Ejemplo n.º 1
0
 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;
 }
Ejemplo n.º 2
0
  /**
   * 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;
  }