rename ObsoleteDemos back to Demos
fix some relative path issues for loading assets
This commit is contained in:
Erwin Coumans
373
Demos/GenericJointDemo/Ragdoll.cpp
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373
Demos/GenericJointDemo/Ragdoll.cpp
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@@ -0,0 +1,373 @@
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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 "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,SIMD_HALF_PI);
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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,SIMD_HALF_PI);
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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,-SIMD_HALF_PI);
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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,-SIMD_HALF_PI);
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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(0.05f, 0.85f);
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m_bodies[i]->setDeactivationTime(0.8f);
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m_bodies[i]->setSleepingThresholds(1.6f, 2.5f);
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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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bool useLinearReferenceFrameA = true;
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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,useLinearReferenceFrameA);
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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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/// ******* LEFT SHOULDER ******** ///
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{
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localA.setIdentity(); localB.setIdentity();
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localA.setOrigin(btVector3(btScalar(-0.2*scale_ragdoll), btScalar(0.15*scale_ragdoll), btScalar(0.)));
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localB.getBasis().setEulerZYX(SIMD_HALF_PI,0,-SIMD_HALF_PI);
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localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18*scale_ragdoll), btScalar(0.)));
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joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_LEFT_UPPER_ARM], localA, localB,useLinearReferenceFrameA);
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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*0.8f,-SIMD_EPSILON,-SIMD_PI*0.5f));
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joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.8f,SIMD_EPSILON,SIMD_PI*0.5f));
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#endif
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m_joints[JOINT_LEFT_SHOULDER] = joint6DOF;
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m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_SHOULDER], true);
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}
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/// *************************** ///
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/// ******* RIGHT SHOULDER ******** ///
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{
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localA.setIdentity(); localB.setIdentity();
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localA.setOrigin(btVector3(btScalar(0.2*scale_ragdoll), btScalar(0.15*scale_ragdoll), btScalar(0.)));
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localB.getBasis().setEulerZYX(0,0,SIMD_HALF_PI);
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localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18*scale_ragdoll), btScalar(0.)));
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joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_RIGHT_UPPER_ARM], localA, localB,useLinearReferenceFrameA);
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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*0.8f,-SIMD_EPSILON,-SIMD_PI*0.5f));
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joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.8f,SIMD_EPSILON,SIMD_PI*0.5f));
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#endif
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m_joints[JOINT_RIGHT_SHOULDER] = joint6DOF;
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m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_SHOULDER], true);
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}
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/// *************************** ///
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/// ******* LEFT ELBOW ******** ///
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{
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localA.setIdentity(); localB.setIdentity();
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localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18*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_LEFT_UPPER_ARM], *m_bodies[BODYPART_LEFT_LOWER_ARM], localA, localB,useLinearReferenceFrameA);
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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_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
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joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7f,SIMD_EPSILON,SIMD_EPSILON));
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#endif
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m_joints[JOINT_LEFT_ELBOW] = joint6DOF;
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m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_ELBOW], true);
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}
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/// *************************** ///
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/// ******* RIGHT ELBOW ******** ///
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{
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localA.setIdentity(); localB.setIdentity();
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localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18*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_RIGHT_UPPER_ARM], *m_bodies[BODYPART_RIGHT_LOWER_ARM], localA, localB,useLinearReferenceFrameA);
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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_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
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joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7,SIMD_EPSILON,SIMD_EPSILON));
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#endif
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m_joints[JOINT_RIGHT_ELBOW] = joint6DOF;
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m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_ELBOW], true);
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}
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/// *************************** ///
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/// ******* PELVIS ******** ///
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{
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localA.setIdentity(); localB.setIdentity();
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localA.getBasis().setEulerZYX(0,SIMD_HALF_PI,0);
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localA.setOrigin(btVector3(btScalar(0.), btScalar(0.15*scale_ragdoll), btScalar(0.)));
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localB.getBasis().setEulerZYX(0,SIMD_HALF_PI,0);
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localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.15*scale_ragdoll), btScalar(0.)));
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joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_SPINE], localA, localB,useLinearReferenceFrameA);
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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*0.2,-SIMD_EPSILON,-SIMD_PI*0.3));
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joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.2,SIMD_EPSILON,SIMD_PI*0.6));
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#endif
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m_joints[JOINT_PELVIS_SPINE] = joint6DOF;
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m_ownerWorld->addConstraint(m_joints[JOINT_PELVIS_SPINE], true);
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}
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/// *************************** ///
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/// ******* LEFT HIP ******** ///
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{
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localA.setIdentity(); localB.setIdentity();
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localA.setOrigin(btVector3(btScalar(-0.18*scale_ragdoll), btScalar(-0.10*scale_ragdoll), btScalar(0.)));
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localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225*scale_ragdoll), btScalar(0.)));
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joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_LEFT_UPPER_LEG], localA, localB,useLinearReferenceFrameA);
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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_HALF_PI*0.5,-SIMD_EPSILON,-SIMD_EPSILON));
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joint6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI*0.8,SIMD_EPSILON,SIMD_HALF_PI*0.6f));
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#endif
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m_joints[JOINT_LEFT_HIP] = joint6DOF;
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m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_HIP], true);
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}
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/// *************************** ///
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/// ******* RIGHT HIP ******** ///
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{
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localA.setIdentity(); localB.setIdentity();
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localA.setOrigin(btVector3(btScalar(0.18*scale_ragdoll), btScalar(-0.10*scale_ragdoll), btScalar(0.)));
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localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225*scale_ragdoll), btScalar(0.)));
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joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_RIGHT_UPPER_LEG], localA, localB,useLinearReferenceFrameA);
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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_HALF_PI*0.5,-SIMD_EPSILON,-SIMD_HALF_PI*0.6f));
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joint6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI*0.8,SIMD_EPSILON,SIMD_EPSILON));
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#endif
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m_joints[JOINT_RIGHT_HIP] = joint6DOF;
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m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_HIP], true);
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}
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/// *************************** ///
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/// ******* LEFT KNEE ******** ///
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{
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localA.setIdentity(); localB.setIdentity();
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localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225*scale_ragdoll), btScalar(0.)));
|
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localB.setOrigin(btVector3(btScalar(0.), btScalar(0.185*scale_ragdoll), btScalar(0.)));
|
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joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_LEFT_UPPER_LEG], *m_bodies[BODYPART_LEFT_LOWER_LEG], localA, localB,useLinearReferenceFrameA);
|
||||
//
|
||||
#ifdef RIGID
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
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#else
|
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joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
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joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7f,SIMD_EPSILON,SIMD_EPSILON));
|
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#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,useLinearReferenceFrameA);
|
||||
|
||||
#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()
|
||||
{
|
||||
int i;
|
||||
|
||||
// Remove all constraints
|
||||
for (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 (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::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
|
||||
rbInfo.m_additionalDamping = true;
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
m_ownerWorld->addRigidBody(body);
|
||||
|
||||
return body;
|
||||
}
|
||||
Reference in New Issue
Block a user