public void reset() {
   world.removeRigidBody(rigidBody);
   trans = new Transform();
   trans.setIdentity();
   trans.origin.set(originPosition.x, originPosition.y, originPosition.z);
   state = new DefaultMotionState(trans);
   init(this.restitution, this.friction, this.mass);
 }
Beispiel #2
0
  public void destroy() {
    int i;

    // Remove all constraints
    for (i = 0; i < JOINT_COUNT; ++i) {
      ownerWorld.removeConstraint(joints[i]);
      // joints[i].destroy();
      joints[i] = null;
    }

    // Remove all bodies and shapes
    for (i = 0; i < BodyPart.BODYPART_COUNT.ordinal(); ++i) {
      ownerWorld.removeRigidBody(bodies[i]);

      // bodies[i].getMotionState().destroy();

      bodies[i].destroy();
      bodies[i] = null;

      // shapes[i].destroy();
      shapes[i] = null;
    }
  }
 /**
  * @param restitution反弹系数
  * @param friction摩擦力系数
  * @param mass
  */
 public void init(float restitution, float friction, float mass) {
   this.restitution = restitution;
   this.friction = friction;
   this.mass = mass;
   intertia = new javax.vecmath.Vector3f();
   RigidBodyConstructionInfo info;
   if (mass == 0) {
     info = new RigidBodyConstructionInfo(this.mass, state, shape);
   } else {
     shape.calculateLocalInertia(mass, intertia);
     info = new RigidBodyConstructionInfo(this.mass, state, shape, intertia);
   }
   rigidBody = new RigidBody(info);
   rigidBody.setFriction(friction);
   rigidBody.setRestitution(restitution);
   world.addRigidBody(rigidBody);
 }
Beispiel #4
0
  private RigidBody localCreateRigidBody(
      float mass, Transform startTransform, CollisionShape shape) {
    boolean isDynamic = (mass != 0f);

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

    DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
    RigidBodyConstructionInfo rbInfo =
        new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
    RigidBody body = new RigidBody(rbInfo);

    ownerWorld.addRigidBody(body);

    return body;
  }
Beispiel #5
0
  public TestRig(DynamicsWorld ownerWorld, Vector3f positionOffset, boolean fixed) {
    this.ownerWorld = ownerWorld;

    Transform tmpTrans = new Transform();

    Vector3f up = new Vector3f();
    up.set(0.0f, 1.0f, 0.0f);

    //
    // Setup geometry
    //
    float bodySize = 0.25f;
    float legLength = 0.45f;
    float foreLegLength = 0.75f;
    shapes[0] = new CapsuleShape(bodySize, 0.10f);
    int i;
    for (i = 0; i < NUM_LEGS; i++) {
      shapes[1 + 2 * i] = new CapsuleShape(0.10f, legLength);
      shapes[2 + 2 * i] = new CapsuleShape(0.08f, foreLegLength);
    }

    //
    // Setup rigid bodies
    //
    float height = 0.5f;
    Transform offset = new Transform();
    offset.setIdentity();
    offset.origin.set(positionOffset);

    // root
    Vector3f root = new Vector3f();
    root.set(0.0f, height, 0.0f);
    Transform transform = new Transform();
    transform.setIdentity();
    transform.origin.set(root);
    tmpTrans.mul(offset, transform);
    if (fixed) {
      bodies[0] = localCreateRigidBody(0.0f, tmpTrans, shapes[0]);
    } else {
      bodies[0] = localCreateRigidBody(1.0f, tmpTrans, shapes[0]);
    }
    // legs
    for (i = 0; i < NUM_LEGS; i++) {
      float angle = BulletGlobals.SIMD_2_PI * i / NUM_LEGS;
      float sin = (float) Math.sin(angle);
      float cos = (float) Math.cos(angle);

      transform.setIdentity();
      Vector3f boneOrigin = new Vector3f();
      boneOrigin.set(
          cos * (bodySize + 0.5f * legLength), height, sin * (bodySize + 0.5f * legLength));
      transform.origin.set(boneOrigin);

      // thigh
      Vector3f toBone = new Vector3f(boneOrigin);
      toBone.sub(root);
      toBone.normalize();
      Vector3f axis = new Vector3f();
      axis.cross(toBone, up);
      Quat4f q = new Quat4f();
      QuaternionUtil.setRotation(q, axis, BulletGlobals.SIMD_HALF_PI);
      transform.setRotation(q);
      tmpTrans.mul(offset, transform);
      bodies[1 + 2 * i] = localCreateRigidBody(1.0f, tmpTrans, shapes[1 + 2 * i]);

      // shin
      transform.setIdentity();
      transform.origin.set(
          cos * (bodySize + legLength),
          height - 0.5f * foreLegLength,
          sin * (bodySize + legLength));
      tmpTrans.mul(offset, transform);
      bodies[2 + 2 * i] = localCreateRigidBody(1.0f, tmpTrans, shapes[2 + 2 * i]);
    }

    // Setup some damping on the bodies
    for (i = 0; i < BODYPART_COUNT; ++i) {
      bodies[i].setDamping(0.05f, 0.85f);
      bodies[i].setDeactivationTime(0.8f);
      bodies[i].setSleepingThresholds(1.6f, 2.5f);
    }

    //
    // Setup the constraints
    //
    HingeConstraint hingeC;
    // ConeTwistConstraint* coneC;

    Transform localA = new Transform();
    Transform localB = new Transform();
    Transform localC = new Transform();

    for (i = 0; i < NUM_LEGS; i++) {
      float angle = BulletGlobals.SIMD_2_PI * i / NUM_LEGS;
      float sin = (float) Math.sin(angle);
      float cos = (float) Math.cos(angle);

      // hip joints
      localA.setIdentity();
      localB.setIdentity();
      MatrixUtil.setEulerZYX(localA.basis, 0, -angle, 0);
      localA.origin.set(cos * bodySize, 0.0f, sin * bodySize);
      tmpTrans.inverse(bodies[1 + 2 * i].getWorldTransform(new Transform()));
      tmpTrans.mul(tmpTrans, bodies[0].getWorldTransform(new Transform()));
      localB.mul(tmpTrans, localA);
      hingeC = new HingeConstraint(bodies[0], bodies[1 + 2 * i], localA, localB);
      hingeC.setLimit(-0.75f * BulletGlobals.SIMD_2_PI * 0.125f, BulletGlobals.SIMD_2_PI * 0.0625f);
      // hingeC.setLimit(-0.1f, 0.1f);
      joints[2 * i] = hingeC;
      ownerWorld.addConstraint(joints[2 * i], true);

      // knee joints
      localA.setIdentity();
      localB.setIdentity();
      localC.setIdentity();
      MatrixUtil.setEulerZYX(localA.basis, 0, -angle, 0);
      localA.origin.set(cos * (bodySize + legLength), 0.0f, sin * (bodySize + legLength));
      tmpTrans.inverse(bodies[1 + 2 * i].getWorldTransform(new Transform()));
      tmpTrans.mul(tmpTrans, bodies[0].getWorldTransform(new Transform()));
      localB.mul(tmpTrans, localA);
      tmpTrans.inverse(bodies[2 + 2 * i].getWorldTransform(new Transform()));
      tmpTrans.mul(tmpTrans, bodies[0].getWorldTransform(new Transform()));
      localC.mul(tmpTrans, localA);
      hingeC = new HingeConstraint(bodies[1 + 2 * i], bodies[2 + 2 * i], localB, localC);
      // hingeC.setLimit(-0.01f, 0.01f);
      hingeC.setLimit(-BulletGlobals.SIMD_2_PI * 0.0625f, 0.2f);
      joints[1 + 2 * i] = hingeC;
      ownerWorld.addConstraint(joints[1 + 2 * i], true);
    }
  }