Examples of com.bulletphysics.collision.broadphase.AxisSweep3

Package com.bulletphysics.collision.broadphase

Examples of com.bulletphysics.collision.broadphase.AxisSweep3

com.bulletphysics.collision.broadphase.AxisSweep3
AxisSweep3 is an efficient implementation of the 3D axis sweep and prune broadphase.
It uses arrays rather then lists for storage of the 3 axis. Also it operates using 16 bit integer coordinates instead of floats. For large worlds and many objects, use {@link AxisSweep3_32}instead. AxisSweep3_32 has higher precision and allows more than 16384 objects at the cost of more memory and bit of performance. @author jezek2

    // TODO: AxisSweep3
    // Don't make the world AABB size too large, it will harm simulation
    // quality and performance
    Vector3f worldAabbMin = new Vector3f(-100000, -100000, -100000);
    Vector3f worldAabbMax = new Vector3f(100000, 100000, 100000);
    overlappingPairCache = new AxisSweep3(worldAabbMin, worldAabbMax);


    //overlappingPairCache = new AxisSweep3(worldAabbMin, worldAabbMax,
    //    MAX_PROXIES);
    // overlappingPairCache = new SimpleBroadphase(MAX_PROXIES);

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        Vector3f worldAabbMax = new Vector3f(10000, 10000, 10000);
        Vector3f gravity = new Vector3f(0, -10, 0);


        DefaultCollisionConfiguration collisionConfiguration = new DefaultCollisionConfiguration();
        CollisionDispatcher dispatcher = new CollisionDispatcher(collisionConfiguration);
        AxisSweep3 overlappingPairCache = new AxisSweep3(worldAabbMin, worldAabbMax);
        SequentialImpulseConstraintSolver solver = new SequentialImpulseConstraintSolver();
        world = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache,
                solver, collisionConfiguration);
        world.setGravity(gravity);
        world.getDispatchInfo().allowedCcdPenetration = 0f;

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    collisionConfiguration = new DefaultCollisionConfiguration();
    dispatcher = new CollisionDispatcher(collisionConfiguration);
    Vector3f worldMin = new Vector3f(-1000f,-1000f,-1000f);
    Vector3f worldMax = new Vector3f(1000f,1000f,1000f);
    AxisSweep3 sweepBP = new AxisSweep3(worldMin, worldMax);
    overlappingPairCache = sweepBP;


    constraintSolver = new SequentialImpulseConstraintSolver();
    dynamicsWorld = new DiscreteDynamicsWorld(dispatcher,overlappingPairCache,constraintSolver,collisionConfiguration);


    Transform startTransform = new Transform();
    startTransform.setIdentity();
    startTransform.origin.set(0.0f, 4.0f, 0.0f);


    ghostObject = new PairCachingGhostObject();
    ghostObject.setWorldTransform(startTransform);
    sweepBP.getOverlappingPairCache().setInternalGhostPairCallback(new GhostPairCallback());
    float characterHeight = 1.75f * characterScale;
    float characterWidth = 1.75f * characterScale;
    ConvexShape capsule = new CapsuleShape(characterWidth, characterHeight);
    ghostObject.setCollisionShape(capsule);
    ghostObject.setCollisionFlags(CollisionFlags.CHARACTER_OBJECT);

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    // Don't make the world AABB size too large, it will harm simulation
    // quality and performance
    Vector3f worldAabbMin = new Vector3f(-10000, -10000, -10000);
    Vector3f worldAabbMax = new Vector3f(10000, 10000, 10000);
    int maxProxies = 1024;
    AxisSweep3 overlappingPairCache =
        new AxisSweep3(worldAabbMin, worldAabbMax, maxProxies);
    //BroadphaseInterface overlappingPairCache = new SimpleBroadphase(
    //    maxProxies);


    // the default constraint solver. For parallel processing you can use a
    // different solver (see Extras/BulletMultiThreaded)

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