public static void lua_AddEntityRagdoll(int entID, int setupIndex)
{
var ent = EngineWorld.GetEntityByID((uint)entID);
if (ent != null)
{
var ragdollSetup = new RDSetup();
if (!ragdollSetup.GetSetup(setupIndex))
{
ConsoleInfo.Instance.Warning(SYSWARN_NO_RAGDOLL_SETUP, setupIndex);
}
else
{
if (!ent.CreateRagdoll(ragdollSetup))
{
ConsoleInfo.Instance.Warning(SYSWARN_CANT_CREATE_RAGDOLL, entID);
}
}
}
else
{
ConsoleInfo.Instance.Warning(SYSWARN_NO_ENTITY, entID);
}
}
public bool CreateRagdoll(RDSetup setup)
{
// No entity, setup or body count overflow - bypass function.
if (setup == null || setup.BodySetup.Count > Bf.BoneTags.Count)
{
return false;
}
var result = true;
// If ragdoll already exists, overwrite it with new one.
if (Bt.BtJoints.Count > 0)
{
result = DeleteRagdoll();
}
// Setup bodies.
Bt.BtJoints.Clear();
// update current character animation and full fix body to avoid starting ragdoll partially inside the wall or floor...
UpdateCurrentBoneFrame(Bf, Transform);
Bt.NoFixAll = false;
Bt.NoFixBodyParts = 0x00000000;
#if NOPE
int map_size = m_bf.animations.model->collision_map.size(); // does not works, strange...
m_bf.animations.model->collision_map.size() = m_bf.animations.model->mesh_count;
fixPenetrations(nullptr);
m_bf.animations.model->collision_map.size() = map_size;
#else
FixPenetrations(Vector3.Zero);
#endif
for(var i = 0; i < setup.BodySetup.Count; i++)
{
// TODO: First check useless?
if(i >= Bf.BoneTags.Count || Bt.BtBody[i] == null)
{
result = false;
continue; // If body is absent, return false and bypass this body setup.
}
var inertia = BulletSharp.Math.Vector3.Zero;
var mass = setup.BodySetup[i].Mass;
BtEngineDynamicsWorld.RemoveRigidBody(Bt.BtBody[i]);
Bt.BtBody[i].CollisionShape.CalculateLocalInertia(mass, out inertia);
Bt.BtBody[i].SetMassProps(mass, inertia);
Bt.BtBody[i].UpdateInertiaTensor();
Bt.BtBody[i].ClearForces();
Bt.BtBody[i].LinearFactor = BulletSharp.Math.Vector3.One;
Bt.BtBody[i].AngularFactor = BulletSharp.Math.Vector3.One;
Bt.BtBody[i].SetDamping(setup.BodySetup[i].Damping[0], setup.BodySetup[i].Damping[1]);
Bt.BtBody[i].Restitution = setup.BodySetup[i].Restitution;
Bt.BtBody[i].Friction = setup.BodySetup[i].Friction;
Bt.BtBody[i].SetSleepingThresholds(RD_DEFAULT_SLEEPING_THRESHOLD, RD_DEFAULT_SLEEPING_THRESHOLD);
if(Bf.BoneTags[i].Parent == null)
{
var r = GetInnerBBRadius(Bf.BoneTags[i].MeshBase.BBMin, Bf.BoneTags[i].MeshBase.BBMax);
Bt.BtBody[i].CcdMotionThreshold = 0.8f * r;
Bt.BtBody[i].CcdSweptSphereRadius = r;
}
}
UpdateRigidBody(true);
for(var i = 0; i < Bf.BoneTags.Count; i++)
{
BtEngineDynamicsWorld.AddRigidBody(Bt.BtBody[i]);
Bt.BtBody[i].Activate();
Bt.BtBody[i].LinearVelocity = Speed.ToBullet();
if (i < Bt.GhostObjects.Count && Bt.GhostObjects[i] != null)
{
BtEngineDynamicsWorld.RemoveCollisionObject(Bt.GhostObjects[i]);
BtEngineDynamicsWorld.AddCollisionObject(Bt.GhostObjects[i], CollisionFilterGroups.None, CollisionFilterGroups.None);
}
}
// Setup constraints.
Bt.BtJoints.Resize(setup.JointSetup.Count);
for(var i = 0; i < setup.JointSetup.Count; i++)
{
if(setup.JointSetup[i].BodyIndex >= Bf.BoneTags.Count || Bt.BtBody[setup.JointSetup[i].BodyIndex] == null)
{
result = false;
break; // If body 1 or body 2 are absent, return false and bypass this joint.
}
var localA = new Transform();
var localB = new Transform();
var btB = Bf.BoneTags[setup.JointSetup[i].BodyIndex];
var btA = btB.Parent;
if(btA == null)
{
result = false;
break;
}
#if NOPE
localA.setFromOpenGLMatrix(btB->transform);
localB.setIdentity();
#else
Helper.SetEulerZYX(ref localA.Basis, setup.JointSetup[i].Body1Angle);
//localA.Origin = setup.JointSetup[i].Body1Offset;
localA.Origin = btB.Transform.Origin;
Helper.SetEulerZYX(ref localB.Basis, setup.JointSetup[i].Body2Angle);
//localB.Origin = setup.JointSetup[i].Body2Offset;
localB.Origin = Vector3.Zero;
#endif
switch(setup.JointSetup[i].JointType)
{
case RDJointSetup.Type.Point:
Bt.BtJoints[i] = new Point2PointConstraint(Bt.BtBody[btA.Index], Bt.BtBody[btB.Index],
localA.Origin.ToBullet(), localB.Origin.ToBullet());
break;
case RDJointSetup.Type.Hinge:
var hingeC = new HingeConstraint(Bt.BtBody[btA.Index], Bt.BtBody[btB.Index], ((Matrix4) localA).ToBullet(),
((Matrix4) localB).ToBullet());
hingeC.SetLimit(setup.JointSetup[i].JointLimit[0], setup.JointSetup[i].JointLimit[1], 0.9f, 0.3f, 0.3f);
Bt.BtJoints[i] = hingeC;
break;
case RDJointSetup.Type.Cone:
var coneC = new ConeTwistConstraint(Bt.BtBody[btA.Index], Bt.BtBody[btB.Index], ((Matrix4)localA).ToBullet(),
((Matrix4)localB).ToBullet());
coneC.SetLimit(setup.JointSetup[i].JointLimit[0], setup.JointSetup[i].JointLimit[1], setup.JointSetup[i].JointLimit[2], 0.9f, 0.3f, 0.7f);
Bt.BtJoints[i] = coneC;
break;
}
Bt.BtJoints[i].SetParam(ConstraintParam.StopCfm, setup.JointCfm, -1);
Bt.BtJoints[i].SetParam(ConstraintParam.StopErp, setup.JointErp, -1);
Bt.BtJoints[i].DebugDrawSize = 64.0f;
BtEngineDynamicsWorld.AddConstraint(Bt.BtJoints[i], true);
}
if(!result)
{
DeleteRagdoll(); // PARANOID: Clean up the mess, if something went wrong.
}
else
{
TypeFlags |= ENTITY_TYPE.Dynamic;
}
return result;
}
