PhysicsStressTest & Ragdolls samples in script.

Bin/Data/Scripts/12_PhysicsStressTest.as

@@ -0,0 +1,265 @@
+// Physics stress test example.
+// This sample demonstrates:
+//     - Physics and rendering performance with a high (1000) moving object count;
+//     - Using triangle meshes for collision;
+//     - Optimizing physics simulation by leaving out collision event signaling;
+
+#include "Utilities/Sample.as"
+
+Scene@ scene_;
+Node@ cameraNode;
+float yaw = 0.0f;
+float pitch = 0.0f;
+bool drawDebug = false;
+
+void 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();
+}
+
+void CreateScene()
+{
+    scene_ = 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.boundingBox = BoundingBox(-1000.0f, 1000.0f);
+    zone.ambientColor = Color(0.15f, 0.15f, 0.15f);
+    zone.fogColor = 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.direction = Vector3(0.6f, -1.0f, 0.8f);
+    Light@ light = lightNode.CreateComponent("Light");
+    light.lightType = LIGHT_DIRECTIONAL;
+    light.castShadows = true;
+    light.shadowBias = BiasParameters(0.0001f, 0.5f);
+    // Set cascade splits at 10, 50 and 200 world units, fade shadows out at 80% of maximum shadow distance
+    light.shadowCascade = 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 = Vector3(0.0f, -0.5f, 0.0f);
+        floorNode.scale = Vector3(500.0f, 1.0f, 500.0f);
+        StaticModel@ 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. The RigidBody's default
+        // parameters make the object static (zero mass.) Note that a CollisionShape by itself will not participate
+        // in the physics simulation
+        RigidBody@ body = floorNode.CreateComponent("RigidBody");
+        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(1.0f, 1.0f, 1.0f));
+    }
+
+    {
+        // Create static mushrooms with triangle mesh collision
+        const uint NUM_MUSHROOMS = 50;
+        for (uint i = 0; i < NUM_MUSHROOMS; ++i)
+        {
+            Node@ mushroomNode = scene_.CreateChild("Mushroom");
+            mushroomNode.position = Vector3(Random(400.0f) - 200.0f, 0.0f, Random(400.0f) - 200.0f);
+            mushroomNode.rotation = Quaternion(0.0f, Random(360.0f), 0.0f);
+            mushroomNode.SetScale(5.0f + Random(5.0f));
+            StaticModel@ mushroomObject = mushroomNode.CreateComponent("StaticModel");
+            mushroomObject.model = cache.GetResource("Model", "Models/Mushroom.mdl");
+            mushroomObject.material = cache.GetResource("Material", "Materials/Mushroom.xml");
+            mushroomObject.castShadows = true;
+
+            RigidBody@ body = mushroomNode.CreateComponent("RigidBody");
+            CollisionShape@ shape = mushroomNode.CreateComponent("CollisionShape");
+            // By default the highest LOD level will be used, the LOD level can be passed as an optional parameter
+            shape.SetTriangleMesh(mushroomObject.model);
+        }
+    }
+    
+    {
+        // Create a large amount of falling physics objects
+        const uint NUM_OBJECTS = 1000;
+        for (uint i = 0; i < NUM_OBJECTS; ++i)
+        {
+            Node@ boxNode = scene_.CreateChild("Box");
+            boxNode.position = Vector3(0.0f, i * 2.0f + 100.0f, 0.0f);
+            StaticModel@ boxObject = boxNode.CreateComponent("StaticModel");
+            boxObject.model = cache.GetResource("Model", "Models/Box.mdl");
+            boxObject.material = cache.GetResource("Material", "Materials/StoneSmall.xml");
+            boxObject.castShadows = true;
+
+            // Give the RigidBody mass to make it movable and also adjust friction
+            RigidBody@ body = boxNode.CreateComponent("RigidBody");
+            body.mass = 1.0f;
+            body.friction = 1.0f;
+            // Disable collision event signaling to reduce CPU load of the physics simulation
+            body.collisionEventMode = COLLISION_NEVER;
+            CollisionShape@ shape = boxNode.CreateComponent("CollisionShape");
+            shape.SetBox(Vector3(1.0f, 1.0f, 1.0f));
+        }
+    }
+    
+    // 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();
+    Camera@ camera = cameraNode.CreateComponent("Camera");
+    camera.farClip = 300.0f;
+
+    // Set an initial position for the camera scene node above the floor
+    cameraNode.position = Vector3(0.0f, 3.0f, -20.0f);
+}
+
+void CreateInstructions()
+{
+    // Construct new Text object, set string to display and font to use
+    Text@ instructionText = ui.root.CreateChild("Text");
+    instructionText.text =
+        "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);
+}
+
+void SetupViewport()
+{
+    // Set up a viewport to the Renderer subsystem so that the 3D scene can be seen
+    Viewport@ viewport = Viewport(scene_, cameraNode.GetComponent("Camera"));
+    renderer.viewports[0] = viewport;
+}
+
+void 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");
+}
+
+void MoveCamera(float timeStep)
+{
+    // Do not move if the UI has a focused element (the console)
+    if (ui.focusElement !is null)
+        return;
+
+    // Movement speed as world units per second
+    const float MOVE_SPEED = 20.0f;
+    // Mouse sensitivity as degrees per pixel
+    const float MOUSE_SENSITIVITY = 0.1f;
+
+    // Use this frame's mouse motion to adjust camera node yaw and pitch. Clamp the pitch between -90 and 90 degrees
+    IntVector2 mouseMove = input.mouseMove;
+    yaw += MOUSE_SENSITIVITY * mouseMove.x;
+    pitch += MOUSE_SENSITIVITY * mouseMove.y;
+    pitch = Clamp(pitch, -90.0f, 90.0f);
+
+    // Construct new orientation for the camera scene node from yaw and pitch. Roll is fixed to zero
+    cameraNode.rotation = Quaternion(pitch, yaw, 0.0f);
+
+    // Read WASD keys and move the camera scene node to the corresponding direction if they are pressed
+    if (input.keyDown['W'])
+        cameraNode.TranslateRelative(Vector3(0.0f, 0.0f, 1.0f) * MOVE_SPEED * timeStep);
+    if (input.keyDown['S'])
+        cameraNode.TranslateRelative(Vector3(0.0f, 0.0f, -1.0f) * MOVE_SPEED * timeStep);
+    if (input.keyDown['A'])
+        cameraNode.TranslateRelative(Vector3(-1.0f, 0.0f, 0.0f) * MOVE_SPEED * timeStep);
+    if (input.keyDown['D'])
+        cameraNode.TranslateRelative(Vector3(1.0f, 0.0f, 0.0f) * MOVE_SPEED * timeStep);
+
+    // "Shoot" a physics object with left mousebutton
+    if (input.mouseButtonPress[MOUSEB_LEFT])
+        SpawnObject();
+
+    // Check for loading/saving the scene. Save the scene to the file Data/Scenes/Physics.xml relative to the executable
+    // directory
+    if (input.keyPress[KEY_F5])
+    {
+        File saveFile(fileSystem.programDir + "Data/Scenes/PhysicsStressTest.xml", FILE_WRITE);
+        scene_.SaveXML(saveFile);
+    }
+    if (input.keyPress[KEY_F7])
+    {
+        File loadFile(fileSystem.programDir + "Data/Scenes/PhysicsStressTest.xml", FILE_READ);
+        scene_.LoadXML(loadFile);
+    }
+
+    // Toggle debug geometry with space
+    if (input.keyPress[KEY_SPACE])
+        drawDebug = !drawDebug;
+}
+
+void SpawnObject()
+{
+    // Create a smaller box at camera position
+    Node@ boxNode = scene_.CreateChild("SmallBox");
+    boxNode.position = cameraNode.position;
+    boxNode.rotation = cameraNode.rotation;
+    boxNode.SetScale(0.25f);
+    StaticModel@ boxObject = boxNode.CreateComponent("StaticModel");
+    boxObject.model = cache.GetResource("Model", "Models/Box.mdl");
+    boxObject.material = cache.GetResource("Material", "Materials/StoneEnvMapSmall.xml");
+    boxObject.castShadows = true;
+
+    // Create physics components, use a smaller mass also
+    RigidBody@ body = boxNode.CreateComponent("RigidBody");
+    body.mass = 0.25f;
+    body.friction = 0.75f;
+    CollisionShape@ shape = boxNode.CreateComponent("CollisionShape");
+    shape.SetBox(Vector3(1.0f, 1.0f, 1.0f));
+
+    const float OBJECT_VELOCITY = 10.0f;
+
+    // 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(0.0f, 0.25f, 1.0f) * OBJECT_VELOCITY;
+}
+
+void HandleUpdate(StringHash eventType, VariantMap& eventData)
+{
+    // Take the frame time step, which is stored as a float
+    float timeStep = eventData["TimeStep"].GetFloat();
+
+    // Move the camera, scale movement with time step
+    MoveCamera(timeStep);
+}
+
+void HandlePostRenderUpdate(StringHash eventType, VariantMap& eventData)
+{
+    // If draw debug mode is enabled, draw physics debug geometry. Use depth test to make the result easier to interpret
+    if (drawDebug)
+        scene_.physicsWorld.DrawDebugGeometry(true);
+}

Bin/Data/Scripts/13_Ragdolls.as

@@ -0,0 +1,388 @@
+// 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;
+
+#include "Utilities/Sample.as"
+
+Scene@ scene_;
+Node@ cameraNode;
+float yaw = 0.0f;
+float pitch = 0.0f;
+bool drawDebug = false;
+
+void 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();
+}
+
+void CreateScene()
+{
+    scene_ = 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.boundingBox = BoundingBox(-1000.0f, 1000.0f);
+    zone.ambientColor = Color(0.15f, 0.15f, 0.15f);
+    zone.fogColor = 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.direction = Vector3(0.6f, -1.0f, 0.8f);
+    Light@ light = lightNode.CreateComponent("Light");
+    light.lightType = LIGHT_DIRECTIONAL;
+    light.castShadows = true;
+    light.shadowBias = BiasParameters(0.0001f, 0.5f);
+    // Set cascade splits at 10, 50 and 200 world units, fade shadows out at 80% of maximum shadow distance
+    light.shadowCascade = 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 = Vector3(0.0f, -0.5f, 0.0f);
+        floorNode.scale = Vector3(500.0f, 1.0f, 500.0f);
+        StaticModel@ 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. The RigidBody's default
+        // parameters make the object static (zero mass.) Note that a CollisionShape by itself will not participate
+        // in the physics simulation
+        RigidBody@ body = floorNode.CreateComponent("RigidBody");
+        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(1.0f, 1.0f, 1.0f));
+    }
+    
+    // Create animated models
+    for (int z = -1; z <= 1; ++z)
+    {
+        for (int x = -4; x <= 4; ++x)
+        {
+            Node@ modelNode = scene_.CreateChild("Jack");
+            modelNode.position = Vector3(x * 5.0f, 0.0f, z * 5.0f);
+            modelNode.rotation = Quaternion(0.0f, 180.0f, 0.0f);
+            AnimatedModel@ 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
+            RigidBody@ 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;
+            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, Vector3(0.0f, 1.0f, 0.0f));
+            
+            // Create a custom script object that reacts to collisions and creates the ragdoll
+            modelNode.CreateScriptObject(scriptFile, "CreateRagdoll");
+        }
+    }
+    
+    // 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();
+    Camera@ camera = cameraNode.CreateComponent("Camera");
+    camera.farClip = 300.0f;
+
+    // Set an initial position for the camera scene node above the floor
+    cameraNode.position = Vector3(0.0f, 5.0f, -20.0f);
+}
+
+void CreateInstructions()
+{
+    // Construct new Text object, set string to display and font to use
+    Text@ instructionText = ui.root.CreateChild("Text");
+    instructionText.text =
+        "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);
+}
+
+void SetupViewport()
+{
+    // Set up a viewport to the Renderer subsystem so that the 3D scene can be seen
+    Viewport@ viewport = Viewport(scene_, cameraNode.GetComponent("Camera"));
+    renderer.viewports[0] = viewport;
+}
+
+void 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");
+}
+
+void MoveCamera(float timeStep)
+{
+    // Do not move if the UI has a focused element (the console)
+    if (ui.focusElement !is null)
+        return;
+
+    // Movement speed as world units per second
+    const float MOVE_SPEED = 20.0f;
+    // Mouse sensitivity as degrees per pixel
+    const float MOUSE_SENSITIVITY = 0.1f;
+
+    // Use this frame's mouse motion to adjust camera node yaw and pitch. Clamp the pitch between -90 and 90 degrees
+    IntVector2 mouseMove = input.mouseMove;
+    yaw += MOUSE_SENSITIVITY * mouseMove.x;
+    pitch += MOUSE_SENSITIVITY * mouseMove.y;
+    pitch = Clamp(pitch, -90.0f, 90.0f);
+
+    // Construct new orientation for the camera scene node from yaw and pitch. Roll is fixed to zero
+    cameraNode.rotation = Quaternion(pitch, yaw, 0.0f);
+
+    // Read WASD keys and move the camera scene node to the corresponding direction if they are pressed
+    if (input.keyDown['W'])
+        cameraNode.TranslateRelative(Vector3(0.0f, 0.0f, 1.0f) * MOVE_SPEED * timeStep);
+    if (input.keyDown['S'])
+        cameraNode.TranslateRelative(Vector3(0.0f, 0.0f, -1.0f) * MOVE_SPEED * timeStep);
+    if (input.keyDown['A'])
+        cameraNode.TranslateRelative(Vector3(-1.0f, 0.0f, 0.0f) * MOVE_SPEED * timeStep);
+    if (input.keyDown['D'])
+        cameraNode.TranslateRelative(Vector3(1.0f, 0.0f, 0.0f) * MOVE_SPEED * timeStep);
+
+    // "Shoot" a physics object with left mousebutton
+    if (input.mouseButtonPress[MOUSEB_LEFT])
+        SpawnObject();
+
+    // Check for loading/saving the scene. Save the scene to the file Data/Scenes/Physics.xml relative to the executable
+    // directory
+    if (input.keyPress[KEY_F5])
+    {
+        File saveFile(fileSystem.programDir + "Data/Scenes/Ragdolls.xml", FILE_WRITE);
+        scene_.SaveXML(saveFile);
+    }
+    if (input.keyPress[KEY_F7])
+    {
+        File loadFile(fileSystem.programDir + "Data/Scenes/Ragdolls.xml", FILE_READ);
+        scene_.LoadXML(loadFile);
+    }
+
+    // Toggle debug geometry with space
+    if (input.keyPress[KEY_SPACE])
+        drawDebug = !drawDebug;
+}
+
+void SpawnObject()
+{
+    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.GetResource("Model", "Models/Sphere.mdl");
+    boxObject.material = cache.GetResource("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);
+    
+    const float OBJECT_VELOCITY = 10.0f;
+    
+    // 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(0.0f, 0.25f, 1.0f) * OBJECT_VELOCITY;
+}
+
+void HandleUpdate(StringHash eventType, VariantMap& eventData)
+{
+    // Take the frame time step, which is stored as a float
+    float timeStep = eventData["TimeStep"].GetFloat();
+
+    // Move the camera, scale movement with time step
+    MoveCamera(timeStep);
+}
+
+void HandlePostRenderUpdate(StringHash eventType, VariantMap& eventData)
+{
+    // If draw debug mode is enabled, draw physics debug geometry. Use depth test to make the result easier to interpret
+    if (drawDebug)
+        scene_.physicsWorld.DrawDebugGeometry(true);
+}
+
+// CreateRagdoll script object class
+class CreateRagdoll : ScriptObject
+{
+    void Start()
+    {
+        // Subscribe physics collisions that concern this scene node
+        SubscribeToEvent(node, "NodeCollision", "HandleNodeCollision");
+    }
+
+    void HandleNodeCollision(StringHash eventType, VariantMap& eventData)
+    {
+        // Get the other colliding body, make sure it is moving (has nonzero mass)
+        RigidBody@ otherBody = eventData["OtherBody"].GetRigidBody();
+
+        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", SHAPE_BOX, Vector3(0.3f, 0.2f, 0.25f), Vector3(0.0f, 0.0f, 0.0f),
+                Quaternion(0.0f, 0.0f, 0.0f));
+            CreateRagdollBone("Bip01_Spine1", SHAPE_BOX, Vector3(0.35f, 0.2f, 0.3f), Vector3(0.15f, 0.0f, 0.0f),
+                Quaternion(0.0f, 0.0f, 0.0f));
+            CreateRagdollBone("Bip01_L_Thigh", SHAPE_CAPSULE, Vector3(0.175f, 0.45f, 0.175f), Vector3(0.25f, 0.0f, 0.0f),
+                Quaternion(0.0f, 0.0f, 90.0f));
+            CreateRagdollBone("Bip01_R_Thigh", SHAPE_CAPSULE, Vector3(0.175f, 0.45f, 0.175f), Vector3(0.25f, 0.0f, 0.0f),
+                Quaternion(0.0f, 0.0f, 90.0f));
+            CreateRagdollBone("Bip01_L_Calf", SHAPE_CAPSULE, Vector3(0.15f, 0.55f, 0.15f), Vector3(0.25f, 0.0f, 0.0f),
+                Quaternion(0.0f, 0.0f, 90.0f));
+            CreateRagdollBone("Bip01_R_Calf", SHAPE_CAPSULE, Vector3(0.15f, 0.55f, 0.15f), Vector3(0.25f, 0.0f, 0.0f),
+                Quaternion(0.0f, 0.0f, 90.0f));
+            CreateRagdollBone("Bip01_Head", SHAPE_BOX, Vector3(0.2f, 0.2f, 0.2f), Vector3(0.1f, 0.0f, 0.0f),
+                Quaternion(0.0f, 0.0f, 0.0f));
+            CreateRagdollBone("Bip01_L_UpperArm", SHAPE_CAPSULE, Vector3(0.15f, 0.35f, 0.15f), Vector3(0.1f, 0.0f, 0.0f),
+                Quaternion(0.0f, 0.0f, 90.0f));
+            CreateRagdollBone("Bip01_R_UpperArm", SHAPE_CAPSULE, Vector3(0.15f, 0.35f, 0.15f), Vector3(0.1f, 0.0f, 0.0f),
+                Quaternion(0.0f, 0.0f, 90.0f));
+            CreateRagdollBone("Bip01_L_Forearm", SHAPE_CAPSULE, Vector3(0.125f, 0.4f, 0.125f), Vector3(0.2f, 0.0f, 0.0f),
+                Quaternion(0.0f, 0.0f, 90.0f));
+            CreateRagdollBone("Bip01_R_Forearm", SHAPE_CAPSULE, Vector3(0.125f, 0.4f, 0.125f), Vector3(0.2f, 0.0f, 0.0f),
+                Quaternion(0.0f, 0.0f, 90.0f));
+
+            // Create Constraints between bones
+            CreateRagdollConstraint("Bip01_L_Thigh", "Bip01_Pelvis", CONSTRAINT_CONETWIST, Vector3(0.0f, 0.0f, -1.0f),
+                Vector3(0.0f, 0.0f, 1.0f), Vector2(45.0f, 45.0f), Vector2(0.0f, 0.0f));
+            CreateRagdollConstraint("Bip01_R_Thigh", "Bip01_Pelvis", CONSTRAINT_CONETWIST, Vector3(0.0f, 0.0f, -1.0f), 
+                Vector3(0.0f, 0.0f, 1.0f), Vector2(45.0f, 45.0f), Vector2(0.0f, 0.0f));
+            CreateRagdollConstraint("Bip01_L_Calf", "Bip01_L_Thigh", CONSTRAINT_HINGE, Vector3(0.0f, 0.0f, -1.0f), 
+                Vector3(0.0f, 0.0f, -1.0f), Vector2(90.0f, 0.0f), Vector2(0.0f, 0.0f));
+            CreateRagdollConstraint("Bip01_R_Calf", "Bip01_R_Thigh", CONSTRAINT_HINGE, Vector3(0.0f, 0.0f, -1.0f), 
+                Vector3(0.0f, 0.0f, -1.0f), Vector2(90.0f, 0.0f), Vector2(0.0f, 0.0f));
+            CreateRagdollConstraint("Bip01_Spine1", "Bip01_Pelvis", CONSTRAINT_HINGE, Vector3(0.0f, 0.0f, 1.0f), 
+                Vector3(0.0f, 0.0f, 1.0f), Vector2(45.0f, 0.0f), Vector2(-10.0f, 0.0f));
+            CreateRagdollConstraint("Bip01_Head", "Bip01_Spine1", CONSTRAINT_CONETWIST, Vector3(-1.0f, 0.0f, 0.0f), 
+                Vector3(-1.0f, 0.0f, 0.0f), Vector2(0.0f, 30.0f), Vector2(0.0f, 0.0f));
+            CreateRagdollConstraint("Bip01_L_UpperArm", "Bip01_Spine1", CONSTRAINT_CONETWIST, Vector3(0.0f, -1.0f, 0.0f),
+                Vector3(0.0f, 1.0f, 0.0f), Vector2(45.0f, 45.0f), Vector2(0.0f, 0.0f), false);
+            CreateRagdollConstraint("Bip01_R_UpperArm", "Bip01_Spine1", CONSTRAINT_CONETWIST, Vector3(0.0f, -1.0f, 0.0f), 
+                Vector3(0.0f, 1.0f, 0.0f), Vector2(45.0f, 45.0f), Vector2(0.0f, 0.0f), false);
+            CreateRagdollConstraint("Bip01_L_Forearm", "Bip01_L_UpperArm", CONSTRAINT_HINGE, Vector3(0.0f, 0.0f, -1.0f), 
+                Vector3(0.0f, 0.0f, -1.0f), Vector2(90.0f, 0.0f), Vector2(0.0f, 0.0f));
+            CreateRagdollConstraint("Bip01_R_Forearm", "Bip01_R_UpperArm", CONSTRAINT_HINGE, Vector3(0.0f, 0.0f, -1.0f), 
+                Vector3(0.0f, 0.0f, -1.0f), Vector2(90.0f, 0.0f), Vector2(0.0f, 0.0f));
+
+            // Disable keyframe animation from all bones so that they will not interfere with the ragdoll
+            AnimatedModel@ model = node.GetComponent("AnimatedModel");
+            Skeleton@ skeleton = model.skeleton;
+            for (uint i = 0; i < skeleton.numBones; ++i)
+                skeleton.bones[i].animated = false;
+            
+            // 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.Remove();
+        }
+    }
+    
+    void CreateRagdollBone(const String&in boneName, ShapeType type, const Vector3&in size, const Vector3&in position,
+        const Quaternion&in rotation)
+    {
+        // Find the correct child scene node recursively
+        Node@ boneNode = node.GetChild(boneName, true);
+        if (boneNode is null)
+        {
+            log.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 == SHAPE_BOX)
+            shape.SetBox(size, position, rotation);
+        else
+            shape.SetCapsule(size.x, size.y, position, rotation);
+    }
+    
+    void CreateRagdollConstraint(const String&in boneName, const String&in parentName, ConstraintType type,
+        const Vector3&in axis, const Vector3&in parentAxis, const Vector2&in highLimit, const Vector2&in lowLimit,
+        bool disableCollision = true)
+    {
+        Node@ boneNode = node.GetChild(boneName, true);
+        Node@ parentNode = node.GetChild(parentName, true);
+        if (boneNode is null)
+        {
+            log.Warning("Could not find bone " + boneName + " for creating ragdoll constraint");
+            return;
+        }
+        if (parentNode is null)
+        {
+            log.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.worldPosition = boneNode.worldPosition;
+        // Configure axes and limits
+        constraint.axis = axis;
+        constraint.otherAxis = parentAxis;
+        constraint.highLimit = highLimit;
+        constraint.lowLimit = lowLimit;
+    }
+}

Source/Samples/12_PhysicsStressTest/PhysicsStressTest.cpp

@@ -137,7 +137,7 @@ void PhysicsStressTest::CreateScene()
             mushroomObject->SetModel(cache->GetResource<Model>("Models/Mushroom.mdl"));
             mushroomObject->SetMaterial(cache->GetResource<Material>("Materials/Mushroom.xml"));
             mushroomObject->SetCastShadows(true);
-            
+
             RigidBody* body = mushroomNode->CreateComponent<RigidBody>();
             CollisionShape* shape = mushroomNode->CreateComponent<CollisionShape>();
             // By default the highest LOD level will be used, the LOD level can be passed as an optional parameter
@@ -151,7 +151,7 @@ void PhysicsStressTest::CreateScene()
         for (unsigned i = 0; i < NUM_OBJECTS; ++i)
         {
             Node* boxNode = scene_->CreateChild("Box");
-            boxNode->SetPosition(Vector3(0.f, i * 2.0f + 100.0f, 0.0f));
+            boxNode->SetPosition(Vector3(0.0f, i * 2.0f + 100.0f, 0.0f));
             StaticModel* boxObject = boxNode->CreateComponent<StaticModel>();
             boxObject->SetModel(cache->GetResource<Model>("Models/Box.mdl"));
             boxObject->SetMaterial(cache->GetResource<Material>("Materials/StoneSmall.xml"));
@@ -254,8 +254,7 @@ void PhysicsStressTest::MoveCamera(float timeStep)
     
     // "Shoot" a physics object with left mousebutton
     if (input->GetMouseButtonPress(MOUSEB_LEFT))
-        SpawnObject();
-    
+        SpawnObject();  
 
     // Check for loading/saving the scene. Save the scene to the file Data/Scenes/Physics.xml relative to the executable
     // directory

Source/Samples/13_Ragdolls/CreateRagdoll.cpp

@@ -36,7 +36,7 @@ CreateRagdoll::CreateRagdoll(Context* context) :
 
 void CreateRagdoll::OnNodeSet(Node* node)
 {
-    // If the node pointer is nonzero, this component has been created into a scene node. Subscribe physics collisions that
+    // If the node pointer is nonzero, this component has been created into a scene node. Subscribe to physics collisions that
     // concern this scene node
     if (node)
         SubscribeToEvent(node, E_NODECOLLISION, HANDLER(CreateRagdoll, HandleNodeCollision));