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2023-08-07 19:29:24 +08:00
commit 34d6c5d489
4832 changed files with 1389451 additions and 0 deletions
--- a/CryPhysics/livingentity.h
+++ b/CryPhysics/livingentity.h
@@ -0,0 +1,146 @@
+//////////////////////////////////////////////////////////////////////
+//
+//	Living Entity header
+//	
+//	File: livingentity.h
+//	Description : CLivingEntity class header
+//
+//	History:
+//	-:Created by Anton Knyazev
+//
+//////////////////////////////////////////////////////////////////////
+
+#ifndef livingentity_h
+#define livingentity_h
+#pragma once
+
+const int SZ_ACTIONS = 128;
+const int SZ_HISTORY = 128;
+
+struct le_history_item {
+	vectorf pos;
+	quaternionf q;
+	vectorf v;
+	int bFlying;
+	vectorf nslope;
+	float timeFlying;
+	float minFlyTime;
+	float timeUseLowCap;
+	int idCollider;
+	int iColliderPart;
+	vectorf posColl;
+	float dt;
+};
+
+struct le_contact {
+	CPhysicalEntity *pent;
+	int ipart;
+	vectorf pt,ptloc;
+	vectorf n;
+	float penetration;
+	vectorf center;
+};
+
+class CLivingEntity : public CPhysicalEntity {
+public:
+	CLivingEntity(CPhysicalWorld *pWorld);
+	virtual ~CLivingEntity();
+	virtual pe_type GetType() { return PE_LIVING; }
+
+	virtual int SetParams(pe_params*);
+	virtual int GetParams(pe_params*);
+	virtual int GetStatus(pe_status*);
+	virtual int Action(pe_action*);
+	virtual void StartStep(float time_interval);
+	virtual float GetMaxTimeStep(float time_interval);
+	virtual int Step(float time_interval);
+	void StepBackEx(float time_interval,bool bRollbackHistory=true);
+	virtual void StepBack(float time_interval) { StepBackEx(time_interval); }
+	virtual float CalcEnergy(float time_interval);
+	virtual int RegisterContacts(float time_interval,int nMaxPlaneContacts);
+	virtual int Update(float time_interval, float damping);
+	virtual int Awake(int bAwake=1,int iSource=0);
+	virtual void AlertNeighbourhoodND() { ReleaseGroundCollider(); CPhysicalEntity::AlertNeighbourhoodND(); }
+	virtual void ComputeBBox() { 
+		CPhysicalEntity::ComputeBBox(); m_BBox[0].z = min(m_BBox[0].z,m_pos.z-m_hPivot); 
+		m_BBox[1].z = max(m_BBox[1].z,m_pos.z-m_hPivot+(m_hHead+m_HeadGeom.m_sphere.r)*isneg(0.001f-m_HeadGeom.m_sphere.r));
+	}
+
+	virtual int AddGeometry(phys_geometry *pgeom, pe_geomparams* params,int id=-1);
+	virtual void RemoveGeometry(int id);
+
+	virtual void DrawHelperInformation(void (*DrawLineFunc)(float*,float*), int flags);
+
+	enum snapver { SNAPSHOT_VERSION = 2 };
+	virtual int GetStateSnapshot(class CStream &stm, float time_back=0, int flags=0);
+	virtual int SetStateFromSnapshot(class CStream &stm, int flags=0);
+
+	virtual void GetMemoryStatistics(ICrySizer *pSizer);
+
+	virtual float GetMassInv() { return m_massinv; }
+	virtual void GetContactMatrix(const vectorf &pt, int ipart, matrix3x3f &K) {
+		K(0,0)+=m_massinv; K(1,1)+=m_massinv; K(2,2)+=m_massinv;
+	}
+	virtual void GetSpatialContactMatrix(const vectorf &pt, int ipart, float Ibuf[][6]) {
+		Ibuf[3][0]+=m_massinv; Ibuf[4][1]+=m_massinv; Ibuf[5][2]+=m_massinv;
+	}
+	float ShootRayDown(CPhysicalEntity **pentlist,int nents, const vectorf &pos,vectorf &nslope, float time_interval=0, 
+		bool bUseRotation=false,bool bUpdateGroundCollider=false,bool bIgnoreSmallObjects=true);
+	void AddLegsImpulse(const vectorf &vel, const vectorf &nslope, bool bInstantChange);
+	void ReleaseGroundCollider();
+	void SetGroundCollider(CPhysicalEntity *pCollider);
+	void SyncWithGroundCollider(float time_interval);
+	void RegisterContact(const vectorf& pt,const vectorf& n, CPhysicalEntity *pCollider, int ipart,int idmat);
+	void RegisterUnprojContact(const le_contact &unproj);
+	int IsPositionFree(const vectorf *BBox,float newh,const vectorf &newdim);
+
+	void AllocateExtendedHistory();
+
+	vectorf m_vel,m_velRequested,m_gravity,m_nslope;
+	float m_kInertia,m_kAirControl,m_kAirResistance, m_hCyl,m_hEye,m_hPivot,m_hHead;
+	vectorf m_size;
+	float m_dh,m_dhSpeed,m_dhAcc,m_stablehTime,m_hLatest,m_nodSpeed;
+	float m_mass,m_massinv;
+	int m_bFlying,m_bJumpRequested,m_bSwimming, m_surface_idx, m_lastGroundSurfaceIdx;
+	float m_timeFlying,m_minFlyTime,m_timeForceInertia;
+	float m_slopeSlide,m_slopeClimb,m_slopeJump,m_slopeFall;
+	float m_maxVelGround;
+	CCylinderGeom m_CylinderGeom;
+	CSphereGeom m_SphereGeom,m_HeadGeom;
+	phys_geometry m_CylinderGeomPhys;
+	int m_bIgnoreCommands;
+	int m_bStateReading;
+	int m_bActive;
+	float m_timeUseLowCap;
+	float m_timeSinceStanceChange;
+	float m_timeSinceImpulseContact;
+	int m_bActiveEnvironment;
+	int m_bStuck;
+	float m_dhHist[2],m_timeOnStairs;
+	float m_timeStepFull,m_timeStepPerformed;
+	int m_iSnapshot;
+	int m_iTimeLastSend;
+
+	CPhysicalEntity *m_pLastGroundCollider;
+	int m_iLastGroundColliderPart;
+	vectorf m_posLastGroundColl;
+	vectorf m_velGround;
+	vectorf m_deltaPos,m_posLocal;
+	float m_timeSmooth;
+	int m_bUseSphere;
+
+	le_history_item *m_history,m_history_buf[4];
+	int m_szHistory,m_iHist;
+	pe_action_move *m_actions,m_actions_buf[16];
+	int m_szActions,m_iAction;
+	coll_history_item m_collision;
+
+	le_contact *m_pContacts;
+	int m_nContacts,m_nContactsAlloc;
+
+	int m_nSensors;
+	vectorf *m_pSensors,*m_pSensorsPoints,*m_pSensorsSlopes;
+	int m_iSensorsActive;
+};
+
+#endif