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);
}
}
