com.jme3.bullet.collision.shapes.HullCollisionShape Java Examples

/**
 * Create a hull collision shape from linked vertices to this bone.
 *
 * @param model the model on which to base the shape
 * @param boneIndices indices of relevant bones (not null, unaffected)
 * @param initialScale scale factors
 * @param initialPosition location
 * @param weightThreshold minimum weight for inclusion
 * @return a new shape
 */
public static HullCollisionShape makeShapeFromVerticeWeights(Spatial model,
        List<Integer> boneIndices, Vector3f initialScale,
        Vector3f initialPosition, float weightThreshold) {
    List<Float> points = new ArrayList<>(100);

    SkeletonControl skeletonCtrl = model.getControl(SkeletonControl.class);
    Mesh[] targetMeshes = skeletonCtrl.getTargets();
    for (Mesh mesh : targetMeshes) {
        for (Integer index : boneIndices) {
            List<Float> bonePoints = getPoints(mesh, index, initialScale,
                    initialPosition, weightThreshold);
            points.addAll(bonePoints);
        }
    }

    assert !points.isEmpty();
    float[] p = new float[points.size()];
    for (int i = 0; i < points.size(); i++) {
        p[i] = points.get(i);
    }

    return new HullCollisionShape(p);
}
 

/**
 * Create a hull collision shape from linked vertices to this bone. Vertices
 * must have previously been gathered using buildPointMap().
 *
 * @param pointsMap map from bone indices to coordinates (not null,
 * unaffected)
 * @param boneIndices (not null, unaffected)
 * @param initialScale scale factors (not null, unaffected)
 * @param initialPosition location (not null, unaffected)
 * @return a new shape (not null)
 */
public static HullCollisionShape makeShapeFromPointMap(Map<Integer, List<Float>> pointsMap, List<Integer> boneIndices, Vector3f initialScale, Vector3f initialPosition) {

    ArrayList<Float> points = new ArrayList<Float>();
    for (Integer index : boneIndices) {
        List<Float> l = pointsMap.get(index);
        if (l != null) {

            for (int i = 0; i < l.size(); i += 3) {
                Vector3f pos = new Vector3f();
                pos.x = l.get(i);
                pos.y = l.get(i + 1);
                pos.z = l.get(i + 2);
                pos.subtractLocal(initialPosition).multLocal(initialScale);
                points.add(pos.x);
                points.add(pos.y);
                points.add(pos.z);
            }
        }
    }

    assert !points.isEmpty();
    float[] p = new float[points.size()];
    for (int i = 0; i < points.size(); i++) {
        p[i] = points.get(i);
    }

    return new HullCollisionShape(p);
}
 

private static CompoundCollisionShape getCollisionShape(Asset asset){
		Spatial s = models.get(asset.modelPath);
//		if(!shapes.containsKey(asset.modelPath)){
			CompoundCollisionShape res = new CompoundCollisionShape();
			if(s instanceof Node){
				for(Spatial child : ((Node)s).getChildren())
					if(child instanceof Geometry){
						HullCollisionShape hull = new HullCollisionShape(((Geometry)child).getMesh());
						float scale = (float)asset.scale;
						Vector3f vScale = new Vector3f(scale, scale, scale) ;
						hull.setScale(vScale);
						res.addChildShape(hull, Vector3f.ZERO);
					}
			} else {
				logger.info("houston on a un probleme");
			}
			
						
			shapes.put(asset.modelPath, res);
//		}
//		CompoundCollisionShape res = shapes.get(asset.modelPath);
//		float scale = (float)asset.scale;
//		Vector3f vScale = new Vector3f(scale, scale, scale) ;
//		for(ChildCollisionShape hull : res.getChildren())
//			hull.shape.setScale(vScale);

		return res;
	}
 

/**
 * Create a hull collision shape from linked vertices to this bone.
 * Vertices have to be previoulsly gathered in a map using buildPointMap method
 * @param link
 * @param model
 * @return 
 */
public static HullCollisionShape makeShapeFromPointMap(Map<Integer, List<Float>> pointsMap, List<Integer> boneIndices, Vector3f initialScale, Vector3f initialPosition) {

    ArrayList<Float> points = new ArrayList<Float>();
    for (Integer index : boneIndices) {
        List<Float> l = pointsMap.get(index);
        if (l != null) {

            for (int i = 0; i < l.size(); i += 3) {
                Vector3f pos = new Vector3f();
                pos.x = l.get(i);
                pos.y = l.get(i + 1);
                pos.z = l.get(i + 2);
                pos.subtractLocal(initialPosition).multLocal(initialScale);
                points.add(pos.x);
                points.add(pos.y);
                points.add(pos.z);
            }
        }
    }

    float[] p = new float[points.size()];
    for (int i = 0; i < points.size(); i++) {
        p[i] = points.get(i);
    }


    return new HullCollisionShape(p);
}
 

/**
 * This method creates a hull collision shape for the given mesh.<br>
 */
private static HullCollisionShape createSingleDynamicMeshShape(Geometry geom, Spatial parent) {
    Mesh mesh = geom.getMesh();
    Transform trans = getTransform(geom, parent);
    if (mesh != null) {
        HullCollisionShape dynamicShape = new HullCollisionShape(mesh);
        dynamicShape.setScale(trans.getScale());
        return dynamicShape;
    } else {
        return null;
    }
}
 

/**
 * Create a hull collision shape from linked vertices to this bone.
 * Vertices have to be previoulsly gathered in a map using buildPointMap method
 * @param link
 * @param model
 * @return 
 */
public static HullCollisionShape makeShapeFromPointMap(Map<Integer, List<Float>> pointsMap, List<Integer> boneIndices, Vector3f initialScale, Vector3f initialPosition) {

    ArrayList<Float> points = new ArrayList<Float>();
    for (Integer index : boneIndices) {
        List<Float> l = pointsMap.get(index);
        if (l != null) {

            for (int i = 0; i < l.size(); i += 3) {
                Vector3f pos = new Vector3f();
                pos.x = l.get(i);
                pos.y = l.get(i + 1);
                pos.z = l.get(i + 2);
                pos.subtractLocal(initialPosition).multLocal(initialScale);
                points.add(pos.x);
                points.add(pos.y);
                points.add(pos.z);
            }
        }
    }

    float[] p = new float[points.size()];
    for (int i = 0; i < points.size(); i++) {
        p[i] = points.get(i);
    }


    return new HullCollisionShape(p);
}
 

/**
 * This method creates a hull collision shape for the given mesh.<br>
 */
private static HullCollisionShape createSingleDynamicMeshShape(Geometry geom, Spatial parent) {
    Mesh mesh = geom.getMesh();
    Transform trans = getTransform(geom, parent);
    if (mesh != null) {
        HullCollisionShape dynamicShape = new HullCollisionShape(mesh);
        dynamicShape.setScale(trans.getScale());
        return dynamicShape;
    } else {
        return null;
    }
}
 

public HullCollisionShapeTreeNode(@NotNull final HullCollisionShape element, final long objectId) {
    super(element, objectId);
}
 

/**
 * Generate a physics shape and bone links for the specified bone. Note:
 * recursive!
 *
 * @param model the spatial with the model's SkeletonControl (not null)
 * @param bone the bone to be linked (not null)
 * @param parent the body linked to the parent bone (not null)
 * @param reccount depth of the recursion (≥1)
 * @param pointsMap (not null)
 */
protected void boneRecursion(Spatial model, Bone bone, PhysicsRigidBody parent, int reccount, Map<Integer, List<Float>> pointsMap) {
    PhysicsRigidBody parentShape = parent;
    if (boneList.contains(bone.getName())) {

        PhysicsBoneLink link = new PhysicsBoneLink();
        link.bone = bone;

        //create 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 / reccount);

        shapeNode.setKinematic(mode == Mode.Kinematic);
        totalMass += rootMass / 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);
    }
}
 

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);
    }
}
 

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);
    }
}