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Ragdoll :

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- forgot the RagdollControl....doh

git-svn-id: https://jmonkeyengine.googlecode.com/svn/trunk@7189 75d07b2b-3a1a-0410-a2c5-0572b91ccdca
3.0
rem..om 14 years ago
parent cbbb261828
commit 9c996bfc6d
1 changed files with 71 additions and 20 deletions
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  1. 91
      engine/src/jbullet/com/jme3/bullet/control/RagdollControl.java

91
engine/src/jbullet/com/jme3/bullet/control/RagdollControl.java
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@ -7,9 +7,9 @@ import com.jme3.animation.SkeletonControl;
import com.jme3.asset.AssetManager;
import com.jme3.bullet.PhysicsSpace;
import com.jme3.bullet.collision.PhysicsCollisionEvent;
import com.jme3.bullet.collision.PhysicsCollisionGroupListener;
import com.jme3.bullet.collision.PhysicsCollisionListener;
import com.jme3.bullet.collision.PhysicsCollisionObject;
import com.jme3.bullet.collision.RagdollCollisionListener;
import com.jme3.bullet.collision.shapes.BoxCollisionShape;
import com.jme3.bullet.collision.shapes.HullCollisionShape;
import com.jme3.bullet.joints.ConeJoint;
@ -18,7 +18,6 @@ import com.jme3.bullet.objects.PhysicsRigidBody;
import com.jme3.export.JmeExporter;
import com.jme3.export.JmeImporter;
import com.jme3.math.FastMath;
import com.jme3.math.Matrix3f;
import com.jme3.math.Quaternion;
import com.jme3.math.Vector3f;
import com.jme3.renderer.RenderManager;
@ -56,6 +55,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
protected Quaternion initRotation;
protected Vector3f initScale;
protected boolean control = false;
protected List<RagdollCollisionListener> listeners;
//Normen: Think you have the system you want, with movement
//Normen: but the rootBone movement and translation is also accessible like getRootBoneLocation()
@ -78,10 +78,10 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
if (!enabled) {
return;
}
TempVars vars = TempVars.get();
assert vars.lock();
TempVars vars = TempVars.get();
assert vars.lock();
if (control) {
Quaternion q2 = vars.quat1;
// skeleton.reset();
for (PhysicsBoneLink link : boneLinks) {
@ -96,23 +96,24 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
Quaternion q = link.rigidBody.getMotionState().getWorldRotationQuat();
q2.set(q).multLocal(link.initalWorldRotation).normalize();
link.bone.setUserControl(true);
link.bone.setUserTransformsWorld(p, q2);
}
}else{
for (PhysicsBoneLink link : boneLinks) {
} else {
for (PhysicsBoneLink link : boneLinks) {
link.bone.setUserControl(false);
Vector3f position = vars.vect1;
Quaternion rotation = vars.quat1;
Vector3f scale= vars.vect2;
Vector3f scale = vars.vect2;
position.set(link.bone.getModelSpacePosition());
rotation.set(link.bone.getModelSpaceRotation()).multLocal(link.bone.getWorldBindInverseRotation());
scale.set(link.bone.getModelSpaceScale());
link.rigidBody.setPhysicsLocation(position);
link.rigidBody.setPhysicsRotation(rotation);
}
}
}
@ -160,7 +161,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
skeleton.resetAndUpdate();
for (int i = 0; i < skeleton.getRoots().length; i++) {
Bone childBone = skeleton.getRoots()[i];
childBone.setUserControl(true);
// childBone.setUserControl(true);
if (childBone.getParent() == null) {
Vector3f parentPos = childBone.getModelSpacePosition().add(initPosition);
// Quaternion parentRot= childBone.getModelSpaceRotation().mult(initRotation);
@ -183,14 +184,15 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
private List<PhysicsBoneLink> boneRecursion(Spatial model, Bone bone, PhysicsRigidBody parent, List<PhysicsBoneLink> list, int reccount) {
//Allow bone's transformation change outside of animation
bone.setUserControl(true);
// bone.setUserControl(true);
//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);
PhysicsRigidBody shapeNode = new PhysicsRigidBody(makeShape(bone, model),10.0f / (float) reccount);
shapeNode.setPhysicsLocation(pos);
// shapeNode.setPhysicsRotation(rot);
@ -199,6 +201,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
link.bone = bone;
link.rigidBody = shapeNode;
link.initalWorldRotation = bone.getModelSpaceRotation().clone();
link.mass=10.0f / (float) reccount;
//TODO: ragdoll mass 1
if (parent != null) {
@ -427,15 +430,17 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
}
boolean hit = false;
Bone hitBone=null;
PhysicsCollisionObject hitObject=null;
if (objA instanceof PhysicsRigidBody) {
PhysicsRigidBody prb = (PhysicsRigidBody) objA;
for (PhysicsBoneLink physicsBoneLink : boneLinks) {
if (physicsBoneLink.rigidBody == prb) {
hit = true;
// System.out.println("objA " + physicsBoneLink.bone.getName() + " " + event.getAppliedImpulse() + " " + event.getAppliedImpulseLateral1() + " " + event.getAppliedImpulseLateral2());
hitBone = physicsBoneLink.bone;
hitObject = objB;
// System.out.println("objA " + physicsBoneLink.bone.getName() + " " + event.getAppliedImpulse() + " " + event.getAppliedImpulseLateral1() + " " + event.getAppliedImpulseLateral2());
}
}
@ -445,21 +450,66 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
for (PhysicsBoneLink physicsBoneLink : boneLinks) {
if (physicsBoneLink.rigidBody == prb) {
hit = false;
// System.out.println("objB " + physicsBoneLink.bone.getName() + " " + event.getAppliedImpulse() + " " + event.getAppliedImpulseLateral1() + " " + event.getAppliedImpulseLateral2());
hitBone = physicsBoneLink.bone;
hitObject = objA;
// System.out.println("objB " + physicsBoneLink.bone.getName() + " " + event.getAppliedImpulse() + " " + event.getAppliedImpulseLateral1() + " " + event.getAppliedImpulseLateral2());
}
}
}
if (hit && event.getAppliedImpulse() > 10.0) {
control = true;
System.out.println("trigger impact " + event.getNodeA() + " " + event.getNodeB() + " " + event.getAppliedImpulse());
//setControl(true);
for (RagdollCollisionListener listener : listeners) {
listener.collide(hitBone, hitObject);
}
}
// System.out.println("----------------------------");
}
public void setControl(boolean control) {
this.control = control;
AnimControl animControl = targetModel.getControl(AnimControl.class);
animControl.setEnabled(!control);
//
for (PhysicsBoneLink link : boneLinks) {
link.bone.setUserControl(control);
// TempVars vars=TempVars.get();
// assert vars.lock();
// Vector3f position = vars.vect1;
// Quaternion rotation = vars.quat1;
// Vector3f scale = vars.vect2;
// position.set(link.bone.getModelSpacePosition());
// rotation.set(link.bone.getModelSpaceRotation()).multLocal(link.bone.getWorldBindInverseRotation());
// scale.set(link.bone.getModelSpaceScale());
// link.rigidBody.setPhysicsLocation(position);
// link.rigidBody.setPhysicsRotation(rotation);
// assert vars.unlock();
// link.bone.setUserControl(control);
//
//
// link.rigidBody.setMass(control?link.mass:0);
}
}
public boolean hasControl() {
return control;
}
public boolean collide(PhysicsCollisionObject nodeA, PhysicsCollisionObject nodeB) {
throw new UnsupportedOperationException("Not supported yet.");
}
public void addCollisionListener(RagdollCollisionListener listener) {
if (listeners == null) {
listeners = new ArrayList<RagdollCollisionListener>();
}
listeners.add(listener);
}
protected static class PhysicsBoneLink {
Bone bone;
@ -468,5 +518,6 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
PhysicsRigidBody rigidBody;
Vector3f pivotA;
Vector3f pivotB;
float mass;
}
}

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