oxnewtonsmdragdoll.pas

Newton Game Dynamic 1.52 Delphi下基于GLScene的OpenGL游戏开发控件。功能非常强大和易于使用。 Advanced physics engine for re

{******************************************************************************}
procedure TOXNewtonRagdoll.BuildRagdoll( pRagdoll: PNewtonRagdoll; pParentdollBone: PNewtonRagdollBone;
                                         pVelocity: TOXVector3; var pBone: TOXNewtonRagdollBone );
var
  Body: PNewtonBody;
  DollBone: PNewtonRagdollBone;
  Collider: PNewtonCollision;
  Size: TOXVector3;
  Matrix: TOXMatrix;
  ConeDir: TOXVector3;
  LateralDir: TOXVector3;
  i: Integer;
begin
  Size:= pBone.Size;
  Matrix:= pBone.Matrix;
  Collider:= nil;
  DollBone:= nil;
  case pBone.GeomType of
    mdBox:
      begin
        pBone.Box:= TOXNewtonBoneCube( RagdollDummy.AddNewChild( TOXNewtonBoneCube ) );
        pBone.Box.CubeWidth:= Size[0]; pBone.Box.CubeHeight:= Size[1]; pBone.Box.CubeDepth:= Size[2];
        pBone.Box.Material.FrontProperties.Diffuse.RandomColor;
        Collider:= NewtonCreateBox( Manager.World, Size[0], Size[1], Size[2], nil );
        DollBone:= NewtonRagdollAddBone( pRagdoll, pParentdollBone, pBone.Box, 10, @Matrix[0], Collider, @Size[0] );
      end;
    mdCylinder:
      begin
        pBone.Cylinder:= TOXNewtonBoneCylinder( RagdollDummy.AddNewChild( TOXNewtonBoneCylinder ) );
        pBone.Cylinder.TopRadius:= Size[1] / 2; pBone.Cylinder.Height:= Size[0];
        pBone.Cylinder.Material.FrontProperties.Diffuse.RandomColor;
        Collider:= NewtonCreateCapsule( Manager.World, Size[1] / 2, Size[0], nil );
        DollBone:= NewtonRagdollAddBone( pRagdoll, pParentdollBone, pBone.Cylinder, 10, @Matrix[0], Collider, @Size[0] );
      end;
    mdSphere:
      begin
        pBone.SPhere:= TOXNewtonBoneSphere( RagdollDummy.AddNewChild( TOXNewtonBoneSphere ) );
        pBone.SPhere.Radius:= Size[0] / 2;
        pBone.SPhere.Material.FrontProperties.Diffuse.RandomColor;
        Collider:= NewtonCreateSphere( Manager.World, Size[0] / 2, Size[1] / 2, Size[2] / 2, nil );
        DollBone:= NewtonRagdollAddBone( pRagdoll, pParentdollBone, pBone.SPhere, 10, @Matrix[0], Collider, @Size[0] );
      end;
  end;
  ConeDir:= oxV3Make( 1, 0, 0 );
  LateralDir:= oxV3Make( 0, 0, 1 );
  oxTranslateM( pBone.Matrix, ConeDir );
  oxTranslateM( pBone.Matrix, LateralDir );
  NewtonRagdollBoneSetID( DollBone, pBone.ID );
  NewtonRagdollBoneSetLimits( DollBone, @ConeDir[0], -PI*0.25, PI*0.25, -PI*0.5, @LateralDir[0], 0, 0 );
  Body:= NewtonRagdollBoneGetBody( DollBone );
  case pBone.GeomType of
    mdBox: NewtonBodySetUserData( Body, pBone.Box );
    mdCylinder: NewtonBodySetUserData( Body, pBone.Cylinder );
    mdSphere: NewtonBodySetUserData( Body, pBone.SPhere );
  end;
  pBone.Body:= Body;
  NewtonReleaseCollision( Manager.World, Collider );
  if Length( pBone.Children ) > 0 then
    for i := 0 to High( pBone.Children ) do BuildRagdoll( pRagdoll, DollBone, pVelocity, pBone.Children[i] );
end;
{******************************************************************************}
// [15-9-2007]: TOXNewtonRagdoll last change by Dave Gravel.                 //
{******************************************************************************}
procedure TOXNewtonRagdoll.CreateRagdoll( pPosition, pVelocity, pRotation: TOXVector3; pHangByHead: Boolean = False );
const
  HeadSize = 0.5;
var
  SpineSize: TOXVector3;
  HeadBody: PNewtonBody;
  HeadBone: PNewtonRagdollBone;
  SpineBody: PNewtonBody;
  SpineBone: PNewtonRagdollBone;
  Mat: TOXMatrix;
  Pivot: TOXVector3;
  rMat: TOXMatrix;
  i: Integer;
begin
  RagdollDummy:= TOXNewtonDummy( Scene.Objects.AddNewChild( TOXNewtonDummy ) );
  RagdollDummy.Visible:= False;
  // root
  Spine0_Bone:= TOXNewtonRagdollBone.create;
  Spine0_Bone.CreateBone( mdBox );
  SpineSize:= oxV3Make( HeadSize * 1.2, HeadSize, HeadSize * 1.2 );
  Spine0_Bone.Size:= SpineSize;
  oxSetM( Spine0_Bone.Matrix, oxIdentityM );
  oxTranslateM( Spine0_Bone.Matrix, oxV3Make( pPosition[0], pPosition[1], pPosition[2] ) );
  rMat:= oxCreateRotationM( oxV3Make( pRotation[0], pRotation[1], pRotation[2] ), 90 );
  Spine0_Bone.Matrix:= oxMMultiply( rMat, Spine0_Bone.Matrix );
  Spine0_Bone.ID:= 0;
  Spine0_Bone.Name:= 'Spine0_Bone';
  //
  Spine1_Bone:= TOXNewtonRagdollBone.create;
  Spine1_Bone.CreateBone( mdBox );
  Spine1_Bone.Size:= SpineSize;
  oxSetM( Spine1_Bone.Matrix, oxIdentityM );
  oxTranslateM( Spine1_Bone.Matrix, oxV3Make( SpineSize[0], 0, 0 ) );
  Spine1_Bone.ID:= 1;
  Spine1_Bone.Name:= 'Spine1_Bone';
  //
  head_Bone:= TOXNewtonRagdollBone.create;
  head_Bone.CreateBone( mdSphere );
  head_Bone.Size:= oxV3Make( HeadSize, HeadSize, HeadSize );
  oxSetM( head_Bone.Matrix, oxIdentityM );
  oxTranslateM( head_Bone.Matrix, oxV3Make( SpineSize[0], 0, 0 ) );
  head_Bone.ID:= 2;
  head_Bone.Name:= 'head_Bone';
  //
  rUpperArm_Bone:= TOXNewtonRagdollBone.create;
  rUpperArm_Bone.CreateBone( mdCylinder );
  rUpperArm_Bone.Size:= oxV3Make( HeadSize * 1.5, HeadSize * 0.5, HeadSize * 0.5 );
  oxSetM( rUpperArm_Bone.Matrix, oxIdentityM );
  oxTranslateM( rUpperArm_Bone.Matrix, oxV3Make( SpineSize[0], 0, SpineSize[0] * 0.55 ) );
  rMat:= oxCreateRotationM( oxV3Make( 0, 90, 0 ), 360 );
  rUpperArm_Bone.Matrix:= oxMMultiply( rMat, rUpperArm_Bone.Matrix );
  rUpperArm_Bone.ID:= 3;
  rUpperArm_Bone.Name:= 'rUpperArm_Bone';
  //
  rLowerArm_Bone:= TOXNewtonRagdollBone.create;
  rLowerArm_Bone.CreateBone( mdCylinder );
  rLowerArm_Bone.Size:= oxV3Make( HeadSize * 1.5, HeadSize * 0.5, HeadSize * 0.5 );
  oxSetM( rLowerArm_Bone.Matrix, oxIdentityM );
  oxTranslateM( rLowerArm_Bone.Matrix, oxV3Make( HeadSize * 1.5, 0, 0 ) );
  rLowerArm_Bone.ID:= 4;
  rLowerArm_Bone.Name:= 'rLowerArm_Bone';
  //
  lUpperArm_Bone:= TOXNewtonRagdollBone.create;
  lUpperArm_Bone.CreateBone( mdCylinder );
  lUpperArm_Bone.Size:= oxV3Make( HeadSize * 1.5, HeadSize * 0.5, HeadSize * 0.5 );
  oxSetM( lUpperArm_Bone.Matrix, oxIdentityM );
  oxTranslateM( lUpperArm_Bone.Matrix, oxV3Make( SpineSize[0], 0, -SpineSize[0] * 0.55 ) );
  rMat:= oxCreateRotationM( oxV3Make( 0, -90, 0 ), 360 );
  lUpperArm_Bone.Matrix:= oxMMultiply( rMat, lUpperArm_Bone.Matrix );
  lUpperArm_Bone.ID:= 5;
  lUpperArm_Bone.Name:= 'lUpperArm_Bone';
  //
  lLowerArm_Bone:= TOXNewtonRagdollBone.create;
  lLowerArm_Bone.CreateBone( mdCylinder );
  lLowerArm_Bone.Size:= oxV3Make( HeadSize * 1.5, HeadSize * 0.5, HeadSize * 0.5 );
  oxSetM( lLowerArm_Bone.Matrix, oxIdentityM );
  oxTranslateM( lLowerArm_Bone.Matrix, oxV3Make( HeadSize * 1.5, 0, 0 ) );
  lLowerArm_Bone.ID:= 6;
  lLowerArm_Bone.Name:= 'lLowerArm_Bone';
  //
  rUpperLeg_Bone:= TOXNewtonRagdollBone.create;
  rUpperLeg_Bone.CreateBone( mdCylinder );
  rUpperLeg_Bone.Size:= oxV3Make(HeadSize * 2.0, HeadSize * 0.75, HeadSize * 0.75 );
  oxSetM( rUpperleg_Bone.Matrix, oxIdentityM );
  oxTranslateM( rUpperleg_Bone.Matrix, oxV3Make( 0, 0, SpineSize[0] * 0.35 ) );
  rMat:= oxCreateRotationM( oxV3Make( 0, 0, 180 ), 15.5 );
  rUpperleg_Bone.Matrix:= oxMMultiply( rMat, rUpperleg_Bone.Matrix );
  rUpperleg_Bone.ID:= 7;
  rUpperleg_Bone.Name:= 'rUpperleg_Bone';
  //
  rLowerleg_Bone:= TOXNewtonRagdollBone.create;
  rLowerleg_Bone.CreateBone( mdCylinder );
  rLowerleg_Bone.Size:= oxV3Make( HeadSize * 2.0, HeadSize * 0.65, HeadSize * 0.65 );
  oxSetM( rLowerleg_Bone.Matrix, oxIdentityM );
  oxTranslateM( rLowerleg_Bone.Matrix, oxV3Make( HeadSize * 2, 0, 0 ) );
  rLowerleg_Bone.ID:= 8;
  rLowerleg_Bone.Name:= 'rLowerleg_Bone';
  //
  lUpperleg_Bone:= TOXNewtonRagdollBone.create;
  lUpperleg_Bone.CreateBone( mdCylinder );
  lUpperleg_Bone.Size:= oxV3Make( HeadSize * 2.0, HeadSize * 0.75, HeadSize * 0.75 );
  oxSetM( lUpperleg_Bone.Matrix, oxIdentityM );
  oxTranslateM( lUpperleg_Bone.Matrix, oxV3Make( 0, 0, -SpineSize[0] * 0.35 ) );
  rMat:= oxCreateRotationM( oxV3Make( 0, 0, 180 ), 15.5 );
  lUpperleg_Bone.Matrix:= oxMMultiply( rMat, lUpperleg_Bone.Matrix );
  lUpperleg_Bone.ID:= 9;
  lUpperleg_Bone.Name:= 'lUpperleg_Bone';
  //
  lLowerleg_Bone:= TOXNewtonRagdollBone.create;
  lLowerleg_Bone.CreateBone( mdCylinder );
  lLowerleg_Bone.Size:= oxV3Make( HeadSize * 2.0, HeadSize * 0.65, HeadSize * 0.65 );
  oxSetM( lLowerleg_Bone.Matrix, oxIdentityM );
  oxTranslateM( lLowerleg_Bone.Matrix, oxV3Make( HeadSize * 2, 0, 0 ) );
  lLowerleg_Bone.ID:= 10;
  lLowerleg_Bone.Name:= 'lLowerleg_Bone';
  //
  AddChildren( Spine0_Bone, Spine1_Bone );
  AddChildren( Spine1_Bone, Head_Bone );
  AddChildren( Spine1_Bone, rUpperArm_Bone );
  AddChildren( rUpperArm_Bone, rLowerArm_Bone );
  AddChildren( Spine1_Bone, lUpperArm_Bone );
  AddChildren( lUpperArm_Bone, lLowerArm_Bone );
  AddChildren( Spine0_Bone, rUpperleg_Bone );
  AddChildren( rUpperleg_Bone, rLowerleg_Bone );
  AddChildren( Spine0_Bone, lUpperleg_Bone );
  AddChildren( lUpperleg_Bone, lLowerleg_Bone );
  //
  SetLength( Bone, 11 );
  Bone[0]:= Spine0_Bone;
  Bone[1]:= Spine1_Bone;
  Bone[2]:= Head_Bone;
  Bone[3]:= rUpperArm_Bone;
  Bone[4]:= rLowerArm_Bone;
  Bone[5]:= lUpperArm_Bone;
  Bone[6]:= lLowerArm_Bone;
  Bone[7]:= rUpperleg_Bone;
  Bone[8]:= rLowerleg_Bone;
  Bone[9]:= lUpperleg_Bone;
  Bone[10]:= lLowerleg_Bone;
  //
  Ragdoll:= NewtonCreateRagdoll( Manager.World );
  NewtonRagdollBegin( Ragdoll );
  NewtonRagdollSetForceAndTorqueCallback( Ragdoll, @oxRagdollForceAndTorque );
  BuildRagdoll( Ragdoll, nil, pVelocity, Spine0_Bone );
  NewtonRagdollEnd( Ragdoll );
  if pHangByHead then
  begin
    HeadBone:= NewtonRagdollFindBone( Ragdoll, 2 );
    HeadBody:= NewtonRagdollBoneGetBody( HeadBone );
    SpineBone:= NewtonRagdollFindBone( Ragdoll, 1 );
    SpineBody:= NewtonRagdollBoneGetBody( SpineBone );
    NewtonBodyGetMatrix( HeadBody, @Mat[0, 0] );
    Pivot:= oxV3Make( Mat[3,0], Mat[3,1], Mat[3,2] );
    NewtonConstraintCreateBall( Manager.World, @Pivot[0], HeadBody, SpineBody );
  end;
  for i := 0 to High( Bone ) do
  begin
    oxSetRagdollMaterial( Bone[i].Body );
  end;
end;
{******************************************************************************}
// [15-9-2007]: TOXNewtonRagdoll last change by Dave Gravel.                 //
{******************************************************************************}
procedure TOXNewtonRagdoll.Render;
var
  i: Integer;
begin
  for i := 0 to High( Bone ) do
    Bone[i].Render;
end;
{******************************************************************************}
// [15-9-2007]: TOXNewtonRagdoll last change by Dave Gravel.                 //
{******************************************************************************}
procedure TOXNewtonRagdoll.AddChildren( var pParent: TOXNewtonRagdollBone; pChildren: TOXNewtonRagdollBone );
begin
  SetLength( pParent.Children, Length( pParent.Children ) + 1 );
  pParent.Children[High( pParent.Children )]:= pChildren;
end;
{******************************************************************************}
// [15-9-2007]: TOXNewtonRagdoll last change by Dave Gravel.                 //
{******************************************************************************}
constructor TOXNewtonRagdoll.Create( aOwner: TComponent );
begin
  inherited Create( aOwner );
  FActived:= False;
  OXVisual:= False;
end;
{******************************************************************************}
// [15-9-2007]: TOXNewtonRagdoll last change by Dave Gravel.                 //
{******************************************************************************}
procedure TOXNewtonRagdoll.SetManager( const val: TOXNewtonManager );
begin
  if ( val <> FManager ) then
    FManager:= val;
end;
{******************************************************************************}
// [15-9-2007]: TOXNewtonRagdoll last change by Dave Gravel.                 //
{******************************************************************************}
procedure TOXNewtonRagdoll.InitNewton;
begin
  FManager:= TOXNewtonManager(Scene);
  if FActived or ( FManager = nil ) then Exit;
  CreateRagdoll( oxV3Make( Position.X, Position.Y, Position.Z ),
                 oxV3Make( 0, 0, 0 ),
                 oxV3Make( 0.0001 + PitchAngle, 0.0001 + RollAngle, 0.0001 + TurnAngle ),
                 False );
  FActived:= True;
end;
{******************************************************************************}
// [15-9-2007]: TOXNewtonRagdoll last change by Dave Gravel.                 //
{******************************************************************************}
procedure TOXNewtonRagdoll.DoProgress( const progressTime: TProgressTimes );
begin
  inherited;
  if FActived then begin
    Render;
    if RagdollDummy.Visible=False then RagdollDummy.Visible:=True;
  end;
end;
{******************************************************************************}
// [15-9-2007]: TOXNewtonRagdoll last change by Dave Gravel.                 //
{******************************************************************************}
destructor TOXNewtonRagdoll.Destroy;
var i: integer;
begin
  if FActived then begin
    FActived:= False;
    RagdollDummy.Free;
    for i:= 0 to 10 do Bone[i].Free;
    NewtonDestroyRagDoll( FManager.World, Ragdoll );
  end;
  FActived:= False;  
  inherited destroy;
end;
{******************************************************************************}
{$D '[15-9-2007]: TOXNewtonManager v1.55 by Dave Gravel under MPL-1.1 license.'}
{******************************************************************************}
initialization
  RegisterClasses( [ TOXNewtonSkinRagdoll, TOXNewtonRagdoll ] );

end.