private CollisionShape rotate(CollisionShape shape, Quat4f rot) {
if (shape instanceof BoxShape) {
BoxShape box = (BoxShape) shape;
javax.vecmath.Vector3f extents = box.getHalfExtentsWithMargin(new javax.vecmath.Vector3f());
com.bulletphysics.linearmath.QuaternionUtil.quatRotate(VecMath.to(rot), extents, extents);
extents.absolute();
return new BoxShape(extents);
} else if (shape instanceof CompoundShape) {
CompoundShape compound = (CompoundShape) shape;
CompoundShape newShape = new CompoundShape();
for (CompoundShapeChild child : compound.getChildList()) {
CollisionShape rotatedChild = rotate(child.childShape, rot);
javax.vecmath.Vector3f offset =
com.bulletphysics.linearmath.QuaternionUtil.quatRotate(
VecMath.to(rot), child.transform.origin, new javax.vecmath.Vector3f());
newShape.addChildShape(
new Transform(
new javax.vecmath.Matrix4f(VecMath.to(Rotation.none().getQuat4f()), offset, 1.0f)),
rotatedChild);
}
return newShape;
} else if (shape instanceof ConvexHullShape) {
ConvexHullShape convexHull = (ConvexHullShape) shape;
ObjectArrayList<javax.vecmath.Vector3f> transformedVerts = new ObjectArrayList<>();
for (javax.vecmath.Vector3f vert : convexHull.getPoints()) {
transformedVerts.add(
com.bulletphysics.linearmath.QuaternionUtil.quatRotate(
VecMath.to(rot), vert, new javax.vecmath.Vector3f()));
}
return new ConvexHullShape(transformedVerts);
}
return shape;
}
/**
* Adds a new physics block to be rendered as a rigid body. Translucent blocks are ignored.
*
* @param position The position
* @param type The block type
* @param impulse An impulse
* @param size The size of the block
* @return The created rigid body (if any)
*/
public synchronized BlockRigidBody addBlock(
Vector3f position, byte type, Vector3f impulse, BLOCK_SIZE size, boolean temporary) {
if (temporary && _blocks.size() > MAX_TEMP_BLOCKS) return null;
BoxShape shape = _blockShape;
Block block = BlockManager.getInstance().getBlock(type);
if (block.isTranslucent()) return null;
if (size == BLOCK_SIZE.HALF_SIZE) shape = _blockShapeHalf;
else if (size == BLOCK_SIZE.QUARTER_SIZE) shape = _blockShapeQuarter;
Matrix3f rot = new Matrix3f();
rot.setIdentity();
DefaultMotionState blockMotionState =
new DefaultMotionState(new Transform(new Matrix4f(rot, position, 1.0f)));
Vector3f fallInertia = new Vector3f();
shape.calculateLocalInertia(block.getMass(), fallInertia);
RigidBodyConstructionInfo blockCI =
new RigidBodyConstructionInfo(block.getMass(), blockMotionState, shape, fallInertia);
BlockRigidBody rigidBlock = new BlockRigidBody(blockCI, type);
rigidBlock.setRestitution(0.0f);
rigidBlock.setAngularFactor(0.5f);
rigidBlock.setFriction(0.5f);
rigidBlock._temporary = temporary;
// Apply impulse
rigidBlock.applyImpulse(impulse, new Vector3f(0.0f, 0.0f, 0.0f));
_insertionQueue.add(rigidBlock);
return rigidBlock;
}