[ODE] keyframe character animation link to a ragdoll

[Samuel Girardin]

Hello ,

I've a problem... I'm working on characters animations & behaviors.

On one side I have a skinned mesh link to a bones skeleton animated
by keyframe (3dsmax export).

On the other side I have an ODE skeleton generated with the bones'mesh
parameters(lenght, position ,rotation, etc.).

For the moment, I'm able to play the loop keyframe animation (simple walk),
and when I hit a key  I  switch to the ragdoll mode. My character fall down
correctly. The transition between  the first  state  to the second is ok...

Here is the pseudo code I use to deal with the two state

if (a key is hit)
 (
 enable ode simulation
 update bones mesh matrix with the ode skeleton matrix
) else
 (
enable loop keyframe animation
update odeskeleton matrix with the mesh bones matrix
)

That works only well only one time:
Character walk, I press the key, the character fall, I release the key to
switch
to keyframe animation, character walk again, but if I press the key again it
seems
ode keep somewhere the last ragdoll state (position etc...). It's not
exactly the
last ragdoll state,  it depends...

So I think  my update for ode skeleton   with the bones mesh works only  the
first time. If I let my character walk during 1km and I hit a key to switch
to
ragdoll mode, that's work, but  not the second time.

To update ode skeleton I use  :
body[].setPosition  &  body[].setRotation. I think those changes are not
update
by ode. So is there a way to update body pos & rot without compute
simulation ?
Like said to ode  : keep for each new frame those changes somewhere in
memory ,
you need those value  when you 'll have to do your job ?

Here it is. So if someone understand my problem. I appreciate any help !

samuel

www.aaxyz.com