public void Weld(MyPhysicsBody other, bool recreateShape = true)
{
if (other.WeldInfo.Parent == this) //already welded to this
{
return;
}
if (other.IsWelded && !IsWelded)
{
other.Weld(this);
return;
}
if (IsWelded)
{
WeldInfo.Parent.Weld(other);
return;
}
if (other.WeldInfo.Children.Count > 0)
{
Debug.Fail("Welding other welded gorup");
other.UnweldAll(false); //they should end in same group and get welded
}
ProfilerShort.Begin("Weld");
HkShape thisShape;
bool firstWelded = WeldInfo.Children.Count == 0;
if (firstWelded)
{
//RemoveConstraints(RigidBody);
WeldedRigidBody = RigidBody;
thisShape = RigidBody.GetShape();
if (HavokWorld != null)
{
HavokWorld.RemoveRigidBody(WeldedRigidBody);
}
RigidBody = HkRigidBody.Clone(WeldedRigidBody);
if (HavokWorld != null)
{
HavokWorld.AddRigidBody(RigidBody);
}
HkShape.SetUserData(thisShape, RigidBody);
Entity.OnPhysicsChanged += WeldedEntity_OnPhysicsChanged;
WeldInfo.UpdateMassProps(RigidBody);
//Entity.OnClose += Entity_OnClose;
}
else
{
thisShape = GetShape();
}
other.Deactivate();
var transform = other.Entity.WorldMatrix * Entity.WorldMatrixInvScaled;
other.WeldInfo.Transform = transform;
other.WeldInfo.UpdateMassProps(other.RigidBody);
Debug.Assert(other.WeldedRigidBody == null);
other.WeldedRigidBody = other.RigidBody;
other.RigidBody = RigidBody;
other.WeldInfo.Parent = this;
other.ClusterObjectID = ClusterObjectID;
WeldInfo.Children.Add(other);
//if(recreateShape)
// RecreateWeldedShape(thisShape);
ProfilerShort.BeginNextBlock("OnPhysicsChanged");
//(other.Entity as MyEntity).RaisePhysicsChanged();
//other.Entity.OnPhysicsChanged += WeldedEntity_OnPhysicsChanged;
//Debug.Assert(other.m_constraints.Count == 0, "Constraints left in welded body");
ProfilerShort.BeginNextBlock("RemoveConstraints");
ProfilerShort.End();
OnWelded(other);
other.OnWelded(this);
}
public void SwitchToRagdollMode(bool deadMode = true, int firstRagdollSubID = 1)
{
Debug.Assert(Enabled, "Trying to switch to ragdoll mode, but Physics are not enabled");
if (MyFakes.ENABLE_RAGDOLL_DEBUG)
{
Debug.WriteLine("MyPhysicsBody.SwitchToRagdollMode");
MyLog.Default.WriteLine("MyPhysicsBody.SwitchToRagdollMode");
}
if (HavokWorld == null || !Enabled)
{
SwitchToRagdollModeOnActivate = true;
m_ragdollDeadMode = deadMode;
return;
}
if (IsRagdollModeActive)
{
Debug.Fail("Ragdoll mode is already active!");
return;
}
Matrix havokMatrix = Entity.WorldMatrix;
havokMatrix.Translation = WorldToCluster(havokMatrix.Translation);
Debug.Assert(havokMatrix.IsValid() && havokMatrix != Matrix.Zero, "Invalid world matrix!");
if (RagdollSystemGroupCollisionFilterID == 0)
{
RagdollSystemGroupCollisionFilterID = m_world.GetCollisionFilter().GetNewSystemGroup();
}
Ragdoll.SetToKeyframed(); // this will disable the bodies to get the impulse when repositioned
Ragdoll.GenerateRigidBodiesCollisionFilters(deadMode ? MyPhysics.CollisionLayers.CharacterCollisionLayer : MyPhysics.CollisionLayers.RagdollCollisionLayer, RagdollSystemGroupCollisionFilterID, firstRagdollSubID);
Ragdoll.ResetToRigPose();
Ragdoll.SetWorldMatrix(havokMatrix);
if (deadMode)
{
Ragdoll.SetToDynamic();
}
if (deadMode)
{
foreach (HkRigidBody body in Ragdoll.RigidBodies)
{
// set the velocities for the bodies
body.AngularVelocity = AngularVelocity;
body.LinearVelocity = LinearVelocity;
}
}
else
{
Ragdoll.ResetVelocities();
}
if (CharacterProxy != null && deadMode)
{
CharacterProxy.Deactivate(HavokWorld);
CharacterProxy.Dispose();
CharacterProxy = null;
}
if (RigidBody != null && deadMode)
{
RigidBody.Deactivate();
HavokWorld.RemoveRigidBody(RigidBody);
RigidBody.Dispose();
RigidBody = null;
}
if (RigidBody2 != null && deadMode)
{
RigidBody2.Deactivate();
HavokWorld.RemoveRigidBody(RigidBody2);
RigidBody2.Dispose();
RigidBody2 = null;
}
foreach (var body in Ragdoll.RigidBodies)
{
body.UserObject = deadMode ? this : null;
// TODO: THIS SHOULD BE SET IN THE RAGDOLL MODEL AND NOT DEFINING IT FOR EVERY MODEL HERE
body.Motion.SetDeactivationClass(deadMode ? HkSolverDeactivation.High : HkSolverDeactivation.Medium);// - TODO: Find another way - this is deprecated by Havok
}
Ragdoll.OptimizeInertiasOfConstraintTree();
if (!Ragdoll.InWorld)
{
//Ragdoll.RecreateConstraints();
HavokWorld.AddRagdoll(Ragdoll);
}
Ragdoll.EnableConstraints();
Ragdoll.Activate();
m_ragdollDeadMode = deadMode;
if (MyFakes.ENABLE_RAGDOLL_DEBUG)
{
Debug.WriteLine("MyPhysicsBody.SwitchToRagdollMode - FINISHED");
MyLog.Default.WriteLine("MyPhysicsBody.SwitchToRagdollMode - FINISHED");
}
}
public void Unweld(MyPhysicsBody other, bool insertToWorld = true, bool recreateShape = true)
{
Debug.Assert(other.IsWelded && RigidBody != null && other.WeldedRigidBody != null, "Invalid welding state!");
if (IsWelded)
{
WeldInfo.Parent.Unweld(other, insertToWorld, recreateShape);
Debug.Assert(other.IsWelded);
return;
}
if (other.IsInWorld || RigidBody == null || other.WeldedRigidBody == null)
{
WeldInfo.Children.Remove(other);
return;
}
var rbWorldMatrix = RigidBody.GetRigidBodyMatrix();
//other.Entity.OnPhysicsChanged -= WeldedEntity_OnPhysicsChanged;
other.WeldInfo.Parent = null;
Debug.Assert(WeldInfo.Children.Contains(other));
WeldInfo.Children.Remove(other);
var body = other.RigidBody;
Debug.Assert(body == RigidBody);
other.RigidBody = other.WeldedRigidBody;
other.WeldedRigidBody = null;
if (!other.RigidBody.IsDisposed)
{
other.RigidBody.SetWorldMatrix(other.WeldInfo.Transform * rbWorldMatrix);
other.RigidBody.LinearVelocity = body.LinearVelocity;
other.WeldInfo.MassElement.Tranform = Matrix.Identity;
other.WeldInfo.Transform = Matrix.Identity;
}
else
{
Debug.Fail("Disposed welded body");
}
//RemoveConstraints(other.RigidBody);
other.ClusterObjectID = MyHavokCluster.CLUSTERED_OBJECT_ID_UNITIALIZED;
if (insertToWorld)
{
other.Activate();
other.OnMotion(other.RigidBody, 0);
}
if (WeldInfo.Children.Count == 0)
{
recreateShape = false;
Entity.OnPhysicsChanged -= WeldedEntity_OnPhysicsChanged;
Entity.OnClose -= Entity_OnClose;
WeldedRigidBody.LinearVelocity = RigidBody.LinearVelocity;
WeldedRigidBody.AngularVelocity = RigidBody.AngularVelocity;
if (HavokWorld != null)
{
HavokWorld.RemoveRigidBody(RigidBody);
}
RigidBody.Dispose();
RigidBody = WeldedRigidBody;
WeldedRigidBody = null;
RigidBody.SetWorldMatrix(rbWorldMatrix);
WeldInfo.Transform = Matrix.Identity;
if (HavokWorld != null)
{
HavokWorld.AddRigidBody(RigidBody);
}
else if (!Entity.MarkedForClose)
{
Activate();
}
if (RigidBody2 != null)
{
RigidBody2.SetShape(RigidBody.GetShape());
}
}
if (RigidBody != null && recreateShape)
{
RecreateWeldedShape(GetShape());
}
OnUnwelded(other);
other.OnUnwelded(this);
Debug.Assert(!other.IsWelded);
}