FileSkeleton::FileSkeleton(const std::string &filename)
{
ifstream strm(filename.c_str());
if(!strm.is_open()) {
std::cout << "Error opening file " << filename << endl;
return;
}
while(!strm.eof()) {
vector<string> line = readWords(strm);
if(line.size() < 5)
continue; //error
Vector3 p;
sscanf(line[1].c_str(), "%lf", &(p[0]));
sscanf(line[2].c_str(), "%lf", &(p[1]));
sscanf(line[3].c_str(), "%lf", &(p[2]));
if(line[4] == "-1")
line[4] = std::string();
makeJoint(line[0], p * 2., line[4]);
}
initCompressed();
}
void PhysicsActor::trigger(MsbObject* other){
Actor::trigger(other);
if (other->name=="make joint"){
makeJoint();
}
// dBodyDisable(body);
// dBodySetDamping(body, linearDamp, angleDamp);
// dBodyEnable(body);
}
void PhysicsActor::setup(){
if (!bInit)
postLoad();
if (bJointedToBase){
makeJoint();
}
angleDamp=0.9;
linearDamp=0.2;
}
CentaurSkeleton::CentaurSkeleton()
{
//order of makeJoint calls is very important
makeJoint("shoulders", Vector3(0., 0., 0.5)); //0
makeJoint("back", Vector3(0., 0., 0.), "shoulders"); //1
makeJoint("hips", Vector3(0., 0., -0.5), "back"); //2
makeJoint("hback", Vector3(0., 0.25, 0.5), "shoulders"); //3
makeJoint("hshoulders", Vector3(0., 0.5, 0.5), "hback"); //4
makeJoint("head", Vector3(0., 0.7, 0.5), "hshoulders"); //5
makeJoint("lthigh", Vector3(-0.15, 0., -0.5), "hips"); //6
makeJoint("lhknee", Vector3(-0.2, -0.4, -0.45), "lthigh"); //7
makeJoint("lhfoot", Vector3(-0.2, -0.8, -0.5), "lhknee"); //8
makeJoint("rthigh", Vector3(0.15, 0., -0.5), "hips"); //9
makeJoint("rhknee", Vector3(0.2, -0.4, -0.45), "rthigh"); //10
makeJoint("rhfoot", Vector3(0.2, -0.8, -0.5), "rhknee"); //11
makeJoint("lshoulder", Vector3(-0.2, 0., 0.5), "shoulders"); //12
makeJoint("lfknee", Vector3(-0.2, -0.4, 0.5), "lshoulder"); //13
makeJoint("lffoot", Vector3(-0.2, -0.8, 0.5), "lfknee"); //14
makeJoint("rshoulder", Vector3(0.2, 0.0, 0.5), "shoulders"); //15
makeJoint("rfknee", Vector3(0.2, -0.4, 0.5), "rshoulder"); //16
makeJoint("rffoot", Vector3(0.2, -0.8, 0.5), "rfknee"); //17
makeJoint("hlshoulder", Vector3(-0.2, 0.5, 0.5), "hshoulders"); //18
makeJoint("lelbow", Vector3(-0.4, 0.25, 0.575), "hlshoulder"); //19
makeJoint("lhand", Vector3(-0.6, 0.0, 0.65), "lelbow"); //20
makeJoint("hrshoulder", Vector3(0.2, 0.5, 0.5), "hshoulders"); //21
makeJoint("relbow", Vector3(0.4, 0.25, 0.575), "hrshoulder"); //22
makeJoint("rhand", Vector3(0.6, 0.0, 0.65), "relbow"); //23
makeJoint("tail", Vector3(0., 0., -0.7), "hips"); //24
//symmetry
makeSymmetric("lthigh", "rthigh");
makeSymmetric("lhknee", "rhknee");
makeSymmetric("lhheel", "rhheel");
makeSymmetric("lhfoot", "rhfoot");
makeSymmetric("lshoulder", "rshoulder");
makeSymmetric("lfknee", "rfknee");
makeSymmetric("lffoot", "rffoot");
makeSymmetric("hlshoulder", "hrshoulder");
makeSymmetric("lelbow", "relbow");
makeSymmetric("lhand", "rhand");
initCompressed();
setFoot("lhfoot");
setFoot("rhfoot");
setFoot("lffoot");
setFoot("rffoot");
setFat("hips");
setFat("shoulders");
setFat("hshoulders");
setFat("head");
}
HorseSkeleton::HorseSkeleton()
{
//order of makeJoint calls is very important
makeJoint("shoulders", Vector3(0., 0., 0.5));
makeJoint("back", Vector3(0., 0., 0.), "shoulders");
makeJoint("hips", Vector3(0., 0., -0.5), "back");
makeJoint("neck", Vector3(0., 0.2, 0.63), "shoulders");
makeJoint("head", Vector3(0., 0.2, 0.9), "neck");
makeJoint("lthigh", Vector3(-0.15, 0., -0.5), "hips");
makeJoint("lhknee", Vector3(-0.2, -0.2, -0.45), "lthigh");
makeJoint("lhheel", Vector3(-0.2, -0.4, -0.5), "lhknee");
makeJoint("lhfoot", Vector3(-0.2, -0.8, -0.5), "lhheel");
makeJoint("rthigh", Vector3(0.15, 0., -0.5), "hips");
makeJoint("rhknee", Vector3(0.2, -0.2, -0.45), "rthigh");
makeJoint("rhheel", Vector3(0.2, -0.4, -0.5), "rhknee");
makeJoint("rhfoot", Vector3(0.2, -0.8, -0.5), "rhheel");
makeJoint("lshoulder", Vector3(-0.2, 0., 0.5), "shoulders");
makeJoint("lfknee", Vector3(-0.2, -0.4, 0.5), "lshoulder");
makeJoint("lffoot", Vector3(-0.2, -0.8, 0.5), "lfknee");
makeJoint("rshoulder", Vector3(0.2, 0.0, 0.5), "shoulders");
makeJoint("rfknee", Vector3(0.2, -0.4, 0.5), "rshoulder");
makeJoint("rffoot", Vector3(0.2, -0.8, 0.5), "rfknee");
makeJoint("tail", Vector3(0., 0., -0.7), "hips");
//symmetry
makeSymmetric("lthigh", "rthigh");
makeSymmetric("lhknee", "rhknee");
makeSymmetric("lhheel", "rhheel");
makeSymmetric("lhfoot", "rhfoot");
makeSymmetric("lshoulder", "rshoulder");
makeSymmetric("lfknee", "rfknee");
makeSymmetric("lffoot", "rffoot");
initCompressed();
setFoot("lhfoot");
setFoot("rhfoot");
setFoot("lffoot");
setFoot("rffoot");
setFat("hips");
setFat("shoulders");
setFat("head");
}
SmartBodySkeleton::SmartBodySkeleton()
{
//order of makeJoint calls is very important
makeJoint("shoulders", Vector3(0., 0.5, 0.)); //0
makeJoint("spine3", Vector3(0., 0.25, 0.), "shoulders"); //1
makeJoint("spine2", Vector3(0., 0.10, 0.), "spine3"); //2
makeJoint("back", Vector3(0., 0.05, 0.), "spine2"); //3
makeJoint("hips", Vector3(0., 0., 0.), "back"); //4
makeJoint("neck", Vector3(0., 0.65, 0.), "shoulders"); //5
makeJoint("skullbase", Vector3(0., 0.68, 0.), "neck"); //6
makeJoint("head", Vector3(0., 0.75, 0.), "skullbase"); //7
makeJoint("lthigh", Vector3(-0.1, 0., 0.), "hips"); //8
makeJoint("lknee", Vector3(-0.15, -0.35, 0.), "lthigh"); //9
makeJoint("lankle", Vector3(-0.15, -0.8, 0.), "lknee"); //10
makeJoint("lfoot", Vector3(-0.15, -0.85, 0.06), "lankle"); //11
makeJoint("ltoe", Vector3(-0.15, -0.85, 0.1), "lfoot"); //12
makeJoint("rthigh", Vector3(0.1, 0., 0.), "hips"); //13
makeJoint("rknee", Vector3(0.15, -0.35, 0.), "rthigh"); //14
makeJoint("rankle", Vector3(0.15, -0.8, 0.), "rknee"); //15
makeJoint("rfoot", Vector3(0.15, -0.85, 0.06), "rankle"); //16
makeJoint("rtoe", Vector3(0.15, -0.85, 0.1), "rfoot"); //17
makeJoint("lshoulder", Vector3(-0.2, 0.5, 0.), "shoulders"); //18
makeJoint("lelbow", Vector3(-0.4, 0.25, 0.075), "lshoulder"); //19
makeJoint("lhand", Vector3(-0.6, 0.0, 0.15), "lelbow"); //20
makeJoint("lthumb", Vector3(-0.62, -0.03, 0.225), "lhand"); //21
makeJoint("rshoulder", Vector3(0.2, 0.5, 0.), "shoulders"); //22
makeJoint("relbow", Vector3(0.4, 0.25, 0.075), "rshoulder"); //23
makeJoint("rhand", Vector3(0.6, 0.0, 0.15), "relbow"); //24
makeJoint("rthumb", Vector3(0.62, -0.03, 0.225), "rhand"); //25
//symmetry
makeSymmetric("lthigh", "rthigh");
makeSymmetric("lknee", "rknee");
makeSymmetric("lankle", "rankle");
makeSymmetric("lfoot", "rfoot");
makeSymmetric("ltoe", "rtoe");
makeSymmetric("lshoulder", "rshoulder");
makeSymmetric("lelbow", "relbow");
makeSymmetric("lhand", "rhand");
//makeSymmetric("lthumb", "rthumb");
initCompressed();
setFoot("ltoe");
setFoot("rtoe");
setFat("hips");
setFat("shoulders");
setFat("head");
//setFat("rthumb");
//setFat("lthumb");
//setFat("skullbase");
}
HumanSkeleton::HumanSkeleton()
{
//order of makeJoint calls is very important
makeJoint("shoulders", Vector3(0., 0.5, 0.)); //0
makeJoint("back", Vector3(0., 0.15, 0.), "shoulders"); //1
makeJoint("hips", Vector3(0., 0., 0.), "back"); //2
makeJoint("head", Vector3(0., 0.7, 0.), "shoulders"); //3
makeJoint("lthigh", Vector3(-0.1, 0., 0.), "hips"); //4
makeJoint("lknee", Vector3(-0.15, -0.35, 0.), "lthigh"); //5
makeJoint("lankle", Vector3(-0.15, -0.8, 0.), "lknee"); //6
makeJoint("lfoot", Vector3(-0.15, -0.8, 0.1), "lankle"); //7
makeJoint("rthigh", Vector3(0.1, 0., 0.), "hips"); //8
makeJoint("rknee", Vector3(0.15, -0.35, 0.), "rthigh"); //9
makeJoint("rankle", Vector3(0.15, -0.8, 0.), "rknee"); //10
makeJoint("rfoot", Vector3(0.15, -0.8, 0.1), "rankle"); //11
makeJoint("lshoulder", Vector3(-0.2, 0.5, 0.), "shoulders"); //12
makeJoint("lelbow", Vector3(-0.4, 0.25, 0.075), "lshoulder"); //13
makeJoint("lhand", Vector3(-0.6, 0.0, 0.15), "lelbow"); //14
makeJoint("rshoulder", Vector3(0.2, 0.5, 0.), "shoulders"); //15
makeJoint("relbow", Vector3(0.4, 0.25, 0.075), "rshoulder"); //16
makeJoint("rhand", Vector3(0.6, 0.0, 0.15), "relbow"); //17
//symmetry
makeSymmetric("lthigh", "rthigh");
makeSymmetric("lknee", "rknee");
makeSymmetric("lankle", "rankle");
makeSymmetric("lfoot", "rfoot");
makeSymmetric("lshoulder", "rshoulder");
makeSymmetric("lelbow", "relbow");
makeSymmetric("lhand", "rhand");
initCompressed();
setFoot("lfoot");
setFoot("rfoot");
setFat("hips");
setFat("shoulders");
setFat("head");
}