/**
* Copyright (c) 2008-2010 Morten Silcowitz.
*
* This file is part of the Jinngine physics library
*
* Jinngine is published under the GPL license, available
* at http://www.gnu.org/copyleft/gpl.html.
*/
package jinngine.examples;
import jinngine.collision.SAP2;
import jinngine.geometry.Box;
import jinngine.geometry.Geometry;
import jinngine.math.Vector3;
import jinngine.physics.*;
import jinngine.physics.constraint.Constraint;
import jinngine.physics.constraint.joint.UniversalJoint;
import jinngine.physics.force.GravityForce;
import jinngine.physics.solver.NonsmoothNonlinearConjugateGradient;
import jinngine.rendering.Interaction;
import jinngine.rendering.Rendering;
public class RagdollExample implements Rendering.Callback {
private final Scene scene;
public RagdollExample() {
// start jinngine
scene = new DefaultScene(new SAP2(), new NonsmoothNonlinearConjugateGradient(75), new DefaultDeactivationPolicy());
scene.setTimestep(0.1);
// add boxes to bound the world
Body floor = new Body("floor", new Box(1500,20,1500));
floor.setPosition(new Vector3(0,-30,0));
floor.setFixed(true);
Body back = new Body( "back", new Box(200,200,20));
back.setPosition(new Vector3(0,0,-55));
back.setFixed(true);
Body front = new Body( "front", new Box(200,200,20));
front.setPosition(new Vector3(0,0,-7));
front.setFixed(true);
Body left = new Body( "left", new Box(20,200,200));
left.setPosition(new Vector3(-35,0,0));
left.setFixed(true);
Body right = new Body( "right", new Box(20,200,200));
right.setPosition(new Vector3(10,0,0));
right.setFixed(true);
// head
Geometry headgeometry = new Box(1,1,1);
Body head = new Body( "head", headgeometry );
head.setPosition(new Vector3(-5,-9.5,-25));
// torso1
Geometry torso1geometry = new Box(1.7,1,1.7);
Body torso1 = new Body( "torso1", torso1geometry );
torso1.setPosition(new Vector3(-5,-11,-25));
Constraint neck = new UniversalJoint(head,torso1,new Vector3(-5,-10,-25), new Vector3(0,0,1), new Vector3(1,0,0));
scene.addConstraint(neck);
// torso2
Geometry torso2geometry = new Box(1.5,1,1.5);
Body torso2 = new Body( "torso2", torso2geometry );
torso2.setPosition(new Vector3(-5,-12.5,-25));
UniversalJoint spine = new UniversalJoint(torso1,torso2,new Vector3(-5,-12,-25), new Vector3(0,0,1), new Vector3(1,0,0));
spine.getFirstAxisControler().setLimits(-0.2, 0.2);
spine.getSecondAxisControler().setLimits(-0.2, 0.2);
scene.addConstraint(spine);
// torso3
Geometry torso3geometry = new Box(1.2,1,1.2);
Body torso3 = new Body( "torso3", torso3geometry );
torso3.setPosition(new Vector3(-5,-14,-25));
UniversalJoint spine2 = new UniversalJoint(torso2,torso3,new Vector3(-5,-13,-25), new Vector3(0,0,1), new Vector3(1,0,0));
spine2.getFirstAxisControler().setLimits(-0.2, 0.2);
spine2.getSecondAxisControler().setLimits(-0.2, 0.2);
scene.addConstraint(spine2);
// upper left arm
Geometry upleftarmgeometry = new Box(0.5,2,0.5);
Body upleftarm = new Body( "upleftarm", upleftarmgeometry );
upleftarm.setPosition(new Vector3(-3.5,-12,-25));
UniversalJoint leftshoulder = new UniversalJoint(torso1,upleftarm, new Vector3(-3.5,-11,-25), new Vector3(0,0,1), new Vector3(0,1,0));
leftshoulder.getFirstAxisControler().setLimits(-0.5, 0.5);
leftshoulder.getSecondAxisControler().setLimits(-0.5, 0.5);
leftshoulder.getFirstAxisControler().setFrictionMagnitude(0.01);
leftshoulder.getSecondAxisControler().setFrictionMagnitude(0.01);
scene.addConstraint(leftshoulder);
// upper right arm
Geometry uprightarmgeometry = new Box(0.5,2,0.5);
Body uprightarm = new Body( "uprightarm", uprightarmgeometry );
uprightarm.setPosition(new Vector3(-6.5,-12,-25));
UniversalJoint rightshoulder = new UniversalJoint(torso1,uprightarm, new Vector3(-6.5,-11,-25), new Vector3(0,0,1), new Vector3(0,1,0));
rightshoulder.getFirstAxisControler().setLimits(-1.5, 1.5);
rightshoulder.getSecondAxisControler().setLimits(-1.5, 1.5);
rightshoulder.getFirstAxisControler().setFrictionMagnitude(0.01);
rightshoulder.getSecondAxisControler().setFrictionMagnitude(0.01);
scene.addConstraint(rightshoulder);
// lower left arm
Geometry lowerleftarmgeometry = new Box(0.5,1.5,0.5);
Body lowerleftarm = new Body( "lowerleftarm", lowerleftarmgeometry );
lowerleftarm.setPosition(new Vector3(-3.5,-14,-25));
UniversalJoint leftelbow = new UniversalJoint(upleftarm, lowerleftarm, new Vector3(-3.5,-13.25,-25), new Vector3(1,0,0), new Vector3(0,1,0));
leftelbow.getFirstAxisControler().setLimits(-0.0, 0.0);
leftelbow.getSecondAxisControler().setLimits(-1.5, 1.5);
leftelbow.getFirstAxisControler().setFrictionMagnitude(0.01);
leftelbow.getSecondAxisControler().setFrictionMagnitude(0.01);
scene.addConstraint(leftelbow);
// lower right arm
Geometry lowerrightarmgeometry = new Box(0.5,1.5,0.5);
Body lowerrightarm = new Body( "lowerrightarm", lowerrightarmgeometry );
lowerrightarm.setPosition(new Vector3(-6.5,-14,-25));
UniversalJoint rightelbow = new UniversalJoint(uprightarm, lowerrightarm, new Vector3(-6.5,-13.25,-25), new Vector3(1,0,0), new Vector3(0,1,0));
rightelbow.getFirstAxisControler().setLimits(-0.0, 0.0);
rightelbow.getSecondAxisControler().setLimits(-1.5, 1.5);
rightelbow.getFirstAxisControler().setFrictionMagnitude(0.01);
rightelbow.getSecondAxisControler().setFrictionMagnitude(0.01);
scene.addConstraint(rightelbow);
// left thigh
Geometry leftthighgeometry = new Box(0.5,1.5,0.5);
Body leftthigh = new Body( "leftthigh", leftthighgeometry );
leftthigh.setPosition(new Vector3(-5.5,-15.5,-25));
UniversalJoint lefthip = new UniversalJoint(torso3, leftthigh, new Vector3(-5.5,-14,-25), new Vector3(1,0,0), new Vector3(0,0,1));
lefthip.getFirstAxisControler().setLimits(-0.5, 0.5);
lefthip.getSecondAxisControler().setLimits(-0.5, 0.5);
lefthip.getFirstAxisControler().setFrictionMagnitude(0.01);
lefthip.getSecondAxisControler().setFrictionMagnitude(0.01);
scene.addConstraint(lefthip);
// left taiba
Geometry lefttaibageometry = new Box(0.5,1.5,0.5);
Body lefttaiba = new Body( "lefttaiba", lefttaibageometry );
lefttaiba.setPosition(new Vector3(-5.5,-17.5,-25));
UniversalJoint lefttknee = new UniversalJoint(leftthigh, lefttaiba, new Vector3(-5.5,-16,-25), new Vector3(1,0,0), new Vector3(0,0,1));
lefttknee.getFirstAxisControler().setLimits(-0.5, 0.5);
lefttknee.getSecondAxisControler().setLimits(0, 0);
lefttknee.getFirstAxisControler().setFrictionMagnitude(0.01);
lefttknee.getSecondAxisControler().setFrictionMagnitude(0.01);
scene.addConstraint(lefttknee);
// right thigh
Geometry rightthighgeometry = new Box(0.5,1.5,0.5);
Body rightthigh = new Body( "rightthigh", rightthighgeometry );
rightthigh.setPosition(new Vector3(-4.0,-15.5,-25));
UniversalJoint righthip = new UniversalJoint(torso3, rightthigh, new Vector3(-4.0,-14,-25), new Vector3(1,0,0), new Vector3(0,0,1));
righthip.getFirstAxisControler().setLimits(-0.5, 0.5);
righthip.getSecondAxisControler().setLimits(-0.5, 0.5);
righthip.getFirstAxisControler().setFrictionMagnitude(0.01);
righthip.getSecondAxisControler().setFrictionMagnitude(0.01);
scene.addConstraint(righthip);
// right taiba
Geometry righttaibageometry = new Box(0.5,1.5,0.5);
Body righttaiba = new Body( "righttaiba", righttaibageometry );
righttaiba.setPosition(new Vector3(-4.0,-17.5,-25));
UniversalJoint righttknee = new UniversalJoint(rightthigh, righttaiba, new Vector3(-4.0,-16,-25), new Vector3(1,0,0), new Vector3(0,0,1));
righttknee.getFirstAxisControler().setLimits(-0.5, 0.5);
righttknee.getSecondAxisControler().setLimits(0, 0);
righttknee.getFirstAxisControler().setFrictionMagnitude(0.01);
righttknee.getSecondAxisControler().setFrictionMagnitude(0.01);
scene.addConstraint(righttknee);
// add all to scene
scene.addBody(floor);
scene.addBody(back);
scene.addBody(front);
scene.addBody(left);
scene.addBody(right);
scene.addBody(head);
scene.addBody(torso1);
scene.addBody(torso2);
scene.addBody(torso3);
scene.addBody(upleftarm);
scene.addBody(lowerleftarm);
scene.addBody(lowerrightarm);
scene.addBody(uprightarm);
scene.addBody(leftthigh);
scene.addBody(lefttaiba);
scene.addBody(rightthigh);
scene.addBody(righttaiba);
// put gravity on limbs
scene.addForce( new GravityForce(head));
scene.addForce( new GravityForce(torso1));
scene.addForce( new GravityForce(torso2));
scene.addForce( new GravityForce(torso3));
scene.addForce( new GravityForce(upleftarm));
scene.addForce( new GravityForce(lowerleftarm));
scene.addForce( new GravityForce(uprightarm));
scene.addForce( new GravityForce(lowerrightarm));
scene.addForce( new GravityForce(leftthigh));
scene.addForce( new GravityForce(lefttaiba));
scene.addForce( new GravityForce(rightthigh));
scene.addForce( new GravityForce(righttaiba));
// handle drawing
Rendering rendering = new jinngine.rendering.jogl.JoglRendering(this, new Interaction(scene));
rendering.drawMe(headgeometry);
rendering.drawMe(torso1geometry);
rendering.drawMe(torso2geometry);
rendering.drawMe(torso3geometry);
rendering.drawMe(upleftarmgeometry);
rendering.drawMe(lowerleftarmgeometry);
rendering.drawMe(uprightarmgeometry);
rendering.drawMe(lowerrightarmgeometry);
rendering.drawMe(leftthighgeometry);
rendering.drawMe(lefttaibageometry);
rendering.drawMe(rightthighgeometry);
rendering.drawMe(righttaibageometry);
rendering.start();
}
@Override
public void tick() {
// each frame, to a time step on the Scene
scene.tick();
}
public static void main( String[] args) {
new RagdollExample();
}
}