public void rayTest( Vector3f rayFromWorld, Vector3f rayToWorld, CollisionWorld.RayResultCallback resultCallback) { Transform rayFromTrans = new Transform(); rayFromTrans.setIdentity(); rayFromTrans.origin.set(rayFromWorld); Transform rayToTrans = new Transform(); rayToTrans.setIdentity(); rayToTrans.origin.set(rayToWorld); Transform tmpTrans = new Transform(); for (int i = 0; i < overlappingObjects.size(); i++) { CollisionObject collisionObject = overlappingObjects.getQuick(i); // only perform raycast if filterMask matches if (resultCallback.needsCollision(collisionObject.getBroadphaseHandle())) { CollisionWorld.rayTestSingle( rayFromTrans, rayToTrans, collisionObject, collisionObject.getCollisionShape(), collisionObject.getWorldTransform(tmpTrans), resultCallback); } } }
public void awakenRigidBodiesInArea(Vector3f min, Vector3f max) { for (int i = 0; i < collisionObjects.size(); i++) { CollisionObject collisionObject = collisionObjects.getQuick(i); if (!collisionObject.isStaticOrKinematicObject() && !collisionObject.isActive()) { Vector3f otherMin = Stack.alloc(Vector3f.class); Vector3f otherMax = Stack.alloc(Vector3f.class); collisionObject .getCollisionShape() .getAabb( collisionObject.getWorldTransform(Stack.alloc(Transform.class)), otherMin, otherMax); if (AabbUtil2.testAabbAgainstAabb2(min, max, otherMin, otherMax)) { collisionObject.activate(); } } } }
@Override public void debugDrawWorld() { if (getDebugDrawer() != null && (getDebugDrawer().getDebugMode() & DebugDrawModes.DRAW_CONTACT_POINTS) != 0) { int numManifolds = getDispatcher().getNumManifolds(); Vector3f color = Stack.alloc(Vector3f.class); color.set(0f, 0f, 0f); for (int i = 0; i < numManifolds; i++) { PersistentManifold contactManifold = getDispatcher().getManifoldByIndexInternal(i); // btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0()); // btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1()); int numContacts = contactManifold.getNumContacts(); for (int j = 0; j < numContacts; j++) { ManifoldPoint cp = contactManifold.getContactPoint(j); getDebugDrawer() .drawContactPoint( cp.positionWorldOnB, cp.normalWorldOnB, cp.getDistance(), cp.getLifeTime(), color); } } } if (getDebugDrawer() != null && (getDebugDrawer().getDebugMode() & (DebugDrawModes.DRAW_WIREFRAME | DebugDrawModes.DRAW_AABB)) != 0) { int i; Transform tmpTrans = Stack.alloc(Transform.class); Vector3f minAabb = Stack.alloc(Vector3f.class); Vector3f maxAabb = Stack.alloc(Vector3f.class); Vector3f colorvec = Stack.alloc(Vector3f.class); // todo: iterate over awake simulation islands! for (i = 0; i < collisionObjects.size(); i++) { CollisionObject colObj = collisionObjects.getQuick(i); if (getDebugDrawer() != null && (getDebugDrawer().getDebugMode() & DebugDrawModes.DRAW_WIREFRAME) != 0) { Vector3f color = Stack.alloc(Vector3f.class); color.set(255f, 255f, 255f); switch (colObj.getActivationState()) { case CollisionObject.ACTIVE_TAG: color.set(255f, 255f, 255f); break; case CollisionObject.ISLAND_SLEEPING: color.set(0f, 255f, 0f); break; case CollisionObject.WANTS_DEACTIVATION: color.set(0f, 255f, 255f); break; case CollisionObject.DISABLE_DEACTIVATION: color.set(255f, 0f, 0f); break; case CollisionObject.DISABLE_SIMULATION: color.set(255f, 255f, 0f); break; default: { color.set(255f, 0f, 0f); } } debugDrawObject(colObj.getWorldTransform(tmpTrans), colObj.getCollisionShape(), color); } if (debugDrawer != null && (debugDrawer.getDebugMode() & DebugDrawModes.DRAW_AABB) != 0) { colorvec.set(1f, 0f, 0f); colObj.getCollisionShape().getAabb(colObj.getWorldTransform(tmpTrans), minAabb, maxAabb); debugDrawer.drawAabb(minAabb, maxAabb, colorvec); } } Vector3f wheelColor = Stack.alloc(Vector3f.class); Vector3f wheelPosWS = Stack.alloc(Vector3f.class); Vector3f axle = Stack.alloc(Vector3f.class); Vector3f tmp = Stack.alloc(Vector3f.class); for (i = 0; i < vehicles.size(); i++) { for (int v = 0; v < vehicles.getQuick(i).getNumWheels(); v++) { wheelColor.set(0, 255, 255); if (vehicles.getQuick(i).getWheelInfo(v).raycastInfo.isInContact) { wheelColor.set(0, 0, 255); } else { wheelColor.set(255, 0, 255); } wheelPosWS.set(vehicles.getQuick(i).getWheelInfo(v).worldTransform.origin); axle.set( vehicles .getQuick(i) .getWheelInfo(v) .worldTransform .basis .getElement(0, vehicles.getQuick(i).getRightAxis()), vehicles .getQuick(i) .getWheelInfo(v) .worldTransform .basis .getElement(1, vehicles.getQuick(i).getRightAxis()), vehicles .getQuick(i) .getWheelInfo(v) .worldTransform .basis .getElement(2, vehicles.getQuick(i).getRightAxis())); // m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_wheelAxleWS // debug wheels (cylinders) tmp.add(wheelPosWS, axle); debugDrawer.drawLine(wheelPosWS, tmp, wheelColor); debugDrawer.drawLine( wheelPosWS, vehicles.getQuick(i).getWheelInfo(v).raycastInfo.contactPointWS, wheelColor); } } if (getDebugDrawer() != null && getDebugDrawer().getDebugMode() != 0) { for (i = 0; i < actions.size(); i++) { actions.getQuick(i).debugDraw(debugDrawer); } } } }
public void convexSweepTest( ConvexShape castShape, Transform convexFromWorld, Transform convexToWorld, CollisionWorld.ConvexResultCallback resultCallback, float allowedCcdPenetration) { Transform convexFromTrans = new Transform(); Transform convexToTrans = new Transform(); convexFromTrans.set(convexFromWorld); convexToTrans.set(convexToWorld); Vector3f castShapeAabbMin = new Vector3f(); Vector3f castShapeAabbMax = new Vector3f(); // compute AABB that encompasses angular movement { Vector3f linVel = new Vector3f(); Vector3f angVel = new Vector3f(); TransformUtil.calculateVelocity(convexFromTrans, convexToTrans, 1f, linVel, angVel); Transform R = new Transform(); R.setIdentity(); R.setRotation(convexFromTrans.getRotation(new Quat4f())); castShape.calculateTemporalAabb(R, linVel, angVel, 1f, castShapeAabbMin, castShapeAabbMax); } Transform tmpTrans = new Transform(); // go over all objects, and if the ray intersects their aabb + cast shape aabb, // do a ray-shape query using convexCaster (CCD) for (int i = 0; i < overlappingObjects.size(); i++) { CollisionObject collisionObject = overlappingObjects.getQuick(i); // only perform raycast if filterMask matches if (resultCallback.needsCollision(collisionObject.getBroadphaseHandle())) { // RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject(); Vector3f collisionObjectAabbMin = new Vector3f(); Vector3f collisionObjectAabbMax = new Vector3f(); collisionObject .getCollisionShape() .getAabb( collisionObject.getWorldTransform(tmpTrans), collisionObjectAabbMin, collisionObjectAabbMax); AabbUtil2.aabbExpand( collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax); float[] hitLambda = new float[] {1f}; // could use resultCallback.closestHitFraction, but needs testing Vector3f hitNormal = new Vector3f(); if (AabbUtil2.rayAabb( convexFromWorld.origin, convexToWorld.origin, collisionObjectAabbMin, collisionObjectAabbMax, hitLambda, hitNormal)) { CollisionWorld.objectQuerySingle( castShape, convexFromTrans, convexToTrans, collisionObject, collisionObject.getCollisionShape(), collisionObject.getWorldTransform(tmpTrans), resultCallback, allowedCcdPenetration); } } } }