- merge control changes to native bullet

git-svn-id: https://jmonkeyengine.googlecode.com/svn/trunk@7523 75d07b2b-3a1a-0410-a2c5-0572b91ccdca

engine/src/bullet/com/jme3/bullet/control/KinematicRagdollControl.java

@@ -51,7 +51,6 @@ import com.jme3.bullet.objects.PhysicsRigidBody;
 import com.jme3.export.JmeExporter;
 import com.jme3.export.JmeImporter;
 import com.jme3.math.Quaternion;
-import com.jme3.math.Transform;
 import com.jme3.math.Vector3f;
 import com.jme3.renderer.RenderManager;
 import com.jme3.renderer.ViewPort;
@@ -171,7 +170,7 @@ public class KinematicRagdollControl implements PhysicsControl, PhysicsCollision
         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) {
+        if (mode == mode.Ragdoll && targetModel.getLocalTranslation().equals(modelPosition)) {
             for (PhysicsBoneLink link : boneLinks.values()) {
 
                 Vector3f position = vars.vect1;
@@ -192,12 +191,16 @@ public class KinematicRagdollControl implements PhysicsControl, PhysicsCollision
 
                 //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.getInitialPos());
+                    targetModel.getParent().getWorldTransform().transformInverseVector(modelPosition, modelPosition);
                     modelRotation.set(q).multLocal(tmpRot2.set(link.bone.getInitialRot()).inverseLocal());
 
+
                     //applying transforms to the model
                     targetModel.setLocalTranslation(modelPosition);
+
                     targetModel.setLocalRotation(modelRotation);
 
                     //Applying computed transforms to the bone
@@ -230,7 +233,7 @@ public class KinematicRagdollControl implements PhysicsControl, PhysicsCollision
                     tmpRot1.set(link.startBlendingRot);
 
                     //interpolating between ragdoll position/rotation and keyframed position/rotation
-                    tmpRot2.set(tmpRot1).slerp(link.bone.getModelSpaceRotation(), blendStart / blendTime);
+                    tmpRot2.set(tmpRot1).nlerp(link.bone.getModelSpaceRotation(), blendStart / blendTime);
                     position2.set(position).interpolate(link.bone.getModelSpacePosition(), blendStart / blendTime);
                     tmpRot1.set(tmpRot2);
                     position.set(position2);
@@ -249,6 +252,7 @@ public class KinematicRagdollControl implements PhysicsControl, PhysicsCollision
                 }
                 //setting skeleton transforms to the ragdoll
                 matchPhysicObjectToBone(link, position, tmpRot1);
+                modelPosition.set(targetModel.getLocalTranslation());
 
             }
 
@@ -390,6 +394,7 @@ public class KinematicRagdollControl implements PhysicsControl, PhysicsCollision
             }
 
             PhysicsRigidBody shapeNode = new PhysicsRigidBody(shape, rootMass / (float) reccount);
+
             shapeNode.setKinematic(mode == Mode.Kinetmatic);
             totalMass += rootMass / (float) reccount;
 
@@ -804,4 +809,67 @@ public class KinematicRagdollControl implements PhysicsControl, PhysicsCollision
     public void setEventDispatchImpulseThreshold(float eventDispatchImpulseThreshold) {
         this.eventDispatchImpulseThreshold = eventDispatchImpulseThreshold;
     }
+
+    /**
+     * Set the CcdMotionThreshold of all the bone's rigidBodies of the ragdoll
+     * @see PhysicsRigidBody#setCcdMotionThreshold(float) 
+     * @param value 
+     */
+    public void setCcdMotionThreshold(float value) {
+        for (PhysicsBoneLink link : boneLinks.values()) {
+            link.rigidBody.setCcdMotionThreshold(value);
+        }
+    }
+
+    /**
+     * Set the CcdSweptSphereRadius of all the bone's rigidBodies of the ragdoll
+     * @see PhysicsRigidBody#setCcdSweptSphereRadius(float) 
+     * @param value 
+     */
+    public void setCcdSweptSphereRadius(float value) {
+        for (PhysicsBoneLink link : boneLinks.values()) {
+            link.rigidBody.setCcdSweptSphereRadius(value);
+        }
+    }
+
+    /**
+     * Set the CcdMotionThreshold of the given bone's rigidBodies of the ragdoll
+     * @see PhysicsRigidBody#setCcdMotionThreshold(float) 
+     * @param value 
+     * @deprecated use getBoneRigidBody(String BoneName).setCcdMotionThreshold(float) instead
+     */
+    @Deprecated
+    public void setBoneCcdMotionThreshold(String boneName, float value) {
+        PhysicsBoneLink link = boneLinks.get(boneName);
+        if (link != null) {
+            link.rigidBody.setCcdMotionThreshold(value);
+        }
+    }
+
+    /**
+     * Set the CcdSweptSphereRadius of the given bone's rigidBodies of the ragdoll
+     * @see PhysicsRigidBody#setCcdSweptSphereRadius(float) 
+     * @param value 
+     * @deprecated use getBoneRigidBody(String BoneName).setCcdSweptSphereRadius(float) instead
+     */
+    @Deprecated
+    public void setBoneCcdSweptSphereRadius(String boneName, float value) {
+        PhysicsBoneLink link = boneLinks.get(boneName);
+        if (link != null) {
+            link.rigidBody.setCcdSweptSphereRadius(value);
+        }
+    }
+
+    /**
+     * return the rigidBody associated to the given bone
+     * @param boneName the name of the bone
+     * @return the associated rigidBody.
+     */
+    public PhysicsRigidBody getBoneRigidBody(String boneName) {
+        PhysicsBoneLink link = boneLinks.get(boneName);
+        if (link != null) {
+            return link.rigidBody;
+        }
+        return null;
+    }
 }