void VehicleManagerDemo::buildLandscape()
{
if (1)
{
//
// Create the ground we'll drive on.
//
{
hkpRigidBodyCinfo groundInfo;
//
// Set the if condition to 0 if you want to test the heightfield
//
if ( 1 )
{
FlatLand* fl = new FlatLand();
m_track = fl;
groundInfo.m_shape = fl->createMoppShapeForSpu();
groundInfo.m_position.set(5.0f, -2.0f, 5.0f);
groundInfo.m_collisionFilterInfo = hkpGroupFilter::calcFilterInfo( GROUND_LAYER, 0 );
}
{
groundInfo.m_motionType = hkpMotion::MOTION_FIXED;
groundInfo.m_friction = 0.5f;
hkpRigidBody* groundbody = new hkpRigidBody(groundInfo);
m_world->addEntity(groundbody);
groundbody->removeReference();
}
groundInfo.m_shape->removeReference();
}
}
if (1)
{
hkVector4 halfExtents(10.0f, 0.1f, 10.0f);
hkVector4 startPos(-240.0f, -7.8f, 0.0f);
hkVector4 diffPos (30.0f, 0.0f, 0.0f);
createDodgeBoxes(5, halfExtents, startPos, diffPos);
}
if (1)
{
hkVector4 halfExtents(10.0f, 0.05f, 10.0f);
hkVector4 startPos(-240.0f, -7.85f, 30.0f);
hkVector4 diffPos (30.0f, 0.0f, 0.0f);
createDodgeBoxes(5, halfExtents, startPos, diffPos);
}
if (1)
{
int gridSize = 1 + int(hkMath::sqrt( hkReal(m_env->m_cpuMhz/100) ));
createRagdollGrid( m_world, gridSize, gridSize, 4.0f, 4.0f, m_ragdolls );
}
}
SuspendInactiveAgentsDemo::SuspendInactiveAgentsDemo( hkDemoEnvironment* env )
: hkDefaultPhysicsDemo(env)
{
// Disable warnings:
hkError::getInstance().setEnabled(0x7dd65995, false); //'The system has requested a heap allocation on stack overflow.'
hkError::getInstance().setEnabled(0x86bc014f, false); //'For the default implementation to work the class must be passed in'
//
// Setup the camera. Actually overwritten by step function, and when we first add the vehicle.
//
{
hkVector4 from(0.0f, 2.0f, 12.0f);
hkVector4 to(0.0f, 0.0f, 0.0f);
hkVector4 up(0.0f, 1.0f, 0.0f);
setupDefaultCameras( m_env, from, to, up );
}
//
// Create the world.
//
{
hkpWorldCinfo info;
info.m_collisionTolerance = 0.01f;
info.m_gravity.set(0.0f, -9.8f, 0.0f);
info.setBroadPhaseWorldSize(850.0f) ;
info.setupSolverInfo(hkpWorldCinfo::SOLVER_TYPE_4ITERS_MEDIUM);
m_world = new hkpWorld( info );
m_world->lock();
// Register all agents.
hkpAgentRegisterUtil::registerAllAgents(m_world->getCollisionDispatcher());
// Graphics.
m_debugViewerNames.pushBack( hkpSimulationIslandViewer::getName());
setupGraphics();
}
//
// Enable deleting inactive agents
//
{
m_suspendInactiveAgentsUtil = new hkpSuspendInactiveAgentsUtil( m_world, hkpSuspendInactiveAgentsUtil::SUSPEND_ALL_COLLECTION_AGENTS );
}
//
// Create a filter, so that the raycasts of car does not collide with the ragdolls
//
{
hkpGroupFilter* filter = new hkpGroupFilter();
filter->disableCollisionsBetween(1,3);
m_world->setCollisionFilter( filter );
filter->removeReference();
}
// Build the landscape to drive on and add it to m_world.
buildLandscape();
if (getDemoVariant() < 2)
{
int gridSize = hkMath::clamp(m_env->m_cpuMhz / 150, 2, 4);
createRagdollGrid( m_world, gridSize, gridSize, 4.0f, 4.0f );
m_boxRigidBody = HK_NULL;
}
else
{
//
// Warm starting manifold - just illustrate with one box on a simple landscape
//
hkVector4 boxRadii( 1, .2f, 1);
hkpShape* smallBox = new hkpBoxShape(boxRadii, 0 );
hkpRigidBodyCinfo boxInfo;
boxInfo.m_mass = 1.0f;
boxInfo.m_shape = smallBox;
hkpInertiaTensorComputer::setShapeVolumeMassProperties(boxInfo.m_shape, boxInfo.m_mass, boxInfo);
boxInfo.m_rotation.setIdentity();
boxInfo.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
boxInfo.m_position.set(2, 2, 2);
boxInfo.m_restitution = .3f;
boxInfo.m_qualityType = HK_COLLIDABLE_QUALITY_CRITICAL; //XXX
m_boxRigidBody = new hkpRigidBody(boxInfo);
smallBox->removeReference();
m_world->addEntity( m_boxRigidBody );
m_frameCount = 0;
// Change the camera position to view the box close up
hkVector4 from(0.91f, 0.87f, 5.52f);
hkVector4 to(2.66f, -.16f, -.06f);
hkVector4 up(0.0f, 1.0f, 0.0f);
setupDefaultCameras( m_env, from, to, up );
}
m_world->unlock();
}
