Java SixDofJoint类代码示例

import com.jme3.bullet.joints.SixDofJoint; //导入依赖的package包/类
public void setupJointForBone(String boneName, SixDofJoint joint) {

        if (boneMap.isEmpty()) {
            initBoneMap();
        }
        if (lexicon.isEmpty()) {
            initLexicon();
        }
        String resultName = "";
        int resultScore = 0;

        for (String key : lexicon.keySet()) {
        
            int score = lexicon.get(key).getScore(boneName);        
            if (score > resultScore) {
                resultScore = score;
                resultName = key;
            }
            
        }
        
        JointPreset preset = boneMap.get(resultName);

        if (preset != null && resultScore >= 50) {
            logger.log(Level.INFO, "Found matching joint for bone {0} : {1} with score {2}", new Object[]{boneName, resultName, resultScore});
            preset.setupJoint(joint);
        } else {
            logger.log(Level.INFO, "No joint match found for bone {0}", boneName);
            if (resultScore > 0) {
                logger.log(Level.INFO, "Best match found is {0} with score {1}", new Object[]{resultName, resultScore});
            }
            new JointPreset().setupJoint(joint);
        }

    }
 

import com.jme3.bullet.joints.SixDofJoint; //导入依赖的package包/类
public void setupJoint(SixDofJoint joint) {
    joint.getRotationalLimitMotor(0).setHiLimit(maxX);
    joint.getRotationalLimitMotor(0).setLoLimit(minX);
    joint.getRotationalLimitMotor(1).setHiLimit(maxY);
    joint.getRotationalLimitMotor(1).setLoLimit(minY);
    joint.getRotationalLimitMotor(2).setHiLimit(maxZ);
    joint.getRotationalLimitMotor(2).setLoLimit(minZ);
}
 

import com.jme3.bullet.joints.SixDofJoint; //导入依赖的package包/类
public static void setJointLimit(SixDofJoint joint, float maxX, float minX, float maxY, float minY, float maxZ, float minZ) {

        joint.getRotationalLimitMotor(0).setHiLimit(maxX);
        joint.getRotationalLimitMotor(0).setLoLimit(minX);
        joint.getRotationalLimitMotor(1).setHiLimit(maxY);
        joint.getRotationalLimitMotor(1).setLoLimit(minY);
        joint.getRotationalLimitMotor(2).setHiLimit(maxZ);
        joint.getRotationalLimitMotor(2).setLoLimit(minZ);
    }
 

import com.jme3.bullet.joints.SixDofJoint; //导入依赖的package包/类
/**
 * Return the joint between the given bone and its parent.
 * This return null if it's called before attaching the control to a spatial
 * @param boneName the name of the bone
 * @return the joint between the given bone and its parent
 */
public SixDofJoint getJoint(String boneName) {
    PhysicsBoneLink link = boneLinks.get(boneName);
    if (link != null) {
        return link.joint;
    } else {
        logger.log(Level.WARNING, "Not joint was found for bone {0}. make sure you call spatial.addControl(ragdoll) before setting joints limit", boneName);
        return null;
    }
}
 

import com.jme3.bullet.joints.SixDofJoint; //导入依赖的package包/类
public void addPMDNode(PMDNode pmdNode) {
        Skeleton skeleton = pmdNode.getSkeleton();
        skeleton.updateWorldVectors();
        PMDModel pmdModel = pmdNode.getPmdModel();
        PMDRigidBody[] rigidBodyArray = new PMDRigidBody[pmdModel.getRigidBodyList().getRigidBodyArray().length];
        rigidBodyMap.put(pmdNode, rigidBodyArray);
        for (int i = 0; i < pmdModel.getRigidBodyList().getRigidBodyArray().length; i++) {
            projectkyoto.mmd.file.PMDRigidBody fileRigidBody =
                    pmdModel.getRigidBodyList().getRigidBodyArray()[i];
            Bone bone = null;
            if (fileRigidBody.getRelBoneIndex() != 0xffff) {
                bone = skeleton.getBone(fileRigidBody.getRelBoneIndex());
            }
            PMDRigidBody rb = createRigidBody(pmdNode, fileRigidBody, bone);
            rigidBodyArray[i] = rb;

//            btWorld.addRigidBody(rb, (short) (1 << fileRigidBody.getRigidBodyGroupIndex()),
//                    (short) fileRigidBody.getRigidBodyGroupTarget());
            rb.setCollisionGroup(1 << (fileRigidBody.getRigidBodyGroupIndex()));
//            if (fileRigidBody.getRigidBodyName().contains("スカート")) {
//                rb.setCollideWithGroups(1 << 7);
//            } else {
                rb.setCollideWithGroups(fileRigidBody.getRigidBodyGroupTarget());
//            }
//                  rb.setCollideWithGroups(0 );
            physicsSpace.addCollisionObject(rb);
        }
        SixDofJoint constArray[] = new SixDofJoint[pmdModel.getJointList().getJointCount()];
        constraintMap.put(pmdNode, constArray);
        for (int i = 0; i < constArray.length; i++) {
            SixDofJoint constraint = createConstraint(pmdNode,
                    rigidBodyArray, pmdModel.getJointList().getJointArray()[i]);
            constArray[i] = constraint;
            physicsSpace.add(constraint);
        }
        nodeRigidBodyArray = rigidBodyMap.values().toArray(new PMDRigidBody[rigidBodyMap.size()][]);
//        physicsSpace.update(1 / 60f, 1);
    }
 

import com.jme3.bullet.joints.SixDofJoint; //导入依赖的package包/类
public void removePMDNode(PMDNode pmdNode) {
    SixDofJoint[] constArray = constraintMap.remove(pmdNode);
    if (constArray != null) {
        for (SixDofJoint joint : constArray) {
            physicsSpace.remove(joint);
        }
    }
    PMDRigidBody[] rigidBodyArray = rigidBodyMap.remove(pmdNode);
    if (rigidBodyArray != null) {
        for (PMDRigidBody rb : rigidBodyArray) {
            physicsSpace.remove(rb);
        }
    }
    nodeRigidBodyArray = rigidBodyMap.values().toArray(new PMDRigidBody[rigidBodyMap.size()][]);
}
 

import com.jme3.bullet.joints.SixDofJoint; //导入依赖的package包/类
void updateJointPosition(SixDofJoint constraint, Line line) {
//        constraint.getCalculatedTransformA(t1);
//        constraint.getCalculatedTransformB(t2);
//        v1.set(t1.origin.x, t1.origin.y, t1.origin.z);
//        v2.set(t2.origin.x, t2.origin.y, t2.origin.z);
//        line.updatePoints(v1, v2);
//        line.setLineWidth(3f);
//        line.setPointSize(3f);
//        System.out.println("joint "+v1+" "+v2);
    }
 

import com.jme3.bullet.joints.SixDofJoint; //导入依赖的package包/类
private 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.Kinetmatic);
        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);
    }
}