508 lines
17 KiB
C++
508 lines
17 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Ragdoll Demo
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Copyright (c) 2007 Starbreeze Studios
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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 use of this software.
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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 freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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Written by: Marten Svanfeldt
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*/
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#define CONSTRAINT_DEBUG_SIZE 0.2f
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#include "btBulletDynamicsCommon.h"
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#include "GlutStuff.h"
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#include "GL_ShapeDrawer.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include "RagdollDemo.h"
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// Enrico: Shouldn't these three variables be real constants and not defines?
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#ifndef M_PI
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#define M_PI 3.14159265358979323846
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#endif
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#ifndef M_PI_2
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#define M_PI_2 1.57079632679489661923
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#endif
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#ifndef M_PI_4
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#define M_PI_4 0.785398163397448309616
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#endif
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class RagDoll
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{
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enum
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{
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BODYPART_PELVIS = 0,
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BODYPART_SPINE,
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BODYPART_HEAD,
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BODYPART_LEFT_UPPER_LEG,
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BODYPART_LEFT_LOWER_LEG,
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BODYPART_RIGHT_UPPER_LEG,
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BODYPART_RIGHT_LOWER_LEG,
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BODYPART_LEFT_UPPER_ARM,
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BODYPART_LEFT_LOWER_ARM,
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BODYPART_RIGHT_UPPER_ARM,
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BODYPART_RIGHT_LOWER_ARM,
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BODYPART_COUNT
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};
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enum
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{
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JOINT_PELVIS_SPINE = 0,
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JOINT_SPINE_HEAD,
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JOINT_LEFT_HIP,
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JOINT_LEFT_KNEE,
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JOINT_RIGHT_HIP,
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JOINT_RIGHT_KNEE,
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JOINT_LEFT_SHOULDER,
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JOINT_LEFT_ELBOW,
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JOINT_RIGHT_SHOULDER,
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JOINT_RIGHT_ELBOW,
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JOINT_COUNT
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};
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btDynamicsWorld* m_ownerWorld;
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btCollisionShape* m_shapes[BODYPART_COUNT];
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btRigidBody* m_bodies[BODYPART_COUNT];
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btTypedConstraint* m_joints[JOINT_COUNT];
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btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
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{
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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if (isDynamic)
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shape->calculateLocalInertia(mass,localInertia);
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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m_ownerWorld->addRigidBody(body);
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return body;
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}
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public:
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RagDoll (btDynamicsWorld* ownerWorld, const btVector3& positionOffset)
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: m_ownerWorld (ownerWorld)
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{
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// Setup the geometry
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m_shapes[BODYPART_PELVIS] = new btCapsuleShape(btScalar(0.15), btScalar(0.20));
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m_shapes[BODYPART_SPINE] = new btCapsuleShape(btScalar(0.15), btScalar(0.28));
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m_shapes[BODYPART_HEAD] = new btCapsuleShape(btScalar(0.10), btScalar(0.05));
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m_shapes[BODYPART_LEFT_UPPER_LEG] = new btCapsuleShape(btScalar(0.07), btScalar(0.45));
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m_shapes[BODYPART_LEFT_LOWER_LEG] = new btCapsuleShape(btScalar(0.05), btScalar(0.37));
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m_shapes[BODYPART_RIGHT_UPPER_LEG] = new btCapsuleShape(btScalar(0.07), btScalar(0.45));
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m_shapes[BODYPART_RIGHT_LOWER_LEG] = new btCapsuleShape(btScalar(0.05), btScalar(0.37));
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m_shapes[BODYPART_LEFT_UPPER_ARM] = new btCapsuleShape(btScalar(0.05), btScalar(0.33));
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m_shapes[BODYPART_LEFT_LOWER_ARM] = new btCapsuleShape(btScalar(0.04), btScalar(0.25));
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m_shapes[BODYPART_RIGHT_UPPER_ARM] = new btCapsuleShape(btScalar(0.05), btScalar(0.33));
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m_shapes[BODYPART_RIGHT_LOWER_ARM] = new btCapsuleShape(btScalar(0.04), btScalar(0.25));
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// Setup all the rigid bodies
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btTransform offset; offset.setIdentity();
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offset.setOrigin(positionOffset);
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btTransform transform;
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transform.setIdentity();
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transform.setOrigin(btVector3(btScalar(0.), btScalar(1.), btScalar(0.)));
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m_bodies[BODYPART_PELVIS] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_PELVIS]);
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transform.setIdentity();
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transform.setOrigin(btVector3(btScalar(0.), btScalar(1.2), btScalar(0.)));
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m_bodies[BODYPART_SPINE] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_SPINE]);
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transform.setIdentity();
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transform.setOrigin(btVector3(btScalar(0.), btScalar(1.6), btScalar(0.)));
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m_bodies[BODYPART_HEAD] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_HEAD]);
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transform.setIdentity();
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transform.setOrigin(btVector3(btScalar(-0.18), btScalar(0.65), btScalar(0.)));
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m_bodies[BODYPART_LEFT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_LEG]);
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transform.setIdentity();
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transform.setOrigin(btVector3(btScalar(-0.18), btScalar(0.2), btScalar(0.)));
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m_bodies[BODYPART_LEFT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_LEG]);
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transform.setIdentity();
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transform.setOrigin(btVector3(btScalar(0.18), btScalar(0.65), btScalar(0.)));
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m_bodies[BODYPART_RIGHT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_LEG]);
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transform.setIdentity();
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transform.setOrigin(btVector3(btScalar(0.18), btScalar(0.2), btScalar(0.)));
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m_bodies[BODYPART_RIGHT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_LEG]);
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transform.setIdentity();
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transform.setOrigin(btVector3(btScalar(-0.35), btScalar(1.45), btScalar(0.)));
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transform.getBasis().setEulerZYX(0,0,M_PI_2);
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m_bodies[BODYPART_LEFT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_ARM]);
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transform.setIdentity();
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transform.setOrigin(btVector3(btScalar(-0.7), btScalar(1.45), btScalar(0.)));
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transform.getBasis().setEulerZYX(0,0,M_PI_2);
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m_bodies[BODYPART_LEFT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_ARM]);
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transform.setIdentity();
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transform.setOrigin(btVector3(btScalar(0.35), btScalar(1.45), btScalar(0.)));
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transform.getBasis().setEulerZYX(0,0,-M_PI_2);
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m_bodies[BODYPART_RIGHT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_ARM]);
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transform.setIdentity();
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transform.setOrigin(btVector3(btScalar(0.7), btScalar(1.45), btScalar(0.)));
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transform.getBasis().setEulerZYX(0,0,-M_PI_2);
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m_bodies[BODYPART_RIGHT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_ARM]);
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// Setup some damping on the m_bodies
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for (int i = 0; i < BODYPART_COUNT; ++i)
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{
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m_bodies[i]->setDamping(0.05, 0.85);
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m_bodies[i]->setDeactivationTime(0.8);
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m_bodies[i]->setSleepingThresholds(1.6, 2.5);
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}
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// Now setup the constraints
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btHingeConstraint* hingeC;
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btConeTwistConstraint* coneC;
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btTransform localA, localB;
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localA.setIdentity(); localB.setIdentity();
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localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.15), btScalar(0.)));
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localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.15), btScalar(0.)));
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hingeC = new btHingeConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_SPINE], localA, localB);
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hingeC->setLimit(btScalar(-M_PI_4), btScalar(M_PI_2));
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m_joints[JOINT_PELVIS_SPINE] = hingeC;
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hingeC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
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m_ownerWorld->addConstraint(m_joints[JOINT_PELVIS_SPINE], true);
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localA.setIdentity(); localB.setIdentity();
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localA.getBasis().setEulerZYX(0,0,M_PI_2); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.30), btScalar(0.)));
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localB.getBasis().setEulerZYX(0,0,M_PI_2); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.)));
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coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_HEAD], localA, localB);
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coneC->setLimit(M_PI_4, M_PI_4, M_PI_2);
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m_joints[JOINT_SPINE_HEAD] = coneC;
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coneC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
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m_ownerWorld->addConstraint(m_joints[JOINT_SPINE_HEAD], true);
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localA.setIdentity(); localB.setIdentity();
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localA.getBasis().setEulerZYX(0,0,-M_PI_4*5); localA.setOrigin(btVector3(btScalar(-0.18), btScalar(-0.10), btScalar(0.)));
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localB.getBasis().setEulerZYX(0,0,-M_PI_4*5); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225), btScalar(0.)));
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coneC = new btConeTwistConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_LEFT_UPPER_LEG], localA, localB);
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coneC->setLimit(M_PI_4, M_PI_4, 0);
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m_joints[JOINT_LEFT_HIP] = coneC;
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coneC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
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m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_HIP], true);
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localA.setIdentity(); localB.setIdentity();
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localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225), btScalar(0.)));
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localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.185), btScalar(0.)));
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hingeC = new btHingeConstraint(*m_bodies[BODYPART_LEFT_UPPER_LEG], *m_bodies[BODYPART_LEFT_LOWER_LEG], localA, localB);
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hingeC->setLimit(btScalar(0), btScalar(M_PI_2));
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m_joints[JOINT_LEFT_KNEE] = hingeC;
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hingeC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
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m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_KNEE], true);
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localA.setIdentity(); localB.setIdentity();
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localA.getBasis().setEulerZYX(0,0,M_PI_4); localA.setOrigin(btVector3(btScalar(0.18), btScalar(-0.10), btScalar(0.)));
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localB.getBasis().setEulerZYX(0,0,M_PI_4); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225), btScalar(0.)));
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coneC = new btConeTwistConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_RIGHT_UPPER_LEG], localA, localB);
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coneC->setLimit(M_PI_4, M_PI_4, 0);
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m_joints[JOINT_RIGHT_HIP] = coneC;
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coneC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
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m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_HIP], true);
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localA.setIdentity(); localB.setIdentity();
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localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225), btScalar(0.)));
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localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.185), btScalar(0.)));
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hingeC = new btHingeConstraint(*m_bodies[BODYPART_RIGHT_UPPER_LEG], *m_bodies[BODYPART_RIGHT_LOWER_LEG], localA, localB);
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hingeC->setLimit(btScalar(0), btScalar(M_PI_2));
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m_joints[JOINT_RIGHT_KNEE] = hingeC;
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hingeC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
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m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_KNEE], true);
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localA.setIdentity(); localB.setIdentity();
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localA.getBasis().setEulerZYX(0,0,M_PI); localA.setOrigin(btVector3(btScalar(-0.2), btScalar(0.15), btScalar(0.)));
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localB.getBasis().setEulerZYX(0,0,M_PI_2); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18), btScalar(0.)));
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coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_LEFT_UPPER_ARM], localA, localB);
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coneC->setLimit(M_PI_2, M_PI_2, 0);
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coneC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
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m_joints[JOINT_LEFT_SHOULDER] = coneC;
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m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_SHOULDER], true);
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localA.setIdentity(); localB.setIdentity();
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localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18), btScalar(0.)));
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localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.)));
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hingeC = new btHingeConstraint(*m_bodies[BODYPART_LEFT_UPPER_ARM], *m_bodies[BODYPART_LEFT_LOWER_ARM], localA, localB);
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// hingeC->setLimit(btScalar(-M_PI_2), btScalar(0));
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hingeC->setLimit(btScalar(0), btScalar(M_PI_2));
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m_joints[JOINT_LEFT_ELBOW] = hingeC;
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hingeC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
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m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_ELBOW], true);
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localA.setIdentity(); localB.setIdentity();
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localA.getBasis().setEulerZYX(0,0,0); localA.setOrigin(btVector3(btScalar(0.2), btScalar(0.15), btScalar(0.)));
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localB.getBasis().setEulerZYX(0,0,M_PI_2); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18), btScalar(0.)));
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coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_RIGHT_UPPER_ARM], localA, localB);
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coneC->setLimit(M_PI_2, M_PI_2, 0);
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m_joints[JOINT_RIGHT_SHOULDER] = coneC;
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coneC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
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m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_SHOULDER], true);
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localA.setIdentity(); localB.setIdentity();
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localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18), btScalar(0.)));
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localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.)));
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hingeC = new btHingeConstraint(*m_bodies[BODYPART_RIGHT_UPPER_ARM], *m_bodies[BODYPART_RIGHT_LOWER_ARM], localA, localB);
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// hingeC->setLimit(btScalar(-M_PI_2), btScalar(0));
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hingeC->setLimit(btScalar(0), btScalar(M_PI_2));
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m_joints[JOINT_RIGHT_ELBOW] = hingeC;
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hingeC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
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m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_ELBOW], true);
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}
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virtual ~RagDoll ()
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{
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int i;
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// Remove all constraints
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for ( i = 0; i < JOINT_COUNT; ++i)
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{
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m_ownerWorld->removeConstraint(m_joints[i]);
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delete m_joints[i]; m_joints[i] = 0;
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}
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// Remove all bodies and shapes
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for ( i = 0; i < BODYPART_COUNT; ++i)
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{
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m_ownerWorld->removeRigidBody(m_bodies[i]);
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delete m_bodies[i]->getMotionState();
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delete m_bodies[i]; m_bodies[i] = 0;
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delete m_shapes[i]; m_shapes[i] = 0;
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}
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}
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};
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void RagdollDemo::initPhysics()
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{
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// Setup the basic world
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setTexturing(true);
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setShadows(true);
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setCameraDistance(btScalar(5.));
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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btVector3 worldAabbMin(-10000,-10000,-10000);
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btVector3 worldAabbMax(10000,10000,10000);
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m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);
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m_solver = new btSequentialImpulseConstraintSolver;
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
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//m_dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
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//m_dynamicsWorld->getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01f;
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// Setup a big ground box
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{
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-10,0));
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#define CREATE_GROUND_COLLISION_OBJECT 1
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#ifdef CREATE_GROUND_COLLISION_OBJECT
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btCollisionObject* fixedGround = new btCollisionObject();
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fixedGround->setCollisionShape(groundShape);
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fixedGround->setWorldTransform(groundTransform);
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m_dynamicsWorld->addCollisionObject(fixedGround);
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#else
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localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
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#endif //CREATE_GROUND_COLLISION_OBJECT
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}
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// Spawn one ragdoll
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btVector3 startOffset(1,0.5,0);
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spawnRagdoll(startOffset);
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startOffset.setValue(-1,0.5,0);
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spawnRagdoll(startOffset);
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clientResetScene();
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}
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void RagdollDemo::spawnRagdoll(const btVector3& startOffset)
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{
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RagDoll* ragDoll = new RagDoll (m_dynamicsWorld, startOffset);
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m_ragdolls.push_back(ragDoll);
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}
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void RagdollDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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//simple dynamics world doesn't handle fixed-time-stepping
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float ms = getDeltaTimeMicroseconds();
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float minFPS = 1000000.f/60.f;
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if (ms > minFPS)
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ms = minFPS;
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if (m_dynamicsWorld)
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{
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m_dynamicsWorld->stepSimulation(ms / 1000000.f);
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//optional but useful: debug drawing
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m_dynamicsWorld->debugDrawWorld();
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}
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renderme();
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glFlush();
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glutSwapBuffers();
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}
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void RagdollDemo::displayCallback()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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renderme();
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//optional but useful: debug drawing
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if (m_dynamicsWorld)
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m_dynamicsWorld->debugDrawWorld();
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glFlush();
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glutSwapBuffers();
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}
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void RagdollDemo::keyboardCallback(unsigned char key, int x, int y)
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{
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switch (key)
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{
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case 'e':
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{
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btVector3 startOffset(0,2,0);
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spawnRagdoll(startOffset);
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break;
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}
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default:
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DemoApplication::keyboardCallback(key, x, y);
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}
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}
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void RagdollDemo::exitPhysics()
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{
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int i;
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for (i=0;i<m_ragdolls.size();i++)
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{
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RagDoll* doll = m_ragdolls[i];
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delete doll;
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}
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//cleanup in the reverse order of creation/initialization
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//remove the rigidbodies from the dynamics world and delete them
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for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
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{
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btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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{
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delete body->getMotionState();
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}
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m_dynamicsWorld->removeCollisionObject( obj );
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delete obj;
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}
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//delete collision shapes
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for (int j=0;j<m_collisionShapes.size();j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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//delete dynamics world
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delete m_dynamicsWorld;
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//delete solver
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delete m_solver;
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//delete broadphase
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delete m_broadphase;
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//delete dispatcher
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delete m_dispatcher;
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delete m_collisionConfiguration;
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}
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