JV-ODE Physics Thread 5

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Shifty Geezer
 #1
I've cobbled together an example, cannabalising the ODE Ragdoll demo. It's using quite different parameters to my engine, different ragdoll, etc. Run this and see it working properly in slow motion...
; ###################################################################################################
; #									   JV-ODE - Ragdoll Demo										#
; #									Code by Jim Williams (VIP3R)									#
; ###################################################################################################

AppTitle "JV-ODE - Ragdoll Demo"

Include "JV-ODE.bb"

Graphics3D 800,600,0,2

Global RagDollMax=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)

dWorldSetAutoDisableFlag(World,1)
dWorldSetGravity(World,0,-0.5,0)
dContactSetMode(dContactSlip1+dContactBounce)
dContactSetBounce(0.3)
dContactSetMu(48)
dWorldSetQuickStepNumIterations (World,200)	; 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)
	
While Not KeyHit(1)
	UpdateGeoms()

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

	RenderWorld
	Flip

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

Now if you increase dWorldQuickStep() to speed things up, to say 1.2 you should get passthrough. At least I do! Likewsie changing the gravity to speed things up messes things about. I've found with a few tests that at QStep=1.2, when gravity =0.95 speed is about 'realtime' and the collision works (though with a different result to slowmo mode) but at g=0.94 or 0.96, is bust. dWorldStep() actually performs worse.

If you remove the first dBodyDisable() in the ragdoll creation, the ragdoll drops due to gravity and the collisions are pretty much problem free at higher speeds. It's like the enabling skips a frame's worth of collision so the second frame after the collision, the objects have already penetrated.