Rotate error in Walking Character Tut

gnuser
19-11-2009 02:22:44
Hi all:

I just start use OGREODE, and see the tut from this link :
http://www.ogre3d.org/wiki/index.php/Og ... _Character
and
http://www.ogre3d.org/wiki/index.php/Ni ... _Character

From the tut , it uses 2 SceneNode to "get the right relation between the mesh and the body position".

So I modified the code, but when I rotate the Ninja, it give me an assert error, after search many pages, I still can't solve this problem, anyone know why?


#ifndef _SIMPLESCENES_NINJA_H_

#define _SIMPLESCENES_NINJA_H_



class SimpleScenes_Ninja:public SimpleScenes

{

public:

	SimpleScenes_Ninja(OgreOde::World *world) : SimpleScenes(world) 

	{

		Entity* hero_ent = _mgr->createEntity("ninja","ninja.mesh");

		SceneNode* hero_node = _mgr->getRootSceneNode()->createChildSceneNode("ninja");

		SceneNode* modelNode = hero_node->createChildSceneNode("ninja_model");

		modelNode->attachObject(hero_ent);

		hero_node->scale(0.01,0.01,0.01);



		// init feet radius

		AxisAlignedBox aab = modelNode->getAttachedObject("ninja")->getBoundingBox(); 

		Ogre::Vector3 min = aab.getMinimum()*hero_node->getScale();

		Ogre::Vector3 max = aab.getMaximum()*hero_node->getScale();

		Ogre::Vector3 center = aab.getCenter()*hero_node->getScale();

		Ogre::Vector3 size(fabs(max.x-min.x),fabs(max.y-min.y),fabs(max.z-min.z));

		float radius = (size.x>size.z)?size.z/2.0f:size.x/2.0f;



		OgreOde::Body* dollFeetBody = new OgreOde::Body(_world,"feet");

		dollFeetBody->setMass(OgreOde::SphereMass(70*2.5,radius));

		OgreOde::SphereGeometry* feetGeom = new OgreOde::SphereGeometry(radius,_world);

		OgreOde::TransformGeometry* feetTrans = new OgreOde::TransformGeometry(_world,_space); 

		modelNode->translate(Vector3(0,-radius/hero_node->getScale().y,0));



		feetTrans->setBody(dollFeetBody); 

		feetTrans->setEncapsulatedGeometry(feetGeom);

		hero_node->attachObject(dollFeetBody);

		_feet = dollFeetBody;

		_bodies.push_back(_feet);

		_geoms.push_back(_feet->getGeometry(0));



		OgreOde::Body* dollTorsoBody = new OgreOde::Body(_world,"torso"); 

		dollTorsoBody->setMass(OgreOde::CapsuleMass(70*2.5,radius,Vector3::UNIT_Y,radius)); 

		dollTorsoBody->setAffectedByGravity(false);

		dollTorsoBody->setDamping(0,50000);

		OgreOde::TransformGeometry* torsoTrans = new OgreOde::TransformGeometry(_world,_space); 

		OgreOde::CapsuleGeometry* torsoGeom = new OgreOde::CapsuleGeometry(radius,size.y-4*radius,_world); 

		torsoGeom->setPosition(Ogre::Vector3(0,size.y-((size.y-4*radius)/2+2*radius),0)); 

		torsoGeom->setOrientation(Quaternion(Degree(90),Vector3::UNIT_X));

		torsoTrans->setBody(dollTorsoBody); 

		torsoTrans->setEncapsulatedGeometry(torsoGeom);

		hero_node->attachObject(dollTorsoBody);

		_torso = dollTorsoBody;

		_bodies.push_back(_torso);

		_geoms.push_back(_torso->getGeometry(0));



		OgreOde::HingeJoint* joint = new OgreOde::HingeJoint(_world);

		joint->attach(dollTorsoBody,dollFeetBody);

		joint->setAxis(Ogre::Vector3::UNIT_X);

		_joints.push_back(joint);	

	}



	virtual ~SimpleScenes_Ninja(){}



	virtual void frameEnded(Real time, OIS::Keyboard* input, OIS::Mouse* mouse)

	{

		SimpleScenes::frameEnded(time, input, mouse);



		_ninja_rotate = 0;

		if (input->isKeyDown(KC_J))

			_ninja_rotate += -1;

		if (input->isKeyDown(KC_L))

			_ninja_rotate += 1;



		_ninja_thrust = 0;

		if (input->isKeyDown(KC_I))

			_ninja_thrust += -1;

		if (input->isKeyDown(KC_K))

			_ninja_thrust += 1; 



		if (_ninja_rotate == 0)

		{

			_feet->wake();

			_feet->setAngularVelocity(Vector3(_feet->getAngularVelocity().x,0,0));

		}

		else

		{

			_feet->wake();

			Quaternion q1 = _torso->getOrientation();

			Quaternion q2(Degree(-4*_ninja_rotate),Ogre::Vector3::UNIT_Y);

			_torso->setOrientation(q1*q2);

		}



		if (_ninja_thrust == 0)

		{

			_feet->wake();

			_feet->setLinearVelocity(Vector3(0,_feet->getLinearVelocity().y,0));

			_feet->setAngularVelocity(Vector3(0,_feet->getAngularVelocity().y,0));

		}

		else

		{

			float speed = 30;

			_feet->wake();

			Quaternion q = _torso->getOrientation();

			_feet->setAngularVelocity(q*Ogre::Vector3(speed*_ninja_thrust*cos(1.0),_feet->getAngularVelocity().y,0));

		}



		Quaternion q = _torso->getOrientation();         

		Vector3 x = q.xAxis();

		Vector3 y = q.yAxis();

		Vector3 z = q.zAxis();

		_torso->wake();

		_torso->setOrientation(Quaternion(x,Vector3::UNIT_Y,z));

		_torso->setAngularVelocity(Vector3(0,0,0)); 



		OgreOde::Body* body = 0;

		if (input->isKeyDown(KC_Z)) 

			body = createRandomObject(OgreOde::Geometry::Class_Sphere);

		else if (input->isKeyDown(KC_X)) 

			body = createRandomObject(OgreOde::Geometry::Class_Box);

		else if (input->isKeyDown(KC_C)) 

			body = createRandomObject(OgreOde::Geometry::Class_Capsule);

		else if (input->isKeyDown(KC_T)) 

			body = createRandomObject(OgreOde::Geometry::Class_TriangleMesh);

	}



	virtual const String& getName()

	{

		static String name = "Ninja Walking Character";

		return name;

	}



	virtual const String& getKeys()

	{

		static String keys = "IJKL - move character Z-sphere X-box C-capsule T-trimesh";

		return keys;

	}



protected:

	OgreOde::Body *_hero;

	OgreOde::Body *_feet;

	OgreOde::Body *_torso;

	int _ninja_rotate,_ninja_thrust;

};



#endif