// 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 "Scripts/Utilities/Sample.as" 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(0.00025f, 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 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(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; // 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, 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.Translate(Vector3(0.0f, 0.0f, 1.0f) * MOVE_SPEED * timeStep); if (input.keyDown['S']) cameraNode.Translate(Vector3(0.0f, 0.0f, -1.0f) * MOVE_SPEED * timeStep); if (input.keyDown['A']) cameraNode.Translate(Vector3(-1.0f, 0.0f, 0.0f) * MOVE_SPEED * timeStep); if (input.keyDown['D']) cameraNode.Translate(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 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"].GetPtr(); 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; } } // Create XML patch instructions for screen joystick layout specific to this sample app String patchInstructions = "" + " " + " Spawn" + " " + " " + " " + " " + " " + " " + " " + " Debug" + " " + " " + " " + " " + " " + " " + "";