added generic joint demo, by Francisco Leon
This commit is contained in:
ejcoumans
153
Demos/GenericJointDemo/GenericJointDemo.cpp
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153
Demos/GenericJointDemo/GenericJointDemo.cpp
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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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||||||
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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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Originally Written by: Marten Svanfeldt
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ReWritten by: Francisco Le<4C>n
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*/
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//#define USE_ODE_QUICKSTEP 1
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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 "LinearMath/btIDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include "GenericJointDemo.h"
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#ifdef USE_ODE_QUICKSTEP
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#include "OdeConstraintSolver.h"
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#endif
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GLDebugDrawer debugDrawer;
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int main(int argc,char* argv[])
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{
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GenericJointDemo demoApp;
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demoApp.configDebugDrawer(&debugDrawer);
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demoApp.initPhysics();
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demoApp.setCameraDistance(btScalar(10.));
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#ifdef USE_ODE_QUICKSTEP
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return glutmain(argc, argv,640,480,"Joint 6DOF - ODE QuickStep Solver",&demoApp);
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#else
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return glutmain(argc, argv,640,480,"Joint 6DOF - Sequencial Impulse Solver",&demoApp);
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#endif
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}
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void GenericJointDemo::initPhysics()
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{
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// Setup the basic world
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btDefaultCollisionConfiguration * collision_config = new btDefaultCollisionConfiguration();
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btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collision_config);
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btPoint3 worldAabbMin(-10000,-10000,-10000);
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btPoint3 worldAabbMax(10000,10000,10000);
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btBroadphaseInterface* overlappingPairCache = new btAxisSweep3 (worldAabbMin, worldAabbMax);
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#ifdef USE_ODE_QUICKSTEP
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btConstraintSolver* constraintSolver = new OdeConstraintSolver();
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#else
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btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver;
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#endif
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m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,constraintSolver);
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m_dynamicsWorld->setGravity(btVector3(0,-30,0));
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m_dynamicsWorld->setDebugDrawer(&debugDrawer);
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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;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-15,0));
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localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
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}
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// Spawn one ragdoll
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spawnRagdoll();
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clientResetScene();
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}
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void GenericJointDemo::spawnRagdoll(bool random)
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{
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RagDoll* ragDoll = new RagDoll (m_dynamicsWorld, btVector3 (0,0,10),5.f);
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m_ragdolls.push_back(ragDoll);
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}
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void GenericJointDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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//simple dynamics world doesn't handle fixed-time-stepping
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float ms = m_clock.getTimeMicroseconds();
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m_clock.reset();
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float minFPS = 1000000.f/60.f;
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if (ms > minFPS)
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ms = minFPS;
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if (m_dynamicsWorld)
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m_dynamicsWorld->stepSimulation(ms / 1000000.f);
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renderme();
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glFlush();
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glutSwapBuffers();
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}
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void GenericJointDemo::displayCallback()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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if (m_dynamicsWorld)
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m_dynamicsWorld->updateAabbs();
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renderme();
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glFlush();
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glutSwapBuffers();
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}
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void GenericJointDemo::keyboardCallback(unsigned char key, int x, int y)
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{
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switch (key)
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{
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case 'e':
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spawnRagdoll(true);
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break;
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default:
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DemoApplication::keyboardCallback(key, x, y);
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}
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}
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44
Demos/GenericJointDemo/GenericJointDemo.h
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44
Demos/GenericJointDemo/GenericJointDemo.h
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@@ -0,0 +1,44 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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GenericJointDemo
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Copyright (c) 2007 Starbreeze Studios
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||||||
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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.
|
||||||
|
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.
|
||||||
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Written by: Marten Svanfeldt
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*/
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#ifndef GENERIGJOINTDEMO_H
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#define GENERIGJOINTDEMO_H
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#include "DemoApplication.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "Ragdoll.h"
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class GenericJointDemo : public DemoApplication
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{
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btAlignedObjectArray<class RagDoll*> m_ragdolls;
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public:
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void initPhysics();
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void spawnRagdoll(bool random = false);
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virtual void clientMoveAndDisplay();
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virtual void displayCallback();
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virtual void keyboardCallback(unsigned char key, int x, int y);
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};
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#endif
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369
Demos/GenericJointDemo/Ragdoll.cpp
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369
Demos/GenericJointDemo/Ragdoll.cpp
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@@ -0,0 +1,369 @@
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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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||||||
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|
||||||
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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.
|
||||||
|
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,
|
||||||
|
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.
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||||||
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Written by: Marten Svanfeldt
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*/
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#include "Ragdoll.h"
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//#define RIGID 1
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RagDoll::RagDoll (btDynamicsWorld* ownerWorld, const btVector3& positionOffset,
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btScalar scale_ragdoll) : m_ownerWorld (ownerWorld)
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{
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// Setup the geometry
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m_shapes[BODYPART_PELVIS] = new btCapsuleShape(
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btScalar(scale_ragdoll*0.15), btScalar(scale_ragdoll*0.20));
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m_shapes[BODYPART_SPINE] = new btCapsuleShape(
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btScalar(scale_ragdoll*0.15), btScalar(scale_ragdoll*0.28));
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m_shapes[BODYPART_HEAD] = new btCapsuleShape(btScalar(scale_ragdoll*0.10), btScalar(scale_ragdoll*0.05));
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m_shapes[BODYPART_LEFT_UPPER_LEG] = new btCapsuleShape(btScalar(scale_ragdoll*0.07), btScalar(scale_ragdoll*0.45));
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m_shapes[BODYPART_LEFT_LOWER_LEG] = new btCapsuleShape(btScalar(scale_ragdoll*0.05), btScalar(scale_ragdoll*0.37));
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m_shapes[BODYPART_RIGHT_UPPER_LEG] = new btCapsuleShape(btScalar(scale_ragdoll*0.07), btScalar(scale_ragdoll*0.45));
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m_shapes[BODYPART_RIGHT_LOWER_LEG] = new btCapsuleShape(btScalar(scale_ragdoll*0.05), btScalar(scale_ragdoll*0.37));
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m_shapes[BODYPART_LEFT_UPPER_ARM] = new btCapsuleShape(btScalar(scale_ragdoll*0.05), btScalar(scale_ragdoll*0.33));
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m_shapes[BODYPART_LEFT_LOWER_ARM] = new btCapsuleShape(btScalar(scale_ragdoll*0.04), btScalar(scale_ragdoll*0.25));
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m_shapes[BODYPART_RIGHT_UPPER_ARM] = new btCapsuleShape(btScalar(scale_ragdoll*0.05), btScalar(scale_ragdoll*0.33));
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m_shapes[BODYPART_RIGHT_LOWER_ARM] = new btCapsuleShape(btScalar(scale_ragdoll*0.04), btScalar(scale_ragdoll*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(scale_ragdoll*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(scale_ragdoll*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(scale_ragdoll*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*scale_ragdoll), btScalar(0.65*scale_ragdoll),
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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*scale_ragdoll), btScalar(0.2*scale_ragdoll), 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*scale_ragdoll), btScalar(0.65*scale_ragdoll), 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*scale_ragdoll), btScalar(0.2*scale_ragdoll), 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*scale_ragdoll), btScalar(1.45*scale_ragdoll), 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*scale_ragdoll), btScalar(1.45*scale_ragdoll), 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*scale_ragdoll), btScalar(1.45*scale_ragdoll), 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*scale_ragdoll), btScalar(1.45*scale_ragdoll), 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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///////////////////////////// SETTING THE CONSTRAINTS /////////////////////////////////////////////7777
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// Now setup the constraints
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btGeneric6DofConstraint * joint6DOF;
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btTransform localA, localB;
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/// ******* SPINE HEAD ******** ///
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{
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localA.setIdentity(); localB.setIdentity();
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localA.setOrigin(btVector3(btScalar(0.), btScalar(0.30*scale_ragdoll), btScalar(0.)));
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localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14*scale_ragdoll), btScalar(0.)));
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joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_HEAD], localA, localB);
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#ifdef RIGID
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joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
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joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
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#else
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joint6DOF->setAngularLowerLimit(btVector3(-SIMD_PI*0.3f,-SIMD_EPSILON,-SIMD_PI*0.3f));
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joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.5f,SIMD_EPSILON,SIMD_PI*0.3f));
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#endif
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m_joints[JOINT_SPINE_HEAD] = joint6DOF;
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m_ownerWorld->addConstraint(m_joints[JOINT_SPINE_HEAD], true);
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||||||
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}
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||||||
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/// *************************** ///
|
||||||
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|
||||||
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|
||||||
|
|
||||||
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|
||||||
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/// ******* LEFT SHOULDER ******** ///
|
||||||
|
{
|
||||||
|
localA.setIdentity(); localB.setIdentity();
|
||||||
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|
||||||
|
localA.setOrigin(btVector3(btScalar(-0.2*scale_ragdoll), btScalar(0.15*scale_ragdoll), btScalar(0.)));
|
||||||
|
|
||||||
|
localB.getBasis().setEulerZYX(SIMD_HALF_PI,0,-SIMD_HALF_PI);
|
||||||
|
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18*scale_ragdoll), btScalar(0.)));
|
||||||
|
|
||||||
|
joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_LEFT_UPPER_ARM], localA, localB);
|
||||||
|
|
||||||
|
#ifdef RIGID
|
||||||
|
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||||
|
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||||
|
#else
|
||||||
|
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_PI*0.8f,-SIMD_EPSILON,-SIMD_PI*0.5f));
|
||||||
|
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.8f,SIMD_EPSILON,SIMD_PI*0.5f));
|
||||||
|
#endif
|
||||||
|
m_joints[JOINT_LEFT_SHOULDER] = joint6DOF;
|
||||||
|
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_SHOULDER], true);
|
||||||
|
}
|
||||||
|
/// *************************** ///
|
||||||
|
|
||||||
|
|
||||||
|
/// ******* RIGHT SHOULDER ******** ///
|
||||||
|
{
|
||||||
|
localA.setIdentity(); localB.setIdentity();
|
||||||
|
|
||||||
|
localA.setOrigin(btVector3(btScalar(0.2*scale_ragdoll), btScalar(0.15*scale_ragdoll), btScalar(0.)));
|
||||||
|
localB.getBasis().setEulerZYX(0,0,SIMD_HALF_PI);
|
||||||
|
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18*scale_ragdoll), btScalar(0.)));
|
||||||
|
joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_RIGHT_UPPER_ARM], localA, localB);
|
||||||
|
|
||||||
|
#ifdef RIGID
|
||||||
|
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||||
|
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||||
|
#else
|
||||||
|
|
||||||
|
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_PI*0.8f,-SIMD_EPSILON,-SIMD_PI*0.5f));
|
||||||
|
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.8f,SIMD_EPSILON,SIMD_PI*0.5f));
|
||||||
|
#endif
|
||||||
|
m_joints[JOINT_RIGHT_SHOULDER] = joint6DOF;
|
||||||
|
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_SHOULDER], true);
|
||||||
|
}
|
||||||
|
/// *************************** ///
|
||||||
|
|
||||||
|
/// ******* LEFT ELBOW ******** ///
|
||||||
|
{
|
||||||
|
localA.setIdentity(); localB.setIdentity();
|
||||||
|
|
||||||
|
localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18*scale_ragdoll), btScalar(0.)));
|
||||||
|
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14*scale_ragdoll), btScalar(0.)));
|
||||||
|
joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_LEFT_UPPER_ARM], *m_bodies[BODYPART_LEFT_LOWER_ARM], localA, localB);
|
||||||
|
|
||||||
|
#ifdef RIGID
|
||||||
|
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||||
|
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||||
|
#else
|
||||||
|
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||||
|
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7,SIMD_EPSILON,SIMD_EPSILON));
|
||||||
|
#endif
|
||||||
|
m_joints[JOINT_LEFT_ELBOW] = joint6DOF;
|
||||||
|
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_ELBOW], true);
|
||||||
|
}
|
||||||
|
/// *************************** ///
|
||||||
|
|
||||||
|
/// ******* RIGHT ELBOW ******** ///
|
||||||
|
{
|
||||||
|
localA.setIdentity(); localB.setIdentity();
|
||||||
|
|
||||||
|
localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18*scale_ragdoll), btScalar(0.)));
|
||||||
|
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14*scale_ragdoll), btScalar(0.)));
|
||||||
|
joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_RIGHT_UPPER_ARM], *m_bodies[BODYPART_RIGHT_LOWER_ARM], localA, localB);
|
||||||
|
|
||||||
|
#ifdef RIGID
|
||||||
|
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||||
|
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||||
|
#else
|
||||||
|
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||||
|
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7,SIMD_EPSILON,SIMD_EPSILON));
|
||||||
|
#endif
|
||||||
|
|
||||||
|
m_joints[JOINT_RIGHT_ELBOW] = joint6DOF;
|
||||||
|
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_ELBOW], true);
|
||||||
|
}
|
||||||
|
/// *************************** ///
|
||||||
|
|
||||||
|
|
||||||
|
/// ******* PELVIS ******** ///
|
||||||
|
{
|
||||||
|
localA.setIdentity(); localB.setIdentity();
|
||||||
|
|
||||||
|
localA.getBasis().setEulerZYX(0,M_PI_2,0);
|
||||||
|
localA.setOrigin(btVector3(btScalar(0.), btScalar(0.15*scale_ragdoll), btScalar(0.)));
|
||||||
|
localB.getBasis().setEulerZYX(0,M_PI_2,0);
|
||||||
|
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.15*scale_ragdoll), btScalar(0.)));
|
||||||
|
joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_SPINE], localA, localB);
|
||||||
|
|
||||||
|
#ifdef RIGID
|
||||||
|
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||||
|
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||||
|
#else
|
||||||
|
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_PI*0.2,-SIMD_EPSILON,-SIMD_PI*0.3));
|
||||||
|
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.2,SIMD_EPSILON,SIMD_PI*0.6));
|
||||||
|
#endif
|
||||||
|
m_joints[JOINT_PELVIS_SPINE] = joint6DOF;
|
||||||
|
m_ownerWorld->addConstraint(m_joints[JOINT_PELVIS_SPINE], true);
|
||||||
|
}
|
||||||
|
/// *************************** ///
|
||||||
|
|
||||||
|
/// ******* LEFT HIP ******** ///
|
||||||
|
{
|
||||||
|
localA.setIdentity(); localB.setIdentity();
|
||||||
|
|
||||||
|
localA.setOrigin(btVector3(btScalar(-0.18*scale_ragdoll), btScalar(-0.10*scale_ragdoll), btScalar(0.)));
|
||||||
|
|
||||||
|
localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225*scale_ragdoll), btScalar(0.)));
|
||||||
|
|
||||||
|
joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_LEFT_UPPER_LEG], localA, localB);
|
||||||
|
|
||||||
|
#ifdef RIGID
|
||||||
|
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||||
|
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||||
|
#else
|
||||||
|
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_HALF_PI*0.5,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||||
|
joint6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI*0.8,SIMD_EPSILON,SIMD_HALF_PI*0.6f));
|
||||||
|
#endif
|
||||||
|
m_joints[JOINT_LEFT_HIP] = joint6DOF;
|
||||||
|
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_HIP], true);
|
||||||
|
}
|
||||||
|
/// *************************** ///
|
||||||
|
|
||||||
|
|
||||||
|
/// ******* RIGHT HIP ******** ///
|
||||||
|
{
|
||||||
|
localA.setIdentity(); localB.setIdentity();
|
||||||
|
|
||||||
|
localA.setOrigin(btVector3(btScalar(0.18*scale_ragdoll), btScalar(-0.10*scale_ragdoll), btScalar(0.)));
|
||||||
|
localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225*scale_ragdoll), btScalar(0.)));
|
||||||
|
|
||||||
|
joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_RIGHT_UPPER_LEG], localA, localB);
|
||||||
|
|
||||||
|
#ifdef RIGID
|
||||||
|
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||||
|
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||||
|
#else
|
||||||
|
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_HALF_PI*0.5,-SIMD_EPSILON,-SIMD_HALF_PI*0.6f));
|
||||||
|
joint6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI*0.8,SIMD_EPSILON,SIMD_EPSILON));
|
||||||
|
#endif
|
||||||
|
m_joints[JOINT_RIGHT_HIP] = joint6DOF;
|
||||||
|
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_HIP], true);
|
||||||
|
}
|
||||||
|
/// *************************** ///
|
||||||
|
|
||||||
|
|
||||||
|
/// ******* LEFT KNEE ******** ///
|
||||||
|
{
|
||||||
|
localA.setIdentity(); localB.setIdentity();
|
||||||
|
|
||||||
|
localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225*scale_ragdoll), btScalar(0.)));
|
||||||
|
localB.setOrigin(btVector3(btScalar(0.), btScalar(0.185*scale_ragdoll), btScalar(0.)));
|
||||||
|
joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_LEFT_UPPER_LEG], *m_bodies[BODYPART_LEFT_LOWER_LEG], localA, localB);
|
||||||
|
//
|
||||||
|
#ifdef RIGID
|
||||||
|
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||||
|
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||||
|
#else
|
||||||
|
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||||
|
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7f,SIMD_EPSILON,SIMD_EPSILON));
|
||||||
|
#endif
|
||||||
|
m_joints[JOINT_LEFT_KNEE] = joint6DOF;
|
||||||
|
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_KNEE], true);
|
||||||
|
}
|
||||||
|
/// *************************** ///
|
||||||
|
|
||||||
|
/// ******* RIGHT KNEE ******** ///
|
||||||
|
{
|
||||||
|
localA.setIdentity(); localB.setIdentity();
|
||||||
|
|
||||||
|
localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225*scale_ragdoll), btScalar(0.)));
|
||||||
|
localB.setOrigin(btVector3(btScalar(0.), btScalar(0.185*scale_ragdoll), btScalar(0.)));
|
||||||
|
joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_RIGHT_UPPER_LEG], *m_bodies[BODYPART_RIGHT_LOWER_LEG], localA, localB);
|
||||||
|
|
||||||
|
#ifdef RIGID
|
||||||
|
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||||
|
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||||
|
#else
|
||||||
|
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||||
|
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7f,SIMD_EPSILON,SIMD_EPSILON));
|
||||||
|
#endif
|
||||||
|
m_joints[JOINT_RIGHT_KNEE] = joint6DOF;
|
||||||
|
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_KNEE], true);
|
||||||
|
}
|
||||||
|
/// *************************** ///
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
RagDoll::~RagDoll()
|
||||||
|
{
|
||||||
|
// Remove all constraints
|
||||||
|
for (int i = 0; i < JOINT_COUNT; ++i)
|
||||||
|
{
|
||||||
|
m_ownerWorld->removeConstraint(m_joints[i]);
|
||||||
|
delete m_joints[i]; m_joints[i] = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Remove all bodies and shapes
|
||||||
|
for (int i = 0; i < BODYPART_COUNT; ++i)
|
||||||
|
{
|
||||||
|
m_ownerWorld->removeRigidBody(m_bodies[i]);
|
||||||
|
|
||||||
|
delete m_bodies[i]->getMotionState();
|
||||||
|
|
||||||
|
delete m_bodies[i]; m_bodies[i] = 0;
|
||||||
|
delete m_shapes[i]; m_shapes[i] = 0;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
btRigidBody* RagDoll::localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
|
||||||
|
{
|
||||||
|
bool isDynamic = (mass != 0.f);
|
||||||
|
|
||||||
|
btVector3 localInertia(0,0,0);
|
||||||
|
if (isDynamic)
|
||||||
|
shape->calculateLocalInertia(mass,localInertia);
|
||||||
|
|
||||||
|
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
||||||
|
btRigidBody* body = new btRigidBody(mass,myMotionState,shape,localInertia);
|
||||||
|
|
||||||
|
m_ownerWorld->addRigidBody(body);
|
||||||
|
|
||||||
|
return body;
|
||||||
|
}
|
||||||
74
Demos/GenericJointDemo/Ragdoll.h
Normal file
74
Demos/GenericJointDemo/Ragdoll.h
Normal file
@@ -0,0 +1,74 @@
|
|||||||
|
#ifndef RAGDOLL_H_INCLUDED
|
||||||
|
#define RAGDOLL_H_INCLUDED
|
||||||
|
|
||||||
|
#include "DemoApplication.h"
|
||||||
|
#include "LinearMath/btAlignedObjectArray.h"
|
||||||
|
#include "btBulletDynamicsCommon.h"
|
||||||
|
|
||||||
|
|
||||||
|
#define M_PI 3.14159265358979323846
|
||||||
|
#define M_PI_2 1.57079632679489661923
|
||||||
|
#define M_PI_4 0.785398163397448309616
|
||||||
|
|
||||||
|
|
||||||
|
class RagDoll
|
||||||
|
{
|
||||||
|
enum
|
||||||
|
{
|
||||||
|
BODYPART_PELVIS = 0,
|
||||||
|
BODYPART_SPINE,
|
||||||
|
BODYPART_HEAD,
|
||||||
|
|
||||||
|
BODYPART_LEFT_UPPER_LEG,
|
||||||
|
BODYPART_LEFT_LOWER_LEG,
|
||||||
|
|
||||||
|
BODYPART_RIGHT_UPPER_LEG,
|
||||||
|
BODYPART_RIGHT_LOWER_LEG,
|
||||||
|
|
||||||
|
BODYPART_LEFT_UPPER_ARM,
|
||||||
|
BODYPART_LEFT_LOWER_ARM,
|
||||||
|
|
||||||
|
BODYPART_RIGHT_UPPER_ARM,
|
||||||
|
BODYPART_RIGHT_LOWER_ARM,
|
||||||
|
|
||||||
|
BODYPART_COUNT
|
||||||
|
};
|
||||||
|
|
||||||
|
enum
|
||||||
|
{
|
||||||
|
JOINT_PELVIS_SPINE = 0,
|
||||||
|
JOINT_SPINE_HEAD,
|
||||||
|
|
||||||
|
JOINT_LEFT_HIP,
|
||||||
|
JOINT_LEFT_KNEE,
|
||||||
|
|
||||||
|
JOINT_RIGHT_HIP,
|
||||||
|
JOINT_RIGHT_KNEE,
|
||||||
|
|
||||||
|
JOINT_LEFT_SHOULDER,
|
||||||
|
JOINT_LEFT_ELBOW,
|
||||||
|
|
||||||
|
JOINT_RIGHT_SHOULDER,
|
||||||
|
JOINT_RIGHT_ELBOW,
|
||||||
|
|
||||||
|
JOINT_COUNT
|
||||||
|
};
|
||||||
|
|
||||||
|
btDynamicsWorld* m_ownerWorld;
|
||||||
|
btCollisionShape* m_shapes[BODYPART_COUNT];
|
||||||
|
btRigidBody* m_bodies[BODYPART_COUNT];
|
||||||
|
btTypedConstraint* m_joints[JOINT_COUNT];
|
||||||
|
|
||||||
|
btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape);
|
||||||
|
|
||||||
|
public:
|
||||||
|
RagDoll (btDynamicsWorld* ownerWorld,
|
||||||
|
const btVector3& positionOffset,
|
||||||
|
btScalar scale_ragdoll = btScalar(1.0));
|
||||||
|
|
||||||
|
~RagDoll ();
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
#endif // RAGDOLL_H_INCLUDED
|
||||||
Reference in New Issue
Block a user