Ragdoll :
- New test with sinbad - Added bone selection for building the collision shapes - Moved Radoll classes to proper package git-svn-id: https://jmonkeyengine.googlecode.com/svn/trunk@7236 75d07b2b-3a1a-0410-a2c5-0572b91ccdca
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@ -235,7 +235,7 @@ public final class Bone implements Savable {
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/**
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* Updates the world transforms for this bone, and, possibly the attach node if not null.
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*/
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final void updateWorldVectors() {
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public final void updateWorldVectors() {
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if (parent != null) {
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//rotation
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@ -381,7 +381,16 @@ public final class Bone implements Savable {
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worldPos.set(translation);
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worldRot.set(rotation);
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}
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protected Vector3f tmpVec=new Vector3f();
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protected Quaternion tmpQuat=new Quaternion();
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public Quaternion getTmpQuat() {
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return tmpQuat;
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}
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public Vector3f getTmpVec() {
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return tmpVec;
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}
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/**
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* Returns the attachment node.
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* Attach models and effects to this node to make
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@ -150,8 +150,8 @@ public abstract class Spatial implements Savable, Cloneable, Collidable {
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refreshFlags |= RF_BOUND;
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}
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/**
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/**
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* Constructor instantiates a new <code>Spatial</code> object setting the
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* rotation, translation and scale value to defaults.
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*
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@ -487,7 +487,7 @@ public abstract class Spatial implements Savable, Cloneable, Collidable {
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}
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private void runControlUpdate(float tpf) {
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if (controls.size() == 0) {
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if (controls.isEmpty()) {
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return;
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}
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@ -507,7 +507,7 @@ public abstract class Spatial implements Savable, Cloneable, Collidable {
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* @see Spatial#getControl(java.lang.Class)
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*/
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public void runControlRender(RenderManager rm, ViewPort vp) {
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if (controls.size() == 0) {
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if (controls.isEmpty()) {
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return;
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}
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@ -167,6 +167,7 @@ public class TempVars {
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* General quaternions.
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*/
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public final Quaternion quat1 = new Quaternion();
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public final Quaternion quat2 = new Quaternion();
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/**
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* Eigen
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@ -1,5 +1,7 @@
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package com.jme3.bullet.control;
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import com.jme3.bullet.control.radoll.RagdollPreset;
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import com.jme3.bullet.control.radoll.HumanoidRagdollPreset;
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import com.jme3.animation.AnimControl;
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import com.jme3.animation.Bone;
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import com.jme3.animation.Skeleton;
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@ -12,12 +14,10 @@ import com.jme3.bullet.collision.PhysicsCollisionObject;
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import com.jme3.bullet.collision.RagdollCollisionListener;
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import com.jme3.bullet.collision.shapes.BoxCollisionShape;
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import com.jme3.bullet.collision.shapes.HullCollisionShape;
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import com.jme3.bullet.joints.PhysicsJoint;
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import com.jme3.bullet.joints.SixDofJoint;
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import com.jme3.bullet.objects.PhysicsRigidBody;
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import com.jme3.export.JmeExporter;
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import com.jme3.export.JmeImporter;
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import com.jme3.math.FastMath;
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import com.jme3.math.Quaternion;
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import com.jme3.math.Vector3f;
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import com.jme3.renderer.RenderManager;
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@ -35,6 +35,7 @@ import java.nio.FloatBuffer;
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import java.util.ArrayList;
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import java.util.HashMap;
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import java.util.Iterator;
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import java.util.LinkedList;
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import java.util.List;
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import java.util.Map;
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import java.util.logging.Level;
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@ -61,6 +62,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
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protected float eventDispatchImpulseThreshold = 10;
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protected float eventDiscardImpulseThreshold = 3;
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protected RagdollPreset preset = new HumanoidRagdollPreset();
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protected List<String> boneList = new LinkedList<String>();
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public RagdollControl() {
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}
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@ -78,6 +80,8 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
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if (control) {
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Quaternion q2 = vars.quat1;
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Quaternion q3 = vars.quat2;
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Vector3f p2 = vars.vect2;
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// skeleton.reset();
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for (PhysicsBoneLink link : boneLinks.values()) {
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@ -101,9 +105,12 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
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}
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link.bone.setUserControl(true);
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link.bone.setUserTransformsWorld(position, q2);
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if (boneList.isEmpty()) {
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link.bone.setUserControl(true);
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link.bone.setUserTransformsWorld(position, q2);
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} else {
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setTransform(link.bone, position, q2);
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}
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}
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@ -112,6 +119,9 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
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for (PhysicsBoneLink link : boneLinks.values()) {
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//the ragdoll does not control the skeleton
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link.bone.setUserControl(false);
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if (!link.rigidBody.isKinematic()) {
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link.rigidBody.setKinematic(true);
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}
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Vector3f position = vars.vect1;
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Quaternion rotation = vars.quat1;
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@ -134,6 +144,21 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
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}
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private void setTransform(Bone bone, Vector3f pos, Quaternion rot) {
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bone.setUserControl(true);
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bone.setUserTransformsWorld(pos, rot);
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for (Bone childBone : bone.getChildren()) {
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if (!boneList.contains(childBone.getName())) {
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Vector3f tmpVec = childBone.getTmpVec();
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Quaternion tmpQuat = childBone.getTmpQuat();
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rot.mult(childBone.getLocalPosition(), tmpVec).addLocal(pos);
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tmpQuat.set(rot).multLocal(childBone.getLocalRotation());
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setTransform(childBone, tmpVec, tmpQuat);
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}
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}
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}
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public Control cloneForSpatial(Spatial spatial) {
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throw new UnsupportedOperationException("Not supported yet.");
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}
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@ -165,7 +190,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
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// maybe dont reset to ragdoll out of animations?
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scanSpatial(model);
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if (parent != null) {
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parent.attachChild(model);
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@ -178,7 +203,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
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}
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public void addBoneName(String name) {
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throw new UnsupportedOperationException("Not supported yet.");
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boneList.add(name);
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}
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private void scanSpatial(Spatial model) {
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@ -204,53 +229,60 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
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}
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private void boneRecursion(Spatial model, Bone bone, PhysicsRigidBody parent, int reccount) {
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//get world space position of the bone
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Vector3f pos = bone.getModelSpacePosition().add(model.getLocalTranslation());
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PhysicsRigidBody parentShape = parent;
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if (boneList.isEmpty() || boneList.contains(bone.getName())) {
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//get world space position of the bone
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Vector3f pos = bone.getModelSpacePosition().add(model.getLocalTranslation());
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// Quaternion rot = bone.getModelSpaceRotation().mult(initRotation);
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//creating the collision shape from the bone's associated vertices
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PhysicsRigidBody shapeNode = new PhysicsRigidBody(makeShape(bone, model), 10.0f / (float) reccount);
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//creating the collision shape from the bone's associated vertices
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PhysicsRigidBody shapeNode = new PhysicsRigidBody(makeShape(bone, model), 10.0f / (float) reccount);
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// shapeNode.setPhysicsRotation(rot);
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// shapeNode.setPhysicsRotation(rot);
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PhysicsBoneLink link = new PhysicsBoneLink();
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link.bone = bone;
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link.rigidBody = shapeNode;
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link.initalWorldRotation = bone.getModelSpaceRotation().clone();
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// link.mass = 10.0f / (float) reccount;
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PhysicsBoneLink link = new PhysicsBoneLink();
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link.bone = bone;
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link.rigidBody = shapeNode;
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//TODO: ragdoll mass 1
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if (parent != null) {
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//get joint position for parent
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Vector3f posToParent = new Vector3f();
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if (bone.getParent() != null) {
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bone.getModelSpacePosition().subtract(bone.getParent().getModelSpacePosition(), posToParent);
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link.initalWorldRotation = bone.getModelSpaceRotation().clone();
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// link.mass = 10.0f / (float) reccount;
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//TODO: ragdoll mass 1
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if (parent != null) {
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//get joint position for parent
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Vector3f posToParent = new Vector3f();
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if (bone.getParent() != null) {
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bone.getModelSpacePosition().subtract(bone.getParent().getModelSpacePosition(), posToParent);
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}
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//Joint local position from parent
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link.pivotA = posToParent;
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//joint local position from current bone
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link.pivotB = new Vector3f(0, 0, 0f);
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SixDofJoint joint = new SixDofJoint(parent, shapeNode, link.pivotA, link.pivotB, true);
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joint.getTranslationalLimitMotor().setUpperLimit(new Vector3f(0, 0, 0));
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joint.getTranslationalLimitMotor().setLowerLimit(new Vector3f(0, 0, 0));
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//TODO find a way to correctly compute/import joints (maybe based on their names)
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preset.setupJointForBone(bone.getName(), joint);
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//setJointLimit(joint, 0, 0, 0, 0, 0, 0);
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link.joint = joint;
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joint.setCollisionBetweenLinkedBodys(false);
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}
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//Joint local position from parent
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link.pivotA = posToParent;
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//joint local position from current bone
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link.pivotB = new Vector3f(0, 0, 0f);
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SixDofJoint joint = new SixDofJoint(parent, shapeNode, link.pivotA, link.pivotB, true);
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//TODO find a way to correctly compute/import joints (maybe based on their names)
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preset.setupJointForBone(bone.getName(), joint);
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//setJointLimit(joint, 0, 0, 0, 0, 0, 0);
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link.joint = joint;
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joint.setCollisionBetweenLinkedBodys(false);
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boneLinks.put(bone.getName(), link);
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shapeNode.setUserObject(link);
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parentShape = shapeNode;
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}
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boneLinks.put(bone.getName(), link);
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shapeNode.setUserObject(link);
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for (Iterator<Bone> it = bone.getChildren().iterator(); it.hasNext();) {
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Bone childBone = it.next();
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boneRecursion(model, childBone, shapeNode, reccount++);
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boneRecursion(model, childBone, parentShape, reccount++);
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}
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}
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/**
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@ -323,17 +355,31 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
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}
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private HullCollisionShape makeShape(Bone bone, Spatial model) {
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int boneIndex = skeleton.getBoneIndex(bone);
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List<Integer> boneIndices = null;
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if (boneList.isEmpty()) {
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boneIndices = new LinkedList<Integer>();
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boneIndices.add(skeleton.getBoneIndex(bone));
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} else {
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boneIndices = getBoneIndices(bone, skeleton);
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}
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ArrayList<Float> points = new ArrayList<Float>();
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if (model instanceof Geometry) {
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Geometry g = (Geometry) model;
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points.addAll(getPoints(g.getMesh(), boneIndex, bone.getModelSpacePosition()));
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for (Integer index : boneIndices) {
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points.addAll(getPoints(g.getMesh(), index, bone.getModelSpacePosition()));
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}
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} else if (model instanceof Node) {
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Node node = (Node) model;
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for (Spatial s : node.getChildren()) {
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if (s instanceof Geometry) {
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Geometry g = (Geometry) s;
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points.addAll(getPoints(g.getMesh(), boneIndex, bone.getModelSpacePosition()));
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for (Integer index : boneIndices) {
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points.addAll(getPoints(g.getMesh(), index, bone.getModelSpacePosition()));
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}
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}
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}
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}
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@ -345,6 +391,17 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
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return new HullCollisionShape(p);
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}
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private List<Integer> getBoneIndices(Bone bone, Skeleton skeleton) {
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List<Integer> list = new LinkedList<Integer>();
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list.add(skeleton.getBoneIndex(bone));
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for (Bone chilBone : bone.getChildren()) {
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if (!boneList.contains(chilBone.getName())) {
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list.addAll(getBoneIndices(chilBone, skeleton));
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}
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}
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return list;
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}
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protected List<Float> getPoints(Mesh mesh, int boneIndex, Vector3f offset) {
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FloatBuffer vertices = mesh.getFloatBuffer(Type.Position);
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@ -529,10 +586,22 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
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this.control = control;
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for (PhysicsBoneLink link : boneLinks.values()) {
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link.bone.setUserControl(control);
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// link.bone.setUserControl(control);
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link.rigidBody.setKinematic(!control);
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}
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for (Bone bone : skeleton.getRoots()) {
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setUserControl(bone, control);
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}
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}
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private void setUserControl(Bone bone, boolean bool) {
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bone.setUserControl(bool);
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for (Bone child : bone.getChildren()) {
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setUserControl(child, bool);
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}
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}
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public boolean hasControl() {
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@ -2,7 +2,7 @@
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* To change this template, choose Tools | Templates
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* and open the template in the editor.
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*/
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package com.jme3.bullet.control;
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package com.jme3.bullet.control.radoll;
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import com.jme3.math.FastMath;
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@ -2,7 +2,7 @@
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* To change this template, choose Tools | Templates
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* and open the template in the editor.
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*/
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package com.jme3.bullet.control;
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package com.jme3.bullet.control.radoll;
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import com.jme3.bullet.joints.SixDofJoint;
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import java.util.HashMap;
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@ -91,11 +91,11 @@ public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisi
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bulletAppState = new BulletAppState();
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bulletAppState.setEnabled(true);
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stateManager.attach(bulletAppState);
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// bulletAppState.getPhysicsSpace().enableDebug(assetManager);
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//bulletAppState.getPhysicsSpace().enableDebug(assetManager);
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PhysicsTestHelper.createPhysicsTestWorld(rootNode, assetManager, bulletAppState.getPhysicsSpace());
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setupLight();
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model = (Node) assetManager.loadModel("Models/Oto/Oto.mesh.xml");
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model = (Node) assetManager.loadModel("Models/Sinbad/Sinbad.mesh.xml");
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// model.setLocalTranslation(5, 0, 5);
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// model.setLocalRotation(new Quaternion().fromAngleAxis(FastMath.HALF_PI, Vector3f.UNIT_X));
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@ -109,24 +109,26 @@ public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisi
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skeletonDebug.setLocalTranslation(model.getLocalTranslation());
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//Note: PhysicsRagdollControl is still TODO, constructor will change
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ragdoll = new RagdollControl(1.0f);
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ragdoll = new RagdollControl(0.7f);
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setupSinbad(ragdoll);
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ragdoll.addCollisionListener(this);
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model.addControl(ragdoll);
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float eighth_pi = FastMath.PI * 0.125f;
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//Oto's head is almost rigid
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ragdoll.setJointLimit("head", 0, 0, eighth_pi, -eighth_pi, 0, 0);
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// ragdoll.setJointLimit("head", 0, 0, eighth_pi, -eighth_pi, 0, 0);
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getPhysicsSpace().add(ragdoll);
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speed = 1.3f;
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rootNode.attachChild(model);
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// rootNode.attachChild(skeletonDebug);
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flyCam.setMoveSpeed(50);
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final AnimChannel channel = control.createChannel();
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channel.setAnim("Walk");
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channel.setAnim("Dance");
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inputManager.addListener(new ActionListener() {
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@ -137,6 +139,10 @@ public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisi
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if (name.equals("shoot") && isPressed) {
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timer = 0;
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}
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if (name.equals("stop") && isPressed) {
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bulletAppState.setEnabled(!bulletAppState.isEnabled());
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}
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if (name.equals("shoot") && !isPressed) {
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Geometry bulletg = new Geometry("bullet", bullet);
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@ -144,7 +150,7 @@ public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisi
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bulletg.setLocalTranslation(cam.getLocation());
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bulletg.setLocalScale(timer);
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bulletCollisionShape = new SphereCollisionShape(timer);
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// RigidBodyControl bulletNode = new BombControl(assetManager, bulletCollisionShape, 1);
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// RigidBodyControl bulletNode = new BombControl(assetManager, bulletCollisionShape, 1);
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RigidBodyControl bulletNode = new RigidBodyControl(bulletCollisionShape, timer * 10);
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bulletNode.setCcdMotionThreshold(0.001f);
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bulletNode.setLinearVelocity(cam.getDirection().mult(80));
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@ -155,16 +161,17 @@ public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisi
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}
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}
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}, "toggle", "shoot");
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}, "toggle", "shoot","stop");
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inputManager.addMapping("toggle", new KeyTrigger(KeyInput.KEY_SPACE));
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inputManager.addMapping("shoot", new MouseButtonTrigger(MouseInput.BUTTON_LEFT));
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inputManager.addMapping("stop", new KeyTrigger(KeyInput.KEY_H));
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}
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private void setupLight() {
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AmbientLight al = new AmbientLight();
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// al.setColor(ColorRGBA.White.mult(1));
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// rootNode.addLight(al);
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// al.setColor(ColorRGBA.White.mult(1));
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// rootNode.addLight(al);
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DirectionalLight dl = new DirectionalLight();
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dl.setDirection(new Vector3f(-0.1f, -0.7f, -1).normalizeLocal());
|
||||
@ -208,22 +215,115 @@ 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())) {
|
||||
if (object.getUserObject() != null && object.getUserObject() instanceof Geometry) {
|
||||
Geometry geom = (Geometry) object.getUserObject();
|
||||
if ("Floor".equals(geom.getName())) {
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
if (!ragdoll.hasControl()) {
|
||||
|
||||
// bulletTime();
|
||||
//bulletTime();
|
||||
ragdoll.setControl(true);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
private void setupSinbad(RagdollControl ragdoll) {
|
||||
ragdoll.addBoneName("Ulna.L");
|
||||
ragdoll.addBoneName("Ulna.R");
|
||||
ragdoll.addBoneName("Chest");
|
||||
ragdoll.addBoneName("Foot.L");
|
||||
ragdoll.addBoneName("Foot.R");
|
||||
ragdoll.addBoneName("Hand.R");
|
||||
ragdoll.addBoneName("Hand.L");
|
||||
ragdoll.addBoneName("Neck");
|
||||
ragdoll.addBoneName("Head");
|
||||
ragdoll.addBoneName("Root");
|
||||
ragdoll.addBoneName("Stomach");
|
||||
ragdoll.addBoneName("Waist");
|
||||
ragdoll.addBoneName("Humerus.L");
|
||||
ragdoll.addBoneName("Humerus.R");
|
||||
ragdoll.addBoneName("Thigh.L");
|
||||
ragdoll.addBoneName("Thigh.R");
|
||||
ragdoll.addBoneName("Calf.L");
|
||||
ragdoll.addBoneName("Calf.R");
|
||||
ragdoll.addBoneName("Clavicle.L");
|
||||
ragdoll.addBoneName("Clavicle.R");
|
||||
|
||||
// <boneparent bone="ThumbMed.R" parent="ThumbProx.R" />
|
||||
// <boneparent bone="IndexFingerMed.R" parent="IndexFingerProx.R" />
|
||||
// <boneparent bone="Clavicle.R" parent="Chest" />
|
||||
// <boneparent bone="PinkyDist.L" parent="PinkyMed.L" />
|
||||
// <boneparent bone="IndexFingerDist.R" parent="IndexFingerMed.R" />
|
||||
// <boneparent bone="Cheek.L" parent="Head" />
|
||||
// <boneparent bone="MiddleFingerMed.L" parent="MiddleFingerProx.L" />
|
||||
// <boneparent bone="Jaw" parent="Head" />
|
||||
// <boneparent bone="TongueMid" parent="TongueBase" />
|
||||
// <boneparent bone="Ulna.L" parent="Humerus.L" />
|
||||
// <boneparent bone="Handle.R" parent="Hand.R" />
|
||||
// <boneparent bone="Ulna.R" parent="Humerus.R" />
|
||||
// <boneparent bone="Chest" parent="Stomach" />
|
||||
// <boneparent bone="Foot.L" parent="Calf.L" />
|
||||
// <boneparent bone="Foot.R" parent="Calf.R" />
|
||||
// <boneparent bone="Hand.R" parent="Ulna.R" />
|
||||
// <boneparent bone="IndexFingerDist.L" parent="IndexFingerMed.L" />
|
||||
// <boneparent bone="Cheek.R" parent="Head" />
|
||||
// <boneparent bone="PinkyDist.R" parent="PinkyMed.R" />
|
||||
// <boneparent bone="IndexFingerProx.R" parent="Hand.R" />
|
||||
// <boneparent bone="Handle.L" parent="Hand.L" />
|
||||
// <boneparent bone="RingFingerProx.R" parent="Hand.R" />
|
||||
// <boneparent bone="LowerLip" parent="Jaw" />
|
||||
// <boneparent bone="Neck" parent="Chest" />
|
||||
// <boneparent bone="TongueBase" parent="Jaw" />
|
||||
// <boneparent bone="Head" parent="Neck" />
|
||||
// <boneparent bone="Sheath.R" parent="Chest" />
|
||||
// <boneparent bone="Stomach" parent="Waist" />
|
||||
// <boneparent bone="Toe.L" parent="Foot.L" />
|
||||
// <boneparent bone="MiddleFingerProx.L" parent="Hand.L" />
|
||||
// <boneparent bone="RingFingerMed.L" parent="RingFingerProx.L" />
|
||||
// <boneparent bone="PinkyMed.L" parent="PinkyProx.L" />
|
||||
// <boneparent bone="MiddleFingerMed.R" parent="MiddleFingerProx.R" />
|
||||
// <boneparent bone="ThumbProx.L" parent="Hand.L" />
|
||||
// <boneparent bone="PinkyMed.R" parent="PinkyProx.R" />
|
||||
// <boneparent bone="Clavicle.L" parent="Chest" />
|
||||
// <boneparent bone="MiddleFingerProx.R" parent="Hand.R" />
|
||||
// <boneparent bone="Toe.R" parent="Foot.R" />
|
||||
// <boneparent bone="Sheath.L" parent="Chest" />
|
||||
// <boneparent bone="TongueTip" parent="TongueMid" />
|
||||
// <boneparent bone="RingFingerProx.L" parent="Hand.L" />
|
||||
// <boneparent bone="Waist" parent="Root" />
|
||||
// <boneparent bone="MiddleFingerDist.R" parent="MiddleFingerMed.R" />
|
||||
// <boneparent bone="Hand.L" parent="Ulna.L" />
|
||||
// <boneparent bone="Humerus.R" parent="Clavicle.R" />
|
||||
// <boneparent bone="RingFingerDist.L" parent="RingFingerMed.L" />
|
||||
// <boneparent bone="Eye.L" parent="Head" />
|
||||
// <boneparent bone="Humerus.L" parent="Clavicle.L" />
|
||||
// <boneparent bone="RingFingerDist.R" parent="RingFingerMed.R" />
|
||||
// <boneparent bone="MiddleFingerDist.L" parent="MiddleFingerMed.L" />
|
||||
// <boneparent bone="IndexFingerMed.L" parent="IndexFingerProx.L" />
|
||||
// <boneparent bone="ThumbMed.L" parent="ThumbProx.L" />
|
||||
// <boneparent bone="Thigh.L" parent="Root" />
|
||||
// <boneparent bone="UpperLip" parent="Head" />
|
||||
// <boneparent bone="RingFingerMed.R" parent="RingFingerProx.R" />
|
||||
// <boneparent bone="Eye.R" parent="Head" />
|
||||
// <boneparent bone="Brow.L" parent="Head" />
|
||||
// <boneparent bone="Brow.C" parent="Head" />
|
||||
// <boneparent bone="Calf.L" parent="Thigh.L" />
|
||||
// <boneparent bone="PinkyProx.L" parent="Hand.L" />
|
||||
// <boneparent bone="ThumbDist.L" parent="ThumbMed.L" />
|
||||
// <boneparent bone="ThumbProx.R" parent="Hand.R" />
|
||||
// <boneparent bone="ThumbDist.R" parent="ThumbMed.R" />
|
||||
// <boneparent bone="Calf.R" parent="Thigh.R" />
|
||||
// <boneparent bone="PinkyProx.R" parent="Hand.R" />
|
||||
// <boneparent bone="IndexFingerProx.L" parent="Hand.L" />
|
||||
// <boneparent bone="Brow.R" parent="Head" />
|
||||
// <boneparent bone="Thigh.R" parent="Root" />
|
||||
|
||||
}
|
||||
|
||||
private void bulletTime() {
|
||||
speed = 0.1f;
|
||||
elTime = 0;
|
||||
|
Loading…
x
Reference in New Issue
Block a user