Examples of com.bulletphysics.collision.shapes.CompoundShape

Package com.bulletphysics.collision.shapes

Examples of com.bulletphysics.collision.shapes.CompoundShape

com.bulletphysics.collision.shapes.CompoundShape
CompoundShape allows to store multiple other {@link CollisionShape}s. This allows for moving concave collision objects. This is more general than the {@link BvhTriangleMeshShape}. @author jezek2

        }
      }
      else {
        // todo: use AABB tree or other BVH acceleration structure!
        if (collisionShape.isCompound()) {
          CompoundShape compoundShape = (CompoundShape) collisionShape;
          for (int i = 0; i < compoundShape.getNumChildShapes(); i++) {
            Transform childTrans = compoundShape.getChildTransform(i, Stack.alloc(Transform.class));
            CollisionShape childCollisionShape = compoundShape.getChildShape(i);
            Transform childWorldTrans = Stack.alloc(Transform.class);
            childWorldTrans.mul(colObjWorldTransform, childTrans);
            // replace collision shape so that callback can determine the triangle
            CollisionShape saveCollisionShape = collisionObject.getCollisionShape();
            collisionObject.internalSetTemporaryCollisionShape(childCollisionShape);

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                shape.setCollisionSymmetric(true);
            }
        }


        private ColliderInfo processCompoundShape(List<ColliderInfo> colliders) {
            CompoundShape collisionShape = new CompoundShape();


            for (ColliderInfo collider : colliders) {
                Transform transform = new Transform(new Matrix4f(Rotation.none().getQuat4f(), collider.offset, 1.0f));
                collisionShape.addChildShape(transform, collider.collisionShape);
            }
            return new ColliderInfo(new Vector3f(), collisionShape);
        }

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            Vector3f extents = box.getHalfExtentsWithMargin(new Vector3f());
            QuaternionUtil.quatRotate(rot, extents, extents);
            extents.absolute();
            return new BoxShape(extents);
        } else if (shape instanceof CompoundShape) {
            CompoundShape compound = (CompoundShape) shape;
            CompoundShape newShape = new CompoundShape();
            for (CompoundShapeChild child : compound.getChildList()) {
                CollisionShape rotatedChild = rotate(child.childShape, rot);
                Vector3f offset = QuaternionUtil.quatRotate(rot, child.transform.origin, new Vector3f());
                newShape.addChildShape(new Transform(new Matrix4f(Rotation.none().getQuat4f(), offset, 1.0f)), rotatedChild);
            }
            return newShape;
        } else if (shape instanceof ConvexHullShape) {
            ConvexHullShape convexHull = (ConvexHullShape) shape;
            ObjectArrayList<Vector3f> transformedVerts = new ObjectArrayList<>();

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Related Classes of com.bulletphysics.collision.shapes.CompoundShape

com.bulletphysics.collision.dispatch.CollisionWorld

com.bulletphysics.collision.dispatch.CompoundCollisionAlgorithm

com.bulletphysics.demos.concave.ConcaveDemo

com.bulletphysics.demos.forklift.ForkLiftDemo

com.bulletphysics.demos.movingconcave.MovingConcaveDemo

com.bulletphysics.demos.opengl.GLShapeDrawer

com.bulletphysics.demos.vehicle.VehicleDemo

com.bulletphysics.extras.gimpact.GImpactCollisionAlgorithm

com.bulletphysics.linearmath.Transform

org.terasology.world.block.shapes.BlockShapeImpl

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