d4708
/
source-engine
mirror of https://github.com/nillerusr/source-engine.git
1
0
Fork 0
Code Issues Projects Releases Wiki Activity
Modified source engine (2017) developed by valve and leaked in 2020. Not for commercial purporses
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
387 Commits
25 Branches
6 Tags
221 MiB
 
 
 
 
 
 
Tree: af8c358ce9
Branches Tags
${ item.name }
Create tag ${ searchTerm }
Create branch ${ searchTerm }
from 'af8c358ce9'
${ noResults }
source-engine/vphysics/physics_constraint.cpp

1842 lines
61 KiB
Raw Blame History

//========= Copyright Valve Corporation, All rights reserved. ============//
//
// Purpose:
//
// $NoKeywords: $
//
//=============================================================================//
#include "cbase.h"
#include "vcollide_parse.h"
#include "ivp_listener_object.hxx"
#include "vphysics/constraints.h"
#include "isaverestore.h"
// HACKHACK: Mathlib defines this too!
#undef clamp
#undef max
#undef min
// There's some constructor problems in the hk stuff...
// The classes inherit from other classes with private constructor
#pragma warning (disable : 4510 )
#pragma warning (disable : 4610 )
// new havana constraint class
#include "hk_physics/physics.h"
#include "hk_physics/constraint/constraint.h"
#include "hk_physics/constraint/breakable_constraint/breakable_constraint_bp.h"
#include "hk_physics/constraint/breakable_constraint/breakable_constraint.h"
#include "hk_physics/constraint/limited_ball_socket/limited_ball_socket_bp.h"
#include "hk_physics/constraint/limited_ball_socket/limited_ball_socket_constraint.h"
#include "hk_physics/constraint/fixed/fixed_bp.h"
#include "hk_physics/constraint/fixed/fixed_constraint.h"
#include "hk_physics/constraint/stiff_spring/stiff_spring_bp.h"
#include "hk_physics/constraint/stiff_spring/stiff_spring_constraint.h"
#include "hk_physics/constraint/ball_socket/ball_socket_bp.h"
#include "hk_physics/constraint/ball_socket/ball_socket_constraint.h"
#include "hk_physics/constraint/prismatic/prismatic_bp.h"
#include "hk_physics/constraint/prismatic/prismatic_constraint.h"
#include "hk_physics/constraint/ragdoll/ragdoll_constraint.h"
#include "hk_physics/constraint/ragdoll/ragdoll_constraint_bp.h"
#include "hk_physics/constraint/ragdoll/ragdoll_constraint_bp_builder.h"
#include "hk_physics/constraint/hinge/hinge_constraint.h"
#include "hk_physics/constraint/hinge/hinge_bp.h"
#include "hk_physics/constraint/hinge/hinge_bp_builder.h"
#include "hk_physics/constraint/pulley/pulley_constraint.h"
#include "hk_physics/constraint/pulley/pulley_bp.h"
#include "hk_physics/constraint/local_constraint_system/local_constraint_system.h"
#include "hk_physics/constraint/local_constraint_system/local_constraint_system_bp.h"
#include "ivp_cache_object.hxx"
#include "ivp_template_constraint.hxx"
extern void qh_srand( int seed);
#include "qhull_user.hxx"
// memdbgon must be the last include file in a .cpp file!!!
#include "tier0/memdbgon.h"
const float UNBREAKABLE_BREAK_LIMIT = 1e12f;
hk_Vector3 TransformHLWorldToHavanaLocal( const Vector &hlWorld, IVP_Real_Object *pObject )
{
IVP_U_Float_Point tmp;
IVP_U_Point pointOut;
ConvertPositionToIVP( hlWorld, tmp );
TransformIVPToLocal( tmp, pointOut, pObject, true );
return hk_Vector3( pointOut.k[0], pointOut.k[1], pointOut.k[2] );
}
Vector TransformHavanaLocalToHLWorld( const hk_Vector3 &input, IVP_Real_Object *pObject, bool translate )
{
IVP_U_Float_Point ivpLocal( input.x, input.y, input.z );
IVP_U_Float_Point ivpWorld;
TransformLocalToIVP( ivpLocal, ivpWorld, pObject, translate );
Vector hlOut;
if ( translate )
{
ConvertPositionToHL( ivpWorld, hlOut );
}
else
{
ConvertDirectionToHL( ivpWorld, hlOut );
}
return hlOut;
}
inline hk_Vector3 vec( const IVP_U_Point &point )
{
hk_Vector3 tmp(point.k[0], point.k[1], point.k[2] );
return tmp;
}
// UNDONE: if vector were aligned we could simply cast these.
inline hk_Vector3 vec( const Vector &point )
{
hk_Vector3 tmp(point.x, point.y, point.z );
return tmp;
}
void ConvertHLLocalMatrixToHavanaLocal( const matrix3x4_t& hlMatrix, hk_Transform &out )
{
IVP_U_Matrix ivpMatrix;
ConvertMatrixToIVP( hlMatrix, ivpMatrix );
ivpMatrix.get_4x4_column_major( (hk_real *)&out );
}
void set_4x4_column_major( IVP_U_Matrix &ivpMatrix, const float *in4x4 )
{
ivpMatrix.set_elem( 0, 0, in4x4[0] );
ivpMatrix.set_elem( 1, 0, in4x4[1] );
ivpMatrix.set_elem( 2, 0, in4x4[2] );
ivpMatrix.set_elem( 0, 1, in4x4[4] );
ivpMatrix.set_elem( 1, 1, in4x4[5] );
ivpMatrix.set_elem( 2, 1, in4x4[6] );
ivpMatrix.set_elem( 0, 2, in4x4[8] );
ivpMatrix.set_elem( 1, 2, in4x4[9] );
ivpMatrix.set_elem( 2, 2, in4x4[10] );
ivpMatrix.vv.k[0] = in4x4[12];
ivpMatrix.vv.k[1] = in4x4[13];
ivpMatrix.vv.k[2] = in4x4[14];
}
inline void ConvertPositionToIVP( const Vector &point, hk_Vector3 &out )
{
IVP_U_Float_Point ivp;
ConvertPositionToIVP( point, ivp );
out = vec( ivp );
}
inline void ConvertPositionToHL( const hk_Vector3 &point, Vector& out )
{
float tmpY = IVP2HL(point.z);
out.z = -IVP2HL(point.y);
out.y = tmpY;
out.x = IVP2HL(point.x);
}
inline void ConvertDirectionToHL( const hk_Vector3 &point, Vector& out )
{
float tmpY = point.z;
out.z = -point.y;
out.y = tmpY;
out.x = point.x;
}
void ConvertHavanaLocalMatrixToHL( const hk_Transform &in, matrix3x4_t& hlMatrix, IVP_Real_Object *pObject )
{
IVP_U_Matrix ivpMatrix;
set_4x4_column_major( ivpMatrix, (const hk_real *)&in );
ConvertMatrixToHL( ivpMatrix, hlMatrix );
}
static bool IsBreakableConstraint( const constraint_breakableparams_t &constraint )
{
return ( (constraint.forceLimit != 0 && constraint.forceLimit < UNBREAKABLE_BREAK_LIMIT) ||
(constraint.torqueLimit != 0 && constraint.torqueLimit < UNBREAKABLE_BREAK_LIMIT) ||
(constraint.bodyMassScale[0] != 1.0f && constraint.bodyMassScale[0] != 0.0f) ||
(constraint.bodyMassScale[1] != 1.0f && constraint.bodyMassScale[1] != 0.0f) ) ? true : false;
}
struct vphysics_save_cphysicsconstraintgroup_t : public constraint_groupparams_t
{
bool isActive;
DECLARE_SIMPLE_DATADESC();
};
BEGIN_SIMPLE_DATADESC( vphysics_save_cphysicsconstraintgroup_t )
DEFINE_FIELD( isActive, FIELD_BOOLEAN ),
DEFINE_FIELD( additionalIterations, FIELD_INTEGER ),
DEFINE_FIELD( minErrorTicks, FIELD_INTEGER ),
DEFINE_FIELD( errorTolerance, FIELD_FLOAT ),
END_DATADESC()
// a little list that holds active groups so they can activate after
// the constraints are restored and added to the groups
static CUtlVector<CPhysicsConstraintGroup *> g_ConstraintGroupActivateList;
class CPhysicsConstraintGroup: public IPhysicsConstraintGroup
{
public:
hk_Local_Constraint_System *GetLCS() { return m_pLCS; }
void WriteToTemplate( vphysics_save_cphysicsconstraintgroup_t &groupParams )
{
hk_Local_Constraint_System_BP bp;
m_pLCS->write_to_blueprint( &bp );
groupParams.additionalIterations = bp.m_n_iterations;
groupParams.isActive = bp.m_active;
groupParams.minErrorTicks = bp.m_minErrorTicks;
groupParams.errorTolerance = ConvertDistanceToHL(bp.m_errorTolerance);
}
public:
CPhysicsConstraintGroup( IVP_Environment *pEnvironment, const constraint_groupparams_t &group );
~CPhysicsConstraintGroup();
virtual void Activate();
virtual bool IsInErrorState();
virtual void ClearErrorState();
void GetErrorParams( constraint_groupparams_t *pParams );
void SetErrorParams( const constraint_groupparams_t &params );
void SolvePenetration( IPhysicsObject *pObj0, IPhysicsObject *pObj1 );
private:
hk_Local_Constraint_System *m_pLCS;
};
void CPhysicsConstraintGroup::Activate()
{
if (m_pLCS)
{
m_pLCS->activate();
}
}
bool CPhysicsConstraintGroup::IsInErrorState()
{
if (m_pLCS)
{
return m_pLCS->has_error();
}
return false;
}
void CPhysicsConstraintGroup::ClearErrorState()
{
if (m_pLCS)
{
m_pLCS->clear_error();
}
}
void CPhysicsConstraintGroup::GetErrorParams( constraint_groupparams_t *pParams )
{
if ( !m_pLCS )
return;
vphysics_save_cphysicsconstraintgroup_t tmp;
WriteToTemplate( tmp );
*pParams = tmp;
}
void CPhysicsConstraintGroup::SetErrorParams( const constraint_groupparams_t &params )
{
if ( !m_pLCS )
return;
m_pLCS->set_error_ticks( params.minErrorTicks );
m_pLCS->set_error_tolerance( ConvertDistanceToIVP(params.errorTolerance) );
}
void CPhysicsConstraintGroup::SolvePenetration( IPhysicsObject *pObj0, IPhysicsObject *pObj1 )
{
if ( m_pLCS && pObj0 && pObj1 )
{
CPhysicsObject *pPhys0 = static_cast<CPhysicsObject *>(pObj0);
CPhysicsObject *pPhys1 = static_cast<CPhysicsObject *>(pObj1);
m_pLCS->solve_penetration(pPhys0->GetObject(), pPhys1->GetObject());
}
}
CPhysicsConstraintGroup::~CPhysicsConstraintGroup()
{
delete m_pLCS;
}
CPhysicsConstraintGroup::CPhysicsConstraintGroup( IVP_Environment *pEnvironment, const constraint_groupparams_t &group )
{
hk_Local_Constraint_System_BP cs_bp;
cs_bp.m_n_iterations = group.additionalIterations;
cs_bp.m_minErrorTicks = group.minErrorTicks;
cs_bp.m_errorTolerance = ConvertDistanceToIVP(group.errorTolerance);
m_pLCS = new hk_Local_Constraint_System( static_cast<hk_Environment *>(pEnvironment), &cs_bp );
m_pLCS->set_client_data( (void *)this );
}
enum vphysics_save_constrainttypes_t
{
CONSTRAINT_UNKNOWN = 0,
CONSTRAINT_RAGDOLL,
CONSTRAINT_HINGE,
CONSTRAINT_FIXED,
CONSTRAINT_BALLSOCKET,
CONSTRAINT_SLIDING,
CONSTRAINT_PULLEY,
CONSTRAINT_LENGTH,
};
struct vphysics_save_cphysicsconstraint_t
{
int constraintType;
CPhysicsConstraintGroup *pGroup;
CPhysicsObject *pObjReference;
CPhysicsObject *pObjAttached;
DECLARE_SIMPLE_DATADESC();
};
BEGIN_SIMPLE_DATADESC( vphysics_save_cphysicsconstraint_t )
DEFINE_FIELD( constraintType, FIELD_INTEGER ),
DEFINE_VPHYSPTR( pGroup ),
DEFINE_VPHYSPTR( pObjReference ),
DEFINE_VPHYSPTR( pObjAttached ),
END_DATADESC()
struct vphysics_save_constraintbreakable_t : public constraint_breakableparams_t
{
DECLARE_SIMPLE_DATADESC();
};
BEGIN_SIMPLE_DATADESC( vphysics_save_constraintbreakable_t )
DEFINE_FIELD( strength, FIELD_FLOAT ),
DEFINE_FIELD( forceLimit, FIELD_FLOAT ),
DEFINE_FIELD( torqueLimit, FIELD_FLOAT ),
DEFINE_AUTO_ARRAY( bodyMassScale, FIELD_FLOAT ),
DEFINE_FIELD( isActive, FIELD_BOOLEAN ),
END_DATADESC()
struct vphysics_save_constraintaxislimit_t : public constraint_axislimit_t
{
DECLARE_SIMPLE_DATADESC();
};
BEGIN_SIMPLE_DATADESC( vphysics_save_constraintaxislimit_t )
DEFINE_FIELD( minRotation, FIELD_FLOAT ),
DEFINE_FIELD( maxRotation, FIELD_FLOAT ),
DEFINE_FIELD( angularVelocity, FIELD_FLOAT ),
DEFINE_FIELD( torque, FIELD_FLOAT ),
END_DATADESC()
struct vphysics_save_constraintfixed_t : public constraint_fixedparams_t
{
DECLARE_SIMPLE_DATADESC();
};
BEGIN_SIMPLE_DATADESC( vphysics_save_constraintfixed_t )
DEFINE_AUTO_ARRAY2D( attachedRefXform, FIELD_FLOAT ),
DEFINE_EMBEDDED_OVERRIDE( constraint, vphysics_save_constraintbreakable_t ),
END_DATADESC()
struct vphysics_save_constrainthinge_t : public constraint_hingeparams_t
{
DECLARE_SIMPLE_DATADESC();
};
BEGIN_SIMPLE_DATADESC( vphysics_save_constrainthinge_t )
DEFINE_FIELD( worldPosition, FIELD_POSITION_VECTOR ),
DEFINE_FIELD( worldAxisDirection, FIELD_VECTOR ),
DEFINE_EMBEDDED_OVERRIDE( constraint, vphysics_save_constraintbreakable_t ),
DEFINE_EMBEDDED_OVERRIDE( hingeAxis, vphysics_save_constraintaxislimit_t ),
END_DATADESC()
struct vphysics_save_constraintsliding_t : public constraint_slidingparams_t
{
DECLARE_SIMPLE_DATADESC();
};
BEGIN_SIMPLE_DATADESC( vphysics_save_constraintsliding_t )
DEFINE_AUTO_ARRAY2D( attachedRefXform, FIELD_FLOAT ),
DEFINE_FIELD( slideAxisRef, FIELD_VECTOR ),
DEFINE_FIELD( limitMin, FIELD_FLOAT ),
DEFINE_FIELD( limitMax, FIELD_FLOAT ),
DEFINE_FIELD( friction, FIELD_FLOAT ),
DEFINE_FIELD( velocity, FIELD_FLOAT ),
DEFINE_EMBEDDED_OVERRIDE( constraint, vphysics_save_constraintbreakable_t ),
END_DATADESC()
struct vphysics_save_constraintpulley_t : public constraint_pulleyparams_t
{
DECLARE_SIMPLE_DATADESC();
};
BEGIN_SIMPLE_DATADESC( vphysics_save_constraintpulley_t )
DEFINE_AUTO_ARRAY( pulleyPosition, FIELD_POSITION_VECTOR ),
DEFINE_AUTO_ARRAY( objectPosition, FIELD_VECTOR ),
DEFINE_FIELD( totalLength, FIELD_FLOAT ),
DEFINE_FIELD( gearRatio, FIELD_FLOAT ),
DEFINE_FIELD( isRigid, FIELD_BOOLEAN ),
DEFINE_EMBEDDED_OVERRIDE( constraint, vphysics_save_constraintbreakable_t ),
END_DATADESC()
struct vphysics_save_constraintlength_t : public constraint_lengthparams_t
{
DECLARE_SIMPLE_DATADESC();
};
BEGIN_SIMPLE_DATADESC( vphysics_save_constraintlength_t )
DEFINE_AUTO_ARRAY( objectPosition, FIELD_VECTOR ),
DEFINE_FIELD( totalLength, FIELD_FLOAT ),
DEFINE_FIELD( minLength, FIELD_FLOAT ),
DEFINE_EMBEDDED_OVERRIDE( constraint, vphysics_save_constraintbreakable_t ),
END_DATADESC()
struct vphysics_save_constraintballsocket_t : public constraint_ballsocketparams_t
{
DECLARE_SIMPLE_DATADESC();
};
BEGIN_SIMPLE_DATADESC( vphysics_save_constraintballsocket_t )
DEFINE_AUTO_ARRAY( constraintPosition, FIELD_VECTOR ),
DEFINE_EMBEDDED_OVERRIDE( constraint, vphysics_save_constraintbreakable_t ),
END_DATADESC()
struct vphysics_save_constraintragdoll_t : public constraint_ragdollparams_t
{
DECLARE_SIMPLE_DATADESC();
};
BEGIN_SIMPLE_DATADESC( vphysics_save_constraintragdoll_t )
DEFINE_EMBEDDED_OVERRIDE( constraint, vphysics_save_constraintbreakable_t ),
DEFINE_AUTO_ARRAY2D( constraintToReference, FIELD_FLOAT ),
DEFINE_AUTO_ARRAY2D( constraintToAttached, FIELD_FLOAT ),
DEFINE_EMBEDDED_OVERRIDE( axes[0], vphysics_save_constraintaxislimit_t ),
DEFINE_EMBEDDED_OVERRIDE( axes[1], vphysics_save_constraintaxislimit_t ),
DEFINE_EMBEDDED_OVERRIDE( axes[2], vphysics_save_constraintaxislimit_t ),
DEFINE_FIELD( onlyAngularLimits, FIELD_BOOLEAN ),
DEFINE_FIELD( isActive, FIELD_BOOLEAN ),
DEFINE_FIELD( useClockwiseRotations, FIELD_BOOLEAN ),
END_DATADESC()
struct vphysics_save_constraint_t
{
vphysics_save_constraintfixed_t fixed;
vphysics_save_constrainthinge_t hinge;
vphysics_save_constraintsliding_t sliding;
vphysics_save_constraintpulley_t pulley;
vphysics_save_constraintlength_t length;
vphysics_save_constraintballsocket_t ballsocket;
vphysics_save_constraintragdoll_t ragdoll;
};
// UNDONE: May need to change interface to specify limits before construction
// UNDONE: Refactor constraints to contain a separate object for the various constraint types?
class CPhysicsConstraint: public IPhysicsConstraint, public IVP_Listener_Object
{
public:
CPhysicsConstraint( CPhysicsObject *pReferenceObject, CPhysicsObject *pAttachedObject );
~CPhysicsConstraint( void );
// init as ragdoll constraint
void InitRagdoll( IVP_Environment *pEnvironment, CPhysicsConstraintGroup *constraint_group, const constraint_ragdollparams_t &ragdoll );
// init as hinge
void InitHinge( IVP_Environment *pEnvironment, CPhysicsConstraintGroup *constraint_group, const constraint_limitedhingeparams_t &hinge );
// init as fixed (BUGBUG: This is broken)
void InitFixed( IVP_Environment *pEnvironment, CPhysicsConstraintGroup *constraint_group, const constraint_fixedparams_t &fixed );
// init as ballsocket
void InitBallsocket( IVP_Environment *pEnvironment, CPhysicsConstraintGroup *constraint_group, const constraint_ballsocketparams_t &ballsocket );
// init as sliding constraint
void InitSliding( IVP_Environment *pEnvironment, CPhysicsConstraintGroup *constraint_group, const constraint_slidingparams_t &sliding );
// init as pulley
void InitPulley( IVP_Environment *pEnvironment, CPhysicsConstraintGroup *constraint_group, const constraint_pulleyparams_t &pulley );
// init as stiff spring / length constraint
void InitLength( IVP_Environment *pEnvironment, CPhysicsConstraintGroup *constraint_group, const constraint_lengthparams_t &length );
void WriteToTemplate( vphysics_save_cphysicsconstraint_t &header, vphysics_save_constraint_t &constraintTemplate ) const;
void WriteRagdoll( constraint_ragdollparams_t &ragdoll ) const;
void WriteHinge( constraint_hingeparams_t &hinge ) const;
void WriteFixed( constraint_fixedparams_t &fixed ) const;
void WriteSliding( constraint_slidingparams_t &sliding ) const;
void WriteBallsocket( constraint_ballsocketparams_t &ballsocket ) const;
void WritePulley( constraint_pulleyparams_t &pulley ) const;
void WriteLength( constraint_lengthparams_t &length ) const;
CPhysicsConstraintGroup *GetConstraintGroup() const;
hk_Constraint *CreateBreakableConstraint( hk_Constraint *pRealConstraint, hk_Local_Constraint_System *pLcs, const constraint_breakableparams_t &constraint )
{
m_isBreakable = true;
hk_Breakable_Constraint_BP bp;
bp.m_real_constraint = pRealConstraint;
float forceLimit = ConvertDistanceToIVP( constraint.forceLimit );
bp.m_linear_strength = forceLimit > 0 ? forceLimit : UNBREAKABLE_BREAK_LIMIT;
bp.m_angular_strength = constraint.torqueLimit > 0 ? DEG2RAD(constraint.torqueLimit) : UNBREAKABLE_BREAK_LIMIT;
bp.m_bodyMassScale[0] = constraint.bodyMassScale[0] > 0 ? constraint.bodyMassScale[0] : 1.0f;
bp.m_bodyMassScale[1] = constraint.bodyMassScale[1] > 0 ? constraint.bodyMassScale[1] : 1.0f;;
return new hk_Breakable_Constraint( pLcs, &bp );
}
void ReadBreakableConstraint( constraint_breakableparams_t &params ) const;
hk_Constraint *GetRealConstraint() const
{
if ( m_isBreakable )
{
hk_Breakable_Constraint_BP bp;
((hk_Breakable_Constraint *)m_HkConstraint)->write_to_blueprint( &bp );
return bp.m_real_constraint;
}
return m_HkConstraint;
}
void Activate( void );
void Deactivate( void );
void SetupRagdollAxis( int axis, const constraint_axislimit_t &axisData, hk_Limited_Ball_Socket_BP *ballsocketBP );
// UNDONE: Implement includeStatic for havana
void SetGameData( void *gameData ) { m_pGameData = gameData; }
void *GetGameData( void ) const { return m_pGameData; }
IPhysicsObject *GetReferenceObject( void ) const;
IPhysicsObject *GetAttachedObject( void ) const;
void SetLinearMotor( float speed, float maxForce );
void SetAngularMotor( float rotSpeed, float maxAngularImpulse );
void UpdateRagdollTransforms( const matrix3x4_t &constraintToReference, const matrix3x4_t &constraintToAttached );
bool GetConstraintTransform( matrix3x4_t *pConstraintToReference, matrix3x4_t *pConstraintToAttached ) const;
bool GetConstraintParams( constraint_breakableparams_t *pParams ) const;
void OutputDebugInfo()
{
hk_Local_Constraint_System *pLCS = m_HkLCS;
if ( m_HkConstraint )
{
pLCS = m_HkConstraint->get_constraint_system();
}
if ( pLCS )
{
int count = 0;
hk_Array<hk_Constraint *> list;
pLCS->get_constraints_in_system( list );
Msg("System of %d constraints\n", list.length());
for ( hk_Array<hk_Constraint*>::iterator i = list.start(); list.is_valid(i); i = list.next(i) )
{
hk_Constraint *pConstraint = list.get_element(i);
Msg("\tConstraint %d) %s\n", count, pConstraint->get_constraint_type() );
count++;
}
}
}
void DetachListener();
// Object listener
virtual void event_object_deleted( IVP_Event_Object *);
virtual void event_object_created( IVP_Event_Object *) {}
virtual void event_object_revived( IVP_Event_Object *) {}
virtual void event_object_frozen ( IVP_Event_Object *) {}
private:
CPhysicsObject *m_pObjReference;
CPhysicsObject *m_pObjAttached;
// havana constraints
hk_Constraint *m_HkConstraint;
hk_Local_Constraint_System *m_HkLCS;
void *m_pGameData;
// these are used to crack the abstract pointers on save/load
short m_constraintType;
short m_isBreakable;
};
CPhysicsConstraint::CPhysicsConstraint( CPhysicsObject *pReferenceObject, CPhysicsObject *pAttachedObject )
{
m_pGameData = NULL;
m_HkConstraint = NULL;
m_HkLCS = NULL;
m_constraintType = CONSTRAINT_UNKNOWN;
m_isBreakable = false;
if ( pReferenceObject && pAttachedObject )
{
m_pObjReference = (CPhysicsObject *)pReferenceObject;
m_pObjAttached = (CPhysicsObject *)pAttachedObject;
if ( !(m_pObjReference->CallbackFlags() & CALLBACK_NEVER_DELETED) )
{
m_pObjReference->GetObject()->add_listener_object( this );
}
if ( !(m_pObjAttached->CallbackFlags() & CALLBACK_NEVER_DELETED) )
{
m_pObjAttached->GetObject()->add_listener_object( this );
}
}
else
{
m_pObjReference = NULL;
m_pObjAttached = NULL;
}
}
// Check to see if this is a single degree of freedom joint, if so, convert to a hinge
static bool ConvertRagdollToHinge( constraint_limitedhingeparams_t *pHingeOut, const constraint_ragdollparams_t &ragdoll, IPhysicsObject *pReferenceObject, IPhysicsObject *pAttachedObject )
{
int nDOF = 0;
int dofIndex = 0;
for ( int i = 0; i < 3; i++ )
{
if ( ragdoll.axes[i].minRotation != ragdoll.axes[i].maxRotation )
{
dofIndex = i;
nDOF++;
}
}
// found multiple degrees of freedom
if ( nDOF != 1 )
return false;
// convert params to hinge
pHingeOut->Defaults();
pHingeOut->constraint = ragdoll.constraint;
// get the hinge axis in world space
matrix3x4_t refToWorld, constraintToWorld;
pReferenceObject->GetPositionMatrix( &refToWorld );
ConcatTransforms( refToWorld, ragdoll.constraintToReference, constraintToWorld );
// many ragdoll constraints don't set this and the ragdoll solver ignores it
// force it to the default
pHingeOut->constraint.strength = 1.0f;
MatrixGetColumn( constraintToWorld, 3, &pHingeOut->worldPosition );
MatrixGetColumn( constraintToWorld, dofIndex, &pHingeOut->worldAxisDirection );
pHingeOut->referencePerpAxisDirection.Init();
pHingeOut->referencePerpAxisDirection[(dofIndex+1)%3] = 1;
Vector perpCS;
VectorIRotate( pHingeOut->referencePerpAxisDirection, ragdoll.constraintToReference, perpCS );
VectorRotate( perpCS, ragdoll.constraintToAttached, pHingeOut->attachedPerpAxisDirection );
pHingeOut->hingeAxis = ragdoll.axes[dofIndex];
// Funky math to insure that the friction is preserved after the math that the hinge code uses.
pHingeOut->hingeAxis.torque = RAD2DEG( pHingeOut->hingeAxis.torque * pReferenceObject->GetMass() );
// need to flip the limits, just flip the axis instead
if ( !ragdoll.useClockwiseRotations )
{
float tmp = pHingeOut->hingeAxis.minRotation;
pHingeOut->hingeAxis.minRotation = -pHingeOut->hingeAxis.maxRotation;
pHingeOut->hingeAxis.maxRotation = -tmp;
}
return true;
}
// ragdoll constraint
void CPhysicsConstraint::InitRagdoll( IVP_Environment *pEnvironment, CPhysicsConstraintGroup *constraint_group, const constraint_ragdollparams_t &ragdoll )
{
// UNDONE: If this is a hinge parameterized using the ragdoll params, use a hinge instead!
constraint_limitedhingeparams_t hinge;
if ( ConvertRagdollToHinge( &hinge, ragdoll, m_pObjReference, m_pObjAttached ) )
{
InitHinge( pEnvironment, constraint_group, hinge );
return;
}
m_constraintType = CONSTRAINT_RAGDOLL;
hk_Rigid_Body *ref = (hk_Rigid_Body*)m_pObjReference->GetObject();
hk_Rigid_Body *att = (hk_Rigid_Body*)m_pObjAttached->GetObject();
hk_Limited_Ball_Socket_BP ballsocketBP;
ConvertHLLocalMatrixToHavanaLocal( ragdoll.constraintToReference, ballsocketBP.m_transform_os_ks[0] );
ConvertHLLocalMatrixToHavanaLocal( ragdoll.constraintToAttached, ballsocketBP.m_transform_os_ks[1] );
bool breakable = IsBreakableConstraint( ragdoll.constraint );
int i;
// BUGBUG: Handle incorrect clockwise rotations here
for ( i = 0; i < 3; i++ )
{
SetupRagdollAxis( i, ragdoll.axes[i], &ballsocketBP );
}
ballsocketBP.m_constrainTranslation = ragdoll.onlyAngularLimits ? false : true;
// swap the input limits if they are clockwise (angles are counter-clockwise)
if ( ragdoll.useClockwiseRotations )
{
for ( i = 0; i < 3; i++ )
{
float tmp = ballsocketBP.m_angular_limits[i].m_min;
ballsocketBP.m_angular_limits[i].m_min = -ballsocketBP.m_angular_limits[i].m_max;
ballsocketBP.m_angular_limits[i].m_max = -tmp;
}
}
hk_Ragdoll_Constraint_BP_Builder r_builder;
r_builder.initialize_from_limited_ball_socket_bp( &ballsocketBP, ref, att );
hk_Ragdoll_Constraint_BP *bp = (hk_Ragdoll_Constraint_BP *)r_builder.get_blueprint(); // get non const bp
int revAxisMapHK[3];
revAxisMapHK[bp->m_axisMap[0]] = 0;
revAxisMapHK[bp->m_axisMap[1]] = 1;
revAxisMapHK[bp->m_axisMap[2]] = 2;
for ( i = 0; i < 3; i++ )
{
// remap HL axis to IVP axis
int ivpAxis = ConvertCoordinateAxisToIVP( i );
// initialize_from_limited_ball_socket_bp remapped the axes too! So remap again.
int hkAxis = revAxisMapHK[ivpAxis];
const constraint_axislimit_t &axisData = ragdoll.axes[i];
bp->m_limits[hkAxis].set_motor( DEG2RAD(axisData.angularVelocity), axisData.torque * m_pObjReference->GetMass() );
bp->m_tau = 1.0f;
}
hk_Local_Constraint_System *lcs = constraint_group ? constraint_group->GetLCS() : NULL;
hk_Environment *hkEnvironment = static_cast<hk_Environment *>(pEnvironment);
if ( !lcs )
{
hk_Local_Constraint_System_BP bp;
lcs = new hk_Local_Constraint_System( hkEnvironment, &bp );
m_HkLCS = lcs;
}
if ( breakable )
{
hk_Ragdoll_Constraint *pConstraint = new hk_Ragdoll_Constraint( hkEnvironment, bp, ref, att);
m_HkConstraint = CreateBreakableConstraint( pConstraint, lcs, ragdoll.constraint );
}
else
{
m_HkConstraint = new hk_Ragdoll_Constraint( lcs, bp, ref, att);
}
if ( m_HkLCS && ragdoll.isActive )
{
m_HkLCS->activate();
}
m_HkConstraint->set_client_data( (void *)this );
}
// hinge constraint
void CPhysicsConstraint::InitHinge( IVP_Environment *pEnvironment, CPhysicsConstraintGroup *constraint_group, const constraint_limitedhingeparams_t &hinge )
{
m_constraintType = CONSTRAINT_HINGE;
hk_Environment *hkEnvironment = static_cast<hk_Environment *>(pEnvironment);
bool breakable = IsBreakableConstraint( hinge.constraint );
hk_Hinge_BP_Builder builder;
IVP_U_Point axisIVP_ws, axisPerpIVP_os, axisStartIVP_ws, axisStartIVP_os;
ConvertDirectionToIVP( hinge.worldAxisDirection, axisIVP_ws );
builder.set_axis_ws( (hk_Rigid_Body*)m_pObjReference->GetObject(), (hk_Rigid_Body*)m_pObjAttached->GetObject(), vec(axisIVP_ws) );
builder.set_position_os( 0, TransformHLWorldToHavanaLocal( hinge.worldPosition, m_pObjReference->GetObject() ) );
builder.set_position_os( 1, TransformHLWorldToHavanaLocal( hinge.worldPosition, m_pObjAttached->GetObject() ) );
ConvertDirectionToIVP( hinge.referencePerpAxisDirection, axisPerpIVP_os );
builder.set_axis_perp_os( 0, vec(axisPerpIVP_os) );
ConvertDirectionToIVP( hinge.attachedPerpAxisDirection, axisPerpIVP_os );
builder.set_axis_perp_os( 1, vec(axisPerpIVP_os) );
builder.set_tau( hinge.constraint.strength );
// torque is an impulse radians/sec * inertia
if ( hinge.hingeAxis.torque != 0 )
{
builder.set_angular_motor( DEG2RAD(hinge.hingeAxis.angularVelocity), DEG2RAD(hinge.hingeAxis.torque) );
}
if ( hinge.hingeAxis.minRotation != hinge.hingeAxis.maxRotation )
{
builder.set_angular_limits( DEG2RAD(hinge.hingeAxis.minRotation), DEG2RAD(hinge.hingeAxis.maxRotation) );
}
hk_Local_Constraint_System *lcs = constraint_group ? constraint_group->GetLCS() : NULL;
if ( !lcs )
{
hk_Local_Constraint_System_BP bp;
lcs = new hk_Local_Constraint_System( hkEnvironment, &bp );
m_HkLCS = lcs;
}
if ( breakable )
{
hk_Hinge_Constraint *pHinge = new hk_Hinge_Constraint( hkEnvironment, builder.get_blueprint(), (hk_Rigid_Body*)m_pObjReference->GetObject(), (hk_Rigid_Body*)m_pObjAttached->GetObject() );
m_HkConstraint = CreateBreakableConstraint( pHinge, lcs, hinge.constraint );
}
else
{
m_HkConstraint = new hk_Hinge_Constraint( lcs, builder.get_blueprint(), (hk_Rigid_Body*)m_pObjReference->GetObject(), (hk_Rigid_Body*)m_pObjAttached->GetObject() );
}
if ( m_HkLCS && hinge.constraint.isActive )
{
m_HkLCS->activate();
}
m_HkConstraint->set_client_data( (void *)this );
}
// fixed constraint
void CPhysicsConstraint::InitFixed( IVP_Environment *pEnvironment, CPhysicsConstraintGroup *constraint_group, const constraint_fixedparams_t &fixed )
{
m_constraintType = CONSTRAINT_FIXED;
hk_Environment *hkEnvironment = static_cast<hk_Environment *>(pEnvironment);
bool breakable = IsBreakableConstraint( fixed.constraint );
hk_Fixed_BP fixed_bp;
ConvertHLLocalMatrixToHavanaLocal( fixed.attachedRefXform, fixed_bp.m_transform_os_ks );
fixed_bp.m_tau = fixed.constraint.strength;
hk_Local_Constraint_System *lcs = constraint_group ? constraint_group->GetLCS() : NULL;
if ( !lcs )
{
hk_Local_Constraint_System_BP bp;
lcs = new hk_Local_Constraint_System( hkEnvironment, &bp );
m_HkLCS = lcs;
}
if ( breakable )
{
hk_Constraint *pFixed = new hk_Fixed_Constraint( hkEnvironment, &fixed_bp, (hk_Rigid_Body*)m_pObjReference->GetObject(), (hk_Rigid_Body*)m_pObjAttached->GetObject() );
m_HkConstraint = CreateBreakableConstraint( pFixed, lcs, fixed.constraint );
}
else
{
m_HkConstraint = new hk_Fixed_Constraint( lcs, &fixed_bp, (hk_Rigid_Body*)m_pObjReference->GetObject(), (hk_Rigid_Body*)m_pObjAttached->GetObject() );
}
if ( m_HkLCS && fixed.constraint.isActive )
{
m_HkLCS->activate();
}
m_HkConstraint->set_client_data( (void *)this );
}
void CPhysicsConstraint::InitBallsocket( IVP_Environment *pEnvironment, CPhysicsConstraintGroup *constraint_group, const constraint_ballsocketparams_t &ballsocket )
{
m_constraintType = CONSTRAINT_BALLSOCKET;
hk_Environment *hkEnvironment = static_cast<hk_Environment *>(pEnvironment);
bool breakable = IsBreakableConstraint( ballsocket.constraint );
hk_Ball_Socket_BP builder;
for ( int i = 0; i < 2; i++ )
{
hk_Vector3 hkConstraintLocal;
ConvertPositionToIVP( ballsocket.constraintPosition[i], hkConstraintLocal );
builder.set_position_os( i, hkConstraintLocal );
}
builder.m_strength = ballsocket.constraint.strength;
hk_Local_Constraint_System *lcs = constraint_group ? constraint_group->GetLCS() : NULL;
if ( !lcs )
{
hk_Local_Constraint_System_BP bp;
lcs = new hk_Local_Constraint_System( hkEnvironment, &bp );
m_HkLCS = lcs;
}
if ( breakable )
{
hk_Ball_Socket_Constraint *pConstraint = new hk_Ball_Socket_Constraint( hkEnvironment, &builder, (hk_Rigid_Body*)m_pObjReference->GetObject(), (hk_Rigid_Body*)m_pObjAttached->GetObject() );
m_HkConstraint = CreateBreakableConstraint( pConstraint, lcs, ballsocket.constraint );
}
else
{
m_HkConstraint = new hk_Ball_Socket_Constraint( lcs, &builder, (hk_Rigid_Body*)m_pObjReference->GetObject(), (hk_Rigid_Body*)m_pObjAttached->GetObject() );
}
if ( m_HkLCS && ballsocket.constraint.isActive )
{
m_HkLCS->activate();
}
m_HkConstraint->set_client_data( (void *)this );
}
void CPhysicsConstraint::InitSliding( IVP_Environment *pEnvironment, CPhysicsConstraintGroup *constraint_group, const constraint_slidingparams_t &sliding )
{
m_constraintType = CONSTRAINT_SLIDING;
hk_Environment *hkEnvironment = static_cast<hk_Environment *>(pEnvironment);
bool breakable = IsBreakableConstraint( sliding.constraint );
hk_Prismatic_BP prismatic_bp;
hk_Transform t;
ConvertHLLocalMatrixToHavanaLocal( sliding.attachedRefXform, t );
prismatic_bp.m_transform_Ros_Aos.m_translation = t.get_translation();
prismatic_bp.m_transform_Ros_Aos.m_rotation.set( t );
IVP_U_Float_Point refAxisDir;
ConvertDirectionToIVP( sliding.slideAxisRef, refAxisDir );
prismatic_bp.m_axis_Ros = vec(refAxisDir);
prismatic_bp.m_tau = sliding.constraint.strength;
hk_Constraint_Limit_BP bp;
if ( sliding.limitMin != sliding.limitMax )
{
bp.set_limits( ConvertDistanceToIVP(sliding.limitMin), ConvertDistanceToIVP(sliding.limitMax) );
}
if ( sliding.friction )
{
if ( sliding.velocity )
{
bp.set_motor( ConvertDistanceToIVP(sliding.velocity), ConvertDistanceToIVP(sliding.friction) );
}
else
{
bp.set_friction( ConvertDistanceToIVP(sliding.friction) );
}
}
prismatic_bp.m_limit.init_limit( bp, 1.0 );
hk_Local_Constraint_System *lcs = constraint_group ? constraint_group->GetLCS() : NULL;
if ( !lcs )
{
hk_Local_Constraint_System_BP bp;
lcs = new hk_Local_Constraint_System( hkEnvironment, &bp );
m_HkLCS = lcs;
}
if ( breakable )
{
hk_Constraint *pFixed = new hk_Prismatic_Constraint( hkEnvironment, &prismatic_bp, (hk_Rigid_Body*)m_pObjReference->GetObject(), (hk_Rigid_Body*)m_pObjAttached->GetObject() );
m_HkConstraint = CreateBreakableConstraint( pFixed, lcs, sliding.constraint );
}
else
{
m_HkConstraint = new hk_Prismatic_Constraint( lcs, &prismatic_bp, (hk_Rigid_Body*)m_pObjReference->GetObject(), (hk_Rigid_Body*)m_pObjAttached->GetObject() );
}
if ( m_HkLCS && sliding.constraint.isActive )
{
m_HkLCS->activate();
}
m_HkConstraint->set_client_data( (void *)this );
}
void CPhysicsConstraint::InitPulley( IVP_Environment *pEnvironment, CPhysicsConstraintGroup *constraint_group, const constraint_pulleyparams_t &pulley )
{
m_constraintType = CONSTRAINT_PULLEY;
hk_Environment *hkEnvironment = static_cast<hk_Environment *>(pEnvironment);
bool breakable = IsBreakableConstraint( pulley.constraint );
hk_Pulley_BP pulley_bp;
pulley_bp.m_tau = pulley.constraint.strength;
//pulley_bp.m_strength = pulley.constraint.strength;
pulley_bp.m_gearing = pulley.gearRatio;
pulley_bp.m_is_rigid = pulley.isRigid;
// Get the current length of rope
pulley_bp.m_length = ConvertDistanceToIVP( pulley.totalLength );
// set the anchor positions in object space
ConvertPositionToIVP( pulley.objectPosition[0], pulley_bp.m_translation_os_ks[0] );
ConvertPositionToIVP( pulley.objectPosition[1], pulley_bp.m_translation_os_ks[1] );
// set the pully positions in world space
ConvertPositionToIVP( pulley.pulleyPosition[0], pulley_bp.m_worldspace_point[0] );
ConvertPositionToIVP( pulley.pulleyPosition[1], pulley_bp.m_worldspace_point[1] );
hk_Local_Constraint_System *lcs = constraint_group ? constraint_group->GetLCS() : NULL;
if ( !lcs )
{
hk_Local_Constraint_System_BP bp;
lcs = new hk_Local_Constraint_System( hkEnvironment, &bp );
m_HkLCS = lcs;
}
if ( breakable )
{
hk_Constraint *pPulley = new hk_Pulley_Constraint( hkEnvironment, &pulley_bp, (hk_Rigid_Body*)m_pObjReference->GetObject(), (hk_Rigid_Body*)m_pObjAttached->GetObject() );
m_HkConstraint = CreateBreakableConstraint( pPulley, lcs, pulley.constraint );
}
else
{
m_HkConstraint = new hk_Pulley_Constraint( lcs, &pulley_bp, (hk_Rigid_Body*)m_pObjReference->GetObject(), (hk_Rigid_Body*)m_pObjAttached->GetObject() );
}
if ( m_HkLCS && pulley.constraint.isActive )
{
m_HkLCS->activate();
}
m_HkConstraint->set_client_data( (void *)this );
}
void CPhysicsConstraint::InitLength( IVP_Environment *pEnvironment, CPhysicsConstraintGroup *constraint_group, const constraint_lengthparams_t &length )
{
m_constraintType = CONSTRAINT_LENGTH;
hk_Environment *hkEnvironment = static_cast<hk_Environment *>(pEnvironment);
bool breakable = IsBreakableConstraint( length.constraint );
hk_Stiff_Spring_BP stiff_bp;
stiff_bp.m_tau = length.constraint.strength;
//stiff_bp.m_strength = length.constraint.strength;
// Get the current length of rope
stiff_bp.m_length = ConvertDistanceToIVP( length.totalLength );
stiff_bp.m_min_length = ConvertDistanceToIVP( length.minLength );
// set the anchor positions in object space
ConvertPositionToIVP( length.objectPosition[0], stiff_bp.m_translation_os_ks[0] );
ConvertPositionToIVP( length.objectPosition[1], stiff_bp.m_translation_os_ks[1] );
hk_Local_Constraint_System *lcs = constraint_group ? constraint_group->GetLCS() : NULL;
if ( !lcs )
{
hk_Local_Constraint_System_BP bp;
lcs = new hk_Local_Constraint_System( hkEnvironment, &bp );
m_HkLCS = lcs;
}
if ( breakable )
{
hk_Constraint *pLength = new hk_Stiff_Spring_Constraint( hkEnvironment, &stiff_bp, (hk_Rigid_Body*)m_pObjReference->GetObject(), (hk_Rigid_Body*)m_pObjAttached->GetObject() );
m_HkConstraint = CreateBreakableConstraint( pLength, lcs, length.constraint );
}
else
{
m_HkConstraint = new hk_Stiff_Spring_Constraint( lcs, &stiff_bp, (hk_Rigid_Body*)m_pObjReference->GetObject(), (hk_Rigid_Body*)m_pObjAttached->GetObject() );
}
if ( m_HkLCS && length.constraint.isActive )
{
m_HkLCS->activate();
}
m_HkConstraint->set_client_data( (void *)this );
}
// Serialization: Write out a description for this constraint
void CPhysicsConstraint::WriteToTemplate( vphysics_save_cphysicsconstraint_t &header, vphysics_save_constraint_t &constraintTemplate ) const
{
header.constraintType = m_constraintType;
// this constraint is inert due to one of it's objects getting deleted
if ( !m_HkConstraint )
return;
header.pGroup = GetConstraintGroup();
header.pObjReference = m_pObjReference;
header.pObjAttached = m_pObjAttached;
switch( header.constraintType )
{
case CONSTRAINT_UNKNOWN:
Assert(0);
break;
case CONSTRAINT_HINGE:
WriteHinge( constraintTemplate.hinge );
break;
case CONSTRAINT_FIXED:
WriteFixed( constraintTemplate.fixed );
break;
case CONSTRAINT_SLIDING:
WriteSliding( constraintTemplate.sliding );
break;
case CONSTRAINT_PULLEY:
WritePulley( constraintTemplate.pulley );
break;
case CONSTRAINT_LENGTH:
WriteLength( constraintTemplate.length );
break;
case CONSTRAINT_BALLSOCKET:
WriteBallsocket( constraintTemplate.ballsocket );
break;
case CONSTRAINT_RAGDOLL:
WriteRagdoll( constraintTemplate.ragdoll );
break;
}
}
void CPhysicsConstraint::SetLinearMotor( float speed, float maxLinearImpulse )
{
if ( m_constraintType != CONSTRAINT_SLIDING )
return;
hk_Prismatic_Constraint *pConstraint = (hk_Prismatic_Constraint *)GetRealConstraint();
pConstraint->set_motor( ConvertDistanceToIVP( speed ), ConvertDistanceToIVP( maxLinearImpulse ) );
}
void CPhysicsConstraint::SetAngularMotor( float rotSpeed, float maxAngularImpulse )
{
if ( m_constraintType == CONSTRAINT_RAGDOLL && rotSpeed == 0 )
{
hk_Ragdoll_Constraint *pConstraint = (hk_Ragdoll_Constraint *)GetRealConstraint();
pConstraint->update_friction( ConvertAngleToIVP( maxAngularImpulse ) );
}
else if ( m_constraintType == CONSTRAINT_HINGE )
{
hk_Hinge_Constraint *pConstraint = (hk_Hinge_Constraint *)GetRealConstraint();
pConstraint->set_motor( ConvertAngleToIVP( rotSpeed ), ConvertAngleToIVP( fabs(maxAngularImpulse) ) );
}
}
void CPhysicsConstraint::UpdateRagdollTransforms( const matrix3x4_t &constraintToReference, const matrix3x4_t &constraintToAttached )
{
if ( m_constraintType != CONSTRAINT_RAGDOLL )
return;
hk_Transform os_ks_0, os_ks_1;
ConvertHLLocalMatrixToHavanaLocal( constraintToReference, os_ks_0 );
ConvertHLLocalMatrixToHavanaLocal( constraintToAttached, os_ks_1 );
hk_Ragdoll_Constraint *pConstraint = (hk_Ragdoll_Constraint *)GetRealConstraint();
pConstraint->update_transforms( os_ks_0, os_ks_1 );
}
bool CPhysicsConstraint::GetConstraintTransform( matrix3x4_t *pConstraintToReference, matrix3x4_t *pConstraintToAttached ) const
{
if ( m_constraintType == CONSTRAINT_RAGDOLL )
{
hk_Ragdoll_Constraint *pConstraint = (hk_Ragdoll_Constraint *)GetRealConstraint();
if ( pConstraintToReference )
{
ConvertHavanaLocalMatrixToHL( pConstraint->get_transform(0), *pConstraintToReference, NULL );
}
if ( pConstraintToAttached )
{
ConvertHavanaLocalMatrixToHL( pConstraint->get_transform(1), *pConstraintToAttached, NULL );
}
return true;
}
else if ( m_constraintType == CONSTRAINT_BALLSOCKET )
{
hk_Ball_Socket_Constraint *pConstraint = (hk_Ball_Socket_Constraint *)GetRealConstraint();
Vector pos;
if ( pConstraintToReference )
{
ConvertPositionToHL( pConstraint->get_transform(0), pos );
AngleMatrix( vec3_angle, pos, *pConstraintToReference );
}
if ( pConstraintToAttached )
{
ConvertPositionToHL( pConstraint->get_transform(1), pos );
AngleMatrix( vec3_angle, pos, *pConstraintToAttached );
}
return true;
}
else if ( m_constraintType == CONSTRAINT_FIXED )
{
hk_Fixed_Constraint *pConstraint = (hk_Fixed_Constraint *)GetRealConstraint();
if ( pConstraintToReference )
{
ConvertHavanaLocalMatrixToHL( pConstraint->get_transform(0), *pConstraintToReference, NULL );
}
if ( pConstraintToAttached )
{
ConvertHavanaLocalMatrixToHL( pConstraint->get_transform(1), *pConstraintToAttached, NULL );
}
return true;
}
return false;
}
// header.pGroup is optionally NULL, all other fields must be valid!
static bool IsValidConstraint( const vphysics_save_cphysicsconstraint_t &header )
{
if ( header.constraintType != CONSTRAINT_UNKNOWN && header.pObjAttached && header.pObjReference )
return true;
return false;
}
bool CPhysicsConstraint::GetConstraintParams( constraint_breakableparams_t *pParams ) const
{
if ( !pParams )
return false;
vphysics_save_cphysicsconstraint_t header;
vphysics_save_constraint_t constraintTemplate;
memset( &header, 0, sizeof(header) );
memset( &constraintTemplate, 0, sizeof(constraintTemplate) );
WriteToTemplate( header, constraintTemplate );
if ( IsValidConstraint( header ) )
{
switch ( header.constraintType )
{
case CONSTRAINT_UNKNOWN:
break;
case CONSTRAINT_HINGE:
*pParams = constraintTemplate.hinge.constraint;
return true;
case CONSTRAINT_FIXED:
*pParams = constraintTemplate.fixed.constraint;
return true;
case CONSTRAINT_SLIDING:
*pParams = constraintTemplate.sliding.constraint;
return true;
case CONSTRAINT_PULLEY:
*pParams = constraintTemplate.pulley.constraint;
return true;
case CONSTRAINT_LENGTH:
*pParams = constraintTemplate.length.constraint;
return true;
case CONSTRAINT_BALLSOCKET:
*pParams = constraintTemplate.ballsocket.constraint;
return true;
case CONSTRAINT_RAGDOLL:
*pParams = constraintTemplate.ragdoll.constraint;
return true;
}
}
return false;
}
CPhysicsConstraintGroup *CPhysicsConstraint::GetConstraintGroup() const
{
if ( !m_HkConstraint )
return NULL;
hk_Local_Constraint_System *plcs = m_HkConstraint->get_constraint_system();
Assert(plcs);
return (CPhysicsConstraintGroup *)plcs->get_client_data();
}
void CPhysicsConstraint::ReadBreakableConstraint( constraint_breakableparams_t &params ) const
{
if ( m_isBreakable )
{
hk_Breakable_Constraint_BP bp;
((hk_Breakable_Constraint *)m_HkConstraint)->write_to_blueprint( &bp );
params.forceLimit = ConvertDistanceToHL( bp.m_linear_strength );
params.torqueLimit = RAD2DEG( bp.m_angular_strength );
params.strength = 1.0;
params.bodyMassScale[0] = bp.m_bodyMassScale[0];
params.bodyMassScale[1] = bp.m_bodyMassScale[1];
//Assert( m_HkLCS != NULL ); // this is allowed now although breaking inside an LCS won't work yet
}
else
{
params.Defaults();
}
if ( m_HkLCS )
{
params.isActive = m_HkLCS->is_active();
}
}
void CPhysicsConstraint::WriteFixed( constraint_fixedparams_t &fixed ) const
{
hk_Fixed_Constraint *pConstraint = (hk_Fixed_Constraint *)GetRealConstraint();
ReadBreakableConstraint( fixed.constraint );
hk_Fixed_BP fixed_bp;
pConstraint->write_to_blueprint( &fixed_bp );
// save fixed bp into params
ConvertHavanaLocalMatrixToHL( fixed_bp.m_transform_os_ks, fixed.attachedRefXform, m_pObjReference->GetObject() );
}
void CPhysicsConstraint::WriteRagdoll( constraint_ragdollparams_t &ragdoll ) const
{
hk_Ragdoll_Constraint *pConstraint = (hk_Ragdoll_Constraint *)GetRealConstraint();
ReadBreakableConstraint( ragdoll.constraint );
hk_Ragdoll_Constraint_BP ragdoll_bp;
// BUGBUG: Write this and figure out how to recreate
// or change init func to setup this bp directly
pConstraint->write_to_blueprint( &ragdoll_bp );
ConvertHavanaLocalMatrixToHL( ragdoll_bp.m_transform_os_ks[0], ragdoll.constraintToReference, m_pObjReference->GetObject() );
ConvertHavanaLocalMatrixToHL( ragdoll_bp.m_transform_os_ks[1], ragdoll.constraintToAttached, m_pObjAttached->GetObject() );
int revAxisMapHK[3];
revAxisMapHK[ragdoll_bp.m_axisMap[0]] = 0;
revAxisMapHK[ragdoll_bp.m_axisMap[1]] = 1;
revAxisMapHK[ragdoll_bp.m_axisMap[2]] = 2;
for ( int i = 0; i < 3; i ++ )
{
constraint_axislimit_t &ragdollAxis = ragdoll.axes[i];
int ivpAxis = ConvertCoordinateAxisToIVP( i );
int hkAxis = revAxisMapHK[ ivpAxis ];
hk_Constraint_Limit_BP &bpAxis = ragdoll_bp.m_limits[ hkAxis ];
ragdollAxis.angularVelocity = RAD2DEG(bpAxis.m_desired_velocity);
ragdollAxis.torque = bpAxis.m_joint_friction * m_pObjReference->GetInvMass();
// X&Y
if ( i != 2 )
{
ragdollAxis.minRotation = RAD2DEG(bpAxis.m_limit_min);
ragdollAxis.maxRotation = RAD2DEG(bpAxis.m_limit_max);
}
// Z
else
{
ragdollAxis.minRotation = -RAD2DEG(bpAxis.m_limit_max);
ragdollAxis.maxRotation = -RAD2DEG(bpAxis.m_limit_min);
}
}
ragdoll.childIndex = -1;
ragdoll.parentIndex = -1;
ragdoll.isActive = true;
ragdoll.onlyAngularLimits = ragdoll_bp.m_constrainTranslation ? false : true;
ragdoll.useClockwiseRotations = false;
}
void CPhysicsConstraint::WriteHinge( constraint_hingeparams_t &hinge ) const
{
hk_Hinge_Constraint *pConstraint = (hk_Hinge_Constraint *)GetRealConstraint();
ReadBreakableConstraint( hinge.constraint );
hk_Hinge_BP hinge_bp;
pConstraint->write_to_blueprint( &hinge_bp );
// save hinge bp into params
hinge.worldPosition = TransformHavanaLocalToHLWorld( hinge_bp.m_axis_os[0].get_origin(), m_pObjReference->GetObject(), true );
hinge.worldAxisDirection = TransformHavanaLocalToHLWorld( hinge_bp.m_axis_os[0].get_direction(), m_pObjReference->GetObject(), false );
hinge.hingeAxis.SetAxisFriction( 0,0,0 );
if ( hinge_bp.m_limit.m_limit_is_enabled )
{
hinge.hingeAxis.minRotation = RAD2DEG(hinge_bp.m_limit.m_limit_min);
hinge.hingeAxis.maxRotation = RAD2DEG(hinge_bp.m_limit.m_limit_max);
}
if ( hinge_bp.m_limit.m_friction_is_enabled )
{
hinge.hingeAxis.angularVelocity = RAD2DEG(hinge_bp.m_limit.m_desired_velocity);
hinge.hingeAxis.torque = RAD2DEG(hinge_bp.m_limit.m_joint_friction);
}
}
void CPhysicsConstraint::WriteSliding( constraint_slidingparams_t &sliding ) const
{
sliding.Defaults();
hk_Prismatic_Constraint *pConstraint = (hk_Prismatic_Constraint *)GetRealConstraint();
ReadBreakableConstraint( sliding.constraint );
hk_Prismatic_BP prismatic_bp;
pConstraint->write_to_blueprint( &prismatic_bp );
// save bp into params
hk_Transform t;
t.set_translation( prismatic_bp.m_transform_Ros_Aos.m_translation );
t.set_rotation( prismatic_bp.m_transform_Ros_Aos.m_rotation );
ConvertHavanaLocalMatrixToHL( t, sliding.attachedRefXform, m_pObjReference->GetObject() );
if ( prismatic_bp.m_limit.m_friction_is_enabled )
{
sliding.friction = ConvertDistanceToHL( prismatic_bp.m_limit.m_joint_friction );
sliding.velocity = ConvertDistanceToHL( prismatic_bp.m_limit.m_desired_velocity );
}
if ( prismatic_bp.m_limit.m_limit_is_enabled )
{
sliding.limitMin = ConvertDistanceToHL( prismatic_bp.m_limit.m_limit_min );
sliding.limitMax = ConvertDistanceToHL( prismatic_bp.m_limit.m_limit_max );
}
ConvertDirectionToHL( prismatic_bp.m_axis_Ros, sliding.slideAxisRef );
}
void CPhysicsConstraint::WritePulley( constraint_pulleyparams_t &pulley ) const
{
pulley.Defaults();
hk_Pulley_Constraint *pConstraint = (hk_Pulley_Constraint *)GetRealConstraint();
ReadBreakableConstraint( pulley.constraint );
hk_Pulley_BP pulley_bp;
pConstraint->write_to_blueprint( &pulley_bp );
// save bp into params
for ( int i = 0; i < 2; i++ )
{
ConvertPositionToHL( pulley_bp.m_worldspace_point[i], pulley.pulleyPosition[i] );
ConvertPositionToHL( pulley_bp.m_translation_os_ks[i], pulley.objectPosition[i] );
}
pulley.gearRatio = pulley_bp.m_gearing;
pulley.totalLength = ConvertDistanceToHL(pulley_bp.m_length);
pulley.isRigid = pulley_bp.m_is_rigid;
}
void CPhysicsConstraint::WriteLength( constraint_lengthparams_t &length ) const
{
length.Defaults();
hk_Stiff_Spring_Constraint *pConstraint = (hk_Stiff_Spring_Constraint *)GetRealConstraint();
ReadBreakableConstraint( length.constraint );
hk_Stiff_Spring_BP stiff_bp;
pConstraint->write_to_blueprint( &stiff_bp );
// save bp into params
for ( int i = 0; i < 2; i++ )
{
ConvertPositionToHL( stiff_bp.m_translation_os_ks[i], length.objectPosition[i] );
}
length.totalLength = ConvertDistanceToHL(stiff_bp.m_length);
length.minLength = ConvertDistanceToHL(stiff_bp.m_min_length);
}
void CPhysicsConstraint::WriteBallsocket( constraint_ballsocketparams_t &ballsocket ) const
{
ballsocket.Defaults();
hk_Ball_Socket_Constraint *pConstraint = (hk_Ball_Socket_Constraint *)GetRealConstraint();
ReadBreakableConstraint( ballsocket.constraint );
hk_Ball_Socket_BP ballsocket_bp;
pConstraint->write_to_blueprint( &ballsocket_bp );
// save bp into params
for ( int i = 0; i < 2; i++ )
{
ConvertPositionToHL( ballsocket_bp.m_translation_os_ks[i], ballsocket.constraintPosition[i] );
}
}
void CPhysicsConstraint::DetachListener()
{
if ( !(m_pObjReference->CallbackFlags() & CALLBACK_NEVER_DELETED) )
{
m_pObjReference->GetObject()->remove_listener_object( this );
}
if ( !(m_pObjAttached->CallbackFlags() & CALLBACK_NEVER_DELETED) )
{
m_pObjAttached->GetObject()->remove_listener_object( this );
}
m_pObjReference = NULL;
m_pObjAttached = NULL;
}
void CPhysicsConstraint::event_object_deleted( IVP_Event_Object *pEvent )
{
if ( m_HkLCS && pEvent->real_object->get_core()->physical_unmoveable )
{
// HACKHACK: This makes the behavior consistent
m_HkLCS->core_is_going_to_be_deleted_event( pEvent->real_object->get_core() );
}
DetachListener();
// the underlying constraint is no longer valid, delete it.
delete m_HkConstraint;
m_HkConstraint = NULL;
delete m_HkLCS;
m_HkLCS = NULL;
if ( pEvent->environment )
{
CPhysicsEnvironment *pEnvironment = (CPhysicsEnvironment *)pEvent->environment->client_data;
pEnvironment->NotifyConstraintDisabled( this );
}
}
CPhysicsConstraint::~CPhysicsConstraint( void )
{
// arg. There should be a better way to do this
if ( m_HkConstraint || m_HkLCS )
{
DetachListener();
delete m_HkLCS;
delete m_HkConstraint;
}
}
void CPhysicsConstraint::Activate( void )
{
if ( m_HkLCS )
{
m_HkLCS->activate();
}
}
void CPhysicsConstraint::Deactivate( void )
{
if ( m_HkLCS )
{
m_HkLCS->deactivate();
}
}
void CPhysicsConstraint::SetupRagdollAxis( int axis, const constraint_axislimit_t &axisData, hk_Limited_Ball_Socket_BP *ballsocketBP )
{
// X & Y
if ( axis != 2 )
{
ballsocketBP->m_angular_limits[ ConvertCoordinateAxisToIVP(axis) ].set( DEG2RAD(axisData.minRotation), DEG2RAD(axisData.maxRotation) );
}
// Z
else
{
ballsocketBP->m_angular_limits[ ConvertCoordinateAxisToIVP(axis) ].set( DEG2RAD(-axisData.maxRotation), DEG2RAD(-axisData.minRotation) );
}
}
// UNDONE: Keep this around to clip "includeStatic" code
#if 0
void CPhysicsConstraint::SetBreakLimit( float breakLimitForce, float breakLimitTorque, bool includeStatic )
{
float factor = ConvertDistanceToIVP( 1.0f );
// convert to ivp
IVP_Environment *pEnvironment = m_pConstraint->get_associated_controlled_cores()->element_at(0)->environment;
float gravity = pEnvironment->get_gravity()->real_length();
breakLimitTorque = breakLimitTorque * gravity * factor; // proportional to distance
breakLimitForce = breakLimitForce * gravity;
if ( breakLimitForce != 0 )
{
if ( includeStatic )
{
breakLimitForce += m_pObjAttached->GetMass() * gravity * pEnvironment->get_delta_PSI_time();
}
m_pConstraint->change_max_translation_impulse( IVP_CFE_BREAK, breakLimitForce );
}
else
{
m_pConstraint->change_max_translation_impulse( IVP_CFE_NONE, 0 );
}
if ( breakLimitTorque != 0 )
{
if ( includeStatic )
{
const IVP_U_Point *massCenter = m_pObjAttached->GetObject()->get_core()->get_position_PSI();
IVP_U_Point tmp;
tmp.set( massCenter );
tmp.subtract( &m_constraintOrigin );
float dist = tmp.real_length();
breakLimitTorque += (m_pObjAttached->GetMass() * gravity * dist * pEnvironment->get_delta_PSI_time());
}
m_pConstraint->change_max_rotation_impulse( IVP_CFE_BREAK, breakLimitTorque );
}
else
{
m_pConstraint->change_max_rotation_impulse( IVP_CFE_NONE, 0 );
}
}
#endif
IPhysicsObject *CPhysicsConstraint::GetReferenceObject( void ) const
{
return m_pObjReference;
}
IPhysicsObject *CPhysicsConstraint::GetAttachedObject( void ) const
{
return m_pObjAttached;
}
void SeedRandomGenerators()
{
ivp_srand(1);
hk_Math::srand01('h'+'a'+'v'+'o'+'k');
qh_RANDOMseed_(1);
}
extern int ivp_srand_read(void);
void ReadRandom( int buffer[4] )
{
buffer[0] = (int)hk_Math::hk_random_seed;
buffer[1] = ivp_srand_read();
}
void WriteRandom( int buffer[4] )
{
hk_Math::srand01((unsigned int)buffer[0]);
ivp_srand(buffer[1]);
}
IPhysicsConstraint *GetClientDataForHkConstraint( class hk_Breakable_Constraint *pHkConstraint )
{
return static_cast<CPhysicsConstraint *>( pHkConstraint->get_client_data() );
}
// Create a container for a group of constraints
IPhysicsConstraintGroup *CreatePhysicsConstraintGroup( IVP_Environment *pEnvironment, const constraint_groupparams_t &group )
{
MEM_ALLOC_CREDIT();
return new CPhysicsConstraintGroup( pEnvironment, group );
}
IPhysicsConstraint *CreateRagdollConstraint( IVP_Environment *pEnvironment, CPhysicsObject *pReferenceObject, CPhysicsObject *pAttachedObject, IPhysicsConstraintGroup *pGroup, const constraint_ragdollparams_t &ragdoll )
{
MEM_ALLOC_CREDIT();
CPhysicsConstraint *pConstraint = new CPhysicsConstraint( pReferenceObject, pAttachedObject );
pConstraint->InitRagdoll( pEnvironment, (CPhysicsConstraintGroup *)pGroup, ragdoll );
return pConstraint;
}
IPhysicsConstraint *CreateHingeConstraint( IVP_Environment *pEnvironment, CPhysicsObject *pReferenceObject, CPhysicsObject *pAttachedObject, IPhysicsConstraintGroup *pGroup, const constraint_limitedhingeparams_t &hinge )
{
MEM_ALLOC_CREDIT();
CPhysicsConstraint *pConstraint = new CPhysicsConstraint( pReferenceObject, pAttachedObject );
pConstraint->InitHinge( pEnvironment, (CPhysicsConstraintGroup *)pGroup, hinge );
return pConstraint;
}
IPhysicsConstraint *CreateFixedConstraint( IVP_Environment *pEnvironment, CPhysicsObject *pReferenceObject, CPhysicsObject *pAttachedObject, IPhysicsConstraintGroup *pGroup, const constraint_fixedparams_t &fixed )
{
MEM_ALLOC_CREDIT();
CPhysicsConstraint *pConstraint = new CPhysicsConstraint( pReferenceObject, pAttachedObject );
pConstraint->InitFixed( pEnvironment, (CPhysicsConstraintGroup *)pGroup, fixed );
return pConstraint;
}
IPhysicsConstraint *CreateSlidingConstraint( IVP_Environment *pEnvironment, CPhysicsObject *pReferenceObject, CPhysicsObject *pAttachedObject, IPhysicsConstraintGroup *pGroup, const constraint_slidingparams_t &sliding )
{
MEM_ALLOC_CREDIT();
CPhysicsConstraint *pConstraint = new CPhysicsConstraint( pReferenceObject, pAttachedObject );
pConstraint->InitSliding( pEnvironment, (CPhysicsConstraintGroup *)pGroup, sliding );
return pConstraint;
}
IPhysicsConstraint *CreateBallsocketConstraint( IVP_Environment *pEnvironment, CPhysicsObject *pReferenceObject, CPhysicsObject *pAttachedObject, IPhysicsConstraintGroup *pGroup, const constraint_ballsocketparams_t &ballsocket )
{
MEM_ALLOC_CREDIT();
CPhysicsConstraint *pConstraint = new CPhysicsConstraint( pReferenceObject, pAttachedObject );
pConstraint->InitBallsocket( pEnvironment, (CPhysicsConstraintGroup *)pGroup, ballsocket );
return pConstraint;
}
IPhysicsConstraint *CreatePulleyConstraint( IVP_Environment *pEnvironment, CPhysicsObject *pReferenceObject, CPhysicsObject *pAttachedObject, IPhysicsConstraintGroup *pGroup, const constraint_pulleyparams_t &pulley )
{
MEM_ALLOC_CREDIT();
CPhysicsConstraint *pConstraint = new CPhysicsConstraint( pReferenceObject, pAttachedObject );
pConstraint->InitPulley( pEnvironment, (CPhysicsConstraintGroup *)pGroup, pulley );
return pConstraint;
}
IPhysicsConstraint *CreateLengthConstraint( IVP_Environment *pEnvironment, CPhysicsObject *pReferenceObject, CPhysicsObject *pAttachedObject, IPhysicsConstraintGroup *pGroup, const constraint_lengthparams_t &length )
{
MEM_ALLOC_CREDIT();
CPhysicsConstraint *pConstraint = new CPhysicsConstraint( pReferenceObject, pAttachedObject );
pConstraint->InitLength( pEnvironment, (CPhysicsConstraintGroup *)pGroup, length );
return pConstraint;
}
bool IsExternalConstraint( IVP_Controller *pLCS, void *pGameData )
{
IVP_U_Vector<IVP_Core> *pCores = pLCS->get_associated_controlled_cores();
if ( pCores )
{
for ( int i = 0; i < pCores->n_elems; i++ )
{
if ( pCores->element_at(i) )
{
IVP_Real_Object *pivp = pCores->element_at(i)->objects.element_at(0);
if ( pivp)
{
IPhysicsObject *pObject = static_cast<IPhysicsObject *>(pivp->client_data);
if ( pObject && pObject->GetGameData() != pGameData )
return true;
}
}
}
}
return false;
}
bool SavePhysicsConstraint( const physsaveparams_t &params, CPhysicsConstraint *pConstraint )
{
vphysics_save_cphysicsconstraint_t header;
vphysics_save_constraint_t constraintTemplate;
memset( &header, 0, sizeof(header) );
memset( &constraintTemplate, 0, sizeof(constraintTemplate) );
pConstraint->WriteToTemplate( header, constraintTemplate );
params.pSave->WriteAll( &header );
if ( IsValidConstraint( header ) )
{
switch ( header.constraintType )
{
case CONSTRAINT_UNKNOWN:
Assert(0);
break;
case CONSTRAINT_HINGE:
params.pSave->WriteAll( &constraintTemplate.hinge );
break;
case CONSTRAINT_FIXED:
params.pSave->WriteAll( &constraintTemplate.fixed );
break;
case CONSTRAINT_SLIDING:
params.pSave->WriteAll( &constraintTemplate.sliding );
break;
case CONSTRAINT_PULLEY:
params.pSave->WriteAll( &constraintTemplate.pulley );
break;
case CONSTRAINT_LENGTH:
params.pSave->WriteAll( &constraintTemplate.length );
break;
case CONSTRAINT_BALLSOCKET:
params.pSave->WriteAll( &constraintTemplate.ballsocket );
break;
case CONSTRAINT_RAGDOLL:
params.pSave->WriteAll( &constraintTemplate.ragdoll );
break;
}
return true;
}
// inert constraint, just save header
return true;
}
bool RestorePhysicsConstraint( const physrestoreparams_t &params, CPhysicsConstraint **ppConstraint )
{
vphysics_save_cphysicsconstraint_t header;
memset( &header, 0, sizeof(header) );
params.pRestore->ReadAll( &header );
if ( IsValidConstraint( header ) )
{
switch ( header.constraintType )
{
case CONSTRAINT_UNKNOWN:
Assert(0);
break;
case CONSTRAINT_HINGE:
{
vphysics_save_constrainthinge_t hinge;
memset( &hinge, 0, sizeof(hinge) );
params.pRestore->ReadAll( &hinge );
CPhysicsEnvironment *pEnvironment = (CPhysicsEnvironment *)params.pEnvironment;
*ppConstraint = (CPhysicsConstraint *)pEnvironment->CreateHingeConstraint( header.pObjReference, header.pObjAttached, header.pGroup, hinge );
}
break;
case CONSTRAINT_FIXED:
{
vphysics_save_constraintfixed_t fixed;
memset( &fixed, 0, sizeof(fixed) );
params.pRestore->ReadAll( &fixed );
CPhysicsEnvironment *pEnvironment = (CPhysicsEnvironment *)params.pEnvironment;
*ppConstraint = (CPhysicsConstraint *)pEnvironment->CreateFixedConstraint( header.pObjReference, header.pObjAttached, header.pGroup, fixed );
}
break;
case CONSTRAINT_SLIDING:
{
vphysics_save_constraintsliding_t sliding;
memset( &sliding, 0, sizeof(sliding) );
params.pRestore->ReadAll( &sliding );
CPhysicsEnvironment *pEnvironment = (CPhysicsEnvironment *)params.pEnvironment;
*ppConstraint = (CPhysicsConstraint *)pEnvironment->CreateSlidingConstraint( header.pObjReference, header.pObjAttached, header.pGroup, sliding );
}
break;
case CONSTRAINT_PULLEY:
{
vphysics_save_constraintpulley_t pulley;
memset( &pulley, 0, sizeof(pulley) );
params.pRestore->ReadAll( &pulley );
CPhysicsEnvironment *pEnvironment = (CPhysicsEnvironment *)params.pEnvironment;
*ppConstraint = (CPhysicsConstraint *)pEnvironment->CreatePulleyConstraint( header.pObjReference, header.pObjAttached, header.pGroup, pulley );
}
break;
case CONSTRAINT_LENGTH:
{
vphysics_save_constraintlength_t length;
memset( &length, 0, sizeof(length) );
params.pRestore->ReadAll( &length );
CPhysicsEnvironment *pEnvironment = (CPhysicsEnvironment *)params.pEnvironment;
*ppConstraint = (CPhysicsConstraint *)pEnvironment->CreateLengthConstraint( header.pObjReference, header.pObjAttached, header.pGroup, length );
}
break;
case CONSTRAINT_BALLSOCKET:
{
vphysics_save_constraintballsocket_t ballsocket;
memset( &ballsocket, 0, sizeof(ballsocket) );
params.pRestore->ReadAll( &ballsocket );
CPhysicsEnvironment *pEnvironment = (CPhysicsEnvironment *)params.pEnvironment;
*ppConstraint = (CPhysicsConstraint *)pEnvironment->CreateBallsocketConstraint( header.pObjReference, header.pObjAttached, header.pGroup, ballsocket );
}
break;
case CONSTRAINT_RAGDOLL:
{
vphysics_save_constraintragdoll_t ragdoll;
memset( &ragdoll, 0, sizeof(ragdoll) );
params.pRestore->ReadAll( &ragdoll );
CPhysicsEnvironment *pEnvironment = (CPhysicsEnvironment *)params.pEnvironment;
*ppConstraint = (CPhysicsConstraint *)pEnvironment->CreateRagdollConstraint( header.pObjReference, header.pObjAttached, header.pGroup, ragdoll );
}
break;
}
if ( *ppConstraint )
{
(*ppConstraint)->SetGameData( params.pGameData );
}
return true;
}
// inert constraint, create an empty shell
*ppConstraint = new CPhysicsConstraint( NULL, NULL );
return true;
}
bool SavePhysicsConstraintGroup( const physsaveparams_t &params, CPhysicsConstraintGroup *pConstraintGroup )
{
vphysics_save_cphysicsconstraintgroup_t groupTemplate;
memset( &groupTemplate, 0, sizeof(groupTemplate) );
pConstraintGroup->WriteToTemplate( groupTemplate );
params.pSave->WriteAll( &groupTemplate );
return true;
}
bool RestorePhysicsConstraintGroup( const physrestoreparams_t &params, CPhysicsConstraintGroup **ppConstraintGroup )
{
vphysics_save_cphysicsconstraintgroup_t groupTemplate;
memset( &groupTemplate, 0, sizeof(groupTemplate) );
params.pRestore->ReadAll( &groupTemplate );
if ( groupTemplate.errorTolerance == 0.0f && groupTemplate.minErrorTicks == 0 )
{
constraint_groupparams_t tmp;
tmp.Defaults();
groupTemplate.minErrorTicks = tmp.minErrorTicks;
groupTemplate.errorTolerance = tmp.errorTolerance;
}
CPhysicsEnvironment *pEnvironment = (CPhysicsEnvironment *)params.pEnvironment;
*ppConstraintGroup = (CPhysicsConstraintGroup *)pEnvironment->CreateConstraintGroup( groupTemplate );
if ( *ppConstraintGroup && groupTemplate.isActive )
{
g_ConstraintGroupActivateList.AddToTail( *ppConstraintGroup );
}
return true;
}
void PostRestorePhysicsConstraintGroup()
{
MEM_ALLOC_CREDIT();
for ( int i = 0; i < g_ConstraintGroupActivateList.Count(); i++ )
{
g_ConstraintGroupActivateList[i]->Activate();
}
g_ConstraintGroupActivateList.Purge();
}