Examples with Transform com.bulletphysics.linearmath.Transform used on opensource projects

Example 1 with Transform

use of com.bulletphysics.linearmath.Transform in project jmonkeyengine by jMonkeyEngine.

the class CompoundCollisionShape method addChildShape.

/**
     * adds a child shape at the given local translation
     * @param shape the child shape to add
     * @param location the local location of the child shape
     */
public void addChildShape(CollisionShape shape, Vector3f location) {
    Transform transA = new Transform(Converter.convert(new Matrix3f()));
    Converter.convert(location, transA.origin);
    children.add(new ChildCollisionShape(location.clone(), new Matrix3f(), shape));
    ((CompoundShape) cShape).addChildShape(transA, shape.getCShape());
}

Example 2 with Transform

use of com.bulletphysics.linearmath.Transform in project jmonkeyengine by jMonkeyEngine.

the class CompoundCollisionShape method addChildShape.

/**
     * adds a child shape at the given local translation
     * @param shape the child shape to add
     * @param location the local location of the child shape
     */
public void addChildShape(CollisionShape shape, Vector3f location, Matrix3f rotation) {
    if (shape instanceof CompoundCollisionShape) {
        throw new IllegalStateException("CompoundCollisionShapes cannot have CompoundCollisionShapes as children!");
    }
    Transform transA = new Transform(Converter.convert(rotation));
    Converter.convert(location, transA.origin);
    Converter.convert(rotation, transA.basis);
    children.add(new ChildCollisionShape(location.clone(), rotation.clone(), shape));
    ((CompoundShape) cShape).addChildShape(transA, shape.getCShape());
}

Example 3 with Transform

use of com.bulletphysics.linearmath.Transform in project bdx by GoranM.

the class CollisionWorld method updateSingleAabb.

// JAVA NOTE: ported from 2.74, missing contact threshold stuff
public void updateSingleAabb(CollisionObject colObj) {
    Stack stack = Stack.enter();
    Vector3f minAabb = stack.allocVector3f(), maxAabb = stack.allocVector3f();
    Vector3f tmp = stack.allocVector3f();
    Transform tmpTrans = stack.allocTransform();
    colObj.getCollisionShape().getAabb(colObj.getWorldTransform(tmpTrans), minAabb, maxAabb);
    // need to increase the aabb for contact thresholds
    Vector3f contactThreshold = stack.allocVector3f();
    contactThreshold.set(BulletGlobals.getContactBreakingThreshold(), BulletGlobals.getContactBreakingThreshold(), BulletGlobals.getContactBreakingThreshold());
    minAabb.sub(contactThreshold);
    maxAabb.add(contactThreshold);
    BroadphaseInterface bp = broadphasePairCache;
    // moving objects should be moderately sized, probably something wrong if not
    // TODO: optimize
    tmp.sub(maxAabb, minAabb);
    if (colObj.isStaticObject() || (tmp.lengthSquared() < 1e12f)) {
        bp.setAabb(colObj.getBroadphaseHandle(), minAabb, maxAabb, dispatcher1);
    } else {
        // something went wrong, investigate
        // this assert is unwanted in 3D modelers (danger of loosing work)
        colObj.setActivationState(CollisionObject.DISABLE_SIMULATION);
        if (updateAabbs_reportMe && debugDrawer != null) {
            updateAabbs_reportMe = false;
            debugDrawer.reportErrorWarning("Overflow in AABB, object removed from simulation");
            debugDrawer.reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n");
            debugDrawer.reportErrorWarning("Please include above information, your Platform, version of OS.\n");
            debugDrawer.reportErrorWarning("Thanks.\n");
        }
    }
    stack.leave();
}

Example 4 with Transform

use of com.bulletphysics.linearmath.Transform in project bdx by GoranM.

the class CollisionWorld method rayTestSingle.

// TODO
public static void rayTestSingle(Transform rayFromTrans, Transform rayToTrans, CollisionObject collisionObject, CollisionShape collisionShape, Transform colObjWorldTransform, RayResultCallback resultCallback) {
    Stack stack = Stack.enter();
    SphereShape pointShape = new SphereShape(0f);
    pointShape.setMargin(0f);
    ConvexShape castShape = pointShape;
    if (collisionShape.isConvex()) {
        CastResult castResult = new CastResult();
        castResult.fraction = resultCallback.closestHitFraction;
        ConvexShape convexShape = (ConvexShape) collisionShape;
        VoronoiSimplexSolver simplexSolver = new VoronoiSimplexSolver();
        //#define USE_SUBSIMPLEX_CONVEX_CAST 1
        //#ifdef USE_SUBSIMPLEX_CONVEX_CAST
        SubsimplexConvexCast convexCaster = new SubsimplexConvexCast(castShape, convexShape, simplexSolver);
        if (convexCaster.calcTimeOfImpact(rayFromTrans, rayToTrans, colObjWorldTransform, colObjWorldTransform, castResult)) {
            //add hit
            if (castResult.normal.lengthSquared() > 0.0001f) {
                if (castResult.fraction < resultCallback.closestHitFraction) {
                    //#ifdef USE_SUBSIMPLEX_CONVEX_CAST
                    //rotate normal into worldspace
                    rayFromTrans.basis.transform(castResult.normal);
                    //#endif //USE_SUBSIMPLEX_CONVEX_CAST
                    castResult.normal.normalize();
                    LocalRayResult localRayResult = new LocalRayResult(collisionObject, null, castResult.normal, castResult.fraction);
                    boolean normalInWorldSpace = true;
                    resultCallback.addSingleResult(localRayResult, normalInWorldSpace);
                }
            }
        }
    } else {
        if (collisionShape.isConcave()) {
            if (collisionShape.getShapeType() == BroadphaseNativeType.TRIANGLE_MESH_SHAPE_PROXYTYPE) {
                // optimized version for BvhTriangleMeshShape
                BvhTriangleMeshShape triangleMesh = (BvhTriangleMeshShape) collisionShape;
                Transform worldTocollisionObject = stack.allocTransform();
                worldTocollisionObject.inverse(colObjWorldTransform);
                Vector3f rayFromLocal = stack.alloc(rayFromTrans.origin);
                worldTocollisionObject.transform(rayFromLocal);
                Vector3f rayToLocal = stack.alloc(rayToTrans.origin);
                worldTocollisionObject.transform(rayToLocal);
                BridgeTriangleRaycastCallback rcb = new BridgeTriangleRaycastCallback(rayFromLocal, rayToLocal, resultCallback, collisionObject, triangleMesh);
                rcb.hitFraction = resultCallback.closestHitFraction;
                triangleMesh.performRaycast(rcb, rayFromLocal, rayToLocal);
            } else {
                ConcaveShape triangleMesh = (ConcaveShape) collisionShape;
                Transform worldTocollisionObject = stack.allocTransform();
                worldTocollisionObject.inverse(colObjWorldTransform);
                Vector3f rayFromLocal = stack.alloc(rayFromTrans.origin);
                worldTocollisionObject.transform(rayFromLocal);
                Vector3f rayToLocal = stack.alloc(rayToTrans.origin);
                worldTocollisionObject.transform(rayToLocal);
                BridgeTriangleRaycastCallback rcb = new BridgeTriangleRaycastCallback(rayFromLocal, rayToLocal, resultCallback, collisionObject, triangleMesh);
                rcb.hitFraction = resultCallback.closestHitFraction;
                Vector3f rayAabbMinLocal = stack.alloc(rayFromLocal);
                VectorUtil.setMin(rayAabbMinLocal, rayToLocal);
                Vector3f rayAabbMaxLocal = stack.alloc(rayFromLocal);
                VectorUtil.setMax(rayAabbMaxLocal, rayToLocal);
                triangleMesh.processAllTriangles(rcb, rayAabbMinLocal, rayAabbMaxLocal);
            }
        } else {
            // todo: use AABB tree or other BVH acceleration structure!
            if (collisionShape.isCompound()) {
                CompoundShape compoundShape = (CompoundShape) collisionShape;
                int i = 0;
                Transform childTrans = stack.allocTransform();
                for (i = 0; i < compoundShape.getNumChildShapes(); i++) {
                    compoundShape.getChildTransform(i, childTrans);
                    CollisionShape childCollisionShape = compoundShape.getChildShape(i);
                    Transform childWorldTrans = stack.alloc(colObjWorldTransform);
                    childWorldTrans.mul(childTrans);
                    // replace collision shape so that callback can determine the triangle
                    CollisionShape saveCollisionShape = collisionObject.getCollisionShape();
                    collisionObject.internalSetTemporaryCollisionShape(childCollisionShape);
                    rayTestSingle(rayFromTrans, rayToTrans, collisionObject, childCollisionShape, childWorldTrans, resultCallback);
                    // restore
                    collisionObject.internalSetTemporaryCollisionShape(saveCollisionShape);
                }
            }
        }
    }
    stack.leave();
}

Example 5 with Transform

use of com.bulletphysics.linearmath.Transform in project bdx by GoranM.

the class CollisionWorld method convexSweepTest.

/**
	 * convexTest performs a swept convex cast on all objects in the {@link CollisionWorld}, and calls the resultCallback
	 * This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
	 */
public void convexSweepTest(ConvexShape castShape, Transform convexFromWorld, Transform convexToWorld, ConvexResultCallback resultCallback) {
    Stack stack = Stack.enter();
    Transform convexFromTrans = stack.allocTransform();
    Transform convexToTrans = stack.allocTransform();
    convexFromTrans.set(convexFromWorld);
    convexToTrans.set(convexToWorld);
    Vector3f castShapeAabbMin = stack.allocVector3f();
    Vector3f castShapeAabbMax = stack.allocVector3f();
    // Compute AABB that encompasses angular movement
    {
        Vector3f linVel = stack.allocVector3f();
        Vector3f angVel = stack.allocVector3f();
        TransformUtil.calculateVelocity(convexFromTrans, convexToTrans, 1f, linVel, angVel);
        Transform R = stack.allocTransform();
        R.setIdentity();
        R.setRotation(convexFromTrans.getRotation(stack.allocQuat4f()));
        castShape.calculateTemporalAabb(R, linVel, angVel, 1f, castShapeAabbMin, castShapeAabbMax);
    }
    Transform tmpTrans = stack.allocTransform();
    Vector3f collisionObjectAabbMin = stack.allocVector3f();
    Vector3f collisionObjectAabbMax = stack.allocVector3f();
    float[] hitLambda = new float[1];
    // do a ray-shape query using convexCaster (CCD)
    for (int i = 0; i < collisionObjects.size(); i++) {
        CollisionObject collisionObject = collisionObjects.getQuick(i);
        // only perform raycast if filterMask matches
        if (resultCallback.needsCollision(collisionObject.getBroadphaseHandle())) {
            //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
            collisionObject.getWorldTransform(tmpTrans);
            collisionObject.getCollisionShape().getAabb(tmpTrans, collisionObjectAabbMin, collisionObjectAabbMax);
            AabbUtil2.aabbExpand(collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);
            // could use resultCallback.closestHitFraction, but needs testing
            hitLambda[0] = 1f;
            Vector3f hitNormal = stack.allocVector3f();
            if (AabbUtil2.rayAabb(convexFromWorld.origin, convexToWorld.origin, collisionObjectAabbMin, collisionObjectAabbMax, hitLambda, hitNormal)) {
                objectQuerySingle(castShape, convexFromTrans, convexToTrans, collisionObject, collisionObject.getCollisionShape(), tmpTrans, resultCallback, getDispatchInfo().allowedCcdPenetration);
            }
        }
    }
    stack.leave();
}