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- RagdollControl now supports initial transformation of the model

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- Scaling the model after the ragdoll init does not work yet

git-svn-id: https://jmonkeyengine.googlecode.com/svn/trunk@7247 75d07b2b-3a1a-0410-a2c5-0572b91ccdca
3.0
rem..om 14 years ago
parent 062861beea
commit 3824676354
1 changed files with 14 additions and 32 deletions
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
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  1. 46
      engine/src/jbullet/com/jme3/bullet/control/RagdollControl.java

46
engine/src/jbullet/com/jme3/bullet/control/RagdollControl.java
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@ -53,9 +53,6 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
protected PhysicsRigidBody baseRigidBody;
protected float weightThreshold = 1.0f;
protected Spatial targetModel;
protected Vector3f initPosition;
protected Quaternion initRotation;
protected Quaternion invInitRotation;
protected Vector3f initScale;
protected boolean control = false;
protected List<RagdollCollisionListener> listeners;
@ -88,21 +85,14 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
Vector3f p = link.rigidBody.getMotionState().getWorldLocation();
Vector3f position = vars.vect1;
//.multLocal(invInitRotation)
// invInitRotation.mult(p,position);
position.set(p).subtractLocal(initPosition);
targetModel.getWorldTransform().transformInverseVector(p, position);
Quaternion q = link.rigidBody.getMotionState().getWorldRotationQuat();
q2.set(q).multLocal(link.initalWorldRotation).normalize();
q3.set(targetModel.getWorldRotation()).inverseLocal().mult(q2,q2);
q2.normalize();
if (link.bone.getParent() == null) {
// targetModel.getLocalTransform().setTranslation(position);
// Vector3f loc=vars.vect1;
// loc.set(baseRigidBody.getMotionState().getWorldLocation());//.subtractLocal(rootBoneInit);
// (targetModel).setLocalTranslation(loc);
//
}
if (boneList.isEmpty()) {
@ -113,7 +103,6 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
}
}
targetModel.updateModelBound();
} else {
for (PhysicsBoneLink link : boneLinks.values()) {
@ -128,10 +117,12 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
//Vector3f pos2 = vars.vect2;
//computing position from rotation and scale
initRotation.mult(link.bone.getModelSpacePosition(), position);
position.addLocal(initPosition);
targetModel.getWorldTransform().transformVector(link.bone.getModelSpacePosition(), position);
//computing rotation
rotation.set(link.bone.getModelSpaceRotation()).multLocal(link.bone.getWorldBindInverseRotation()).multLocal(initRotation);
rotation.set(link.bone.getModelSpaceRotation()).multLocal(link.bone.getWorldBindInverseRotation());
targetModel.getWorldRotation().mult(rotation,rotation);
rotation.normalize();
// scale.set(link.bone.getModelSpaceScale());
link.rigidBody.setPhysicsLocation(position);
@ -167,9 +158,9 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
targetModel = model;
Node parent = model.getParent();
initPosition = model.getLocalTranslation().clone();
initRotation = model.getLocalRotation().clone();
invInitRotation = initRotation.inverse();
Vector3f initPosition = model.getLocalTranslation().clone();
Quaternion initRotation = model.getLocalRotation().clone();
initScale = model.getLocalScale().clone();
model.removeFromParent();
@ -215,11 +206,9 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
Bone childBone = skeleton.getRoots()[i];
// childBone.setUserControl(true);
if (childBone.getParent() == null) {
Vector3f parentPos = childBone.getModelSpacePosition().add(initPosition);
// 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);
boneRecursion(model, childBone, baseRigidBody, 1);
return;
@ -231,17 +220,10 @@ 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);
//creating the collision shape from the bone's associated vertices
PhysicsRigidBody shapeNode = new PhysicsRigidBody(makeShape(bone, model), 10.0f / (float) reccount);
// shapeNode.setPhysicsRotation(rot);
PhysicsBoneLink link = new PhysicsBoneLink();
link.bone = bone;
link.rigidBody = shapeNode;
@ -254,7 +236,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
//get joint position for parent
Vector3f posToParent = new Vector3f();
if (bone.getParent() != null) {
bone.getModelSpacePosition().subtract(bone.getParent().getModelSpacePosition(), posToParent);
bone.getModelSpacePosition().subtract(bone.getParent().getModelSpacePosition(), posToParent).multLocal(initScale);
}
//Joint local position from parent
@ -430,7 +412,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
pos.x = vertices.get(i);
pos.y = vertices.get(i + 1);
pos.z = vertices.get(i + 2);
pos.subtractLocal(offset);
pos.subtractLocal(offset).multLocal(initScale);
results.add(pos.x);
results.add(pos.y);
results.add(pos.z);

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