/** The call to ragdoll.destroy() used to cause an NPE. */
@Test
public void testIssue31() {
DWorld world = OdeHelper.createWorld();
world.setGravity(0, 0, -9.8);
world.setDamping(1e-4, 1e-5);
// dWorldSetERP(world, 1);
DSpace space = OdeHelper.createSimpleSpace();
OdeHelper.createPlane(space, 0, 0, 1, 0);
DxRagdoll ragdoll = new DxRagdoll(world, space, new DxDefaultHumanRagdollConfig());
ragdoll.setAngularDamping(0.1);
DQuaternion q = new DQuaternion(1, 0, 0, 0);
Rotation.dQFromAxisAndAngle(q, new DVector3(1, 0, 0), -0.5 * Math.PI);
for (int i = 0; i < ragdoll.getBones().size(); i++) {
DxRagdollBody bone = ragdoll.getBones().get(i);
DGeom g = OdeHelper.createCapsule(space, bone.getRadius(), bone.getLength());
DBody body = bone.getBody();
DQuaternion qq = new DQuaternion();
OdeMath.dQMultiply1(qq, q, body.getQuaternion());
body.setQuaternion(qq);
DMatrix3 R = new DMatrix3();
OdeMath.dRfromQ(R, q);
DVector3 v = new DVector3();
OdeMath.dMultiply0_133(v, body.getPosition(), R);
body.setPosition(v.get0(), v.get1(), v.get2());
g.setBody(body);
}
ragdoll.destroy();
}
public void render(GLAutoDrawable drawable) {
GL2 gl = drawable.getGL().getGL2();
gl.glPushMatrix();
gl.glTranslated(
body.getPosition().get0(), body.getPosition().get1(), body.getPosition().get2());
GLUquadric bulletGeom = glu.gluNewQuadric();
glu.gluQuadricDrawStyle(bulletGeom, GLU.GLU_FILL);
glu.gluQuadricNormals(bulletGeom, GLU.GLU_SMOOTH);
glu.gluDisk(bulletGeom, 0.3, 0.4, 5, 5);
gl.glPopMatrix();
}
public void update(float deltams) {
// acceleration.set(velocity);
// acceleration.negate();
// acceleration.scale(0.1f);
// acceleration.y += -0.98f;
// velocity.x += acceleration.x * deltams;
// velocity.y += acceleration.y * deltams;
// velocity.z += acceleration.z * deltams;
// float step = deltams;
// location.x += velocity.x * deltams;
// location.y += velocity.y * deltams;
// location.z += velocity.z * deltams;
if (body.getPosition().get1() < 0 || body.getPosition().get1() > 100) {
// FIXME
toRemove = true;
}
}