/**
* Set the transforms of a rigidBody to match the transforms of a bone. this is used to make the
* ragdoll follow the skeleton motion while in Kinematic mode
*
* @param link the link containing the bone and the rigidBody
* @param position just a temp vector for position
* @param tmpRot1 just a temp quaternion for rotation
*/
private void matchPhysicObjectToBone(
PhysicsBoneLink link, Vector3f position, Quaternion tmpRot1) {
// computing position from rotation and scale
targetModel.getWorldTransform().transformVector(link.bone.getModelSpacePosition(), position);
// computing rotation
tmpRot1
.set(link.bone.getModelSpaceRotation())
.multLocal(link.bone.getWorldBindInverseRotation());
targetModel.getWorldRotation().mult(tmpRot1, tmpRot1);
tmpRot1.normalizeLocal();
// updating physic location/rotation of the physic bone
link.rigidBody.setPhysicsLocation(position);
link.rigidBody.setPhysicsRotation(tmpRot1);
}
/**
* 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;
}
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();
}