Rag doll is back.

Normand Briere

2019-09-24 767be784dc7fe293bf5c5ee6507df242526be3ed

Rag doll is back.

 BBox.java
..
..
@@ -104,12 +104,6 @@
104
104
         double t1 = (min.x - ray.eyePoint.x) / ray.viewDirection.x;
105
105
         double t2 = (max.x - ray.eyePoint.x) / ray.viewDirection.x;
106
106
 
107
-        double mint = t1;
108
-        if (mint > t2) mint = t2;
109
-        
110
-        double maxt = t1;
111
-        if (maxt < t2) maxt = t2;
112
-        
113
107
         if (ray.viewDirection.x == 0)
114
108
         {
115
109
             if (ray.eyePoint.x <= min.x || ray.eyePoint.x >= max.x)
..
..
@@ -117,18 +111,16 @@
117
111
         }
118
112
         else
119
113
         {
120
-            if (tmin > mint) tmin = mint;
121
-            if (tmax < maxt) tmax = maxt;
122
-        }
123
-        
124
-        t1 = (min.y - ray.eyePoint.y) / ray.viewDirection.y;
125
-        t2 = (max.y - ray.eyePoint.y) / ray.viewDirection.y;
114
+            if (t1 > t2)
115
+            {
116
+                double t = t1;
117
+                t1 = t2;
118
+                t2 = t;
119
+            }
126
120
 
127
-        mint = t1;
128
-        if (mint > t2) mint = t2;
129
-        
130
-        maxt = t1;
131
-        if (maxt < t2) maxt = t2;
121
+            if (tmin > t1) tmin = t1;
122
+            if (tmax < t2) tmax = t2;
123
+        }
132
124
         
133
125
         if (ray.viewDirection.y == 0)
134
126
         {
..
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@@ -137,18 +129,19 @@
137
129
         }
138
130
         else
139
131
         {
140
-            if (tmin > mint) tmin = mint;
141
-            if (tmax < maxt) tmax = maxt;
142
-        }
143
-        
144
-        t1 = (min.z - ray.eyePoint.z) / ray.viewDirection.z;
145
-        t2 = (max.z - ray.eyePoint.z) / ray.viewDirection.z;
132
+            t1 = (min.y - ray.eyePoint.y) / ray.viewDirection.y;
133
+            t2 = (max.y - ray.eyePoint.y) / ray.viewDirection.y;
146
134
 
147
-        mint = t1;
148
-        if (mint > t2) mint = t2;
149
-        
150
-        maxt = t1;
151
-        if (maxt < t2) maxt = t2;
135
+            if (t1 > t2)
136
+            {
137
+                double t = t1;
138
+                t1 = t2;
139
+                t2 = t;
140
+            }
141
+
142
+            if (tmin > t1) tmin = t1;
143
+            if (tmax < t2) tmax = t2;
144
+        }
152
145
         
153
146
         if (ray.viewDirection.z == 0)
154
147
         {
..
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@@ -157,10 +150,20 @@
157
150
         }
158
151
         else
159
152
         {
160
-            if (tmin > mint) tmin = mint;
161
-            if (tmax < maxt) tmax = maxt;
153
+            t1 = (min.z - ray.eyePoint.z) / ray.viewDirection.z;
154
+            t2 = (max.z - ray.eyePoint.z) / ray.viewDirection.z;
155
+
156
+            if (t1 > t2)
157
+            {
158
+                double t = t1;
159
+                t1 = t2;
160
+                t2 = t;
161
+            }
162
+
163
+            if (tmin > t1) tmin = t1;
164
+            if (tmax < t2) tmax = t2;
162
165
         }
163
166
         
164
-        return tmax > tmin && tmax > 0.0;
167
+        return tmax >= tmin && tmax > 0.0;
165
168
     }
166
169
 }
 CameraPane.java
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..
@@ -1,4 +1,5 @@
1
1
 
2
+import com.bulletphysics.dynamics.RigidBody;
2
3
 import java.awt.*;
3
4
 import java.awt.event.*;
4
5
 import java.awt.image.*;
..
..
@@ -14667,6 +14668,14 @@
14667
14668
         // only one thread!? synchronized
14668
14669
                 void StepToTarget(boolean jump)
14669
14670
         {
14671
+            RigidBody.pos.x = (float)manipCamera.lookAt.x;
14672
+            RigidBody.pos.y = (float)manipCamera.lookAt.y;
14673
+            RigidBody.pos.z = (float)manipCamera.lookAt.z;
14674
+//            RigidBody.wind.x = (float)manipCamera.right.x;
14675
+//            RigidBody.wind.y = (float)manipCamera.right.y;
14676
+//            RigidBody.wind.z = (float)manipCamera.right.z;
14677
+            //RigidBody.wind.normalize();
14678
+                    
14670
14679
             if (mute)
14671
14680
                 return;
14672
14681
             
 GenericJoint.java
..
..
@@ -177,7 +177,8 @@
177
177
 
178
178
     public void spawnRagdoll(boolean walk) // random)
179
179
     {
180
-        RagDoll ragDoll = new RagDoll(null, new Vector3f(0f, 0f, 0f), 0.45f, walk); // Math.random() > 0.5/*true*/); // true);
180
+        // KIDS4
181
+        RagDoll ragDoll = new RagDoll(null, new Vector3f(0f, 0f, 0f), 0.45f/2, walk); // Math.random() > 0.5/*true*/); // true);
181
182
         ragdolls.add(ragDoll);
182
183
         
183
184
         bRep = null;
..
..
@@ -309,7 +310,7 @@
309
310
             walkdefined = true;
310
311
         }
311
312
         
312
-        ragdolls.get(0).init(/*staticdynamicsWorld,*/ new Vector3f(0f, 0f, 0f), 0.45f, walk);
313
+        ragdolls.get(0).init(/*staticdynamicsWorld,*/ new Vector3f(0f, 0f, 0f), ragdolls.get(0).scale, walk);
313
314
         
314
315
         bRep = null;
315
316
     }
 GroupEditor.java
..
..
@@ -2515,13 +2515,13 @@
2515
2515
                     ragdoll.toParent = LA.newMatrix();
2516
2516
                     ragdoll.fromParent = LA.newMatrix();
2517
2517
                     
2518
-                    ragdoll.fromParent[1][1] = 1/1.03;
2519
-                    ragdoll.toParent[1][1] = 1.03;
2520
-                    
2521
-                    ragdoll.fromParent[3][1] = 0.02;
2522
-                    ragdoll.toParent[3][1] = -0.02;
2523
-                    ragdoll.fromParent[3][2] = 0.01;
2524
-                    ragdoll.toParent[3][2] = -0.01;
2518
+//                    ragdoll.fromParent[1][1] = 1/1.03;
2519
+//                    ragdoll.toParent[1][1] = 1.03;
2520
+//                    
2521
+//                    ragdoll.fromParent[3][1] = 0.02;
2522
+//                    ragdoll.toParent[3][1] = -0.02;
2523
+//                    ragdoll.fromParent[3][2] = 0.01;
2524
+//                    ragdoll.toParent[3][2] = -0.01;
2525
2525
                     
2526
2526
                     makeSomething(ragdoll);
2527
2527
 			//makeSomething(new VehicleDemo());
 ObjEditor.java
..
..
@@ -4617,7 +4617,7 @@
4617
4617
         
4618
4618
         ResetModel();
4619
4619
         
4620
-        DuplicateVersion();
4620
+        //DuplicateVersion();
4621
4621
         
4622
4622
         this.SetVersionStates();
4623
4623
         objEditor.refreshContents();
 Object3D.java
..
..
@@ -1023,7 +1023,7 @@
1023
1023
     
1024
1024
     void Step()
1025
1025
     {
1026
-        // marde pour serialization de Texture
1026
+        // patch pour serialization de Texture
1027
1027
         resetmaxcount();
1028
1028
         resettransformcount();
1029
1029
         resetstep();
..
..
@@ -4101,11 +4101,6 @@
4101
4101
         Step();
4102
4102
         Touch();
4103
4103
         
4104
-        StepRecur();
4105
-    }
4106
-    
4107
-    void StepRecur()
4108
-    {
4109
4104
         for (int i = 0; i < size(); i++)
4110
4105
         {
4111
4106
             Object3D child = (Object3D) get(i); // reserve(i);
..
..
@@ -6182,6 +6177,10 @@
6182
6177
         return live && bRep != null;
6183
6178
     }
6184
6179
     
6180
+    static cVector minima = new cVector();
6181
+    static cVector maxima = new cVector();
6182
+    static javax.vecmath.Point3d center = new javax.vecmath.Point3d();
6183
+    
6185
6184
     void Draw(iCameraPane display, Object3D /*Composite*/ root, boolean selected, boolean blocked)
6186
6185
     {
6187
6186
         Invariants(); // june 2013
..
..
@@ -6189,6 +6188,29 @@
6189
6188
         if (support != null)
6190
6189
         {
6191
6190
         //    System.err.println("Draw " + this + " Frame # " + ((Mocap)((Merge)support).object).frame);
6191
+        }
6192
+        
6193
+        if (live && link2master && support == null && !this.marked) // project on ground
6194
+        {
6195
+            getBounds(minima, maxima, true);
6196
+            center.x = (minima.x + maxima.x) / 2;
6197
+            center.y = 10000; // (minima.y + maxima.y) / 2;
6198
+            center.z = (minima.z + maxima.z) / 2;
6199
+
6200
+            Ray ray = new Ray(center, new Vector3d(0,-1,0));
6201
+
6202
+            IntersectResult res = new IntersectResult();
6203
+            res.t = Double.POSITIVE_INFINITY;
6204
+
6205
+            if (Grafreed.grafreed.universe.intersect(ray, res))
6206
+            {
6207
+                double resx = ray.eyePoint.x + ray.viewDirection.x * res.t;
6208
+                double resy = ray.eyePoint.y + ray.viewDirection.y * res.t;
6209
+                double resz = ray.eyePoint.z + ray.viewDirection.z * res.t;
6210
+                
6211
+                LA.matTranslate(toParent, 0, resy - minima.y, 0);
6212
+                LA.matInvert(toParent, fromParent);
6213
+            }
6192
6214
         }
6193
6215
         
6194
6216
         if (display.DrawMode() == iCameraPane.SELECTION &&
..
..
@@ -6985,7 +7007,7 @@
6985
7007
                         facescompare[k] = new FaceCompare(k);
6986
7008
                     }
6987
7009
                     
6988
-                    center = new cVector();
7010
+                    centertriangle = new cVector();
6989
7011
                 }
6990
7012
                 else
6991
7013
                 {
..
..
@@ -7108,7 +7130,7 @@
7108
7130
          */
7109
7131
     }
7110
7132
 
7111
-    transient cVector center;
7133
+    transient cVector centertriangle;
7112
7134
     
7113
7135
     class FaceCompare implements Comparable
7114
7136
     {
..
..
@@ -7137,14 +7159,14 @@
7137
7159
                 Vertex q = bRep.GetVertex(face.q);
7138
7160
                 Vertex r = bRep.GetVertex(face.r);
7139
7161
 
7140
-                center.set(p);
7141
-                center.add(q);
7142
-                center.add(r);
7143
-                center.mul(1.0/3);
7162
+                centertriangle.set(p);
7163
+                centertriangle.add(q);
7164
+                centertriangle.add(r);
7165
+                centertriangle.mul(1.0/3);
7144
7166
                 
7145
-                center.sub(Globals.theRenderer.EyeCamera().location);
7167
+                centertriangle.sub(Globals.theRenderer.EyeCamera().location);
7146
7168
                 
7147
-                distance = center.dot(center);
7169
+                distance = centertriangle.dot(centertriangle);
7148
7170
             }
7149
7171
             
7150
7172
             return distance;
..
..
@@ -8903,7 +8925,7 @@
8903
8925
                 cVector min = new cVector();
8904
8926
                 cVector max = new cVector();
8905
8927
                 
8906
-                this.getBounds(min, max, false);
8928
+                this.getBounds(min, max, true);
8907
8929
                 
8908
8930
                 bbox.min.x = min.x;
8909
8931
                 bbox.min.y = min.y;
..
..
@@ -8914,7 +8936,7 @@
8914
8936
                 bbox.max.z = max.z;
8915
8937
             }
8916
8938
             
8917
-            if (bbox.intersect(ray, result))
8939
+            if (true) // NOT WORKING bbox.intersect(ray, result))
8918
8940
             {
8919
8941
                 success |= intersectMesh(ray, result);
8920
8942
             }
..
..
@@ -8958,6 +8980,12 @@
8958
8980
     
8959
8981
     private boolean intersectTriangle(Ray ray, IntersectResult result, Vertex v1, Vertex v2, Vertex v3)
8960
8982
     {
8983
+        if (false)
8984
+        {
8985
+            result.t = 0;
8986
+            return true;
8987
+        }
8988
+        
8961
8989
         /*
8962
8990
         Fast, Minimum Storage Ray/Triangle Intersection, Moller et al.
8963
8991
         
 PhysicsEditor.java
..
..
@@ -70,7 +70,7 @@
70
70
              */
71
71
             super.SetupUI2(oe);
72
72
                 
73
-        gravityPanel = AddSlider(oe.ctrlPanel, "Gravity:", 0, 20.0, physicsnode.gravity, 1);
73
+        gravityPanel = AddSlider(oe.ctrlPanel, "Gravity:", 0, 100.0, physicsnode.gravity, 1);
74
74
         gravityField = (cNumberSlider)gravityPanel.getComponent(1);
75
75
                 
76
76
 //        oe.ctrlPanel.add(gravityLabel = new JLabel("Gravity: ")); //, oe.aConstraints, oe.ctrlPanel.getComponentCount()-2);
..
..
@@ -79,7 +79,7 @@
79
79
         
80
80
         oe.ctrlPanel.Return();
81
81
         
82
-        windPanel = AddSlider(oe.ctrlPanel, "Wind:", 0, 20.0, physicsnode.wind, 1);
82
+        windPanel = AddSlider(oe.ctrlPanel, "Wind:", 0, 100.0, physicsnode.wind, 1);
83
83
         windField = (cNumberSlider)windPanel.getComponent(1);
84
84
         
85
85
 //        oe.ctrlPanel.add(windLabel = new JLabel("Wind: ")); //, oe.aConstraints, oe.ctrlPanel.getComponentCount()-2);
..
..
@@ -203,6 +203,7 @@
203
203
         physicsnode.floor = (float)floorField.getFloat(); // biparam.minUDivs, 99);
204
204
         //biparam.name = nameField.getText();
205
205
         
206
+        physicsnode.transientDynamicsWorld.setGravity(new javax.vecmath.Vector3f(0, -physicsnode.gravity, physicsnode.wind));
206
207
 // june 2013		super.applySelf();
207
208
     }
208
209
     /**/
 PhysicsNode.java
..
..
@@ -78,6 +78,8 @@
78
78
         super("Physics");
79
79
         
80
80
         live = true;
81
+        
82
+        gravity = 1;
81
83
     }
82
84
     
83
85
     void Reset()
..
..
@@ -193,39 +195,41 @@
193
195
             //staticdynamicsWorld = dynamicsWorld;
194
196
 //		dynamicsWorld.setDebugDrawer(new GLDebugDrawer(gl));
195
197
 
198
+            float boxsize = 100;
199
+            
196
200
         // Setup a big ground box
197
201
 //        {
198
-            CollisionShape groundShape = new BoxShape(new Vector3f(200f, 10f, 200f));
202
+            CollisionShape groundShape = new BoxShape(new Vector3f(boxsize, 10f, boxsize));
199
203
             Transform groundTransform = new Transform();
200
204
             groundTransform.setIdentity();
201
205
             groundTransform.origin.set(0f, -floor - 10, 0f);
202
206
             localCreateRigidBody(0f, groundTransform, groundShape);
203
207
             
204
-            groundShape = new BoxShape(new Vector3f(200f, 200f, 200f));
208
+            groundShape = new BoxShape(new Vector3f(boxsize, boxsize, boxsize));
205
209
             groundTransform = new Transform();
206
210
             groundTransform.setIdentity();
207
-            groundTransform.origin.set(0f, 100, -201f);
208
-            //localCreateRigidBody(0f, groundTransform, groundShape);
211
+            groundTransform.origin.set(0f, boxsize/2, -boxsize-1);
212
+            localCreateRigidBody(0f, groundTransform, groundShape);
209
213
             
210
-            groundShape = new BoxShape(new Vector3f(200f, 200f, 200f));
214
+            groundShape = new BoxShape(new Vector3f(boxsize, boxsize, boxsize));
211
215
             groundTransform = new Transform();
212
216
             groundTransform.setIdentity();
213
-            groundTransform.origin.set(-201f, 100, 0f);
214
-            //localCreateRigidBody(0f, groundTransform, groundShape);
217
+            groundTransform.origin.set(-boxsize-1, boxsize/2, 0f);
218
+            localCreateRigidBody(0f, groundTransform, groundShape);
215
219
             
216
-            groundShape = new BoxShape(new Vector3f(200f, 200f, 200f));
220
+            groundShape = new BoxShape(new Vector3f(boxsize, boxsize, boxsize));
217
221
             groundTransform = new Transform();
218
222
             groundTransform.setIdentity();
219
-            groundTransform.origin.set(201f, 100, 0f);
220
-            //localCreateRigidBody(0f, groundTransform, groundShape);
223
+            groundTransform.origin.set(boxsize+1, boxsize/2, 0f);
224
+            localCreateRigidBody(0f, groundTransform, groundShape);
221
225
             
222
-            groundShape = new BoxShape(new Vector3f(200f, 200f, 200f));
226
+            groundShape = new BoxShape(new Vector3f(boxsize, boxsize, boxsize));
223
227
             groundTransform = new Transform();
224
228
             groundTransform.setIdentity();
225
-            groundTransform.origin.set(0f, 100, 201f);
226
-            //localCreateRigidBody(0f, groundTransform, groundShape);
229
+            groundTransform.origin.set(0f, boxsize/2, boxsize+1);
230
+            localCreateRigidBody(0f, groundTransform, groundShape);
227
231
             
228
-            transientDynamicsWorld.setGravity(new Vector3f(0, -gravity, wind));
232
+            transientDynamicsWorld.setGravity(new Vector3f(0.075f, -gravity, wind));
229
233
             
230
234
             SetDynamics(transientDynamicsWorld);
231
235
         }
..
..
@@ -251,7 +255,7 @@
251
255
 //        myoffset = dynamicsWorld.getNumCollisionObjects() - 1;
252
256
 //        
253
257
 //        if (myoffset == 0)
254
-            clientResetScene();
258
+//            clientResetScene();
255
259
     }
256
260
 
257
261
     public RigidBody localCreateRigidBody(float mass, Transform startTransform, CollisionShape shape)
..
..
@@ -271,7 +275,7 @@
271
275
         //#ifdef USE_MOTIONSTATE
272
276
         DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
273
277
 
274
-        float friction = 1;
278
+        float friction = 1f;
275
279
         
276
280
         RigidBodyConstructionInfo cInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia, friction);
277
281
 
..
..
@@ -288,7 +292,7 @@
288
292
 
289
293
     public void clientResetScene()
290
294
     {
291
-//        System.exit(0);
295
+        System.exit(0);
292
296
         //#ifdef SHOW_NUM_DEEP_PENETRATIONS
293
297
         BulletStats.gNumDeepPenetrationChecks = 0;
294
298
         BulletStats.gNumGjkChecks = 0;
 RagDoll.java
..
..
@@ -123,6 +123,8 @@
123
123
 		JOINT_COUNT
124
124
 	}
125
125
 
126
+        float scale;
127
+        
126
128
 	//DynamicsWorld ownerWorld;
127
129
 	CollisionShape[] shapes = new CollisionShape[BodyPart.BODYPART_COUNT.ordinal()];
128
130
 	RigidBody/*Serial*/[] bodies = new RigidBody/*Serial*/[BodyPart.BODYPART_COUNT.ordinal()];
..
..
@@ -140,6 +142,8 @@
140
142
         
141
143
 	public void init(/*DynamicsWorld ownerWorld,*/ Vector3f positionOffset, float scale_ragdoll, boolean walk)
142
144
         {
145
+            scale = scale_ragdoll;
146
+            
143
147
                 this.walkmotion = walk;
144
148
                 
145
149
                 boolean hasbodies = (bodies[BodyPart.BODYPART_SPINE.ordinal()] != null);
..
..
@@ -149,32 +153,40 @@
149
153
 		Transform tmpTrans = new Transform();
150
154
 		Vector3f tmp = new Vector3f();
151
155
 
152
-                boolean node = true;
156
+                boolean node = false; // true;
157
+                
158
+                // KIDS4
159
+                float upperarmlength = 0.3f; // 0.25
160
+                float lowerarmlength = 0.25f; // 0.2
161
+                float handlength = 0.1f; // 0.1
162
+                float upperarmdist = 0.15f;
153
163
                 
154
164
 		// Setup the geometry
155
165
 		//shapes[BodyPart.BODYPART_GROUND.ordinal()] = new CapsuleShape(scale_ragdoll * 0.125f, scale_ragdoll * 0.20f);
156
166
                 //scale_ragdoll /= 1.25;
157
167
                 if (!hasbodies)
158
168
                 {
159
-                    shapes[BodyPart.BODYPART_PELVIS.ordinal()] = new CapsuleShape(scale_ragdoll * 0.15f, scale_ragdoll * 0.35f,false);
160
-                    shapes[BodyPart.BODYPART_SPINE.ordinal()] = new CapsuleShape(scale_ragdoll * 0.2f, scale_ragdoll * 0.5f,false);
161
-                    shapes[BodyPart.BODYPART_HEAD.ordinal()] = new CapsuleShape(scale_ragdoll * 0.15f, scale_ragdoll * 0.15f,false);
169
+                    float thin = 0.1f;
170
+                    
171
+                    shapes[BodyPart.BODYPART_PELVIS.ordinal()] = new CapsuleShape(scale_ragdoll * 0.15f, scale_ragdoll * 0.35f, false);
172
+                    shapes[BodyPart.BODYPART_SPINE.ordinal()] = new CapsuleShape(scale_ragdoll * 0.2f, scale_ragdoll * 0.5f, false);
173
+                    shapes[BodyPart.BODYPART_HEAD.ordinal()] = new CapsuleShape(scale_ragdoll * 0.15f, scale_ragdoll * 0.15f, false);
162
174
 
163
-                    shapes[BodyPart.BODYPART_LEFT_UPPER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.1f, scale_ragdoll * 0.4f,false);
164
-                    shapes[BodyPart.BODYPART_LEFT_LOWER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.06f, scale_ragdoll * 0.37f,node);
165
-                    shapes[BodyPart.BODYPART_LEFT_FOOT.ordinal()] = new CapsuleShape(scale_ragdoll * 0.04f, scale_ragdoll * 0.1f,node);
175
+                    shapes[BodyPart.BODYPART_LEFT_UPPER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.4f * thin, scale_ragdoll * 0.4f, node);
176
+                    shapes[BodyPart.BODYPART_LEFT_LOWER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.37f * thin, scale_ragdoll * 0.37f, node);
177
+                    shapes[BodyPart.BODYPART_LEFT_FOOT.ordinal()] = new CapsuleShape(scale_ragdoll * 0.1f * thin, scale_ragdoll * 0.1f, node);
166
178
 
167
-                    shapes[BodyPart.BODYPART_RIGHT_UPPER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.1f, scale_ragdoll * 0.4f,false);
168
-                    shapes[BodyPart.BODYPART_RIGHT_LOWER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.06f, scale_ragdoll * 0.37f,node);
169
-                    shapes[BodyPart.BODYPART_RIGHT_FOOT.ordinal()] = new CapsuleShape(scale_ragdoll * 0.04f, scale_ragdoll * 0.1f,node);
179
+                    shapes[BodyPart.BODYPART_RIGHT_UPPER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.4f * thin, scale_ragdoll * 0.4f, node);
180
+                    shapes[BodyPart.BODYPART_RIGHT_LOWER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.37f * thin, scale_ragdoll * 0.37f, node);
181
+                    shapes[BodyPart.BODYPART_RIGHT_FOOT.ordinal()] = new CapsuleShape(scale_ragdoll * 0.1f * thin, scale_ragdoll * 0.1f, node);
170
182
 
171
-                    shapes[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * 0.08f, scale_ragdoll * 0.25f,node);
172
-                    shapes[BodyPart.BODYPART_LEFT_LOWER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * 0.06f, scale_ragdoll * 0.2f,node);
173
-                    shapes[BodyPart.BODYPART_LEFT_HAND.ordinal()] = new CapsuleShape(scale_ragdoll * 0.04f, scale_ragdoll * 0.1f,node);
183
+                    shapes[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * upperarmlength * thin, scale_ragdoll * upperarmlength, node);
184
+                    shapes[BodyPart.BODYPART_LEFT_LOWER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * lowerarmlength * thin, scale_ragdoll * lowerarmlength, node);
185
+                    shapes[BodyPart.BODYPART_LEFT_HAND.ordinal()] = new CapsuleShape(scale_ragdoll * handlength * thin, scale_ragdoll * handlength, node);
174
186
 
175
-                    shapes[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * 0.08f, scale_ragdoll * 0.25f,node);
176
-                    shapes[BodyPart.BODYPART_RIGHT_LOWER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * 0.06f, scale_ragdoll * 0.2f,node);
177
-                    shapes[BodyPart.BODYPART_RIGHT_HAND.ordinal()] = new CapsuleShape(scale_ragdoll * 0.04f, scale_ragdoll * 0.1f,node);
187
+                    shapes[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * upperarmlength * thin, scale_ragdoll * upperarmlength, node);
188
+                    shapes[BodyPart.BODYPART_RIGHT_LOWER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * lowerarmlength * thin, scale_ragdoll * lowerarmlength, node);
189
+                    shapes[BodyPart.BODYPART_RIGHT_HAND.ordinal()] = new CapsuleShape(scale_ragdoll * handlength * thin, scale_ragdoll * handlength, node);
178
190
                 }
179
191
                 //scale_ragdoll *= 1.25;
180
192
 
..
..
@@ -185,7 +197,7 @@
185
197
 
186
198
 		Transform transform = new Transform();
187
199
                 
188
-                float depth = -0.02f; // .02f;
200
+                float depth = -0.01f; // .02f;
189
201
                 
190
202
 //		transform.setIdentity();
191
203
 //		transform.origin.set(0f, scale_ragdoll * 1f, 0f);
..
..
@@ -242,7 +254,7 @@
242
254
 		transform.setIdentity();
243
255
 		if ((body = bodies[BodyPart.BODYPART_LEFT_FOOT.ordinal()]) == null)
244
256
                     body = bodies[BodyPart.BODYPART_LEFT_FOOT.ordinal()] = localCreateRigidBody(massfeet, poisefeet, transform, shapes[BodyPart.BODYPART_LEFT_FOOT.ordinal()]);
245
-		transform.origin.set(-0.09f * scale_ragdoll, 0.075f * scale_ragdoll, 0.025f);
257
+		transform.origin.set(-0.09f * scale_ragdoll, 0.075f * scale_ragdoll, 0.0125f);
246
258
 		MatrixUtil.setEulerZYX(transform.basis, BulletGlobals.SIMD_PI/2, 0,BulletGlobals.SIMD_PI); // BulletGlobals.SIMD_PI, 0);
247
259
 		tmpTrans.mul(offset, transform);
248
260
 		body.worldTransform.set(tmpTrans);
..
..
@@ -252,7 +264,7 @@
252
264
 		transform.setIdentity();
253
265
 		if ((body = bodies[BodyPart.BODYPART_RIGHT_FOOT.ordinal()]) == null)
254
266
                     body = bodies[BodyPart.BODYPART_RIGHT_FOOT.ordinal()] = localCreateRigidBody(massfeet, poisefeet, transform, shapes[BodyPart.BODYPART_RIGHT_FOOT.ordinal()]);
255
-		transform.origin.set(0.09f * scale_ragdoll, 0.075f * scale_ragdoll, 0.025f);
267
+		transform.origin.set(0.09f * scale_ragdoll, 0.075f * scale_ragdoll, 0.0125f);
256
268
 		MatrixUtil.setEulerZYX(transform.basis, BulletGlobals.SIMD_PI/2, 0,BulletGlobals.SIMD_PI); // BulletGlobals.SIMD_PI, 0);
257
269
 		tmpTrans.mul(offset, transform);
258
270
 		body.worldTransform.set(tmpTrans);
..
..
@@ -300,7 +312,7 @@
300
312
 		transform.setIdentity();
301
313
 		if ((body = bodies[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()]) == null)
302
314
                     body = bodies[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()] = localCreateRigidBody(1f, 0, transform, shapes[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()]);
303
-		transform.origin.set(-0.275f * scale_ragdoll, 1.325f * scale_ragdoll, depth);
315
+		transform.origin.set(-(upperarmlength/2 + upperarmdist) * scale_ragdoll, 1.325f * scale_ragdoll, depth);
304
316
 		MatrixUtil.setEulerZYX(transform.basis, 0, 0, BulletGlobals.SIMD_HALF_PI);
305
317
 		tmpTrans.mul(offset, transform);
306
318
 		body.worldTransform.set(tmpTrans);
..
..
@@ -310,7 +322,7 @@
310
322
 		transform.setIdentity();
311
323
 		if ((body = bodies[BodyPart.BODYPART_LEFT_LOWER_ARM.ordinal()]) == null)
312
324
                     body = bodies[BodyPart.BODYPART_LEFT_LOWER_ARM.ordinal()] = localCreateRigidBody(1f, 0, transform, shapes[BodyPart.BODYPART_LEFT_LOWER_ARM.ordinal()]);
313
-		transform.origin.set(-0.5f * scale_ragdoll, 1.325f * scale_ragdoll, depth);
325
+		transform.origin.set(-(lowerarmlength/2 + upperarmlength + upperarmdist) * scale_ragdoll, 1.325f * scale_ragdoll, depth);
314
326
 		MatrixUtil.setEulerZYX(transform.basis, 0, 0, BulletGlobals.SIMD_HALF_PI);
315
327
 		tmpTrans.mul(offset, transform);
316
328
 		body.worldTransform.set(tmpTrans);
..
..
@@ -320,7 +332,7 @@
320
332
 		transform.setIdentity();
321
333
 		if ((body = bodies[BodyPart.BODYPART_LEFT_HAND.ordinal()]) == null)
322
334
                     body = bodies[BodyPart.BODYPART_LEFT_HAND.ordinal()] = localCreateRigidBody(1f, 0, transform, shapes[BodyPart.BODYPART_LEFT_HAND.ordinal()]);
323
-		transform.origin.set(-0.65f * scale_ragdoll, 1.325f * scale_ragdoll, depth);
335
+		transform.origin.set(-(handlength/2 + lowerarmlength + upperarmlength + upperarmdist) * scale_ragdoll, 1.325f * scale_ragdoll, depth);
324
336
 		MatrixUtil.setEulerZYX(transform.basis, 0, 0, BulletGlobals.SIMD_HALF_PI);
325
337
 		tmpTrans.mul(offset, transform);
326
338
 		body.worldTransform.set(tmpTrans);
..
..
@@ -330,7 +342,7 @@
330
342
 		transform.setIdentity();
331
343
 		if ((body = bodies[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()]) == null)
332
344
                     body = bodies[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()] = localCreateRigidBody(1f, 0, transform, shapes[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()]);
333
-		transform.origin.set(0.275f * scale_ragdoll, 1.325f * scale_ragdoll, depth);
345
+		transform.origin.set((upperarmlength/2 + upperarmdist) * scale_ragdoll, 1.325f * scale_ragdoll, depth);
334
346
 		MatrixUtil.setEulerZYX(transform.basis, 0, 0, -BulletGlobals.SIMD_HALF_PI);
335
347
 		tmpTrans.mul(offset, transform);
336
348
 		body.worldTransform.set(tmpTrans);
..
..
@@ -340,7 +352,7 @@
340
352
 		transform.setIdentity();
341
353
 		if ((body = bodies[BodyPart.BODYPART_RIGHT_LOWER_ARM.ordinal()]) == null)
342
354
                     body = bodies[BodyPart.BODYPART_RIGHT_LOWER_ARM.ordinal()] = localCreateRigidBody(1f, 0, transform, shapes[BodyPart.BODYPART_RIGHT_LOWER_ARM.ordinal()]);
343
-		transform.origin.set(0.50f * scale_ragdoll, 1.325f * scale_ragdoll, depth);
355
+		transform.origin.set((lowerarmlength/2 + upperarmlength + upperarmdist) * scale_ragdoll, 1.325f * scale_ragdoll, depth);
344
356
 		MatrixUtil.setEulerZYX(transform.basis, 0, 0, -BulletGlobals.SIMD_HALF_PI);
345
357
 		tmpTrans.mul(offset, transform);
346
358
 		body.worldTransform.set(tmpTrans);
..
..
@@ -350,7 +362,7 @@
350
362
 		transform.setIdentity();
351
363
 		if ((body = bodies[BodyPart.BODYPART_RIGHT_HAND.ordinal()]) == null)
352
364
                     body = bodies[BodyPart.BODYPART_RIGHT_HAND.ordinal()] = localCreateRigidBody(1f, 0, transform, shapes[BodyPart.BODYPART_RIGHT_HAND.ordinal()]);
353
-		transform.origin.set(0.65f * scale_ragdoll, 1.325f * scale_ragdoll, depth);
365
+		transform.origin.set((handlength/2 + lowerarmlength + upperarmlength + upperarmdist) * scale_ragdoll, 1.325f * scale_ragdoll, depth);
354
366
 		MatrixUtil.setEulerZYX(transform.basis, 0, 0, -BulletGlobals.SIMD_HALF_PI);
355
367
 		tmpTrans.mul(offset, transform);
356
368
 		body.worldTransform.set(tmpTrans);
..
..
@@ -418,10 +430,10 @@
418
430
 			localA.setIdentity();
419
431
 			localB.setIdentity();
420
432
 
421
-			localA.origin.set(-0.15f * scale_ragdoll, 0.125f * scale_ragdoll, depth);
433
+			localA.origin.set(-upperarmdist * scale_ragdoll, 0.125f * scale_ragdoll, depth);
422
434
 
423
435
 			MatrixUtil.setEulerZYX(localB.basis, 0/*BulletGlobals.SIMD_HALF_PI*/, 0, -BulletGlobals.SIMD_HALF_PI);
424
-			localB.origin.set(0f, -0.125f * scale_ragdoll, 0);
436
+			localB.origin.set(0f, -upperarmlength/2 * scale_ragdoll, 0);
425
437
 
426
438
 			joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_SPINE.ordinal()], bodies[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()], localA, localB, useLinearReferenceFrameA);
427
439
 
..
..
@@ -447,9 +459,9 @@
447
459
 			localA.setIdentity();
448
460
 			localB.setIdentity();
449
461
 
450
-			localA.origin.set(0.15f * scale_ragdoll, 0.125f * scale_ragdoll, depth);
462
+			localA.origin.set(upperarmdist * scale_ragdoll, 0.125f * scale_ragdoll, depth);
451
463
 			MatrixUtil.setEulerZYX(localB.basis, 0, 0, BulletGlobals.SIMD_HALF_PI);
452
-			localB.origin.set(0f, -0.125f * scale_ragdoll, 0);
464
+			localB.origin.set(0f, -upperarmlength/2 * scale_ragdoll, 0);
453
465
 			joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_SPINE.ordinal()], bodies[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()], localA, localB, useLinearReferenceFrameA);
454
466
 
455
467
 			//#ifdef RIGID
..
..
@@ -474,8 +486,8 @@
474
486
 			localA.setIdentity();
475
487
 			localB.setIdentity();
476
488
 
477
-			localA.origin.set(0f, 0.125f * scale_ragdoll, 0f);
478
-			localB.origin.set(0f, -0.1f * scale_ragdoll, 0f);
489
+			localA.origin.set(0f, upperarmlength/2 * scale_ragdoll, 0f);
490
+			localB.origin.set(0f, -lowerarmlength/2 * scale_ragdoll, 0f);
479
491
 			joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()], bodies[BodyPart.BODYPART_LEFT_LOWER_ARM.ordinal()], localA, localB, useLinearReferenceFrameA);
480
492
 
481
493
 			//#ifdef RIGID
..
..
@@ -500,8 +512,8 @@
500
512
 			localA.setIdentity();
501
513
 			localB.setIdentity();
502
514
 
503
-			localA.origin.set(0f, 0.125f * scale_ragdoll, 0f);
504
-			localB.origin.set(0f, -0.1f * scale_ragdoll, 0f);
515
+			localA.origin.set(0f, upperarmlength/2 * scale_ragdoll, 0f);
516
+			localB.origin.set(0f, -lowerarmlength/2 * scale_ragdoll, 0f);
505
517
 			joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()], bodies[BodyPart.BODYPART_RIGHT_LOWER_ARM.ordinal()], localA, localB, useLinearReferenceFrameA);
506
518
 
507
519
 			//#ifdef RIGID
..
..
@@ -526,8 +538,8 @@
526
538
 			localA.setIdentity();
527
539
 			localB.setIdentity();
528
540
 
529
-			localA.origin.set(0f, 0.1f * scale_ragdoll, 0f);
530
-			localB.origin.set(0f, -0.05f * scale_ragdoll, 0f);
541
+			localA.origin.set(0f, lowerarmlength/2 * scale_ragdoll, 0f);
542
+			localB.origin.set(0f, -handlength/2 * scale_ragdoll, 0f);
531
543
 			joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_LEFT_LOWER_ARM.ordinal()], bodies[BodyPart.BODYPART_LEFT_HAND.ordinal()], localA, localB, useLinearReferenceFrameA);
532
544
 
533
545
 			//#ifdef RIGID
..
..
@@ -552,8 +564,8 @@
552
564
 			localA.setIdentity();
553
565
 			localB.setIdentity();
554
566
 
555
-			localA.origin.set(0f, 0.1f * scale_ragdoll, 0f);
556
-			localB.origin.set(0f, -0.05f * scale_ragdoll, 0f);
567
+			localA.origin.set(0f, lowerarmlength/2 * scale_ragdoll, 0f);
568
+			localB.origin.set(0f, -handlength/2 * scale_ragdoll, 0f);
557
569
 			joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_RIGHT_LOWER_ARM.ordinal()], bodies[BodyPart.BODYPART_RIGHT_HAND.ordinal()], localA, localB, useLinearReferenceFrameA);
558
570
 
559
571
 			//#ifdef RIGID
 com/bulletphysics/collision/shapes/ShapeHull.java
..
..
@@ -118,6 +118,12 @@
118
118
                         if (loop == 1)
119
119
                         {
120
120
                             //vec2.scale(0.5f);
121
+                            
122
+                            // Nodes are bigger
123
+                            vec2.x *= 5;
124
+                            vec2.y *= 5;
125
+                            vec2.z *= 5;
126
+                            
121
127
                             switch (capsule.getUpAxis())
122
128
                             {
123
129
                                 case 0: vec2.x /= capsule.getHalfHeight(); vec2.x *= capsule.getRadius()/2; vec2.x -= capsule.getHalfHeight(); break;
..
..
@@ -125,6 +131,7 @@
125
131
                                 case 2: vec2.z /= capsule.getHalfHeight(); vec2.z *= capsule.getRadius()/2; vec2.z -= capsule.getHalfHeight(); break;
126
132
                             }
127
133
                         }
134
+                        
128
135
                         vertices.getQuick(loop*NUM_UNITSPHERE_POINTS + i*rows + j).set(vec2);
129
136
                         normals.getQuick(loop*NUM_UNITSPHERE_POINTS + i*rows + j).set(normout);
130
137
                     }
 com/bulletphysics/dynamics/RigidBody.java
..
..
@@ -214,11 +214,31 @@
214
214
 		}
215
215
 	}
216
216
 	
217
+        static Vector3f g = new Vector3f();
218
+        static Vector3f w = new Vector3f();
219
+        static public Vector3f wind = new Vector3f();
220
+        static public Vector3f pos = new Vector3f();
221
+        
217
222
 	public void applyGravity() {
218
223
 		if (isStaticOrKinematicObject())
219
224
 			return;
220
225
 
221
-		applyCentralForce(gravity);
226
+                g.y = gravity.y;
227
+		applyCentralForce(g);
228
+                
229
+                wind.set(pos);
230
+                wind.x -= worldTransform.origin.x;
231
+                wind.y -= worldTransform.origin.y;
232
+                wind.z -= worldTransform.origin.z;
233
+                
234
+                float dot = pos.x * wind.x + pos.y * wind.y + pos.z * wind.z;
235
+                
236
+                dot = 10;
237
+                
238
+                w.x = wind.x * gravity.z * dot;
239
+                w.y = wind.y * gravity.z * dot;
240
+                w.z = wind.z * gravity.z * dot;
241
+		applyCentralForce(w);
222
242
 	}
223
243
 	
224
244
 	public void setGravity(Vector3f acceleration) {