@Override
public Element persist(Document doc, Element widgetNode, Widget widget) {
CylinderWidget cylinder = (CylinderWidget) widget;
RigidBody cylinderBody = cylinder.getRigidBody();
widgetNode.appendChild(
persistParam(
doc, "location", v3fToString(cylinderBody.getCenterOfMassPosition(new Vector3f()))));
widgetNode.appendChild(
persistParam(
doc,
"orientation",
v3fToString(
RenderableBase.toAngles(
cylinderBody.getWorldTransform(new Transform()).getRotation(new Quat4f())))));
widgetNode.appendChild(
persistParam(
doc, "linearVeloctiy", v3fToString(cylinderBody.getLinearVelocity(new Vector3f()))));
widgetNode.appendChild(
persistParam(
doc, "angularVelocity", v3fToString(cylinderBody.getAngularVelocity(new Vector3f()))));
widgetNode.appendChild(persistParam(doc, "radius", "" + cylinder.getRadius()));
widgetNode.appendChild(persistParam(doc, "height", "" + cylinder.getHeight()));
widgetNode.appendChild(persistParam(doc, "mass", "" + (1f / cylinderBody.getInvMass())));
widgetNode.appendChild(persistParam(doc, "restitution", "" + cylinderBody.getRestitution()));
widgetNode.appendChild(persistParam(doc, "friction", "" + cylinderBody.getFriction()));
return widgetNode;
}
public void addObjectsToCollisionDomain() {
Iterator<Entry<MTComponent, ArrayList<MTTriangleMesh>>> groupIter =
collisionGroups.entrySet().iterator();
int collidesWith = 0;
while (groupIter.hasNext()) {
collidesWith = ~groupId;
Entry<MTComponent, ArrayList<MTTriangleMesh>> element = groupIter.next();
// CollisionShape shape = createMeshShapeFromMTMeshTriangle(element.getValue());
Iterator<MTTriangleMesh> iter = element.getValue().iterator();
while (iter.hasNext()) {
MTComponent comp = iter.next();
CollisionShape shape = createMeshShapeFromMTMeshTriangle((MTTriangleMesh) comp);
/* Transform startTransform = new Transform();
startTransform.setIdentity();
Vector3f vec = new Vector3f();
Vector3D translate = currentMesh.getCenterPointRelativeToParent();
vec.x = translate.x;
vec.y = translate.y;
vec.z = translate.z;
startTransform.origin.set(vec);*/
Transform startTransform = new Transform();
startTransform.setIdentity();
Matrix mat = element.getKey().getGlobalMatrix();
Vector3f vec = new Vector3f(0.0f, 0.0f, 0.0f);
vec.x = mat.m03;
vec.y = mat.m13;
vec.z = mat.m23;
// startTransform.transform(vec);
// Matrix4f mat = CollisionManager.convertMT4JMatrixToMatrix4f(mesh.get);
// startTransform.set(mat);
// startTransform.origin.set(vec);
// mat4f.m03 = mat4f.m03 + vec.x;
// mat4f.m13 = mat4f.m13 + vec.y;
// mat4f.m23 = mat4f.m23 + vec.z;
// mat4f.setTranslation(vec);
startTransform.origin.set(vec);
Vector3f scale = new Vector3f(); // get scale value of global matrix
Vector3D xVec = new Vector3D(mat.m00, mat.m01, mat.m02);
Vector3D yVec = new Vector3D(mat.m10, mat.m11, mat.m12);
Vector3D zVec = new Vector3D(mat.m20, mat.m21, mat.m22);
scale.x = xVec.length();
scale.y = yVec.length();
scale.z = zVec.length();
float[] scaleVals = new float[3];
scale.get(scaleVals);
for (int i = 0; i < 3; i++) // get rotation value by extracting scalation
{
try {
float[] colvals = mat.getRow(i);
for (int j = 0; j < 3; j++) {
colvals[j] = colvals[j] / scaleVals[i];
}
startTransform.basis.setRow(i, colvals);
} catch (Exception e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
// startTransform.set(mat4f);
float mass = 5f; // fake mass value only needed correctly if used with dynamic engine
shape.setLocalScaling(scale);
GImpactMeshShape sh = (GImpactMeshShape) shape;
sh.updateBound();
RigidBody body = localCreateRigidBody(mass, startTransform, shape);
// get Center Of Mass of Triangle Mesh and write it to MTTriangleMesh
Vector3f vecCOM = new Vector3f();
body.getCenterOfMassPosition(vecCOM);
Vector3D vecComMT4J = new Vector3D(vecCOM.x, vecCOM.y, vecCOM.z);
// mesh.setCenterOfMass(vecComMT4J);
// mesh.setMass(100.0f);
// add Object to Collision World
collisionWorld.addCollisionObject(body, groupId, (short) collidesWith);
colObjectToComponent.put(body, comp);
addCollisionObjectToGroup(
comp.getParent(), body); // save association between collision objects and groups
}
groupId = (short) (groupId << 1); // shift groupId so every group has a unique bit value
}
SimulatePreDrawAction calcDynamics =
new SimulatePreDrawAction(collisionWorld, this, scene.getCanvas());
calcDynamics.setCurrentTimeStep(1.f / 1000000000000.0f);
scene.registerPreDrawAction(calcDynamics);
}