Lolilol the ragdoll

git-svn-id: https://jmonkeyengine.googlecode.com/svn/trunk@7185 75d07b2b-3a1a-0410-a2c5-0572b91ccdca

engine/src/jbullet/com/jme3/bullet/control/RagdollControl.java

@@ -6,6 +6,10 @@ import com.jme3.animation.Skeleton;
 import com.jme3.animation.SkeletonControl;
 import com.jme3.asset.AssetManager;
 import com.jme3.bullet.PhysicsSpace;
+import com.jme3.bullet.collision.PhysicsCollisionEvent;
+import com.jme3.bullet.collision.PhysicsCollisionGroupListener;
+import com.jme3.bullet.collision.PhysicsCollisionListener;
+import com.jme3.bullet.collision.PhysicsCollisionObject;
 import com.jme3.bullet.collision.shapes.BoxCollisionShape;
 import com.jme3.bullet.collision.shapes.HullCollisionShape;
 import com.jme3.bullet.joints.ConeJoint;
@@ -36,7 +40,7 @@ import java.util.List;
 import java.util.logging.Level;
 import java.util.logging.Logger;
 
-public class RagdollControl implements PhysicsControl {
+public class RagdollControl implements PhysicsControl, PhysicsCollisionListener {
 
     protected static final Logger logger = Logger.getLogger(RagdollControl.class.getName());
     protected List<PhysicsBoneLink> boneLinks = new LinkedList<PhysicsBoneLink>();
@@ -51,6 +55,7 @@ public class RagdollControl implements PhysicsControl {
     protected Vector3f initPosition;
     protected Quaternion initRotation;
     protected Vector3f initScale;
+    protected boolean control = false;
 
 //Normen: Think you have the system you want, with movement
 //Normen: but the rootBone movement and translation is also accessible like getRootBoneLocation()
@@ -73,12 +78,13 @@ public class RagdollControl implements PhysicsControl {
         if (!enabled) {
             return;
         }
-
-        TempVars vars = TempVars.get();
-        assert vars.lock();
-        Quaternion q2 = vars.quat1;
-        //   skeleton.reset();
-        for (PhysicsBoneLink link : boneLinks) {
+               TempVars vars = TempVars.get();
+            assert vars.lock();
+        if (control) {
+     
+            Quaternion q2 = vars.quat1;
+            //   skeleton.reset();
+            for (PhysicsBoneLink link : boneLinks) {
 
 //            if(link.bone==skeleton.getRoots()[0]){
 //                  Vector3f loc=vars.vect1;
@@ -86,18 +92,31 @@ public class RagdollControl implements PhysicsControl {
 //                 ((Geometry)targetModel).setLocalTranslation(loc);
 //                
 //            }
-            Vector3f p = link.rigidBody.getMotionState().getWorldLocation();
-            Quaternion q = link.rigidBody.getMotionState().getWorldRotationQuat();
+                Vector3f p = link.rigidBody.getMotionState().getWorldLocation();
+                Quaternion q = link.rigidBody.getMotionState().getWorldRotationQuat();
 
-            q2.set(q).multLocal(link.initalWorldRotation).normalize();
+                q2.set(q).multLocal(link.initalWorldRotation).normalize();
 
-            link.bone.setUserTransformsWorld(p, q2);
+                link.bone.setUserTransformsWorld(p, q2);
 
+            }
+        }else{
+            for (PhysicsBoneLink link : boneLinks) {
+
+                Vector3f position = vars.vect1;
+                Quaternion rotation = vars.quat1;
+                Vector3f scale= vars.vect2;
+
+                position.set(link.bone.getModelSpacePosition());
+                rotation.set(link.bone.getModelSpaceRotation()).multLocal(link.bone.getWorldBindInverseRotation());
+                scale.set(link.bone.getModelSpaceScale());
+                link.rigidBody.setPhysicsLocation(position);
+                link.rigidBody.setPhysicsRotation(rotation);
+            }            
         }
 
 
         assert vars.unlock();
-
         //baseRigidBody.getMotionState().applyTransform(targetModel);
 
     }
@@ -108,7 +127,7 @@ public class RagdollControl implements PhysicsControl {
 
     public void setSpatial(Spatial model) {
         targetModel = model;
-        
+
         //HACK ALERT change this
         //I remove the skeletonControl and readd it to the spatial to make sure it's after the ragdollControl in the stack
         //Find a proper way to order the controls.
@@ -116,7 +135,7 @@ public class RagdollControl implements PhysicsControl {
         model.removeControl(sc);
         model.addControl(sc);
         //---- 
-        
+
         removeFromPhysicsSpace();
         clearData();
         // put into bind pose and compute bone transforms in model space
@@ -131,7 +150,7 @@ public class RagdollControl implements PhysicsControl {
     }
 
     private void scanSpatial(Spatial model) {
-        AnimControl animControl = model.getControl(AnimControl.class);        
+        AnimControl animControl = model.getControl(AnimControl.class);
 
         initPosition = model.getLocalTranslation();
         initRotation = model.getLocalRotation();
@@ -144,11 +163,11 @@ public class RagdollControl implements PhysicsControl {
             childBone.setUserControl(true);
             if (childBone.getParent() == null) {
                 Vector3f parentPos = childBone.getModelSpacePosition().add(initPosition);
-              //  Quaternion parentRot= childBone.getModelSpaceRotation().mult(initRotation);
+                //  Quaternion parentRot= childBone.getModelSpaceRotation().mult(initRotation);
                 logger.log(Level.INFO, "Found root bone in skeleton {0}", skeleton);
                 baseRigidBody = new PhysicsRigidBody(new BoxCollisionShape(Vector3f.UNIT_XYZ.mult(.1f)), 1);
                 baseRigidBody.setPhysicsLocation(parentPos);
-               // baseRigidBody.setPhysicsRotation(parentRot);
+                // baseRigidBody.setPhysicsRotation(parentRot);
                 boneLinks = boneRecursion(model, childBone, baseRigidBody, boneLinks, 1);
                 return;
             }
@@ -168,12 +187,13 @@ public class RagdollControl implements PhysicsControl {
 
         //get world space position of the bone
         Vector3f pos = bone.getModelSpacePosition().add(model.getLocalTranslation());
-        Quaternion rot= bone.getModelSpaceRotation().mult(initRotation);
+        Quaternion rot = bone.getModelSpaceRotation().mult(initRotation);
 
         //creating the collision shape from the bone's associated vertices
         PhysicsRigidBody shapeNode = new PhysicsRigidBody(makeShape(bone, model), 10.0f / (float) reccount);
         shapeNode.setPhysicsLocation(pos);
-       // shapeNode.setPhysicsRotation(rot);
+
+        // shapeNode.setPhysicsRotation(rot);
 
         PhysicsBoneLink link = new PhysicsBoneLink();
         link.bone = bone;
@@ -369,6 +389,7 @@ public class RagdollControl implements PhysicsControl {
             this.space = space;
             addToPhysicsSpace();
         }
+        this.space.addCollisionListener(this);
     }
 
     public PhysicsSpace getPhysicsSpace() {
@@ -383,6 +404,62 @@ public class RagdollControl implements PhysicsControl {
         throw new UnsupportedOperationException("Not supported yet.");
     }
 
+    public void collision(PhysicsCollisionEvent event) {
+        PhysicsCollisionObject objA = event.getObjectA();
+        PhysicsCollisionObject objB = event.getObjectB();
+//        System.out.println("----------------------------");
+//        System.out.println("NodeA "+event.getNodeA());
+//        System.out.println("NodeB "+event.getNodeB());
+        if (event == null) {
+            return;
+        }
+        if (event.getNodeA() != null && "Floor".equals(event.getNodeA().getName())) {
+            return;
+        }
+        if (event.getNodeB() != null && "Floor".equals(event.getNodeB().getName())) {
+            return;
+        }
+//        if(event.getNodeB() == null && event.getNodeA() ==null){            
+//            return;
+//        }
+        if (event.getAppliedImpulse() < 3.0) {
+            return;
+        }
+
+        boolean hit = false;
+
+
+
+        if (objA instanceof PhysicsRigidBody) {
+            PhysicsRigidBody prb = (PhysicsRigidBody) objA;
+            for (PhysicsBoneLink physicsBoneLink : boneLinks) {
+                if (physicsBoneLink.rigidBody == prb) {
+                    hit = true;
+                   // System.out.println("objA " + physicsBoneLink.bone.getName() + " " + event.getAppliedImpulse() + " " + event.getAppliedImpulseLateral1() + " " + event.getAppliedImpulseLateral2());
+
+                }
+            }
+        }
+        if (objB instanceof PhysicsRigidBody) {
+            PhysicsRigidBody prb = (PhysicsRigidBody) objB;
+            for (PhysicsBoneLink physicsBoneLink : boneLinks) {
+                if (physicsBoneLink.rigidBody == prb) {
+                    hit = false;
+                   // System.out.println("objB " + physicsBoneLink.bone.getName() + " " + event.getAppliedImpulse() + " " + event.getAppliedImpulseLateral1() + " " + event.getAppliedImpulseLateral2());
+                }
+            }
+        }
+        if (hit && event.getAppliedImpulse() > 10.0) {
+            control = true;
+        }
+
+        //      System.out.println("----------------------------");
+    }
+
+    public boolean collide(PhysicsCollisionObject nodeA, PhysicsCollisionObject nodeB) {
+        throw new UnsupportedOperationException("Not supported yet.");
+    }
+
     protected static class PhysicsBoneLink {
 
         Bone bone;

engine/src/test/jme3test/bullet/TestBoneRagdoll.java

@@ -79,10 +79,15 @@ public class TestBoneRagdoll  extends SimpleApplication {
     public void simpleInitApp() {
         initCrossHairs();
         initMaterial();
+        
+        cam.setLocation(new Vector3f(0.26924422f, 6.646658f, 22.265987f));
+        cam.setRotation(new Quaternion(-2.302544E-4f, 0.99302495f, -0.117888905f, -0.0019395084f));                
+              
+
         bulletAppState = new BulletAppState();
-        bulletAppState.setEnabled(false);
+        bulletAppState.setEnabled(true);
         stateManager.attach(bulletAppState);
-        bulletAppState.getPhysicsSpace().enableDebug(assetManager);
+ //       bulletAppState.getPhysicsSpace().enableDebug(assetManager);
         PhysicsTestHelper.createPhysicsTestWorld(rootNode, assetManager, bulletAppState.getPhysicsSpace());
         setupLight();
 
@@ -98,7 +103,7 @@ public class TestBoneRagdoll  extends SimpleApplication {
         mat2.getAdditionalRenderState().setDepthTest(false);
         skeletonDebug.setMaterial(mat2);
         skeletonDebug.setLocalTranslation(model.getLocalTranslation());
-        control.createChannel().setAnim("Dodge");
+        control.createChannel().setAnim("Walk");
 
         //Note: PhysicsRagdollControl is still TODO, constructor will change
         RagdollControl ragdoll = new RagdollControl();
@@ -115,10 +120,11 @@ public class TestBoneRagdoll  extends SimpleApplication {
 
         rootNode.attachChild(model);
         rootNode.attachChild(skeletonDebug);
-        flyCam.setEnabled(false);
-      //  flyCam.setMoveSpeed(10);
-        ChaseCamera chaseCamera=new ChaseCamera(cam, inputManager);
-        model.addControl(chaseCamera);
+      //  flyCam.setEnabled(false);
+        flyCam.setMoveSpeed(50);
+//        ChaseCamera chaseCamera=new ChaseCamera(cam, inputManager);
+//        chaseCamera.setLookAtOffset(Vector3f.UNIT_Y.mult(4));
+//        model.addControl(chaseCamera);
         
         inputManager.addListener(new ActionListener() {
 
@@ -130,9 +136,9 @@ public class TestBoneRagdoll  extends SimpleApplication {
                 Geometry bulletg = new Geometry("bullet", bullet);
                 bulletg.setMaterial(matBullet);      
                 bulletg.setLocalTranslation(cam.getLocation());
-                RigidBodyControl bulletNode = new BombControl(assetManager, bulletCollisionShape, 1);
-              //  RigidBodyControl bulletNode = new RigidBodyControl(bulletCollisionShape, 1);
-                bulletNode.setLinearVelocity(cam.getDirection().mult(60));
+              //  RigidBodyControl bulletNode = new BombControl(assetManager, bulletCollisionShape, 1);
+                RigidBodyControl bulletNode = new RigidBodyControl(bulletCollisionShape, 20);
+                bulletNode.setLinearVelocity(cam.getDirection().mult(80));
                 bulletg.addControl(bulletNode);
                 rootNode.attachChild(bulletg);
                 getPhysicsSpace().add(bulletNode);