com.bulletphysics.linearmath.Transform Java Examples
The following examples show how to use
com.bulletphysics.linearmath.Transform.
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Example #1
| Source File: RigidBodyMotionState.java From jmonkeyengine with BSD 3-Clause "New" or "Revised" License | 6 votes |
|
/**
* called from bullet when the transform of the rigidbody changes
* @param worldTrans
*/
@Override
public void setWorldTransform(Transform worldTrans) {
if (jmeLocationDirty) {
return;
}
motionStateTrans.set(worldTrans);
Converter.convert(worldTrans.origin, worldLocation);
Converter.convert(worldTrans.basis, worldRotation);
worldRotationQuat.fromRotationMatrix(worldRotation);
// for (Iterator<PhysicsMotionStateListener> it = listeners.iterator(); it.hasNext();) {
// PhysicsMotionStateListener physicsMotionStateListener = it.next();
// physicsMotionStateListener.stateChanged(worldLocation, worldRotation);
// }
physicsLocationDirty = true;
if (vehicle != null) {
vehicle.updateWheels();
}
}
Example #2
| Source File: SixDofJoint.java From MikuMikuStudio with BSD 2-Clause "Simplified" License | 6 votes |
|
/**
* @param pivotA local translation of the joint connection point in node A
* @param pivotB local translation of the joint connection point in node B
*/
public SixDofJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, Matrix3f rotA, Matrix3f rotB, boolean useLinearReferenceFrameA) {
super(nodeA, nodeB, pivotA, pivotB);
this.useLinearReferenceFrameA = useLinearReferenceFrameA;
Transform transA = new Transform(Converter.convert(rotA));
Converter.convert(pivotA, transA.origin);
Converter.convert(rotA, transA.basis);
Transform transB = new Transform(Converter.convert(rotB));
Converter.convert(pivotB, transB.origin);
Converter.convert(rotB, transB.basis);
constraint = new Generic6DofConstraint(nodeA.getObjectId(), nodeB.getObjectId(), transA, transB, useLinearReferenceFrameA);
gatherMotors();
}
Example #3
| Source File: SixDofJoint.java From jmonkeyengine with BSD 3-Clause "New" or "Revised" License | 6 votes |
|
/**
* @param pivotA local translation of the joint connection point in node A
* @param pivotB local translation of the joint connection point in node B
*/
public SixDofJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, Matrix3f rotA, Matrix3f rotB, boolean useLinearReferenceFrameA) {
super(nodeA, nodeB, pivotA, pivotB);
this.useLinearReferenceFrameA = useLinearReferenceFrameA;
Transform transA = new Transform(Converter.convert(rotA));
Converter.convert(pivotA, transA.origin);
Converter.convert(rotA, transA.basis);
Transform transB = new Transform(Converter.convert(rotB));
Converter.convert(pivotB, transB.origin);
Converter.convert(rotB, transB.basis);
constraint = new Generic6DofConstraint(nodeA.getObjectId(), nodeB.getObjectId(), transA, transB, useLinearReferenceFrameA);
gatherMotors();
}
Example #4
| Source File: RigidBodyMotionState.java From MikuMikuStudio with BSD 2-Clause "Simplified" License | 6 votes |
|
/**
* called from bullet when the transform of the rigidbody changes
* @param worldTrans
*/
public synchronized void setWorldTransform(Transform worldTrans) {
if (jmeLocationDirty) {
return;
}
motionStateTrans.set(worldTrans);
Converter.convert(worldTrans.origin, worldLocation);
Converter.convert(worldTrans.basis, worldRotation);
worldRotationQuat.fromRotationMatrix(worldRotation);
// for (Iterator<PhysicsMotionStateListener> it = listeners.iterator(); it.hasNext();) {
// PhysicsMotionStateListener physicsMotionStateListener = it.next();
// physicsMotionStateListener.stateChanged(worldLocation, worldRotation);
// }
physicsLocationDirty = true;
if (vehicle != null) {
vehicle.updateWheels();
}
}
Example #5
| Source File: Skylight_BulletPhysics_Breakable.java From PixelFlow with MIT License | 6 votes |
|
public void addGround(){
{
Vector3f pos = new Vector3f(0,0,10);
BObject body = new BBox(this, 0, 650, 650, 20);
Transform transform = new Transform();
body.rigidBody.getWorldTransform(transform);
transform.origin.set(pos);
body.rigidBody.setWorldTransform(transform);
body.rigidBody.getMotionState().setWorldTransform(transform);
body.displayShape = createShape(BOX, 650, 650, 20);
body.displayShape.setStroke(false);
body.displayShape.setFill(true);
body.displayShape.setFill(color(180,255,32));
body.displayShape.setStrokeWeight(1);
body.displayShape.setStroke(color(0));
physics.addBody(body);
group_bulletbodies.addChild(body.displayShape);
body.displayShape.setName("ground_box");
}
}
Example #6
| Source File: Skylight_BulletPhysics_Breakable_VideoExport.java From PixelFlow with MIT License | 6 votes |
|
public void addGround(){
{
Vector3f pos = new Vector3f(0,0,10);
BObject body = new BBox(this, 0, 650, 650, 20);
Transform transform = new Transform();
body.rigidBody.getWorldTransform(transform);
transform.origin.set(pos);
body.rigidBody.setWorldTransform(transform);
body.rigidBody.getMotionState().setWorldTransform(transform);
body.displayShape = createShape(BOX, 650, 650, 20);
body.displayShape.setStroke(false);
body.displayShape.setFill(true);
body.displayShape.setFill(color(180,255,32));
body.displayShape.setStrokeWeight(1);
body.displayShape.setStroke(color(0));
physics.addBody(body);
group_bulletbodies.addChild(body.displayShape);
body.displayShape.setName("ground_box");
}
}
Example #7
| Source File: CompoundCollisionShape.java From MikuMikuStudio with BSD 2-Clause "Simplified" License | 5 votes |
|
/**
* adds a child shape at the given local translation
* @param shape the child shape to add
* @param location the local location of the child shape
*/
public void addChildShape(CollisionShape shape, Vector3f location, Matrix3f rotation) {
if(shape instanceof CompoundCollisionShape){
throw new IllegalStateException("CompoundCollisionShapes cannot have CompoundCollisionShapes as children!");
}
Transform transA = new Transform(Converter.convert(rotation));
Converter.convert(location, transA.origin);
Converter.convert(rotation, transA.basis);
children.add(new ChildCollisionShape(location.clone(), rotation.clone(), shape));
((CompoundShape) cShape).addChildShape(transA, shape.getCShape());
}
Example #8
| Source File: ConeJoint.java From jmonkeyengine with BSD 3-Clause "New" or "Revised" License | 5 votes |
|
protected void createJoint() {
Transform transA = new Transform(Converter.convert(rotA));
Converter.convert(pivotA, transA.origin);
Converter.convert(rotA, transA.basis);
Transform transB = new Transform(Converter.convert(rotB));
Converter.convert(pivotB, transB.origin);
Converter.convert(rotB, transB.basis);
constraint = new ConeTwistConstraint(nodeA.getObjectId(), nodeB.getObjectId(), transA, transB);
((ConeTwistConstraint) constraint).setLimit(swingSpan1, swingSpan2, twistSpan);
((ConeTwistConstraint) constraint).setAngularOnly(angularOnly);
}
Example #9
| Source File: SixDofJoint.java From jmonkeyengine with BSD 3-Clause "New" or "Revised" License | 5 votes |
|
/**
* @param pivotA local translation of the joint connection point in node A
* @param pivotB local translation of the joint connection point in node B
*/
public SixDofJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, boolean useLinearReferenceFrameA) {
super(nodeA, nodeB, pivotA, pivotB);
this.useLinearReferenceFrameA = useLinearReferenceFrameA;
Transform transA = new Transform(Converter.convert(new Matrix3f()));
Converter.convert(pivotA, transA.origin);
Transform transB = new Transform(Converter.convert(new Matrix3f()));
Converter.convert(pivotB, transB.origin);
constraint = new Generic6DofConstraint(nodeA.getObjectId(), nodeB.getObjectId(), transA, transB, useLinearReferenceFrameA);
gatherMotors();
}
Example #10
| Source File: SixDofJoint.java From jmonkeyengine with BSD 3-Clause "New" or "Revised" License | 5 votes |
|
@Override
public void read(JmeImporter im) throws IOException {
super.read(im);
InputCapsule capsule = im.getCapsule(this);
Transform transA = new Transform(Converter.convert(new Matrix3f()));
Converter.convert(pivotA, transA.origin);
Transform transB = new Transform(Converter.convert(new Matrix3f()));
Converter.convert(pivotB, transB.origin);
constraint = new Generic6DofConstraint(nodeA.getObjectId(), nodeB.getObjectId(), transA, transB, useLinearReferenceFrameA);
gatherMotors();
setAngularUpperLimit((Vector3f) capsule.readSavable("angularUpperLimit", new Vector3f(Vector3f.POSITIVE_INFINITY)));
setAngularLowerLimit((Vector3f) capsule.readSavable("angularLowerLimit", new Vector3f(Vector3f.NEGATIVE_INFINITY)));
setLinearUpperLimit((Vector3f) capsule.readSavable("linearUpperLimit", new Vector3f(Vector3f.POSITIVE_INFINITY)));
setLinearLowerLimit((Vector3f) capsule.readSavable("linearLowerLimit", new Vector3f(Vector3f.NEGATIVE_INFINITY)));
for (int i = 0; i < 3; i++) {
RotationalLimitMotor rotationalLimitMotor = getRotationalLimitMotor(i);
rotationalLimitMotor.setBounce(capsule.readFloat("rotMotor" + i + "_Bounce", 0.0f));
rotationalLimitMotor.setDamping(capsule.readFloat("rotMotor" + i + "_Damping", 1.0f));
rotationalLimitMotor.setERP(capsule.readFloat("rotMotor" + i + "_ERP", 0.5f));
rotationalLimitMotor.setHiLimit(capsule.readFloat("rotMotor" + i + "_HiLimit", Float.POSITIVE_INFINITY));
rotationalLimitMotor.setLimitSoftness(capsule.readFloat("rotMotor" + i + "_LimitSoftness", 0.5f));
rotationalLimitMotor.setLoLimit(capsule.readFloat("rotMotor" + i + "_LoLimit", Float.NEGATIVE_INFINITY));
rotationalLimitMotor.setMaxLimitForce(capsule.readFloat("rotMotor" + i + "_MaxLimitForce", 300.0f));
rotationalLimitMotor.setMaxMotorForce(capsule.readFloat("rotMotor" + i + "_MaxMotorForce", 0.1f));
rotationalLimitMotor.setTargetVelocity(capsule.readFloat("rotMotor" + i + "_TargetVelocity", 0));
rotationalLimitMotor.setEnableMotor(capsule.readBoolean("rotMotor" + i + "_EnableMotor", false));
}
getTranslationalLimitMotor().setAccumulatedImpulse((Vector3f) capsule.readSavable("transMotor_AccumulatedImpulse", Vector3f.ZERO));
getTranslationalLimitMotor().setDamping(capsule.readFloat("transMotor_Damping", 1.0f));
getTranslationalLimitMotor().setLimitSoftness(capsule.readFloat("transMotor_LimitSoftness", 0.7f));
getTranslationalLimitMotor().setLowerLimit((Vector3f) capsule.readSavable("transMotor_LowerLimit", Vector3f.ZERO));
getTranslationalLimitMotor().setRestitution(capsule.readFloat("transMotor_Restitution", 0.5f));
getTranslationalLimitMotor().setUpperLimit((Vector3f) capsule.readSavable("transMotor_UpperLimit", Vector3f.ZERO));
}
Example #11
| Source File: SliderJoint.java From jmonkeyengine with BSD 3-Clause "New" or "Revised" License | 5 votes |
|
protected void createJoint(){
Transform transA = new Transform(Converter.convert(rotA));
Converter.convert(pivotA, transA.origin);
Converter.convert(rotA, transA.basis);
Transform transB = new Transform(Converter.convert(rotB));
Converter.convert(pivotB, transB.origin);
Converter.convert(rotB, transB.basis);
constraint = new SliderConstraint(nodeA.getObjectId(), nodeB.getObjectId(), transA, transB, useLinearReferenceFrameA);
}
Example #12
| Source File: CompoundCollisionShape.java From MikuMikuStudio with BSD 2-Clause "Simplified" License | 5 votes |
|
/**
* adds a child shape at the given local translation
* @param shape the child shape to add
* @param location the local location of the child shape
*/
public void addChildShape(CollisionShape shape, Vector3f location) {
Transform transA = new Transform(Converter.convert(new Matrix3f()));
Converter.convert(location, transA.origin);
children.add(new ChildCollisionShape(location.clone(), new Matrix3f(), shape));
((CompoundShape) cShape).addChildShape(transA, shape.getCShape());
}
Example #13
| Source File: SliderJoint.java From MikuMikuStudio with BSD 2-Clause "Simplified" License | 5 votes |
|
protected void createJoint(){
Transform transA = new Transform(Converter.convert(rotA));
Converter.convert(pivotA, transA.origin);
Converter.convert(rotA, transA.basis);
Transform transB = new Transform(Converter.convert(rotB));
Converter.convert(pivotB, transB.origin);
Converter.convert(rotB, transB.basis);
constraint = new SliderConstraint(nodeA.getObjectId(), nodeB.getObjectId(), transA, transB, useLinearReferenceFrameA);
}
Example #14
| Source File: CompoundCollisionShape.java From MikuMikuStudio with BSD 2-Clause "Simplified" License | 5 votes |
|
private void addChildShapeDirect(CollisionShape shape, Vector3f location, Matrix3f rotation) {
if(shape instanceof CompoundCollisionShape){
throw new IllegalStateException("CompoundCollisionShapes cannot have CompoundCollisionShapes as children!");
}
Transform transA = new Transform(Converter.convert(rotation));
Converter.convert(location, transA.origin);
Converter.convert(rotation, transA.basis);
((CompoundShape) cShape).addChildShape(transA, shape.getCShape());
}
Example #15
| Source File: ConeJoint.java From MikuMikuStudio with BSD 2-Clause "Simplified" License | 5 votes |
|
protected void createJoint() {
Transform transA = new Transform(Converter.convert(rotA));
Converter.convert(pivotA, transA.origin);
Converter.convert(rotA, transA.basis);
Transform transB = new Transform(Converter.convert(rotB));
Converter.convert(pivotB, transB.origin);
Converter.convert(rotB, transB.basis);
constraint = new ConeTwistConstraint(nodeA.getObjectId(), nodeB.getObjectId(), transA, transB);
((ConeTwistConstraint) constraint).setLimit(swingSpan1, swingSpan2, twistSpan);
((ConeTwistConstraint) constraint).setAngularOnly(angularOnly);
}
Example #16
| Source File: SixDofJoint.java From MikuMikuStudio with BSD 2-Clause "Simplified" License | 5 votes |
|
/**
* @param pivotA local translation of the joint connection point in node A
* @param pivotB local translation of the joint connection point in node B
*/
public SixDofJoint(PhysicsRigidBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB, boolean useLinearReferenceFrameA) {
super(nodeA, nodeB, pivotA, pivotB);
this.useLinearReferenceFrameA = useLinearReferenceFrameA;
Transform transA = new Transform(Converter.convert(new Matrix3f()));
Converter.convert(pivotA, transA.origin);
Transform transB = new Transform(Converter.convert(new Matrix3f()));
Converter.convert(pivotB, transB.origin);
constraint = new Generic6DofConstraint(nodeA.getObjectId(), nodeB.getObjectId(), transA, transB, useLinearReferenceFrameA);
gatherMotors();
}
Example #17
| Source File: SixDofJoint.java From MikuMikuStudio with BSD 2-Clause "Simplified" License | 5 votes |
|
@Override
public void read(JmeImporter im) throws IOException {
super.read(im);
InputCapsule capsule = im.getCapsule(this);
Transform transA = new Transform(Converter.convert(new Matrix3f()));
Converter.convert(pivotA, transA.origin);
Transform transB = new Transform(Converter.convert(new Matrix3f()));
Converter.convert(pivotB, transB.origin);
constraint = new Generic6DofConstraint(nodeA.getObjectId(), nodeB.getObjectId(), transA, transB, useLinearReferenceFrameA);
gatherMotors();
setAngularUpperLimit((Vector3f) capsule.readSavable("angularUpperLimit", new Vector3f(Vector3f.POSITIVE_INFINITY)));
setAngularLowerLimit((Vector3f) capsule.readSavable("angularLowerLimit", new Vector3f(Vector3f.NEGATIVE_INFINITY)));
setLinearUpperLimit((Vector3f) capsule.readSavable("linearUpperLimit", new Vector3f(Vector3f.POSITIVE_INFINITY)));
setLinearLowerLimit((Vector3f) capsule.readSavable("linearLowerLimit", new Vector3f(Vector3f.NEGATIVE_INFINITY)));
for (int i = 0; i < 3; i++) {
RotationalLimitMotor rotationalLimitMotor = getRotationalLimitMotor(i);
rotationalLimitMotor.setBounce(capsule.readFloat("rotMotor" + i + "_Bounce", 0.0f));
rotationalLimitMotor.setDamping(capsule.readFloat("rotMotor" + i + "_Damping", 1.0f));
rotationalLimitMotor.setERP(capsule.readFloat("rotMotor" + i + "_ERP", 0.5f));
rotationalLimitMotor.setHiLimit(capsule.readFloat("rotMotor" + i + "_HiLimit", Float.POSITIVE_INFINITY));
rotationalLimitMotor.setLimitSoftness(capsule.readFloat("rotMotor" + i + "_LimitSoftness", 0.5f));
rotationalLimitMotor.setLoLimit(capsule.readFloat("rotMotor" + i + "_LoLimit", Float.NEGATIVE_INFINITY));
rotationalLimitMotor.setMaxLimitForce(capsule.readFloat("rotMotor" + i + "_MaxLimitForce", 300.0f));
rotationalLimitMotor.setMaxMotorForce(capsule.readFloat("rotMotor" + i + "_MaxMotorForce", 0.1f));
rotationalLimitMotor.setTargetVelocity(capsule.readFloat("rotMotor" + i + "_TargetVelocity", 0));
rotationalLimitMotor.setEnableMotor(capsule.readBoolean("rotMotor" + i + "_EnableMotor", false));
}
getTranslationalLimitMotor().setAccumulatedImpulse((Vector3f) capsule.readSavable("transMotor_AccumulatedImpulse", Vector3f.ZERO));
getTranslationalLimitMotor().setDamping(capsule.readFloat("transMotor_Damping", 1.0f));
getTranslationalLimitMotor().setLimitSoftness(capsule.readFloat("transMotor_LimitSoftness", 0.7f));
getTranslationalLimitMotor().setLowerLimit((Vector3f) capsule.readSavable("transMotor_LowerLimit", Vector3f.ZERO));
getTranslationalLimitMotor().setRestitution(capsule.readFloat("transMotor_Restitution", 0.5f));
getTranslationalLimitMotor().setUpperLimit((Vector3f) capsule.readSavable("transMotor_UpperLimit", Vector3f.ZERO));
}
Example #18
| Source File: CompoundCollisionShape.java From jmonkeyengine with BSD 3-Clause "New" or "Revised" License | 5 votes |
|
private void addChildShapeDirect(CollisionShape shape, Vector3f location, Matrix3f rotation) {
if(shape instanceof CompoundCollisionShape){
throw new IllegalStateException("CompoundCollisionShapes cannot have CompoundCollisionShapes as children!");
}
Transform transA = new Transform(Converter.convert(rotation));
Converter.convert(location, transA.origin);
Converter.convert(rotation, transA.basis);
((CompoundShape) cShape).addChildShape(transA, shape.getCShape());
}
Example #19
| Source File: CompoundCollisionShape.java From jmonkeyengine with BSD 3-Clause "New" or "Revised" License | 5 votes |
|
/**
* adds a child shape at the given local translation
* @param shape the child shape to add
* @param location the local location of the child shape
*/
public void addChildShape(CollisionShape shape, Vector3f location, Matrix3f rotation) {
if(shape instanceof CompoundCollisionShape){
throw new IllegalStateException("CompoundCollisionShapes cannot have CompoundCollisionShapes as children!");
}
Transform transA = new Transform(Converter.convert(rotation));
Converter.convert(location, transA.origin);
Converter.convert(rotation, transA.basis);
children.add(new ChildCollisionShape(location.clone(), rotation.clone(), shape));
((CompoundShape) cShape).addChildShape(transA, shape.getCShape());
}
Example #20
| Source File: CompoundCollisionShape.java From jmonkeyengine with BSD 3-Clause "New" or "Revised" License | 5 votes |
|
/**
* adds a child shape at the given local translation
* @param shape the child shape to add
* @param location the local location of the child shape
*/
public void addChildShape(CollisionShape shape, Vector3f location) {
Transform transA = new Transform(Converter.convert(new Matrix3f()));
Converter.convert(location, transA.origin);
children.add(new ChildCollisionShape(location.clone(), new Matrix3f(), shape));
((CompoundShape) cShape).addChildShape(transA, shape.getCShape());
}
Example #21
| Source File: PhysicsWorldJBullet.java From gama with GNU General Public License v3.0 | 5 votes |
|
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;
}
Example #22
| Source File: Skylight_BulletPhysics_Breakable3.java From PixelFlow with MIT License | 5 votes |
|
public Transform asBulletTransform(PMatrix3D mat_p5){
Matrix4f mat = new Matrix4f();
mat.setRow(0, mat_p5.m00, mat_p5.m01, mat_p5.m02, mat_p5.m03);
mat.setRow(1, mat_p5.m10, mat_p5.m11, mat_p5.m12, mat_p5.m13);
mat.setRow(2, mat_p5.m20, mat_p5.m21, mat_p5.m22, mat_p5.m23);
mat.setRow(3, mat_p5.m30, mat_p5.m31, mat_p5.m32, mat_p5.m33);
return new Transform(mat);
}
Example #23
| Source File: Skylight_BulletPhysics_Breakable_VideoExport.java From PixelFlow with MIT License | 5 votes |
|
public Transform asBulletTransform(PMatrix3D mat_p5){
Matrix4f mat = new Matrix4f();
mat.setRow(0, mat_p5.m00, mat_p5.m01, mat_p5.m02, mat_p5.m03);
mat.setRow(1, mat_p5.m10, mat_p5.m11, mat_p5.m12, mat_p5.m13);
mat.setRow(2, mat_p5.m20, mat_p5.m21, mat_p5.m22, mat_p5.m23);
mat.setRow(3, mat_p5.m30, mat_p5.m31, mat_p5.m32, mat_p5.m33);
return new Transform(mat);
}
Example #24
| Source File: BreakableBody.java From PixelFlow with MIT License | 5 votes |
|
public Transform asBulletTransform(PMatrix3D mat_p5){
mat_tmp.setRow(0, mat_p5.m00, mat_p5.m01, mat_p5.m02, mat_p5.m03);
mat_tmp.setRow(1, mat_p5.m10, mat_p5.m11, mat_p5.m12, mat_p5.m13);
mat_tmp.setRow(2, mat_p5.m20, mat_p5.m21, mat_p5.m22, mat_p5.m23);
mat_tmp.setRow(3, mat_p5.m30, mat_p5.m31, mat_p5.m32, mat_p5.m33);
return new Transform(mat_tmp);
}
Example #25
| Source File: Skylight_BulletPhysics_Breakable.java From PixelFlow with MIT License | 5 votes |
|
public Transform asBulletTransform(PMatrix3D mat_p5){
Matrix4f mat = new Matrix4f();
mat.setRow(0, mat_p5.m00, mat_p5.m01, mat_p5.m02, mat_p5.m03);
mat.setRow(1, mat_p5.m10, mat_p5.m11, mat_p5.m12, mat_p5.m13);
mat.setRow(2, mat_p5.m20, mat_p5.m21, mat_p5.m22, mat_p5.m23);
mat.setRow(3, mat_p5.m30, mat_p5.m31, mat_p5.m32, mat_p5.m33);
return new Transform(mat);
}
Example #26
| Source File: Jbullet.java From BowlerStudio with GNU General Public License v3.0 | 4 votes |
|
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);
}
}
Example #27
| Source File: RigidBodyMotionState.java From jmonkeyengine with BSD 3-Clause "New" or "Revised" License | 4 votes |
|
/**
* called from bullet when creating the rigidbody
* @param t caller-provided storage for the Transform
* @return t
*/
@Override
public Transform getWorldTransform(Transform t) {
t.set(motionStateTrans);
return t;
}
Example #28
| Source File: RotationTest.java From BowlerStudio with GNU General Public License v3.0 | 4 votes |
|
@Test
public void compareBullet() throws FileNotFoundException {
int failCount = 0;
int iterations = 100;
Log.enableDebugPrint();
for (RotationConvention conv : conventions) {
RotationNR.setConvention(conv);
System.out.println("\n\nUsing convention " + conv.toString());
for (RotationOrder ro : list) {
RotationNR.setOrder(ro);
System.out.println("\n\nUsing rotationOrder " + ro.toString());
failCount = 0;
for (int i = 0; i < iterations; i++) {
double rotationAngleDegrees = (Math.random() * 360) - 180;
double rotationAngleRadians = Math.PI / 180 * rotationAngleDegrees;
double[][] rotation = new double[3][3];
// Rotation matrix, 1st column
rotation[0][0] = Math.cos(rotationAngleRadians);
rotation[1][0] = Math.sin(rotationAngleRadians);
rotation[2][0] = 0;
// Rotation matrix, 2nd column
rotation[0][1] = -Math.sin(rotationAngleRadians);
rotation[1][1] = Math.cos(rotationAngleRadians);
rotation[2][1] = 0;
// Rotation matrix, 3rd column
rotation[0][2] = 0;
rotation[1][2] = 0;
rotation[2][2] = 1;
// pure rotation in azumuth
RotationNR newRot = new RotationNR(rotation);
// Convert to Affine and back
Transform bulletTrans = new Transform();
TransformFactory.nrToBullet(new TransformNR(0, 0, 0, newRot), bulletTrans);
RotationNR oldRot = TransformFactory.bulletToNr(bulletTrans).getRotation();
double[][] rotationMatrix = newRot.getRotationMatrix();
System.out.println("Testing pure azumeth \nrotation " + rotationAngleDegrees + "\n as radian "
+ Math.toRadians(rotationAngleDegrees) + "\n Az " + oldRot.getRotationAzimuth()
+ "\n El " + oldRot.getRotationElevation() + "\n Tl " + oldRot.getRotationTilt()
+ "\n New Az " + newRot.getRotationAzimuth() + "\n New El " + newRot.getRotationElevation()
+ "\n New Tl " + newRot.getRotationTilt());
assertArrayEquals(rotation[0], rotationMatrix[0], 0.001);
assertArrayEquals(rotation[1], rotationMatrix[1], 0.001);
assertArrayEquals(rotation[2], rotationMatrix[2], 0.001);
System.out.println(
"Testing Quaturnion \nrotation " + "\n qw " + oldRot.getRotationMatrix2QuaturnionW()
+ "\n qx " + oldRot.getRotationMatrix2QuaturnionX() + "\n qy "
+ oldRot.getRotationMatrix2QuaturnionY() + "\n qz "
+ oldRot.getRotationMatrix2QuaturnionZ() + "\nNEW qw "
+ newRot.getRotationMatrix2QuaturnionW() + "\nNEW qx "
+ newRot.getRotationMatrix2QuaturnionX() + "\nNEW qy "
+ newRot.getRotationMatrix2QuaturnionY() + "\nNEW qz "
+ newRot.getRotationMatrix2QuaturnionZ());
assertArrayEquals(
new double[] { Math.abs(oldRot.getRotationMatrix2QuaturnionW()),
Math.abs(oldRot.getRotationMatrix2QuaturnionX()),
Math.abs(oldRot.getRotationMatrix2QuaturnionY()),
Math.abs(oldRot.getRotationMatrix2QuaturnionZ()), },
new double[] { Math.abs(newRot.getRotationMatrix2QuaturnionW()),
Math.abs(newRot.getRotationMatrix2QuaturnionX()),
Math.abs(newRot.getRotationMatrix2QuaturnionY()),
Math.abs(newRot.getRotationMatrix2QuaturnionZ()), },
0.001);
// Check Euler angles
// this check is needed to work around a known bug in the
// legact implementation
assertArrayEquals(
new double[] { oldRot.getRotationAzimuth(), oldRot.getRotationElevation(),
oldRot.getRotationTilt() },
new double[] { newRot.getRotationAzimuth(), newRot.getRotationElevation(),
newRot.getRotationTilt() },
0.001);
// Check the old rotation against the known value
assertArrayEquals(new double[] { Math.toRadians(rotationAngleDegrees), 0, 0 }, new double[] {
oldRot.getRotationAzimuth(), oldRot.getRotationElevation(), oldRot.getRotationTilt() },
0.001);
// Check the new rotation against the known value
assertArrayEquals(new double[] { Math.toRadians(rotationAngleDegrees), 0, 0 }, new double[] {
newRot.getRotationAzimuth(), newRot.getRotationElevation(), newRot.getRotationTilt() },
0.001);
}
// frame();
// frame2();
System.out.println("Frame test passed with " + ro);
// return;
}
}
}
Example #29
| Source File: RotationTest.java From BowlerStudio with GNU General Public License v3.0 | 4 votes |
|
@Test
public void compareBulletElevation() throws FileNotFoundException {
int failCount = 0;
int iterations = 100;
Log.enableDebugPrint();
for (RotationConvention conv : conventions) {
RotationNR.setConvention(conv);
System.out.println("\n\nUsing convention " + conv.toString());
for (RotationOrder ro : list) {
RotationNR.setOrder(ro);
System.out.println("\n\nUsing rotationOrder " + ro.toString());
failCount = 0;
for (int i = 0; i < iterations; i++) {
double rotationAngleDegrees = (Math.random() * 180) - 90;
double rotationAngleRadians = Math.PI / 180 * rotationAngleDegrees;
double[][] rotation = new double[3][3];
// Rotation matrix, 1st column
rotation[0][0] = Math.cos(rotationAngleRadians);
rotation[1][0] = 0;
rotation[2][0] = -Math.sin(rotationAngleRadians);
// Rotation matrix, 2nd column
rotation[0][1] = 0;
rotation[1][1] = 1;
rotation[2][1] = 0;
// Rotation matrix, 3rd column
rotation[0][2] = Math.sin(rotationAngleRadians);
rotation[1][2] = 0;
rotation[2][2] = Math.cos(rotationAngleRadians);
RotationNR newRot = new RotationNR(rotation);
// Convert to Affine and back
Transform bulletTrans = new Transform();
TransformFactory.nrToBullet(new TransformNR(0, 0, 0, newRot), bulletTrans);
RotationNR oldRot = TransformFactory.bulletToNr(bulletTrans).getRotation();
double[][] rotationMatrix = newRot.getRotationMatrix();
System.out.println("Testing pure Elevation \nrotation " + rotationAngleDegrees + "\n as radian "
+ Math.toRadians(rotationAngleDegrees) + "\n Az " + oldRot.getRotationAzimuth()
+ "\n El " + oldRot.getRotationElevation() + "\n Tl " + oldRot.getRotationTilt()
+ "\n New Az " + newRot.getRotationAzimuth() + "\n New El " + newRot.getRotationElevation()
+ "\n New Tl " + newRot.getRotationTilt());
assertArrayEquals(rotation[0], rotationMatrix[0], 0.001);
assertArrayEquals(rotation[1], rotationMatrix[1], 0.001);
assertArrayEquals(rotation[2], rotationMatrix[2], 0.001);
System.out.println(
"Testing Quaturnion \nrotation " + "\n qw " + oldRot.getRotationMatrix2QuaturnionW()
+ "\n qx " + oldRot.getRotationMatrix2QuaturnionX() + "\n qy "
+ oldRot.getRotationMatrix2QuaturnionY() + "\n qz "
+ oldRot.getRotationMatrix2QuaturnionZ() + "\nNEW qw "
+ newRot.getRotationMatrix2QuaturnionW() + "\nNEW qx "
+ newRot.getRotationMatrix2QuaturnionX() + "\nNEW qy "
+ newRot.getRotationMatrix2QuaturnionY() + "\nNEW qz "
+ newRot.getRotationMatrix2QuaturnionZ());
assertArrayEquals(
new double[] { Math.abs(oldRot.getRotationMatrix2QuaturnionW()),
Math.abs(oldRot.getRotationMatrix2QuaturnionX()),
Math.abs(oldRot.getRotationMatrix2QuaturnionY()),
Math.abs(oldRot.getRotationMatrix2QuaturnionZ()), },
new double[] { Math.abs(newRot.getRotationMatrix2QuaturnionW()),
Math.abs(newRot.getRotationMatrix2QuaturnionX()),
Math.abs(newRot.getRotationMatrix2QuaturnionY()),
Math.abs(newRot.getRotationMatrix2QuaturnionZ()), },
0.001);
// Check Euler angles
// this check is needed to work around a known bug in the
// legact implementation
// Check Euler angles
assertArrayEquals(
new double[] { oldRot.getRotationAzimuth(), oldRot.getRotationElevation(),
oldRot.getRotationTilt() },
new double[] { newRot.getRotationAzimuth(), newRot.getRotationElevation(),
newRot.getRotationTilt() },
0.001);
// Check the old rotation against the known value
assertArrayEquals(new double[] {
0, Math.toRadians(rotationAngleDegrees), 0 },
new double[] { oldRot.getRotationAzimuth(), oldRot.getRotationElevation(),
oldRot.getRotationTilt() },
0.001);
// Check the new rotation against the known value
assertArrayEquals(new double[] { 0, Math.toRadians(rotationAngleDegrees), 0 }, new double[] {
newRot.getRotationAzimuth(), newRot.getRotationElevation(), newRot.getRotationTilt() },
0.001);
}
// frame();
// frame2();
System.out.println("Frame test passed with " + ro);
// return;
}
}
}
Example #30
| Source File: Skylight_BulletPhysics_Cubes.java From PixelFlow with MIT License | 4 votes |
|
public void createFractureShape(){
reset();
float pos_z = 20f;
int numx = 15;
int numy = 5;
int numz = 10;
float dim = 20;
float boundsx = numx * dim;
float boundsy = numy * dim;
// float boundsz = numz * dim;
float mass = dim*dim*dim;
float tx = -boundsx * 0.5f;
float ty = -boundsy * 0.5f;
float tz = pos_z + 0;
colorMode(HSB, 360, 100,100);
for(int z = 0; z < numz; z++){
for(int y = 0; y < numy; y++){
for(int x = 0; x < numx; x++){
float cx = dim *0.5f + x * dim;
float cy = dim *0.5f + y * dim;
float cz = dim *0.5f + z * dim;
BObject body = new BBox(this, mass, dim, dim, dim);
// setup initial body transform-matrix
PMatrix3D mat_p5 = new PMatrix3D();
mat_p5.translate(tx, ty, tz);
mat_p5.translate(cx, cy, cz);
Matrix4f mat = new Matrix4f();
mat.setRow(0, mat_p5.m00, mat_p5.m01, mat_p5.m02, mat_p5.m03);
mat.setRow(1, mat_p5.m10, mat_p5.m11, mat_p5.m12, mat_p5.m13);
mat.setRow(2, mat_p5.m20, mat_p5.m21, mat_p5.m22, mat_p5.m23);
mat.setRow(3, mat_p5.m30, mat_p5.m31, mat_p5.m32, mat_p5.m33);
Transform transform = new Transform(mat);
// rigid-body properties
body.rigidBody.setWorldTransform(transform);
body.rigidBody.setRestitution(.1f);
body.rigidBody.setFriction(0.85f);
body.rigidBody.setDamping(0.2f, 0.2f);
body.displayShape = createShape(BOX, dim, dim, dim);
body.displayShape.setStroke(false);
body.displayShape.setFill(true);
// float r = random(80, 130);
float r = random(220, 270);
float g = random(20,70);
float b = 100;
body.displayShape.setFill(color(r,g,b));
physics.addBody(body);
group_bulletbodies.addChild(body.displayShape);
}
}
}
colorMode(RGB, 255, 255,255);
}
