public void Empty()
{
Containers.Clear();
NearRoomList.Clear();
Portals.Clear();
Frustum.Clear();
Mesh = null;
if (StaticMesh.Count > 0)
{
foreach(var sm in StaticMesh)
{
RigidBody body = null;
if((body = sm.BtBody) != null)
{
if(body.MotionState != null)
{
body.MotionState.Dispose();
body.MotionState = null;
}
body.CollisionShape = null;
BtEngineDynamicsWorld.RemoveRigidBody(body);
body.Dispose();
body = null;
sm.BtBody = null;
}
if(sm.Self != null)
{
sm.Self.Room = null;
sm.Self = null;
}
}
StaticMesh.Clear();
}
if(BtBody != null)
{
BtBody.UserObject = null;
if(BtBody.MotionState != null)
{
BtBody.MotionState.Dispose();
BtBody.MotionState = null;
}
if(BtBody.CollisionShape != null)
{
BtBody.CollisionShape.Dispose();
//BtBody.CollisionShape = null;
}
BtEngineDynamicsWorld.RemoveRigidBody(BtBody);
BtBody = null;
}
Sectors.Clear();
SectorsX = 0;
SectorsY = 0;
Sprites.Clear();
Lights.Clear();
Self = null;
}
/// <summary>
/// Creates hair into allocated hair structure, using previously defined setup and entity index.
/// </summary>
public bool Create(HairSetup setup, Entity parentEntity)
{
// No setup or parent to link to - bypass function.
if (parentEntity == null || setup == null || setup.LinkBody >= parentEntity.Bf.BoneTags.Count ||
parentEntity.Bt.BtBody[(int)setup.LinkBody] == null)
return false;
var model = EngineWorld.GetModelByID(setup.Model);
// No model to link to - bypass function.
if (model == null || model.MeshCount == 0) return false;
// Setup engine container. FIXME: DOESN'T WORK PROPERLY ATM.
Container = new EngineContainer();
Container.Room = parentEntity.Self.Room;
Container.ObjectType = OBJECT_TYPE.Hair;
Container.Object = this;
// Setup initial hair parameters.
OwnerChar = parentEntity; // Entity to refer to.
OwnerBody = setup.LinkBody; // Entity body to refer to.
// Setup initial position / angles.
var ownerBodyTransform = parentEntity.Transform * parentEntity.Bf.BoneTags[(int) OwnerBody].FullTransform;
// Number of elements (bodies) is equal to number of hair meshes.
Elements = new List<HairElement>();
Elements.Resize(model.MeshCount, () => new HairElement());
// Root index should be always zero, as it is how engine determines that it is
// connected to head and renders it properly. Tail index should be always the
// last element of the hair, as it indicates absence of "child" constraint.
RootIndex = 0;
TailIndex = (byte)(Elements.Count - 1);
// Weight step is needed to determine the weight of each hair body.
// It is derived from root body weight and tail body weight.
var weightStep = (setup.RootWeight - setup.TailWeight) / Elements.Count;
var currentWeight = setup.RootWeight;
for (var i = 0; i < Elements.Count; i++)
{
// Point to corresponding mesh.
Elements[i].Mesh = model.MeshTree[i].MeshBase;
// Begin creating ACTUAL physical hair mesh.
var localInertia = BulletSharp.Math.Vector3.Zero;
// Make collision shape out of mesh.
Elements[i].Shape = BT_CSfromMesh(Elements[i].Mesh, true, true, false);
Elements[i].Shape.CalculateLocalInertia(currentWeight * setup.HairInertia, out localInertia);
// Decrease next body weight to weight_step parameter.
currentWeight -= weightStep;
// Initialize motion state for body.
var startTransform = ownerBodyTransform;
var motionState = new DefaultMotionState(((Matrix4)startTransform).ToBullet());
// Make rigid body.
Elements[i].Body = new RigidBody(new RigidBodyConstructionInfo(currentWeight, motionState, Elements[i].Shape, localInertia));
// Damping makes body stop in space by itself, to prevent it from continous movement.
Elements[i].Body.SetDamping(setup.HairDamping[0], setup.HairDamping[1]);
// Restitution and friction parameters define "bounciness" and "dullness" of hair.
Elements[i].Body.Restitution = setup.HairRestitution;
Elements[i].Body.Friction = setup.HairFriction;
// Since hair is always moving with Lara, even if she's in still state (like, hanging
// on a ledge), hair bodies shouldn't deactivate over time.
Elements[i].Body.ForceActivationState(ActivationState.DisableDeactivation);
// Hair bodies must not collide with each other, and also collide ONLY with kinematic
// bodies (e. g. animated meshes), or else Lara's ghost object or anything else will be able to
// collide with hair!
Elements[i].Body.UserObject = Container;
BtEngineDynamicsWorld.AddRigidBody(Elements[i].Body, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.KinematicFilter);
Elements[i].Body.Activate();
}
// GENERATE CONSTRAINTS.
// All constraints are generic 6-DOF type, as they seem perfect fit for hair.
// Joint count is calculated from overall body amount multiplied by per-body constraint
// count.
Joints = new List<Generic6DofConstraint>();
Joints.Resize(Elements.Count);
// If multiple joints per body is specified, joints are placed in circular manner,
// with obvious step of (SIMD_2_PI) / joint count. It means that all joints will form
// circle-like figure.
var currJoint = 0;
for (var i = 0; i < Elements.Count; i++)
{
float bodyLength;
var localA = new Transform();
localA.SetIdentity();
var localB = new Transform();
localB.SetIdentity();
var jointX = 0.0f;
var jointY = 0.0f;
RigidBody prevBody;
if(i == 0) // First joint group
{
// Adjust pivot point A to parent body.
localA.Origin = setup.HeadOffset + new Vector3(jointX, 0.0f, jointY);
Helper.SetEulerZYX(ref localA.Basis, setup.RootAngle.X, setup.RootAngle.Y, setup.RootAngle.Z);
// Stealing this calculation because I need it for drawing
OwnerBodyHairRoot = localA;
localB.Origin = new Vector3(jointX, 0.0f, jointY);
Helper.SetEulerZYX(ref localB.Basis, 0, -HalfPI, 0);
prevBody = parentEntity.Bt.BtBody[(int) OwnerBody]; // Previous body is parent body.
}
else
{
// Adjust pivot point A to previous mesh's length, considering mesh overlap multiplier.
bodyLength = Math.Abs(Elements[i - 1].Mesh.BBMax.Y - Elements[i - 1].Mesh.BBMin.Y) *
setup.JointOverlap;
localA.Origin = new Vector3(jointX, bodyLength, jointY);
Helper.SetEulerZYX(ref localA.Basis, 0, -HalfPI, 0);
// Pivot point B is automatically adjusted by Bullet.
localB.Origin = new Vector3(jointX, 0.0f, jointY);
Helper.SetEulerZYX(ref localB.Basis, 0, -HalfPI, 0);
prevBody = Elements[i - 1].Body; // Previous body is preceding hair mesh.
}
// Create 6DOF constraint.
Joints[currJoint] = new Generic6DofConstraint(prevBody, Elements[i].Body, ((Matrix4) localA).ToBullet(),
((Matrix4) localB).ToBullet(), true);
// CFM and ERP parameters are critical for making joint "hard" and link
// to Lara's head. With wrong values, constraints may become "elastic".
for (var axis = 0; axis < 6; axis++)
{
Joints[currJoint].SetParam(ConstraintParam.StopCfm, setup.JointCfm, axis);
Joints[currJoint].SetParam(ConstraintParam.StopErp, setup.JointErp, axis);
}
Joints[currJoint].LinearLowerLimit = BulletSharp.Math.Vector3.Zero;
Joints[currJoint].LinearUpperLimit = BulletSharp.Math.Vector3.Zero;
if(i == 0)
{
// First joint group should be more limited in motion, as it is connected
// right to the head. NB: Should we make it scriptable as well?
Joints[currJoint].AngularLowerLimit = new BulletSharp.Math.Vector3(-HalfPI, 0.0f, -HalfPI * 0.4f);
Joints[currJoint].AngularLowerLimit = new BulletSharp.Math.Vector3(-HalfPI * 0.3f, 0.0f, HalfPI * 0.4f);
// Increased solver iterations make constraint even more stable.
Joints[currJoint].OverrideNumSolverIterations = 100;
}
else
{
// Normal joint with more movement freedom.
Joints[currJoint].AngularLowerLimit = new BulletSharp.Math.Vector3(-HalfPI * 0.5f, 0.0f, -HalfPI * 0.5f);
Joints[currJoint].AngularLowerLimit = new BulletSharp.Math.Vector3(HalfPI * 0.5f, 0.0f, HalfPI * 0.5f);
}
Joints[currJoint].DebugDrawSize = 5.0f; // Draw constraint axes.
// Add constraint to the world.
BtEngineDynamicsWorld.AddConstraint(Joints[currJoint], true);
currJoint++; // Point to the next joint.
}
createHairMesh(model);
return true;
}
public void Dispose()
{
Bt.LastCollisions.Clear();
if (Bt.BtJoints.Count > 0)
{
DeleteRagdoll();
}
foreach (var ghost in Bt.GhostObjects)
{
ghost.UserObject = null;
BtEngineDynamicsWorld?.RemoveCollisionObject(ghost);
}
Bt.GhostObjects.Clear();
Bt.Shapes.Clear();
Bt.ManifoldArray?.Clear();
if (Bt.BtBody.Count > 0)
{
foreach (var body in Bt.BtBody)
{
if (body != null)
{
body.UserObject = null;
if (body.MotionState != null)
{
body.MotionState.Dispose();
body.MotionState = null;
}
body.CollisionShape = null;
BtEngineDynamicsWorld.RemoveRigidBody(body);
}
}
Bt.BtBody.Clear();
}
Self = null;
Bf.BoneTags.Clear();
for (var ssAnim = Bf.Animations.Next; ssAnim != null;)
{
var ssAnimNext = ssAnim.Next;
ssAnim.Next = null;
ssAnim = ssAnimNext;
}
Bf.Animations.Next = null;
}
public Entity(uint id)
{
ID = id;
MoveType = MoveType.OnFloor;
Self = new EngineContainer();
Transform = new Transform();
Transform.SetIdentity();
Self.Object = this;
Self.ObjectType = OBJECT_TYPE.Entity;
Self.Room = null;
Self.CollisionType = COLLISION_TYPE.None;
OBB = new OBB();
OBB.Transform = Transform;
Bt = new BtEntityData();
Bt.BtBody = new List<RigidBody>();
Bt.BtJoints = new List<TypedConstraint>();
Bt.NoFixAll = false;
Bt.NoFixBodyParts = 0x0000000;
Bt.ManifoldArray = null;
Bt.Shapes = new List<CollisionShape>();
Bt.GhostObjects = new List<PairCachingGhostObject>();
Bt.LastCollisions = new List<EntityCollisionNode>();
Bf = new SSBoneFrame();
Bf.Animations = new SSAnimation();
Bf.Animations.Model = null;
Bf.Animations.ClearOnFrame();
Bf.Animations.FrameTime = 0.0f;
Bf.Animations.LastState = TR_STATE.LaraWalkForward;
Bf.Animations.NextState = TR_STATE.LaraWalkForward;
Bf.Animations.Lerp = 0.0f;
Bf.Animations.CurrentAnimation = TR_ANIMATION.LaraRun;
Bf.Animations.CurrentFrame = 0;
Bf.Animations.NextAnimation = TR_ANIMATION.LaraRun;
Bf.Animations.NextFrame = 0;
Bf.Animations.Next = null;
Bf.BoneTags = new List<SSBoneTag>();
Bf.BBMax = Vector3.Zero;
Bf.BBMin = Vector3.Zero;
Bf.Centre = Vector3.Zero;
Bf.Position = Vector3.Zero;
Speed = Vector3.Zero;
}
public BtEngineClosestConvexResultCallback(EngineContainer cont, bool skipGhost = false)
: base(ref Helper.ZeroB, ref Helper.ZeroB)
{
Container = cont;
SkipGhost = skipGhost;
}
public static void SecondaryMouseDown()
{
var from = EngineCamera.Position;
var to = from + EngineCamera.ViewDirection * 32768.0f;
var camCont = new EngineContainer {Room = EngineCamera.CurrentRoom};
var cbc = new BtEngineClosestRayResultCallback(camCont);
//cbc.CollisionFilterMask = CollisionFilterGroups.StaticFilter | CollisionFilterGroups.KinematicFilter;
BtEngineDynamicsWorld.RayTest(from.ToBullet(), to.ToBullet(), cbc);
if(cbc.HasHit)
{
var castRay = new float[6];
Vector3 place;
Helper.SetInterpolate3(out place, from, to, cbc.ClosestHitFraction);
place.CopyToArray(castRay, 0);
(place + 100.0f * cbc.HitNormalWorld.ToOpenTK()).CopyToArray(castRay, 3);
var c0 = (EngineContainer) cbc.CollisionObject.UserObject;
if(c0 != null)
{
if(c0.ObjectType == OBJECT_TYPE.BulletMisc)
{
var obj = cbc.CollisionObject;
var body = RigidBody.Upcast(obj);
body?.MotionState?.Dispose();
body?.CollisionShape?.Dispose();
if(body != null)
{
body.UserObject = null;
}
c0.Room = null;
c0 = null;
BtEngineDynamicsWorld.RemoveCollisionObject(obj);
obj.Dispose();
}
else
{
LastContainer = c0;
}
}
}
}
public static void PrimaryMouseDown()
{
var cont = new EngineContainer();
var dbgR = 128.0f;
var v = EngineCamera.Position;
var dir = EngineCamera.ViewDirection;
var localInertia = BulletSharp.Math.Vector3.Zero;
var cshape = new SphereShape(dbgR);
cshape.Margin = COLLISION_MARGIN_DEFAULT;
var startTransform = new Transform();
startTransform.SetIdentity();
var newPos = v;
startTransform.Origin = newPos;
cshape.CalculateLocalInertia(12.0f, out localInertia);
var motionState = new DefaultMotionState(((Matrix4)startTransform).ToBullet());
var body = new RigidBody(new RigidBodyConstructionInfo(12.0f, motionState, cshape, localInertia));
BtEngineDynamicsWorld.AddRigidBody(body);
body.LinearVelocity = (dir * 6000).ToBullet();
cont.Room = Room.FindPosCogerrence(newPos, EngineCamera.CurrentRoom);
cont.ObjectType = OBJECT_TYPE.BulletMisc; // bullet have to destroy this user pointer
body.UserObject = cont;
body.CcdMotionThreshold = dbgR; // disable tunneling effect
body.CcdSweptSphereRadius = dbgR;
}
