Ernegien

#include "StdAfx.h"
#include "Havok.h"

#define STACK_SIZE      1024 * 256

Havok::Havok(void)
{
    // set up memory manager
    hkMemory* memoryManager = new hkPoolMemory();
    ThreadMemory = new hkThreadMemory(memoryManager);
    hkBaseSystem::init(memoryManager, ThreadMemory, ReportError);
    char* stackBuffer = hkAllocate<char>(STACK_SIZE, HK_MEMORY_CLASS_BASE);
    ThreadMemory->setStackArea(stackBuffer, STACK_SIZE);
    hkThreadMemory::getInstance().setStackArea(stackBuffer, STACK_SIZE);
    memoryManager->removeReference();

    // create world
    hkpWorldCinfo info;
    //info.m_simulationType = hkpWorldCinfo::SIMULATION_TYPE_CONTINUOUS;
    info.m_simulationType = hkpWorldCinfo::SIMULATION_TYPE_DISCRETE;
    info.m_gravity.set(0.0f, -9.8f, 0.0f);
    info.setBroadPhaseWorldSize(10000.0f);
    info.m_broadPhaseBorderBehaviour = hkpWorldCinfo::BROADPHASE_BORDER_ASSERT;
    //info.m_enableDeactivation = false;    // use for small timesteps!!!
    info.setupSolverInfo(hkpWorldCinfo::SOLVER_TYPE_4ITERS_MEDIUM);
    World = new hkpWorld(info);

    // register all collision agents
    hkpAgentRegisterUtil::registerAllAgents(World->getCollisionDispatcher());
}
Havok::~Havok(void)
{
    World->removeReference();
    World = HK_NULL;
    hkBaseSystem::quit();
}

// update havok world and sync with our game objects
void Havok::Update(float timestep)
{
    hkVector4 pos, vel, avel;   // declare first so they get aligned properly
    hkQuaternion rot;

    World->stepDeltaTime(timestep); // update havok state

    // simple test to update active objects and remove inactive ones
    for (int i=0; i<Objects.Count(); i++)
    {
        Object* obj = Objects[i];
        if (!obj->PhysicsModel->isAddedToWorld())
        {
            Objects.Remove(obj);    // remove if not part of world - how does this happen???
            i--;
        }
        else if (!obj->PhysicsModel->isActive())
        {
            RemoveObject(obj);      // remove when deactivated
            i--;
        }
        else
        {
            // relay those changes to our objects for rendering by the graphics engine
            pos = obj->PhysicsModel->getPosition();
            pos.store3(&obj->Position.x);
            rot = obj->PhysicsModel->getRotation();
            rot.m_vec.store4(&obj->Rotation.x);
            vel = obj->PhysicsModel->getLinearVelocity();   // extra stuff
            vel.store3(&obj->Velocity.x);
            avel = obj->PhysicsModel->getAngularVelocity();
            avel.store3(&obj->AngularVelocity.x);
        }
    }

}
void Havok::AddObject(Object* object)
{
    Objects.Add(object);
    World->addEntity(object->PhysicsModel);
    object->PhysicsModel->removeReference();    // give world full ownership
    assert(object->PhysicsModel->getReferenceCount() == 1);
}
void Havok::RemoveObject(Object* object)
{
    object->PhysicsModel->activate();   // re-activate everything in current island
    World->removeEntity(object->PhysicsModel);
    assert(object->PhysicsModel->getReferenceCount() == 0);
    Objects.Remove(object);
}