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

engine/src/core/com/jme3/animation/Bone.java

@@ -235,7 +235,7 @@ public final class Bone implements Savable {
     /**
      * Updates the world transforms for this bone, and, possibly the attach node if not null.
      */
-    final void updateWorldVectors() {
+    public final void updateWorldVectors() {
         if (parent != null) {
 
             //rotation
@@ -382,6 +382,15 @@ public final class Bone implements Savable {
         worldRot.set(rotation);
     }
     
+    protected Vector3f tmpVec=new Vector3f();
+    protected Quaternion tmpQuat=new Quaternion();
+    public Quaternion getTmpQuat() {
+        return tmpQuat;
+    }
+    public Vector3f getTmpVec() {
+        return tmpVec;
+    }
+ 
     /**
      * Returns the attachment node.
      * Attach models and effects to this node to make

engine/src/core/com/jme3/scene/Spatial.java

@@ -487,7 +487,7 @@ public abstract class Spatial implements Savable, Cloneable, Collidable {
     }
 
     private void runControlUpdate(float tpf) {
-        if (controls.size() == 0) {
+        if (controls.isEmpty()) {
             return;
         }
 
@@ -507,7 +507,7 @@ public abstract class Spatial implements Savable, Cloneable, Collidable {
      * @see Spatial#getControl(java.lang.Class) 
      */
     public void runControlRender(RenderManager rm, ViewPort vp) {
-        if (controls.size() == 0) {
+        if (controls.isEmpty()) {
             return;
         }
 

engine/src/core/com/jme3/util/TempVars.java

@@ -167,6 +167,7 @@ public class TempVars {
      * General quaternions.
      */
     public final Quaternion quat1 = new Quaternion();
+    public final Quaternion quat2 = new Quaternion();
 
     /**
      * Eigen

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

@@ -1,5 +1,7 @@
 package com.jme3.bullet.control;
 
+import com.jme3.bullet.control.radoll.RagdollPreset;
+import com.jme3.bullet.control.radoll.HumanoidRagdollPreset;
 import com.jme3.animation.AnimControl;
 import com.jme3.animation.Bone;
 import com.jme3.animation.Skeleton;
@@ -12,12 +14,10 @@ import com.jme3.bullet.collision.PhysicsCollisionObject;
 import com.jme3.bullet.collision.RagdollCollisionListener;
 import com.jme3.bullet.collision.shapes.BoxCollisionShape;
 import com.jme3.bullet.collision.shapes.HullCollisionShape;
-import com.jme3.bullet.joints.PhysicsJoint;
 import com.jme3.bullet.joints.SixDofJoint;
 import com.jme3.bullet.objects.PhysicsRigidBody;
 import com.jme3.export.JmeExporter;
 import com.jme3.export.JmeImporter;
-import com.jme3.math.FastMath;
 import com.jme3.math.Quaternion;
 import com.jme3.math.Vector3f;
 import com.jme3.renderer.RenderManager;
@@ -35,6 +35,7 @@ import java.nio.FloatBuffer;
 import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.Iterator;
+import java.util.LinkedList;
 import java.util.List;
 import java.util.Map;
 import java.util.logging.Level;
@@ -61,6 +62,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
     protected float eventDispatchImpulseThreshold = 10;
     protected float eventDiscardImpulseThreshold = 3;
     protected RagdollPreset preset = new HumanoidRagdollPreset();
+    protected List<String> boneList = new LinkedList<String>();
 
     public RagdollControl() {
     }
@@ -78,6 +80,8 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
         if (control) {
 
             Quaternion q2 = vars.quat1;
+            Quaternion q3 = vars.quat2;
+            Vector3f p2 = vars.vect2;
             //   skeleton.reset();
             for (PhysicsBoneLink link : boneLinks.values()) {
 
@@ -101,9 +105,12 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
                 }
 
 
+                if (boneList.isEmpty()) {
                     link.bone.setUserControl(true);
                     link.bone.setUserTransformsWorld(position, q2);
-
+                } else {
+                    setTransform(link.bone, position, q2);
+                }
             }
 
 
@@ -112,6 +119,9 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
             for (PhysicsBoneLink link : boneLinks.values()) {
                 //the ragdoll does not control the skeleton
                 link.bone.setUserControl(false);
+                if (!link.rigidBody.isKinematic()) {
+                    link.rigidBody.setKinematic(true);
+                }
 
                 Vector3f position = vars.vect1;
                 Quaternion rotation = vars.quat1;
@@ -134,6 +144,21 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
 
     }
 
+    private void setTransform(Bone bone, Vector3f pos, Quaternion rot) {
+        bone.setUserControl(true);
+        bone.setUserTransformsWorld(pos, rot);
+        for (Bone childBone : bone.getChildren()) {
+            if (!boneList.contains(childBone.getName())) {
+                Vector3f tmpVec = childBone.getTmpVec();
+                Quaternion tmpQuat = childBone.getTmpQuat();
+                rot.mult(childBone.getLocalPosition(), tmpVec).addLocal(pos);
+                tmpQuat.set(rot).multLocal(childBone.getLocalRotation());
+                setTransform(childBone, tmpVec, tmpQuat);
+
+            }
+        }
+    }
+
     public Control cloneForSpatial(Spatial spatial) {
         throw new UnsupportedOperationException("Not supported yet.");
     }
@@ -178,7 +203,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
     }
 
     public void addBoneName(String name) {
-        throw new UnsupportedOperationException("Not supported yet.");
+        boneList.add(name);
     }
 
     private void scanSpatial(Spatial model) {
@@ -204,7 +229,8 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
     }
 
     private void boneRecursion(Spatial model, Bone bone, PhysicsRigidBody parent, int reccount) {
-
+        PhysicsRigidBody parentShape = parent;
+        if (boneList.isEmpty() || boneList.contains(bone.getName())) {
             //get world space position of the bone
             Vector3f pos = bone.getModelSpacePosition().add(model.getLocalTranslation());
 //        Quaternion rot = bone.getModelSpaceRotation().mult(initRotation);
@@ -219,6 +245,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
             PhysicsBoneLink link = new PhysicsBoneLink();
             link.bone = bone;
             link.rigidBody = shapeNode;
+
             link.initalWorldRotation = bone.getModelSpaceRotation().clone();
             //       link.mass = 10.0f / (float) reccount;
 
@@ -236,6 +263,8 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
                 link.pivotB = new Vector3f(0, 0, 0f);
 
                 SixDofJoint joint = new SixDofJoint(parent, shapeNode, link.pivotA, link.pivotB, true);
+                joint.getTranslationalLimitMotor().setUpperLimit(new Vector3f(0, 0, 0));
+                joint.getTranslationalLimitMotor().setLowerLimit(new Vector3f(0, 0, 0));
                 //TODO find a way to correctly compute/import joints (maybe based on their names)
                 preset.setupJointForBone(bone.getName(), joint);
                 //setJointLimit(joint, 0, 0, 0, 0, 0, 0);
@@ -245,12 +274,15 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
             }
             boneLinks.put(bone.getName(), link);
             shapeNode.setUserObject(link);
+            parentShape = shapeNode;
+        }
 
         for (Iterator<Bone> it = bone.getChildren().iterator(); it.hasNext();) {
             Bone childBone = it.next();
-            boneRecursion(model, childBone, shapeNode, reccount++);
+            boneRecursion(model, childBone, parentShape, reccount++);
         }
 
+
     }
 
     /**
@@ -323,17 +355,31 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
     }
 
     private HullCollisionShape makeShape(Bone bone, Spatial model) {
-        int boneIndex = skeleton.getBoneIndex(bone);        
+
+        List<Integer> boneIndices = null;
+        if (boneList.isEmpty()) {
+            boneIndices = new LinkedList<Integer>();
+            boneIndices.add(skeleton.getBoneIndex(bone));
+        } else {
+            boneIndices = getBoneIndices(bone, skeleton);
+        }
+
+
         ArrayList<Float> points = new ArrayList<Float>();
         if (model instanceof Geometry) {
             Geometry g = (Geometry) model;
-            points.addAll(getPoints(g.getMesh(), boneIndex, bone.getModelSpacePosition()));
+            for (Integer index : boneIndices) {
+                points.addAll(getPoints(g.getMesh(), index, bone.getModelSpacePosition()));
+            }
         } else if (model instanceof Node) {
             Node node = (Node) model;
             for (Spatial s : node.getChildren()) {
                 if (s instanceof Geometry) {
                     Geometry g = (Geometry) s;
-                    points.addAll(getPoints(g.getMesh(), boneIndex, bone.getModelSpacePosition()));
+                    for (Integer index : boneIndices) {
+                        points.addAll(getPoints(g.getMesh(), index, bone.getModelSpacePosition()));
+                    }
+
                 }
             }
         }
@@ -345,6 +391,17 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
         return new HullCollisionShape(p);
     }
 
+    private List<Integer> getBoneIndices(Bone bone, Skeleton skeleton) {
+        List<Integer> list = new LinkedList<Integer>();
+        list.add(skeleton.getBoneIndex(bone));
+        for (Bone chilBone : bone.getChildren()) {
+            if (!boneList.contains(chilBone.getName())) {
+                list.addAll(getBoneIndices(chilBone, skeleton));
+            }
+        }
+        return list;
+    }
+
     protected List<Float> getPoints(Mesh mesh, int boneIndex, Vector3f offset) {
 
         FloatBuffer vertices = mesh.getFloatBuffer(Type.Position);
@@ -529,10 +586,22 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
 
         this.control = control;
         for (PhysicsBoneLink link : boneLinks.values()) {
-            link.bone.setUserControl(control);
+            //  link.bone.setUserControl(control);
             link.rigidBody.setKinematic(!control);
         }
 
+
+        for (Bone bone : skeleton.getRoots()) {
+            setUserControl(bone, control);
+        }
+
+    }
+
+    private void setUserControl(Bone bone, boolean bool) {
+        bone.setUserControl(bool);
+        for (Bone child : bone.getChildren()) {
+            setUserControl(child, bool);
+        }
     }
 
     public boolean hasControl() {

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

@@ -2,7 +2,7 @@
  * To change this template, choose Tools | Templates
  * and open the template in the editor.
  */
-package com.jme3.bullet.control;
+package com.jme3.bullet.control.radoll;
 
 import com.jme3.math.FastMath;
 

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

@@ -2,7 +2,7 @@
  * To change this template, choose Tools | Templates
  * and open the template in the editor.
  */
-package com.jme3.bullet.control;
+package com.jme3.bullet.control.radoll;
 
 import com.jme3.bullet.joints.SixDofJoint;
 import java.util.HashMap;

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

@@ -91,11 +91,11 @@ 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();
 
-        model = (Node) assetManager.loadModel("Models/Oto/Oto.mesh.xml");
+        model = (Node) assetManager.loadModel("Models/Sinbad/Sinbad.mesh.xml");
         //    model.setLocalTranslation(5, 0, 5);
         //  model.setLocalRotation(new Quaternion().fromAngleAxis(FastMath.HALF_PI, Vector3f.UNIT_X));
 
@@ -109,24 +109,26 @@ public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisi
         skeletonDebug.setLocalTranslation(model.getLocalTranslation());
 
         //Note: PhysicsRagdollControl is still TODO, constructor will change
-        ragdoll = new RagdollControl(1.0f);
+        ragdoll = new RagdollControl(0.7f);
+        setupSinbad(ragdoll);
         ragdoll.addCollisionListener(this);
         model.addControl(ragdoll);
 
         float eighth_pi = FastMath.PI * 0.125f;
 
         //Oto's head is almost rigid
-        ragdoll.setJointLimit("head", 0, 0, eighth_pi, -eighth_pi, 0, 0);
+        //    ragdoll.setJointLimit("head", 0, 0, eighth_pi, -eighth_pi, 0, 0);
 
         getPhysicsSpace().add(ragdoll);
         speed = 1.3f;
 
         rootNode.attachChild(model);
+       // rootNode.attachChild(skeletonDebug);
         flyCam.setMoveSpeed(50);
 
 
         final AnimChannel channel = control.createChannel();
-        channel.setAnim("Walk");
+        channel.setAnim("Dance");
 
         inputManager.addListener(new ActionListener() {
 
@@ -137,6 +139,10 @@ public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisi
                 if (name.equals("shoot") && isPressed) {
                     timer = 0;
 
+                }
+                if (name.equals("stop") && isPressed) {
+                   bulletAppState.setEnabled(!bulletAppState.isEnabled());
+
                 }
                 if (name.equals("shoot") && !isPressed) {
                     Geometry bulletg = new Geometry("bullet", bullet);
@@ -155,9 +161,10 @@ public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisi
 
                 }
             }
-        }, "toggle", "shoot");
+        }, "toggle", "shoot","stop");
         inputManager.addMapping("toggle", new KeyTrigger(KeyInput.KEY_SPACE));
         inputManager.addMapping("shoot", new MouseButtonTrigger(MouseInput.BUTTON_LEFT));
+        inputManager.addMapping("stop",  new KeyTrigger(KeyInput.KEY_H));
 
     }
 
@@ -208,8 +215,8 @@ public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisi
 
     public void collide(Bone bone, PhysicsCollisionObject object) {
 
-        if(object.getUserObject()!=null && object.getUserObject() instanceof Geometry){
+        if (object.getUserObject() != null && object.getUserObject() instanceof Geometry) {
-            Geometry geom=(Geometry)object.getUserObject();
+            Geometry geom = (Geometry) object.getUserObject();
             if ("Floor".equals(geom.getName())) {
                 return;
             }
@@ -218,12 +225,105 @@ public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisi
 
         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;