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ragdoll.html
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ragdoll.html
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<!DOCTYPE html>
<html>
<head>
<title>Ragdoll demo - p2.js physics engine</title>
<script src="p2.js"></script>
<script src="p2.renderer.js"></script>
<script src="rag.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 = 0.5,
lowerArmLength = 0.5,
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),
BODY_CENTER = Math.pow(2, 2),
BODY_LEFT = Math.pow(2, 3),
BODY_RIGHT = Math.pow(2, 4),
GROUND = Math.pow(2, 5),
OTHER = Math.pow(2, 6),
bodyPartShapes = []
var headShape = new p2.Circle({ radius: headRadius })
headShape.collisionGroup = BODY_CENTER
headShape.collisionMask = OTHER | GROUND | BODY_LEFT | BODY_RIGHT
var upperArmShapeLeft = new p2.Box({
width: upperArmLength,
height: upperArmSize,
})
upperArmShapeLeft.collisionGroup = BODY_LEFT
upperArmShapeLeft.collisionMask = OTHER | GROUND
var upperArmShapeRight = new p2.Box({
width: upperArmLength,
height: upperArmSize,
})
upperArmShapeRight.collisionGroup = BODY_RIGHT
upperArmShapeRight.collisionMask = OTHER | GROUND
var lowerArmShapeLeft = new p2.Box({
width: lowerArmLength,
height: lowerArmSize,
})
lowerArmShapeLeft.collisionGroup = BODY_LEFT
lowerArmShapeLeft.collisionMask = OTHER | GROUND
var lowerArmShapeRight = new p2.Box({
width: lowerArmLength,
height: lowerArmSize,
})
lowerArmShapeRight.collisionGroup = BODY_RIGHT
lowerArmShapeRight.collisionMask = OTHER | GROUND
var upperBodyShape = new p2.Box({
width: shouldersDistance,
height: upperBodyLength,
})
upperBodyShape.collisionGroup = BODY_CENTER
upperBodyShape.collisionMask = OTHER | GROUND | BODY_LEFT | BODY_RIGHT
var pelvisShape = new p2.Box({
width: shouldersDistance,
height: pelvisLength,
})
pelvisShape.collisionGroup = BODY_CENTER
pelvisShape.collisionMask = OTHER | GROUND | BODY_LEFT | BODY_RIGHT
var upperLegShapeLeft = new p2.Box({
width: upperLegSize,
height: upperLegLength,
})
upperLegShapeLeft.collisionGroup = BODY_LEFT
upperLegShapeLeft.collisionMask = OTHER | GROUND | BODY_CENTER
var upperLegShapeRight = new p2.Box({
width: upperLegSize,
height: upperLegLength,
})
upperLegShapeRight.collisionGroup = BODY_RIGHT
upperLegShapeRight.collisionMask = OTHER | GROUND | BODY_CENTER
var lowerLegShapeLeft = new p2.Box({
width: lowerLegSize,
height: lowerLegLength,
})
lowerLegShapeLeft.collisionGroup = BODY_LEFT
lowerLegShapeLeft.collisionMask = OTHER | GROUND | BODY_CENTER
var lowerLegShapeRight = new p2.Box({
width: lowerLegSize,
height: lowerLegLength,
})
lowerLegShapeRight.collisionGroup = BODY_RIGHT
lowerLegShapeRight.collisionMask = OTHER | GROUND | BODY_CENTER
bodyPartShapes.push(
headShape,
upperArmShapeRight,
upperArmShapeLeft,
lowerArmShapeRight,
lowerArmShapeLeft,
upperBodyShape,
pelvisShape,
upperLegShapeRight,
upperLegShapeLeft,
lowerLegShapeRight,
lowerLegShapeLeft
)
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: [
-upperArmLength / 2,
upperBody.position[1] + upperBodyLength / 2,
],
})
var upperRightArm = new p2.Body({
mass: 1,
position: [
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)
playerBodyParts = [
lowerLeftLeg,
lowerRightLeg,
upperLeftLeg,
upperRightLeg,
pelvis,
upperBody,
head,
upperLeftArm,
upperRightArm,
lowerLeftArm,
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 / 4, Math.PI / 4)
rightKneeJoint.setLimits(-Math.PI / 4, Math.PI / 4)
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: [0, upperBodyLength / 2],
localPivotB: [upperArmLength / 2, 0],
})
var rightShoulder = new p2.RevoluteConstraint(
upperBody,
upperRightArm,
{
localPivotA: [0, 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(0, Math.PI / 2)
rightElbowJoint.setLimits(-Math.PI / 2, 0)
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 = BODY_CENTER | BODY_LEFT | BODY_RIGHT | OTHER
world.addBody(plane)
this.newShapeCollisionGroup = OTHER
this.newShapeCollisionMask =
BODY_CENTER | BODY_LEFT | BODY_RIGHT | GROUND | OTHER
})
</script>
</body>
</html>