65 lines
2.4 KiB
C
65 lines
2.4 KiB
C
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#ifndef DUST3D_RAGDOLL_H
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#define DUST3D_RAGDOLL_H
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#include <QObject>
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#include <BulletDynamics/Dynamics/btDynamicsWorld.h>
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#include <BulletDynamics/Dynamics/btRigidBody.h>
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#include <BulletCollision/CollisionShapes/btCollisionShape.h>
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#include <BulletDynamics/ConstraintSolver/btTypedConstraint.h>
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#include <LinearMath/btVector3.h>
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#include <LinearMath/btScalar.h>
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#include <BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h>
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#include <BulletCollision/BroadphaseCollision/btDbvtBroadphase.h>
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#include <BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h>
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#include <BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h>
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#include <BulletCollision/CollisionShapes/btBoxShape.h>
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#include <QString>
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#include <map>
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#include <tuple>
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#include <QStringList>
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#include "rigger.h"
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#include "jointnodetree.h"
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class RagDoll : public QObject
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{
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Q_OBJECT
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public:
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RagDoll(const std::vector<RiggerBone> *rigBones);
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~RagDoll();
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bool stepSimulation(float amount);
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const JointNodeTree &getStepJointNodeTree();
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const std::vector<std::tuple<QVector3D, QVector3D, float>> &getStepBonePositions();
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private:
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btDefaultCollisionConfiguration *m_collisionConfiguration = nullptr;
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btCollisionDispatcher *m_collisionDispather = nullptr;
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btDbvtBroadphase *m_broadphase = nullptr;
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btSequentialImpulseConstraintSolver *m_constraintSolver = nullptr;
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btDynamicsWorld *m_world = nullptr;
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btCollisionShape *m_groundShape = nullptr;
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btRigidBody *m_groundBody = nullptr;
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float m_groundY = 0;
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std::map<QString, btCollisionShape *> m_boneShapes;
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std::map<QString, btRigidBody *> m_boneBodies;
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std::vector<btTypedConstraint *> m_boneConstraints;
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std::map<QString, QVector3D> m_boneMiddleMap;
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std::map<QString, float> m_boneLengthMap;
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std::map<QString, float> m_boneRadiusMap;
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JointNodeTree m_jointNodeTree;
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JointNodeTree m_stepJointNodeTree;
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std::vector<RiggerBone> m_bones;
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std::vector<std::tuple<QVector3D, QVector3D, float>> m_stepBonePositions;
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std::map<QString, int> m_boneNameToIndexMap;
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std::map<QString, std::vector<QString>> m_chains;
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btRigidBody *createRigidBody(btScalar mass, const btTransform &startTransform, btCollisionShape *shape);
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void createDynamicsWorld();
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void addFixedConstraint(const RiggerBone &parent, const RiggerBone &child);
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void addFreeConstraint(const RiggerBone &parent, const RiggerBone &child);
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};
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#endif
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