Urho3D/Source/Samples/13_Ragdolls/CreateRagdoll.cpp
2021-07-17 16:43:46 +00:00

175 lines
8.8 KiB
C++

//
// Copyright (c) 2008-2021 the Urho3D project.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
// THE SOFTWARE.
//
#include <Urho3D/Graphics/AnimatedModel.h>
#include <Urho3D/IO/Log.h>
#include <Urho3D/Physics/PhysicsEvents.h>
#include <Urho3D/Physics/RigidBody.h>
#include "CreateRagdoll.h"
#include <Urho3D/DebugNew.h>
CreateRagdoll::CreateRagdoll(Context* context) :
Component(context)
{
}
void CreateRagdoll::OnNodeSet(Node* node)
{
// If the node pointer is non-null, this component has been created into a scene node. Subscribe to physics collisions that
// concern this scene node
if (node)
SubscribeToEvent(node, E_NODECOLLISION, URHO3D_HANDLER(CreateRagdoll, HandleNodeCollision));
}
void CreateRagdoll::HandleNodeCollision(StringHash eventType, VariantMap& eventData)
{
using namespace NodeCollision;
// Get the other colliding body, make sure it is moving (has nonzero mass)
auto* otherBody = static_cast<RigidBody*>(eventData[P_OTHERBODY].GetPtr());
if (otherBody->GetMass() > 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::BACK, Vector3::FORWARD,
Vector2(45.0f, 45.0f), Vector2::ZERO);
CreateRagdollConstraint("Bip01_R_Thigh", "Bip01_Pelvis", CONSTRAINT_CONETWIST, Vector3::BACK, Vector3::FORWARD,
Vector2(45.0f, 45.0f), Vector2::ZERO);
CreateRagdollConstraint("Bip01_L_Calf", "Bip01_L_Thigh", CONSTRAINT_HINGE, Vector3::BACK, Vector3::BACK,
Vector2(90.0f, 0.0f), Vector2::ZERO);
CreateRagdollConstraint("Bip01_R_Calf", "Bip01_R_Thigh", CONSTRAINT_HINGE, Vector3::BACK, Vector3::BACK,
Vector2(90.0f, 0.0f), Vector2::ZERO);
CreateRagdollConstraint("Bip01_Spine1", "Bip01_Pelvis", CONSTRAINT_HINGE, Vector3::FORWARD, Vector3::FORWARD,
Vector2(45.0f, 0.0f), Vector2(-10.0f, 0.0f));
CreateRagdollConstraint("Bip01_Head", "Bip01_Spine1", CONSTRAINT_CONETWIST, Vector3::LEFT, Vector3::LEFT,
Vector2(0.0f, 30.0f), Vector2::ZERO);
CreateRagdollConstraint("Bip01_L_UpperArm", "Bip01_Spine1", CONSTRAINT_CONETWIST, Vector3::DOWN, Vector3::UP,
Vector2(45.0f, 45.0f), Vector2::ZERO, false);
CreateRagdollConstraint("Bip01_R_UpperArm", "Bip01_Spine1", CONSTRAINT_CONETWIST, Vector3::DOWN, Vector3::UP,
Vector2(45.0f, 45.0f), Vector2::ZERO, false);
CreateRagdollConstraint("Bip01_L_Forearm", "Bip01_L_UpperArm", CONSTRAINT_HINGE, Vector3::BACK, Vector3::BACK,
Vector2(90.0f, 0.0f), Vector2::ZERO);
CreateRagdollConstraint("Bip01_R_Forearm", "Bip01_R_UpperArm", CONSTRAINT_HINGE, Vector3::BACK, Vector3::BACK,
Vector2(90.0f, 0.0f), Vector2::ZERO);
// Disable keyframe animation from all bones so that they will not interfere with the ragdoll
auto* model = GetComponent<AnimatedModel>();
Skeleton& skeleton = model->GetSkeleton();
for (unsigned i = 0; i < skeleton.GetNumBones(); ++i)
skeleton.GetBone(i)->animated_ = false;
// Finally remove self from the scene node. Note that this must be the last operation performed in the function
Remove();
}
}
void CreateRagdoll::CreateRagdollBone(const String& boneName, ShapeType type, const Vector3& size, const Vector3& position,
const Quaternion& rotation)
{
// Find the correct child scene node recursively
Node* boneNode = node_->GetChild(boneName, true);
if (!boneNode)
{
URHO3D_LOGWARNING("Could not find bone " + boneName + " for creating ragdoll physics components");
return;
}
auto* body = boneNode->CreateComponent<RigidBody>();
// Set mass to make movable
body->SetMass(1.0f);
// Set damping parameters to smooth out the motion
body->SetLinearDamping(0.05f);
body->SetAngularDamping(0.85f);
// Set rest thresholds to ensure the ragdoll rigid bodies come to rest to not consume CPU endlessly
body->SetLinearRestThreshold(1.5f);
body->SetAngularRestThreshold(2.5f);
auto* 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 CreateRagdoll::CreateRagdollConstraint(const String& boneName, const String& parentName, ConstraintType type,
const Vector3& axis, const Vector3& parentAxis, const Vector2& highLimit, const Vector2& lowLimit,
bool disableCollision)
{
Node* boneNode = node_->GetChild(boneName, true);
Node* parentNode = node_->GetChild(parentName, true);
if (!boneNode)
{
URHO3D_LOGWARNING("Could not find bone " + boneName + " for creating ragdoll constraint");
return;
}
if (!parentNode)
{
URHO3D_LOGWARNING("Could not find bone " + parentName + " for creating ragdoll constraint");
return;
}
auto* constraint = boneNode->CreateComponent<Constraint>();
constraint->SetConstraintType(type);
// Most of the constraints in the ragdoll will work better when the connected bodies don't collide against each other
constraint->SetDisableCollision(disableCollision);
// The connected body must be specified before setting the world position
constraint->SetOtherBody(parentNode->GetComponent<RigidBody>());
// Position the constraint at the child bone we are connecting
constraint->SetWorldPosition(boneNode->GetWorldPosition());
// Configure axes and limits
constraint->SetAxis(axis);
constraint->SetOtherAxis(parentAxis);
constraint->SetHighLimit(highLimit);
constraint->SetLowLimit(lowLimit);
}