protected void integrateTransforms(float timeStep) {
Vector3f tmp = Stack.alloc(Vector3f.class);
Transform tmpTrans = Stack.alloc(Transform.class);
Transform predictedTrans = Stack.alloc(Transform.class);
for (int i = 0; i < collisionObjects.size(); i++) {
CollisionObject colObj = collisionObjects.getQuick(i);
RigidBody body = RigidBody.upcast(colObj);
if (body != null) {
body.setHitFraction(1f);
if (body.isActive() && (!body.isStaticOrKinematicObject())) {
body.predictIntegratedTransform(timeStep, predictedTrans);
tmp.sub(predictedTrans.origin, body.getWorldTransform(tmpTrans).origin);
float squareMotion = tmp.lengthSquared();
if (body.getCcdSquareMotionThreshold() != 0f
&& body.getCcdSquareMotionThreshold() < squareMotion) {
if (body.getCollisionShape().isConvex()) {
ClosestNotMeConvexResultCallback sweepResults =
new ClosestNotMeConvexResultCallback(
body,
body.getWorldTransform(tmpTrans).origin,
predictedTrans.origin,
getBroadphase().getOverlappingPairCache(),
getDispatcher());
// ConvexShape convexShape = (ConvexShape)body.getCollisionShape();
SphereShape tmpSphere =
new SphereShape(
body
.getCcdSweptSphereRadius()); // btConvexShape* convexShape =
// static_cast<btConvexShape*>(body->getCollisionShape());
sweepResults.collisionFilterGroup = body.getBroadphaseProxy().collisionFilterGroup;
sweepResults.collisionFilterMask = body.getBroadphaseProxy().collisionFilterMask;
convexSweepTest(
tmpSphere, body.getWorldTransform(tmpTrans), predictedTrans, sweepResults);
// JAVA NOTE: added closestHitFraction test to prevent objects being stuck
if (sweepResults.hasHit() && (sweepResults.closestHitFraction > 0.0001f)) {
body.setHitFraction(sweepResults.closestHitFraction);
body.predictIntegratedTransform(timeStep * body.getHitFraction(), predictedTrans);
body.setHitFraction(0f);
// System.out.printf("clamped integration to hit fraction = %f\n",
// sweepResults.closestHitFraction);
}
}
}
body.proceedToTransform(predictedTrans);
}
}
}
}
/** Apply gravity, call this once per timestep. */
public void applyGravity() {
// todo: iterate over awake simulation islands!
for (int i = 0; i < collisionObjects.size(); i++) {
CollisionObject colObj = collisionObjects.getQuick(i);
RigidBody body = RigidBody.upcast(colObj);
if (body != null && body.isActive()) {
body.applyGravity();
}
}
}
protected void calculateSimulationIslands() {
getSimulationIslandManager()
.updateActivationState(getCollisionWorld(), getCollisionWorld().getDispatcher());
int i;
int numConstraints = constraints.size();
for (i = 0; i < numConstraints; i++) {
TypedConstraint constraint = constraints.getQuick(i);
RigidBody colObj0 = constraint.getRigidBodyA();
RigidBody colObj1 = constraint.getRigidBodyB();
if (((colObj0 != null) && (!colObj0.isStaticOrKinematicObject()))
&& ((colObj1 != null) && (!colObj1.isStaticOrKinematicObject()))) {
if (colObj0.isActive() || colObj1.isActive()) {
getSimulationIslandManager()
.getUnionFind()
.unite((colObj0).getIslandTag(), (colObj1).getIslandTag());
}
}
}
// Store the island id in each body
getSimulationIslandManager().storeIslandActivationState(getCollisionWorld());
}
protected void predictUnconstraintMotion(float timeStep) {
Transform tmpTrans = Stack.alloc(Transform.class);
for (int i = 0; i < collisionObjects.size(); i++) {
CollisionObject colObj = collisionObjects.getQuick(i);
RigidBody body = RigidBody.upcast(colObj);
if (body != null) {
if (!body.isStaticOrKinematicObject()) {
if (body.isActive()) {
body.integrateVelocities(timeStep);
// damping
body.applyDamping(timeStep);
body.predictIntegratedTransform(
timeStep, body.getInterpolationWorldTransform(tmpTrans));
}
}
}
}
}