void CCharacterPhysicsSupport::CreateSkeleton(CPhysicsShell* &pShell)
{
R_ASSERT2(!pShell,"pShell already initialized!!");
if (!m_EntityAlife.Visual())
return;
#ifdef DEBUG
CTimer t;t.Start();
#endif
pShell = P_create_Shell();
IKinematics* k = smart_cast<IKinematics*>(m_EntityAlife.Visual());
phys_shell_verify_object_model ( m_EntityAlife );
pShell->preBuild_FromKinematics(k);
pShell->mXFORM.set(mXFORM);
pShell->SmoothElementsInertia(0.3f);
pShell->set_PhysicsRefObject(&m_EntityAlife);
SAllDDOParams disable_params;
disable_params.Load(smart_cast<IKinematics*>(m_EntityAlife.Visual())->LL_UserData());
pShell->set_DisableParams(disable_params);
pShell->Build();
#ifdef DEBUG
Msg("shell for %s[%d] created in %f ms",*m_EntityAlife.cName(),m_EntityAlife.ID(),t.GetElapsed_sec()*1000.f);
#endif
}
void CCar::CreateSkeleton(CSE_Abstract *po)
{
if (!Visual()) return;
IRenderVisual *pVis = Visual();
IKinematics* pK = smart_cast<IKinematics*>(pVis);
IKinematicsAnimated* pKA = smart_cast<IKinematicsAnimated*>(pVis);
if(pKA)
{
pKA->PlayCycle ("idle");
pK->CalculateBones (TRUE);
}
phys_shell_verify_object_model ( *this );
#pragma todo(" replace below by P_build_Shell or call inherited")
m_pPhysicsShell = P_create_Shell();
m_pPhysicsShell->build_FromKinematics(pK,&bone_map);
m_pPhysicsShell->set_PhysicsRefObject(this);
m_pPhysicsShell->mXFORM.set(XFORM());
m_pPhysicsShell->Activate(true);
m_pPhysicsShell->SetAirResistance(0.f,0.f);
m_pPhysicsShell->SetPrefereExactIntegration();
ApplySpawnIniToPhysicShell(&po->spawn_ini(),m_pPhysicsShell,false);
ApplySpawnIniToPhysicShell(pK->LL_UserData(),m_pPhysicsShell,false);
}
void CCharacterPhysicsSupport::CreateSkeleton()
{
if(m_pPhysicsShell) return;
Fvector velocity;
m_PhysicMovementControl->GetCharacterVelocity(velocity);
m_PhysicMovementControl->GetDeathPosition (m_EntityAlife.Position());
m_PhysicMovementControl->DestroyCharacter();
if (!m_EntityAlife.Visual())
return;
m_pPhysicsShell = P_create_Shell();
m_pPhysicsShell->build_FromKinematics(smart_cast<CKinematics*>(m_EntityAlife.Visual()));
m_pPhysicsShell->mXFORM.set(mXFORM);
m_pPhysicsShell->SetAirResistance(skel_airr_lin_factor,
skel_airr_ang_factor);
m_pPhysicsShell->set_PhysicsRefObject(&m_EntityAlife);
SAllDDOParams disable_params;
disable_params.Load(smart_cast<CKinematics*>(m_EntityAlife.Visual())->LL_UserData());
m_pPhysicsShell->set_DisableParams(disable_params);
m_pPhysicsShell->set_JointResistance(0.f);
m_pPhysicsShell->Activate(true);
velocity.mul(1.25f*m_after_death_velocity_factor);
m_pPhysicsShell->set_LinearVel(velocity);
smart_cast<CKinematics*>(m_EntityAlife.Visual())->CalculateBones();
//b_death_anim_on=false;
m_flags.set(fl_death_anim_on,FALSE);
m_eState=esDead;
}
CPhysicsShell* P_build_SimpleShell(CGameObject* obj,float mass,bool not_active_state)
{
CPhysicsShell* pPhysicsShell = P_create_Shell();
#ifdef DEBUG
pPhysicsShell->dbg_obj=smart_cast<CPhysicsShellHolder*>(obj);
#endif
Fobb obb; obj->Visual()->vis.box.get_CD(obb.m_translate,obb.m_halfsize); obb.m_rotate.identity();
CPhysicsElement* E = P_create_Element(); R_ASSERT(E); E->add_Box(obb);
pPhysicsShell->add_Element(E);
pPhysicsShell->setMass(mass);
pPhysicsShell->set_PhysicsRefObject(smart_cast<CPhysicsShellHolder*>(obj));
if(!obj->H_Parent())
pPhysicsShell->Activate(obj->XFORM(),0,obj->XFORM(),not_active_state);
return pPhysicsShell;
}
void CHangingLamp::CreateBody(CSE_ALifeObjectHangingLamp *lamp)
{
if (!Visual()) return;
if (m_pPhysicsShell) return;
CKinematics* pKinematics= smart_cast<CKinematics*> (Visual());
m_pPhysicsShell = P_create_Shell();
bone_map .clear();
LPCSTR fixed_bones=*lamp->fixed_bones;
if(fixed_bones){
int count = _GetItemCount(fixed_bones);
for (int i=0 ;i<count; ++i){
string64 fixed_bone ;
_GetItem (fixed_bones,i,fixed_bone) ;
u16 fixed_bone_id=pKinematics->LL_BoneID(fixed_bone) ;
R_ASSERT2(BI_NONE!=fixed_bone_id,"wrong fixed bone") ;
bone_map.insert(mk_pair(fixed_bone_id,physicsBone())) ;
}
}else{
bone_map.insert(mk_pair(pKinematics->LL_GetBoneRoot(),physicsBone())) ;
}
m_pPhysicsShell->build_FromKinematics(pKinematics,&bone_map);
m_pPhysicsShell->set_PhysicsRefObject(this);
m_pPhysicsShell->mXFORM.set(XFORM());
m_pPhysicsShell->Activate(true);//,
//m_pPhysicsShell->SmoothElementsInertia(0.3f);
m_pPhysicsShell->SetAirResistance();//0.0014f,1.5f
/////////////////////////////////////////////////////////////////////////////
BONE_P_PAIR_IT i=bone_map.begin(),e=bone_map.end();
for(;i!=e;i++){
CPhysicsElement* fixed_element=i->second.element;
///R_ASSERT2(fixed_element,"fixed bone has no physics");
if(fixed_element)fixed_element->Fix();
}
m_pPhysicsShell->mXFORM.set(XFORM());
m_pPhysicsShell->SetAirResistance(0.001f, 0.02f);
SAllDDOParams disable_params;
disable_params.Load(smart_cast<CKinematics*>(Visual())->LL_UserData());
m_pPhysicsShell->set_DisableParams(disable_params);
ApplySpawnIniToPhysicShell(&lamp->spawn_ini(),m_pPhysicsShell,fixed_bones[0]!='\0');
}
CPhysicsShell* P_build_Shell (CGameObject* obj,bool not_active_state,BONE_P_MAP* bone_map)
{
CKinematics* pKinematics=smart_cast<CKinematics*>(obj->Visual());
CPhysicsShell* pPhysicsShell = P_create_Shell();
#ifdef DEBUG
pPhysicsShell->dbg_obj=smart_cast<CPhysicsShellHolder*>(obj);
#endif
pPhysicsShell->build_FromKinematics(pKinematics,bone_map);
pPhysicsShell->set_PhysicsRefObject(smart_cast<CPhysicsShellHolder*>(obj));
pPhysicsShell->mXFORM.set(obj->XFORM());
pPhysicsShell->Activate(not_active_state);//,
//m_pPhysicsShell->SmoothElementsInertia(0.3f);
pPhysicsShell->SetAirResistance();//0.0014f,1.5f
return pPhysicsShell;
}
void CPhysicItem::create_box_physic_shell ()
{
// Physics (Box)
Fobb obb;
Visual()->vis.box.get_CD(obb.m_translate,obb.m_halfsize);
obb.m_rotate.identity();
// Physics (Elements)
CPhysicsElement* E = P_create_Element();
R_ASSERT(E);
E->add_Box(obb);
// Physics (Shell)
m_pPhysicsShell = P_create_Shell();
R_ASSERT(m_pPhysicsShell);
m_pPhysicsShell->add_Element(E);
m_pPhysicsShell->setDensity(2000.f);
}
void CPHShellSimpleCreator::CreatePhysicsShell()
{
CPhysicsShellHolder* owner = smart_cast<CPhysicsShellHolder*>(this); VERIFY(owner);
if (!owner->Visual()) return;
CKinematics* pKinematics = smart_cast<CKinematics*>(owner->Visual());
VERIFY (pKinematics);
if(owner->PPhysicsShell()) return;
owner->PPhysicsShell() = P_create_Shell();
#ifdef DEBUG
owner->PPhysicsShell()->dbg_obj=owner;
#endif
owner->m_pPhysicsShell->build_FromKinematics (pKinematics,0);
owner->PPhysicsShell()->set_PhysicsRefObject (owner);
//m_pPhysicsShell->SmoothElementsInertia(0.3f);
owner->PPhysicsShell()->mXFORM.set (owner->XFORM());
owner->PPhysicsShell()->SetAirResistance (0.001f, 0.02f);
}
//the simpliest case - a joint to be destroied
shell_root CPHShellSplitterHolder::SplitJoint(u16 aspl)
{
//create _new physics shell
CPhysicsShell *new_shell=P_create_Shell();
CPHShell *new_shell_desc=smart_cast<CPHShell*>(new_shell);
new_shell_desc->mXFORM.set(m_pShell->mXFORM);
new_shell_desc->m_object_in_root.set(m_pShell->m_object_in_root);
SPLITTER_I splitter=m_splitters.begin()+aspl;
u16 start_element=splitter->m_element;
u16 start_joint=splitter->m_joint;
u16 end_element=m_pShell->joints[start_joint]->JointDestroyInfo()->m_end_element;
u16 end_joint=m_pShell->joints[start_joint]->JointDestroyInfo()->m_end_joint;
shell_root ret = mk_pair(new_shell,(m_pShell->joints[start_joint])->BoneID());
CShellSplitInfo split_inf;
split_inf.m_bone_id=m_pShell->joints[start_joint]->BoneID();
split_inf.m_start_el_num=start_element;
split_inf.m_end_el_num=end_element;
split_inf.m_start_jt_num=start_joint;
split_inf.m_end_jt_num=end_joint;
m_splitters.erase(splitter);
PassEndSplitters(split_inf,new_shell_desc,1,0);
InitNewShell(new_shell_desc);
m_pShell->PassEndElements(start_element,end_element,new_shell_desc);
m_pShell->PassEndJoints(start_joint+1,end_joint,new_shell_desc);
new_shell_desc->set_PhysicsRefObject(0);
new_shell_desc->PureActivate();
//new_shell_desc->ObjectInRoot().identity();
m_pShell->DeleteJoint(start_joint);
new_shell->set_ObjectContactCallback(NULL);
new_shell->set_PhysicsRefObject(NULL);
return ret;
}
void CPhysicObject::CreateBody(CSE_ALifeObjectPhysic* po) {
if(m_pPhysicsShell) return;
IKinematics* pKinematics=smart_cast<IKinematics*>(Visual());
switch(m_type) {
case epotBox : {
m_pPhysicsShell=P_build_SimpleShell(this,m_mass,!po->_flags.test(CSE_ALifeObjectPhysic::flActive));
} break;
case epotFixedChain :
case epotFreeChain :
{
m_pPhysicsShell = P_create_Shell();
m_pPhysicsShell->set_Kinematics(pKinematics);
AddElement(0,pKinematics->LL_GetBoneRoot());
m_pPhysicsShell->setMass1(m_mass);
} break;
case epotSkeleton:
{
//pKinematics->LL_SetBoneRoot(0);
CreateSkeleton(po);
}break;
default : {
} break;
}
m_pPhysicsShell->mXFORM.set(XFORM());
m_pPhysicsShell->SetAirResistance(0.001f, 0.02f);
if(pKinematics)
{
SAllDDOParams disable_params;
disable_params.Load(pKinematics->LL_UserData());
m_pPhysicsShell->set_DisableParams(disable_params);
}
//m_pPhysicsShell->SetAirResistance(0.002f, 0.3f);
}
void CPhysicItem::create_box2sphere_physic_shell()
{
// Physics (Box)
Fobb obb;
Visual()->vis.box.get_CD (obb.m_translate,obb.m_halfsize);
obb.m_rotate.identity ();
// Physics (Elements)
CPhysicsElement *E = P_create_Element ();
R_ASSERT (E);
Fvector ax;
float radius;
CHOOSE_MAX(
obb.m_halfsize.x,ax.set(obb.m_rotate.i) ; ax.mul(obb.m_halfsize.x); radius=_min(obb.m_halfsize.y,obb.m_halfsize.z) ;obb.m_halfsize.y/=2.f;obb.m_halfsize.z/=2.f,
obb.m_halfsize.y,ax.set(obb.m_rotate.j) ; ax.mul(obb.m_halfsize.y); radius=_min(obb.m_halfsize.x,obb.m_halfsize.z) ;obb.m_halfsize.x/=2.f;obb.m_halfsize.z/=2.f,
obb.m_halfsize.z,ax.set(obb.m_rotate.k) ; ax.mul(obb.m_halfsize.z); radius=_min(obb.m_halfsize.y,obb.m_halfsize.x) ;obb.m_halfsize.y/=2.f;obb.m_halfsize.x/=2.f
)
//radius*=1.4142f;
Fsphere sphere1,sphere2;
sphere1.P.add (obb.m_translate,ax);
sphere1.R =radius*1.4142f;
sphere2.P.sub (obb.m_translate,ax);
sphere2.R =radius/2.f;
E->add_Box (obb);
E->add_Sphere (sphere1);
E->add_Sphere (sphere2);
// Physics (Shell)
m_pPhysicsShell = P_create_Shell ();
R_ASSERT (m_pPhysicsShell);
m_pPhysicsShell->add_Element (E);
m_pPhysicsShell->setDensity (2000.f);
m_pPhysicsShell->SetAirResistance();
}
shell_root CPHShellSplitterHolder::ElementSingleSplit(const element_fracture &split_elem,const CPHElement* source_element)
{
//const CPHShellSplitter& splitter=m_splitters[aspl];
//CPHElement* element=m_pShell->elements[splitter.m_element];
CPhysicsShell *new_shell_last=P_create_Shell();
CPHShell *new_shell_last_desc=smart_cast<CPHShell*>(new_shell_last);
new_shell_last->mXFORM.set(m_pShell->mXFORM); const u16 start_joint=split_elem.second.m_start_jt_num;
R_ASSERT(_valid(new_shell_last->mXFORM));
const u16 end_joint=split_elem.second.m_end_jt_num;
//it is not right for multiple joints attached to the unsplited part becource all these need to be reattached
if(start_joint!=end_joint)
{
JOINT_STORAGE& joints=m_pShell->joints;
JOINT_I i=joints.begin()+ start_joint,e=joints.begin()+ end_joint;
for(;i!=e;++i)
{
CPHJoint* joint=(*i);
if(joint->PFirst_element()==source_element)
{
IKinematics* K = m_pShell->PKinematics();
dVector3 safe_pos1, safe_pos2;
dQuaternion safe_q1, safe_q2;
CPhysicsElement* el1=cast_PhysicsElement(split_elem.first),*el2=joint->PSecond_element();
dBodyID body1=el1->get_body(), body2=el2->get_body();
dVectorSet(safe_pos1,dBodyGetPosition(body1));
dVectorSet(safe_pos2,dBodyGetPosition(body2));
dQuaternionSet(safe_q1,dBodyGetQuaternion(body1));
dQuaternionSet(safe_q2,dBodyGetQuaternion(body2));
//m_pShell->PlaceBindToElForms();
K->LL_GetBindTransform(bones_bind_forms);
el1->SetTransform(bones_bind_forms[el1->m_SelfID]);
el2->SetTransform(bones_bind_forms[el2->m_SelfID]);
joint->ReattachFirstElement(split_elem.first);
dVectorSet(const_cast<dReal*>(dBodyGetPosition(body1)),safe_pos1);
dVectorSet(const_cast<dReal*>(dBodyGetPosition(body2)),safe_pos2);
dQuaternionSet(const_cast<dReal*>(dBodyGetQuaternion(body1)),safe_q1);
dQuaternionSet(const_cast<dReal*>(dBodyGetQuaternion(body2)),safe_q2);
dBodySetPosition(body1,safe_pos1[0],safe_pos1[1],safe_pos1[2]);
dBodySetPosition(body2,safe_pos2[0],safe_pos2[1],safe_pos2[2]);
dBodySetQuaternion(body1,safe_q1);
dBodySetQuaternion(body2,safe_q2);
}
}
// m_pShell->joints[split_elem.second.m_start_jt_num]->ReattachFirstElement(split_elem.first);
}
//the last new shell will have all splitted old elements end joints and one new element reattached to old joint
//m_splitters.erase(m_splitters.begin()+aspl);
//now aspl points to the next splitter
if((split_elem.first)->FracturesHolder())//if this element can be splitted add a splitter for it
new_shell_last_desc->AddSplitter(CPHShellSplitter::splElement,0,u16(-1));//
new_shell_last_desc->add_Element(split_elem.first);
//pass splitters taking into account that one element was olready added
PassEndSplitters(split_elem.second,new_shell_last_desc,0,0);
InitNewShell(new_shell_last_desc);
m_pShell->PassEndElements(split_elem.second.m_start_el_num,split_elem.second.m_end_el_num,new_shell_last_desc);
m_pShell->PassEndJoints(split_elem.second.m_start_jt_num,split_elem.second.m_end_jt_num,new_shell_last_desc);
new_shell_last_desc->set_PhysicsRefObject(0);
///////////////////temporary for initialization set old Kinematics in new shell/////////////////
new_shell_last->set_Kinematics(m_pShell->PKinematics());
new_shell_last_desc->AfterSetActive();
new_shell_last->set_Kinematics(NULL);
VERIFY2(split_elem.second.m_bone_id<64,"strange root");
VERIFY(_valid(new_shell_last->mXFORM));
VERIFY(dBodyStateValide(source_element->get_bodyConst()));
VERIFY(dBodyStateValide(split_elem.first->get_body()));
new_shell_last->set_ObjectContactCallback(NULL);
new_shell_last->set_PhysicsRefObject(NULL);
return mk_pair(new_shell_last,split_elem.second.m_bone_id);
}
