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+//
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+// Copyright (c) 2008-2015 the Urho3D project.
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+// Copyright (c) 2015 Xamarin Inc
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+// Copyright (c) 2016 THUNDERBEAST GAMES LLC
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+//
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+// Permission is hereby granted, free of charge, to any person obtaining a copy
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+// of this software and associated documentation files (the "Software"), to deal
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+// in the Software without restriction, including without limitation the rights
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+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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+// copies of the Software, and to permit persons to whom the Software is
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+// furnished to do so, subject to the following conditions:
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+//
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+// The above copyright notice and this permission notice shall be included in
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+// all copies or substantial portions of the Software.
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+//
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+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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+// THE SOFTWARE.
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+//
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+
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+using System;
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+using AtomicEngine;
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+
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+namespace FeatureExamples
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+{
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+ class Ragdoll : CSComponent
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+ {
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+ public void Start()
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+ {
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+ SubscribeToEvent<NodeCollisionEvent>(Node, HandleNodeCollision);
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+
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+ }
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+
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+ void HandleNodeCollision(NodeCollisionEvent e)
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+ {
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+ // Get the other colliding body, make sure it is moving (has nonzero mass)
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+ RigidBody otherBody = e.OtherBody;
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+
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+ if (otherBody.Mass > 0.0f)
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+ {
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+ // We do not need the physics components in the AnimatedModel's root scene node anymore
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+ Node.RemoveComponent<RigidBody>();
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+ Node.RemoveComponent<CollisionShape>();
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+
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+ // Create RigidBody & CollisionShape components to bones
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+ CreateRagdollBone("Bip01_Pelvis", ShapeType.SHAPE_BOX, new Vector3(0.3f, 0.2f, 0.25f), new Vector3(0.0f, 0.0f, 0.0f),
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+ new Quaternion(0.0f, 0.0f, 0.0f));
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+ CreateRagdollBone("Bip01_Spine1", ShapeType.SHAPE_BOX, new Vector3(0.35f, 0.2f, 0.3f), new Vector3(0.15f, 0.0f, 0.0f),
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+ new Quaternion(0.0f, 0.0f, 0.0f));
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+ CreateRagdollBone("Bip01_L_Thigh", ShapeType.SHAPE_CAPSULE, new Vector3(0.175f, 0.45f, 0.175f), new Vector3(0.25f, 0.0f, 0.0f),
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+ new Quaternion(0.0f, 0.0f, 90.0f));
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+ CreateRagdollBone("Bip01_R_Thigh", ShapeType.SHAPE_CAPSULE, new Vector3(0.175f, 0.45f, 0.175f), new Vector3(0.25f, 0.0f, 0.0f),
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+ new Quaternion(0.0f, 0.0f, 90.0f));
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+ CreateRagdollBone("Bip01_L_Calf", ShapeType.SHAPE_CAPSULE, new Vector3(0.15f, 0.55f, 0.15f), new Vector3(0.25f, 0.0f, 0.0f),
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+ new Quaternion(0.0f, 0.0f, 90.0f));
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+ CreateRagdollBone("Bip01_R_Calf", ShapeType.SHAPE_CAPSULE, new Vector3(0.15f, 0.55f, 0.15f), new Vector3(0.25f, 0.0f, 0.0f),
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+ new Quaternion(0.0f, 0.0f, 90.0f));
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+ CreateRagdollBone("Bip01_Head", ShapeType.SHAPE_BOX, new Vector3(0.2f, 0.2f, 0.2f), new Vector3(0.1f, 0.0f, 0.0f),
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+ new Quaternion(0.0f, 0.0f, 0.0f));
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+ CreateRagdollBone("Bip01_L_UpperArm", ShapeType.SHAPE_CAPSULE, new Vector3(0.15f, 0.35f, 0.15f), new Vector3(0.1f, 0.0f, 0.0f),
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+ new Quaternion(0.0f, 0.0f, 90.0f));
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+ CreateRagdollBone("Bip01_R_UpperArm", ShapeType.SHAPE_CAPSULE, new Vector3(0.15f, 0.35f, 0.15f), new Vector3(0.1f, 0.0f, 0.0f),
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+ new Quaternion(0.0f, 0.0f, 90.0f));
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+ CreateRagdollBone("Bip01_L_Forearm", ShapeType.SHAPE_CAPSULE, new Vector3(0.125f, 0.4f, 0.125f), new Vector3(0.2f, 0.0f, 0.0f),
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+ new Quaternion(0.0f, 0.0f, 90.0f));
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+ CreateRagdollBone("Bip01_R_Forearm", ShapeType.SHAPE_CAPSULE, new Vector3(0.125f, 0.4f, 0.125f), new Vector3(0.2f, 0.0f, 0.0f),
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+ new Quaternion(0.0f, 0.0f, 90.0f));
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+
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+ Vector3 back = new Vector3(0f, 0f, -1f);
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+ Vector3 forward = new Vector3(0f, 0f, 1f);
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+ Vector3 left = new Vector3(-1f, 0f, 0f);
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+ Vector3 down = new Vector3(0f, -1f, 0f);
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+ Vector3 up = new Vector3(0f, 1f, 0f);
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+
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+ // Create Constraints between bones
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+ CreateRagdollConstraint("Bip01_L_Thigh", "Bip01_Pelvis", ConstraintType.CONSTRAINT_CONETWIST, back, forward,
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+ new Vector2(45.0f, 45.0f), Vector2.Zero);
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+ CreateRagdollConstraint("Bip01_R_Thigh", "Bip01_Pelvis", ConstraintType.CONSTRAINT_CONETWIST, back, forward,
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+ new Vector2(45.0f, 45.0f), Vector2.Zero);
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+ CreateRagdollConstraint("Bip01_L_Calf", "Bip01_L_Thigh", ConstraintType.CONSTRAINT_HINGE, back, back,
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+ new Vector2(90.0f, 0.0f), Vector2.Zero);
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+ CreateRagdollConstraint("Bip01_R_Calf", "Bip01_R_Thigh", ConstraintType.CONSTRAINT_HINGE, back, back,
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+ new Vector2(90.0f, 0.0f), Vector2.Zero);
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+ CreateRagdollConstraint("Bip01_Spine1", "Bip01_Pelvis", ConstraintType.CONSTRAINT_HINGE, forward, forward,
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+ new Vector2(45.0f, 0.0f), new Vector2(-10.0f, 0.0f));
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+ CreateRagdollConstraint("Bip01_Head", "Bip01_Spine1", ConstraintType.CONSTRAINT_CONETWIST, left, left,
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+ new Vector2(0.0f, 30.0f), Vector2.Zero);
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+ CreateRagdollConstraint("Bip01_L_UpperArm", "Bip01_Spine1", ConstraintType.CONSTRAINT_CONETWIST, down, up,
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+ new Vector2(45.0f, 45.0f), Vector2.Zero, false);
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+ CreateRagdollConstraint("Bip01_R_UpperArm", "Bip01_Spine1", ConstraintType.CONSTRAINT_CONETWIST, down, up,
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+ new Vector2(45.0f, 45.0f), Vector2.Zero, false);
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+ CreateRagdollConstraint("Bip01_L_Forearm", "Bip01_L_UpperArm", ConstraintType.CONSTRAINT_HINGE, back, back,
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+ new Vector2(90.0f, 0.0f), Vector2.Zero);
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+ CreateRagdollConstraint("Bip01_R_Forearm", "Bip01_R_UpperArm", ConstraintType.CONSTRAINT_HINGE, back, back,
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+ new Vector2(90.0f, 0.0f), Vector2.Zero);
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+
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+ // Disable keyframe animation from all bones so that they will not interfere with the ragdoll
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+ AnimatedModel model = GetComponent<AnimatedModel>();
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+
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+ Skeleton skeleton = model.Skeleton;
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+ for (uint i = 0; i < skeleton.GetNumBones(); ++i)
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+ {
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+ skeleton.GetBone(i).Animated = false;
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+ }
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+
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+ // Finally remove self from the scene node. Note that this must be the last operation performed in the function
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+ Remove();
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+ }
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+ }
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+
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+ void CreateRagdollBone(string boneName, ShapeType type, Vector3 size, Vector3 position, Quaternion rotation)
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+ {
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+ // Find the correct child scene node recursively
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+ Node boneNode = Node.GetChild(boneName, true);
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+ if (boneNode == null)
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+ {
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+ Log.Warn($"Could not find bone {boneName} for creating ragdoll physics components");
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+ return;
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+ }
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+
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+ RigidBody body = boneNode.CreateComponent<RigidBody>();
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+ // Set mass to make movable
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+ body.Mass = 1.0f;
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+ // Set damping parameters to smooth out the motion
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+ body.LinearDamping = 0.05f;
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+ body.AngularDamping = 0.85f;
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+ // Set rest thresholds to ensure the ragdoll rigid bodies come to rest to not consume CPU endlessly
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+ body.LinearRestThreshold = 1.5f;
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+ body.AngularRestThreshold = 2.5f;
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+
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+ CollisionShape shape = boneNode.CreateComponent<CollisionShape>();
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+ // We use either a box or a capsule shape for all of the bones
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+ if (type == ShapeType.SHAPE_BOX)
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+ shape.SetBox(size, position, rotation);
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+ else
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+ shape.SetCapsule(size.X, size.Y, position, rotation);
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+ }
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+
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+ void CreateRagdollConstraint(string boneName, string parentName, ConstraintType type,
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+ Vector3 axis, Vector3 parentAxis, Vector2 highLimit, Vector2 lowLimit, bool disableCollision = true)
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+ {
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+ Node boneNode = Node.GetChild(boneName, true);
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+ Node parentNode = Node.GetChild(parentName, true);
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+ if (boneNode == null)
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+ {
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+ Log.Warn($"Could not find bone {boneName} for creating ragdoll constraint");
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+ return;
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+ }
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+ if (parentNode == null)
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+ {
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+ Log.Warn($"Could not find bone {parentName} for creating ragdoll constraint");
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+ return;
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+ }
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+
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+ Constraint constraint = boneNode.CreateComponent<Constraint>();
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+ constraint.ConstraintType = type;
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+ // Most of the constraints in the ragdoll will work better when the connected bodies don't collide against each other
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+ constraint.DisableCollision = disableCollision;
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+ // The connected body must be specified before setting the world position
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+ constraint.OtherBody = parentNode.GetComponent<RigidBody>();
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+ // Position the constraint at the child bone we are connecting
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+ constraint.SetWorldPosition(boneNode.WorldPosition);
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+ // Configure axes and limits
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+ constraint.SetAxis(axis);
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+ constraint.SetOtherAxis(parentAxis);
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+ constraint.HighLimit = highLimit;
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+ constraint.LowLimit = lowLimit;
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+ }
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+ }
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+}
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