87df3d0f32
Some dynamic memory allocations have been replace by pool allocation or stack allocations. quantized aabb versus quantized aabb overlap check is made branch-free (helps a lot on consoles PS3/XBox 360) Collision algorithms are now created through a new btDefaultCollisionConfiguration, to decouple dependency (this is the API change): Example: btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration(); m_dispatcher = new btCollisionDispatcher(collisionConfiguration);
392 lines
15 KiB
C++
392 lines
15 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Ragdoll Demo
|
|
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
|
|
*/
|
|
|
|
|
|
#include "btBulletDynamicsCommon.h"
|
|
#include "GlutStuff.h"
|
|
#include "GL_ShapeDrawer.h"
|
|
|
|
#include "LinearMath/btIDebugDraw.h"
|
|
|
|
#include "GLDebugDrawer.h"
|
|
#include "RagdollDemo.h"
|
|
|
|
GLDebugDrawer debugDrawer;
|
|
|
|
#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)
|
|
{
|
|
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;
|
|
}
|
|
|
|
public:
|
|
RagDoll (btDynamicsWorld* ownerWorld, const btVector3& positionOffset)
|
|
: m_ownerWorld (ownerWorld)
|
|
{
|
|
// 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,M_PI_2);
|
|
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,M_PI_2);
|
|
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,-M_PI_2);
|
|
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,-M_PI_2);
|
|
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,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.15), btScalar(0.)));
|
|
localB.getBasis().setEulerZYX(0,M_PI_2,0); 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(-M_PI_4), btScalar(M_PI_2));
|
|
m_joints[JOINT_PELVIS_SPINE] = hingeC;
|
|
m_ownerWorld->addConstraint(m_joints[JOINT_PELVIS_SPINE], true);
|
|
|
|
|
|
localA.setIdentity(); localB.setIdentity();
|
|
localA.getBasis().setEulerZYX(0,0,M_PI_2); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.30), btScalar(0.)));
|
|
localB.getBasis().setEulerZYX(0,0,-M_PI_2); 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(M_PI_4, M_PI_4, M_PI_2);
|
|
m_joints[JOINT_SPINE_HEAD] = coneC;
|
|
m_ownerWorld->addConstraint(m_joints[JOINT_SPINE_HEAD], true);
|
|
|
|
|
|
localA.setIdentity(); localB.setIdentity();
|
|
localA.getBasis().setEulerZYX(0,0,-M_PI_4*5); localA.setOrigin(btVector3(btScalar(-0.18), btScalar(-0.10), btScalar(0.)));
|
|
localB.getBasis().setEulerZYX(0,0,M_PI_4*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(M_PI_4, M_PI_4, 0);
|
|
m_joints[JOINT_LEFT_HIP] = coneC;
|
|
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_HIP], true);
|
|
|
|
localA.setIdentity(); localB.setIdentity();
|
|
localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225), btScalar(0.)));
|
|
localB.getBasis().setEulerZYX(0,M_PI_2,0); 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(M_PI_2));
|
|
m_joints[JOINT_LEFT_KNEE] = hingeC;
|
|
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_KNEE], true);
|
|
|
|
|
|
localA.setIdentity(); localB.setIdentity();
|
|
localA.getBasis().setEulerZYX(0,0,M_PI_4); localA.setOrigin(btVector3(btScalar(0.18), btScalar(-0.10), btScalar(0.)));
|
|
localB.getBasis().setEulerZYX(0,0,-M_PI_4); 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(M_PI_4, M_PI_4, 0);
|
|
m_joints[JOINT_RIGHT_HIP] = coneC;
|
|
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_HIP], true);
|
|
|
|
localA.setIdentity(); localB.setIdentity();
|
|
localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225), btScalar(0.)));
|
|
localB.getBasis().setEulerZYX(0,M_PI_2,0); 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(M_PI_2));
|
|
m_joints[JOINT_RIGHT_KNEE] = hingeC;
|
|
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_KNEE], true);
|
|
|
|
|
|
localA.setIdentity(); localB.setIdentity();
|
|
localA.getBasis().setEulerZYX(0,0,M_PI); localA.setOrigin(btVector3(btScalar(-0.2), btScalar(0.15), btScalar(0.)));
|
|
localB.getBasis().setEulerZYX(0,0,-M_PI_2); 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(M_PI_2, M_PI_2, 0);
|
|
m_joints[JOINT_LEFT_SHOULDER] = coneC;
|
|
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_SHOULDER], true);
|
|
|
|
localA.setIdentity(); localB.setIdentity();
|
|
localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18), btScalar(0.)));
|
|
localB.getBasis().setEulerZYX(0,M_PI_2,0); 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(-M_PI_2), btScalar(0));
|
|
m_joints[JOINT_LEFT_ELBOW] = hingeC;
|
|
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,-M_PI_2); 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(M_PI_2, M_PI_2, 0);
|
|
m_joints[JOINT_RIGHT_SHOULDER] = coneC;
|
|
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_SHOULDER], true);
|
|
|
|
localA.setIdentity(); localB.setIdentity();
|
|
localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18), btScalar(0.)));
|
|
localB.getBasis().setEulerZYX(0,M_PI_2,0); 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(-M_PI_2), btScalar(0));
|
|
m_joints[JOINT_RIGHT_ELBOW] = hingeC;
|
|
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_ELBOW], true);
|
|
}
|
|
|
|
~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;
|
|
}
|
|
}
|
|
};
|
|
|
|
|
|
|
|
int main(int argc,char* argv[])
|
|
{
|
|
RagdollDemo demoApp;
|
|
|
|
demoApp.initPhysics();
|
|
demoApp.setCameraDistance(btScalar(10.));
|
|
|
|
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",&demoApp);
|
|
}
|
|
|
|
|
|
void RagdollDemo::initPhysics()
|
|
{
|
|
// Setup the basic world
|
|
|
|
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
|
|
|
|
btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
|
|
|
|
btPoint3 worldAabbMin(-10000,-10000,-10000);
|
|
btPoint3 worldAabbMax(10000,10000,10000);
|
|
btBroadphaseInterface* overlappingPairCache = new btAxisSweep3 (worldAabbMin, worldAabbMax);
|
|
|
|
btConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
|
|
|
|
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,solver);
|
|
|
|
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
|
|
|
|
// Setup a big ground box
|
|
{
|
|
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
|
|
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);
|
|
}
|
|
|
|
|
|
}
|