void CGraphicsCamera::RotateXY( double xInc, double yInc, CWindowFilter& filter )
{
m_rot.x += xInc;
if( m_rot.x > M_PI*2 )
m_rot.x = 0.0;
else if( m_rot.x < -M_PI*2 )
m_rot.x = 0.0;
m_rot.y += yInc;
if( m_rot.y > M_PI*2 )
m_rot.y = 0.0;
else if( m_rot.y < -M_PI*2 )
m_rot.y = 0.0;
filter.SetRotations( m_rot );
//get the quaternion representation of this rotation
CVector3D right = m_up.cross( CVector3D( m_pos, m_focalPt ).normalize() );
CQuaternion xquat( xInc, CVector3D( right ).normalize() );
CQuaternion yquat( yInc, m_up.normalize() );
CQuaternion total_quat = xquat + yquat;
total_quat.normalize();
double m[4][4] = {0.};
total_quat.QuatToMat( m );
CVector3D v1( m_pos, m_focalPt );
//multiply our view vector by the rotation matrix
v1 = v1*m;
//update our position
m_pos = CPoint3D( v1.x + m_focalPt.x, v1.y + m_focalPt.y, v1.z + m_focalPt.z );
//update our camera's up vector
m_up = m_up*m;
}
RagDoll::RagDoll (btDynamicsWorld* ownerWorld, const btVector3& positionOffset,
btScalar scale_ragdoll) : m_ownerWorld (ownerWorld) {
// setup colors
for (int i = 0; i < BODYPART_COUNT; i++) {
// ofVec4f col = ofVec4f(ofRandom(0.7, 1.0),
// ofRandom(0.5, 1.0),
// ofRandom(0.7, 1.0),
// 1.0);
ofVec4f col = ofVec4f(0.7,
0.7,
0.7,
1.0);
colors.push_back(col);
}
// 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);
// fix the rotation
double angle = (double)180*(TWO_PI/360.0);
btVector3 zaxis(0.0,0.0,1.0);
btQuaternion zquat(zaxis,angle);
btVector3 yaxis(0.0,1.0,0.0);
btQuaternion yquat(yaxis,angle);
btQuaternion quat = zquat*yquat;
offset.setRotation(quat);
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,SIMD_HALF_PI);
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,SIMD_HALF_PI);
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,-SIMD_HALF_PI);
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,-SIMD_HALF_PI);
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;
bool useLinearReferenceFrameA = true;
/// ******* 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,useLinearReferenceFrameA);
#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,useLinearReferenceFrameA);
#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,useLinearReferenceFrameA);
#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,useLinearReferenceFrameA);
#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,useLinearReferenceFrameA);
#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,SIMD_HALF_PI,0);
localA.setOrigin(btVector3(btScalar(0.), btScalar(0.15*scale_ragdoll), btScalar(0.)));
localB.getBasis().setEulerZYX(0,SIMD_HALF_PI,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,useLinearReferenceFrameA);
#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,useLinearReferenceFrameA);
#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,useLinearReferenceFrameA);
#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,useLinearReferenceFrameA);
//
#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,useLinearReferenceFrameA);
#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);
}
/// *************************** ///
}
