/*
* 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.bsp;
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.CollisionShape;
import com.bulletphysics.collision.shapes.ConvexHullShape;
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.constraintsolver.ConstraintSolver;
import com.bulletphysics.dynamics.constraintsolver.SequentialImpulseConstraintSolver;
import com.bulletphysics.linearmath.Transform;
import javax.vecmath.Vector3f;
import static com.bulletphysics.demos.opengl.IGL.*;
/**
* BspDemo shows the convex collision detection, by converting a Quake BSP file
* into convex objects and allowing interaction with boxes.
*
* @author jezek2
*/
public class BspDemo extends DemoApplication {
private static final float CUBE_HALF_EXTENTS = 1;
private static final float EXTRA_HEIGHT = -20f;
// keep the collision shapes, for deletion/cleanup
public ObjectArrayList<CollisionShape> collisionShapes = new ObjectArrayList<CollisionShape>();
public BroadphaseInterface broadphase;
public CollisionDispatcher dispatcher;
public ConstraintSolver solver;
public DefaultCollisionConfiguration collisionConfiguration;
public BspDemo(IGL gl) {
super(gl);
}
public void initPhysics() throws Exception {
cameraUp.set(0f, 0f, 1f);
forwardAxis = 1;
setCameraDistance(22f);
// Setup a Physics Simulation Environment
collisionConfiguration = new DefaultCollisionConfiguration();
// btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
dispatcher = new CollisionDispatcher(collisionConfiguration);
Vector3f worldMin = new Vector3f(-1000f,-1000f,-1000f);
Vector3f worldMax = new Vector3f(1000f,1000f,1000f);
//broadphase = new AxisSweep3(worldMin, worldMax);
//broadphase = new SimpleBroadphase();
broadphase = new DbvtBroadphase();
//btOverlappingPairCache* broadphase = new btSimpleBroadphase();
solver = new SequentialImpulseConstraintSolver();
//ConstraintSolver* solver = new OdeConstraintSolver;
dynamicsWorld = new DiscreteDynamicsWorld(dispatcher,broadphase,solver,collisionConfiguration);
Vector3f gravity = new Vector3f();
gravity.negate(cameraUp);
gravity.scale(10f);
dynamicsWorld.setGravity(gravity);
new BspToBulletConverter().convertBsp(getClass().getResourceAsStream("exported.bsp.txt"));
clientResetScene();
}
@Override
public void clientMoveAndDisplay() {
gl.glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float dt = getDeltaTimeMicroseconds() * 0.000001f;
dynamicsWorld.stepSimulation(dt);
// 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();
//glFlush();
//glutSwapBuffers();
}
public static void main(String[] args) throws Exception {
BspDemo demo = new BspDemo(LWJGL.getGL());
demo.initPhysics();
demo.getDynamicsWorld().setDebugDrawer(new GLDebugDrawer(LWJGL.getGL()));
LWJGL.main(args, 800, 600, "Bullet Physics Demo. http://bullet.sf.net", demo);
}
////////////////////////////////////////////////////////////////////////////
private class BspToBulletConverter extends BspConverter {
@Override
public void addConvexVerticesCollider(ObjectArrayList<Vector3f> vertices) {
if (vertices.size() > 0) {
float mass = 0f;
Transform startTransform = new Transform();
// can use a shift
startTransform.setIdentity();
startTransform.origin.set(0, 0, -10f);
// this create an internal copy of the vertices
CollisionShape shape = new ConvexHullShape(vertices);
collisionShapes.add(shape);
//btRigidBody* body = m_demoApp->localCreateRigidBody(mass, startTransform,shape);
localCreateRigidBody(mass, startTransform, shape);
}
}
}
}