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This is the long-overdue initial check in of KinematicRagdollControl with IK support. It also contains some modifications to Bone. Tested with TestBoneRagdoll to ensure backwards compatibility. Please review.

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This commit is contained in:
neph1 2014-06-28 14:58:57 +02:00
parent ed6256ef47
commit 8738f961ea
2 changed files with 226 additions and 14 deletions
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205
jme3-bullet/src/common/java/com/jme3/bullet/control/KinematicRagdollControl.java
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@ -52,6 +52,7 @@ import com.jme3.export.JmeExporter;
import com.jme3.export.JmeImporter;
import com.jme3.export.OutputCapsule;
import com.jme3.export.Savable;
import com.jme3.math.FastMath;
import com.jme3.math.Quaternion;
import com.jme3.math.Vector3f;
import com.jme3.renderer.RenderManager;
@ -113,11 +114,17 @@ public class KinematicRagdollControl extends AbstractPhysicsControl implements P
protected float eventDispatchImpulseThreshold = 10;
protected float rootMass = 15;
protected float totalMass = 0;
private Map<String, Vector3f> ikTargets = new HashMap<String, Vector3f>();
private Map<String, Integer> ikChainDepth = new HashMap<String, Integer>();
private float ikRotSpeed = 7f;
private float limbDampening = 0.6f;
private float IKThreshold = 0.1f;
public static enum Mode {
Kinematic,
Ragdoll
Ragdoll,
IK
}
public class PhysicsBoneLink implements Savable {
@ -189,7 +196,9 @@ public class KinematicRagdollControl extends AbstractPhysicsControl implements P
if (!enabled) {
return;
}
if(mode == Mode.IK){
ikUpdate(tpf);
}
//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);
@ -260,6 +269,9 @@ public class KinematicRagdollControl extends AbstractPhysicsControl implements P
Quaternion tmpRot2 = vars.quat2;
Vector3f position = vars.vect1;
for (PhysicsBoneLink link : boneLinks.values()) {
// if(link.usedbyIK){
// continue;
// }
//if blended control this means, keyframed animation is updating the skeleton,
//but to allow smooth transition, we blend this transformation with the saved position of the ragdoll
if (blendedControl) {
@ -300,6 +312,95 @@ public class KinematicRagdollControl extends AbstractPhysicsControl implements P
}
vars.release();
}
private void ikUpdate(float tpf){
TempVars vars = TempVars.get();
Quaternion tmpRot1 = vars.quat1;
Quaternion[] tmpRot2 = new Quaternion[]{vars.quat2, new Quaternion()};
Iterator<String> it = ikTargets.keySet().iterator();
float distance;
Bone bone;
String boneName;
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);
continue;
}
distance = bone.getModelSpacePosition().distance(ikTargets.get(boneName));
if (distance < IKThreshold) {
Logger.getLogger(KinematicRagdollControl.class.getSimpleName()).log(Level.INFO, "Distance is close enough");
continue;
}
int depth = 0;
int maxDepth = ikChainDepth.get(bone.getName());
updateBone(boneLinks.get(bone.getName()), tpf * (float) FastMath.sqrt(distance), vars, tmpRot1, tmpRot2, bone, ikTargets.get(boneName), depth, maxDepth);
Vector3f position = vars.vect1;
for (PhysicsBoneLink link : boneLinks.values()) {
matchPhysicObjectToBone(link, position, tmpRot1);
}
}
vars.release();
}
public void updateBone(PhysicsBoneLink link, float tpf, TempVars vars, Quaternion tmpRot1, Quaternion[] tmpRot2, Bone tipBone, Vector3f target, int depth, int maxDepth) {
if (link == null || link.bone.getParent() == null) {
return;
}
Quaternion preQuat = link.bone.getLocalRotation();
Vector3f vectorAxis;
float[] measureDist = new float[]{Float.POSITIVE_INFINITY, Float.POSITIVE_INFINITY};
for (int dirIndex = 0; dirIndex < 3; dirIndex++) {
if (dirIndex == 0) {
vectorAxis = Vector3f.UNIT_Z;
} else if (dirIndex == 1) {
vectorAxis = Vector3f.UNIT_X;
} else {
vectorAxis = Vector3f.UNIT_Y;
}
for (int posOrNeg = 0; posOrNeg < 2; posOrNeg++) {
float rot = ikRotSpeed * tpf / (link.rigidBody.getMass() * 2);
rot = FastMath.clamp(rot, link.joint.getRotationalLimitMotor(dirIndex).getLoLimit(), link.joint.getRotationalLimitMotor(dirIndex).getHiLimit());
tmpRot1.fromAngleAxis(rot, vectorAxis);
// tmpRot1.fromAngleAxis(rotSpeed * tpf / (link.rigidBody.getMass() * 2), vectorAxis);
tmpRot2[posOrNeg] = link.bone.getLocalRotation().mult(tmpRot1);
tmpRot2[posOrNeg].normalizeLocal();
ikRotSpeed = -ikRotSpeed;
link.bone.setLocalRotation(tmpRot2[posOrNeg]);
link.bone.update();
measureDist[posOrNeg] = tipBone.getModelSpacePosition().distance(target);
link.bone.setLocalRotation(preQuat);
}
if (measureDist[0] < measureDist[1]) {
link.bone.setLocalRotation(tmpRot2[0]);
} else if (measureDist[0] > measureDist[1]) {
link.bone.setLocalRotation(tmpRot2[1]);
}
}
link.bone.getLocalRotation().normalizeLocal();
link.bone.update();
// link.usedbyIK = true;
if (link.bone.getParent() != null && depth < maxDepth) {
updateBone(boneLinks.get(link.bone.getParent().getName()), tpf * limbDampening, vars, tmpRot1, tmpRot2, tipBone, target, depth + 1, maxDepth);
}
}
/**
* Set the transforms of a rigidBody to match the transforms of a bone. this
@ -618,6 +719,7 @@ public class KinematicRagdollControl extends AbstractPhysicsControl implements P
animControl.setEnabled(mode == Mode.Kinematic);
baseRigidBody.setKinematic(mode == Mode.Kinematic);
if (mode != Mode.IK) {
TempVars vars = TempVars.get();
for (PhysicsBoneLink link : boneLinks.values()) {
@ -631,6 +733,7 @@ public class KinematicRagdollControl extends AbstractPhysicsControl implements P
}
vars.release();
}
for (Bone bone : skeleton.getRoots()) {
RagdollUtils.setUserControl(bone, mode == Mode.Ragdoll);
@ -703,6 +806,16 @@ public class KinematicRagdollControl extends AbstractPhysicsControl implements P
}
}
/**
* Sets the control into Inverse Kinematics mode. The affected bones are affected by IK.
* physics.
*/
public void setIKMode() {
if (mode != Mode.IK) {
setMode(Mode.IK);
}
}
/**
* retruns the mode of this control
*
@ -805,6 +918,92 @@ public class KinematicRagdollControl extends AbstractPhysicsControl implements P
return control;
}
public Vector3f setIKTarget(Bone bone, Vector3f worldPos, int chainLength) {
Vector3f target = worldPos.subtract(targetModel.getWorldTranslation());
ikTargets.put(bone.getName(), target);
ikChainDepth.put(bone.getName(), chainLength);
int i = 0;
while (i < chainLength+2 && bone.getParent() != null) {
if (!bone.hasUserControl()) {
bone.setUserControl(true);
}
bone = bone.getParent();
i++;
}
// setIKMode();
return target;
}
public void removeIKTarget(Bone bone) {
int depth = ikChainDepth.remove(bone.getName());
int i = 0;
while (i < depth+2 && bone.getParent() != null) {
if (!bone.hasUserControl()) {
// matchPhysicObjectToBone(boneLinks.get(bone.getName()), position, tmpRot1);
bone.setUserControl(false);
}
bone = bone.getParent();
i++;
}
}
public void removeAllIKTargets(){
ikTargets.clear();
ikChainDepth.clear();
applyUserControl();
}
public void applyUserControl() {
for (Bone bone : skeleton.getRoots()) {
RagdollUtils.setUserControl(bone, false);
}
if (ikTargets.isEmpty()) {
setKinematicMode();
} else {
Iterator iterator = ikTargets.keySet().iterator();
TempVars vars = TempVars.get();
while (iterator.hasNext()) {
Bone bone = (Bone) iterator.next();
while (bone.getParent() != null) {
Quaternion tmpRot1 = vars.quat1;
Vector3f position = vars.vect1;
matchPhysicObjectToBone(boneLinks.get(bone.getName()), position, tmpRot1);
bone.setUserControl(true);
bone = bone.getParent();
}
}
vars.release();
}
}
public float getIkRotSpeed() {
return ikRotSpeed;
}
public void setIkRotSpeed(float ikRotSpeed) {
this.ikRotSpeed = ikRotSpeed;
}
public float getIKThreshold() {
return IKThreshold;
}
public void setIKThreshold(float IKThreshold) {
this.IKThreshold = IKThreshold;
}
public float getLimbDampening() {
return limbDampening;
}
public void setLimbDampening(float limbDampening) {
this.limbDampening = limbDampening;
}
/**
* serialize this control
*
@ -831,6 +1030,8 @@ public class KinematicRagdollControl extends AbstractPhysicsControl implements P
oc.write(eventDispatchImpulseThreshold, "eventDispatchImpulseThreshold", 10);
oc.write(rootMass, "rootMass", 15);
oc.write(totalMass, "totalMass", 0);
oc.write(ikRotSpeed, "rotSpeed", 7f);
oc.write(limbDampening, "limbDampening", 0.6f);
}
/**

13
jme3-core/src/main/java/com/jme3/animation/Bone.java
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@ -459,7 +459,7 @@ public final class Bone implements Savable {
/**
* Updates world transforms for this bone and it's children.
*/
final void update() {
public final void update() {
this.updateModelTransforms();
for (int i = children.size() - 1; i >= 0; i--) {
@ -796,4 +796,15 @@ public final class Bone implements Savable {
output.write(bindScale, "bindScale", new Vector3f(1.0f, 1.0f, 1.0f));
output.writeSavableArrayList(children, "children", null);
}
public void setLocalRotation(Quaternion rot){
if (!userControl) {
throw new IllegalStateException("User control must be on bone to allow user transforms");
}
this.localRot = rot;
}
public boolean hasUserControl(){
return userControl;
}
}