void RagdollDemo::initPhysics()
{
// Setup the basic world
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(5.));
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);
m_solver = new btSequentialImpulseConstraintSolver;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
//m_dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
//m_dynamicsWorld->getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01f;
// Setup a big ground box
{
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-10,0));
#define CREATE_GROUND_COLLISION_OBJECT 1
#ifdef CREATE_GROUND_COLLISION_OBJECT
btCollisionObject* fixedGround = new btCollisionObject();
fixedGround->setCollisionShape(groundShape);
fixedGround->setWorldTransform(groundTransform);
m_dynamicsWorld->addCollisionObject(fixedGround);
#else
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
#endif //CREATE_GROUND_COLLISION_OBJECT
}
// Spawn one ragdoll
btVector3 startOffset(1,0.5,0);
//spawnRagdoll(startOffset);
startOffset.setValue(-1,0.5,0);
//spawnRagdoll(startOffset);
CreateBox(0, 0., 2., 0., 1., 0.2, 1.); // Create the box
//leg components
CreateCylinder(1, 2. , 2., 0., .2, 1., 0., 0., M_PI_2); //xleft horizontal
CreateCylinder(2, -2., 2., 0., .2, 1., 0., 0., M_PI_2); //xright (negative) horizontal
CreateCylinder(3, 0, 2., 2., .2, 1., M_PI_2, 0., 0.); //zpositive (into screen)
CreateCylinder(4, 0, 2., -2., .2, 1., M_PI_2, 0., 0.); //znegative (out of screen)
CreateCylinder(5, 3.0, 1., 0., .2, 1., 0., 0., 0.); //xleft vertical
CreateCylinder(6, -3.0, 1., 0., .2, 1., 0., 0., 0.); //xright vertical
CreateCylinder(7, 0., 1., 3.0, .2, 1., 0., 0., 0.); //zpositive vertical
CreateCylinder(8, 0., 1., -3.0, .2, 1., 0., 0., 0.); //znegative vertical
//The axisworldtolocal defines a vector perpendicular to the plane that you want the bodies to rotate in
//hinge the legs together
//xnegative -- right
//two bodies should rotate in y-plane through x--give axisworldtolocal it a z vector
btVector3 local2 = PointWorldToLocal(2, btVector3(-3., 2., 0));
btVector3 local6 = PointWorldToLocal(6, btVector3(-3., 2., 0));
btVector3 axis2 = AxisWorldToLocal(2, btVector3(0., 0., 1.));
btVector3 axis6 = AxisWorldToLocal(6, btVector3( 0., 0., 1.));
CreateHinge(0, *body[2], *body[6], local2, local6, axis2, axis6);
joints[0]->setLimit(btScalar(0.), btScalar(M_PI_2+M_PI_4));
//positive -- left
//give axisworldtolocal a z vector
btVector3 local1 = PointWorldToLocal(1, btVector3(3., 2., 0));
btVector3 local5 = PointWorldToLocal(5, btVector3(3., 2., 0));
btVector3 axis1 = AxisWorldToLocal(1, btVector3( 0., 0., 1.));
btVector3 axis5 = AxisWorldToLocal(5, btVector3(0., 0., 1.));
CreateHinge(1, *body[1], *body[5], local1, local5, axis1, axis5);
joints[1]->setLimit(btScalar(M_PI_4), btScalar(M_PI_4));
//zpositive -- back
//rotates in y-plane through z--give it an x vector
btVector3 local3 = PointWorldToLocal(3, btVector3(0, 2., 3.));
btVector3 local7 = PointWorldToLocal(7, btVector3(0, 2., 3.));
btVector3 axis3 = AxisWorldToLocal(3, btVector3(1., 0., 0.));
btVector3 axis7 = AxisWorldToLocal(7, btVector3(1., 0., 0.));
CreateHinge(2, *body[3], *body[7], local3, local7, axis3, axis7);
joints[2]->setLimit(btScalar(0.), btScalar(M_PI_2+M_PI_4));
//znegative -- front
btVector3 local4 = PointWorldToLocal(4, btVector3(0, 2., -3.));
btVector3 local8 = PointWorldToLocal(8, btVector3(0, 2., -3.));
btVector3 axis4 = AxisWorldToLocal(4, btVector3(1., 0., 0.));
btVector3 axis8 = AxisWorldToLocal(8, btVector3(1., 0., 0.));
CreateHinge(3, *body[4], *body[8], local4, local8, axis4, axis8);
joints[3]->setLimit(btScalar(M_PI_4), btScalar(M_PI_4));
//hinge the legs to the body
//xright to main
btVector3 localHinge2 = PointWorldToLocal(2, btVector3(-1, 2., 0));
btVector3 mainHinge2 = PointWorldToLocal(0, btVector3(-1, 2., 0));
btVector3 localAxis2 = AxisWorldToLocal(2, btVector3(0., 0., 1.));
btVector3 mainAxis2 = AxisWorldToLocal(0, btVector3( 0., 0., 1.));
CreateHinge(4, *body[0], *body[2], mainHinge2, localHinge2, mainAxis2, localAxis2);
//joints[4]->setLimit(btScalar(-M_PI_2-M_PI_4), btScalar(M_PI_4));
//xleft to main
btVector3 localHinge1 = PointWorldToLocal(1, btVector3(1, 2., 0));
btVector3 mainHinge1 = PointWorldToLocal(0, btVector3(1, 2., 0));
btVector3 localAxis1 = AxisWorldToLocal(1, btVector3(0., 0., 1.));
btVector3 mainAxis1 = AxisWorldToLocal(0, btVector3( 0., 0., 1.));
CreateHinge(5, *body[0], *body[1], mainHinge1, localHinge1, mainAxis1, localAxis1);
//joints[5]->setLimit(btScalar(-M_PI_2), btScalar(M_PI_2));
//zpositive (back) to main
btVector3 localHinge3 = PointWorldToLocal(3, btVector3(0., 2., 1));
btVector3 mainHinge3 = PointWorldToLocal(0, btVector3(0., 2., 1));
btVector3 localAxis3 = AxisWorldToLocal(3, btVector3(1., 0., 0.));
btVector3 mainAxis3 = AxisWorldToLocal(0, btVector3( 1., 0., 0.));
CreateHinge(6, *body[0], *body[3], mainHinge3, localHinge3, mainAxis3, localAxis3);
//joints[6]->setLimit(btScalar(-M_PI_2-M_PI_4), btScalar(M_PI_4));
btVector3 localHinge4 = PointWorldToLocal(4, btVector3(0., 2., -1));
btVector3 mainHinge4= PointWorldToLocal(0, btVector3(0., 2., -1));
btVector3 localAxis4 = AxisWorldToLocal(4, btVector3(1., 0., 0. ));
btVector3 mainAxis4 = AxisWorldToLocal(0, btVector3( 1., 0., 0.));
CreateHinge(7, *body[0], *body[4], mainHinge4, localHinge4, mainAxis4, localAxis4);
//joints[7]->setLimit(btScalar(-M_PI_2), btScalar(M_PI_2));
clientResetScene();
}
void RagDoll::InitRagdoll() {
Release();
InitBones((Bone*)m_pRootBone);
Bone* Head_End = (Bone*)D3DXFrameFind(m_pRootBone, "Head_End");
Bone* Head = (Bone*)D3DXFrameFind(m_pRootBone, "Head");
Bone* Neck = (Bone*)D3DXFrameFind(m_pRootBone, "Neck");
Bone* Pelvis = (Bone*)D3DXFrameFind(m_pRootBone, "Pelvis");
Bone* Spine = (Bone*)D3DXFrameFind(m_pRootBone, "Spine");
Bone* R_Shoulder = (Bone*)D3DXFrameFind(m_pRootBone, "Shoulder_Right");
Bone* L_Shoulder = (Bone*)D3DXFrameFind(m_pRootBone, "Shoulder_Left");
Bone* U_R_Arm = (Bone*)D3DXFrameFind(m_pRootBone, "Upper_Arm_Right");
Bone* U_L_Arm = (Bone*)D3DXFrameFind(m_pRootBone, "Upper_Arm_Left");
Bone* L_R_Arm = (Bone*)D3DXFrameFind(m_pRootBone, "Lower_Arm_Right");
Bone* L_L_Arm = (Bone*)D3DXFrameFind(m_pRootBone, "Lower_Arm_Left");
Bone* R_Hand = (Bone*)D3DXFrameFind(m_pRootBone, "Hand_Right");
Bone* L_Hand = (Bone*)D3DXFrameFind(m_pRootBone, "Hand_Left");
Bone* R_Pelvis = (Bone*)D3DXFrameFind(m_pRootBone, "Pelvis_Right");
Bone* L_Pelvis = (Bone*)D3DXFrameFind(m_pRootBone, "Pelvis_Left");
Bone* R_Thigh = (Bone*)D3DXFrameFind(m_pRootBone, "Thigh_Right");
Bone* L_Thigh = (Bone*)D3DXFrameFind(m_pRootBone, "Thigh_Left");
Bone* R_Calf = (Bone*)D3DXFrameFind(m_pRootBone, "Calf_Right");
Bone* L_Calf = (Bone*)D3DXFrameFind(m_pRootBone, "Calf_Left");
Bone* R_Foot = (Bone*)D3DXFrameFind(m_pRootBone, "Foot_Right");
Bone* L_Foot = (Bone*)D3DXFrameFind(m_pRootBone, "Foot_Left");
Bone* R_Foot_End = (Bone*)D3DXFrameFind(m_pRootBone, "Foot_Right_End");
Bone* L_Foot_End = (Bone*)D3DXFrameFind(m_pRootBone, "Foot_Left_End");
D3DXQUATERNION q, q2;
D3DXQuaternionIdentity(&q);
D3DXQuaternionRotationAxis(&q2, &D3DXVECTOR3(0.0f, 0.0f, 1.0f), D3DX_PI * -0.5f);
//Head
OBB* o01 = CreateBoneBox(Head, Head_End, D3DXVECTOR3(0.3f, 0.2f, 0.2f), q);
//Right Arm
OBB* o03 = CreateBoneBox(U_R_Arm, L_R_Arm, D3DXVECTOR3(0.3f, 0.12f, 0.12f), q);
OBB* o04 = CreateBoneBox(L_R_Arm, R_Hand, D3DXVECTOR3(0.3f, 0.12f, 0.12f), q);
//Left Arm
OBB* o06 = CreateBoneBox(U_L_Arm, L_L_Arm, D3DXVECTOR3(0.3f, 0.12f, 0.12f), q);
OBB* o07 = CreateBoneBox(L_L_Arm, L_Hand, D3DXVECTOR3(0.3f, 0.12f, 0.12f), q);
//Spine
OBB* o08 = CreateBoneBox(Spine, Neck, D3DXVECTOR3(0.5f, 0.35f, 0.15f), q);
//Right Leg
OBB* o09 = CreateBoneBox(R_Thigh, R_Calf, D3DXVECTOR3(0.4f, 0.15f, 0.15f), q);
OBB* o10 = CreateBoneBox(R_Calf, R_Foot, D3DXVECTOR3(0.4f, 0.14f, 0.14f), q);
OBB* o11 = CreateBoneBox(R_Foot, R_Foot_End, D3DXVECTOR3(0.15f, 0.06f, 0.12f), q2);
//Left Leg
OBB* o12 = CreateBoneBox(L_Thigh, L_Calf, D3DXVECTOR3(0.4f, 0.15f, 0.15f), q);
OBB* o13 = CreateBoneBox(L_Calf, L_Foot, D3DXVECTOR3(0.4f, 0.14f, 0.14f), q);
OBB* o14 = CreateBoneBox(L_Foot, L_Foot_End, D3DXVECTOR3(0.15f, 0.06f, 0.12f), q2);
//Constraints
CreateTwistCone(Neck, o01, o08, D3DX_PI * 0.15f, D3DXVECTOR3(0.0f, 0.0f, D3DX_PI * 0.5f), D3DXVECTOR3(0.0f, 0.0f, D3DX_PI * 0.5f));
CreateTwistCone(L_Pelvis, o08, o12, D3DX_PI * 0.5f, D3DXVECTOR3(0.3f, D3DX_PI * 0.5f, -D3DX_PI * 0.5f), D3DXVECTOR3(0.0f, 0.0f, D3DX_PI * 0.5f));
CreateHinge(L_Calf, o12, o13, 0.0f, -2.0f, D3DXVECTOR3(0.0f, 0.0f, D3DX_PI * 0.5f), D3DXVECTOR3(0.0f, 0.0f, D3DX_PI * 0.5f));
CreateHinge(L_Foot, o13, o14, 1.5f, 1.0f, D3DXVECTOR3(0.0f, 0.0f, D3DX_PI * 0.5f), D3DXVECTOR3(0.0f, 0.0f, D3DX_PI * 0.5f));
CreateTwistCone(R_Pelvis, o08, o09, D3DX_PI * 0.5f, D3DXVECTOR3(0.3f, D3DX_PI * 0.5f, -D3DX_PI * 0.5f), D3DXVECTOR3(0.0f, 0.0f, D3DX_PI * 0.5f));
CreateHinge(R_Calf, o09, o10, 0.0f, -2.0f, D3DXVECTOR3(0.0f, 0.0f, D3DX_PI * 0.5f), D3DXVECTOR3(0.0f, 0.0f, D3DX_PI * 0.5f));
CreateHinge(R_Foot, o10, o11, 1.5f, 1.0f, D3DXVECTOR3(0.0f, 0.0f, D3DX_PI * 0.5f), D3DXVECTOR3(0.0f, 0.0f, D3DX_PI * 0.5f));
CreateTwistCone(U_L_Arm, o08, o06, D3DX_PI * 0.6f, D3DXVECTOR3(0.0f, D3DX_PI * 0.75f, D3DX_PI * 0.0f), D3DXVECTOR3(0.0f, 0.0f, 0.0f));
CreateHinge(L_L_Arm, o06, o07, 2.0f, 0.0f, D3DXVECTOR3(0.0f, 0.0f, D3DX_PI * 0.5f), D3DXVECTOR3(0.0f, 0.0f, D3DX_PI * 0.5f));
CreateTwistCone(U_R_Arm, o08, o03, D3DX_PI * 0.6f, D3DXVECTOR3(0.0f, D3DX_PI * 0.75f, D3DX_PI * 0.0f), D3DXVECTOR3(D3DX_PI, 0.0f, 0.0f));
CreateHinge(L_R_Arm, o03, o04, 2.0f, 0.0f, D3DXVECTOR3(0.0f, 0.0f, -D3DX_PI * 0.5f), D3DXVECTOR3(0.0f, 0.0f, -D3DX_PI * 0.5f));
//Assign Pelvis bone to Spine OBB
Pelvis->m_pObb = o08;
D3DXVECTOR3 PelvisPos(Pelvis->CombinedTransformationMatrix(3, 0),
Pelvis->CombinedTransformationMatrix(3, 1),
Pelvis->CombinedTransformationMatrix(3, 2));
Pelvis->m_pivot = o08->SetPivot(PelvisPos);
}
virtual bool BulldozerTest::Setup(Pint& pint, const PintCaps& caps)
{
CreateMeshesFromRegisteredSurfaces(pint, caps, *this, &mHighFrictionMaterial);
VehicleData* UserData = ICE_NEW(VehicleData);
pint.mUserData = UserData;
const float TrackWidth = mInsideCylinder.mHalfHeight + mOutsideCylinder.mHalfHeight*2.0f;
const float TrackGap = 0.1f;
const Point ChassisExtents(3.0f, 2.0f, 1.0f);
const float GroundClearance = 0.5f;
const Point ChassisPos(0.0f, ChassisExtents.y+GroundClearance, 0.0f);
const float ChassisMass = 100.0f;
const float ChassisGap = (TrackWidth+TrackGap)*2.0f;
const float SideDistToGround = 0.5f*2.0f;
const Point SideExtents(4.0f, 0.2f, 0.2f);
const Point LeftSidePos(SideExtents.x-ChassisExtents.x, SideExtents.y+SideDistToGround, -ChassisExtents.z-ChassisGap-SideExtents.z);
const Point RightSidePos(SideExtents.x-ChassisExtents.x, SideExtents.y+SideDistToGround, ChassisExtents.z+ChassisGap+SideExtents.z);
const float SideMass = 1.0f;
PINT_BOX_CREATE ChassisBoxDesc;
ChassisBoxDesc.mExtents = ChassisExtents;
ChassisBoxDesc.mRenderer = CreateBoxRenderer(ChassisExtents);
PintObjectHandle ChassisObject = null;
if(1)
{
// Caterpillar tracks
const udword NbGears = 3;
Point GearOffsets[3];
const float GearMass = 10.0f;
GearOffsets[0] = Point(0.0f, 2.0f, 0.0f);
GearOffsets[1] = Point(-2.0f, 0.0f, 0.0f);
GearOffsets[2] = Point(2.0f, 0.0f, 0.0f);
if(0)
{
CaterpillarTrackObjects CTO;
for(udword i=0;i<2;i++)
{
const float Coeff = i ? -1.0f : 1.0f;
const Point Pos(0.0f, 1.5f, Coeff*(ChassisExtents.z+TrackGap+TrackWidth));
CreateCaterpillarTrackWIP(pint, CTO, &mHighFrictionMaterial, Pos,
mInsideCylinder, GetRegisteredRenderers()[0], mOutsideCylinder, GetRegisteredRenderers()[1],
NbGears, GearOffsets, GearMass
);
}
}
else
{
PINT_SHAPE_CREATE* StartShape = null;
PINT_SHAPE_CREATE* CurrentShape = null;
for(udword i=0;i<2;i++)
{
const float Coeff = i ? -1.0f : 1.0f;
/*const*/ Point Pos(0.0f, 1.5f, Coeff*(ChassisExtents.z+TrackGap+TrackWidth));
Pos -= ChassisPos;
{
Point GearCenter(0.0f, 0.0f, 0.0f);
for(udword i=0;i<NbGears;i++)
{
const Point GearPos = Pos + GearOffsets[i];
GearCenter += GearPos;
}
GearCenter /= float(NbGears);
StartShape = CreateGearHolderShapes(StartShape, CurrentShape, Pos, GearCenter, NbGears, GearOffsets, mInsideCylinder, &mHighFrictionMaterial, GearCenter);
}
}
PintObjectHandle GearHolder = null;
if(StartShape)
{
if(1)
{
ChassisBoxDesc.mNext = StartShape;
PINT_OBJECT_CREATE ChassisObjectDesc;
ChassisObjectDesc.mPosition = ChassisPos;
ChassisObjectDesc.mShapes = &ChassisBoxDesc;
ChassisObjectDesc.mMass = ChassisMass;
GearHolder = CreatePintObject(pint, ChassisObjectDesc);
ChassisObject = GearHolder;
}
else
{
PINT_OBJECT_CREATE ObjectDesc;
ObjectDesc.mShapes = StartShape;
ObjectDesc.mMass = 10.0f;
ObjectDesc.mPosition = Point(0.0f, 0.0f, 0.0f);
GearHolder = CreatePintObject(pint, ObjectDesc);
}
while(StartShape)
{
PINT_SHAPE_CREATE* NextShape = const_cast<PINT_SHAPE_CREATE*>(StartShape->mNext);
DELETESINGLE(StartShape);
StartShape = NextShape;
}
}
if(1)
{
UserData->mChassis = GearHolder;
UserData->mFront[0].mParent = GearHolder;
UserData->mFront[1].mParent = GearHolder;
UserData->mRear[0].mParent = GearHolder;
UserData->mRear[1].mParent = GearHolder;
for(udword i=0;i<2;i++)
{
const float Coeff = i ? -1.0f : 1.0f;
/*const*/ Point Pos(0.0f, 1.5f, Coeff*(ChassisExtents.z+TrackGap+TrackWidth));
Point GearCenter(0.0f, 0.0f, 0.0f);
for(udword j=0;j<NbGears;j++)
{
const Point GearPos = Pos + GearOffsets[j];
GearCenter += GearPos;
}
GearCenter /= float(NbGears);
GearCenter -= ChassisPos;
CaterpillarTrackObjects CTO;
CreateCaterpillarTrackWIP(pint, CTO, &mHighFrictionMaterial, Pos,
mInsideCylinder, GetRegisteredRenderers()[0], mOutsideCylinder, GetRegisteredRenderers()[1],
NbGears, GearOffsets, GearMass, GearHolder, &GearCenter);
{
UserData->mFront[i].mWheel = CTO.mGears[1];
UserData->mRear[i].mWheel = CTO.mGears[2];
}
}
}
}
}
PintObjectHandle LeftSideObject = CreateBoxObject(pint, SideExtents, LeftSidePos, SideMass);
PintObjectHandle RightSideObject = CreateBoxObject(pint, SideExtents, RightSidePos, SideMass);
const Point HingeAxis(0.0f, 0.0f, 1.0f);
CreateHinge(pint, ChassisObject, LeftSideObject, Point(-ChassisExtents.x, -ChassisExtents.y+SideExtents.y, -ChassisExtents.z-ChassisGap), Point(-SideExtents.x, 0.0f, SideExtents.z), HingeAxis, HingeAxis);
CreateHinge(pint, ChassisObject, RightSideObject, Point(-ChassisExtents.x, -ChassisExtents.y+SideExtents.y, ChassisExtents.z+ChassisGap), Point(-SideExtents.x, 0.0f, -SideExtents.z), HingeAxis, HingeAxis);
// Blade
if(1)
{
const float BladeMinSize = ChassisExtents.z + ChassisGap + SideExtents.z * 2.0f;
const float BladeSize = BladeMinSize + 0.5f;
const Point BladeExtents(0.1f, 0.75f, BladeSize);
const Point BladePos( LeftSidePos.x + SideExtents.x + BladeExtents.x,
SideDistToGround + BladeExtents.y,
0.0f);
const float BladeMass = 1.0f;
PintObjectHandle BladeObject = CreateBoxObject(pint, BladeExtents, BladePos, BladeMass);
const float dz = fabsf(BladePos.z - LeftSidePos.z);
CreateHinge(pint, BladeObject, LeftSideObject, Point(-BladeExtents.x, -BladeExtents.y+SideExtents.y, -dz), Point(SideExtents.x, 0.0f, 0.0f), HingeAxis, HingeAxis);
CreateHinge(pint, BladeObject, RightSideObject, Point(-BladeExtents.x, -BladeExtents.y+SideExtents.y, dz), Point(SideExtents.x, 0.0f, 0.0f), HingeAxis, HingeAxis);
{
const Point Ext1(-BladeExtents.x, BladeExtents.y, dz);
const Point p1 = BladePos + Ext1;
const Point Ext0(0.0f, SideExtents.y, 0.0f);
const Point p0 = RightSidePos + Ext0;
CreatePrismatic(pint, p0, p1, RightSideObject, Ext0, BladeObject, Ext1);
}
{
const Point Ext1(-BladeExtents.x, BladeExtents.y, -dz);
const Point p1 = BladePos + Ext1;
const Point Ext0(0.0f, SideExtents.y, 0.0f);
const Point p0 = LeftSidePos + Ext0;
CreatePrismatic(pint, p0, p1, LeftSideObject, Ext0, BladeObject, Ext1);
}
for(udword i=0;i<2;i++)
{
const float Coeff = i ? -1.0f : 1.0f;
const float Offset = Coeff*0.5f;
const Point Ext0(ChassisExtents.x, ChassisExtents.y, Offset);
const Point p0 = ChassisPos + Ext0;
const Point Ext1(-BladeExtents.x, 0.0f, Offset);
const Point p1 = BladePos + Ext1;
CreatePrismatic(pint, p0, p1, ChassisObject, Ext0, BladeObject, Ext1);
}
}
if(1)
{
PINT_CONVEX_CREATE ConvexCreate[14];
MyConvex C[14];
for(udword i=0;i<14;i++)
{
C[i].LoadFile(i);
ConvexCreate[i].mNbVerts = C[i].mNbVerts;
ConvexCreate[i].mVerts = C[i].mVerts;
ConvexCreate[i].mRenderer = CreateConvexRenderer(ConvexCreate[i].mNbVerts, ConvexCreate[i].mVerts);
}
const float Amplitude = 1.5f;
const udword NbLayers = 12;
const udword NbX = 12+4;
const udword NbY = 12+4;
BasicRandom Rnd(42);
for(udword j=0;j<NbLayers;j++)
{
const float Scale = 4.0f;
for(udword y=0;y<NbY;y++)
{
for(udword x=0;x<NbX;x++)
{
const float xf = (float(x)-float(NbX)*0.5f)*Scale;
const float yf = (float(y)-float(NbY)*0.5f)*Scale;
const Point pos = Point(xf+40.0f, Amplitude + (Amplitude * 2.0f * float(j)), yf);
const udword Index = 10 + Rnd.Randomize() % 4;
PintObjectHandle Handle = CreateSimpleObject(pint, &ConvexCreate[Index], 0.1f, pos);
ASSERT(Handle);
}
}
}
}
return true;
}
void RagdollDemo::initPhysics()
{
// Setup the basic world
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(5.));
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);
m_solver = new btSequentialImpulseConstraintSolver;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
//m_dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
//m_dynamicsWorld->getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01f;
// Setup a big ground box
{
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-10,0));
#define CREATE_GROUND_COLLISION_OBJECT 1
#ifdef CREATE_GROUND_COLLISION_OBJECT
btCollisionObject* fixedGround = new btCollisionObject();
fixedGround->setCollisionShape(groundShape);
fixedGround->setWorldTransform(groundTransform);
m_dynamicsWorld->addCollisionObject(fixedGround);
#else
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
#endif //CREATE_GROUND_COLLISION_OBJECT
}
// Spawn one ragdoll
btVector3 startOffset(1,0.5,0);
//spawnRagdoll(startOffset);
startOffset.setValue(-1,0.5,0);
//spawnRagdoll(startOffset);
CreateBox(0, 0., 0., 1., 1., 1., 0.2);
// fore limbs
CreateCylinder(1, 1., 0., 1., 0.1, 1., 1);
CreateCylinder(2, -1., 0., 1., 0.1, 1., 1);
CreateCylinder(3, 0., 1., 1., 0.1, 1., 2);
CreateCylinder(4, 0., -1., 1., 0.1, 1., 2);
CreateCylinder(5, 1.5, 0., .5, 0.1, 1., 3);
CreateCylinder(6, -1.5, 0., .5, 0.1, 1., 3);
CreateCylinder(7, 0., 1.5, .5, 0.1, 1., 3);
CreateCylinder(8, 0., -1.5, .5, 0.1, 1., 3);
btVector3 v = PointWorldToLocal(0, btVector3(0,1,0));
/* std::cerr << "v " << v[0] << " " << v[1] << " " << v[2] << std::endl; */
printf("(%f, %f, %f)\n", v[0], v[1], v[2]);
CreateHinge(0,
0, 1,
0.5, 0., 1.,
0., -1., 0.);
CreateHinge(1, 0, 2,
-.5, 0., 1.,
0., 1., 0.);
CreateHinge(2, 0, 3,
0., .5, 1.,
1., 0., 0.);
CreateHinge(3, 0, 4,
0., -.5, 1.,
-1., 0., 0.);
CreateHinge(4, 1, 5,
1.5, 0., 1.,
0., -1., 0.);
CreateHinge(5, 2, 6,
-1.5, 0., 1.,
0., 1., 0.);
CreateHinge(6, 3, 7,
0., 1.5, 1.,
1., 0., 0.);
CreateHinge(7, 4, 8,
0., -1.5, 1.,
-1., 0., 0.);
clientResetScene();
}
