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Code Issues Releases Wiki Activity

added generic joint demo, by Francisco Leon

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ejcoumans 2007-09-11 07:05:13 +00:00
parent bd2c83e535
commit ca5b68e9b8
4 changed files with 640 additions and 0 deletions
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153
Demos/GenericJointDemo/GenericJointDemo.cpp Normal file
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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.
Originally Written by: Marten Svanfeldt
ReWritten by: Francisco León
*/
//#define USE_ODE_QUICKSTEP 1
#include "btBulletDynamicsCommon.h"
#include "GlutStuff.h"
#include "GL_ShapeDrawer.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
#include "GenericJointDemo.h"
#ifdef USE_ODE_QUICKSTEP
#include "OdeConstraintSolver.h"
#endif
GLDebugDrawer debugDrawer;
int main(int argc,char* argv[])
{
GenericJointDemo demoApp;
demoApp.configDebugDrawer(&debugDrawer);
demoApp.initPhysics();
demoApp.setCameraDistance(btScalar(10.));
#ifdef USE_ODE_QUICKSTEP
return glutmain(argc, argv,640,480,"Joint 6DOF - ODE QuickStep Solver",&demoApp);
#else
return glutmain(argc, argv,640,480,"Joint 6DOF - Sequencial Impulse Solver",&demoApp);
#endif
}
void GenericJointDemo::initPhysics()
{
// Setup the basic world
btDefaultCollisionConfiguration * collision_config = new btDefaultCollisionConfiguration();
btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collision_config);
btPoint3 worldAabbMin(-10000,-10000,-10000);
btPoint3 worldAabbMax(10000,10000,10000);
btBroadphaseInterface* overlappingPairCache = new btAxisSweep3 (worldAabbMin, worldAabbMax);
#ifdef USE_ODE_QUICKSTEP
btConstraintSolver* constraintSolver = new OdeConstraintSolver();
#else
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver;
#endif
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,constraintSolver);
m_dynamicsWorld->setGravity(btVector3(0,-30,0));
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,-15,0));
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
}
// Spawn one ragdoll
spawnRagdoll();
clientResetScene();
}
void GenericJointDemo::spawnRagdoll(bool random)
{
RagDoll* ragDoll = new RagDoll (m_dynamicsWorld, btVector3 (0,0,10),5.f);
m_ragdolls.push_back(ragDoll);
}
void GenericJointDemo::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 GenericJointDemo::displayCallback()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
if (m_dynamicsWorld)
m_dynamicsWorld->updateAabbs();
renderme();
glFlush();
glutSwapBuffers();
}
void GenericJointDemo::keyboardCallback(unsigned char key, int x, int y)
{
switch (key)
{
case 'e':
spawnRagdoll(true);
break;
default:
DemoApplication::keyboardCallback(key, x, y);
}
}

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Demos/GenericJointDemo/GenericJointDemo.h Normal file
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/*
Bullet Continuous Collision Detection and Physics Library
GenericJointDemo
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
*/
#ifndef GENERIGJOINTDEMO_H
#define GENERIGJOINTDEMO_H
#include "DemoApplication.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "Ragdoll.h"
class GenericJointDemo : public DemoApplication
{
btAlignedObjectArray<class RagDoll*> m_ragdolls;
public:
void initPhysics();
void spawnRagdoll(bool random = false);
virtual void clientMoveAndDisplay();
virtual void displayCallback();
virtual void keyboardCallback(unsigned char key, int x, int y);
};
#endif

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Demos/GenericJointDemo/Ragdoll.cpp Normal file
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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
*/
#include "Ragdoll.h"
//#define RIGID 1
RagDoll::RagDoll (btDynamicsWorld* ownerWorld, const btVector3& positionOffset,
btScalar scale_ragdoll) : m_ownerWorld (ownerWorld)
{
// Setup the geometry
m_shapes[BODYPART_PELVIS] = new btCapsuleShape(
btScalar(scale_ragdoll*0.15), btScalar(scale_ragdoll*0.20));
m_shapes[BODYPART_SPINE] = new btCapsuleShape(
btScalar(scale_ragdoll*0.15), btScalar(scale_ragdoll*0.28));
m_shapes[BODYPART_HEAD] = new btCapsuleShape(btScalar(scale_ragdoll*0.10), btScalar(scale_ragdoll*0.05));
m_shapes[BODYPART_LEFT_UPPER_LEG] = new btCapsuleShape(btScalar(scale_ragdoll*0.07), btScalar(scale_ragdoll*0.45));
m_shapes[BODYPART_LEFT_LOWER_LEG] = new btCapsuleShape(btScalar(scale_ragdoll*0.05), btScalar(scale_ragdoll*0.37));
m_shapes[BODYPART_RIGHT_UPPER_LEG] = new btCapsuleShape(btScalar(scale_ragdoll*0.07), btScalar(scale_ragdoll*0.45));
m_shapes[BODYPART_RIGHT_LOWER_LEG] = new btCapsuleShape(btScalar(scale_ragdoll*0.05), btScalar(scale_ragdoll*0.37));
m_shapes[BODYPART_LEFT_UPPER_ARM] = new btCapsuleShape(btScalar(scale_ragdoll*0.05), btScalar(scale_ragdoll*0.33));
m_shapes[BODYPART_LEFT_LOWER_ARM] = new btCapsuleShape(btScalar(scale_ragdoll*0.04), btScalar(scale_ragdoll*0.25));
m_shapes[BODYPART_RIGHT_UPPER_ARM] = new btCapsuleShape(btScalar(scale_ragdoll*0.05), btScalar(scale_ragdoll*0.33));
m_shapes[BODYPART_RIGHT_LOWER_ARM] = new btCapsuleShape(btScalar(scale_ragdoll*0.04), btScalar(scale_ragdoll*0.25));
// Setup all the rigid bodies
btTransform offset; offset.setIdentity();
offset.setOrigin(positionOffset);
btTransform transform;
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.), btScalar(scale_ragdoll*1.), btScalar(0.)));
m_bodies[BODYPART_PELVIS] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_PELVIS]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.), btScalar(scale_ragdoll*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(scale_ragdoll*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*scale_ragdoll), btScalar(0.65*scale_ragdoll),
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*scale_ragdoll), btScalar(0.2*scale_ragdoll), 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*scale_ragdoll), btScalar(0.65*scale_ragdoll), 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*scale_ragdoll), btScalar(0.2*scale_ragdoll), 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*scale_ragdoll), btScalar(1.45*scale_ragdoll), 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*scale_ragdoll), btScalar(1.45*scale_ragdoll), 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*scale_ragdoll), btScalar(1.45*scale_ragdoll), 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*scale_ragdoll), btScalar(1.45*scale_ragdoll), 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);
}
///////////////////////////// SETTING THE CONSTRAINTS /////////////////////////////////////////////7777
// Now setup the constraints
btGeneric6DofConstraint * joint6DOF;
btTransform localA, localB;
/// ******* SPINE HEAD ******** ///
{
localA.setIdentity(); localB.setIdentity();
localA.setOrigin(btVector3(btScalar(0.), btScalar(0.30*scale_ragdoll), btScalar(0.)));
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14*scale_ragdoll), btScalar(0.)));
joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_HEAD], localA, localB);
#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_PI*0.3f,-SIMD_EPSILON,-SIMD_PI*0.3f));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.5f,SIMD_EPSILON,SIMD_PI*0.3f));
#endif
m_joints[JOINT_SPINE_HEAD] = joint6DOF;
m_ownerWorld->addConstraint(m_joints[JOINT_SPINE_HEAD], true);
}
/// *************************** ///
/// ******* LEFT SHOULDER ******** ///
{
localA.setIdentity(); localB.setIdentity();
localA.setOrigin(btVector3(btScalar(-0.2*scale_ragdoll), btScalar(0.15*scale_ragdoll), btScalar(0.)));
localB.getBasis().setEulerZYX(SIMD_HALF_PI,0,-SIMD_HALF_PI);
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18*scale_ragdoll), btScalar(0.)));
joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_LEFT_UPPER_ARM], localA, localB);
#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_PI*0.8f,-SIMD_EPSILON,-SIMD_PI*0.5f));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.8f,SIMD_EPSILON,SIMD_PI*0.5f));
#endif
m_joints[JOINT_LEFT_SHOULDER] = joint6DOF;
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_SHOULDER], true);
}
/// *************************** ///
/// ******* RIGHT SHOULDER ******** ///
{
localA.setIdentity(); localB.setIdentity();
localA.setOrigin(btVector3(btScalar(0.2*scale_ragdoll), btScalar(0.15*scale_ragdoll), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,SIMD_HALF_PI);
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18*scale_ragdoll), btScalar(0.)));
joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_RIGHT_UPPER_ARM], localA, localB);
#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_PI*0.8f,-SIMD_EPSILON,-SIMD_PI*0.5f));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.8f,SIMD_EPSILON,SIMD_PI*0.5f));
#endif
m_joints[JOINT_RIGHT_SHOULDER] = joint6DOF;
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_SHOULDER], true);
}
/// *************************** ///
/// ******* LEFT ELBOW ******** ///
{
localA.setIdentity(); localB.setIdentity();
localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18*scale_ragdoll), btScalar(0.)));
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14*scale_ragdoll), btScalar(0.)));
joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_LEFT_UPPER_ARM], *m_bodies[BODYPART_LEFT_LOWER_ARM], localA, localB);
#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*0.7,SIMD_EPSILON,SIMD_EPSILON));
#endif
m_joints[JOINT_LEFT_ELBOW] = joint6DOF;
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_ELBOW], true);
}
/// *************************** ///
/// ******* RIGHT ELBOW ******** ///
{
localA.setIdentity(); localB.setIdentity();
localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18*scale_ragdoll), btScalar(0.)));
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14*scale_ragdoll), btScalar(0.)));
joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_RIGHT_UPPER_ARM], *m_bodies[BODYPART_RIGHT_LOWER_ARM], localA, localB);
#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*0.7,SIMD_EPSILON,SIMD_EPSILON));
#endif
m_joints[JOINT_RIGHT_ELBOW] = joint6DOF;
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_ELBOW], true);
}
/// *************************** ///
/// ******* PELVIS ******** ///
{
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,M_PI_2,0);
localA.setOrigin(btVector3(btScalar(0.), btScalar(0.15*scale_ragdoll), btScalar(0.)));
localB.getBasis().setEulerZYX(0,M_PI_2,0);
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.15*scale_ragdoll), btScalar(0.)));
joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_SPINE], localA, localB);
#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_PI*0.2,-SIMD_EPSILON,-SIMD_PI*0.3));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.2,SIMD_EPSILON,SIMD_PI*0.6));
#endif
m_joints[JOINT_PELVIS_SPINE] = joint6DOF;
m_ownerWorld->addConstraint(m_joints[JOINT_PELVIS_SPINE], true);
}
/// *************************** ///
/// ******* LEFT HIP ******** ///
{
localA.setIdentity(); localB.setIdentity();
localA.setOrigin(btVector3(btScalar(-0.18*scale_ragdoll), btScalar(-0.10*scale_ragdoll), btScalar(0.)));
localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225*scale_ragdoll), btScalar(0.)));
joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_LEFT_UPPER_LEG], localA, localB);
#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_HALF_PI*0.5,-SIMD_EPSILON,-SIMD_EPSILON));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI*0.8,SIMD_EPSILON,SIMD_HALF_PI*0.6f));
#endif
m_joints[JOINT_LEFT_HIP] = joint6DOF;
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_HIP], true);
}
/// *************************** ///
/// ******* RIGHT HIP ******** ///
{
localA.setIdentity(); localB.setIdentity();
localA.setOrigin(btVector3(btScalar(0.18*scale_ragdoll), btScalar(-0.10*scale_ragdoll), btScalar(0.)));
localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225*scale_ragdoll), btScalar(0.)));
joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_RIGHT_UPPER_LEG], localA, localB);
#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_HALF_PI*0.5,-SIMD_EPSILON,-SIMD_HALF_PI*0.6f));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI*0.8,SIMD_EPSILON,SIMD_EPSILON));
#endif
m_joints[JOINT_RIGHT_HIP] = joint6DOF;
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_HIP], true);
}
/// *************************** ///
/// ******* LEFT 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_LEFT_UPPER_LEG], *m_bodies[BODYPART_LEFT_LOWER_LEG], localA, localB);
//
#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_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);
#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()
{
// 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;
}
}
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* body = new btRigidBody(mass,myMotionState,shape,localInertia);
m_ownerWorld->addRigidBody(body);
return body;
}

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#ifndef RAGDOLL_H_INCLUDED
#define RAGDOLL_H_INCLUDED
#include "DemoApplication.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "btBulletDynamicsCommon.h"
#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);
public:
RagDoll (btDynamicsWorld* ownerWorld,
const btVector3& positionOffset,
btScalar scale_ragdoll = btScalar(1.0));
~RagDoll ();
};
#endif // RAGDOLL_H_INCLUDED