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Ragdoll, some enhancements

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git-svn-id: https://jmonkeyengine.googlecode.com/svn/trunk@7261 75d07b2b-3a1a-0410-a2c5-0572b91ccdca
3.0
rem..om 14 years ago
parent d0a5ce55b9
commit cdba72d2b7
6 changed files with 160 additions and 155 deletions
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  1. 2
      engine/src/jbullet/com/jme3/bullet/collision/RagdollCollisionListener.java
  2. 118
      engine/src/jbullet/com/jme3/bullet/control/RagdollControl.java
  3. 6
      engine/src/jbullet/com/jme3/bullet/control/ragdoll/HumanoidRagdollPreset.java
  4. 6
      engine/src/jbullet/com/jme3/bullet/control/ragdoll/RagdollPreset.java
  5. 13
      engine/src/test/jme3test/bullet/BombControl.java
  6. 170
      engine/src/test/jme3test/bullet/TestBoneRagdoll.java

2
engine/src/jbullet/com/jme3/bullet/collision/RagdollCollisionListener.java
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@ -12,6 +12,6 @@ import com.jme3.animation.Bone;
*/ */
public interface RagdollCollisionListener { public interface RagdollCollisionListener {
public void collide(Bone bone, PhysicsCollisionObject object); public void collide(Bone bone, PhysicsCollisionObject object, PhysicsCollisionEvent event);
} }

118
engine/src/jbullet/com/jme3/bullet/control/RagdollControl.java
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@ -83,8 +83,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
protected Skeleton skeleton; protected Skeleton skeleton;
protected PhysicsSpace space; protected PhysicsSpace space;
protected boolean enabled = true; protected boolean enabled = true;
protected boolean debug = false; protected boolean debug = false;
protected Quaternion tmp_jointRotation = new Quaternion();
protected PhysicsRigidBody baseRigidBody; protected PhysicsRigidBody baseRigidBody;
protected float weightThreshold = 1.0f; protected float weightThreshold = 1.0f;
protected Spatial targetModel; protected Spatial targetModel;
@ -95,7 +94,9 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
protected float eventDiscardImpulseThreshold = 3; protected float eventDiscardImpulseThreshold = 3;
protected RagdollPreset preset = new HumanoidRagdollPreset(); protected RagdollPreset preset = new HumanoidRagdollPreset();
protected List<String> boneList = new LinkedList<String>(); protected List<String> boneList = new LinkedList<String>();
protected Vector3f initPosition = new Vector3f(); protected Vector3f modelPosition = new Vector3f();
protected float rootMass = 15;
private float totalMass = 0;
public RagdollControl() { public RagdollControl() {
} }
@ -104,6 +105,15 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
this.weightThreshold = weightThreshold; this.weightThreshold = weightThreshold;
} }
public RagdollControl(RagdollPreset preset, float weightThreshold) {
this.preset = preset;
this.weightThreshold = weightThreshold;
}
public RagdollControl(RagdollPreset preset) {
this.preset = preset;
}
public void update(float tpf) { public void update(float tpf) {
if (!enabled) { if (!enabled) {
return; return;
@ -114,7 +124,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
Quaternion q2 = vars.quat1; Quaternion q2 = vars.quat1;
Quaternion q3 = vars.quat2; Quaternion q3 = vars.quat2;
for (PhysicsBoneLink link : boneLinks.values()) { for (PhysicsBoneLink link : boneLinks.values()) {
Vector3f p = link.rigidBody.getMotionState().getWorldLocation(); Vector3f p = link.rigidBody.getMotionState().getWorldLocation();
@ -128,12 +138,12 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
q3.set(targetModel.getWorldRotation()).inverseLocal().mult(q2, q2); q3.set(targetModel.getWorldRotation()).inverseLocal().mult(q2, q2);
q2.normalize(); q2.normalize();
if (link.bone.getParent() == null) { if (link.bone.getParent() == null) {
initPosition.set(p).subtractLocal(link.bone.getInitialPos()); modelPosition.set(p).subtractLocal(link.bone.getInitialPos());
targetModel.setLocalTranslation(initPosition); targetModel.setLocalTranslation(modelPosition);
link.bone.setUserControl(true); link.bone.setUserControl(true);
link.bone.setUserTransformsWorld(position, q2); link.bone.setUserTransformsWorld(position, q2);
} else { } else {
if (boneList.isEmpty()) { if (boneList.isEmpty()) {
link.bone.setUserControl(true); link.bone.setUserControl(true);
link.bone.setUserTransformsWorld(position, q2); link.bone.setUserTransformsWorld(position, q2);
@ -151,7 +161,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
} }
Vector3f position = vars.vect1; Vector3f position = vars.vect1;
Quaternion rotation = vars.quat1; Quaternion rotation = vars.quat1;
//computing position from rotation and scale //computing position from rotation and scale
targetModel.getWorldTransform().transformVector(link.bone.getModelSpacePosition(), position); targetModel.getWorldTransform().transformVector(link.bone.getModelSpacePosition(), position);
@ -161,7 +171,6 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
targetModel.getWorldRotation().mult(rotation, rotation); targetModel.getWorldRotation().mult(rotation, rotation);
rotation.normalize(); rotation.normalize();
// scale.set(link.bone.getModelSpaceScale());
link.rigidBody.setPhysicsLocation(position); link.rigidBody.setPhysicsLocation(position);
link.rigidBody.setPhysicsRotation(rotation); link.rigidBody.setPhysicsRotation(rotation);
} }
@ -240,34 +249,30 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
skeleton = animControl.getSkeleton(); skeleton = animControl.getSkeleton();
skeleton.resetAndUpdate(); skeleton.resetAndUpdate();
for (int i = 0; i < skeleton.getRoots().length; i++) { for (int i = 0; i < skeleton.getRoots().length; i++) {
Bone childBone = skeleton.getRoots()[i]; Bone childBone = skeleton.getRoots()[i];
if (childBone.getParent() == null) { if (childBone.getParent() == null) {
// Quaternion parentRot= childBone.getModelSpaceRotation().mult(initRotation);
logger.log(Level.INFO, "Found root bone in skeleton {0}", skeleton); logger.log(Level.INFO, "Found root bone in skeleton {0}", skeleton);
baseRigidBody = new PhysicsRigidBody(new BoxCollisionShape(Vector3f.UNIT_XYZ.mult(.1f)), 1); baseRigidBody = new PhysicsRigidBody(new BoxCollisionShape(Vector3f.UNIT_XYZ.mult(0.1f)), 1);
// baseRigidBody.setPhysicsRotation(parentRot);
boneRecursion(model, childBone, baseRigidBody, 1); boneRecursion(model, childBone, baseRigidBody, 1);
return;
} }
} }
} }
private void boneRecursion(Spatial model, Bone bone, PhysicsRigidBody parent, int reccount) { private void boneRecursion(Spatial model, Bone bone, PhysicsRigidBody parent, int reccount) {
PhysicsRigidBody parentShape = parent; PhysicsRigidBody parentShape = parent;
if (boneList.isEmpty() || boneList.contains(bone.getName())) { if (boneList.isEmpty() || boneList.contains(bone.getName())) {
//creating the collision shape from the bone's associated vertices
PhysicsRigidBody shapeNode = new PhysicsRigidBody(makeShape(bone, model), 10.0f / (float) reccount);
PhysicsBoneLink link = new PhysicsBoneLink(); PhysicsBoneLink link = new PhysicsBoneLink();
link.bone = bone; link.bone = bone;
link.rigidBody = shapeNode; //creating the collision shape from the bone's associated vertices
PhysicsRigidBody shapeNode = new PhysicsRigidBody(makeShape(link, model), rootMass / (float) reccount);
totalMass += rootMass / (float) reccount;
link.rigidBody = shapeNode;
link.initalWorldRotation = bone.getModelSpaceRotation().clone(); link.initalWorldRotation = bone.getModelSpaceRotation().clone();
// link.mass = 10.0f / (float) reccount;
//TODO: ragdoll mass 1
if (parent != null) { if (parent != null) {
//get joint position for parent //get joint position for parent
Vector3f posToParent = new Vector3f(); Vector3f posToParent = new Vector3f();
@ -281,11 +286,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
link.pivotB = new Vector3f(0, 0, 0f); link.pivotB = new Vector3f(0, 0, 0f);
SixDofJoint joint = new SixDofJoint(parent, shapeNode, link.pivotA, link.pivotB, true); SixDofJoint joint = new SixDofJoint(parent, shapeNode, link.pivotA, link.pivotB, true);
joint.getTranslationalLimitMotor().setUpperLimit(new Vector3f(0, 0, 0));
joint.getTranslationalLimitMotor().setLowerLimit(new Vector3f(0, 0, 0));
//TODO find a way to correctly compute/import joints (maybe based on their names)
preset.setupJointForBone(bone.getName(), joint); preset.setupJointForBone(bone.getName(), joint);
//setJointLimit(joint, 0, 0, 0, 0, 0, 0);
link.joint = joint; link.joint = joint;
joint.setCollisionBetweenLinkedBodys(false); joint.setCollisionBetweenLinkedBodys(false);
@ -297,7 +298,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
for (Iterator<Bone> it = bone.getChildren().iterator(); it.hasNext();) { for (Iterator<Bone> it = bone.getChildren().iterator(); it.hasNext();) {
Bone childBone = it.next(); Bone childBone = it.next();
boneRecursion(model, childBone, parentShape, reccount++); boneRecursion(model, childBone, parentShape, reccount + 1);
} }
@ -372,8 +373,8 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
} }
} }
private HullCollisionShape makeShape(Bone bone, Spatial model) { private HullCollisionShape makeShape(PhysicsBoneLink link, Spatial model) {
Bone bone = link.bone;
List<Integer> boneIndices = null; List<Integer> boneIndices = null;
if (boneList.isEmpty()) { if (boneList.isEmpty()) {
boneIndices = new LinkedList<Integer>(); boneIndices = new LinkedList<Integer>();
@ -387,7 +388,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
if (model instanceof Geometry) { if (model instanceof Geometry) {
Geometry g = (Geometry) model; Geometry g = (Geometry) model;
for (Integer index : boneIndices) { for (Integer index : boneIndices) {
points.addAll(getPoints(g.getMesh(), index, bone.getModelSpacePosition())); points.addAll(getPoints(g.getMesh(), index, bone.getModelSpacePosition(), link));
} }
} else if (model instanceof Node) { } else if (model instanceof Node) {
Node node = (Node) model; Node node = (Node) model;
@ -395,7 +396,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
if (s instanceof Geometry) { if (s instanceof Geometry) {
Geometry g = (Geometry) s; Geometry g = (Geometry) s;
for (Integer index : boneIndices) { for (Integer index : boneIndices) {
points.addAll(getPoints(g.getMesh(), index, bone.getModelSpacePosition())); points.addAll(getPoints(g.getMesh(), index, bone.getModelSpacePosition(), link));
} }
} }
@ -420,7 +421,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
return list; return list;
} }
protected List<Float> getPoints(Mesh mesh, int boneIndex, Vector3f offset) { protected List<Float> getPoints(Mesh mesh, int boneIndex, Vector3f offset, PhysicsBoneLink link) {
FloatBuffer vertices = mesh.getFloatBuffer(Type.Position); FloatBuffer vertices = mesh.getFloatBuffer(Type.Position);
ByteBuffer boneIndices = (ByteBuffer) mesh.getBuffer(Type.BoneIndex).getData(); ByteBuffer boneIndices = (ByteBuffer) mesh.getBuffer(Type.BoneIndex).getData();
@ -433,6 +434,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
ArrayList<Float> results = new ArrayList<Float>(); ArrayList<Float> results = new ArrayList<Float>();
int vertexComponents = mesh.getVertexCount() * 3; int vertexComponents = mesh.getVertexCount() * 3;
for (int i = 0; i < vertexComponents; i += 3) { for (int i = 0; i < vertexComponents; i += 3) {
int k; int k;
boolean add = false; boolean add = false;
@ -444,6 +446,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
} }
} }
if (add) { if (add) {
Vector3f pos = new Vector3f(); Vector3f pos = new Vector3f();
pos.x = vertices.get(i); pos.x = vertices.get(i);
pos.y = vertices.get(i + 1); pos.y = vertices.get(i + 1);
@ -452,8 +455,10 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
results.add(pos.x); results.add(pos.x);
results.add(pos.y); results.add(pos.y);
results.add(pos.z); results.add(pos.z);
} }
} }
return results; return results;
} }
@ -566,7 +571,7 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
boolean hit = false; boolean hit = false;
Bone hitBone = null; Bone hitBone = null;
PhysicsCollisionObject hitObject = null; PhysicsCollisionObject hitObject = null;
if (objA.getUserObject() instanceof PhysicsBoneLink) { if (objA.getUserObject() instanceof PhysicsBoneLink) {
PhysicsBoneLink link = (PhysicsBoneLink) objA.getUserObject(); PhysicsBoneLink link = (PhysicsBoneLink) objA.getUserObject();
@ -585,15 +590,12 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
hitObject = objA; hitObject = objA;
} }
} }
if (hit && event.getAppliedImpulse() > eventDispatchImpulseThreshold) { if (hit && event.getAppliedImpulse() > eventDispatchImpulseThreshold) {
// System.out.println("trigger impact " + event.getNodeA() + " " + event.getNodeB() + " " + event.getAppliedImpulse());
//setControl(true);
for (RagdollCollisionListener listener : listeners) { for (RagdollCollisionListener listener : listeners) {
listener.collide(hitBone, hitObject); listener.collide(hitBone, hitObject, event);
} }
} }
} }
@ -629,10 +631,6 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
} }
public boolean collide(PhysicsCollisionObject nodeA, PhysicsCollisionObject nodeB) {
throw new UnsupportedOperationException("Not supported yet.");
}
public void addCollisionListener(RagdollCollisionListener listener) { public void addCollisionListener(RagdollCollisionListener listener) {
if (listeners == null) { if (listeners == null) {
listeners = new ArrayList<RagdollCollisionListener>(); listeners = new ArrayList<RagdollCollisionListener>();
@ -648,6 +646,40 @@ public class RagdollControl implements PhysicsControl, PhysicsCollisionListener
PhysicsRigidBody rigidBody; PhysicsRigidBody rigidBody;
Vector3f pivotA; Vector3f pivotA;
Vector3f pivotB; Vector3f pivotB;
// float mass; float volume = 0;
}
public void setRootMass(float rootMass) {
this.rootMass = rootMass;
}
public float getTotalMass() {
return totalMass;
}
public float getWeightThreshold() {
return weightThreshold;
}
public void setWeightThreshold(float weightThreshold) {
this.weightThreshold = weightThreshold;
}
public float getEventDiscardImpulseThreshold() {
return eventDiscardImpulseThreshold;
}
public void setEventDiscardImpulseThreshold(float eventDiscardImpulseThreshold) {
this.eventDiscardImpulseThreshold = eventDiscardImpulseThreshold;
}
public float getEventDispatchImpulseThreshold() {
return eventDispatchImpulseThreshold;
}
public void setEventDispatchImpulseThreshold(float eventDispatchImpulseThreshold) {
this.eventDispatchImpulseThreshold = eventDispatchImpulseThreshold;
} }
} }

6
engine/src/jbullet/com/jme3/bullet/control/ragdoll/HumanoidRagdollPreset.java
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@ -18,15 +18,15 @@ public class HumanoidRagdollPreset extends RagdollPreset {
boneMap.put("torso", new JointPreset(FastMath.QUARTER_PI, -FastMath.QUARTER_PI, 0, 0, FastMath.QUARTER_PI, -FastMath.QUARTER_PI)); boneMap.put("torso", new JointPreset(FastMath.QUARTER_PI, -FastMath.QUARTER_PI, 0, 0, FastMath.QUARTER_PI, -FastMath.QUARTER_PI));
boneMap.put("upperleg", new JointPreset(FastMath.PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI)); boneMap.put("upperleg", new JointPreset(FastMath.PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI/2, -FastMath.QUARTER_PI/2, FastMath.QUARTER_PI, -FastMath.QUARTER_PI));
boneMap.put("lowerleg", new JointPreset(0, -FastMath.PI, 0, 0, 0, 0)); boneMap.put("lowerleg", new JointPreset(0, -FastMath.PI, 0, 0, 0, 0));
boneMap.put("foot", new JointPreset(0, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI)); boneMap.put("foot", new JointPreset(0, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI));
boneMap.put("upperarm", new JointPreset(FastMath.HALF_PI, -FastMath.QUARTER_PI, 0, 0, FastMath.QUARTER_PI, -FastMath.HALF_PI)); boneMap.put("upperarm", new JointPreset(FastMath.HALF_PI, -FastMath.QUARTER_PI, 0, 0, FastMath.PI, -FastMath.QUARTER_PI));
boneMap.put("lowerarm", new JointPreset(FastMath.PI, 0, 0, 0, 0, 0)); boneMap.put("lowerarm", new JointPreset(FastMath.HALF_PI, 0, 0, 0, 0, 0));
boneMap.put("hand", new JointPreset(FastMath.QUARTER_PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI)); boneMap.put("hand", new JointPreset(FastMath.QUARTER_PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI, FastMath.QUARTER_PI, -FastMath.QUARTER_PI));

6
engine/src/jbullet/com/jme3/bullet/control/ragdoll/RagdollPreset.java
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@ -35,18 +35,16 @@ public abstract class RagdollPreset {
String resultName = ""; String resultName = "";
int resultScore = 0; int resultScore = 0;
System.out.println("-------------- " +boneName);
for (String key : lexicon.keySet()) { for (String key : lexicon.keySet()) {
int score = lexicon.get(key).getScore(boneName); int score = lexicon.get(key).getScore(boneName);
System.out.println(key+" " +score);
if (score > resultScore) { if (score > resultScore) {
resultScore = score; resultScore = score;
resultName = key; resultName = key;
} }
} }
System.out.println("-------------- ");
JointPreset preset = boneMap.get(resultName); JointPreset preset = boneMap.get(resultName);
if (preset != null && resultScore >= 50) { if (preset != null && resultScore >= 50) {

13
engine/src/test/jme3test/bullet/BombControl.java
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@ -105,14 +105,14 @@ public class BombControl extends RigidBodyControl implements PhysicsCollisionLis
spatial.removeFromParent(); spatial.removeFromParent();
} }
} }
public void prePhysicsTick(PhysicsSpace space, float f) { public void prePhysicsTick(PhysicsSpace space, float f) {
space.removeCollisionListener(this); space.removeCollisionListener(this);
} }
public void physicsTick(PhysicsSpace space, float f) { public void physicsTick(PhysicsSpace space, float f) {
//get all overlapping objects and apply impulse to them //get all overlapping objects and apply impulse to them
for (Iterator<PhysicsCollisionObject> it = ghostObject.getOverlappingObjects().iterator(); it.hasNext();) { for (Iterator<PhysicsCollisionObject> it = ghostObject.getOverlappingObjects().iterator(); it.hasNext();) {
PhysicsCollisionObject physicsCollisionObject = it.next(); PhysicsCollisionObject physicsCollisionObject = it.next();
if (physicsCollisionObject instanceof PhysicsRigidBody) { if (physicsCollisionObject instanceof PhysicsRigidBody) {
PhysicsRigidBody rBody = (PhysicsRigidBody) physicsCollisionObject; PhysicsRigidBody rBody = (PhysicsRigidBody) physicsCollisionObject;
@ -157,6 +157,15 @@ public class BombControl extends RigidBodyControl implements PhysicsCollisionLis
createGhostObject(); createGhostObject();
} }
public float getForceFactor() {
return forceFactor;
}
public void setForceFactor(float forceFactor) {
this.forceFactor = forceFactor;
}
@Override @Override
public void read(JmeImporter im) throws IOException { public void read(JmeImporter im) throws IOException {
throw new UnsupportedOperationException("Reading not supported."); throw new UnsupportedOperationException("Reading not supported.");

170
engine/src/test/jme3test/bullet/TestBoneRagdoll.java
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@ -38,11 +38,13 @@ import com.jme3.bullet.BulletAppState;
import com.jme3.app.SimpleApplication; import com.jme3.app.SimpleApplication;
import com.jme3.asset.TextureKey; import com.jme3.asset.TextureKey;
import com.jme3.bullet.PhysicsSpace; import com.jme3.bullet.PhysicsSpace;
import com.jme3.bullet.collision.PhysicsCollisionEvent;
import com.jme3.bullet.collision.PhysicsCollisionObject; import com.jme3.bullet.collision.PhysicsCollisionObject;
import com.jme3.bullet.collision.RagdollCollisionListener; import com.jme3.bullet.collision.RagdollCollisionListener;
import com.jme3.bullet.collision.shapes.SphereCollisionShape; import com.jme3.bullet.collision.shapes.SphereCollisionShape;
import com.jme3.bullet.control.RagdollControl; import com.jme3.bullet.control.RagdollControl;
import com.jme3.bullet.control.RigidBodyControl; import com.jme3.bullet.control.RigidBodyControl;
import com.jme3.bullet.joints.SixDofJoint;
import com.jme3.font.BitmapText; import com.jme3.font.BitmapText;
import com.jme3.input.KeyInput; import com.jme3.input.KeyInput;
import com.jme3.input.MouseInput; import com.jme3.input.MouseInput;
@ -92,7 +94,7 @@ public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisi
bulletAppState = new BulletAppState(); bulletAppState = new BulletAppState();
bulletAppState.setEnabled(true); bulletAppState.setEnabled(true);
stateManager.attach(bulletAppState); stateManager.attach(bulletAppState);
//bulletAppState.getPhysicsSpace().enableDebug(assetManager); // bulletAppState.getPhysicsSpace().enableDebug(assetManager);
PhysicsTestHelper.createPhysicsTestWorld(rootNode, assetManager, bulletAppState.getPhysicsSpace()); PhysicsTestHelper.createPhysicsTestWorld(rootNode, assetManager, bulletAppState.getPhysicsSpace());
setupLight(); setupLight();
@ -110,13 +112,16 @@ public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisi
skeletonDebug.setLocalTranslation(model.getLocalTranslation()); skeletonDebug.setLocalTranslation(model.getLocalTranslation());
//Note: PhysicsRagdollControl is still TODO, constructor will change //Note: PhysicsRagdollControl is still TODO, constructor will change
ragdoll = new RagdollControl(0.7f); ragdoll = new RagdollControl(0.5f);
setupSinbad(ragdoll); setupSinbad(ragdoll);
ragdoll.addCollisionListener(this); ragdoll.addCollisionListener(this);
model.addControl(ragdoll); model.addControl(ragdoll);
float eighth_pi = FastMath.PI * 0.125f; float eighth_pi = FastMath.PI * 0.125f;
ragdoll.setJointLimit("Waist", eighth_pi, eighth_pi, eighth_pi, eighth_pi, eighth_pi, eighth_pi);
ragdoll.setJointLimit("Chest", eighth_pi, eighth_pi, 0, 0, eighth_pi, eighth_pi);
//Oto's head is almost rigid //Oto's head is almost rigid
// ragdoll.setJointLimit("head", 0, 0, eighth_pi, -eighth_pi, 0, 0); // ragdoll.setJointLimit("head", 0, 0, eighth_pi, -eighth_pi, 0, 0);
@ -128,8 +133,8 @@ public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisi
flyCam.setMoveSpeed(50); flyCam.setMoveSpeed(50);
final AnimChannel channel = control.createChannel(); animChannel = control.createChannel();
channel.setAnim("Dance"); animChannel.setAnim("Dance");
inputManager.addListener(new ActionListener() { inputManager.addListener(new ActionListener() {
@ -158,21 +163,34 @@ public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisi
bulletg.setMaterial(matBullet); bulletg.setMaterial(matBullet);
bulletg.setLocalTranslation(cam.getLocation()); bulletg.setLocalTranslation(cam.getLocation());
bulletg.setLocalScale(bulletSize); bulletg.setLocalScale(bulletSize);
bulletCollisionShape = new SphereCollisionShape(bulletSize); bulletCollisionShape = new SphereCollisionShape(bulletSize);
// RigidBodyControl bulletNode = new BombControl(assetManager, bulletCollisionShape, 1);
RigidBodyControl bulletNode = new RigidBodyControl(bulletCollisionShape, bulletSize * 10); RigidBodyControl bulletNode = new RigidBodyControl(bulletCollisionShape, bulletSize * 10);
bulletNode.setCcdMotionThreshold(0.001f); bulletNode.setCcdMotionThreshold(0.001f);
bulletNode.setLinearVelocity(cam.getDirection().mult(80)); bulletNode.setLinearVelocity(cam.getDirection().mult(180));
bulletg.addControl(bulletNode);
rootNode.attachChild(bulletg);
getPhysicsSpace().add(bulletNode);
}
if (name.equals("boom") && !isPressed) {
Geometry bulletg = new Geometry("bullet", bullet);
bulletg.setMaterial(matBullet);
bulletg.setLocalTranslation(cam.getLocation());
bulletg.setLocalScale(bulletSize);
bulletCollisionShape = new SphereCollisionShape(bulletSize);
BombControl bulletNode = new BombControl(assetManager, bulletCollisionShape, 1);
bulletNode.setForceFactor(10);
bulletNode.setExplosionRadius(30);
bulletNode.setCcdMotionThreshold(0.001f);
bulletNode.setLinearVelocity(cam.getDirection().mult(180));
bulletg.addControl(bulletNode); bulletg.addControl(bulletNode);
rootNode.attachChild(bulletg); rootNode.attachChild(bulletg);
getPhysicsSpace().add(bulletNode); getPhysicsSpace().add(bulletNode);
} }
} }
}, "toggle", "shoot", "stop", "bullet+", "bullet-"); }, "toggle", "shoot", "stop", "bullet+", "bullet-","boom");
inputManager.addMapping("toggle", new KeyTrigger(KeyInput.KEY_SPACE)); inputManager.addMapping("toggle", new KeyTrigger(KeyInput.KEY_SPACE));
inputManager.addMapping("shoot", new MouseButtonTrigger(MouseInput.BUTTON_LEFT)); inputManager.addMapping("shoot", new MouseButtonTrigger(MouseInput.BUTTON_LEFT));
inputManager.addMapping("boom", new MouseButtonTrigger(MouseInput.BUTTON_RIGHT));
inputManager.addMapping("stop", new KeyTrigger(KeyInput.KEY_H)); inputManager.addMapping("stop", new KeyTrigger(KeyInput.KEY_H));
inputManager.addMapping("bullet-", new KeyTrigger(KeyInput.KEY_COMMA)); inputManager.addMapping("bullet-", new KeyTrigger(KeyInput.KEY_COMMA));
inputManager.addMapping("bullet+", new KeyTrigger(KeyInput.KEY_PERIOD)); inputManager.addMapping("bullet+", new KeyTrigger(KeyInput.KEY_PERIOD));
@ -181,7 +199,7 @@ public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisi
} }
private void setupLight() { private void setupLight() {
AmbientLight al = new AmbientLight(); // AmbientLight al = new AmbientLight();
// al.setColor(ColorRGBA.White.mult(1)); // al.setColor(ColorRGBA.White.mult(1));
// rootNode.addLight(al); // rootNode.addLight(al);
@ -225,7 +243,7 @@ public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisi
guiNode.attachChild(ch); guiNode.attachChild(ch);
} }
public void collide(Bone bone, PhysicsCollisionObject object) { public void collide(Bone bone, PhysicsCollisionObject object,PhysicsCollisionEvent event) {
if (object.getUserObject() != null && object.getUserObject() instanceof Geometry) { if (object.getUserObject() != null && object.getUserObject() instanceof Geometry) {
Geometry geom = (Geometry) object.getUserObject(); Geometry geom = (Geometry) object.getUserObject();
@ -237,7 +255,6 @@ public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisi
if (!ragdoll.hasControl()) { if (!ragdoll.hasControl()) {
//bulletTime();
ragdoll.setControl(true); ragdoll.setControl(true);
} }
@ -252,7 +269,7 @@ public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisi
ragdoll.addBoneName("Hand.R"); ragdoll.addBoneName("Hand.R");
ragdoll.addBoneName("Hand.L"); ragdoll.addBoneName("Hand.L");
ragdoll.addBoneName("Neck"); ragdoll.addBoneName("Neck");
ragdoll.addBoneName("Head"); // ragdoll.addBoneName("Head");
ragdoll.addBoneName("Root"); ragdoll.addBoneName("Root");
ragdoll.addBoneName("Stomach"); ragdoll.addBoneName("Stomach");
ragdoll.addBoneName("Waist"); ragdoll.addBoneName("Waist");
@ -265,104 +282,53 @@ public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisi
ragdoll.addBoneName("Clavicle.L"); ragdoll.addBoneName("Clavicle.L");
ragdoll.addBoneName("Clavicle.R"); ragdoll.addBoneName("Clavicle.R");
// <boneparent bone="ThumbMed.R" parent="ThumbProx.R" />
// <boneparent bone="IndexFingerMed.R" parent="IndexFingerProx.R" />
// <boneparent bone="Clavicle.R" parent="Chest" />
// <boneparent bone="PinkyDist.L" parent="PinkyMed.L" />
// <boneparent bone="IndexFingerDist.R" parent="IndexFingerMed.R" />
// <boneparent bone="Cheek.L" parent="Head" />
// <boneparent bone="MiddleFingerMed.L" parent="MiddleFingerProx.L" />
// <boneparent bone="Jaw" parent="Head" />
// <boneparent bone="TongueMid" parent="TongueBase" />
// <boneparent bone="Ulna.L" parent="Humerus.L" />
// <boneparent bone="Handle.R" parent="Hand.R" />
// <boneparent bone="Ulna.R" parent="Humerus.R" />
// <boneparent bone="Chest" parent="Stomach" />
// <boneparent bone="Foot.L" parent="Calf.L" />
// <boneparent bone="Foot.R" parent="Calf.R" />
// <boneparent bone="Hand.R" parent="Ulna.R" />
// <boneparent bone="IndexFingerDist.L" parent="IndexFingerMed.L" />
// <boneparent bone="Cheek.R" parent="Head" />
// <boneparent bone="PinkyDist.R" parent="PinkyMed.R" />
// <boneparent bone="IndexFingerProx.R" parent="Hand.R" />
// <boneparent bone="Handle.L" parent="Hand.L" />
// <boneparent bone="RingFingerProx.R" parent="Hand.R" />
// <boneparent bone="LowerLip" parent="Jaw" />
// <boneparent bone="Neck" parent="Chest" />
// <boneparent bone="TongueBase" parent="Jaw" />
// <boneparent bone="Head" parent="Neck" />
// <boneparent bone="Sheath.R" parent="Chest" />
// <boneparent bone="Stomach" parent="Waist" />
// <boneparent bone="Toe.L" parent="Foot.L" />
// <boneparent bone="MiddleFingerProx.L" parent="Hand.L" />
// <boneparent bone="RingFingerMed.L" parent="RingFingerProx.L" />
// <boneparent bone="PinkyMed.L" parent="PinkyProx.L" />
// <boneparent bone="MiddleFingerMed.R" parent="MiddleFingerProx.R" />
// <boneparent bone="ThumbProx.L" parent="Hand.L" />
// <boneparent bone="PinkyMed.R" parent="PinkyProx.R" />
// <boneparent bone="Clavicle.L" parent="Chest" />
// <boneparent bone="MiddleFingerProx.R" parent="Hand.R" />
// <boneparent bone="Toe.R" parent="Foot.R" />
// <boneparent bone="Sheath.L" parent="Chest" />
// <boneparent bone="TongueTip" parent="TongueMid" />
// <boneparent bone="RingFingerProx.L" parent="Hand.L" />
// <boneparent bone="Waist" parent="Root" />
// <boneparent bone="MiddleFingerDist.R" parent="MiddleFingerMed.R" />
// <boneparent bone="Hand.L" parent="Ulna.L" />
// <boneparent bone="Humerus.R" parent="Clavicle.R" />
// <boneparent bone="RingFingerDist.L" parent="RingFingerMed.L" />
// <boneparent bone="Eye.L" parent="Head" />
// <boneparent bone="Humerus.L" parent="Clavicle.L" />
// <boneparent bone="RingFingerDist.R" parent="RingFingerMed.R" />
// <boneparent bone="MiddleFingerDist.L" parent="MiddleFingerMed.L" />
// <boneparent bone="IndexFingerMed.L" parent="IndexFingerProx.L" />
// <boneparent bone="ThumbMed.L" parent="ThumbProx.L" />
// <boneparent bone="Thigh.L" parent="Root" />
// <boneparent bone="UpperLip" parent="Head" />
// <boneparent bone="RingFingerMed.R" parent="RingFingerProx.R" />
// <boneparent bone="Eye.R" parent="Head" />
// <boneparent bone="Brow.L" parent="Head" />
// <boneparent bone="Brow.C" parent="Head" />
// <boneparent bone="Calf.L" parent="Thigh.L" />
// <boneparent bone="PinkyProx.L" parent="Hand.L" />
// <boneparent bone="ThumbDist.L" parent="ThumbMed.L" />
// <boneparent bone="ThumbProx.R" parent="Hand.R" />
// <boneparent bone="ThumbDist.R" parent="ThumbMed.R" />
// <boneparent bone="Calf.R" parent="Thigh.R" />
// <boneparent bone="PinkyProx.R" parent="Hand.R" />
// <boneparent bone="IndexFingerProx.L" parent="Hand.L" />
// <boneparent bone="Brow.R" parent="Head" />
// <boneparent bone="Thigh.R" parent="Root" />
} }
private void bulletTime() {
speed = 0.1f;
elTime = 0;
}
float elTime = 0; float elTime = 0;
boolean forward = true; boolean forward = true;
AnimControl animControl;
AnimChannel animChannel;
Vector3f direction = new Vector3f(0, 0, 1);
Quaternion rotate = new Quaternion().fromAngleAxis(FastMath.PI / 8, Vector3f.UNIT_Y);
boolean dance = true;
@Override @Override
public void simpleUpdate(float tpf) { public void simpleUpdate(float tpf) {
// System.out.println(model.getLocalTranslation()); elTime += tpf;
// elTime += tpf; if (elTime > 3) {
// if (elTime > 0.05f && speed < 1.0f) { elTime = 0;
// speed += tpf * 8; if (dance) {
// } rotate.multLocal(direction);
// timer += tpf; }
fpsText.setText("Bullet Size: " + bulletSize); if (Math.random() > 0.80) {
if (!ragdoll.hasControl()) { dance = true;
animChannel.setAnim("Dance");
} else {
dance = false;
animChannel.setAnim("RunBase");
rotate.fromAngleAxis(FastMath.QUARTER_PI * ((float) Math.random() - 0.5f), Vector3f.UNIT_Y);
rotate.multLocal(direction);
}
}
if (!ragdoll.hasControl() && !dance) {
if (model.getLocalTranslation().getZ() < -10) { if (model.getLocalTranslation().getZ() < -10) {
forward = true; direction.z = 1;
direction.normalizeLocal();
} else if (model.getLocalTranslation().getZ() > 10) { } else if (model.getLocalTranslation().getZ() > 10) {
forward = false; direction.z = -1;
direction.normalizeLocal();
} }
if (forward) { if (model.getLocalTranslation().getX() < -10) {
model.move(-tpf, 0, tpf); direction.x = 1;
} else { direction.normalizeLocal();
model.move(tpf, 0, -tpf); } else if (model.getLocalTranslation().getX() > 10) {
direction.x = -1;
direction.normalizeLocal();
} }
model.move(direction.multLocal(tpf * 8));
direction.normalizeLocal();
model.lookAt(model.getLocalTranslation().add(direction), Vector3f.UNIT_Y);
} }
} }
} }

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