Skip to content

Commit

Permalink
KinematicRagdollControl: remove the weightThreshold=-1 hack
Browse files Browse the repository at this point in the history
  • Loading branch information
@stephengold
stephengold committed Oct 5, 2018
1 parent 2849224 commit 763c021
Show file tree
Hide file tree
Showing 2 changed files with 28 additions and 130 deletions.
24 changes: 6 additions & 18 deletions Minie/src/main/java/com/jme3/bullet/control/KinematicRagdollControl.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -652,15 +652,10 @@ public void addBoneName(String boneName) {
* Generate physics shapes and bone links for the skeleton.
*/
protected void scanSpatial() {
Map<Integer, List<Float>> pointsMap = null;
if (weightThreshold == -1f) {
pointsMap = RagdollUtils.buildPointMap(modelRoot);
}

skeleton.resetAndUpdate();
for (Bone rootBone : skeleton.getRoots()) {
logger.log(Level.FINE, "Found root bone in skeleton {0}", skeleton);
boneRecursion(rootBone, baseRigidBody, 1, pointsMap);
boneRecursion(rootBone, baseRigidBody, 1);
}
}

Expand All @@ -671,10 +666,9 @@ protected void scanSpatial() {
* @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 (&ge;1)
* @param pointsMap (not null)
*/
protected void boneRecursion(Bone bone, PhysicsRigidBody parent,
int reccount, Map<Integer, List<Float>> pointsMap) {
int reccount) {
PhysicsRigidBody parentShape = parent;
String boneName = bone.getName();
if (jointMap.containsKey(boneName)) {
Expand All @@ -683,15 +677,9 @@ protected void boneRecursion(Bone bone, PhysicsRigidBody parent,
List<Integer> boneIndices
= RagdollUtils.getBoneIndices(bone, skeleton, jointMap.keySet());
Vector3f meshLocation = bone.getModelSpacePosition();
if (pointsMap != null) {
// Build a shape for the bone, using the vertices most influenced by it.
shape = RagdollUtils.makeShapeFromPointMap(pointsMap,
boneIndices, initScale, meshLocation);
} else {
// Build a shape for the bone, using the vertices for which its weight exceeds the threshold.
shape = RagdollUtils.makeShapeFromVerticeWeights(modelRoot,
boneIndices, initScale, meshLocation, weightThreshold);
}
// Build a shape for the bone, using the vertices for which its weight exceeds the threshold.
shape = RagdollUtils.makeShapeFromVerticeWeights(modelRoot,
boneIndices, initScale, meshLocation, weightThreshold);

float limbMass = torsoMass / (float) reccount;
assert limbMass > 0f : limbMass;
Expand Down Expand Up @@ -727,7 +715,7 @@ protected void boneRecursion(Bone bone, PhysicsRigidBody parent,
}

for (Bone childBone : bone.getChildren()) {
boneRecursion(childBone, parentShape, reccount + 1, pointsMap);
boneRecursion(childBone, parentShape, reccount + 1);
}
}

Expand Down
134 changes: 22 additions & 112 deletions Minie/src/main/java/com/jme3/bullet/control/ragdoll/RagdollUtils.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -34,8 +34,10 @@
import com.jme3.animation.Bone;
import com.jme3.animation.Skeleton;
import com.jme3.animation.SkeletonControl;
import com.jme3.bullet.PhysicsSpace;
import com.jme3.bullet.collision.shapes.HullCollisionShape;
import com.jme3.bullet.joints.SixDofJoint;
import com.jme3.math.FastMath;
import com.jme3.math.Quaternion;
import com.jme3.math.Transform;
import com.jme3.math.Vector3f;
Expand All @@ -45,12 +47,11 @@
import java.nio.ByteBuffer;
import java.nio.FloatBuffer;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.LinkedList;
import java.util.List;
import java.util.Map;
import java.util.Set;
import java.util.logging.Logger;
import jme3utilities.Validate;

/**
* Utility methods used by KinematicRagdollControl.
Expand Down Expand Up @@ -84,111 +85,19 @@ private RagdollUtils() {
*/
public static void setJointLimit(SixDofJoint joint, float maxX, float minX,
float maxY, float minY, float maxZ, float minZ) {

joint.getRotationalLimitMotor(0).setHiLimit(maxX);
joint.getRotationalLimitMotor(0).setLoLimit(minX);
joint.getRotationalLimitMotor(1).setHiLimit(maxY);
joint.getRotationalLimitMotor(1).setLoLimit(minY);
joint.getRotationalLimitMotor(2).setHiLimit(maxZ);
joint.getRotationalLimitMotor(2).setLoLimit(minZ);
}

/**
* Build a map of mesh vertices in a subtree of the scene graph.
*
* @param model the root of the subtree (may be null)
* @return a new map (not null)
*/
public static Map<Integer, List<Float>> buildPointMap(Spatial model) {
Map<Integer, List<Float>> map = new HashMap<>();

SkeletonControl skeletonCtrl = model.getControl(SkeletonControl.class);
Mesh[] targetMeshes = skeletonCtrl.getTargets();
for (Mesh mesh : targetMeshes) {
buildPointMapForMesh(mesh, map);
}

return map;
}

private static Map<Integer, List<Float>> buildPointMapForMesh(Mesh mesh,
Map<Integer, List<Float>> map) {
FloatBuffer vertices = mesh.getFloatBuffer(Type.Position);
ByteBuffer boneIndices = (ByteBuffer) mesh.getBuffer(Type.BoneIndex).getData();
FloatBuffer boneWeight = (FloatBuffer) mesh.getBuffer(Type.BoneWeight).getData();

vertices.rewind();
boneIndices.rewind();
boneWeight.rewind();

int vertexComponents = mesh.getVertexCount() * 3;
int k, start, index;
float maxWeight;

for (int i = 0; i < vertexComponents; i += 3) {
start = i / 3 * 4;
index = 0;
maxWeight = -1;
for (k = start; k < start + 4; k++) {
float weight = boneWeight.get(k);
if (weight > maxWeight) {
maxWeight = weight;
index = boneIndices.get(k);
}
}
List<Float> points = map.get(index);
if (points == null) {
points = new ArrayList<>();
map.put(index, points);
}
points.add(vertices.get(i));
points.add(vertices.get(i + 1));
points.add(vertices.get(i + 2));
}

return map;
}

/**
* Create a hull collision shape from linked vertices to this bone. Vertices
* must have previously been gathered using buildPointMap().
*
* @param pointsMap map from bone indices to coordinates (not null,
* unaffected)
* @param boneIndices (not null, unaffected)
* @param initialScale scale factors (not null, unaffected)
* @param initialPosition location (not null, unaffected)
* @return a new shape (not null)
*/
public static HullCollisionShape makeShapeFromPointMap(
Map<Integer, List<Float>> pointsMap, List<Integer> boneIndices,
Vector3f initialScale, Vector3f initialPosition) {

ArrayList<Float> points = new ArrayList<>();
for (Integer index : boneIndices) {
List<Float> l = pointsMap.get(index);
if (l != null) {

for (int i = 0; i < l.size(); i += 3) {
Vector3f pos = new Vector3f();
pos.x = l.get(i);
pos.y = l.get(i + 1);
pos.z = l.get(i + 2);
pos.subtractLocal(initialPosition).multLocal(initialScale);
points.add(pos.x);
points.add(pos.y);
points.add(pos.z);
}
}
}

assert !points.isEmpty();
float[] p = new float[points.size()];
for (int i = 0; i < points.size(); i++) {
p[i] = points.get(i);
}

return new HullCollisionShape(p);
Validate.inRange(maxX, "max X rotation", minX, FastMath.PI);
Validate.inRange(minX, "min X rotation", -FastMath.PI, maxX);
Validate.inRange(maxY, "max Y rotation", minY, FastMath.PI);
Validate.inRange(minY, "min Y rotation", -FastMath.PI, maxY);
Validate.inRange(maxZ, "max Z rotation", minZ, FastMath.PI);
Validate.inRange(minZ, "min Z rotation", -FastMath.PI, maxZ);

joint.getRotationalLimitMotor(PhysicsSpace.AXIS_X).setHiLimit(maxX);
joint.getRotationalLimitMotor(PhysicsSpace.AXIS_X).setLoLimit(minX);
joint.getRotationalLimitMotor(PhysicsSpace.AXIS_Y).setHiLimit(maxY);
joint.getRotationalLimitMotor(PhysicsSpace.AXIS_Y).setLoLimit(minY);
joint.getRotationalLimitMotor(PhysicsSpace.AXIS_Z).setHiLimit(maxZ);
joint.getRotationalLimitMotor(PhysicsSpace.AXIS_Z).setLoLimit(minZ);
}

/**
Expand All @@ -203,13 +112,14 @@ public static HullCollisionShape makeShapeFromPointMap(
public static List<Integer> getBoneIndices(Bone bone, Skeleton skeleton,
Set<String> boneList) {
List<Integer> list = new LinkedList<>();

if (boneList.isEmpty()) {
list.add(skeleton.getBoneIndex(bone));
} else {
list.add(skeleton.getBoneIndex(bone));
for (Bone chilBone : bone.getChildren()) {
if (!boneList.contains(chilBone.getName())) {
list.addAll(getBoneIndices(chilBone, skeleton, boneList));
for (Bone child : bone.getChildren()) {
if (!boneList.contains(child.getName())) {
list.addAll(getBoneIndices(child, skeleton, boneList));
}
}
}
Expand Down Expand Up @@ -321,11 +231,11 @@ private static List<Float> getPoints(Mesh mesh, int boneIndex,
*/
public static void setTransform(Bone bone, Vector3f pos, Quaternion rot,
boolean restoreBoneControl, Set<String> boneList) {
//we ensure that we have the control
// Ensure user control
if (restoreBoneControl) {
bone.setUserControl(true);
}
//we set te user transforms of the bone
// Set the user transform of the bone.
bone.setUserTransformsInModelSpace(pos, rot);
for (Bone childBone : bone.getChildren()) {
//each child bone that is not in the list is updated
Expand Down

0 comments on commit 763c021

Please sign in to comment.