Examples with SequentialImpulseConstraintSolver com.bulletphysics.dynamics.constraintsolver.SequentialImpulseConstraintSolver used on opensource projects

Example 1 with SequentialImpulseConstraintSolver

use of com.bulletphysics.dynamics.constraintsolver.SequentialImpulseConstraintSolver in project jmonkeyengine by jMonkeyEngine.

the class PhysicsSpace method create.

/**
     * Has to be called from the (designated) physics thread
     */
public void create() {
    pQueueTL.set(pQueue);
    collisionConfiguration = new DefaultCollisionConfiguration();
    dispatcher = new CollisionDispatcher(collisionConfiguration);
    switch(broadphaseType) {
        case SIMPLE:
            broadphase = new SimpleBroadphase();
            break;
        case AXIS_SWEEP_3:
            broadphase = new AxisSweep3(Converter.convert(worldMin), Converter.convert(worldMax));
            break;
        case AXIS_SWEEP_3_32:
            broadphase = new AxisSweep3_32(Converter.convert(worldMin), Converter.convert(worldMax));
            break;
        case DBVT:
            broadphase = new DbvtBroadphase();
            break;
    }
    solver = new SequentialImpulseConstraintSolver();
    dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
    dynamicsWorld.setGravity(new javax.vecmath.Vector3f(0, -9.81f, 0));
    broadphase.getOverlappingPairCache().setInternalGhostPairCallback(new GhostPairCallback());
    GImpactCollisionAlgorithm.registerAlgorithm(dispatcher);
    physicsSpaceTL.set(this);
    //register filter callback for tick / collision
    setTickCallback();
    setContactCallbacks();
    //register filter callback for collision groups
    setOverlapFilterCallback();
}

Example 2 with SequentialImpulseConstraintSolver

use of com.bulletphysics.dynamics.constraintsolver.SequentialImpulseConstraintSolver in project bdx by GoranM.

the class Scene method init.

public void init() {
    requestedRestart = false;
    requestedEnd = false;
    paused = false;
    visible = true;
    if (shapeRenderer == null)
        shapeRenderer = new ShapeRenderer();
    drawCommands = new ArrayList<ArrayList<Object>>();
    lastFrameBuffer = new RenderBuffer(null);
    environment = new Environment();
    environment.set(new ColorAttribute(ColorAttribute.AmbientLight, 0, 0, 0, 1));
    environment.set(new PointLightsAttribute());
    environment.set(new SpotLightsAttribute());
    environment.set(new DirectionalLightsAttribute());
    screenShaders = new ArrayList<ScreenShader>();
    defaultMaterial = new Material("__BDX_DEFAULT");
    defaultMaterial.set(new ColorAttribute(ColorAttribute.AmbientLight, 1, 1, 1, 1));
    defaultMaterial.set(new ColorAttribute(ColorAttribute.Diffuse, 1, 1, 1, 1));
    defaultMaterial.set(new BlendingAttribute());
    defaultMaterial.set(new BDXColorAttribute(BDXColorAttribute.Tint, 0, 0, 0));
    defaultMesh = new Mesh(new ModelBuilder().createBox(1.0f, 1.0f, 1.0f, defaultMaterial, Usage.Position | Usage.Normal | Usage.TextureCoordinates), this);
    meshes = new HashMap<String, Mesh>();
    textures = new HashMap<String, Texture>();
    materials = new HashMap<String, Material>();
    modelToFrame = new HashMap<>();
    materials.put(defaultMaterial.id, defaultMaterial);
    BroadphaseInterface broadphase = new DbvtBroadphase();
    DefaultCollisionConfiguration collisionConfiguration = new DefaultCollisionConfiguration();
    SequentialImpulseConstraintSolver solver = new SequentialImpulseConstraintSolver();
    CollisionDispatcher dispatcher = new CollisionDispatcher(collisionConfiguration);
    toBeAdded = new ArrayList<GameObject>();
    toBeRemoved = new ArrayList<GameObject>();
    objects = new LinkedListNamed<GameObject>();
    lights = new LinkedListNamed<Light>();
    templates = new HashMap<String, GameObject>();
    json = new JsonReader().parse(scene);
    name = json.get("name").asString();
    world = new DiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
    world.setDebugDrawer(new Bullet.DebugDrawer(json.get("physviz").asBoolean()));
    gravity(new Vector3f(0, 0, -json.get("gravity").asFloat()));
    float[] ac = json.get("ambientColor").asFloatArray();
    ambientLight(new Color(ac[0], ac[1], ac[2], 1));
    if (!clearColorDefaultSet) {
        float[] cc = json.get("clearColor").asFloatArray();
        Bdx.display.clearColor.set(cc[0], cc[1], cc[2], 0);
        clearColorDefaultSet = true;
    }
    if (json.get("framerateProfile").asBoolean()) {
        Bdx.profiler.init();
    }
    float[] fc = json.get("clearColor").asFloatArray();
    fogColor = new Color(fc[0], fc[1], fc[2], 1);
    fog(json.get("mistOn").asBoolean());
    fogRange(json.get("mistStart").asFloat(), json.get("mistDepth").asFloat());
    for (JsonValue mat : json.get("materials")) {
        String texName = mat.get("texture").asString();
        boolean hasAlpha = mat.get("alpha_blend").asString().equals("ALPHA");
        float opacity = hasAlpha ? mat.get("opacity").asFloat() : 1;
        Material material = new Material(mat.name);
        float[] c = mat.get("color").asFloatArray();
        material.set(ColorAttribute.createDiffuse(c[0], c[1], c[2], opacity));
        float[] s = mat.get("spec_color").asFloatArray();
        material.set(ColorAttribute.createSpecular(s[0], s[1], s[2], 1));
        material.set(FloatAttribute.createShininess(mat.get("shininess").asFloat()));
        material.set(new BDXColorAttribute(BDXColorAttribute.Tint, 0, 0, 0));
        IntAttribute shadeless = (IntAttribute) new BDXIntAttribute();
        if (mat.get("shadeless").asBoolean())
            shadeless.value = 1;
        material.set(shadeless);
        float emitStrength = mat.get("emit").asFloat();
        material.set(new BDXColorAttribute(BDXColorAttribute.Emit, emitStrength, emitStrength, emitStrength));
        if (mat.get("backface_culling").asBoolean())
            material.set(new IntAttribute(IntAttribute.CullFace, GL20.GL_BACK));
        else
            material.set(new IntAttribute(IntAttribute.CullFace, GL20.GL_NONE));
        if (texName != null) {
            Texture texture = textures.get(texName);
            if (texture == null) {
                texture = new Texture(Gdx.files.internal("bdx/textures/" + texName));
                textures.put(texName, texture);
            }
            texture.setWrap(TextureWrap.Repeat, TextureWrap.Repeat);
            material.texture(texture);
        }
        material.set(new DepthTestAttribute());
        if (hasAlpha) {
            BlendingAttribute ba = new BlendingAttribute(GL20.GL_SRC_ALPHA, GL20.GL_ONE_MINUS_SRC_ALPHA);
            ba.opacity = opacity;
            material.set(ba);
            // Discard pixels that fail this alpha test (sub-1% alpha)
            material.set(FloatAttribute.createAlphaTest(0.01f));
            // Turn on back-to-front sorting for alpha-enabled objects by default
            material.backToFrontSorting(true);
        } else {
            BlendingAttribute ba = new BlendingAttribute();
            ba.blended = false;
            material.set(ba);
        }
        materials.put(mat.name, material);
    }
    for (JsonValue model : json.get("models")) {
        meshes.put(model.name, new Mesh(createModel(model), this, model.name));
    }
    HashMap<String, JsonValue> fonts = new HashMap<>();
    for (JsonValue fontj : json.get("fonts")) {
        String font = fontj.asString();
        fonts.put(font, new JsonReader().parse(Gdx.files.internal("bdx/fonts/" + font + ".fntx")));
    }
    FAnim.loadActions(json.get("actions"));
    for (JsonValue gobj : json.get("objects")) {
        GameObject g = instantiator.newObject(gobj);
        g.json = gobj;
        g.name = gobj.name;
        g.scene = this;
        g.props = new HashMap<String, JsonValue>();
        for (JsonValue prop : gobj.get("properties")) {
            g.props.put(prop.name, prop);
        }
        String meshName = gobj.get("mesh_name").asString();
        if (meshName != null) {
            g.visibleNoChildren(gobj.get("visible").asBoolean());
            g.mesh(meshName);
        } else {
            g.visibleNoChildren(false);
            g.mesh(defaultMesh);
        }
        com.badlogic.gdx.graphics.Mesh mesh = g.modelInstance.model.meshes.first();
        float[] trans = gobj.get("transform").asFloatArray();
        JsonValue origin = json.get("origins").get(meshName);
        JsonValue dimensions = json.get("dimensions").get(meshName);
        g.origin = origin == null ? new Vector3f() : new Vector3f(origin.asFloatArray());
        g.dimensionsNoScale = dimensions == null ? new Vector3f(1, 1, 1) : new Vector3f(dimensions.asFloatArray());
        JsonValue physics = gobj.get("physics");
        g.currBodyType = GameObject.BodyType.valueOf(physics.get("body_type").asString());
        g.currBoundsType = GameObject.BoundsType.valueOf(physics.get("bounds_type").asString());
        g.body = Bullet.makeBody(mesh, trans, g.origin, g.currBodyType, g.currBoundsType, physics);
        g.body.setUserPointer(g);
        g.scale(getGLMatrixScale(trans));
        String type = gobj.get("type").asString();
        if (type.equals("FONT")) {
            Text t = (Text) g;
            t.font = fonts.get(gobj.get("font").asString());
            t.text(gobj.get("text").asString());
            t.capacity = t.text().length();
            String align = gobj.get("alignment").asString();
            if (align.equals("RIGHT"))
                t.alignment(Text.Alignment.RIGHT);
            else if (align.equals("CENTER"))
                t.alignment(Text.Alignment.CENTER);
            else
                t.alignment(Text.Alignment.LEFT);
        } else if (type.equals("LAMP")) {
            JsonValue settings = gobj.get("lamp");
            Light l = (Light) g;
            if (settings.getString("type").equals("SUN"))
                l.type = Light.Type.SUN;
            else if (settings.getString("type").equals("SPOT"))
                l.type = Light.Type.SPOT;
            else
                // POINT lamps; HEMI and AREA aren't supported, so they're turned into POINTs
                l.type = Light.Type.POINT;
            l.energy(settings.getFloat("energy"));
            float[] c = settings.get("color").asFloatArray();
            l.color(new Color(c[0], c[1], c[2], c[3]));
            if (l.type.equals(Light.Type.SPOT)) {
                l.spotSize(settings.getFloat("spot_size"));
            }
        } else if (type.equals("CAMERA")) {
            Camera c = (Camera) g;
            float[] projection = gobj.get("camera").get("projection").asFloatArray();
            Vector2f resolution = new Vector2f(json.get("resolution").asFloatArray());
            if (gobj.get("camera").get("type").asString().equals("PERSP")) {
                c.initData(Camera.Type.PERSPECTIVE);
                c.size(resolution);
                c.resolution(resolution);
                c.projection(new Matrix4f(projection));
                c.fov(c.fov());
            } else {
                c.initData(Camera.Type.ORTHOGRAPHIC);
                c.size(resolution);
                c.resolution(resolution);
                c.zoom(2 / projection[0]);
            }
            Matrix4 pm = new Matrix4(projection);
            pm.inv();
            Vector3 vec = new Vector3(0, 0, -1);
            vec.prj(pm);
            c.near(-vec.z);
            vec.set(0, 0, 1);
            vec.prj(pm);
            c.far(-vec.z);
        }
        templates.put(g.name, g);
    }
    hookParentChild();
    cameras = new ArrayListNamed<Camera>();
    addInstances();
    camera = (Camera) objects.get(json.get("cameras").asStringArray()[0]);
    String frameType = json.get("frame_type").asString();
    Viewport.Type viewportType;
    if (frameType.equals("LETTERBOX")) {
        viewportType = Viewport.Type.LETTERBOX;
    } else if (frameType.equals("EXTEND")) {
        viewportType = Viewport.Type.EXTEND;
    } else {
        // "SCALE"
        viewportType = Viewport.Type.SCALE;
    }
    viewport = new Viewport(this, viewportType);
    for (GameObject g : sortByPriority(new ArrayList<GameObject>(objects))) {
        initGameObject(g);
    }
    valid = true;
}