Added Lua Ragdolls sample.

Bin/Data/LuaScripts/12_PhysicsStressTest.lua

@@ -102,7 +102,7 @@ function CreateScene()
         -- By default the highest LOD level will be used, the LOD level can be passed as an optional parameter
         shape:SetTriangleMesh(mushroomObject.model)
     end
-    
+
     -- Create a large amount of falling physics objects
     local NUM_OBJECTS = 1000
     for i = 1, NUM_OBJECTS do
@@ -122,7 +122,7 @@ function CreateScene()
         local shape = boxNode:CreateComponent("CollisionShape")
         shape:SetBox(Vector3(1.0, 1.0, 1.0))
     end
-    
+
     -- Create the camera. Limit far clip distance to match the fog. Note: now we actually create the camera node outside
     -- the scene, because we want it to be unaffected by scene load/save
     cameraNode = Node(context)
@@ -198,12 +198,12 @@ function MoveCamera(timeStep)
     if input:GetKeyDown(KEY_D) then
         cameraNode:TranslateRelative(Vector3(1.0, 0.0, 0.0) * MOVE_SPEED * timeStep)
     end
-    
+
     -- "Shoot" a physics object with left mousebutton
     if input:GetMouseButtonPress(MOUSEB_LEFT) then
         SpawnObject()
     end
-    
+
     -- Check for loading/saving the scene. Save the scene to the file Data/Scenes/Physics.xml relative to the executable
     -- directory
     if input:GetKeyPress(KEY_F5) then
@@ -255,6 +255,6 @@ end
 function HandlePostRenderUpdate(eventType, eventData)
     -- If draw debug mode is enabled, draw physics debug geometry. Use depth test to make the result easier to interpret
     if drawDebug then
-        renderer:DrawDebugGeometry(true)
+        scene_:GetComponent("PhysicsWorld"):DrawDebugGeometry(true)
     end
 end

Bin/Data/LuaScripts/13_Ragdolls.lua

@@ -0,0 +1,378 @@
+-- Ragdoll example.
+-- This sample demonstrates:
+--     - Detecting physics collisions
+--     - Moving an AnimatedModel's bones with physics and connecting them with constraints
+--     - Using rolling friction to stop rolling objects from moving infinitely
+
+require "LuaScripts/Utilities/Sample"
+
+local scene_
+local cameraNode
+local yaw = 0.0
+local pitch = 0.0
+local drawDebug = false
+
+local context = GetContext()
+
+local cache = GetCache()
+local fileSystem = GetFileSystem()
+local input = GetInput()
+local renderer = GetRenderer()
+local ui = GetUI()
+
+function Start()
+    -- Execute the common startup for samples
+    SampleStart()
+
+    -- Create the scene content
+    CreateScene()
+
+    -- Create the UI content
+    CreateInstructions()
+
+    -- Setup the viewport for displaying the scene
+    SetupViewport()
+
+    -- Hook up to the frame update and render post-update events
+    SubscribeToEvents()
+end
+
+function CreateScene()
+    scene_ = Scene(context)
+
+    -- 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
+    local zoneNode = scene_:CreateChild("Zone")
+    local zone = zoneNode:CreateComponent("Zone")
+    zone.boundingBox = BoundingBox(-1000.0, 1000.0)
+    zone.ambientColor = Color(0.15, 0.15, 0.15)
+    zone.fogColor = Color(0.5, 0.5, 0.7)
+    zone.fogStart = 100.0
+    zone.fogEnd = 300.0
+
+    -- Create a directional light to the world. Enable cascaded shadows on it
+    local lightNode = scene_:CreateChild("DirectionalLight")
+    lightNode.direction = Vector3(0.6, -1.0, 0.8)
+    local light = lightNode:CreateComponent("Light")
+    light.lightType = LIGHT_DIRECTIONAL
+    light.castShadows = true
+    light.shadowBias = BiasParameters(0.0001, 0.5)
+    -- Set cascade splits at 10, 50 and 200 world units, fade shadows out at 80% of maximum shadow distance
+    light.shadowCascade = CascadeParameters(10.0, 50.0, 200.0, 0.0, 0.8)
+
+    -- Create a floor object, 500 x 500 world units. Adjust position so that the ground is at zero Y
+    local floorNode = scene_:CreateChild("Floor")
+    floorNode.position = Vector3(0.0, -0.5, 0.0)
+    floorNode.scale = Vector3(500.0, 1.0, 500.0)
+    local floorObject = floorNode:CreateComponent("StaticModel")
+    floorObject.model = cache:GetResource("Model", "Models/Box.mdl")
+    floorObject.material = cache:GetResource("Material", "Materials/StoneTiled.xml")
+
+    -- Make the floor physical by adding RigidBody and CollisionShape components
+    local 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 = 0.15
+    local 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(1.0, 1.0, 1.0))
+
+    -- Create animated models
+    for z = -1, 1 do
+        for x = -4, 4 do
+            local modelNode = scene_:CreateChild("Jack")
+            modelNode.position = Vector3(x * 5.0, 0.0, z * 5.0)
+            modelNode.rotation = Quaternion(0.0, 180.0, 0.0)
+            local modelObject = modelNode:CreateComponent("AnimatedModel")
+            modelObject.model = cache:GetResource("Model", "Models/Jack.mdl")
+            modelObject.material = cache:GetResource("Material", "Materials/Jack.xml")
+            modelObject.castShadows = 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
+            local body = modelNode:CreateComponent("RigidBody")
+            -- The phantom mode makes the rigid body only detect collisions, but impart no forces on the
+            -- colliding objects
+            body.phantom = true
+            local 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(0.7, 2.0, Vector3(0.0, 1.0, 0.0))
+
+            -- Create a custom script object that reacts to collisions and creates the ragdoll
+            modelNode:CreateScriptObject("CreateRagdoll")
+        end
+    end
+
+    -- Create the camera. Limit far clip distance to match the fog. Note: now we actually create the camera node outside
+    -- the scene, because we want it to be unaffected by scene load / save
+    cameraNode = Node(context)
+    local camera = cameraNode:CreateComponent("Camera")
+    camera.farClip = 300.0
+
+    -- Set an initial position for the camera scene node above the floor
+    cameraNode.position = Vector3(0.0, 5.0, -20.0)
+end
+
+function CreateInstructions()
+    -- Construct new Text object, set string to display and font to use
+    local instructionText = ui.root:CreateChild("Text")
+    instructionText:SetText(
+        "Use WASD keys and mouse to move\n"..
+        "LMB to spawn physics objects\n"..
+        "F5 to save scene, F7 to load\n"..
+        "Space to toggle physics debug geometry");
+    instructionText:SetFont(cache:GetResource("Font", "Fonts/Anonymous Pro.ttf"), 15)
+    -- The text has multiple rows. Center them in relation to each other
+    instructionText.textAlignment = HA_CENTER
+
+    -- Position the text relative to the screen center
+    instructionText.horizontalAlignment = HA_CENTER
+    instructionText.verticalAlignment = VA_CENTER
+    instructionText:SetPosition(0, ui.root.height / 4)
+end
+
+function SetupViewport()
+    -- Set up a viewport to the Renderer subsystem so that the 3D scene can be seen
+    local viewport = Viewport:new(context, scene_, cameraNode:GetComponent("Camera"))
+    renderer:SetViewport(0, viewport)
+end
+
+function SubscribeToEvents()
+    -- Subscribe HandleUpdate() function for processing update events
+    SubscribeToEvent("Update", "HandleUpdate")
+
+    -- Subscribe HandlePostRenderUpdate() function for processing the post-render update event, during which we request
+    -- debug geometry
+    SubscribeToEvent("PostRenderUpdate", "HandlePostRenderUpdate")
+end
+
+function MoveCamera(timeStep)
+    -- Do not move if the UI has a focused element (the console)
+    if ui.focusElement ~= nil then
+        return
+    end
+
+    -- Movement speed as world units per second
+    local MOVE_SPEED = 20.0
+    -- Mouse sensitivity as degrees per pixel
+    local MOUSE_SENSITIVITY = 0.1
+
+    -- Use this frame's mouse motion to adjust camera node yaw and pitch. Clamp the pitch between -90 and 90 degrees
+    local mouseMove = input.mouseMove
+    yaw = yaw + MOUSE_SENSITIVITY * mouseMove.x
+    pitch = pitch  +MOUSE_SENSITIVITY * mouseMove.y
+    pitch = Clamp(pitch, -90.0, 90.0)
+
+    -- Construct new orientation for the camera scene node from yaw and pitch. Roll is fixed to zero
+    cameraNode.rotation = Quaternion(pitch, yaw, 0.0)
+
+    -- Read WASD keys and move the camera scene node to the corresponding direction if they are pressed
+    if input:GetKeyDown(KEY_W) then
+        cameraNode:TranslateRelative(Vector3(0.0, 0.0, 1.0) * MOVE_SPEED * timeStep)
+    end
+    if input:GetKeyDown(KEY_S) then
+        cameraNode:TranslateRelative(Vector3(0.0, 0.0, -1.0) * MOVE_SPEED * timeStep)
+    end
+    if input:GetKeyDown(KEY_A) then
+        cameraNode:TranslateRelative(Vector3(-1.0, 0.0, 0.0) * MOVE_SPEED * timeStep)
+    end
+    if input:GetKeyDown(KEY_D) then
+        cameraNode:TranslateRelative(Vector3(1.0, 0.0, 0.0) * MOVE_SPEED * timeStep)
+    end
+
+    -- "Shoot" a physics object with left mousebutton
+    if input:GetMouseButtonPress(MOUSEB_LEFT) then
+        SpawnObject()
+    end
+
+    -- Check for loading/saving the scene. Save the scene to the file Data/Scenes/Physics.xml relative to the executable
+    -- directory
+    if input:GetKeyPress(KEY_F5) then
+        scene_:SaveXML(fileSystem:GetProgramDir().."Data/Scenes/Ragdolls.xml")
+    end
+    if input:GetKeyPress(KEY_F7) then
+        scene_:LoadXML(fileSystem:GetProgramDir().."Data/Scenes/Ragdolls.xml")
+    end
+
+    -- Toggle debug geometry with space
+    if input:GetKeyPress(KEY_SPACE) then
+        drawDebug = not drawDebug
+    end
+end
+
+function SpawnObject()
+    local boxNode = scene_:CreateChild("Sphere")
+    boxNode.position = cameraNode.position
+    boxNode.rotation = cameraNode.rotation
+    boxNode:SetScale(0.25)
+    local boxObject = boxNode:CreateComponent("StaticModel")
+    boxObject.model = cache:GetResource("Model", "Models/Sphere.mdl")
+    boxObject.material = cache:GetResource("Material", "Materials/StoneSmall.xml")
+    boxObject.castShadows = true
+
+    local body = boxNode:CreateComponent("RigidBody")
+    body.mass = 1.0
+    body.rollingFriction = 0.15
+    local shape = boxNode:CreateComponent("CollisionShape")
+    shape:SetSphere(1.0)
+
+    local OBJECT_VELOCITY = 10.0
+
+    -- Set initial velocity for the RigidBody based on camera forward vector. Add also a slight up component
+    -- to overcome gravity better
+    body.linearVelocity = cameraNode.rotation * Vector3(0.0, 0.25, 1.0) * OBJECT_VELOCITY
+end
+
+function HandleUpdate(eventType, eventData)
+    -- Take the frame time step, which is stored as a float
+    local timeStep = eventData:GetFloat("TimeStep")
+
+    -- Move the camera, scale movement with time step
+    MoveCamera(timeStep)
+end
+
+function HandlePostRenderUpdate(eventType, eventData)
+    -- If draw debug mode is enabled, draw physics debug geometry. Use depth test to make the result easier to interpret
+    if drawDebug then
+        scene_:GetComponent("PhysicsWorld"):DrawDebugGeometry(true)
+    end
+end
+
+-- CreateRagdoll script object class
+CreateRagdoll = ScriptObject()
+
+function CreateRagdoll:Start()
+    -- Subscribe physics collisions that concern this scene node
+    self:SubscribeToEvent(self.node, "NodeCollision", "CreateRagdoll:HandleNodeCollision")
+end
+
+function CreateRagdoll:HandleNodeCollision(eventType, eventData)
+    -- Get the other colliding body, make sure it is moving (has nonzero mass)
+    local otherBody = eventData:GetPtr("RigidBody", "OtherBody")
+
+    if otherBody.mass > 0.0 then
+        -- We do not need the physics components in the AnimatedModel's root scene node anymore
+        self.node:RemoveComponent("RigidBody")
+        self.node:RemoveComponent("CollisionShape")
+
+        -- Create RigidBody & CollisionShape components to bones
+        self:CreateRagdollBone("Bip01_Pelvis", SHAPE_BOX, Vector3(0.3, 0.2, 0.25), Vector3(0.0, 0.0, 0.0),
+            Quaternion(0.0, 0.0, 0.0))
+        self:CreateRagdollBone("Bip01_Spine1", SHAPE_BOX, Vector3(0.35, 0.2, 0.3), Vector3(0.15, 0.0, 0.0),
+            Quaternion(0.0, 0.0, 0.0))
+        self:CreateRagdollBone("Bip01_L_Thigh", SHAPE_CAPSULE, Vector3(0.175, 0.45, 0.175), Vector3(0.25, 0.0, 0.0),
+            Quaternion(0.0, 0.0, 90.0))
+        self:CreateRagdollBone("Bip01_R_Thigh", SHAPE_CAPSULE, Vector3(0.175, 0.45, 0.175), Vector3(0.25, 0.0, 0.0),
+            Quaternion(0.0, 0.0, 90.0))
+        self:CreateRagdollBone("Bip01_L_Calf", SHAPE_CAPSULE, Vector3(0.15, 0.55, 0.15), Vector3(0.25, 0.0, 0.0),
+            Quaternion(0.0, 0.0, 90.0))
+        self:CreateRagdollBone("Bip01_R_Calf", SHAPE_CAPSULE, Vector3(0.15, 0.55, 0.15), Vector3(0.25, 0.0, 0.0),
+            Quaternion(0.0, 0.0, 90.0))
+        self:CreateRagdollBone("Bip01_Head", SHAPE_BOX, Vector3(0.2, 0.2, 0.2), Vector3(0.1, 0.0, 0.0),
+            Quaternion(0.0, 0.0, 0.0))
+        self:CreateRagdollBone("Bip01_L_UpperArm", SHAPE_CAPSULE, Vector3(0.15, 0.35, 0.15), Vector3(0.1, 0.0, 0.0),
+            Quaternion(0.0, 0.0, 90.0))
+        self:CreateRagdollBone("Bip01_R_UpperArm", SHAPE_CAPSULE, Vector3(0.15, 0.35, 0.15), Vector3(0.1, 0.0, 0.0),
+            Quaternion(0.0, 0.0, 90.0))
+        self:CreateRagdollBone("Bip01_L_Forearm", SHAPE_CAPSULE, Vector3(0.125, 0.4, 0.125), Vector3(0.2, 0.0, 0.0),
+            Quaternion(0.0, 0.0, 90.0))
+        self:CreateRagdollBone("Bip01_R_Forearm", SHAPE_CAPSULE, Vector3(0.125, 0.4, 0.125), Vector3(0.2, 0.0, 0.0),
+            Quaternion(0.0, 0.0, 90.0))
+
+        -- Create Constraints between bones
+        self:CreateRagdollConstraint("Bip01_L_Thigh", "Bip01_Pelvis", CONSTRAINT_CONETWIST, Vector3(0.0, 0.0, -1.0),
+            Vector3(0.0, 0.0, 1.0), Vector2(45.0, 45.0), Vector2(0.0, 0.0), true)
+        self:CreateRagdollConstraint("Bip01_R_Thigh", "Bip01_Pelvis", CONSTRAINT_CONETWIST, Vector3(0.0, 0.0, -1.0),
+            Vector3(0.0, 0.0, 1.0), Vector2(45.0, 45.0), Vector2(0.0, 0.0), true)
+        self:CreateRagdollConstraint("Bip01_L_Calf", "Bip01_L_Thigh", CONSTRAINT_HINGE, Vector3(0.0, 0.0, -1.0),
+            Vector3(0.0, 0.0, -1.0), Vector2(90.0, 0.0), Vector2(0.0, 0.0), true)
+        self:CreateRagdollConstraint("Bip01_R_Calf", "Bip01_R_Thigh", CONSTRAINT_HINGE, Vector3(0.0, 0.0, -1.0),
+            Vector3(0.0, 0.0, -1.0), Vector2(90.0, 0.0), Vector2(0.0, 0.0), true)
+        self:CreateRagdollConstraint("Bip01_Spine1", "Bip01_Pelvis", CONSTRAINT_HINGE, Vector3(0.0, 0.0, 1.0),
+            Vector3(0.0, 0.0, 1.0), Vector2(45.0, 0.0), Vector2(-10.0, 0.0), true)
+        self:CreateRagdollConstraint("Bip01_Head", "Bip01_Spine1", CONSTRAINT_CONETWIST, Vector3(-1.0, 0.0, 0.0),
+            Vector3(-1.0, 0.0, 0.0), Vector2(0.0, 30.0), Vector2(0.0, 0.0), true)
+        self:CreateRagdollConstraint("Bip01_L_UpperArm", "Bip01_Spine1", CONSTRAINT_CONETWIST, Vector3(0.0, -1.0, 0.0),
+            Vector3(0.0, 1.0, 0.0), Vector2(45.0, 45.0), Vector2(0.0, 0.0), false)
+        self:CreateRagdollConstraint("Bip01_R_UpperArm", "Bip01_Spine1", CONSTRAINT_CONETWIST, Vector3(0.0, -1.0, 0.0),
+            Vector3(0.0, 1.0, 0.0), Vector2(45.0, 45.0), Vector2(0.0, 0.0), false)
+        self:CreateRagdollConstraint("Bip01_L_Forearm", "Bip01_L_UpperArm", CONSTRAINT_HINGE, Vector3(0.0, 0.0, -1.0),
+            Vector3(0.0, 0.0, -1.0), Vector2(90.0, 0.0), Vector2(0.0, 0.0), true)
+        self:CreateRagdollConstraint("Bip01_R_Forearm", "Bip01_R_UpperArm", CONSTRAINT_HINGE, Vector3(0.0, 0.0, -1.0),
+            Vector3(0.0, 0.0, -1.0), Vector2(90.0, 0.0), Vector2(0.0, 0.0), true)
+
+        -- Disable keyframe animation from all bones so that they will not interfere with the ragdoll
+        local model = self.node:GetComponent("AnimatedModel")
+        local skeleton = model.skeleton
+        for i = 0, skeleton.numBones - 1 do
+            skeleton:GetBone(i).animated = false
+        end
+
+        -- Finally remove self (the ScriptInstance which holds this script object) from the scene node. Note that this must
+        -- be the last operation performed in the function
+        self.instance:Remove()
+    end
+end
+
+function CreateRagdoll:CreateRagdollBone(boneName, type, size, position, rotation)
+    -- Find the correct child scene node recursively
+    local boneNode = self.node:GetChild(boneName, true)
+    if boneNode == nil then
+        print("Could not find bone " .. boneName .. " for creating ragdoll physics components\n")
+        return
+    end
+
+    local body = boneNode:CreateComponent("RigidBody")
+    -- Set mass to make movable
+    body.mass = 1.0
+    -- Set damping parameters to smooth out the motion
+    body.linearDamping = 0.05
+    body.angularDamping = 0.85
+    -- Set rest thresholds to ensure the ragdoll rigid bodies come to rest to not consume CPU endlessly
+    body.linearRestThreshold = 1.5
+    body.angularRestThreshold = 2.5
+
+    local shape = boneNode:CreateComponent("CollisionShape")
+    -- We use either a box or a capsule shape for all of the bones
+    if type == SHAPE_BOX then
+        shape:SetBox(size, position, rotation)
+    else
+        shape:SetCapsule(size.x, size.y, position, rotation)
+    end
+end
+
+function CreateRagdoll:CreateRagdollConstraint(boneName, parentName, type, axis, parentAxis, highLimit, lowLimit, disableCollision)
+    local boneNode = self.node:GetChild(boneName, true)
+    local parentNode = self.node:GetChild(parentName, true)
+    if boneNode == nil then
+        print("Could not find bone " .. boneName .. " for creating ragdoll constraint\n")
+        return
+    end
+    if parentNode == nil then
+        print("Could not find bone " .. parentName .. " for creating ragdoll constraint\n")
+        return
+    end
+
+    local 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.worldPosition = boneNode.worldPosition
+    -- Configure axes and limits
+    constraint.axis = axis
+    constraint.otherAxis = parentAxis
+    constraint.highLimit = highLimit
+    constraint.lowLimit = lowLimit
+end

Source/Extras/LuaScript/LuaScriptInstance.cpp

@@ -179,7 +179,7 @@ void LuaScriptInstance::SetScriptDataAttr(PODVector<unsigned char> data)
     if (scriptObjectRef_ == LUA_REFNIL || functionRef == LUA_REFNIL)
         return;
 
-    MemoryBuffer buf(data);    
+    MemoryBuffer buf(data);
     CallScriptObjectFunction(functionRef, (Deserializer&)buf);
 }