JV-ODE Physics Thread 3

The JV-ODE user library contains almost all of the ODE functions wrapped inside a DLL.

The library can be used in any programming language that supports DLL's, including Blitz3D and BlitzPlus. The functions have been adapted to use euler angles (the same coordinate system as Blitz3D), however functions for accessing quaternion angles are also included. The download contains all of the necessary files to get you started, including some simple demos showing various ODE objects and TriMesh collisions.

To view more information and screenshots click here.

Options are now available to purchase the wrapper using either PayPal or Share*it.

The restricted demo version is now available for download here (222KB)

Have Fun :)

Previous JV-ODE Threads: 1 2
JV-ODE Player Factory Forum

Useful Links: ODE.org Website - ODE User Guide (PDF) - ODE User Guide (HTML) - ODE Archives

JV-ODE Version 1.04 Released

Please check your inbox :)

The new update features many new improvements including:

New optimized DLL
Sphere>TriMesh collision improved
Cube>TriMesh collision improved
CCylinder>TriMesh collision improved
QuickStep performance improved
Accurate dInfinity value
New RagDoll demo

Version 1.04 is built using the brand new stable ODE CVS updates (released 2 days ago)

Many thanks, for this and the Trimesh() bounce thing.

As advice to anyone else, I've found the source of my recent woes. I was testing the restitution and finding geometries with Restitution of 0.0 were colliding and still bouncing a little. This I took to mean the restitution wasn't being set or used correctly.

I tried the demos and couldn't recreate the problem, except in the Trimesh demo. Setting the Trimesh to zero bounce still had bouncing bojects. As VIP3R points out, this didn't have dContactBounce set as the contact mode.

So the problem was my code somehow. LOTS of investigation later (I hate, I just HATE debugging :( ), I finally found the one thing different between my system that didn't work and the demos that did, was the dWorldSetERP() value. I had raised this to 0.5 earlier in the engine build during experiments. Returning it to the default value of 0.2, collisions between geometry of 0.0 restitution are virtually dead stops as they should be.

The take home advice - the ERP value affects after collision movement and if your objects aren't responding as they should, reacting when they shouldn't, don't overlook the global error rates.

Obvious really, but when you're new to a library and don't know confidently if you're implementing it right, it's more likely to look for something you're doing wrong in assigning values at the object creation level than those obscure parameters you poked around with earlier and forget about!

Please can I have a demo of 30 stacked cubes?
Thank you

No problem Slenkar, here is a demo showing 30 stacked cubes. It's quite tricky to keep them stable, but I would imagine this would reflect reality.

To improve stability, try reducing the dWorldQuickStep(World,0.05) value. Let me know if you need further assistance ;)

; ###################################################################################################
; #										JV-ODE - Cubes Demo											#
; #									Code by Jim Williams (VIP3R)									#
; ###################################################################################################

AppTitle "JV-ODE - Cubes Demo"

Include "JV-ODE.bb"

Graphics3D 800,600,0,2

Global StackY#=2.505

Global BaseCube

Type ODEGeom
	Field body
	Field geom
	Field mesh
End Type

; ###################################################################################################

; ### Setup ODE

Global World=dWorldCreate()
Global Space=dHashSpaceCreate(0)
Global ContactGroup=dJointGroupCreate(0)

dWorldSetAutoDisableFlag(World,1)
dWorldSetGravity(World,0,-0.98,0)
dWorldSetERP(World,0.4)
dContactSetMode(dContactBounce)
dContactSetBounce(0.0)
dContactSetMu(80)

; ### Create light

Global Light=CreateLight()

RotateEntity Light,45,-90,0
LightColor Light,255,255,255
AmbientLight 130,130,130

; ### Create camera

Global Camera=CreateCamera()
CameraClsColor Camera,0,0,0
CameraRange Camera,1,1000
PositionEntity Camera,0,140,-120
RotateEntity Camera,30,0,0

; ### Create plane

dCreatePlane(Space,0,1,0,0)

Plane=CreatePlane()

EntityAlpha Plane,0.8

PlaneTexture=CreateTexture(128,128,9)

ClsColor 0,200,80
Cls

Color 255,255,255

Rect 0,0,64,64,1
Rect 64,64,64,64,1

CopyRect 0,0,128,128,0,0,BackBuffer(),TextureBuffer(PlaneTexture)
ScaleTexture PlaneTexture,20,20
EntityTexture Plane,PlaneTexture,0,0

Mirror=CreateMirror()

For count=1 To 30
	AddObject()
Next

; ###################################################################################################

While Not KeyHit(1)

	PTime=MilliSecs()

	If KeyHit(57) Then dBodyAddForce(BaseCube,0,0,8000)

	UpdateGeoms()

	dSpaceCollide(Space,World,ContactGroup)
	dWorldQuickStep(World,0.05)
	dJointGroupEmpty(ContactGroup)

	PhysicsTime#=MilliSecs()-PTime

	UpdateWorld

	RenderWorld

	Text 0,0,"JV-ODE Version "+dGetVersion()
	Text 0,15,"Physics Time:"+PhysicsTime
	Text 240,0,"Press Space to push the base cube"

	Flip

Wend

dJointGroupDestroy(ContactGroup)
dSpaceDestroy(Space)
dWorldDestroy(World)
dCloseODE()

End

; ###################################################################################################

Function AddObject()

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
If StackY<5 Then BaseCube=ode\body
dBodySetRotation(ode\body,0,0,0)
dBodySetPosition(ode\body,0,StackY,0)
dBodySetAutoDisableFlag(ode\body,1)
mass=dMassCreate()
dMassSetBox(mass,1,5,5,5)
dMassSetBoxTotal(mass,20,5,5,5)
dBodySetMass(ode\body,mass)
dMassDestroy(mass)
ode\geom=dCreateBox(Space,5,5,5)
dGeomContactSetMode(ode\geom,dContactBounce)
dGeomContactSetBounce(ode\geom,0.0)
dGeomContactSetSoftERP(ode\geom,0.1)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCube()
ScaleMesh ode\mesh,2.5,2.5,2.5
EntityColor ode\mesh,Rand(255),Rand(255),Rand(255)
EntityAlpha ode\mesh,1
EntityShininess ode\mesh,0.7

StackY=StackY+5

End Function

; ###################################################################################################

Function UpdateGeoms()

For ode.ODEGeom=Each ODEGeom
	If dBodyIsEnabled(ode\body)
		RotateEntity ode\mesh,dGeomGetPitch#(ode\geom),dGeomGetYaw#(ode\geom),dGeomGetRoll#(ode\geom)
		PositionEntity ode\mesh,dGeomGetPositionX#(ode\geom),dGeomGetPositionY#(ode\geom),dGeomGetPositionZ#(ode\geom)
		End If
Next

End Function

; ###################################################################################################

excellent thank you

Here's a pyramid:

; ###################################################################################################
; #										JV-ODE - Pyramid Demo											#
; #									Code by Jim Williams (VIP3R)									#
; ###################################################################################################

AppTitle "JV-ODE - Pyramid Demo"

Include "JV-ODE.bb"

Graphics3D 800,600,0,2


Global BaseCube

Global ElapsedTime
Global LastTime
Global FrameCount
Global Frames
Global Time


Type ODEGeom
	Field body
	Field geom
	Field mesh
End Type

; ###################################################################################################

; ### Setup ODE

Global World=dWorldCreate()
Global Space=dHashSpaceCreate(0)
Global ContactGroup=dJointGroupCreate(0)

dWorldSetAutoDisableFlag(World,1)
dWorldSetGravity(World,0,-0.98,0)
dWorldSetERP(World,0.4)
dContactSetMode(dContactBounce)
dContactSetBounce(0.0)
dContactSetMu(80)

; ### Create light

Global Light=CreateLight()

RotateEntity Light,45,-90,0
LightColor Light,255,255,255
AmbientLight 130,130,130

; ### Create camera

Global Camera=CreateCamera()
CameraClsColor Camera,0,0,0
CameraRange Camera,1,1000
PositionEntity Camera,30,25,-50
RotateEntity Camera,15,0,0

; ### Create plane

dCreatePlane(Space,0,1,0,0)

Plane=CreatePlane()

EntityAlpha Plane,0.8

PlaneTexture=CreateTexture(128,128,9)

ClsColor 0,200,80
Cls

Color 255,255,255

Rect 0,0,64,64,1
Rect 64,64,64,64,1

CopyRect 0,0,128,128,0,0,BackBuffer(),TextureBuffer(PlaneTexture)
ScaleTexture PlaneTexture,20,20
EntityTexture Plane,PlaneTexture,0,0

Mirror=CreateMirror()

; Construct pyramid

Wide=8  ; Number of blocks wide at the base
Gap#=7  ; Gap spacing
RBW#=5  ; Real block width

For j#=wide To 1 Step -1
	For k#=1 To j
		AddObject(k#*Gap+(wide-j#)*Gap/2,RBW/2 + (wide-j#)*RBW)
	Next
Next
		
		

; ###################################################################################################

While Not KeyHit(1)

    UpdateControls()

	PTime=MilliSecs()

	UpdateGeoms()

	dSpaceCollide(Space,World,ContactGroup)
	dWorldQuickStep(World,0.1)
	dJointGroupEmpty(ContactGroup)

	PhysicsTime#=MilliSecs()-PTime

	UpdateWorld

	RenderWorld

	Text 0,0,"JV-ODE Version "+dGetVersion()
	Text 0,15,"Physics Time:"+PhysicsTime
	Text 0,30,"FPS:"+Fps()
	Text 240,0,"Push and Pull Cubes: Left/Right Mouse"

	Flip

Wend

dJointGroupDestroy(ContactGroup)
dSpaceDestroy(Space)
dWorldDestroy(World)
dCloseODE()

End

; ###################################################################################################

Function AddObject(x#,height#)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)

dBodySetRotation(ode\body,0,0,0)
;dBodySetPosition(ode\body,0,StackY,0)
dBodySetPosition(ode\body,x,Height,0)

dBodySetAutoDisableFlag(ode\body,1)
mass=dMassCreate()
dMassSetBox(mass,1,5,5,5)
dMassSetBoxTotal(mass,20,5,5,5)
dBodySetMass(ode\body,mass)
dMassDestroy(mass)
ode\geom=dCreateBox(Space,5,5,5)
dGeomContactSetMode(ode\geom,dContactBounce)
dGeomContactSetBounce(ode\geom,0.0)
dGeomContactSetSoftERP(ode\geom,0.1)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCube()
ScaleMesh ode\mesh,2.5,2.5,2.5
EntityColor ode\mesh,Rand(255),Rand(255),Rand(255)
EntityAlpha ode\mesh,1
EntityShininess ode\mesh,0.7

EntityPickMode ode\mesh,2 ; Make pickable

End Function

; ###################################################################################################

Function UpdateGeoms()

For ode.ODEGeom=Each ODEGeom
	If dBodyIsEnabled(ode\body)
		RotateEntity ode\mesh,dGeomGetPitch#(ode\geom),dGeomGetYaw#(ode\geom),dGeomGetRoll#(ode\geom)
		PositionEntity ode\mesh,dGeomGetPositionX#(ode\geom),dGeomGetPositionY#(ode\geom),dGeomGetPositionZ#(ode\geom)
		End If
Next

End Function

; ###################################################################################################

Function Fps()
Time=MilliSecs()

ElapsedTime=ElapsedTime+Time-LastTime
LastTime=Time
FrameCount=FrameCount+1

If ElapsedTime>1000
	ElapsedTime=0
	Frames=FrameCount
	FrameCount=0
EndIf
Return Frames
End Function 

; ###################################################################################################

Function UpdateControls()

	If MouseDown(1)=1

	CameraPick(Camera,MouseX(),MouseY())
		If PickedEntity()
			For ode.ODEGeom=Each ODEGeom
				If ode\mesh=PickedEntity()
					dBodyEnable(ode\body)
					dBodyAddForce ode\body,-20*PickedNX#(),-200*PickedNY#(),-200*PickedNZ#()
				End If
			Next
		End If
	End If

	If MouseDown(2)=1
		CameraPick(Camera,MouseX(),MouseY())
		If PickedEntity()
			For ode.ODEGeom=Each ODEGeom
				If ode\mesh=PickedEntity()
					dBodyEnable(ode\body)
					dBodyAddForce ode\body,20*PickedNX#(),200*PickedNY#(),200*PickedNZ#()
				End If
			Next
		End If
	End If
End Function

You're welcome Slenkar ;)

Cool pyramid demo Wayne, how are you finding the new update so far?

** HIGH PERFORMANCE Version of Pyramid Demo **

; ###################################################################################################
; #										JV-ODE - Pyramid Demo											#
; #									Code by Jim Williams (VIP3R)									#
; ###################################################################################################

AppTitle "JV-ODE - Pyramid Demo"

Include "JV-ODE.bb"

Graphics3D 800,600,0,2


Global ElapsedTime
Global LastTime
Global FrameCount
Global Frames
Global Time


Type ODEGeom
	Field body
	Field geom
	Field mesh
End Type

; ###################################################################################################

; ### Setup ODE

Global World=dWorldCreate()
Global Space=dHashSpaceCreate(0)
Global ContactGroup=dJointGroupCreate(0)

dWorldSetAutoDisableFlag(World,1)
dWorldSetGravity(World,0,-0.98,0)
dWorldSetERP(World,0.4)
dContactSetMode(dContactBounce)
dContactSetBounce(0.0)
dContactSetMu(80)

; High Performance Settings
; Causes objects to settle down and sleep faster
dWorldSetAutoDisableLinearThreshold (World, .05)
dWorldSetAutoDisableAngularThreshold (World, .05)
dWorldSetAutoDisableSteps (World, 3)

; ### Create light

Global Light=CreateLight()

RotateEntity Light,45,-90,0
LightColor Light,255,255,255
AmbientLight 130,130,130

; ### Create camera

Global Camera=CreateCamera()
CameraClsColor Camera,0,0,0
CameraRange Camera,1,1000
PositionEntity Camera,30,25,-50
RotateEntity Camera,15,0,0

; ### Create plane

dCreatePlane(Space,0,1,0,0)

Plane=CreatePlane()

EntityAlpha Plane,0.8

PlaneTexture=CreateTexture(128,128,9)

ClsColor 0,200,80
Cls

Color 255,255,255

Rect 0,0,64,64,1
Rect 64,64,64,64,1

CopyRect 0,0,128,128,0,0,BackBuffer(),TextureBuffer(PlaneTexture)
ScaleTexture PlaneTexture,20,20
EntityTexture Plane,PlaneTexture,0,0

Mirror=CreateMirror()

; Construct pyramid

Wide=8  ; Number of blocks wide at the base
Gap#=7  ; Gap spacing
RBW#=5  ; Real block width

For j#=wide To 1 Step -1
	For k#=1 To j
		AddObject(k#*Gap+(wide-j#)*Gap/2,RBW/2 + (wide-j#)*RBW)
	Next
Next
		
		

; ###################################################################################################

While Not KeyHit(1)

    UpdateControls()

	PTime=MilliSecs()

	UpdateGeoms()

	dSpaceCollide(Space,World,ContactGroup)
	dWorldQuickStep(World,0.1)
	dJointGroupEmpty(ContactGroup)

	PhysicsTime#=MilliSecs()-PTime

	UpdateWorld

	RenderWorld

	Text 0,0,"JV-ODE Version "+dGetVersion()
	Text 0,15,"Physics Time:"+PhysicsTime
	Text 0,30,"FPS:"+Fps()
	Text 240,0,"Push and Pull Cubes: Left/Right Mouse"

	Flip

Wend

dJointGroupDestroy(ContactGroup)
dSpaceDestroy(Space)
dWorldDestroy(World)
dCloseODE()

End

; ###################################################################################################

Function AddObject(x#,height#)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)

dBodySetRotation(ode\body,0,0,0)
;dBodySetPosition(ode\body,0,StackY,0)
dBodySetPosition(ode\body,x,Height,0)

dBodySetAutoDisableFlag(ode\body,1)
mass=dMassCreate()
dMassSetBox(mass,1,5,5,5)
dMassSetBoxTotal(mass,20,5,5,5)
dBodySetMass(ode\body,mass)
dMassDestroy(mass)
ode\geom=dCreateBox(Space,5,5,5)
dGeomContactSetMode(ode\geom,dContactBounce)
dGeomContactSetBounce(ode\geom,0.0)
dGeomContactSetSoftERP(ode\geom,0.1)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCube()
ScaleMesh ode\mesh,2.5,2.5,2.5
EntityColor ode\mesh,Rand(255),Rand(255),Rand(255)
EntityAlpha ode\mesh,1
EntityShininess ode\mesh,0.7

EntityPickMode ode\mesh,2 ; Make pickable

End Function

; ###################################################################################################

Function UpdateGeoms()

For ode.ODEGeom=Each ODEGeom
	If dBodyIsEnabled(ode\body)
		RotateEntity ode\mesh,dGeomGetPitch#(ode\geom),dGeomGetYaw#(ode\geom),dGeomGetRoll#(ode\geom)
		PositionEntity ode\mesh,dGeomGetPositionX#(ode\geom),dGeomGetPositionY#(ode\geom),dGeomGetPositionZ#(ode\geom)
		End If
Next

End Function

; ###################################################################################################

Function Fps()
Time=MilliSecs()

ElapsedTime=ElapsedTime+Time-LastTime
LastTime=Time
FrameCount=FrameCount+1

If ElapsedTime>1000
	ElapsedTime=0
	Frames=FrameCount
	FrameCount=0
EndIf
Return Frames
End Function 

; ###################################################################################################

Function UpdateControls()

	If MouseDown(1)=1

	CameraPick(Camera,MouseX(),MouseY())
		If PickedEntity()
			For ode.ODEGeom=Each ODEGeom
				If ode\mesh=PickedEntity()
					dBodyEnable(ode\body)
					dBodyAddForce ode\body,-20*PickedNX#(),-200*PickedNY#(),-200*PickedNZ#()
				End If
			Next
		End If
	End If

	If MouseDown(2)=1
		CameraPick(Camera,MouseX(),MouseY())
		If PickedEntity()
			For ode.ODEGeom=Each ODEGeom
				If ode\mesh=PickedEntity()
					dBodyEnable(ode\body)
					dBodyAddForce ode\body,20*PickedNX#(),200*PickedNY#(),200*PickedNZ#()
				End If
			Next
		End If
	End If
End Function

The new UPDATE makes the wrapper worth every penny spent on it! Two words come to mind, "it works".

I love this wrapper man because it's clean, fast, and followes the ODE documentation. The new commands add control that normally would be reserved for C programmers.

Keep up the good work VIP3R.

I second that. Although I've had virtually no time to play yet, the little I've played with has been just incredible. Finally, anyone can do cool car physics and have nice things to bounce around and crash into ... thank you so much for opening this new world, VIP3R. It rocks!

This rocks!! However- Cylinders still seem to jutter around and get flung off- Thats the oly issue i see :)


Other than that, Greeeat :D

thanks viper

Well it was real hard work but it was definitely worth it. Thanks for your kind words everyone, it's very much appreciated :)

Thanks also for all of the emails of support I've received over the last few days, sorry I couldn't reply to all of them individually.

I'm really looking forward to seeing all of your projects.

Cheers :)

@Cygnus: Is that standard cylinders or capped cylinders? Did you add mass to them? Have you set the mass direction correctly? Lots of things can cause those jitters, let me know and I'll take a look at it for you ;)

A feature request : cold you provide a different way of handling contact bounce qualities between geometries? The existing mean average of two values isn't accurate.

eg. Create surface of low bounce (marble)
dGeomContactSetBounce(obj\geom,0.2)

Create surface of very high bounce (bouncy ball)
dGeomContactSetBounce(obj\geom,0.95)

If you've ever bounced a really bouncy ball on a hard marble surface, it bounces very high, but in the ODE wrapper the average = 0.575 is only a moderate bounce.

Create a bouncy ball of bounciness 1.8 and it bounces well on the marble, but bounces to much off another bouncy ball.

Could you provide an alternative maybe where contact bounce value is the maximum between the two surfaces? That might make a better approximation.

I agree, I think that would be better too. So you want the option of both of these...

TotalBounce=(Geom1Bounce+Geom2Bounce)/2 <<< Averaged

TotalBounce=*Geom1Bounce or *Geom2Bounce <<< Maximum
[edit] *whichever is higher (sorry misunderstood your request)

No problem, I'll put it in my todo for the next update ;)

I wouldn't use the added value, as 0.9 + 0.9=1.8, where objects would bounce higher than each last bounce!

I'd use...

TotalBounce=Max(Geom1Bounce,Geom2Bounce)

Many thanks for your efforts and the quick updates!

Here's a little game called Pyramid of Destruction.
-Enjoy

; ###################################################################################################
; #								JV-ODE - Pyramid Destruction Demo											#
; #									Code by Jim Williams (VIP3R)									#
; ###################################################################################################

AppTitle "JV-ODE - Pyramid Destruction"

Include "JV-ODE.bb"

;Graphics3D 800,600,0,2
Graphics3D 1024,768,32,1


Global ElapsedTime
Global LastTime
Global FrameCount
Global Frames
Global Time

Global Proj
Global Projbody

Type ODEGeom
	Field body
	Field geom
	Field mesh
End Type

; ###################################################################################################

; ### Setup ODE

Global World=dWorldCreate()
Global Space=dHashSpaceCreate(0)
Global ContactGroup=dJointGroupCreate(0)

dWorldSetAutoDisableFlag(World,1)
dWorldSetGravity(World,0,-1,0)
dWorldSetERP(World,0.4)
dContactSetMode(dContactBounce)
dContactSetBounce(0.0)
dContactSetMu(80)

; High Performance Settings
; Causes objects to settle down and sleep faster
dWorldSetAutoDisableLinearThreshold (World, .05)
dWorldSetAutoDisableAngularThreshold (World, .05)
dWorldSetAutoDisableSteps (World, 5)
dContactSetMaxContacts(32)
dWorldSetQuickStepNumIterations (World,20)

; ### Create light

Global Light=CreateLight()

RotateEntity Light,45,-90,0
LightColor Light,255,255,255
AmbientLight 130,130,130

; ### Create camera

Global Camera=CreateCamera()
CameraClsColor Camera,0,0,0
CameraRange Camera,1,1000
PositionEntity Camera,30,25,-100
RotateEntity Camera,15,0,0

; ### Create plane

dCreatePlane(Space,0,1,0,0)

Plane=CreatePlane()

EntityAlpha Plane,0.8

PlaneTexture=CreateTexture(128,128,9)

ClsColor 0,200,80
Cls

Color 255,255,255

Rect 0,0,64,64,1
Rect 64,64,64,64,1

CopyRect 0,0,128,128,0,0,BackBuffer(),TextureBuffer(PlaneTexture)
ScaleTexture PlaneTexture,20,20
EntityTexture Plane,PlaneTexture,0,0

Mirror=CreateMirror()

; Construct pyramid

Wide=9  ; Number of blocks wide at the base
Gap#=7  ; Gap spacing
RBW#=5  ; Real block width

For j#=wide To 1 Step -1
	For k#=1 To j
		AddObject(k#*Gap+(wide-j#)*Gap/2,RBW/2 + (wide-j#)*RBW)
		bcount=bcount+1
	Next
Next
		
addProjectile(EntityX(camera),EntityY(camera),EntityZ(camera))

		

; ###################################################################################################

While Not KeyHit(1)

    UpdateControls()

; Calculate Time Delta
If T=0 Then T=MilliSecs()
T=MilliSecs() 

; Mouse Look code

; Execute every 25ms ( 40/sec )
If T > Time2 + 25 Then
	Time2=T
	mxs#=mxs#+(MouseXSpeed()-mxs#)/3
	mys#=mys#+(MouseYSpeed()-mys#)/3

	If MouseDown(2) Then 
		MoveMouse GraphicsWidth()/2,GraphicsHeight()/2
		p1#=p1#-mys#
		y1#=y1#-mxs#
		RotateEntity camera,-p1#,y1#,0
	EndIf
EndIf	


	
	PTime=MilliSecs()

	UpdateGeoms()

	dSpaceCollide(Space,World,ContactGroup)
	dWorldQuickStep(World,0.1)
	
	dJointGroupEmpty(ContactGroup)

	PhysicsTime#=MilliSecs()-PTime

	UpdateWorld

	RenderWorld

	Text 0,0,"JV-ODE Version "+dGetVersion()
	Text 0,15,"Physics Time:"+PhysicsTime
	Text 0,30,"FPS:"+Fps()
	Text 0,60,"Blocks="+bcount
	Text 0,75,"LM - Pushes Object"
	Text 0,90, "RM - Mouse Look"
	Text 0,105, "R  - Reconstruct Pyramid"
	Text 0,120, "WSAD - Movement"
    Text 0,135, "Space - Shoots"

	Flip  

Wend

dJointGroupDestroy(ContactGroup)
dSpaceDestroy(Space)
dWorldDestroy(World)
dCloseODE()

End

; ###################################################################################################

Function AddObject(x#,height#)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)

dBodySetRotation(ode\body,0,0,0)
dBodySetPosition(ode\body,x,Height,0)

dBodySetAutoDisableFlag(ode\body,1)
mass=dMassCreate()
dMassSetBox(mass,1,5,5,5)
dMassSetBoxTotal(mass,20,5,5,5)
dBodySetMass(ode\body,mass)
dMassDestroy(mass)
ode\geom=dCreateBox(Space,5,5,5)
dGeomContactSetMode(ode\geom,dContactBounce)
dGeomContactSetBounce(ode\geom,0.0)
dGeomContactSetSoftERP(ode\geom,0.1)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCube()
ScaleMesh ode\mesh,2.5,2.5,2.5
EntityColor ode\mesh,Rand(255),Rand(255),Rand(255)
EntityAlpha ode\mesh,1
EntityShininess ode\mesh,0.7

EntityPickMode ode\mesh,2 ; Make pickable

End Function

; ###################################################################################################

Function PosObject(x#,height#, body)

dBodyDisable(body)
dBodySetRotation(body,0,0,0)
dBodySetPosition(body,x,Height,0)
dBodySetLinearVel  (body, 0,0,0)
dBodySetAngularVel (body, 0,0,0)
dBodyEnable(body)

End Function

; ###################################################################################################

Function AddProjectile(X#,Y#,Z#)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)

dBodySetRotation(ode\body,0,0,0)
dBodySetPosition(ode\body,x#,Y#,Z#)

dBodySetAutoDisableFlag(ode\body,1)
mass=dMassCreate()
dMassSetBox(mass,1,5,5,5)
dMassSetBoxTotal(mass,20,5,5,5)
dBodySetMass(ode\body,mass)
dMassDestroy(mass)
ode\geom=dCreateBox(Space,5,5,5)
dGeomContactSetMode(ode\geom,dContactBounce)
dGeomContactSetBounce(ode\geom,0.0)
dGeomContactSetSoftERP(ode\geom,0.1)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCube()
ScaleMesh ode\mesh,2.5,2.5,2.5
EntityColor ode\mesh,Rand(255),Rand(255),Rand(255)
EntityAlpha ode\mesh,1
EntityShininess ode\mesh,0.7

proj=ode\mesh ; ENTITY	
projbody=ode\body

End Function
; ###################################################################################################

Function UpdateGeoms()

For ode.ODEGeom=Each ODEGeom
	If dBodyIsEnabled(ode\body)
		RotateEntity ode\mesh,dGeomGetPitch#(ode\geom),dGeomGetYaw#(ode\geom),dGeomGetRoll#(ode\geom)
		PositionEntity ode\mesh,dGeomGetPositionX#(ode\geom),dGeomGetPositionY#(ode\geom),dGeomGetPositionZ#(ode\geom)
	End If
Next

End Function

; ###################################################################################################

Function Fps()
Time=MilliSecs()

ElapsedTime=ElapsedTime+Time-LastTime
LastTime=Time
FrameCount=FrameCount+1

If ElapsedTime>1000
	ElapsedTime=0
	Frames=FrameCount
	FrameCount=0
EndIf
Return Frames
End Function 

; ###################################################################################################

Function UpdateControls()

	If MouseDown(1)=1

	CameraPick(Camera,MouseX(),MouseY())
		If PickedEntity()
			For ode.ODEGeom=Each ODEGeom
				If ode\mesh=PickedEntity()
					dBodyEnable(ode\body)
					dBodyAddForce ode\body,-500*PickedNX#(),-500*PickedNY#(),-500*PickedNZ#()
				End If
			Next
		End If
	End If


	; Spacebar - Fire
	If KeyDown(57) Then
		dBodyDisable(Projbody)
		; Set projectile to match camera orientation
		dBodySetRotation(Projbody,EntityPitch(camera),EntityYaw(camera),EntityRoll(camera))
		dBodySetPosition(Projbody,EntityX(camera),EntityY(camera),EntityZ(camera))
		; Set projectile velocity and spin to zero
		dBodySetLinearVel  (Projbody, 0,0,0)
		dBodySetAngularVel (Projbody, 0,0,0)
		
		dBodyEnable(Projbody)
		dBodyAddRelForce(Projbody,0,0,8000)
		
	EndIf
	
	; Reconstruct pyramid
	If KeyDown(19) Then
		ode.ODEGeom=First ODEGeom
		
			; Construct pyramid
	
			Wide=9  ; Number of blocks wide at the base
			Gap#=7  ; Gap spacing
			RBW#=5  ; Real block width
			
			For j#=wide To 1 Step -1
				For k#=1 To j
					PosObject(k#*Gap+(wide-j#)*Gap/2,RBW/2 + (wide-j#)*RBW,ode\body)
					ode = After ode
				Next
			Next
			
		
	End If

; WSAD - Movement

; W- Forward
If KeyDown(17) Then
	MoveEntity camera,0,0,1
EndIf
; S- Reverse
If KeyDown(31) Then
	MoveEntity camera,0,0,-1
EndIf

; W- Left
If KeyDown(30) Then
	MoveEntity camera,-1,0,0
EndIf
; S- Right
If KeyDown(32) Then
	MoveEntity camera,1,0,0
EndIf

End Function

Pyramid of Destruction II
Add your own sounds for that special touch.
Select different planets and watch gravity at work.
Other features include: Mouse Look, WSAD and arrow keys, Pyramid reconstruction, Mouse pushing, spacebar shooting.

-enjoy

; ###################################################################################################
; #								JV-ODE - Pyramid Destruction Demo											#
; #									Code by Jim Williams (VIP3R)									#
; ###################################################################################################

AppTitle "JV-ODE - Pyramid Destruction II"

Include "JV-ODE.bb"

;Graphics3D 800,600,0,2
Graphics3D 1024,768,32,1


Global ElapsedTime
Global LastTime
Global FrameCount
Global Frames
Global Time

Global Proj
Global Projbody
Global snd1
Global snd2
Global piv1

Global Planet$
Global gx

piv1=CreatePivot()

Type ODEGeom
	Field body
	Field geom
	Field mesh
End Type

; ###################################################################################################

; ### Setup ODE

Global World=dWorldCreate()
Global Space=dHashSpaceCreate(0)
Global ContactGroup=dJointGroupCreate(0)

dWorldSetAutoDisableFlag(World,1)
dWorldSetGravity(World,0,-1.0,0)
Planet="Earth"

dWorldSetERP(World,0.4)
dContactSetMode(dContactBounce)
dContactSetBounce(0.0)
dContactSetMu(80)

; High Performance Settings
; Causes objects to settle down and sleep faster
dWorldSetAutoDisableLinearThreshold (World, .05)
dWorldSetAutoDisableAngularThreshold (World, .05)
dWorldSetAutoDisableSteps (World, 5)
dContactSetMaxContacts(32)
dWorldSetQuickStepNumIterations (World,20)

; ### Create light

Global Light=CreateLight()

RotateEntity Light,45,-90,0
LightColor Light,255,255,255
AmbientLight 130,130,130

; ### Create camera

Global Camera=CreateCamera()
CameraClsColor Camera,0,0,0
CameraRange Camera,1,1000
PositionEntity Camera,30,25,-100
RotateEntity Camera,15,0,0

; ### Load sounds
snd1=Load3DSound("media\Impact.wav")
snd2=LoadSound("media\whizz.wav")

SoundVolume snd2,.2

mic1=CreateListener(camera,.3,1,1) ; Create listener, make it child of camera 

; ### Create plane

dCreatePlane(Space,0,1,0,0)

Plane=CreatePlane()

EntityAlpha Plane,0.8

PlaneTexture=CreateTexture(128,128,9)

ClsColor 0,200,80
Cls

Color 255,255,255

Rect 0,0,64,64,1
Rect 64,64,64,64,1

CopyRect 0,0,128,128,0,0,BackBuffer(),TextureBuffer(PlaneTexture)
ScaleTexture PlaneTexture,20,20
EntityTexture Plane,PlaneTexture,0,0

Mirror=CreateMirror()

; Construct pyramid

Wide=9  ; Number of blocks wide at the base
Gap#=7  ; Gap spacing
RBW#=5  ; Real block width

For j#=wide To 1 Step -1
	For k#=1 To j
		AddObject(k#*Gap+(wide-j#)*Gap/2,RBW/2 + (wide-j#)*RBW)
		bcount=bcount+1
	Next
Next
		
addProjectile(EntityX(camera),EntityY(camera),EntityZ(camera))

		

; ###################################################################################################

While Not KeyHit(1)

    UpdateControls()

; Calculate Time Delta
If T=0 Then T=MilliSecs()
T=MilliSecs() 

; Mouse Look code

; Execute every 25ms ( 40/sec )
If T > Time2 + 25 Then
	Time2=T
	mxs#=mxs#+(MouseXSpeed()-mxs#)/3
	mys#=mys#+(MouseYSpeed()-mys#)/3

	If MouseDown(2) Then 
		MoveMouse GraphicsWidth()/2,GraphicsHeight()/2
		p1#=p1#-mys#
		y1#=y1#-mxs#
		RotateEntity camera,-p1#,y1#,0
	EndIf
EndIf	


	
	PTime=MilliSecs()

	UpdateGeoms()
	

	dSpaceCollide(Space,World,ContactGroup)
	
	UpdateSounds()
	
	dWorldQuickStep(World,0.1)
	
	dJointGroupEmpty(ContactGroup)

	PhysicsTime#=MilliSecs()-PTime

	UpdateWorld

	RenderWorld
	
	Color 255,255,255
	Text 0,0,"JV-ODE Version "+dGetVersion()
	Text 0,15,"Physics Time:"+PhysicsTime
	Text 0,30,"FPS:"+Fps()
	Color 255,0,0
	Text 0,60,"P - Planet="+Planet
	Color 255,255,255
	Text 0,75,"LM - Pushes Object"
	Text 0,90, "RM - Mouse Look"
	Text 0,105, "R  - Reconstruct Pyramid"
	Text 0,120, "WSAD - Movement"
    Text 0,135, "Space - Shoots"

	Flip  

Wend

dJointGroupDestroy(ContactGroup)
dSpaceDestroy(Space)
dWorldDestroy(World)
dCloseODE()

End

; ###################################################################################################

Function AddObject(x#,height#)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)

dBodySetRotation(ode\body,0,0,0)
dBodySetPosition(ode\body,x,Height,0)

dBodySetAutoDisableFlag(ode\body,1)
mass=dMassCreate()
dMassSetBox(mass,1,5,5,5)
dMassSetBoxTotal(mass,20,5,5,5)
dBodySetMass(ode\body,mass)
dMassDestroy(mass)
ode\geom=dCreateBox(Space,5,5,5)
dGeomContactSetMode(ode\geom,dContactBounce)
dGeomContactSetBounce(ode\geom,0.0)
dGeomContactSetSoftERP(ode\geom,0.1)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCube()
ScaleMesh ode\mesh,2.5,2.5,2.5
EntityColor ode\mesh,Rand(255),Rand(255),Rand(255)
EntityAlpha ode\mesh,1
EntityShininess ode\mesh,0.7

EntityPickMode ode\mesh,2 ; Make pickable

End Function

; ###################################################################################################

Function PosObject(x#,height#, body)

dBodyDisable(body)
dBodySetRotation(body,0,0,0)
dBodySetPosition(body,x,Height,0)
dBodySetLinearVel  (body, 0,0,0)
dBodySetAngularVel (body, 0,0,0)
dBodyEnable(body)

End Function

; ###################################################################################################

Function AddProjectile(X#,Y#,Z#)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)

dBodySetRotation(ode\body,0,0,0)
dBodySetPosition(ode\body,x#,Y#,Z#)

dBodySetAutoDisableFlag(ode\body,1)
mass=dMassCreate()
dMassSetBox(mass,1,5,5,5)
dMassSetBoxTotal(mass,20,5,5,5)
dBodySetMass(ode\body,mass)
dMassDestroy(mass)
ode\geom=dCreateBox(Space,5,5,5)
dGeomContactSetMode(ode\geom,dContactBounce)
dGeomContactSetBounce(ode\geom,0.0)
dGeomContactSetSoftERP(ode\geom,0.1)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCube()
ScaleMesh ode\mesh,2.5,2.5,2.5
EntityColor ode\mesh,Rand(255),Rand(255),Rand(255)
EntityAlpha ode\mesh,1
EntityShininess ode\mesh,0.7

proj=ode\mesh ; ENTITY	
projbody=ode\body

End Function
; ###################################################################################################

Function UpdateGeoms()

For ode.ODEGeom=Each ODEGeom
	If dBodyIsEnabled(ode\body)
		RotateEntity ode\mesh,dGeomGetPitch#(ode\geom),dGeomGetYaw#(ode\geom),dGeomGetRoll#(ode\geom)
		PositionEntity ode\mesh,dGeomGetPositionX#(ode\geom),dGeomGetPositionY#(ode\geom),dGeomGetPositionZ#(ode\geom)
	End If
Next

End Function

; ###################################################################################################

Function Fps()
Time=MilliSecs()

ElapsedTime=ElapsedTime+Time-LastTime
LastTime=Time
FrameCount=FrameCount+1

If ElapsedTime>1000
	ElapsedTime=0
	Frames=FrameCount
	FrameCount=0
EndIf
Return Frames
End Function 

; ###################################################################################################

Function UpdateControls()

	If MouseDown(1)=1

	CameraPick(Camera,MouseX(),MouseY())
		If PickedEntity()
			For ode.ODEGeom=Each ODEGeom
				If ode\mesh=PickedEntity()
					dBodyEnable(ode\body)
					dBodyAddForce ode\body,-500*PickedNX#(),-500*PickedNY#(),-500*PickedNZ#()
				End If
			Next
		End If
	End If


	; Spacebar - Fire
	If KeyDown(57) Then
		dBodyDisable(Projbody)
		; Set projectile to match camera orientation
		dBodySetRotation(Projbody,EntityPitch(camera),EntityYaw(camera),EntityRoll(camera))
		dBodySetPosition(Projbody,EntityX(camera),EntityY(camera),EntityZ(camera))
		; Set projectile velocity and spin to zero
		dBodySetLinearVel  (Projbody, 0,0,0)
		dBodySetAngularVel (Projbody, 0,0,0)
		
		dBodyEnable(Projbody)
		dBodyAddRelForce(Projbody,0,0,8000)
		
		PlaySound snd2
	EndIf
	
	; Reconstruct pyramid
	If KeyDown(19) Then
		ode.ODEGeom=First ODEGeom
		
			; Construct pyramid
	
			Wide=9  ; Number of blocks wide at the base
			Gap#=7  ; Gap spacing
			RBW#=5  ; Real block width
			
			For j#=wide To 1 Step -1
				For k#=1 To j
					PosObject(k#*Gap+(wide-j#)*Gap/2,RBW/2 + (wide-j#)*RBW,ode\body)
					ode = After ode
				Next
			Next
			
		
	End If

; WSAD - Movement

; W- Forward
If KeyDown(17) Or KeyDown(200) Then
	MoveEntity camera,0,0,1
EndIf
; S- Reverse
If KeyDown(32) Or KeyDown(208) Then
	MoveEntity camera,0,0,-1
EndIf

; W- Left
If KeyDown(30) Or KeyDown(203) Then
	MoveEntity camera,-1,0,0
EndIf
; S- Right
If KeyDown(32) Or KeyDown(205) Then
	MoveEntity camera,1,0,0
EndIf

; G - Gravity
If KeyHit(25) Then
	gx=gx+1
	If gx>3 Then gx=1
	Select gx
	  Case 1
		Planet="Earth"
		dWorldSetGravity(World,0,-1.0,0)
	
	  Case 2
		Planet="Mars"
		dWorldSetGravity(World,0,-.33333,0)

	  Case 3
		Planet="Moon"
		dWorldSetGravity(World,0,-.16666,0)
		
	End Select
	
EndIf


End Function

; ###################################################################################################

Function UpdateSounds()

For ode.ODEGeom=Each ODEGeom
	If dGeomIsEnabled(ode\geom)
		numjoints=dBodyGetNumJoints(ode\body)
		If numjoints>0 
		
			For joints=0 To numjoints-1
				joint=dBodyGetJoint(ode\body,joints)
				If dJointGetType(joint)=dJointTypeContact
					
					; Get linear velocity vector
			  		ax#=dBodyGetLinearVelX#(ode\body)
			  		ay#=dBodyGetLinearVelY#(ode\body)
				    az#=dBodyGetLinearVelZ#(ode\body)
					; Get Angular velocity vector
			  		bx#=dBodyGetAngularVelX#(ode\body)
			  		by#=dBodyGetAngularVelY#(ode\body)
					bz#=dBodyGetAngularVelZ#(ode\body)
			  		; Calculate magnitudes
					ForceA#=Sqr(ax*ax+ay*ay+az*az)
					ForceB#=Sqr(bx*bx+by*by+bz*bz)
					
					;If ForceA>.01
					;	LinearDamp(ode\body,.04)
					;End If
					
					If ForceA>1.0
						PositionEntity piv1,dGeomGetPositionX#(ode\geom),dGeomGetPositionY#(ode\geom),dGeomGetPositionZ#(ode\geom)
						EmitSound(snd1,piv1)
					End If

					;If ForceB>.01
					;	AngularDamp(ode\body,.06)
					;End If
					
				End If
			Next
		End If
	End If
Next

End Function

Hehe, very nice. And very good stability for the stack. Congratulations!

VERY nice.

I did similar to this in ODE, but the stability was fecked, so i converted over to Toka. :)

Faster, better, stronger
Runs Physics 66 times a second.


-enjoy

; ###################################################################################################
; #								JV-ODE - Pyramid Destruction III Demo											#
; #									Code by Jim Williams (VIP3R)									#
; ###################################################################################################

AppTitle "JV-ODE - Pyramid Destruction III"

Include "JV-ODE.bb"

Graphics3D 1024,768,32,1


Global ElapsedTime
Global LastTime
Global FrameCount
Global Frames
Global Time

Global Proj
Global Projbody
Global snd1
Global snd2
Global piv1

Global Planet$
Global gx

Global Wide=10  ; Number of blocks wide at the base, default 10
Global Gap#=8  ; Gap spacing, default 8
Global RBW#=5  ; Real block width, default 5
			
piv1=CreatePivot()

Type ODEGeom
	Field body
	Field geom
	Field mesh
End Type

; ###################################################################################################

; ### Setup ODE

Global World=dWorldCreate()
Global Space=dHashSpaceCreate(0)
Global ContactGroup=dJointGroupCreate(0)

dWorldSetAutoDisableFlag(World,1)
dWorldSetGravity(World,0,-1.0,0)

Planet="Earth"
gx=1

dWorldSetERP(World,0.4)
dContactSetMode(dContactBounce)
dContactSetBounce(0.0)
dContactSetMu(80)

; High Performance Settings
; Causes objects to settle down and sleep faster
dWorldSetAutoDisableLinearThreshold (World, .1)
dWorldSetAutoDisableAngularThreshold (World, .1)
dWorldSetAutoDisableSteps (World,10)
dContactSetMaxContacts(16)
dWorldSetQuickStepNumIterations (World,20) ; default 20

; ### Create light

Global Light=CreateLight()

RotateEntity Light,45,-90,0
LightColor Light,255,255,255
AmbientLight 130,130,130

; ### Create camera

Global Camera=CreateCamera()
CameraClsColor Camera,0,0,0
CameraRange Camera,1,1000
PositionEntity Camera,30,25,-100
RotateEntity Camera,15,0,0

; ### Load sounds
snd1=Load3DSound("media\Impact.wav")
snd2=LoadSound("media\whizz.wav")

SoundVolume snd2,.2

mic1=CreateListener(camera,.3,1,1) ; Create listener, make it child of camera 

; ### Create plane

dCreatePlane(Space,0,1,0,0)

Plane=CreatePlane()

EntityAlpha Plane,0.8

PlaneTexture=CreateTexture(128,128,9)

ClsColor 0,200,80
Cls

Color 255,255,255

Rect 0,0,64,64,1
Rect 64,64,64,64,1

CopyRect 0,0,128,128,0,0,BackBuffer(),TextureBuffer(PlaneTexture)
ScaleTexture PlaneTexture,20,20
EntityTexture Plane,PlaneTexture,0,0

Mirror=CreateMirror()

; Construct pyramid

For j#=wide To 1 Step -1
	For k#=1 To j
		AddObject(k#*Gap+(wide-j#)*Gap/2,RBW/2 + (wide-j#)*RBW)
		bcount=bcount+1
	Next
Next
		
addProjectile(EntityX(camera),EntityY(camera),EntityZ(camera))

		

; ###################################################################################################

While Not KeyHit(1)

UpdateControls()

; Calculate Time 
If T=0 Then T=MilliSecs()
T=MilliSecs() 

; Mouse Look code

; Poll Mouse Movement every 25ms ( 40/sec )
If T > Time2 + 30 Then
	Time2=T
	mxs#=mxs#+(MouseXSpeed()-mxs#)/3
	mys#=mys#+(MouseYSpeed()-mys#)/3

	If MouseDown(2) Then 
		MoveMouse GraphicsWidth()/2,GraphicsHeight()/2
		p1#=p1#-mys#
		y1#=y1#-mxs#
		RotateEntity camera,-p1#,y1#,0
	EndIf
EndIf	

; Run Physics every 15ms ( 66/sec )
If T > Time3 + 15 Then
	Time3=T	
	
	PTime=MilliSecs()

	UpdateGeoms()
	
	dSpaceCollide(Space,World,ContactGroup)
	
	UpdateSounds()
	
	dWorldQuickStep(World,.2)
	
	dJointGroupEmpty(ContactGroup)

	PhysicsTime#=MilliSecs()-PTime
End If

	UpdateWorld

	RenderWorld
	
	Color 255,255,255
	Text 0,0,"JV-ODE Version "+dGetVersion()
	Text 0,15,"Physics Time:"+PhysicsTime
	Text 0,30,"FPS:"+Fps()
	Color 255,0,0
	Text 0,60,"P - Planet="+Planet
	Color 255,255,255
	Text 0,75,"LM - Pushes Object"
	Text 0,90, "RM - Mouse Look"
	Text 0,105, "R  - Reconstruct Pyramid"
	Text 0,120, "WSAD - Movement"
    Text 0,135, "Space - Shoots"
	
	Flip  

Wend

dJointGroupDestroy(ContactGroup)
dSpaceDestroy(Space)
dWorldDestroy(World)
dCloseODE()

End

; ###################################################################################################

Function AddObject(x#,height#)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)

dBodySetRotation(ode\body,0,0,0)
dBodySetPosition(ode\body,x,Height,0)

dBodySetAutoDisableFlag(ode\body,1)
mass=dMassCreate()
dMassSetBox(mass,1,5,5,5)
dMassSetBoxTotal(mass,20,5,5,5)
dBodySetMass(ode\body,mass)
dMassDestroy(mass)
ode\geom=dCreateBox(Space,5,5,5)
dGeomContactSetMode(ode\geom,dContactBounce)
dGeomContactSetBounce(ode\geom,0.0)
dGeomContactSetSoftERP(ode\geom,0.1)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCube()
ScaleMesh ode\mesh,2.5,2.5,2.5
EntityColor ode\mesh,Rand(255),Rand(255),Rand(255)
EntityAlpha ode\mesh,1
EntityShininess ode\mesh,0.7

EntityPickMode ode\mesh,2 ; Make pickable

End Function

; ###################################################################################################

Function PosObject(x#,height#, body)

dBodyDisable(body)
dBodySetRotation(body,0,0,0)
dBodySetPosition(body,x,Height,0)
dBodySetLinearVel  (body, 0,0,0)
dBodySetAngularVel (body, 0,0,0)
dBodyEnable(body)

End Function

; ###################################################################################################

Function AddProjectile(X#,Y#,Z#)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)

dBodySetRotation(ode\body,0,0,0)
dBodySetPosition(ode\body,x#,Y#,Z#)

dBodySetAutoDisableFlag(ode\body,1)
mass=dMassCreate()
dMassSetBox(mass,1,5,5,5)
dMassSetBoxTotal(mass,20,5,5,5)
dBodySetMass(ode\body,mass)
dMassDestroy(mass)
ode\geom=dCreateBox(Space,5,5,5)
dGeomContactSetMode(ode\geom,dContactBounce)
dGeomContactSetBounce(ode\geom,0.0)
dGeomContactSetSoftERP(ode\geom,0.1)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCube()
ScaleMesh ode\mesh,2.5,2.5,2.5
EntityColor ode\mesh,Rand(255),Rand(255),Rand(255)
EntityAlpha ode\mesh,1
EntityShininess ode\mesh,0.7

proj=ode\mesh ; ENTITY	
projbody=ode\body

End Function
; ###################################################################################################

Function UpdateGeoms()

For ode.ODEGeom=Each ODEGeom
	If dBodyIsEnabled(ode\body)
		RotateEntity ode\mesh,dGeomGetPitch#(ode\geom),dGeomGetYaw#(ode\geom),dGeomGetRoll#(ode\geom)
		PositionEntity ode\mesh,dGeomGetPositionX#(ode\geom),dGeomGetPositionY#(ode\geom),dGeomGetPositionZ#(ode\geom)
	End If
Next

End Function

; ###################################################################################################

Function Fps()
Time=MilliSecs()

ElapsedTime=ElapsedTime+Time-LastTime
LastTime=Time
FrameCount=FrameCount+1

If ElapsedTime>1000
	ElapsedTime=0
	Frames=FrameCount
	FrameCount=0
EndIf
Return Frames
End Function 

; ###################################################################################################

Function UpdateControls()

	If MouseDown(1)=1

	CameraPick(Camera,MouseX(),MouseY())
		If PickedEntity()
			For ode.ODEGeom=Each ODEGeom
				If ode\mesh=PickedEntity()
					dBodyEnable(ode\body)
					dBodyAddForce ode\body,-300*PickedNX#(),-300*PickedNY#(),-300*PickedNZ#()
				End If
			Next
		End If
	End If


	; Spacebar - Fire
	If KeyHit(57) Then
		dBodyDisable(Projbody)
		; Set projectile to match camera orientation
		dBodySetRotation(Projbody,EntityPitch(camera),EntityYaw(camera),EntityRoll(camera))
		dBodySetPosition(Projbody,EntityX(camera),EntityY(camera),EntityZ(camera))
		; Set projectile velocity and spin to zero
		dBodySetLinearVel  (Projbody, 0,0,0)
		dBodySetAngularVel (Projbody, 0,0,0)
		
		dBodyEnable(Projbody)
		dBodyAddRelForce(Projbody,0,0,2500)
		
		PlaySound snd2
	EndIf
	
	; Reconstruct pyramid
	If KeyDown(19) Then
		ode.ODEGeom=First ODEGeom
		
			; Construct pyramid
	
			For j#=wide To 1 Step -1
				For k#=1 To j
					PosObject(k#*Gap+(wide-j#)*Gap/2,RBW/2 + (wide-j#)*RBW,ode\body)

					ode = After ode
				Next
			Next
			
		
	End If

; WSAD - Movement

; W- Forward
If KeyDown(17) Or KeyDown(200) Then
	MoveEntity camera,0,0,1
EndIf
; S- Reverse
If KeyDown(31) Or KeyDown(208) Then
	MoveEntity camera,0,0,-1
EndIf

; A- Left
If KeyDown(30) Or KeyDown(203) Then
	MoveEntity camera,-1,0,0
EndIf
; D- Right
If KeyDown(32) Or KeyDown(205) Then
	MoveEntity camera,1,0,0
EndIf

; G - Gravity
If KeyHit(25) Then
	gx=gx+1
	If gx>4 Then gx=1
	Select gx
	  Case 1
		Planet="Earth "
		dWorldSetGravity(World,0,-1.0,0)
	
	  Case 2
		Planet="Mars"
		dWorldSetGravity(World,0,-.33333,0)

	  Case 3
		Planet="Moon"
		dWorldSetGravity(World,0,-.16666,0)
		
	  Case 4
		Planet="Space"
		dWorldSetGravity(World,0,0,0)
	End Select
	
EndIf


End Function

; ###################################################################################################

Function UpdateSounds()

For ode.ODEGeom=Each ODEGeom
	If dGeomIsEnabled(ode\geom)
		numjoints=dBodyGetNumJoints(ode\body)
		If numjoints>0 
		
			For joints=0 To numjoints-1
				joint=dBodyGetJoint(ode\body,joints)
				If dJointGetType(joint)=dJointTypeContact
					
					; Get linear velocity vector
			  		ax#=dBodyGetLinearVelX#(ode\body)
			  		ay#=dBodyGetLinearVelY#(ode\body)
				    az#=dBodyGetLinearVelZ#(ode\body)
					; Get Angular velocity vector
			  		bx#=dBodyGetAngularVelX#(ode\body)
			  		by#=dBodyGetAngularVelY#(ode\body)
					bz#=dBodyGetAngularVelZ#(ode\body)
			  		; Calculate magnitudes
					ForceA#=Sqr(ax*ax+ay*ay+az*az)
					ForceB#=Sqr(bx*bx+by*by+bz*bz)
					
					;If ForceA>.01
					;	LinearDamp(ode\body,.04)
					;End If
					
					If ForceA>1.5
						PositionEntity piv1,dGeomGetPositionX#(ode\geom),dGeomGetPositionY#(ode\geom),dGeomGetPositionZ#(ode\geom)
						EmitSound(snd1,piv1)
					End If

					;If ForceB>.01
					;	AngularDamp(ode\body,.06)
					;End If
					
				End If
			Next
		End If
	End If
Next

End Function

I'm off to play with spaces, terrains, and jeeps next. Hold on tight while we explore a small multiplayer demolition game.

several ode function declarations are not consistant.

dWorldSetERP(sim,erp#):"odeWorldSetERP@8"
dWorldGetERP#(sim):"odeWorldGetERP@4"

should be:

dWorldSetERP(world,erp#):"odeWorldSetERP@8"
dWorldGetERP#(world):"odeWorldGetERP@4"

8)

Already fixed those in the new V1.05 update to be released very shortly...

I can't wait to try the multiplayer demolition game btw :)

[edit] I hope your 'several' refers to 'two' because I haven't spotted any more ;)

JV-ODE Version 1.05 Released

Please check your inbox :)

As requested by Shifty Geezer, new functions have been added to give more control over the contact surface collision responses.

dSetInternalContactSurfaceMode(mode) - set contact surface mode ( mean / max )
dGetInternalContactSurfaceMode%() - get contact surface mode ( 0 = mean 1 = max )

There are two modes:
0 = mean - default (the same mode as in V1.04)
This mode adds the contact surface values for the two colliding geoms and averages the total value.
For example: TotalBounce = (Geom1Bounce + Geom2Bounce) / 2

1 = max
This mode uses the highest geom contact surface value only and discards the lower value.
For example: TotalBounce = *Geom1Bounce or *Geom2Bounce (* = whichever is higher)
If both values are equal, the value from Geom 1 is used.

Version 1.05 also includes an improved ragdoll demo and a bugfix.

:)

Lot of updates in short time! Keep the good work Viper!

how do you create a 'player'
e.g. a rigid body that you control,
1.stops suddenly when no keys are pressed
2.bumps into things with no inertia and doesnt push objects around but has sliding collision with objects

Cheers KuRiX ;)

@Slenkar: create an ODE sphere, then apply force with 'dBodyAddForce()' when keys are pressed. To stop the sphere suddenly, apply an opposite force on the sphere. For the second item, create the other objects with a much higher mass than the sphere and with zero geom friction.

thanks, ill try that out
EDIT-it accelerates the player forwards,
instead of moving forward at a certain rate
Is there a way to limit the speed?

@Slenkar: Have you tried Psychic Parrots demo? It uses a slightly different method which also limits the speed of the sphere.

Here it is...

; JV-ODE - Key Controlled Sphere Demo Using Angular Velocities
; Code by Jim Williams (VIP3R)
; Arrow key control by Jeff (PsychicParrot)

AppTitle "JV-ODE - Key Controlled sphere Demo"

Include "jv-ode.bb"

Graphics3D 800,600,0,2

Type ODEGeom

	Field body
	Field geom
	Field mesh
	Field pivot ; To find direction vectors
	Field head  ; Just a stupid head to show which direction it's going in!
	Field inair ; To tell if player is on the ground or not!!
	
End Type

; ### Setup ODE

Global World=dWorldCreate()
Global Space=dHashSpaceCreate(0)
Global ContactGroup=dJointGroupCreate(0)

dWorldSetGravity(World,0,-1,0)
dContactSetMode(dContactBounce)
dContactSetBounce(0.2)
dContactSetMu(38)

; ### Create light

Global Light=CreateLight()

RotateEntity Light,45,-90,0
LightColor Light,255,255,255
AmbientLight 130,130,130

; ### Create camera

Global Camera=CreateCamera()
CameraClsColor Camera,0,0,0
CameraRange Camera,1,1000
PositionEntity Camera,0,20,-50
RotateEntity Camera,30,0,0

; ### Control vars

Global potato#=0 ; y rotation of thingy (rotater,rotato,potato!!)
Global spud#
Global fwd_key
Global back_key
Global left_key
Global right_key
Global jump_key

; ### Create plane

dCreatePlane(Space,0,1,0,0)

Plane=CreatePlane()

EntityAlpha Plane,0.8

PlaneTexture=CreateTexture(128,128,9)

ClsColor 0,200,80
Cls

Color 255,255,255

Rect 0,0,64,64,1
Rect 64,64,64,64,1

CopyRect 0,0,128,128,0,0,BackBuffer(),TextureBuffer(PlaneTexture)
ScaleTexture PlaneTexture,20,20
EntityTexture Plane,PlaneTexture,0,0
EntityPickMode plane,2

Mirror=CreateMirror()

AddObject() ; Add our thingy to the world

While Not KeyHit(1)

	PTime=MilliSecs()

	; Update controls
	
	c.ODEGeom=First ODEGeom
	Getkeys(c)
	movethingy(c)
	lookforground(c)
	
	PointEntity (camera,c\mesh)
	
	UpdateGeoms()

	dSpaceCollide(Space,World,ContactGroup)
	dWorldQuickStep(World,0.14)
	dJointGroupEmpty(ContactGroup)

	PhysicsTime#=MilliSecs()-PTime

	UpdateWorld

	RenderWorld

	Text 0,0,"JV-ODE Version "+dGetVersion()
	Text 0,15,"Physics Time:"+PhysicsTime

	Flip

Wend

dJointGroupDestroy(ContactGroup)
dSpaceDestroy(Space)
dWorldDestroy(World)
dCloseODE()

End

Function getkeys(c.ODEGeom)

	fwd_key=False
	back_key=False
	left_key=False
	right_key=False
	jump_key=False

	If c\inair=False Then ; Only let player control 'thrust' when on the ground
	
		If KeyDown(200) Then fwd_key=True
		If KeyDown(208) Then back_key=True

	EndIf
	
		If KeyDown(205) Then left_key=True
		If KeyDown(203) Then right_key=True
		If KeyDown(57) Then jump_key=True

	;EndIf

End Function

Function lookforground(c.ODEGeom)

	If LinePick(EntityX(c\mesh,True),EntityY(c\mesh,True)+1,EntityZ(c\mesh,True),0,-4,0)<>0 Then ; Check for anything 'under' player
		c\inair=False
	  Else
		c\inair=True
	EndIf

End Function

Function movethingy(c.ODEGeom)

	If fwd_key=True Then
		spud=spud+.1
	EndIf

	If back_key=True Then
		spud=spud-.1
	EndIf
	
	If left_key=True Then
		potato=potato-2
	End If
	
	If right_key=True Then
		potato=potato+2
	End If

	If jump_key=True And c\inair=False Then		
		dBodyAddForce(c\body,0,16 ,0)		
	End If

	RotateEntity c\head,0,potato#,0
	
	; Add forward force

	TFormVector 0,0,spud,c\head,0
	
	vx# = dBodyGetAngularVelX(c\body) + TFormedX()
	vy# = dBodyGetAngularVelY(c\body) + TFormedY()
	vz# = dBodyGetAngularVelZ(c\body) + TFormedZ()

	damping#=.8
	dBodySetAngularVel(c\body,vx#*damping#,vy#*damping#,vz#*damping#)

	spud=spud*.9
	
End Function

Function AddObject()

xp=Rand(-8,8)
zp=Rand(-8,8)
ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
dBodySetRotation(ode\body,0,0,0)
dBodySetPosition(ode\body,xp,30,zp)
dBodySetAutoDisableFlag(ode\body,0)
ode\geom=dCreateSphere(Space,3)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateSphere()
ScaleMesh ode\mesh,3,3,3
EntityColor ode\mesh,Rand(255),Rand(255),Rand(255)
EntityAlpha ode\mesh,1
EntityShininess ode\mesh,0.7
ode\head=CreateCube()

ScaleMesh ode\head,1.5,1.5,1.5

ode\pivot=CreatePivot() ; Create pivot to get direction vectors

End Function


Function UpdateGeoms()

For ode.ODEGeom=Each ODEGeom
	
		RotateEntity ode\mesh,dGeomGetPitch#(ode\geom),dGeomGetYaw#(ode\geom),dGeomGetRoll#(ode\geom)
		
		PositionEntity ode\mesh,dGeomGetPositionX#(ode\geom),dGeomGetPositionY#(ode\geom),dGeomGetPositionZ#(ode\geom)
		
		PositionEntity ode\head,dGeomGetPositionX#(ode\geom),dGeomGetPositionY#(ode\geom)+4.5,dGeomGetPositionZ#(ode\geom)
	
Next

End Function

Woohoo! Another update! Thanks, Vip3r. I'm totally pleased with JV-ODE and I totally recommend it to anyone with Blitz .. it's just an essential thing to have in the blitz toolkit IMO, even if it's just for making things roll around in a cool way!

thanks,I ordered the wrapper by paypal yesterday so maybe Ill get to try out a few alterations to the code with relative-forces and a cube which i was having success with in Tokamak except for the acceleration issue.

You're welcome PP and thanks :)

No problem Slenkar, you should receive your wrapper as soon as payment is confirmed. Thanks for your support ;)

Many thanks VIP3R. The new system works great - my bouncy balls bounce!

Got the wrapper now thanks,

Can I have a demo of getting collision info for a ray please?

I need to use a ray to pick an ODE geom and apply a force in the direction of the ray.

The ragdoll demo used blitz picking commands, in games the ragdolls dont have blitz entities at every joint
(I dont think you can pick bones, and they are too small anyway)
so those commands cant be used.

I tried modifying the ragdoll demo to use collision with an ODE ray but I had no luck.

Also is there a master list of all the commands anywhere?
I have the official ODE manual but I need the blitz-equivalents.
e.g. dgeomcollisiony#()
That command is not in the official ODE manual but it is a command that can be used in blitz.I need the entire list - thank you.

I'll look into the ray thing for you. The 'JV-ODE.decls' file lists all of the non-ODE commands towards the base and the 'Version History.txt' file also contains some more info for some of these commands. There isn't a manual for the non-ODE commands yet, but most are self explanatory. Some of the non-ODE commands are shown in the demos too, for example the use of dGeomCollisionY#() is shown in the 'CarDemo-DetailedC.bb' demo.

thanks I managed to get all the commands,
has anyone managed to construct a ragdoll based on an animated mesh, ?????
I think the position of the joints can be found with the position of the bones found with findchild easily enough but then somehow you have to place the rigid bodies between the joints (at global cordinates) blitz can only find the positions of the joints, so I end up putting the geoms and joints in the same place.
So the ragdoll ends up looking distorted and moves stiffly.

Hello, I've just got your wrapper and I'm testing it out, nice work. I'm trying to modify the demos to have thin cylinders (like coins) but I'm having some problems, that I'm guessing is to do with ODE itself rather than the Blitz interface.

One, if I allow them to drop "straight", when two of them hit each other both of them seem to completely disappear. Why is this? If I put a bit of torque on them when they are created this doesn't happen. But when there is a pile of them, they seem to constantly squish up and down a bit oddly, is there a way to make them a bit "harder"? Finally, I tried to set AutoDisableFlag so they would disable, but it didn't seem to work - I tried turning off the bit of torque and it did start to work (but the disappearing problem returned). Even though they seemed to be lying flat, they would never disable, once I re-added the torque.

I'd really appreciate any help with this :P

This is a common problem with standard cylinders in ODE. The torque fix is news to me though, good find :)


Try altering the Geom ERP and CFM values with these...
dGeomContactSetSoftERP(geom,erp#)
dGeomContactSetSoftCFM(geom,cfm#)

or alter the world (global) settings with these...
dWorldSetERP(world,erp#)
dWorldSetCFM(world,cfm#)

Also, try adding mass and density.

If you're still stuggling, can you post your code (or send via email) so that I can take a look for you.

@Slenkar: Some of the Ray functions return a vector, maybe that's what you're having problems with. All the Ray functions behave like line pick etc in Blitz with the exception of dGeomRayGetStart(ray) and dGeomRayGetDir(ray) which fill an internal vector.

To use these two commands you would do something like this...
dGeomRayGetStart(ray)
raystartx#=dVectorX()
raystarty#=dVectorY()
raystartz#=dVectorZ()

dGeomRayGetDir(ray)
raydirx#=dVectorX()
raydiry#=dVectorY()
raydirz#=dVectorZ()

If you still have problems, post your code (or send it via email) and I'll take a look for you.

denzilquixode : Cylinders are bust! That's the long and short of it. Getting coins to work seems a total no-no. Landing on their round sides isn't too bad, but the flat ends of cylinders are erratic and unpredictable.

The only possible solution is a capped cylinder. Embedded a box or three inside the cylinder to function as the flat edges for collisions, while the round surface will still roll. But it's not a perfect solution.

This uses the JV-ODE wrapper :

http://webzoom.freewebs.com/smiff/blitz/rged2.wmv
http://webzoom.freewebs.com/smiff/blitz/rged3.wmv
http://webzoom.freewebs.com/smiff/blitz/robot1.wmv

Can anyone provide an example of a hinge2 joint?
I'm trying to create a ragdoll, based on VIP3R's demo code. I'm replacing the single axis hing of the arms with hinge2, to providea full range of side and forwards/backwards motion, where the hinge arm is limited in how much it can raise up.

Howver, setting the parameters

dJointSetHinge2Axis1(RDJoint(rd,3),1,0,0)
dJointSetHinge2Axis2(RDJoint(rd,3),0,0,1)
dJointSetHinge2Anchor(RDJoint(rd,3),xp+1,yp-0.75,zp)
dJointSetHinge2Param(RDJoint(rd,3),dParamLoStop,-0.50)
dJointSetHinge2Param(RDJoint(rd,3),dParamHiStop,0.50)
dJointSetHinge2Param(RDJoint(rd,3),dParamLoStop2,-0.50)
dJointSetHinge2Param(RDJoint(rd,3),dParamHiStop2,0.50)

is variations of, I can't get the arm to rotate +/- 180 degrees forwards and backwards (z axis I think) and +/- 90 degrees from horizontally outstraight.

Alternatively a ball and socket joint that could be locked within limits would be ideal, but it appears ball joints are 360 degrees in all directions.

Thanks for your help on cylinders - I thought it would be like that, cylinders are obviously tricky bastards...

Right now I'm trying to get the torque of a body, how do I do that? How do I use what dBodyGetTorque returns?

thanks for the help Viper Ill check that out.

Hey Smiff, are we able to get source code with pacemaker? (for ragdoll creation)

give me a hint, did you use
Dcreategeomtransform???

Believe it or not, I am trying to create the ragdoll for the exact same zombie mesh that was in the video!

EDIT- I solved the problem by changing the position of the joints to the correct places, i was placing them in the position of the current bone instead of the next bone- which now gives very realistic looking behaviour

@Shifty Geezer: The dParamLoStop2 and dParamHiStop2 constants aren't present in the include file, so unless you've set them elsewhere they won't work properly. Here are the correct constants for them...
dParamLoStop2=256
dParamHiStop2=257

I'll add these to the include file when a new wrapper version is released.

@denzilquixode: dBodyGetTorque() fills an internal vector which you can get using dVectorX(), dVectorY() and dVectorZ().

To use it, first call the get torque function, then return the values with the vector functions. Like this...
dBodyGetTorque(body)
torquex#=dVectorX()
torquey#=dVectorY()
torquez#=dVectorZ()

Thanks VIP3R. That's sorted it. Oh, and for those who don't know (like it took me a while to figure!) the degree values for constraints are in radians, not Blitz's standard cartesian degrees.

Here's code for some wigglier ragdolls that can replace the RagDoll() function in the JV-ODE demo.

Function CreateRagDoll(rd)

xp=-8+(rd*4)
yp=7
zp=4

; ### RagDoll Dimensions

headrad#=0.4
bodytx#=1.5
bodyty#=1.5
bodytz#=0.5
bodybx#=1.5
bodyby#=0.75
bodybz#=0.5
larmrad#=0.15
larmlen#=0.9
rarmrad#=0.15
rarmlen#=0.9
llegrad#=0.25
lleglen#=0.8
rlegrad#=0.25
rleglen#=0.8
feetx#=0.5
feety#=0.25
feetz#=1.0

; ### Create Head

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
Head(rd)=ode\body
dBodySetRotation(ode\body,0,0,0)
dBodySetPosition(ode\body,xp,yp,zp)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateSphere(Space,headrad)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateSphere()
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,headrad,headrad,headrad
EntityColor ode\mesh,255,255,255

; ### Create Body (Upper)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
BodyU(rd)=ode\body
dBodySetRotation(ode\body,0,0,0)
dBodySetPosition(ode\body,xp,yp-1.25,zp)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateBox(Space,bodytx,bodyty,bodytz)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCube()
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,bodytx*0.5,bodyty*0.5,bodytz*0.5
EntityColor ode\mesh,0,200,200

; ### Create Body (Lower)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
BodyL(rd)=ode\body
dBodySetRotation(ode\body,0,0,0)
dBodySetPosition(ode\body,xp,yp-2.5,zp)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateBox(Space,bodybx,bodyby,bodybz)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCube()
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,bodybx*0.5,bodyby*0.5,bodybz*0.5
EntityColor ode\mesh,0,100,100

; ### Create Left Arm (Upper)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
LArmU(rd)=ode\body
dBodySetRotation(ode\body,90,0,0)
dBodySetPosition(ode\body,xp+1,yp-1.25,zp)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateCCylinder(Space,larmrad,larmlen)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCylinder(8)
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,larmrad,(larmlen*0.5)+larmrad,larmrad
RotateMesh ode\mesh,90,0,0
EntityColor ode\mesh,255,0,0

; ### Create Left Arm (Lower)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
LArmL(rd)=ode\body
dBodySetRotation(ode\body,90,0,0)
dBodySetPosition(ode\body,xp+1,yp-2.5,zp)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateCCylinder(Space,larmrad,larmlen)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCylinder(8)
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,larmrad,(larmlen*0.5)+larmrad,larmrad
RotateMesh ode\mesh,90,0,0
EntityColor ode\mesh,125,0,0

; ### Create Right Arm (Upper)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
RArmU(rd)=ode\body
dBodySetRotation(ode\body,90,0,0)
dBodySetPosition(ode\body,xp-1,yp-1.25,zp)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateCCylinder(Space,rarmrad,rarmlen)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCylinder(8)
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,rarmrad,(rarmlen*0.5)+rarmrad,rarmrad
RotateMesh ode\mesh,90,0,0
EntityColor ode\mesh,0,255,0

; ### Create Right Arm (Lower)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
RArmL(rd)=ode\body
dBodySetRotation(ode\body,90,0,0)
dBodySetPosition(ode\body,xp-1,yp-2.5,zp)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateCCylinder(Space,rarmrad,rarmlen)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCylinder(8)
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,rarmrad,(rarmlen*0.5)+rarmrad,rarmrad
RotateMesh ode\mesh,90,0,0
EntityColor ode\mesh,0,125,0

; ### Create Left Leg (Upper)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
LLegU(rd)=ode\body
dBodySetRotation(ode\body,90,0,0)
dBodySetPosition(ode\body,xp+0.5,yp-3.6,zp)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateCCylinder(Space,llegrad,lleglen)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCylinder(8)
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,llegrad,(lleglen*0.5)+llegrad,llegrad
RotateMesh ode\mesh,90,0,0
EntityColor ode\mesh,255,0,0

; ### Create Left Leg (Lower)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
LLegL(rd)=ode\body
dBodySetRotation(ode\body,90,0,0)
dBodySetPosition(ode\body,xp+0.5,yp-4.9,zp)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateCCylinder(Space,llegrad,lleglen)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCylinder(8)
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,llegrad,(lleglen*0.5)+llegrad,llegrad
RotateMesh ode\mesh,90,0,0
EntityColor ode\mesh,125,0,0

; ### Create Right Leg (Upper)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
RLegU(rd)=ode\body
dBodySetRotation(ode\body,90,0,0)
dBodySetPosition(ode\body,xp-0.5,yp-3.6,zp)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateCCylinder(Space,rlegrad,rleglen)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCylinder(8)
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,rlegrad,(rleglen*0.5)+rlegrad,rlegrad
RotateMesh ode\mesh,90,0,0
EntityColor ode\mesh,0,255,0

; ### Create Right Leg (Lower)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
RLegL(rd)=ode\body
dBodySetRotation(ode\body,90,0,0)
dBodySetPosition(ode\body,xp-0.5,yp-4.9,zp)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateCCylinder(Space,rlegrad,rleglen)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCylinder(8)
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,rlegrad,(rleglen*0.5)+rlegrad,rlegrad
RotateMesh ode\mesh,90,0,0
EntityColor ode\mesh,0,125,0

; ### Create Left Foot

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
LFoot(rd)=ode\body
dBodySetRotation(ode\body,0,0,0)
dBodySetPosition(ode\body,xp+0.5,yp-5.7,zp-0.25)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateBox(Space,feetx,feety,feetz)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCube()
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,feetx*0.5,feety*0.5,feetz*0.5
EntityColor ode\mesh,200,0,100

; ### Create Right Foot

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
RFoot(rd)=ode\body
dBodySetRotation(ode\body,0,0,0)
dBodySetPosition(ode\body,xp-0.5,yp-5.7,zp-0.25)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateBox(Space,feetx,feety,feetz)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCube()
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,feetx*0.5,feety*0.5,feetz*0.5
EntityColor ode\mesh,100,200,0

; ### Static Joint To Head

RDJoint(rd,0)=dJointCreateBall(World,0)
dJointAttach(RDJoint(rd,0),0,Head(rd))
dJointSetBallAnchor(RDJoint(rd,0),xp,yp,zp)

; ### Head To Body (Upper)

RDJoint(rd,1)=dJointCreateHinge(World,0)
dJointAttach(RDJoint(rd,1),Head(rd),BodyU(rd))
dJointSetHingeAxis(RDJoint(rd,1),1,0,0)
dJointSetHingeAnchor(RDJoint(rd,1),xp,yp-0.25,zp)
dJointSetHingeParam(RDJoint(rd,1),dParamLoStop,-0.5)
dJointSetHingeParam(RDJoint(rd,1),dParamHiStop,0.5)
dJointSetHingeParam(RDJoint(rd,1),dParamBounce,0.0)

; ### Body (Upper) To Body (Lower)

RDJoint(rd,2)=dJointCreateHinge(World,0)
dJointAttach(RDJoint(rd,2),BodyU(rd),BodyL(rd))
dJointSetHingeAxis(RDJoint(rd,2),1,0,0)
dJointSetHingeAnchor(RDJoint(rd,2),xp,yp-2,zp)
dJointSetHingeParam(RDJoint(rd,2),dParamLoStop,-0.25)
dJointSetHingeParam(RDJoint(rd,2),dParamHiStop,0.25)
dJointSetHingeParam(RDJoint(rd,2),dParamBounce,0.0)

; ### Left Arm (Upper) To Body (Upper)

RDJoint(rd,3)=dJointCreateUniversal(World,0)
dJointAttach(RDJoint(rd,3),LArmU(rd),BodyU(rd))
dJointSetUniversalAxis1(RDJoint(rd,3),1,0,0)
dJointSetUniversalAxis2(RDJoint(rd,3),0,0,1)
dJointSetUniversalAnchor(RDJoint(rd,3),xp+1,yp-0.75,zp)
dJointSetUniversalParam(RDJoint(rd,3),dParamLoStop,-1.141)
dJointSetUniversalParam(RDJoint(rd,3),dParamHiStop,1.141)
dJointSetUniversalParam(RDJoint(rd,3),dParamLoStop2,0.0)
dJointSetUniversalParam(RDJoint(rd,3),dParamHiStop2,3.000)

; ### Left Arm (Lower) To Left Arm (Upper)

RDJoint(rd,4)=dJointCreateHinge(World,0)
dJointAttach(RDJoint(rd,4),LArmL(rd),LArmU(rd))
dJointSetHingeAxis(RDJoint(rd,4),1,0,0)
dJointSetHingeAnchor(RDJoint(rd,4),xp+1,yp-2,zp)
dJointSetHingeParam(RDJoint(rd,4),dParamLoStop,0.0)
dJointSetHingeParam(RDJoint(rd,4),dParamHiStop,2.0)

; ### Right Arm (Upper) To Body (Upper)

RDJoint(rd,5)=dJointCreateUniversal(World,0)
dJointAttach(RDJoint(rd,5),RArmU(rd),BodyU(rd))
dJointSetUniversalAxis1(RDJoint(rd,5),1,0,0)
dJointSetUniversalAxis2(RDJoint(rd,5),0,0,-1)
dJointSetUniversalAnchor(RDJoint(rd,5),xp-1,yp-0.75,zp)
dJointSetUniversalParam(RDJoint(rd,5),dParamLoStop,-1.141)
dJointSetUniversalParam(RDJoint(rd,5),dParamHiStop,1.141)
dJointSetUniversalParam(RDJoint(rd,5),dParamLoStop2,0.0)
dJointSetUniversalParam(RDJoint(rd,5),dParamHiStop2,3.000)

; ### Right Arm (Lower) To Right Arm (Upper)

RDJoint(rd,6)=dJointCreateHinge(World,0)
dJointAttach(RDJoint(rd,6),RArmL(rd),RArmU(rd))
dJointSetHingeAxis(RDJoint(rd,6),1,0,0)
dJointSetHingeAnchor(RDJoint(rd,6),xp-1,yp-2,zp)
dJointSetHingeParam(RDJoint(rd,6),dParamLoStop,0.0)
dJointSetHingeParam(RDJoint(rd,6),dParamHiStop,2.0)

; ### Left Leg (Upper) To Body (Lower)

RDJoint(rd,7)=dJointCreateUniversal(World,0)
dJointAttach(RDJoint(rd,7),LLegU(rd),BodyL(rd))
dJointSetUniversalAxis1(RDJoint(rd,7),1,0,0)
dJointSetUniversalAxis2(RDJoint(rd,7),0,0,1)
dJointSetUniversalAnchor(RDJoint(rd,7),xp+0.7,yp-2.5,zp)
dJointSetUniversalParam(RDJoint(rd,7),dParamLoStop,-1.0)
dJointSetUniversalParam(RDJoint(rd,7),dParamHiStop,1.0)
dJointSetUniversalParam(RDJoint(rd,7),dParamLoStop2,-0.0)
dJointSetUniversalParam(RDJoint(rd,7),dParamHiStop2,1.500)

; ### Left Leg (Lower) To Left Leg (Upper)

RDJoint(rd,8)=dJointCreateHinge(World,0)
dJointAttach(RDJoint(rd,8),LLegL(rd),LLegU(rd))
dJointSetHingeAxis(RDJoint(rd,8),1,0,0)
dJointSetHingeAnchor(RDJoint(rd,8),xp+1,yp-4.25,zp)
dJointSetHingeParam(RDJoint(rd,8),dParamLoStop,-2.0)
dJointSetHingeParam(RDJoint(rd,8),dParamHiStop,0.0)

; ### Right Leg (Upper) To Body (Lower)

RDJoint(rd,9)=dJointCreateUniversal(World,0)
dJointAttach(RDJoint(rd,9),RLegU(rd),BodyL(rd))
dJointSetUniversalAxis1(RDJoint(rd,9),1,0,0)
dJointSetUniversalAxis2(RDJoint(rd,9),0,0,1)
dJointSetUniversalAnchor(RDJoint(rd,9),xp-0.7,yp-2.75,zp)
dJointSetUniversalParam(RDJoint(rd,9),dParamLoStop,-1.0)
dJointSetUniversalParam(RDJoint(rd,9),dParamHiStop,1.0)
dJointSetUniversalParam(RDJoint(rd,9),dParamLoStop2,-0.0)
dJointSetUniversalParam(RDJoint(rd,9),dParamHiStop2,1.500)

; ### Right Leg (Lower) To Right Leg (Upper)

RDJoint(rd,10)=dJointCreateHinge(World,0)
dJointAttach(RDJoint(rd,10),RLegL(rd),RLegU(rd))
dJointSetHingeAxis(RDJoint(rd,10),1,0,0)
dJointSetHingeAnchor(RDJoint(rd,10),xp-1,yp-4.25,zp)
dJointSetHingeParam(RDJoint(rd,10),dParamLoStop,-2.0)
dJointSetHingeParam(RDJoint(rd,10),dParamHiStop,0.0)

; ### Left Foot To Left Leg (Lower)

RDJoint(rd,11)=dJointCreateHinge(World,0)
dJointAttach(RDJoint(rd,11),LFoot(rd),LLegL(rd))
dJointSetHingeAxis(RDJoint(rd,11),1,0,0)
dJointSetHingeAnchor(RDJoint(rd,11),xp+1,yp-5.5,zp)
dJointSetHingeParam(RDJoint(rd,11),dParamLoStop,-0.25)
dJointSetHingeParam(RDJoint(rd,11),dParamHiStop,0.25)

; ### Right Foot To Right Leg (Lower)

RDJoint(rd,12)=dJointCreateHinge(World,0)
dJointAttach(RDJoint(rd,12),RFoot(rd),RLegL(rd))
dJointSetHingeAxis(RDJoint(rd,12),1,0,0)
dJointSetHingeAnchor(RDJoint(rd,12),xp-1,yp-5.5,zp)
dJointSetHingeParam(RDJoint(rd,12),dParamLoStop,-0.25)
dJointSetHingeParam(RDJoint(rd,12),dParamHiStop,0.25)

End Function

Morw advice please VIP3R! How can Isave the current postion/states of joints? I've got my 'editor' where I can add objects to a scene and save the data to a file, and I can add a ragdoll. But I can't figure how to run the simulation and pause it halfway and sav the ragdoll data.

I'm think say add a RagDoll and a chair, and set up the editor to have the RagDoll fall ontot the chair so it's in a sitting position. I then want to save the positon of all the joints. There seems to be no dGetJointPosition() function. The only function that looks like it might be suitable is dGetJointData(), but what does the data hold and how is it structured?

To pause the simulation, do not call these...
dSpaceCollide(Space,World,ContactGroup)
dWorldQuickStep(World,stepsize)
dJointGroupEmpty(ContactGroup)
...in your main loop.


To get the coords of a Hinge2 joint you would use the dJointGetHingeAnchor2(joint) function. Any ODE function mentioned in the docs that returns a 'dVector3 result' will fill an internal vector in JV-ODE. To use it, first call the get joint function then return the vector values, like so...
dJointGetHingeAnchor2(joint)
xposition#=dVectorX()
yposition#=dVectorY()
zposition#=dVectorZ()

I'm planning to document the vector and non-ODE functions, so hopefully they'll be a lot clearer for everyone ;)

Yeah, for pausing what I do (in the editor) is disable all bodies, but then I can move them in realtime ;)

And of course, it's the anchor that defines a joint's position. I'm on the case!

to VIP3R :
i have bought this product,how to remove text JV-ODE V1.05 at left top of the screen?does the consumer allowed to do it?how?

Change the text in the demo program from:

Text 0,0,"JV-ODE Version "+dGetVersion()

to this:

Text 0,0,"3ch0 ODE Eggstravaganza"

Yes - it generates the source code to recreate the ragdoll.

How can we make jointed objects respond correctly with bounces?

I've got a doll made up of boxes, made of 'rubber', and I drop it onto a boxe made of 'rubber'. Rubber has a restituion of 0.85. If I drop a rubber box onto another rubber box (or any other surface thanks to Bounce=max!) it bounces high.

However my ragdoll doesn't. I set the bounce for each joint to the same as the bounce of the material the doll is made of, so in this case each joint has bounce=0.85, but it's response is very weak. If I set rubber's restitution to 1.85, the doll responds better but of course all normal bounces are crazy.

I've just tried setting joint bounce to material bounce * 2 (1.7 in this case) and it looks better. I tried bounce * 3 and the object explodes on impact.

It looks as though the individual boxes connected by a joint have no bounce of their own, as though adding a joint set a boxes bounce to 0. Even just two boxes connected with a hinge and dropped don't bounce, even though they should respond very similar to a single box of the same material.

Could you post some example code showing the problem, I've just tried connecting two cubes with a hinge joint and the bounce works fine here.

; ###################################################################################################
; #									   JV-ODE - Ragdoll Demo										#
; #									Code by Jim Williams (VIP3R)									#
; ###################################################################################################

AppTitle "JV-ODE - Ragdoll Demo"

Include "JV-ODE.bb"

Graphics3D 800,600,0,2

Global RagDollMax=3

Dim Head(RagDollMax)
Dim BodyU(RagDollMax)
Dim BodyL(RagDollMax)
Dim LArmU(RagDollMax)
Dim LArmL(RagDollMax)
Dim RArmU(RagDollMax)
Dim RArmL(RagDollMax)
Dim LLegU(RagDollMax)
Dim LLegL(RagDollMax)
Dim RLegU(RagDollMax)
Dim RLegL(RagDollMax)
Dim LFoot(RagDollMax)
Dim RFoot(RagDollMax)

Dim RDJoint(RagDollMax,12)

Type ODEGeom
	Field body
	Field geom
	Field mesh
End Type

; ###################################################################################################

; ### Setup ODE

Global World=dWorldCreate()
Global Space=dHashSpaceCreate(0)
Global ContactGroup=dJointGroupCreate(0)

dWorldSetAutoDisableFlag(World,1)
dWorldSetGravity(World,0,-0.98,0)
dContactSetMode(dContactSlip1+dContactBounce)
dContactSetBounce(0.0)
dSetInternalContactSurfaceMode(1)

; ### Create light

Global Light=CreateLight()

RotateEntity Light,45,-90,0
LightColor Light,255,255,255
AmbientLight 130,130,130

; ### Create camera

Global Camera=CreateCamera()
CameraClsColor Camera,0,0,0
CameraRange Camera,1,1000
PositionEntity Camera,0,20,-50
RotateEntity Camera,20,0,0
CameraZoom Camera,2

; ### Create plane

dCreatePlane(Space,0,1,0,0)

Plane=CreatePlane()

EntityAlpha Plane,0.8

PlaneTexture=CreateTexture(128,128,9)

ClsColor 0,150,80
Cls

Color 200,200,200

Rect 0,0,64,64,1
Rect 64,64,64,64,1

CopyRect 0,0,128,128,0,0,BackBuffer(),TextureBuffer(PlaneTexture)
ScaleTexture PlaneTexture,20,20
EntityTexture Plane,PlaneTexture,0,0

Color 255,255,255

Mirror=CreateMirror()

; ###################################################################################################

CreateRagDoll(count)
; ### Box

cube.ODEGeom=New ODEGeom
cube\geom=dCreateBox(Space,10,2,10)
dGeomSetPosition(cube\geom,0,1,0)
dGeomContactSetBounce(cube\geom,0.80)
dGeomContactSetMu(cube\geom,100)
cube\mesh=CreateCube()
EntityPickMode cube\mesh,2
ScaleMesh cube\mesh,5,1,5
PositionEntity cube\mesh,0,1,0
EntityColor cube\mesh,250,210,0

dBodySetTorque(BodyU(0),50,0,0)

box.ODEGeom=New ODEGeom
box\body=dBodyCreate(World)
dBodySetRotation(box\body,0,0,0)
dBodySetPosition(box\body,-4,20,0)
dBodySetAutoDisableFlag(box\body,1)
box\geom=dCreateBox(Space,2,2,2)
dGeomSetBody(box\geom,box\body)
box\mesh=CreateCube()
EntityPickMode box\mesh,2
ScaleMesh box\mesh,1,1,1

dBodySetTorque(box\body,0,0,0)


While Not KeyHit(1)

	UpdateControls()

	PTime=MilliSecs()

	UpdateGeoms()

	dSpaceCollide(Space,World,ContactGroup)
	dWorldQuickStep(World,0.1)
	dJointGroupEmpty(ContactGroup)

	PhysicsTime#=MilliSecs()-PTime

	UpdateWorld

	RenderWorld

	Text 0,0,"JV-ODE Version "+dGetVersion()
	Text 0,15,"Physics Time:"+PhysicsTime
	Text 300,0,"F1 - Drop RagDoll 1"
	Text 300,15,"F2 - Drop RagDoll 2"
	Text 300,30,"F3 - Drop RagDoll 3"
	Text 300,50,"Space - Throw RagDolls"
	Text 300,65,"Arrow Keys - Move Camera"
	Text 580,0,"F4 - Attach RagDoll 1"
	Text 580,15,"F5 - Attach RagDoll 2"
	Text 580,30,"F6 - Attach RagDoll 3"
	Text 580,50,"L Mouse Button - Push Body"
	Text 580,65,"R Mouse Button - Pull Body"

	Flip

Wend

dJointGroupDestroy(ContactGroup)
dSpaceDestroy(Space)
dWorldDestroy(World)
dCloseODE()

End

; ###################################################################################################

Function CreateRagDoll(rd)
xp=0
yp=20
zp=0

; ### RagDoll Dimensions

headrad#=0.4
bodytx#=1.5
bodyty#=1.5
bodytz#=0.5
bodybx#=1.5
bodyby#=0.75
bodybz#=0.5
larmrad#=0.15
larmlen#=0.9
rarmrad#=0.15
rarmlen#=0.9
llegrad#=0.25
lleglen#=0.8
rlegrad#=0.25
rleglen#=0.8
feetx#=0.5
feety#=0.25
feetz#=1.0

; ### Create Head

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
Head(rd)=ode\body
dBodySetRotation(ode\body,0,0,0)
dBodySetPosition(ode\body,xp,yp,zp)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateSphere(Space,headrad)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateSphere()
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,headrad,headrad,headrad
EntityColor ode\mesh,255,255,255

; ### Create Body (Upper)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
BodyU(rd)=ode\body
dBodySetRotation(ode\body,0,0,0)
dBodySetPosition(ode\body,xp,yp-1.25,zp)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateBox(Space,bodytx,bodyty,bodytz)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCube()
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,bodytx*0.5,bodyty*0.5,bodytz*0.5
EntityColor ode\mesh,0,200,200

; ### Create Body (Lower)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
BodyL(rd)=ode\body
dBodySetRotation(ode\body,0,0,0)
dBodySetPosition(ode\body,xp,yp-2.5,zp)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateBox(Space,bodybx,bodyby,bodybz)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCube()
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,bodybx*0.5,bodyby*0.5,bodybz*0.5
EntityColor ode\mesh,0,100,100

; ### Create Left Arm (Upper)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
LArmU(rd)=ode\body
dBodySetRotation(ode\body,90,0,0)
dBodySetPosition(ode\body,xp+1,yp-1.25,zp)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateCCylinder(Space,larmrad,larmlen)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCylinder(8)
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,larmrad,(larmlen*0.5)+larmrad,larmrad
RotateMesh ode\mesh,90,0,0
EntityColor ode\mesh,255,0,0

; ### Create Left Arm (Lower)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
LArmL(rd)=ode\body
dBodySetRotation(ode\body,90,0,0)
dBodySetPosition(ode\body,xp+1,yp-2.5,zp)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateCCylinder(Space,larmrad,larmlen)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCylinder(8)
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,larmrad,(larmlen*0.5)+larmrad,larmrad
RotateMesh ode\mesh,90,0,0
EntityColor ode\mesh,125,0,0

; ### Create Right Arm (Upper)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
RArmU(rd)=ode\body
dBodySetRotation(ode\body,90,0,0)
dBodySetPosition(ode\body,xp-1,yp-1.25,zp)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateCCylinder(Space,rarmrad,rarmlen)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCylinder(8)
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,rarmrad,(rarmlen*0.5)+rarmrad,rarmrad
RotateMesh ode\mesh,90,0,0
EntityColor ode\mesh,0,255,0

; ### Create Right Arm (Lower)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
RArmL(rd)=ode\body
dBodySetRotation(ode\body,90,0,0)
dBodySetPosition(ode\body,xp-1,yp-2.5,zp)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateCCylinder(Space,rarmrad,rarmlen)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCylinder(8)
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,rarmrad,(rarmlen*0.5)+rarmrad,rarmrad
RotateMesh ode\mesh,90,0,0
EntityColor ode\mesh,0,125,0

; ### Create Left Leg (Upper)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
LLegU(rd)=ode\body
dBodySetRotation(ode\body,90,0,0)
dBodySetPosition(ode\body,xp+0.5,yp-3.6,zp)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateCCylinder(Space,llegrad,lleglen)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCylinder(8)
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,llegrad,(lleglen*0.5)+llegrad,llegrad
RotateMesh ode\mesh,90,0,0
EntityColor ode\mesh,255,0,0

; ### Create Left Leg (Lower)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
LLegL(rd)=ode\body
dBodySetRotation(ode\body,90,0,0)
dBodySetPosition(ode\body,xp+0.5,yp-4.9,zp)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateCCylinder(Space,llegrad,lleglen)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCylinder(8)
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,llegrad,(lleglen*0.5)+llegrad,llegrad
RotateMesh ode\mesh,90,0,0
EntityColor ode\mesh,125,0,0

; ### Create Right Leg (Upper)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
RLegU(rd)=ode\body
dBodySetRotation(ode\body,90,0,0)
dBodySetPosition(ode\body,xp-0.5,yp-3.6,zp)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateCCylinder(Space,rlegrad,rleglen)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCylinder(8)
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,rlegrad,(rleglen*0.5)+rlegrad,rlegrad
RotateMesh ode\mesh,90,0,0
EntityColor ode\mesh,0,255,0

; ### Create Right Leg (Lower)

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
RLegL(rd)=ode\body
dBodySetRotation(ode\body,90,0,0)
dBodySetPosition(ode\body,xp-0.5,yp-4.9,zp)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateCCylinder(Space,rlegrad,rleglen)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCylinder(8)
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,rlegrad,(rleglen*0.5)+rlegrad,rlegrad
RotateMesh ode\mesh,90,0,0
EntityColor ode\mesh,0,125,0

; ### Create Left Foot

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
LFoot(rd)=ode\body
dBodySetRotation(ode\body,0,0,0)
dBodySetPosition(ode\body,xp+0.5,yp-5.7,zp-0.25)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateBox(Space,feetx,feety,feetz)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCube()
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,feetx*0.5,feety*0.5,feetz*0.5
EntityColor ode\mesh,200,0,100

; ### Create Right Foot

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
RFoot(rd)=ode\body
dBodySetRotation(ode\body,0,0,0)
dBodySetPosition(ode\body,xp-0.5,yp-5.7,zp-0.25)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateBox(Space,feetx,feety,feetz)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCube()
EntityPickMode ode\mesh,2
ScaleMesh ode\mesh,feetx*0.5,feety*0.5,feetz*0.5
EntityColor ode\mesh,100,200,0

; ***** JOINTS JOINTS JOINTS *****
; ### Head To Body (Upper)

RDJoint(rd,1)=dJointCreateHinge(World,0)
dJointAttach(RDJoint(rd,1),Head(rd),BodyU(rd))
dJointSetHingeAxis(RDJoint(rd,1),1,0,0)
dJointSetHingeAnchor(RDJoint(rd,1),xp,yp-0.25,zp)
dJointSetHingeParam(RDJoint(rd,1),dParamLoStop,-0.5)
dJointSetHingeParam(RDJoint(rd,1),dParamHiStop,0.5)
dJointSetHingeParam(RDJoint(rd,1),dParamBounce,0.0)

; ### Body (Upper) To Body (Lower)

RDJoint(rd,2)=dJointCreateHinge(World,0)
dJointAttach(RDJoint(rd,2),BodyU(rd),BodyL(rd))
dJointSetHingeAxis(RDJoint(rd,2),1,0,0)
dJointSetHingeAnchor(RDJoint(rd,2),xp,yp-2,zp)
dJointSetHingeParam(RDJoint(rd,2),dParamLoStop,-0.25)
dJointSetHingeParam(RDJoint(rd,2),dParamHiStop,0.25)
dJointSetHingeParam(RDJoint(rd,2),dParamBounce,0.0)

; ### Left Arm (Upper) To Body (Upper)

RDJoint(rd,3)=dJointCreateUniversal(World,0)
dJointAttach(RDJoint(rd,3),LArmU(rd),BodyU(rd))
dJointSetUniversalAxis1(RDJoint(rd,3),1,0,0)
dJointSetUniversalAxis2(RDJoint(rd,3),0,0,1)
dJointSetUniversalAnchor(RDJoint(rd,3),xp+1,yp-0.75,zp)
dJointSetUniversalParam(RDJoint(rd,3),dParamLoStop,-1.141)
dJointSetUniversalParam(RDJoint(rd,3),dParamHiStop,1.141)
dJointSetUniversalParam(RDJoint(rd,3),dParamLoStop2,0.0)
dJointSetUniversalParam(RDJoint(rd,3),dParamHiStop2,3.000)

; ### Left Arm (Lower) To Left Arm (Upper)

RDJoint(rd,4)=dJointCreateHinge(World,0)
dJointAttach(RDJoint(rd,4),LArmL(rd),LArmU(rd))
dJointSetHingeAxis(RDJoint(rd,4),1,0,0)
dJointSetHingeAnchor(RDJoint(rd,4),xp+1,yp-2,zp)
dJointSetHingeParam(RDJoint(rd,4),dParamLoStop,0.0)
dJointSetHingeParam(RDJoint(rd,4),dParamHiStop,2.0)

; ### Right Arm (Upper) To Body (Upper)

RDJoint(rd,5)=dJointCreateUniversal(World,0)
dJointAttach(RDJoint(rd,5),RArmU(rd),BodyU(rd))
dJointSetUniversalAxis1(RDJoint(rd,5),1,0,0)
dJointSetUniversalAxis2(RDJoint(rd,5),0,0,-1)
dJointSetUniversalAnchor(RDJoint(rd,5),xp-1,yp-0.75,zp)
dJointSetUniversalParam(RDJoint(rd,5),dParamLoStop,-1.141)
dJointSetUniversalParam(RDJoint(rd,5),dParamHiStop,1.141)
dJointSetUniversalParam(RDJoint(rd,5),dParamLoStop2,0.0)
dJointSetUniversalParam(RDJoint(rd,5),dParamHiStop2,3.000)

; ### Right Arm (Lower) To Right Arm (Upper)

RDJoint(rd,6)=dJointCreateHinge(World,0)
dJointAttach(RDJoint(rd,6),RArmL(rd),RArmU(rd))
dJointSetHingeAxis(RDJoint(rd,6),1,0,0)
dJointSetHingeAnchor(RDJoint(rd,6),xp-1,yp-2,zp)
dJointSetHingeParam(RDJoint(rd,6),dParamLoStop,0.0)
dJointSetHingeParam(RDJoint(rd,6),dParamHiStop,2.0)

; ### Left Leg (Upper) To Body (Lower)

RDJoint(rd,7)=dJointCreateUniversal(World,0)
dJointAttach(RDJoint(rd,7),LLegU(rd),BodyL(rd))
dJointSetUniversalAxis1(RDJoint(rd,7),1,0,0)
dJointSetUniversalAxis2(RDJoint(rd,7),0,0,1)
dJointSetUniversalAnchor(RDJoint(rd,7),xp+0.7,yp-2.5,zp)
dJointSetUniversalParam(RDJoint(rd,7),dParamLoStop,-1.0)
dJointSetUniversalParam(RDJoint(rd,7),dParamHiStop,1.0)
dJointSetUniversalParam(RDJoint(rd,7),dParamLoStop2,-0.0)
dJointSetUniversalParam(RDJoint(rd,7),dParamHiStop2,1.500)

; ### Left Leg (Lower) To Left Leg (Upper)

RDJoint(rd,8)=dJointCreateHinge(World,0)
dJointAttach(RDJoint(rd,8),LLegL(rd),LLegU(rd))
dJointSetHingeAxis(RDJoint(rd,8),1,0,0)
dJointSetHingeAnchor(RDJoint(rd,8),xp+1,yp-4.25,zp)
dJointSetHingeParam(RDJoint(rd,8),dParamLoStop,-2.0)
dJointSetHingeParam(RDJoint(rd,8),dParamHiStop,0.0)

; ### Right Leg (Upper) To Body (Lower)

RDJoint(rd,9)=dJointCreateUniversal(World,0)
dJointAttach(RDJoint(rd,9),RLegU(rd),BodyL(rd))
dJointSetUniversalAxis1(RDJoint(rd,9),1,0,0)
dJointSetUniversalAxis2(RDJoint(rd,9),0,0,1)
dJointSetUniversalAnchor(RDJoint(rd,9),xp-0.7,yp-2.75,zp)
dJointSetUniversalParam(RDJoint(rd,9),dParamLoStop,-1.0)
dJointSetUniversalParam(RDJoint(rd,9),dParamHiStop,1.0)
dJointSetUniversalParam(RDJoint(rd,9),dParamLoStop2,-0.0)
dJointSetUniversalParam(RDJoint(rd,9),dParamHiStop2,1.500)

; ### Right Leg (Lower) To Right Leg (Upper)

RDJoint(rd,10)=dJointCreateHinge(World,0)
dJointAttach(RDJoint(rd,10),RLegL(rd),RLegU(rd))
dJointSetHingeAxis(RDJoint(rd,10),1,0,0)
dJointSetHingeAnchor(RDJoint(rd,10),xp-1,yp-4.25,zp)
dJointSetHingeParam(RDJoint(rd,10),dParamLoStop,-2.0)
dJointSetHingeParam(RDJoint(rd,10),dParamHiStop,0.0)

; ### Left Foot To Left Leg (Lower)

RDJoint(rd,11)=dJointCreateHinge(World,0)
dJointAttach(RDJoint(rd,11),LFoot(rd),LLegL(rd))
dJointSetHingeAxis(RDJoint(rd,11),1,0,0)
dJointSetHingeAnchor(RDJoint(rd,11),xp+1,yp-5.5,zp)
dJointSetHingeParam(RDJoint(rd,11),dParamLoStop,-0.25)
dJointSetHingeParam(RDJoint(rd,11),dParamHiStop,0.25)

; ### Right Foot To Right Leg (Lower)

RDJoint(rd,12)=dJointCreateHinge(World,0)
dJointAttach(RDJoint(rd,12),RFoot(rd),RLegL(rd))
dJointSetHingeAxis(RDJoint(rd,12),1,0,0)
dJointSetHingeAnchor(RDJoint(rd,12),xp-1,yp-5.5,zp)
dJointSetHingeParam(RDJoint(rd,12),dParamLoStop,-0.25)
dJointSetHingeParam(RDJoint(rd,12),dParamHiStop,0.25)

End Function

; ###################################################################################################

Function UpdateControls()

If KeyDown(59)=1 Then dJointAttach(RDJoint(1,0),0,0)
If KeyDown(60)=1 Then dJointAttach(RDJoint(2,0),0,0)
If KeyDown(61)=1 Then dJointAttach(RDJoint(3,0),0,0)

If KeyDown(62)=1 Then dJointAttach(RDJoint(1,0),0,Head(1))
If KeyDown(63)=1 Then dJointAttach(RDJoint(2,0),0,Head(2))
If KeyDown(64)=1 Then dJointAttach(RDJoint(3,0),0,Head(3))

If KeyDown(57)=1
;	dBodyAddForce Head(1),0,20,0
;	dBodyAddForce Head(2),0,20,0
;	dBodyAddForce Head(3),0,20,0
dJointSetBallAnchor(RDJoint(1,0),40,100,10)
;		dBodySetPosition (Head(1),dBodyGetPositionX(Head(1))+1,dBodyGetPositionY(Head(1))+1, dBodyGetPositionZ(Head(1))+1)

	End If

If KeyDown(200)=1 Then PositionEntity Camera,EntityX(Camera),EntityY(Camera),EntityZ(Camera)+0.3
If KeyDown(208)=1 Then PositionEntity Camera,EntityX(Camera),EntityY(Camera),EntityZ(Camera)-0.3
If KeyDown(203)=1 Then PositionEntity Camera,EntityX(Camera)-0.3,EntityY(Camera),EntityZ(Camera)
If KeyDown(205)=1 Then PositionEntity Camera,EntityX(Camera)+0.3,EntityY(Camera),EntityZ(Camera)

If MouseDown(1)=1
	CameraPick(Camera,MouseX(),MouseY())
	If PickedEntity()
		For ode.ODEGeom=Each ODEGeom
			If ode\mesh=PickedEntity()
				dBodyEnable(ode\body)
				dBodyAddForce ode\body,-20*PickedNX#(),-20*PickedNY#(),-20*PickedNZ#()
				End If
		Next
		End If
	End If

If MouseDown(2)=1
	CameraPick(Camera,MouseX(),MouseY())
	If PickedEntity()
		For ode.ODEGeom=Each ODEGeom
			If ode\mesh=PickedEntity()
				dBodyEnable(ode\body)
				dBodyAddForce ode\body,20*PickedNX#(),20*PickedNY#(),20*PickedNZ#()
				End If
		Next
		End If
	End If

End Function

; ###################################################################################################

Function UpdateGeoms()
	For ode.ODEGeom=Each ODEGeom	
		If ode\body
			If dBodyIsEnabled(ode\body)
				RotateEntity ode\mesh,dGeomGetPitch#(ode\geom),dGeomGetYaw#(ode\geom),dGeomGetRoll#(ode\geom)
				PositionEntity ode\mesh,dGeomGetPositionX#(ode\geom),dGeomGetPositionY#(ode\geom),dGeomGetPositionZ#(ode\geom)
			End If
		EndIf
	Next
End Function

; ###################################################################################################

Here's a modifed Ragdoll demo. At this first test it seems simple joined objects work okay. Not sure why my program seemed otherwise - something to look into (maybe to do with mass?).
If you comment out all the object creation and joint creation for all limbs, leaving only head, upper and lower bodies, it bounces as high as the cube. As is, when the doll hits, though the bulk of the body hits and looking at it you'd expect a big bounce, the doll lands dead. Up the torque so it lands on it's head and the bounce is still just as limited.