JoltPhysics/Samples/Utils/RagdollLoader.cpp

// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT

#include <TestFramework.h>

#include <Utils/RagdollLoader.h>
#include <Jolt/Physics/Ragdoll/Ragdoll.h>
#include <Jolt/Physics/Constraints/PointConstraint.h>
#include <Jolt/Physics/Constraints/FixedConstraint.h>
#include <Jolt/Physics/Constraints/HingeConstraint.h>
#include <Jolt/Physics/Constraints/SliderConstraint.h>
#include <Jolt/Physics/Constraints/ConeConstraint.h>
#include <Jolt/Physics/Constraints/SwingTwistConstraint.h>
#include <Jolt/Physics/Collision/Shape/CapsuleShape.h>
#include <Jolt/ObjectStream/ObjectStreamIn.h>
#include <Jolt/ObjectStream/ObjectStreamOut.h>
#include <Layers.h>
#include <Utils/Log.h>

#ifdef JPH_OBJECT_STREAM

RagdollSettings *RagdollLoader::sLoad(const char *inFileName, EMotionType inMotionType, EConstraintOverride inConstraintOverride)
{
	// Read the ragdoll
	RagdollSettings *ragdoll = nullptr;
	if (!ObjectStreamIn::sReadObject(inFileName, ragdoll))
		FatalError("Unable to read ragdoll");

	for (RagdollSettings::Part &p : ragdoll->mParts)
	{
		// Update motion type
		p.mMotionType = inMotionType;

		// Override layer
		p.mObjectLayer = Layers::MOVING;

		// Create new constraint
		Ref<SwingTwistConstraintSettings> original = DynamicCast<SwingTwistConstraintSettings>(p.mToParent);
		if (original != nullptr)
			switch (inConstraintOverride)
			{
			case EConstraintOverride::TypeFixed:
				{
					FixedConstraintSettings *settings = new FixedConstraintSettings();
					settings->mPoint1 = settings->mPoint2 = original->mPosition1;
					p.mToParent = settings;
					break;
				}

			case EConstraintOverride::TypePoint:
				{
					PointConstraintSettings *settings = new PointConstraintSettings();
					settings->mPoint1 = settings->mPoint2 = original->mPosition1;
					p.mToParent = settings;
					break;
				}

			case EConstraintOverride::TypeHinge:
				{
					HingeConstraintSettings *settings = new HingeConstraintSettings();
					settings->mPoint1 = original->mPosition1;
					settings->mHingeAxis1 = original->mPlaneAxis1;
					settings->mNormalAxis1 = original->mTwistAxis1;
					settings->mPoint2 = original->mPosition2;
					settings->mHingeAxis2 = original->mPlaneAxis2;
					settings->mNormalAxis2 = original->mTwistAxis2;
					settings->mLimitsMin = -original->mNormalHalfConeAngle;
					settings->mLimitsMax = original->mNormalHalfConeAngle;
					settings->mMaxFrictionTorque = original->mMaxFrictionTorque;
					p.mToParent = settings;
					break;
				}

			case EConstraintOverride::TypeSlider:
				{
					SliderConstraintSettings *settings = new SliderConstraintSettings();
					settings->mPoint1 = settings->mPoint2 = original->mPosition1;
					settings->mSliderAxis1 = settings->mSliderAxis2 = original->mTwistAxis1;
					settings->mNormalAxis1 = settings->mNormalAxis2 = original->mTwistAxis1.GetNormalizedPerpendicular();
					settings->mLimitsMin = -1.0f;
					settings->mLimitsMax = 1.0f;
					settings->mMaxFrictionForce = original->mMaxFrictionTorque;
					p.mToParent = settings;
					break;
				}

			case EConstraintOverride::TypeCone:
				{
					ConeConstraintSettings *settings = new ConeConstraintSettings();
					settings->mPoint1 = original->mPosition1;
					settings->mTwistAxis1 = original->mTwistAxis1;
					settings->mPoint2 = original->mPosition2;
					settings->mTwistAxis2 = original->mTwistAxis2;
					settings->mHalfConeAngle = original->mNormalHalfConeAngle;
					p.mToParent = settings;
					break;
				}

			case EConstraintOverride::TypeRagdoll:
				break;
			}
		}

	// Initialize the skeleton
	ragdoll->GetSkeleton()->CalculateParentJointIndices();

	// Stabilize the constraints of the ragdoll
	ragdoll->Stabilize();

	// Calculate body <-> constraint map
	ragdoll->CalculateBodyIndexToConstraintIndex();
	ragdoll->CalculateConstraintIndexToBodyIdxPair();

	return ragdoll;
}

#endif // JPH_OBJECT_STREAM

RagdollSettings *RagdollLoader::sCreate()
{
	// Create skeleton
	Ref<Skeleton> skeleton = new Skeleton;
	uint lower_body = skeleton->AddJoint("LowerBody");
	uint mid_body = skeleton->AddJoint("MidBody", lower_body);
	uint upper_body = skeleton->AddJoint("UpperBody", mid_body);
	/*uint head =*/ skeleton->AddJoint("Head", upper_body);
	uint upper_arm_l = skeleton->AddJoint("UpperArmL", upper_body);
	uint upper_arm_r = skeleton->AddJoint("UpperArmR", upper_body);
	/*uint lower_arm_l =*/ skeleton->AddJoint("LowerArmL", upper_arm_l);
	/*uint lower_arm_r =*/ skeleton->AddJoint("LowerArmR", upper_arm_r);
	uint upper_leg_l = skeleton->AddJoint("UpperLegL", lower_body);
	uint upper_leg_r = skeleton->AddJoint("UpperLegR", lower_body);
	/*uint lower_leg_l =*/ skeleton->AddJoint("LowerLegL", upper_leg_l);
	/*uint lower_leg_r =*/ skeleton->AddJoint("LowerLegR", upper_leg_r);

	// Create shapes for limbs
	Ref<Shape> shapes[] = {
		new CapsuleShape(0.15f, 0.10f),		// Lower Body
		new CapsuleShape(0.15f, 0.10f),		// Mid Body
		new CapsuleShape(0.15f, 0.10f),		// Upper Body
		new CapsuleShape(0.075f, 0.10f),	// Head
		new CapsuleShape(0.15f, 0.06f),		// Upper Arm L
		new CapsuleShape(0.15f, 0.06f),		// Upper Arm R
		new CapsuleShape(0.15f, 0.05f),		// Lower Arm L
		new CapsuleShape(0.15f, 0.05f),		// Lower Arm R
		new CapsuleShape(0.2f, 0.075f),		// Upper Leg L
		new CapsuleShape(0.2f, 0.075f),		// Upper Leg R
		new CapsuleShape(0.2f, 0.06f),		// Lower Leg L
		new CapsuleShape(0.2f, 0.06f),		// Lower Leg R
	};

	// Positions of body parts in world space
	RVec3 positions[] = {
		RVec3(0, 1.15f, 0),					// Lower Body
		RVec3(0, 1.35f, 0),					// Mid Body
		RVec3(0, 1.55f, 0),					// Upper Body
		RVec3(0, 1.825f, 0),				// Head
		RVec3(-0.425f, 1.55f, 0),			// Upper Arm L
		RVec3(0.425f, 1.55f, 0),			// Upper Arm R
		RVec3(-0.8f, 1.55f, 0),				// Lower Arm L
		RVec3(0.8f, 1.55f, 0),				// Lower Arm R
		RVec3(-0.15f, 0.8f, 0),				// Upper Leg L
		RVec3(0.15f, 0.8f, 0),				// Upper Leg R
		RVec3(-0.15f, 0.3f, 0),				// Lower Leg L
		RVec3(0.15f, 0.3f, 0),				// Lower Leg R
	};

	// Rotations of body parts in world space
	Quat rotations[] = {
		Quat::sRotation(Vec3::sAxisZ(), 0.5f * JPH_PI),		 // Lower Body
		Quat::sRotation(Vec3::sAxisZ(), 0.5f * JPH_PI),		 // Mid Body
		Quat::sRotation(Vec3::sAxisZ(), 0.5f * JPH_PI),		 // Upper Body
		Quat::sIdentity(),									 // Head
		Quat::sRotation(Vec3::sAxisZ(), 0.5f * JPH_PI),		 // Upper Arm L
		Quat::sRotation(Vec3::sAxisZ(), 0.5f * JPH_PI),		 // Upper Arm R
		Quat::sRotation(Vec3::sAxisZ(), 0.5f * JPH_PI),		 // Lower Arm L
		Quat::sRotation(Vec3::sAxisZ(), 0.5f * JPH_PI),		 // Lower Arm R
		Quat::sIdentity(),									 // Upper Leg L
		Quat::sIdentity(),									 // Upper Leg R
		Quat::sIdentity(),									 // Lower Leg L
		Quat::sIdentity()									 // Lower Leg R
	};

	// World space constraint positions
	RVec3 constraint_positions[] = {
		RVec3::sZero(),				// Lower Body (unused, there's no parent)
		RVec3(0, 1.25f, 0),			// Mid Body
		RVec3(0, 1.45f, 0),			// Upper Body
		RVec3(0, 1.65f, 0),			// Head
		RVec3(-0.225f, 1.55f, 0),	// Upper Arm L
		RVec3(0.225f, 1.55f, 0),	// Upper Arm R
		RVec3(-0.65f, 1.55f, 0),	// Lower Arm L
		RVec3(0.65f, 1.55f, 0),		// Lower Arm R
		RVec3(-0.15f, 1.05f, 0),	// Upper Leg L
		RVec3(0.15f, 1.05f, 0),		// Upper Leg R
		RVec3(-0.15f, 0.55f, 0),	// Lower Leg L
		RVec3(0.15f, 0.55f, 0),		// Lower Leg R
	};

	// World space twist axis directions
	Vec3 twist_axis[] = {
		Vec3::sZero(),				// Lower Body (unused, there's no parent)
		Vec3::sAxisY(),				// Mid Body
		Vec3::sAxisY(),				// Upper Body
		Vec3::sAxisY(),				// Head
		-Vec3::sAxisX(),			// Upper Arm L
		Vec3::sAxisX(),				// Upper Arm R
		-Vec3::sAxisX(),			// Lower Arm L
		Vec3::sAxisX(),				// Lower Arm R
		-Vec3::sAxisY(),			// Upper Leg L
		-Vec3::sAxisY(),			// Upper Leg R
		-Vec3::sAxisY(),			// Lower Leg L
		-Vec3::sAxisY(),			// Lower Leg R
	};

	// Constraint limits
	float twist_angle[] = {
		0.0f,		// Lower Body (unused, there's no parent)
		5.0f,		// Mid Body
		5.0f,		// Upper Body
		90.0f,		// Head
		45.0f,		// Upper Arm L
		45.0f,		// Upper Arm R
		45.0f,		// Lower Arm L
		45.0f,		// Lower Arm R
		45.0f,		// Upper Leg L
		45.0f,		// Upper Leg R
		45.0f,		// Lower Leg L
		45.0f,		// Lower Leg R
	};

	float normal_angle[] = {
		0.0f,		// Lower Body (unused, there's no parent)
		10.0f,		// Mid Body
		10.0f,		// Upper Body
		45.0f,		// Head
		90.0f,		// Upper Arm L
		90.0f,		// Upper Arm R
		0.0f,		// Lower Arm L
		0.0f,		// Lower Arm R
		45.0f,		// Upper Leg L
		45.0f,		// Upper Leg R
		0.0f,		// Lower Leg L
		0.0f,		// Lower Leg R
	};

	float plane_angle[] = {
		0.0f,		// Lower Body (unused, there's no parent)
		10.0f,		// Mid Body
		10.0f,		// Upper Body
		45.0f,		// Head
		45.0f,		// Upper Arm L
		45.0f,		// Upper Arm R
		90.0f,		// Lower Arm L
		90.0f,		// Lower Arm R
		45.0f,		// Upper Leg L
		45.0f,		// Upper Leg R
		60.0f,		// Lower Leg L (cheating here, a knee is not symmetric, we should have rotated the twist axis)
		60.0f,		// Lower Leg R
	};

	// Create ragdoll settings
	RagdollSettings *settings = new RagdollSettings;
	settings->mSkeleton = skeleton;
	settings->mParts.resize(skeleton->GetJointCount());
	for (int p = 0; p < skeleton->GetJointCount(); ++p)
	{
		RagdollSettings::Part &part = settings->mParts[p];
		part.SetShape(shapes[p]);
		part.mPosition = positions[p];
		part.mRotation = rotations[p];
		part.mMotionType = EMotionType::Dynamic;
		part.mObjectLayer = Layers::MOVING;

		// First part is the root, doesn't have a parent and doesn't have a constraint
		if (p > 0)
		{
			SwingTwistConstraintSettings *constraint = new SwingTwistConstraintSettings;
			constraint->mDrawConstraintSize = 0.1f;
			constraint->mPosition1 = constraint->mPosition2 = constraint_positions[p];
			constraint->mTwistAxis1 = constraint->mTwistAxis2 = twist_axis[p];
			constraint->mPlaneAxis1 = constraint->mPlaneAxis2 = Vec3::sAxisZ();
			constraint->mTwistMinAngle = -DegreesToRadians(twist_angle[p]);
			constraint->mTwistMaxAngle = DegreesToRadians(twist_angle[p]);
			constraint->mNormalHalfConeAngle = DegreesToRadians(normal_angle[p]);
			constraint->mPlaneHalfConeAngle = DegreesToRadians(plane_angle[p]);
			part.mToParent = constraint;
		}
	}

	// Optional: Stabilize the inertia of the limbs
	settings->Stabilize();

	// Disable parent child collisions so that we don't get collisions between constrained bodies
	settings->DisableParentChildCollisions();

	// Calculate the map needed for GetBodyIndexToConstraintIndex()
	settings->CalculateBodyIndexToConstraintIndex();

	return settings;
}