- separate update() call in KinematicRagdollControl to multiple methods to make them run hot quicker
git-svn-id: https://jmonkeyengine.googlecode.com/svn/trunk@10374 75d07b2b-3a1a-0410-a2c5-0572b91ccdca
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@ -193,108 +193,116 @@ public class KinematicRagdollControl extends AbstractPhysicsControl implements P
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if (!enabled) {
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if (!enabled) {
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return;
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return;
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}
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}
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TempVars vars = TempVars.get();
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Quaternion tmpRot1 = vars.quat1;
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Quaternion tmpRot2 = vars.quat2;
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//if the ragdoll has the control of the skeleton, we update each bone with its position in physic world space.
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//if the ragdoll has the control of the skeleton, we update each bone with its position in physic world space.
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if (mode == mode.Ragdoll && targetModel.getLocalTranslation().equals(modelPosition)) {
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if (mode == mode.Ragdoll && targetModel.getLocalTranslation().equals(modelPosition)) {
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for (PhysicsBoneLink link : boneLinks.values()) {
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ragDollUpdate(tpf);
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Vector3f position = vars.vect1;
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//retrieving bone position in physic world space
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Vector3f p = link.rigidBody.getMotionState().getWorldLocation();
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//transforming this position with inverse transforms of the model
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targetModel.getWorldTransform().transformInverseVector(p, position);
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//retrieving bone rotation in physic world space
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Quaternion q = link.rigidBody.getMotionState().getWorldRotationQuat();
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//multiplying this rotation by the initialWorld rotation of the bone,
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//then transforming it with the inverse world rotation of the model
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tmpRot1.set(q).multLocal(link.initalWorldRotation);
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tmpRot2.set(targetModel.getWorldRotation()).inverseLocal().mult(tmpRot1, tmpRot1);
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tmpRot1.normalizeLocal();
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//if the bone is the root bone, we apply the physic's transform to the model, so its position and rotation are correctly updated
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if (link.bone.getParent() == null) {
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//offsetting the physic's position/rotation by the root bone inverse model space position/rotaion
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modelPosition.set(p).subtractLocal(link.bone.getWorldBindPosition());
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targetModel.getParent().getWorldTransform().transformInverseVector(modelPosition, modelPosition);
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modelRotation.set(q).multLocal(tmpRot2.set(link.bone.getWorldBindRotation()).inverseLocal());
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//applying transforms to the model
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targetModel.setLocalTranslation(modelPosition);
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targetModel.setLocalRotation(modelRotation);
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//Applying computed transforms to the bone
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link.bone.setUserTransformsWorld(position, tmpRot1);
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} else {
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//if boneList is empty, this means that every bone in the ragdoll has a collision shape,
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//so we just update the bone position
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if (boneList.isEmpty()) {
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link.bone.setUserTransformsWorld(position, tmpRot1);
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} else {
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//boneList is not empty, this means some bones of the skeleton might not be associated with a collision shape.
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//So we update them recusively
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RagdollUtils.setTransform(link.bone, position, tmpRot1, false, boneList);
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}
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}
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}
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} else {
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} else {
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//the ragdoll does not have the controll, so the keyframed animation updates the physic position of the physic bonces
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kinematicUpdate(tpf);
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for (PhysicsBoneLink link : boneLinks.values()) {
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}
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}
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Vector3f position = vars.vect1;
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protected void ragDollUpdate(float tpf) {
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TempVars vars = TempVars.get();
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Quaternion tmpRot1 = vars.quat1;
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Quaternion tmpRot2 = vars.quat2;
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//if blended control this means, keyframed animation is updating the skeleton,
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for (PhysicsBoneLink link : boneLinks.values()) {
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//but to allow smooth transition, we blend this transformation with the saved position of the ragdoll
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if (blendedControl) {
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Vector3f position2 = vars.vect2;
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//initializing tmp vars with the start position/rotation of the ragdoll
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position.set(link.startBlendingPos);
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tmpRot1.set(link.startBlendingRot);
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//interpolating between ragdoll position/rotation and keyframed position/rotation
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Vector3f position = vars.vect1;
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tmpRot2.set(tmpRot1).nlerp(link.bone.getModelSpaceRotation(), blendStart / blendTime);
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position2.set(position).interpolate(link.bone.getModelSpacePosition(), blendStart / blendTime);
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tmpRot1.set(tmpRot2);
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position.set(position2);
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//updating bones transforms
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//retrieving bone position in physic world space
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if (boneList.isEmpty()) {
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Vector3f p = link.rigidBody.getMotionState().getWorldLocation();
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//we ensure we have the control to update the bone
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//transforming this position with inverse transforms of the model
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link.bone.setUserControl(true);
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targetModel.getWorldTransform().transformInverseVector(p, position);
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link.bone.setUserTransformsWorld(position, tmpRot1);
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//we give control back to the key framed animation.
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link.bone.setUserControl(false);
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} else {
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RagdollUtils.setTransform(link.bone, position, tmpRot1, true, boneList);
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}
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}
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//retrieving bone rotation in physic world space
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//setting skeleton transforms to the ragdoll
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Quaternion q = link.rigidBody.getMotionState().getWorldRotationQuat();
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matchPhysicObjectToBone(link, position, tmpRot1);
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modelPosition.set(targetModel.getLocalTranslation());
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}
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//multiplying this rotation by the initialWorld rotation of the bone,
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//then transforming it with the inverse world rotation of the model
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tmpRot1.set(q).multLocal(link.initalWorldRotation);
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tmpRot2.set(targetModel.getWorldRotation()).inverseLocal().mult(tmpRot1, tmpRot1);
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tmpRot1.normalizeLocal();
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//time control for blending
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//if the bone is the root bone, we apply the physic's transform to the model, so its position and rotation are correctly updated
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if (blendedControl) {
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if (link.bone.getParent() == null) {
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blendStart += tpf;
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if (blendStart > blendTime) {
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//offsetting the physic's position/rotation by the root bone inverse model space position/rotaion
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blendedControl = false;
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modelPosition.set(p).subtractLocal(link.bone.getWorldBindPosition());
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targetModel.getParent().getWorldTransform().transformInverseVector(modelPosition, modelPosition);
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modelRotation.set(q).multLocal(tmpRot2.set(link.bone.getWorldBindRotation()).inverseLocal());
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//applying transforms to the model
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targetModel.setLocalTranslation(modelPosition);
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targetModel.setLocalRotation(modelRotation);
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//Applying computed transforms to the bone
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link.bone.setUserTransformsWorld(position, tmpRot1);
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} else {
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//if boneList is empty, this means that every bone in the ragdoll has a collision shape,
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//so we just update the bone position
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if (boneList.isEmpty()) {
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link.bone.setUserTransformsWorld(position, tmpRot1);
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} else {
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//boneList is not empty, this means some bones of the skeleton might not be associated with a collision shape.
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//So we update them recusively
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RagdollUtils.setTransform(link.bone, position, tmpRot1, false, boneList);
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}
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}
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}
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}
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}
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}
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vars.release();
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vars.release();
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}
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protected void kinematicUpdate(float tpf) {
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//the ragdoll does not have the controll, so the keyframed animation updates the physic position of the physic bonces
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TempVars vars = TempVars.get();
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Quaternion tmpRot1 = vars.quat1;
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Quaternion tmpRot2 = vars.quat2;
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Vector3f position = vars.vect1;
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for (PhysicsBoneLink link : boneLinks.values()) {
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//if blended control this means, keyframed animation is updating the skeleton,
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//but to allow smooth transition, we blend this transformation with the saved position of the ragdoll
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if (blendedControl) {
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Vector3f position2 = vars.vect2;
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//initializing tmp vars with the start position/rotation of the ragdoll
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position.set(link.startBlendingPos);
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tmpRot1.set(link.startBlendingRot);
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//interpolating between ragdoll position/rotation and keyframed position/rotation
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tmpRot2.set(tmpRot1).nlerp(link.bone.getModelSpaceRotation(), blendStart / blendTime);
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position2.set(position).interpolate(link.bone.getModelSpacePosition(), blendStart / blendTime);
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tmpRot1.set(tmpRot2);
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position.set(position2);
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//updating bones transforms
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if (boneList.isEmpty()) {
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//we ensure we have the control to update the bone
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link.bone.setUserControl(true);
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link.bone.setUserTransformsWorld(position, tmpRot1);
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//we give control back to the key framed animation.
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link.bone.setUserControl(false);
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} else {
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RagdollUtils.setTransform(link.bone, position, tmpRot1, true, boneList);
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}
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}
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//setting skeleton transforms to the ragdoll
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matchPhysicObjectToBone(link, position, tmpRot1);
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modelPosition.set(targetModel.getLocalTranslation());
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}
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//time control for blending
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if (blendedControl) {
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blendStart += tpf;
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if (blendStart > blendTime) {
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blendedControl = false;
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}
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}
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vars.release();
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}
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}
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/**
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/**
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