<!DOCTYPE html>
<html>
<head>
<title>Ragdoll demo - p2.js physics engine</title>
<script src="../build/p2.js"></script>
<script src="../build/p2.renderer.js"></script>
<link href="css/demo.css" rel="stylesheet"/>
<meta name="description" content="Shows how to build a rag doll.">
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0">
</head>
<body>
<script>
var shouldersDistance = 0.5,
upperArmLength = 0.4,
lowerArmLength = 0.4,
upperArmSize = 0.2,
lowerArmSize = 0.2,
neckLength = 0.1,
headRadius = 0.25,
upperBodyLength = 0.6,
pelvisLength = 0.4,
upperLegLength = 0.5,
upperLegSize = 0.2,
lowerLegSize = 0.2,
lowerLegLength = 0.5;
// Create demo application
var app = new p2.WebGLRenderer(function(){
var OTHER = Math.pow(2,1),
BODYPARTS = Math.pow(2,2),
GROUND = Math.pow(2,3),
OTHER = Math.pow(2,4),
bodyPartShapes = [];
var headShape = new p2.Circle({ radius: headRadius }),
upperArmShapeLeft = new p2.Box({ width: upperArmLength, height: upperArmSize }),
upperArmShapeRight = new p2.Box({ width: upperArmLength, height: upperArmSize }),
lowerArmShapeLeft = new p2.Box({ width: lowerArmLength, height: lowerArmSize }),
lowerArmShapeRight = new p2.Box({ width: lowerArmLength, height: lowerArmSize }),
upperBodyShape = new p2.Box({ width: shouldersDistance, height: upperBodyLength }),
pelvisShape = new p2.Box({ width: shouldersDistance, height: pelvisLength }),
upperLegShapeLeft = new p2.Box({ width: upperLegSize, height: upperLegLength }),
upperLegShapeRight = new p2.Box({ width: upperLegSize, height: upperLegLength }),
lowerLegShapeLeft = new p2.Box({ width: lowerLegSize, height: lowerLegLength }),
lowerLegShapeRight = new p2.Box({ width: lowerLegSize, height: lowerLegLength });
bodyPartShapes.push(
headShape,
upperArmShapeRight,
upperArmShapeLeft,
lowerArmShapeRight,
lowerArmShapeLeft,
upperBodyShape,
pelvisShape,
upperLegShapeRight,
upperLegShapeLeft,
lowerLegShapeRight,
lowerLegShapeLeft
);
for(var i=0; i<bodyPartShapes.length; i++){
var s = bodyPartShapes[i];
s.collisionGroup = BODYPARTS;
s.collisionMask = GROUND|OTHER;
}
var world = new p2.World({
gravity : [0,-10]
});
this.setWorld(world);
world.solver.iterations = 100;
world.solver.tolerance = 0.002;
// Lower legs
var lowerLeftLeg = new p2.Body({
mass: 1,
position: [-shouldersDistance/2,lowerLegLength / 2],
});
var lowerRightLeg = new p2.Body({
mass: 1,
position: [shouldersDistance/2,lowerLegLength / 2],
});
lowerLeftLeg.addShape(lowerLegShapeLeft);
lowerRightLeg.addShape(lowerLegShapeRight);
world.addBody(lowerLeftLeg);
world.addBody(lowerRightLeg);
// Upper legs
var upperLeftLeg = new p2.Body({
mass: 1,
position: [-shouldersDistance/2,lowerLeftLeg.position[1]+lowerLegLength/2+upperLegLength / 2],
});
var upperRightLeg = new p2.Body({
mass: 1,
position: [shouldersDistance/2,lowerRightLeg.position[1]+lowerLegLength/2+upperLegLength / 2],
});
upperLeftLeg.addShape(upperLegShapeLeft);
upperRightLeg.addShape(upperLegShapeRight);
world.addBody(upperLeftLeg);
world.addBody(upperRightLeg);
// Pelvis
var pelvis = new p2.Body({
mass: 1,
position: [0, upperLeftLeg.position[1]+upperLegLength/2+pelvisLength/2],
});
pelvis.addShape(pelvisShape);
world.addBody(pelvis);
// Upper body
var upperBody = new p2.Body({
mass: 1,
position: [0,pelvis.position[1]+pelvisLength/2+upperBodyLength/2],
});
upperBody.addShape(upperBodyShape);
world.addBody(upperBody);
// Head
var head = new p2.Body({
mass: 1,
position: [0,upperBody.position[1]+upperBodyLength/2+headRadius+neckLength],
});
head.addShape(headShape);
world.addBody(head);
// Upper arms
var upperLeftArm = new p2.Body({
mass: 1,
position: [-shouldersDistance/2-upperArmLength/2, upperBody.position[1]+upperBodyLength/2],
});
var upperRightArm = new p2.Body({
mass: 1,
position: [shouldersDistance/2+upperArmLength/2, upperBody.position[1]+upperBodyLength/2],
});
upperLeftArm.addShape(upperArmShapeLeft);
upperRightArm.addShape(upperArmShapeRight);
world.addBody(upperLeftArm);
world.addBody(upperRightArm);
// lower arms
var lowerLeftArm = new p2.Body({
mass: 1,
position: [ upperLeftArm.position[0] - lowerArmLength/2 - upperArmLength/2,
upperLeftArm.position[1]],
});
var lowerRightArm = new p2.Body({
mass: 1,
position: [ upperRightArm.position[0] + lowerArmLength/2 + upperArmLength/2,
upperRightArm.position[1]],
});
lowerLeftArm.addShape(lowerArmShapeLeft);
lowerRightArm.addShape(lowerArmShapeRight);
world.addBody(lowerLeftArm);
world.addBody(lowerRightArm);
// Neck joint
var neckJoint = new p2.RevoluteConstraint(head, upperBody, {
localPivotA: [0,-headRadius-neckLength/2],
localPivotB: [0,upperBodyLength/2],
});
neckJoint.setLimits(-Math.PI / 8, Math.PI / 8);
world.addConstraint(neckJoint);
// Knee joints
var leftKneeJoint = new p2.RevoluteConstraint(lowerLeftLeg, upperLeftLeg, {
localPivotA: [0, lowerLegLength/2],
localPivotB: [0,-upperLegLength/2],
});
var rightKneeJoint= new p2.RevoluteConstraint(lowerRightLeg, upperRightLeg, {
localPivotA: [0, lowerLegLength/2],
localPivotB:[0,-upperLegLength/2],
});
leftKneeJoint.setLimits(-Math.PI / 8, Math.PI / 8);
rightKneeJoint.setLimits(-Math.PI / 8, Math.PI / 8);
world.addConstraint(leftKneeJoint);
world.addConstraint(rightKneeJoint);
// Hip joints
var leftHipJoint = new p2.RevoluteConstraint(upperLeftLeg, pelvis, {
localPivotA: [0, upperLegLength/2],
localPivotB: [-shouldersDistance/2,-pelvisLength/2],
});
var rightHipJoint = new p2.RevoluteConstraint(upperRightLeg, pelvis, {
localPivotA: [0, upperLegLength/2],
localPivotB: [shouldersDistance/2,-pelvisLength/2],
});
leftHipJoint.setLimits(-Math.PI / 8, Math.PI / 8);
rightHipJoint.setLimits(-Math.PI / 8, Math.PI / 8);
world.addConstraint(leftHipJoint);
world.addConstraint(rightHipJoint);
// Spine
var spineJoint = new p2.RevoluteConstraint(pelvis, upperBody, {
localPivotA: [0,pelvisLength/2],
localPivotB: [0,-upperBodyLength/2],
});
spineJoint.setLimits(-Math.PI / 8, Math.PI / 8);
world.addConstraint(spineJoint);
// Shoulders
var leftShoulder = new p2.RevoluteConstraint(upperBody, upperLeftArm, {
localPivotA:[-shouldersDistance/2, upperBodyLength/2],
localPivotB:[upperArmLength/2,0],
});
var rightShoulder= new p2.RevoluteConstraint(upperBody, upperRightArm, {
localPivotA:[shouldersDistance/2, upperBodyLength/2],
localPivotB:[-upperArmLength/2,0],
});
leftShoulder.setLimits(-Math.PI / 3, Math.PI / 3);
rightShoulder.setLimits(-Math.PI / 3, Math.PI / 3);
world.addConstraint(leftShoulder);
world.addConstraint(rightShoulder);
// Elbow joint
var leftElbowJoint = new p2.RevoluteConstraint(lowerLeftArm, upperLeftArm, {
localPivotA: [lowerArmLength/2, 0],
localPivotB: [-upperArmLength/2,0],
});
var rightElbowJoint= new p2.RevoluteConstraint(lowerRightArm, upperRightArm, {
localPivotA:[-lowerArmLength/2,0],
localPivotB:[upperArmLength/2,0],
});
leftElbowJoint.setLimits(-Math.PI / 8, Math.PI / 8);
rightElbowJoint.setLimits(-Math.PI / 8, Math.PI / 8);
world.addConstraint(leftElbowJoint);
world.addConstraint(rightElbowJoint);
// Create ground
var planeShape = new p2.Plane();
var plane = new p2.Body({
position:[0,-1],
});
plane.addShape(planeShape);
planeShape.collisionGroup = GROUND;
planeShape.collisionMask = BODYPARTS|OTHER;
world.addBody(plane);
this.newShapeCollisionGroup = OTHER;
this.newShapeCollisionMask = BODYPARTS|OTHER|GROUND;
});
</script>
</body>
</html>cedarcantab
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