- RagdollControl now has automagic joint setup via RagdollPreset and HumanoidRagdollPreset

git-svn-id: https://jmonkeyengine.googlecode.com/svn/trunk@7230 75d07b2b-3a1a-0410-a2c5-0572b91ccdca

engine/src/jbullet/com/jme3/bullet/control/HumanoidRagdollPreset.java

@@ -0,0 +1,99 @@
+/*
+ * To change this template, choose Tools | Templates
+ * and open the template in the editor.
+ */
+package com.jme3.bullet.control;
+
+import com.jme3.math.FastMath;
+
+/**
+ *
+ * @author Nehon
+ */
+public class HumanoidRagdollPreset extends RagdollPreset {
+
+    @Override
+    protected void initBoneMap() {
+        boneMap.put("head", new JointPreset(FastMath.QUARTER_PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI));
+
+        boneMap.put("torso", new JointPreset(FastMath.QUARTER_PI, -FastMath.QUARTER_PI, 0, 0, FastMath.QUARTER_PI, -FastMath.QUARTER_PI));
+
+        boneMap.put("upperleg", new JointPreset(FastMath.PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI));
+
+        boneMap.put("lowerleg", new JointPreset(0, -FastMath.PI, 0, 0, 0, 0));
+
+        boneMap.put("foot", new JointPreset(0, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI));
+
+        boneMap.put("upperarm", new JointPreset(FastMath.HALF_PI, -FastMath.QUARTER_PI, 0, 0, FastMath.QUARTER_PI, -FastMath.HALF_PI));
+
+        boneMap.put("lowerarm", new JointPreset(FastMath.PI, 0, 0, 0, 0, 0));
+
+        boneMap.put("hand", new JointPreset(FastMath.QUARTER_PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI));
+
+    }
+
+    @Override
+    protected void initLexicon() {
+        LexiconEntry entry = new LexiconEntry();
+        entry.addSynonym("head", 100);        
+        lexicon.put("head", entry);
+
+        entry = new LexiconEntry();
+        entry.addSynonym("torso", 100);
+        entry.addSynonym("chest", 100);
+        entry.addSynonym("spine", 45);
+        entry.addSynonym("high", 25);
+        lexicon.put("torso", entry);
+
+        entry = new LexiconEntry();
+        entry.addSynonym("upperleg", 100);
+        entry.addSynonym("thigh", 100);
+        entry.addSynonym("hip", 75);
+        entry.addSynonym("leg", 40);
+        entry.addSynonym("high", 10);
+        entry.addSynonym("up", 15);
+        entry.addSynonym("upper", 15);
+        lexicon.put("upperleg", entry);
+
+        entry = new LexiconEntry();
+        entry.addSynonym("lowerleg", 100);
+        entry.addSynonym("calf", 100);
+        entry.addSynonym("knee", 75);
+        entry.addSynonym("leg", 50);
+        entry.addSynonym("low", 10);
+        entry.addSynonym("lower", 10);
+        lexicon.put("lowerleg", entry);
+        
+        entry = new LexiconEntry();
+        entry.addSynonym("foot", 100);
+        entry.addSynonym("ankle", 75);   
+        lexicon.put("foot", entry);
+        
+        
+        entry = new LexiconEntry();
+        entry.addSynonym("upperarm", 100);
+        entry.addSynonym("humerus", 100); 
+        entry.addSynonym("shoulder", 50);
+        entry.addSynonym("arm", 40);
+        entry.addSynonym("high", 10);
+        entry.addSynonym("up", 15);
+        entry.addSynonym("upper", 15);
+        lexicon.put("upperarm", entry);
+
+        entry = new LexiconEntry();
+        entry.addSynonym("lowerarm", 100);
+        entry.addSynonym("ulna", 100);
+        entry.addSynonym("elbow", 75);
+        entry.addSynonym("arm", 50);
+        entry.addSynonym("low", 10);
+        entry.addSynonym("lower", 10);
+        lexicon.put("lowerarm", entry);
+        
+        entry = new LexiconEntry();
+        entry.addSynonym("hand", 100);
+        entry.addSynonym("fist", 100);   
+        entry.addSynonym("wrist", 75);           
+        lexicon.put("hand", entry);
+
+    }
+}

engine/src/jbullet/com/jme3/bullet/control/RagdollControl.java

@@ -58,6 +58,9 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
     protected Vector3f initScale;
     protected boolean control = false;
     protected List<RagdollCollisionListener> listeners;
+    protected float eventDispatchImpulseThreshold = 10;
+    protected float eventDiscardImpulseThreshold = 3;
+    protected RagdollPreset preset = new HumanoidRagdollPreset();
 
     public RagdollControl() {
     }
@@ -162,7 +165,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
         // maybe dont reset to ragdoll out of animations?
         scanSpatial(model);
 
-        System.out.println("parent " + parent);
+       
         if (parent != null) {
             parent.attachChild(model);
 
@@ -193,14 +196,14 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
                 baseRigidBody = new PhysicsRigidBody(new BoxCollisionShape(Vector3f.UNIT_XYZ.mult(.1f)), 1);
                 baseRigidBody.setPhysicsLocation(parentPos);
                 //  baseRigidBody.setPhysicsRotation(parentRot);
-                boneLinks = boneRecursion(model, childBone, baseRigidBody, boneLinks, 1);
+                boneRecursion(model, childBone, baseRigidBody, 1);
                 return;
             }
 
         }
     }
 
-    private Map<String, PhysicsBoneLink> boneRecursion(Spatial model, Bone bone, PhysicsRigidBody parent, Map<String, PhysicsBoneLink> list, int reccount) {
+    private void boneRecursion(Spatial model, Bone bone, PhysicsRigidBody parent, int reccount) {
 
         //get world space position of the bone
         Vector3f pos = bone.getModelSpacePosition().add(model.getLocalTranslation());
@@ -209,14 +212,15 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
         //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;
         link.rigidBody = shapeNode;
         link.initalWorldRotation = bone.getModelSpaceRotation().clone();
- //       link.mass = 10.0f / (float) reccount;
+        //       link.mass = 10.0f / (float) reccount;
 
         //TODO: ragdoll mass 1
         if (parent != null) {
@@ -233,18 +237,20 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
 
             SixDofJoint joint = new SixDofJoint(parent, shapeNode, link.pivotA, link.pivotB, true);
             //TODO find a way to correctly compute/import joints (maybe based on their names)
-            setJointLimit(joint, 0, 0, 0, 0, 0, 0);
+            preset.setupJointForBone(bone.getName(), joint);
+            //setJointLimit(joint, 0, 0, 0, 0, 0, 0);
 
             link.joint = joint;
             joint.setCollisionBetweenLinkedBodys(false);
         }
-        list.put(bone.getName(), link);
+        boneLinks.put(bone.getName(), link);
+        shapeNode.setUserObject(link);
 
         for (Iterator<Bone> it = bone.getChildren().iterator(); it.hasNext();) {
             Bone childBone = it.next();
-            boneRecursion(model, childBone, shapeNode, list, reccount++);
+            boneRecursion(model, childBone, shapeNode, reccount++);
         }
-        return list;
+
     }
 
     /**
@@ -317,8 +323,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
     }
 
     private HullCollisionShape makeShape(Bone bone, Spatial model) {
-        int boneIndex = skeleton.getBoneIndex(bone);
+        int boneIndex = skeleton.getBoneIndex(bone);        
-        System.out.println(boneIndex);
         ArrayList<Float> points = new ArrayList<Float>();
         if (model instanceof Geometry) {
             Geometry g = (Geometry) model;
@@ -396,7 +401,9 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
     }
 
     public void setEnabled(boolean enabled) {
-        if(this.enabled == enabled) return;
+        if (this.enabled == enabled) {
+            return;
+        }
         this.enabled = enabled;
         if (!enabled && space != null) {
             removeFromPhysicsSpace();
@@ -473,14 +480,11 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
         PhysicsCollisionObject objA = event.getObjectA();
         PhysicsCollisionObject objB = event.getObjectB();
 
-        if (event.getNodeA() != null && "Floor".equals(event.getNodeA().getName())) {
+        if (event.getNodeA() == null && event.getNodeB() == null) {
-            return;
-        }
-        if (event.getNodeB() != null && "Floor".equals(event.getNodeB().getName())) {
             return;
         }
 
-        if (event.getAppliedImpulse() < 3.0) {
+        if (event.getAppliedImpulse() < eventDiscardImpulseThreshold) {
             return;
         }
 
@@ -488,31 +492,27 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
         Bone hitBone = null;
         PhysicsCollisionObject hitObject = null;
 
-        if (objA instanceof PhysicsRigidBody) {
+        if (objA.getUserObject() instanceof PhysicsBoneLink) {
-            PhysicsRigidBody prb = (PhysicsRigidBody) objA;
+            PhysicsBoneLink link = (PhysicsBoneLink) objA.getUserObject();
-            for (PhysicsBoneLink physicsBoneLink : boneLinks.values()) {
+            if (link != null) {
-                if (physicsBoneLink.rigidBody == prb) {
+                hit = true;
-                    hit = true;
+                hitBone = link.bone;
-                    hitBone = physicsBoneLink.bone;
+                hitObject = objB;
-                    hitObject = objB;
-                    // System.out.println("objA " + physicsBoneLink.bone.getName() + " " + event.getAppliedImpulse() + " " + event.getAppliedImpulseLateral1() + " " + event.getAppliedImpulseLateral2());
-
-                }
             }
         }
-        if (objB instanceof PhysicsRigidBody) {
+
-            PhysicsRigidBody prb = (PhysicsRigidBody) objB;
+        if (objB.getUserObject() instanceof PhysicsBoneLink) {
-            for (PhysicsBoneLink physicsBoneLink : boneLinks.values()) {
+            PhysicsBoneLink link = (PhysicsBoneLink) objB.getUserObject();
-                if (physicsBoneLink.rigidBody == prb) {
+            if (link != null) {
-                    hit = false;
+                hit = true;
-                    hitBone = physicsBoneLink.bone;
+                hitBone = link.bone;
-                    hitObject = objA;
+                hitObject = objA;
-                    // System.out.println("objB " + physicsBoneLink.bone.getName() + " " + event.getAppliedImpulse() + " " + event.getAppliedImpulseLateral1() + " " + event.getAppliedImpulseLateral2());
+
-                }
             }
         }
-        if (hit && event.getAppliedImpulse() > 10.0) {
+
-            System.out.println("trigger impact " + event.getNodeA() + " " + event.getNodeB() + " " + event.getAppliedImpulse());
+        if (hit && event.getAppliedImpulse() > eventDispatchImpulseThreshold) {
+            // System.out.println("trigger impact " + event.getNodeA() + " " + event.getNodeB() + " " + event.getAppliedImpulse());
             //setControl(true);
             for (RagdollCollisionListener listener : listeners) {
                 listener.collide(hitBone, hitObject);
@@ -553,12 +553,13 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
     }
 
     protected static class PhysicsBoneLink {
+
         Bone bone;
         Quaternion initalWorldRotation;
         SixDofJoint joint;
         PhysicsRigidBody rigidBody;
         Vector3f pivotA;
         Vector3f pivotB;
- //       float mass;
+        //       float mass;
     }
 }

engine/src/jbullet/com/jme3/bullet/control/RagdollPreset.java

@@ -0,0 +1,108 @@
+/*
+ * To change this template, choose Tools | Templates
+ * and open the template in the editor.
+ */
+package com.jme3.bullet.control;
+
+import com.jme3.bullet.joints.SixDofJoint;
+import java.util.HashMap;
+import java.util.Map;
+import java.util.logging.Level;
+import java.util.logging.Logger;
+
+/**
+ *
+ * @author Nehon
+ */
+public abstract class RagdollPreset {
+
+    protected static final Logger logger = Logger.getLogger(RagdollPreset.class.getName());
+    protected Map<String, JointPreset> boneMap = new HashMap<String, JointPreset>();
+    protected Map<String, LexiconEntry> lexicon = new HashMap<String, LexiconEntry>();
+
+    protected abstract void initBoneMap();
+
+    protected abstract void initLexicon();
+
+    public void setupJointForBone(String boneName, SixDofJoint joint) {
+
+        if (boneMap.isEmpty()) {
+            initBoneMap();
+        }
+        if (lexicon.isEmpty()) {
+            initLexicon();
+        }
+        String resultName = "";
+        int resultScore = 0;
+
+        System.out.println("-------------- " +boneName); 
+        for (String key : lexicon.keySet()) {
+        
+            int score = lexicon.get(key).getScore(boneName);
+            System.out.println(key+" " +score);
+            if (score > resultScore) {
+                resultScore = score;
+                resultName = key;
+            }
+            
+        }
+        System.out.println("-------------- "); 
+        JointPreset preset = boneMap.get(resultName);
+
+        if (preset != null && resultScore >= 50) {
+            logger.log(Level.INFO, "Found matching joint for bone {0} : {1} with score {2}", new Object[]{boneName, resultName, resultScore});
+            preset.setupJoint(joint);
+        } else {
+            logger.log(Level.INFO, "No joint match found for bone {0}", boneName);
+            if (resultScore > 0) {
+                logger.log(Level.INFO, "Best match found is {0} with score {1}", new Object[]{resultName, resultScore});
+            }
+            new JointPreset().setupJoint(joint);
+        }
+
+    }
+
+    protected class JointPreset {
+
+        private float maxX, minX, maxY, minY, maxZ, minZ;
+
+        public JointPreset() {
+        }
+
+        public JointPreset(float maxX, float minX, float maxY, float minY, float maxZ, float minZ) {
+            this.maxX = maxX;
+            this.minX = minX;
+            this.maxY = maxY;
+            this.minY = minY;
+            this.maxZ = maxZ;
+            this.minZ = minZ;
+        }
+
+        public void setupJoint(SixDofJoint joint) {
+            joint.getRotationalLimitMotor(0).setHiLimit(maxX);
+            joint.getRotationalLimitMotor(0).setLoLimit(minX);
+            joint.getRotationalLimitMotor(1).setHiLimit(maxY);
+            joint.getRotationalLimitMotor(1).setLoLimit(minY);
+            joint.getRotationalLimitMotor(2).setHiLimit(maxZ);
+            joint.getRotationalLimitMotor(2).setLoLimit(minZ);
+        }
+    }
+
+    protected class LexiconEntry extends HashMap<String, Integer> {
+
+        public void addSynonym(String word, int score) {
+            put(word.toLowerCase(), score);
+        }
+
+        public int getScore(String word) {
+            int score = 0;
+            String searchWord = word.toLowerCase();
+            for (String key : this.keySet()) {
+                if (searchWord.indexOf(key) >= 0) {
+                    score += get(key);
+                }
+            }
+            return score;
+        }
+    }
+}

engine/src/test/jme3test/bullet/TestBoneRagdoll.java

@@ -91,7 +91,7 @@ public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisi
         bulletAppState = new BulletAppState();
         bulletAppState.setEnabled(true);
         stateManager.attach(bulletAppState);
-        //       bulletAppState.getPhysicsSpace().enableDebug(assetManager);
+       //        bulletAppState.getPhysicsSpace().enableDebug(assetManager);
         PhysicsTestHelper.createPhysicsTestWorld(rootNode, assetManager, bulletAppState.getPhysicsSpace());
         setupLight();
 
@@ -107,12 +107,6 @@ public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisi
         mat2.getAdditionalRenderState().setDepthTest(false);
         skeletonDebug.setMaterial(mat2);
         skeletonDebug.setLocalTranslation(model.getLocalTranslation());
-//        AnimChannel channel=control.createChannel();
-//        channel.setAnim("Dodge");
-//        channel.setLoopMode(LoopMode.Cycle);
-//        channel.setSpeed(0.1f);
-
-
 
         //Note: PhysicsRagdollControl is still TODO, constructor will change
         ragdoll = new RagdollControl(1.0f);
@@ -121,41 +115,15 @@ public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisi
 
         float eighth_pi = FastMath.PI * 0.125f;
 
-        ragdoll.setJointLimit("head", eighth_pi, -eighth_pi, eighth_pi, -eighth_pi, eighth_pi, -eighth_pi);
+        //Oto's head is almost rigid
-
+        ragdoll.setJointLimit("head", 0, 0, eighth_pi, -eighth_pi, 0, 0);
-        ragdoll.setJointLimit("spinehigh", FastMath.QUARTER_PI, -FastMath.QUARTER_PI, 0, 0, FastMath.QUARTER_PI, -FastMath.QUARTER_PI);
-
-        ragdoll.setJointLimit("hip.right", FastMath.PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI);
-        ragdoll.setJointLimit("hip.left", FastMath.PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI);
-
-        ragdoll.setJointLimit("leg.left", 0, -FastMath.PI, 0, 0, 0, 0);
-        ragdoll.setJointLimit("leg.right", 0, -FastMath.PI, 0, 0, 0, 0);
-
-        ragdoll.setJointLimit("foot.right", 0, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI);
-        ragdoll.setJointLimit("foot.left", 0, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI);
-
-        ragdoll.setJointLimit("uparm.right", FastMath.HALF_PI, -FastMath.QUARTER_PI, 0, 0, FastMath.QUARTER_PI, -FastMath.HALF_PI);
-        ragdoll.setJointLimit("uparm.left", FastMath.HALF_PI, -FastMath.QUARTER_PI, 0, 0, FastMath.QUARTER_PI, -FastMath.HALF_PI);
-            
-        ragdoll.setJointLimit("arm.right", FastMath.PI, 0, 0, 0, 0, 0);
-        ragdoll.setJointLimit("arm.left", FastMath.PI, 0, 0, 0, 0, 0);
-
-        ragdoll.setJointLimit("hand.right", FastMath.QUARTER_PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI);
-        ragdoll.setJointLimit("hand.left", FastMath.QUARTER_PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI);
-
-
-
 
         getPhysicsSpace().add(ragdoll);
         speed = 1.3f;
 
         rootNode.attachChild(model);
-        //    rootNode.attachChild(skeletonDebug);
-        //flyCam.setEnabled(false);
         flyCam.setMoveSpeed(50);
-//        ChaseCamera chaseCamera=new ChaseCamera(cam, inputManager);
+
-//        chaseCamera.setLookAtOffset(Vector3f.UNIT_Y.mult(4));
-//        model.addControl(chaseCamera);
 
         final AnimChannel channel = control.createChannel();
         channel.setAnim("Walk");
@@ -176,8 +144,8 @@ public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisi
                     bulletg.setLocalTranslation(cam.getLocation());
                     bulletg.setLocalScale(timer);
                     bulletCollisionShape = new SphereCollisionShape(timer);
-                      RigidBodyControl bulletNode = new BombControl(assetManager, bulletCollisionShape, 1);
+                  //    RigidBodyControl bulletNode = new BombControl(assetManager, bulletCollisionShape, 1);
-//                    RigidBodyControl bulletNode = new RigidBodyControl(bulletCollisionShape, timer * 10);
+                    RigidBodyControl bulletNode = new RigidBodyControl(bulletCollisionShape, timer * 10);
                     bulletNode.setCcdMotionThreshold(0.001f);
                     bulletNode.setLinearVelocity(cam.getDirection().mult(80));
                     bulletg.addControl(bulletNode);
@@ -195,8 +163,8 @@ public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisi
 
     private void setupLight() {
         AmbientLight al = new AmbientLight();
-        al.setColor(ColorRGBA.White.mult(10));
+      //  al.setColor(ColorRGBA.White.mult(1));
-        rootNode.addLight(al);
+     //   rootNode.addLight(al);
 
         DirectionalLight dl = new DirectionalLight();
         dl.setDirection(new Vector3f(-0.1f, -0.7f, -1).normalizeLocal());
@@ -240,6 +208,14 @@ public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisi
 
     public void collide(Bone bone, PhysicsCollisionObject object) {
 
+        if(object.getUserObject()!=null && object.getUserObject() instanceof Geometry){
+            Geometry geom=(Geometry)object.getUserObject();
+            if ("Floor".equals(geom.getName())) {              
+                return;
+            }
+        }
+        
+       
         if (!ragdoll.hasControl()) {
 
             //   bulletTime();