394 lines
19 KiB
Lua
394 lines
19 KiB
Lua
-- Ragdoll example.
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-- This sample demonstrates:
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-- - Detecting physics collisions
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-- - Moving an AnimatedModel's bones with physics and connecting them with constraints
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-- - Using rolling friction to stop rolling objects from moving infinitely
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require "LuaScripts/Utilities/Sample"
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function Start()
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-- Execute the common startup for samples
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SampleStart()
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-- Create the scene content
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CreateScene()
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-- Create the UI content
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CreateInstructions()
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-- Setup the viewport for displaying the scene
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SetupViewport()
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-- Set the mouse mode to use in the sample
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SampleInitMouseMode(MM_RELATIVE)
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-- Hook up to the frame update and render post-update events
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SubscribeToEvents()
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end
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function CreateScene()
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scene_ = Scene()
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-- Create octree, use default volume (-1000, -1000, -1000) to (1000, 1000, 1000)
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-- Create a physics simulation world with default parameters, which will update at 60fps. Like the Octree must
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-- exist before creating drawable components, the PhysicsWorld must exist before creating physics components.
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-- Finally, create a DebugRenderer component so that we can draw physics debug geometry
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scene_:CreateComponent("Octree")
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scene_:CreateComponent("PhysicsWorld")
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scene_:CreateComponent("DebugRenderer")
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-- Create a Zone component for ambient lighting & fog control
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local zoneNode = scene_:CreateChild("Zone")
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local zone = zoneNode:CreateComponent("Zone")
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zone.boundingBox = BoundingBox(-1000.0, 1000.0)
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zone.ambientColor = Color(0.15, 0.15, 0.15)
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zone.fogColor = Color(0.5, 0.5, 0.7)
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zone.fogStart = 100.0
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zone.fogEnd = 300.0
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-- Create a directional light to the world. Enable cascaded shadows on it
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local lightNode = scene_:CreateChild("DirectionalLight")
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lightNode.direction = Vector3(0.6, -1.0, 0.8)
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local light = lightNode:CreateComponent("Light")
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light.lightType = LIGHT_DIRECTIONAL
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light.castShadows = true
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light.shadowBias = BiasParameters(0.00025, 0.5)
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-- Set cascade splits at 10, 50 and 200 world units, fade shadows out at 80% of maximum shadow distance
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light.shadowCascade = CascadeParameters(10.0, 50.0, 200.0, 0.0, 0.8)
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-- Create a floor object, 500 x 500 world units. Adjust position so that the ground is at zero Y
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local floorNode = scene_:CreateChild("Floor")
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floorNode.position = Vector3(0.0, -0.5, 0.0)
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floorNode.scale = Vector3(500.0, 1.0, 500.0)
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local floorObject = floorNode:CreateComponent("StaticModel")
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floorObject.model = cache:GetResource("Model", "Models/Box.mdl")
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floorObject.material = cache:GetResource("Material", "Materials/StoneTiled.xml")
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-- Make the floor physical by adding RigidBody and CollisionShape components
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local body = floorNode:CreateComponent("RigidBody")
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-- We will be spawning spherical objects in this sample. The ground also needs non-zero rolling friction so that
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-- the spheres will eventually come to rest
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body.rollingFriction = 0.15
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local shape = floorNode:CreateComponent("CollisionShape")
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-- 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
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-- rendering and physics representation sizes should match (the box model is also 1 x 1 x 1.)
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shape:SetBox(Vector3(1.0, 1.0, 1.0))
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-- Create animated models
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for z = -1, 1 do
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for x = -4, 4 do
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local modelNode = scene_:CreateChild("Jack")
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modelNode.position = Vector3(x * 5.0, 0.0, z * 5.0)
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modelNode.rotation = Quaternion(0.0, 180.0, 0.0)
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local modelObject = modelNode:CreateComponent("AnimatedModel")
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modelObject.model = cache:GetResource("Model", "Models/Jack.mdl")
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modelObject.material = cache:GetResource("Material", "Materials/Jack.xml")
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modelObject.castShadows = true
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-- Set the model to also update when invisible to avoid staying invisible when the model should come into
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-- view, but does not as the bounding box is not updated
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modelObject.updateInvisible = true
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-- Create a rigid body and a collision shape. These will act as a trigger for transforming the
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-- model into a ragdoll when hit by a moving object
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local body = modelNode:CreateComponent("RigidBody")
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-- The trigger mode makes the rigid body only detect collisions, but impart no forces on the
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-- colliding objects
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body.trigger = true
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local shape = modelNode:CreateComponent("CollisionShape")
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-- Create the capsule shape with an offset so that it is correctly aligned with the model, which
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-- has its origin at the feet
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shape:SetCapsule(0.7, 2.0, Vector3(0.0, 1.0, 0.0))
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-- Create a custom script object that reacts to collisions and creates the ragdoll
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modelNode:CreateScriptObject("CreateRagdoll")
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end
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end
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-- Create the camera. Limit far clip distance to match the fog. Note: now we actually create the camera node outside
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-- the scene, because we want it to be unaffected by scene load / save
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cameraNode = Node()
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local camera = cameraNode:CreateComponent("Camera")
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camera.farClip = 300.0
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-- Set an initial position for the camera scene node above the floor
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cameraNode.position = Vector3(0.0, 5.0, -20.0)
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end
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function CreateInstructions()
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-- Construct new Text object, set string to display and font to use
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local instructionText = ui.root:CreateChild("Text")
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instructionText:SetText(
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"Use WASD keys and mouse to move\n"..
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"LMB to spawn physics objects\n"..
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"F5 to save scene, F7 to load\n"..
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"Space to toggle physics debug geometry")
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instructionText:SetFont(cache:GetResource("Font", "Fonts/Anonymous Pro.ttf"), 15)
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-- The text has multiple rows. Center them in relation to each other
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instructionText.textAlignment = HA_CENTER
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-- Position the text relative to the screen center
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instructionText.horizontalAlignment = HA_CENTER
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instructionText.verticalAlignment = VA_CENTER
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instructionText:SetPosition(0, ui.root.height / 4)
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end
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function SetupViewport()
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-- Set up a viewport to the Renderer subsystem so that the 3D scene can be seen
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local viewport = Viewport:new(scene_, cameraNode:GetComponent("Camera"))
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renderer:SetViewport(0, viewport)
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end
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function SubscribeToEvents()
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-- Subscribe HandleUpdate() function for processing update events
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SubscribeToEvent("Update", "HandleUpdate")
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-- Subscribe HandlePostRenderUpdate() function for processing the post-render update event, during which we request
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-- debug geometry
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SubscribeToEvent("PostRenderUpdate", "HandlePostRenderUpdate")
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end
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function MoveCamera(timeStep)
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-- Do not move if the UI has a focused element (the console)
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if ui.focusElement ~= nil then
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return
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end
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-- Movement speed as world units per second
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local MOVE_SPEED = 20.0
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-- Mouse sensitivity as degrees per pixel
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local MOUSE_SENSITIVITY = 0.1
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-- Use this frame's mouse motion to adjust camera node yaw and pitch. Clamp the pitch between -90 and 90 degrees
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local mouseMove = input.mouseMove
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yaw = yaw + MOUSE_SENSITIVITY * mouseMove.x
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pitch = pitch +MOUSE_SENSITIVITY * mouseMove.y
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pitch = Clamp(pitch, -90.0, 90.0)
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-- Construct new orientation for the camera scene node from yaw and pitch. Roll is fixed to zero
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cameraNode.rotation = Quaternion(pitch, yaw, 0.0)
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-- Read WASD keys and move the camera scene node to the corresponding direction if they are pressed
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if input:GetKeyDown(KEY_W) then
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cameraNode:Translate(Vector3(0.0, 0.0, 1.0) * MOVE_SPEED * timeStep)
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end
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if input:GetKeyDown(KEY_S) then
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cameraNode:Translate(Vector3(0.0, 0.0, -1.0) * MOVE_SPEED * timeStep)
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end
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if input:GetKeyDown(KEY_A) then
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cameraNode:Translate(Vector3(-1.0, 0.0, 0.0) * MOVE_SPEED * timeStep)
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end
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if input:GetKeyDown(KEY_D) then
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cameraNode:Translate(Vector3(1.0, 0.0, 0.0) * MOVE_SPEED * timeStep)
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end
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-- "Shoot" a physics object with left mousebutton
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if input:GetMouseButtonPress(MOUSEB_LEFT) then
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SpawnObject()
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end
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-- Check for loading/saving the scene. Save the scene to the file Data/Scenes/Physics.xml relative to the executable
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-- directory
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if input:GetKeyPress(KEY_F5) then
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scene_:SaveXML(fileSystem:GetProgramDir().."Data/Scenes/Ragdolls.xml")
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end
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if input:GetKeyPress(KEY_F7) then
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scene_:LoadXML(fileSystem:GetProgramDir().."Data/Scenes/Ragdolls.xml")
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end
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-- Toggle debug geometry with space
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if input:GetKeyPress(KEY_SPACE) then
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drawDebug = not drawDebug
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end
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end
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function SpawnObject()
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local boxNode = scene_:CreateChild("Sphere")
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boxNode.position = cameraNode.position
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boxNode.rotation = cameraNode.rotation
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boxNode:SetScale(0.25)
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local boxObject = boxNode:CreateComponent("StaticModel")
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boxObject.model = cache:GetResource("Model", "Models/Sphere.mdl")
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boxObject.material = cache:GetResource("Material", "Materials/StoneSmall.xml")
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boxObject.castShadows = true
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local body = boxNode:CreateComponent("RigidBody")
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body.mass = 1.0
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body.rollingFriction = 0.15
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local shape = boxNode:CreateComponent("CollisionShape")
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shape:SetSphere(1.0)
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local OBJECT_VELOCITY = 10.0
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-- Set initial velocity for the RigidBody based on camera forward vector. Add also a slight up component
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-- to overcome gravity better
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body.linearVelocity = cameraNode.rotation * Vector3(0.0, 0.25, 1.0) * OBJECT_VELOCITY
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end
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function HandleUpdate(eventType, eventData)
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-- Take the frame time step, which is stored as a float
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local timeStep = eventData["TimeStep"]:GetFloat()
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-- Move the camera, scale movement with time step
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MoveCamera(timeStep)
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end
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function HandlePostRenderUpdate(eventType, eventData)
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-- If draw debug mode is enabled, draw physics debug geometry. Use depth test to make the result easier to interpret
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if drawDebug then
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scene_:GetComponent("PhysicsWorld"):DrawDebugGeometry(true)
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end
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end
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-- CreateRagdoll script object class
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CreateRagdoll = ScriptObject()
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function CreateRagdoll:Start()
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-- Subscribe physics collisions that concern this scene node
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self:SubscribeToEvent(self.node, "NodeCollision", "CreateRagdoll:HandleNodeCollision")
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end
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function CreateRagdoll:HandleNodeCollision(eventType, eventData)
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-- Get the other colliding body, make sure it is moving (has nonzero mass)
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local otherBody = eventData["OtherBody"]:GetPtr("RigidBody")
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if otherBody.mass > 0.0 then
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-- We do not need the physics components in the AnimatedModel's root scene node anymore
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self.node:RemoveComponent("RigidBody")
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self.node:RemoveComponent("CollisionShape")
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-- Create RigidBody & CollisionShape components to bones
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self:CreateRagdollBone("Bip01_Pelvis", SHAPE_BOX, Vector3(0.3, 0.2, 0.25), Vector3(0.0, 0.0, 0.0),
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Quaternion(0.0, 0.0, 0.0))
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self:CreateRagdollBone("Bip01_Spine1", SHAPE_BOX, Vector3(0.35, 0.2, 0.3), Vector3(0.15, 0.0, 0.0),
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Quaternion(0.0, 0.0, 0.0))
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self:CreateRagdollBone("Bip01_L_Thigh", SHAPE_CAPSULE, Vector3(0.175, 0.45, 0.175), Vector3(0.25, 0.0, 0.0),
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Quaternion(0.0, 0.0, 90.0))
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self:CreateRagdollBone("Bip01_R_Thigh", SHAPE_CAPSULE, Vector3(0.175, 0.45, 0.175), Vector3(0.25, 0.0, 0.0),
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Quaternion(0.0, 0.0, 90.0))
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self:CreateRagdollBone("Bip01_L_Calf", SHAPE_CAPSULE, Vector3(0.15, 0.55, 0.15), Vector3(0.25, 0.0, 0.0),
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Quaternion(0.0, 0.0, 90.0))
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self:CreateRagdollBone("Bip01_R_Calf", SHAPE_CAPSULE, Vector3(0.15, 0.55, 0.15), Vector3(0.25, 0.0, 0.0),
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Quaternion(0.0, 0.0, 90.0))
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self:CreateRagdollBone("Bip01_Head", SHAPE_BOX, Vector3(0.2, 0.2, 0.2), Vector3(0.1, 0.0, 0.0),
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Quaternion(0.0, 0.0, 0.0))
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self:CreateRagdollBone("Bip01_L_UpperArm", SHAPE_CAPSULE, Vector3(0.15, 0.35, 0.15), Vector3(0.1, 0.0, 0.0),
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Quaternion(0.0, 0.0, 90.0))
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self:CreateRagdollBone("Bip01_R_UpperArm", SHAPE_CAPSULE, Vector3(0.15, 0.35, 0.15), Vector3(0.1, 0.0, 0.0),
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Quaternion(0.0, 0.0, 90.0))
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self:CreateRagdollBone("Bip01_L_Forearm", SHAPE_CAPSULE, Vector3(0.125, 0.4, 0.125), Vector3(0.2, 0.0, 0.0),
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Quaternion(0.0, 0.0, 90.0))
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self:CreateRagdollBone("Bip01_R_Forearm", SHAPE_CAPSULE, Vector3(0.125, 0.4, 0.125), Vector3(0.2, 0.0, 0.0),
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Quaternion(0.0, 0.0, 90.0))
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-- Create Constraints between bones
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self:CreateRagdollConstraint("Bip01_L_Thigh", "Bip01_Pelvis", CONSTRAINT_CONETWIST, Vector3(0.0, 0.0, -1.0),
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Vector3(0.0, 0.0, 1.0), Vector2(45.0, 45.0), Vector2(0.0, 0.0), true)
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self:CreateRagdollConstraint("Bip01_R_Thigh", "Bip01_Pelvis", CONSTRAINT_CONETWIST, Vector3(0.0, 0.0, -1.0),
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Vector3(0.0, 0.0, 1.0), Vector2(45.0, 45.0), Vector2(0.0, 0.0), true)
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self:CreateRagdollConstraint("Bip01_L_Calf", "Bip01_L_Thigh", CONSTRAINT_HINGE, Vector3(0.0, 0.0, -1.0),
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Vector3(0.0, 0.0, -1.0), Vector2(90.0, 0.0), Vector2(0.0, 0.0), true)
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self:CreateRagdollConstraint("Bip01_R_Calf", "Bip01_R_Thigh", CONSTRAINT_HINGE, Vector3(0.0, 0.0, -1.0),
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Vector3(0.0, 0.0, -1.0), Vector2(90.0, 0.0), Vector2(0.0, 0.0), true)
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self:CreateRagdollConstraint("Bip01_Spine1", "Bip01_Pelvis", CONSTRAINT_HINGE, Vector3(0.0, 0.0, 1.0),
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Vector3(0.0, 0.0, 1.0), Vector2(45.0, 0.0), Vector2(-10.0, 0.0), true)
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self:CreateRagdollConstraint("Bip01_Head", "Bip01_Spine1", CONSTRAINT_CONETWIST, Vector3(-1.0, 0.0, 0.0),
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Vector3(-1.0, 0.0, 0.0), Vector2(0.0, 30.0), Vector2(0.0, 0.0), true)
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self:CreateRagdollConstraint("Bip01_L_UpperArm", "Bip01_Spine1", CONSTRAINT_CONETWIST, Vector3(0.0, -1.0, 0.0),
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Vector3(0.0, 1.0, 0.0), Vector2(45.0, 45.0), Vector2(0.0, 0.0), false)
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self:CreateRagdollConstraint("Bip01_R_UpperArm", "Bip01_Spine1", CONSTRAINT_CONETWIST, Vector3(0.0, -1.0, 0.0),
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Vector3(0.0, 1.0, 0.0), Vector2(45.0, 45.0), Vector2(0.0, 0.0), false)
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self:CreateRagdollConstraint("Bip01_L_Forearm", "Bip01_L_UpperArm", CONSTRAINT_HINGE, Vector3(0.0, 0.0, -1.0),
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Vector3(0.0, 0.0, -1.0), Vector2(90.0, 0.0), Vector2(0.0, 0.0), true)
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self:CreateRagdollConstraint("Bip01_R_Forearm", "Bip01_R_UpperArm", CONSTRAINT_HINGE, Vector3(0.0, 0.0, -1.0),
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Vector3(0.0, 0.0, -1.0), Vector2(90.0, 0.0), Vector2(0.0, 0.0), true)
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-- Disable keyframe animation from all bones so that they will not interfere with the ragdoll
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local model = self.node:GetComponent("AnimatedModel")
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local skeleton = model.skeleton
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for i = 0, skeleton.numBones - 1 do
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skeleton:GetBone(i).animated = false
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end
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-- Finally remove self (the ScriptInstance which holds this script object) from the scene node. Note that this must
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-- be the last operation performed in the function
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self.instance:Remove()
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end
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end
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function CreateRagdoll:CreateRagdollBone(boneName, type, size, position, rotation)
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-- Find the correct child scene node recursively
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local boneNode = self.node:GetChild(boneName, true)
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if boneNode == nil then
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print("Could not find bone " .. boneName .. " for creating ragdoll physics components\n")
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return
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end
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local body = boneNode:CreateComponent("RigidBody")
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-- Set mass to make movable
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body.mass = 1.0
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-- Set damping parameters to smooth out the motion
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body.linearDamping = 0.05
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body.angularDamping = 0.85
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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.linearRestThreshold = 1.5
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body.angularRestThreshold = 2.5
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local 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 then
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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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end
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end
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function CreateRagdoll:CreateRagdollConstraint(boneName, parentName, type, axis, parentAxis, highLimit, lowLimit, disableCollision)
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local boneNode = self.node:GetChild(boneName, true)
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local parentNode = self.node:GetChild(parentName, true)
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if boneNode == nil then
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print("Could not find bone " .. boneName .. " for creating ragdoll constraint\n")
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return
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end
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if parentNode == nil then
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print("Could not find bone " .. parentName .. " for creating ragdoll constraint\n")
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return
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end
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local constraint = boneNode:CreateComponent("Constraint")
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constraint.constraintType = 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.disableCollision = disableCollision
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-- The connected body must be specified before setting the world position
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constraint.otherBody = parentNode:GetComponent("RigidBody")
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-- Position the constraint at the child bone we are connecting
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constraint.worldPosition = boneNode.worldPosition
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-- Configure axes and limits
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constraint.axis = axis
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constraint.otherAxis = parentAxis
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constraint.highLimit = highLimit
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constraint.lowLimit = lowLimit
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end
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-- Create XML patch instructions for screen joystick layout specific to this sample app
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function GetScreenJoystickPatchString()
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return
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"<patch>" ..
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" <remove sel=\"/element/element[./attribute[@name='Name' and @value='Button0']]/attribute[@name='Is Visible']\" />" ..
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" <replace sel=\"/element/element[./attribute[@name='Name' and @value='Button0']]/element[./attribute[@name='Name' and @value='Label']]/attribute[@name='Text']/@value\">Spawn</replace>" ..
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" <add sel=\"/element/element[./attribute[@name='Name' and @value='Button0']]\">" ..
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" <element type=\"Text\">" ..
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" <attribute name=\"Name\" value=\"MouseButtonBinding\" />" ..
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" <attribute name=\"Text\" value=\"LEFT\" />" ..
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" </element>" ..
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" </add>" ..
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" <remove sel=\"/element/element[./attribute[@name='Name' and @value='Button1']]/attribute[@name='Is Visible']\" />" ..
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" <replace sel=\"/element/element[./attribute[@name='Name' and @value='Button1']]/element[./attribute[@name='Name' and @value='Label']]/attribute[@name='Text']/@value\">Debug</replace>" ..
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" <add sel=\"/element/element[./attribute[@name='Name' and @value='Button1']]\">" ..
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" <element type=\"Text\">" ..
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" <attribute name=\"Name\" value=\"KeyBinding\" />" ..
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" <attribute name=\"Text\" value=\"SPACE\" />" ..
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" </element>" ..
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" </add>" ..
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"</patch>"
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end
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