added RagdollDemo (needs a bit more work, the initial constraint setup 'flips')
This commit is contained in:
ejcoumans
@@ -46,9 +46,11 @@ SubInclude TOP Demos CollisionInterfaceDemo ;
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SubInclude TOP Demos MovingConcaveDemo ;
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SubInclude TOP Demos ConcaveDemo ;
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SubInclude TOP Demos ConstraintDemo ;
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SubInclude TOP Demos RagdollDemo ;
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SubInclude TOP Demos ContinuousConvexCollision ;
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SubInclude TOP Demos GjkConvexCastDemo ;
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SubInclude TOP Demos Raytracer ;
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SubInclude TOP Demos SimplexDemo ;
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SubInclude TOP Demos DoublePrecisionDemo ;
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SubInclude TOP Demos RagdollDemo ;
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3
Demos/RagdollDemo/Jamfile
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3
Demos/RagdollDemo/Jamfile
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@@ -0,0 +1,3 @@
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SubDir TOP Demos RagdollDemo ;
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BulletDemo RagdollDemo : [ Wildcard *.h *.cpp ] ;
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381
Demos/RagdollDemo/RagdollDemo.cpp
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381
Demos/RagdollDemo/RagdollDemo.cpp
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@@ -0,0 +1,381 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Ragdoll Demo
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Copyright (c) 2007 Starbreeze Studios
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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Written by: Marten Svanfeldt
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*/
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#include "btBulletDynamicsCommon.h"
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#include "GlutStuff.h"
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#include "GL_ShapeDrawer.h"
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#include "RagdollDemo.h"
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#define M_PI 3.14159265358979323846
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#define M_PI_2 1.57079632679489661923
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#define M_PI_4 0.785398163397448309616
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class RagDoll
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{
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enum
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{
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BODYPART_PELVIS = 0,
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BODYPART_SPINE,
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BODYPART_HEAD,
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BODYPART_LEFT_UPPER_LEG,
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BODYPART_LEFT_LOWER_LEG,
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BODYPART_RIGHT_UPPER_LEG,
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BODYPART_RIGHT_LOWER_LEG,
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BODYPART_LEFT_UPPER_ARM,
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BODYPART_LEFT_LOWER_ARM,
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BODYPART_RIGHT_UPPER_ARM,
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BODYPART_RIGHT_LOWER_ARM,
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BODYPART_COUNT
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};
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enum
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{
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JOINT_PELVIS_SPINE = 0,
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JOINT_SPINE_HEAD,
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JOINT_LEFT_HIP,
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JOINT_LEFT_KNEE,
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JOINT_RIGHT_HIP,
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JOINT_RIGHT_KNEE,
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JOINT_LEFT_SHOULDER,
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JOINT_LEFT_ELBOW,
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JOINT_RIGHT_SHOULDER,
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JOINT_RIGHT_ELBOW,
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JOINT_COUNT
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};
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btDynamicsWorld* m_ownerWorld;
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btCollisionShape* m_shapes[BODYPART_COUNT];
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btRigidBody* m_bodies[BODYPART_COUNT];
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btTypedConstraint* m_joints[JOINT_COUNT];
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btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
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{
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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if (isDynamic)
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shape->calculateLocalInertia(mass,localInertia);
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody* body = new btRigidBody(mass,myMotionState,shape,localInertia);
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m_ownerWorld->addRigidBody(body);
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return body;
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}
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public:
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RagDoll (btDynamicsWorld* ownerWorld, const btVector3& positionOffset)
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: m_ownerWorld (ownerWorld)
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{
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// Setup the geometry
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m_shapes[BODYPART_PELVIS] = new btCapsuleShape(btScalar(0.15), btScalar(0.20));
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m_shapes[BODYPART_SPINE] = new btCapsuleShape(btScalar(0.15), btScalar(0.28));
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m_shapes[BODYPART_HEAD] = new btCapsuleShape(btScalar(0.10), btScalar(0.05));
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m_shapes[BODYPART_LEFT_UPPER_LEG] = new btCapsuleShape(btScalar(0.07), btScalar(0.45));
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m_shapes[BODYPART_LEFT_LOWER_LEG] = new btCapsuleShape(btScalar(0.05), btScalar(0.37));
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m_shapes[BODYPART_RIGHT_UPPER_LEG] = new btCapsuleShape(btScalar(0.07), btScalar(0.45));
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m_shapes[BODYPART_RIGHT_LOWER_LEG] = new btCapsuleShape(btScalar(0.05), btScalar(0.37));
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m_shapes[BODYPART_LEFT_UPPER_ARM] = new btCapsuleShape(btScalar(0.05), btScalar(0.33));
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m_shapes[BODYPART_LEFT_LOWER_ARM] = new btCapsuleShape(btScalar(0.04), btScalar(0.25));
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m_shapes[BODYPART_RIGHT_UPPER_ARM] = new btCapsuleShape(btScalar(0.05), btScalar(0.33));
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m_shapes[BODYPART_RIGHT_LOWER_ARM] = new btCapsuleShape(btScalar(0.04), btScalar(0.25));
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// Setup all the rigid bodies
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btTransform offset; offset.setIdentity();
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offset.setOrigin(positionOffset);
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btTransform transform;
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transform.setIdentity();
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transform.setOrigin(btVector3(btScalar(0.), btScalar(1.), btScalar(0.)));
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m_bodies[BODYPART_PELVIS] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_PELVIS]);
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transform.setIdentity();
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transform.setOrigin(btVector3(btScalar(0.), btScalar(1.2), btScalar(0.)));
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m_bodies[BODYPART_SPINE] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_SPINE]);
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transform.setIdentity();
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transform.setOrigin(btVector3(btScalar(0.), btScalar(1.6), btScalar(0.)));
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m_bodies[BODYPART_HEAD] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_HEAD]);
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transform.setIdentity();
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transform.setOrigin(btVector3(btScalar(-0.18), btScalar(0.65), btScalar(0.)));
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m_bodies[BODYPART_LEFT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_LEG]);
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transform.setIdentity();
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transform.setOrigin(btVector3(btScalar(-0.18), btScalar(0.2), btScalar(0.)));
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m_bodies[BODYPART_LEFT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_LEG]);
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transform.setIdentity();
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transform.setOrigin(btVector3(btScalar(0.18), btScalar(0.65), btScalar(0.)));
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m_bodies[BODYPART_RIGHT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_LEG]);
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transform.setIdentity();
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transform.setOrigin(btVector3(btScalar(0.18), btScalar(0.2), btScalar(0.)));
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m_bodies[BODYPART_RIGHT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_LEG]);
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transform.setIdentity();
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transform.setOrigin(btVector3(btScalar(-0.35), btScalar(1.45), btScalar(0.)));
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transform.getBasis().setEulerZYX(0,0,M_PI_2);
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m_bodies[BODYPART_LEFT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_ARM]);
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transform.setIdentity();
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transform.setOrigin(btVector3(btScalar(-0.7), btScalar(1.45), btScalar(0.)));
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transform.getBasis().setEulerZYX(0,0,M_PI_2);
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m_bodies[BODYPART_LEFT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_ARM]);
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transform.setIdentity();
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transform.setOrigin(btVector3(btScalar(0.35), btScalar(1.45), btScalar(0.)));
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transform.getBasis().setEulerZYX(0,0,-M_PI_2);
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m_bodies[BODYPART_RIGHT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_ARM]);
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transform.setIdentity();
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transform.setOrigin(btVector3(btScalar(0.7), btScalar(1.45), btScalar(0.)));
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transform.getBasis().setEulerZYX(0,0,-M_PI_2);
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m_bodies[BODYPART_RIGHT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_ARM]);
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// Setup some damping on the m_bodies
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for (int i = 0; i < BODYPART_COUNT; ++i)
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{
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m_bodies[i]->setDamping(0.05, 0.85);
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m_bodies[i]->setDeactivationTime(0.8);
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m_bodies[i]->setSleepingThresholds(1.6, 2.5);
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}
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// Now setup the constraints
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btHingeConstraint* hingeC;
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btConeTwistConstraint* coneC;
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btTransform localA, localB;
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localA.setIdentity(); localB.setIdentity();
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localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.15), btScalar(0.)));
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localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.15), btScalar(0.)));
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hingeC = new btHingeConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_SPINE], localA, localB);
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hingeC->setLimit(btScalar(-M_PI_4), btScalar(M_PI_2));
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m_joints[JOINT_PELVIS_SPINE] = hingeC;
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m_ownerWorld->addConstraint(m_joints[JOINT_PELVIS_SPINE], true);
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localA.setIdentity(); localB.setIdentity();
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localA.getBasis().setEulerZYX(0,0,M_PI_2); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.30), btScalar(0.)));
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localB.getBasis().setEulerZYX(0,0,-M_PI_2); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.)));
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coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_HEAD], localA, localB);
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coneC->setLimit(M_PI_4, M_PI_4, M_PI_2);
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m_joints[JOINT_SPINE_HEAD] = coneC;
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m_ownerWorld->addConstraint(m_joints[JOINT_SPINE_HEAD], true);
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localA.setIdentity(); localB.setIdentity();
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localA.getBasis().setEulerZYX(0,0,-M_PI_4*5); localA.setOrigin(btVector3(btScalar(-0.18), btScalar(-0.10), btScalar(0.)));
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localB.getBasis().setEulerZYX(0,0,M_PI_4*5); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225), btScalar(0.)));
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coneC = new btConeTwistConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_LEFT_UPPER_LEG], localA, localB);
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coneC->setLimit(M_PI_4, M_PI_4, 0);
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m_joints[JOINT_LEFT_HIP] = coneC;
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m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_HIP], true);
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localA.setIdentity(); localB.setIdentity();
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localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225), btScalar(0.)));
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localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.185), btScalar(0.)));
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hingeC = new btHingeConstraint(*m_bodies[BODYPART_LEFT_UPPER_LEG], *m_bodies[BODYPART_LEFT_LOWER_LEG], localA, localB);
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hingeC->setLimit(btScalar(0), btScalar(M_PI_2));
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m_joints[JOINT_LEFT_KNEE] = hingeC;
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m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_KNEE], true);
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localA.setIdentity(); localB.setIdentity();
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localA.getBasis().setEulerZYX(0,0,M_PI_4); localA.setOrigin(btVector3(btScalar(0.18), btScalar(-0.10), btScalar(0.)));
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localB.getBasis().setEulerZYX(0,0,-M_PI_4); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225), btScalar(0.)));
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coneC = new btConeTwistConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_RIGHT_UPPER_LEG], localA, localB);
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coneC->setLimit(M_PI_4, M_PI_4, 0);
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m_joints[JOINT_RIGHT_HIP] = coneC;
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m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_HIP], true);
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localA.setIdentity(); localB.setIdentity();
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localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225), btScalar(0.)));
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localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.185), btScalar(0.)));
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hingeC = new btHingeConstraint(*m_bodies[BODYPART_RIGHT_UPPER_LEG], *m_bodies[BODYPART_RIGHT_LOWER_LEG], localA, localB);
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hingeC->setLimit(btScalar(0), btScalar(M_PI_2));
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m_joints[JOINT_RIGHT_KNEE] = hingeC;
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m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_KNEE], true);
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localA.setIdentity(); localB.setIdentity();
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localA.getBasis().setEulerZYX(0,0,M_PI); localA.setOrigin(btVector3(btScalar(-0.2), btScalar(0.15), btScalar(0.)));
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localB.getBasis().setEulerZYX(0,0,-M_PI_2); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18), btScalar(0.)));
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coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_LEFT_UPPER_ARM], localA, localB);
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coneC->setLimit(M_PI_2, M_PI_2, 0);
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m_joints[JOINT_LEFT_SHOULDER] = coneC;
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m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_SHOULDER], true);
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localA.setIdentity(); localB.setIdentity();
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localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18), btScalar(0.)));
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localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.)));
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hingeC = new btHingeConstraint(*m_bodies[BODYPART_LEFT_UPPER_ARM], *m_bodies[BODYPART_LEFT_LOWER_ARM], localA, localB);
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hingeC->setLimit(btScalar(-M_PI_2), btScalar(0));
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m_joints[JOINT_LEFT_ELBOW] = hingeC;
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m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_ELBOW], true);
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localA.setIdentity(); localB.setIdentity();
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localA.getBasis().setEulerZYX(0,0,0); localA.setOrigin(btVector3(btScalar(0.2), btScalar(0.15), btScalar(0.)));
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localB.getBasis().setEulerZYX(0,0,-M_PI_2); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18), btScalar(0.)));
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coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_RIGHT_UPPER_ARM], localA, localB);
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coneC->setLimit(M_PI_2, M_PI_2, 0);
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m_joints[JOINT_RIGHT_SHOULDER] = coneC;
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m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_SHOULDER], true);
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localA.setIdentity(); localB.setIdentity();
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localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18), btScalar(0.)));
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localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.)));
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hingeC = new btHingeConstraint(*m_bodies[BODYPART_RIGHT_UPPER_ARM], *m_bodies[BODYPART_RIGHT_LOWER_ARM], localA, localB);
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hingeC->setLimit(btScalar(-M_PI_2), btScalar(0));
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m_joints[JOINT_RIGHT_ELBOW] = hingeC;
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m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_ELBOW], true);
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}
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~RagDoll ()
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{
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// Remove all constraints
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for (int i = 0; i < JOINT_COUNT; ++i)
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{
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m_ownerWorld->removeConstraint(m_joints[i]);
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delete m_joints[i]; m_joints[i] = 0;
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}
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// Remove all bodies and shapes
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for (int i = 0; i < BODYPART_COUNT; ++i)
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{
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m_ownerWorld->removeRigidBody(m_bodies[i]);
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delete m_bodies[i]->getMotionState();
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delete m_bodies[i]; m_bodies[i] = 0;
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delete m_shapes[i]; m_shapes[i] = 0;
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}
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}
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};
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int main(int argc,char* argv[])
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{
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RagdollDemo demoApp;
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demoApp.initPhysics();
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demoApp.setCameraDistance(btScalar(10.));
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return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",&demoApp);
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}
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void RagdollDemo::initPhysics()
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{
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// Setup the basic world
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||||
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btCollisionDispatcher* dispatcher = new btCollisionDispatcher;
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||||
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||||
btPoint3 worldAabbMin(-10000,-10000,-10000);
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||||
btPoint3 worldAabbMax(10000,10000,10000);
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btOverlappingPairCache* overlappingPairCache = new btAxisSweep3 (worldAabbMin, worldAabbMax);
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btConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
|
||||
|
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m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,solver);
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||||
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||||
// Setup a big ground box
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||||
{
|
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
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||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0,-10,0));
|
||||
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
|
||||
}
|
||||
|
||||
// Spawn one ragdoll
|
||||
spawnRagdoll();
|
||||
|
||||
clientResetScene();
|
||||
}
|
||||
|
||||
void RagdollDemo::spawnRagdoll(bool random)
|
||||
{
|
||||
RagDoll* ragDoll = new RagDoll (m_dynamicsWorld, btVector3 (0,1,0));
|
||||
m_ragdolls.push_back(ragDoll);
|
||||
}
|
||||
|
||||
void RagdollDemo::clientMoveAndDisplay()
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
//simple dynamics world doesn't handle fixed-time-stepping
|
||||
float ms = m_clock.getTimeMicroseconds();
|
||||
m_clock.reset();
|
||||
float minFPS = 1000000.f/60.f;
|
||||
if (ms > minFPS)
|
||||
ms = minFPS;
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
|
||||
|
||||
renderme();
|
||||
|
||||
glFlush();
|
||||
|
||||
glutSwapBuffers();
|
||||
}
|
||||
|
||||
void RagdollDemo::displayCallback()
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->updateAabbs();
|
||||
|
||||
renderme();
|
||||
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
}
|
||||
|
||||
void RagdollDemo::keyboardCallback(unsigned char key, int x, int y)
|
||||
{
|
||||
switch (key)
|
||||
{
|
||||
case 'e':
|
||||
spawnRagdoll(true);
|
||||
break;
|
||||
default:
|
||||
DemoApplication::keyboardCallback(key, x, y);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
43
Demos/RagdollDemo/RagdollDemo.h
Normal file
43
Demos/RagdollDemo/RagdollDemo.h
Normal file
@@ -0,0 +1,43 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
RagdollDemo
|
||||
Copyright (c) 2007 Starbreeze Studios
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
|
||||
Written by: Marten Svanfeldt
|
||||
*/
|
||||
|
||||
#ifndef RAGDOLLDEMO_H
|
||||
#define RAGDOLLDEMO_H
|
||||
|
||||
#include "DemoApplication.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
class RagdollDemo : public DemoApplication
|
||||
{
|
||||
|
||||
btAlignedObjectArray<class RagDoll*> m_ragdolls;
|
||||
|
||||
public:
|
||||
void initPhysics();
|
||||
|
||||
void spawnRagdoll(bool random = false);
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
};
|
||||
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user