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Lolilol the ragdoll

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git-svn-id: https://jmonkeyengine.googlecode.com/svn/trunk@7185 75d07b2b-3a1a-0410-a2c5-0572b91ccdca
3.0
rem..om 14 years ago
parent c6a3a78b1e
commit 0a82e1ee11
2 changed files with 112 additions and 29 deletions
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  1. 115
      engine/src/jbullet/com/jme3/bullet/control/RagdollControl.java
  2. 26
      engine/src/test/jme3test/bullet/TestBoneRagdoll.java

115
engine/src/jbullet/com/jme3/bullet/control/RagdollControl.java
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@ -6,6 +6,10 @@ import com.jme3.animation.Skeleton;
import com.jme3.animation.SkeletonControl;
import com.jme3.asset.AssetManager;
import com.jme3.bullet.PhysicsSpace;
import com.jme3.bullet.collision.PhysicsCollisionEvent;
import com.jme3.bullet.collision.PhysicsCollisionGroupListener;
import com.jme3.bullet.collision.PhysicsCollisionListener;
import com.jme3.bullet.collision.PhysicsCollisionObject;
import com.jme3.bullet.collision.shapes.BoxCollisionShape;
import com.jme3.bullet.collision.shapes.HullCollisionShape;
import com.jme3.bullet.joints.ConeJoint;
@ -36,7 +40,7 @@ import java.util.List;
import java.util.logging.Level;
import java.util.logging.Logger;
public class RagdollControl implements PhysicsControl {
public class RagdollControl implements PhysicsControl, PhysicsCollisionListener {
protected static final Logger logger = Logger.getLogger(RagdollControl.class.getName());
protected List<PhysicsBoneLink> boneLinks = new LinkedList<PhysicsBoneLink>();
@ -51,6 +55,7 @@ public class RagdollControl implements PhysicsControl {
protected Vector3f initPosition;
protected Quaternion initRotation;
protected Vector3f initScale;
protected boolean control = false;
//Normen: Think you have the system you want, with movement
//Normen: but the rootBone movement and translation is also accessible like getRootBoneLocation()
@ -73,12 +78,13 @@ public class RagdollControl implements PhysicsControl {
if (!enabled) {
return;
}
TempVars vars = TempVars.get();
assert vars.lock();
Quaternion q2 = vars.quat1;
// skeleton.reset();
for (PhysicsBoneLink link : boneLinks) {
TempVars vars = TempVars.get();
assert vars.lock();
if (control) {
Quaternion q2 = vars.quat1;
// skeleton.reset();
for (PhysicsBoneLink link : boneLinks) {
// if(link.bone==skeleton.getRoots()[0]){
// Vector3f loc=vars.vect1;
@ -86,18 +92,31 @@ public class RagdollControl implements PhysicsControl {
// ((Geometry)targetModel).setLocalTranslation(loc);
//
// }
Vector3f p = link.rigidBody.getMotionState().getWorldLocation();
Quaternion q = link.rigidBody.getMotionState().getWorldRotationQuat();
Vector3f p = link.rigidBody.getMotionState().getWorldLocation();
Quaternion q = link.rigidBody.getMotionState().getWorldRotationQuat();
q2.set(q).multLocal(link.initalWorldRotation).normalize();
q2.set(q).multLocal(link.initalWorldRotation).normalize();
link.bone.setUserTransformsWorld(p, q2);
link.bone.setUserTransformsWorld(p, q2);
}
}else{
for (PhysicsBoneLink link : boneLinks) {
Vector3f position = vars.vect1;
Quaternion rotation = vars.quat1;
Vector3f scale= vars.vect2;
position.set(link.bone.getModelSpacePosition());
rotation.set(link.bone.getModelSpaceRotation()).multLocal(link.bone.getWorldBindInverseRotation());
scale.set(link.bone.getModelSpaceScale());
link.rigidBody.setPhysicsLocation(position);
link.rigidBody.setPhysicsRotation(rotation);
}
}
assert vars.unlock();
//baseRigidBody.getMotionState().applyTransform(targetModel);
}
@ -108,7 +127,7 @@ public class RagdollControl implements PhysicsControl {
public void setSpatial(Spatial model) {
targetModel = model;
//HACK ALERT change this
//I remove the skeletonControl and readd it to the spatial to make sure it's after the ragdollControl in the stack
//Find a proper way to order the controls.
@ -116,7 +135,7 @@ public class RagdollControl implements PhysicsControl {
model.removeControl(sc);
model.addControl(sc);
//----
removeFromPhysicsSpace();
clearData();
// put into bind pose and compute bone transforms in model space
@ -131,7 +150,7 @@ public class RagdollControl implements PhysicsControl {
}
private void scanSpatial(Spatial model) {
AnimControl animControl = model.getControl(AnimControl.class);
AnimControl animControl = model.getControl(AnimControl.class);
initPosition = model.getLocalTranslation();
initRotation = model.getLocalRotation();
@ -144,11 +163,11 @@ public class RagdollControl implements PhysicsControl {
childBone.setUserControl(true);
if (childBone.getParent() == null) {
Vector3f parentPos = childBone.getModelSpacePosition().add(initPosition);
// Quaternion parentRot= childBone.getModelSpaceRotation().mult(initRotation);
// Quaternion parentRot= childBone.getModelSpaceRotation().mult(initRotation);
logger.log(Level.INFO, "Found root bone in skeleton {0}", skeleton);
baseRigidBody = new PhysicsRigidBody(new BoxCollisionShape(Vector3f.UNIT_XYZ.mult(.1f)), 1);
baseRigidBody.setPhysicsLocation(parentPos);
// baseRigidBody.setPhysicsRotation(parentRot);
// baseRigidBody.setPhysicsRotation(parentRot);
boneLinks = boneRecursion(model, childBone, baseRigidBody, boneLinks, 1);
return;
}
@ -168,12 +187,13 @@ public class RagdollControl implements PhysicsControl {
//get world space position of the bone
Vector3f pos = bone.getModelSpacePosition().add(model.getLocalTranslation());
Quaternion rot= bone.getModelSpaceRotation().mult(initRotation);
Quaternion rot = bone.getModelSpaceRotation().mult(initRotation);
//creating the collision shape from the bone's associated vertices
PhysicsRigidBody shapeNode = new PhysicsRigidBody(makeShape(bone, model), 10.0f / (float) reccount);
shapeNode.setPhysicsLocation(pos);
// shapeNode.setPhysicsRotation(rot);
// shapeNode.setPhysicsRotation(rot);
PhysicsBoneLink link = new PhysicsBoneLink();
link.bone = bone;
@ -369,6 +389,7 @@ public class RagdollControl implements PhysicsControl {
this.space = space;
addToPhysicsSpace();
}
this.space.addCollisionListener(this);
}
public PhysicsSpace getPhysicsSpace() {
@ -383,6 +404,62 @@ public class RagdollControl implements PhysicsControl {
throw new UnsupportedOperationException("Not supported yet.");
}
public void collision(PhysicsCollisionEvent event) {
PhysicsCollisionObject objA = event.getObjectA();
PhysicsCollisionObject objB = event.getObjectB();
// System.out.println("----------------------------");
// System.out.println("NodeA "+event.getNodeA());
// System.out.println("NodeB "+event.getNodeB());
if (event == null) {
return;
}
if (event.getNodeA() != null && "Floor".equals(event.getNodeA().getName())) {
return;
}
if (event.getNodeB() != null && "Floor".equals(event.getNodeB().getName())) {
return;
}
// if(event.getNodeB() == null && event.getNodeA() ==null){
// return;
// }
if (event.getAppliedImpulse() < 3.0) {
return;
}
boolean hit = false;
if (objA instanceof PhysicsRigidBody) {
PhysicsRigidBody prb = (PhysicsRigidBody) objA;
for (PhysicsBoneLink physicsBoneLink : boneLinks) {
if (physicsBoneLink.rigidBody == prb) {
hit = true;
// System.out.println("objA " + physicsBoneLink.bone.getName() + " " + event.getAppliedImpulse() + " " + event.getAppliedImpulseLateral1() + " " + event.getAppliedImpulseLateral2());
}
}
}
if (objB instanceof PhysicsRigidBody) {
PhysicsRigidBody prb = (PhysicsRigidBody) objB;
for (PhysicsBoneLink physicsBoneLink : boneLinks) {
if (physicsBoneLink.rigidBody == prb) {
hit = false;
// System.out.println("objB " + physicsBoneLink.bone.getName() + " " + event.getAppliedImpulse() + " " + event.getAppliedImpulseLateral1() + " " + event.getAppliedImpulseLateral2());
}
}
}
if (hit && event.getAppliedImpulse() > 10.0) {
control = true;
}
// System.out.println("----------------------------");
}
public boolean collide(PhysicsCollisionObject nodeA, PhysicsCollisionObject nodeB) {
throw new UnsupportedOperationException("Not supported yet.");
}
protected static class PhysicsBoneLink {
Bone bone;

26
engine/src/test/jme3test/bullet/TestBoneRagdoll.java
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@ -79,10 +79,15 @@ public class TestBoneRagdoll extends SimpleApplication {
public void simpleInitApp() {
initCrossHairs();
initMaterial();
cam.setLocation(new Vector3f(0.26924422f, 6.646658f, 22.265987f));
cam.setRotation(new Quaternion(-2.302544E-4f, 0.99302495f, -0.117888905f, -0.0019395084f));
bulletAppState = new BulletAppState();
bulletAppState.setEnabled(false);
bulletAppState.setEnabled(true);
stateManager.attach(bulletAppState);
bulletAppState.getPhysicsSpace().enableDebug(assetManager);
// bulletAppState.getPhysicsSpace().enableDebug(assetManager);
PhysicsTestHelper.createPhysicsTestWorld(rootNode, assetManager, bulletAppState.getPhysicsSpace());
setupLight();
@ -98,7 +103,7 @@ public class TestBoneRagdoll extends SimpleApplication {
mat2.getAdditionalRenderState().setDepthTest(false);
skeletonDebug.setMaterial(mat2);
skeletonDebug.setLocalTranslation(model.getLocalTranslation());
control.createChannel().setAnim("Dodge");
control.createChannel().setAnim("Walk");
//Note: PhysicsRagdollControl is still TODO, constructor will change
RagdollControl ragdoll = new RagdollControl();
@ -115,10 +120,11 @@ public class TestBoneRagdoll extends SimpleApplication {
rootNode.attachChild(model);
rootNode.attachChild(skeletonDebug);
flyCam.setEnabled(false);
// flyCam.setMoveSpeed(10);
ChaseCamera chaseCamera=new ChaseCamera(cam, inputManager);
model.addControl(chaseCamera);
// flyCam.setEnabled(false);
flyCam.setMoveSpeed(50);
// ChaseCamera chaseCamera=new ChaseCamera(cam, inputManager);
// chaseCamera.setLookAtOffset(Vector3f.UNIT_Y.mult(4));
// model.addControl(chaseCamera);
inputManager.addListener(new ActionListener() {
@ -130,9 +136,9 @@ public class TestBoneRagdoll extends SimpleApplication {
Geometry bulletg = new Geometry("bullet", bullet);
bulletg.setMaterial(matBullet);
bulletg.setLocalTranslation(cam.getLocation());
RigidBodyControl bulletNode = new BombControl(assetManager, bulletCollisionShape, 1);
// RigidBodyControl bulletNode = new RigidBodyControl(bulletCollisionShape, 1);
bulletNode.setLinearVelocity(cam.getDirection().mult(60));
// RigidBodyControl bulletNode = new BombControl(assetManager, bulletCollisionShape, 1);
RigidBodyControl bulletNode = new RigidBodyControl(bulletCollisionShape, 20);
bulletNode.setLinearVelocity(cam.getDirection().mult(80));
bulletg.addControl(bulletNode);
rootNode.attachChild(bulletg);
getPhysicsSpace().add(bulletNode);

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