[Opal-commits] opal/samples/simple_objects ragdoll.xml,NONE,1.1 main.cpp,1.20,1.21 simple_objects.vcproj,1.9,1.10

[tylerstreeter <tyl...@us...>]

Update of /cvsroot/opal/opal/samples/simple_objects
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv21242/samples/simple_objects

Modified Files:
	main.cpp simple_objects.vcproj 
Added Files:
	ragdoll.xml 
Log Message:
fixed bugs in xml blueprint loading; added ragdoll xml file to sample app

Index: main.cpp
===================================================================
RCS file: /cvsroot/opal/opal/samples/simple_objects/main.cpp,v
retrieving revision 1.20
retrieving revision 1.21
diff -C2 -d -r1.20 -r1.21
*** main.cpp	26 Feb 2005 10:22:22 -0000	1.20
--- main.cpp	1 Mar 2005 05:04:19 -0000	1.21
***************
*** 10,13 ****
--- 10,14 ----
  #include "../src/BoxObject.h"
  #include "../src/SphereObject.h"
+ #include "../src/CapsuleObject.h"
  #include "../src/CarObject.h"
  #include "../src/Timer.h"
***************
*** 32,36 ****
  Timer gTimer;
  opal::Solid* gGround=NULL;
! opal::real gGroundParams[4] = {0.0, 1.0, 0.0, -5.0};
  
  // Output stats every gPerfOutputPeriod seconds.
--- 33,38 ----
  Timer gTimer;
  opal::Solid* gGround=NULL;
! opal::real gGroundParams[4] = {0.0, 1.0, 0.0, -0.5};
! opal::Blueprint gRagdollBP;
  
  // Output stats every gPerfOutputPeriod seconds.
***************
*** 62,65 ****
--- 64,69 ----
  void InitializeVariables();
  void MainLoop();
+ void setupVisualShapes(opal::Solid* s);
+ void makeRagdoll();
  
  int main(int argc, char **argv)
***************
*** 68,76 ****
  	gCameraRotX = 0;
  	gCameraRotY = 0;
! 	gCameraZoom = -20;
  	gCameraYPos = 0;
  	gSimulator = opal::createSimulator();
  	gSimulator->setGravity(opal::Vec3r(0, (opal::real)-9.81, 0));
! 	//gSimulator->setAccuracy(opal::ACCURACY_VERY_HIGH);
  	//gSimulator->setDefaultLinearDamping(0.5);
  	//gSimulator->setDefaultAngularDamping(0.5);
--- 72,80 ----
  	gCameraRotX = 0;
  	gCameraRotY = 0;
! 	gCameraZoom = -10;
  	gCameraYPos = 0;
  	gSimulator = opal::createSimulator();
  	gSimulator->setGravity(opal::Vec3r(0, (opal::real)-9.81, 0));
! 	//gSimulator->setSolverAccuracy(opal::SOLVER_ACCURACY_HIGH);
  	//gSimulator->setDefaultLinearDamping(0.5);
  	//gSimulator->setDefaultAngularDamping(0.5);
***************
*** 104,111 ****
  	//std::cout << "Current ground material is wood" << std::endl;
  
! 	opal::Blueprint bp;
! 	opal::loadFile(bp, "example.xml");
! 	opal::BlueprintInstance instance;
! 	gSimulator->instantiateBlueprint(instance, bp);
  
  	InitSDL();
--- 108,113 ----
  	//std::cout << "Current ground material is wood" << std::endl;
  
! 	// Load the ragdoll Blueprint.
! 	opal::loadFile(gRagdollBP, "ragdoll.xml");
  
  	InitSDL();
***************
*** 124,127 ****
--- 126,227 ----
  }
  
+ void makeRagdoll()
+ {
+ 	// Instantiate the Blueprint.
+ 	opal::BlueprintInstance instance;
+ 	gSimulator->instantiateBlueprint(instance, gRagdollBP);
+ 
+ 	// Setup various components of the Blueprint.
+ 	opal::Solid* s = NULL;
+ 	s = instance.getSolid("left foot");
+ 	setupVisualShapes(s);
+ 	s = instance.getSolid("right foot");
+ 	setupVisualShapes(s);
+ 	s = instance.getSolid("lower left leg");
+ 	setupVisualShapes(s);
+ 	s = instance.getSolid("lower right leg");
+ 	setupVisualShapes(s);
+ 	s = instance.getSolid("upper left leg");
+ 	setupVisualShapes(s);
+ 	s = instance.getSolid("upper right leg");
+ 	setupVisualShapes(s);
+ 	s = instance.getSolid("pelvis");
+ 	setupVisualShapes(s);
+ 	s = instance.getSolid("lower torso");
+ 	setupVisualShapes(s);
+ 	s = instance.getSolid("upper torso");
+ 	setupVisualShapes(s);
+ 	s = instance.getSolid("upper left arm");
+ 	setupVisualShapes(s);
+ 	s = instance.getSolid("lower left arm");
+ 	setupVisualShapes(s);
+ 	s = instance.getSolid("left hand");
+ 	setupVisualShapes(s);
+ 	s = instance.getSolid("upper right arm");
+ 	setupVisualShapes(s);
+ 	s = instance.getSolid("lower right arm");
+ 	setupVisualShapes(s);
+ 	s = instance.getSolid("right hand");
+ 	setupVisualShapes(s);
+ 	s = instance.getSolid("head");
+ 	setupVisualShapes(s);
+ }
+ 
+ void setupVisualShapes(opal::Solid* s)
+ {
+ 	const opal::SolidData& data = s->getData();
+ 	int i=0;
+ 	for (i=0; i<data.getNumShapes(); ++i)
+ 	{
+ 		opal::ShapeData* shapeData = data.getShapeData(i);
+ 		Base3DObject* newObject = NULL;
+ 
+ 		switch(shapeData->getType())
+ 		{
+ 			case opal::BOX_SHAPE:
+ 			{
+ 				opal::Vec3r dim = ((opal::BoxShapeData*)shapeData)->dimensions;
+ 				newObject = new BoxObject(gSimulator, s, dim);
+ 				break;
+ 			}
+ 			case opal::SPHERE_SHAPE:
+ 			{
+ 				opal::real rad = ((opal::SphereShapeData*)shapeData)->radius;
+ 				newObject = new SphereObject(gSimulator, s, rad);
+ 				break;
+ 			}
+ 			case opal::CAPSULE_SHAPE:
+ 			{
+ 				opal::real rad = ((opal::CapsuleShapeData*)shapeData)->radius;
+ 				opal::real len = ((opal::CapsuleShapeData*)shapeData)->length;
+ 				newObject = new CapsuleObject(gSimulator, s, rad, len);
+ 				break;
+ 			}
+ 			case opal::PLANE_SHAPE:
+ 			{
+ 				// Not implemented;
+ 				break;
+ 			}
+ 			case opal::RAY_SHAPE:
+ 			{
+ 				// Not implemented;
+ 				break;
+ 			}
+ 			case opal::MESH_SHAPE:
+ 			{
+ 				// Not implemented;
+ 				break;
+ 			}
+ 			default:
+ 				assert(false);
+ 		}
+ 
+ 		if (newObject)
+ 		{
+ 			gObjects.push_back(newObject);
+ 		}
+ 	}
+ }
+ 
  void InitializeVariables()
  {
***************
*** 401,407 ****
  						case SDLK_1:
  						{
! 							BoxObject* newBox = new BoxObject(gSimulator, false, 
! 								opal::Vec3r((opal::real)0.1, (opal::real)0.1, (opal::real)0.1), 
! 								gObjectMaterial);
  							gObjects.push_back(newBox);
  							break;
--- 501,515 ----
  						case SDLK_1:
  						{
! 							// Create and setup the Solid.
! 							opal::Solid* s = gSimulator->createSolid();
! 
! 							// Add a Box Shape to the Solid.
! 							opal::BoxShapeData boxData;
! 							boxData.material = gObjectMaterial;
! 							boxData.dimensions = opal::Vec3r((opal::real)0.05, 
! 								(opal::real)0.05, (opal::real)0.05);
! 							s->addShape(boxData);
! 							BoxObject* newBox = new BoxObject(gSimulator, s, 
! 								boxData.dimensions);
  							gObjects.push_back(newBox);
  							break;
***************
*** 409,415 ****
  						case SDLK_2:
  						{	
! 							BoxObject* newBox = new BoxObject(gSimulator, false, 
! 								opal::Vec3r((opal::real)0.4, (opal::real)0.4, (opal::real)0.4), 
! 								gObjectMaterial);
  							gObjects.push_back(newBox);
  							break;
--- 517,531 ----
  						case SDLK_2:
  						{	
! 							// Create and setup the Solid.
! 							opal::Solid* s = gSimulator->createSolid();
! 
! 							// Add a Box Shape to the Solid.
! 							opal::BoxShapeData boxData;
! 							boxData.material = gObjectMaterial;
! 							boxData.dimensions = opal::Vec3r((opal::real)0.1, 
! 								(opal::real)0.1, (opal::real)0.1);
! 							s->addShape(boxData);
! 							BoxObject* newBox = new BoxObject(gSimulator, s, 
! 								boxData.dimensions);
  							gObjects.push_back(newBox);
  							break;
***************
*** 417,423 ****
  						case SDLK_3:
  						{
! 							BoxObject* newBox = new BoxObject(gSimulator, false, 
! 								opal::Vec3r((opal::real)1.5, (opal::real)1.5, (opal::real)1.5), 
! 								gObjectMaterial);
  							gObjects.push_back(newBox);
  							break;
--- 533,547 ----
  						case SDLK_3:
  						{
! 							// Create and setup the Solid.
! 							opal::Solid* s = gSimulator->createSolid();
! 
! 							// Add a Box Shape to the Solid.
! 							opal::BoxShapeData boxData;
! 							boxData.material = gObjectMaterial;
! 							boxData.dimensions = opal::Vec3r((opal::real)0.4, 
! 								(opal::real)0.4, (opal::real)0.4);
! 							s->addShape(boxData);
! 							BoxObject* newBox = new BoxObject(gSimulator, s, 
! 								boxData.dimensions);
  							gObjects.push_back(newBox);
  							break;
***************
*** 425,430 ****
  						case SDLK_4:
  						{
! 							BoxObject* newBox = new BoxObject(gSimulator, false, 
! 								opal::Vec3r(5, 1, 1), gObjectMaterial);
  							gObjects.push_back(newBox);
  							break;
--- 549,563 ----
  						case SDLK_4:
  						{
! 							// Create and setup the Solid.
! 							opal::Solid* s = gSimulator->createSolid();
! 
! 							// Add a Box Shape to the Solid.
! 							opal::BoxShapeData boxData;
! 							boxData.material = gObjectMaterial;
! 							boxData.dimensions = opal::Vec3r((opal::real)5, 
! 								(opal::real)1, (opal::real)1);
! 							s->addShape(boxData);
! 							BoxObject* newBox = new BoxObject(gSimulator, s, 
! 								boxData.dimensions);
  							gObjects.push_back(newBox);
  							break;
***************
*** 432,438 ****
  						case SDLK_5:
  						{
! 							BoxObject* newBox = new BoxObject(gSimulator, false, 
! 								opal::Vec3r(5, (opal::real)0.05, 5), 
! 								gObjectMaterial);
  							gObjects.push_back(newBox);
  							break;
--- 565,579 ----
  						case SDLK_5:
  						{
! 							// Create and setup the Solid.
! 							opal::Solid* s = gSimulator->createSolid();
! 
! 							// Add a Box Shape to the Solid.
! 							opal::BoxShapeData boxData;
! 							boxData.material = gObjectMaterial;
! 							boxData.dimensions = opal::Vec3r((opal::real)5, 
! 								(opal::real)0.05, (opal::real)5);
! 							s->addShape(boxData);
! 							BoxObject* newBox = new BoxObject(gSimulator, s, 
! 								boxData.dimensions);
  							gObjects.push_back(newBox);
  							break;
***************
*** 440,445 ****
  						case SDLK_6:
  						{
! 							SphereObject* newSphere = new SphereObject(gSimulator, false, 
! 								(opal::real)0.1, gObjectMaterial);
  							gObjects.push_back(newSphere);
  							break;
--- 581,594 ----
  						case SDLK_6:
  						{
! 							// Create and setup the Solid.
! 							opal::Solid* s = gSimulator->createSolid();
! 
! 							// Add a Sphere Shape to the Solid.
! 							opal::SphereShapeData sphereData;
! 							sphereData.material = gObjectMaterial;
! 							sphereData.radius = (opal::real)0.1;
! 							s->addShape(sphereData);
! 							SphereObject* newSphere = new SphereObject(gSimulator, s, 
! 								sphereData.radius);
  							gObjects.push_back(newSphere);
  							break;
***************
*** 447,452 ****
  						case SDLK_7:
  						{
! 							SphereObject* newSphere = new SphereObject(gSimulator, false, 
! 								(opal::real)0.4, gObjectMaterial);
  							gObjects.push_back(newSphere);
  							break;
--- 596,609 ----
  						case SDLK_7:
  						{
! 							// Create and setup the Solid.
! 							opal::Solid* s = gSimulator->createSolid();
! 
! 							// Add a Sphere Shape to the Solid.
! 							opal::SphereShapeData sphereData;
! 							sphereData.material = gObjectMaterial;
! 							sphereData.radius = (opal::real)0.4;
! 							s->addShape(sphereData);
! 							SphereObject* newSphere = new SphereObject(gSimulator, s, 
! 								sphereData.radius);
  							gObjects.push_back(newSphere);
  							break;
***************
*** 454,465 ****
  						case SDLK_8:
  						{
! 							SphereObject* newSphere = new SphereObject(gSimulator, false, 
! 								(opal::real)0.8, gObjectMaterial);
! 							gObjects.push_back(newSphere);
  							break;
  						}
  						case SDLK_9:
  						{
! 							CarObject* newCar = new CarObject(gSimulator, (opal::real)1.0);
  							gObjects.push_back(newCar);
  							break;
--- 611,621 ----
  						case SDLK_8:
  						{
! 							makeRagdoll();
  							break;
  						}
  						case SDLK_9:
  						{
! 							CarObject* newCar = 
! 								new CarObject(gSimulator, (opal::real)1.0);
  							gObjects.push_back(newCar);
  							break;
***************
*** 481,485 ****
  					gAspectRatio = (float)gWindowWidth/(float)gWindowHeight;
  
! 					SDL_SetVideoMode(gWindowWidth, gWindowHeight, 0, SDL_OPENGL|SDL_RESIZABLE);
  					InitOpenGL();
  
--- 637,642 ----
  					gAspectRatio = (float)gWindowWidth/(float)gWindowHeight;
  
! 					SDL_SetVideoMode(gWindowWidth, gWindowHeight, 
! 						0, SDL_OPENGL|SDL_RESIZABLE);
  					InitOpenGL();
  

Index: simple_objects.vcproj
===================================================================
RCS file: /cvsroot/opal/opal/samples/simple_objects/simple_objects.vcproj,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** simple_objects.vcproj	9 Feb 2005 07:12:45 -0000	1.9
--- simple_objects.vcproj	1 Mar 2005 05:04:20 -0000	1.10
***************
*** 126,129 ****
--- 126,132 ----
  			</File>
  			<File
+ 				RelativePath="..\src\CapsuleObject.cpp">
+ 			</File>
+ 			<File
  				RelativePath="..\src\CarObject.cpp">
  			</File>
***************
*** 149,152 ****
--- 152,158 ----
  			</File>
  			<File
+ 				RelativePath="..\src\CapsuleObject.h">
+ 			</File>
+ 			<File
  				RelativePath="..\src\CarObject.h">
  			</File>

--- NEW FILE: ragdoll.xml ---
<?xml version="1.0" ?>
<OpalBlueprint>
	<Solid>
		<Name value="head"/>
		<Offset>
			<Transform type="translate" x="0.0" y="1.02" z="0.0"/>
			<Transform type="rotate" angle="90.0" x="1.0" y="0.0" z="0.0"/>
		</Offset>
		<Shape type="capsule">
			<Dimensions radius="0.065" length="0.02"/>
		</Shape>
	</Solid>
	<Joint>
		<Name value="neck"/>
		<Type value="hinge"/>
		<References solid0="upper torso" solid1="head"/>
		<Anchor x="0.0" y="0.95" z="0.0"/>
		<Axis>
			<AxisNum value="0"/>
			<Direction x="1.0" y="0.0" z="0.0"/>
			<LimitsEnabled value="true"/>
			<LimitLow value="-45.0"/>
			<LimitHigh value="45.0"/>
		</Axis>
	</Joint>
	<Solid>
		<Name value="upper torso"/>
		<Offset>
			<Transform type="translate" x="0.0" y="0.9" z="0.0"/>
			<Transform type="rotate" angle="90.0" x="0.0" y="1.0" z="0.0"/>
		</Offset>
		<Shape type="capsule">
			<Dimensions radius="0.045" length="0.25"/>
		</Shape>
	</Solid>
	<Joint>
		<Name value="left shoulder"/>
		<Type value="universal"/>
		<References solid0="upper left arm" solid1="upper torso"/>
		<Anchor x="0.16" y="0.9" z="0.0"/>
		<Axis>
			<AxisNum value="0"/>
			<Direction x="1.0" y="0.0" z="0.0"/>
			<LimitsEnabled value="true"/>
			<LimitLow value="-160.0"/>
			<LimitHigh value="80.0"/>
		</Axis>
		<Axis>
			<AxisNum value="1"/>
			<Direction x="0.0" y="0.0" z="1.0"/>
			<LimitsEnabled value="true"/>
			<LimitLow value="-45.0"/>
			<LimitHigh value="170.0"/>
		</Axis>
	</Joint>
	<Solid>
		<Name value="upper left arm"/>
		<Offset>
			<Transform type="translate" x="0.16" y="0.8" z="0.0"/>
			<Transform type="rotate" angle="90.0" x="1.0" y="0.0" z="0.0"/>
		</Offset>
		<Shape type="capsule">
			<Dimensions radius="0.03" length="0.2"/>
		</Shape>
	</Solid>
	<Joint>
		<Name value="left elbow"/>
		<Type value="hinge"/>
		<References solid0="lower left arm" solid1="upper left arm"/>
		<Anchor x="0.16" y="0.7" z="0.0"/>
		<Axis>
			<AxisNum value="0"/>
			<Direction x="1.0" y="0.0" z="0.0"/>
			<LimitsEnabled value="true"/>
			<LimitLow value="-120.0"/>
			<LimitHigh value="0.0"/>
		</Axis>
	</Joint>
	<Solid>
		<Name value="lower left arm"/>
		<Offset>
			<Transform type="translate" x="0.16" y="0.6" z="0.0"/>
			<Transform type="rotate" angle="90.0" x="1.0" y="0.0" z="0.0"/>
		</Offset>
		<Shape type="capsule">
			<Dimensions radius="0.027" length="0.2"/>
		</Shape>
	</Solid>
	<Joint>
		<Name value="left wrist"/>
		<Type value="hinge"/>
		<References solid0="left hand" solid1="lower left arm"/>
		<Anchor x="0.16" y="0.5" z="0.0"/>
		<Axis>
			<AxisNum value="0"/>
			<Direction x="0.0" y="0.0" z="1.0"/>
			<LimitsEnabled value="true"/>
			<LimitLow value="-85.0"/>
			<LimitHigh value="85.0"/>
		</Axis>
	</Joint>
	<Solid>
		<Name value="left hand"/>
		<Offset>
			<Transform type="translate" x="0.16" y="0.45" z="0.0"/>
		</Offset>
		<Shape type="box">
			<Dimensions x="0.02" y="0.09" z="0.06"/>
		</Shape>
	</Solid>
	<Joint>
		<Name value="right shoulder"/>
		<Type value="universal"/>
		<References solid0="upper right arm" solid1="upper torso"/>
		<Anchor x="-0.16" y="0.9" z="0.0"/>
		<Axis>
			<AxisNum value="0"/>
			<Direction x="1.0" y="0.0" z="0.0"/>
			<LimitsEnabled value="true"/>
			<LimitLow value="-160.0"/>
			<LimitHigh value="80.0"/>
		</Axis>
		<Axis>
			<AxisNum value="1"/>
			<Direction x="0.0" y="0.0" z="1.0"/>
			<LimitsEnabled value="true"/>
			<LimitLow value="-170.0"/>
			<LimitHigh value="45.0"/>
		</Axis>
	</Joint>
	<Solid>
		<Name value="upper right arm"/>
		<Offset>
			<Transform type="translate" x="-0.16" y="0.8" z="0.0"/>
			<Transform type="rotate" angle="90.0" x="1.0" y="0.0" z="0.0"/>
		</Offset>
		<Shape type="capsule">
			<Dimensions radius="0.03" length="0.2"/>
		</Shape>
	</Solid>
	<Joint>
		<Name value="right elbow"/>
		<Type value="hinge"/>
		<References solid0="lower right arm" solid1="upper right arm"/>
		<Anchor x="-0.16" y="0.7" z="0.0"/>
		<Axis>
			<AxisNum value="0"/>
			<Direction x="1.0" y="0.0" z="0.0"/>
			<LimitsEnabled value="true"/>
			<LimitLow value="-120.0"/>
			<LimitHigh value="0.0"/>
		</Axis>
	</Joint>
	<Solid>
		<Name value="lower right arm"/>
		<Offset>
			<Transform type="translate" x="-0.16" y="0.6" z="0.0"/>
			<Transform type="rotate" angle="90.0" x="1.0" y="0.0" z="0.0"/>
		</Offset>
		<Shape type="capsule">
			<Dimensions radius="0.027" length="0.2"/>
		</Shape>
	</Solid>
	<Joint>
		<Name value="right wrist"/>
		<Type value="hinge"/>
		<References solid0="right hand" solid1="lower right arm"/>
		<Anchor x="-0.16" y="0.5" z="0.0"/>
		<Axis>
			<AxisNum value="0"/>
			<Direction x="0.0" y="0.0" z="1.0"/>
			<LimitsEnabled value="true"/>
			<LimitLow value="-85.0"/>
			<LimitHigh value="85.0"/>
		</Axis>
	</Joint>
	<Solid>
		<Name value="right hand"/>
		<Offset>
			<Transform type="translate" x="-0.16" y="0.45" z="0.0"/>
		</Offset>
		<Shape type="box">
			<Dimensions x="0.02" y="0.09" z="0.06"/>
		</Shape>
	</Solid>
	<Joint>
		<Name value="chest joint"/>
		<Type value="universal"/>
		<References solid0="lower torso" solid1="upper torso"/>
		<Anchor x="0.0" y="0.86" z="0.0"/>
		<Axis>
			<AxisNum value="0"/>
			<Direction x="0.0" y="0.0" z="1.0"/>
			<LimitsEnabled value="true"/>
			<LimitLow value="-15.0"/>
			<LimitHigh value="15.0"/>
		</Axis>
		<Axis>
			<AxisNum value="1"/>
			<Direction x="0.0" y="1.0" z="0.0"/>
			<LimitsEnabled value="true"/>
			<LimitLow value="-15.0"/>
			<LimitHigh value="15.0"/>
		</Axis>
	</Joint>
	<Solid>
		<Name value="lower torso"/>
		<Offset>
			<Transform type="translate" x="0.0" y="0.75" z="0.0"/>
		</Offset>
		<Shape type="box">
			<Dimensions x="0.18" y="0.27" z="0.04"/>
		</Shape>
	</Solid>
	<Joint>
		<Name value="waist joint"/>
		<Type value="hinge"/>
		<References solid0="pelvis" solid1="lower torso"/>
		<Anchor x="0.0" y="0.58" z="0.0"/>
		<Axis>
			<AxisNum value="0"/>
			<Direction x="0.0" y="1.0" z="0.0"/>
			<LimitsEnabled value="true"/>
			<LimitLow value="-20.0"/>
			<LimitHigh value="20.0"/>
		</Axis>
	</Joint>
	<Solid>
		<Name value="pelvis"/>
		<Offset>
			<Transform type="translate" x="0.0" y="0.58" z="0.0"/>
			<Transform type="rotate" angle="90.0" x="0.0" y="1.0" z="0.0"/>
		</Offset>
		<Shape type="capsule">
			<Dimensions radius="0.05" length="0.15"/>
		</Shape>
	</Solid>
	<Joint>
		<Name value="left hip"/>
		<Type value="universal"/>
		<References solid0="upper left leg" solid1="pelvis"/>
		<Anchor x="0.08" y="0.58" z="0.0"/>
		<Axis>
			<AxisNum value="0"/>
			<Direction x="1.0" y="0.0" z="0.0"/>
			<LimitsEnabled value="true"/>
			<LimitLow value="-135.0"/>
			<LimitHigh value="45.0"/>
		</Axis>
		<Axis>
			<AxisNum value="1"/>
			<Direction x="0.0" y="0.0" z="1.0"/>
			<LimitsEnabled value="true"/>
			<LimitLow value="-30.0"/>
			<LimitHigh value="30.0"/>
		</Axis>
	</Joint>
	<Solid>
		<Name value="upper left leg"/>
		<Offset>
			<Transform type="translate" x="0.08" y="0.43" z="0.0"/>
			<Transform type="rotate" angle="90.0" x="1.0" y="0.0" z="0.0"/>
		</Offset>
		<Shape type="capsule">
			<Dimensions radius="0.04" length="0.26"/>
		</Shape>
	</Solid>
	<Joint>
		<Name value="right hip"/>
		<Type value="universal"/>
		<References solid0="upper right leg" solid1="pelvis"/>
		<Anchor x="-0.08" y="0.58" z="0.0"/>
		<Axis>
			<AxisNum value="0"/>
			<Direction x="1.0" y="0.0" z="0.0"/>
			<LimitsEnabled value="true"/>
			<LimitLow value="-135.0"/>
			<LimitHigh value="45.0"/>
		</Axis>
		<Axis>
			<AxisNum value="1"/>
			<Direction x="0.0" y="0.0" z="1.0"/>
			<LimitsEnabled value="true"/>
			<LimitLow value="-30.0"/>
			<LimitHigh value="30.0"/>
		</Axis>
	</Joint>
	<Solid>
		<Name value="upper right leg"/>
		<Offset>
			<Transform type="translate" x="-0.08" y="0.43" z="0.0"/>
			<Transform type="rotate" angle="90.0" x="1.0" y="0.0" z="0.0"/>
		</Offset>
		<Shape type="capsule">
			<Dimensions radius="0.04" length="0.26"/>
		</Shape>
	</Solid>
	<Joint>
		<Name value="left knee"/>
		<Type value="hinge"/>
		<References solid0="lower left leg" solid1="upper left leg"/>
		<Anchor x="0.08" y="0.3" z="0.0"/>
		<Axis>
			<AxisNum value="0"/>
			<Direction x="1.0" y="0.0" z="0.0"/>
			<LimitsEnabled value="true"/>
			<LimitLow value="0.0"/>
			<LimitHigh value="165.0"/>
		</Axis>
	</Joint>
	<Solid>
		<Name value="lower left leg"/>
		<Offset>
			<Transform type="translate" x="0.08" y="0.17" z="0.0"/>
			<Transform type="rotate" angle="90.0" x="1.0" y="0.0" z="0.0"/>
		</Offset>
		<Shape type="capsule">
			<Dimensions radius="0.03" length="0.26"/>
		</Shape>
	</Solid>
	<Joint>
		<Name value="right knee"/>
		<Type value="hinge"/>
		<References solid0="lower right leg" solid1="upper right leg"/>
		<Anchor x="-0.08" y="0.3" z="0.0"/>
		<Axis>
			<AxisNum value="0"/>
			<Direction x="1.0" y="0.0" z="0.0"/>
			<LimitsEnabled value="true"/>
			<LimitLow value="0.0"/>
			<LimitHigh value="165.0"/>
		</Axis>
	</Joint>
	<Solid>
		<Name value="lower right leg"/>
		<Offset>
			<Transform type="translate" x="-0.08" y="0.17" z="0.0"/>
			<Transform type="rotate" angle="90.0" x="1.0" y="0.0" z="0.0"/>
		</Offset>
		<Shape type="capsule">
			<Dimensions radius="0.03" length="0.26"/>
		</Shape>
	</Solid>
	<Joint>
		<Name value="left ankle"/>
		<Type value="hinge"/>
		<References solid0="left foot" solid1="lower left leg"/>
		<Anchor x="0.08" y="0.04" z="0.0"/>
		<Axis>
			<AxisNum value="0"/>
			<Direction x="1.0" y="0.0" z="0.0"/>
			<LimitsEnabled value="true"/>
			<LimitLow value="-45.0"/>
			<LimitHigh value="60.0"/>
		</Axis>
	</Joint>
	<Solid>
		<Name value="left foot"/>
		<Offset>
			<Transform type="translate" x="0.08" y="0.02" z="0.045"/>
		</Offset>
		<Shape type="box">
			<Dimensions x="0.075" y="0.04" z="0.15"/>
		</Shape>
	</Solid>
	<Joint>
		<Name value="right ankle"/>
		<Type value="hinge"/>
		<References solid0="right foot" solid1="lower right leg"/>
		<Anchor x="-0.08" y="0.04" z="0.0"/>
		<Axis>
			<AxisNum value="0"/>
			<Direction x="1.0" y="0.0" z="0.0"/>
			<LimitsEnabled value="true"/>
			<LimitLow value="-45.0"/>
			<LimitHigh value="60.0"/>
		</Axis>
	</Joint>
	<Solid>
		<Name value="right foot"/>
		<Offset>
			<Transform type="translate" x="-0.08" y="0.02" z="0.045"/>
		</Offset>
		<Shape type="box">
			<Dimensions x="0.075" y="0.04" z="0.15"/>
		</Shape>
	</Solid>
</OpalBlueprint>