- Made a lot of clean up and optimization - Better automagic creation of the ragdoll git-svn-id: https://jmonkeyengine.googlecode.com/svn/trunk@7379 75d07b2b-3a1a-0410-a2c5-0572b91ccdca3.0
rem..om
14 years ago
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/* |
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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.ragdoll; |
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import com.jme3.animation.Bone; |
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import com.jme3.animation.Skeleton; |
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import com.jme3.bullet.collision.shapes.HullCollisionShape; |
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import com.jme3.bullet.joints.SixDofJoint; |
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import com.jme3.math.Quaternion; |
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import com.jme3.math.Transform; |
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import com.jme3.math.Vector3f; |
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import com.jme3.scene.Geometry; |
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import com.jme3.scene.Mesh; |
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import com.jme3.scene.Node; |
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import com.jme3.scene.Spatial; |
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import com.jme3.scene.VertexBuffer.Type; |
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import java.nio.ByteBuffer; |
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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.LinkedList; |
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import java.util.List; |
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import java.util.Map; |
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import java.util.Set; |
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/** |
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* |
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* @author Nehon |
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*/ |
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public class RagdollUtils { |
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public static void setJointLimit(SixDofJoint joint, float maxX, float minX, float maxY, float minY, float maxZ, float minZ) { |
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joint.getRotationalLimitMotor(0).setHiLimit(maxX); |
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joint.getRotationalLimitMotor(0).setLoLimit(minX); |
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joint.getRotationalLimitMotor(1).setHiLimit(maxY); |
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joint.getRotationalLimitMotor(1).setLoLimit(minY); |
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joint.getRotationalLimitMotor(2).setHiLimit(maxZ); |
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joint.getRotationalLimitMotor(2).setLoLimit(minZ); |
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} |
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public static Map<Integer, List<Float>> buildPointMap(Spatial model) { |
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Map<Integer, List<Float>> map = new HashMap<Integer, List<Float>>(); |
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if (model instanceof Geometry) { |
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Geometry g = (Geometry) model; |
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buildPointMapForMesh(g.getMesh(), map); |
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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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buildPointMapForMesh(g.getMesh(), map); |
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} |
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} |
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} |
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return map; |
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} |
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private static Map<Integer, List<Float>> buildPointMapForMesh(Mesh mesh, Map<Integer, List<Float>> map) { |
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FloatBuffer vertices = mesh.getFloatBuffer(Type.Position); |
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ByteBuffer boneIndices = (ByteBuffer) mesh.getBuffer(Type.BoneIndex).getData(); |
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FloatBuffer boneWeight = (FloatBuffer) mesh.getBuffer(Type.BoneWeight).getData(); |
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vertices.rewind(); |
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boneIndices.rewind(); |
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boneWeight.rewind(); |
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int vertexComponents = mesh.getVertexCount() * 3; |
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int k, start, index; |
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float maxWeight = 0; |
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for (int i = 0; i < vertexComponents; i += 3) { |
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start = i / 3 * 4; |
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index = 0; |
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maxWeight = -1; |
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for (k = start; k < start + 4; k++) { |
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float weight = boneWeight.get(k); |
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if (weight > maxWeight) { |
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maxWeight = weight; |
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index = boneIndices.get(k); |
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} |
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} |
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List<Float> points = map.get(index); |
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if (points == null) { |
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points = new ArrayList<Float>(); |
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map.put(index, points); |
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} |
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points.add(vertices.get(i)); |
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points.add(vertices.get(i + 1)); |
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points.add(vertices.get(i + 2)); |
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} |
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return map; |
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} |
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/** |
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* Create a hull collision shape from linked vertices to this bone. |
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* Vertices have to be previoulsly gathered in a map using buildPointMap method |
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* @param link |
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* @param model |
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* @return |
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*/ |
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public static HullCollisionShape makeShapeFromPointMap(Map<Integer, List<Float>> pointsMap, List<Integer> boneIndices, Vector3f initialScale, Vector3f initialPosition) { |
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ArrayList<Float> points = new ArrayList<Float>(); |
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for (Integer index : boneIndices) { |
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List<Float> l = pointsMap.get(index); |
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if (l != null) { |
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for (int i = 0; i < l.size(); i += 3) { |
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Vector3f pos = new Vector3f(); |
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pos.x = l.get(i); |
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pos.y = l.get(i + 1); |
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pos.z = l.get(i + 2); |
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pos.subtractLocal(initialPosition).multLocal(initialScale); |
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points.add(pos.x); |
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points.add(pos.y); |
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points.add(pos.z); |
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} |
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} |
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} |
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float[] p = new float[points.size()]; |
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for (int i = 0; i < points.size(); i++) { |
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p[i] = points.get(i); |
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} |
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return new HullCollisionShape(p); |
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} |
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//retruns the list of bone indices of the given bone and its child(if they are not in the boneList)
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public static List<Integer> getBoneIndices(Bone bone, Skeleton skeleton, Set<String> boneList) { |
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List<Integer> list = new LinkedList<Integer>(); |
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if (boneList.isEmpty()) { |
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list.add(skeleton.getBoneIndex(bone)); |
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} else { |
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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, boneList)); |
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} |
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} |
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} |
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return list; |
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} |
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/** |
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* Create a hull collision shape from linked vertices to this bone. |
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* |
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* @param link |
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* @param model |
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* @return |
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*/ |
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public static HullCollisionShape makeShapeFromVerticeWeights(Spatial model, List<Integer> boneIndices, Vector3f initialScale, Vector3f initialPosition, float weightThreshold) { |
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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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for (Integer index : boneIndices) { |
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points.addAll(getPoints(g.getMesh(), index, initialScale, initialPosition, weightThreshold)); |
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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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for (Integer index : boneIndices) { |
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points.addAll(getPoints(g.getMesh(), index, initialScale, initialPosition, weightThreshold)); |
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} |
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} |
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} |
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} |
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float[] p = new float[points.size()]; |
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for (int i = 0; i < points.size(); i++) { |
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p[i] = points.get(i); |
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} |
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return new HullCollisionShape(p); |
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} |
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/** |
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* returns a list of points for the given bone |
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* @param mesh |
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* @param boneIndex |
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* @param offset |
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* @param link |
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* @return |
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*/ |
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private static List<Float> getPoints(Mesh mesh, int boneIndex, Vector3f initialScale, Vector3f offset, float weightThreshold) { |
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FloatBuffer vertices = mesh.getFloatBuffer(Type.Position); |
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ByteBuffer boneIndices = (ByteBuffer) mesh.getBuffer(Type.BoneIndex).getData(); |
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FloatBuffer boneWeight = (FloatBuffer) mesh.getBuffer(Type.BoneWeight).getData(); |
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vertices.rewind(); |
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boneIndices.rewind(); |
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boneWeight.rewind(); |
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ArrayList<Float> results = new ArrayList<Float>(); |
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int vertexComponents = mesh.getVertexCount() * 3; |
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for (int i = 0; i < vertexComponents; i += 3) { |
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int k; |
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boolean add = false; |
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int start = i / 3 * 4; |
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for (k = start; k < start + 4; k++) { |
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if (boneIndices.get(k) == boneIndex && boneWeight.get(k) >= weightThreshold) { |
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add = true; |
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break; |
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} |
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} |
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if (add) { |
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Vector3f pos = new Vector3f(); |
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pos.x = vertices.get(i); |
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pos.y = vertices.get(i + 1); |
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pos.z = vertices.get(i + 2); |
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pos.subtractLocal(offset).multLocal(initialScale); |
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results.add(pos.x); |
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results.add(pos.y); |
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results.add(pos.z); |
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} |
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} |
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return results; |
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} |
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/** |
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* Updates a bone position and rotation. |
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* if the child bones are not in the bone list this means, they are not associated with a physic shape. |
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* So they have to be updated |
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* @param bone the bone |
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* @param pos the position |
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* @param rot the rotation |
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*/ |
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public static void setTransform(Bone bone, Vector3f pos, Quaternion rot, boolean restoreBoneControl, Set<String> boneList) { |
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//we ensure that we have the control
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if (restoreBoneControl) { |
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bone.setUserControl(true); |
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} |
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//we set te user transforms of the bone
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bone.setUserTransformsWorld(pos, rot); |
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for (Bone childBone : bone.getChildren()) { |
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//each child bone that is not in the list is updated
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if (!boneList.contains(childBone.getName())) { |
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Transform t = childBone.getCombinedTransform(pos, rot); |
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setTransform(childBone, t.getTranslation(), t.getRotation(), restoreBoneControl, boneList); |
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} |
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} |
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//we give back the control to the keyframed animation
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if (restoreBoneControl) { |
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bone.setUserControl(false); |
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} |
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} |
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public static 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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} |
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