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Fixed some merge issues (now it's working properly)

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Added test case for IK
This commit is contained in:
neph1 2014-07-04 17:59:09 +02:00
parent 1b7421a153
commit 8700871e76
2 changed files with 109 additions and 11 deletions
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17
jme3-bullet/src/common/java/com/jme3/bullet/control/KinematicRagdollControl.java
View File

@ -198,9 +198,8 @@ public class KinematicRagdollControl extends AbstractPhysicsControl implements P
}
if(mode == Mode.IK){
ikUpdate(tpf);
}
} else if (mode == mode.Ragdoll && targetModel.getLocalTranslation().equals(modelPosition)) {
//if the ragdoll has the control of the skeleton, we update each bone with its position in physic world space.
if (mode == mode.Ragdoll && targetModel.getLocalTranslation().equals(modelPosition)) {
ragDollUpdate(tpf);
} else {
kinematicUpdate(tpf);
@ -325,15 +324,14 @@ public class KinematicRagdollControl extends AbstractPhysicsControl implements P
while (it.hasNext()) {
boneName = it.next();
Logger.getLogger(KinematicRagdollControl.class.getSimpleName()).log(Level.INFO, "updationg {0}", boneName);
bone = (Bone) boneLinks.get(boneName).bone;
if (!bone.hasUserControl()) {
Logger.getLogger(KinematicRagdollControl.class.getSimpleName()).log(Level.INFO, "{0} doesn't have user control", boneName);
Logger.getLogger(KinematicRagdollControl.class.getSimpleName()).log(Level.FINE, "{0} doesn't have user control", boneName);
continue;
}
distance = bone.getModelSpacePosition().distance(ikTargets.get(boneName));
if (distance < IKThreshold) {
Logger.getLogger(KinematicRagdollControl.class.getSimpleName()).log(Level.INFO, "Distance is close enough");
Logger.getLogger(KinematicRagdollControl.class.getSimpleName()).log(Level.FINE, "Distance is close enough");
continue;
}
int depth = 0;
@ -735,11 +733,14 @@ public class KinematicRagdollControl extends AbstractPhysicsControl implements P
vars.release();
}
if(mode != Mode.IK){
for (Bone bone : skeleton.getRoots()) {
RagdollUtils.setUserControl(bone, mode == Mode.Ragdoll);
}
}
}
/**
* Smoothly blend from Ragdoll mode to Kinematic mode This is useful to
* blend ragdoll actual position to a keyframe animation for example
@ -940,7 +941,7 @@ public class KinematicRagdollControl extends AbstractPhysicsControl implements P
int depth = ikChainDepth.remove(bone.getName());
int i = 0;
while (i < depth+2 && bone.getParent() != null) {
if (!bone.hasUserControl()) {
if (bone.hasUserControl()) {
// matchPhysicObjectToBone(boneLinks.get(bone.getName()), position, tmpRot1);
bone.setUserControl(false);
}
@ -1004,6 +1005,10 @@ public class KinematicRagdollControl extends AbstractPhysicsControl implements P
public void setLimbDampening(float limbDampening) {
this.limbDampening = limbDampening;
}
public Bone getBone(String name){
return skeleton.getBone(name);
}
/**
* serialize this control
*

93
jme3-examples/src/main/java/jme3test/bullet/TestIK.java Normal file
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@ -0,0 +1,93 @@
/*
* Copyright (c) 2009-2010 jMonkeyEngine
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* * Neither the name of 'jMonkeyEngine' nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package jme3test.bullet;
import com.jme3.animation.AnimEventListener;
import com.jme3.animation.Bone;
import com.jme3.bullet.collision.RagdollCollisionListener;
import com.jme3.bullet.control.KinematicRagdollControl;
import com.jme3.input.KeyInput;
import com.jme3.input.controls.ActionListener;
import com.jme3.input.controls.KeyTrigger;
import com.jme3.math.Vector3f;
import com.jme3.scene.Node;
/**
* @author reden
*/
public class TestIK extends TestBoneRagdoll implements RagdollCollisionListener, AnimEventListener {
Node targetNode = new Node("");
Vector3f targetPoint;
Bone mouseBone;
Vector3f oldMousePos;
public static void main(String[] args) {
TestIK app = new TestIK();
app.start();
}
@Override
public void simpleInitApp() {
super.simpleInitApp();
final KinematicRagdollControl ikControl = model.getControl(KinematicRagdollControl.class);
inputManager.addListener(new ActionListener() {
public void onAction(String name, boolean isPressed, float tpf) {
if (name.equals("stop") && isPressed) {
ikControl.setEnabled(!ikControl.isEnabled());
ikControl.setIKMode();
}
if (name.equals("one") && isPressed) {
//ragdoll.setKinematicMode();
targetPoint = model.getWorldTranslation().add(new Vector3f(0,2,4));
targetNode.setLocalTranslation(targetPoint);
ikControl.setIKTarget(ikControl.getBone("Hand.L"), targetPoint, 2);
ikControl.setIKMode();
}
if (name.equals("two") && isPressed) {
//ragdoll.setKinematicMode();
targetPoint = model.getWorldTranslation().add(new Vector3f(-3,3,0));
targetNode.setLocalTranslation(targetPoint);
ikControl.setIKTarget(ikControl.getBone("Hand.R"), targetPoint, 3);
ikControl.setIKMode();
}
}
}, "one", "two");
inputManager.addMapping("one", new KeyTrigger(KeyInput.KEY_1));
inputManager.addMapping("two", new KeyTrigger(KeyInput.KEY_2));
inputManager.addMapping("stop", new KeyTrigger(KeyInput.KEY_H));
}
}