How to create a Ragdoll and use Animation pose

[morganlaowang]

I create a Ragdoll like this

and when I use the
mRagdoll->SetPose(pose);

it will be like that

I have some questions

Is the Shape position = Joint position?
Is the Shape rotation = Joint rotation?

Is any offset in the Human.tof

and I have a other question
Whitch is the forward,is the -Z axis?

[jrouwe]

Is the Shape position = Joint position? Is the Shape rotation = Joint rotation?

Yes, this is the assumption. If you need an offset, wrap your shape in a RotatedTranslatedShape or StaticCompoundShape in case there are multiple shapes per joint (this is what Human.tof does).

Whitch is the forward,is the -Z axis?

There is no concept of 'forward' for ragdolls, you define that in your own game. Maybe you mean to ask along which axis the capsules are aligned? This is Y-axis.

[morganlaowang]

thanks for your help,it works success now.
But I have a new question.
when I use the function "DriveToPoseUsingKinematics" for the ragdoll, it is OK,

but when I use the function "DriveToPoseUsingMotors" it will something wrong like that

[jrouwe]

DriveToPoseUsingMotors currently only operates on SwingTwist constraints (it's not hard to fix it to work for other constraints, let me know if you need others) and it only turns the motors on and sets the target orientation. You're responsible for setting the limits (it will never drive to a pose outside the limits), and the other motor parameters that control its strength (if things don't work, the motors are often just not strong enough). Also note that motors drive the joint in local space, the character will never stand upright because you can't control the root (usually there's no motor attaching the ragdoll to the static world).

Looking at your ragdoll screenshot: Your joints don't pass through the center of the collision volumes, this is quite unconventional and can create quite strange looking effects.

[morganlaowang]

sorry I can‘t understand the “joints don't pass through the center of the collision volumes” ， if you mean the

is because the gravity。

[morganlaowang]

I have an other question that why the “offset” in “SkeletonPose” is type "RVec3"
not type “RMat44”

[jrouwe]

The entire pose is stored in floats, there is a single RVec3 (3 doubles when JPH_DOUBLE_PRECISION is defined) to offset the ragdoll in world space to accurately position it when it is far away from the origin. If you want to rotate the ragdoll, apply that rotation on the root joint.

[morganlaowang]

hello，I am sorrry I can't unstand the Ragdoll "SetPose" and "GetPose", I see that I need to set a offset Vec3? and maybe I need calculate the rotation by myself? why not to make the "offset" to "Mat44" or just let people calculate it by all themselves

[jrouwe]

See my remark above.