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1065 lines
40 KiB
1065 lines
40 KiB
/*
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* Copyright (c) 2009-2018 jMonkeyEngine
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are
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* met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* * Neither the name of 'jMonkeyEngine' nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
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* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
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* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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package com.jme3.bullet.control;
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import com.jme3.animation.*;
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import com.jme3.bullet.PhysicsSpace;
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import com.jme3.bullet.collision.*;
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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.control.ragdoll.*;
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import com.jme3.bullet.joints.SixDofJoint;
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import com.jme3.bullet.objects.PhysicsRigidBody;
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import com.jme3.export.*;
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import com.jme3.math.*;
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import com.jme3.renderer.RenderManager;
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import com.jme3.renderer.ViewPort;
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import com.jme3.scene.Node;
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import com.jme3.scene.Spatial;
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import com.jme3.util.TempVars;
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import com.jme3.util.clone.JmeCloneable;
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import java.io.IOException;
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import java.util.*;
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import java.util.logging.Level;
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import java.util.logging.Logger;
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/**
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* <strong>This control is still a WIP, use it at your own risk</strong><br> To
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* use this control you need a model with an AnimControl and a
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* SkeletonControl.<br> This should be the case if you imported an animated
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* model from Ogre or blender.<br> Note enabling/disabling the control
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* add/removes it from the physics space<br> <p> This control creates collision
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* shapes for each bones of the skeleton when you call
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* spatial.addControl(ragdollControl). <ul> <li>The shape is HullCollision shape
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* based on the vertices associated with each bone and based on a tweakable
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* weight threshold (see setWeightThreshold)</li> <li>If you don't want each
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* bone to be a collision shape, you can specify what bone to use by using the
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* addBoneName method<br> By using this method, bone that are not used to create
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* a shape, are "merged" to their parent to create the collision shape. </li>
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* </ul> </p> <p> There are 2 modes for this control : <ul> <li><strong>The
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* kinematic modes :</strong><br> this is the default behavior, this means that
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* the collision shapes of the body are able to interact with physics enabled
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* objects. in this mode physics shapes follow the motion of the animated
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* skeleton (for example animated by a key framed animation) this mode is
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* enabled by calling setKinematicMode(); </li> <li><strong>The ragdoll modes
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* :</strong><br> To enable this behavior, you need to call setRagdollMode()
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* method. In this mode the character is entirely controlled by physics, so it
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* will fall under the gravity and move if any force is applied to it. </li>
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* </ul> </p>
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*
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* @author Normen Hansen and Rémy Bouquet (Nehon)
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*
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* TODO this needs to be redone with the new animation system
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*/
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@Deprecated
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public class KinematicRagdollControl extends AbstractPhysicsControl implements PhysicsCollisionListener, JmeCloneable {
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protected static final Logger logger = Logger.getLogger(KinematicRagdollControl.class.getName());
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protected List<RagdollCollisionListener> listeners;
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protected final Set<String> boneList = new TreeSet<String>();
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protected final Map<String, PhysicsBoneLink> boneLinks = new HashMap<String, PhysicsBoneLink>();
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protected final Vector3f modelPosition = new Vector3f();
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protected final Quaternion modelRotation = new Quaternion();
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protected final PhysicsRigidBody baseRigidBody;
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protected Spatial targetModel;
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protected Skeleton skeleton;
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protected RagdollPreset preset = new HumanoidRagdollPreset();
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protected Vector3f initScale;
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protected Mode mode = Mode.Kinematic;
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protected boolean debug = false;
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protected boolean blendedControl = false;
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protected float weightThreshold = -1.0f;
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protected float blendStart = 0.0f;
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protected float blendTime = 1.0f;
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protected float eventDispatchImpulseThreshold = 10;
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protected float rootMass = 15;
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protected float totalMass = 0;
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private Map<String, Vector3f> ikTargets = new HashMap<String, Vector3f>();
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private Map<String, Integer> ikChainDepth = new HashMap<String, Integer>();
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private float ikRotSpeed = 7f;
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private float limbDampening = 0.6f;
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private float IKThreshold = 0.1f;
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public static enum Mode {
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Kinematic,
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Ragdoll,
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IK
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}
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public class PhysicsBoneLink implements Savable {
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protected PhysicsRigidBody rigidBody;
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protected Bone bone;
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protected SixDofJoint joint;
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protected Quaternion initalWorldRotation;
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protected Quaternion startBlendingRot = new Quaternion();
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protected Vector3f startBlendingPos = new Vector3f();
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public PhysicsBoneLink() {
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}
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public Bone getBone() {
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return bone;
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}
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public PhysicsRigidBody getRigidBody() {
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return rigidBody;
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}
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public void write(JmeExporter ex) throws IOException {
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OutputCapsule oc = ex.getCapsule(this);
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oc.write(rigidBody, "rigidBody", null);
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oc.write(bone, "bone", null);
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oc.write(joint, "joint", null);
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oc.write(initalWorldRotation, "initalWorldRotation", null);
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oc.write(startBlendingRot, "startBlendingRot", new Quaternion());
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oc.write(startBlendingPos, "startBlendingPos", new Vector3f());
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}
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public void read(JmeImporter im) throws IOException {
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InputCapsule ic = im.getCapsule(this);
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rigidBody = (PhysicsRigidBody) ic.readSavable("rigidBody", null);
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bone = (Bone) ic.readSavable("bone", null);
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joint = (SixDofJoint) ic.readSavable("joint", null);
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initalWorldRotation = (Quaternion) ic.readSavable("initalWorldRotation", null);
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startBlendingRot = (Quaternion) ic.readSavable("startBlendingRot", null);
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startBlendingPos = (Vector3f) ic.readSavable("startBlendingPos", null);
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}
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}
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/**
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* construct a KinematicRagdollControl
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*/
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public KinematicRagdollControl() {
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baseRigidBody = new PhysicsRigidBody(new BoxCollisionShape(Vector3f.UNIT_XYZ.mult(0.1f)), 1);
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baseRigidBody.setKinematic(mode == Mode.Kinematic);
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}
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public KinematicRagdollControl(float weightThreshold) {
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this();
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this.weightThreshold = weightThreshold;
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}
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public KinematicRagdollControl(RagdollPreset preset, float weightThreshold) {
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this();
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this.preset = preset;
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this.weightThreshold = weightThreshold;
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}
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public KinematicRagdollControl(RagdollPreset preset) {
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this();
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this.preset = preset;
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}
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public void update(float tpf) {
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if (!enabled) {
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return;
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}
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if(mode == Mode.IK){
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ikUpdate(tpf);
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} else if (mode == mode.Ragdoll && targetModel.getLocalTranslation().equals(modelPosition)) {
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//if the ragdoll has the control of the skeleton, we update each bone with its position in physics world space.
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ragDollUpdate(tpf);
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} else {
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kinematicUpdate(tpf);
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}
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}
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protected void ragDollUpdate(float tpf) {
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TempVars vars = TempVars.get();
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Quaternion tmpRot1 = vars.quat1;
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Quaternion tmpRot2 = vars.quat2;
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for (PhysicsBoneLink link : boneLinks.values()) {
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Vector3f position = vars.vect1;
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//retrieving bone position in physics world space
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Vector3f p = link.rigidBody.getMotionState().getWorldLocation();
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//transforming this position with inverse transforms of the model
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targetModel.getWorldTransform().transformInverseVector(p, position);
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//retrieving bone rotation in physics world space
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Quaternion q = link.rigidBody.getMotionState().getWorldRotationQuat();
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//multiplying this rotation by the initialWorld rotation of the bone,
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//then transforming it with the inverse world rotation of the model
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tmpRot1.set(q).multLocal(link.initalWorldRotation);
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tmpRot2.set(targetModel.getWorldRotation()).inverseLocal().mult(tmpRot1, tmpRot1);
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tmpRot1.normalizeLocal();
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//if the bone is the root bone, we apply the physic's transform to the model, so its position and rotation are correctly updated
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if (link.bone.getParent() == null) {
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//offsetting the physic's position/rotation by the root bone inverse model space position/rotaion
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modelPosition.set(p).subtractLocal(link.bone.getBindPosition());
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targetModel.getParent().getWorldTransform().transformInverseVector(modelPosition, modelPosition);
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modelRotation.set(q).multLocal(tmpRot2.set(link.bone.getBindRotation()).inverseLocal());
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//applying transforms to the model
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targetModel.setLocalTranslation(modelPosition);
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targetModel.setLocalRotation(modelRotation);
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//Applying computed transforms to the bone
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link.bone.setUserTransformsInModelSpace(position, tmpRot1);
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} else {
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//if boneList is empty, this means that every bone in the ragdoll has a collision shape,
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//so we just update the bone position
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if (boneList.isEmpty()) {
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link.bone.setUserTransformsInModelSpace(position, tmpRot1);
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} else {
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//boneList is not empty, this means some bones of the skeleton might not be associated with a collision shape.
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//So we update them recursively
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RagdollUtils.setTransform(link.bone, position, tmpRot1, false, boneList);
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}
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}
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}
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vars.release();
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}
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protected void kinematicUpdate(float tpf) {
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//the ragdoll does not have control, so the keyframed animation updates the physics position of the physics bonces
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TempVars vars = TempVars.get();
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Quaternion tmpRot1 = vars.quat1;
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Quaternion tmpRot2 = vars.quat2;
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Vector3f position = vars.vect1;
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for (PhysicsBoneLink link : boneLinks.values()) {
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// if(link.usedbyIK){
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// continue;
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// }
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//if blended control this means, keyframed animation is updating the skeleton,
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//but to allow smooth transition, we blend this transformation with the saved position of the ragdoll
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if (blendedControl) {
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Vector3f position2 = vars.vect2;
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//initializing tmp vars with the start position/rotation of the ragdoll
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position.set(link.startBlendingPos);
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tmpRot1.set(link.startBlendingRot);
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//interpolating between ragdoll position/rotation and keyframed position/rotation
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tmpRot2.set(tmpRot1).nlerp(link.bone.getModelSpaceRotation(), blendStart / blendTime);
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position2.set(position).interpolateLocal(link.bone.getModelSpacePosition(), blendStart / blendTime);
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tmpRot1.set(tmpRot2);
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position.set(position2);
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//updating bones transforms
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if (boneList.isEmpty()) {
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//we ensure we have the control to update the bone
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link.bone.setUserControl(true);
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link.bone.setUserTransformsInModelSpace(position, tmpRot1);
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//we give control back to the key framed animation.
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link.bone.setUserControl(false);
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} else {
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RagdollUtils.setTransform(link.bone, position, tmpRot1, true, boneList);
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}
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}
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//setting skeleton transforms to the ragdoll
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matchPhysicObjectToBone(link, position, tmpRot1);
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modelPosition.set(targetModel.getLocalTranslation());
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}
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//time control for blending
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if (blendedControl) {
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blendStart += tpf;
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if (blendStart > blendTime) {
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blendedControl = false;
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}
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}
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vars.release();
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}
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private void ikUpdate(float tpf){
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TempVars vars = TempVars.get();
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Quaternion tmpRot1 = vars.quat1;
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Quaternion[] tmpRot2 = new Quaternion[]{vars.quat2, new Quaternion()};
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Iterator<String> it = ikTargets.keySet().iterator();
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float distance;
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Bone bone;
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String boneName;
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while (it.hasNext()) {
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boneName = it.next();
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bone = (Bone) boneLinks.get(boneName).bone;
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if (!bone.hasUserControl()) {
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Logger.getLogger(KinematicRagdollControl.class.getSimpleName()).log(Level.FINE, "{0} doesn't have user control", boneName);
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continue;
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}
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distance = bone.getModelSpacePosition().distance(ikTargets.get(boneName));
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if (distance < IKThreshold) {
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Logger.getLogger(KinematicRagdollControl.class.getSimpleName()).log(Level.FINE, "Distance is close enough");
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continue;
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}
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int depth = 0;
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int maxDepth = ikChainDepth.get(bone.getName());
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updateBone(boneLinks.get(bone.getName()), tpf * (float) FastMath.sqrt(distance), vars, tmpRot1, tmpRot2, bone, ikTargets.get(boneName), depth, maxDepth);
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Vector3f position = vars.vect1;
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for (PhysicsBoneLink link : boneLinks.values()) {
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matchPhysicObjectToBone(link, position, tmpRot1);
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}
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}
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vars.release();
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}
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public void updateBone(PhysicsBoneLink link, float tpf, TempVars vars, Quaternion tmpRot1, Quaternion[] tmpRot2, Bone tipBone, Vector3f target, int depth, int maxDepth) {
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if (link == null || link.bone.getParent() == null) {
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return;
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}
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Quaternion preQuat = link.bone.getLocalRotation();
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Vector3f vectorAxis;
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float[] measureDist = new float[]{Float.POSITIVE_INFINITY, Float.POSITIVE_INFINITY};
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for (int dirIndex = 0; dirIndex < 3; dirIndex++) {
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if (dirIndex == 0) {
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vectorAxis = Vector3f.UNIT_Z;
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} else if (dirIndex == 1) {
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vectorAxis = Vector3f.UNIT_X;
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} else {
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vectorAxis = Vector3f.UNIT_Y;
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}
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for (int posOrNeg = 0; posOrNeg < 2; posOrNeg++) {
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float rot = ikRotSpeed * tpf / (link.rigidBody.getMass() * 2);
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rot = FastMath.clamp(rot, link.joint.getRotationalLimitMotor(dirIndex).getLoLimit(), link.joint.getRotationalLimitMotor(dirIndex).getHiLimit());
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tmpRot1.fromAngleAxis(rot, vectorAxis);
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// tmpRot1.fromAngleAxis(rotSpeed * tpf / (link.rigidBody.getMass() * 2), vectorAxis);
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tmpRot2[posOrNeg] = link.bone.getLocalRotation().mult(tmpRot1);
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tmpRot2[posOrNeg].normalizeLocal();
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ikRotSpeed = -ikRotSpeed;
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link.bone.setLocalRotation(tmpRot2[posOrNeg]);
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link.bone.update();
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measureDist[posOrNeg] = tipBone.getModelSpacePosition().distance(target);
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link.bone.setLocalRotation(preQuat);
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}
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if (measureDist[0] < measureDist[1]) {
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link.bone.setLocalRotation(tmpRot2[0]);
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} else if (measureDist[0] > measureDist[1]) {
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link.bone.setLocalRotation(tmpRot2[1]);
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}
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}
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link.bone.getLocalRotation().normalizeLocal();
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link.bone.update();
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// link.usedbyIK = true;
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if (link.bone.getParent() != null && depth < maxDepth) {
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updateBone(boneLinks.get(link.bone.getParent().getName()), tpf * limbDampening, vars, tmpRot1, tmpRot2, tipBone, target, depth + 1, maxDepth);
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}
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}
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/**
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* Set the transforms of a rigidBody to match the transforms of a bone. this
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* is used to make the ragdoll follow the skeleton motion while in Kinematic
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* mode
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*
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* @param link the link containing the bone and the rigidBody
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* @param position just a temp vector for position
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* @param tmpRot1 just a temp quaternion for rotation
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*/
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protected void matchPhysicObjectToBone(PhysicsBoneLink link, Vector3f position, Quaternion tmpRot1) {
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//computing position from rotation and scale
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targetModel.getWorldTransform().transformVector(link.bone.getModelSpacePosition(), position);
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//computing rotation
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tmpRot1.set(link.bone.getModelSpaceRotation()).multLocal(link.bone.getModelBindInverseRotation());
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targetModel.getWorldRotation().mult(tmpRot1, tmpRot1);
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tmpRot1.normalizeLocal();
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//updating physics location/rotation of the physics bone
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link.rigidBody.setPhysicsLocation(position);
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link.rigidBody.setPhysicsRotation(tmpRot1);
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}
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/**
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* rebuild the ragdoll this is useful if you applied scale on the ragdoll
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* after it's been initialized, same as reattaching.
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*/
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public void reBuild() {
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if (spatial == null) {
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return;
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}
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removeSpatialData(spatial);
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createSpatialData(spatial);
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}
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@Override
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protected void createSpatialData(Spatial model) {
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targetModel = model;
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Node parent = model.getParent();
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Vector3f initPosition = model.getLocalTranslation().clone();
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Quaternion initRotation = model.getLocalRotation().clone();
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initScale = model.getLocalScale().clone();
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model.removeFromParent();
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model.setLocalTranslation(Vector3f.ZERO);
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model.setLocalRotation(Quaternion.IDENTITY);
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model.setLocalScale(1);
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//HACK ALERT change this
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//I remove the skeletonControl and readd it to the spatial to make sure it's after the ragdollControl in the stack
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//Find a proper way to order the controls.
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SkeletonControl sc = model.getControl(SkeletonControl.class);
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if(sc == null){
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throw new IllegalArgumentException("The root node of the model should have a SkeletonControl. Make sure the control is there and that it's not on a sub node.");
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}
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model.removeControl(sc);
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model.addControl(sc);
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// put into bind pose and compute bone transforms in model space
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// maybe dont reset to ragdoll out of animations?
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scanSpatial(model);
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if (parent != null) {
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parent.attachChild(model);
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}
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model.setLocalTranslation(initPosition);
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model.setLocalRotation(initRotation);
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model.setLocalScale(initScale);
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if (added) {
|
|
addPhysics(space);
|
|
}
|
|
logger.log(Level.FINE, "Created physics ragdoll for skeleton {0}", skeleton);
|
|
}
|
|
|
|
@Override
|
|
protected void removeSpatialData(Spatial spat) {
|
|
if (added) {
|
|
removePhysics(space);
|
|
}
|
|
boneLinks.clear();
|
|
}
|
|
|
|
/**
|
|
* Add a bone name to this control Using this method you can specify which
|
|
* bones of the skeleton will be used to build the collision shapes.
|
|
*
|
|
* @param name
|
|
*/
|
|
public void addBoneName(String name) {
|
|
boneList.add(name);
|
|
}
|
|
|
|
protected void scanSpatial(Spatial model) {
|
|
AnimControl animControl = model.getControl(AnimControl.class);
|
|
Map<Integer, List<Float>> pointsMap = null;
|
|
if (weightThreshold == -1.0f) {
|
|
pointsMap = RagdollUtils.buildPointMap(model);
|
|
}
|
|
|
|
skeleton = animControl.getSkeleton();
|
|
skeleton.resetAndUpdate();
|
|
for (int i = 0; i < skeleton.getRoots().length; i++) {
|
|
Bone childBone = skeleton.getRoots()[i];
|
|
if (childBone.getParent() == null) {
|
|
logger.log(Level.FINE, "Found root bone in skeleton {0}", skeleton);
|
|
boneRecursion(model, childBone, baseRigidBody, 1, pointsMap);
|
|
}
|
|
}
|
|
}
|
|
|
|
protected void boneRecursion(Spatial model, Bone bone, PhysicsRigidBody parent, int reccount, Map<Integer, List<Float>> pointsMap) {
|
|
PhysicsRigidBody parentShape = parent;
|
|
if (boneList.isEmpty() || boneList.contains(bone.getName())) {
|
|
|
|
PhysicsBoneLink link = new PhysicsBoneLink();
|
|
link.bone = bone;
|
|
|
|
//creating the collision shape
|
|
HullCollisionShape shape = null;
|
|
if (pointsMap != null) {
|
|
//build a shape for the bone, using the vertices that are most influenced by this bone
|
|
shape = RagdollUtils.makeShapeFromPointMap(pointsMap, RagdollUtils.getBoneIndices(link.bone, skeleton, boneList), initScale, link.bone.getModelSpacePosition());
|
|
} else {
|
|
//build a shape for the bone, using the vertices associated with this bone with a weight above the threshold
|
|
shape = RagdollUtils.makeShapeFromVerticeWeights(model, RagdollUtils.getBoneIndices(link.bone, skeleton, boneList), initScale, link.bone.getModelSpacePosition(), weightThreshold);
|
|
}
|
|
|
|
PhysicsRigidBody shapeNode = new PhysicsRigidBody(shape, rootMass / (float) reccount);
|
|
|
|
shapeNode.setKinematic(mode == Mode.Kinematic);
|
|
totalMass += rootMass / (float) reccount;
|
|
|
|
link.rigidBody = shapeNode;
|
|
link.initalWorldRotation = bone.getModelSpaceRotation().clone();
|
|
|
|
if (parent != null) {
|
|
//get joint position for parent
|
|
Vector3f posToParent = new Vector3f();
|
|
if (bone.getParent() != null) {
|
|
bone.getModelSpacePosition().subtract(bone.getParent().getModelSpacePosition(), posToParent).multLocal(initScale);
|
|
}
|
|
|
|
SixDofJoint joint = new SixDofJoint(parent, shapeNode, posToParent, new Vector3f(0, 0, 0f), true);
|
|
preset.setupJointForBone(bone.getName(), joint);
|
|
|
|
link.joint = joint;
|
|
joint.setCollisionBetweenLinkedBodys(false);
|
|
}
|
|
boneLinks.put(bone.getName(), link);
|
|
shapeNode.setUserObject(link);
|
|
parentShape = shapeNode;
|
|
}
|
|
|
|
for (Iterator<Bone> it = bone.getChildren().iterator(); it.hasNext();) {
|
|
Bone childBone = it.next();
|
|
boneRecursion(model, childBone, parentShape, reccount + 1, pointsMap);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Set the joint limits for the joint between the given bone and its parent.
|
|
* This method can't work before attaching the control to a spatial
|
|
*
|
|
* @param boneName the name of the bone
|
|
* @param maxX the maximum rotation on the x axis (in radians)
|
|
* @param minX the minimum rotation on the x axis (in radians)
|
|
* @param maxY the maximum rotation on the y axis (in radians)
|
|
* @param minY the minimum rotation on the z axis (in radians)
|
|
* @param maxZ the maximum rotation on the z axis (in radians)
|
|
* @param minZ the minimum rotation on the z axis (in radians)
|
|
*/
|
|
public void setJointLimit(String boneName, float maxX, float minX, float maxY, float minY, float maxZ, float minZ) {
|
|
PhysicsBoneLink link = boneLinks.get(boneName);
|
|
if (link != null) {
|
|
RagdollUtils.setJointLimit(link.joint, maxX, minX, maxY, minY, maxZ, minZ);
|
|
} else {
|
|
logger.log(Level.WARNING, "Not joint was found for bone {0}. make sure you call spatial.addControl(ragdoll) before setting joints limit", boneName);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Return the joint between the given bone and its parent. This return null
|
|
* if it's called before attaching the control to a spatial
|
|
*
|
|
* @param boneName the name of the bone
|
|
* @return the joint between the given bone and its parent
|
|
*/
|
|
public SixDofJoint getJoint(String boneName) {
|
|
PhysicsBoneLink link = boneLinks.get(boneName);
|
|
if (link != null) {
|
|
return link.joint;
|
|
} else {
|
|
logger.log(Level.WARNING, "Not joint was found for bone {0}. make sure you call spatial.addControl(ragdoll) before setting joints limit", boneName);
|
|
return null;
|
|
}
|
|
}
|
|
|
|
@Override
|
|
protected void setPhysicsLocation(Vector3f vec) {
|
|
if (baseRigidBody != null) {
|
|
baseRigidBody.setPhysicsLocation(vec);
|
|
}
|
|
}
|
|
|
|
@Override
|
|
protected void setPhysicsRotation(Quaternion quat) {
|
|
if (baseRigidBody != null) {
|
|
baseRigidBody.setPhysicsRotation(quat);
|
|
}
|
|
}
|
|
|
|
@Override
|
|
protected void addPhysics(PhysicsSpace space) {
|
|
if (baseRigidBody != null) {
|
|
space.add(baseRigidBody);
|
|
}
|
|
for (Iterator<PhysicsBoneLink> it = boneLinks.values().iterator(); it.hasNext();) {
|
|
PhysicsBoneLink physicsBoneLink = it.next();
|
|
if (physicsBoneLink.rigidBody != null) {
|
|
space.add(physicsBoneLink.rigidBody);
|
|
if (physicsBoneLink.joint != null) {
|
|
space.add(physicsBoneLink.joint);
|
|
|
|
}
|
|
}
|
|
}
|
|
space.addCollisionListener(this);
|
|
}
|
|
|
|
@Override
|
|
protected void removePhysics(PhysicsSpace space) {
|
|
if (baseRigidBody != null) {
|
|
space.remove(baseRigidBody);
|
|
}
|
|
for (Iterator<PhysicsBoneLink> it = boneLinks.values().iterator(); it.hasNext();) {
|
|
PhysicsBoneLink physicsBoneLink = it.next();
|
|
if (physicsBoneLink.joint != null) {
|
|
space.remove(physicsBoneLink.joint);
|
|
if (physicsBoneLink.rigidBody != null) {
|
|
space.remove(physicsBoneLink.rigidBody);
|
|
}
|
|
}
|
|
}
|
|
space.removeCollisionListener(this);
|
|
}
|
|
|
|
/**
|
|
* For internal use only callback for collisionevent
|
|
*
|
|
* @param event
|
|
*/
|
|
public void collision(PhysicsCollisionEvent event) {
|
|
PhysicsCollisionObject objA = event.getObjectA();
|
|
PhysicsCollisionObject objB = event.getObjectB();
|
|
|
|
//excluding collisions that involve 2 parts of the ragdoll
|
|
if (event.getNodeA() == null && event.getNodeB() == null) {
|
|
return;
|
|
}
|
|
|
|
//discarding low impulse collision
|
|
if (event.getAppliedImpulse() < eventDispatchImpulseThreshold) {
|
|
return;
|
|
}
|
|
|
|
boolean hit = false;
|
|
Bone hitBone = null;
|
|
PhysicsCollisionObject hitObject = null;
|
|
|
|
//Computing which bone has been hit
|
|
if (objA.getUserObject() instanceof PhysicsBoneLink) {
|
|
PhysicsBoneLink link = (PhysicsBoneLink) objA.getUserObject();
|
|
if (link != null) {
|
|
hit = true;
|
|
hitBone = link.bone;
|
|
hitObject = objB;
|
|
}
|
|
}
|
|
|
|
if (objB.getUserObject() instanceof PhysicsBoneLink) {
|
|
PhysicsBoneLink link = (PhysicsBoneLink) objB.getUserObject();
|
|
if (link != null) {
|
|
hit = true;
|
|
hitBone = link.bone;
|
|
hitObject = objA;
|
|
|
|
}
|
|
}
|
|
|
|
//dispatching the event if the ragdoll has been hit
|
|
if (hit && listeners != null) {
|
|
for (RagdollCollisionListener listener : listeners) {
|
|
listener.collide(hitBone, hitObject, event);
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
/**
|
|
* Enable or disable the ragdoll behaviour. if ragdollEnabled is true, the
|
|
* character motion will only be powered by physics else, the character will
|
|
* be animated by the keyframe animation, but will be able to physically
|
|
* interact with its physics environment
|
|
*
|
|
* @param ragdollEnabled
|
|
*/
|
|
protected void setMode(Mode mode) {
|
|
this.mode = mode;
|
|
AnimControl animControl = targetModel.getControl(AnimControl.class);
|
|
animControl.setEnabled(mode == Mode.Kinematic);
|
|
|
|
baseRigidBody.setKinematic(mode == Mode.Kinematic);
|
|
if (mode != Mode.IK) {
|
|
TempVars vars = TempVars.get();
|
|
|
|
for (PhysicsBoneLink link : boneLinks.values()) {
|
|
link.rigidBody.setKinematic(mode == Mode.Kinematic);
|
|
if (mode == Mode.Ragdoll) {
|
|
Quaternion tmpRot1 = vars.quat1;
|
|
Vector3f position = vars.vect1;
|
|
//making sure that the ragdoll is at the correct place.
|
|
matchPhysicObjectToBone(link, position, tmpRot1);
|
|
}
|
|
|
|
}
|
|
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
|
|
*
|
|
* @param blendTime the blending time between ragdoll to anim.
|
|
*/
|
|
public void blendToKinematicMode(float blendTime) {
|
|
if (mode == Mode.Kinematic) {
|
|
return;
|
|
}
|
|
blendedControl = true;
|
|
this.blendTime = blendTime;
|
|
mode = Mode.Kinematic;
|
|
AnimControl animControl = targetModel.getControl(AnimControl.class);
|
|
animControl.setEnabled(true);
|
|
|
|
|
|
TempVars vars = TempVars.get();
|
|
for (PhysicsBoneLink link : boneLinks.values()) {
|
|
|
|
Vector3f p = link.rigidBody.getMotionState().getWorldLocation();
|
|
Vector3f position = vars.vect1;
|
|
|
|
targetModel.getWorldTransform().transformInverseVector(p, position);
|
|
|
|
Quaternion q = link.rigidBody.getMotionState().getWorldRotationQuat();
|
|
Quaternion q2 = vars.quat1;
|
|
Quaternion q3 = vars.quat2;
|
|
|
|
q2.set(q).multLocal(link.initalWorldRotation).normalizeLocal();
|
|
q3.set(targetModel.getWorldRotation()).inverseLocal().mult(q2, q2);
|
|
q2.normalizeLocal();
|
|
link.startBlendingPos.set(position);
|
|
link.startBlendingRot.set(q2);
|
|
link.rigidBody.setKinematic(true);
|
|
}
|
|
vars.release();
|
|
|
|
for (Bone bone : skeleton.getRoots()) {
|
|
RagdollUtils.setUserControl(bone, false);
|
|
}
|
|
|
|
blendStart = 0;
|
|
}
|
|
|
|
/**
|
|
* Set the control into Kinematic mode In this mode, the collision shapes
|
|
* follow the movements of the skeleton, and can interact with physical
|
|
* environment
|
|
*/
|
|
public void setKinematicMode() {
|
|
if (mode != Mode.Kinematic) {
|
|
setMode(Mode.Kinematic);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Sets the control into Ragdoll mode The skeleton is entirely controlled by
|
|
* physics.
|
|
*/
|
|
public void setRagdollMode() {
|
|
if (mode != Mode.Ragdoll) {
|
|
setMode(Mode.Ragdoll);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* 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);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* returns the mode of this control
|
|
*
|
|
* @return
|
|
*/
|
|
public Mode getMode() {
|
|
return mode;
|
|
}
|
|
|
|
/**
|
|
* add a
|
|
*
|
|
* @param listener
|
|
*/
|
|
public void addCollisionListener(RagdollCollisionListener listener) {
|
|
if (listeners == null) {
|
|
listeners = new ArrayList<RagdollCollisionListener>();
|
|
}
|
|
listeners.add(listener);
|
|
}
|
|
|
|
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 getEventDispatchImpulseThreshold() {
|
|
return eventDispatchImpulseThreshold;
|
|
}
|
|
|
|
public void setEventDispatchImpulseThreshold(float eventDispatchImpulseThreshold) {
|
|
this.eventDispatchImpulseThreshold = eventDispatchImpulseThreshold;
|
|
}
|
|
|
|
/**
|
|
* Set the CcdMotionThreshold of all the bone's rigidBodies of the ragdoll
|
|
*
|
|
* @see PhysicsRigidBody#setCcdMotionThreshold(float)
|
|
* @param value
|
|
*/
|
|
public void setCcdMotionThreshold(float value) {
|
|
for (PhysicsBoneLink link : boneLinks.values()) {
|
|
link.rigidBody.setCcdMotionThreshold(value);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Set the CcdSweptSphereRadius of all the bone's rigidBodies of the ragdoll
|
|
*
|
|
* @see PhysicsRigidBody#setCcdSweptSphereRadius(float)
|
|
* @param value
|
|
*/
|
|
public void setCcdSweptSphereRadius(float value) {
|
|
for (PhysicsBoneLink link : boneLinks.values()) {
|
|
link.rigidBody.setCcdSweptSphereRadius(value);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* return the rigidBody associated to the given bone
|
|
*
|
|
* @param boneName the name of the bone
|
|
* @return the associated rigidBody.
|
|
*/
|
|
public PhysicsRigidBody getBoneRigidBody(String boneName) {
|
|
PhysicsBoneLink link = boneLinks.get(boneName);
|
|
if (link != null) {
|
|
return link.rigidBody;
|
|
}
|
|
return null;
|
|
}
|
|
|
|
/**
|
|
* For internal use only specific render for the ragdoll (if debugging)
|
|
*
|
|
* @param rm
|
|
* @param vp
|
|
*/
|
|
@Override
|
|
public void render(RenderManager rm, ViewPort vp) {
|
|
}
|
|
|
|
@Override
|
|
public Object jmeClone() {
|
|
KinematicRagdollControl control = new KinematicRagdollControl(preset, weightThreshold);
|
|
control.setMode(mode);
|
|
control.setRootMass(rootMass);
|
|
control.setWeightThreshold(weightThreshold);
|
|
control.setApplyPhysicsLocal(applyLocal);
|
|
control.spatial = this.spatial;
|
|
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;
|
|
}
|
|
|
|
public Bone getBone(String name){
|
|
return skeleton.getBone(name);
|
|
}
|
|
/**
|
|
* serialize this control
|
|
*
|
|
* @param ex
|
|
* @throws IOException
|
|
*/
|
|
@Override
|
|
public void write(JmeExporter ex) throws IOException {
|
|
super.write(ex);
|
|
OutputCapsule oc = ex.getCapsule(this);
|
|
oc.write(boneList.toArray(new String[boneList.size()]), "boneList", new String[0]);
|
|
oc.write(boneLinks.values().toArray(new PhysicsBoneLink[boneLinks.size()]), "boneLinks", new PhysicsBoneLink[0]);
|
|
oc.write(modelPosition, "modelPosition", new Vector3f());
|
|
oc.write(modelRotation, "modelRotation", new Quaternion());
|
|
oc.write(targetModel, "targetModel", null);
|
|
oc.write(skeleton, "skeleton", null);
|
|
// oc.write(preset, "preset", null);//TODO
|
|
oc.write(initScale, "initScale", null);
|
|
oc.write(mode, "mode", null);
|
|
oc.write(blendedControl, "blendedControl", false);
|
|
oc.write(weightThreshold, "weightThreshold", -1.0f);
|
|
oc.write(blendStart, "blendStart", 0.0f);
|
|
oc.write(blendTime, "blendTime", 1.0f);
|
|
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);
|
|
}
|
|
|
|
/**
|
|
* de-serialize this control
|
|
*
|
|
* @param im
|
|
* @throws IOException
|
|
*/
|
|
@Override
|
|
public void read(JmeImporter im) throws IOException {
|
|
super.read(im);
|
|
InputCapsule ic = im.getCapsule(this);
|
|
String[] loadedBoneList = ic.readStringArray("boneList", new String[0]);
|
|
boneList.addAll(Arrays.asList(loadedBoneList));
|
|
PhysicsBoneLink[] loadedBoneLinks = (PhysicsBoneLink[]) ic.readSavableArray("boneList", new PhysicsBoneLink[0]);
|
|
for (PhysicsBoneLink physicsBoneLink : loadedBoneLinks) {
|
|
boneLinks.put(physicsBoneLink.bone.getName(), physicsBoneLink);
|
|
}
|
|
modelPosition.set((Vector3f) ic.readSavable("modelPosition", new Vector3f()));
|
|
modelRotation.set((Quaternion) ic.readSavable("modelRotation", new Quaternion()));
|
|
targetModel = (Spatial) ic.readSavable("targetModel", null);
|
|
skeleton = (Skeleton) ic.readSavable("skeleton", null);
|
|
// preset //TODO
|
|
initScale = (Vector3f) ic.readSavable("initScale", null);
|
|
mode = ic.readEnum("mode", Mode.class, Mode.Kinematic);
|
|
blendedControl = ic.readBoolean("blendedControl", false);
|
|
weightThreshold = ic.readFloat("weightThreshold", -1.0f);
|
|
blendStart = ic.readFloat("blendStart", 0.0f);
|
|
blendTime = ic.readFloat("blendTime", 1.0f);
|
|
eventDispatchImpulseThreshold = ic.readFloat("eventDispatchImpulseThreshold", 10);
|
|
rootMass = ic.readFloat("rootMass", 15);
|
|
totalMass = ic.readFloat("totalMass", 0);
|
|
}
|
|
}
|
|
|