void CreateRagdollBone(string boneName, ShapeType type, Vector3 size, Vector3 position, Quaternion rotation)
{
// Find the correct child scene node recursively
Node boneNode = Node.GetChild(boneName, true);
if (boneNode == null)
{
Log.Warn($"Could not find bone {boneName} for creating ragdoll physics components");
return;
}
RigidBody body = boneNode.CreateComponent<RigidBody>();
// Set mass to make movable
body.Mass = 1.0f;
// Set damping parameters to smooth out the motion
body.LinearDamping = 0.05f;
body.AngularDamping = 0.85f;
// Set rest thresholds to ensure the ragdoll rigid bodies come to rest to not consume CPU endlessly
body.LinearRestThreshold = 1.5f;
body.AngularRestThreshold = 2.5f;
CollisionShape shape = boneNode.CreateComponent<CollisionShape>();
// We use either a box or a capsule shape for all of the bones
if (type == ShapeType.SHAPE_BOX)
shape.SetBox(size, position, rotation);
else
shape.SetCapsule(size.X, size.Y, position, rotation);
}
public void PhysicsPreStep(float timeStep)
{
float newSteering = 0.0f;
float accelerator = 0.0f;
// Read controls
if (Controls.IsDown(CtrlLeft))
newSteering = -1.0f;
if (Controls.IsDown(CtrlRight))
newSteering = 1.0f;
if (Controls.IsDown(CtrlForward))
accelerator = 1.0f;
if (Controls.IsDown(CtrlBack))
accelerator = -0.5f;
// When steering, wake up the wheel rigidbodies so that their orientation is updated
if (newSteering != 0.0f)
{
frontLeftBody.Activate();
frontRightBody.Activate();
steering = steering * 0.95f + newSteering * 0.05f;
}
else
steering = steering * 0.8f + newSteering * 0.2f;
// Set front wheel angles
Quaternion steeringRot = new Quaternion(0, steering * MaxWheelAngle, 0);
frontLeftAxis.SetOtherAxis(steeringRot * new Vector3(-1f, 0f, 0f));
frontRightAxis.SetOtherAxis(steeringRot * Vector3.UnitX);
Quaternion hullRot = hullBody.Rotation;
if (accelerator != 0.0f)
{
// Torques are applied in world space, so need to take the vehicle & wheel rotation into account
Vector3 torqueVec = new Vector3(EnginePower * accelerator, 0.0f, 0.0f);
frontLeftBody.ApplyTorque(hullRot * steeringRot * torqueVec);
frontRightBody.ApplyTorque(hullRot * steeringRot * torqueVec);
rearLeftBody.ApplyTorque(hullRot * torqueVec);
rearRightBody.ApplyTorque(hullRot * torqueVec);
}
// Apply downforce proportional to velocity
Vector3 localVelocity = Quaternion.Invert(hullRot) * hullBody.LinearVelocity;
hullBody.ApplyForce(hullRot * new Vector3(0f, -1f, 0f) * Math.Abs(localVelocity.Z) * DownForce);
}
