protected void updateActivationState(float timeStep) {
Vector3f tmp = Stack.alloc(Vector3f.class);
for (int i = 0; i < collisionObjects.size(); i++) {
CollisionObject colObj = collisionObjects.getQuick(i);
RigidBody body = RigidBody.upcast(colObj);
if (body != null) {
body.updateDeactivation(timeStep);
if (body.wantsSleeping()) {
if (body.isStaticOrKinematicObject()) {
body.setActivationState(CollisionObject.ISLAND_SLEEPING);
} else {
if (body.getActivationState() == CollisionObject.ACTIVE_TAG) {
body.setActivationState(CollisionObject.WANTS_DEACTIVATION);
}
if (body.getActivationState() == CollisionObject.ISLAND_SLEEPING) {
tmp.set(0f, 0f, 0f);
body.setAngularVelocity(tmp);
body.setLinearVelocity(tmp);
}
}
} else {
if (body.getActivationState() != CollisionObject.DISABLE_DEACTIVATION) {
body.setActivationState(CollisionObject.ACTIVE_TAG);
}
}
}
}
}
public void addRigidBody(RigidBody body, short group, short mask) {
if (!body.isStaticOrKinematicObject()) {
body.setGravity(gravity);
}
if (body.getCollisionShape() != null) {
addCollisionObject(body, group, mask);
}
}
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);
}
}
}
}
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));
}
}
}
}
}
@Override
public void addRigidBody(RigidBody body) {
if (!body.isStaticOrKinematicObject()) {
body.setGravity(gravity);
}
if (body.getCollisionShape() != null) {
boolean isDynamic = !(body.isStaticObject() || body.isKinematicObject());
short collisionFilterGroup =
isDynamic
? (short) CollisionFilterGroups.DEFAULT_FILTER
: (short) CollisionFilterGroups.STATIC_FILTER;
short collisionFilterMask =
isDynamic
? (short) CollisionFilterGroups.ALL_FILTER
: (short) (CollisionFilterGroups.ALL_FILTER ^ CollisionFilterGroups.STATIC_FILTER);
addCollisionObject(body, collisionFilterGroup, collisionFilterMask);
}
}
protected void synchronizeMotionStates() {
Transform interpolatedTransform = Stack.alloc(Transform.class);
Transform tmpTrans = Stack.alloc(Transform.class);
Vector3f tmpLinVel = Stack.alloc(Vector3f.class);
Vector3f tmpAngVel = Stack.alloc(Vector3f.class);
// 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.getMotionState() != null && !body.isStaticOrKinematicObject()) {
// we need to call the update at least once, even for sleeping objects
// otherwise the 'graphics' transform never updates properly
// so todo: add 'dirty' flag
// if (body->getActivationState() != ISLAND_SLEEPING)
{
TransformUtil.integrateTransform(
body.getInterpolationWorldTransform(tmpTrans),
body.getInterpolationLinearVelocity(tmpLinVel),
body.getInterpolationAngularVelocity(tmpAngVel),
localTime * body.getHitFraction(),
interpolatedTransform);
body.getMotionState().setWorldTransform(interpolatedTransform);
}
}
}
if (getDebugDrawer() != null
&& (getDebugDrawer().getDebugMode() & DebugDrawModes.DRAW_WIREFRAME) != 0) {
for (int i = 0; i < vehicles.size(); i++) {
for (int v = 0; v < vehicles.getQuick(i).getNumWheels(); v++) {
// synchronize the wheels with the (interpolated) chassis worldtransform
vehicles.getQuick(i).updateWheelTransform(v, true);
}
}
}
}