mirror of
https://github.com/dhewm/dhewm3-sdk.git
synced 2024-12-21 01:51:19 +00:00
afebd7e1e5
Don't include the lazy precompiled.h everywhere, only what's required for the compilation unit. platform.h needs to be included instead to provide all essential defines and types. All includes use the relative path to the neo or the game specific root. Move all idlib related includes from idlib/Lib.h to precompiled.h. precompiled.h still exists for the MFC stuff in tools/. Add some missing header guards.
1272 lines
34 KiB
C++
1272 lines
34 KiB
C++
/*
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===========================================================================
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Doom 3 GPL Source Code
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Copyright (C) 1999-2011 id Software LLC, a ZeniMax Media company.
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This file is part of the Doom 3 GPL Source Code ("Doom 3 Source Code").
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Doom 3 Source Code is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Doom 3 Source Code is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Doom 3 Source Code. If not, see <http://www.gnu.org/licenses/>.
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In addition, the Doom 3 Source Code is also subject to certain additional terms. You should have received a copy of these additional terms immediately following the terms and conditions of the GNU General Public License which accompanied the Doom 3 Source Code. If not, please request a copy in writing from id Software at the address below.
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If you have questions concerning this license or the applicable additional terms, you may contact in writing id Software LLC, c/o ZeniMax Media Inc., Suite 120, Rockville, Maryland 20850 USA.
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===========================================================================
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*/
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#include "sys/platform.h"
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#include "idlib/geometry/JointTransform.h"
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#include "gamesys/SysCvar.h"
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#include "AF.h"
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/*
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===============================================================================
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Articulated figure controller.
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===============================================================================
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*/
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#define ARTICULATED_FIGURE_ANIM "af_pose"
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#define POSE_BOUNDS_EXPANSION 5.0f
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/*
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================
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idAF::idAF
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================
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*/
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idAF::idAF( void ) {
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self = NULL;
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animator = NULL;
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modifiedAnim = 0;
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baseOrigin.Zero();
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baseAxis.Identity();
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poseTime = -1;
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restStartTime = -1;
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isLoaded = false;
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isActive = false;
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hasBindConstraints = false;
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}
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/*
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================
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idAF::~idAF
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================
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*/
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idAF::~idAF( void ) {
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}
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/*
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================
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idAF::Save
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================
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*/
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void idAF::Save( idSaveGame *savefile ) const {
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savefile->WriteObject( self );
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savefile->WriteString( GetName() );
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savefile->WriteBool( hasBindConstraints );
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savefile->WriteVec3( baseOrigin );
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savefile->WriteMat3( baseAxis );
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savefile->WriteInt( poseTime );
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savefile->WriteInt( restStartTime );
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savefile->WriteBool( isLoaded );
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savefile->WriteBool( isActive );
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savefile->WriteStaticObject( physicsObj );
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}
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/*
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================
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idAF::Restore
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================
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*/
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void idAF::Restore( idRestoreGame *savefile ) {
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savefile->ReadObject( reinterpret_cast<idClass *&>( self ) );
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savefile->ReadString( name );
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savefile->ReadBool( hasBindConstraints );
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savefile->ReadVec3( baseOrigin );
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savefile->ReadMat3( baseAxis );
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savefile->ReadInt( poseTime );
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savefile->ReadInt( restStartTime );
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savefile->ReadBool( isLoaded );
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savefile->ReadBool( isActive );
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animator = NULL;
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modifiedAnim = 0;
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if ( self ) {
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SetAnimator( self->GetAnimator() );
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Load( self, name );
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if ( hasBindConstraints ) {
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AddBindConstraints();
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}
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}
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savefile->ReadStaticObject( physicsObj );
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if ( self ) {
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if ( isActive ) {
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// clear all animations
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animator->ClearAllAnims( gameLocal.time, 0 );
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animator->ClearAllJoints();
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// switch to articulated figure physics
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self->RestorePhysics( &physicsObj );
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physicsObj.EnableClip();
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}
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UpdateAnimation();
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}
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}
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/*
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================
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idAF::UpdateAnimation
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================
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*/
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bool idAF::UpdateAnimation( void ) {
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int i;
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idVec3 origin, renderOrigin, bodyOrigin;
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idMat3 axis, renderAxis, bodyAxis;
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renderEntity_t *renderEntity;
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if ( !IsLoaded() ) {
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return false;
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}
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if ( !IsActive() ) {
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return false;
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}
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renderEntity = self->GetRenderEntity();
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if ( !renderEntity ) {
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return false;
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}
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if ( physicsObj.IsAtRest() ) {
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if ( restStartTime == physicsObj.GetRestStartTime() ) {
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return false;
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}
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restStartTime = physicsObj.GetRestStartTime();
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}
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// get the render position
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origin = physicsObj.GetOrigin( 0 );
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axis = physicsObj.GetAxis( 0 );
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renderAxis = baseAxis.Transpose() * axis;
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renderOrigin = origin - baseOrigin * renderAxis;
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// create an animation frame which reflects the current pose of the articulated figure
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animator->InitAFPose();
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for ( i = 0; i < jointMods.Num(); i++ ) {
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// check for the origin joint
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if ( jointMods[i].jointHandle == 0 ) {
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continue;
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}
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bodyOrigin = physicsObj.GetOrigin( jointMods[i].bodyId );
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bodyAxis = physicsObj.GetAxis( jointMods[i].bodyId );
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axis = jointMods[i].jointBodyAxis.Transpose() * ( bodyAxis * renderAxis.Transpose() );
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origin = ( bodyOrigin - jointMods[i].jointBodyOrigin * axis - renderOrigin ) * renderAxis.Transpose();
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animator->SetAFPoseJointMod( jointMods[i].jointHandle, jointMods[i].jointMod, axis, origin );
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}
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animator->FinishAFPose( modifiedAnim, GetBounds().Expand( POSE_BOUNDS_EXPANSION ), gameLocal.time );
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animator->SetAFPoseBlendWeight( 1.0f );
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return true;
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}
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/*
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================
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idAF::GetBounds
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returns bounds for the current pose
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================
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*/
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idBounds idAF::GetBounds( void ) const {
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int i;
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idAFBody *body;
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idVec3 origin, entityOrigin;
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idMat3 axis, entityAxis;
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idBounds bounds, b;
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bounds.Clear();
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// get model base transform
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origin = physicsObj.GetOrigin( 0 );
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axis = physicsObj.GetAxis( 0 );
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entityAxis = baseAxis.Transpose() * axis;
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entityOrigin = origin - baseOrigin * entityAxis;
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// get bounds relative to base
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for ( i = 0; i < jointMods.Num(); i++ ) {
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body = physicsObj.GetBody( jointMods[i].bodyId );
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origin = ( body->GetWorldOrigin() - entityOrigin ) * entityAxis.Transpose();
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axis = body->GetWorldAxis() * entityAxis.Transpose();
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b.FromTransformedBounds( body->GetClipModel()->GetBounds(), origin, axis );
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bounds += b;
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}
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return bounds;
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}
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/*
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================
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idAF::SetupPose
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Transforms the articulated figure to match the current animation pose of the given entity.
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================
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*/
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void idAF::SetupPose( idEntity *ent, int time ) {
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int i;
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idAFBody *body;
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idVec3 origin;
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idMat3 axis;
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idAnimator *animatorPtr;
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renderEntity_t *renderEntity;
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if ( !IsLoaded() || !ent ) {
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return;
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}
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animatorPtr = ent->GetAnimator();
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if ( !animatorPtr ) {
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return;
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}
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renderEntity = ent->GetRenderEntity();
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if ( !renderEntity ) {
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return;
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}
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// if the animation is driven by the physics
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if ( self->GetPhysics() == &physicsObj ) {
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return;
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}
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// if the pose was already updated this frame
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if ( poseTime == time ) {
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return;
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}
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poseTime = time;
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for ( i = 0; i < jointMods.Num(); i++ ) {
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body = physicsObj.GetBody( jointMods[i].bodyId );
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animatorPtr->GetJointTransform( jointMods[i].jointHandle, time, origin, axis );
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body->SetWorldOrigin( renderEntity->origin + ( origin + jointMods[i].jointBodyOrigin * axis ) * renderEntity->axis );
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body->SetWorldAxis( jointMods[i].jointBodyAxis * axis * renderEntity->axis );
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}
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if ( isActive ) {
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physicsObj.UpdateClipModels();
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}
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}
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/*
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================
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idAF::ChangePose
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Change the articulated figure to match the current animation pose of the given entity
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and set the velocity relative to the previous pose.
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================
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*/
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void idAF::ChangePose( idEntity *ent, int time ) {
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int i;
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float invDelta;
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idAFBody *body;
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idVec3 origin, lastOrigin;
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idMat3 axis;
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idAnimator *animatorPtr;
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renderEntity_t *renderEntity;
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if ( !IsLoaded() || !ent ) {
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return;
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}
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animatorPtr = ent->GetAnimator();
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if ( !animatorPtr ) {
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return;
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}
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renderEntity = ent->GetRenderEntity();
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if ( !renderEntity ) {
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return;
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}
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// if the animation is driven by the physics
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if ( self->GetPhysics() == &physicsObj ) {
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return;
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}
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// if the pose was already updated this frame
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if ( poseTime == time ) {
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return;
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}
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invDelta = 1.0f / MS2SEC( time - poseTime );
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poseTime = time;
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for ( i = 0; i < jointMods.Num(); i++ ) {
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body = physicsObj.GetBody( jointMods[i].bodyId );
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animatorPtr->GetJointTransform( jointMods[i].jointHandle, time, origin, axis );
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lastOrigin = body->GetWorldOrigin();
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body->SetWorldOrigin( renderEntity->origin + ( origin + jointMods[i].jointBodyOrigin * axis ) * renderEntity->axis );
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body->SetWorldAxis( jointMods[i].jointBodyAxis * axis * renderEntity->axis );
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body->SetLinearVelocity( ( body->GetWorldOrigin() - lastOrigin ) * invDelta );
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}
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physicsObj.UpdateClipModels();
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}
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/*
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================
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idAF::EntitiesTouchingAF
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================
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*/
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int idAF::EntitiesTouchingAF( afTouch_t touchList[ MAX_GENTITIES ] ) const {
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int i, j, numClipModels;
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idAFBody *body;
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idClipModel *cm;
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idClipModel *clipModels[ MAX_GENTITIES ];
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int numTouching;
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if ( !IsLoaded() ) {
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return 0;
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}
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numTouching = 0;
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numClipModels = gameLocal.clip.ClipModelsTouchingBounds( physicsObj.GetAbsBounds(), -1, clipModels, MAX_GENTITIES );
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for ( i = 0; i < jointMods.Num(); i++ ) {
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body = physicsObj.GetBody( jointMods[i].bodyId );
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for ( j = 0; j < numClipModels; j++ ) {
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cm = clipModels[j];
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if ( !cm || cm->GetEntity() == self ) {
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continue;
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}
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if ( !cm->IsTraceModel() ) {
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continue;
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}
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if ( !body->GetClipModel()->GetAbsBounds().IntersectsBounds( cm->GetAbsBounds() ) ) {
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continue;
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}
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if ( gameLocal.clip.ContentsModel( body->GetWorldOrigin(), body->GetClipModel(), body->GetWorldAxis(), -1, cm->Handle(), cm->GetOrigin(), cm->GetAxis() ) ) {
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touchList[ numTouching ].touchedByBody = body;
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touchList[ numTouching ].touchedClipModel = cm;
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touchList[ numTouching ].touchedEnt = cm->GetEntity();
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numTouching++;
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clipModels[j] = NULL;
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}
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}
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}
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return numTouching;
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}
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/*
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================
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idAF::BodyForClipModelId
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================
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*/
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int idAF::BodyForClipModelId( int id ) const {
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if ( id >= 0 ) {
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return id;
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} else {
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id = CLIPMODEL_ID_TO_JOINT_HANDLE( id );
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if ( id < jointBody.Num() ) {
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return jointBody[id];
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} else {
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return 0;
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}
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}
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}
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/*
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================
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idAF::GetPhysicsToVisualTransform
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================
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*/
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void idAF::GetPhysicsToVisualTransform( idVec3 &origin, idMat3 &axis ) const {
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origin = - baseOrigin;
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axis = baseAxis.Transpose();
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}
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/*
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================
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idAF::GetImpactInfo
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================
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*/
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void idAF::GetImpactInfo( idEntity *ent, int id, const idVec3 &point, impactInfo_t *info ) {
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SetupPose( self, gameLocal.time );
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physicsObj.GetImpactInfo( BodyForClipModelId( id ), point, info );
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}
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/*
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================
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idAF::ApplyImpulse
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================
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*/
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void idAF::ApplyImpulse( idEntity *ent, int id, const idVec3 &point, const idVec3 &impulse ) {
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SetupPose( self, gameLocal.time );
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physicsObj.ApplyImpulse( BodyForClipModelId( id ), point, impulse );
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}
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/*
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================
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idAF::AddForce
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================
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*/
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void idAF::AddForce( idEntity *ent, int id, const idVec3 &point, const idVec3 &force ) {
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SetupPose( self, gameLocal.time );
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physicsObj.AddForce( BodyForClipModelId( id ), point, force );
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}
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/*
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================
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idAF::AddBody
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Adds a body.
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================
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*/
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void idAF::AddBody( idAFBody *body, const idJointMat *joints, const char *jointName, const AFJointModType_t mod ) {
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int index;
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jointHandle_t handle;
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idVec3 origin;
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idMat3 axis;
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handle = animator->GetJointHandle( jointName );
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if ( handle == INVALID_JOINT ) {
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gameLocal.Error( "idAF for entity '%s' at (%s) modifies unknown joint '%s'", self->name.c_str(), self->GetPhysics()->GetOrigin().ToString(0), jointName );
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}
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assert( handle < animator->NumJoints() );
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origin = joints[ handle ].ToVec3();
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axis = joints[ handle ].ToMat3();
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index = jointMods.Num();
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jointMods.SetNum( index + 1, false );
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jointMods[index].bodyId = physicsObj.GetBodyId( body );
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jointMods[index].jointHandle = handle;
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jointMods[index].jointMod = mod;
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jointMods[index].jointBodyOrigin = ( body->GetWorldOrigin() - origin ) * axis.Transpose();
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jointMods[index].jointBodyAxis = body->GetWorldAxis() * axis.Transpose();
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}
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/*
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================
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idAF::SetBase
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Sets the base body.
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================
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*/
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void idAF::SetBase( idAFBody *body, const idJointMat *joints ) {
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physicsObj.ForceBodyId( body, 0 );
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baseOrigin = body->GetWorldOrigin();
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baseAxis = body->GetWorldAxis();
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AddBody( body, joints, animator->GetJointName( animator->GetFirstChild( "origin" ) ), AF_JOINTMOD_AXIS );
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}
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/*
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================
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idAF::LoadBody
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================
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*/
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bool idAF::LoadBody( const idDeclAF_Body *fb, const idJointMat *joints ) {
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int id, i;
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float length, mass;
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idTraceModel trm;
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idClipModel *clip;
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idAFBody *body;
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idMat3 axis, inertiaTensor;
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idVec3 centerOfMass, origin;
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idBounds bounds;
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idList<jointHandle_t> jointList;
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origin = fb->origin.ToVec3();
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axis = fb->angles.ToMat3();
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bounds[0] = fb->v1.ToVec3();
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bounds[1] = fb->v2.ToVec3();
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switch( fb->modelType ) {
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case TRM_BOX: {
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trm.SetupBox( bounds );
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break;
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}
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case TRM_OCTAHEDRON: {
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trm.SetupOctahedron( bounds );
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break;
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}
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case TRM_DODECAHEDRON: {
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trm.SetupDodecahedron( bounds );
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break;
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}
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case TRM_CYLINDER: {
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trm.SetupCylinder( bounds, fb->numSides );
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break;
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}
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case TRM_CONE: {
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// place the apex at the origin
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bounds[0].z -= bounds[1].z;
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bounds[1].z = 0.0f;
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trm.SetupCone( bounds, fb->numSides );
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break;
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}
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case TRM_BONE: {
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// direction of bone
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axis[2] = fb->v2.ToVec3() - fb->v1.ToVec3();
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length = axis[2].Normalize();
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// axis of bone trace model
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axis[2].NormalVectors( axis[0], axis[1] );
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axis[1] = -axis[1];
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// create bone trace model
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trm.SetupBone( length, fb->width );
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break;
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}
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default:
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assert( 0 );
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break;
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}
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trm.GetMassProperties( 1.0f, mass, centerOfMass, inertiaTensor );
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trm.Translate( -centerOfMass );
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origin += centerOfMass * axis;
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body = physicsObj.GetBody( fb->name );
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if ( body ) {
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clip = body->GetClipModel();
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if ( !clip->IsEqual( trm ) ) {
|
|
clip = new idClipModel( trm );
|
|
clip->SetContents( fb->contents );
|
|
clip->Link( gameLocal.clip, self, 0, origin, axis );
|
|
body->SetClipModel( clip );
|
|
}
|
|
clip->SetContents( fb->contents );
|
|
body->SetDensity( fb->density, fb->inertiaScale );
|
|
body->SetWorldOrigin( origin );
|
|
body->SetWorldAxis( axis );
|
|
id = physicsObj.GetBodyId( body );
|
|
}
|
|
else {
|
|
clip = new idClipModel( trm );
|
|
clip->SetContents( fb->contents );
|
|
clip->Link( gameLocal.clip, self, 0, origin, axis );
|
|
body = new idAFBody( fb->name, clip, fb->density );
|
|
if ( fb->inertiaScale != mat3_identity ) {
|
|
body->SetDensity( fb->density, fb->inertiaScale );
|
|
}
|
|
id = physicsObj.AddBody( body );
|
|
}
|
|
if ( fb->linearFriction != -1.0f ) {
|
|
body->SetFriction( fb->linearFriction, fb->angularFriction, fb->contactFriction );
|
|
}
|
|
body->SetClipMask( fb->clipMask );
|
|
body->SetSelfCollision( fb->selfCollision );
|
|
|
|
if ( fb->jointName == "origin" ) {
|
|
SetBase( body, joints );
|
|
} else {
|
|
AFJointModType_t mod;
|
|
if ( fb->jointMod == DECLAF_JOINTMOD_AXIS ) {
|
|
mod = AF_JOINTMOD_AXIS;
|
|
} else if ( fb->jointMod == DECLAF_JOINTMOD_ORIGIN ) {
|
|
mod = AF_JOINTMOD_ORIGIN;
|
|
} else if ( fb->jointMod == DECLAF_JOINTMOD_BOTH ) {
|
|
mod = AF_JOINTMOD_BOTH;
|
|
} else {
|
|
mod = AF_JOINTMOD_AXIS;
|
|
}
|
|
AddBody( body, joints, fb->jointName, mod );
|
|
}
|
|
|
|
if ( fb->frictionDirection.ToVec3() != vec3_origin ) {
|
|
body->SetFrictionDirection( fb->frictionDirection.ToVec3() );
|
|
}
|
|
if ( fb->contactMotorDirection.ToVec3() != vec3_origin ) {
|
|
body->SetContactMotorDirection( fb->contactMotorDirection.ToVec3() );
|
|
}
|
|
|
|
// update table to find the nearest articulated figure body for a joint of the skeletal model
|
|
animator->GetJointList( fb->containedJoints, jointList );
|
|
for( i = 0; i < jointList.Num(); i++ ) {
|
|
if ( jointBody[ jointList[ i ] ] != -1 ) {
|
|
gameLocal.Warning( "%s: joint '%s' is already contained by body '%s'",
|
|
name.c_str(), animator->GetJointName( (jointHandle_t)jointList[i] ),
|
|
physicsObj.GetBody( jointBody[ jointList[ i ] ] )->GetName().c_str() );
|
|
}
|
|
jointBody[ jointList[ i ] ] = id;
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
/*
|
|
================
|
|
idAF::LoadConstraint
|
|
================
|
|
*/
|
|
bool idAF::LoadConstraint( const idDeclAF_Constraint *fc ) {
|
|
idAFBody *body1, *body2;
|
|
idAngles angles;
|
|
idMat3 axis;
|
|
|
|
body1 = physicsObj.GetBody( fc->body1 );
|
|
body2 = physicsObj.GetBody( fc->body2 );
|
|
|
|
switch( fc->type ) {
|
|
case DECLAF_CONSTRAINT_FIXED: {
|
|
idAFConstraint_Fixed *c;
|
|
c = static_cast<idAFConstraint_Fixed *>(physicsObj.GetConstraint( fc->name ));
|
|
if ( c ) {
|
|
c->SetBody1( body1 );
|
|
c->SetBody2( body2 );
|
|
}
|
|
else {
|
|
c = new idAFConstraint_Fixed( fc->name, body1, body2 );
|
|
physicsObj.AddConstraint( c );
|
|
}
|
|
break;
|
|
}
|
|
case DECLAF_CONSTRAINT_BALLANDSOCKETJOINT: {
|
|
idAFConstraint_BallAndSocketJoint *c;
|
|
c = static_cast<idAFConstraint_BallAndSocketJoint *>(physicsObj.GetConstraint( fc->name ));
|
|
if ( c ) {
|
|
c->SetBody1( body1 );
|
|
c->SetBody2( body2 );
|
|
}
|
|
else {
|
|
c = new idAFConstraint_BallAndSocketJoint( fc->name, body1, body2 );
|
|
physicsObj.AddConstraint( c );
|
|
}
|
|
c->SetAnchor( fc->anchor.ToVec3() );
|
|
c->SetFriction( fc->friction );
|
|
switch( fc->limit ) {
|
|
case idDeclAF_Constraint::LIMIT_CONE: {
|
|
c->SetConeLimit( fc->limitAxis.ToVec3(), fc->limitAngles[0], fc->shaft[0].ToVec3() );
|
|
break;
|
|
}
|
|
case idDeclAF_Constraint::LIMIT_PYRAMID: {
|
|
angles = fc->limitAxis.ToVec3().ToAngles();
|
|
angles.roll = fc->limitAngles[2];
|
|
axis = angles.ToMat3();
|
|
c->SetPyramidLimit( axis[0], axis[1], fc->limitAngles[0], fc->limitAngles[1], fc->shaft[0].ToVec3() );
|
|
break;
|
|
}
|
|
default: {
|
|
c->SetNoLimit();
|
|
break;
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
case DECLAF_CONSTRAINT_UNIVERSALJOINT: {
|
|
idAFConstraint_UniversalJoint *c;
|
|
c = static_cast<idAFConstraint_UniversalJoint *>(physicsObj.GetConstraint( fc->name ));
|
|
if ( c ) {
|
|
c->SetBody1( body1 );
|
|
c->SetBody2( body2 );
|
|
}
|
|
else {
|
|
c = new idAFConstraint_UniversalJoint( fc->name, body1, body2 );
|
|
physicsObj.AddConstraint( c );
|
|
}
|
|
c->SetAnchor( fc->anchor.ToVec3() );
|
|
c->SetShafts( fc->shaft[0].ToVec3(), fc->shaft[1].ToVec3() );
|
|
c->SetFriction( fc->friction );
|
|
switch( fc->limit ) {
|
|
case idDeclAF_Constraint::LIMIT_CONE: {
|
|
c->SetConeLimit( fc->limitAxis.ToVec3(), fc->limitAngles[0] );
|
|
break;
|
|
}
|
|
case idDeclAF_Constraint::LIMIT_PYRAMID: {
|
|
angles = fc->limitAxis.ToVec3().ToAngles();
|
|
angles.roll = fc->limitAngles[2];
|
|
axis = angles.ToMat3();
|
|
c->SetPyramidLimit( axis[0], axis[1], fc->limitAngles[0], fc->limitAngles[1] );
|
|
break;
|
|
}
|
|
default: {
|
|
c->SetNoLimit();
|
|
break;
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
case DECLAF_CONSTRAINT_HINGE: {
|
|
idAFConstraint_Hinge *c;
|
|
c = static_cast<idAFConstraint_Hinge *>(physicsObj.GetConstraint( fc->name ));
|
|
if ( c ) {
|
|
c->SetBody1( body1 );
|
|
c->SetBody2( body2 );
|
|
}
|
|
else {
|
|
c = new idAFConstraint_Hinge( fc->name, body1, body2 );
|
|
physicsObj.AddConstraint( c );
|
|
}
|
|
c->SetAnchor( fc->anchor.ToVec3() );
|
|
c->SetAxis( fc->axis.ToVec3() );
|
|
c->SetFriction( fc->friction );
|
|
switch( fc->limit ) {
|
|
case idDeclAF_Constraint::LIMIT_CONE: {
|
|
idVec3 left, up, axis, shaft;
|
|
fc->axis.ToVec3().OrthogonalBasis( left, up );
|
|
axis = left * idRotation( vec3_origin, fc->axis.ToVec3(), fc->limitAngles[0] );
|
|
shaft = left * idRotation( vec3_origin, fc->axis.ToVec3(), fc->limitAngles[2] );
|
|
c->SetLimit( axis, fc->limitAngles[1], shaft );
|
|
break;
|
|
}
|
|
default: {
|
|
c->SetNoLimit();
|
|
break;
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
case DECLAF_CONSTRAINT_SLIDER: {
|
|
idAFConstraint_Slider *c;
|
|
c = static_cast<idAFConstraint_Slider *>(physicsObj.GetConstraint( fc->name ));
|
|
if ( c ) {
|
|
c->SetBody1( body1 );
|
|
c->SetBody2( body2 );
|
|
}
|
|
else {
|
|
c = new idAFConstraint_Slider( fc->name, body1, body2 );
|
|
physicsObj.AddConstraint( c );
|
|
}
|
|
c->SetAxis( fc->axis.ToVec3() );
|
|
break;
|
|
}
|
|
case DECLAF_CONSTRAINT_SPRING: {
|
|
idAFConstraint_Spring *c;
|
|
c = static_cast<idAFConstraint_Spring *>(physicsObj.GetConstraint( fc->name ));
|
|
if ( c ) {
|
|
c->SetBody1( body1 );
|
|
c->SetBody2( body2 );
|
|
}
|
|
else {
|
|
c = new idAFConstraint_Spring( fc->name, body1, body2 );
|
|
physicsObj.AddConstraint( c );
|
|
}
|
|
c->SetAnchor( fc->anchor.ToVec3(), fc->anchor2.ToVec3() );
|
|
c->SetSpring( fc->stretch, fc->compress, fc->damping, fc->restLength );
|
|
c->SetLimit( fc->minLength, fc->maxLength );
|
|
break;
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
|
|
/*
|
|
================
|
|
GetJointTransform
|
|
================
|
|
*/
|
|
static bool GetJointTransform( void *model, const idJointMat *frame, const char *jointName, idVec3 &origin, idMat3 &axis ) {
|
|
jointHandle_t joint;
|
|
|
|
joint = reinterpret_cast<idAnimator *>(model)->GetJointHandle( jointName );
|
|
if ( ( joint >= 0 ) && ( joint < reinterpret_cast<idAnimator *>(model)->NumJoints() ) ) {
|
|
origin = frame[ joint ].ToVec3();
|
|
axis = frame[ joint ].ToMat3();
|
|
return true;
|
|
} else {
|
|
return false;
|
|
}
|
|
}
|
|
|
|
/*
|
|
================
|
|
idAF::Load
|
|
================
|
|
*/
|
|
bool idAF::Load( idEntity *ent, const char *fileName ) {
|
|
int i, j;
|
|
const idDeclAF *file;
|
|
const idDeclModelDef *modelDef;
|
|
idRenderModel *model;
|
|
int numJoints;
|
|
idJointMat *joints;
|
|
|
|
assert( ent );
|
|
|
|
self = ent;
|
|
physicsObj.SetSelf( self );
|
|
|
|
if ( animator == NULL ) {
|
|
gameLocal.Warning( "Couldn't load af '%s' for entity '%s' at (%s): NULL animator\n", name.c_str(), ent->name.c_str(), ent->GetPhysics()->GetOrigin().ToString(0) );
|
|
return false;
|
|
}
|
|
|
|
name = fileName;
|
|
name.StripFileExtension();
|
|
|
|
file = static_cast<const idDeclAF *>( declManager->FindType( DECL_AF, name ) );
|
|
if ( !file ) {
|
|
gameLocal.Warning( "Couldn't load af '%s' for entity '%s' at (%s)\n", name.c_str(), ent->name.c_str(), ent->GetPhysics()->GetOrigin().ToString(0) );
|
|
return false;
|
|
}
|
|
|
|
if ( file->bodies.Num() == 0 || file->bodies[0]->jointName != "origin" ) {
|
|
gameLocal.Warning( "idAF::Load: articulated figure '%s' for entity '%s' at (%s) has no body which modifies the origin joint.",
|
|
name.c_str(), ent->name.c_str(), ent->GetPhysics()->GetOrigin().ToString(0) );
|
|
return false;
|
|
}
|
|
|
|
modelDef = animator->ModelDef();
|
|
if ( modelDef == NULL || modelDef->GetState() == DS_DEFAULTED ) {
|
|
gameLocal.Warning( "idAF::Load: articulated figure '%s' for entity '%s' at (%s) has no or defaulted modelDef '%s'",
|
|
name.c_str(), ent->name.c_str(), ent->GetPhysics()->GetOrigin().ToString(0), modelDef ? modelDef->GetName() : "" );
|
|
return false;
|
|
}
|
|
|
|
model = animator->ModelHandle();
|
|
if ( model == NULL || model->IsDefaultModel() ) {
|
|
gameLocal.Warning( "idAF::Load: articulated figure '%s' for entity '%s' at (%s) has no or defaulted model '%s'",
|
|
name.c_str(), ent->name.c_str(), ent->GetPhysics()->GetOrigin().ToString(0), model ? model->Name() : "" );
|
|
return false;
|
|
}
|
|
|
|
// get the modified animation
|
|
modifiedAnim = animator->GetAnim( ARTICULATED_FIGURE_ANIM );
|
|
if ( !modifiedAnim ) {
|
|
gameLocal.Warning( "idAF::Load: articulated figure '%s' for entity '%s' at (%s) has no modified animation '%s'",
|
|
name.c_str(), ent->name.c_str(), ent->GetPhysics()->GetOrigin().ToString(0), ARTICULATED_FIGURE_ANIM );
|
|
return false;
|
|
}
|
|
|
|
// create the animation frame used to setup the articulated figure
|
|
numJoints = animator->NumJoints();
|
|
joints = ( idJointMat * )_alloca16( numJoints * sizeof( joints[0] ) );
|
|
gameEdit->ANIM_CreateAnimFrame( model, animator->GetAnim( modifiedAnim )->MD5Anim( 0 ), numJoints, joints, 1, animator->ModelDef()->GetVisualOffset(), animator->RemoveOrigin() );
|
|
|
|
// set all vector positions from model joints
|
|
file->Finish( GetJointTransform, joints, animator );
|
|
|
|
// initialize articulated figure physics
|
|
physicsObj.SetGravity( gameLocal.GetGravity() );
|
|
physicsObj.SetClipMask( file->clipMask );
|
|
physicsObj.SetDefaultFriction( file->defaultLinearFriction, file->defaultAngularFriction, file->defaultContactFriction );
|
|
physicsObj.SetSuspendSpeed( file->suspendVelocity, file->suspendAcceleration );
|
|
physicsObj.SetSuspendTolerance( file->noMoveTime, file->noMoveTranslation, file->noMoveRotation );
|
|
physicsObj.SetSuspendTime( file->minMoveTime, file->maxMoveTime );
|
|
physicsObj.SetSelfCollision( file->selfCollision );
|
|
|
|
// clear the list with transforms from joints to bodies
|
|
jointMods.SetNum( 0, false );
|
|
|
|
// clear the joint to body conversion list
|
|
jointBody.AssureSize( animator->NumJoints() );
|
|
for ( i = 0; i < jointBody.Num(); i++ ) {
|
|
jointBody[i] = -1;
|
|
}
|
|
|
|
// delete any bodies in the physicsObj that are no longer in the idDeclAF
|
|
for ( i = 0; i < physicsObj.GetNumBodies(); i++ ) {
|
|
idAFBody *body = physicsObj.GetBody( i );
|
|
for ( j = 0; j < file->bodies.Num(); j++ ) {
|
|
if ( file->bodies[j]->name.Icmp( body->GetName() ) == 0 ) {
|
|
break;
|
|
}
|
|
}
|
|
if ( j >= file->bodies.Num() ) {
|
|
physicsObj.DeleteBody( i );
|
|
i--;
|
|
}
|
|
}
|
|
|
|
// delete any constraints in the physicsObj that are no longer in the idDeclAF
|
|
for ( i = 0; i < physicsObj.GetNumConstraints(); i++ ) {
|
|
idAFConstraint *constraint = physicsObj.GetConstraint( i );
|
|
for ( j = 0; j < file->constraints.Num(); j++ ) {
|
|
if ( file->constraints[j]->name.Icmp( constraint->GetName() ) == 0 &&
|
|
file->constraints[j]->type == constraint->GetType() ) {
|
|
break;
|
|
}
|
|
}
|
|
if ( j >= file->constraints.Num() ) {
|
|
physicsObj.DeleteConstraint( i );
|
|
i--;
|
|
}
|
|
}
|
|
|
|
// load bodies from the file
|
|
for ( i = 0; i < file->bodies.Num(); i++ ) {
|
|
LoadBody( file->bodies[i], joints );
|
|
}
|
|
|
|
// load constraints from the file
|
|
for ( i = 0; i < file->constraints.Num(); i++ ) {
|
|
LoadConstraint( file->constraints[i] );
|
|
}
|
|
|
|
physicsObj.UpdateClipModels();
|
|
|
|
// check if each joint is contained by a body
|
|
for( i = 0; i < animator->NumJoints(); i++ ) {
|
|
if ( jointBody[i] == -1 ) {
|
|
gameLocal.Warning( "idAF::Load: articulated figure '%s' for entity '%s' at (%s) joint '%s' is not contained by a body",
|
|
name.c_str(), self->name.c_str(), self->GetPhysics()->GetOrigin().ToString(0), animator->GetJointName( (jointHandle_t)i ) );
|
|
}
|
|
}
|
|
|
|
physicsObj.SetMass( file->totalMass );
|
|
physicsObj.SetChanged();
|
|
|
|
// disable the articulated figure for collision detection until activated
|
|
physicsObj.DisableClip();
|
|
|
|
isLoaded = true;
|
|
|
|
return true;
|
|
}
|
|
|
|
/*
|
|
================
|
|
idAF::Start
|
|
================
|
|
*/
|
|
void idAF::Start( void ) {
|
|
if ( !IsLoaded() ) {
|
|
return;
|
|
}
|
|
// clear all animations
|
|
animator->ClearAllAnims( gameLocal.time, 0 );
|
|
animator->ClearAllJoints();
|
|
// switch to articulated figure physics
|
|
self->SetPhysics( &physicsObj );
|
|
// start the articulated figure physics simulation
|
|
physicsObj.EnableClip();
|
|
physicsObj.Activate();
|
|
isActive = true;
|
|
}
|
|
|
|
/*
|
|
================
|
|
idAF::TestSolid
|
|
================
|
|
*/
|
|
bool idAF::TestSolid( void ) const {
|
|
int i;
|
|
idAFBody *body;
|
|
trace_t trace;
|
|
idStr str;
|
|
bool solid;
|
|
|
|
if ( !IsLoaded() ) {
|
|
return false;
|
|
}
|
|
|
|
if ( !af_testSolid.GetBool() ) {
|
|
return false;
|
|
}
|
|
|
|
solid = false;
|
|
|
|
for ( i = 0; i < physicsObj.GetNumBodies(); i++ ) {
|
|
body = physicsObj.GetBody( i );
|
|
if ( gameLocal.clip.Translation( trace, body->GetWorldOrigin(), body->GetWorldOrigin(), body->GetClipModel(), body->GetWorldAxis(), body->GetClipMask(), self ) ) {
|
|
float depth = idMath::Fabs( trace.c.point * trace.c.normal - trace.c.dist );
|
|
|
|
body->SetWorldOrigin( body->GetWorldOrigin() + trace.c.normal * ( depth + 8.0f ) );
|
|
|
|
gameLocal.DWarning( "%s: body '%s' stuck in %d (normal = %.2f %.2f %.2f, depth = %.2f)", self->name.c_str(),
|
|
body->GetName().c_str(), trace.c.contents, trace.c.normal.x, trace.c.normal.y, trace.c.normal.z, depth );
|
|
solid = true;
|
|
|
|
}
|
|
}
|
|
return solid;
|
|
}
|
|
|
|
/*
|
|
================
|
|
idAF::StartFromCurrentPose
|
|
================
|
|
*/
|
|
void idAF::StartFromCurrentPose( int inheritVelocityTime ) {
|
|
|
|
if ( !IsLoaded() ) {
|
|
return;
|
|
}
|
|
|
|
// if the ragdoll should inherit velocity from the animation
|
|
if ( inheritVelocityTime > 0 ) {
|
|
|
|
// make sure the ragdoll is at rest
|
|
physicsObj.PutToRest();
|
|
|
|
// set the pose for some time back
|
|
SetupPose( self, gameLocal.time - inheritVelocityTime );
|
|
|
|
// change the pose for the current time and set velocities
|
|
ChangePose( self, gameLocal.time );
|
|
}
|
|
else {
|
|
// transform the articulated figure to reflect the current animation pose
|
|
SetupPose( self, gameLocal.time );
|
|
}
|
|
|
|
physicsObj.UpdateClipModels();
|
|
|
|
TestSolid();
|
|
|
|
Start();
|
|
|
|
UpdateAnimation();
|
|
|
|
// update the render entity origin and axis
|
|
self->UpdateModel();
|
|
|
|
// make sure the renderer gets the updated origin and axis
|
|
self->Present();
|
|
}
|
|
|
|
/*
|
|
================
|
|
idAF::Stop
|
|
================
|
|
*/
|
|
void idAF::Stop( void ) {
|
|
// disable the articulated figure for collision detection
|
|
physicsObj.UnlinkClip();
|
|
isActive = false;
|
|
}
|
|
|
|
/*
|
|
================
|
|
idAF::Rest
|
|
================
|
|
*/
|
|
void idAF::Rest( void ) {
|
|
physicsObj.PutToRest();
|
|
}
|
|
|
|
/*
|
|
================
|
|
idAF::SetConstraintPosition
|
|
|
|
Only moves constraints that bind the entity to another entity.
|
|
================
|
|
*/
|
|
void idAF::SetConstraintPosition( const char *name, const idVec3 &pos ) {
|
|
idAFConstraint *constraint;
|
|
|
|
constraint = GetPhysics()->GetConstraint( name );
|
|
|
|
if ( !constraint ) {
|
|
gameLocal.Warning( "can't find a constraint with the name '%s'", name );
|
|
return;
|
|
}
|
|
|
|
if ( constraint->GetBody2() != NULL ) {
|
|
gameLocal.Warning( "constraint '%s' does not bind to another entity", name );
|
|
return;
|
|
}
|
|
|
|
switch( constraint->GetType() ) {
|
|
case CONSTRAINT_BALLANDSOCKETJOINT: {
|
|
idAFConstraint_BallAndSocketJoint *bs = static_cast<idAFConstraint_BallAndSocketJoint *>(constraint);
|
|
bs->Translate( pos - bs->GetAnchor() );
|
|
break;
|
|
}
|
|
case CONSTRAINT_UNIVERSALJOINT: {
|
|
idAFConstraint_UniversalJoint *uj = static_cast<idAFConstraint_UniversalJoint *>(constraint);
|
|
uj->Translate( pos - uj->GetAnchor() );
|
|
break;
|
|
}
|
|
case CONSTRAINT_HINGE: {
|
|
idAFConstraint_Hinge *hinge = static_cast<idAFConstraint_Hinge *>(constraint);
|
|
hinge->Translate( pos - hinge->GetAnchor() );
|
|
break;
|
|
}
|
|
default: {
|
|
gameLocal.Warning( "cannot set the constraint position for '%s'", name );
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
================
|
|
idAF::SaveState
|
|
================
|
|
*/
|
|
void idAF::SaveState( idDict &args ) const {
|
|
int i;
|
|
idAFBody *body;
|
|
idStr key, value;
|
|
|
|
for ( i = 0; i < jointMods.Num(); i++ ) {
|
|
body = physicsObj.GetBody( jointMods[i].bodyId );
|
|
|
|
key = "body " + body->GetName();
|
|
value = body->GetWorldOrigin().ToString( 8 );
|
|
value += " ";
|
|
value += body->GetWorldAxis().ToAngles().ToString( 8 );
|
|
args.Set( key, value );
|
|
}
|
|
}
|
|
|
|
/*
|
|
================
|
|
idAF::LoadState
|
|
================
|
|
*/
|
|
void idAF::LoadState( const idDict &args ) {
|
|
const idKeyValue *kv;
|
|
idStr name;
|
|
idAFBody *body;
|
|
idVec3 origin;
|
|
idAngles angles;
|
|
|
|
kv = args.MatchPrefix( "body ", NULL );
|
|
while ( kv ) {
|
|
|
|
name = kv->GetKey();
|
|
name.Strip( "body " );
|
|
body = physicsObj.GetBody( name );
|
|
if ( body ) {
|
|
sscanf( kv->GetValue(), "%f %f %f %f %f %f", &origin.x, &origin.y, &origin.z, &angles.pitch, &angles.yaw, &angles.roll );
|
|
body->SetWorldOrigin( origin );
|
|
body->SetWorldAxis( angles.ToMat3() );
|
|
} else {
|
|
gameLocal.Warning("Unknown body part %s in articulated figure %s", name.c_str(), this->name.c_str());
|
|
}
|
|
|
|
kv = args.MatchPrefix( "body ", kv );
|
|
}
|
|
|
|
physicsObj.UpdateClipModels();
|
|
}
|
|
|
|
/*
|
|
================
|
|
idAF::AddBindConstraints
|
|
================
|
|
*/
|
|
void idAF::AddBindConstraints( void ) {
|
|
const idKeyValue *kv;
|
|
idStr name;
|
|
idAFBody *body;
|
|
idLexer lexer;
|
|
idToken type, bodyName, jointName;
|
|
idVec3 origin, renderOrigin;
|
|
idMat3 axis, renderAxis;
|
|
|
|
if ( !IsLoaded() ) {
|
|
return;
|
|
}
|
|
|
|
const idDict &args = self->spawnArgs;
|
|
|
|
// get the render position
|
|
origin = physicsObj.GetOrigin( 0 );
|
|
axis = physicsObj.GetAxis( 0 );
|
|
renderAxis = baseAxis.Transpose() * axis;
|
|
renderOrigin = origin - baseOrigin * renderAxis;
|
|
|
|
// parse all the bind constraints
|
|
for ( kv = args.MatchPrefix( "bindConstraint ", NULL ); kv; kv = args.MatchPrefix( "bindConstraint ", kv ) ) {
|
|
name = kv->GetKey();
|
|
name.Strip( "bindConstraint " );
|
|
|
|
lexer.LoadMemory( kv->GetValue(), kv->GetValue().Length(), kv->GetKey() );
|
|
lexer.ReadToken( &type );
|
|
|
|
lexer.ReadToken( &bodyName );
|
|
body = physicsObj.GetBody( bodyName );
|
|
if ( !body ) {
|
|
gameLocal.Warning( "idAF::AddBindConstraints: body '%s' not found on entity '%s'", bodyName.c_str(), self->name.c_str() );
|
|
lexer.FreeSource();
|
|
continue;
|
|
}
|
|
|
|
if ( type.Icmp( "fixed" ) == 0 ) {
|
|
idAFConstraint_Fixed *c;
|
|
|
|
c = new idAFConstraint_Fixed( name, body, NULL );
|
|
physicsObj.AddConstraint( c );
|
|
}
|
|
else if ( type.Icmp( "ballAndSocket" ) == 0 ) {
|
|
idAFConstraint_BallAndSocketJoint *c;
|
|
|
|
c = new idAFConstraint_BallAndSocketJoint( name, body, NULL );
|
|
physicsObj.AddConstraint( c );
|
|
lexer.ReadToken( &jointName );
|
|
|
|
jointHandle_t joint = animator->GetJointHandle( jointName );
|
|
if ( joint == INVALID_JOINT ) {
|
|
gameLocal.Warning( "idAF::AddBindConstraints: joint '%s' not found", jointName.c_str() );
|
|
}
|
|
|
|
animator->GetJointTransform( joint, gameLocal.time, origin, axis );
|
|
c->SetAnchor( renderOrigin + origin * renderAxis );
|
|
}
|
|
else if ( type.Icmp( "universal" ) == 0 ) {
|
|
idAFConstraint_UniversalJoint *c;
|
|
|
|
c = new idAFConstraint_UniversalJoint( name, body, NULL );
|
|
physicsObj.AddConstraint( c );
|
|
lexer.ReadToken( &jointName );
|
|
|
|
jointHandle_t joint = animator->GetJointHandle( jointName );
|
|
if ( joint == INVALID_JOINT ) {
|
|
gameLocal.Warning( "idAF::AddBindConstraints: joint '%s' not found", jointName.c_str() );
|
|
}
|
|
animator->GetJointTransform( joint, gameLocal.time, origin, axis );
|
|
c->SetAnchor( renderOrigin + origin * renderAxis );
|
|
c->SetShafts( idVec3( 0, 0, 1 ), idVec3( 0, 0, -1 ) );
|
|
}
|
|
else {
|
|
gameLocal.Warning( "idAF::AddBindConstraints: unknown constraint type '%s' on entity '%s'", type.c_str(), self->name.c_str() );
|
|
}
|
|
|
|
lexer.FreeSource();
|
|
}
|
|
|
|
hasBindConstraints = true;
|
|
}
|
|
|
|
/*
|
|
================
|
|
idAF::RemoveBindConstraints
|
|
================
|
|
*/
|
|
void idAF::RemoveBindConstraints( void ) {
|
|
const idKeyValue *kv;
|
|
|
|
if ( !IsLoaded() ) {
|
|
return;
|
|
}
|
|
|
|
const idDict &args = self->spawnArgs;
|
|
idStr name;
|
|
|
|
kv = args.MatchPrefix( "bindConstraint ", NULL );
|
|
while ( kv ) {
|
|
name = kv->GetKey();
|
|
name.Strip( "bindConstraint " );
|
|
|
|
if ( physicsObj.GetConstraint( name ) ) {
|
|
physicsObj.DeleteConstraint( name );
|
|
}
|
|
|
|
kv = args.MatchPrefix( "bindConstraint ", kv );
|
|
}
|
|
|
|
hasBindConstraints = false;
|
|
}
|