Contains the structure of a ragdoll. More...

#include <Ragdoll.h>

Inheritance diagram for RagdollSettings:

Classes
class	Part
	A single rigid body sub part of the ragdoll. More...

Public Types
using	RagdollResult = Result< Ref< RagdollSettings > >

using	BodyIdxPair = pair< int, int >

using	PartVector = Array< Part >
	The constraint that connects this part to its parent part (should be null for the root) More...

Public Member Functions
bool	Stabilize ()

void	DisableParentChildCollisions (const Mat44 *inJointMatrices=nullptr, float inMinSeparationDistance=0.0f)

void	SaveBinaryState (StreamOut &inStream, bool inSaveShapes, bool inSaveGroupFilter) const

Ragdoll *	CreateRagdoll (CollisionGroup::GroupID inCollisionGroup, uint64 inUserData, PhysicsSystem *inSystem) const

const Skeleton *	GetSkeleton () const
	Access to the skeleton of this ragdoll. More...

Skeleton *	GetSkeleton ()

void	CalculateBodyIndexToConstraintIndex ()
	Calculate the map needed for GetBodyIndexToConstraintIndex() More...

const Array< int > &	GetBodyIndexToConstraintIndex () const
	Get table that maps a body index to the constraint index with which it is connected to its parent. -1 if there is no constraint associated with the body. More...

int	GetConstraintIndexForBodyIndex (int inBodyIndex) const
	Map a single body index to a constraint index. More...

void	CalculateConstraintIndexToBodyIdxPair ()
	Calculate the map needed for GetConstraintIndexToBodyIdxPair() More...

const Array< BodyIdxPair > &	GetConstraintIndexToBodyIdxPair () const
	Table that maps a constraint index (index in mConstraints) to the indices of the bodies that the constraint is connected to (index in mBodyIDs) More...

BodyIdxPair	GetBodyIndicesForConstraintIndex (int inConstraintIndex) const
	Map a single constraint index (index in mConstraints) to the indices of the bodies that the constraint is connected to (index in mBodyIDs) More...

Public Member Functions inherited from RefTarget< RagdollSettings >
	RefTarget ()=default
	Constructor. More...

	RefTarget (const RefTarget &)

	~RefTarget ()
	assert no one is referencing us More...

void	SetEmbedded () const

RefTarget &	operator= (const RefTarget &)
	Assignment operator. More...

uint32	GetRefCount () const
	Get current refcount of this object. More...

void	AddRef () const
	Add or release a reference to this object. More...

void	Release () const

Static Public Member Functions
static RagdollResult	sRestoreFromBinaryState (StreamIn &inStream)
	Restore a saved ragdoll from inStream. More...

Static Public Member Functions inherited from RefTarget< RagdollSettings >
static int	sInternalGetRefCountOffset ()
	INTERNAL HELPER FUNCTION USED BY SERIALIZATION. More...

Public Attributes
Ref< Skeleton >	mSkeleton
	The skeleton for this ragdoll. More...

PartVector	mParts
	For each of the joints, the body and constraint attaching it to its parent body (1-on-1 with mSkeleton.GetJoints()) More...

Additional Inherited Members
Protected Attributes inherited from RefTarget< RagdollSettings >
atomic< uint32 >	mRefCount
	Current reference count. More...

Static Protected Attributes inherited from RefTarget< RagdollSettings >
static constexpr uint32	cEmbedded
	A large value that gets added to the refcount to mark the object as embedded. More...

Detailed Description

Contains the structure of a ragdoll.

Member Typedef Documentation

◆ BodyIdxPair

using RagdollSettings::BodyIdxPair = pair<int, int>

◆ PartVector

using RagdollSettings::PartVector = Array<Part>

The constraint that connects this part to its parent part (should be null for the root)

◆ RagdollResult

using RagdollSettings::RagdollResult = Result<Ref<RagdollSettings> >

Member Function Documentation

◆ CalculateBodyIndexToConstraintIndex()

void RagdollSettings::CalculateBodyIndexToConstraintIndex ( )

Calculate the map needed for GetBodyIndexToConstraintIndex()

◆ CalculateConstraintIndexToBodyIdxPair()

void RagdollSettings::CalculateConstraintIndexToBodyIdxPair ( )

Calculate the map needed for GetConstraintIndexToBodyIdxPair()

◆ CreateRagdoll()

Ragdoll * RagdollSettings::CreateRagdoll	(	CollisionGroup::GroupID	inCollisionGroup,
		uint64	inUserData,
		PhysicsSystem *	inSystem
	)		const

Create ragdoll instance from these settings

Returns: Newly created ragdoll or null when out of bodies

◆ DisableParentChildCollisions()

void RagdollSettings::DisableParentChildCollisions	(	const Mat44 *	inJointMatrices = `nullptr`,
		float	inMinSeparationDistance = `0.0f`
	)

After the ragdoll has been fully configured, call this function to automatically create and add a GroupFilterTable collision filter to all bodies and configure them so that parent and children don't collide.

This will:

Create a GroupFilterTable and assign it to all of the bodies in a ragdoll.
Each body in your ragdoll will get a SubGroupID that is equal to the joint index in the Skeleton that it is attached to.
Loop over all joints in the Skeleton and call GroupFilterTable::DisableCollision(joint index, parent joint index).
When a pose is provided through inJointMatrices the function will detect collisions between joints (they must be separated by more than inMinSeparationDistance to be treated as not colliding) and automatically disable collisions.

When you create an instance using Ragdoll::CreateRagdoll pass in a unique GroupID for each ragdoll (e.g. a simple counter), note that this number should be unique throughout the PhysicsSystem, so if you have different types of ragdolls they should not share the same GroupID.

◆ GetBodyIndexToConstraintIndex()

const Array< int > & RagdollSettings::GetBodyIndexToConstraintIndex ( ) const

inline

Get table that maps a body index to the constraint index with which it is connected to its parent. -1 if there is no constraint associated with the body.

◆ GetBodyIndicesForConstraintIndex()

BodyIdxPair RagdollSettings::GetBodyIndicesForConstraintIndex ( int inConstraintIndex ) const

inline

Map a single constraint index (index in mConstraints) to the indices of the bodies that the constraint is connected to (index in mBodyIDs)

◆ GetConstraintIndexForBodyIndex()

int RagdollSettings::GetConstraintIndexForBodyIndex ( int inBodyIndex ) const

inline

Map a single body index to a constraint index.

◆ GetConstraintIndexToBodyIdxPair()

const Array< BodyIdxPair > & RagdollSettings::GetConstraintIndexToBodyIdxPair ( ) const

inline

Table that maps a constraint index (index in mConstraints) to the indices of the bodies that the constraint is connected to (index in mBodyIDs)

◆ GetSkeleton() [1/2]

Skeleton * RagdollSettings::GetSkeleton ( )

inline

◆ GetSkeleton() [2/2]

const Skeleton * RagdollSettings::GetSkeleton ( ) const

inline

Access to the skeleton of this ragdoll.

◆ SaveBinaryState()

void RagdollSettings::SaveBinaryState	(	StreamOut &	inStream,
		bool	inSaveShapes,
		bool	inSaveGroupFilter
	)		const

Saves the state of this object in binary form to inStream.

Parameters

inStream	The stream to save the state to
inSaveShapes	If the shapes should be saved as well (these could be shared between ragdolls, in which case the calling application may want to write custom code to restore them)
inSaveGroupFilter	If the group filter should be saved as well (these could be shared)

◆ sRestoreFromBinaryState()

RagdollSettings::RagdollResult RagdollSettings::sRestoreFromBinaryState ( StreamIn & inStream )

static

Restore a saved ragdoll from inStream.

◆ Stabilize()

bool RagdollSettings::Stabilize ( )

Stabilize the constraints of the ragdoll

Returns: True on success, false on failure.

Member Data Documentation

◆ mParts

PartVector RagdollSettings::mParts

For each of the joints, the body and constraint attaching it to its parent body (1-on-1 with mSkeleton.GetJoints())

◆ mSkeleton

Ref<Skeleton> RagdollSettings::mSkeleton

The skeleton for this ragdoll.

The documentation for this class was generated from the following files:

Jolt/Physics/Ragdoll/Ragdoll.h
Jolt/Physics/Ragdoll/Ragdoll.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ BodyIdxPair

◆ PartVector

◆ RagdollResult

Member Function Documentation

◆ CalculateBodyIndexToConstraintIndex()

◆ CalculateConstraintIndexToBodyIdxPair()

◆ CreateRagdoll()

◆ DisableParentChildCollisions()

◆ GetBodyIndexToConstraintIndex()

◆ GetBodyIndicesForConstraintIndex()

◆ GetConstraintIndexForBodyIndex()

◆ GetConstraintIndexToBodyIdxPair()

◆ GetSkeleton() [1/2]

◆ GetSkeleton() [2/2]

◆ SaveBinaryState()

◆ sRestoreFromBinaryState()

◆ Stabilize()

Member Data Documentation

◆ mParts

◆ mSkeleton