Examples with Skeleton com.jme3.animation.Skeleton used on opensource projects

Example 11 with Skeleton

use of com.jme3.animation.Skeleton in project jmonkeyengine by jMonkeyEngine.

the class ConstraintHelper method applyTransform.

/**
     * Applies transform to a feature (bone or spatial). Computations transform
     * the given transformation from the given space to the feature's local
     * space.
     * 
     * @param oma
     *            the OMA of the feature we apply transformation to
     * @param subtargetName
     *            the name of the feature's subtarget (bone in case of armature)
     * @param space
     *            the space in which the given transform is to be applied
     * @param transform
     *            the transform we apply
     */
public void applyTransform(Long oma, String subtargetName, Space space, Transform transform) {
    Spatial feature = (Spatial) blenderContext.getLoadedFeature(oma, LoadedDataType.FEATURE);
    boolean isArmature = blenderContext.getMarkerValue(ObjectHelper.ARMATURE_NODE_MARKER, feature) != null;
    if (isArmature) {
        Skeleton skeleton = blenderContext.getSkeleton(oma);
        BoneContext targetBoneContext = blenderContext.getBoneByName(oma, subtargetName);
        Bone bone = targetBoneContext.getBone();
        if (bone.getParent() == null && (space == Space.CONSTRAINT_SPACE_LOCAL || space == Space.CONSTRAINT_SPACE_PARLOCAL)) {
            space = Space.CONSTRAINT_SPACE_POSE;
        }
        TempVars tempVars = TempVars.get();
        switch(space) {
            case CONSTRAINT_SPACE_LOCAL:
                assert bone.getParent() != null : "CONSTRAINT_SPACE_LOCAL should be evaluated as CONSTRAINT_SPACE_POSE if the bone has no parent!";
                bone.setBindTransforms(transform.getTranslation(), transform.getRotation(), transform.getScale());
                break;
            case CONSTRAINT_SPACE_WORLD:
                {
                    Matrix4f boneMatrixInWorldSpace = this.toMatrix(transform, tempVars.tempMat4);
                    Matrix4f modelWorldMatrix = this.toMatrix(this.getTransform(targetBoneContext.getSkeletonOwnerOma(), null, Space.CONSTRAINT_SPACE_WORLD), tempVars.tempMat42);
                    Matrix4f boneMatrixInModelSpace = modelWorldMatrix.invertLocal().multLocal(boneMatrixInWorldSpace);
                    Bone parent = bone.getParent();
                    if (parent != null) {
                        Matrix4f parentMatrixInModelSpace = this.toMatrix(parent.getModelSpacePosition(), parent.getModelSpaceRotation(), parent.getModelSpaceScale(), tempVars.tempMat4);
                        boneMatrixInModelSpace = parentMatrixInModelSpace.invertLocal().multLocal(boneMatrixInModelSpace);
                    }
                    bone.setBindTransforms(boneMatrixInModelSpace.toTranslationVector(), boneMatrixInModelSpace.toRotationQuat(), boneMatrixInModelSpace.toScaleVector());
                    break;
                }
            case CONSTRAINT_SPACE_POSE:
                {
                    Matrix4f armatureWorldMatrix = this.toMatrix(feature.getWorldTransform(), tempVars.tempMat4);
                    Matrix4f boneMatrixInWorldSpace = armatureWorldMatrix.multLocal(this.toMatrix(transform, tempVars.tempMat42));
                    Matrix4f invertedModelMatrix = this.toMatrix(this.getTransform(targetBoneContext.getSkeletonOwnerOma(), null, Space.CONSTRAINT_SPACE_WORLD), tempVars.tempMat42).invertLocal();
                    Matrix4f boneMatrixInModelSpace = invertedModelMatrix.multLocal(boneMatrixInWorldSpace);
                    Bone parent = bone.getParent();
                    if (parent != null) {
                        Matrix4f parentMatrixInModelSpace = this.toMatrix(parent.getModelSpacePosition(), parent.getModelSpaceRotation(), parent.getModelSpaceScale(), tempVars.tempMat4);
                        boneMatrixInModelSpace = parentMatrixInModelSpace.invertLocal().multLocal(boneMatrixInModelSpace);
                    }
                    bone.setBindTransforms(boneMatrixInModelSpace.toTranslationVector(), boneMatrixInModelSpace.toRotationQuat(), boneMatrixInModelSpace.toScaleVector());
                    break;
                }
            case CONSTRAINT_SPACE_PARLOCAL:
                Matrix4f armatureWorldMatrix = this.toMatrix(feature.getWorldTransform(), tempVars.tempMat4);
                Matrix4f boneMatrixInWorldSpace = armatureWorldMatrix.multLocal(this.toMatrix(transform, tempVars.tempMat42));
                Matrix4f invertedModelMatrix = this.toMatrix(this.getTransform(targetBoneContext.getSkeletonOwnerOma(), null, Space.CONSTRAINT_SPACE_WORLD), tempVars.tempMat42).invertLocal();
                Matrix4f boneMatrixInModelSpace = invertedModelMatrix.multLocal(boneMatrixInWorldSpace);
                Bone parent = bone.getParent();
                if (parent != null) {
                    //first add the initial parent matrix to the bone's model matrix
                    BoneContext parentContext = blenderContext.getBoneContext(parent);
                    Matrix4f initialParentMatrixInModelSpace = parentContext.getBoneMatrixInModelSpace();
                    Matrix4f currentParentMatrixInModelSpace = this.toMatrix(parent.getModelSpacePosition(), parent.getModelSpaceRotation(), parent.getModelSpaceScale(), tempVars.tempMat4);
                    //the bone will now move with its parent in model space
                    //now we need to subtract the difference between current parent's model matrix and its initial model matrix
                    boneMatrixInModelSpace = initialParentMatrixInModelSpace.mult(boneMatrixInModelSpace);
                    Matrix4f diffMatrix = initialParentMatrixInModelSpace.mult(currentParentMatrixInModelSpace.invert());
                    boneMatrixInModelSpace.multLocal(diffMatrix);
                //now the bone will have its position in model space with initial parent's model matrix added
                }
                bone.setBindTransforms(boneMatrixInModelSpace.toTranslationVector(), boneMatrixInModelSpace.toRotationQuat(), boneMatrixInModelSpace.toScaleVector());
                break;
            default:
                tempVars.release();
                throw new IllegalStateException("Invalid space type for target object: " + space.toString());
        }
        tempVars.release();
        skeleton.updateWorldVectors();
    } else {
        switch(space) {
            case CONSTRAINT_SPACE_LOCAL:
                feature.getLocalTransform().set(transform);
                break;
            case CONSTRAINT_SPACE_WORLD:
                if (feature.getParent() == null) {
                    feature.setLocalTransform(transform);
                } else {
                    Transform parentWorldTransform = feature.getParent().getWorldTransform();
                    TempVars tempVars = TempVars.get();
                    Matrix4f parentInverseMatrix = this.toMatrix(parentWorldTransform, tempVars.tempMat4).invertLocal();
                    Matrix4f m = this.toMatrix(transform, tempVars.tempMat42);
                    m = m.multLocal(parentInverseMatrix);
                    tempVars.release();
                    transform.setTranslation(m.toTranslationVector());
                    transform.setRotation(m.toRotationQuat());
                    transform.setScale(m.toScaleVector());
                    feature.setLocalTransform(transform);
                }
                break;
            default:
                throw new IllegalStateException("Invalid space type for spatial object: " + space.toString());
        }
    }
}

Example 12 with Skeleton

use of com.jme3.animation.Skeleton in project jmonkeyengine by jMonkeyEngine.

the class ConstraintDefinitionTransLike method getTarget.

/**
     * @return the target feature; it is either Node or Bone (vertex group subtarger is not yet supported)
     */
private Object getTarget() {
    Object target = blenderContext.getLoadedFeature(targetOMA, LoadedDataType.FEATURE);
    if (subtargetName != null && blenderContext.getMarkerValue(ObjectHelper.ARMATURE_NODE_MARKER, target) != null) {
        Skeleton skeleton = blenderContext.getSkeleton(targetOMA);
        target = skeleton.getBone(subtargetName);
    }
    return target;
}

Example 13 with Skeleton

use of com.jme3.animation.Skeleton in project jmonkeyengine by jMonkeyEngine.

the class TestBoneRagdoll method simpleInitApp.

public void simpleInitApp() {
    initCrossHairs();
    initMaterial();
    cam.setLocation(new Vector3f(0.26924422f, 6.646658f, 22.265987f));
    cam.setRotation(new Quaternion(-2.302544E-4f, 0.99302495f, -0.117888905f, -0.0019395084f));
    bulletAppState = new BulletAppState();
    bulletAppState.setEnabled(true);
    stateManager.attach(bulletAppState);
    bullet = new Sphere(32, 32, 1.0f, true, false);
    bullet.setTextureMode(TextureMode.Projected);
    bulletCollisionShape = new SphereCollisionShape(1.0f);
    //        bulletAppState.getPhysicsSpace().enableDebug(assetManager);
    PhysicsTestHelper.createPhysicsTestWorld(rootNode, assetManager, bulletAppState.getPhysicsSpace());
    setupLight();
    model = (Node) assetManager.loadModel("Models/Sinbad/Sinbad.mesh.xml");
    //  model.setLocalRotation(new Quaternion().fromAngleAxis(FastMath.HALF_PI, Vector3f.UNIT_X));
    //debug view
    AnimControl control = model.getControl(AnimControl.class);
    SkeletonDebugger skeletonDebug = new SkeletonDebugger("skeleton", control.getSkeleton());
    Material mat2 = new Material(getAssetManager(), "Common/MatDefs/Misc/Unshaded.j3md");
    mat2.getAdditionalRenderState().setWireframe(true);
    mat2.setColor("Color", ColorRGBA.Green);
    mat2.getAdditionalRenderState().setDepthTest(false);
    skeletonDebug.setMaterial(mat2);
    skeletonDebug.setLocalTranslation(model.getLocalTranslation());
    //Note: PhysicsRagdollControl is still TODO, constructor will change
    ragdoll = new KinematicRagdollControl(0.5f);
    setupSinbad(ragdoll);
    ragdoll.addCollisionListener(this);
    model.addControl(ragdoll);
    float eighth_pi = FastMath.PI * 0.125f;
    ragdoll.setJointLimit("Waist", eighth_pi, eighth_pi, eighth_pi, eighth_pi, eighth_pi, eighth_pi);
    ragdoll.setJointLimit("Chest", eighth_pi, eighth_pi, 0, 0, eighth_pi, eighth_pi);
    //Oto's head is almost rigid
    //    ragdoll.setJointLimit("head", 0, 0, eighth_pi, -eighth_pi, 0, 0);
    getPhysicsSpace().add(ragdoll);
    speed = 1.3f;
    rootNode.attachChild(model);
    // rootNode.attachChild(skeletonDebug);
    flyCam.setMoveSpeed(50);
    animChannel = control.createChannel();
    animChannel.setAnim("Dance");
    control.addListener(this);
    inputManager.addListener(new ActionListener() {

        public void onAction(String name, boolean isPressed, float tpf) {
            if (name.equals("toggle") && isPressed) {
                Vector3f v = new Vector3f();
                v.set(model.getLocalTranslation());
                v.y = 0;
                model.setLocalTranslation(v);
                Quaternion q = new Quaternion();
                float[] angles = new float[3];
                model.getLocalRotation().toAngles(angles);
                q.fromAngleAxis(angles[1], Vector3f.UNIT_Y);
                model.setLocalRotation(q);
                if (angles[0] < 0) {
                    animChannel.setAnim("StandUpBack");
                    ragdoll.blendToKinematicMode(0.5f);
                } else {
                    animChannel.setAnim("StandUpFront");
                    ragdoll.blendToKinematicMode(0.5f);
                }
            }
            if (name.equals("bullet+") && isPressed) {
                bulletSize += 0.1f;
            }
            if (name.equals("bullet-") && isPressed) {
                bulletSize -= 0.1f;
            }
            if (name.equals("stop") && isPressed) {
                ragdoll.setEnabled(!ragdoll.isEnabled());
                ragdoll.setRagdollMode();
            }
            if (name.equals("shoot") && !isPressed) {
                Geometry bulletg = new Geometry("bullet", bullet);
                bulletg.setMaterial(matBullet);
                bulletg.setLocalTranslation(cam.getLocation());
                bulletg.setLocalScale(bulletSize);
                bulletCollisionShape = new SphereCollisionShape(bulletSize);
                RigidBodyControl bulletNode = new RigidBodyControl(bulletCollisionShape, bulletSize * 10);
                bulletNode.setCcdMotionThreshold(0.001f);
                bulletNode.setLinearVelocity(cam.getDirection().mult(80));
                bulletg.addControl(bulletNode);
                rootNode.attachChild(bulletg);
                getPhysicsSpace().add(bulletNode);
            }
            if (name.equals("boom") && !isPressed) {
                Geometry bulletg = new Geometry("bullet", bullet);
                bulletg.setMaterial(matBullet);
                bulletg.setLocalTranslation(cam.getLocation());
                bulletg.setLocalScale(bulletSize);
                bulletCollisionShape = new SphereCollisionShape(bulletSize);
                BombControl bulletNode = new BombControl(assetManager, bulletCollisionShape, 1);
                bulletNode.setForceFactor(8);
                bulletNode.setExplosionRadius(20);
                bulletNode.setCcdMotionThreshold(0.001f);
                bulletNode.setLinearVelocity(cam.getDirection().mult(180));
                bulletg.addControl(bulletNode);
                rootNode.attachChild(bulletg);
                getPhysicsSpace().add(bulletNode);
            }
        }
    }, "toggle", "shoot", "stop", "bullet+", "bullet-", "boom");
    inputManager.addMapping("toggle", new KeyTrigger(KeyInput.KEY_SPACE));
    inputManager.addMapping("shoot", new MouseButtonTrigger(MouseInput.BUTTON_LEFT));
    inputManager.addMapping("boom", new MouseButtonTrigger(MouseInput.BUTTON_RIGHT));
    inputManager.addMapping("stop", new KeyTrigger(KeyInput.KEY_H));
    inputManager.addMapping("bullet-", new KeyTrigger(KeyInput.KEY_COMMA));
    inputManager.addMapping("bullet+", new KeyTrigger(KeyInput.KEY_PERIOD));
}

Example 14 with Skeleton

use of com.jme3.animation.Skeleton in project jmonkeyengine by jMonkeyEngine.

the class KinematicRagdollControl method boneRecursion.

protected void boneRecursion(Spatial model, Bone bone, PhysicsRigidBody parent, int reccount, Map<Integer, List<Float>> pointsMap) {
    PhysicsRigidBody parentShape = parent;
    if (boneList.isEmpty() || boneList.contains(bone.getName())) {
        PhysicsBoneLink link = new PhysicsBoneLink();
        link.bone = bone;
        //creating the collision shape 
        HullCollisionShape shape = null;
        if (pointsMap != null) {
            //build a shape for the bone, using the vertices that are most influenced by this bone
            shape = RagdollUtils.makeShapeFromPointMap(pointsMap, RagdollUtils.getBoneIndices(link.bone, skeleton, boneList), initScale, link.bone.getModelSpacePosition());
        } else {
            //build a shape for the bone, using the vertices associated with this bone with a weight above the threshold
            shape = RagdollUtils.makeShapeFromVerticeWeights(model, RagdollUtils.getBoneIndices(link.bone, skeleton, boneList), initScale, link.bone.getModelSpacePosition(), weightThreshold);
        }
        PhysicsRigidBody shapeNode = new PhysicsRigidBody(shape, rootMass / (float) reccount);
        shapeNode.setKinematic(mode == Mode.Kinematic);
        totalMass += rootMass / (float) reccount;
        link.rigidBody = shapeNode;
        link.initalWorldRotation = bone.getModelSpaceRotation().clone();
        if (parent != null) {
            //get joint position for parent
            Vector3f posToParent = new Vector3f();
            if (bone.getParent() != null) {
                bone.getModelSpacePosition().subtract(bone.getParent().getModelSpacePosition(), posToParent).multLocal(initScale);
            }
            SixDofJoint joint = new SixDofJoint(parent, shapeNode, posToParent, new Vector3f(0, 0, 0f), true);
            preset.setupJointForBone(bone.getName(), joint);
            link.joint = joint;
            joint.setCollisionBetweenLinkedBodys(false);
        }
        boneLinks.put(bone.getName(), link);
        shapeNode.setUserObject(link);
        parentShape = shapeNode;
    }
    for (Iterator<Bone> it = bone.getChildren().iterator(); it.hasNext(); ) {
        Bone childBone = it.next();
        boneRecursion(model, childBone, parentShape, reccount + 1, pointsMap);
    }
}

Example 15 with Skeleton

use of com.jme3.animation.Skeleton in project jmonkeyengine by jMonkeyEngine.

the class KinematicRagdollControl method kinematicUpdate.

protected void kinematicUpdate(float tpf) {
    //the ragdoll does not have the controll, so the keyframed animation updates the physic position of the physic bonces
    TempVars vars = TempVars.get();
    Quaternion tmpRot1 = vars.quat1;
    Quaternion tmpRot2 = vars.quat2;
    Vector3f position = vars.vect1;
    for (PhysicsBoneLink link : boneLinks.values()) {
        //but to allow smooth transition, we blend this transformation with the saved position of the ragdoll
        if (blendedControl) {
            Vector3f position2 = vars.vect2;
            //initializing tmp vars with the start position/rotation of the ragdoll
            position.set(link.startBlendingPos);
            tmpRot1.set(link.startBlendingRot);
            //interpolating between ragdoll position/rotation and keyframed position/rotation
            tmpRot2.set(tmpRot1).nlerp(link.bone.getModelSpaceRotation(), blendStart / blendTime);
            position2.set(position).interpolateLocal(link.bone.getModelSpacePosition(), blendStart / blendTime);
            tmpRot1.set(tmpRot2);
            position.set(position2);
            //updating bones transforms
            if (boneList.isEmpty()) {
                //we ensure we have the control to update the bone
                link.bone.setUserControl(true);
                link.bone.setUserTransformsInModelSpace(position, tmpRot1);
                //we give control back to the key framed animation.
                link.bone.setUserControl(false);
            } else {
                RagdollUtils.setTransform(link.bone, position, tmpRot1, true, boneList);
            }
        }
        //setting skeleton transforms to the ragdoll
        matchPhysicObjectToBone(link, position, tmpRot1);
        modelPosition.set(targetModel.getLocalTranslation());
    }
    //time control for blending
    if (blendedControl) {
        blendStart += tpf;
        if (blendStart > blendTime) {
            blendedControl = false;
        }
    }
    vars.release();
}