/*
* Java port of Bullet (c) 2008 Martin Dvorak <jezek2@advel.cz>
*
* Bullet Continuous Collision Detection and Physics Library
* Copyright (c) 2003-2008 Erwin Coumans http://www.bulletphysics.com/
*
* This software is provided 'as-is', without any express or implied warranty.
* In no event will the authors be held liable for any damages arising from
* the use of this software.
*
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
*
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
package com.bulletphysics.demos.basic;
import com.bulletphysics.util.ObjectArrayList;
import com.bulletphysics.collision.broadphase.BroadphaseInterface;
import com.bulletphysics.collision.broadphase.DbvtBroadphase;
import com.bulletphysics.collision.dispatch.CollisionDispatcher;
import com.bulletphysics.collision.dispatch.DefaultCollisionConfiguration;
import com.bulletphysics.collision.shapes.BoxShape;
import com.bulletphysics.collision.shapes.CollisionShape;
import com.bulletphysics.demos.opengl.DemoApplication;
import com.bulletphysics.demos.opengl.GLDebugDrawer;
import com.bulletphysics.demos.opengl.IGL;
import com.bulletphysics.demos.opengl.LWJGL;
import com.bulletphysics.dynamics.DiscreteDynamicsWorld;
import com.bulletphysics.dynamics.RigidBody;
import com.bulletphysics.dynamics.RigidBodyConstructionInfo;
import com.bulletphysics.dynamics.constraintsolver.ConstraintSolver;
import com.bulletphysics.dynamics.constraintsolver.SequentialImpulseConstraintSolver;
import com.bulletphysics.linearmath.DefaultMotionState;
import com.bulletphysics.linearmath.Transform;
import javax.vecmath.Vector3f;
import org.lwjgl.LWJGLException;
import static com.bulletphysics.demos.opengl.IGL.*;
/**
* BasicDemo is good starting point for learning the code base and porting.
*
* @author jezek2
*/
public class BasicDemo extends DemoApplication {
// create 125 (5x5x5) dynamic object
private static final int ARRAY_SIZE_X = 5;
private static final int ARRAY_SIZE_Y = 5;
private static final int ARRAY_SIZE_Z = 5;
// maximum number of objects (and allow user to shoot additional boxes)
private static final int MAX_PROXIES = (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024);
private static final int START_POS_X = -5;
private static final int START_POS_Y = -5;
private static final int START_POS_Z = -3;
// keep the collision shapes, for deletion/cleanup
private ObjectArrayList<CollisionShape> collisionShapes = new ObjectArrayList<CollisionShape>();
private BroadphaseInterface broadphase;
private CollisionDispatcher dispatcher;
private ConstraintSolver solver;
private DefaultCollisionConfiguration collisionConfiguration;
public BasicDemo(IGL gl) {
super(gl);
}
@Override
public void clientMoveAndDisplay() {
gl.glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// simple dynamics world doesn't handle fixed-time-stepping
float ms = getDeltaTimeMicroseconds();
// step the simulation
if (dynamicsWorld != null) {
dynamicsWorld.stepSimulation(ms / 1000000f);
// optional but useful: debug drawing
dynamicsWorld.debugDrawWorld();
}
renderme();
//glFlush();
//glutSwapBuffers();
}
@Override
public void displayCallback() {
gl.glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
renderme();
// optional but useful: debug drawing to detect problems
if (dynamicsWorld != null) {
dynamicsWorld.debugDrawWorld();
}
//glFlush();
//glutSwapBuffers();
}
public void initPhysics() {
setCameraDistance(50f);
// collision configuration contains default setup for memory, collision setup
collisionConfiguration = new DefaultCollisionConfiguration();
// use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
dispatcher = new CollisionDispatcher(collisionConfiguration);
broadphase = new DbvtBroadphase();
// the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver();
solver = sol;
// TODO: needed for SimpleDynamicsWorld
//sol.setSolverMode(sol.getSolverMode() & ~SolverMode.SOLVER_CACHE_FRIENDLY.getMask());
dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
dynamicsWorld.setGravity(new Vector3f(0f, -10f, 0f));
// create a few basic rigid bodies
CollisionShape groundShape = new BoxShape(new Vector3f(50f, 50f, 50f));
//CollisionShape groundShape = new StaticPlaneShape(new Vector3f(0, 1, 0), 50);
collisionShapes.add(groundShape);
Transform groundTransform = new Transform();
groundTransform.setIdentity();
groundTransform.origin.set(0, -56, 0);
// 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);
RigidBody body = new RigidBody(rbInfo);
// add the body to the dynamics world
dynamicsWorld.addRigidBody(body);
}
{
// create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
CollisionShape colShape = new BoxShape(new Vector3f(1, 1, 1));
//CollisionShape colShape = new SphereShape(1f);
collisionShapes.add(colShape);
// Create Dynamic Objects
Transform startTransform = new Transform();
startTransform.setIdentity();
float mass = 1f;
// 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) {
colShape.calculateLocalInertia(mass, localInertia);
}
float start_x = START_POS_X - ARRAY_SIZE_X / 2;
float start_y = START_POS_Y;
float start_z = START_POS_Z - ARRAY_SIZE_Z / 2;
for (int k = 0; k < ARRAY_SIZE_Y; k++) {
for (int i = 0; i < ARRAY_SIZE_X; i++) {
for (int j = 0; j < ARRAY_SIZE_Z; j++) {
startTransform.origin.set(
2f * i + start_x,
10f + 2f * k + start_y,
2f * j + start_z);
// using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
body.setActivationState(RigidBody.ISLAND_SLEEPING);
dynamicsWorld.addRigidBody(body);
body.setActivationState(RigidBody.ISLAND_SLEEPING);
}
}
}
}
clientResetScene();
}
public static void main(String[] args) throws LWJGLException {
BasicDemo ccdDemo = new BasicDemo(LWJGL.getGL());
ccdDemo.initPhysics();
ccdDemo.getDynamicsWorld().setDebugDrawer(new GLDebugDrawer(LWJGL.getGL()));
LWJGL.main(args, 800, 600, "Bullet Physics Demo. http://bullet.sf.net", ccdDemo);
}
}