//#ifdef FORCE_ZAXIS_UP
//m_dynamicsWorld->setGravity(btVector3(0,0,-10));
//#endif
//m_dynamicsWorld->setGravity(btVector3(0,0,0));
Transform tr = new Transform();
tr.setIdentity();
// either use heightfield or triangle mesh
//#define USE_TRIMESH_GROUND 1
//#ifdef USE_TRIMESH_GROUND
final float TRIANGLE_SIZE=20f;
// create a triangle-mesh ground
int vertStride = 3*4;
int indexStride = 3*4;
final int NUM_VERTS_X = 20;
final int NUM_VERTS_Y = 20;
final int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
final int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
vertices = ByteBuffer.allocateDirect(totalVerts*vertStride).order(ByteOrder.nativeOrder());
ByteBuffer gIndices = ByteBuffer.allocateDirect(totalTriangles*3*4).order(ByteOrder.nativeOrder());
for (int i=0;i<NUM_VERTS_X;i++)
{
for (int j=0;j<NUM_VERTS_Y;j++)
{
float wl = 0.2f;
// height set to zero, but can also use curved landscape, just uncomment out the code
float height = 0.f;//20.f*sinf(float(i)*wl)*cosf(float(j)*wl);
//#ifdef FORCE_ZAXIS_UP
//m_vertices[i+j*NUM_VERTS_X].setValue(
// (i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
// (j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE,
// height
// );
//#else
int idx = (i+j*NUM_VERTS_X)*3*4;
vertices.putFloat(idx+0*4, (i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE);
vertices.putFloat(idx+1*4, height);
vertices.putFloat(idx+2*4, (j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
//#endif
}
}
//int index=0;
for (int i=0;i<NUM_VERTS_X-1;i++)
{
for (int j=0;j<NUM_VERTS_Y-1;j++)
{
gIndices.putInt(j*NUM_VERTS_X+i);
gIndices.putInt(j*NUM_VERTS_X+i+1);
gIndices.putInt((j+1)*NUM_VERTS_X+i+1);
gIndices.putInt(j*NUM_VERTS_X+i);
gIndices.putInt((j+1)*NUM_VERTS_X+i+1);
gIndices.putInt((j+1)*NUM_VERTS_X+i);
}
}
gIndices.flip();
indexVertexArrays = new TriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts,vertices,vertStride);
boolean useQuantizedAabbCompression = true;
groundShape = new BvhTriangleMeshShape(indexVertexArrays,useQuantizedAabbCompression);
tr.origin.set(0,-4.5f,0);
//#else
////testing btHeightfieldTerrainShape
//int width=128;
//int length=128;
//unsigned char* heightfieldData = new unsigned char[width*length];
//{
// for (int i=0;i<width*length;i++)
// {
// heightfieldData[i]=0;
// }
//}
//
//char* filename="heightfield128x128.raw";
//FILE* heightfieldFile = fopen(filename,"r");
//if (!heightfieldFile)
//{
// filename="../../heightfield128x128.raw";
// heightfieldFile = fopen(filename,"r");
//}
//if (heightfieldFile)
//{
// int numBytes =fread(heightfieldData,1,width*length,heightfieldFile);
// //btAssert(numBytes);
// if (!numBytes)
// {
// printf("couldn't read heightfield at %s\n",filename);
// }
// fclose (heightfieldFile);
//}
//
//
//btScalar maxHeight = 20000.f;
//
//bool useFloatDatam=false;
//bool flipQuadEdges=false;
//
//btHeightfieldTerrainShape* heightFieldShape = new btHeightfieldTerrainShape(width,length,heightfieldData,maxHeight,upIndex,useFloatDatam,flipQuadEdges);;
//groundShape = heightFieldShape;
//
//heightFieldShape->setUseDiamondSubdivision(true);
//
//btVector3 localScaling(20,20,20);
//localScaling[upIndex]=1.f;
//groundShape->setLocalScaling(localScaling);
//
//tr.setOrigin(btVector3(0,-64.5f,0));
//
//#endif //
collisionShapes.add(groundShape);
// create ground object
localCreateRigidBody(0,tr,groundShape);
//#ifdef FORCE_ZAXIS_UP
//// indexRightAxis = 0;
//// indexUpAxis = 2;
//// indexForwardAxis = 1;
//btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,2.f, 0.5f));
//btCompoundShape* compound = new btCompoundShape();
//btTransform localTrans;
//localTrans.setIdentity();
////localTrans effectively shifts the center of mass with respect to the chassis
//localTrans.setOrigin(btVector3(0,0,1));
//#else
CollisionShape chassisShape = new BoxShape(new Vector3f(1.f,0.5f,2.f));
collisionShapes.add(chassisShape);
CompoundShape compound = new CompoundShape();
collisionShapes.add(compound);
Transform localTrans = new Transform();
localTrans.setIdentity();
// localTrans effectively shifts the center of mass with respect to the chassis
localTrans.origin.set(0,1,0);
//#endif
compound.addChildShape(localTrans,chassisShape);
{
CollisionShape suppShape = new BoxShape(new Vector3f(0.5f,0.1f,0.5f));
collisionShapes.add(chassisShape);
Transform suppLocalTrans = new Transform();
suppLocalTrans.setIdentity();
// localTrans effectively shifts the center of mass with respect to the chassis
suppLocalTrans.origin.set(0f,1.0f,2.5f);
compound.addChildShape(suppLocalTrans, suppShape);
}
tr.origin.set(0,0.f,0);
carChassis = localCreateRigidBody(800,tr,compound);//chassisShape);
//m_carChassis->setDamping(0.2,0.2);
{
CollisionShape liftShape = new BoxShape(new Vector3f(0.5f,2.0f,0.05f));
collisionShapes.add(liftShape);
Transform liftTrans = new Transform();
liftStartPos.set(0.0f, 2.5f, 3.05f);
liftTrans.setIdentity();
liftTrans.origin.set(liftStartPos);
liftBody = localCreateRigidBody(10,liftTrans, liftShape);
Transform localA = new Transform(), localB = new Transform();
localA.setIdentity();
localB.setIdentity();
MatrixUtil.setEulerZYX(localA.basis, 0, PI_2, 0);
localA.origin.set(0.0f, 1.0f, 3.05f);
MatrixUtil.setEulerZYX(localB.basis, 0, PI_2, 0);
localB.origin.set(0.0f, -1.5f, -0.05f);
liftHinge = new HingeConstraint(carChassis,liftBody, localA, localB);
liftHinge.setLimit(-LIFT_EPS, LIFT_EPS);
dynamicsWorld.addConstraint(liftHinge, true);
CollisionShape forkShapeA = new BoxShape(new Vector3f(1.0f,0.1f,0.1f));
collisionShapes.add(forkShapeA);
CompoundShape forkCompound = new CompoundShape();
collisionShapes.add(forkCompound);
Transform forkLocalTrans = new Transform();
forkLocalTrans.setIdentity();
forkCompound.addChildShape(forkLocalTrans, forkShapeA);
CollisionShape forkShapeB = new BoxShape(new Vector3f(0.1f,0.02f,0.6f));
collisionShapes.add(forkShapeB);
forkLocalTrans.setIdentity();
forkLocalTrans.origin.set(-0.9f, -0.08f, 0.7f);
forkCompound.addChildShape(forkLocalTrans, forkShapeB);
CollisionShape forkShapeC = new BoxShape(new Vector3f(0.1f,0.02f,0.6f));
collisionShapes.add(forkShapeC);
forkLocalTrans.setIdentity();
forkLocalTrans.origin.set(0.9f, -0.08f, 0.7f);
forkCompound.addChildShape(forkLocalTrans, forkShapeC);
Transform forkTrans = new Transform();
forkStartPos.set(0.0f, 0.6f, 3.2f);
forkTrans.setIdentity();
forkTrans.origin.set(forkStartPos);
forkBody = localCreateRigidBody(5, forkTrans, forkCompound);
localA.setIdentity();
localB.setIdentity();
MatrixUtil.setEulerZYX(localA.basis, 0, 0, PI_2);
localA.origin.set(0.0f, -1.9f, 0.05f);
MatrixUtil.setEulerZYX(localB.basis, 0, 0, PI_2);
localB.origin.set(0.0f, 0.0f, -0.1f);
forkSlider = new SliderConstraint(liftBody, forkBody, localA, localB, true);
forkSlider.setLowerLinLimit(0.1f);
forkSlider.setUpperLinLimit(0.1f);
forkSlider.setLowerAngLimit(-LIFT_EPS);
forkSlider.setUpperAngLimit(LIFT_EPS);
dynamicsWorld.addConstraint(forkSlider, true);
CompoundShape loadCompound = new CompoundShape();
collisionShapes.add(loadCompound);
CollisionShape loadShapeA = new BoxShape(new Vector3f(2.0f,0.5f,0.5f));
collisionShapes.add(loadShapeA);
Transform loadTrans = new Transform();
loadTrans.setIdentity();
loadCompound.addChildShape(loadTrans, loadShapeA);
CollisionShape loadShapeB = new BoxShape(new Vector3f(0.1f,1.0f,1.0f));
collisionShapes.add(loadShapeB);
loadTrans.setIdentity();
loadTrans.origin.set(2.1f, 0.0f, 0.0f);
loadCompound.addChildShape(loadTrans, loadShapeB);
CollisionShape loadShapeC = new BoxShape(new Vector3f(0.1f,1.0f,1.0f));
collisionShapes.add(loadShapeC);
loadTrans.setIdentity();
loadTrans.origin.set(-2.1f, 0.0f, 0.0f);
loadCompound.addChildShape(loadTrans, loadShapeC);
loadTrans.setIdentity();
loadStartPos.set(0.0f, -3.5f, 7.0f);
loadTrans.origin.set(loadStartPos);
loadBody = localCreateRigidBody(4, loadTrans, loadCompound);
}