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bullet3/ObsoleteDemos/RagdollDemo/RagdollDemo.cpp
erwin coumans 69e5454d18 Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure 
Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos
Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode)
Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 12:40:59 -08:00

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/*
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
*/
#define CONSTRAINT_DEBUG_SIZE 0.2f
#include "btBulletDynamicsCommon.h"
#include "GlutStuff.h"
#include "GL_ShapeDrawer.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
#include "RagdollDemo.h"
// Enrico: Shouldn't these three variables be real constants and not defines?
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
#ifndef M_PI_2
#define M_PI_2 1.57079632679489661923
#endif
#ifndef M_PI_4
#define M_PI_4 0.785398163397448309616
#endif
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::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
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;
hingeC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
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;
coneC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
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;
coneC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
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;
hingeC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
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;
coneC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
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;
hingeC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
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);
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,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));
hingeC->setLimit(btScalar(0), btScalar(M_PI_2));
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,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;
coneC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
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));
hingeC->setLimit(btScalar(0), btScalar(M_PI_2));
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;
}
}
};
void RagdollDemo::initPhysics()
{
// Setup the basic world
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(5.));
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);
m_solver = new btSequentialImpulseConstraintSolver;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
//m_dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
//m_dynamicsWorld->getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01f;
// Setup a big ground box
{
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-10,0));
#define CREATE_GROUND_COLLISION_OBJECT 1
#ifdef CREATE_GROUND_COLLISION_OBJECT
btCollisionObject* fixedGround = new btCollisionObject();
fixedGround->setCollisionShape(groundShape);
fixedGround->setWorldTransform(groundTransform);
m_dynamicsWorld->addCollisionObject(fixedGround);
#else
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
#endif //CREATE_GROUND_COLLISION_OBJECT
}
// Spawn one ragdoll
btVector3 startOffset(1,0.5,0);
spawnRagdoll(startOffset);
startOffset.setValue(-1,0.5,0);
spawnRagdoll(startOffset);
clientResetScene();
}
void RagdollDemo::spawnRagdoll(const btVector3& startOffset)
{
RagDoll* ragDoll = new RagDoll (m_dynamicsWorld, startOffset);
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 = getDeltaTimeMicroseconds();
float minFPS = 1000000.f/60.f;
if (ms > minFPS)
ms = minFPS;
if (m_dynamicsWorld)
{
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
}
renderme();
glFlush();
glutSwapBuffers();
}
void RagdollDemo::displayCallback()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
renderme();
//optional but useful: debug drawing
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
glFlush();
glutSwapBuffers();
}
void RagdollDemo::keyboardCallback(unsigned char key, int x, int y)
{
switch (key)
{
case 'e':
{
btVector3 startOffset(0,2,0);
spawnRagdoll(startOffset);
break;
}
default:
DemoApplication::keyboardCallback(key, x, y);
}
}
void RagdollDemo::exitPhysics()
{
int i;
for (i=0;i<m_ragdolls.size();i++)
{
RagDoll* doll = m_ragdolls[i];
delete doll;
}
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState())
{
delete body->getMotionState();
}
m_dynamicsWorld->removeCollisionObject( obj );
delete obj;
}
//delete collision shapes
for (int j=0;j<m_collisionShapes.size();j++)
{
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
}
//delete dynamics world
delete m_dynamicsWorld;
//delete solver
delete m_solver;
//delete broadphase
delete m_broadphase;
//delete dispatcher
delete m_dispatcher;
delete m_collisionConfiguration;
}
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