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

        MotionState groundMotionState = new DefaultMotionState(new Transform(new Matrix4f(
                new Quat4f(0, 0, 0, 1),
                new Vector3f(0, 0, 0), 1.0f)));
        RigidBodyConstructionInfo groundBodyConstructionInfo = new RigidBodyConstructionInfo(0, groundMotionState, groundShape, new Vector3f(0, 0, 0));
        groundBodyConstructionInfo.restitution = 0.25f;
        RigidBody groundRigidBody = new RigidBody(groundBodyConstructionInfo);
        dynamicsWorld.addRigidBody(groundRigidBody);
        MotionState ballMotionState = new DefaultMotionState(DEFAULT_BALL_TRANSFORM);
        Vector3f ballInertia = new Vector3f(0, 0, 0);
        ballShape.calculateLocalInertia(2.5f, ballInertia);
        RigidBodyConstructionInfo ballConstructionInfo = new RigidBodyConstructionInfo(2.5f, ballMotionState, ballShape, ballInertia);
        ballConstructionInfo.restitution = 0.5f;
        ballConstructionInfo.angularDamping = 0.95f;
        controlBall = new RigidBody(ballConstructionInfo);
        controlBall.setActivationState(CollisionObject.DISABLE_DEACTIVATION);
        balls.add(controlBall);
        dynamicsWorld.addRigidBody(controlBall);
    }

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            DefaultMotionState motionState = new DefaultMotionState(new Transform(new Matrix4f(new Quat4f(0, 0, 0, 1), new Vector3f(camera.x(), 35, camera.z()), 1)));
            Vector3f inertia = new Vector3f();
            shape.calculateLocalInertia(1.0f, inertia);
            RigidBodyConstructionInfo constructionInfo = new RigidBodyConstructionInfo(1.0f, motionState, shape, inertia);
            constructionInfo.restitution = 0.75f;
            RigidBody body = new RigidBody(constructionInfo);
            dynamicsWorld.addRigidBody(body);
            balls.add(body);
            createNewShape = false;
        }
        if (resetControlBall) {

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            this.radius = radius;
            this.slices = slices;
            this.stacks = stacks;
            MotionState motion = new DefaultMotionState(new Transform(new Matrix4f(new Quat4f(0, 0, 0, 1), position, 1.0f)));
            CollisionShape shape = new SphereShape(radius);
            this.physicsBody = new RigidBody(mass, motion, shape);
            this.physicsWorld = physicsWorld;
            this.physicsWorld.addRigidBody(physicsBody);
            this.renderSphere = new org.lwjgl.util.glu.Sphere();
        }

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        // Set the restitution, also known as the bounciness or spring, to 0.25. The restitution may range from 0.0
        // not bouncy) to 1.0 (extremely bouncy).
        groundBodyConstructionInfo.restitution = 0.25f;
        // Initialise 'groundRigidBody', the final variable representing the ground, to a rigid body with the previously
        // assigned construction information.
        RigidBody groundRigidBody = new RigidBody(groundBodyConstructionInfo);
        // Add the ground to the JBullet world.
        dynamicsWorld.addRigidBody(groundRigidBody);
        // Initialise 'ballMotion' to a motion state that assigns a specified location to the ball.
        MotionState ballMotion = new DefaultMotionState(new Transform(DEFAULT_BALL_TRANSFORM));
        // Calculate the ball's inertia (resistance to movement) using its mass (2.5 kilograms).
        Vector3f ballInertia = new Vector3f(0, 0, 0);
        ballShape.calculateLocalInertia(2.5f, ballInertia);
        // Composes the ball's construction info of its mass, its motion state, its shape, and its inertia.
        RigidBodyConstructionInfo ballConstructionInfo = new RigidBodyConstructionInfo(2.5f, ballMotion, ballShape, ballInertia);
        // Set the restitution, also known as the bounciness or spring, to 0.5. The restitution may range from 0.0
        // not bouncy) to 1.0 (extremely bouncy).
        ballConstructionInfo.restitution = 0.5f;
        ballConstructionInfo.angularDamping = 0.95f;
        // Initialise 'controlBall', the final variable representing the controlled ball, to a rigid body with the
        // previously assigned construction information.
        controlBall = new RigidBody(ballConstructionInfo);
        // Disable 'sleeping' for the controllable ball.
        controlBall.setActivationState(CollisionObject.DISABLE_DEACTIVATION);
        // Add the control ball to the set of balls (more may be added by pressing 'g').
        balls.add(controlBall);
        // Add the control ball to the JBullet world.

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            // Calculate the inertia (resistance to movement) using the ball's mass of 1 kilogram.
            Vector3f inertia = new Vector3f(0, 0, 0);
            shape.calculateLocalInertia(1.0f, inertia);
            RigidBodyConstructionInfo constructionInfo = new RigidBodyConstructionInfo(1, motionState, shape, inertia);
            constructionInfo.restitution = 0.75f;
            RigidBody rigidBody = new RigidBody(constructionInfo);
            balls.add(rigidBody);
            dynamicsWorld.addRigidBody(rigidBody);
            createNewShape = false;
        }
        // If the controllable ball's position and orientation should be reset ...

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            this.radius = radius;
            this.slices = slices;
            this.stacks = stacks;
            MotionState motion = new DefaultMotionState(new Transform(new Matrix4f(new Quat4f(0, 0, 0, 1), position, 1.0f)));
            CollisionShape shape = new SphereShape(radius);
            this.physicsBody = new RigidBody(mass, motion, shape);
            this.physicsWorld = physicsWorld;
            this.physicsWorld.addRigidBody(physicsBody);
            this.renderSphere = new org.lwjgl.util.glu.Sphere();
        }

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        startTransform);


    this.startWorldTransform = startTransform;
    RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass,
        myMotionState, trimesh, localInertia);
    rigidBody = new RigidBody(rbInfo);
    Transform center = new Transform();
    center.origin.set(centreOfMass.x, centreOfMass.y, centreOfMass.z);
    rigidBody.setCenterOfMassTransform(center);


    rigidBody.setDamping(SETTINGS.chair_damping_linear,

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    }
  }


  boolean mouseOver(float mouseX, float mouseY) {


    RigidBody selectedBod = GLOBAL.jBullet.getOver(mouseX, mouseY);


    if (selectedBod != null && this.rigidBody != null
        && this.rigidBody.equals(selectedBod)) {
      return true;
    }

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      CollisionWorld.ClosestRayResultCallback rayCallback = new CollisionWorld.ClosestRayResultCallback(
          cameraPosition, rayTo);
      myWorld.rayTest(cameraPosition, rayTo, rayCallback);
      if (rayCallback.hasHit()) {


        RigidBody body = RigidBody.upcast(rayCallback.collisionObject);
        if (body != null) {


          return body;
        } else {
          return null;

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    // capabilities, and only synchronizes 'active' objects
    DefaultMotionState myMotionState2 = new DefaultMotionState(
        planeTransform);
    RigidBodyConstructionInfo rbInfo2 = new RigidBodyConstructionInfo(0,
        myMotionState2, constrainPlane, localInertia2);
    RigidBody body2 = new RigidBody(rbInfo2);
    this.constrainPlane2D = body2;


    // We can also use DemoApplication::localCreateRigidBody, but for
    // clarity it is provided here:
    {
      float mass = 0f;


      // rigidbody is dynamic if and only if mass is non zero, otherwise
      // static
      boolean isDynamic = (mass != 0f);


      Vector3f localInertia = new Vector3f(0, 0, 0);
      if (isDynamic) {
        groundShape.calculateLocalInertia(mass, localInertia);
      }


      // using motionstate is recommended, it provides interpolation
      // capabilities, and only synchronizes 'active' objects
      DefaultMotionState myMotionState = new DefaultMotionState(
          groundTransform);
      RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(
          mass, myMotionState, groundShape, localInertia);
       groundBody = new RigidBody(rbInfo);


      this.addGround();
      
    }
/*

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