Examples of RigidBody

aspect.physics.RigidBody
This is currently just an extension of Motion that includes force and mass. It is not a full implementation of rigid body physics. @author MillerV
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
net.nakou.indie.jsige.entity.RigidBody
@author Nakou
org.terasology.physics.engine.RigidBody
A rigid body is a physics object whose movement and location is controlled by the physics engine. Rigid bodies move under gravity and bounce off each other and the world.
After being removed from the physics engine this object is no longer valid and should not be used anymore.
TODO: add the methods to apply forces @author Xanhou

Examples of com.bulletphysics.dynamics.RigidBody

      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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Examples of com.bulletphysics.dynamics.RigidBody

    // 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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Examples of com.bulletphysics.dynamics.RigidBody

      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) {


          //if physics is off turn it on
          //if(  !SETTINGS.physics_on)
          //  SETTINGS.physics_on = true;


          // 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);

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Examples of com.bulletphysics.dynamics.RigidBody


    Iterator ite = myWorld.getCollisionObjectArray().iterator();


    while (ite.hasNext()) {


      RigidBody rBody = (RigidBody) ite.next();


      Transform myTransform = new Transform();
      myTransform = rBody.getMotionState().getWorldTransform(myTransform);


      g.pushMatrix();


      g.translate(myTransform.origin.x, myTransform.origin.y,
          myTransform.origin.z);


      g.applyMatrix(myTransform.basis.m00, myTransform.basis.m01,
          myTransform.basis.m02, 0, myTransform.basis.m10,
          myTransform.basis.m11, myTransform.basis.m12, 0,
          myTransform.basis.m20, myTransform.basis.m21,
          myTransform.basis.m22, 0, 0, 0, 0, 1);
      // rBody.
      // rBody.
      // System.out.println(myTransform.origin.y);
      // fill(fallRigidBody.c);
      // do the actual drawing of the object


      CollisionShape col = rBody.getCollisionShape();
      //if (col.isPolyhedral()) {
        Vector3f posP = new Vector3f();
        float[] sizeP = { 0 };
        col.getBoundingSphere(posP, sizeP);
        g.pushMatrix();

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Examples of com.bulletphysics.dynamics.RigidBody

    //myWorld.getGravity(gravity);
    myWorld.setGravity(new Vector3f(0, 0, 0));


    Iterator ite = myWorld.getCollisionObjectArray().iterator();
    while (ite.hasNext()) {
      RigidBody rBody = (RigidBody) ite.next();
      // rBody.setCollisionFlags(CollisionFlags.NO_CONTACT_RESPONSE);
      rBody.clearForces();
      rBody.setAngularVelocity(new Vector3f(0, 0, 0));
      rBody.setLinearVelocity(new Vector3f(0, 0, 0));
      rBody.clearForces();
      rBody.activate(false);


    }


    float ms = getDeltaTimeMicroseconds();


    //if(ms > 100)
    try {
      myWorld.stepSimulation(ms / 1000f);
    } catch (Exception ex) {
    }


    ite = myWorld.getCollisionObjectArray().iterator();


    while (ite.hasNext()) {
      RigidBody rBody = (RigidBody) ite.next();
      rBody.activate(true);
      // rBody.setCollisionFlags(CollisionFlags);


    }
    myWorld.setGravity(new Vector3f(0, SETTINGS.gravity, 0));

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Examples of com.bulletphysics.dynamics.RigidBody

      localA.origin.set(0f, 0f, 0f);


      localB.origin.set(0f, 0f, 0f);


      CollisionShape ZeroShape = null;
      GLOBAL.jBullet.ZeroBody = new RigidBody(0.0f, null, ZeroShape);


      Transform Rotation = new Transform();
      Rotation.setIdentity();
      GLOBAL.jBullet.ZeroBody.setWorldTransform(Rotation);

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Examples of com.bulletphysics.dynamics.RigidBody

    }
  }


  public void dragScale(float mouseX, float mouseY) {
    this.freeze();
    RigidBody body = GLOBAL.jBullet.getOver(mouseX, mouseY);


    if (body == bodies[BodyPart.BODYPART_PELVIS.ordinal()]
        || body == bodies[BodyPart.BODYPART_SPINE.ordinal()]
        || body == bodies[BodyPart.BODYPART_HEAD.ordinal()]
        || body == bodies[BodyPart.BODYPART_LEFT_UPPER_LEG.ordinal()]

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Examples of com.bulletphysics.dynamics.RigidBody

    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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Examples of com.bulletphysics.dynamics.RigidBody

      localA.origin.set(0f, 0f, 0f);


      localB.origin.set(0f, 0f, 0f);


      CollisionShape ZeroShape = null;
      GLOBAL.jBullet.ZeroBody = new RigidBody(0.0f, null, ZeroShape);


      Transform Rotation = new Transform();
      Rotation.setIdentity();
      GLOBAL.jBullet.ZeroBody.setWorldTransform(Rotation);

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Examples of com.bulletphysics.dynamics.RigidBody

    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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