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simplified world, got buggy physics ragdoll working
author Robert McIntyre <rlm@mit.edu>
date Mon, 14 Nov 2011 21:30:23 -0700
parents 2a6ede6d8ad8
children bb24106cbd6a
comparison
equal deleted inserted replaced
51:2a6ede6d8ad8 52:00d0e1639d4b
55 55
56 (defn worm-blender 56 (defn worm-blender
57 [] 57 []
58 (first (seq (.getChildren (load-blender-model 58 (first (seq (.getChildren (load-blender-model
59 "Models/anim2/worm3.blend"))))) 59 "Models/anim2/worm3.blend")))))
60
61 (defn skel [node]
62 (doto
63 (.getSkeleton
64 (.getControl node SkeletonControl))
65 ;; this is necessary to force the skeleton to have accurate world
66 ;; transforms before it is rendered to the screen.
67 (.resetAndUpdate)))
60 68
61 (defprotocol Textual 69 (defprotocol Textual
62 (text [something] 70 (text [something]
63 "Display a detailed textual analysis of the given object.")) 71 "Display a detailed textual analysis of the given object."))
64 72
74 82
75 (extend-type com.jme3.animation.AnimControl 83 (extend-type com.jme3.animation.AnimControl
76 Textual 84 Textual
77 (text [control] 85 (text [control]
78 (let [animations (.getAnimationNames control)] 86 (let [animations (.getAnimationNames control)]
79 (println "Animation Control with " (count animations) " animations:") 87 (println "Animation Control with " (count animations) " animation(s):")
80 (dorun (map println animations))))) 88 (dorun (map println animations)))))
81 89
82 (extend-type com.jme3.animation.SkeletonControl 90 (extend-type com.jme3.animation.SkeletonControl
83 Textual 91 Textual
84 (text [control] 92 (text [control]
85 (println "Skeleton Control with the following skeleton:") 93 (println "Skeleton Control with the following skeleton:")
86 (println (.getSkeleton control)))) 94 (println (.getSkeleton control))))
87 95
96 (extend-type com.jme3.bullet.control.KinematicRagdollControl
97 Textual
98 (text [control]
99 (println "Ragdoll Control")))
100
101
88 (extend-type com.jme3.scene.Geometry 102 (extend-type com.jme3.scene.Geometry
89 Textual 103 Textual
90 (text [control] 104 (text [control]
91 (println "...geo..."))) 105 (println "...geo...")))
92 106
93 107
94 108
95 109
96 (defn body 110 (defn body
97 "given a node with a skeleton, will produce a body sutiable for AI 111 "given a node with a SkeletonControl, will produce a body sutiable
98 control with movement and proprioception." 112 for AI control with movement and proprioception."
99 [node] 113 [node]
100 (let [skeleton-control (.getControl node SkeletonControl) 114 (let [skeleton-control (.getControl node SkeletonControl)
101 krc (KinematicRagdollControl. (float 0.5))] 115 krc (KinematicRagdollControl. (float 0.5))]
102 (dorun 116 (dorun
103 (map #(.addBoneName krc %) 117 (map #(.addBoneName krc %)
104 ["mid1" "mid2" "mid3" "tail" "head"])) 118 ["mid1" "mid2" "mid3" "tail" "head"]
119 ;; ["Ulna.L"
120 ;; "Ulna.R"
121 ;; "Chest"
122 ;; "Foot.L"
123 ;; "Foot.R"
124 ;; "Hand.R"
125 ;; "Hand.L"
126 ;; "Neck"
127 ;; "Root"
128 ;; "Stomach"
129 ;; "Waist"
130 ;; "Humerus.L"
131 ;; "Humerus.R"
132 ;; "Thigh.L"
133 ;; "Thigh.R"
134 ;; "Calf.L"
135 ;; "Calf.R"
136 ;; "Clavicle.L"
137 ;; "Clavicle.R"]
138 ))
139
140
141
105 (.addControl node krc) 142 (.addControl node krc)
106 (.setRagdollMode krc)) 143 (.setRagdollMode krc)
144 )
107 node 145 node
108 ) 146 )
109 147
110 (defn 148 (defn green-x-ray []
111 green-x-ray []
112 (doto (Material. (asset-manager) 149 (doto (Material. (asset-manager)
113 "Common/MatDefs/Misc/Unshaded.j3md") 150 "Common/MatDefs/Misc/Unshaded.j3md")
114 (.setColor "Color" ColorRGBA/Green) 151 (.setColor "Color" ColorRGBA/Green)
115 (-> (.getAdditionalRenderState) (.setDepthTest 152 (-> (.getAdditionalRenderState)
116 false)))) 153 (.setDepthTest false))))
117 154
118 (defn view-skeleton [node] 155 (defn view-skeleton [node]
119 (let [sd 156 (let [sd
120 157
121 (doto 158 (doto
152 :physical? false) 189 :physical? false)
153 (.setMaterial (green-x-ray)))) 190 (.setMaterial (green-x-ray))))
154 bones))) 191 bones)))
155 debug-node) 192 debug-node)
156 193
157 (defn skel [node] 194 (import jme3test.bullet.PhysicsTestHelper)
158 (doto
159 (.getSkeleton
160 (.getControl node SkeletonControl))
161 ;; this is necessary to force the skeleton to have accurate world
162 ;; transforms before it is rendered to the screen.
163 (.resetAndUpdate)))
164
165
166
167
168
169 (view
170 (init-debug-skel-node
171 (fn [b] (.getWorldBindPosition b))
172 (Node. "skel-debug") (skel (worm))))
173
174
175
176
177 195
178 (defn test-ragdoll [] 196 (defn test-ragdoll []
179 197
180 (let [the-worm 198 (let [the-worm
181 (body 199 (body
182 (.loadModel (asset-manager) "Models/anim2/Cube.mesh.xml") 200 ;;(.loadModel (asset-manager) "Models/anim2/Cube.mesh.xml")
183 ;;(worm-blender) 201 ;;(worm-blender)
202 (worm)
203 ;;(oto)
204 ;;(sinbad)
184 ) 205 )
185 ] 206 ]
186 207
187 208
188 (.start 209 (.start
190 (doto (Node.) 211 (doto (Node.)
191 (.attachChild the-worm)) 212 (.attachChild the-worm))
192 {"mouse-left" (fire-cannon-ball)} 213 {"mouse-left" (fire-cannon-ball)}
193 (fn [world] 214 (fn [world]
194 (light-up-everything world) 215 (light-up-everything world)
216 (PhysicsTestHelper/createPhysicsTestWorld
217 (.getRootNode world)
218 (asset-manager)
219 (.getPhysicsSpace
220 (.getState (.getStateManager world) BulletAppState)))
195 ;;(.setTimer world (NanoTimer.)) 221 ;;(.setTimer world (NanoTimer.))
196 ;;(org.lwjgl.input.Mouse/setGrabbed false) 222 ;;(org.lwjgl.input.Mouse/setGrabbed false)
197 ) 223 )
198 no-op 224 no-op
199 ) 225 )
201 227
202 ))) 228 )))
203 229
204 230
205 231
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221 (defn test-worm-anim []
222
223 (let [the-worm
224 ;; (oto)
225 (worm-blender)
226 anim-control (.getControl the-worm AnimControl)
227 channel (doto (.createChannel anim-control)
228 ;; (.setAnim "Walk")
229 (.setAnim "moveHead")
230 )
231
232 play-anim
233 no-op
234 ;; (fn [world pressed]
235 ;; (if (not pressed)
236 ;; (do
237 ;; (println-repl "space")
238 ;; ;; (.setAnim channel "moveHead")
239 ;; (.setAnim channel "Walk" (float 0.5))
240 ;; )))
241
242 ]
243
244 (.start
245 (world
246 (doto (Node.)
247 (.attachChild the-worm))
248 {"key-space" play-anim
249 "mouse-left" (fire-cannon-ball)}
250 (fn [world]
251 (light-up-everything world)
252 ;;(.setTimer world (NanoTimer.))
253 (org.lwjgl.input.Mouse/setGrabbed false)
254 )
255 no-op
256 )
257
258
259 )))
260 232
261 233
262 234
263 235
264 236