C++ IPhysicsObject::GetPositionMatrix方法代码示例

void CRagdollPropAttached::InitRagdollAttached( IPhysicsObject *pAttached, const Vector &forceVector, int forceBone, matrix3x4_t *pPrevBones, matrix3x4_t *pBoneToWorld, float dt, int collisionGroup, CBaseAnimating *pFollow, int boneIndexRoot, const Vector &boneLocalOrigin, int parentBoneAttach, const Vector &worldAttachOrigin )
{
	int ragdollAttachedIndex = 0;
	if ( parentBoneAttach > 0 )
	{
		studiohdr_t *pStudioHdr = GetModelPtr();
		mstudiobone_t *pBone = pStudioHdr->pBone( parentBoneAttach );
		ragdollAttachedIndex = pBone->physicsbone;
	}

	InitRagdoll( forceVector, forceBone, vec3_origin, pPrevBones, pBoneToWorld, dt, collisionGroup, false );
	
	IPhysicsObject *pRefObject = m_ragdoll.list[ragdollAttachedIndex].pObject;

	Vector attachmentPointRagdollSpace;
	pRefObject->WorldToLocal( attachmentPointRagdollSpace, worldAttachOrigin );

	constraint_ragdollparams_t constraint;
	constraint.Defaults();
	matrix3x4_t tmp, worldToAttached, worldToReference, constraintToWorld;

	Vector offsetWS;
	pAttached->LocalToWorld( offsetWS, boneLocalOrigin );

	AngleMatrix( QAngle(0, pFollow->GetAbsAngles().y, 0 ), offsetWS, constraintToWorld );

	constraint.axes[0].SetAxisFriction( -2, 2, 20 );
	constraint.axes[1].SetAxisFriction( 0, 0, 0 );
	constraint.axes[2].SetAxisFriction( -15, 15, 20 );
	
	pAttached->GetPositionMatrix( tmp );
	MatrixInvert( tmp, worldToAttached );

	pRefObject->GetPositionMatrix( tmp );
	MatrixInvert( tmp, worldToReference );

	ConcatTransforms( worldToReference, constraintToWorld, constraint.constraintToReference );
	ConcatTransforms( worldToAttached, constraintToWorld, constraint.constraintToAttached );

	// for now, just slam this to be the passed in value
	MatrixSetColumn( attachmentPointRagdollSpace, 3, constraint.constraintToReference );

	DisableCollisions( pAttached );
	m_pAttachConstraint = physenv->CreateRagdollConstraint( pRefObject, pAttached, m_ragdoll.pGroup, constraint );

	FollowEntity( pFollow );
	SetOwnerEntity( pFollow );
	RagdollActivate( m_ragdoll );

	Relink();
	m_boneIndexAttached = boneIndexRoot;
	m_ragdollAttachedObjectIndex = ragdollAttachedIndex;
	m_attachmentPointBoneSpace = boneLocalOrigin;
	
	Vector vTemp;
	MatrixGetColumn( constraint.constraintToReference, 3, vTemp );
	m_attachmentPointRagdollSpace = vTemp;
}

void CPhysMotor::Activate( void )
{
	BaseClass::Activate();
	
	// This gets called after all objects spawn and after all objects restore
	if ( m_attachedObject == NULL )
	{
		CBaseEntity *pAttach = gEntList.FindEntityByName( NULL, m_nameAttach, NULL );
		if ( pAttach && pAttach->GetMoveType() == MOVETYPE_VPHYSICS )
		{
			m_attachedObject = pAttach;
			IPhysicsObject *pPhys = m_attachedObject->VPhysicsGetObject();
			CalculateAcceleration();
			matrix3x4_t matrix;
			pPhys->GetPositionMatrix( matrix );
			Vector motorAxis_ls;
			VectorIRotate( m_motor.m_axis, matrix, motorAxis_ls );
			float inertia = DotProductAbs( pPhys->GetInertia(), motorAxis_ls );
			m_motor.m_maxTorque = inertia * m_motor.m_inertiaFactor * (m_angularAcceleration + m_additionalAcceleration);
			m_motor.m_restistanceDamping = 1.0f;
		}
	}

	if ( m_attachedObject )
	{
		IPhysicsObject *pPhys = m_attachedObject->VPhysicsGetObject();

		// create a hinge constraint for this object?
		if ( m_spawnflags & SF_MOTOR_HINGE )
		{
			// UNDONE: Don't do this on restore?
			if ( !m_pHinge )
			{
				constraint_hingeparams_t hingeParams;
				hingeParams.Defaults();
				hingeParams.worldAxisDirection = m_motor.m_axis;
				hingeParams.worldPosition = GetLocalOrigin();

				m_pHinge = physenv->CreateHingeConstraint( g_PhysWorldObject, pPhys, NULL, hingeParams );
				m_pHinge->SetGameData( (void *)this );
			}

			if ( m_spawnflags & SF_MOTOR_NOCOLLIDE )
			{
				physenv->DisableCollisions( pPhys, g_PhysWorldObject );
			}
		}
		else
		{
			m_pHinge = NULL;
		}

		// NOTE: On restore, this path isn't run because m_pController will not be NULL
		if ( !m_pController )
		{
			m_pController = physenv->CreateMotionController( &m_motor );
			m_pController->AttachObject( m_attachedObject->VPhysicsGetObject() );

			if ( m_spawnflags & SF_MOTOR_START_ON )
			{
				TurnOn();
			}
		}
	}

	// Need to do this on restore since there's no good way to save this
	if ( m_pController )
	{
		m_pController->SetEventHandler( &m_motor );
	}
}

void CRagdollPropAttached::InitRagdollAttached( 
	IPhysicsObject *pAttached, 
	const Vector &forceVector, 
	int forceBone, 
	matrix3x4_t *pPrevBones, 
	matrix3x4_t *pBoneToWorld, 
	float dt, 
	int collisionGroup, 
	CBaseAnimating *pFollow, 
	int boneIndexRoot, 
	const Vector &boneLocalOrigin, 
	int parentBoneAttach, 
	const Vector &worldAttachOrigin )
{
	int ragdollAttachedIndex = 0;
	if ( parentBoneAttach > 0 )
	{
		CStudioHdr *pStudioHdr = GetModelPtr();
		mstudiobone_t *pBone = pStudioHdr->pBone( parentBoneAttach );
		ragdollAttachedIndex = pBone->physicsbone;
	}

	InitRagdoll( forceVector, forceBone, vec3_origin, pPrevBones, pBoneToWorld, dt, collisionGroup, false );
	
	IPhysicsObject *pRefObject = m_ragdoll.list[ragdollAttachedIndex].pObject;

	Vector attachmentPointRagdollSpace;
	pRefObject->WorldToLocal( &attachmentPointRagdollSpace, worldAttachOrigin );

	constraint_ragdollparams_t constraint;
	constraint.Defaults();
	matrix3x4_t tmp, worldToAttached, worldToReference, constraintToWorld;

	Vector offsetWS;
	pAttached->LocalToWorld( &offsetWS, boneLocalOrigin );

	AngleMatrix( QAngle(0, pFollow->GetAbsAngles().y, 0 ), offsetWS, constraintToWorld );

	constraint.axes[0].SetAxisFriction( -2, 2, 20 );
	constraint.axes[1].SetAxisFriction( 0, 0, 0 );
	constraint.axes[2].SetAxisFriction( -15, 15, 20 );

	// Exaggerate the bone's ability to pull the mass of the ragdoll around
	constraint.constraint.bodyMassScale[1] = 50.0f;

	pAttached->GetPositionMatrix( &tmp );
	MatrixInvert( tmp, worldToAttached );

	pRefObject->GetPositionMatrix( &tmp );
	MatrixInvert( tmp, worldToReference );

	ConcatTransforms( worldToReference, constraintToWorld, constraint.constraintToReference );
	ConcatTransforms( worldToAttached, constraintToWorld, constraint.constraintToAttached );

	// for now, just slam this to be the passed in value
	MatrixSetColumn( attachmentPointRagdollSpace, 3, constraint.constraintToReference );

	PhysDisableEntityCollisions( pAttached, m_ragdoll.list[0].pObject );
	m_pAttachConstraint = physenv->CreateRagdollConstraint( pRefObject, pAttached, m_ragdoll.pGroup, constraint );

	SetParent( pFollow );
	SetOwnerEntity( pFollow );

	RagdollActivate( m_ragdoll, modelinfo->GetVCollide( GetModelIndex() ), GetModelIndex() );

	// add a bunch of dampening to the ragdoll
	for ( int i = 0; i < m_ragdoll.listCount; i++ )
	{
		float damping, rotdamping;
		m_ragdoll.list[i].pObject->GetDamping( &damping, &rotdamping );
		damping *= ATTACHED_DAMPING_SCALE;
		rotdamping *= ATTACHED_DAMPING_SCALE;
		m_ragdoll.list[i].pObject->SetDamping( &damping, &rotdamping );
	}

	m_boneIndexAttached = boneIndexRoot;
	m_ragdollAttachedObjectIndex = ragdollAttachedIndex;
	m_attachmentPointBoneSpace = boneLocalOrigin;
	
	Vector vTemp;
	MatrixGetColumn( constraint.constraintToReference, 3, vTemp );
	m_attachmentPointRagdollSpace = vTemp;
}