BodyRagDoll Class

This class is used to simulate rag doll bodies. This body automatically generates a rag doll skeleton, i.e. collision shapes that are bound to the bones and joints that connect them.

BodyRagDoll Class

This class inherits from Body

Members

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BodyRagDoll ()

Constructor. Creates a rag doll with default properties.

BodyRagDoll (Object object)

Constructor. Creates a rag doll with default properties for a given object.

Arguments

• Object object - Object approximated with the new rag doll.

int createBones (float error = 0.2, float threshold = 0.01, int capsule = 0)

Automatically generates a simplified skeleton from the mesh and its bones. Each bone is approximated with a convex hull or a capsule based on given parameters.

Arguments

• float error - Permissible error, which is used for creating convex hulls. This is an optional parameter.
• float threshold - Threshold, which is used to detect and discard too small convex hulls. A convex hull, which volume is smaller than an average volume multiplied by the threshold, is discarded. This is an optional parameter.
• int capsule - Approximation shape. By the value of 0, convex hull is used; the value of 1 sets capsule approximation.

Return value

Created bone number.

int findBone (string name)

Searches for a bone with a given name.

Arguments

• string name - Name of the bone.

Return value

Number of the bone in the list of bones, if it is found; otherwise, -1.

string getBoneName (int bone)

Returns the name of a given bone.

Arguments

• int bone - Bone number.

Return value

Bone name.

int getBoneNumber (int bone)

Checks whether the bone with the given number exists.

Arguments

• int bone - The number of the bone.

Return value

Bone number.

mat4 getBoneTransform (int bone)

Returns the transformation of animation bone for the current frame.

Arguments

• int bone - Bone number.

Return value

Bone transformation matrix.

Node getBones ()

Exports a set of bones into a given node.

Return value

Node, into which the bones will be exported.

float getMass ()

Returns the mass of the rag doll.

Return value

Mass of the rag doll.

int getNumBones ()

Returns the number of bones in the rag doll.

Return value

Number of bones.

float getRigidity ()

Returns the rigidity of bones movement, i.e. how much interpolated linear and angular velocities of all the bones corrects velocities of each separate bone.

Return value

Rigidity of bones movement:

• By the value of 0, bones are independent.
• By the value of 1, bones movement is uniform, as interpolated velocity greatly changes velocities of each bone.

int isBoneFrameBased (int bone)

Returns a value indicating if bone transformations are based on skinned animation data or conditioned by physics.

Arguments

• int bone - Bone number.

Return value

Positive value if transformations are based on skinned animation, 0 if they are rag doll physical animation.

int isFrameBased ()

Returns a value indicating if rag doll bones move according to the animation written in the file.

Return value

Positive number if the bones move according to the file animation; otherwise, 0.

void setBoneFrameBased (int bone, int based)

Sets a value indicating if bone transformations should be based on skinned animation data or conditioned by physics.

Arguments

• int bone - Bone number.
• int based - Positive value to set skinned animation-based transformations, 0 for rag doll physical animation.

void setBones (Node node)

Imports a set of bones from a given node.

Arguments

• Node node - Node, from which the bones will be imported.

void setFrameBased (int mode)

Sets a value indicating if rag doll bones move according to the animation written in the file.

Arguments

• int mode - Positive number to make the bones move according to the file animation, 0 to make the movements physics-driven.

void setMass (float mass)

Sets a mass of the rag doll.

Arguments

• float mass - Mass of the rag doll.

void setRigidity (float rigidity)

Sets rigidity of bones movement, i.e. how much interpolated linear and angular velocities of all the bones corrects velocities of each separate bone.

Arguments

• float rigidity - Rigidity of bones movement. Provided value is saturated in range [0;1]:
  • By the value of 0, bones are independent.
  • By the value of 1, bones movement is uniform, as interpolated velocity greatly changes velocities of each bone.