oxnewtonbonesragdoll.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

// [15-9-2007]: TOXRagdoll last change by Dave Gravel.                       //
{******************************************************************************}
procedure TOXRagdoll.Start;
begin
  if ( FEnabled ) then Exit;
  FEnabled:= True;
  RootBone.StartChild;
  RootBone.AlignChild;
  FOwner.Skeleton.StartRagDoll;
end;
{******************************************************************************}
// [15-9-2007]: TOXRagdoll last change by Dave Gravel.                       //
{******************************************************************************}
procedure TOXRagdoll.Update;
begin
  if ( FEnabled ) then begin
    RootBone.UpdateChild;
    FOwner.Skeleton.MorphMesh( true );
  end;
end;
{******************************************************************************}
// [15-9-2007]: TOXRagdoll last change by Dave Gravel.                       //
{******************************************************************************}
procedure TOXRagdoll.Stop;
begin
  if not ( FEnabled ) then Exit;
  FEnabled:= False;
  RootBone.StopChild;
  FOwner.Skeleton.StopRagDoll;
  FOwner.Skeleton.MorphMesh( true );
end;
{******************************************************************************}
// [15-9-2007]: TOXRagdoll last change by Dave Gravel.                       //
{******************************************************************************}
procedure TOXRagdoll.BuildRagdoll;
begin
  if assigned( RootBone ) then begin
    RootBone.CreateBoundsChild;
    FBuilt:= True;
  end;
end;
{******************************************************************************}
// [15-9-2007]: TNewtonRagdollHingeJoint last change by Dave Gravel.         //
{******************************************************************************}
constructor TNewtonRagdollHingeJoint.Create( Axis: TOXVector3;
  LimitationMin0, LimitationMax0: Float );
begin
  inherited Create;
  FAxis:= Axis;
  FLimitationMin0:= LimitationMin0;
  FLimitationMax0:= LimitationMax0;
end;
{******************************************************************************}
// [15-9-2007]: TNewtonRagdollHingeJoint last change by Dave Gravel.         //
{******************************************************************************}
constructor TNewtonRagdollUniversalJoint.Create( Axis: TOXVector3;
  LimitationMin0, LimitationMax0: Float; Axis2: TOXVector3; LimitationMin1,
  LimitationMax1: Float );
begin
  inherited Create( Axis, LimitationMin0, LimitationMax0 );
  FAxis2 := Axis2;
  FLimitationMin0:= LimitationMin0;
  FLimitationMax0:= LimitationMax0;
  FLimitationMin1:= LimitationMin1;
  FLimitationMax1:= LimitationMax1;
end;
{******************************************************************************}
// [15-9-2007]: TNewtonRagdollBone last change by Dave Gravel.               //
{******************************************************************************}
constructor TNewtonRagdollBone.Create( Ragdoll: TNewtonRagdoll );
begin
  inherited Create( Ragdoll );
  FRagdoll:= Ragdoll;
end;
{******************************************************************************}
// [15-9-2007]: TNewtonRagdollBone last change by Dave Gravel.               //
{******************************************************************************}
procedure TNewtonRagdollBone.Align;
begin
  inherited;
end;
{******************************************************************************}
// [15-9-2007]: TNewtonRagdollBone last change by Dave Gravel.               //
{******************************************************************************}
constructor TNewtonRagdollBone.CreateOwned( aOwner: TNewtonRagdollBone );
begin
  inherited CreateOwned( aOwner );
  FOwner:= aOwner;
  FRagdoll:= aOwner.FRagdoll;
end;
{******************************************************************************}
// [15-9-2007]: TNewtonRagdollBone last change by Dave Gravel.               //
{******************************************************************************}
procedure TNewtonRagdollBone.Start;
var
  boneSize, vAxis, vAxis2 : TOXVector3;
  world: PNewtonWorld;
  JHinge: TOXCHingeJoint;
  JUniver: TOXCUniversalJoint;
  BoneDummy: TSkinBone;
  function RotateAxis( Axis: TOXVector3 ): TOXVector3;
  var absMat: TOXMatrix;
  begin
    absMat:= ReferenceMatrix;
    absMat[3]:= oxNullV4;
    Result:= oxVNormalize( oxVTransform( Axis, absMat ) );
  end;
begin
  World:= TOXNewtonSkinRagdoll( Ragdoll.Owner ).Manager.World;
  boneSize[0]:= Size[0] * oxVLength( BoneMatrix[0] );
  boneSize[1]:= Size[1] * oxVLength( BoneMatrix[1] );
  boneSize[2]:= Size[2] * oxVLength( BoneMatrix[2] );
  FGeom:= NewtonCreateBox( World, BoneSize[0], BoneSize[1], BoneSize[2], nil );
  if not ( Joint is TNewtonRagdollDummyJoint ) then begin
    FBody:= NewtonCreateBody( World, FGeom );
    FRagdoll.FBodyList.Add(FBody);
    //NewtonBodySetAutoFreeze( FBody, 0 );
    //NewtonWorldUnfreezeBody( World, FBody );
    //if TOXNewtonSkinRagdoll( Ragdoll.Owner ).AutoFreeze then
    //  NewtonBodySetAutoFreeze( FBody, 1 );
    BoneDummy:= TSkinBone( TOXNewtonSkinRagdoll( Ragdoll.Owner ).
    DummyJoint.AddNewChild( TSkinBone ) );
    BoneDummy.FBone:= self;
    BoneDummy.Matrix:= oxMDToMF( ReferenceMatrix );
    oxPSetInitTransform( FBody, BoneDummy );
    NewtonBodySetTransformCallback( FBody, @oxPSetTransform );
    NewtonBodySetForceAndTorqueCallBack
    ( FBody, @oxObjectPhysicsApplyForceAndTorque );
    if TOXNewtonSkinRagdoll( Ragdoll.Owner ).
      Manager.WorldMatrialCustom then begin
      TOXNewtonSkinRagdoll( Ragdoll.Owner ).ContactID:=
      TOXNewtonSkinRagdoll( Ragdoll.Owner ).
      Manager.WorldDefaultMaterialID;
      oxSetObjectMaterial( FBody );
    end;
    if TOXNewtonSkinRagdoll( Ragdoll.Owner ).AutoFreeze then begin
      NewtonBodySetAutoFreeze( FBody, 1 );
    end else begin
      NewtonBodySetAutoFreeze( FBody, 0 );
      NewtonWorldUnfreezeBody( TOXNewtonSkinRagdoll( Ragdoll.Owner ).Manager.World, FBody );
    end;
    //oxSkinRagdoll(FGeom,FBody,
    //VectorLength(VectorMake(BoneSize[0],BoneSize[1],BoneSize[2]))/10*TOXNewtonSkinRagdoll( Ragdoll.Owner ).Mass,
    //0,0,0,0,0,0,0,0,0);
    //NewtonBodySetContinuousCollisionMode( FBody, 1 );
    // Need a fix here it can cause problem in some situation...
    NewtonBodySetMassMatrix( FBody,
    VectorLength( VectorMake( BoneSize[0], BoneSize[1], BoneSize[2]))/100*TOXNewtonSkinRagdoll( Ragdoll.Owner ).Mass,
    VectorLength( VectorMake( BoneSize[0], BoneSize[1], BoneSize[2]))/100*TOXNewtonSkinRagdoll( Ragdoll.Owner ).Mass,
    VectorLength( VectorMake( BoneSize[0], BoneSize[1], BoneSize[2]))/100*TOXNewtonSkinRagdoll( Ragdoll.Owner ).Mass,
    VectorLength( VectorMake( BoneSize[0], BoneSize[1], BoneSize[2]))/100*TOXNewtonSkinRagdoll( Ragdoll.Owner ).Mass);
    NewtonBodySetUserData( FBody, BoneDummy );
  end;
  NewtonReleaseCollision( World, FGeom );
  if ( Joint is TNewtonRagdollDummyJoint ) then
    FBody:= FOwner.Body;
  if ( Owner <> nil ) then begin
    if ( Joint is TNewtonRagdollHingeJoint ) then
    with ( Joint as TNewtonRagdollHingeJoint ) do begin
      vAxis := RotateAxis( Axis );
      JHinge:= TOXCHingeJoint( TOXNewtonSkinRagdoll( Ragdoll.Owner ).
      DummyJoint.AddNewChild( TOXCHingeJoint ) );
      JHinge.JointCollisionState:= 0;
      JHinge.JointStiffness:= 1;
      JHinge.Scale.SetVector( 0.5, 0.5, 0.5 );
      JHinge.JointLimitsOn:= True;
      JHinge.JointChildPin.SetVector( vAxis[0], vAxis[1], vAxis[2] );
      JHinge.Position.SetPoint( Anchor[0], Anchor[1], Anchor[2] );
      JHinge.InitJoint( TNewtonRagdollBone(Owner).Body, FBody );
      JHinge.JointMinAngle:= LimitationMin0;
      JHinge.JointMaxAngle:= LimitationMax0;
    end;
    if ( Joint is TNewtonRagdollUniversalJoint ) then
    with ( Joint as TNewtonRagdollUniversalJoint ) do begin
      vAxis:= RotateAxis( Axis );
      vAxis2:= RotateAxis( Axis2 );
      JUniver:= TOXCUniversalJoint( TOXNewtonSkinRagdoll( Ragdoll.Owner ).
      DummyJoint.AddNewChild( TOXCUniversalJoint ) );
      JUniver.JointCollisionState:= 0;
      JUniver.JointStiffness:= 1;
      JUniver.Scale.SetVector( 0.5, 0.5, 0.5 );
      JUniver.JointLimitOn0:= True;
      JUniver.JointLimitOn1:= True;
      JUniver.JointChildPin.SetVector( vAxis[0], vAxis[1], vAxis[2] );
      JUniver.JointParentPin.SetVector( vAxis2[0], vAxis2[1], vAxis2[2] );
      JUniver.Position.SetPoint( Anchor[0], Anchor[1], Anchor[2] );
      JUniver.InitJoint( FBody, TNewtonRagdollBone( Owner ).Body );
      JUniver.JointMinAngle0:= LimitationMin0;
      JUniver.JointMaxAngle0:= LimitationMax0;
      JUniver.JointMinAngle1:= LimitationMin1;
      JUniver.JointMaxAngle1:= LimitationMax1;
    end;
  end;
  with TOXNewtonBone( NewtonBodyGetUserData( FBody ) ) do begin
    CubeWidth:= Size[0];
    CubeHeight:= Size[1];
    CubeDepth:= Size[2];
  end;
end;
{******************************************************************************}
// [15-9-2007]: TNewtonRagdollBone last change by Dave Gravel.               //
{******************************************************************************}
procedure TNewtonRagdollBone.Stop;
begin
  //
end;
{******************************************************************************}
// [15-9-2007]: TNewtonRagdollBone last change by Dave Gravel.               //
{******************************************************************************}
procedure TNewtonRagdollBone.Update;
begin
  RagDoll.Owner.Skeleton.BoneByID( BoneID ).
  SetGlobalMatrixForRagDoll( TGLBaseSceneObject( NewtonBodyGetUserData( FBody ) ).
  AbsoluteMatrix );
end;
{******************************************************************************}
// [15-9-2007]: TNewtonRagdoll last change by Dave Gravel.                   //
{******************************************************************************}
constructor TNewtonRagdoll.Create( AOwner : TGLBaseMesh );
begin
  inherited Create( AOwner );
  FBodyList:= TList.Create;
end;
{******************************************************************************}
{$D '[15-9-2007]: TOXNewtonManager v1.55 by Dave Gravel under MPL-1.1 license.'}
{******************************************************************************}
initialization
  RegisterClasses( [ TSkinBone ] );

end.