2021-07-06 21:20:41 +00:00
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/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2016 Daniel Chappuis *
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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 *
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* use of this software. *
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* *
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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 *
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* freely, 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 *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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// Libraries
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#include "RagdollScene.h"
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#include <cmath>
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// Namespaces
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using namespace openglframework;
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using namespace ragdollscene;
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// Constructor
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RagdollScene::RagdollScene(const std::string& name, EngineSettings& settings)
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: SceneDemo(name, settings, true, SCENE_RADIUS) {
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// Compute the radius and the center of the scene
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openglframework::Vector3 center(0, 5, 0);
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// Set the center of the scene
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setScenePosition(center, SCENE_RADIUS);
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2021-09-24 15:12:50 +00:00
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mWorldSettings.worldName = name;
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2021-07-06 21:20:41 +00:00
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// Logger
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rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
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uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
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static_cast<uint>(rp3d::Logger::Level::Error);
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defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
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mPhysicsCommon.setLogger(defaultLogger);
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}
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// Destructor
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RagdollScene::~RagdollScene() {
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destroyPhysicsWorld();
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}
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// Create the physics world
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void RagdollScene::createPhysicsWorld() {
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// Gravity vector in the physics world
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mWorldSettings.gravity = rp3d::Vector3(mEngineSettings.gravity.x, mEngineSettings.gravity.y, mEngineSettings.gravity.z);
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// Create the physics world for the physics simulation
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2021-09-24 15:12:50 +00:00
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mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(mWorldSettings);
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mPhysicsWorld->setEventListener(this);
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2021-07-06 21:20:41 +00:00
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// Create the ragdoll
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createRagdolls();
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// ------------------------- FLOOR 1 ----------------------- //
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// Create the floor
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mFloor1 = new Box(true, FLOOR_1_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
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mFloor1->setTransform(rp3d::Transform(rp3d::Vector3(0, 5, -4), rp3d::Quaternion::identity()));
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mFloor1->setColor(mFloorColorDemo);
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mFloor1->setSleepingColor(mFloorColorDemo);
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mFloor1->getRigidBody()->setType(rp3d::BodyType::STATIC);
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mPhysicsObjects.push_back(mFloor1);
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// ------------------------- FLOOR 2 ----------------------- //
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// Create the floor
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mFloor2 = new Box(true, FLOOR_2_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
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mFloor2->setColor(mFloorColorDemo);
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mFloor2->setTransform(rp3d::Transform(rp3d::Vector3(0, -10, 0), rp3d::Quaternion::identity()));
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mFloor2->setSleepingColor(mFloorColorDemo);
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mFloor2->getRigidBody()->setType(rp3d::BodyType::STATIC);
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mPhysicsObjects.push_back(mFloor2);
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// ------------------------- Large Box ----------------------- //
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mLargeBox = new Box(true, Vector3(36, 15, 18), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
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mLargeBox->setTransform(rp3d::Transform(rp3d::Vector3(0, 10, -14), rp3d::Quaternion::identity()));
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mLargeBox->setColor(mFloorColorDemo);
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mLargeBox->setSleepingColor(mFloorColorDemo);
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mLargeBox->getRigidBody()->setType(rp3d::BodyType::STATIC);
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mPhysicsObjects.push_back(mLargeBox);
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// ------------------------- Inclined Plane Box ----------------------- //
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mInclinedPlaneBox = new Box(true, Vector3(36, 1, 25), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
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const rp3d::decimal planeAngle = 30 * rp3d::PI_RP3D / 180.0f;
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mInclinedPlaneBox->setTransform(rp3d::Transform(rp3d::Vector3(0, 10.82, 5.56), rp3d::Quaternion::fromEulerAngles(planeAngle, 0, 0)));
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mInclinedPlaneBox->setColor(mFloorColorDemo);
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mInclinedPlaneBox->setSleepingColor(mFloorColorDemo);
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mInclinedPlaneBox->getRigidBody()->setType(rp3d::BodyType::STATIC);
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mPhysicsObjects.push_back(mInclinedPlaneBox);
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}
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2021-09-24 15:12:50 +00:00
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// Initialize the bodies positions
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void RagdollScene::initBodiesPositions() {
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// For each ragdoll
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for (int i=0; i < NB_RAGDOLLS; i++) {
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mHeadBox[i]->setTransform(rp3d::Transform(mHeadPos[i], rp3d::Quaternion::identity()));
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mTorsoBox[i]->setTransform(rp3d::Transform(mTorsoPos[i], rp3d::Quaternion::identity()));
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mLeftUpperArmBox[i]->setTransform(rp3d::Transform(mLeftUpperArmPos[i], rp3d::Quaternion::identity()));
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mLeftLowerArmBox[i]->setTransform(rp3d::Transform(mLeftLowerArmPos[i], rp3d::Quaternion::identity()));
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mLeftUpperLegBox[i]->setTransform(rp3d::Transform(mLeftUpperLegPos[i], rp3d::Quaternion::identity()));
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mLeftLowerLegBox[i]->setTransform(rp3d::Transform(mLeftLowerLegPos[i], rp3d::Quaternion::identity()));
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mRightUpperArmBox[i]->setTransform(rp3d::Transform(mRightUpperArmPos[i], rp3d::Quaternion::identity()));
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mRightLowerArmBox[i]->setTransform(rp3d::Transform(mRightLowerArmPos[i], rp3d::Quaternion::identity()));
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mRightUpperLegBox[i]->setTransform(rp3d::Transform(mRightUpperLegPos[i], rp3d::Quaternion::identity()));
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mRightLowerLegBox[i]->setTransform(rp3d::Transform(mRightLowerLegPos[i], rp3d::Quaternion::identity()));
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}
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}
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2021-09-24 15:12:50 +00:00
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// Destroy the physics world
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void RagdollScene::destroyPhysicsWorld() {
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if (mPhysicsWorld != nullptr) {
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// For each ragdoll
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for (int i=0; i < NB_RAGDOLLS; i++) {
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delete mHeadBox[i];
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delete mTorsoBox[i];
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delete mLeftUpperArmBox[i];
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delete mLeftLowerArmBox[i];
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delete mLeftUpperLegBox[i];
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delete mLeftLowerLegBox[i];
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delete mRightUpperArmBox[i];
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delete mRightLowerArmBox[i];
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delete mRightUpperLegBox[i];
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delete mRightLowerLegBox[i];
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}
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delete mFloor1;
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delete mFloor2;
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mPhysicsObjects.clear();
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mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld);
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mPhysicsWorld = nullptr;
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}
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}
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// Reset the scene
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void RagdollScene::reset() {
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SceneDemo::reset();
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destroyPhysicsWorld();
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createPhysicsWorld();
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initBodiesPositions();
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}
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2021-07-06 21:20:41 +00:00
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// Create the boxes and joints for the ragdoll
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void RagdollScene::createRagdolls() {
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2021-09-15 18:51:47 +00:00
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const float linearDamping = 0.02f;
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const float angularDamping = 0.02f;
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2021-07-06 21:20:41 +00:00
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// For each ragdoll
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for (int i=0; i < NB_RAGDOLLS_ROWS; i++) {
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for (int j=0; j < NB_RAGDOLLS_COLS; j++) {
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int ragdollIndex = i * NB_RAGDOLLS_COLS + j;
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const float ragdollDist = 15;
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const float ragdollHeight = 31;
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rp3d::Vector3 ragdollPosition((-(NB_RAGDOLLS_ROWS-1)/2.0 + i) * ragdollDist , ragdollHeight, -11 + (-(NB_RAGDOLLS_COLS-1)/2.0 + j) * ragdollDist);
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// --------------- Create the head box --------------- //
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mHeadPos[ragdollIndex] = ragdollPosition;
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mHeadBox[ragdollIndex] = new Box(true, Vector3(1.5, 1.5, 1.5) , mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
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mHeadBox[ragdollIndex]->setTransform(rp3d::Transform(mHeadPos[ragdollIndex], rp3d::Quaternion::identity()));
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mHeadBox[ragdollIndex]->setColor(mObjectColorDemo);
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mHeadBox[ragdollIndex]->setSleepingColor(mSleepingColorDemo);
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mHeadBox[ragdollIndex]->getCollider()->getMaterial().setMassDensity(7);
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mHeadBox[ragdollIndex]->getRigidBody()->updateMassPropertiesFromColliders();
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mHeadBox[ragdollIndex]->getRigidBody()->setLinearDamping(linearDamping);
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mHeadBox[ragdollIndex]->getRigidBody()->setAngularDamping(angularDamping);
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mPhysicsObjects.push_back(mHeadBox[ragdollIndex]);
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// --------------- Create the torso box --------------- //
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mTorsoPos[ragdollIndex] = mHeadPos[ragdollIndex] + rp3d::Vector3(0, -3.25, 0);
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mTorsoBox[ragdollIndex] = new Box(true, Vector3(3, 4, 1) , mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
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mTorsoBox[ragdollIndex]->setTransform(rp3d::Transform(mTorsoPos[ragdollIndex], rp3d::Quaternion::identity()));
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mTorsoBox[ragdollIndex]->setColor(mObjectColorDemo);
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mTorsoBox[ragdollIndex]->setSleepingColor(mSleepingColorDemo);
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mTorsoBox[ragdollIndex]->getCollider()->getMaterial().setMassDensity(9);
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mTorsoBox[ragdollIndex]->getRigidBody()->updateMassPropertiesFromColliders();
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mTorsoBox[ragdollIndex]->getRigidBody()->setLinearDamping(linearDamping);
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mTorsoBox[ragdollIndex]->getRigidBody()->setAngularDamping(angularDamping);
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//mTorsoBox->getRigidBody()->setType(rp3d::BodyType::STATIC);
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mPhysicsObjects.push_back(mTorsoBox[ragdollIndex]);
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// --------------- Create the left upper arm box --------------- //
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mLeftUpperArmPos[ragdollIndex] = mTorsoPos[ragdollIndex] + rp3d::Vector3(2.75, 1.5, 0);
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mLeftUpperArmBox[ragdollIndex] = new Box(true, Vector3(2, 1, 1) , mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
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mLeftUpperArmBox[ragdollIndex]->setTransform(rp3d::Transform(mLeftUpperArmPos[ragdollIndex], rp3d::Quaternion::identity()));
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mLeftUpperArmBox[ragdollIndex]->setColor(mObjectColorDemo);
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mLeftUpperArmBox[ragdollIndex]->setSleepingColor(mSleepingColorDemo);
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mLeftUpperArmBox[ragdollIndex]->getCollider()->getMaterial().setMassDensity(8);
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mLeftUpperArmBox[ragdollIndex]->getRigidBody()->updateMassPropertiesFromColliders();
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mLeftUpperArmBox[ragdollIndex]->getRigidBody()->setLinearDamping(linearDamping);
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mLeftUpperArmBox[ragdollIndex]->getRigidBody()->setAngularDamping(angularDamping);
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mPhysicsObjects.push_back(mLeftUpperArmBox[ragdollIndex]);
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// --------------- Create the left lower arm box --------------- //
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mLeftLowerArmPos[ragdollIndex] = mLeftUpperArmPos[ragdollIndex] + rp3d::Vector3(2.25, 0, 0);
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mLeftLowerArmBox[ragdollIndex] = new Box(true, Vector3(2, 1, 1) , mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
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mLeftLowerArmBox[ragdollIndex]->setTransform(rp3d::Transform(mLeftLowerArmPos[ragdollIndex], rp3d::Quaternion::identity()));
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mLeftLowerArmBox[ragdollIndex]->setColor(mObjectColorDemo);
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mLeftLowerArmBox[ragdollIndex]->setSleepingColor(mSleepingColorDemo);
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mLeftLowerArmBox[ragdollIndex]->getCollider()->getMaterial().setMassDensity(8);
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mLeftLowerArmBox[ragdollIndex]->getRigidBody()->updateMassPropertiesFromColliders();
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mLeftLowerArmBox[ragdollIndex]->getRigidBody()->setLinearDamping(linearDamping);
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mLeftLowerArmBox[ragdollIndex]->getRigidBody()->setAngularDamping(angularDamping);
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mPhysicsObjects.push_back(mLeftLowerArmBox[ragdollIndex]);
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// --------------- Create the left upper leg box --------------- //
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mLeftUpperLegPos[ragdollIndex] = mTorsoPos[ragdollIndex] + rp3d::Vector3(1, -3.75, 0);
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mLeftUpperLegBox[ragdollIndex] = new Box(true, Vector3(1, 3, 1) , mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
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mLeftUpperLegBox[ragdollIndex]->setTransform(rp3d::Transform(mLeftUpperLegPos[ragdollIndex], rp3d::Quaternion::identity()));
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mLeftUpperLegBox[ragdollIndex]->setColor(mObjectColorDemo);
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mLeftUpperLegBox[ragdollIndex]->setSleepingColor(mSleepingColorDemo);
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mLeftUpperLegBox[ragdollIndex]->getCollider()->getMaterial().setMassDensity(8);
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mLeftUpperLegBox[ragdollIndex]->getRigidBody()->updateMassPropertiesFromColliders();
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mLeftUpperLegBox[ragdollIndex]->getRigidBody()->setLinearDamping(linearDamping);
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mLeftUpperLegBox[ragdollIndex]->getRigidBody()->setAngularDamping(angularDamping);
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mPhysicsObjects.push_back(mLeftUpperLegBox[ragdollIndex]);
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// --------------- Create the left lower leg box --------------- //
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mLeftLowerLegPos[ragdollIndex] = mLeftUpperLegPos[ragdollIndex] + rp3d::Vector3(0, -3.25, 0);
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mLeftLowerLegBox[ragdollIndex] = new Box(true, Vector3(1, 3, 1) , mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
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mLeftLowerLegBox[ragdollIndex]->setTransform(rp3d::Transform(mLeftLowerLegPos[ragdollIndex], rp3d::Quaternion::identity()));
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mLeftLowerLegBox[ragdollIndex]->setColor(mObjectColorDemo);
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mLeftLowerLegBox[ragdollIndex]->setSleepingColor(mSleepingColorDemo);
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mLeftLowerLegBox[ragdollIndex]->getCollider()->getMaterial().setMassDensity(8);
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mLeftLowerLegBox[ragdollIndex]->getRigidBody()->updateMassPropertiesFromColliders();
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2021-09-15 18:51:47 +00:00
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mLeftLowerLegBox[ragdollIndex]->getRigidBody()->setLinearDamping(linearDamping);
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mLeftLowerLegBox[ragdollIndex]->getRigidBody()->setAngularDamping(angularDamping);
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2021-07-06 21:20:41 +00:00
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mPhysicsObjects.push_back(mLeftLowerLegBox[ragdollIndex]);
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// --------------- Create the right upper arm box --------------- //
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mRightUpperArmPos[ragdollIndex] = mTorsoPos[ragdollIndex] + rp3d::Vector3(-2.75, 1.5, 0);
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mRightUpperArmBox[ragdollIndex] = new Box(true, Vector3(2, 1, 1) , mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
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mRightUpperArmBox[ragdollIndex]->setTransform(rp3d::Transform(mRightUpperArmPos[ragdollIndex], rp3d::Quaternion::identity()));
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mRightUpperArmBox[ragdollIndex]->setColor(mObjectColorDemo);
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mRightUpperArmBox[ragdollIndex]->setSleepingColor(mSleepingColorDemo);
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mRightUpperArmBox[ragdollIndex]->getCollider()->getMaterial().setMassDensity(8);
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mRightUpperArmBox[ragdollIndex]->getRigidBody()->updateMassPropertiesFromColliders();
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2021-09-15 18:51:47 +00:00
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mRightUpperArmBox[ragdollIndex]->getRigidBody()->setLinearDamping(linearDamping);
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mRightUpperArmBox[ragdollIndex]->getRigidBody()->setAngularDamping(angularDamping);
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2021-07-06 21:20:41 +00:00
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mPhysicsObjects.push_back(mRightUpperArmBox[ragdollIndex]);
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// --------------- Create the right lower arm box --------------- //
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mRightLowerArmPos[ragdollIndex] = mRightUpperArmPos[ragdollIndex] + rp3d::Vector3(-2.25, 0, 0);
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mRightLowerArmBox[ragdollIndex] = new Box(true, Vector3(2, 1, 1) , mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
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mRightLowerArmBox[ragdollIndex]->setTransform(rp3d::Transform(mRightLowerArmPos[ragdollIndex], rp3d::Quaternion::identity()));
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mRightLowerArmBox[ragdollIndex]->setColor(mObjectColorDemo);
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mRightLowerArmBox[ragdollIndex]->setSleepingColor(mSleepingColorDemo);
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mRightLowerArmBox[ragdollIndex]->getCollider()->getMaterial().setMassDensity(8);
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mRightLowerArmBox[ragdollIndex]->getRigidBody()->updateMassPropertiesFromColliders();
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2021-09-15 18:51:47 +00:00
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mRightLowerArmBox[ragdollIndex]->getRigidBody()->setLinearDamping(linearDamping);
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mRightLowerArmBox[ragdollIndex]->getRigidBody()->setAngularDamping(angularDamping);
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2021-07-06 21:20:41 +00:00
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mPhysicsObjects.push_back(mRightLowerArmBox[ragdollIndex]);
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// --------------- Create the right upper leg box --------------- //
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mRightUpperLegPos[ragdollIndex] = mTorsoPos[ragdollIndex] + rp3d::Vector3(-1, -3.75, 0);
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mRightUpperLegBox[ragdollIndex] = new Box(true, Vector3(1, 3, 1) , mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
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mRightUpperLegBox[ragdollIndex]->setTransform(rp3d::Transform(mRightUpperLegPos[ragdollIndex], rp3d::Quaternion::identity()));
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mRightUpperLegBox[ragdollIndex]->setColor(mObjectColorDemo);
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mRightUpperLegBox[ragdollIndex]->setSleepingColor(mSleepingColorDemo);
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mRightUpperLegBox[ragdollIndex]->getCollider()->getMaterial().setMassDensity(8);
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mRightUpperLegBox[ragdollIndex]->getRigidBody()->updateMassPropertiesFromColliders();
|
2021-09-15 18:51:47 +00:00
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mRightUpperLegBox[ragdollIndex]->getRigidBody()->setLinearDamping(linearDamping);
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mRightUpperLegBox[ragdollIndex]->getRigidBody()->setAngularDamping(angularDamping);
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2021-07-06 21:20:41 +00:00
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mPhysicsObjects.push_back(mRightUpperLegBox[ragdollIndex]);
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// --------------- Create the right lower leg box --------------- //
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mRightLowerLegPos[ragdollIndex] = mRightUpperLegPos[ragdollIndex] + rp3d::Vector3(0, -3.25, 0);
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mRightLowerLegBox[ragdollIndex] = new Box(true, Vector3(1, 3, 1) , mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
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mRightLowerLegBox[ragdollIndex]->setTransform(rp3d::Transform(mRightLowerLegPos[ragdollIndex], rp3d::Quaternion::identity()));
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mRightLowerLegBox[ragdollIndex]->setColor(mObjectColorDemo);
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mRightLowerLegBox[ragdollIndex]->setSleepingColor(mSleepingColorDemo);
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|
mRightLowerLegBox[ragdollIndex]->getCollider()->getMaterial().setMassDensity(8);
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|
mRightLowerLegBox[ragdollIndex]->getRigidBody()->updateMassPropertiesFromColliders();
|
2021-09-15 18:51:47 +00:00
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|
mRightLowerLegBox[ragdollIndex]->getRigidBody()->setLinearDamping(linearDamping);
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mRightLowerLegBox[ragdollIndex]->getRigidBody()->setAngularDamping(angularDamping);
|
2021-07-06 21:20:41 +00:00
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|
mPhysicsObjects.push_back(mRightLowerLegBox[ragdollIndex]);
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// --------------- Create the joint between head and torso --------------- //
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// Create the joint info object
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|
rp3d::RigidBody* body1 = mHeadBox[ragdollIndex]->getRigidBody();
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|
rp3d::RigidBody* body2 = mTorsoBox[ragdollIndex]->getRigidBody();
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|
rp3d::BallAndSocketJointInfo jointInfo1(body1, body2, mHeadPos[ragdollIndex] + rp3d::Vector3(0, -0.82, 0));
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jointInfo1.isCollisionEnabled = false;
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|
mHeadTorsoJoint[ragdollIndex] = dynamic_cast<rp3d::BallAndSocketJoint*>(mPhysicsWorld->createJoint(jointInfo1));
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mHeadTorsoJoint[ragdollIndex]->setConeLimitLocalAxisBody1(rp3d::Vector3(0, 1, 0));
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mHeadTorsoJoint[ragdollIndex]->setConeLimitLocalAxisBody2(rp3d::Vector3(0, 1, 0));
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|
mHeadTorsoJoint[ragdollIndex]->setConeLimitHalfAngle(40.0 * rp3d::PI_RP3D / 180.0);
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|
mHeadTorsoJoint[ragdollIndex]->enableConeLimit(true);
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|
// --------------- Create the joint between torso and left upper arm --------------- //
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|
|
// Create the joint info object
|
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|
|
body1 = mTorsoBox[ragdollIndex]->getRigidBody();
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|
body2 = mLeftUpperArmBox[ragdollIndex]->getRigidBody();
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|
rp3d::BallAndSocketJointInfo jointInfo2(body1, body2, mLeftUpperArmPos[ragdollIndex] + rp3d::Vector3(-0.5, 0, 0));
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|
jointInfo2.isCollisionEnabled = false;
|
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|
|
mTorsoLeftUpperArmJoint[ragdollIndex] = dynamic_cast<rp3d::BallAndSocketJoint*>(mPhysicsWorld->createJoint(jointInfo2));
|
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|
mTorsoLeftUpperArmJoint[ragdollIndex]->setConeLimitLocalAxisBody1(rp3d::Vector3(1, 0, 0));
|
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|
mTorsoLeftUpperArmJoint[ragdollIndex]->setConeLimitLocalAxisBody2(rp3d::Vector3(1, 0, 0));
|
|
|
|
|
mTorsoLeftUpperArmJoint[ragdollIndex]->setConeLimitHalfAngle(90.0 * rp3d::PI_RP3D / 180.0);
|
|
|
|
|
mTorsoLeftUpperArmJoint[ragdollIndex]->enableConeLimit(true);
|
|
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|
|
|
|
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|
|
// --------------- Create the joint between left upper arm and left lower arm --------------- //
|
|
|
|
|
|
|
|
|
|
// Create the joint info object
|
|
|
|
|
body1 = mLeftUpperArmBox[ragdollIndex]->getRigidBody();
|
|
|
|
|
body2 = mLeftLowerArmBox[ragdollIndex]->getRigidBody();
|
|
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|
|
rp3d::Vector3 joint2WorldAnchor = (body1->getTransform().getPosition() + body2->getTransform().getPosition()) * 0.5f;
|
|
|
|
|
rp3d::Vector3 joint2WorldAxis(0, 0, 1);
|
|
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|
|
rp3d::HingeJointInfo jointInfo3(body1, body2, joint2WorldAnchor, joint2WorldAxis);
|
|
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|
|
jointInfo3.isCollisionEnabled = false;
|
|
|
|
|
mLeftUpperLeftLowerArmJoint[ragdollIndex] = dynamic_cast<rp3d::HingeJoint*>(mPhysicsWorld->createJoint(jointInfo3));
|
|
|
|
|
|
|
|
|
|
// --------------- Create the joint between torso and left upper leg --------------- //
|
|
|
|
|
|
|
|
|
|
// Create the joint info object
|
|
|
|
|
body1 = mTorsoBox[ragdollIndex]->getRigidBody();
|
|
|
|
|
body2 = mLeftUpperLegBox[ragdollIndex]->getRigidBody();
|
|
|
|
|
rp3d::BallAndSocketJointInfo jointInfo4(body1, body2, mTorsoPos[ragdollIndex] + rp3d::Vector3(1, -1.87, 0));
|
|
|
|
|
jointInfo4.isCollisionEnabled = false;
|
|
|
|
|
mTorsoLeftUpperLegJoint[ragdollIndex] = dynamic_cast<rp3d::BallAndSocketJoint*>(mPhysicsWorld->createJoint(jointInfo4));
|
|
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|
|
mTorsoLeftUpperLegJoint[ragdollIndex]->setConeLimitLocalAxisBody1(rp3d::Vector3(0, 1, 0));
|
|
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|
|
mTorsoLeftUpperLegJoint[ragdollIndex]->setConeLimitLocalAxisBody2(rp3d::Vector3(0, 1, 0));
|
|
|
|
|
mTorsoLeftUpperLegJoint[ragdollIndex]->setConeLimitHalfAngle(90.0 * rp3d::PI_RP3D / 180.0);
|
|
|
|
|
mTorsoLeftUpperLegJoint[ragdollIndex]->enableConeLimit(true);
|
|
|
|
|
|
|
|
|
|
// --------------- Create the joint between left upper leg and left lower leg --------------- //
|
|
|
|
|
|
|
|
|
|
// Create the joint info object
|
|
|
|
|
body1 = mLeftUpperLegBox[ragdollIndex]->getRigidBody();
|
|
|
|
|
body2 = mLeftLowerLegBox[ragdollIndex]->getRigidBody();
|
|
|
|
|
rp3d::Vector3 joint5WorldAnchor = (body1->getTransform().getPosition() + body2->getTransform().getPosition()) * 0.5f;
|
|
|
|
|
rp3d::Vector3 joint5WorldAxis(1, 0, 0);
|
|
|
|
|
const rp3d::decimal joint5MinAngle = 0.0 * rp3d::PI_RP3D / 180.0;
|
|
|
|
|
const rp3d::decimal joint5MaxAngle = 110.0 * rp3d::PI_RP3D / 180.0;
|
|
|
|
|
rp3d::HingeJointInfo jointInfo5(body1, body2, joint5WorldAnchor, joint5WorldAxis, joint5MinAngle, joint5MaxAngle);
|
|
|
|
|
jointInfo5.isCollisionEnabled = false;
|
|
|
|
|
mLeftUpperLeftLowerLegJoint[ragdollIndex] = dynamic_cast<rp3d::HingeJoint*>(mPhysicsWorld->createJoint(jointInfo5));
|
|
|
|
|
|
|
|
|
|
// --------------- Create the joint between torso and right upper arm --------------- //
|
|
|
|
|
|
|
|
|
|
// Create the joint info object
|
|
|
|
|
body1 = mTorsoBox[ragdollIndex]->getRigidBody();
|
|
|
|
|
body2 = mRightUpperArmBox[ragdollIndex]->getRigidBody();
|
|
|
|
|
rp3d::BallAndSocketJointInfo jointInfo6(body1, body2, mRightUpperArmPos[ragdollIndex] + rp3d::Vector3(0.5, 0, 0));
|
|
|
|
|
jointInfo6.isCollisionEnabled = false;
|
|
|
|
|
mTorsoRightUpperArmJoint[ragdollIndex] = dynamic_cast<rp3d::BallAndSocketJoint*>(mPhysicsWorld->createJoint(jointInfo6));
|
|
|
|
|
mTorsoRightUpperArmJoint[ragdollIndex]->setConeLimitLocalAxisBody1(rp3d::Vector3(1, 0, 0));
|
|
|
|
|
mTorsoRightUpperArmJoint[ragdollIndex]->setConeLimitLocalAxisBody2(rp3d::Vector3(1, 0, 0));
|
|
|
|
|
mTorsoRightUpperArmJoint[ragdollIndex]->setConeLimitHalfAngle(90.0 * rp3d::PI_RP3D / 180.0);
|
|
|
|
|
mTorsoRightUpperArmJoint[ragdollIndex]->enableConeLimit(true);
|
|
|
|
|
|
|
|
|
|
// --------------- Create the joint between right upper arm and right lower arm --------------- //
|
|
|
|
|
|
|
|
|
|
// Create the joint info object
|
|
|
|
|
body1 = mRightUpperArmBox[ragdollIndex]->getRigidBody();
|
|
|
|
|
body2 = mRightLowerArmBox[ragdollIndex]->getRigidBody();
|
|
|
|
|
rp3d::Vector3 joint7WorldAnchor = (body1->getTransform().getPosition() + body2->getTransform().getPosition()) * 0.5f;
|
|
|
|
|
rp3d::Vector3 joint7WorldAxis(0, 0, 1);
|
|
|
|
|
rp3d::HingeJointInfo jointInfo7(body1, body2, joint7WorldAnchor, joint7WorldAxis);
|
|
|
|
|
jointInfo7.isCollisionEnabled = false;
|
|
|
|
|
mRightUpperRightLowerArmJoint[ragdollIndex] = dynamic_cast<rp3d::HingeJoint*>(mPhysicsWorld->createJoint(jointInfo7));
|
|
|
|
|
|
|
|
|
|
// --------------- Create the joint between torso and right upper leg --------------- //
|
|
|
|
|
|
|
|
|
|
// Create the joint info object
|
|
|
|
|
body1 = mTorsoBox[ragdollIndex]->getRigidBody();
|
|
|
|
|
body2 = mRightUpperLegBox[ragdollIndex]->getRigidBody();
|
|
|
|
|
rp3d::BallAndSocketJointInfo jointInfo8(body1, body2, mTorsoPos[ragdollIndex] + rp3d::Vector3(-1, -1.87, 0));
|
|
|
|
|
jointInfo8.isCollisionEnabled = false;
|
|
|
|
|
mTorsoRightUpperLegJoint[ragdollIndex] = dynamic_cast<rp3d::BallAndSocketJoint*>(mPhysicsWorld->createJoint(jointInfo8));
|
|
|
|
|
mTorsoRightUpperLegJoint[ragdollIndex]->setConeLimitLocalAxisBody1(rp3d::Vector3(0, 1, 0));
|
|
|
|
|
mTorsoRightUpperLegJoint[ragdollIndex]->setConeLimitLocalAxisBody2(rp3d::Vector3(0, 1, 0));
|
|
|
|
|
mTorsoRightUpperLegJoint[ragdollIndex]->setConeLimitHalfAngle(90.0 * rp3d::PI_RP3D / 180.0);
|
|
|
|
|
mTorsoRightUpperLegJoint[ragdollIndex]->enableConeLimit(true);
|
|
|
|
|
|
|
|
|
|
// --------------- Create the joint between right upper leg and right lower leg --------------- //
|
|
|
|
|
|
|
|
|
|
// Create the joint info object
|
|
|
|
|
body1 = mRightUpperLegBox[ragdollIndex]->getRigidBody();
|
|
|
|
|
body2 = mRightLowerLegBox[ragdollIndex]->getRigidBody();
|
|
|
|
|
rp3d::Vector3 joint9WorldAnchor = (body1->getTransform().getPosition() + body2->getTransform().getPosition()) * 0.5f;
|
|
|
|
|
rp3d::Vector3 joint9WorldAxis(1, 0, 0);
|
|
|
|
|
const rp3d::decimal joint9MinAngle = 0.0 * rp3d::PI_RP3D / 180.0;
|
|
|
|
|
const rp3d::decimal joint9MaxAngle = 110.0 * rp3d::PI_RP3D / 180.0;
|
|
|
|
|
rp3d::HingeJointInfo jointInfo9(body1, body2, joint9WorldAnchor, joint9WorldAxis, joint9MinAngle, joint9MaxAngle);
|
|
|
|
|
jointInfo9.isCollisionEnabled = false;
|
|
|
|
|
mRightUpperRightLowerLegJoint[ragdollIndex] = dynamic_cast<rp3d::HingeJoint*>(mPhysicsWorld->createJoint(jointInfo9));
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
}
|
