Ragdoll :
- forgot the RagdollControl....doh git-svn-id: https://jmonkeyengine.googlecode.com/svn/trunk@7189 75d07b2b-3a1a-0410-a2c5-0572b91ccdca
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@ -7,9 +7,9 @@ import com.jme3.animation.SkeletonControl;
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import com.jme3.asset.AssetManager;
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import com.jme3.bullet.PhysicsSpace;
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import com.jme3.bullet.collision.PhysicsCollisionEvent;
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import com.jme3.bullet.collision.PhysicsCollisionGroupListener;
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import com.jme3.bullet.collision.PhysicsCollisionListener;
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import com.jme3.bullet.collision.PhysicsCollisionObject;
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import com.jme3.bullet.collision.RagdollCollisionListener;
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import com.jme3.bullet.collision.shapes.BoxCollisionShape;
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import com.jme3.bullet.collision.shapes.HullCollisionShape;
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import com.jme3.bullet.joints.ConeJoint;
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@ -18,7 +18,6 @@ import com.jme3.bullet.objects.PhysicsRigidBody;
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import com.jme3.export.JmeExporter;
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import com.jme3.export.JmeImporter;
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import com.jme3.math.FastMath;
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import com.jme3.math.Matrix3f;
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import com.jme3.math.Quaternion;
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import com.jme3.math.Vector3f;
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import com.jme3.renderer.RenderManager;
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@ -56,6 +55,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
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protected Quaternion initRotation;
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protected Vector3f initScale;
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protected boolean control = false;
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protected List<RagdollCollisionListener> listeners;
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//Normen: Think you have the system you want, with movement
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//Normen: but the rootBone movement and translation is also accessible like getRootBoneLocation()
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@ -78,10 +78,10 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
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if (!enabled) {
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return;
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}
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TempVars vars = TempVars.get();
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assert vars.lock();
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TempVars vars = TempVars.get();
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assert vars.lock();
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if (control) {
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Quaternion q2 = vars.quat1;
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// skeleton.reset();
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for (PhysicsBoneLink link : boneLinks) {
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@ -96,23 +96,24 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
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Quaternion q = link.rigidBody.getMotionState().getWorldRotationQuat();
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q2.set(q).multLocal(link.initalWorldRotation).normalize();
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link.bone.setUserControl(true);
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link.bone.setUserTransformsWorld(p, q2);
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}
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}else{
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for (PhysicsBoneLink link : boneLinks) {
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} else {
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for (PhysicsBoneLink link : boneLinks) {
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link.bone.setUserControl(false);
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Vector3f position = vars.vect1;
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Quaternion rotation = vars.quat1;
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Vector3f scale= vars.vect2;
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Vector3f scale = vars.vect2;
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position.set(link.bone.getModelSpacePosition());
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rotation.set(link.bone.getModelSpaceRotation()).multLocal(link.bone.getWorldBindInverseRotation());
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scale.set(link.bone.getModelSpaceScale());
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link.rigidBody.setPhysicsLocation(position);
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link.rigidBody.setPhysicsRotation(rotation);
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}
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}
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}
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@ -160,7 +161,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
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skeleton.resetAndUpdate();
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for (int i = 0; i < skeleton.getRoots().length; i++) {
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Bone childBone = skeleton.getRoots()[i];
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childBone.setUserControl(true);
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// childBone.setUserControl(true);
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if (childBone.getParent() == null) {
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Vector3f parentPos = childBone.getModelSpacePosition().add(initPosition);
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// Quaternion parentRot= childBone.getModelSpaceRotation().mult(initRotation);
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@ -183,14 +184,15 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
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private List<PhysicsBoneLink> boneRecursion(Spatial model, Bone bone, PhysicsRigidBody parent, List<PhysicsBoneLink> list, int reccount) {
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//Allow bone's transformation change outside of animation
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bone.setUserControl(true);
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// bone.setUserControl(true);
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//get world space position of the bone
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Vector3f pos = bone.getModelSpacePosition().add(model.getLocalTranslation());
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Quaternion rot = bone.getModelSpaceRotation().mult(initRotation);
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//creating the collision shape from the bone's associated vertices
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PhysicsRigidBody shapeNode = new PhysicsRigidBody(makeShape(bone, model), 10.0f / (float) reccount);
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PhysicsRigidBody shapeNode = new PhysicsRigidBody(makeShape(bone, model),10.0f / (float) reccount);
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shapeNode.setPhysicsLocation(pos);
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// shapeNode.setPhysicsRotation(rot);
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@ -199,6 +201,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
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link.bone = bone;
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link.rigidBody = shapeNode;
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link.initalWorldRotation = bone.getModelSpaceRotation().clone();
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link.mass=10.0f / (float) reccount;
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//TODO: ragdoll mass 1
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if (parent != null) {
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@ -427,15 +430,17 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
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}
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boolean hit = false;
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Bone hitBone=null;
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PhysicsCollisionObject hitObject=null;
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if (objA instanceof PhysicsRigidBody) {
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PhysicsRigidBody prb = (PhysicsRigidBody) objA;
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for (PhysicsBoneLink physicsBoneLink : boneLinks) {
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if (physicsBoneLink.rigidBody == prb) {
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hit = true;
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// System.out.println("objA " + physicsBoneLink.bone.getName() + " " + event.getAppliedImpulse() + " " + event.getAppliedImpulseLateral1() + " " + event.getAppliedImpulseLateral2());
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hitBone = physicsBoneLink.bone;
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hitObject = objB;
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// System.out.println("objA " + physicsBoneLink.bone.getName() + " " + event.getAppliedImpulse() + " " + event.getAppliedImpulseLateral1() + " " + event.getAppliedImpulseLateral2());
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}
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}
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@ -445,21 +450,66 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
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for (PhysicsBoneLink physicsBoneLink : boneLinks) {
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if (physicsBoneLink.rigidBody == prb) {
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hit = false;
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// System.out.println("objB " + physicsBoneLink.bone.getName() + " " + event.getAppliedImpulse() + " " + event.getAppliedImpulseLateral1() + " " + event.getAppliedImpulseLateral2());
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hitBone = physicsBoneLink.bone;
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hitObject = objA;
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// System.out.println("objB " + physicsBoneLink.bone.getName() + " " + event.getAppliedImpulse() + " " + event.getAppliedImpulseLateral1() + " " + event.getAppliedImpulseLateral2());
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}
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}
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}
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if (hit && event.getAppliedImpulse() > 10.0) {
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control = true;
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System.out.println("trigger impact " + event.getNodeA() + " " + event.getNodeB() + " " + event.getAppliedImpulse());
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//setControl(true);
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for (RagdollCollisionListener listener : listeners) {
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listener.collide(hitBone, hitObject);
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}
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}
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// System.out.println("----------------------------");
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}
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public void setControl(boolean control) {
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this.control = control;
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AnimControl animControl = targetModel.getControl(AnimControl.class);
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animControl.setEnabled(!control);
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//
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for (PhysicsBoneLink link : boneLinks) {
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link.bone.setUserControl(control);
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// TempVars vars=TempVars.get();
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// assert vars.lock();
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// Vector3f position = vars.vect1;
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// Quaternion rotation = vars.quat1;
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// Vector3f scale = vars.vect2;
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// position.set(link.bone.getModelSpacePosition());
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// rotation.set(link.bone.getModelSpaceRotation()).multLocal(link.bone.getWorldBindInverseRotation());
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// scale.set(link.bone.getModelSpaceScale());
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// link.rigidBody.setPhysicsLocation(position);
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// link.rigidBody.setPhysicsRotation(rotation);
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// assert vars.unlock();
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// link.bone.setUserControl(control);
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//
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//
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// link.rigidBody.setMass(control?link.mass:0);
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}
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}
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public boolean hasControl() {
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return control;
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}
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public boolean collide(PhysicsCollisionObject nodeA, PhysicsCollisionObject nodeB) {
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throw new UnsupportedOperationException("Not supported yet.");
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}
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public void addCollisionListener(RagdollCollisionListener listener) {
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if (listeners == null) {
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listeners = new ArrayList<RagdollCollisionListener>();
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}
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listeners.add(listener);
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}
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protected static class PhysicsBoneLink {
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Bone bone;
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@ -468,5 +518,6 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
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PhysicsRigidBody rigidBody;
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Vector3f pivotA;
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Vector3f pivotB;
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float mass;
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}
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}
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