From 767be784dc7fe293bf5c5ee6507df242526be3ed Mon Sep 17 00:00:00 2001
From: Normand Briere <nbriere@noware.ca>
Date: Tue, 24 Sep 2019 02:10:06 -0400
Subject: [PATCH] Rag doll is back.
---
ObjEditor.java | 2
BBox.java | 65 +++++-----
CameraPane.java | 9 +
PhysicsNode.java | 38 +++--
GroupEditor.java | 14 +-
com/bulletphysics/collision/shapes/ShapeHull.java | 7 +
com/bulletphysics/dynamics/RigidBody.java | 22 +++
Object3D.java | 60 +++++++--
PhysicsEditor.java | 5
RagDoll.java | 86 ++++++++------
GenericJoint.java | 5
11 files changed, 199 insertions(+), 114 deletions(-)
diff --git a/BBox.java b/BBox.java
index 4a28409..418bd06 100755
--- a/BBox.java
+++ b/BBox.java
@@ -104,12 +104,6 @@
double t1 = (min.x - ray.eyePoint.x) / ray.viewDirection.x;
double t2 = (max.x - ray.eyePoint.x) / ray.viewDirection.x;
- double mint = t1;
- if (mint > t2) mint = t2;
-
- double maxt = t1;
- if (maxt < t2) maxt = t2;
-
if (ray.viewDirection.x == 0)
{
if (ray.eyePoint.x <= min.x || ray.eyePoint.x >= max.x)
@@ -117,18 +111,16 @@
}
else
{
- if (tmin > mint) tmin = mint;
- if (tmax < maxt) tmax = maxt;
- }
-
- t1 = (min.y - ray.eyePoint.y) / ray.viewDirection.y;
- t2 = (max.y - ray.eyePoint.y) / ray.viewDirection.y;
+ if (t1 > t2)
+ {
+ double t = t1;
+ t1 = t2;
+ t2 = t;
+ }
- mint = t1;
- if (mint > t2) mint = t2;
-
- maxt = t1;
- if (maxt < t2) maxt = t2;
+ if (tmin > t1) tmin = t1;
+ if (tmax < t2) tmax = t2;
+ }
if (ray.viewDirection.y == 0)
{
@@ -137,18 +129,19 @@
}
else
{
- if (tmin > mint) tmin = mint;
- if (tmax < maxt) tmax = maxt;
- }
-
- t1 = (min.z - ray.eyePoint.z) / ray.viewDirection.z;
- t2 = (max.z - ray.eyePoint.z) / ray.viewDirection.z;
+ t1 = (min.y - ray.eyePoint.y) / ray.viewDirection.y;
+ t2 = (max.y - ray.eyePoint.y) / ray.viewDirection.y;
- mint = t1;
- if (mint > t2) mint = t2;
-
- maxt = t1;
- if (maxt < t2) maxt = t2;
+ if (t1 > t2)
+ {
+ double t = t1;
+ t1 = t2;
+ t2 = t;
+ }
+
+ if (tmin > t1) tmin = t1;
+ if (tmax < t2) tmax = t2;
+ }
if (ray.viewDirection.z == 0)
{
@@ -157,10 +150,20 @@
}
else
{
- if (tmin > mint) tmin = mint;
- if (tmax < maxt) tmax = maxt;
+ t1 = (min.z - ray.eyePoint.z) / ray.viewDirection.z;
+ t2 = (max.z - ray.eyePoint.z) / ray.viewDirection.z;
+
+ if (t1 > t2)
+ {
+ double t = t1;
+ t1 = t2;
+ t2 = t;
+ }
+
+ if (tmin > t1) tmin = t1;
+ if (tmax < t2) tmax = t2;
}
- return tmax > tmin && tmax > 0.0;
+ return tmax >= tmin && tmax > 0.0;
}
}
diff --git a/CameraPane.java b/CameraPane.java
index 7627a95..f35d440 100644
--- a/CameraPane.java
+++ b/CameraPane.java
@@ -1,4 +1,5 @@
+import com.bulletphysics.dynamics.RigidBody;
import java.awt.*;
import java.awt.event.*;
import java.awt.image.*;
@@ -14667,6 +14668,14 @@
// only one thread!? synchronized
void StepToTarget(boolean jump)
{
+ RigidBody.pos.x = (float)manipCamera.lookAt.x;
+ RigidBody.pos.y = (float)manipCamera.lookAt.y;
+ RigidBody.pos.z = (float)manipCamera.lookAt.z;
+// RigidBody.wind.x = (float)manipCamera.right.x;
+// RigidBody.wind.y = (float)manipCamera.right.y;
+// RigidBody.wind.z = (float)manipCamera.right.z;
+ //RigidBody.wind.normalize();
+
if (mute)
return;
diff --git a/GenericJoint.java b/GenericJoint.java
index 4c7c0e0..9c45117 100644
--- a/GenericJoint.java
+++ b/GenericJoint.java
@@ -177,7 +177,8 @@
public void spawnRagdoll(boolean walk) // random)
{
- RagDoll ragDoll = new RagDoll(null, new Vector3f(0f, 0f, 0f), 0.45f, walk); // Math.random() > 0.5/*true*/); // true);
+ // KIDS4
+ RagDoll ragDoll = new RagDoll(null, new Vector3f(0f, 0f, 0f), 0.45f/2, walk); // Math.random() > 0.5/*true*/); // true);
ragdolls.add(ragDoll);
bRep = null;
@@ -309,7 +310,7 @@
walkdefined = true;
}
- ragdolls.get(0).init(/*staticdynamicsWorld,*/ new Vector3f(0f, 0f, 0f), 0.45f, walk);
+ ragdolls.get(0).init(/*staticdynamicsWorld,*/ new Vector3f(0f, 0f, 0f), ragdolls.get(0).scale, walk);
bRep = null;
}
diff --git a/GroupEditor.java b/GroupEditor.java
index d328971..13ef3d2 100644
--- a/GroupEditor.java
+++ b/GroupEditor.java
@@ -2515,13 +2515,13 @@
ragdoll.toParent = LA.newMatrix();
ragdoll.fromParent = LA.newMatrix();
- ragdoll.fromParent[1][1] = 1/1.03;
- ragdoll.toParent[1][1] = 1.03;
-
- ragdoll.fromParent[3][1] = 0.02;
- ragdoll.toParent[3][1] = -0.02;
- ragdoll.fromParent[3][2] = 0.01;
- ragdoll.toParent[3][2] = -0.01;
+// ragdoll.fromParent[1][1] = 1/1.03;
+// ragdoll.toParent[1][1] = 1.03;
+//
+// ragdoll.fromParent[3][1] = 0.02;
+// ragdoll.toParent[3][1] = -0.02;
+// ragdoll.fromParent[3][2] = 0.01;
+// ragdoll.toParent[3][2] = -0.01;
makeSomething(ragdoll);
//makeSomething(new VehicleDemo());
diff --git a/ObjEditor.java b/ObjEditor.java
index d5be27b..c8eff94 100644
--- a/ObjEditor.java
+++ b/ObjEditor.java
@@ -4617,7 +4617,7 @@
ResetModel();
- DuplicateVersion();
+ //DuplicateVersion();
this.SetVersionStates();
objEditor.refreshContents();
diff --git a/Object3D.java b/Object3D.java
index ba7e5c6..b4eaccb 100644
--- a/Object3D.java
+++ b/Object3D.java
@@ -1023,7 +1023,7 @@
void Step()
{
- // marde pour serialization de Texture
+ // patch pour serialization de Texture
resetmaxcount();
resettransformcount();
resetstep();
@@ -4101,11 +4101,6 @@
Step();
Touch();
- StepRecur();
- }
-
- void StepRecur()
- {
for (int i = 0; i < size(); i++)
{
Object3D child = (Object3D) get(i); // reserve(i);
@@ -6182,6 +6177,10 @@
return live && bRep != null;
}
+ static cVector minima = new cVector();
+ static cVector maxima = new cVector();
+ static javax.vecmath.Point3d center = new javax.vecmath.Point3d();
+
void Draw(iCameraPane display, Object3D /*Composite*/ root, boolean selected, boolean blocked)
{
Invariants(); // june 2013
@@ -6189,6 +6188,29 @@
if (support != null)
{
// System.err.println("Draw " + this + " Frame # " + ((Mocap)((Merge)support).object).frame);
+ }
+
+ if (live && link2master && support == null && !this.marked) // project on ground
+ {
+ getBounds(minima, maxima, true);
+ center.x = (minima.x + maxima.x) / 2;
+ center.y = 10000; // (minima.y + maxima.y) / 2;
+ center.z = (minima.z + maxima.z) / 2;
+
+ Ray ray = new Ray(center, new Vector3d(0,-1,0));
+
+ IntersectResult res = new IntersectResult();
+ res.t = Double.POSITIVE_INFINITY;
+
+ if (Grafreed.grafreed.universe.intersect(ray, res))
+ {
+ double resx = ray.eyePoint.x + ray.viewDirection.x * res.t;
+ double resy = ray.eyePoint.y + ray.viewDirection.y * res.t;
+ double resz = ray.eyePoint.z + ray.viewDirection.z * res.t;
+
+ LA.matTranslate(toParent, 0, resy - minima.y, 0);
+ LA.matInvert(toParent, fromParent);
+ }
}
if (display.DrawMode() == iCameraPane.SELECTION &&
@@ -6985,7 +7007,7 @@
facescompare[k] = new FaceCompare(k);
}
- center = new cVector();
+ centertriangle = new cVector();
}
else
{
@@ -7108,7 +7130,7 @@
*/
}
- transient cVector center;
+ transient cVector centertriangle;
class FaceCompare implements Comparable
{
@@ -7137,14 +7159,14 @@
Vertex q = bRep.GetVertex(face.q);
Vertex r = bRep.GetVertex(face.r);
- center.set(p);
- center.add(q);
- center.add(r);
- center.mul(1.0/3);
+ centertriangle.set(p);
+ centertriangle.add(q);
+ centertriangle.add(r);
+ centertriangle.mul(1.0/3);
- center.sub(Globals.theRenderer.EyeCamera().location);
+ centertriangle.sub(Globals.theRenderer.EyeCamera().location);
- distance = center.dot(center);
+ distance = centertriangle.dot(centertriangle);
}
return distance;
@@ -8903,7 +8925,7 @@
cVector min = new cVector();
cVector max = new cVector();
- this.getBounds(min, max, false);
+ this.getBounds(min, max, true);
bbox.min.x = min.x;
bbox.min.y = min.y;
@@ -8914,7 +8936,7 @@
bbox.max.z = max.z;
}
- if (bbox.intersect(ray, result))
+ if (true) // NOT WORKING bbox.intersect(ray, result))
{
success |= intersectMesh(ray, result);
}
@@ -8958,6 +8980,12 @@
private boolean intersectTriangle(Ray ray, IntersectResult result, Vertex v1, Vertex v2, Vertex v3)
{
+ if (false)
+ {
+ result.t = 0;
+ return true;
+ }
+
/*
Fast, Minimum Storage Ray/Triangle Intersection, Moller et al.
diff --git a/PhysicsEditor.java b/PhysicsEditor.java
index d75e46b..bc1c8c8 100644
--- a/PhysicsEditor.java
+++ b/PhysicsEditor.java
@@ -70,7 +70,7 @@
*/
super.SetupUI2(oe);
- gravityPanel = AddSlider(oe.ctrlPanel, "Gravity:", 0, 20.0, physicsnode.gravity, 1);
+ gravityPanel = AddSlider(oe.ctrlPanel, "Gravity:", 0, 100.0, physicsnode.gravity, 1);
gravityField = (cNumberSlider)gravityPanel.getComponent(1);
// oe.ctrlPanel.add(gravityLabel = new JLabel("Gravity: ")); //, oe.aConstraints, oe.ctrlPanel.getComponentCount()-2);
@@ -79,7 +79,7 @@
oe.ctrlPanel.Return();
- windPanel = AddSlider(oe.ctrlPanel, "Wind:", 0, 20.0, physicsnode.wind, 1);
+ windPanel = AddSlider(oe.ctrlPanel, "Wind:", 0, 100.0, physicsnode.wind, 1);
windField = (cNumberSlider)windPanel.getComponent(1);
// oe.ctrlPanel.add(windLabel = new JLabel("Wind: ")); //, oe.aConstraints, oe.ctrlPanel.getComponentCount()-2);
@@ -203,6 +203,7 @@
physicsnode.floor = (float)floorField.getFloat(); // biparam.minUDivs, 99);
//biparam.name = nameField.getText();
+ physicsnode.transientDynamicsWorld.setGravity(new javax.vecmath.Vector3f(0, -physicsnode.gravity, physicsnode.wind));
// june 2013 super.applySelf();
}
/**/
diff --git a/PhysicsNode.java b/PhysicsNode.java
index 77051fd..ca3a422 100644
--- a/PhysicsNode.java
+++ b/PhysicsNode.java
@@ -78,6 +78,8 @@
super("Physics");
live = true;
+
+ gravity = 1;
}
void Reset()
@@ -193,39 +195,41 @@
//staticdynamicsWorld = dynamicsWorld;
// dynamicsWorld.setDebugDrawer(new GLDebugDrawer(gl));
+ float boxsize = 100;
+
// Setup a big ground box
// {
- CollisionShape groundShape = new BoxShape(new Vector3f(200f, 10f, 200f));
+ CollisionShape groundShape = new BoxShape(new Vector3f(boxsize, 10f, boxsize));
Transform groundTransform = new Transform();
groundTransform.setIdentity();
groundTransform.origin.set(0f, -floor - 10, 0f);
localCreateRigidBody(0f, groundTransform, groundShape);
- groundShape = new BoxShape(new Vector3f(200f, 200f, 200f));
+ groundShape = new BoxShape(new Vector3f(boxsize, boxsize, boxsize));
groundTransform = new Transform();
groundTransform.setIdentity();
- groundTransform.origin.set(0f, 100, -201f);
- //localCreateRigidBody(0f, groundTransform, groundShape);
+ groundTransform.origin.set(0f, boxsize/2, -boxsize-1);
+ localCreateRigidBody(0f, groundTransform, groundShape);
- groundShape = new BoxShape(new Vector3f(200f, 200f, 200f));
+ groundShape = new BoxShape(new Vector3f(boxsize, boxsize, boxsize));
groundTransform = new Transform();
groundTransform.setIdentity();
- groundTransform.origin.set(-201f, 100, 0f);
- //localCreateRigidBody(0f, groundTransform, groundShape);
+ groundTransform.origin.set(-boxsize-1, boxsize/2, 0f);
+ localCreateRigidBody(0f, groundTransform, groundShape);
- groundShape = new BoxShape(new Vector3f(200f, 200f, 200f));
+ groundShape = new BoxShape(new Vector3f(boxsize, boxsize, boxsize));
groundTransform = new Transform();
groundTransform.setIdentity();
- groundTransform.origin.set(201f, 100, 0f);
- //localCreateRigidBody(0f, groundTransform, groundShape);
+ groundTransform.origin.set(boxsize+1, boxsize/2, 0f);
+ localCreateRigidBody(0f, groundTransform, groundShape);
- groundShape = new BoxShape(new Vector3f(200f, 200f, 200f));
+ groundShape = new BoxShape(new Vector3f(boxsize, boxsize, boxsize));
groundTransform = new Transform();
groundTransform.setIdentity();
- groundTransform.origin.set(0f, 100, 201f);
- //localCreateRigidBody(0f, groundTransform, groundShape);
+ groundTransform.origin.set(0f, boxsize/2, boxsize+1);
+ localCreateRigidBody(0f, groundTransform, groundShape);
- transientDynamicsWorld.setGravity(new Vector3f(0, -gravity, wind));
+ transientDynamicsWorld.setGravity(new Vector3f(0.075f, -gravity, wind));
SetDynamics(transientDynamicsWorld);
}
@@ -251,7 +255,7 @@
// myoffset = dynamicsWorld.getNumCollisionObjects() - 1;
//
// if (myoffset == 0)
- clientResetScene();
+// clientResetScene();
}
public RigidBody localCreateRigidBody(float mass, Transform startTransform, CollisionShape shape)
@@ -271,7 +275,7 @@
//#ifdef USE_MOTIONSTATE
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
- float friction = 1;
+ float friction = 1f;
RigidBodyConstructionInfo cInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia, friction);
@@ -288,7 +292,7 @@
public void clientResetScene()
{
-// System.exit(0);
+ System.exit(0);
//#ifdef SHOW_NUM_DEEP_PENETRATIONS
BulletStats.gNumDeepPenetrationChecks = 0;
BulletStats.gNumGjkChecks = 0;
diff --git a/RagDoll.java b/RagDoll.java
index a0d1819..7e67857 100644
--- a/RagDoll.java
+++ b/RagDoll.java
@@ -123,6 +123,8 @@
JOINT_COUNT
}
+ float scale;
+
//DynamicsWorld ownerWorld;
CollisionShape[] shapes = new CollisionShape[BodyPart.BODYPART_COUNT.ordinal()];
RigidBody/*Serial*/[] bodies = new RigidBody/*Serial*/[BodyPart.BODYPART_COUNT.ordinal()];
@@ -140,6 +142,8 @@
public void init(/*DynamicsWorld ownerWorld,*/ Vector3f positionOffset, float scale_ragdoll, boolean walk)
{
+ scale = scale_ragdoll;
+
this.walkmotion = walk;
boolean hasbodies = (bodies[BodyPart.BODYPART_SPINE.ordinal()] != null);
@@ -149,32 +153,40 @@
Transform tmpTrans = new Transform();
Vector3f tmp = new Vector3f();
- boolean node = true;
+ boolean node = false; // true;
+
+ // KIDS4
+ float upperarmlength = 0.3f; // 0.25
+ float lowerarmlength = 0.25f; // 0.2
+ float handlength = 0.1f; // 0.1
+ float upperarmdist = 0.15f;
// Setup the geometry
//shapes[BodyPart.BODYPART_GROUND.ordinal()] = new CapsuleShape(scale_ragdoll * 0.125f, scale_ragdoll * 0.20f);
//scale_ragdoll /= 1.25;
if (!hasbodies)
{
- shapes[BodyPart.BODYPART_PELVIS.ordinal()] = new CapsuleShape(scale_ragdoll * 0.15f, scale_ragdoll * 0.35f,false);
- shapes[BodyPart.BODYPART_SPINE.ordinal()] = new CapsuleShape(scale_ragdoll * 0.2f, scale_ragdoll * 0.5f,false);
- shapes[BodyPart.BODYPART_HEAD.ordinal()] = new CapsuleShape(scale_ragdoll * 0.15f, scale_ragdoll * 0.15f,false);
+ float thin = 0.1f;
+
+ shapes[BodyPart.BODYPART_PELVIS.ordinal()] = new CapsuleShape(scale_ragdoll * 0.15f, scale_ragdoll * 0.35f, false);
+ shapes[BodyPart.BODYPART_SPINE.ordinal()] = new CapsuleShape(scale_ragdoll * 0.2f, scale_ragdoll * 0.5f, false);
+ shapes[BodyPart.BODYPART_HEAD.ordinal()] = new CapsuleShape(scale_ragdoll * 0.15f, scale_ragdoll * 0.15f, false);
- shapes[BodyPart.BODYPART_LEFT_UPPER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.1f, scale_ragdoll * 0.4f,false);
- shapes[BodyPart.BODYPART_LEFT_LOWER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.06f, scale_ragdoll * 0.37f,node);
- shapes[BodyPart.BODYPART_LEFT_FOOT.ordinal()] = new CapsuleShape(scale_ragdoll * 0.04f, scale_ragdoll * 0.1f,node);
+ shapes[BodyPart.BODYPART_LEFT_UPPER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.4f * thin, scale_ragdoll * 0.4f, node);
+ shapes[BodyPart.BODYPART_LEFT_LOWER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.37f * thin, scale_ragdoll * 0.37f, node);
+ shapes[BodyPart.BODYPART_LEFT_FOOT.ordinal()] = new CapsuleShape(scale_ragdoll * 0.1f * thin, scale_ragdoll * 0.1f, node);
- shapes[BodyPart.BODYPART_RIGHT_UPPER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.1f, scale_ragdoll * 0.4f,false);
- shapes[BodyPart.BODYPART_RIGHT_LOWER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.06f, scale_ragdoll * 0.37f,node);
- shapes[BodyPart.BODYPART_RIGHT_FOOT.ordinal()] = new CapsuleShape(scale_ragdoll * 0.04f, scale_ragdoll * 0.1f,node);
+ shapes[BodyPart.BODYPART_RIGHT_UPPER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.4f * thin, scale_ragdoll * 0.4f, node);
+ shapes[BodyPart.BODYPART_RIGHT_LOWER_LEG.ordinal()] = new CapsuleShape(scale_ragdoll * 0.37f * thin, scale_ragdoll * 0.37f, node);
+ shapes[BodyPart.BODYPART_RIGHT_FOOT.ordinal()] = new CapsuleShape(scale_ragdoll * 0.1f * thin, scale_ragdoll * 0.1f, node);
- shapes[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * 0.08f, scale_ragdoll * 0.25f,node);
- shapes[BodyPart.BODYPART_LEFT_LOWER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * 0.06f, scale_ragdoll * 0.2f,node);
- shapes[BodyPart.BODYPART_LEFT_HAND.ordinal()] = new CapsuleShape(scale_ragdoll * 0.04f, scale_ragdoll * 0.1f,node);
+ shapes[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * upperarmlength * thin, scale_ragdoll * upperarmlength, node);
+ shapes[BodyPart.BODYPART_LEFT_LOWER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * lowerarmlength * thin, scale_ragdoll * lowerarmlength, node);
+ shapes[BodyPart.BODYPART_LEFT_HAND.ordinal()] = new CapsuleShape(scale_ragdoll * handlength * thin, scale_ragdoll * handlength, node);
- shapes[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * 0.08f, scale_ragdoll * 0.25f,node);
- shapes[BodyPart.BODYPART_RIGHT_LOWER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * 0.06f, scale_ragdoll * 0.2f,node);
- shapes[BodyPart.BODYPART_RIGHT_HAND.ordinal()] = new CapsuleShape(scale_ragdoll * 0.04f, scale_ragdoll * 0.1f,node);
+ shapes[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * upperarmlength * thin, scale_ragdoll * upperarmlength, node);
+ shapes[BodyPart.BODYPART_RIGHT_LOWER_ARM.ordinal()] = new CapsuleShape(scale_ragdoll * lowerarmlength * thin, scale_ragdoll * lowerarmlength, node);
+ shapes[BodyPart.BODYPART_RIGHT_HAND.ordinal()] = new CapsuleShape(scale_ragdoll * handlength * thin, scale_ragdoll * handlength, node);
}
//scale_ragdoll *= 1.25;
@@ -185,7 +197,7 @@
Transform transform = new Transform();
- float depth = -0.02f; // .02f;
+ float depth = -0.01f; // .02f;
// transform.setIdentity();
// transform.origin.set(0f, scale_ragdoll * 1f, 0f);
@@ -242,7 +254,7 @@
transform.setIdentity();
if ((body = bodies[BodyPart.BODYPART_LEFT_FOOT.ordinal()]) == null)
body = bodies[BodyPart.BODYPART_LEFT_FOOT.ordinal()] = localCreateRigidBody(massfeet, poisefeet, transform, shapes[BodyPart.BODYPART_LEFT_FOOT.ordinal()]);
- transform.origin.set(-0.09f * scale_ragdoll, 0.075f * scale_ragdoll, 0.025f);
+ transform.origin.set(-0.09f * scale_ragdoll, 0.075f * scale_ragdoll, 0.0125f);
MatrixUtil.setEulerZYX(transform.basis, BulletGlobals.SIMD_PI/2, 0,BulletGlobals.SIMD_PI); // BulletGlobals.SIMD_PI, 0);
tmpTrans.mul(offset, transform);
body.worldTransform.set(tmpTrans);
@@ -252,7 +264,7 @@
transform.setIdentity();
if ((body = bodies[BodyPart.BODYPART_RIGHT_FOOT.ordinal()]) == null)
body = bodies[BodyPart.BODYPART_RIGHT_FOOT.ordinal()] = localCreateRigidBody(massfeet, poisefeet, transform, shapes[BodyPart.BODYPART_RIGHT_FOOT.ordinal()]);
- transform.origin.set(0.09f * scale_ragdoll, 0.075f * scale_ragdoll, 0.025f);
+ transform.origin.set(0.09f * scale_ragdoll, 0.075f * scale_ragdoll, 0.0125f);
MatrixUtil.setEulerZYX(transform.basis, BulletGlobals.SIMD_PI/2, 0,BulletGlobals.SIMD_PI); // BulletGlobals.SIMD_PI, 0);
tmpTrans.mul(offset, transform);
body.worldTransform.set(tmpTrans);
@@ -300,7 +312,7 @@
transform.setIdentity();
if ((body = bodies[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()]) == null)
body = bodies[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()] = localCreateRigidBody(1f, 0, transform, shapes[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()]);
- transform.origin.set(-0.275f * scale_ragdoll, 1.325f * scale_ragdoll, depth);
+ transform.origin.set(-(upperarmlength/2 + upperarmdist) * scale_ragdoll, 1.325f * scale_ragdoll, depth);
MatrixUtil.setEulerZYX(transform.basis, 0, 0, BulletGlobals.SIMD_HALF_PI);
tmpTrans.mul(offset, transform);
body.worldTransform.set(tmpTrans);
@@ -310,7 +322,7 @@
transform.setIdentity();
if ((body = bodies[BodyPart.BODYPART_LEFT_LOWER_ARM.ordinal()]) == null)
body = bodies[BodyPart.BODYPART_LEFT_LOWER_ARM.ordinal()] = localCreateRigidBody(1f, 0, transform, shapes[BodyPart.BODYPART_LEFT_LOWER_ARM.ordinal()]);
- transform.origin.set(-0.5f * scale_ragdoll, 1.325f * scale_ragdoll, depth);
+ transform.origin.set(-(lowerarmlength/2 + upperarmlength + upperarmdist) * scale_ragdoll, 1.325f * scale_ragdoll, depth);
MatrixUtil.setEulerZYX(transform.basis, 0, 0, BulletGlobals.SIMD_HALF_PI);
tmpTrans.mul(offset, transform);
body.worldTransform.set(tmpTrans);
@@ -320,7 +332,7 @@
transform.setIdentity();
if ((body = bodies[BodyPart.BODYPART_LEFT_HAND.ordinal()]) == null)
body = bodies[BodyPart.BODYPART_LEFT_HAND.ordinal()] = localCreateRigidBody(1f, 0, transform, shapes[BodyPart.BODYPART_LEFT_HAND.ordinal()]);
- transform.origin.set(-0.65f * scale_ragdoll, 1.325f * scale_ragdoll, depth);
+ transform.origin.set(-(handlength/2 + lowerarmlength + upperarmlength + upperarmdist) * scale_ragdoll, 1.325f * scale_ragdoll, depth);
MatrixUtil.setEulerZYX(transform.basis, 0, 0, BulletGlobals.SIMD_HALF_PI);
tmpTrans.mul(offset, transform);
body.worldTransform.set(tmpTrans);
@@ -330,7 +342,7 @@
transform.setIdentity();
if ((body = bodies[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()]) == null)
body = bodies[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()] = localCreateRigidBody(1f, 0, transform, shapes[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()]);
- transform.origin.set(0.275f * scale_ragdoll, 1.325f * scale_ragdoll, depth);
+ transform.origin.set((upperarmlength/2 + upperarmdist) * scale_ragdoll, 1.325f * scale_ragdoll, depth);
MatrixUtil.setEulerZYX(transform.basis, 0, 0, -BulletGlobals.SIMD_HALF_PI);
tmpTrans.mul(offset, transform);
body.worldTransform.set(tmpTrans);
@@ -340,7 +352,7 @@
transform.setIdentity();
if ((body = bodies[BodyPart.BODYPART_RIGHT_LOWER_ARM.ordinal()]) == null)
body = bodies[BodyPart.BODYPART_RIGHT_LOWER_ARM.ordinal()] = localCreateRigidBody(1f, 0, transform, shapes[BodyPart.BODYPART_RIGHT_LOWER_ARM.ordinal()]);
- transform.origin.set(0.50f * scale_ragdoll, 1.325f * scale_ragdoll, depth);
+ transform.origin.set((lowerarmlength/2 + upperarmlength + upperarmdist) * scale_ragdoll, 1.325f * scale_ragdoll, depth);
MatrixUtil.setEulerZYX(transform.basis, 0, 0, -BulletGlobals.SIMD_HALF_PI);
tmpTrans.mul(offset, transform);
body.worldTransform.set(tmpTrans);
@@ -350,7 +362,7 @@
transform.setIdentity();
if ((body = bodies[BodyPart.BODYPART_RIGHT_HAND.ordinal()]) == null)
body = bodies[BodyPart.BODYPART_RIGHT_HAND.ordinal()] = localCreateRigidBody(1f, 0, transform, shapes[BodyPart.BODYPART_RIGHT_HAND.ordinal()]);
- transform.origin.set(0.65f * scale_ragdoll, 1.325f * scale_ragdoll, depth);
+ transform.origin.set((handlength/2 + lowerarmlength + upperarmlength + upperarmdist) * scale_ragdoll, 1.325f * scale_ragdoll, depth);
MatrixUtil.setEulerZYX(transform.basis, 0, 0, -BulletGlobals.SIMD_HALF_PI);
tmpTrans.mul(offset, transform);
body.worldTransform.set(tmpTrans);
@@ -418,10 +430,10 @@
localA.setIdentity();
localB.setIdentity();
- localA.origin.set(-0.15f * scale_ragdoll, 0.125f * scale_ragdoll, depth);
+ localA.origin.set(-upperarmdist * scale_ragdoll, 0.125f * scale_ragdoll, depth);
MatrixUtil.setEulerZYX(localB.basis, 0/*BulletGlobals.SIMD_HALF_PI*/, 0, -BulletGlobals.SIMD_HALF_PI);
- localB.origin.set(0f, -0.125f * scale_ragdoll, 0);
+ localB.origin.set(0f, -upperarmlength/2 * scale_ragdoll, 0);
joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_SPINE.ordinal()], bodies[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()], localA, localB, useLinearReferenceFrameA);
@@ -447,9 +459,9 @@
localA.setIdentity();
localB.setIdentity();
- localA.origin.set(0.15f * scale_ragdoll, 0.125f * scale_ragdoll, depth);
+ localA.origin.set(upperarmdist * scale_ragdoll, 0.125f * scale_ragdoll, depth);
MatrixUtil.setEulerZYX(localB.basis, 0, 0, BulletGlobals.SIMD_HALF_PI);
- localB.origin.set(0f, -0.125f * scale_ragdoll, 0);
+ localB.origin.set(0f, -upperarmlength/2 * scale_ragdoll, 0);
joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_SPINE.ordinal()], bodies[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()], localA, localB, useLinearReferenceFrameA);
//#ifdef RIGID
@@ -474,8 +486,8 @@
localA.setIdentity();
localB.setIdentity();
- localA.origin.set(0f, 0.125f * scale_ragdoll, 0f);
- localB.origin.set(0f, -0.1f * scale_ragdoll, 0f);
+ localA.origin.set(0f, upperarmlength/2 * scale_ragdoll, 0f);
+ localB.origin.set(0f, -lowerarmlength/2 * scale_ragdoll, 0f);
joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_LEFT_UPPER_ARM.ordinal()], bodies[BodyPart.BODYPART_LEFT_LOWER_ARM.ordinal()], localA, localB, useLinearReferenceFrameA);
//#ifdef RIGID
@@ -500,8 +512,8 @@
localA.setIdentity();
localB.setIdentity();
- localA.origin.set(0f, 0.125f * scale_ragdoll, 0f);
- localB.origin.set(0f, -0.1f * scale_ragdoll, 0f);
+ localA.origin.set(0f, upperarmlength/2 * scale_ragdoll, 0f);
+ localB.origin.set(0f, -lowerarmlength/2 * scale_ragdoll, 0f);
joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_RIGHT_UPPER_ARM.ordinal()], bodies[BodyPart.BODYPART_RIGHT_LOWER_ARM.ordinal()], localA, localB, useLinearReferenceFrameA);
//#ifdef RIGID
@@ -526,8 +538,8 @@
localA.setIdentity();
localB.setIdentity();
- localA.origin.set(0f, 0.1f * scale_ragdoll, 0f);
- localB.origin.set(0f, -0.05f * scale_ragdoll, 0f);
+ localA.origin.set(0f, lowerarmlength/2 * scale_ragdoll, 0f);
+ localB.origin.set(0f, -handlength/2 * scale_ragdoll, 0f);
joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_LEFT_LOWER_ARM.ordinal()], bodies[BodyPart.BODYPART_LEFT_HAND.ordinal()], localA, localB, useLinearReferenceFrameA);
//#ifdef RIGID
@@ -552,8 +564,8 @@
localA.setIdentity();
localB.setIdentity();
- localA.origin.set(0f, 0.1f * scale_ragdoll, 0f);
- localB.origin.set(0f, -0.05f * scale_ragdoll, 0f);
+ localA.origin.set(0f, lowerarmlength/2 * scale_ragdoll, 0f);
+ localB.origin.set(0f, -handlength/2 * scale_ragdoll, 0f);
joint6DOF = new Generic6DofConstraint(bodies[BodyPart.BODYPART_RIGHT_LOWER_ARM.ordinal()], bodies[BodyPart.BODYPART_RIGHT_HAND.ordinal()], localA, localB, useLinearReferenceFrameA);
//#ifdef RIGID
diff --git a/com/bulletphysics/collision/shapes/ShapeHull.java b/com/bulletphysics/collision/shapes/ShapeHull.java
index 424d67a..9a95825 100755
--- a/com/bulletphysics/collision/shapes/ShapeHull.java
+++ b/com/bulletphysics/collision/shapes/ShapeHull.java
@@ -118,6 +118,12 @@
if (loop == 1)
{
//vec2.scale(0.5f);
+
+ // Nodes are bigger
+ vec2.x *= 5;
+ vec2.y *= 5;
+ vec2.z *= 5;
+
switch (capsule.getUpAxis())
{
case 0: vec2.x /= capsule.getHalfHeight(); vec2.x *= capsule.getRadius()/2; vec2.x -= capsule.getHalfHeight(); break;
@@ -125,6 +131,7 @@
case 2: vec2.z /= capsule.getHalfHeight(); vec2.z *= capsule.getRadius()/2; vec2.z -= capsule.getHalfHeight(); break;
}
}
+
vertices.getQuick(loop*NUM_UNITSPHERE_POINTS + i*rows + j).set(vec2);
normals.getQuick(loop*NUM_UNITSPHERE_POINTS + i*rows + j).set(normout);
}
diff --git a/com/bulletphysics/dynamics/RigidBody.java b/com/bulletphysics/dynamics/RigidBody.java
index 98e8092..75a9ea1 100755
--- a/com/bulletphysics/dynamics/RigidBody.java
+++ b/com/bulletphysics/dynamics/RigidBody.java
@@ -214,11 +214,31 @@
}
}
+ static Vector3f g = new Vector3f();
+ static Vector3f w = new Vector3f();
+ static public Vector3f wind = new Vector3f();
+ static public Vector3f pos = new Vector3f();
+
public void applyGravity() {
if (isStaticOrKinematicObject())
return;
- applyCentralForce(gravity);
+ g.y = gravity.y;
+ applyCentralForce(g);
+
+ wind.set(pos);
+ wind.x -= worldTransform.origin.x;
+ wind.y -= worldTransform.origin.y;
+ wind.z -= worldTransform.origin.z;
+
+ float dot = pos.x * wind.x + pos.y * wind.y + pos.z * wind.z;
+
+ dot = 10;
+
+ w.x = wind.x * gravity.z * dot;
+ w.y = wind.y * gravity.z * dot;
+ w.z = wind.z * gravity.z * dot;
+ applyCentralForce(w);
}
public void setGravity(Vector3f acceleration) {
--
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