// create constraint
void MBulletContext::createConstraint(unsigned int * constraintId, unsigned int parentObjectId, unsigned int objectId, const MVector3 & pivot, bool disableParentCollision)
{
btRigidBody * bA = btRigidBody::upcast(m_collisionObjects[parentObjectId]);
btRigidBody * bB = btRigidBody::upcast(m_collisionObjects[objectId]);
if(bA && bB)
{
bA->setActivationState(DISABLE_DEACTIVATION);
bB->setActivationState(DISABLE_DEACTIVATION);
*constraintId = m_constraints.size();
MVector3 position, euler;
MQuaternion rotation;
MMatrix4x4 matrix, matrix1, matrix2, rotMatrix;
rotMatrix.setRotationEuler(90, 0, 0);
getObjectTransform(parentObjectId, &position, &rotation);
matrix1.setRotationAxis(rotation.getAngle(), rotation.getAxis());
matrix1.setTranslationPart(position);
getObjectTransform(objectId, &position, &rotation);
matrix2.setRotationAxis(rotation.getAngle(), rotation.getAxis());
matrix2.setTranslationPart(position + matrix2.getRotatedVector3(pivot));
matrix = (matrix1.getInverse() * matrix2) * rotMatrix;
euler = matrix.getEulerAngles();
position = matrix.getTranslationPart();
rotation.setFromAngles(euler.x, euler.y, euler.z);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInA.setOrigin(btVector3(position.x, position.y, position.z));
frameInA.setRotation(btQuaternion(rotation.values[0], rotation.values[1], rotation.values[2], rotation.values[3]));
rotation.setFromAngles(90, 0, 0);
frameInB = btTransform::getIdentity();
frameInB.setOrigin(btVector3(pivot.x, pivot.y, pivot.z));
frameInB.setRotation(btQuaternion(rotation.values[0], rotation.values[1], rotation.values[2], rotation.values[3]));
btGeneric6DofSpringConstraint * constraint = new btGeneric6DofSpringConstraint(
*bA, *bB, frameInA, frameInB, true
);
m_constraints.push_back(constraint);
m_dynamicsWorld->addConstraint(constraint, disableParentCollision);
}
}
bool xmlArmatureAnimLoad(const char * filename, void * data)
{
TiXmlDocument doc(filename);
if(! doc.LoadFile())
return false;
TiXmlHandle hDoc(&doc);
TiXmlElement * pRootNode;
TiXmlHandle hRoot(0);
// Maratis
pRootNode = hDoc.FirstChildElement().Element();
if(! pRootNode)
return false;
if(strcmp(pRootNode->Value(), "Maratis") != 0)
return false;
hRoot = TiXmlHandle(pRootNode);
// BonesAnim
TiXmlElement * armatureAnimNode = pRootNode->FirstChildElement("ArmatureAnim");
if(! armatureAnimNode)
return false;
unsigned int bonesAnimNumber = 0;
armatureAnimNode->QueryUIntAttribute("num", &bonesAnimNumber);
if(bonesAnimNumber == 0)
return false;
// create armature anim
MArmatureAnim * armatureAnim = (MArmatureAnim *)data;
MObject3dAnim * objAnims = armatureAnim->allocBonesAnim(bonesAnimNumber);
// Bone
TiXmlElement * boneNode = armatureAnimNode->FirstChildElement("Bone");
for(boneNode; boneNode; boneNode=boneNode->NextSiblingElement("Bone"))
{
// position
TiXmlElement * positionNode = boneNode->FirstChildElement("position");
if(positionNode)
{
unsigned int kSize = 0;
positionNode->QueryUIntAttribute("num", &kSize);
MKey * keys = objAnims->allocPositionKeys(kSize);
readVector3Keys(positionNode, keys);
}
// rotation
TiXmlElement * rotationNode = boneNode->FirstChildElement("rotation");
if(rotationNode)
{
unsigned int kSize = 0;
rotationNode->QueryUIntAttribute("num", &kSize);
MKey * keys = objAnims->allocRotationKeys(kSize);
// k
TiXmlElement * kNode = rotationNode->FirstChildElement("k");
for(kNode; kNode; kNode=kNode->NextSiblingElement("k"))
{
int t = 0;
MVector3 euler;
MQuaternion * rotation = keys->createQuaternionData();
kNode->QueryIntAttribute("t", &t);
kNode->QueryFloatAttribute("x", &euler.x);
kNode->QueryFloatAttribute("y", &euler.y);
kNode->QueryFloatAttribute("z", &euler.z);
rotation->setFromAngles(euler.x, euler.y, euler.z);
keys->setT(t);
keys++;
}
}
// scale
TiXmlElement * scaleNode = boneNode->FirstChildElement("scale");
if(scaleNode)
{
unsigned int kSize = 0;
scaleNode->QueryUIntAttribute("num", &kSize);
MKey * keys = objAnims->allocScaleKeys(kSize);
readVector3Keys(scaleNode, keys);
}
objAnims++;
}
return true;
}