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2e55d03fd9c513fb0a03ce752491814c7535d20f
bullet3/Demos3/bullet2/RagdollDemo/RagdollDemo.cpp
erwin coumans 2e55d03fd9 more fixes towards working convex-convex, in case of (too) many edge-edge cases: 
1) sample directions over a unit sphere and
2) add a contact, using mpr
add missing bullet.pc.cmake file (for old Bullet 2.x)
2014-01-09 16:22:34 -08:00

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#include "btBulletDynamicsCommon.h"
#include "RagdollDemo.h"
#include "OpenGLWindow/SimpleOpenGL3App.h"
#include "OpenGLWindow/GLInstancingRenderer.h"
#include "BulletCollision/CollisionShapes/btShapeHull.h"
#define CONSTRAINT_DEBUG_SIZE 0.2f
struct GraphicsVertex
{
float pos[4];
float normal[3];
float texcoord[2];
};
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;
btConvexShape* m_shapes[BODYPART_COUNT];
btRigidBody* m_bodies[BODYPART_COUNT];
btTypedConstraint* m_joints[JOINT_COUNT];
SimpleOpenGL3App* m_app;//used to create graphics shapes
btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btConvexShape* 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);
btRigidBody* body = new btRigidBody(rbInfo);
m_ownerWorld->addRigidBody(body);
btVector3 color(1,0,0);
btVector3 scaling(1,1,1);
btShapeHull* hull = new btShapeHull(shape);
hull->buildHull(0.01);
{
int strideInBytes = 9*sizeof(float);
int numVertices = hull->numVertices();
int numIndices =hull->numIndices();
btAlignedObjectArray<GraphicsVertex> gvertices;
for (int i=0;i<numVertices;i++)
{
GraphicsVertex vtx;
btVector3 pos =hull->getVertexPointer()[i];
vtx.pos[0] = pos.x();
vtx.pos[1] = pos.y();
vtx.pos[2] = pos.z();
vtx.pos[3] = 1.f;
pos.normalize();
vtx.normal[0] =pos.x();
vtx.normal[1] =pos.y();
vtx.normal[2] =pos.z();
vtx.texcoord[0] = 0.5f;
vtx.texcoord[1] = 0.5f;
gvertices.push_back(vtx);
}
btAlignedObjectArray<int> indices;
for (int i=0;i<numIndices;i++)
indices.push_back(hull->getIndexPointer()[i]);
int shapeId = m_app->m_instancingRenderer->registerShape(&gvertices[0].pos[0],numVertices,&indices[0],numIndices);
m_app->m_instancingRenderer->registerGraphicsInstance(shapeId,body->getWorldTransform().getOrigin(),body->getWorldTransform().getRotation(),color,scaling);
}
delete hull;
return body;
}
public:
RagDoll (btDynamicsWorld* ownerWorld, const btVector3& positionOffset,SimpleOpenGL3App* app)
: m_ownerWorld (ownerWorld),
m_app(app)
{
// Setup the geometry
m_shapes[BODYPART_PELVIS] = new btCapsuleShape(btScalar(0.15), btScalar(0.20));
m_shapes[BODYPART_SPINE] = new btCapsuleShape(btScalar(0.15), btScalar(0.28));
m_shapes[BODYPART_HEAD] = new btCapsuleShape(btScalar(0.10), btScalar(0.05));
m_shapes[BODYPART_LEFT_UPPER_LEG] = new btCapsuleShape(btScalar(0.07), btScalar(0.45));
m_shapes[BODYPART_LEFT_LOWER_LEG] = new btCapsuleShape(btScalar(0.05), btScalar(0.37));
m_shapes[BODYPART_RIGHT_UPPER_LEG] = new btCapsuleShape(btScalar(0.07), btScalar(0.45));
m_shapes[BODYPART_RIGHT_LOWER_LEG] = new btCapsuleShape(btScalar(0.05), btScalar(0.37));
m_shapes[BODYPART_LEFT_UPPER_ARM] = new btCapsuleShape(btScalar(0.05), btScalar(0.33));
m_shapes[BODYPART_LEFT_LOWER_ARM] = new btCapsuleShape(btScalar(0.04), btScalar(0.25));
m_shapes[BODYPART_RIGHT_UPPER_ARM] = new btCapsuleShape(btScalar(0.05), btScalar(0.33));
m_shapes[BODYPART_RIGHT_LOWER_ARM] = new btCapsuleShape(btScalar(0.04), btScalar(0.25));
// Setup all the rigid bodies
btTransform offset; offset.setIdentity();
offset.setOrigin(positionOffset);
btTransform transform;
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.), btScalar(1.), btScalar(0.)));
m_bodies[BODYPART_PELVIS] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_PELVIS]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.), btScalar(1.2), btScalar(0.)));
m_bodies[BODYPART_SPINE] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_SPINE]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.), btScalar(1.6), btScalar(0.)));
m_bodies[BODYPART_HEAD] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_HEAD]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(-0.18), btScalar(0.65), btScalar(0.)));
m_bodies[BODYPART_LEFT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_LEG]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(-0.18), btScalar(0.2), btScalar(0.)));
m_bodies[BODYPART_LEFT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_LEG]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.18), btScalar(0.65), btScalar(0.)));
m_bodies[BODYPART_RIGHT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_LEG]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.18), btScalar(0.2), btScalar(0.)));
m_bodies[BODYPART_RIGHT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_LEG]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(-0.35), btScalar(1.45), btScalar(0.)));
transform.getBasis().setEulerZYX(0,0,SIMD_HALF_PI);
m_bodies[BODYPART_LEFT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_ARM]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(-0.7), btScalar(1.45), btScalar(0.)));
transform.getBasis().setEulerZYX(0,0,SIMD_HALF_PI);
m_bodies[BODYPART_LEFT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_ARM]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.35), btScalar(1.45), btScalar(0.)));
transform.getBasis().setEulerZYX(0,0,-SIMD_HALF_PI);
m_bodies[BODYPART_RIGHT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_ARM]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.7), btScalar(1.45), btScalar(0.)));
transform.getBasis().setEulerZYX(0,0,-SIMD_HALF_PI);
m_bodies[BODYPART_RIGHT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_ARM]);
// Setup some damping on the m_bodies
for (int i = 0; i < BODYPART_COUNT; ++i)
{
m_bodies[i]->setDamping(0.05, 0.85);
m_bodies[i]->setDeactivationTime(0.8);
m_bodies[i]->setSleepingThresholds(1.6, 2.5);
}
// Now setup the constraints
btHingeConstraint* hingeC;
btConeTwistConstraint* coneC;
btTransform localA, localB;
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,SIMD_HALF_PI,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.15), btScalar(0.)));
localB.getBasis().setEulerZYX(0,SIMD_HALF_PI,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.15), btScalar(0.)));
hingeC = new btHingeConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_SPINE], localA, localB);
hingeC->setLimit(btScalar(-0.5f*SIMD_HALF_PI), btScalar(SIMD_HALF_PI));
m_joints[JOINT_PELVIS_SPINE] = hingeC;
hingeC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld->addConstraint(m_joints[JOINT_PELVIS_SPINE], true);
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,0,SIMD_HALF_PI); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.30), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,SIMD_HALF_PI); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.)));
coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_HEAD], localA, localB);
coneC->setLimit(0.5f*SIMD_HALF_PI, 0.5f*SIMD_HALF_PI, SIMD_HALF_PI);
m_joints[JOINT_SPINE_HEAD] = coneC;
coneC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld->addConstraint(m_joints[JOINT_SPINE_HEAD], true);
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,0,-0.5f*SIMD_HALF_PI*5); localA.setOrigin(btVector3(btScalar(-0.18), btScalar(-0.10), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,-0.5f*SIMD_HALF_PI*5); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225), btScalar(0.)));
coneC = new btConeTwistConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_LEFT_UPPER_LEG], localA, localB);
coneC->setLimit(0.5f*SIMD_HALF_PI, 0.5f*SIMD_HALF_PI, 0);
m_joints[JOINT_LEFT_HIP] = coneC;
coneC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_HIP], true);
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,SIMD_HALF_PI,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225), btScalar(0.)));
localB.getBasis().setEulerZYX(0,SIMD_HALF_PI,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.185), btScalar(0.)));
hingeC = new btHingeConstraint(*m_bodies[BODYPART_LEFT_UPPER_LEG], *m_bodies[BODYPART_LEFT_LOWER_LEG], localA, localB);
hingeC->setLimit(btScalar(0), btScalar(SIMD_HALF_PI));
m_joints[JOINT_LEFT_KNEE] = hingeC;
hingeC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_KNEE], true);
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,0,0.5f*SIMD_HALF_PI); localA.setOrigin(btVector3(btScalar(0.18), btScalar(-0.10), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,0.5f*SIMD_HALF_PI); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225), btScalar(0.)));
coneC = new btConeTwistConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_RIGHT_UPPER_LEG], localA, localB);
coneC->setLimit(0.5f*SIMD_HALF_PI, 0.5f*SIMD_HALF_PI, 0);
m_joints[JOINT_RIGHT_HIP] = coneC;
coneC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_HIP], true);
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,SIMD_HALF_PI,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225), btScalar(0.)));
localB.getBasis().setEulerZYX(0,SIMD_HALF_PI,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.185), btScalar(0.)));
hingeC = new btHingeConstraint(*m_bodies[BODYPART_RIGHT_UPPER_LEG], *m_bodies[BODYPART_RIGHT_LOWER_LEG], localA, localB);
hingeC->setLimit(btScalar(0), btScalar(SIMD_HALF_PI));
m_joints[JOINT_RIGHT_KNEE] = hingeC;
hingeC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_KNEE], true);
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,0,SIMD_PI); localA.setOrigin(btVector3(btScalar(-0.2), btScalar(0.15), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,SIMD_HALF_PI); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18), btScalar(0.)));
coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_LEFT_UPPER_ARM], localA, localB);
coneC->setLimit(SIMD_HALF_PI, SIMD_HALF_PI, 0);
coneC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_joints[JOINT_LEFT_SHOULDER] = coneC;
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_SHOULDER], true);
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,SIMD_HALF_PI,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18), btScalar(0.)));
localB.getBasis().setEulerZYX(0,SIMD_HALF_PI,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.)));
hingeC = new btHingeConstraint(*m_bodies[BODYPART_LEFT_UPPER_ARM], *m_bodies[BODYPART_LEFT_LOWER_ARM], localA, localB);
// hingeC->setLimit(btScalar(-SIMD_HALF_PI), btScalar(0));
hingeC->setLimit(btScalar(0), btScalar(SIMD_HALF_PI));
m_joints[JOINT_LEFT_ELBOW] = hingeC;
hingeC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_ELBOW], true);
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,0,0); localA.setOrigin(btVector3(btScalar(0.2), btScalar(0.15), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,SIMD_HALF_PI); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18), btScalar(0.)));
coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_RIGHT_UPPER_ARM], localA, localB);
coneC->setLimit(SIMD_HALF_PI, SIMD_HALF_PI, 0);
m_joints[JOINT_RIGHT_SHOULDER] = coneC;
coneC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_SHOULDER], true);
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,SIMD_HALF_PI,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18), btScalar(0.)));
localB.getBasis().setEulerZYX(0,SIMD_HALF_PI,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.)));
hingeC = new btHingeConstraint(*m_bodies[BODYPART_RIGHT_UPPER_ARM], *m_bodies[BODYPART_RIGHT_LOWER_ARM], localA, localB);
// hingeC->setLimit(btScalar(-SIMD_HALF_PI), btScalar(0));
hingeC->setLimit(btScalar(0), btScalar(SIMD_HALF_PI));
m_joints[JOINT_RIGHT_ELBOW] = hingeC;
hingeC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_ELBOW], true);
}
virtual ~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;
}
}
};
RagDollDemo::RagDollDemo(SimpleOpenGL3App* app)
:BasicDemo(app)
{
}
RagDollDemo::~RagDollDemo()
{
}
void RagDollDemo::initPhysics()
{
Bullet2RigidBodyDemo::initPhysics();
int cubeShapeId = m_glApp->registerCubeShape();
createGround(cubeShapeId);
btVector3 offset(0,10,0);
RagDoll* doll = new RagDoll(this->m_dynamicsWorld,offset,m_glApp);
m_glApp->m_instancingRenderer->writeTransforms();
}
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