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ragdoll.h
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ragdoll.h
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#ifndef ragdoll_hpp
#define ragdoll_hpp
#include "btBulletDynamicsCommon.h"
#include "../physics_world/physics_world.h"
#include "../animation/animation.h"
#include "../animation/animator.h"
#include "../animation/bone.h"
#include "../utils/bullet_glm.h"
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,
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,
JOINT_COUNT
};
struct JointTarget
{
bool active = false;
glm::vec4 angle = glm::vec4(0.f); // quat or float as .x
float force = 0.f;
};
enum RagdollState
{
loose,
fetal
};
struct RagdollStatus
{
RagdollState state = RagdollState::loose;
RagdollState prevState = RagdollState::loose;
};
struct RagdollNodeData
{
AssimpNodeData *animNode;
glm::mat4 transform;
int jointIndex = 0;
int boneIndex = 0;
btRigidBody *rigidBody = nullptr;
std::vector<RagdollNodeData *> childNodes;
RagdollNodeData *parentNode = nullptr;
//
btQuaternion boneRot = btQuaternion::getIdentity();
btQuaternion nodeRot = btQuaternion::getIdentity();
btQuaternion relativeNodeRot = btQuaternion::getIdentity();
};
struct AnimationNode
{
AssimpNodeData *animNode = nullptr;
glm::mat4 transform;
};
struct RagdollSize
{
float upperArmLength = 0.29f;
float lowerArmLength = 0.25f;
glm::vec3 shoulderOffset = glm::vec3(0.193f, 0.035f, -0.030f);
float upperLegLength = 0.38f;
float lowerLegLength = 0.37f;
float pelvisHeight = 0.23f;
float spineHeight = 0.28f;
float headHeight = 0.05f;
bool operator==(const RagdollSize &other) const
{
return upperArmLength == other.upperArmLength &&
lowerArmLength == other.lowerArmLength &&
shoulderOffset == other.shoulderOffset &&
upperLegLength == other.upperLegLength &&
lowerLegLength == other.lowerLegLength &&
pelvisHeight == other.pelvisHeight &&
spineHeight == other.spineHeight &&
headHeight == other.headHeight;
}
bool operator!=(const RagdollSize &other) const
{
return upperArmLength != other.upperArmLength ||
lowerArmLength != other.lowerArmLength ||
shoulderOffset != other.shoulderOffset ||
upperLegLength != other.upperLegLength ||
lowerLegLength != other.lowerLegLength ||
pelvisHeight != other.pelvisHeight ||
spineHeight != other.spineHeight ||
headHeight != other.headHeight;
}
};
class Ragdoll
{
public:
Ragdoll(PhysicsWorld *physicsWorld, Animator *animator, Animation *animation, const btVector3 &positionOffset, btScalar scale);
~Ragdoll();
PhysicsWorld *m_physicsWorld;
Animator *m_animator;
Animation *m_animation;
btScalar m_scale;
btCapsuleShape *m_shapes[BODYPART_COUNT];
btRigidBody *m_bodies[BODYPART_COUNT];
btTypedConstraint *m_joints[JOINT_COUNT];
JointTarget m_fetalTargets[JOINT_COUNT];
RagdollStatus m_status;
RagdollSize m_size;
RagdollNodeData nodeRoot;
RagdollNodeData nodePelvis;
RagdollNodeData nodeSpine;
RagdollNodeData nodeHead;
RagdollNodeData nodeLeftUpLeg;
RagdollNodeData nodeLeftLeg;
RagdollNodeData nodeRightUpLeg;
RagdollNodeData nodeRightLeg;
RagdollNodeData nodeLeftArm;
RagdollNodeData nodeLeftForeArm;
RagdollNodeData nodeRightArm;
RagdollNodeData nodeRightForeArm;
// to-animation offsets
glm::vec3 m_modelOffset;
btQuaternion m_pelvisOffset;
btQuaternion m_spineOffset;
btQuaternion m_headOffset;
btQuaternion m_rightArmOffset;
btQuaternion m_leftArmOffset;
btQuaternion m_rightForeArmOffset;
btQuaternion m_leftForeArmOffset;
btQuaternion m_leftLegOffset;
btQuaternion m_rightLegOffset;
// from-animation offsets
glm::quat m_legOffset;
glm::vec3 m_armatureScale;
void resetTransforms(const btVector3 &offsetPosition, btQuaternion offsetRotation);
void resetTransforms(const btVector3 &offsetPosition, float angleY);
void freezeBodies();
void unFreezeBodies();
void update(float deltaTime);
void changeState(RagdollState newState);
void updateJointFrames();
void updateJointSizes();
void updateJointSize(btCapsuleShape *shape, btRigidBody *body, float size);
void syncToAnimation(glm::vec3 &position);
void syncNodeToAnimation(RagdollNodeData *node, btQuaternion offset, bool flipVertical = false);
void syncFromAnimation(glm::mat4 characterModel);
void syncNodeFromAnimation(const RagdollNodeData &node, glm::mat4 characterModel, glm::quat offset, bool offsetSize = true);
private:
void updateStateChange();
AnimationNode getNode(AssimpNodeData *node, std::string name, glm::mat4 parentTransform);
void setupNode(RagdollNodeData &node, RagdollNodeData *parentNode, const std::string &name, int bodyPart, int joint);
};
#endif /* ragdoll_hpp */