adding ragdoll script

scripts/ragdoll.py

@@ -0,0 +1,201 @@
+import bge
+#from mathutils import Vector
+from math import radians
+from mathutils import Quaternion, Vector, Matrix
+
+armature = "Char4"
+
+def get_bone_pose_matrix_cleaned(bone):
+    offset_m4 = (Matrix.Translation(bone.location) * Quaternion(bone.rotation_quaternion).to_matrix().to_4x4())
+    return bone.pose_matrix * offset_m4.inverted()
+
+def zero_constraints(own, scene):
+    armature = scene.objects['Char4']
+    for const in armature.constraints:
+        
+        if 'rd_cl' in str(const):
+            const.enforce = 0
+            print(const)
+        if 'rd_cr' in str(const):
+            const.enforce = 0   
+    for x in own['rd_rb'].groupMembers:
+        x.suspendDynamics(True)
+
+    
+def update_rb(physBody, scene):
+    #print('updating rigid body positions')
+    armature = scene.objects['Char4']
+    master = armature.parent
+    master = scene.objects['control_cube.002']
+    
+    for pB in physBody.groupMembers: 
+        if 'bone' in pB:   
+            bone_name = pB["bone"]
+            bone = armature.channels[bone_name]   
+            pos = (bone.pose_head)+master.worldPosition
+            rot = Vector(master.worldOrientation.to_euler()) * Vector(bone.channel_matrix.to_euler())    
+            pose_bone = bone
+            obj = armature
+            matrix_final = obj.worldTransform * get_bone_pose_matrix_cleaned(bone)
+            pB.worldTransform = matrix_final            
+             
+def max_constraints(own, scene, physBody):            
+    armature = scene.objects['Char4']
+    if armature.parent != None:
+        master = armature.parent
+        if not armature.parent.isSuspendDynamics:
+            #armature.parent.suspendDynamics(True)        
+            pass
+    armature.removeParent()
+    #print(armature.parent)
+    #print(physBody.groupMembers)
+    physBody.restoreDynamics()
+    for pB in physBody.groupMembers:
+        pB.restoreDynamics()
+        if 'bone' in pB:
+            bone_name = pB["bone"]
+            bone = armature.channels[bone_name]
+            if 'init' not in pB:
+                pB["origin_pos"] = pB.worldPosition
+                pB["origin_rot"] = Vector(pB.worldOrientation.to_euler())  
+            pos = (bone.pose_head)+master.worldPosition
+            rot = Vector(bone.channel_matrix.to_euler())   
+                    
+            for const in armature.constraints:
+                if pB['bone'] in str(const) and ('rd_cl' in str(const) or 'rd_cr' in str(const)):
+                    const.target = pB
+                    const.enforce = 1
+                    #print('enforcing', pB, const)
+                else:
+                    pass
+        else:
+            #print('no bone in', pB)            
+            pass
+    
+    
+def main():
+    #print('doing main')
+    cont = bge.logic.getCurrentController()
+    own = cont.owner
+    scene = bge.logic.getCurrentScene()
+    sens = cont.sensors['rd_key']
+    dict = bge.logic.globalDict
+    
+    if 'inited' not in own:
+        own['inited'] = True
+        own['ragdoll_active'] = False
+        pB = scene.objectsInactive["npc_ed_arm_physBody"]  
+        own['rd_rb'] = scene.addObject(pB)
+        own['rd_rb'].suspendDynamics()
+        own['rd_set_vel'] = False
+        own['rd_vel'] = None
+        own['rd_incer'] = 0
+        zero_constraints(own, scene)    
+
+    #if (sens.positive) or (dict['aBut'] == 1 and dict['bBut'] == 1) or own['fall'] == True:
+    if (sens.positive) or own['fall'] == True:
+        #print('option1')
+        #own['fall'] = True
+        if own['ragdoll_active'] == False:
+            #own['fall'] = 1
+            own['fall'] = True
+            print('do ragdoll')
+            incer = -1
+            update_rb(own['rd_rb'], scene)   
+            while incer < 20:
+                incer += 1
+                scene.objects[armature].stopAction(incer)
+            pB = scene.objectsInactive["npc_ed_arm_physBody"]        
+            physBody = own['rd_rb']
+            physBody.worldPosition = own.worldPosition
+            physBody.worldOrientation = own.worldOrientation
+            own['rd_vel'] = own.worldLinearVelocity.copy()
+            print('setting linvel', own['rd_vel'])
+            own['rd_set_vel']  = True
+            physBody.name = 'ragdollll'
+            physBody['to_delete'] = True            
+            own['rd_to_delete'] = physBody
+            own['ragdoll_active'] = True
+            max_constraints(own, scene, physBody)
+            own.visible = False
+            own['throw_deck'] = False
+            cont.actuators['Camera'].height = 2.0
+            #cont.actuators['Camera'].min = 14.0
+            #cont.actuators['Camera'].max = 18.0
+            cont.actuators['Camera'].damping = .000001
+            cont.activate(cont.actuators['Camera']) 
+                        
+            #own.suspendDynamics()
+            
+    else:
+
+        if own['ragdoll_active'] == True:
+            #pass
+            scene.objects[armature].stopAction(2)
+            scene.objects[armature].stopAction(7)
+            scene.objects[armature].update()
+            cont.actuators['Camera'].object = scene.objects['ragdoll_parent']
+            wp = scene.objects['camCube'].worldPosition - scene.objects['ragdoll_parent'].worldPosition
+            wp = wp * .9
+            cont.actuators['Camera'].height = 2.0
+            cont.actuators['Camera'].min = 4.0
+            cont.actuators['Camera'].max = 8.0
+            cont.actuators['Camera'].damping = .000001
+            cont.activate(cont.actuators['Camera']) 
+            #print(own['rd_set_vel'], 'vel setter')
+            if own['rd_set_vel'] == True:
+                print(own['rd_incer'], 'rdincer', own['rd_vel'])
+                
+                scene.objects['npc_ed_arm_phys_master'].setLinearVelocity(own['rd_vel'] * 20, False)
+                own['rd_set_vel'] = False
+                
+                if own['rd_incer'] > 20:
+                    own['rd_incer'] += 1
+                    #print(
+                    #scene.objects['npc_ed_arm_phys_master'].setLinearVelocity(own['rd_vel'] * 4000, False)
+                    #scene.objects['npc_ed_arm_phys_master'].worldLinearVelocity.x = 100
+                    #scene.objects['npc_ed_arm_phys_master'].applyForce([5000,0,0], False)
+                    for pB in own['rd_rb'].groupMembers:
+                        print('setting', pB, own['rd_vel'])
+                        
+                        try:
+                            #pass
+                            #pB.applyForce([5000,0,500], False)
+                            #pB.worldLinearVelocity.x = 100
+                            #pB.worldLinearVelocity = own['rd_vel']
+                            pB.setLinearVelocity(own['rd_vel'], False)
+                            print('adding force to', pB, pB.worldLinearVelocity)
+                        except:
+                            print('cant add force to ', pB)
+                else:
+                    own['rd_incer'] = 0
+                    own['rd_set_vel'] = False
+            
+            if dict['yBut'] == 1:                
+                print('turn off ragdoll')
+                zero_constraints(own, scene)
+                scene.objects[armature].setParent(own, False, True)
+                own.restoreDynamics()
+                for x in own['rd_rb'].groupMembers:
+                    x.suspendDynamics(True)
+                own['ragdoll_active'] = False    
+                print(scene.objects[armature].parent, 'parent')
+                cont.actuators['Camera'].object = scene.objects['camCube']
+                cont.activate(cont.actuators['Camera']) 
+                own.worldPosition = scene.objects['npc_ed_arm_phys_master'].worldPosition
+                own.worldPosition.z += .4
+                cont.activate(cont.actuators['walk']) 
+
+
+            if dict['lUD'] < -.08:
+                physBody = own['rd_rb']
+                excludes = ['npc_ed_arm_phys_hand.R', 'npc_ed_arm_phys_hand.L', 'npc_ed_arm_phys_forearm.fk.L', 'npc_ed_arm_phys_forearm.fk.R', 'npc_ed_arm_phys_upper_arm.fk.L', 'npc_ed_arm_phys_upper_arm.fk.R']
+                for x in physBody.groupMembers:
+                    print(x)
+                                    
+                    if x not in excludes:
+                        x.applyForce([0,0,20], False)
+                scene.objects['npc_ed_arm_phys_master'].applyForce([0,0,500], False)
+        else:
+            update_rb(own['rd_rb'], scene)   
+            #pass