SCR_JointBaseEntity.c

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[EntityEditorProps(category: "GameBase/Joints", description: "Physics joint base", sizeMin: "-0.05 -0.05 -0.05", sizeMax: "0.05 0.05 0.05", color: "0 0 255 255")]
class SCR_JointBaseEntityClass: GenericEntityClass
{
};
 
//------------------------------------------------------------------------------------------------
//------------------------------------------------------------------------------------------------
class SCR_JointBaseEntity: GenericEntity
{
    [Attribute("-1", UIWidgets.ComboBox, "Snap joint to bone in parent (one-time)", "")]
    int SNAP_TO_PARENT_BONE;
    //[Attribute("-1", UIWidgets.ComboBox, "Snap child to joint by bone in child (one-time)", "")]
    //int SNAP_CHILD_BY_JOINT;
    [Attribute("1", UIWidgets.CheckBox, "Whether to create collision blocker between parent and child" )]
    bool m_CollisionBlocker;
    
    IEntity m_JointParent = null;
    IEntity m_JointChild = null;
    SCR_JointDummyHolderEntity m_JointDummy = null;
    
    PhysicsJoint m_Joint = null;
    
    // TODO:
    // - Do stress and breakage (in engine)
    // - SNAP_CHILD_BY_JOINT does not work! After setting of the property, child is NULL!   
 
    //------------------------------------------------------------------------------------------------
    void MoveJointToParentBone()
    {
        if (!m_JointParent)
            return;
        
        if (SNAP_TO_PARENT_BONE <= 0)
            return;
        
        vector boneMat[4];
        
        m_JointParent.GetAnimation().GetBoneMatrix(SNAP_TO_PARENT_BONE, boneMat);
        
        vector angles = Math3D.MatrixToAngles(boneMat);
        vector pos = boneMat[3];
        
        // TODO: Deselect or at least reselect joint after doing following steps
    #ifdef WORKBENCH
        WorldEditorAPI worldEditorAPI = _WB_GetEditorAPI();
        worldEditorAPI.BeginEntityAction("Move to parent bone", "");
        worldEditorAPI.ClearEntitySelection();
        
        IEntitySource src = _WB_GetEditorAPI().EntityToSource(this);
        worldEditorAPI.SetVariableValue(src, null, "coords", pos.ToString(false));
        worldEditorAPI.SetVariableValue(src, null, "angleX", angles[1].ToString());
        worldEditorAPI.SetVariableValue(src, null, "angleY", angles[0].ToString());
        worldEditorAPI.SetVariableValue(src, null, "angleZ", angles[2].ToString());
        worldEditorAPI.SetVariableValue(src, null, "SNAP_TO_PARENT_BONE", "-1");
        worldEditorAPI.EndEntityAction("Move to parent bone");
    #endif
    }
    
    //------------------------------------------------------------------------------------------------
    /*void MoveChildToJointByBone()
    {
        Print(m_JointChild);
        if (!m_JointChild)
            return;
        
        if (SNAP_CHILD_BY_JOINT <= 0)
            return;
 
        WorldEditorAPI worldEditorAPI = _WB_GetEditorAPI();
 
        // Special case (origin)
        if (SNAP_CHILD_BY_JOINT == 999999)
        {
            // TODO: Deselect or at least reselect joint after doing following steps
            worldEditorAPI.BeginEntityAction("Move child to joint by bone", "");
            worldEditorAPI.ClearEntitySelection();
            worldEditorAPI.SetVariableValue(m_JointChild, null, "coords", "0 0 0");
            worldEditorAPI.SetVariableValue(m_JointChild, null, "angleX", "0");
            worldEditorAPI.SetVariableValue(m_JointChild, null, "angleY", "0");
            worldEditorAPI.SetVariableValue(m_JointChild, null, "angleZ", "0");
            worldEditorAPI.SetVariableValue(this, null, "SNAP_CHILD_BY_JOINT", "-1");
            worldEditorAPI.EndEntityAction("Move child to joint by bone");
        }
        else
        {
            vector boneMat[4], baseMat[4], endBoneMat[4];
            
            GetBoneMatrix(m_JointChild, SNAP_CHILD_BY_JOINT, boneMat);
            Math3D.MatrixIdentity4(baseMat);
            Math3D.MatrixInvMultiply4(baseMat, boneMat, endBoneMat);
            
            
            vector angles = Math3D.MatrixToAngles(endBoneMat);
            vector pos = endBoneMat[3];
            
            // TODO: Deselect or at least reselect joint after doing following steps
            worldEditorAPI.BeginEntityAction("Move child to joint by bone", "");
            worldEditorAPI.ClearEntitySelection();
            worldEditorAPI.SetVariableValue(m_JointChild, null, "coords", pos.ToString(false));
            worldEditorAPI.SetVariableValue(m_JointChild, null, "angleX", angles[1].ToString());
            worldEditorAPI.SetVariableValue(m_JointChild, null, "angleY", angles[0].ToString());
            worldEditorAPI.SetVariableValue(m_JointChild, null, "angleZ", angles[2].ToString());
            worldEditorAPI.SetVariableValue(this, null, "SNAP_CHILD_BY_JOINT", "-1");
            worldEditorAPI.EndEntityAction("Move child to joint by bone");
        }
    }*/
    
    //------------------------------------------------------------------------------------------------
    #ifdef WORKBENCH
        //------------------------------------------------------------------------------------------------
        override array<ref ParamEnum> _WB_GetUserEnums(string varName, IEntitySource src)
        {
            if (varName == "SNAP_TO_PARENT_BONE" && m_JointParent)
                return SCR_Global.GetBonesAsParamEnums(m_JointParent);
            /*if (varName == "SNAP_CHILD_BY_JOINT" && m_JointChild)
            {
                array<ref ParamEnum> retEnums = SCR_Global.GetBonesAsParamEnums(m_JointChild);
                retEnums.Insert(new ParamEnum("ORIGIN", "999999", "")); // Always have ORIGIN as an option
                return retEnums;
            }*/
            
            return null;
        }
        
        //------------------------------------------------------------------------------------------------
        override void _WB_AfterWorldUpdate(float timeSlice)
        {
            if (m_JointParent)
                Shape.CreateArrow(m_JointParent.GetOrigin(), GetOrigin(), 0.05, ARGB(255, 128, 128, 0), ShapeFlags.ONCE|ShapeFlags.NOZBUFFER);
            if (m_JointChild)
                Shape.CreateArrow(GetOrigin(), m_JointChild.GetOrigin(), 0.05, ARGB(255, 128, 128, 0), ShapeFlags.ONCE|ShapeFlags.NOZBUFFER);
            DebugDisplay();
        }
    #endif
    
    //------------------------------------------------------------------------------------------------
    void DestroyJoint()
    {
        if (m_Joint)
        {
            // TODO: Remove this once deletion of joints is ensured before physics scene deletion
            if (m_JointParent || m_JointChild)
                m_Joint.Destroy();
        }
        m_Joint = null;
        
        if (m_JointDummy)
            delete m_JointDummy;
        m_JointDummy = null;
    }
    
    //------------------------------------------------------------------------------------------------
    void TryCreateJoint(bool showErrors)
    {
        DestroyJoint();
        
        if (!m_JointParent && !m_JointChild)
        {
            if (showErrors)
            {
                Print("JointHingeEntity::CreateJoint: ERROR - cannot create joint, no parent and no child!");
                CreateFailedJointDebug(128, 255, 0, 0);
            }
            return;
        }
        
        Physics parentPhysics = null;
        Physics childPhysics = null;
        if (m_JointParent)
            parentPhysics = m_JointParent.GetPhysics();
        if (m_JointChild)
            childPhysics = m_JointChild.GetPhysics();
        if (!parentPhysics && !childPhysics)
        {
            if (showErrors)
            {
                Print("JointHingeEntity::CreateJoint: ERROR - cannot create joint, neither parent nor child have physics!");
                CreateFailedJointDebug(128, 255, 0, 0);
            }
            return;
        }
        
        if (parentPhysics && childPhysics && !parentPhysics.IsDynamic() && !childPhysics.IsDynamic())
        {
            if (showErrors)
            {
                Print("JointHingeEntity::CreateJoint: ERROR - cannot create joint, neither parent nor child are dynamic!");
                CreateFailedJointDebug(128, 255, 0, 0);
            }
            return;
        }
        
        IEntity parent = m_JointParent;
        IEntity child = m_JointChild;
        
        // Nullify parent
        if (parent && parentPhysics && !parentPhysics.IsDynamic())
            parent = null;
        if (child && childPhysics && !childPhysics.IsDynamic())
            child = null;
        
        if (showErrors && !parent && !child)
        {
            Print("JointHingeEntity::CreateJoint: ERROR - cannot create joint, no connected dynamic entities!");
            CreateFailedJointDebug(128, 255, 128, 0);
        }
        
        if (!parent || !child) // We have no parent or child, so create a dummy joint attachment point
        {
            m_JointDummy = SCR_JointDummyHolderEntity.Cast(GetGame().SpawnEntity(SCR_JointDummyHolderEntity));
            
            vector jointDummyMat[4];
            GetTransform(jointDummyMat);
            m_JointDummy.SetDummyTransform(jointDummyMat);
            
            float mass = 0;
            if (parent)
                mass = parentPhysics.GetMass();
            else
                mass = childPhysics.GetMass();
            
            m_JointDummy.GetPhysics().SetMass(mass * 1000);
            
            
            // Link the static dummy point
            if (parent)
                child = m_JointDummy;
            else
                parent = m_JointDummy;
        }
        
        // Ensure static entity is the child (must be 'ent2' for the API)
        if (!parentPhysics || !parentPhysics.IsDynamic())
        {
            IEntity tmp = parent;
            parent = child;
            child = tmp;
        }
        
        // First get matrices of parent, child and joint
        vector parentMat[4], childMat[4], jointMat[4];
        parent.GetTransform(parentMat);
        child.GetTransform(childMat);
        GetTransform(jointMat);
        
        // Rotate the joint if necessary (inout function)
        RotateJoint(jointMat);
        
        // Now get local matrices of parent and child relative to joint
        vector jointMatParentLocal[4], jointMatChildLocal[4];
        Math3D.MatrixInvMultiply4(parentMat, jointMat, jointMatParentLocal);
        Math3D.MatrixInvMultiply4(childMat, jointMat, jointMatChildLocal);
        
        // Subtract center of mass positions
        if (parentPhysics)
            jointMatParentLocal[3] = jointMatParentLocal[3] - parentPhysics.GetCenterOfMass();
        else
            jointMatParentLocal[3] = jointMatParentLocal[3];
        if (childPhysics)
            jointMatChildLocal[3] = jointMatChildLocal[3] - childPhysics.GetCenterOfMass();
        else
            jointMatChildLocal[3] = jointMatChildLocal[3];
        
        // Create the joint
        CreateJoint(parent, child, jointMatParentLocal, jointMatChildLocal);
    }
    
    //------------------------------------------------------------------------------------------------
    void RotateJoint(inout vector jointMat[4])
    {
    }
    
    //------------------------------------------------------------------------------------------------
    void CreateJoint(IEntity parent, IEntity child, vector jointMat1[4], vector jointMat2[4])
    {
    }
    
    //------------------------------------------------------------------------------------------------
    void CreateFailedJointDebug(int a, int r, int g, int b)
    {
        int color = ARGB(a, r, g, b);
        vector myPos = GetOrigin();
        Shape.Create(ShapeType.BBOX, color, ShapeFlags.NOOUTLINE|ShapeFlags.NOZBUFFER|ShapeFlags.TRANSP, "-0.1 0.2 -0.1" + myPos, "0.1 1.2 0.1" + myPos);
        Shape.Create(ShapeType.BBOX, color, ShapeFlags.NOOUTLINE|ShapeFlags.NOZBUFFER|ShapeFlags.TRANSP, "-0.1 -0.1 -0.1" + myPos, "0.1 0.1 0.1" + myPos);
    }
    
    //------------------------------------------------------------------------------------------------
    void DebugDisplay()
    {
    }
    
    //------------------------------------------------------------------------------------------------
    override event void EOnInit(IEntity owner) 
    {
        m_JointChild = GetChildren();
        
        TryCreateJoint(GetGame().GetGameStarted());
        
        MoveJointToParentBone();
        //MoveChildToJointByBone();
    }
    
    //------------------------------------------------------------------------------------------------
    void SCR_JointBaseEntity(IEntitySource src, IEntity parent)
    {
        m_JointParent = parent;
        
        SetEventMask(EntityEvent.INIT);
    }
    
    //------------------------------------------------------------------------------------------------
    void ~SCR_JointBaseEntity()
    {
        DestroyJoint();
    }
};