Rag doll is back.

Normand Briere

2019-09-24 767be784dc7fe293bf5c5ee6507df242526be3ed

 RagDoll.java
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@@ -123,6 +123,8 @@
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 		JOINT_COUNT
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 	}
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+        float scale;
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+        
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 	//DynamicsWorld ownerWorld;
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 	CollisionShape[] shapes = new CollisionShape[BodyPart.BODYPART_COUNT.ordinal()];
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 	RigidBody/*Serial*/[] bodies = new RigidBody/*Serial*/[BodyPart.BODYPART_COUNT.ordinal()];
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@@ -140,6 +142,8 @@
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 	public void init(/*DynamicsWorld ownerWorld,*/ Vector3f positionOffset, float scale_ragdoll, boolean walk)
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         {
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+            scale = scale_ragdoll;
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+            
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                 this.walkmotion = walk;
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                 boolean hasbodies = (bodies[BodyPart.BODYPART_SPINE.ordinal()] != null);
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@@ -149,32 +153,40 @@
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 		Transform tmpTrans = new Transform();
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 		Vector3f tmp = new Vector3f();
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-                boolean node = true;
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+                boolean node = false; // true;
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+                
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+                // KIDS4
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+                float upperarmlength = 0.3f; // 0.25
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+                float lowerarmlength = 0.25f; // 0.2
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+                float handlength = 0.1f; // 0.1
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+                float upperarmdist = 0.15f;
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 		// Setup the geometry
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 		//shapes[BodyPart.BODYPART_GROUND.ordinal()] = new CapsuleShape(scale_ragdoll * 0.125f, scale_ragdoll * 0.20f);
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                 //scale_ragdoll /= 1.25;
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                 if (!hasbodies)
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                 {
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-                    shapes[BodyPart.BODYPART_PELVIS.ordinal()] = new CapsuleShape(scale_ragdoll * 0.15f, scale_ragdoll * 0.35f,false);
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-                    shapes[BodyPart.BODYPART_SPINE.ordinal()] = new CapsuleShape(scale_ragdoll * 0.2f, scale_ragdoll * 0.5f,false);
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-                    shapes[BodyPart.BODYPART_HEAD.ordinal()] = new CapsuleShape(scale_ragdoll * 0.15f, scale_ragdoll * 0.15f,false);
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+                    float thin = 0.1f;
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+                    
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+                    shapes[BodyPart.BODYPART_PELVIS.ordinal()] = new CapsuleShape(scale_ragdoll * 0.15f, scale_ragdoll * 0.35f, false);
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+                    shapes[BodyPart.BODYPART_SPINE.ordinal()] = new CapsuleShape(scale_ragdoll * 0.2f, scale_ragdoll * 0.5f, false);
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+                    shapes[BodyPart.BODYPART_HEAD.ordinal()] = new CapsuleShape(scale_ragdoll * 0.15f, scale_ragdoll * 0.15f, false);
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-                    shapes[BodyPart.BODYPART_LEFT_UPPER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.1f, scale_ragdoll * 0.4f,false);
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-                    shapes[BodyPart.BODYPART_LEFT_LOWER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.06f, scale_ragdoll * 0.37f,node);
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-                    shapes[BodyPart.BODYPART_LEFT_FOOT.ordinal()] = new CapsuleShape(scale_ragdoll * 0.04f, scale_ragdoll * 0.1f,node);
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+                    shapes[BodyPart.BODYPART_LEFT_UPPER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.4f * thin, scale_ragdoll * 0.4f, node);
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+                    shapes[BodyPart.BODYPART_LEFT_LOWER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.37f * thin, scale_ragdoll * 0.37f, node);
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+                    shapes[BodyPart.BODYPART_LEFT_FOOT.ordinal()] = new CapsuleShape(scale_ragdoll * 0.1f * thin, scale_ragdoll * 0.1f, node);
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-                    shapes[BodyPart.BODYPART_RIGHT_UPPER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.1f, scale_ragdoll * 0.4f,false);
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-                    shapes[BodyPart.BODYPART_RIGHT_LOWER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.06f, scale_ragdoll * 0.37f,node);
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-                    shapes[BodyPart.BODYPART_RIGHT_FOOT.ordinal()] = new CapsuleShape(scale_ragdoll * 0.04f, scale_ragdoll * 0.1f,node);
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+                    shapes[BodyPart.BODYPART_RIGHT_UPPER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.4f * thin, scale_ragdoll * 0.4f, node);
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+                    shapes[BodyPart.BODYPART_RIGHT_LOWER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.37f * thin, scale_ragdoll * 0.37f, node);
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+                    shapes[BodyPart.BODYPART_RIGHT_FOOT.ordinal()] = new CapsuleShape(scale_ragdoll * 0.1f * thin, scale_ragdoll * 0.1f, node);
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-                    shapes[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * 0.08f, scale_ragdoll * 0.25f,node);
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-                    shapes[BodyPart.BODYPART_LEFT_LOWER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * 0.06f, scale_ragdoll * 0.2f,node);
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-                    shapes[BodyPart.BODYPART_LEFT_HAND.ordinal()] = new CapsuleShape(scale_ragdoll * 0.04f, scale_ragdoll * 0.1f,node);
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+                    shapes[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * upperarmlength * thin, scale_ragdoll * upperarmlength, node);
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+                    shapes[BodyPart.BODYPART_LEFT_LOWER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * lowerarmlength * thin, scale_ragdoll * lowerarmlength, node);
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+                    shapes[BodyPart.BODYPART_LEFT_HAND.ordinal()] = new CapsuleShape(scale_ragdoll * handlength * thin, scale_ragdoll * handlength, node);
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-                    shapes[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * 0.08f, scale_ragdoll * 0.25f,node);
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-                    shapes[BodyPart.BODYPART_RIGHT_LOWER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * 0.06f, scale_ragdoll * 0.2f,node);
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-                    shapes[BodyPart.BODYPART_RIGHT_HAND.ordinal()] = new CapsuleShape(scale_ragdoll * 0.04f, scale_ragdoll * 0.1f,node);
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+                    shapes[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * upperarmlength * thin, scale_ragdoll * upperarmlength, node);
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+                    shapes[BodyPart.BODYPART_RIGHT_LOWER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * lowerarmlength * thin, scale_ragdoll * lowerarmlength, node);
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+                    shapes[BodyPart.BODYPART_RIGHT_HAND.ordinal()] = new CapsuleShape(scale_ragdoll * handlength * thin, scale_ragdoll * handlength, node);
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                 }
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                 //scale_ragdoll *= 1.25;
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@@ -185,7 +197,7 @@
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 		Transform transform = new Transform();
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-                float depth = -0.02f; // .02f;
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+                float depth = -0.01f; // .02f;
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 //		transform.setIdentity();
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 //		transform.origin.set(0f, scale_ragdoll * 1f, 0f);
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@@ -242,7 +254,7 @@
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 		transform.setIdentity();
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 		if ((body = bodies[BodyPart.BODYPART_LEFT_FOOT.ordinal()]) == null)
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                     body = bodies[BodyPart.BODYPART_LEFT_FOOT.ordinal()] = localCreateRigidBody(massfeet, poisefeet, transform, shapes[BodyPart.BODYPART_LEFT_FOOT.ordinal()]);
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-		transform.origin.set(-0.09f * scale_ragdoll, 0.075f * scale_ragdoll, 0.025f);
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+		transform.origin.set(-0.09f * scale_ragdoll, 0.075f * scale_ragdoll, 0.0125f);
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 		MatrixUtil.setEulerZYX(transform.basis, BulletGlobals.SIMD_PI/2, 0,BulletGlobals.SIMD_PI); // BulletGlobals.SIMD_PI, 0);
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 		tmpTrans.mul(offset, transform);
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 		body.worldTransform.set(tmpTrans);
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@@ -252,7 +264,7 @@
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 		transform.setIdentity();
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 		if ((body = bodies[BodyPart.BODYPART_RIGHT_FOOT.ordinal()]) == null)
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                     body = bodies[BodyPart.BODYPART_RIGHT_FOOT.ordinal()] = localCreateRigidBody(massfeet, poisefeet, transform, shapes[BodyPart.BODYPART_RIGHT_FOOT.ordinal()]);
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-		transform.origin.set(0.09f * scale_ragdoll, 0.075f * scale_ragdoll, 0.025f);
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+		transform.origin.set(0.09f * scale_ragdoll, 0.075f * scale_ragdoll, 0.0125f);
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 		MatrixUtil.setEulerZYX(transform.basis, BulletGlobals.SIMD_PI/2, 0,BulletGlobals.SIMD_PI); // BulletGlobals.SIMD_PI, 0);
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 		tmpTrans.mul(offset, transform);
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 		body.worldTransform.set(tmpTrans);
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@@ -300,7 +312,7 @@
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 		transform.setIdentity();
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 		if ((body = bodies[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()]) == null)
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                     body = bodies[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()] = localCreateRigidBody(1f, 0, transform, shapes[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()]);
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-		transform.origin.set(-0.275f * scale_ragdoll, 1.325f * scale_ragdoll, depth);
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+		transform.origin.set(-(upperarmlength/2 + upperarmdist) * scale_ragdoll, 1.325f * scale_ragdoll, depth);
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 		MatrixUtil.setEulerZYX(transform.basis, 0, 0, BulletGlobals.SIMD_HALF_PI);
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 		tmpTrans.mul(offset, transform);
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 		body.worldTransform.set(tmpTrans);
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@@ -310,7 +322,7 @@
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 		transform.setIdentity();
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 		if ((body = bodies[BodyPart.BODYPART_LEFT_LOWER_ARM.ordinal()]) == null)
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                     body = bodies[BodyPart.BODYPART_LEFT_LOWER_ARM.ordinal()] = localCreateRigidBody(1f, 0, transform, shapes[BodyPart.BODYPART_LEFT_LOWER_ARM.ordinal()]);
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-		transform.origin.set(-0.5f * scale_ragdoll, 1.325f * scale_ragdoll, depth);
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+		transform.origin.set(-(lowerarmlength/2 + upperarmlength + upperarmdist) * scale_ragdoll, 1.325f * scale_ragdoll, depth);
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 		MatrixUtil.setEulerZYX(transform.basis, 0, 0, BulletGlobals.SIMD_HALF_PI);
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 		tmpTrans.mul(offset, transform);
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 		body.worldTransform.set(tmpTrans);
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@@ -320,7 +332,7 @@
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 		transform.setIdentity();
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 		if ((body = bodies[BodyPart.BODYPART_LEFT_HAND.ordinal()]) == null)
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                     body = bodies[BodyPart.BODYPART_LEFT_HAND.ordinal()] = localCreateRigidBody(1f, 0, transform, shapes[BodyPart.BODYPART_LEFT_HAND.ordinal()]);
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-		transform.origin.set(-0.65f * scale_ragdoll, 1.325f * scale_ragdoll, depth);
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+		transform.origin.set(-(handlength/2 + lowerarmlength + upperarmlength + upperarmdist) * scale_ragdoll, 1.325f * scale_ragdoll, depth);
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 		MatrixUtil.setEulerZYX(transform.basis, 0, 0, BulletGlobals.SIMD_HALF_PI);
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 		tmpTrans.mul(offset, transform);
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 		body.worldTransform.set(tmpTrans);
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@@ -330,7 +342,7 @@
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 		transform.setIdentity();
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 		if ((body = bodies[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()]) == null)
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                     body = bodies[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()] = localCreateRigidBody(1f, 0, transform, shapes[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()]);
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-		transform.origin.set(0.275f * scale_ragdoll, 1.325f * scale_ragdoll, depth);
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+		transform.origin.set((upperarmlength/2 + upperarmdist) * scale_ragdoll, 1.325f * scale_ragdoll, depth);
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 		MatrixUtil.setEulerZYX(transform.basis, 0, 0, -BulletGlobals.SIMD_HALF_PI);
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 		tmpTrans.mul(offset, transform);
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 		body.worldTransform.set(tmpTrans);
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@@ -340,7 +352,7 @@
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 		transform.setIdentity();
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 		if ((body = bodies[BodyPart.BODYPART_RIGHT_LOWER_ARM.ordinal()]) == null)
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                     body = bodies[BodyPart.BODYPART_RIGHT_LOWER_ARM.ordinal()] = localCreateRigidBody(1f, 0, transform, shapes[BodyPart.BODYPART_RIGHT_LOWER_ARM.ordinal()]);
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-		transform.origin.set(0.50f * scale_ragdoll, 1.325f * scale_ragdoll, depth);
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+		transform.origin.set((lowerarmlength/2 + upperarmlength + upperarmdist) * scale_ragdoll, 1.325f * scale_ragdoll, depth);
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 		MatrixUtil.setEulerZYX(transform.basis, 0, 0, -BulletGlobals.SIMD_HALF_PI);
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 		tmpTrans.mul(offset, transform);
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 		body.worldTransform.set(tmpTrans);
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@@ -350,7 +362,7 @@
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 		transform.setIdentity();
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 		if ((body = bodies[BodyPart.BODYPART_RIGHT_HAND.ordinal()]) == null)
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                     body = bodies[BodyPart.BODYPART_RIGHT_HAND.ordinal()] = localCreateRigidBody(1f, 0, transform, shapes[BodyPart.BODYPART_RIGHT_HAND.ordinal()]);
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-		transform.origin.set(0.65f * scale_ragdoll, 1.325f * scale_ragdoll, depth);
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+		transform.origin.set((handlength/2 + lowerarmlength + upperarmlength + upperarmdist) * scale_ragdoll, 1.325f * scale_ragdoll, depth);
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 		MatrixUtil.setEulerZYX(transform.basis, 0, 0, -BulletGlobals.SIMD_HALF_PI);
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 		tmpTrans.mul(offset, transform);
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 		body.worldTransform.set(tmpTrans);
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@@ -418,10 +430,10 @@
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 			localA.setIdentity();
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 			localB.setIdentity();
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-			localA.origin.set(-0.15f * scale_ragdoll, 0.125f * scale_ragdoll, depth);
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+			localA.origin.set(-upperarmdist * scale_ragdoll, 0.125f * scale_ragdoll, depth);
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 			MatrixUtil.setEulerZYX(localB.basis, 0/*BulletGlobals.SIMD_HALF_PI*/, 0, -BulletGlobals.SIMD_HALF_PI);
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-			localB.origin.set(0f, -0.125f * scale_ragdoll, 0);
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+			localB.origin.set(0f, -upperarmlength/2 * scale_ragdoll, 0);
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 			joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_SPINE.ordinal()], bodies[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()], localA, localB, useLinearReferenceFrameA);
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@@ -447,9 +459,9 @@
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 			localA.setIdentity();
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 			localB.setIdentity();
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-			localA.origin.set(0.15f * scale_ragdoll, 0.125f * scale_ragdoll, depth);
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+			localA.origin.set(upperarmdist * scale_ragdoll, 0.125f * scale_ragdoll, depth);
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 			MatrixUtil.setEulerZYX(localB.basis, 0, 0, BulletGlobals.SIMD_HALF_PI);
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-			localB.origin.set(0f, -0.125f * scale_ragdoll, 0);
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+			localB.origin.set(0f, -upperarmlength/2 * scale_ragdoll, 0);
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 			joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_SPINE.ordinal()], bodies[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()], localA, localB, useLinearReferenceFrameA);
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 			//#ifdef RIGID
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@@ -474,8 +486,8 @@
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 			localA.setIdentity();
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 			localB.setIdentity();
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-			localA.origin.set(0f, 0.125f * scale_ragdoll, 0f);
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-			localB.origin.set(0f, -0.1f * scale_ragdoll, 0f);
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+			localA.origin.set(0f, upperarmlength/2 * scale_ragdoll, 0f);
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+			localB.origin.set(0f, -lowerarmlength/2 * scale_ragdoll, 0f);
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 			joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()], bodies[BodyPart.BODYPART_LEFT_LOWER_ARM.ordinal()], localA, localB, useLinearReferenceFrameA);
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 			//#ifdef RIGID
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@@ -500,8 +512,8 @@
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 			localA.setIdentity();
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 			localB.setIdentity();
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-			localA.origin.set(0f, 0.125f * scale_ragdoll, 0f);
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-			localB.origin.set(0f, -0.1f * scale_ragdoll, 0f);
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+			localA.origin.set(0f, upperarmlength/2 * scale_ragdoll, 0f);
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+			localB.origin.set(0f, -lowerarmlength/2 * scale_ragdoll, 0f);
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 			joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()], bodies[BodyPart.BODYPART_RIGHT_LOWER_ARM.ordinal()], localA, localB, useLinearReferenceFrameA);
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 			//#ifdef RIGID
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@@ -526,8 +538,8 @@
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 			localA.setIdentity();
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 			localB.setIdentity();
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-			localA.origin.set(0f, 0.1f * scale_ragdoll, 0f);
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-			localB.origin.set(0f, -0.05f * scale_ragdoll, 0f);
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+			localA.origin.set(0f, lowerarmlength/2 * scale_ragdoll, 0f);
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+			localB.origin.set(0f, -handlength/2 * scale_ragdoll, 0f);
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 			joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_LEFT_LOWER_ARM.ordinal()], bodies[BodyPart.BODYPART_LEFT_HAND.ordinal()], localA, localB, useLinearReferenceFrameA);
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 			//#ifdef RIGID
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@@ -552,8 +564,8 @@
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 			localA.setIdentity();
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 			localB.setIdentity();
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-			localA.origin.set(0f, 0.1f * scale_ragdoll, 0f);
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-			localB.origin.set(0f, -0.05f * scale_ragdoll, 0f);
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+			localA.origin.set(0f, lowerarmlength/2 * scale_ragdoll, 0f);
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+			localB.origin.set(0f, -handlength/2 * scale_ragdoll, 0f);
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 			joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_RIGHT_LOWER_ARM.ordinal()], bodies[BodyPart.BODYPART_RIGHT_HAND.ordinal()], localA, localB, useLinearReferenceFrameA);
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 			//#ifdef RIGID