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

      Transform startTransform = new Transform();
      startTransform.setIdentity();
      Vector3f camPos = getCameraPosition();
      startTransform.origin.set(camPos);


      RigidBody body = localCreateRigidBody(mass, startTransform, trimeshShape);


      Vector3f linVel = new Vector3f(destination.x - camPos.x, destination.y - camPos.y, destination.z - camPos.z);
      linVel.normalize();
      linVel.scale(ShootBoxInitialSpeed * 0.25f);


      Transform tr = new Transform();
      tr.origin.set(camPos);
      tr.setRotation(new Quat4f(0f, 0f, 0f, 1f));
      body.setWorldTransform(tr);


      body.setLinearVelocity(linVel);
      body.setAngularVelocity(new Vector3f(0f, 0f, 0f));
    }
  }

View Full Code Here

      shape.calculateLocalInertia(mass, localInertia);
    }


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


    ownerWorld.addRigidBody(body);


    return body;
  }

View Full Code Here

        int numObj = getDynamicsWorld().getNumCollisionObjects();
        if (numObj != 0) {
          CollisionObject obj = getDynamicsWorld().getCollisionObjectArray().getQuick(numObj - 1);


          getDynamicsWorld().removeCollisionObject(obj);
          RigidBody body = RigidBody.upcast(obj);
          if (body != null && body.getMotionState() != null) {
            //delete body->getMotionState();
          }
          //delete obj;
        }
        break;

View Full Code Here

        //#else
        shootBoxShape = new BoxShape(new Vector3f(1f, 1f, 1f));
        //#endif//
      }


      RigidBody body = this.localCreateRigidBody(mass, startTransform, shootBoxShape);


      Vector3f linVel = new Vector3f(destination.x - camPos.x, destination.y - camPos.y, destination.z - camPos.z);
      linVel.normalize();
      linVel.scale(ShootBoxInitialSpeed);


      Transform worldTrans = body.getWorldTransform(new Transform());
      worldTrans.origin.set(camPos);
      worldTrans.setRotation(new Quat4f(0f, 0f, 0f, 1f));
      body.setWorldTransform(worldTrans);
      
      body.setLinearVelocity(linVel);
      body.setAngularVelocity(new Vector3f(0f, 0f, 0f));


      body.setCcdMotionThreshold(1f);
      body.setCcdSweptSphereRadius(0.2f);
    }
  }

View Full Code Here

          // apply an impulse
          if (dynamicsWorld != null) {
            CollisionWorld.ClosestRayResultCallback rayCallback = new CollisionWorld.ClosestRayResultCallback(cameraPosition, rayTo);
            dynamicsWorld.rayTest(cameraPosition, rayTo, rayCallback);
            if (rayCallback.hasHit()) {
              RigidBody body = RigidBody.upcast(rayCallback.collisionObject);
              if (body != null) {
                body.setActivationState(CollisionObject.ACTIVE_TAG);
                Vector3f impulse = new Vector3f(rayTo);
                impulse.normalize();
                float impulseStrength = 10f;
                impulse.scale(impulseStrength);
                Vector3f relPos = new Vector3f();
                relPos.sub(rayCallback.hitPointWorld, body.getCenterOfMassPosition(new Vector3f()));
                body.applyImpulse(impulse, relPos);
              }
            }
          }
        }
        else {
        }
        break;
      }
      case 0: {
        if (state == 0) {
          // add a point to point constraint for picking
          if (dynamicsWorld != null) {
            CollisionWorld.ClosestRayResultCallback rayCallback = new CollisionWorld.ClosestRayResultCallback(cameraPosition, rayTo);
            dynamicsWorld.rayTest(cameraPosition, rayTo, rayCallback);
            if (rayCallback.hasHit()) {
              RigidBody body = RigidBody.upcast(rayCallback.collisionObject);
              if (body != null) {
                // other exclusions?
                if (!(body.isStaticObject() || body.isKinematicObject())) {
                  pickedBody = body;
                  pickedBody.setActivationState(CollisionObject.DISABLE_DEACTIVATION);


                  Vector3f pickPos = new Vector3f(rayCallback.hitPointWorld);


                  Transform tmpTrans = body.getCenterOfMassTransform(new Transform());
                  tmpTrans.inverse();
                  Vector3f localPivot = new Vector3f(pickPos);
                  tmpTrans.transform(localPivot);


                  Point2PointConstraint p2p = new Point2PointConstraint(body, localPivot);

View Full Code Here

    //#ifdef USE_MOTIONSTATE
    DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
    
    RigidBodyConstructionInfo cInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
    
    RigidBody body = new RigidBody(cInfo);
    //#else
    //btRigidBody* body = new btRigidBody(mass,0,shape,localInertia);  
    //body->setWorldTransform(startTransform);
    //#endif//

View Full Code Here

    if (dynamicsWorld != null) {
      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);
        }

View Full Code Here

      numObjects = dynamicsWorld.getNumCollisionObjects();
    }


    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));
        }
      }

View Full Code Here

    // TODO: check modulo C vs Java mismatch
    return (int) Math.abs(r % un);
  }
  
  private void initSolverBody(SolverBody solverBody, CollisionObject collisionObject) {
    RigidBody rb = RigidBody.upcast(collisionObject);
    if (rb != null) {
      rb.getAngularVelocity(solverBody.angularVelocity);
      solverBody.centerOfMassPosition.set(collisionObject.getWorldTransform(Stack.alloc(Transform.class)).origin);
      solverBody.friction = collisionObject.getFriction();
      solverBody.invMass = rb.getInvMass();
      rb.getLinearVelocity(solverBody.linearVelocity);
      solverBody.originalBody = rb;
      solverBody.angularFactor = rb.getAngularFactor();
    }
    else {
      solverBody.angularVelocity.set(0f, 0f, 0f);
      solverBody.centerOfMassPosition.set(collisionObject.getWorldTransform(Stack.alloc(Transform.class)).origin);
      solverBody.friction = collisionObject.getFriction();

View Full Code Here

    return 0f;
  }
  
  @StaticAlloc
  protected void addFrictionConstraint(Vector3f normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, ManifoldPoint cp, Vector3f rel_pos1, Vector3f rel_pos2, CollisionObject colObj0, CollisionObject colObj1, float relaxation) {
    RigidBody body0 = RigidBody.upcast(colObj0);
    RigidBody body1 = RigidBody.upcast(colObj1);


    SolverConstraint solverConstraint = constraintsPool.get();
    tmpSolverFrictionConstraintPool.add(solverConstraint);


    solverConstraint.contactNormal.set(normalAxis);


    solverConstraint.solverBodyIdA = solverBodyIdA;
    solverConstraint.solverBodyIdB = solverBodyIdB;
    solverConstraint.constraintType = SolverConstraintType.SOLVER_FRICTION_1D;
    solverConstraint.frictionIndex = frictionIndex;


    solverConstraint.friction = cp.combinedFriction;
    solverConstraint.originalContactPoint = null;


    solverConstraint.appliedImpulse = 0f;
    solverConstraint.appliedPushImpulse = 0f;
    solverConstraint.penetration = 0f;
    
    Vector3f ftorqueAxis1 = Stack.alloc(Vector3f.class);
    Matrix3f tmpMat = Stack.alloc(Matrix3f.class);
    
    {
      ftorqueAxis1.cross(rel_pos1, solverConstraint.contactNormal);
      solverConstraint.relpos1CrossNormal.set(ftorqueAxis1);
      if (body0 != null) {
        solverConstraint.angularComponentA.set(ftorqueAxis1);
        body0.getInvInertiaTensorWorld(tmpMat).transform(solverConstraint.angularComponentA);
      }
      else {
        solverConstraint.angularComponentA.set(0f, 0f, 0f);
      }
    }
    {
      ftorqueAxis1.cross(rel_pos2, solverConstraint.contactNormal);
      solverConstraint.relpos2CrossNormal.set(ftorqueAxis1);
      if (body1 != null) {
        solverConstraint.angularComponentB.set(ftorqueAxis1);
        body1.getInvInertiaTensorWorld(tmpMat).transform(solverConstraint.angularComponentB);
      }
      else {
        solverConstraint.angularComponentB.set(0f, 0f, 0f);
      }
    }


    //#ifdef COMPUTE_IMPULSE_DENOM
    //  btScalar denom0 = rb0->computeImpulseDenominator(pos1,solverConstraint.m_contactNormal);
    //  btScalar denom1 = rb1->computeImpulseDenominator(pos2,solverConstraint.m_contactNormal);
    //#else
    Vector3f vec = Stack.alloc(Vector3f.class);
    float denom0 = 0f;
    float denom1 = 0f;
    if (body0 != null) {
      vec.cross(solverConstraint.angularComponentA, rel_pos1);
      denom0 = body0.getInvMass() + normalAxis.dot(vec);
    }
    if (body1 != null) {
      vec.cross(solverConstraint.angularComponentB, rel_pos2);
      denom1 = body1.getInvMass() + normalAxis.dot(vec);
    }
    //#endif //COMPUTE_IMPULSE_DENOM


    float denom = relaxation / (denom0 + denom1);
    solverConstraint.jacDiagABInv = denom;

View Full Code Here

0 1 2 3 4

TOP

Related Classes of com.bulletphysics.dynamics.RigidBody

cc.sketchchair.core.dollBackup

cc.sketchchair.core.jBullet

cc.sketchchair.core.SketchChair

cc.sketchchair.ragdoll.ergoDoll

com.bulletphysics.demos.basic.BasicDemo

com.bulletphysics.demos.dynamiccontrol.DynamicControlDemo

com.bulletphysics.demos.dynamiccontrol.TestRig

com.bulletphysics.demos.genericjoint.RagDoll

com.bulletphysics.demos.helloworld.HelloWorld

com.bulletphysics.demos.movingconcave.MovingConcaveDemo

All source code are property of their respective owners. Java is a trademark of Sun Microsystems, Inc and owned by ORACLE Inc. Contact coftware#gmail.com.