Examples with CollisionObject com.bulletphysics.collision.dispatch.CollisionObject used on opensource projects

Example 16 with CollisionObject

use of com.bulletphysics.collision.dispatch.CollisionObject in project bdx by GoranM.

the class DiscreteDynamicsWorld method synchronizeMotionStates.

protected void synchronizeMotionStates() {
    Stack stack = Stack.enter();
    Transform interpolatedTransform = stack.allocTransform();
    Transform tmpTrans = stack.allocTransform();
    Vector3f tmpLinVel = stack.allocVector3f();
    Vector3f tmpAngVel = stack.allocVector3f();
    // 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);
            }
        }
    }
    stack.leave();
}

Example 17 with CollisionObject

use of com.bulletphysics.collision.dispatch.CollisionObject in project bdx by GoranM.

the class SimpleDynamicsWorld method integrateTransforms.

protected void integrateTransforms(float timeStep) {
    Stack stack = Stack.enter();
    Transform predictedTrans = stack.allocTransform();
    for (int i = 0; i < collisionObjects.size(); i++) {
        CollisionObject colObj = collisionObjects.getQuick(i);
        RigidBody body = RigidBody.upcast(colObj);
        if (body != null) {
            if (body.isActive() && (!body.isStaticObject())) {
                body.predictIntegratedTransform(timeStep, predictedTrans);
                body.proceedToTransform(predictedTrans);
            }
        }
    }
    stack.leave();
}

Example 18 with CollisionObject

use of com.bulletphysics.collision.dispatch.CollisionObject in project bdx by GoranM.

the class SimpleDynamicsWorld method synchronizeMotionStates.

public void synchronizeMotionStates() {
    Stack stack = Stack.enter();
    Transform tmpTrans = stack.allocTransform();
    // 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) {
            if (body.getActivationState() != CollisionObject.ISLAND_SLEEPING) {
                body.getMotionState().setWorldTransform(body.getWorldTransform(tmpTrans));
            }
        }
    }
    stack.leave();
}

Example 19 with CollisionObject

use of com.bulletphysics.collision.dispatch.CollisionObject in project bdx by GoranM.

the class SimpleDynamicsWorld method clearForces.

@Override
public void clearForces() {
    // 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.clearForces();
        }
    }
}