~nbriere/GrafreeD.git - Noware Git Repository

Normand Briere

2019-09-24 767be784dc7fe293bf5c5ee6507df242526be3ed

Rag doll is back.

11 files modified

	BBox.java	65 ●●●●● patch \| view \| raw \| blame \| history
	CameraPane.java	9 ●●●●● patch \| view \| raw \| blame \| history
	GenericJoint.java	5 ●●●●● patch \| view \| raw \| blame \| history
	GroupEditor.java	14 ●●●●● patch \| view \| raw \| blame \| history
	ObjEditor.java	2 ●●●●● patch \| view \| raw \| blame \| history
	Object3D.java	60 ●●●●● patch \| view \| raw \| blame \| history
	PhysicsEditor.java	5 ●●●●● patch \| view \| raw \| blame \| history
	PhysicsNode.java	38 ●●●●● patch \| view \| raw \| blame \| history
	RagDoll.java	86 ●●●●● patch \| view \| raw \| blame \| history
	com/bulletphysics/collision/shapes/ShapeHull.java	7 ●●●●● patch \| view \| raw \| blame \| history
	com/bulletphysics/dynamics/RigidBody.java	22 ●●●●● patch \| view \| raw \| blame \| history

 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          {
.. .. @@ -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          {
.. .. @@ -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
.. .. @@ -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) {

..	..	@@ -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	{
..	..	@@ -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	{
..	..	@@ -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	}

..	..	@@ -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

..	..	@@ -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	}

..	..	@@ -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());

..	..	@@ -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();

..	..	@@ -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

..	..	@@ -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	/**/

..	..	@@ -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;

..	..	@@ -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

..	..	@@ -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(loopNUM_UNITSPHERE_POINTS + irows + j).set(vec2);
129	136	normals.getQuick(loopNUM_UNITSPHERE_POINTS + irows + j).set(normout);
130	137	}

..	..	@@ -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) {