175 lines
8.8 KiB
C++
175 lines
8.8 KiB
C++
//
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// Copyright (c) 2008-2020 the Urho3D project.
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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// THE SOFTWARE.
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//
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#include <Urho3D/Graphics/AnimatedModel.h>
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#include <Urho3D/IO/Log.h>
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#include <Urho3D/Physics/PhysicsEvents.h>
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#include <Urho3D/Physics/RigidBody.h>
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#include "CreateRagdoll.h"
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#include <Urho3D/DebugNew.h>
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CreateRagdoll::CreateRagdoll(Context* context) :
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Component(context)
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{
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}
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void CreateRagdoll::OnNodeSet(Node* node)
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{
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// If the node pointer is non-null, this component has been created into a scene node. Subscribe to physics collisions that
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// concern this scene node
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if (node)
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SubscribeToEvent(node, E_NODECOLLISION, URHO3D_HANDLER(CreateRagdoll, HandleNodeCollision));
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}
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void CreateRagdoll::HandleNodeCollision(StringHash eventType, VariantMap& eventData)
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{
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using namespace NodeCollision;
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// Get the other colliding body, make sure it is moving (has nonzero mass)
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auto* otherBody = static_cast<RigidBody*>(eventData[P_OTHERBODY].GetPtr());
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if (otherBody->GetMass() > 0.0f)
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{
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// We do not need the physics components in the AnimatedModel's root scene node anymore
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node_->RemoveComponent<RigidBody>();
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node_->RemoveComponent<CollisionShape>();
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// Create RigidBody & CollisionShape components to bones
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CreateRagdollBone("Bip01_Pelvis", SHAPE_BOX, Vector3(0.3f, 0.2f, 0.25f), Vector3(0.0f, 0.0f, 0.0f),
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Quaternion(0.0f, 0.0f, 0.0f));
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CreateRagdollBone("Bip01_Spine1", SHAPE_BOX, Vector3(0.35f, 0.2f, 0.3f), Vector3(0.15f, 0.0f, 0.0f),
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Quaternion(0.0f, 0.0f, 0.0f));
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CreateRagdollBone("Bip01_L_Thigh", SHAPE_CAPSULE, Vector3(0.175f, 0.45f, 0.175f), Vector3(0.25f, 0.0f, 0.0f),
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Quaternion(0.0f, 0.0f, 90.0f));
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CreateRagdollBone("Bip01_R_Thigh", SHAPE_CAPSULE, Vector3(0.175f, 0.45f, 0.175f), Vector3(0.25f, 0.0f, 0.0f),
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Quaternion(0.0f, 0.0f, 90.0f));
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CreateRagdollBone("Bip01_L_Calf", SHAPE_CAPSULE, Vector3(0.15f, 0.55f, 0.15f), Vector3(0.25f, 0.0f, 0.0f),
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Quaternion(0.0f, 0.0f, 90.0f));
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CreateRagdollBone("Bip01_R_Calf", SHAPE_CAPSULE, Vector3(0.15f, 0.55f, 0.15f), Vector3(0.25f, 0.0f, 0.0f),
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Quaternion(0.0f, 0.0f, 90.0f));
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CreateRagdollBone("Bip01_Head", SHAPE_BOX, Vector3(0.2f, 0.2f, 0.2f), Vector3(0.1f, 0.0f, 0.0f),
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Quaternion(0.0f, 0.0f, 0.0f));
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CreateRagdollBone("Bip01_L_UpperArm", SHAPE_CAPSULE, Vector3(0.15f, 0.35f, 0.15f), Vector3(0.1f, 0.0f, 0.0f),
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Quaternion(0.0f, 0.0f, 90.0f));
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CreateRagdollBone("Bip01_R_UpperArm", SHAPE_CAPSULE, Vector3(0.15f, 0.35f, 0.15f), Vector3(0.1f, 0.0f, 0.0f),
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Quaternion(0.0f, 0.0f, 90.0f));
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CreateRagdollBone("Bip01_L_Forearm", SHAPE_CAPSULE, Vector3(0.125f, 0.4f, 0.125f), Vector3(0.2f, 0.0f, 0.0f),
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Quaternion(0.0f, 0.0f, 90.0f));
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CreateRagdollBone("Bip01_R_Forearm", SHAPE_CAPSULE, Vector3(0.125f, 0.4f, 0.125f), Vector3(0.2f, 0.0f, 0.0f),
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Quaternion(0.0f, 0.0f, 90.0f));
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// Create Constraints between bones
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CreateRagdollConstraint("Bip01_L_Thigh", "Bip01_Pelvis", CONSTRAINT_CONETWIST, Vector3::BACK, Vector3::FORWARD,
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Vector2(45.0f, 45.0f), Vector2::ZERO);
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CreateRagdollConstraint("Bip01_R_Thigh", "Bip01_Pelvis", CONSTRAINT_CONETWIST, Vector3::BACK, Vector3::FORWARD,
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Vector2(45.0f, 45.0f), Vector2::ZERO);
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CreateRagdollConstraint("Bip01_L_Calf", "Bip01_L_Thigh", CONSTRAINT_HINGE, Vector3::BACK, Vector3::BACK,
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Vector2(90.0f, 0.0f), Vector2::ZERO);
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CreateRagdollConstraint("Bip01_R_Calf", "Bip01_R_Thigh", CONSTRAINT_HINGE, Vector3::BACK, Vector3::BACK,
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Vector2(90.0f, 0.0f), Vector2::ZERO);
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CreateRagdollConstraint("Bip01_Spine1", "Bip01_Pelvis", CONSTRAINT_HINGE, Vector3::FORWARD, Vector3::FORWARD,
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Vector2(45.0f, 0.0f), Vector2(-10.0f, 0.0f));
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CreateRagdollConstraint("Bip01_Head", "Bip01_Spine1", CONSTRAINT_CONETWIST, Vector3::LEFT, Vector3::LEFT,
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Vector2(0.0f, 30.0f), Vector2::ZERO);
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CreateRagdollConstraint("Bip01_L_UpperArm", "Bip01_Spine1", CONSTRAINT_CONETWIST, Vector3::DOWN, Vector3::UP,
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Vector2(45.0f, 45.0f), Vector2::ZERO, false);
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CreateRagdollConstraint("Bip01_R_UpperArm", "Bip01_Spine1", CONSTRAINT_CONETWIST, Vector3::DOWN, Vector3::UP,
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Vector2(45.0f, 45.0f), Vector2::ZERO, false);
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CreateRagdollConstraint("Bip01_L_Forearm", "Bip01_L_UpperArm", CONSTRAINT_HINGE, Vector3::BACK, Vector3::BACK,
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Vector2(90.0f, 0.0f), Vector2::ZERO);
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CreateRagdollConstraint("Bip01_R_Forearm", "Bip01_R_UpperArm", CONSTRAINT_HINGE, Vector3::BACK, Vector3::BACK,
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Vector2(90.0f, 0.0f), Vector2::ZERO);
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// Disable keyframe animation from all bones so that they will not interfere with the ragdoll
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auto* model = GetComponent<AnimatedModel>();
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Skeleton& skeleton = model->GetSkeleton();
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for (unsigned i = 0; i < skeleton.GetNumBones(); ++i)
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skeleton.GetBone(i)->animated_ = false;
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// Finally remove self from the scene node. Note that this must be the last operation performed in the function
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Remove();
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}
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}
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void CreateRagdoll::CreateRagdollBone(const String& boneName, ShapeType type, const Vector3& size, const Vector3& position,
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const Quaternion& rotation)
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{
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// Find the correct child scene node recursively
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Node* boneNode = node_->GetChild(boneName, true);
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if (!boneNode)
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{
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URHO3D_LOGWARNING("Could not find bone " + boneName + " for creating ragdoll physics components");
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return;
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}
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auto* body = boneNode->CreateComponent<RigidBody>();
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// Set mass to make movable
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body->SetMass(1.0f);
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// Set damping parameters to smooth out the motion
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body->SetLinearDamping(0.05f);
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body->SetAngularDamping(0.85f);
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// Set rest thresholds to ensure the ragdoll rigid bodies come to rest to not consume CPU endlessly
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body->SetLinearRestThreshold(1.5f);
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body->SetAngularRestThreshold(2.5f);
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auto* shape = boneNode->CreateComponent<CollisionShape>();
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// We use either a box or a capsule shape for all of the bones
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if (type == SHAPE_BOX)
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shape->SetBox(size, position, rotation);
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else
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shape->SetCapsule(size.x_, size.y_, position, rotation);
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}
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void CreateRagdoll::CreateRagdollConstraint(const String& boneName, const String& parentName, ConstraintType type,
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const Vector3& axis, const Vector3& parentAxis, const Vector2& highLimit, const Vector2& lowLimit,
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bool disableCollision)
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{
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Node* boneNode = node_->GetChild(boneName, true);
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Node* parentNode = node_->GetChild(parentName, true);
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if (!boneNode)
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{
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URHO3D_LOGWARNING("Could not find bone " + boneName + " for creating ragdoll constraint");
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return;
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}
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if (!parentNode)
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{
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URHO3D_LOGWARNING("Could not find bone " + parentName + " for creating ragdoll constraint");
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return;
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}
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auto* constraint = boneNode->CreateComponent<Constraint>();
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constraint->SetConstraintType(type);
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// Most of the constraints in the ragdoll will work better when the connected bodies don't collide against each other
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constraint->SetDisableCollision(disableCollision);
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// The connected body must be specified before setting the world position
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constraint->SetOtherBody(parentNode->GetComponent<RigidBody>());
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// Position the constraint at the child bone we are connecting
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constraint->SetWorldPosition(boneNode->GetWorldPosition());
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// Configure axes and limits
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constraint->SetAxis(axis);
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constraint->SetOtherAxis(parentAxis);
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constraint->SetHighLimit(highLimit);
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constraint->SetLowLimit(lowLimit);
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}
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