Demos/GenericJointDemo/Ragdoll.h

   1 #ifndef RAGDOLL_H_INCLUDED
   2 #define RAGDOLL_H_INCLUDED
   3
   4 #include "DemoApplication.h"
   5 #include "LinearMath/btAlignedObjectArray.h"
   6 #include "btBulletDynamicsCommon.h"
   7
   8
   9
  10
  11 class RagDoll
  12 {
  13         enum
  14         {
  15                 BODYPART_PELVIS = 0,
  16                 BODYPART_SPINE,
  17                 BODYPART_HEAD,
  18
  19                 BODYPART_LEFT_UPPER_LEG,
  20                 BODYPART_LEFT_LOWER_LEG,
  21
  22                 BODYPART_RIGHT_UPPER_LEG,
  23                 BODYPART_RIGHT_LOWER_LEG,
  24
  25                 BODYPART_LEFT_UPPER_ARM,
  26                 BODYPART_LEFT_LOWER_ARM,
  27
  28                 BODYPART_RIGHT_UPPER_ARM,
  29                 BODYPART_RIGHT_LOWER_ARM,
  30
  31                 BODYPART_COUNT
  32         };
  33
  34         enum
  35         {
  36                 JOINT_PELVIS_SPINE = 0,
  37                 JOINT_SPINE_HEAD,
  38
  39                 JOINT_LEFT_HIP,
  40                 JOINT_LEFT_KNEE,
  41
  42                 JOINT_RIGHT_HIP,
  43                 JOINT_RIGHT_KNEE,
  44
  45                 JOINT_LEFT_SHOULDER,
  46                 JOINT_LEFT_ELBOW,
  47
  48                 JOINT_RIGHT_SHOULDER,
  49                 JOINT_RIGHT_ELBOW,
  50
  51                 JOINT_COUNT
  52         };
  53
  54         btDynamicsWorld* m_ownerWorld;
  55         btCollisionShape* m_shapes[BODYPART_COUNT];
  56         btRigidBody* m_bodies[BODYPART_COUNT];
  57         btTypedConstraint* m_joints[JOINT_COUNT];
  58
  59         btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape);
  60
  61 public:
  62         RagDoll (btDynamicsWorld* ownerWorld,
  63                                 const btVector3& positionOffset,
  64                                 btScalar scale_ragdoll = btScalar(1.0));
  65
  66         ~RagDoll ();
  67 };
  68
  69
  70
  71 #endif // RAGDOLL_H_INCLUDED