Java Code Examples for com.jme3.bullet.objects.PhysicsRigidBody#setUserObject()

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Example 1
Source File: KinematicRagdollControl.java    From jmonkeyengine with BSD 3-Clause "New" or "Revised" License 4 votes vote down vote up 
/**
 * Generate a physics shape and bone links for the specified bone. Note:
 * recursive!
 *
 * @param model the spatial with the model's SkeletonControl (not null)
 * @param bone the bone to be linked (not null)
 * @param parent the body linked to the parent bone (not null)
 * @param reccount depth of the recursion (≥1)
 * @param pointsMap (not null)
 */
protected void boneRecursion(Spatial model, Bone bone, PhysicsRigidBody parent, int reccount, Map<Integer, List<Float>> pointsMap) {
    PhysicsRigidBody parentShape = parent;
    if (boneList.contains(bone.getName())) {

        PhysicsBoneLink link = new PhysicsBoneLink();
        link.bone = bone;

        //create the collision shape
        HullCollisionShape shape = null;
        if (pointsMap != null) {
            //build a shape for the bone, using the vertices that are most influenced by this bone
            shape = RagdollUtils.makeShapeFromPointMap(pointsMap, RagdollUtils.getBoneIndices(link.bone, skeleton, boneList), initScale, link.bone.getModelSpacePosition());
        } else {
            //build a shape for the bone, using the vertices associated with this bone with a weight above the threshold
            shape = RagdollUtils.makeShapeFromVerticeWeights(model, RagdollUtils.getBoneIndices(link.bone, skeleton, boneList), initScale, link.bone.getModelSpacePosition(), weightThreshold);
        }

        PhysicsRigidBody shapeNode = new PhysicsRigidBody(shape, rootMass / reccount);

        shapeNode.setKinematic(mode == Mode.Kinematic);
        totalMass += rootMass / reccount;

        link.rigidBody = shapeNode;
        link.initalWorldRotation = bone.getModelSpaceRotation().clone();

        if (parent != null) {
            //get joint position for parent
            Vector3f posToParent = new Vector3f();
            if (bone.getParent() != null) {
                bone.getModelSpacePosition().subtract(bone.getParent().getModelSpacePosition(), posToParent).multLocal(initScale);
            }

            SixDofJoint joint = new SixDofJoint(parent, shapeNode, posToParent, new Vector3f(0, 0, 0f), true);
            preset.setupJointForBone(bone.getName(), joint);

            link.joint = joint;
            joint.setCollisionBetweenLinkedBodys(false);
        }
        boneLinks.put(bone.getName(), link);
        shapeNode.setUserObject(link);
        parentShape = shapeNode;
    }

    for (Iterator<Bone> it = bone.getChildren().iterator(); it.hasNext();) {
        Bone childBone = it.next();
        boneRecursion(model, childBone, parentShape, reccount + 1, pointsMap);
    }
}
Example 2
Source File: KinematicRagdollControl.java    From MikuMikuStudio with BSD 2-Clause "Simplified" License 4 votes vote down vote up 
private void boneRecursion(Spatial model, Bone bone, PhysicsRigidBody parent, int reccount, Map<Integer, List<Float>> pointsMap) {
    PhysicsRigidBody parentShape = parent;
    if (boneList.isEmpty() || boneList.contains(bone.getName())) {

        PhysicsBoneLink link = new PhysicsBoneLink();
        link.bone = bone;

        //creating the collision shape 
        HullCollisionShape shape = null;
        if (pointsMap != null) {
            //build a shape for the bone, using the vertices that are most influenced by this bone
            shape = RagdollUtils.makeShapeFromPointMap(pointsMap, RagdollUtils.getBoneIndices(link.bone, skeleton, boneList), initScale, link.bone.getModelSpacePosition());
        } else {
            //build a shape for the bone, using the vertices associated with this bone with a weight above the threshold
            shape = RagdollUtils.makeShapeFromVerticeWeights(model, RagdollUtils.getBoneIndices(link.bone, skeleton, boneList), initScale, link.bone.getModelSpacePosition(), weightThreshold);
        }

        PhysicsRigidBody shapeNode = new PhysicsRigidBody(shape, rootMass / (float) reccount);

        shapeNode.setKinematic(mode == Mode.Kinetmatic);
        totalMass += rootMass / (float) reccount;

        link.rigidBody = shapeNode;
        link.initalWorldRotation = bone.getModelSpaceRotation().clone();

        if (parent != null) {
            //get joint position for parent
            Vector3f posToParent = new Vector3f();
            if (bone.getParent() != null) {
                bone.getModelSpacePosition().subtract(bone.getParent().getModelSpacePosition(), posToParent).multLocal(initScale);
            }

            SixDofJoint joint = new SixDofJoint(parent, shapeNode, posToParent, new Vector3f(0, 0, 0f), true);
            preset.setupJointForBone(bone.getName(), joint);

            link.joint = joint;
            joint.setCollisionBetweenLinkedBodys(false);
        }
        boneLinks.put(bone.getName(), link);
        shapeNode.setUserObject(link);
        parentShape = shapeNode;
    }

    for (Iterator<Bone> it = bone.getChildren().iterator(); it.hasNext();) {
        Bone childBone = it.next();
        boneRecursion(model, childBone, parentShape, reccount + 1, pointsMap);
    }
}
Example 3
Source File: KinematicRagdollControl.java    From MikuMikuStudio with BSD 2-Clause "Simplified" License 4 votes vote down vote up 
private void boneRecursion(Spatial model, Bone bone, PhysicsRigidBody parent, int reccount, Map<Integer, List<Float>> pointsMap) {
    PhysicsRigidBody parentShape = parent;
    if (boneList.isEmpty() || boneList.contains(bone.getName())) {

        PhysicsBoneLink link = new PhysicsBoneLink();
        link.bone = bone;

        //creating the collision shape 
        HullCollisionShape shape = null;
        if (pointsMap != null) {
            //build a shape for the bone, using the vertices that are most influenced by this bone
            shape = RagdollUtils.makeShapeFromPointMap(pointsMap, RagdollUtils.getBoneIndices(link.bone, skeleton, boneList), initScale, link.bone.getModelSpacePosition());
        } else {
            //build a shape for the bone, using the vertices associated with this bone with a weight above the threshold
            shape = RagdollUtils.makeShapeFromVerticeWeights(model, RagdollUtils.getBoneIndices(link.bone, skeleton, boneList), initScale, link.bone.getModelSpacePosition(), weightThreshold);
        }

        PhysicsRigidBody shapeNode = new PhysicsRigidBody(shape, rootMass / (float) reccount);

        shapeNode.setKinematic(mode == Mode.Kinetmatic);
        totalMass += rootMass / (float) reccount;

        link.rigidBody = shapeNode;
        link.initalWorldRotation = bone.getModelSpaceRotation().clone();

        if (parent != null) {
            //get joint position for parent
            Vector3f posToParent = new Vector3f();
            if (bone.getParent() != null) {
                bone.getModelSpacePosition().subtract(bone.getParent().getModelSpacePosition(), posToParent).multLocal(initScale);
            }

            SixDofJoint joint = new SixDofJoint(parent, shapeNode, posToParent, new Vector3f(0, 0, 0f), true);
            preset.setupJointForBone(bone.getName(), joint);

            link.joint = joint;
            joint.setCollisionBetweenLinkedBodys(false);
        }
        boneLinks.put(bone.getName(), link);
        shapeNode.setUserObject(link);
        parentShape = shapeNode;
    }

    for (Iterator<Bone> it = bone.getChildren().iterator(); it.hasNext();) {
        Bone childBone = it.next();
        boneRecursion(model, childBone, parentShape, reccount + 1, pointsMap);
    }
}