com.jme3.bullet.control

Class KinematicRagdollControl

java.lang.Object

com.jme3.bullet.control.AbstractPhysicsControl

com.jme3.bullet.control.KinematicRagdollControl

All Implemented Interfaces:

PhysicsCollisionListener, PhysicsControl, Savable, Control, JmeCloneable, java.lang.Cloneable

Deprecated.

@Deprecated
public class KinematicRagdollControl
extends AbstractPhysicsControl
implements PhysicsCollisionListener, JmeCloneable

This control is still a WIP, use it at your own risk
To use this control you need a model with an AnimControl and a SkeletonControl.
This should be the case if you imported an animated model from Ogre or blender.
Note enabling/disabling the control add/removes it from the physics space

This control creates collision shapes for all bones in the skeleton when you invoke spatial.addControl(ragdollControl).

• The shape is HullCollision shape based on the vertices associated with each bone and based on a tweakable weight threshold (see setWeightThreshold)
• If you don't want each bone to be a collision shape, you can specify what bone to use by using the addBoneName method
  By using this method, bone that are not used to create a shape, are "merged" to their parent to create the collision shape.

There are 2 modes for this control :

• The kinematic modes :
  this is the default behavior, this means that the collision shapes of the body are able to interact with physics enabled objects. in this mode physics shapes follow the motion of the animated skeleton (for example animated by a key framed animation) this mode is enabled by calling setKinematicMode();
• The ragdoll modes:
  To enable this behavior, you need to invoke the setRagdollMode() method. In this mode the character is entirely controlled by physics, so it will fall under the gravity and move if any force is applied to it.

This class is shared between JBullet and Native Bullet.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	KinematicRagdollControl.Mode Deprecated. Enumerate joint-control modes for this control.
class	KinematicRagdollControl.PhysicsBoneLink Deprecated. Link a bone to a jointed rigid body.

Field Summary

Fields

Modifier and Type	Field and Description
protected PhysicsRigidBody	baseRigidBody Deprecated.
protected boolean	blendedControl Deprecated.
protected float	blendStart Deprecated.
protected float	blendTime Deprecated. blending interval for animations (in seconds, ≥0)
protected java.util.Map<java.lang.String,KinematicRagdollControl.PhysicsBoneLink>	boneLinks Deprecated.
protected java.util.Set<java.lang.String>	boneList Deprecated.
protected boolean	debug Deprecated.
protected float	eventDispatchImpulseThreshold Deprecated.
protected Vector3f	initScale Deprecated.
protected java.util.List<RagdollCollisionListener>	listeners Deprecated.
protected static java.util.logging.Logger	logger Deprecated. list of registered collision listeners
protected KinematicRagdollControl.Mode	mode Deprecated.
protected Vector3f	modelPosition Deprecated.
protected Quaternion	modelRotation Deprecated.
protected RagdollPreset	preset Deprecated.
protected float	rootMass Deprecated.
protected Skeleton	skeleton Deprecated. skeleton being controlled
protected Spatial	targetModel Deprecated. model being controlled
protected float	totalMass Deprecated. accumulate total mass of ragdoll when control is added to a scene
protected float	weightThreshold Deprecated.

Fields inherited from class com.jme3.bullet.control.AbstractPhysicsControl

added, applyLocal, enabled, space, spatial

Constructor Summary

Constructors

Constructor and Description
KinematicRagdollControl() Deprecated. Instantiate an enabled control.
KinematicRagdollControl(float weightThreshold) Deprecated. Instantiate an enabled control with the specified weight threshold.
KinematicRagdollControl(RagdollPreset preset) Deprecated. Instantiate an enabled control with the specified preset.
KinematicRagdollControl(RagdollPreset preset, float weightThreshold) Deprecated. Instantiate an enabled control with the specified preset and weight threshold.

Method Summary

Modifier and Type	Method and Description
void	addBoneName(java.lang.String name) Deprecated. Add a bone name to this control.
void	addCollisionListener(RagdollCollisionListener listener) Deprecated. Add a collision listener to this control.
protected void	addPhysics(PhysicsSpace space) Deprecated. Add all managed physics objects to the specified space.
void	applyUserControl() Deprecated. Ensure that user control is enabled for any bones used by inverse kinematics and disabled for any other bones.
void	blendToKinematicMode(float blendTime) Deprecated. Smoothly blend from Ragdoll mode to Kinematic mode This is useful to blend ragdoll actual position to a keyframe animation for example
protected void	boneRecursion(Spatial model, Bone bone, PhysicsRigidBody parent, int reccount, java.util.Map<java.lang.Integer,java.util.List<java.lang.Float>> pointsMap) Deprecated. Generate a physics shape and bone links for the specified bone.
void	collision(PhysicsCollisionEvent event) Deprecated. For internal use only: callback for collision event
protected void	createSpatialData(Spatial model) Deprecated. Create spatial-dependent data.
Bone	getBone(java.lang.String name) Deprecated. Access the named bone.
PhysicsRigidBody	getBoneRigidBody(java.lang.String boneName) Deprecated. Access the rigidBody associated with the named bone.
float	getEventDispatchImpulseThreshold() Deprecated. Read the ragdoll's event-dispatch impulse threshold.
float	getIkRotSpeed() Deprecated. Read the rotation speed for inverse kinematics.
float	getIKThreshold() Deprecated. Read the distance threshold for inverse kinematics.
SixDofJoint	getJoint(java.lang.String boneName) Deprecated. Return the joint between the specified bone and its parent.
float	getLimbDampening() Deprecated. Read the limb damping.
KinematicRagdollControl.Mode	getMode() Deprecated. returns the mode of this control
float	getTotalMass() Deprecated. Read the ragdoll's total mass.
float	getWeightThreshold() Deprecated. Read the ragdoll's weight threshold.
java.lang.Object	jmeClone() Deprecated. Create a shallow clone for the JME cloner.
protected void	kinematicUpdate(float tpf) Deprecated. Update this control in Kinematic mode, based on bone animation tracks.
protected void	matchPhysicObjectToBone(KinematicRagdollControl.PhysicsBoneLink link, Vector3f position, Quaternion tmpRot1) Deprecated. Alter the transforms of a rigidBody to match the transforms of a bone.
protected void	ragDollUpdate(float tpf) Deprecated. Update this control in Ragdoll mode, based on Bullet physics.
void	read(JmeImporter im) Deprecated. De-serialize this control, for example when loading from a J3O file.
void	reBuild() Deprecated. Rebuild the ragdoll.
void	removeAllIKTargets() Deprecated. Remove all inverse-kinematics targets.
void	removeIKTarget(Bone bone) Deprecated. Remove the inverse-kinematics target for the specified bone.
protected void	removePhysics(PhysicsSpace space) Deprecated. Remove all managed physics objects from the specified space.
protected void	removeSpatialData(Spatial spat) Deprecated. Destroy spatial-dependent data.
void	render(RenderManager rm, ViewPort vp) Deprecated. Render this control.
protected void	scanSpatial(Spatial model) Deprecated. Generate physics shapes and bone links for the skeleton.
void	setCcdMotionThreshold(float value) Deprecated. Alter the CcdMotionThreshold of all rigid bodies in the ragdoll.
void	setCcdSweptSphereRadius(float value) Deprecated. Alter the CcdSweptSphereRadius of all rigid bodies in the ragdoll.
void	setEventDispatchImpulseThreshold(float eventDispatchImpulseThreshold) Deprecated. Alter the ragdoll's event-dispatch impulse threshold.
void	setIKMode() Deprecated. Sets the control into Inverse Kinematics mode.
void	setIkRotSpeed(float ikRotSpeed) Deprecated. Alter the rotation speed for inverse kinematics.
Vector3f	setIKTarget(Bone bone, Vector3f worldPos, int chainLength) Deprecated. Add a target for inverse kinematics.
void	setIKThreshold(float IKThreshold) Deprecated. Alter the distance threshold for inverse kinematics.
void	setJointLimit(java.lang.String boneName, float maxX, float minX, float maxY, float minY, float maxZ, float minZ) Deprecated. Alter the limits of the joint connecting the specified bone to its parent.
void	setKinematicMode() Deprecated. Put the control into Kinematic mode.
void	setLimbDampening(float limbDampening) Deprecated. Alter the limb damping.
protected void	setMode(KinematicRagdollControl.Mode mode) Deprecated. Enable or disable the ragdoll behaviour.
protected void	setPhysicsLocation(Vector3f vec) Deprecated. Translate the physics object to the specified location.
protected void	setPhysicsRotation(Quaternion quat) Deprecated. Rotate the physics object to the specified orientation.
void	setRagdollMode() Deprecated. Sets the control into Ragdoll mode The skeleton is entirely controlled by physics.
void	setRootMass(float rootMass) Deprecated. Alter the ragdoll's root mass.
void	setWeightThreshold(float weightThreshold) Deprecated. Alter the ragdoll's weight threshold.
void	update(float tpf) Deprecated. Update this control.
void	updateBone(KinematicRagdollControl.PhysicsBoneLink link, float tpf, TempVars vars, Quaternion tmpRot1, Quaternion[] tmpRot2, Bone tipBone, Vector3f target, int depth, int maxDepth) Deprecated. Update a bone and its ancestors in IK mode.
void	write(JmeExporter ex) Deprecated. Serialize this control, for example when saving to a J3O file.

Methods inherited from class com.jme3.bullet.control.AbstractPhysicsControl

applyPhysicsTransform, cloneFields, cloneForSpatial, getPhysicsSpace, getSpatial, getSpatialRotation, getSpatialTranslation, isApplyPhysicsLocal, isEnabled, setApplyPhysicsLocal, setEnabled, setPhysicsSpace, setSpatial

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface com.jme3.util.clone.JmeCloneable

cloneFields

Field Detail

logger

protected static final java.util.logging.Logger logger

Deprecated.

list of registered collision listeners

listeners

protected java.util.List<RagdollCollisionListener> listeners

Deprecated.

boneList

protected final java.util.Set<java.lang.String> boneList

Deprecated.

boneLinks

protected final java.util.Map<java.lang.String,KinematicRagdollControl.PhysicsBoneLink> boneLinks

Deprecated.

modelPosition

protected final Vector3f modelPosition

Deprecated.

modelRotation

protected final Quaternion modelRotation

Deprecated.

baseRigidBody

protected final PhysicsRigidBody baseRigidBody

Deprecated.

targetModel

protected Spatial targetModel

Deprecated.

model being controlled

skeleton

protected Skeleton skeleton

Deprecated.

skeleton being controlled

preset

protected RagdollPreset preset

Deprecated.

initScale

protected Vector3f initScale

Deprecated.

mode

protected KinematicRagdollControl.Mode mode

Deprecated.

debug

protected boolean debug

Deprecated.

blendedControl

protected boolean blendedControl

Deprecated.

weightThreshold

protected float weightThreshold

Deprecated.

blendStart

protected float blendStart

Deprecated.

blendTime

protected float blendTime

Deprecated.

blending interval for animations (in seconds, ≥0)

eventDispatchImpulseThreshold

protected float eventDispatchImpulseThreshold

Deprecated.

rootMass

protected float rootMass

Deprecated.

totalMass

protected float totalMass

Deprecated.

accumulate total mass of ragdoll when control is added to a scene

Constructor Detail

KinematicRagdollControl

public KinematicRagdollControl()

Deprecated.

Instantiate an enabled control.

KinematicRagdollControl

public KinematicRagdollControl(float weightThreshold)

Deprecated.

Instantiate an enabled control with the specified weight threshold.

Parameters:

weightThreshold - (>0, <1)

KinematicRagdollControl

public KinematicRagdollControl(RagdollPreset preset,
                               float weightThreshold)

Deprecated.

Instantiate an enabled control with the specified preset and weight threshold.

Parameters:

preset - (not null)

weightThreshold - (>0, <1)

KinematicRagdollControl

public KinematicRagdollControl(RagdollPreset preset)

Deprecated.

Instantiate an enabled control with the specified preset.

Parameters:

preset - (not null)

Method Detail

update

public void update(float tpf)

Deprecated.

Update this control. Invoked once per frame during the logical-state update, provided the control is added to a scene. Do not invoke directly from user code.

Specified by:

update in interface Control

Overrides:

update in class AbstractPhysicsControl

Parameters:

tpf - the time interval between frames (in seconds, ≥0)

ragDollUpdate

protected void ragDollUpdate(float tpf)

Deprecated.

Update this control in Ragdoll mode, based on Bullet physics.

Parameters:

tpf - the time interval between frames (in seconds, ≥0)

kinematicUpdate

protected void kinematicUpdate(float tpf)

Deprecated.

Update this control in Kinematic mode, based on bone animation tracks.

Parameters:

tpf - the time interval between frames (in seconds, ≥0)

updateBone

public void updateBone(KinematicRagdollControl.PhysicsBoneLink link,
                       float tpf,
                       TempVars vars,
                       Quaternion tmpRot1,
                       Quaternion[] tmpRot2,
                       Bone tipBone,
                       Vector3f target,
                       int depth,
                       int maxDepth)

Deprecated.

Update a bone and its ancestors in IK mode. Note: recursive!

Parameters:

link - the bone link for the affected bone (may be null)

tpf - the time interval between frames (in seconds, ≥0)

vars - unused

tmpRot1 - temporary storage used in calculations (not null)

tmpRot2 - temporary storage used in calculations (not null)

tipBone - (not null)

target - the location target in model space (not null, unaffected)

depth - depth of the recursion (≥0)

maxDepth - recursion limit (≥0)

matchPhysicObjectToBone

protected void matchPhysicObjectToBone(KinematicRagdollControl.PhysicsBoneLink link,
                                       Vector3f position,
                                       Quaternion tmpRot1)

Deprecated.

Alter the transforms of a rigidBody to match the transforms of a bone. This is used to make the ragdoll follow animated motion in Kinematic mode

Parameters:

link - the bone link connecting the bone and the rigidBody

position - temporary storage used in calculations (not null)

tmpRot1 - temporary storage used in calculations (not null)

reBuild

public void reBuild()

Deprecated.

Rebuild the ragdoll. This is useful if you applied scale on the ragdoll after it was initialized. Same as re-attaching.

createSpatialData

protected void createSpatialData(Spatial model)

Deprecated.

Create spatial-dependent data. Invoked when this control is added to a scene.

Specified by:

createSpatialData in class AbstractPhysicsControl

Parameters:

model - the controlled spatial (not null)

removeSpatialData

protected void removeSpatialData(Spatial spat)

Deprecated.

Destroy spatial-dependent data. Invoked when this control is removed from a spatial.

Specified by:

removeSpatialData in class AbstractPhysicsControl

Parameters:

spat - the previously controlled spatial (not null)

addBoneName

public void addBoneName(java.lang.String name)

Deprecated.

Add a bone name to this control. Repeated invocations of this method can be used to specify which bones to use when generating collision shapes.

Not allowed after attaching the control.

Parameters:

name - the name of the bone to add

scanSpatial

protected void scanSpatial(Spatial model)

Deprecated.

Generate physics shapes and bone links for the skeleton.

Parameters:

model - the spatial with the model's SkeletonControl (not null)

boneRecursion

protected void boneRecursion(Spatial model,
                             Bone bone,
                             PhysicsRigidBody parent,
                             int reccount,
                             java.util.Map<java.lang.Integer,java.util.List<java.lang.Float>> pointsMap)

Deprecated.

Generate a physics shape and bone links for the specified bone. Note: recursive!

Parameters:

model - the spatial with the model's SkeletonControl (not null)

bone - the bone to be linked (not null)

parent - the body linked to the parent bone (not null)

reccount - depth of the recursion (≥1)

pointsMap - (not null)

setJointLimit

public void setJointLimit(java.lang.String boneName,
                          float maxX,
                          float minX,
                          float maxY,
                          float minY,
                          float maxZ,
                          float minZ)

Deprecated.

Alter the limits of the joint connecting the specified bone to its parent. Can only be invoked after adding the control to a spatial.

Parameters:

boneName - the name of the bone

maxX - the maximum rotation on the X axis (in radians)

minX - the minimum rotation on the X axis (in radians)

maxY - the maximum rotation on the Y axis (in radians)

minY - the minimum rotation on the Y axis (in radians)

maxZ - the maximum rotation on the Z axis (in radians)

minZ - the minimum rotation on the Z axis (in radians)

getJoint

public SixDofJoint getJoint(java.lang.String boneName)

Deprecated.

Return the joint between the specified bone and its parent. This return null if it's invoked before adding the control to a spatial

Parameters:

boneName - the name of the bone

Returns:

the joint between the given bone and its parent

setPhysicsLocation

protected void setPhysicsLocation(Vector3f vec)

Deprecated.

Description copied from class: AbstractPhysicsControl

Translate the physics object to the specified location.

Specified by:

setPhysicsLocation in class AbstractPhysicsControl

Parameters:

vec - desired location (not null, unaffected)

setPhysicsRotation

protected void setPhysicsRotation(Quaternion quat)

Deprecated.

Description copied from class: AbstractPhysicsControl

Rotate the physics object to the specified orientation.

Specified by:

setPhysicsRotation in class AbstractPhysicsControl

Parameters:

quat - desired orientation (not null, unaffected)

addPhysics

protected void addPhysics(PhysicsSpace space)

Deprecated.

Description copied from class: AbstractPhysicsControl

Add all managed physics objects to the specified space.

Specified by:

addPhysics in class AbstractPhysicsControl

Parameters:

space - which physics space to add to (not null)

removePhysics

protected void removePhysics(PhysicsSpace space)

Deprecated.

Description copied from class: AbstractPhysicsControl

Remove all managed physics objects from the specified space.

Specified by:

removePhysics in class AbstractPhysicsControl

Parameters:

space - which physics space to remove from (not null)

collision

public void collision(PhysicsCollisionEvent event)

Deprecated.

For internal use only: callback for collision event

Specified by:

collision in interface PhysicsCollisionListener

Parameters:

event - (not null)

setMode

protected void setMode(KinematicRagdollControl.Mode mode)

Deprecated.

Enable or disable the ragdoll behaviour. if ragdollEnabled is true, the character motion will only be powered by physics else, the character will be animated by the keyframe animation, but will be able to physically interact with its physics environment

Parameters:

mode - an enum value (not null)

blendToKinematicMode

public void blendToKinematicMode(float blendTime)

Deprecated.

Smoothly blend from Ragdoll mode to Kinematic mode This is useful to blend ragdoll actual position to a keyframe animation for example

Parameters:

blendTime - the blending time between ragdoll to anim.

setKinematicMode

public void setKinematicMode()

Deprecated.

Put the control into Kinematic mode. In this mode, the collision shapes follow the movements of the skeleton while interacting with the physics environment.

setRagdollMode

public void setRagdollMode()

Deprecated.

Sets the control into Ragdoll mode The skeleton is entirely controlled by physics.

setIKMode

public void setIKMode()

Deprecated.

Sets the control into Inverse Kinematics mode. The affected bones are affected by IK. physics.

getMode

public KinematicRagdollControl.Mode getMode()

Deprecated.

returns the mode of this control

Returns:

an enum value

addCollisionListener

public void addCollisionListener(RagdollCollisionListener listener)

Deprecated.

Add a collision listener to this control.

Parameters:

listener - (not null, alias created)

setRootMass

public void setRootMass(float rootMass)

Deprecated.

Alter the ragdoll's root mass.

Parameters:

rootMass - the desired mass (≥0)

getTotalMass

public float getTotalMass()

Deprecated.

Read the ragdoll's total mass.

Returns:

mass (≥0)

getWeightThreshold

public float getWeightThreshold()

Deprecated.

Read the ragdoll's weight threshold.

Returns:

threshold

setWeightThreshold

public void setWeightThreshold(float weightThreshold)

Deprecated.

Alter the ragdoll's weight threshold.

Parameters:

weightThreshold - the desired threshold

getEventDispatchImpulseThreshold

public float getEventDispatchImpulseThreshold()

Deprecated.

Read the ragdoll's event-dispatch impulse threshold.

Returns:

threshold

setEventDispatchImpulseThreshold

public void setEventDispatchImpulseThreshold(float eventDispatchImpulseThreshold)

Deprecated.

Alter the ragdoll's event-dispatch impulse threshold.

Parameters:

eventDispatchImpulseThreshold - desired threshold

setCcdMotionThreshold

public void setCcdMotionThreshold(float value)

Deprecated.

Alter the CcdMotionThreshold of all rigid bodies in the ragdoll.

Parameters:

value - the desired threshold value (velocity, >0) or zero to disable CCD (default=0)

See Also:

PhysicsRigidBody.setCcdMotionThreshold(float)

setCcdSweptSphereRadius

public void setCcdSweptSphereRadius(float value)

Deprecated.

Alter the CcdSweptSphereRadius of all rigid bodies in the ragdoll.

Parameters:

value - the desired radius of the sphere used for continuous collision detection (≥0)

See Also:

PhysicsRigidBody.setCcdSweptSphereRadius(float)

getBoneRigidBody

public PhysicsRigidBody getBoneRigidBody(java.lang.String boneName)

Deprecated.

Access the rigidBody associated with the named bone.

Parameters:

boneName - the name of the bone

Returns:

the associated rigidBody.

render

public void render(RenderManager rm,
                   ViewPort vp)

Deprecated.

Render this control. Invoked once per view port per frame, provided the control is added to a scene. Should be invoked only by a subclass or by the RenderManager.

Specified by:

render in interface Control

Overrides:

render in class AbstractPhysicsControl

Parameters:

rm - the render manager (not null)

vp - the view port to render (not null)

jmeClone

public java.lang.Object jmeClone()

Deprecated.

Create a shallow clone for the JME cloner.

Specified by:

jmeClone in interface JmeCloneable

Returns:

a new control (not null)

setIKTarget

public Vector3f setIKTarget(Bone bone,
                            Vector3f worldPos,
                            int chainLength)

Deprecated.

Add a target for inverse kinematics.

Parameters:

bone - which bone the IK applies to (not null)

worldPos - the world coordinates of the goal (not null)

chainLength - number of bones in the chain

Returns:

a new instance (not null, already added to ikTargets)

removeIKTarget

public void removeIKTarget(Bone bone)

Deprecated.

Remove the inverse-kinematics target for the specified bone.

Parameters:

bone - which bone has the target (not null, modified)

removeAllIKTargets

public void removeAllIKTargets()

Deprecated.

Remove all inverse-kinematics targets.

applyUserControl

public void applyUserControl()

Deprecated.

Ensure that user control is enabled for any bones used by inverse kinematics and disabled for any other bones.

getIkRotSpeed

public float getIkRotSpeed()

Deprecated.

Read the rotation speed for inverse kinematics.

Returns:

speed (≥0)

setIkRotSpeed

public void setIkRotSpeed(float ikRotSpeed)

Deprecated.

Alter the rotation speed for inverse kinematics.

Parameters:

ikRotSpeed - the desired speed (≥0, default=7)

getIKThreshold

public float getIKThreshold()

Deprecated.

Read the distance threshold for inverse kinematics.

Returns:

distance threshold

setIKThreshold

public void setIKThreshold(float IKThreshold)

Deprecated.

Alter the distance threshold for inverse kinematics.

Parameters:

IKThreshold - the desired distance threshold (default=0.1)

getLimbDampening

public float getLimbDampening()

Deprecated.

Read the limb damping.

Returns:

the viscous damping ratio (0→no damping, 1→critically damped)

setLimbDampening

public void setLimbDampening(float limbDampening)

Deprecated.

Alter the limb damping.

Parameters:

limbDampening - the desired viscous damping ratio (0→no damping, 1→critically damped, default=0.6)

getBone

public Bone getBone(java.lang.String name)

Deprecated.

Access the named bone.

Parameters:

name - which bone to access

Returns:

the pre-existing instance, or null if not found

write

public void write(JmeExporter ex)
           throws java.io.IOException

Deprecated.

Serialize this control, for example when saving to a J3O file.

Specified by:

write in interface Savable

Overrides:

write in class AbstractPhysicsControl

Parameters:

ex - exporter (not null)

Throws:

java.io.IOException - from exporter

read

public void read(JmeImporter im)
          throws java.io.IOException

Deprecated.

De-serialize this control, for example when loading from a J3O file.

Specified by:

read in interface Savable

Overrides:

read in class AbstractPhysicsControl

Parameters:

im - importer (not null)

Throws:

java.io.IOException - from importer