Adding Ragdoll example

FeatureExamples/Resources/Components/Ragdoll.cs

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

FeatureExamples/Resources/Components/Ragdoll.cs.asset

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+{
+	"version": 1,
+	"guid": "5edd82b3a8b98fcb1bb75b9a2860a4af",
+	"CSharpImporter": null
+}

FeatureExamples/Resources/Scripts/13_Ragdolls.cs

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+//
+// Copyright (c) 2008-2015 the Urho3D project.
+// Copyright (c) 2015 Xamarin Inc
+// Copyright (c) 2016 THUNDERBEAST GAMES LLC
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+//
+
+using AtomicEngine;
+
+namespace FeatureExamples
+{
+    public class RagdollSample : Sample
+    {
+        Scene scene;
+        bool drawDebug;
+        Camera camera;
+
+        public RagdollSample() : base() { }
+
+        public override void Start()
+        {
+            base.Start();
+            CreateScene();
+            SimpleCreateInstructionsWithWasd(
+                "\nLMB to spawn physics objects\n" +
+                "F5 to save scene, F7 to load\n" +
+                "Space to toggle physics debug geometry");
+            SetupViewport();
+            SubscribeToEvents();
+        }
+
+        void SubscribeToEvents()
+        {
+            SubscribeToEvent<PostRenderUpdateEvent>(e =>
+            {
+                // If draw debug mode is enabled, draw viewport debug geometry, which will show eg. drawable bounding boxes and skeleton
+                // bones. Note that debug geometry has to be separately requested each frame. Disable depth test so that we can see the
+                // bones properly
+                if (drawDebug)
+                    GetSubsystem<Renderer>().DrawDebugGeometry(false);
+            });
+        }
+
+        protected override void Update(float timeStep)
+        {
+            base.Update(timeStep);
+
+            SimpleMoveCamera3D(timeStep);
+
+            var input = GetSubsystem<Input>();
+
+            if (input.GetMouseButtonPress(Constants.MOUSEB_LEFT))
+                SpawnObject();
+
+            /* TODO: Scene.SaveXML/Scene.LoadXML
+
+            if (input.GetKeyPress(Constants.KEY_F5))
+                scene.SaveXml(fileSystem.UserDocumentsDir + "/Scenes/Physics.xml");
+
+            if (input.GetKeyPress(Constants.KEY_F7))
+                scene.LoadXml(fileSystem.UserDocumentsDir + "/Scenes/Physics.xml");
+
+            */
+
+            if (input.GetKeyPress(Constants.KEY_SPACE))
+                drawDebug = !drawDebug;
+        }
+
+        void SetupViewport()
+        {
+            var renderer = GetSubsystem<Renderer>();
+            renderer.SetViewport(0, new Viewport(scene, CameraNode.GetComponent<Camera>()));
+        }
+
+        void CreateScene()
+        {
+            var cache = GetSubsystem<ResourceCache>();
+            scene = new Scene();
+
+            // Create octree, use default volume (-1000, -1000, -1000) to (1000, 1000, 1000)
+            // Create a physics simulation world with default parameters, which will update at 60fps. Like the Octree must
+            // exist before creating drawable components, the PhysicsWorld must exist before creating physics components.
+            // Finally, create a DebugRenderer component so that we can draw physics debug geometry
+            scene.CreateComponent<Octree>();
+            scene.CreateComponent<PhysicsWorld>();
+            scene.CreateComponent<DebugRenderer>();
+
+            // Create a Zone component for ambient lighting & fog control
+            Node zoneNode = scene.CreateChild("Zone");
+            Zone zone = zoneNode.CreateComponent<Zone>();
+            zone.SetBoundingBox(new BoundingBox(-1000.0f, 1000.0f));
+            zone.AmbientColor = (new Color(0.15f, 0.15f, 0.15f));
+            zone.FogColor = new Color(0.5f, 0.5f, 0.7f);
+            zone.FogStart = 100.0f;
+            zone.FogEnd = 300.0f;
+
+            // Create a directional light to the world. Enable cascaded shadows on it
+            Node lightNode = scene.CreateChild("DirectionalLight");
+            lightNode.SetDirection(new Vector3(0.6f, -1.0f, 0.8f));
+            Light light = lightNode.CreateComponent<Light>();
+            light.LightType = LightType.LIGHT_DIRECTIONAL;
+            light.CastShadows = true;
+            light.ShadowBias = new BiasParameters(0.00025f, 0.5f);
+            // Set cascade splits at 10, 50 and 200 world units, fade shadows out at 80% of maximum shadow distance
+            light.ShadowCascade = new CascadeParameters(10.0f, 50.0f, 200.0f, 0.0f, 0.8f);
+
+            {
+                // Create a floor object, 500 x 500 world units. Adjust position so that the ground is at zero Y
+                Node floorNode = scene.CreateChild("Floor");
+                floorNode.Position = new Vector3(0.0f, -0.5f, 0.0f);
+                floorNode.Scale = new Vector3(500.0f, 1.0f, 500.0f);
+                StaticModel floorObject = floorNode.CreateComponent<StaticModel>();
+                floorObject.Model = cache.Get<Model>("Models/Box.mdl");
+                floorObject.SetMaterial(cache.Get<Material>("Materials/StoneTiled.xml"));
+
+                // Make the floor physical by adding RigidBody and CollisionShape components
+                RigidBody body = floorNode.CreateComponent<RigidBody>();
+                // We will be spawning spherical objects in this sample. The ground also needs non-zero rolling friction so that
+                // the spheres will eventually come to rest
+                body.RollingFriction = 0.15f;
+                CollisionShape shape = floorNode.CreateComponent<CollisionShape>();
+                // Set a box shape of size 1 x 1 x 1 for collision. The shape will be scaled with the scene node scale, so the
+                // rendering and physics representation sizes should match (the box model is also 1 x 1 x 1.)
+                shape.SetBox(Vector3.One, Vector3.Zero, Quaternion.Identity);
+            }
+
+            // Create animated models
+            for (int z = -1; z <= 1; ++z)
+            {
+                for (int x = -4; x <= 4; ++x)
+                {
+                    Node modelNode = scene.CreateChild("Jack");
+                    modelNode.Position = new Vector3(x * 5.0f, 0.0f, z * 5.0f);
+                    modelNode.Rotation = new Quaternion(0.0f, 180.0f, 0.0f);
+                    AnimatedModel modelObject = modelNode.CreateComponent<AnimatedModel>();
+                    modelObject.Model = cache.Get<Model>("Models/Jack.mdl");
+                    modelObject.SetMaterial(cache.Get<Material>("Materials/Jack.xml"));
+                    modelObject.CastShadows = true;
+                    // Set the model to also update when invisible to avoid staying invisible when the model should come into
+                    // view, but does not as the bounding box is not updated
+                    modelObject.UpdateInvisible = true;
+
+                    // Create a rigid body and a collision shape. These will act as a trigger for transforming the
+                    // model into a ragdoll when hit by a moving object
+                    RigidBody body = modelNode.CreateComponent<RigidBody>();
+                    // The Trigger mode makes the rigid body only detect collisions, but impart no forces on the
+                    // colliding objects
+                    body.Trigger = true;
+                    CollisionShape shape = modelNode.CreateComponent<CollisionShape>();
+                    // Create the capsule shape with an offset so that it is correctly aligned with the model, which
+                    // has its origin at the feet
+                    shape.SetCapsule(0.7f, 2.0f, new Vector3(0.0f, 1.0f, 0.0f), Quaternion.Identity);
+
+                    // Create a custom component that reacts to collisions and creates the ragdoll
+                    modelNode.AddComponent(new Ragdoll());
+                }
+            }
+
+            // Create the camera. Limit far clip distance to match the fog
+            CameraNode = new Node();
+            camera = CameraNode.CreateComponent<Camera>();
+            camera.FarClip = 300.0f;
+            // Set an initial position for the camera scene node above the plane
+            CameraNode.Position = new Vector3(0.0f, 3.0f, -20.0f);
+        }
+
+        void SpawnObject()
+        {
+            var cache = GetSubsystem<ResourceCache>();
+
+            Node boxNode = scene.CreateChild("Sphere");
+            boxNode.Position = CameraNode.Position;
+            boxNode.Rotation = CameraNode.Rotation;
+            boxNode.SetScale(0.25f);
+            StaticModel boxObject = boxNode.CreateComponent<StaticModel>();
+            boxObject.Model = cache.Get<Model>("Models/Sphere.mdl");
+            boxObject.SetMaterial(cache.Get<Material>("Materials/StoneSmall.xml"));
+            boxObject.CastShadows = true;
+
+            RigidBody body = boxNode.CreateComponent<RigidBody>();
+            body.Mass = 1.0f;
+            body.RollingFriction = 0.15f;
+            CollisionShape shape = boxNode.CreateComponent<CollisionShape>();
+            shape.SetSphere(1.0f, Vector3.Zero, Quaternion.Identity);
+
+            const float objectVelocity = 10.0f;
+
+            // Set initial velocity for the RigidBody based on camera forward vector. Add also a slight up component
+            // to overcome gravity better
+            body.SetLinearVelocity(CameraNode.Rotation * new Vector3(0.0f, 0.25f, 1.0f) * objectVelocity);
+        }
+
+        
+    }
+}

FeatureExamples/Resources/Scripts/13_Ragdolls.cs.asset

@@ -0,0 +1,5 @@
+{
+	"version": 1,
+	"guid": "70e6909f55033629f8c408cf71b0e1d1",
+	"CSharpImporter": null
+}