Examples of com.bulletphysics.dynamics.RigidBody

com.bulletphysics.dynamics.RigidBody
RigidBody is the main class for rigid body objects. It is derived from {@link CollisionObject}, so it keeps reference to {@link CollisionShape}.
It is recommended for performance and memory use to share {@link CollisionShape}objects whenever possible.
There are 3 types of rigid bodies:
1. Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics.
2. Fixed objects with zero mass. They are not moving (basically collision objects).
3. Kinematic objects, which are objects without mass, but the user can move them. There is on-way interaction, and Bullet calculates a velocity based on the timestep and previous and current world transform.
Bullet automatically deactivates dynamic rigid bodies, when the velocity is below a threshold for a given time.
Deactivated (sleeping) rigid bodies don't take any processing time, except a minor broadphase collision detection impact (to allow active objects to activate/wake up sleeping objects). @author jezek2

    DefaultMotionState myMotionState = new DefaultMotionState(transform);
    
    RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(
        mass, myMotionState, collisionShape, localInertia);
    
    body = new RigidBody(rbInfo);


    // Add the body to the dynamics world.
    // This is NOT the EAS-env! It's the 3D physics world.
    env.getDynamicsWorld().addRigidBody(body);
  }

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    transform.origin.set(this.position);    
    DefaultMotionState motionState = new DefaultMotionState(transform);
    box.calculateLocalInertia(mass, localInertia);
    RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(
        this.mass, motionState, box, localInertia);
    RigidBody body = new RigidBody(rbInfo);
    this.getDynamicsWorld().addRigidBody(body);
    this.body = body;

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  // Does NOT work reliably!!!!
  public boolean touchesGround() {
    boolean result = false;
    //Get ground's rigid body.
    RigidBody groundBody = predecessor.getEnvironment().getGround();    
    
    //http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=&f=9&t=3188
    /* Scheint Probleme zu machen, da Boxen einfach durdch den Boden fallen!!!!!!!!
    CollisionAlgorithm ca = getDynamicsWorld().getDispatcher().findAlgorithm(groundBody, this.getRigidBody());
    ManifoldResult mr = new ManifoldResult(groundBody, this.getRigidBody());

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      int numObjects = dynamicsWorld.getNumCollisionObjects();
      wireColor.set(1f, 0f, 0f);
      for (int i = 0; i < numObjects; i++) {
        CollisionObject colObj = dynamicsWorld
            .getCollisionObjectArray().getQuick(i);
        RigidBody body = RigidBody.upcast(colObj);


        if (body != null && body.getMotionState() != null) {
          DefaultMotionState myMotionState = (DefaultMotionState) body
              .getMotionState();
          m.set(myMotionState.graphicsWorldTrans);
        } else {
          colObj.getWorldTransform(m);
        }

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    }


    for (int i = 0; i < numObjects; i++) {
      CollisionObject colObj = dynamicsWorld.getCollisionObjectArray()
          .getQuick(i);
      RigidBody body = RigidBody.upcast(colObj);
      if (body != null) {
        if (body.getMotionState() != null) {
          DefaultMotionState myMotionState = (DefaultMotionState) body
              .getMotionState();
          myMotionState.graphicsWorldTrans
              .set(myMotionState.startWorldTrans);
          colObj.setWorldTransform(myMotionState.graphicsWorldTrans);
          colObj.setInterpolationWorldTransform(myMotionState.startWorldTrans);
          colObj.activate();
        }
        // removed cached contact points
        dynamicsWorld
            .getBroadphase()
            .getOverlappingPairCache()
            .cleanProxyFromPairs(colObj.getBroadphaseHandle(),
                getDynamicsWorld().getDispatcher());


        body = RigidBody.upcast(colObj);
        if (body != null && !body.isStaticObject()) {
          RigidBody.upcast(colObj).setLinearVelocity(
              new Vector3f(0f, 0f, 0f));
          RigidBody.upcast(colObj).setAngularVelocity(
              new Vector3f(0f, 0f, 0f));
        }

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        MotionStateBind motionState = new MotionStateBind(startTransform);
        motionState.setSpatial(box);
//         create the RigidBody for our box
        RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass,
                motionState, shape, localInertia);
        RigidBody body = new RigidBody(rbInfo);
//        body.setRestitution(0.1f);
//        body.setFriction(0.50f);
//        body.setDamping(0f, 0f);
        //body.setUserPointer(box);
        // add the box to the world

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        // updates
        DefaultMotionState motionState = new DefaultMotionState(groundTransform);
        // create the RigidBody for our floor
        RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass,
                motionState, groundShape, localInertia);
        RigidBody body = new RigidBody(rbInfo);
        body.setUserPointer(floor);
        // add the floor to the world
        world.addRigidBody(body);
    }

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    }


    DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
    RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
    rbInfo.additionalDamping = true;
    RigidBody body = new RigidBody(rbInfo);


    ownerWorld.addRigidBody(body);


    return body;
  }

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      dynamicsWorld.debugDrawWorld();
    }


    for (int i=2; i>=0; i--) {
      CollisionObject obj = dynamicsWorld.getCollisionObjectArray().getQuick(i);
      RigidBody body = RigidBody.upcast(obj);
      drawFrame(body.getWorldTransform(new Transform()));
    }
    
    renderme();


    //glFlush();

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    startTransform.origin.set(0f, 25f, -200f);
    staticScenario.addChildShape(startTransform, staticboxShape5);


    startTransform.origin.set(0f, 0f, 0f);


    RigidBody staticBody = localCreateRigidBody(mass, startTransform, staticScenario);


    staticBody.setCollisionFlags(staticBody.getCollisionFlags() | CollisionFlags.STATIC_OBJECT);


    // enable custom material callback
    //staticBody.setCollisionFlags(staticBody.getCollisionFlags() | CollisionFlags.CUSTOM_MATERIAL_CALLBACK);


    // static plane
    Vector3f normal = new Vector3f(0.4f, 1.5f, -0.4f);
    normal.normalize();
    CollisionShape staticplaneShape6 = new StaticPlaneShape(normal, 0f); // A plane


    startTransform.origin.set(0f, 0f, 0f);


    RigidBody staticBody2 = localCreateRigidBody(mass, startTransform, staticplaneShape6);


    staticBody2.setCollisionFlags(staticBody2.getCollisionFlags() | CollisionFlags.STATIC_OBJECT);


    for (int i=0; i<9; i++) {
      CollisionShape boxShape = new BoxShape(new Vector3f(1f, 1f, 1f));
      startTransform.origin.set(2f * i - 5f, 2f, -3f);
      localCreateRigidBody(1, startTransform, boxShape);

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