use of spacegraph.space3d.phys.shape.CapsuleShape in project narchy by automenta.
the class RagDoll method build.
public Body3D[] build(Dynamics3D world, v3 positionOffset, float scale_ragdoll) {
stack.pushCommonMath();
Transform tmpTrans = stack.transforms.get();
// Setup the geometry
shapes[BodyPart.BODYPART_PELVIS.ordinal()] = new CapsuleShape(scale_ragdoll * 0.15f, scale_ragdoll * 0.20f);
shapes[BodyPart.BODYPART_SPINE.ordinal()] = new CapsuleShape(scale_ragdoll * 0.15f, scale_ragdoll * 0.28f);
shapes[BodyPart.BODYPART_HEAD.ordinal()] = new CapsuleShape(scale_ragdoll * 0.10f, scale_ragdoll * 0.05f);
shapes[BodyPart.BODYPART_LEFT_UPPER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.07f, scale_ragdoll * 0.45f);
shapes[BodyPart.BODYPART_LEFT_LOWER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.05f, scale_ragdoll * 0.37f);
shapes[BodyPart.BODYPART_RIGHT_UPPER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.07f, scale_ragdoll * 0.45f);
shapes[BodyPart.BODYPART_RIGHT_LOWER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.05f, scale_ragdoll * 0.37f);
shapes[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * 0.05f, scale_ragdoll * 0.33f);
shapes[BodyPart.BODYPART_LEFT_LOWER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * 0.04f, scale_ragdoll * 0.25f);
shapes[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * 0.05f, scale_ragdoll * 0.33f);
shapes[BodyPart.BODYPART_RIGHT_LOWER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * 0.04f, scale_ragdoll * 0.25f);
// Setup all the rigid bodies
Transform offset = stack.transforms.get();
offset.setIdentity();
offset.set(positionOffset);
Transform transform = stack.transforms.get();
transform.setIdentity();
transform.set(0f, scale_ragdoll * 1f, 0f);
tmpTrans.mul(offset, transform);
bodies[BodyPart.BODYPART_PELVIS.ordinal()] = localCreateRigidBody(1f, tmpTrans, shapes[BodyPart.BODYPART_PELVIS.ordinal()]);
transform.setIdentity();
transform.set(0f, scale_ragdoll * 1.2f, 0f);
tmpTrans.mul(offset, transform);
bodies[BodyPart.BODYPART_SPINE.ordinal()] = localCreateRigidBody(1f, tmpTrans, shapes[BodyPart.BODYPART_SPINE.ordinal()]);
transform.setIdentity();
transform.set(0f, scale_ragdoll * 1.6f, 0f);
tmpTrans.mul(offset, transform);
this.head = bodies[BodyPart.BODYPART_HEAD.ordinal()] = localCreateRigidBody(1f, tmpTrans, shapes[BodyPart.BODYPART_HEAD.ordinal()]);
// head.setRenderer((Object gl, Object dd)->{
// GL2 g = (GL2) gl;
// Dynamic d = (Dynamic) dd;
//
// defaultRenderer.accept(g, d); //HACK cast sucks
//
// g.glPushMatrix();
//
// Draw.transform(g, d.transform());
//
// g.glColor4f((float)Math.random(),0.25f,1f,0.75f); //HACK cast sucks
// g.glRotatef((float)Math.PI/2f, 0, 0, 1);
// Draw.rect(g, -0.5f,-0.5f,1,1, 0.5f);
//
// g.glPopMatrix();
//
// g.glColor4f(0.75f,0.75f,0.75f,1f); //HACK restore white color
//
// });
//
transform.setIdentity();
transform.set(-0.18f * scale_ragdoll, 0.65f * scale_ragdoll, 0f);
tmpTrans.mul(offset, transform);
bodies[BodyPart.BODYPART_LEFT_UPPER_LEG.ordinal()] = localCreateRigidBody(1f, tmpTrans, shapes[BodyPart.BODYPART_LEFT_UPPER_LEG.ordinal()]);
transform.setIdentity();
transform.set(-0.18f * scale_ragdoll, 0.2f * scale_ragdoll, 0f);
tmpTrans.mul(offset, transform);
bodies[BodyPart.BODYPART_LEFT_LOWER_LEG.ordinal()] = localCreateRigidBody(1f, tmpTrans, shapes[BodyPart.BODYPART_LEFT_LOWER_LEG.ordinal()]);
transform.setIdentity();
transform.set(0.18f * scale_ragdoll, 0.65f * scale_ragdoll, 0f);
tmpTrans.mul(offset, transform);
bodies[BodyPart.BODYPART_RIGHT_UPPER_LEG.ordinal()] = localCreateRigidBody(1f, tmpTrans, shapes[BodyPart.BODYPART_RIGHT_UPPER_LEG.ordinal()]);
transform.setIdentity();
transform.set(0.18f * scale_ragdoll, 0.2f * scale_ragdoll, 0f);
tmpTrans.mul(offset, transform);
bodies[BodyPart.BODYPART_RIGHT_LOWER_LEG.ordinal()] = localCreateRigidBody(1f, tmpTrans, shapes[BodyPart.BODYPART_RIGHT_LOWER_LEG.ordinal()]);
transform.setIdentity();
transform.set(-0.35f * scale_ragdoll, 1.45f * scale_ragdoll, 0f);
MatrixUtil.setEulerZYX(transform.basis, 0, 0, ExtraGlobals.SIMD_HALF_PI);
tmpTrans.mul(offset, transform);
bodies[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()] = localCreateRigidBody(1f, tmpTrans, shapes[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()]);
transform.setIdentity();
transform.set(-0.7f * scale_ragdoll, 1.45f * scale_ragdoll, 0f);
MatrixUtil.setEulerZYX(transform.basis, (float) 0, 0, ExtraGlobals.SIMD_HALF_PI);
tmpTrans.mul(offset, transform);
bodies[BodyPart.BODYPART_LEFT_LOWER_ARM.ordinal()] = localCreateRigidBody(1f, tmpTrans, shapes[BodyPart.BODYPART_LEFT_LOWER_ARM.ordinal()]);
transform.setIdentity();
transform.set(0.35f * scale_ragdoll, 1.45f * scale_ragdoll, 0f);
MatrixUtil.setEulerZYX(transform.basis, (float) 0, 0, -ExtraGlobals.SIMD_HALF_PI);
tmpTrans.mul(offset, transform);
bodies[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()] = localCreateRigidBody(1f, tmpTrans, shapes[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()]);
transform.setIdentity();
transform.set(0.7f * scale_ragdoll, 1.45f * scale_ragdoll, 0f);
MatrixUtil.setEulerZYX(transform.basis, 0, 0, -ExtraGlobals.SIMD_HALF_PI);
tmpTrans.mul(offset, transform);
bodies[BodyPart.BODYPART_RIGHT_LOWER_ARM.ordinal()] = localCreateRigidBody(1f, tmpTrans, shapes[BodyPart.BODYPART_RIGHT_LOWER_ARM.ordinal()]);
// Setup some damping on the m_bodies
// for (int i = 0; i < BodyPart.BODYPART_COUNT.ordinal(); ++i) {
// bodies[i].setDamping(0.05f, 0.85f);
// bodies[i].setDeactivationTime(0.8f);
// bodies[i].setSleepingThresholds(1.6f, 2.5f);
// }
// /////////////////////////// SETTING THE CONSTRAINTS /////////////////////////////////////////////7777
// Now setup the constraints
Transform localA = stack.transforms.get(), localB = stack.transforms.get();
// / ******* SPINE HEAD ******** ///
localA.setIdentity();
localB.setIdentity();
localA.set(0f, 0.30f * scale_ragdoll, 0f);
localB.set(0f, -0.14f * scale_ragdoll, 0f);
boolean useLinearReferenceFrameA = true;
Generic6DofConstraint joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_SPINE.ordinal()], bodies[BodyPart.BODYPART_HEAD.ordinal()], localA, localB, useLinearReferenceFrameA);
// #ifdef RIGID
// joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
// joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
// #else
joint6DOF.setAngularLowerLimit(stack.vectors.get(-ExtraGlobals.SIMD_PI * 0.3f, -ExtraGlobals.FLT_EPSILON, -ExtraGlobals.SIMD_PI * 0.3f));
joint6DOF.setAngularUpperLimit(stack.vectors.get(ExtraGlobals.SIMD_PI * 0.5f, ExtraGlobals.FLT_EPSILON, ExtraGlobals.SIMD_PI * 0.3f));
// #endif
joints[JointType.JOINT_SPINE_HEAD.ordinal()] = joint6DOF;
world.addConstraint(joints[JointType.JOINT_SPINE_HEAD.ordinal()], true);
// / *************************** ///
// / ******* LEFT SHOULDER ******** ///
localA.setIdentity();
localB.setIdentity();
localA.set(-0.2f * scale_ragdoll, 0.15f * scale_ragdoll, 0f);
MatrixUtil.setEulerZYX(localB.basis, ExtraGlobals.SIMD_HALF_PI, (float) 0, -ExtraGlobals.SIMD_HALF_PI);
localB.set(0f, -0.18f * scale_ragdoll, 0f);
joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_SPINE.ordinal()], bodies[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()], localA, localB, useLinearReferenceFrameA);
// #ifdef RIGID
// joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
// joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
// #else
joint6DOF.setAngularLowerLimit(stack.vectors.get(-ExtraGlobals.SIMD_PI * 0.8f, -ExtraGlobals.FLT_EPSILON, -ExtraGlobals.SIMD_PI * 0.5f));
joint6DOF.setAngularUpperLimit(stack.vectors.get(ExtraGlobals.SIMD_PI * 0.8f, ExtraGlobals.FLT_EPSILON, ExtraGlobals.SIMD_PI * 0.5f));
// #endif
joints[JointType.JOINT_LEFT_SHOULDER.ordinal()] = joint6DOF;
world.addConstraint(joints[JointType.JOINT_LEFT_SHOULDER.ordinal()], true);
// / *************************** ///
// / ******* RIGHT SHOULDER ******** ///
localA.setIdentity();
localB.setIdentity();
localA.set(0.2f * scale_ragdoll, 0.15f * scale_ragdoll, 0f);
MatrixUtil.setEulerZYX(localB.basis, 0f, 0f, ExtraGlobals.SIMD_HALF_PI);
localB.set(0f, -0.18f * scale_ragdoll, 0f);
joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_SPINE.ordinal()], bodies[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()], localA, localB, useLinearReferenceFrameA);
// #ifdef RIGID
// joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
// joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
// #else
joint6DOF.setAngularLowerLimit(stack.vectors.get(-ExtraGlobals.SIMD_PI * 0.8f, -ExtraGlobals.SIMD_EPSILON, -ExtraGlobals.SIMD_PI * 0.5f));
joint6DOF.setAngularUpperLimit(stack.vectors.get(ExtraGlobals.SIMD_PI * 0.8f, ExtraGlobals.SIMD_EPSILON, ExtraGlobals.SIMD_PI * 0.5f));
// #endif
joints[JointType.JOINT_RIGHT_SHOULDER.ordinal()] = joint6DOF;
world.addConstraint(joints[JointType.JOINT_RIGHT_SHOULDER.ordinal()], true);
// / *************************** ///
// / ******* LEFT ELBOW ******** ///
localA.setIdentity();
localB.setIdentity();
localA.set(0f, 0.18f * scale_ragdoll, 0f);
localB.set(0f, -0.14f * scale_ragdoll, 0f);
joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()], bodies[BodyPart.BODYPART_LEFT_LOWER_ARM.ordinal()], localA, localB, useLinearReferenceFrameA);
// #ifdef RIGID
// joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
// joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
// #else
joint6DOF.setAngularLowerLimit(stack.vectors.get(-ExtraGlobals.SIMD_EPSILON, -ExtraGlobals.SIMD_EPSILON, -ExtraGlobals.SIMD_EPSILON));
joint6DOF.setAngularUpperLimit(stack.vectors.get(ExtraGlobals.SIMD_PI * 0.7f, ExtraGlobals.SIMD_EPSILON, ExtraGlobals.SIMD_EPSILON));
// #endif
joints[JointType.JOINT_LEFT_ELBOW.ordinal()] = joint6DOF;
world.addConstraint(joints[JointType.JOINT_LEFT_ELBOW.ordinal()], true);
// / *************************** ///
// / ******* RIGHT ELBOW ******** ///
localA.setIdentity();
localB.setIdentity();
localA.set(0f, 0.18f * scale_ragdoll, 0f);
localB.set(0f, -0.14f * scale_ragdoll, 0f);
joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()], bodies[BodyPart.BODYPART_RIGHT_LOWER_ARM.ordinal()], localA, localB, useLinearReferenceFrameA);
// #ifdef RIGID
// joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
// joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
// #else
joint6DOF.setAngularLowerLimit(stack.vectors.get(-ExtraGlobals.SIMD_EPSILON, -ExtraGlobals.SIMD_EPSILON, -ExtraGlobals.SIMD_EPSILON));
joint6DOF.setAngularUpperLimit(stack.vectors.get(ExtraGlobals.SIMD_PI * 0.7f, ExtraGlobals.SIMD_EPSILON, ExtraGlobals.SIMD_EPSILON));
// #endif
joints[JointType.JOINT_RIGHT_ELBOW.ordinal()] = joint6DOF;
world.addConstraint(joints[JointType.JOINT_RIGHT_ELBOW.ordinal()], true);
// / *************************** ///
// / ******* PELVIS ******** ///
localA.setIdentity();
localB.setIdentity();
MatrixUtil.setEulerZYX(localA.basis, (float) 0, ExtraGlobals.SIMD_HALF_PI, 0);
localA.set(0f, 0.15f * scale_ragdoll, 0f);
MatrixUtil.setEulerZYX(localB.basis, (float) 0, ExtraGlobals.SIMD_HALF_PI, 0);
localB.set(0f, -0.15f * scale_ragdoll, 0f);
joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_PELVIS.ordinal()], bodies[BodyPart.BODYPART_SPINE.ordinal()], localA, localB, useLinearReferenceFrameA);
// #ifdef RIGID
// joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
// joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
// #else
joint6DOF.setAngularLowerLimit(stack.vectors.get(-ExtraGlobals.SIMD_PI * 0.2f, -ExtraGlobals.SIMD_EPSILON, -ExtraGlobals.SIMD_PI * 0.3f));
joint6DOF.setAngularUpperLimit(stack.vectors.get(ExtraGlobals.SIMD_PI * 0.2f, ExtraGlobals.SIMD_EPSILON, ExtraGlobals.SIMD_PI * 0.6f));
// #endif
joints[JointType.JOINT_PELVIS_SPINE.ordinal()] = joint6DOF;
world.addConstraint(joints[JointType.JOINT_PELVIS_SPINE.ordinal()], true);
// / *************************** ///
// / ******* LEFT HIP ******** ///
localA.setIdentity();
localB.setIdentity();
localA.set(-0.18f * scale_ragdoll, -0.10f * scale_ragdoll, 0f);
localB.set(0f, 0.225f * scale_ragdoll, 0f);
joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_PELVIS.ordinal()], bodies[BodyPart.BODYPART_LEFT_UPPER_LEG.ordinal()], localA, localB, useLinearReferenceFrameA);
// #ifdef RIGID
// joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
// joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
// #else
joint6DOF.setAngularLowerLimit(stack.vectors.get(-ExtraGlobals.SIMD_HALF_PI * 0.5f, -ExtraGlobals.SIMD_EPSILON, -ExtraGlobals.SIMD_EPSILON));
joint6DOF.setAngularUpperLimit(stack.vectors.get(ExtraGlobals.SIMD_HALF_PI * 0.8f, ExtraGlobals.SIMD_EPSILON, ExtraGlobals.SIMD_HALF_PI * 0.6f));
// #endif
joints[JointType.JOINT_LEFT_HIP.ordinal()] = joint6DOF;
world.addConstraint(joints[JointType.JOINT_LEFT_HIP.ordinal()], true);
// / *************************** ///
// / ******* RIGHT HIP ******** ///
localA.setIdentity();
localB.setIdentity();
localA.set(0.18f * scale_ragdoll, -0.10f * scale_ragdoll, 0f);
localB.set(0f, 0.225f * scale_ragdoll, 0f);
joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_PELVIS.ordinal()], bodies[BodyPart.BODYPART_RIGHT_UPPER_LEG.ordinal()], localA, localB, useLinearReferenceFrameA);
// #ifdef RIGID
// joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
// joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
// #else
joint6DOF.setAngularLowerLimit(stack.vectors.get(-ExtraGlobals.SIMD_HALF_PI * 0.5f, -ExtraGlobals.SIMD_EPSILON, -ExtraGlobals.SIMD_HALF_PI * 0.6f));
joint6DOF.setAngularUpperLimit(stack.vectors.get(ExtraGlobals.SIMD_HALF_PI * 0.8f, ExtraGlobals.SIMD_EPSILON, ExtraGlobals.SIMD_EPSILON));
// #endif
joints[JointType.JOINT_RIGHT_HIP.ordinal()] = joint6DOF;
world.addConstraint(joints[JointType.JOINT_RIGHT_HIP.ordinal()], true);
// / *************************** ///
// / ******* LEFT KNEE ******** ///
localA.setIdentity();
localB.setIdentity();
localA.set(0f, -0.225f * scale_ragdoll, 0f);
localB.set(0f, 0.185f * scale_ragdoll, 0f);
joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_LEFT_UPPER_LEG.ordinal()], bodies[BodyPart.BODYPART_LEFT_LOWER_LEG.ordinal()], localA, localB, useLinearReferenceFrameA);
//
// #ifdef RIGID
// joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
// joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
// #else
joint6DOF.setAngularLowerLimit(stack.vectors.get(-ExtraGlobals.SIMD_EPSILON, -ExtraGlobals.SIMD_EPSILON, -ExtraGlobals.SIMD_EPSILON));
joint6DOF.setAngularUpperLimit(stack.vectors.get(ExtraGlobals.SIMD_PI * 0.7f, ExtraGlobals.SIMD_EPSILON, ExtraGlobals.SIMD_EPSILON));
// #endif
joints[JointType.JOINT_LEFT_KNEE.ordinal()] = joint6DOF;
world.addConstraint(joints[JointType.JOINT_LEFT_KNEE.ordinal()], true);
// / *************************** ///
// / ******* RIGHT KNEE ******** ///
localA.setIdentity();
localB.setIdentity();
localA.set(0f, -0.225f * scale_ragdoll, 0f);
localB.set(0f, 0.185f * scale_ragdoll, 0f);
joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_RIGHT_UPPER_LEG.ordinal()], bodies[BodyPart.BODYPART_RIGHT_LOWER_LEG.ordinal()], localA, localB, useLinearReferenceFrameA);
// #ifdef RIGID
// joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
// joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
// #else
joint6DOF.setAngularLowerLimit(stack.vectors.get(-ExtraGlobals.SIMD_EPSILON, -ExtraGlobals.SIMD_EPSILON, -ExtraGlobals.SIMD_EPSILON));
joint6DOF.setAngularUpperLimit(stack.vectors.get(ExtraGlobals.SIMD_PI * 0.7f, ExtraGlobals.SIMD_EPSILON, ExtraGlobals.SIMD_EPSILON));
// #endif
joints[JointType.JOINT_RIGHT_KNEE.ordinal()] = joint6DOF;
world.addConstraint(joints[JointType.JOINT_RIGHT_KNEE.ordinal()], true);
// / *************************** ///
stack.popCommonMath();
return bodies;
}
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