/**
* 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);
}
}
private 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.INFO, "Found root bone in skeleton {0}", skeleton);
baseRigidBody =
new PhysicsRigidBody(new BoxCollisionShape(Vector3f.UNIT_XYZ.mult(0.1f)), 1);
baseRigidBody.setKinematic(mode == Mode.Kinematic);
boneRecursion(model, childBone, baseRigidBody, 1, pointsMap);
}
}
}
/**
* 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;
}
private 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);
}
}
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();
}
