Demos/GenericJointDemo/Ragdoll.cpp

   1 /*
   2 Bullet Continuous Collision Detection and Physics Library
   3 Ragdoll Demo
   4 Copyright (c) 2007 Starbreeze Studios
   5
   6 This software is provided 'as-is', without any express or implied warranty.
   7 In no event will the authors be held liable for any damages arising from the use of this software.
   8 Permission is granted to anyone to use this software for any purpose,
   9 including commercial applications, and to alter it and redistribute it freely,
  10 subject to the following restrictions:
  11
  12 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.
  13 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
  14 3. This notice may not be removed or altered from any source distribution.
  15
  16 Written by: Marten Svanfeldt
  17 */
  18
  19 #include "Ragdoll.h"
  20
  21 //#define RIGID 1
  22
  23 RagDoll::RagDoll (btDynamicsWorld* ownerWorld, const btVector3& positionOffset,
  24         btScalar scale_ragdoll) : m_ownerWorld (ownerWorld)
  25 {
  26
  27
  28         // Setup the geometry
  29         m_shapes[BODYPART_PELVIS] = new btCapsuleShape(
  30         btScalar(scale_ragdoll*0.15), btScalar(scale_ragdoll*0.20));
  31         m_shapes[BODYPART_SPINE] = new btCapsuleShape(
  32         btScalar(scale_ragdoll*0.15), btScalar(scale_ragdoll*0.28));
  33         m_shapes[BODYPART_HEAD] = new btCapsuleShape(btScalar(scale_ragdoll*0.10), btScalar(scale_ragdoll*0.05));
  34         m_shapes[BODYPART_LEFT_UPPER_LEG] = new btCapsuleShape(btScalar(scale_ragdoll*0.07), btScalar(scale_ragdoll*0.45));
  35         m_shapes[BODYPART_LEFT_LOWER_LEG] = new btCapsuleShape(btScalar(scale_ragdoll*0.05), btScalar(scale_ragdoll*0.37));
  36         m_shapes[BODYPART_RIGHT_UPPER_LEG] = new btCapsuleShape(btScalar(scale_ragdoll*0.07), btScalar(scale_ragdoll*0.45));
  37         m_shapes[BODYPART_RIGHT_LOWER_LEG] = new btCapsuleShape(btScalar(scale_ragdoll*0.05), btScalar(scale_ragdoll*0.37));
  38         m_shapes[BODYPART_LEFT_UPPER_ARM] = new btCapsuleShape(btScalar(scale_ragdoll*0.05), btScalar(scale_ragdoll*0.33));
  39         m_shapes[BODYPART_LEFT_LOWER_ARM] = new btCapsuleShape(btScalar(scale_ragdoll*0.04), btScalar(scale_ragdoll*0.25));
  40         m_shapes[BODYPART_RIGHT_UPPER_ARM] = new btCapsuleShape(btScalar(scale_ragdoll*0.05), btScalar(scale_ragdoll*0.33));
  41         m_shapes[BODYPART_RIGHT_LOWER_ARM] = new btCapsuleShape(btScalar(scale_ragdoll*0.04), btScalar(scale_ragdoll*0.25));
  42
  43         // Setup all the rigid bodies
  44         btTransform offset; offset.setIdentity();
  45         offset.setOrigin(positionOffset);
  46
  47         btTransform transform;
  48         transform.setIdentity();
  49         transform.setOrigin(btVector3(btScalar(0.), btScalar(scale_ragdoll*1.), btScalar(0.)));
  50         m_bodies[BODYPART_PELVIS] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_PELVIS]);
  51
  52         transform.setIdentity();
  53         transform.setOrigin(btVector3(btScalar(0.), btScalar(scale_ragdoll*1.2), btScalar(0.)));
  54         m_bodies[BODYPART_SPINE] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_SPINE]);
  55
  56         transform.setIdentity();
  57         transform.setOrigin(btVector3(btScalar(0.), btScalar(scale_ragdoll*1.6), btScalar(0.)));
  58         m_bodies[BODYPART_HEAD] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_HEAD]);
  59
  60         transform.setIdentity();
  61         transform.setOrigin(btVector3(btScalar(-0.18*scale_ragdoll), btScalar(0.65*scale_ragdoll),
  62 btScalar(0.)));
  63         m_bodies[BODYPART_LEFT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_LEG]);
  64
  65         transform.setIdentity();
  66         transform.setOrigin(btVector3(btScalar(-0.18*scale_ragdoll), btScalar(0.2*scale_ragdoll), btScalar(0.)));
  67         m_bodies[BODYPART_LEFT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_LEG]);
  68
  69         transform.setIdentity();
  70         transform.setOrigin(btVector3(btScalar(0.18*scale_ragdoll), btScalar(0.65*scale_ragdoll), btScalar(0.)));
  71         m_bodies[BODYPART_RIGHT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_LEG]);
  72
  73         transform.setIdentity();
  74         transform.setOrigin(btVector3(btScalar(0.18*scale_ragdoll), btScalar(0.2*scale_ragdoll), btScalar(0.)));
  75         m_bodies[BODYPART_RIGHT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_LEG]);
  76
  77         transform.setIdentity();
  78         transform.setOrigin(btVector3(btScalar(-0.35*scale_ragdoll), btScalar(1.45*scale_ragdoll), btScalar(0.)));
  79         transform.getBasis().setEulerZYX(0,0,SIMD_HALF_PI);
  80         m_bodies[BODYPART_LEFT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_ARM]);
  81
  82         transform.setIdentity();
  83         transform.setOrigin(btVector3(btScalar(-0.7*scale_ragdoll), btScalar(1.45*scale_ragdoll), btScalar(0.)));
  84         transform.getBasis().setEulerZYX(0,0,SIMD_HALF_PI);
  85         m_bodies[BODYPART_LEFT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_ARM]);
  86
  87         transform.setIdentity();
  88         transform.setOrigin(btVector3(btScalar(0.35*scale_ragdoll), btScalar(1.45*scale_ragdoll), btScalar(0.)));
  89         transform.getBasis().setEulerZYX(0,0,-SIMD_HALF_PI);
  90         m_bodies[BODYPART_RIGHT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_ARM]);
  91
  92         transform.setIdentity();
  93         transform.setOrigin(btVector3(btScalar(0.7*scale_ragdoll), btScalar(1.45*scale_ragdoll), btScalar(0.)));
  94         transform.getBasis().setEulerZYX(0,0,-SIMD_HALF_PI);
  95         m_bodies[BODYPART_RIGHT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_ARM]);
  96
  97         // Setup some damping on the m_bodies
  98         for (int i = 0; i < BODYPART_COUNT; ++i)
  99         {
 100                 m_bodies[i]->setDamping(0.05f, 0.85f);
 101                 m_bodies[i]->setDeactivationTime(0.8f);
 102                 m_bodies[i]->setSleepingThresholds(1.6f, 2.5f);
 103         }
 104
 105 ///////////////////////////// SETTING THE CONSTRAINTS /////////////////////////////////////////////7777
 106         // Now setup the constraints
 107         btGeneric6DofConstraint * joint6DOF;
 108         btTransform localA, localB;
 109         bool useLinearReferenceFrameA = true;
 110 /// ******* SPINE HEAD ******** ///
 111         {
 112                 localA.setIdentity(); localB.setIdentity();
 113
 114                 localA.setOrigin(btVector3(btScalar(0.), btScalar(0.30*scale_ragdoll), btScalar(0.)));
 115
 116                 localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14*scale_ragdoll), btScalar(0.)));
 117
 118                 joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_HEAD], localA, localB,useLinearReferenceFrameA);
 119
 120 #ifdef RIGID
 121                 joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
 122                 joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
 123 #else
 124                 joint6DOF->setAngularLowerLimit(btVector3(-SIMD_PI*0.3f,-SIMD_EPSILON,-SIMD_PI*0.3f));
 125                 joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.5f,SIMD_EPSILON,SIMD_PI*0.3f));
 126 #endif
 127                 m_joints[JOINT_SPINE_HEAD] = joint6DOF;
 128                 m_ownerWorld->addConstraint(m_joints[JOINT_SPINE_HEAD], true);
 129         }
 130 /// *************************** ///
 131
 132
 133
 134
 135 /// ******* LEFT SHOULDER ******** ///
 136         {
 137                 localA.setIdentity(); localB.setIdentity();
 138
 139                 localA.setOrigin(btVector3(btScalar(-0.2*scale_ragdoll), btScalar(0.15*scale_ragdoll), btScalar(0.)));
 140
 141                 localB.getBasis().setEulerZYX(SIMD_HALF_PI,0,-SIMD_HALF_PI);
 142                 localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18*scale_ragdoll), btScalar(0.)));
 143
 144                 joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_LEFT_UPPER_ARM], localA, localB,useLinearReferenceFrameA);
 145
 146 #ifdef RIGID
 147                 joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
 148                 joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
 149 #else
 150                 joint6DOF->setAngularLowerLimit(btVector3(-SIMD_PI*0.8f,-SIMD_EPSILON,-SIMD_PI*0.5f));
 151                 joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.8f,SIMD_EPSILON,SIMD_PI*0.5f));
 152 #endif
 153                 m_joints[JOINT_LEFT_SHOULDER] = joint6DOF;
 154                 m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_SHOULDER], true);
 155         }
 156 /// *************************** ///
 157
 158
 159 /// ******* RIGHT SHOULDER ******** ///
 160         {
 161                 localA.setIdentity(); localB.setIdentity();
 162
 163                 localA.setOrigin(btVector3(btScalar(0.2*scale_ragdoll), btScalar(0.15*scale_ragdoll), btScalar(0.)));
 164                 localB.getBasis().setEulerZYX(0,0,SIMD_HALF_PI);
 165                 localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18*scale_ragdoll), btScalar(0.)));
 166                 joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_RIGHT_UPPER_ARM], localA, localB,useLinearReferenceFrameA);
 167
 168 #ifdef RIGID
 169                 joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
 170                 joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
 171 #else
 172
 173                 joint6DOF->setAngularLowerLimit(btVector3(-SIMD_PI*0.8f,-SIMD_EPSILON,-SIMD_PI*0.5f));
 174                 joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.8f,SIMD_EPSILON,SIMD_PI*0.5f));
 175 #endif
 176                 m_joints[JOINT_RIGHT_SHOULDER] = joint6DOF;
 177                 m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_SHOULDER], true);
 178         }
 179 /// *************************** ///
 180
 181 /// ******* LEFT ELBOW ******** ///
 182         {
 183                 localA.setIdentity(); localB.setIdentity();
 184
 185                 localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18*scale_ragdoll), btScalar(0.)));
 186                 localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14*scale_ragdoll), btScalar(0.)));
 187                 joint6DOF =  new btGeneric6DofConstraint (*m_bodies[BODYPART_LEFT_UPPER_ARM], *m_bodies[BODYPART_LEFT_LOWER_ARM], localA, localB,useLinearReferenceFrameA);
 188
 189 #ifdef RIGID
 190                 joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
 191                 joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
 192 #else
 193                 joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
 194                 joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7f,SIMD_EPSILON,SIMD_EPSILON));
 195 #endif
 196                 m_joints[JOINT_LEFT_ELBOW] = joint6DOF;
 197                 m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_ELBOW], true);
 198         }
 199 /// *************************** ///
 200
 201 /// ******* RIGHT ELBOW ******** ///
 202         {
 203                 localA.setIdentity(); localB.setIdentity();
 204
 205                 localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18*scale_ragdoll), btScalar(0.)));
 206                 localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14*scale_ragdoll), btScalar(0.)));
 207                 joint6DOF =  new btGeneric6DofConstraint (*m_bodies[BODYPART_RIGHT_UPPER_ARM], *m_bodies[BODYPART_RIGHT_LOWER_ARM], localA, localB,useLinearReferenceFrameA);
 208
 209 #ifdef RIGID
 210                 joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
 211                 joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
 212 #else
 213                 joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
 214                 joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7,SIMD_EPSILON,SIMD_EPSILON));
 215 #endif
 216
 217                 m_joints[JOINT_RIGHT_ELBOW] = joint6DOF;
 218                 m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_ELBOW], true);
 219         }
 220 /// *************************** ///
 221
 222
 223 /// ******* PELVIS ******** ///
 224         {
 225                 localA.setIdentity(); localB.setIdentity();
 226
 227                 localA.getBasis().setEulerZYX(0,SIMD_HALF_PI,0);
 228                 localA.setOrigin(btVector3(btScalar(0.), btScalar(0.15*scale_ragdoll), btScalar(0.)));
 229                 localB.getBasis().setEulerZYX(0,SIMD_HALF_PI,0);
 230                 localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.15*scale_ragdoll), btScalar(0.)));
 231                 joint6DOF =  new btGeneric6DofConstraint (*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_SPINE], localA, localB,useLinearReferenceFrameA);
 232
 233 #ifdef RIGID
 234                 joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
 235                 joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
 236 #else
 237                 joint6DOF->setAngularLowerLimit(btVector3(-SIMD_PI*0.2,-SIMD_EPSILON,-SIMD_PI*0.3));
 238                 joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.2,SIMD_EPSILON,SIMD_PI*0.6));
 239 #endif
 240                 m_joints[JOINT_PELVIS_SPINE] = joint6DOF;
 241                 m_ownerWorld->addConstraint(m_joints[JOINT_PELVIS_SPINE], true);
 242         }
 243 /// *************************** ///
 244
 245 /// ******* LEFT HIP ******** ///
 246         {
 247                 localA.setIdentity(); localB.setIdentity();
 248
 249                 localA.setOrigin(btVector3(btScalar(-0.18*scale_ragdoll), btScalar(-0.10*scale_ragdoll), btScalar(0.)));
 250
 251                 localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225*scale_ragdoll), btScalar(0.)));
 252
 253                 joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_LEFT_UPPER_LEG], localA, localB,useLinearReferenceFrameA);
 254
 255 #ifdef RIGID
 256                 joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
 257                 joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
 258 #else
 259                 joint6DOF->setAngularLowerLimit(btVector3(-SIMD_HALF_PI*0.5,-SIMD_EPSILON,-SIMD_EPSILON));
 260                 joint6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI*0.8,SIMD_EPSILON,SIMD_HALF_PI*0.6f));
 261 #endif
 262                 m_joints[JOINT_LEFT_HIP] = joint6DOF;
 263                 m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_HIP], true);
 264         }
 265 /// *************************** ///
 266
 267
 268 /// ******* RIGHT HIP ******** ///
 269         {
 270                 localA.setIdentity(); localB.setIdentity();
 271
 272                 localA.setOrigin(btVector3(btScalar(0.18*scale_ragdoll), btScalar(-0.10*scale_ragdoll), btScalar(0.)));
 273                 localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225*scale_ragdoll), btScalar(0.)));
 274
 275                 joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_RIGHT_UPPER_LEG], localA, localB,useLinearReferenceFrameA);
 276
 277 #ifdef RIGID
 278                 joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
 279                 joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
 280 #else
 281                 joint6DOF->setAngularLowerLimit(btVector3(-SIMD_HALF_PI*0.5,-SIMD_EPSILON,-SIMD_HALF_PI*0.6f));
 282                 joint6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI*0.8,SIMD_EPSILON,SIMD_EPSILON));
 283 #endif
 284                 m_joints[JOINT_RIGHT_HIP] = joint6DOF;
 285                 m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_HIP], true);
 286         }
 287 /// *************************** ///
 288
 289
 290 /// ******* LEFT KNEE ******** ///
 291         {
 292                 localA.setIdentity(); localB.setIdentity();
 293
 294                 localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225*scale_ragdoll), btScalar(0.)));
 295                 localB.setOrigin(btVector3(btScalar(0.), btScalar(0.185*scale_ragdoll), btScalar(0.)));
 296                 joint6DOF =  new btGeneric6DofConstraint (*m_bodies[BODYPART_LEFT_UPPER_LEG], *m_bodies[BODYPART_LEFT_LOWER_LEG], localA, localB,useLinearReferenceFrameA);
 297 //
 298 #ifdef RIGID
 299                 joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
 300                 joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
 301 #else
 302                 joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
 303                 joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7f,SIMD_EPSILON,SIMD_EPSILON));
 304 #endif
 305                 m_joints[JOINT_LEFT_KNEE] = joint6DOF;
 306                 m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_KNEE], true);
 307         }
 308 /// *************************** ///
 309
 310 /// ******* RIGHT KNEE ******** ///
 311         {
 312                 localA.setIdentity(); localB.setIdentity();
 313
 314                 localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225*scale_ragdoll), btScalar(0.)));
 315                 localB.setOrigin(btVector3(btScalar(0.), btScalar(0.185*scale_ragdoll), btScalar(0.)));
 316                 joint6DOF =  new btGeneric6DofConstraint (*m_bodies[BODYPART_RIGHT_UPPER_LEG], *m_bodies[BODYPART_RIGHT_LOWER_LEG], localA, localB,useLinearReferenceFrameA);
 317
 318 #ifdef RIGID
 319                 joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
 320                 joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
 321 #else
 322                 joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
 323                 joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7f,SIMD_EPSILON,SIMD_EPSILON));
 324 #endif
 325                 m_joints[JOINT_RIGHT_KNEE] = joint6DOF;
 326                 m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_KNEE], true);
 327         }
 328 /// *************************** ///
 329
 330 }
 331
 332
 333 RagDoll::~RagDoll()
 334 {
 335         int i;
 336
 337         // Remove all constraints
 338         for (i = 0; i < JOINT_COUNT; ++i)
 339         {
 340                 m_ownerWorld->removeConstraint(m_joints[i]);
 341                 delete m_joints[i]; m_joints[i] = 0;
 342         }
 343
 344         // Remove all bodies and shapes
 345         for (i = 0; i < BODYPART_COUNT; ++i)
 346         {
 347                 m_ownerWorld->removeRigidBody(m_bodies[i]);
 348
 349                 delete m_bodies[i]->getMotionState();
 350
 351                 delete m_bodies[i]; m_bodies[i] = 0;
 352                 delete m_shapes[i]; m_shapes[i] = 0;
 353         }
 354 }
 355
 356
 357 btRigidBody* RagDoll::localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
 358 {
 359         bool isDynamic = (mass != 0.f);
 360
 361         btVector3 localInertia(0,0,0);
 362         if (isDynamic)
 363                 shape->calculateLocalInertia(mass,localInertia);
 364
 365         btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
 366         btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
 367         rbInfo.m_additionalDamping = true;
 368         btRigidBody* body = new btRigidBody(rbInfo);
 369
 370         m_ownerWorld->addRigidBody(body);
 371
 372         return body;
 373 }