ragdoll.cpp

使用stl技术,(还没看,是听说的)

/** @file RagDoll.cpp
	@brief Contains functions for quickly setting up RagDolls.
*/

// Includes
#include "Demo.h"

// constructRagDoll()
void constructRagDoll(const String& name,
						const Vector3& basePosition, 
						Real bodyMass,
						Real limbMass,
						unsigned int jointIterations)
{
	// Quaternion to rotate the bodyparts/joints
	Quaternion rotation;

	// Create the body parts
	//====================================================================================

	// Body
	DynamicBox* body = Simulation::getSingleton().createDynamicBox(name + "_body",
													String::BLANK,
													String::BLANK,
													basePosition + Vector3(0.0f, 0.0f, 0.0f),
													Quaternion::IDENTITY,
													String::BLANK,
													Vector3(55.0f, 70.0f, 30.0f),
													bodyMass,
													true);

	// Head
	DynamicSphere* head = Simulation::getSingleton().createDynamicSphere(name + "_head",
														String::BLANK,
														String::BLANK,
														basePosition + Vector3(0.0f, 55.0f, 0.0f),
														Quaternion::IDENTITY,
														String::BLANK,
														40.0f,
														limbMass,
														true);
	head->setAngularDamping(0.0025f);

	// Right Arm
	rotation.FromAngleAxis((-PI / 2.0f), Vector3(0.0f, 0.0f, 1.0f));
	DynamicCapsule* rightArm = Simulation::getSingleton().createDynamicCapsule(name + "_rightArm",
															String::BLANK,
															String::BLANK,
															basePosition + Vector3(-45.0f, 28.0f, 0.0f),
															rotation,
															String::BLANK,
															25.0f, 40.0f,
															limbMass,
															true);

	// Left Arm
	rotation.FromAngleAxis((PI / 2.0f), Vector3(0.0f, 0.0f, 1.0f));
	DynamicCapsule* leftArm = Simulation::getSingleton().createDynamicCapsule(name + "_leftArm",
															String::BLANK,
															String::BLANK,
															basePosition + Vector3(45.0f, 28.0f, 0.0f),
															rotation,
															String::BLANK,
															25.0f, 40.0f,
															limbMass,
															true);

	// Right Forearm
	rotation.FromAngleAxis((-PI / 2.0f), Vector3(0.0f, 0.0f, 1.0f));
	DynamicBox* rightForearm = Simulation::getSingleton().createDynamicBox(name + "_rightForearm",
															String::BLANK,
															String::BLANK,
															basePosition + Vector3(-90.0f, 28.0f, 0.0f),
															rotation,
															String::BLANK,
															Vector3(24.0f, 60.0f, 24.0f),
															limbMass,
															true);

	// Left Forearm
	rotation.FromAngleAxis((PI / 2.0f), Vector3(0.0f, 0.0f, 1.0f));
	DynamicBox* leftForearm = Simulation::getSingleton().createDynamicBox(name + "_leftForearm",   
															String::BLANK,                  
															String::BLANK,                  
															basePosition + Vector3(90.0f, 28.0f, 0.0f),   
															rotation,           
															String::BLANK,
															Vector3(24.0f, 60.0f, 24.0f),
															limbMass,
															true);

	// Right Thigh
	DynamicCapsule* rightThigh = Simulation::getSingleton().createDynamicCapsule(name + "_rightThigh",
																String::BLANK,
																String::BLANK,
																basePosition + Vector3(-20.0f, -60.0f, 0.0f),
																Quaternion::IDENTITY,
																String::BLANK,
																27.0f, 70.0f,
																limbMass,
																true);

	// Left Thigh
	DynamicCapsule* leftThigh = Simulation::getSingleton().createDynamicCapsule(name + "leftThigh",
																String::BLANK,
																String::BLANK,
																basePosition + Vector3(20.0f, -60.0f, 0.0f),
																Quaternion::IDENTITY,
																String::BLANK,
																27.0f, 70.0f,
																limbMass,
																true);

	// Right Leg
	DynamicBox* rightLeg = Simulation::getSingleton().createDynamicBox(name + "_rightLeg",
														String::BLANK,
														String::BLANK,
														basePosition + Vector3(-20.0f, -130.0f, 0.0f),
														Quaternion::IDENTITY,
														String::BLANK,
														Vector3(30.0f, 80.0f, 30.0f),
														8.0f,
														true);

	// Left Left
	DynamicBox* leftLeg = Simulation::getSingleton().createDynamicBox(name + "_leftLeg",
														String::BLANK,
														String::BLANK,
														basePosition + Vector3(20.0f, -130.0f, 0.0f),
														Quaternion::IDENTITY,
														String::BLANK,
														Vector3(30.0f, 80.0f, 30.0f),
														8.0f,
														true);

	// Create the Joints
	//====================================================================================

	// Head - Body joint
	Hinge* bodyHeadJoint = Simulation::getSingleton().createHinge(name + "_BodyHeadJoint",
														body, head,
														10.0f,
														basePosition + Vector3(0.0f, 35.0f, 0.0f));
	bodyHeadJoint->setLowerLimit(-PI / 4.0f);
	bodyHeadJoint->setUpperLimit(PI / 4.0f);
	bodyHeadJoint->setLimitEnabled(true);
	bodyHeadJoint->setNumIterations(jointIterations);
	bodyHeadJoint->setDampingFactor(0.25f);

	// Right Arm - Body joint
	BallSocket* rightArmBodyJoint = Simulation::getSingleton().createBallSocket(name + "_RightArmBodyJoint",
																rightArm,
																body,
																basePosition + Vector3(-22.0f, 28.0f, 0.0f),
																Quaternion::IDENTITY);
	rightArmBodyJoint->setLowerLimit(0.0f);
	rightArmBodyJoint->setUpperLimit(PI / 2.5f);
	rightArmBodyJoint->setLimitEnabled(true);
	rightArmBodyJoint->setLowerTwistLimit(0.1f);
	rightArmBodyJoint->setTwistLimitEnabled(true);
	rightArmBodyJoint->setNumIterations(jointIterations);

	// Left Arm - Body joint
	BallSocket* leftArmBodyJoint = Simulation::getSingleton().createBallSocket(name + "_LeftArmBodyJoint",
																leftArm,
																body,
																basePosition + Vector3(22.0f, 28.0f, 0.0f),
																Quaternion::IDENTITY);
	leftArmBodyJoint->setLowerLimit(0.0f);
	leftArmBodyJoint->setUpperLimit(PI / 2.5f);
	leftArmBodyJoint->setLimitEnabled(true);
	leftArmBodyJoint->setLowerTwistLimit(0.1f);
	leftArmBodyJoint->setTwistLimitEnabled(true);
	leftArmBodyJoint->setNumIterations(jointIterations);

	// Right Forearm - Arm Joint
	rotation.FromAxes(Vector3(-1.0f, 0.0f, 0.0f), Vector3(0.0f, -1.0f, 0.0f), Vector3(0.0f, 0.0f, 1.0f));
	Hinge* rightForearmArmJoint = Simulation::getSingleton().createHinge(name + "_RightForearmArmJoint",
																rightArm,
																rightForearm,
																10.0f,
																basePosition + Vector3(-65.0f, 28.0f, 0.0f),
																rotation);
	rightForearmArmJoint->setLowerLimit(0.0f);
	rightForearmArmJoint->setUpperLimit(PI / 2.0f);
	rightForearmArmJoint->setLimitEnabled(true);
	rightForearmArmJoint->setNumIterations(jointIterations);

	// Left Forearm - Arm Joint
	rotation.FromAxes(Vector3(-1.0f, 0.0f, 0.0f), Vector3(0.0f, -1.0f, 0.0f), Vector3(0.0f, 0.0f, 1.0f));
	Hinge* leftForearmArmJoint = Simulation::getSingleton().createHinge(name + "_LeftForearmArmJoint",
																leftForearm,
																leftArm,
																10.0f,
																basePosition + Vector3(65.0f, 28.0f, 0.0f),
																rotation);
	leftForearmArmJoint->setLowerLimit(0.0);
	leftForearmArmJoint->setUpperLimit(PI / 2.0f);
	leftForearmArmJoint->setLimitEnabled(true);
	leftForearmArmJoint->setNumIterations(jointIterations);

	// Right Thigh - Body Joint
	rotation.FromAngleAxis((PI * 6.0f / 8.0f), Vector3(0.0f, 0.0f, 1.0f));
	BallSocket* rightThighBodyJoint = Simulation::getSingleton().createBallSocket(name + "_RightThighBodyJoint",
																	rightThigh,
																	body,
																	basePosition + Vector3(-20.0f, -32.0f, 0.0f),
																	rotation);
	rightThighBodyJoint->setLowerLimit(0.0f);
	rightThighBodyJoint->setUpperLimit(PI / 4.0f);
	rightThighBodyJoint->setLimitEnabled(true);
	rightThighBodyJoint->setLowerTwistLimit(0.8f);
	rightThighBodyJoint->setTwistLimitEnabled(true);
	rightThighBodyJoint->setNumIterations(jointIterations);

	// Left Thigh - Body Joint
	rotation.FromAngleAxis((PI * 6.0f / 8.0f), Vector3(0.0f, 0.0f, 1.0f));
	BallSocket* leftThighBodyJoint = Simulation::getSingleton().createBallSocket(name + "_LeftThighBodyJoint",
																	leftThigh,
																	body,
																	basePosition + Vector3(20.0f, -32.0f, 0.0f));
	leftThighBodyJoint->setLowerLimit(0.0f);
	leftThighBodyJoint->setUpperLimit(PI / 4.0f);
	leftThighBodyJoint->setLimitEnabled(true);
	leftThighBodyJoint->setLowerTwistLimit(0.8f);
	leftThighBodyJoint->setTwistLimitEnabled(true);
	leftThighBodyJoint->setNumIterations(jointIterations);

	// Right Leg - Thigh Joint
	rotation.FromAngleAxis((-PI * 0.5f), Vector3(0.0f, 0.0f, 1.0f));
	Hinge* rightLegThighJoint = Simulation::getSingleton().createHinge(name + "_RightLegThighJoint",
															rightLeg,
															rightThigh,
															15.0f,
															basePosition + Vector3(-20.0f, -95.0f, 0.0f),
															rotation);
	rightLegThighJoint->setLowerLimit(0.0f);
	rightLegThighJoint->setUpperLimit(PI / 2.0f);
	rightLegThighJoint->setLimitEnabled(true);
	rightLegThighJoint->setNumIterations(jointIterations);

	// Left Leg - Thigh Joint
	rotation.FromAngleAxis((-PI * 0.5f), Vector3(0.0f, 0.0f, 1.0f));
	Hinge* leftLegThighJoint = Simulation::getSingleton().createHinge(name + "_LeftLegThighJoint",
															leftLeg,
															leftThigh,
															15.0f,
															basePosition + Vector3(20.0f, -95.0f, 0.0f),
															rotation);
	leftLegThighJoint->setLowerLimit(0.0f);
	leftLegThighJoint->setUpperLimit(PI / 2.0f);
	leftLegThighJoint->setLimitEnabled(true);
	leftLegThighJoint->setNumIterations(jointIterations);
}