Frame Tweening/Delta timing in physics wrappers

Blitz3D Forums/Blitz3D Userlibs/Frame Tweening/Delta timing in physics wrappers

Shifty Geezer
 #1
I thought I'd run this as a seperate topic as the officail JV-ODE is filling up, plus this is something worth keeping seperate I think. Following from Wayne's timer based updates of the breakable ragdoll demo, I've been thinking about keeping smooth animations. That demo updated at the same rate but had jitters as things weren't sync'd nicely to the screen refresh.

Standard Blitz has options for delta timing or tweening, but ODE and other engines AFAIK don't. To get smooth frame rates using JV-ODE and other wrappers we need some alternative.

A bit of experimenting has me precalculate a QuickStep (physics step) amount based on the monitor refresh, calculate from an average of multiple VWait durations. This particular code in easy-to-read format is
; Multiple refresh sampling to get monitor framerate
For n=0 To 10
	VWait
	T=MilliSecs()
	VWait
	T=MilliSecs()-T
	Total_Time=Total_Time+T
	num_samples=num_samples+1
Next

; Calculate Refresh Rate, determine step size
Refresh_rate#=Float(Total_Time)/num_samples
Sixty_hertz#=16.6666667
Step_Size#=0.07
Step_Size=step_size*(Refresh_rate/Sixty_hertz)

In the case of ODE call dQuickStep(world,Step_Size) . Alternative physics engines can do the same. The inital step size (0.07) is that for a 60 Hz standard.

A full demo applied to Wayne's Ragdoll-Abuse engine is...
; ###################################################################################################
; #									   JV-ODE - BreakMe Ragdoll Demo										#
; #									Code by Jim Williams (VIP3R)									#
; ###################################################################################################

AppTitle "JV-ODE - BreakMe Ragdoll Demo"

Include "JV-ODE.bb"

Graphics3D 800,600,0,2

; Multiple refresh sampling to get monitor framerate
For n=0 To 10
	VWait
	T=MilliSecs()
	VWait
	T=MilliSecs()-T
	Total_Time=Total_Time+T
	num_samples=num_samples+1
Next

; Calculate Refresh Rate, determine step size
Refresh_rate#=Float(Total_Time)/num_samples	; Mean average VWait time
Sixty_hertz#=16.6666667
Step_Size#=0.07
Step_Size=step_size*(Refresh_rate/Sixty_hertz)

Global RagDollMax=1

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
	Field mass
End Type

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

; ### Setup ODE


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

Global BigG#=-0.98

dWorldSetAutoDisableFlag(World,1)
dWorldSetGravity(World,0,BigG#,0)
dContactSetMode(dContactSlip1+dContactBounce)
dContactSetBounce(0.3)
dContactSetMu(48)
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()
CameraZoom Camera,1.0
CameraClsColor Camera,64,128,255
CameraRange Camera,1,1000
PositionEntity Camera,20,20,-10
RotateEntity Camera,5,45,0


; ### 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)

block.ODEGeom=New ODEGeom
	x_pos#=-8
	y_pos#=15
	z_pos#=12
	width#=2
	length#=2
	depth#=2
	x_rot#=0
	y_rot#=0
	z_rot#=0
	weight#=100.0
	
	block\body=dBodyCreate(World)
	block\mass=dMassCreate()
	dMassSetBoxTotal(block\mass,weight, width, length, depth)
	dBodySetMass(block\body,block\mass)
	dBodySetPosition(block\body, x_pos, y_pos, z_pos)
	dBodySetRotation(block\body, x_rot, y_rot, z_rot)
	
	block\geom=dCreateBox(Space,width, length, depth)
	dGeomSetBody(block\geom,block\body)
	dGeomContactSetBounce(block\geom,0.5)
	set_object_friction(block,0.5,weight)
	dGeomContactSetMode(block\geom,dContactSlip1+dContactBounce)

	block\mesh=CreateCube()
	ScaleEntity block\mesh,width/2,length/2,depth/2
	
	seesaw.ODEGeom=New ODEGeom
	seesaw\mass=dMassCreate()
	x_pos#=-8
	y_pos#=5
	z_pos#=8
	width#=3
	length#=0.5
	depth#=15
	x_rot#=-20
	y_rot#=0
	z_rot#=0
	weight#=2.0
	
	seesaw\body=dBodyCreate(World)
	dMassSetBoxTotal(seesaw\mass,weight, width, length, depth)
	dBodySetMass(seesaw\body,seesaw\mass)
	dBodySetPosition(seesaw\body, x_pos, y_pos, z_pos)
	
	seesaw\geom=dCreateBox(Space,width, length, depth)
	dGeomSetBody(seesaw\geom,seesaw\body)
	dGeomContactSetBounce(seesaw\geom,0.5)
	set_object_friction(seesaw,0.5,weight)
	dGeomContactSetMode(seesaw\geom,dContactSlip1+dContactBounce)

	seesaw\mesh=CreateCube()
	; Blitz box lengths 2x longer than ODE box length
	ScaleEntity seesaw\mesh,width/2,length/2,depth/2
	dBodyDisable(seesaw\body)

	seesaw_joint=dJointCreateHinge(World,0)
	dJointAttach(seesaw_joint, seesaw\body, 0)
	dJointSetHingeAxis(seesaw_joint,1,0,0)
	dJointSetHingeAnchor(seesaw_joint,-8,4,8)
	dJointSetHingeParam(seesaw_joint,dParamLoStop,-dinfinity)
	dJointSetHingeParam(seesaw_joint,dParamHiStop,dinfinity)
	dBodySetRotation(seesaw\body, x_rot, y_rot, z_rot)
	

;===============================================================
; Render Loop

While Not KeyHit(1)

	; Calculate Time 
	T=MilliSecs() 
	
	;-----------------------------------------------------------
	; Mouse Look code
	
	; Poll Mouse Movement every 33ms ( 30/sec )
;	If T > Time2 + 33 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	
	
	;----------------------------------------------------------
	; 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
	
	
		UpdateGeoms()
		For x=1 To 3 ; Increase to speed up simulation
			dSpaceCollide(Space,World,ContactGroup)
				dWorldQuickStep(World,Step_Size)
				updatefriction()
			dJointGroupEmpty(ContactGroup)
		Next
	RenderWorld
;	EndIf	
	
	
	;-----------------------------------------------
	; Break joints for each body
	
	rd=0 			; Ragdoll id
	Jlimit#=250	; Joint Limit, hand tuned, larger limit resists breakage.
	JointLimits(Head(rd),Jlimit#) 
	JointLimits(BodyU(rd),Jlimit#)
	JointLimits(BodyL(rd),Jlimit#)
	JointLimits(LArmU(rd),Jlimit#)
	JointLimits(LArmL(rd),Jlimit#)
	JointLimits(RArmU(rd),Jlimit#)
	JointLimits(RArmL(rd),Jlimit#)
	JointLimits(LLegU(rd),Jlimit#)
	JointLimits(LLegL(rd),Jlimit#)
	JointLimits(RLegU(rd),Jlimit#)
	JointLimits(RLegL(rd),Jlimit#)
	JointLimits(LFoot(rd),Jlimit#)
	JointLimits(RFoot(rd),Jlimit#)
		
	y=15
	Text 0,y,"Total_Time:"+Total_Time : y=y+15
	Text 0,y,"Num_Samples:"+num_samples : y=y+15
	Text 0,y,"Refresh rate:"+Refresh_Rate : y=y+15
	Text 0,y,"Step_Size:"+Step_Size : y=y+15
	VWait
	Flip False
;	PhysicsTime#=MilliSecs()-T
;	If Physicstime<14
;		Delay 14-physicstime
;	EndIf

	; Adjust Gravity - mouse wheel
	BigG#=BigG#+(MouseZSpeed()/100.0)
	dWorldSetGravity(World,0,BigG#,0)
	
	;--------------------------------------------------------
	;#Region Space - Resets See Saw, Jumper, block and drops it.
	If KeyHit(57)
	
		; Position See Saw
		x_pos#=-8
		y_pos#=5
		z_pos#=8
		x_rot#=-20
		y_rot#=0
		z_rot#=0
		dBodySetPosition(seesaw\body, x_pos, y_pos, z_pos)
		dBodySetRotation(seesaw\body, x_rot, y_rot, z_rot)
		dBodySetLinearVel(seesaw\body,0,0,0)
		dBodySetAngularVel(seesaw\body,0,0,0)
	 	dBodyDisable(seesaw\body)
		
		
		xp=-8
		yp=9
		zp=2
		; ### Position Head
	
		dBodySetRotation(Head(rd),0,0,0)
		dBodySetPosition(Head(rd),xp,yp,zp)
		dBodySetAutoDisableFlag(Head(rd),1)
		dBodySetLinearVel(Head(rd),0,0,0)
		dBodySetAngularVel(Head(rd),0,0,0)
		dBodySetForce(Head(rd),0,0,0)
		dBodySetTorque(Head(rd),0,0,0)
		dBodyDisable(Head(rd))
		
		; ### Position Body (Upper)
		
		dBodySetRotation(BodyU(rd),0,0,0)
		dBodySetPosition(BodyU(rd),xp,yp-1.25,zp)
		dBodySetAutoDisableFlag(BodyU(rd),1)
		dBodySetLinearVel(BodyU(rd),0,0,0)
		dBodySetAngularVel(BodyU(rd),0,0,0)
		dBodySetForce(BodyU(rd),0,0,0)
		dBodySetTorque(BodyU(rd),0,0,0)
		dBodyDisable(BodyU(rd))
		
		; ### Position Body (Lower)
		
		dBodySetRotation(BodyL(rd),0,0,0)
		dBodySetPosition(BodyL(rd),xp,yp-2.5,zp)
		dBodySetAutoDisableFlag(BodyL(rd),1)
		dBodySetLinearVel(BodyL(rd),0,0,0)
		dBodySetAngularVel(BodyL(rd),0,0,0)
		dBodySetForce(BodyL(rd),0,0,0)
		dBodySetTorque(BodyL(rd),0,0,0)
		dBodyDisable(BodyL(rd))
		
		; ### Position Left Arm (Upper)
		
		dBodySetRotation(LArmU(rd),90,0,0)
		dBodySetPosition(LArmU(rd),xp+1,yp-1.25,zp)
		dBodySetAutoDisableFlag(LArmU(rd),1)
		dBodySetLinearVel(LArmU(rd),0,0,0)
		dBodySetAngularVel(LArmU(rd),0,0,0)
		dBodySetForce(LArmU(rd),0,0,0)
		dBodySetTorque(LArmU(rd),0,0,0)
		dBodyDisable(LArmU(rd))
		
		; ### Position Left Arm (Lower)
		
		dBodySetRotation(LArmL(rd),90,0,0)
		dBodySetPosition(LArmL(rd),xp+1,yp-2.5,zp)
		dBodySetAutoDisableFlag(LArmL(rd),1)
		dBodySetLinearVel(LArmL(rd),0,0,0)
		dBodySetAngularVel(LArmL(rd),0,0,0)
		dBodySetForce(LArmL(rd),0,0,0)
		dBodySetTorque(LArmL(rd),0,0,0)
		dBodyDisable(LArmL(rd))
		
		; ### Position Right Arm (Upper)
		
		dBodySetRotation(RArmU(rd),90,0,0)
		dBodySetPosition(RArmU(rd),xp-1,yp-1.25,zp)
		dBodySetAutoDisableFlag(RArmU(rd),1)
		dBodySetLinearVel(RArmU(rd),0,0,0)
		dBodySetAngularVel(RArmU(rd),0,0,0)
		dBodySetForce(RArmU(rd),0,0,0)
		dBodySetTorque(RArmU(rd),0,0,0)
		dBodyDisable(RArmU(rd))
		
		; ### Position Right Arm (Lower)
		
		dBodySetRotation(RArmL(rd),90,0,0)
		dBodySetPosition(RArmL(rd),xp-1,yp-2.5,zp)
		dBodySetAutoDisableFlag(RArmL(rd),1)
		dBodySetLinearVel(RArmL(rd),0,0,0)
		dBodySetAngularVel(RArmL(rd),0,0,0)
		dBodySetForce(RArmL(rd),0,0,0)
		dBodySetTorque(RArmL(rd),0,0,0)
		dBodyDisable(RArmL(rd))
		
		; ### Position Left Leg (Upper)
		
		dBodySetRotation(LLegU(rd),90,0,0)
		dBodySetPosition(LLegU(rd),xp+0.5,yp-3.6,zp)
		dBodySetAutoDisableFlag(LLegU(rd),1)
		dBodySetLinearVel(LLegU(rd),0,0,0)
		dBodySetAngularVel(LLegU(rd),0,0,0)
		dBodySetForce(LLegU(rd),0,0,0)
		dBodySetTorque(LLegU(rd),0,0,0)
		dBodyDisable(LLegU(rd))
		
		; ### Position Left Leg (Lower)
		
		dBodySetRotation(LLegL(rd),90,0,0)
		dBodySetPosition(LLegL(rd),xp+0.5,yp-4.9,zp)
		dBodySetAutoDisableFlag(LLegL(rd),1)
		dBodySetLinearVel(LLegL(rd),0,0,0)
		dBodySetAngularVel(LLegL(rd),0,0,0)
		dBodySetForce(LLegL(rd),0,0,0)
		dBodySetTorque(LLegL(rd),0,0,0)
		dBodyDisable(LLegL(rd))
		
		; ### Position Right Leg (Upper)
		
		dBodySetRotation(RLegU(rd),90,0,0)
		dBodySetPosition(RLegU(rd),xp-0.5,yp-3.6,zp)
		dBodySetAutoDisableFlag(RLegU(rd),1)
		dBodySetLinearVel(RLegU(rd),0,0,0)
		dBodySetAngularVel(RLegU(rd),0,0,0)
		dBodySetForce(RLegU(rd),0,0,0)
		dBodySetTorque(RLegU(rd),0,0,0)
		dBodyDisable(RLegU(rd))
		
		; ### Position Right Leg (Lower)
		
		dBodySetRotation(RLegL(rd),90,0,0)
		dBodySetPosition(RLegL(rd),xp-0.5,yp-4.9,zp)
		dBodySetAutoDisableFlag(RLegL(rd),1)
		dBodySetLinearVel(RLegL(rd),0,0,0)
		dBodySetAngularVel(RLegL(rd),0,0,0)
		dBodySetForce(RLegL(rd),0,0,0)
		dBodySetTorque(RLegL(rd),0,0,0)
		dBodyDisable(RLegL(rd))
		
		; ### Position Left Foot
		
		dBodySetRotation(LFoot(rd),0,0,0)
		dBodySetPosition(LFoot(rd),xp+0.5,yp-5.7,zp-0.25)
		dBodySetAutoDisableFlag(LFoot(rd),1)
		dBodySetLinearVel(LFoot(rd),0,0,0)
		dBodySetAngularVel(LFoot(rd),0,0,0)
		dBodySetForce(LFoot(rd),0,0,0)
		dBodySetTorque(LFoot(rd),0,0,0)
		dBodyDisable(LFoot(rd))
		
		; ### Position Right Foot
		
		dBodySetRotation(RFoot(rd),0,0,0)
		dBodySetPosition(RFoot(rd),xp-0.5,yp-5.7,zp-0.25)
		dBodySetAutoDisableFlag(RFoot(rd),1)
		dBodySetLinearVel(RFoot(rd),0,0,0)
		dBodySetAngularVel(RFoot(rd),0,0,0)
		dBodySetForce(RFoot(rd),0,0,0)
		dBodySetTorque(RFoot(rd),0,0,0)
		dBodyDisable(RFoot(rd))
	
		x_pos#=-8
		y_pos#=15
		z_pos#=12
		x_rot#=0
		y_rot#=0
		z_rot#=0
		dBodySetPosition(block\body, x_pos, y_pos, z_pos)
		dBodySetRotation(block\body, x_rot, y_rot, z_rot)
		dBodySetLinearVel(block\body,0,0,0)
		dBodySetAngularVel(block\body,0,0,0)
	 	dBodyEnable(block\body)
	
		; Reconnect joints (in case we broke them)
		dJointAttach(RDJoint(rd,1),Head(rd),BodyU(rd))
		dJointAttach(RDJoint(rd,2),BodyU(rd),BodyL(rd))
		dJointAttach(RDJoint(rd,3),LArmU(rd),BodyU(rd))
		dJointAttach(RDJoint(rd,4),LArmL(rd),LArmU(rd))
		dJointAttach(RDJoint(rd,5),RArmU(rd),BodyU(rd))
		dJointAttach(RDJoint(rd,6),RArmL(rd),RArmU(rd))
		dJointAttach(RDJoint(rd,7),LLegU(rd),BodyL(rd))
		dJointAttach(RDJoint(rd,8),LLegL(rd),LLegU(rd))
		dJointAttach(RDJoint(rd,9),RLegU(rd),BodyL(rd))
		dJointAttach(RDJoint(rd,10),RLegL(rd),RLegU(rd))
		dJointAttach(RDJoint(rd,11),LFoot(rd),LLegL(rd))
		dJointAttach(RDJoint(rd,12),RFoot(rd),RLegL(rd))

		
	End If
	;#End Region
Wend

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

End

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

Function CreateRagDoll(rd)

xp=-8
yp=9
zp=2

; ### 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
weight#=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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)


; ### 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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)

; ### 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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)

; ### 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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)

; ### 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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)

; ### 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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)

; ### 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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)

; ### 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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)

; ### 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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)

; ### 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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)

; ### 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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)

; ### 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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)

; ### 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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)

; ### 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)

; ### 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)

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

RDJoint(rd,3)=dJointCreateHinge(World,0)
dJointAttach(RDJoint(rd,3),LArmU(rd),BodyU(rd))
dJointSetHingeAxis(RDJoint(rd,3),1,-1,0)
dJointSetHingeAnchor(RDJoint(rd,3),xp+1,yp-0.75,zp)
dJointSetHingeParam(RDJoint(rd,3),dParamLoStop,-2.0)
dJointSetHingeParam(RDJoint(rd,3),dParamHiStop,2.0)

; ### 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)=dJointCreateHinge(World,0)
dJointAttach(RDJoint(rd,5),RArmU(rd),BodyU(rd))
dJointSetHingeAxis(RDJoint(rd,5),1,1,0)
dJointSetHingeAnchor(RDJoint(rd,5),xp-1,yp-0.75,zp)
dJointSetHingeParam(RDJoint(rd,5),dParamLoStop,-2.0)
dJointSetHingeParam(RDJoint(rd,5),dParamHiStop,2.0)

; ### 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)=dJointCreateHinge(World,0)
dJointAttach(RDJoint(rd,7),LLegU(rd),BodyL(rd))
dJointSetHingeAxis(RDJoint(rd,7),1,0,0)
dJointSetHingeAnchor(RDJoint(rd,7),xp+1,yp-2.75,zp)
dJointSetHingeParam(RDJoint(rd,7),dParamLoStop,-1.0)
dJointSetHingeParam(RDJoint(rd,7),dParamHiStop,1.0)

; ### 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)=dJointCreateHinge(World,0)
dJointAttach(RDJoint(rd,9),RLegU(rd),BodyL(rd))
dJointSetHingeAxis(RDJoint(rd,9),1,0,0)
dJointSetHingeAnchor(RDJoint(rd,9),xp-1,yp-2.75,zp)
dJointSetHingeParam(RDJoint(rd,9),dParamLoStop,-1.0)
dJointSetHingeParam(RDJoint(rd,9),dParamHiStop,1.0)

; ### 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 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 set_object_friction(obj.ODEGeom,friction#,weight)
	friction=friction/100
	friction=friction
	friction=friction*4
	friction=4-friction
	e#=Log10(weight*10)
	e=e-friction
	e=1*(10^e)
	dGeomContactSetMu(obj\geom,e)
End Function

; ###################################################################################################
Function LinearDamp(body,damp#)
  dBodyAddForce body,dBodyGetLinearVelX(body)*-damp,dBodyGetLinearVelY(body)*-damp,dBodyGetLinearVelZ(body)*-damp
End Function
; ###################################################################################################

Function AngularDamp(body,damp#)
  dBodyAddTorque body,dBodyGetAngularVelX(body)*-damp,dBodyGetAngularVelY(body)*-damp,dBodyGetAngularVelZ(body)*-damp
End Function
; ###################################################################################################
Function JointLimits(body,limit#)

For ode.ODEGeom=Each ODEGeom
	If dGeomIsEnabled(ode\geom)
		If body=ode\body  ; specific body parts only
			numjoints=dBodyGetNumJoints(ode\body)
			If numjoints>0 
				For joints=0 To numjoints-1
					joint=dBodyGetJoint(ode\body,joints)
						If joint<>0 ; valid joints only
							If dJointGetType(joint)<>dJointTypeContact
									; Get Force vector
									dBodyGetForce(joint)
								  	fx#=dVectorX()
								  	fy#=dVectorY()
								    fz#=dVectorZ()
								  	; Calculate magnitude
									ForceF#=Sqr(fx*fx+fy*fy+fz*fz)

								
									; Get Torque vector
									dBodyGetTorque(joint)
								  	fx#=dVectorX()
								  	fy#=dVectorY()
								    fz#=dVectorZ()
									; Calculate magnitude
									ForceT#=Sqr(fx*fx+fy*fy+fz*fz)

								
								; Check to see if joint limit exceeded
								If Abs(ForceF#)>limit Or Abs(ForceT#)>limit Then
									dJointAttach(joint,0,0)
									
									; Reduce body part energy due to break
									If ForceA>.01
										LinearDamp(ode\body,.04)
									End If 
									
									If ForceB>.01
										AngularDamp(ode\body,.04)
									End If
									
								End If
								
			
							End If

					End If
				Next
			End If
		End If
	End If
Next

End Function

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

Function UpdateFriction()

For ode.ODEGeom=Each ODEGeom
	; add friction force if body enabled  
	If dBodyIsEnabled(ode\body) And ode\body<>Car
		numjoints=dBodyGetNumJoints(ode\body)
		If numjoints>0 
		;DebugLog "joints=" + Str(joints)
			For joints=0 To numjoints-1
				joint1=dBodyGetJoint(ode\body,joints)
				If dJointGetType(joint1)=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 ForceB>.01
						AngularDamp(ode\body,.04)
					End If
					
						
				End If
			Next
		End If
	End If
Next

End Function

This works very well on my system where I can test at 60 Hz and 72 Hz.

I'm not sure that this is a total solution for integrating physics engines and Blitz3D though. It can't accomodate dropped frames on slower computers as delta timing can, and only really works when the physics can be calculated within a frame period.

Can people comment on where they see potential problems keeping a smooth fraerate with physics engines and what their solutions can be? I think people expect PC games to be jittery but I hate that and want to find ways to avoid it!

Wayne
 #2
Hi Shifty,
I'll check out what you did and see what can be learned.

I took the code from my last example and removed the fps lock to let it run wide open, also allowed the mouse to do the same. Tell me if you think it's smooth.

; ###################################################################################################
; #									   JV-ODE - BreakMe Ragdoll Demo 2										#
; #									Code by Jim Williams (VIP3R)									#
; ###################################################################################################

AppTitle "JV-ODE - BreakMe Ragdoll Demo 2"

Include "JV-ODE.bb"

Graphics3D 800,600,0,2


Global RagDollMax=1

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
	Field mass
End Type

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

; ### Setup ODE


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

Global BigG#=-0.98

dWorldSetAutoDisableFlag(World,1)
dWorldSetGravity(World,0,BigG#,0)
dContactSetMode(dContactSlip1+dContactBounce)
dContactSetBounce(0.3)
dContactSetMu(48)
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()
CameraZoom Camera,1.0
CameraClsColor Camera,0,0,0
CameraRange Camera,1,1000
PositionEntity Camera,20,20,-10
RotateEntity Camera,5,45,0


; ### 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)

block.ODEGeom=New ODEGeom
	x_pos#=-8
	y_pos#=15
	z_pos#=12
	width#=2
	length#=2
	depth#=2
	x_rot#=0
	y_rot#=0
	z_rot#=0
	weight#=100.0
	
	block\body=dBodyCreate(World)
	block\mass=dMassCreate()
	dMassSetBoxTotal(block\mass,weight, width, length, depth)
	dBodySetMass(block\body,block\mass)
	dBodySetPosition(block\body, x_pos, y_pos, z_pos)
	dBodySetRotation(block\body, x_rot, y_rot, z_rot)
	
	block\geom=dCreateBox(Space,width, length, depth)
	dGeomSetBody(block\geom,block\body)
	dGeomContactSetBounce(block\geom,0.5)
	set_object_friction(block,0.5,weight)
	dGeomContactSetMode(block\geom,dContactSlip1+dContactBounce)

	block\mesh=CreateCube()
	ScaleEntity block\mesh,width/2,length/2,depth/2
	
	seesaw.ODEGeom=New ODEGeom
	seesaw\mass=dMassCreate()
	x_pos#=-8
	y_pos#=5
	z_pos#=8
	width#=3
	length#=0.5
	depth#=15
	x_rot#=-20
	y_rot#=0
	z_rot#=0
	weight#=2.0
	
	seesaw\body=dBodyCreate(World)
	dMassSetBoxTotal(seesaw\mass,weight, width, length, depth)
	dBodySetMass(seesaw\body,seesaw\mass)
	dBodySetPosition(seesaw\body, x_pos, y_pos, z_pos)
	
	seesaw\geom=dCreateBox(Space,width, length, depth)
	dGeomSetBody(seesaw\geom,seesaw\body)
	dGeomContactSetBounce(seesaw\geom,0.5)
	set_object_friction(seesaw,0.5,weight)
	dGeomContactSetMode(seesaw\geom,dContactSlip1+dContactBounce)

	seesaw\mesh=CreateCube()
	; Blitz box lengths 2x longer than ODE box length
	ScaleEntity seesaw\mesh,width/2,length/2,depth/2
	dBodyDisable(seesaw\body)

	seesaw_joint=dJointCreateHinge(World,0)
	dJointAttach(seesaw_joint, seesaw\body, 0)
	dJointSetHingeAxis(seesaw_joint,1,0,0)
	dJointSetHingeAnchor(seesaw_joint,-8,4,8)
	dJointSetHingeParam(seesaw_joint,dParamLoStop,-dinfinity)
	dJointSetHingeParam(seesaw_joint,dParamHiStop,dinfinity)
	dBodySetRotation(seesaw\body, x_rot, y_rot, z_rot)
	

;===============================================================
; Render Loop

While Not KeyHit(1)

	; Calculate Time 
	If T=0 Then T=MilliSecs()
	T=MilliSecs() 
	
	;-----------------------------------------------------------
	; Mouse Look code
	
	; Mouse Movement runs in sync with render world

		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
		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
	
	
	;-----------------------------------------------
	; Physics
	;
	; Run Physics every 10ms ( 100 Times/sec )
	If T > Time3 + 10 Then
		Time3=T	
		
		PTime=MilliSecs()
	
		UpdateGeoms()
	
		For x=1 To 3 ; Increase to speed up simulation
			dSpaceCollide(Space,World,ContactGroup)
				dWorldQuickStep(World,0.05)
				updatefriction()
			dJointGroupEmpty(ContactGroup)
		Next
	
		PhysicsTime#=MilliSecs()-PTime
		
	End If
    ;-----------------------------------------------
	; render world every loop

	RenderWorld

	
	
	;-----------------------------------------------
	; Break joints for each body
	
	rd=0 			; Ragdoll id
	Jlimit#=250	; Joint Limit, hand tuned, larger limit resists breakage.
	JointLimits(Head(rd),Jlimit#) 
	JointLimits(BodyU(rd),Jlimit#)
	JointLimits(BodyL(rd),Jlimit#)
	JointLimits(LArmU(rd),Jlimit#)
	JointLimits(LArmL(rd),Jlimit#)
	JointLimits(RArmU(rd),Jlimit#)
	JointLimits(RArmL(rd),Jlimit#)
	JointLimits(LLegU(rd),Jlimit#)
	JointLimits(LLegL(rd),Jlimit#)
	JointLimits(RLegU(rd),Jlimit#)
	JointLimits(RLegL(rd),Jlimit#)
	JointLimits(LFoot(rd),Jlimit#)
	JointLimits(RFoot(rd),Jlimit#)
	
	Text 0,0,"Gravity="+Str(BigG#)
	Text 0,15,"Adjust Gravity - Mouse wheel"
	Text 0,30,"Reset - Space"
	Text 0,45,"Physics Time:"+PhysicsTime
		
	Flip

	; Adjust Gravity - mouse wheel
	BigG#=BigG#+(MouseZSpeed()/100.0)
	dWorldSetGravity(World,0,BigG#,0)
	
	;--------------------------------------------------------
	; Space - Resets See Saw, Jumper, block and drops it.
	If KeyHit(57)
	
		; Position See Saw
		x_pos#=-8
		y_pos#=5
		z_pos#=8
		x_rot#=-20
		y_rot#=0
		z_rot#=0
		dBodySetPosition(seesaw\body, x_pos, y_pos, z_pos)
		dBodySetRotation(seesaw\body, x_rot, y_rot, z_rot)
		dBodySetLinearVel(seesaw\body,0,0,0)
		dBodySetAngularVel(seesaw\body,0,0,0)
	 	dBodyDisable(seesaw\body)
		
		
		xp=-8
		yp=9
		zp=2
		; ### Position Head
	
		dBodySetRotation(Head(rd),0,0,0)
		dBodySetPosition(Head(rd),xp,yp,zp)
		dBodySetAutoDisableFlag(Head(rd),1)
		dBodySetLinearVel(Head(rd),0,0,0)
		dBodySetAngularVel(Head(rd),0,0,0)
		dBodySetForce(Head(rd),0,0,0)
		dBodySetTorque(Head(rd),0,0,0)
		dBodyDisable(Head(rd))
		
		; ### Position Body (Upper)
		
		dBodySetRotation(BodyU(rd),0,0,0)
		dBodySetPosition(BodyU(rd),xp,yp-1.25,zp)
		dBodySetAutoDisableFlag(BodyU(rd),1)
		dBodySetLinearVel(BodyU(rd),0,0,0)
		dBodySetAngularVel(BodyU(rd),0,0,0)
		dBodySetForce(BodyU(rd),0,0,0)
		dBodySetTorque(BodyU(rd),0,0,0)
		dBodyDisable(BodyU(rd))
		
		; ### Position Body (Lower)
		
		dBodySetRotation(BodyL(rd),0,0,0)
		dBodySetPosition(BodyL(rd),xp,yp-2.5,zp)
		dBodySetAutoDisableFlag(BodyL(rd),1)
		dBodySetLinearVel(BodyL(rd),0,0,0)
		dBodySetAngularVel(BodyL(rd),0,0,0)
		dBodySetForce(BodyL(rd),0,0,0)
		dBodySetTorque(BodyL(rd),0,0,0)
		dBodyDisable(BodyL(rd))
		
		; ### Position Left Arm (Upper)
		
		dBodySetRotation(LArmU(rd),90,0,0)
		dBodySetPosition(LArmU(rd),xp+1,yp-1.25,zp)
		dBodySetAutoDisableFlag(LArmU(rd),1)
		dBodySetLinearVel(LArmU(rd),0,0,0)
		dBodySetAngularVel(LArmU(rd),0,0,0)
		dBodySetForce(LArmU(rd),0,0,0)
		dBodySetTorque(LArmU(rd),0,0,0)
		dBodyDisable(LArmU(rd))
		
		; ### Position Left Arm (Lower)
		
		dBodySetRotation(LArmL(rd),90,0,0)
		dBodySetPosition(LArmL(rd),xp+1,yp-2.5,zp)
		dBodySetAutoDisableFlag(LArmL(rd),1)
		dBodySetLinearVel(LArmL(rd),0,0,0)
		dBodySetAngularVel(LArmL(rd),0,0,0)
		dBodySetForce(LArmL(rd),0,0,0)
		dBodySetTorque(LArmL(rd),0,0,0)
		dBodyDisable(LArmL(rd))
		
		; ### Position Right Arm (Upper)
		
		dBodySetRotation(RArmU(rd),90,0,0)
		dBodySetPosition(RArmU(rd),xp-1,yp-1.25,zp)
		dBodySetAutoDisableFlag(RArmU(rd),1)
		dBodySetLinearVel(RArmU(rd),0,0,0)
		dBodySetAngularVel(RArmU(rd),0,0,0)
		dBodySetForce(RArmU(rd),0,0,0)
		dBodySetTorque(RArmU(rd),0,0,0)
		dBodyDisable(RArmU(rd))
		
		; ### Position Right Arm (Lower)
		
		dBodySetRotation(RArmL(rd),90,0,0)
		dBodySetPosition(RArmL(rd),xp-1,yp-2.5,zp)
		dBodySetAutoDisableFlag(RArmL(rd),1)
		dBodySetLinearVel(RArmL(rd),0,0,0)
		dBodySetAngularVel(RArmL(rd),0,0,0)
		dBodySetForce(RArmL(rd),0,0,0)
		dBodySetTorque(RArmL(rd),0,0,0)
		dBodyDisable(RArmL(rd))
		
		; ### Position Left Leg (Upper)
		
		dBodySetRotation(LLegU(rd),90,0,0)
		dBodySetPosition(LLegU(rd),xp+0.5,yp-3.6,zp)
		dBodySetAutoDisableFlag(LLegU(rd),1)
		dBodySetLinearVel(LLegU(rd),0,0,0)
		dBodySetAngularVel(LLegU(rd),0,0,0)
		dBodySetForce(LLegU(rd),0,0,0)
		dBodySetTorque(LLegU(rd),0,0,0)
		dBodyDisable(LLegU(rd))
		
		; ### Position Left Leg (Lower)
		
		dBodySetRotation(LLegL(rd),90,0,0)
		dBodySetPosition(LLegL(rd),xp+0.5,yp-4.9,zp)
		dBodySetAutoDisableFlag(LLegL(rd),1)
		dBodySetLinearVel(LLegL(rd),0,0,0)
		dBodySetAngularVel(LLegL(rd),0,0,0)
		dBodySetForce(LLegL(rd),0,0,0)
		dBodySetTorque(LLegL(rd),0,0,0)
		dBodyDisable(LLegL(rd))
		
		; ### Position Right Leg (Upper)
		
		dBodySetRotation(RLegU(rd),90,0,0)
		dBodySetPosition(RLegU(rd),xp-0.5,yp-3.6,zp)
		dBodySetAutoDisableFlag(RLegU(rd),1)
		dBodySetLinearVel(RLegU(rd),0,0,0)
		dBodySetAngularVel(RLegU(rd),0,0,0)
		dBodySetForce(RLegU(rd),0,0,0)
		dBodySetTorque(RLegU(rd),0,0,0)
		dBodyDisable(RLegU(rd))
		
		; ### Position Right Leg (Lower)
		
		dBodySetRotation(RLegL(rd),90,0,0)
		dBodySetPosition(RLegL(rd),xp-0.5,yp-4.9,zp)
		dBodySetAutoDisableFlag(RLegL(rd),1)
		dBodySetLinearVel(RLegL(rd),0,0,0)
		dBodySetAngularVel(RLegL(rd),0,0,0)
		dBodySetForce(RLegL(rd),0,0,0)
		dBodySetTorque(RLegL(rd),0,0,0)
		dBodyDisable(RLegL(rd))
		
		; ### Position Left Foot
		
		dBodySetRotation(LFoot(rd),0,0,0)
		dBodySetPosition(LFoot(rd),xp+0.5,yp-5.7,zp-0.25)
		dBodySetAutoDisableFlag(LFoot(rd),1)
		dBodySetLinearVel(LFoot(rd),0,0,0)
		dBodySetAngularVel(LFoot(rd),0,0,0)
		dBodySetForce(LFoot(rd),0,0,0)
		dBodySetTorque(LFoot(rd),0,0,0)
		dBodyDisable(LFoot(rd))
		
		; ### Position Right Foot
		
		dBodySetRotation(RFoot(rd),0,0,0)
		dBodySetPosition(RFoot(rd),xp-0.5,yp-5.7,zp-0.25)
		dBodySetAutoDisableFlag(RFoot(rd),1)
		dBodySetLinearVel(RFoot(rd),0,0,0)
		dBodySetAngularVel(RFoot(rd),0,0,0)
		dBodySetForce(RFoot(rd),0,0,0)
		dBodySetTorque(RFoot(rd),0,0,0)
		dBodyDisable(RFoot(rd))
	
		x_pos#=-8
		y_pos#=15
		z_pos#=12
		x_rot#=0
		y_rot#=0
		z_rot#=0
		dBodySetPosition(block\body, x_pos, y_pos, z_pos)
		dBodySetRotation(block\body, x_rot, y_rot, z_rot)
		dBodySetLinearVel(block\body,0,0,0)
		dBodySetAngularVel(block\body,0,0,0)
	 	dBodyEnable(block\body)
	
		; Reconnect joints (in case we broke them)
		dJointAttach(RDJoint(rd,1),Head(rd),BodyU(rd))
		dJointAttach(RDJoint(rd,2),BodyU(rd),BodyL(rd))
		dJointAttach(RDJoint(rd,3),LArmU(rd),BodyU(rd))
		dJointAttach(RDJoint(rd,4),LArmL(rd),LArmU(rd))
		dJointAttach(RDJoint(rd,5),RArmU(rd),BodyU(rd))
		dJointAttach(RDJoint(rd,6),RArmL(rd),RArmU(rd))
		dJointAttach(RDJoint(rd,7),LLegU(rd),BodyL(rd))
		dJointAttach(RDJoint(rd,8),LLegL(rd),LLegU(rd))
		dJointAttach(RDJoint(rd,9),RLegU(rd),BodyL(rd))
		dJointAttach(RDJoint(rd,10),RLegL(rd),RLegU(rd))
		dJointAttach(RDJoint(rd,11),LFoot(rd),LLegL(rd))
		dJointAttach(RDJoint(rd,12),RFoot(rd),RLegL(rd))

		
	End If
Wend

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

End

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

Function CreateRagDoll(rd)

xp=-8
yp=9
zp=2

; ### 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
weight#=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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)


; ### 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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)

; ### 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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)

; ### 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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)

; ### 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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)

; ### 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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)

; ### 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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)

; ### 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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)

; ### 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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)

; ### 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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)

; ### 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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)

; ### 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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)

; ### 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\mass=dMassCreate()
	dMassSetBoxTotal(ode\mass,weight, width, length, depth)
	dBodySetMass(ode\body,ode\mass)
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
dBodyDisable(ode\body)

; ### 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)

; ### 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)

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

RDJoint(rd,3)=dJointCreateHinge(World,0)
dJointAttach(RDJoint(rd,3),LArmU(rd),BodyU(rd))
dJointSetHingeAxis(RDJoint(rd,3),1,-1,0)
dJointSetHingeAnchor(RDJoint(rd,3),xp+1,yp-0.75,zp)
dJointSetHingeParam(RDJoint(rd,3),dParamLoStop,-2.0)
dJointSetHingeParam(RDJoint(rd,3),dParamHiStop,2.0)

; ### 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)=dJointCreateHinge(World,0)
dJointAttach(RDJoint(rd,5),RArmU(rd),BodyU(rd))
dJointSetHingeAxis(RDJoint(rd,5),1,1,0)
dJointSetHingeAnchor(RDJoint(rd,5),xp-1,yp-0.75,zp)
dJointSetHingeParam(RDJoint(rd,5),dParamLoStop,-2.0)
dJointSetHingeParam(RDJoint(rd,5),dParamHiStop,2.0)

; ### 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)=dJointCreateHinge(World,0)
dJointAttach(RDJoint(rd,7),LLegU(rd),BodyL(rd))
dJointSetHingeAxis(RDJoint(rd,7),1,0,0)
dJointSetHingeAnchor(RDJoint(rd,7),xp+1,yp-2.75,zp)
dJointSetHingeParam(RDJoint(rd,7),dParamLoStop,-1.0)
dJointSetHingeParam(RDJoint(rd,7),dParamHiStop,1.0)

; ### 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)=dJointCreateHinge(World,0)
dJointAttach(RDJoint(rd,9),RLegU(rd),BodyL(rd))
dJointSetHingeAxis(RDJoint(rd,9),1,0,0)
dJointSetHingeAnchor(RDJoint(rd,9),xp-1,yp-2.75,zp)
dJointSetHingeParam(RDJoint(rd,9),dParamLoStop,-1.0)
dJointSetHingeParam(RDJoint(rd,9),dParamHiStop,1.0)

; ### 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 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 set_object_friction(obj.ODEGeom,friction#,weight)
	friction=friction/100
	friction=friction
	friction=friction*4
	friction=4-friction
	e#=Log10(weight*10)
	e=e-friction
	e=1*(10^e)
	dGeomContactSetMu(obj\geom,e)
End Function

; ###################################################################################################
Function LinearDamp(body,damp#)
  dBodyAddForce body,dBodyGetLinearVelX(body)*-damp,dBodyGetLinearVelY(body)*-damp,dBodyGetLinearVelZ(body)*-damp
End Function
; ###################################################################################################

Function AngularDamp(body,damp#)
  dBodyAddTorque body,dBodyGetAngularVelX(body)*-damp,dBodyGetAngularVelY(body)*-damp,dBodyGetAngularVelZ(body)*-damp
End Function
; ###################################################################################################
Function JointLimits(body,limit#)

For ode.ODEGeom=Each ODEGeom
	If dGeomIsEnabled(ode\geom)
		If body=ode\body  ; specific body parts only
			numjoints=dBodyGetNumJoints(ode\body)
			If numjoints>0 
				For joints=0 To numjoints-1
					joint=dBodyGetJoint(ode\body,joints)
						If joint<>0 ; valid joints only
							If dJointGetType(joint)<>dJointTypeContact
									; Get Force vector
									dBodyGetForce(joint)
								  	fx#=dVectorX()
								  	fy#=dVectorY()
								    fz#=dVectorZ()
								  	; Calculate magnitude
									ForceF#=Sqr(fx*fx+fy*fy+fz*fz)

								
									; Get Torque vector
									dBodyGetTorque(joint)
								  	fx#=dVectorX()
								  	fy#=dVectorY()
								    fz#=dVectorZ()
									; Calculate magnitude
									ForceT#=Sqr(fx*fx+fy*fy+fz*fz)

								
								; Check to see if joint limit exceeded
								If Abs(ForceF#)>limit Or Abs(ForceT#)>limit Then
									dJointAttach(joint,0,0)
									
									; Reduce body part energy due to break
									If ForceA>.01
										LinearDamp(ode\body,.04)
									End If 
									
									If ForceB>.01
										AngularDamp(ode\body,.04)
									End If
									
								End If
								
			
							End If

					End If
				Next
			End If
		End If
	End If
Next

End Function

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

Function UpdateFriction()

For ode.ODEGeom=Each ODEGeom
	; add friction force if body enabled  
	If dBodyIsEnabled(ode\body) And ode\body<>Car
		numjoints=dBodyGetNumJoints(ode\body)
		If numjoints>0 
		;DebugLog "joints=" + Str(joints)
			For joints=0 To numjoints-1
				joint1=dBodyGetJoint(ode\body,joints)
				If dJointGetType(joint1)=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 ForceB>.01
						AngularDamp(ode\body,.04)
					End If
					
						
				End If
			Next
		End If
	End If
Next

End Function


Wayne
 #3
I demo'd your changes shifty and was surprised how well everything ran. I measured the physics time, render time, frame time and all ran well at 85hz refresh.

The demo ran very smooth and compares well to the last example I posted. The changes you made were clean and simple. The calculation of the step size was interesting.

Which method is better? I really don't know but your examples give me yet another tool to consider in the render loop.

I'm a huge follower of timers, and delta time and will give all this more thought as we proceed.

Thanks, and nice job!

VIP3R
 #4
Both of the demos run smooth here at 85fps, there's a slight jitter every ~1sec. It's very subtle though, not really noticable with the ragdoll demo.

It might be better to use a demo where the whole render area is updated, like the car demo? May be easier to spot timing jitters then. Anyway, just a suggestion ;)

Shifty, here's some data for you from your demo:

Total Time:134
Num Samples:11
Refresh Rate:12.1818
Step Size:0.0511636

Shifty Geezer
 #5
Well, this is frustrating. In my editor I run the same scene at 60 and 72 Hz, and it runs at the same speed. There's a chain of interactions causing some dominoes to land on a sphere and stop it in it's tracks.

But in my main program, using the same library and same frame advancement function, the results for running at different framerates is different.

Very frustrating. :(

VIP3R
 #6
I'm assuming you're referring to the Frame Tweening method above, it's extremely difficult to get pin point simulation accuracy when changing the step size each frame.

The only way to get a consistant simulation is by using a fixed step size, regardless of which timing method you use.

You could try locking the step size and use some method of activating/de-activating the whole quickstep process depending on how much frame time is available.

Shifty Geezer
 #7
False alarm! Yes, I do lock the step size for the whole simulation. There's a pre-program check on monitor refresh to determine step size.

My actualy problem was that the vertical slider I was using to set the Sphere's Weight was setting a float mount that I wasn't displaying. So when the control showed a weight of 8, it's actual weight varied from 8.0 to 8.5. When I text outputted the real float value, and set it to 8.7, the value in the editor, everything was hunky dorey

:) <--- Big grin!

VIP3R
 #8
Hehe, nice one :)

Have you had a chance to look at the new joint feedback stuff yet?

Shifty Geezer
 #9
Nope. And I'm not going to either! The current JV-ODE wrapper is working fine, I'm near the end of my current project, and though I don't think I'll make this Friday's deadline now, the end of next week should see the project done. I'm capping features and development and finalising the software.

After that, I've an idea on my next project which'll use ODE (everything'll use ODE! I can't get enough of dem fyziks!) but I doubt I'll have need for joints in it. So unless I get curious and give them a nose, joint interaction isn't on my radar.

VIP3R
 #10
Look forward to checking it out :)

Can you give any details about it or are you waiting until the big launch day?

Shifty Geezer
 #11
I'm waiting until it's out there. It's not going to be very interesting for most here I imagine as it's a niche product, but I think I've managed to pull it off as well as possible. I'm pleased with what I've been able to do. I just hope all this effort pays off!

ICECAP
 #12
Can someone give me a hand in understanding this method of locking fps with ode.
I am new to ode and find that confusing enough. But when I try and run the sample at the top, it just doesnt seem to tween at all...

Is there some configuring needed? Or am i just not understanding how it works?

Thanks in advance,
Ian

VIP3R
 #13
You need to lock the physics timing to a constant frame rate (30-60 fps), regardless of the logic/graphics timing. The example above doesn't lock the physics timing.

There's some useful ODE timing info discussed in more detail here...
JV-ODE Physics Thread 6

;)

Shifty Geezer
 #14
This is the system I finally developed :

Fetch the time elapsed between frames.
Accumlate this time.
If the time is over 20 ms (50 Hz), perform physics and capture the scene. Reset the frame timer.
For each frame, calculate a tween value.
Render with Tween.

Here's the code :
CaptureWorld()
start_time=MilliSecs() ; <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< Get frame start time
	
While Not KeyHit(1)
	frame_time=MilliSecs()-start_time	;<<<<<<<<<<<<<<<<<<<<< Get time for frame
	start_time=MilliSecs() ;<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< Reset frame start
	update_time=update_time+frame_time	;<<<<<<<<<<<<<<<< Increase count for time between updates

	If update_time/20>0	;<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< If updating 50 fps
		update_time=update_time Mod 20 ;<<<<<<<<<<<<<<<<<< Return remainder
		CaptureWorld() ;<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< Record object positions
		;<DO OBJECT MOTION, PHYSICS, ETC.>
	EndIf
	tween#=(update_time Mod 20)/20.0	;<<<<<<<<<<<<<<<<< Get render tween amount
	UpdateWorld
	RenderWorld tween#
	Flip
Wend


Here's an example of doctoring the JV-ODE Box Demo :
; ###################################################################################################
; #										JV-ODE - Cubes Demo											#
; #									Code by Jim Williams (VIP3R)									#
; ###################################################################################################

AppTitle "JV-ODE - Cubes Demo"

Include "JV-ODE.bb"

Graphics3D 800,600,0,2

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(dContactBounce)
dContactSetBounce(0.1)
dContactSetMu(48)

; ### Create light

Global Light=CreateLight()

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

; ### Create camera
pivot=CreatePivot()
Global Camera=CreateCamera(pivot)
CameraClsColor Camera,0,0,0
CameraRange Camera,1,1000
PositionEntity Camera,0,20,-50
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()

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

CaptureWorld()
start_time=MilliSecs() ; <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< Get frame start time
	
While Not KeyHit(1)
	frame_time=MilliSecs()-start_time	;<<<<<<<<<<<<<<<<<<<<< Get time for frame
	start_time=MilliSecs() ;<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< Reset frame start
	update_time=update_time+frame_time	;<<<<<<<<<<<<<<<< Increase count for time between updates

	If update_time/20>0	;<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< If updating 50 fps
		update_time=update_time Mod 20 ;<<<<<<<<<<<<<<<<<< Return remainder
		CaptureWorld() ;<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< Record object positions
		UpdateGeoms()
		dSpaceCollide(Space,World,ContactGroup)
		dWorldQuickStep(World,0.15)
		dJointGroupEmpty(ContactGroup)
		TurnEntity pivot,0.0,0.2,0.0		
	EndIf
	tween#=(update_time Mod 20)/20.0	;<<<<<<<<<<<<<<<<< Get render tween amount

	If MilliSecs()-Timer>300
		AddObject()
		UpdateGeoms()
		box_count=box_count+1
		Timer=MilliSecs()
	End If


	UpdateWorld
	RenderWorld tween#
	Text 5,5,"boxes : "+box_count
	Flip False

Wend

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

End

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

Function AddObject()

xp=Rand(-10,10)
zp=Rand(-10,10)
xs=Rnd(3,6)
ys=Rnd(3,6)
zs=Rnd(3,6)
ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
dBodySetRotation(ode\body,0,0,0)
dBodySetPosition(ode\body,xp,30,zp)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateBox(Space,xs,ys,zs)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCube()
ScaleMesh ode\mesh,xs/2.0,ys/2.0,zs/2.0
EntityColor ode\mesh,Rand(255),Rand(255),Rand(255)
EntityAlpha ode\mesh,1
EntityShininess ode\mesh,0.7

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

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

The 50 Hz is hard coded as the value 20 in the above. You could use a CONST and set that to something else. 50 Hz was used as it divides nicely into the limited 1000 ms resolution of the timer. 60 Hz doesn't, and I think it'll give rounding errors. Using a period less than 1/60th of a frame will have no effect if you lock to the vertical refresh. If you lose the vertical lock (Flip False) you could get a higher framerate than the screen update, but at a cost of introducing tearing.

This method has been tested to provide the same physics update rate at 60 Hz and 72 Hz, including custom forces (just apply all forces in the 'If update_time' section Update) where my previous time-based Step-size didn't.

Danny
 #15
He shifty,

Not sure what the actuall refresh/running speed is on your system (although it should be the same as mine, right), but don't you think the boxes fall way too 'slooow' to be realistic? Especially since you've got the gravity set to a proper value of -0.98.....?!

Cheers,
Danny

Shifty Geezer
 #16
That's the ODE Step size. This example is just a hack of the JV-ODE "Demo-Cubes.bb" file that is slow itself. In my proper program I use a step size of 0.1 and call the ODE functions (dSpaceCollide, dWorldQuickStep and dJointGroupEmpty) three times per update with gravity = -0.981

The tweening method accomodates all the changes you can make normally, but also keeps them constant across different machines, so you can set the speed to whatever you want. If you drop to 50 Hz you'll need to up step size a bit to match the speeds you were getting before.