2 ways i have conceived of doing this is
1) detecting collision with the world plane (the pins are on a raised platform) and then deleting them.
2) detecting the current location of the object and comparing it to the original location and deleting it if it is far enough away.
Here is my ragdoll.cpp so you can see a bit of my code. (bear with me I'm in my second quarter of school)
Code: Select all
/*
Bullet Continuous Collision Detection and Physics Library
Ragdoll Demo
Copyright (c) 2007 Starbreeze Studios
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
Written by: Marten Svanfeldt
*/
#define CONSTRAINT_DEBUG_SIZE 0.2f
#include "btBulletDynamicsCommon.h"
#include "GlutStuff.h"
#include "GL_ShapeDrawer.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
#include "RagdollDemo.h"
// Enrico: Shouldn't these three variables be real constants and not defines?
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
#ifndef M_PI_2
#define M_PI_2 1.57079632679489661923
#endif
#ifndef M_PI_4
#define M_PI_4 0.785398163397448309616
#endif
int throwb =0 ;
class RagDoll
{
enum
{
BODYPART_PELVIS = 0,
BODYPART_SPINE,
BODYPART_HEAD,
BODYPART_LEFT_UPPER_LEG,
BODYPART_LEFT_LOWER_LEG,
BODYPART_RIGHT_UPPER_LEG,
BODYPART_RIGHT_LOWER_LEG,
/*
BODYPART_LEFT_UPPER_ARM,
BODYPART_LEFT_LOWER_ARM,
BODYPART_RIGHT_UPPER_ARM,
BODYPART_RIGHT_LOWER_ARM,
Disable arm */
BODYPART_STAND,
BODYPART_COUNT
};
enum
{
JOINT_PELVIS_SPINE = 0,
JOINT_SPINE_HEAD,
JOINT_LEFT_HIP,
JOINT_LEFT_KNEE,
JOINT_RIGHT_HIP,
JOINT_RIGHT_KNEE,
/*
JOINT_LEFT_SHOULDER,
JOINT_LEFT_ELBOW,
JOINT_RIGHT_SHOULDER,
JOINT_RIGHT_ELBOW,
Disable arm joints */
JOINT_RIGHT_FOOT,
JOINT_LEFT_FOOT,
JOINT_COUNT
};
btDynamicsWorld* m_ownerWorld;
btCollisionShape* m_shapes[BODYPART_COUNT];
btRigidBody* m_bodies[BODYPART_COUNT];
btTypedConstraint* m_joints[JOINT_COUNT];
btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
{
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
shape->calculateLocalInertia(mass,localInertia);
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
m_ownerWorld->addRigidBody(body);
return body;
}
public:
RagDoll (btDynamicsWorld* ownerWorld, const btVector3& positionOffset)
: m_ownerWorld (ownerWorld)
{
// Setup the geometry
m_shapes[BODYPART_PELVIS] = new btCapsuleShape(btScalar(0.15), btScalar(0.20));
m_shapes[BODYPART_SPINE] = new btCapsuleShape(btScalar(0.15), btScalar(0.28));
m_shapes[BODYPART_HEAD] = new btCapsuleShape(btScalar(0.10), btScalar(0.05));
m_shapes[BODYPART_LEFT_UPPER_LEG] = new btCapsuleShape(btScalar(0.07), btScalar(0.45));
m_shapes[BODYPART_LEFT_LOWER_LEG] = new btCapsuleShape(btScalar(0.05), btScalar(0.37));
m_shapes[BODYPART_RIGHT_UPPER_LEG] = new btCapsuleShape(btScalar(0.07), btScalar(0.45));
m_shapes[BODYPART_RIGHT_LOWER_LEG] = new btCapsuleShape(btScalar(0.05), btScalar(0.37));
/*m_shapes[BODYPART_LEFT_UPPER_ARM] = new btCapsuleShape(btScalar(0.05), btScalar(0.33));
m_shapes[BODYPART_LEFT_LOWER_ARM] = new btCapsuleShape(btScalar(0.04), btScalar(0.25));
m_shapes[BODYPART_RIGHT_UPPER_ARM] = new btCapsuleShape(btScalar(0.05), btScalar(0.33));
m_shapes[BODYPART_RIGHT_LOWER_ARM] = new btCapsuleShape(btScalar(0.04), btScalar(0.25));
Turned off Arms */
m_shapes[BODYPART_STAND] = new btCylinderShape(btVector3(.32,0,0));
// Setup all the rigid bodies
btTransform offset; offset.setIdentity();
offset.setOrigin(positionOffset);
btTransform transform;
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.), btScalar(1.), btScalar(0.)));
m_bodies[BODYPART_PELVIS] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_PELVIS]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.), btScalar(1.2), btScalar(0.)));
m_bodies[BODYPART_SPINE] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_SPINE]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.), btScalar(1.6), btScalar(0.)));
m_bodies[BODYPART_HEAD] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_HEAD]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(-0.18), btScalar(0.65), btScalar(0.)));
m_bodies[BODYPART_LEFT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_LEG]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(-0.18), btScalar(0.2), btScalar(0.)));
m_bodies[BODYPART_LEFT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_LEG]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.18), btScalar(0.65), btScalar(0.)));
m_bodies[BODYPART_RIGHT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_LEG]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.18), btScalar(0.2), btScalar(0.)));
m_bodies[BODYPART_RIGHT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_LEG]);
/* transform.setIdentity();
transform.setOrigin(btVector3(btScalar(-0.35), btScalar(1.45), btScalar(0.)));
transform.getBasis().setEulerZYX(0,0,M_PI_2);
m_bodies[BODYPART_LEFT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_ARM]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(-0.7), btScalar(1.45), btScalar(0.)));
transform.getBasis().setEulerZYX(0,0,M_PI_2);
m_bodies[BODYPART_LEFT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_ARM]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.35), btScalar(1.45), btScalar(0.)));
transform.getBasis().setEulerZYX(0,0,-M_PI_2);
m_bodies[BODYPART_RIGHT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_ARM]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.7), btScalar(1.45), btScalar(0.)));
transform.getBasis().setEulerZYX(0,0,-M_PI_2);
m_bodies[BODYPART_RIGHT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_ARM]);
Turned off arms */
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
m_bodies[BODYPART_STAND] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_STAND]);
// Setup some damping on the m_bodies
for (int i = 0; i < BODYPART_COUNT; ++i)
{
m_bodies[i]->setDamping(0,0);
m_bodies[i]->setDeactivationTime(0.8);
m_bodies[i]->setSleepingThresholds(1.6, 2.5);
}
// Now setup the constraints
btHingeConstraint* hingeC;
btConeTwistConstraint* coneC;
btTransform localA, localB;
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.15), btScalar(0.)));
localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.15), btScalar(0.)));
hingeC = new btHingeConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_SPINE], localA, localB);
//hingeC->setLimit(btScalar(-M_PI_4), btScalar(M_PI_2)); old pelvis contraint
hingeC->setLimit(btScalar(0), btScalar(0));
m_joints[JOINT_PELVIS_SPINE] = hingeC;
hingeC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld->addConstraint(m_joints[JOINT_PELVIS_SPINE], true);
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,0,M_PI_2); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.30), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,M_PI_2); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.)));
coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_HEAD], localA, localB);
//coneC->setLimit(M_PI_4, M_PI_4, M_PI_2); old head constraint
coneC->setLimit(0, 0, 0);
m_joints[JOINT_SPINE_HEAD] = coneC;
coneC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld->addConstraint(m_joints[JOINT_SPINE_HEAD], true);
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,0,-M_PI_4*5); localA.setOrigin(btVector3(btScalar(-0.18), btScalar(-0.10), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,-M_PI_4*5); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225), btScalar(0.)));
coneC = new btConeTwistConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_LEFT_UPPER_LEG], localA, localB);
//coneC->setLimit(M_PI_4, M_PI_4, 0); old hip constraint
coneC->setLimit(0, 0, 0);
m_joints[JOINT_LEFT_HIP] = coneC;
coneC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_HIP], true);
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225), btScalar(0.)));
localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.185), btScalar(0.)));
hingeC = new btHingeConstraint(*m_bodies[BODYPART_LEFT_UPPER_LEG], *m_bodies[BODYPART_LEFT_LOWER_LEG], localA, localB);
//hingeC->setLimit(btScalar(0), btScalar(M_PI_2)); Old knee constraint
hingeC->setLimit(btScalar(0), btScalar(0));
m_joints[JOINT_LEFT_KNEE] = hingeC;
hingeC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_KNEE], true);
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,0,M_PI_4); localA.setOrigin(btVector3(btScalar(0.18), btScalar(-0.10), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,M_PI_4); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225), btScalar(0.)));
coneC = new btConeTwistConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_RIGHT_UPPER_LEG], localA, localB);
//coneC->setLimit(M_PI_4, M_PI_4, 0); old hip constraint
coneC->setLimit(0, 0, 0);
m_joints[JOINT_RIGHT_HIP] = coneC;
coneC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_HIP], true);
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225), btScalar(0.)));
localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(0.185), btScalar(0.)));
hingeC = new btHingeConstraint(*m_bodies[BODYPART_RIGHT_UPPER_LEG], *m_bodies[BODYPART_RIGHT_LOWER_LEG], localA, localB);
//hingeC->setLimit(btScalar(0), btScalar(M_PI_2)); Old knee constraint
hingeC->setLimit(btScalar(0), btScalar(0));
m_joints[JOINT_RIGHT_KNEE] = hingeC;
hingeC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_KNEE], true);
/* localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,0,M_PI); localA.setOrigin(btVector3(btScalar(-0.2), btScalar(0.15), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,M_PI_2); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18), btScalar(0.)));
coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_LEFT_UPPER_ARM], localA, localB);
coneC->setLimit(M_PI_2, M_PI_2, 0);
coneC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_joints[JOINT_LEFT_SHOULDER] = coneC;
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_SHOULDER], true);
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18), btScalar(0.)));
localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.)));
hingeC = new btHingeConstraint(*m_bodies[BODYPART_LEFT_UPPER_ARM], *m_bodies[BODYPART_LEFT_LOWER_ARM], localA, localB);
// hingeC->setLimit(btScalar(-M_PI_2), btScalar(0));
hingeC->setLimit(btScalar(0), btScalar(M_PI_2));
m_joints[JOINT_LEFT_ELBOW] = hingeC;
hingeC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_ELBOW], true);
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,0,0); localA.setOrigin(btVector3(btScalar(0.2), btScalar(0.15), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,M_PI_2); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18), btScalar(0.)));
coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_RIGHT_UPPER_ARM], localA, localB);
coneC->setLimit(M_PI_2, M_PI_2, 0);
m_joints[JOINT_RIGHT_SHOULDER] = coneC;
coneC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_SHOULDER], true);
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18), btScalar(0.)));
localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.)));
hingeC = new btHingeConstraint(*m_bodies[BODYPART_RIGHT_UPPER_ARM], *m_bodies[BODYPART_RIGHT_LOWER_ARM], localA, localB);
// hingeC->setLimit(btScalar(-M_PI_2), btScalar(0));
hingeC->setLimit(btScalar(0), btScalar(M_PI_2));
m_joints[JOINT_RIGHT_ELBOW] = hingeC;
hingeC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_ELBOW], true);
Disable arms */
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225), btScalar(0.)));
localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(-.1), btScalar(0.185), btScalar(0.)));
hingeC = new btHingeConstraint(*m_bodies[BODYPART_LEFT_LOWER_LEG], *m_bodies[BODYPART_STAND], localA, localB);
hingeC->setLimit(btScalar(0), btScalar(0));
m_joints[JOINT_LEFT_FOOT] = hingeC;
hingeC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_FOOT], true);
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225), btScalar(0.)));
localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(.1), btScalar(0.185), btScalar(0.)));
hingeC = new btHingeConstraint(*m_bodies[BODYPART_RIGHT_LOWER_LEG], *m_bodies[BODYPART_STAND], localA, localB);
hingeC->setLimit(btScalar(0), btScalar(0));
m_joints[JOINT_RIGHT_FOOT] = hingeC;
hingeC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_FOOT], true);
}
virtual ~RagDoll ()
{
int i;
// Remove all constraints
for ( i = 0; i < JOINT_COUNT; ++i)
{
m_ownerWorld->removeConstraint(m_joints[i]);
delete m_joints[i]; m_joints[i] = 0;
}
// Remove all bodies and shapes
for ( i = 0; i < BODYPART_COUNT; ++i)
{
m_ownerWorld->removeRigidBody(m_bodies[i]);
delete m_bodies[i]->getMotionState();
delete m_bodies[i]; m_bodies[i] = 0;
delete m_shapes[i]; m_shapes[i] = 0;
}
}
};
void RagdollDemo::resetpins()
{
btVector3 startOffset(0,1.7,-.5);
spawnRagdoll(startOffset);
startOffset.setValue(-.5,1.7,0);
spawnRagdoll(startOffset);
startOffset.setValue(.5,1.7,0);
spawnRagdoll(startOffset);
startOffset.setValue(0,1.7,.5);
spawnRagdoll(startOffset);
startOffset.setValue(-1,1.7,.5);
spawnRagdoll(startOffset);
startOffset.setValue(1,1.7,.5);
spawnRagdoll(startOffset);
startOffset.setValue(1.5,1.7,1);
spawnRagdoll(startOffset);
startOffset.setValue(.5,1.7,1);
spawnRagdoll(startOffset);
startOffset.setValue(-.5,1.7,1);
spawnRagdoll(startOffset);
startOffset.setValue(-1.5,1.7,1);
spawnRagdoll(startOffset);
throwb = 0;
framecount++;
}
void RagdollDemo::initPhysics()
{
// Setup the basic world
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(10.));
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);
m_solver = new btSequentialImpulseConstraintSolver;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
//m_dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
//m_dynamicsWorld->getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01f;
// Setup a big ground box
{
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-10,0));
#define CREATE_GROUND_COLLISION_OBJECT 1
#ifdef CREATE_GROUND_COLLISION_OBJECT
btCollisionObject* fixedGround = new btCollisionObject();
fixedGround->setCollisionShape(groundShape);
fixedGround->setWorldTransform(groundTransform);
m_dynamicsWorld->addCollisionObject(fixedGround);
#else
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
#endif //CREATE_GROUND_COLLISION_OBJECT
}
{
btCollisionShape* laneShape1 = new btBoxShape(btVector3(btScalar(.2), btScalar(2.), btScalar(10.5)));
m_collisionShapes.push_back(laneShape1);
btTransform laneTransform;
laneTransform.setIdentity();
laneTransform.setOrigin(btVector3(5,1.,-4.5));
#define CREATE_LANE_COLLISION_OBJECT 1
#ifdef CREATE_LANE_COLLISION_OBJECT
btCollisionObject* fixedBox = new btCollisionObject();
fixedBox->setCollisionShape(laneShape1);
fixedBox->setWorldTransform(laneTransform);
m_dynamicsWorld->addCollisionObject(fixedBox);
#else
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
#endif //CREATE_GROUND_COLLISION_OBJECT
}
{
btCollisionShape* laneShape2 = new btBoxShape(btVector3(btScalar(.2), btScalar(2.), btScalar(10.5)));
m_collisionShapes.push_back(laneShape2);
btTransform laneTransform;
laneTransform.setIdentity();
laneTransform.setOrigin(btVector3(-5,1.,-4.5));
#define CREATE_LANE_COLLISION_OBJECT 2
#ifdef CREATE_LANE_COLLISION_OBJECT
btCollisionObject* fixedBox2 = new btCollisionObject();
fixedBox2->setCollisionShape(laneShape2);
fixedBox2->setWorldTransform(laneTransform);
m_dynamicsWorld->addCollisionObject(fixedBox2);
#else
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
#endif //CREATE_GROUND_COLLISION_OBJECT
}
{
btCollisionShape* laneShape3 = new btBoxShape(btVector3(btScalar(5.), btScalar(2.), btScalar(.2)));
m_collisionShapes.push_back(laneShape3);
btTransform laneTransform;
laneTransform.setIdentity();
laneTransform.setOrigin(btVector3(0,1.,5.8));
#define CREATE_LANE_COLLISION_OBJECT 3
#ifdef CREATE_LANE_COLLISION_OBJECT
btCollisionObject* fixedBox3 = new btCollisionObject();
fixedBox3->setCollisionShape(laneShape3);
fixedBox3->setWorldTransform(laneTransform);
m_dynamicsWorld->addCollisionObject(fixedBox3);
#else
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
#endif //CREATE_GROUND_COLLISION_OBJECT
}
{
btCollisionShape* floorShape1 = new btBoxShape(btVector3(btScalar(2.5), btScalar(.5), btScalar(10.)));
m_collisionShapes.push_back(floorShape1);
btTransform floorTransform;
floorTransform.setIdentity();
floorTransform.setOrigin(btVector3(0,.25,-5));
#define CREATE_FLOOR_COLLISION_OBJECT 1
#ifdef CREATE_FLOOR_COLLISION_OBJECT
btCollisionObject* fixedFloor = new btCollisionObject();
fixedFloor->setCollisionShape(floorShape1);
fixedFloor->setWorldTransform(floorTransform);
m_dynamicsWorld->addCollisionObject(fixedFloor);
#else
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
#endif //CREATE_GROUND_COLLISION_OBJECT
}
// Spawn ten ragdolls in a bowling pryamid
resetpins();
clientResetScene();
}
void RagdollDemo::spawnRagdoll(const btVector3& startOffset)
{
RagDoll* ragDoll = new RagDoll (m_dynamicsWorld, startOffset);
m_ragdolls.push_back(ragDoll);
}
void RagdollDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//simple dynamics world doesn't handle fixed-time-stepping
float ms = getDeltaTimeMicroseconds();
float minFPS = 1000000.f/60.f;
if (ms > minFPS)
ms = minFPS;
if (m_dynamicsWorld)
{
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
}
renderme();
glFlush();
glutSwapBuffers();
}
void RagdollDemo::displayCallback()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
renderme();
//optional but useful: debug drawing
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
glFlush();
glutSwapBuffers();
}
void RagdollDemo::keyboardCallback(unsigned char key, int x, int y)
{
switch (key)
{
case ' ':
{
if (framecount <11)
{
if (throwb < 2)
{
shootBox(getRayTo(x,y));
throwb++;
//checkscore();
//RagDoll.getOrigin();
}
else
resetpins();
}
else
//endgame();
break;
}
default:
DemoApplication::keyboardCallback(key, x, y);
}
}
void RagdollDemo::exitPhysics()
{
int i;
for (i=0;i<m_ragdolls.size();i++)
{
RagDoll* doll = m_ragdolls[i];
delete doll;
}
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState())
{
delete body->getMotionState();
}
m_dynamicsWorld->removeCollisionObject( obj );
delete obj;
}
//delete collision shapes
for (int j=0;j<m_collisionShapes.size();j++)
{
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
}
//delete dynamics world
delete m_dynamicsWorld;
//delete solver
delete m_solver;
//delete broadphase
delete m_broadphase;
//delete dispatcher
delete m_dispatcher;
delete m_collisionConfiguration;
}