/**
* <code>rotateUpTo</code> is a utility function that alters the local rotation to point the Y
* axis in the direction given by newUp.
*
* @param newUp the up vector to use - assumed to be a unit vector.
*/
public void rotateUpTo(Vector3f newUp) {
TempVars vars = TempVars.get();
Vector3f compVecA = vars.vect1;
Quaternion q = vars.quat1;
// First figure out the current up vector.
Vector3f upY = compVecA.set(Vector3f.UNIT_Y);
Quaternion rot = localTransform.getRotation();
rot.multLocal(upY);
// get angle between vectors
float angle = upY.angleBetween(newUp);
// figure out rotation axis by taking cross product
Vector3f rotAxis = upY.crossLocal(newUp).normalizeLocal();
// Build a rotation quat and apply current local rotation.
q.fromAngleNormalAxis(angle, rotAxis);
q.mult(rot, rot);
vars.release();
setTransformRefresh();
}
/**
* <code>lookAt</code> is a convienence method for auto-setting the quaternion based on a
* direction and an up vector. It computes the rotation to transform the z-axis to point into
* 'direction' and the y-axis to 'up'.
*
* @param direction where to look at in terms of local coordinates
* @param up a vector indicating the local up direction. (typically {0, 1, 0} in jME.)
*/
public void lookAt(Vector3f direction, Vector3f up) {
TempVars vars = TempVars.get();
assert vars.lock();
vars.vect3.set(direction).normalizeLocal();
vars.vect1.set(up).crossLocal(direction).normalizeLocal();
vars.vect2.set(direction).crossLocal(vars.vect1).normalizeLocal();
fromAxes(vars.vect1, vars.vect2, vars.vect3);
assert vars.unlock();
}
/**
* Rotates the spatial by the xAngle, yAngle and zAngle angles (in radians), (aka pitch, yaw,
* roll) in the local coordinate space.
*
* @return The spatial on which this method is called, e.g <code>this</code>.
*/
public Spatial rotate(float xAngle, float yAngle, float zAngle) {
TempVars vars = TempVars.get();
Quaternion q = vars.quat1;
q.fromAngles(xAngle, yAngle, zAngle);
rotate(q);
vars.release();
return this;
}
public int collideWith(Collidable other) {
TempVars tempVars = TempVars.get();
try {
CollisionResults tempResults = tempVars.collisionResults;
tempResults.clear();
return collideWith(other, tempResults);
} finally {
tempVars.release();
}
}
private void doTransforms(
FloatBuffer bindBufPos,
FloatBuffer bindBufNorm,
FloatBuffer bufPos,
FloatBuffer bufNorm,
int start,
int end,
Matrix4f transform) {
TempVars vars = TempVars.get();
Vector3f pos = vars.vect1;
Vector3f norm = vars.vect2;
int length = (end - start) * 3;
// offset is given in element units
// convert to be in component units
int offset = start * 3;
bindBufPos.rewind();
bindBufNorm.rewind();
// bufPos.position(offset);
// bufNorm.position(offset);
bindBufPos.get(tmpFloat, 0, length);
bindBufNorm.get(tmpFloatN, 0, length);
int index = 0;
while (index < length) {
pos.x = tmpFloat[index];
norm.x = tmpFloatN[index++];
pos.y = tmpFloat[index];
norm.y = tmpFloatN[index++];
pos.z = tmpFloat[index];
norm.z = tmpFloatN[index];
transform.mult(pos, pos);
transform.multNormal(norm, norm);
index -= 2;
tmpFloat[index] = pos.x;
tmpFloatN[index++] = norm.x;
tmpFloat[index] = pos.y;
tmpFloatN[index++] = norm.y;
tmpFloat[index] = pos.z;
tmpFloatN[index++] = norm.z;
}
vars.release();
bufPos.position(offset);
// using bulk put as it's faster
bufPos.put(tmpFloat, 0, length);
bufNorm.position(offset);
// using bulk put as it's faster
bufNorm.put(tmpFloatN, 0, length);
}
/**
* Updates the shadow camera to properly contain the given points (which contain the eye camera
* frustum corners)
*
* @param shadowCam
* @param points
*/
public static void updateShadowCamera(Camera shadowCam, Vector3f[] points) {
boolean ortho = shadowCam.isParallelProjection();
shadowCam.setProjectionMatrix(null);
if (ortho) {
shadowCam.setFrustum(-1, 1, -1, 1, 1, -1);
} else {
shadowCam.setFrustumPerspective(45, 1, 1, 150);
}
Matrix4f viewProjMatrix = shadowCam.getViewProjectionMatrix();
Matrix4f projMatrix = shadowCam.getProjectionMatrix();
BoundingBox splitBB = computeBoundForPoints(points, viewProjMatrix);
TempVars vars = TempVars.get();
Vector3f splitMin = splitBB.getMin(vars.vect1);
Vector3f splitMax = splitBB.getMax(vars.vect2);
// splitMin.z = 0;
// Create the crop matrix.
float scaleX, scaleY, scaleZ;
float offsetX, offsetY, offsetZ;
scaleX = 2.0f / (splitMax.x - splitMin.x);
scaleY = 2.0f / (splitMax.y - splitMin.y);
offsetX = -0.5f * (splitMax.x + splitMin.x) * scaleX;
offsetY = -0.5f * (splitMax.y + splitMin.y) * scaleY;
scaleZ = 1.0f / (splitMax.z - splitMin.z);
offsetZ = -splitMin.z * scaleZ;
Matrix4f cropMatrix = vars.tempMat4;
cropMatrix.set(
scaleX, 0f, 0f, offsetX, 0f, scaleY, 0f, offsetY, 0f, 0f, scaleZ, offsetZ, 0f, 0f, 0f, 1f);
Matrix4f result = new Matrix4f();
result.set(cropMatrix);
result.multLocal(projMatrix);
vars.release();
shadowCam.setProjectionMatrix(result);
}
/** Computes the world transform of this Spatial in the most efficient manner possible. */
void checkDoTransformUpdate() {
if ((refreshFlags & RF_TRANSFORM) == 0) {
return;
}
if (parent == null) {
worldTransform.set(localTransform);
refreshFlags &= ~RF_TRANSFORM;
} else {
TempVars vars = TempVars.get();
Spatial[] stack = vars.spatialStack;
Spatial rootNode = this;
int i = 0;
while (true) {
Spatial hisParent = rootNode.parent;
if (hisParent == null) {
rootNode.worldTransform.set(rootNode.localTransform);
rootNode.refreshFlags &= ~RF_TRANSFORM;
i--;
break;
}
stack[i] = rootNode;
if ((hisParent.refreshFlags & RF_TRANSFORM) == 0) {
break;
}
rootNode = hisParent;
i++;
}
vars.release();
for (int j = i; j >= 0; j--) {
rootNode = stack[j];
// rootNode.worldTransform.set(rootNode.localTransform);
// rootNode.worldTransform.combineWithParent(rootNode.parent.worldTransform);
// rootNode.refreshFlags &= ~RF_TRANSFORM;
rootNode.updateWorldTransforms();
}
}
}
private void doCopyBuffer(FloatBuffer inBuf, int offset, FloatBuffer outBuf, int componentSize) {
TempVars vars = TempVars.get();
Vector3f pos = vars.vect1;
// offset is given in element units
// convert to be in component units
offset *= componentSize;
for (int i = 0; i < inBuf.limit() / componentSize; i++) {
pos.x = inBuf.get(i * componentSize + 0);
pos.y = inBuf.get(i * componentSize + 1);
pos.z = inBuf.get(i * componentSize + 2);
outBuf.put(offset + i * componentSize + 0, pos.x);
outBuf.put(offset + i * componentSize + 1, pos.y);
outBuf.put(offset + i * componentSize + 2, pos.z);
}
vars.release();
}
/**
* <code>lookAt</code> is a convenience method for auto-setting the local rotation based on a
* position in world space and an up vector. It computes the rotation to transform the z-axis to
* point onto 'position' and the y-axis to 'up'. Unlike {@link
* Quaternion#lookAt(com.jme3.math.Vector3f, com.jme3.math.Vector3f) } this method takes a world
* position to look at and not a relative direction.
*
* <p>Note : 28/01/2013 this method has been fixed as it was not taking into account the parent
* rotation. This was resulting in improper rotation when the spatial had rotated parent nodes.
* This method is intended to work in world space, so no matter what parent graph the spatial has,
* it will look at the given position in world space.
*
* @param position where to look at in terms of world coordinates
* @param upVector a vector indicating the (local) up direction. (typically {0, 1, 0} in jME.)
*/
public void lookAt(Vector3f position, Vector3f upVector) {
Vector3f worldTranslation = getWorldTranslation();
TempVars vars = TempVars.get();
Vector3f compVecA = vars.vect4;
compVecA.set(position).subtractLocal(worldTranslation);
getLocalRotation().lookAt(compVecA, upVector);
if (getParent() != null) {
Quaternion rot = vars.quat1;
rot = rot.set(parent.getWorldRotation()).inverseLocal().multLocal(getLocalRotation());
rot.normalizeLocal();
setLocalRotation(rot);
}
vars.release();
setTransformRefresh();
}
/**
* Creates a debug shape from the given collision shape. This is mostly used internally.<br>
* To attach a debug shape to a physics object, call <code>attachDebugShape(AssetManager manager);
* </code> on it.
*
* @param collisionShape
* @return
*/
public static Spatial getDebugShape(CollisionShape collisionShape) {
if (collisionShape == null) {
return null;
}
Spatial debugShape;
if (collisionShape instanceof CompoundCollisionShape) {
CompoundCollisionShape shape = (CompoundCollisionShape) collisionShape;
List<ChildCollisionShape> children = shape.getChildren();
Node node = new Node("DebugShapeNode");
for (Iterator<ChildCollisionShape> it = children.iterator(); it.hasNext(); ) {
ChildCollisionShape childCollisionShape = it.next();
CollisionShape ccollisionShape = childCollisionShape.shape;
Geometry geometry = createDebugShape(ccollisionShape);
// apply translation
geometry.setLocalTranslation(childCollisionShape.location);
// apply rotation
TempVars vars = TempVars.get();
Matrix3f tempRot = vars.tempMat3;
tempRot.set(geometry.getLocalRotation());
childCollisionShape.rotation.mult(tempRot, tempRot);
geometry.setLocalRotation(tempRot);
vars.release();
node.attachChild(geometry);
}
debugShape = node;
} else {
debugShape = createDebugShape(collisionShape);
}
if (debugShape == null) {
return null;
}
debugShape.updateGeometricState();
return debugShape;
}
/**
* Enable or disable the ragdoll behaviour. if ragdollEnabled is true, the character motion will
* only be powerd by physics else, the characted will be animated by the keyframe animation, but
* will be able to physically interact with its physic environnement
*
* @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);
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();
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;
}
/**
* Compute bounds from an array of points
*
* @param pts
* @param mat
* @return
*/
public static BoundingBox computeBoundForPoints(Vector3f[] pts, Matrix4f mat) {
Vector3f min = new Vector3f(Vector3f.POSITIVE_INFINITY);
Vector3f max = new Vector3f(Vector3f.NEGATIVE_INFINITY);
TempVars vars = TempVars.get();
Vector3f temp = vars.vect1;
for (int i = 0; i < pts.length; i++) {
float w = mat.multProj(pts[i], temp);
temp.x /= w;
temp.y /= w;
// Why was this commented out?
temp.z /= w;
min.minLocal(temp);
max.maxLocal(temp);
}
vars.release();
Vector3f center = min.add(max).multLocal(0.5f);
Vector3f extent = max.subtract(min).multLocal(0.5f);
// Nehon 08/18/2010 : Added an offset to the extend to avoid banding artifacts when the frustum
// are aligned
return new BoundingBox(center, extent.x + 2.0f, extent.y + 2.0f, extent.z + 2.5f);
}
protected void renderMultipassLighting(Shader shader, Geometry g, RenderManager rm) {
Renderer r = rm.getRenderer();
LightList lightList = g.getWorldLightList();
Uniform lightDir = shader.getUniform("g_LightDirection");
Uniform lightColor = shader.getUniform("g_LightColor");
Uniform lightPos = shader.getUniform("g_LightPosition");
Uniform ambientColor = shader.getUniform("g_AmbientLightColor");
boolean isFirstLight = true;
boolean isSecondLight = false;
for (int i = 0; i < lightList.size(); i++) {
Light l = lightList.get(i);
if (l instanceof AmbientLight) {
continue;
}
if (isFirstLight) {
// set ambient color for first light only
ambientColor.setValue(VarType.Vector4, getAmbientColor(lightList));
isFirstLight = false;
isSecondLight = true;
} else if (isSecondLight) {
ambientColor.setValue(VarType.Vector4, ColorRGBA.Black);
// apply additive blending for 2nd and future lights
r.applyRenderState(additiveLight);
isSecondLight = false;
}
TempVars vars = TempVars.get();
Quaternion tmpLightDirection = vars.quat1;
Quaternion tmpLightPosition = vars.quat2;
ColorRGBA tmpLightColor = vars.color;
Vector4f tmpVec = vars.vect4f;
ColorRGBA color = l.getColor();
tmpLightColor.set(color);
tmpLightColor.a = l.getType().getId();
lightColor.setValue(VarType.Vector4, tmpLightColor);
switch (l.getType()) {
case Directional:
DirectionalLight dl = (DirectionalLight) l;
Vector3f dir = dl.getDirection();
tmpLightPosition.set(dir.getX(), dir.getY(), dir.getZ(), -1);
lightPos.setValue(VarType.Vector4, tmpLightPosition);
tmpLightDirection.set(0, 0, 0, 0);
lightDir.setValue(VarType.Vector4, tmpLightDirection);
break;
case Point:
PointLight pl = (PointLight) l;
Vector3f pos = pl.getPosition();
float invRadius = pl.getInvRadius();
tmpLightPosition.set(pos.getX(), pos.getY(), pos.getZ(), invRadius);
lightPos.setValue(VarType.Vector4, tmpLightPosition);
tmpLightDirection.set(0, 0, 0, 0);
lightDir.setValue(VarType.Vector4, tmpLightDirection);
break;
case Spot:
SpotLight sl = (SpotLight) l;
Vector3f pos2 = sl.getPosition();
Vector3f dir2 = sl.getDirection();
float invRange = sl.getInvSpotRange();
float spotAngleCos = sl.getPackedAngleCos();
tmpLightPosition.set(pos2.getX(), pos2.getY(), pos2.getZ(), invRange);
lightPos.setValue(VarType.Vector4, tmpLightPosition);
// We transform the spot directoin in view space here to save 5 varying later in the
// lighting shader
// one vec4 less and a vec4 that becomes a vec3
// the downside is that spotAngleCos decoding happen now in the frag shader.
tmpVec.set(dir2.getX(), dir2.getY(), dir2.getZ(), 0);
rm.getCurrentCamera().getViewMatrix().mult(tmpVec, tmpVec);
tmpLightDirection.set(tmpVec.getX(), tmpVec.getY(), tmpVec.getZ(), spotAngleCos);
lightDir.setValue(VarType.Vector4, tmpLightDirection);
break;
default:
throw new UnsupportedOperationException("Unknown type of light: " + l.getType());
}
vars.release();
r.setShader(shader);
r.renderMesh(g.getMesh(), g.getLodLevel(), 1);
}
if (isFirstLight && lightList.size() > 0) {
// There are only ambient lights in the scene. Render
// a dummy "normal light" so we can see the ambient
ambientColor.setValue(VarType.Vector4, getAmbientColor(lightList));
lightColor.setValue(VarType.Vector4, ColorRGBA.BlackNoAlpha);
lightPos.setValue(VarType.Vector4, nullDirLight);
r.setShader(shader);
r.renderMesh(g.getMesh(), g.getLodLevel(), 1);
}
}
/**
* Updates the shadow camera to properly contain the given points (which contain the eye camera
* frustum corners) and the shadow occluder objects.
*
* @param occluders
* @param shadowCam
* @param points
*/
public static void updateShadowCamera(
GeometryList occluders,
GeometryList receivers,
Camera shadowCam,
Vector3f[] points,
GeometryList splitOccluders) {
boolean ortho = shadowCam.isParallelProjection();
shadowCam.setProjectionMatrix(null);
if (ortho) {
shadowCam.setFrustum(-1, 1, -1, 1, 1, -1);
}
// create transform to rotate points to viewspace
Matrix4f viewProjMatrix = shadowCam.getViewProjectionMatrix();
BoundingBox splitBB = computeBoundForPoints(points, viewProjMatrix);
ArrayList<BoundingVolume> visRecvList = new ArrayList<BoundingVolume>();
for (int i = 0; i < receivers.size(); i++) {
// convert bounding box to light's viewproj space
Geometry receiver = receivers.get(i);
BoundingVolume bv = receiver.getWorldBound();
BoundingVolume recvBox = bv.transform(viewProjMatrix, null);
if (splitBB.intersects(recvBox)) {
visRecvList.add(recvBox);
}
}
ArrayList<BoundingVolume> visOccList = new ArrayList<BoundingVolume>();
for (int i = 0; i < occluders.size(); i++) {
// convert bounding box to light's viewproj space
Geometry occluder = occluders.get(i);
BoundingVolume bv = occluder.getWorldBound();
BoundingVolume occBox = bv.transform(viewProjMatrix, null);
boolean intersects = splitBB.intersects(occBox);
if (!intersects && occBox instanceof BoundingBox) {
BoundingBox occBB = (BoundingBox) occBox;
// Kirill 01/10/2011
// Extend the occluder further into the frustum
// This fixes shadow dissapearing issues when
// the caster itself is not in the view camera
// but its shadow is in the camera
// The number is in world units
occBB.setZExtent(occBB.getZExtent() + 50);
occBB.setCenter(occBB.getCenter().addLocal(0, 0, 25));
if (splitBB.intersects(occBB)) {
// To prevent extending the depth range too much
// We return the bound to its former shape
// Before adding it
occBB.setZExtent(occBB.getZExtent() - 50);
occBB.setCenter(occBB.getCenter().subtractLocal(0, 0, 25));
visOccList.add(occBox);
if (splitOccluders != null) {
splitOccluders.add(occluder);
}
}
} else if (intersects) {
visOccList.add(occBox);
if (splitOccluders != null) {
splitOccluders.add(occluder);
}
}
}
BoundingBox casterBB = computeUnionBound(visOccList);
BoundingBox receiverBB = computeUnionBound(visRecvList);
// Nehon 08/18/2010 this is to avoid shadow bleeding when the ground is set to only receive
// shadows
if (visOccList.size() != visRecvList.size()) {
casterBB.setXExtent(casterBB.getXExtent() + 2.0f);
casterBB.setYExtent(casterBB.getYExtent() + 2.0f);
casterBB.setZExtent(casterBB.getZExtent() + 2.0f);
}
TempVars vars = TempVars.get();
Vector3f casterMin = casterBB.getMin(vars.vect1);
Vector3f casterMax = casterBB.getMax(vars.vect2);
Vector3f receiverMin = receiverBB.getMin(vars.vect3);
Vector3f receiverMax = receiverBB.getMax(vars.vect4);
Vector3f splitMin = splitBB.getMin(vars.vect5);
Vector3f splitMax = splitBB.getMax(vars.vect6);
splitMin.z = 0;
// if (!ortho) {
// shadowCam.setFrustumPerspective(45, 1, 1, splitMax.z);
// }
Matrix4f projMatrix = shadowCam.getProjectionMatrix();
Vector3f cropMin = vars.vect7;
Vector3f cropMax = vars.vect8;
// IMPORTANT: Special handling for Z values
cropMin.x = max(max(casterMin.x, receiverMin.x), splitMin.x);
cropMax.x = min(min(casterMax.x, receiverMax.x), splitMax.x);
cropMin.y = max(max(casterMin.y, receiverMin.y), splitMin.y);
cropMax.y = min(min(casterMax.y, receiverMax.y), splitMax.y);
cropMin.z = min(casterMin.z, splitMin.z);
cropMax.z = min(receiverMax.z, splitMax.z);
// Create the crop matrix.
float scaleX, scaleY, scaleZ;
float offsetX, offsetY, offsetZ;
scaleX = (2.0f) / (cropMax.x - cropMin.x);
scaleY = (2.0f) / (cropMax.y - cropMin.y);
offsetX = -0.5f * (cropMax.x + cropMin.x) * scaleX;
offsetY = -0.5f * (cropMax.y + cropMin.y) * scaleY;
scaleZ = 1.0f / (cropMax.z - cropMin.z);
offsetZ = -cropMin.z * scaleZ;
Matrix4f cropMatrix = vars.tempMat4;
cropMatrix.set(
scaleX, 0f, 0f, offsetX, 0f, scaleY, 0f, offsetY, 0f, 0f, scaleZ, offsetZ, 0f, 0f, 0f, 1f);
Matrix4f result = new Matrix4f();
result.set(cropMatrix);
result.multLocal(projMatrix);
vars.release();
shadowCam.setProjectionMatrix(result);
}
/**
* Specific method for skinning with tangents to avoid cluttering the classic skinning calculation
* with null checks that would slow down the process even if tangents don't have to be computed.
* Also the iteration has additional indexes since tangent has 4 components instead of 3 for pos
* and norm
*
* @param maxWeightsPerVert maximum number of weights per vertex
* @param mesh the mesh
* @param offsetMatrices the offsetMaytrices to apply
* @param tb the tangent vertexBuffer
*/
private void applySkinningTangents(Mesh mesh, Matrix4f[] offsetMatrices, VertexBuffer tb) {
int maxWeightsPerVert = mesh.getMaxNumWeights();
if (maxWeightsPerVert <= 0) {
throw new IllegalStateException("Max weights per vert is incorrectly set!");
}
int fourMinusMaxWeights = 4 - maxWeightsPerVert;
// NOTE: This code assumes the vertex buffer is in bind pose
// resetToBind() has been called this frame
VertexBuffer vb = mesh.getBuffer(Type.Position);
FloatBuffer fvb = (FloatBuffer) vb.getData();
fvb.rewind();
VertexBuffer nb = mesh.getBuffer(Type.Normal);
FloatBuffer fnb = (FloatBuffer) nb.getData();
fnb.rewind();
FloatBuffer ftb = (FloatBuffer) tb.getData();
ftb.rewind();
// get boneIndexes and weights for mesh
ByteBuffer ib = (ByteBuffer) mesh.getBuffer(Type.BoneIndex).getData();
FloatBuffer wb = (FloatBuffer) mesh.getBuffer(Type.BoneWeight).getData();
ib.rewind();
wb.rewind();
float[] weights = wb.array();
byte[] indices = ib.array();
int idxWeights = 0;
TempVars vars = TempVars.get();
float[] posBuf = vars.skinPositions;
float[] normBuf = vars.skinNormals;
float[] tanBuf = vars.skinTangents;
int iterations = (int) FastMath.ceil(fvb.capacity() / ((float) posBuf.length));
int bufLength = 0;
int tanLength = 0;
for (int i = iterations - 1; i >= 0; i--) {
// read next set of positions and normals from native buffer
bufLength = Math.min(posBuf.length, fvb.remaining());
tanLength = Math.min(tanBuf.length, ftb.remaining());
fvb.get(posBuf, 0, bufLength);
fnb.get(normBuf, 0, bufLength);
ftb.get(tanBuf, 0, tanLength);
int verts = bufLength / 3;
int idxPositions = 0;
// tangents has their own index because of the 4 components
int idxTangents = 0;
// iterate vertices and apply skinning transform for each effecting bone
for (int vert = verts - 1; vert >= 0; vert--) {
float nmx = normBuf[idxPositions];
float vtx = posBuf[idxPositions++];
float nmy = normBuf[idxPositions];
float vty = posBuf[idxPositions++];
float nmz = normBuf[idxPositions];
float vtz = posBuf[idxPositions++];
float tnx = tanBuf[idxTangents++];
float tny = tanBuf[idxTangents++];
float tnz = tanBuf[idxTangents++];
// skipping the 4th component of the tangent since it doesn't have to be transformed
idxTangents++;
float rx = 0, ry = 0, rz = 0, rnx = 0, rny = 0, rnz = 0, rtx = 0, rty = 0, rtz = 0;
for (int w = maxWeightsPerVert - 1; w >= 0; w--) {
float weight = weights[idxWeights];
Matrix4f mat = offsetMatrices[indices[idxWeights++]];
rx += (mat.m00 * vtx + mat.m01 * vty + mat.m02 * vtz + mat.m03) * weight;
ry += (mat.m10 * vtx + mat.m11 * vty + mat.m12 * vtz + mat.m13) * weight;
rz += (mat.m20 * vtx + mat.m21 * vty + mat.m22 * vtz + mat.m23) * weight;
rnx += (nmx * mat.m00 + nmy * mat.m01 + nmz * mat.m02) * weight;
rny += (nmx * mat.m10 + nmy * mat.m11 + nmz * mat.m12) * weight;
rnz += (nmx * mat.m20 + nmy * mat.m21 + nmz * mat.m22) * weight;
rtx += (tnx * mat.m00 + tny * mat.m01 + tnz * mat.m02) * weight;
rty += (tnx * mat.m10 + tny * mat.m11 + tnz * mat.m12) * weight;
rtz += (tnx * mat.m20 + tny * mat.m21 + tnz * mat.m22) * weight;
}
idxWeights += fourMinusMaxWeights;
idxPositions -= 3;
normBuf[idxPositions] = rnx;
posBuf[idxPositions++] = rx;
normBuf[idxPositions] = rny;
posBuf[idxPositions++] = ry;
normBuf[idxPositions] = rnz;
posBuf[idxPositions++] = rz;
idxTangents -= 4;
tanBuf[idxTangents++] = rtx;
tanBuf[idxTangents++] = rty;
tanBuf[idxTangents++] = rtz;
// once again skipping the 4th component of the tangent
idxTangents++;
}
fvb.position(fvb.position() - bufLength);
fvb.put(posBuf, 0, bufLength);
fnb.position(fnb.position() - bufLength);
fnb.put(normBuf, 0, bufLength);
ftb.position(ftb.position() - tanLength);
ftb.put(tanBuf, 0, tanLength);
}
vars.release();
vb.updateData(fvb);
nb.updateData(fnb);
tb.updateData(ftb);
}
public void update(float tpf) {
if (!enabled) {
return;
}
TempVars vars = TempVars.get();
Quaternion tmpRot1 = vars.quat1;
Quaternion tmpRot2 = vars.quat2;
// if the ragdoll has the control of the skeleton, we update each bone with its position in
// physic world space.
if (mode == mode.Ragdoll && targetModel.getLocalTranslation().equals(modelPosition)) {
for (PhysicsBoneLink link : boneLinks.values()) {
Vector3f position = vars.vect1;
// retrieving bone position in physic world space
Vector3f p = link.rigidBody.getMotionState().getWorldLocation();
// transforming this position with inverse transforms of the model
targetModel.getWorldTransform().transformInverseVector(p, position);
// retrieving bone rotation in physic world space
Quaternion q = link.rigidBody.getMotionState().getWorldRotationQuat();
// multiplying this rotation by the initialWorld rotation of the bone,
// then transforming it with the inverse world rotation of the model
tmpRot1.set(q).multLocal(link.initalWorldRotation);
tmpRot2.set(targetModel.getWorldRotation()).inverseLocal().mult(tmpRot1, tmpRot1);
tmpRot1.normalizeLocal();
// if the bone is the root bone, we apply the physic's transform to the model, so its
// position and rotation are correctly updated
if (link.bone.getParent() == null) {
// offsetting the physic's position/rotation by the root bone inverse model space
// position/rotaion
modelPosition.set(p).subtractLocal(link.bone.getWorldBindPosition());
targetModel
.getParent()
.getWorldTransform()
.transformInverseVector(modelPosition, modelPosition);
modelRotation
.set(q)
.multLocal(tmpRot2.set(link.bone.getWorldBindRotation()).inverseLocal());
// applying transforms to the model
targetModel.setLocalTranslation(modelPosition);
targetModel.setLocalRotation(modelRotation);
// Applying computed transforms to the bone
link.bone.setUserTransformsWorld(position, tmpRot1);
} else {
// if boneList is empty, this means that every bone in the ragdoll has a collision shape,
// so we just update the bone position
if (boneList.isEmpty()) {
link.bone.setUserTransformsWorld(position, tmpRot1);
} else {
// boneList is not empty, this means some bones of the skeleton might not be associated
// with a collision shape.
// So we update them recusively
RagdollUtils.setTransform(link.bone, position, tmpRot1, false, boneList);
}
}
}
} else {
// the ragdoll does not have the controll, so the keyframed animation updates the physic
// position of the physic bonces
for (PhysicsBoneLink link : boneLinks.values()) {
Vector3f position = vars.vect1;
// if blended control this means, keyframed animation is updating the skeleton,
// but to allow smooth transition, we blend this transformation with the saved position of
// the ragdoll
if (blendedControl) {
Vector3f position2 = vars.vect2;
// initializing tmp vars with the start position/rotation of the ragdoll
position.set(link.startBlendingPos);
tmpRot1.set(link.startBlendingRot);
// interpolating between ragdoll position/rotation and keyframed position/rotation
tmpRot2.set(tmpRot1).nlerp(link.bone.getModelSpaceRotation(), blendStart / blendTime);
position2
.set(position)
.interpolate(link.bone.getModelSpacePosition(), blendStart / blendTime);
tmpRot1.set(tmpRot2);
position.set(position2);
// updating bones transforms
if (boneList.isEmpty()) {
// we ensure we have the control to update the bone
link.bone.setUserControl(true);
link.bone.setUserTransformsWorld(position, tmpRot1);
// we give control back to the key framed animation.
link.bone.setUserControl(false);
} else {
RagdollUtils.setTransform(link.bone, position, tmpRot1, true, boneList);
}
}
// setting skeleton transforms to the ragdoll
matchPhysicObjectToBone(link, position, tmpRot1);
modelPosition.set(targetModel.getLocalTranslation());
}
// time control for blending
if (blendedControl) {
blendStart += tpf;
if (blendStart > blendTime) {
blendedControl = false;
}
}
}
vars.release();
}
private void doTransformsTangents(
FloatBuffer bindBufPos,
FloatBuffer bindBufNorm,
FloatBuffer bindBufTangents,
FloatBuffer bufPos,
FloatBuffer bufNorm,
FloatBuffer bufTangents,
int start,
int end,
Matrix4f transform) {
TempVars vars = TempVars.get();
Vector3f pos = vars.vect1;
Vector3f norm = vars.vect2;
Vector3f tan = vars.vect3;
int length = (end - start) * 3;
int tanLength = (end - start) * 4;
// offset is given in element units
// convert to be in component units
int offset = start * 3;
int tanOffset = start * 4;
bindBufPos.rewind();
bindBufNorm.rewind();
bindBufTangents.rewind();
bindBufPos.get(tmpFloat, 0, length);
bindBufNorm.get(tmpFloatN, 0, length);
bindBufTangents.get(tmpFloatT, 0, tanLength);
int index = 0;
int tanIndex = 0;
while (index < length) {
pos.x = tmpFloat[index];
norm.x = tmpFloatN[index++];
pos.y = tmpFloat[index];
norm.y = tmpFloatN[index++];
pos.z = tmpFloat[index];
norm.z = tmpFloatN[index];
tan.x = tmpFloatT[tanIndex++];
tan.y = tmpFloatT[tanIndex++];
tan.z = tmpFloatT[tanIndex++];
transform.mult(pos, pos);
transform.multNormal(norm, norm);
transform.multNormal(tan, tan);
index -= 2;
tanIndex -= 3;
tmpFloat[index] = pos.x;
tmpFloatN[index++] = norm.x;
tmpFloat[index] = pos.y;
tmpFloatN[index++] = norm.y;
tmpFloat[index] = pos.z;
tmpFloatN[index++] = norm.z;
tmpFloatT[tanIndex++] = tan.x;
tmpFloatT[tanIndex++] = tan.y;
tmpFloatT[tanIndex++] = tan.z;
// Skipping 4th element of tangent buffer (handedness)
tanIndex++;
}
vars.release();
bufPos.position(offset);
// using bulk put as it's faster
bufPos.put(tmpFloat, 0, length);
bufNorm.position(offset);
// using bulk put as it's faster
bufNorm.put(tmpFloatN, 0, length);
bufTangents.position(tanOffset);
// using bulk put as it's faster
bufTangents.put(tmpFloatT, 0, tanLength);
}
public final int intersectWhere(
Collidable col,
BoundingBox box,
Matrix4f worldMatrix,
BIHTree tree,
CollisionResults results) {
TempVars vars = TempVars.get();
ArrayList<BIHStackData> stack = vars.bihStack;
stack.clear();
float[] minExts = {
box.getCenter().x - box.getXExtent(),
box.getCenter().y - box.getYExtent(),
box.getCenter().z - box.getZExtent()
};
float[] maxExts = {
box.getCenter().x + box.getXExtent(),
box.getCenter().y + box.getYExtent(),
box.getCenter().z + box.getZExtent()
};
// stack.add(new BIHStackData(this, 0, 0));
vars.addStackData(this, 0f, 0f);
Triangle t = new Triangle();
int cols = 0;
stackloop:
while (stack.size() > 0) {
BIHNode node = stack.remove(stack.size() - 1).node;
while (node.axis != 3) {
int a = node.axis;
float maxExt = maxExts[a];
float minExt = minExts[a];
if (node.leftPlane < node.rightPlane) {
// means there's a gap in the middle
// if the box is in that gap, we stop there
if (minExt > node.leftPlane && maxExt < node.rightPlane) {
continue stackloop;
}
}
if (maxExt < node.rightPlane) {
node = node.left;
} else if (minExt > node.leftPlane) {
node = node.right;
} else {
// stack.add(new BIHStackData(node.right, 0, 0));
vars.addStackData(node.right, 0f, 0f);
node = node.left;
}
// if (maxExt < node.leftPlane
// && maxExt < node.rightPlane){
// node = node.left;
// }else if (minExt > node.leftPlane
// && minExt > node.rightPlane){
// node = node.right;
// }else{
// }
}
for (int i = node.leftIndex; i <= node.rightIndex; i++) {
tree.getTriangle(i, t.get1(), t.get2(), t.get3());
if (worldMatrix != null) {
worldMatrix.mult(t.get1(), t.get1());
worldMatrix.mult(t.get2(), t.get2());
worldMatrix.mult(t.get3(), t.get3());
}
int added = col.collideWith(t, results);
if (added > 0) {
int index = tree.getTriangleIndex(i);
int start = results.size() - added;
for (int j = start; j < results.size(); j++) {
CollisionResult cr = results.getCollisionDirect(j);
cr.setTriangleIndex(index);
}
cols += added;
}
}
}
vars.release();
return cols;
}
public final int intersectWhere(
Ray r,
Matrix4f worldMatrix,
BIHTree tree,
float sceneMin,
float sceneMax,
CollisionResults results) {
TempVars vars = TempVars.get();
ArrayList<BIHStackData> stack = vars.bihStack;
stack.clear();
// float tHit = Float.POSITIVE_INFINITY;
Vector3f o = vars.vect1.set(r.getOrigin());
Vector3f d = vars.vect2.set(r.getDirection());
Matrix4f inv = vars.tempMat4.set(worldMatrix).invertLocal();
inv.mult(r.getOrigin(), r.getOrigin());
// Fixes rotation collision bug
inv.multNormal(r.getDirection(), r.getDirection());
// inv.multNormalAcross(r.getDirection(), r.getDirection());
// this is a no-no: allocating float arrays for immediate use? blarny!
/*float[] origins = {r.getOrigin().x,
r.getOrigin().y,
r.getOrigin().z};
float[] invDirections = {1f / r.getDirection().x,
1f / r.getDirection().y,
1f / r.getDirection().z};*/
r.getDirection().normalizeLocal();
Vector3f v1 = vars.vect3, v2 = vars.vect4, v3 = vars.vect5;
int cols = 0;
// stack.add(new BIHStackData(this, sceneMin, sceneMax));
vars.addStackData(this, sceneMin, sceneMax);
stackloop:
while (stack.size() > 0) {
BIHStackData data = stack.remove(stack.size() - 1);
BIHNode node = data.node;
float tMin = data.min, tMax = data.max;
if (tMax < tMin) {
continue;
}
leafloop:
while (node.axis != 3) { // while node is not a leaf
int a = node.axis;
// find the origin and direction value for the given axis
float origin, invDirection;
switch (a) {
default:
case 0: // x
origin = r.getOrigin().x;
invDirection = 1f / r.getDirection().x;
break;
case 1: // y
origin = r.getOrigin().y;
invDirection = 1f / r.getDirection().y;
break;
case 2: // z
origin = r.getOrigin().z;
invDirection = 1f / r.getDirection().z;
break;
}
// float origin = origins[a];
// float invDirection = invDirections[a];
float tNearSplit, tFarSplit;
BIHNode nearNode, farNode;
tNearSplit = (node.leftPlane - origin) * invDirection;
tFarSplit = (node.rightPlane - origin) * invDirection;
nearNode = node.left;
farNode = node.right;
if (invDirection < 0) {
float tmpSplit = tNearSplit;
tNearSplit = tFarSplit;
tFarSplit = tmpSplit;
BIHNode tmpNode = nearNode;
nearNode = farNode;
farNode = tmpNode;
}
if (tMin > tNearSplit && tMax < tFarSplit) {
continue stackloop;
}
if (tMin > tNearSplit) {
tMin = max(tMin, tFarSplit);
node = farNode;
} else if (tMax < tFarSplit) {
tMax = min(tMax, tNearSplit);
node = nearNode;
} else {
// stack.add(new BIHStackData(farNode, max(tMin, tFarSplit), tMax));
vars.addStackData(farNode, max(tMin, tFarSplit), tMax);
tMax = min(tMax, tNearSplit);
node = nearNode;
}
}
// if ( (node.rightIndex - node.leftIndex) > minTrisPerNode){
// // on demand subdivision
// node.subdivide();
// stack.add(new BIHStackData(node, tMin, tMax));
// continue stackloop;
// }
// a leaf
for (int i = node.leftIndex; i <= node.rightIndex; i++) {
tree.getTriangle(i, v1, v2, v3);
float t = r.intersects(v1, v2, v3);
if (!Float.isInfinite(t)) {
if (worldMatrix != null) {
worldMatrix.mult(v1, v1);
worldMatrix.mult(v2, v2);
worldMatrix.mult(v3, v3);
vars.ray.setOrigin(o);
vars.ray.setDirection(d);
float t_world = vars.ray.intersects(v1, v2, v3);
t = t_world;
}
Vector3f contactPoint = vars.vect4.set(d).multLocal(t).addLocal(o);
float worldSpaceDist = o.distance(contactPoint);
// don't add the collision if it is longer than the ray length
if (worldSpaceDist <= r.limit) {
CollisionResult cr =
results.addReusedCollision(
contactPoint.x, contactPoint.y, contactPoint.z, worldSpaceDist);
if (cr.getContactNormal() == null) {
cr.setContactNormal(Triangle.computeTriangleNormal(v1, v2, v3, null));
} else {
Triangle.computeTriangleNormal(v1, v2, v3, cr.getContactNormal());
}
cr.setTriangleIndex(tree.getTriangleIndex(i));
cols++;
}
}
}
}
vars.release();
r.setOrigin(o);
r.setDirection(d);
return cols;
}
public final int intersectBrute(
Ray r,
Matrix4f worldMatrix,
BIHTree tree,
float sceneMin,
float sceneMax,
CollisionResults results) {
float tHit = Float.POSITIVE_INFINITY;
TempVars vars = TempVars.get();
Vector3f v1 = vars.vect1, v2 = vars.vect2, v3 = vars.vect3;
int cols = 0;
ArrayList<BIHStackData> stack = vars.bihStack;
stack.clear();
// stack.add(new BIHStackData(this, 0, 0));
vars.addStackData(this, 0f, 0f);
stackloop:
while (stack.size() > 0) {
BIHStackData data = stack.remove(stack.size() - 1);
BIHNode node = data.node;
leafloop:
while (node.axis != 3) { // while node is not a leaf
BIHNode nearNode, farNode;
nearNode = node.left;
farNode = node.right;
// stack.add(new BIHStackData(farNode, 0, 0));
vars.addStackData(farNode, 0f, 0f);
node = nearNode;
}
// a leaf
for (int i = node.leftIndex; i <= node.rightIndex; i++) {
tree.getTriangle(i, v1, v2, v3);
if (worldMatrix != null) {
worldMatrix.mult(v1, v1);
worldMatrix.mult(v2, v2);
worldMatrix.mult(v3, v3);
}
float t = r.intersects(v1, v2, v3);
if (t < tHit) {
tHit = t;
vars.vect4.set(r.direction).multLocal(tHit).addLocal(r.origin);
CollisionResult cr =
results.addReusedCollision(vars.vect4.x, vars.vect4.y, vars.vect4.z, tHit);
cr.setTriangleIndex(tree.getTriangleIndex(i));
results.addCollision(cr);
cols++;
}
}
}
vars.release();
return cols;
}
