Hey there!
So, knowing that using kinematic ragdoll in native bullet crashes the app without a stack trace, should I opt for using collision shapes with joints like in this tutorial (using an animated model)?
Can you create a as simple as possible running testcase? I would prefer if we find a way to fix this in the binding/ native bullet itself.
Source code:
import java.net.SocketException;
import java.util.ArrayList;
import com.jme3.animation.AnimControl;
import com.jme3.app.SimpleApplication;
import com.jme3.asset.plugins.FileLocator;
import com.jme3.bullet.BulletAppState;
import com.jme3.bullet.collision.shapes.BoxCollisionShape;
import com.jme3.bullet.control.KinematicRagdollControl;
import com.jme3.bullet.control.RigidBodyControl;
import com.jme3.material.Material;
import com.jme3.math.ColorRGBA;
import com.jme3.math.Vector3f;
import com.jme3.scene.Node;
import com.jme3.scene.Spatial;
import com.jme3.scene.Spatial.CullHint;
public class Test extends SimpleApplication {
public static void main(String[] args) {
// TODO Auto-generated method stub
Test t = new Test();
t.start();
}
@Override
public void simpleInitApp() {
// TODO Auto-generated method stub
BulletAppState bas = new BulletAppState();
stateManager.attach(bas); // set up physics space
bas.setDebugEnabled(true);
BoxCollisionShape box = new BoxCollisionShape(new Vector3f(10, 1, 10));
RigidBodyControl boxPhy = new RigidBodyControl(box, 0); // set up a surface
boxPhy.setPhysicsLocation(new Vector3f(0, -2, 0));
bas.getPhysicsSpace().add(boxPhy);
Node sp = (Node) assetManager.loadModel("customModel.j3o");
Material mat = new Material(assetManager, "Common/MatDefs/Misc/Unshaded.j3md");
mat.setColor("Color", ColorRGBA.Gray); // set up a spatial
sp.setMaterial(mat);
rootNode.attachChild(sp);
sp.setLocalTranslation(0, 10, 0);
KinematicRagdollControl k = new KinematicRagdollControl();
sp.addControl(k); //set up a ragdoll
k.setRagdollMode();
bas.getPhysicsSpace().add(k);//this is where the error occurs
}
}Thanks, what is custommodel? can you upload it?
There is a JMETest with a Ragdoll, maybe this can reproduce it?
I remember that I had errors with that back in 2015, native crashed and jBullet was buggy.
That custom model could be anything, the app crashes either way throwing a „Java has stopped working” error window instead of a stack trace.
Yes, but a good testcase should have all the external resources included, or even better, no external resources. Check this: http://sscce.org/ .
Also, what version of jme are you using?
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import com.jme3.animation.*;
import com.jme3.app.SimpleApplication;
import com.jme3.asset.TextureKey;
import com.jme3.bullet.BulletAppState;
import com.jme3.bullet.PhysicsSpace;
import com.jme3.bullet.collision.PhysicsCollisionEvent;
import com.jme3.bullet.collision.PhysicsCollisionObject;
import com.jme3.bullet.collision.RagdollCollisionListener;
import com.jme3.bullet.collision.shapes.SphereCollisionShape;
import com.jme3.bullet.control.KinematicRagdollControl;
import com.jme3.bullet.control.RigidBodyControl;
import com.jme3.font.BitmapText;
import com.jme3.input.KeyInput;
import com.jme3.input.MouseInput;
import com.jme3.input.controls.ActionListener;
import com.jme3.input.controls.KeyTrigger;
import com.jme3.input.controls.MouseButtonTrigger;
import com.jme3.light.DirectionalLight;
import com.jme3.material.Material;
import com.jme3.math.ColorRGBA;
import com.jme3.math.FastMath;
import com.jme3.math.Quaternion;
import com.jme3.math.Vector3f;
import com.jme3.scene.Geometry;
import com.jme3.scene.Node;
import com.jme3.scene.debug.SkeletonDebugger;
import com.jme3.scene.shape.Sphere;
import com.jme3.scene.shape.Sphere.TextureMode;
import com.jme3.texture.Texture;
/**
* PHYSICS RAGDOLLS ARE NOT WORKING PROPERLY YET!
* @author normenhansen
*/
public class TestBoneRagdoll extends SimpleApplication implements RagdollCollisionListener, AnimEventListener {
private BulletAppState bulletAppState;
Material matBullet;
Node model;
KinematicRagdollControl ragdoll;
float bulletSize = 1f;
Material mat;
Material mat3;
private Sphere bullet;
private SphereCollisionShape bulletCollisionShape;
public static void main(String[] args) {
TestBoneRagdoll app = new TestBoneRagdoll();
app.start();
}
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);
bulletAppState.setDebugEnabled(true);
bullet = new Sphere(32, 32, 1.0f, true, false);
bullet.setTextureMode(TextureMode.Projected);
bulletCollisionShape = new SphereCollisionShape(1.0f);
// bulletAppState.getPhysicsSpace().enableDebug(assetManager);
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);
}
}
}, "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));
}
private void setupLight() {
// AmbientLight al = new AmbientLight();
// al.setColor(ColorRGBA.White.mult(1));
// rootNode.addLight(al);
DirectionalLight dl = new DirectionalLight();
dl.setDirection(new Vector3f(-0.1f, -0.7f, -1).normalizeLocal());
dl.setColor(new ColorRGBA(1f, 1f, 1f, 1.0f));
rootNode.addLight(dl);
}
private PhysicsSpace getPhysicsSpace() {
return bulletAppState.getPhysicsSpace();
}
public void initMaterial() {
matBullet = new Material(assetManager, "Common/MatDefs/Misc/Unshaded.j3md");
TextureKey key2 = new TextureKey("Textures/Terrain/Rock/Rock.PNG");
key2.setGenerateMips(true);
Texture tex2 = assetManager.loadTexture(key2);
matBullet.setTexture("ColorMap", tex2);
}
protected void initCrossHairs() {
guiFont = assetManager.loadFont("Interface/Fonts/Default.fnt");
BitmapText ch = new BitmapText(guiFont, false);
ch.setSize(guiFont.getCharSet().getRenderedSize() * 2);
ch.setText("+"); // crosshairs
ch.setLocalTranslation( // center
settings.getWidth() / 2 - guiFont.getCharSet().getRenderedSize() / 3 * 2,
settings.getHeight() / 2 + ch.getLineHeight() / 2, 0);
guiNode.attachChild(ch);
}
public void collide(Bone bone, PhysicsCollisionObject object, PhysicsCollisionEvent event) {
if (object.getUserObject() != null && object.getUserObject() instanceof Geometry) {
Geometry geom = (Geometry) object.getUserObject();
if ("Floor".equals(geom.getName())) {
return;
}
}
ragdoll.setRagdollMode();
}
private void setupSinbad(KinematicRagdollControl ragdoll) {
ragdoll.addBoneName("Ulna.L");
ragdoll.addBoneName("Ulna.R");
ragdoll.addBoneName("Chest");
ragdoll.addBoneName("Foot.L");
ragdoll.addBoneName("Foot.R");
ragdoll.addBoneName("Hand.R");
ragdoll.addBoneName("Hand.L");
ragdoll.addBoneName("Neck");
ragdoll.addBoneName("Root");
ragdoll.addBoneName("Stomach");
ragdoll.addBoneName("Waist");
ragdoll.addBoneName("Humerus.L");
ragdoll.addBoneName("Humerus.R");
ragdoll.addBoneName("Thigh.L");
ragdoll.addBoneName("Thigh.R");
ragdoll.addBoneName("Calf.L");
ragdoll.addBoneName("Calf.R");
ragdoll.addBoneName("Clavicle.L");
ragdoll.addBoneName("Clavicle.R");
}
float elTime = 0;
boolean forward = true;
AnimControl animControl;
AnimChannel animChannel;
Vector3f direction = new Vector3f(0, 0, 1);
Quaternion rotate = new Quaternion().fromAngleAxis(FastMath.PI / 8, Vector3f.UNIT_Y);
boolean dance = true;
@Override
public void simpleUpdate(float tpf) {
// System.out.println(((BoundingBox) model.getWorldBound()).getYExtent());
// elTime += tpf;
// if (elTime > 3) {
// elTime = 0;
// if (dance) {
// rotate.multLocal(direction);
// }
// if (Math.random() > 0.80) {
// dance = true;
// animChannel.setAnim("Dance");
// } else {
// dance = false;
// animChannel.setAnim("RunBase");
// rotate.fromAngleAxis(FastMath.QUARTER_PI * ((float) Math.random() - 0.5f), Vector3f.UNIT_Y);
// rotate.multLocal(direction);
// }
// }
// if (!ragdoll.hasControl() && !dance) {
// if (model.getLocalTranslation().getZ() < -10) {
// direction.z = 1;
// direction.normalizeLocal();
// } else if (model.getLocalTranslation().getZ() > 10) {
// direction.z = -1;
// direction.normalizeLocal();
// }
// if (model.getLocalTranslation().getX() < -10) {
// direction.x = 1;
// direction.normalizeLocal();
// } else if (model.getLocalTranslation().getX() > 10) {
// direction.x = -1;
// direction.normalizeLocal();
// }
// model.move(direction.multLocal(tpf * 8));
// direction.normalizeLocal();
// model.lookAt(model.getLocalTranslation().add(direction), Vector3f.UNIT_Y);
// }
}
public void onAnimCycleDone(AnimControl control, AnimChannel channel, String animName) {
// if(channel.getAnimationName().equals("StandUpFront")){
// channel.setAnim("Dance");
// }
if (channel.getAnimationName().equals("StandUpBack") || channel.getAnimationName().equals("StandUpFront")) {
channel.setLoopMode(LoopMode.DontLoop);
channel.setAnim("IdleTop", 5);
channel.setLoopMode(LoopMode.Loop);
}
// if(channel.getAnimationName().equals("IdleTop")){
// channel.setAnim("StandUpFront");
// }
}
public void onAnimChange(AnimControl control, AnimChannel channel, String animName) {
}
}
Ok, so this test case works fine, (I’ve removed PhysicsTestHelper because it appears to be custom made).
My version of jMonkey is 3.1.0 beta 3 (native bullet).