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      1 /*
      2  * To change this template, choose Tools | Templates
      3  * and open the template in the editor.
      4  */
      5 package jme3test.bullet;
      6 
      7 import com.jme3.app.SimpleApplication;
      8 import com.jme3.bullet.BulletAppState;
      9 import com.jme3.bullet.PhysicsSpace;
     10 import com.jme3.bullet.collision.shapes.CapsuleCollisionShape;
     11 import com.jme3.bullet.control.RigidBodyControl;
     12 import com.jme3.bullet.joints.ConeJoint;
     13 import com.jme3.bullet.joints.PhysicsJoint;
     14 import com.jme3.input.controls.ActionListener;
     15 import com.jme3.input.controls.MouseButtonTrigger;
     16 import com.jme3.math.Vector3f;
     17 import com.jme3.scene.Node;
     18 
     19 /**
     20  *
     21  * @author normenhansen
     22  */
     23 public class TestRagDoll extends SimpleApplication implements ActionListener {
     24 
     25     private BulletAppState bulletAppState = new BulletAppState();
     26     private Node ragDoll = new Node();
     27     private Node shoulders;
     28     private Vector3f upforce = new Vector3f(0, 200, 0);
     29     private boolean applyForce = false;
     30 
     31     public static void main(String[] args) {
     32         TestRagDoll app = new TestRagDoll();
     33         app.start();
     34     }
     35 
     36     @Override
     37     public void simpleInitApp() {
     38         bulletAppState = new BulletAppState();
     39         stateManager.attach(bulletAppState);
     40         bulletAppState.getPhysicsSpace().enableDebug(assetManager);
     41         inputManager.addMapping("Pull ragdoll up", new MouseButtonTrigger(0));
     42         inputManager.addListener(this, "Pull ragdoll up");
     43         PhysicsTestHelper.createPhysicsTestWorld(rootNode, assetManager, bulletAppState.getPhysicsSpace());
     44         createRagDoll();
     45     }
     46 
     47     private void createRagDoll() {
     48         shoulders = createLimb(0.2f, 1.0f, new Vector3f(0.00f, 1.5f, 0), true);
     49         Node uArmL = createLimb(0.2f, 0.5f, new Vector3f(-0.75f, 0.8f, 0), false);
     50         Node uArmR = createLimb(0.2f, 0.5f, new Vector3f(0.75f, 0.8f, 0), false);
     51         Node lArmL = createLimb(0.2f, 0.5f, new Vector3f(-0.75f, -0.2f, 0), false);
     52         Node lArmR = createLimb(0.2f, 0.5f, new Vector3f(0.75f, -0.2f, 0), false);
     53         Node body = createLimb(0.2f, 1.0f, new Vector3f(0.00f, 0.5f, 0), false);
     54         Node hips = createLimb(0.2f, 0.5f, new Vector3f(0.00f, -0.5f, 0), true);
     55         Node uLegL = createLimb(0.2f, 0.5f, new Vector3f(-0.25f, -1.2f, 0), false);
     56         Node uLegR = createLimb(0.2f, 0.5f, new Vector3f(0.25f, -1.2f, 0), false);
     57         Node lLegL = createLimb(0.2f, 0.5f, new Vector3f(-0.25f, -2.2f, 0), false);
     58         Node lLegR = createLimb(0.2f, 0.5f, new Vector3f(0.25f, -2.2f, 0), false);
     59 
     60         join(body, shoulders, new Vector3f(0f, 1.4f, 0));
     61         join(body, hips, new Vector3f(0f, -0.5f, 0));
     62 
     63         join(uArmL, shoulders, new Vector3f(-0.75f, 1.4f, 0));
     64         join(uArmR, shoulders, new Vector3f(0.75f, 1.4f, 0));
     65         join(uArmL, lArmL, new Vector3f(-0.75f, .4f, 0));
     66         join(uArmR, lArmR, new Vector3f(0.75f, .4f, 0));
     67 
     68         join(uLegL, hips, new Vector3f(-.25f, -0.5f, 0));
     69         join(uLegR, hips, new Vector3f(.25f, -0.5f, 0));
     70         join(uLegL, lLegL, new Vector3f(-.25f, -1.7f, 0));
     71         join(uLegR, lLegR, new Vector3f(.25f, -1.7f, 0));
     72 
     73         ragDoll.attachChild(shoulders);
     74         ragDoll.attachChild(body);
     75         ragDoll.attachChild(hips);
     76         ragDoll.attachChild(uArmL);
     77         ragDoll.attachChild(uArmR);
     78         ragDoll.attachChild(lArmL);
     79         ragDoll.attachChild(lArmR);
     80         ragDoll.attachChild(uLegL);
     81         ragDoll.attachChild(uLegR);
     82         ragDoll.attachChild(lLegL);
     83         ragDoll.attachChild(lLegR);
     84 
     85         rootNode.attachChild(ragDoll);
     86         bulletAppState.getPhysicsSpace().addAll(ragDoll);
     87     }
     88 
     89     private Node createLimb(float width, float height, Vector3f location, boolean rotate) {
     90         int axis = rotate ? PhysicsSpace.AXIS_X : PhysicsSpace.AXIS_Y;
     91         CapsuleCollisionShape shape = new CapsuleCollisionShape(width, height, axis);
     92         Node node = new Node("Limb");
     93         RigidBodyControl rigidBodyControl = new RigidBodyControl(shape, 1);
     94         node.setLocalTranslation(location);
     95         node.addControl(rigidBodyControl);
     96         return node;
     97     }
     98 
     99     private PhysicsJoint join(Node A, Node B, Vector3f connectionPoint) {
    100         Vector3f pivotA = A.worldToLocal(connectionPoint, new Vector3f());
    101         Vector3f pivotB = B.worldToLocal(connectionPoint, new Vector3f());
    102         ConeJoint joint = new ConeJoint(A.getControl(RigidBodyControl.class), B.getControl(RigidBodyControl.class), pivotA, pivotB);
    103         joint.setLimit(1f, 1f, 0);
    104         return joint;
    105     }
    106 
    107     public void onAction(String string, boolean bln, float tpf) {
    108         if ("Pull ragdoll up".equals(string)) {
    109             if (bln) {
    110                 shoulders.getControl(RigidBodyControl.class).activate();
    111                 applyForce = true;
    112             } else {
    113                 applyForce = false;
    114             }
    115         }
    116     }
    117 
    118     @Override
    119     public void simpleUpdate(float tpf) {
    120         if (applyForce) {
    121             shoulders.getControl(RigidBodyControl.class).applyForce(upforce, Vector3f.ZERO);
    122         }
    123     }
    124 }
    125