Fixed some merge issues (now it's working properly)

Added test case for IK

jme3-bullet/src/common/java/com/jme3/bullet/control/KinematicRagdollControl.java

@@ -196,11 +196,10 @@ public class KinematicRagdollControl extends AbstractPhysicsControl implements P
         if (!enabled) {
             return;
         }
-		if(mode == Mode.IK){
-                ikUpdate(tpf);
-            }
-        //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)) {
+        if(mode == Mode.IK){
+            ikUpdate(tpf);
+        } else if (mode == mode.Ragdoll && targetModel.getLocalTranslation().equals(modelPosition)) {
+            //if the ragdoll has the control of the skeleton, we update each bone with its position in physic world space.
             ragDollUpdate(tpf);
         } else {
             kinematicUpdate(tpf);
@@ -325,15 +324,14 @@ public class KinematicRagdollControl extends AbstractPhysicsControl implements P
         while (it.hasNext()) {
             
             boneName = it.next();
-            Logger.getLogger(KinematicRagdollControl.class.getSimpleName()).log(Level.INFO, "updationg {0}", boneName);
             bone = (Bone) boneLinks.get(boneName).bone;
             if (!bone.hasUserControl()) {
-                Logger.getLogger(KinematicRagdollControl.class.getSimpleName()).log(Level.INFO, "{0} doesn't have user control", boneName);
+                Logger.getLogger(KinematicRagdollControl.class.getSimpleName()).log(Level.FINE, "{0} doesn't have user control", boneName);
                 continue;
             }
             distance = bone.getModelSpacePosition().distance(ikTargets.get(boneName));
             if (distance < IKThreshold) {
-                Logger.getLogger(KinematicRagdollControl.class.getSimpleName()).log(Level.INFO, "Distance is close enough");
+                Logger.getLogger(KinematicRagdollControl.class.getSimpleName()).log(Level.FINE, "Distance is close enough");
                 continue;
             }
             int depth = 0;
@@ -735,9 +733,12 @@ public class KinematicRagdollControl extends AbstractPhysicsControl implements P
 			vars.release();
 		}
 
-        for (Bone bone : skeleton.getRoots()) {
-            RagdollUtils.setUserControl(bone, mode == Mode.Ragdoll);
+        if(mode != Mode.IK){
+            for (Bone bone : skeleton.getRoots()) {
+                RagdollUtils.setUserControl(bone, mode == Mode.Ragdoll);
+            }
         }
+        
     }
 
     /**
@@ -940,7 +941,7 @@ public class KinematicRagdollControl extends AbstractPhysicsControl implements P
         int depth = ikChainDepth.remove(bone.getName());
         int i = 0;
         while (i < depth+2 && bone.getParent() != null) {
-            if (!bone.hasUserControl()) {
+            if (bone.hasUserControl()) {
 //                matchPhysicObjectToBone(boneLinks.get(bone.getName()), position, tmpRot1);
                 bone.setUserControl(false);
             }
@@ -1004,6 +1005,10 @@ public class KinematicRagdollControl extends AbstractPhysicsControl implements P
     public void setLimbDampening(float limbDampening) {
         this.limbDampening = limbDampening;
     }
+    
+    public Bone getBone(String name){
+        return skeleton.getBone(name);
+    }
     /**
      * serialize this control
      *

jme3-examples/src/main/java/jme3test/bullet/TestIK.java

@@ -0,0 +1,93 @@
+/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ *   notice, this list of conditions and the following disclaimer in the
+ *   documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+package jme3test.bullet;
+
+import com.jme3.animation.AnimEventListener;
+import com.jme3.animation.Bone;
+import com.jme3.bullet.collision.RagdollCollisionListener;
+import com.jme3.bullet.control.KinematicRagdollControl;
+import com.jme3.input.KeyInput;
+import com.jme3.input.controls.ActionListener;
+import com.jme3.input.controls.KeyTrigger;
+import com.jme3.math.Vector3f;
+import com.jme3.scene.Node;
+
+/**
+ * @author reden
+ */
+public class TestIK extends TestBoneRagdoll implements RagdollCollisionListener, AnimEventListener {
+
+    Node targetNode = new Node("");
+    Vector3f targetPoint;
+    Bone mouseBone;
+    Vector3f oldMousePos;
+ 
+    public static void main(String[] args) {
+        TestIK app = new TestIK();
+        app.start();
+    }
+
+    @Override
+    public void simpleInitApp() {
+        super.simpleInitApp();
+        final KinematicRagdollControl ikControl = model.getControl(KinematicRagdollControl.class);
+        inputManager.addListener(new ActionListener() {
+
+            public void onAction(String name, boolean isPressed, float tpf) {
+
+                if (name.equals("stop") && isPressed) {
+                    ikControl.setEnabled(!ikControl.isEnabled());
+                    ikControl.setIKMode();
+                }
+
+                if (name.equals("one") && isPressed) {
+                    //ragdoll.setKinematicMode();
+                    targetPoint = model.getWorldTranslation().add(new Vector3f(0,2,4));
+                    targetNode.setLocalTranslation(targetPoint);
+                    ikControl.setIKTarget(ikControl.getBone("Hand.L"), targetPoint, 2);
+                    ikControl.setIKMode();
+                }
+                if (name.equals("two") && isPressed) {
+                    //ragdoll.setKinematicMode();
+                    targetPoint = model.getWorldTranslation().add(new Vector3f(-3,3,0));
+                    targetNode.setLocalTranslation(targetPoint);
+                    ikControl.setIKTarget(ikControl.getBone("Hand.R"), targetPoint, 3);
+                    ikControl.setIKMode();
+                }
+            }
+        }, "one", "two");
+        inputManager.addMapping("one", new KeyTrigger(KeyInput.KEY_1));
+        inputManager.addMapping("two", new KeyTrigger(KeyInput.KEY_2));
+        inputManager.addMapping("stop", new KeyTrigger(KeyInput.KEY_H));
+    }
+    
+}