com.bulletphysics.dynamics.RigidBody Java Examples

@action (
		name = "compute_forces",
		args = { @arg (
				name = "step",
				type = IType.FLOAT,
				optional = true,
				doc = @doc ("allows to define the time step considered for the physical world agent. "
						+ "If not defined, the physical world agent will use the step global variable. ")) })
@doc (
		value = "This action allows the world to compute the forces exerted on each agent",
		examples = { @example (
				value = "do compute_forces step: 1.0;",
				isExecutable = false) })
public Object primComputeForces(final IScope scope) throws GamaRuntimeException {

	final Double timeStep = scope.hasArg("step") ? (Double) scope.getArg("step", IType.FLOAT) : 1.0;
	// DEBUG.LOG("Time step : "+ timeStep);
	world.update(timeStep.floatValue());
	registeredMap.keySet().removeIf(entry -> entry == null || entry.dead());
	for (final IAgent ia : registeredMap.keySet()) {
		if ((Double) ia.getAttribute("mass") == 0.0) {
			continue;
		}

		final RigidBody node = registeredMap.get(ia);
		final Vector3f _position = world.getNodePosition(node);
		final GamaPoint position =
				new GamaPoint(new Double(_position.x), new Double(_position.y), new Double(_position.z));

		ia.setLocation(position);
		final Coordinate[] coordinates = ia.getInnerGeometry().getCoordinates();
		for (int i = 0; i < coordinates.length; i++) {
			coordinates[i].z = _position.z;
		}

	}
	return null;

}
 

public RigidBody addCollisionObject(final CollisionShape shape, final float mass, final Vector3f position,
		final Vector3f velocity, float friction, float lin_damping, float ang_damping, float restitution) {

	final Transform startTransform = new Transform();
	startTransform.setIdentity();
	startTransform.origin.set(position);
	final boolean isDynamic = mass != 0f;
	final Vector3f localInertia = new Vector3f(0, 0, 0);
	if (isDynamic) {
		shape.calculateLocalInertia(mass, localInertia);
	}
	// using motionstate is recommended, it provides
	// interpolation capabilities, and only synchronizes
	// 'active' objects
	final DefaultMotionState myMotionState = new DefaultMotionState(startTransform);

	final RigidBodyConstructionInfo rbInfo =
			new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
	final RigidBody body = new RigidBody(rbInfo);
	// DEBUG.OUT(velocity);
	// body.applyCentralForce(velocity);
	
	body.setLinearVelocity(velocity);
	body.setFriction(friction);
	body.setDamping(lin_damping, ang_damping);
	body.setRestitution(restitution);
	dynamicsWorld.addRigidBody(body);
	return body;
}
 

/**
 * returns the object this wheel is in contact with or null if no contact
 * @return the PhysicsCollisionObject (PhysicsRigidBody, PhysicsGhostObject)
 */
public PhysicsCollisionObject getGroundObject() {
    if (wheelInfo.raycastInfo.groundObject == null) {
        return null;
    } else if (wheelInfo.raycastInfo.groundObject instanceof RigidBody) {
        System.out.println("RigidBody");
        return (PhysicsRigidBody) ((RigidBody) wheelInfo.raycastInfo.groundObject).getUserPointer();
    } else {
        return null;
    }
}
 

/**
 * returns the object this wheel is in contact with or null if no contact
 * @return the PhysicsCollisionObject (PhysicsRigidBody, PhysicsGhostObject)
 */
public PhysicsCollisionObject getGroundObject() {
    if (wheelInfo.raycastInfo.groundObject == null) {
        return null;
    } else if (wheelInfo.raycastInfo.groundObject instanceof RigidBody) {
        System.out.println("RigidBody");
        return (PhysicsRigidBody) ((RigidBody) wheelInfo.raycastInfo.groundObject).getUserPointer();
    } else {
        return null;
    }
}
 

public static void main(String[] args) {

		BroadphaseInterface broadphase = new DbvtBroadphase();
		DefaultCollisionConfiguration collisionConfiguration = new DefaultCollisionConfiguration();
		CollisionDispatcher dispatcher = new CollisionDispatcher(collisionConfiguration);

		SequentialImpulseConstraintSolver solver = new SequentialImpulseConstraintSolver();

		DiscreteDynamicsWorld dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, broadphase, solver,
				collisionConfiguration);

		// set the gravity of our world
		dynamicsWorld.setGravity(new Vector3f(0, -10, 0));

		// setup our collision shapes
		CollisionShape groundShape = new StaticPlaneShape(new Vector3f(0, 1, 0), 1);
		CollisionShape fallShape = new SphereShape(1);

		// setup the motion state
		DefaultMotionState groundMotionState = new DefaultMotionState(
				new Transform(new Matrix4f(new Quat4f(0, 0, 0, 1), new Vector3f(0, -1, 0), 1.0f)));

		RigidBodyConstructionInfo groundRigidBodyCI = new RigidBodyConstructionInfo(0, groundMotionState, groundShape,
				new Vector3f(0, 0, 0));
		RigidBody groundRigidBody = new RigidBody(groundRigidBodyCI);

		dynamicsWorld.addRigidBody(groundRigidBody); // add our ground to the
														// dynamic world..

		// setup the motion state for the ball
		DefaultMotionState fallMotionState = new DefaultMotionState(
				new Transform(new Matrix4f(new Quat4f(0, 0, 0, 1), new Vector3f(0, 100, 0), 1.0f)));

		// This we're going to give mass so it responds to gravity
		int mass = 1;

		Vector3f fallInertia = new Vector3f(0, 0, 0);
		fallShape.calculateLocalInertia(mass, fallInertia);

		RigidBodyConstructionInfo fallRigidBodyCI = new RigidBodyConstructionInfo(mass, fallMotionState, fallShape,
				fallInertia);
		RigidBody fallRigidBody = new RigidBody(fallRigidBodyCI);

		// now we add it to our physics simulation
		dynamicsWorld.addRigidBody(fallRigidBody);

		for (int i = 0; i < 300; i++) {
			dynamicsWorld.stepSimulation(1 / 60.f, 10);

			Transform trans = new Transform();
			fallRigidBody.getMotionState().getWorldTransform(trans);

			System.out.println("sphere height: " + trans.origin.y);
		}
	}
 

public void registerAgent(final IAgent ia) {
	final RigidBody body = this.CollisionBoundToCollisionShape(ia);
	registeredMap.put(ia, body);
}
 

/**
 * used internally
 */
public RigidBody getObjectId() {
    return rBody;
}
 

/**
 * used internally
 */
public RigidBody getObjectId() {
    return rBody;
}