else (when falling) apply damping?!
}
// NOTE: do NOT call the parent class, we don't need any damping
}
