Examples with Sphere com.jme3.scene.shape.Sphere used on opensource projects

Example 31 with Sphere

use of com.jme3.scene.shape.Sphere in project jmonkeyengine by jMonkeyEngine.

the class BoundingSphere method collideWithRay.

private int collideWithRay(Ray ray) {
    TempVars vars = TempVars.get();
    Vector3f diff = vars.vect1.set(ray.getOrigin()).subtractLocal(center);
    float a = diff.dot(diff) - (getRadius() * getRadius());
    float a1, discr;
    if (a <= 0.0) {
        // inside sphere
        vars.release();
        return 1;
    }
    a1 = ray.direction.dot(diff);
    vars.release();
    if (a1 >= 0.0) {
        return 0;
    }
    discr = a1 * a1 - a;
    if (discr < 0.0) {
        return 0;
    } else if (discr >= FastMath.ZERO_TOLERANCE) {
        return 2;
    }
    return 1;
}

Example 32 with Sphere

use of com.jme3.scene.shape.Sphere in project jmonkeyengine by jMonkeyEngine.

the class BoundingSphere method collideWithRay.

/*
     * (non-Javadoc)
     *
     * @see com.jme.bounding.BoundingVolume#intersectsWhere(com.jme.math.Ray)
     */
private int collideWithRay(Ray ray, CollisionResults results) {
    TempVars vars = TempVars.get();
    Vector3f diff = vars.vect1.set(ray.getOrigin()).subtractLocal(center);
    float a = diff.dot(diff) - (getRadius() * getRadius());
    float a1, discr, root;
    if (a <= 0.0) {
        // inside sphere
        a1 = ray.direction.dot(diff);
        discr = (a1 * a1) - a;
        root = FastMath.sqrt(discr);
        float distance = root - a1;
        Vector3f point = new Vector3f(ray.direction).multLocal(distance).addLocal(ray.origin);
        CollisionResult result = new CollisionResult(point, distance);
        results.addCollision(result);
        vars.release();
        return 1;
    }
    a1 = ray.direction.dot(diff);
    vars.release();
    if (a1 >= 0.0) {
        return 0;
    }
    discr = a1 * a1 - a;
    if (discr < 0.0) {
        return 0;
    } else if (discr >= FastMath.ZERO_TOLERANCE) {
        root = FastMath.sqrt(discr);
        float dist = -a1 - root;
        Vector3f point = new Vector3f(ray.direction).multLocal(dist).addLocal(ray.origin);
        results.addCollision(new CollisionResult(point, dist));
        dist = -a1 + root;
        point = new Vector3f(ray.direction).multLocal(dist).addLocal(ray.origin);
        results.addCollision(new CollisionResult(point, dist));
        return 2;
    } else {
        float dist = -a1;
        Vector3f point = new Vector3f(ray.direction).multLocal(dist).addLocal(ray.origin);
        results.addCollision(new CollisionResult(point, dist));
        return 1;
    }
}

Example 33 with Sphere

use of com.jme3.scene.shape.Sphere in project jmonkeyengine by jMonkeyEngine.

the class BoundingSphere method collideWithTri.

private int collideWithTri(Triangle tri, CollisionResults results) {
    TempVars tvars = TempVars.get();
    try {
        // Much of this is based on adaptation from this algorithm:
        // http://realtimecollisiondetection.net/blog/?p=103
        // ...mostly the stuff about eliminating sqrts wherever
        // possible.
        // Math is done in center-relative space.
        Vector3f a = tri.get1().subtract(center, tvars.vect1);
        Vector3f b = tri.get2().subtract(center, tvars.vect2);
        Vector3f c = tri.get3().subtract(center, tvars.vect3);
        Vector3f ab = b.subtract(a, tvars.vect4);
        Vector3f ac = c.subtract(a, tvars.vect5);
        // Check the plane... if it doesn't intersect the plane
        // then it doesn't intersect the triangle.
        Vector3f n = ab.cross(ac, tvars.vect6);
        float d = a.dot(n);
        float e = n.dot(n);
        if (d * d > radius * radius * e) {
            // Can't possibly intersect
            return 0;
        }
        // We intersect the verts, or the edges, or the face...
        // First check against the face since it's the most
        // specific.
        // Calculate the barycentric coordinates of the
        // sphere center
        Vector3f v0 = ac;
        Vector3f v1 = ab;
        // a was P relative, so p.subtract(a) is just -a
        // instead of wasting a vector we'll just negate the
        // dot products below... it's all v2 is used for.
        Vector3f v2 = a;
        float dot00 = v0.dot(v0);
        float dot01 = v0.dot(v1);
        float dot02 = -v0.dot(v2);
        float dot11 = v1.dot(v1);
        float dot12 = -v1.dot(v2);
        float invDenom = 1 / (dot00 * dot11 - dot01 * dot01);
        float u = (dot11 * dot02 - dot01 * dot12) * invDenom;
        float v = (dot00 * dot12 - dot01 * dot02) * invDenom;
        if (u >= 0 && v >= 0 && (u + v) <= 1) {
            // We intersect... and we even know where
            Vector3f part1 = ac;
            Vector3f part2 = ab;
            Vector3f p = center.add(a.add(part1.mult(u)).addLocal(part2.mult(v)));
            CollisionResult r = new CollisionResult();
            Vector3f normal = n.normalize();
            // a is center relative, so -a points to center
            float dist = -normal.dot(a);
            dist = dist - radius;
            r.setDistance(dist);
            r.setContactNormal(normal);
            r.setContactPoint(p);
            results.addCollision(r);
            return 1;
        }
        // Check the edges looking for the nearest point
        // that is also less than the radius.  We don't care
        // about points that are farther away than that.
        Vector3f nearestPt = null;
        float nearestDist = radius * radius;
        Vector3f base;
        Vector3f edge;
        float t;
        // Edge AB
        base = a;
        edge = ab;
        t = -edge.dot(base) / edge.dot(edge);
        if (t >= 0 && t <= 1) {
            Vector3f Q = base.add(edge.mult(t, tvars.vect7), tvars.vect8);
            // distance squared to origin
            float distSq = Q.dot(Q);
            if (distSq < nearestDist) {
                nearestPt = Q;
                nearestDist = distSq;
            }
        }
        // Edge AC
        base = a;
        edge = ac;
        t = -edge.dot(base) / edge.dot(edge);
        if (t >= 0 && t <= 1) {
            Vector3f Q = base.add(edge.mult(t, tvars.vect7), tvars.vect9);
            // distance squared to origin
            float distSq = Q.dot(Q);
            if (distSq < nearestDist) {
                nearestPt = Q;
                nearestDist = distSq;
            }
        }
        // Edge BC
        base = b;
        Vector3f bc = c.subtract(b);
        edge = bc;
        t = -edge.dot(base) / edge.dot(edge);
        if (t >= 0 && t <= 1) {
            Vector3f Q = base.add(edge.mult(t, tvars.vect7), tvars.vect10);
            // distance squared to origin
            float distSq = Q.dot(Q);
            if (distSq < nearestDist) {
                nearestPt = Q;
                nearestDist = distSq;
            }
        }
        // done.       
        if (nearestPt != null) {
            // We have a hit
            float dist = FastMath.sqrt(nearestDist);
            Vector3f cn = nearestPt.divide(-dist);
            CollisionResult r = new CollisionResult();
            r.setDistance(dist - radius);
            r.setContactNormal(cn);
            r.setContactPoint(nearestPt.add(center));
            results.addCollision(r);
            return 1;
        }
        // Finally check each of the triangle corners
        // Vert A
        base = a;
        // distance squared to origin
        t = base.dot(base);
        if (t < nearestDist) {
            nearestDist = t;
            nearestPt = base;
        }
        // Vert B
        base = b;
        // distance squared to origin
        t = base.dot(base);
        if (t < nearestDist) {
            nearestDist = t;
            nearestPt = base;
        }
        // Vert C
        base = c;
        // distance squared to origin
        t = base.dot(base);
        if (t < nearestDist) {
            nearestDist = t;
            nearestPt = base;
        }
        if (nearestPt != null) {
            // We have a hit
            float dist = FastMath.sqrt(nearestDist);
            Vector3f cn = nearestPt.divide(-dist);
            CollisionResult r = new CollisionResult();
            r.setDistance(dist - radius);
            r.setContactNormal(cn);
            r.setContactPoint(nearestPt.add(center));
            results.addCollision(r);
            return 1;
        }
        // Nothing hit... oh, well 
        return 0;
    } finally {
        tvars.release();
    }
}

Example 34 with Sphere

use of com.jme3.scene.shape.Sphere in project jmonkeyengine by jMonkeyEngine.

the class TestBoneRagdoll method simpleInitApp.

public void simpleInitApp() {
    initCrossHairs();
    initMaterial();
    cam.setLocation(new Vector3f(0.26924422f, 6.646658f, 22.265987f));
    cam.setRotation(new Quaternion(-2.302544E-4f, 0.99302495f, -0.117888905f, -0.0019395084f));
    bulletAppState = new BulletAppState();
    bulletAppState.setEnabled(true);
    stateManager.attach(bulletAppState);
    bullet = new Sphere(32, 32, 1.0f, true, false);
    bullet.setTextureMode(TextureMode.Projected);
    bulletCollisionShape = new SphereCollisionShape(1.0f);
    //        bulletAppState.getPhysicsSpace().enableDebug(assetManager);
    PhysicsTestHelper.createPhysicsTestWorld(rootNode, assetManager, bulletAppState.getPhysicsSpace());
    setupLight();
    model = (Node) assetManager.loadModel("Models/Sinbad/Sinbad.mesh.xml");
    //  model.setLocalRotation(new Quaternion().fromAngleAxis(FastMath.HALF_PI, Vector3f.UNIT_X));
    //debug view
    AnimControl control = model.getControl(AnimControl.class);
    SkeletonDebugger skeletonDebug = new SkeletonDebugger("skeleton", control.getSkeleton());
    Material mat2 = new Material(getAssetManager(), "Common/MatDefs/Misc/Unshaded.j3md");
    mat2.getAdditionalRenderState().setWireframe(true);
    mat2.setColor("Color", ColorRGBA.Green);
    mat2.getAdditionalRenderState().setDepthTest(false);
    skeletonDebug.setMaterial(mat2);
    skeletonDebug.setLocalTranslation(model.getLocalTranslation());
    //Note: PhysicsRagdollControl is still TODO, constructor will change
    ragdoll = new KinematicRagdollControl(0.5f);
    setupSinbad(ragdoll);
    ragdoll.addCollisionListener(this);
    model.addControl(ragdoll);
    float eighth_pi = FastMath.PI * 0.125f;
    ragdoll.setJointLimit("Waist", eighth_pi, eighth_pi, eighth_pi, eighth_pi, eighth_pi, eighth_pi);
    ragdoll.setJointLimit("Chest", eighth_pi, eighth_pi, 0, 0, eighth_pi, eighth_pi);
    //Oto's head is almost rigid
    //    ragdoll.setJointLimit("head", 0, 0, eighth_pi, -eighth_pi, 0, 0);
    getPhysicsSpace().add(ragdoll);
    speed = 1.3f;
    rootNode.attachChild(model);
    // rootNode.attachChild(skeletonDebug);
    flyCam.setMoveSpeed(50);
    animChannel = control.createChannel();
    animChannel.setAnim("Dance");
    control.addListener(this);
    inputManager.addListener(new ActionListener() {

        public void onAction(String name, boolean isPressed, float tpf) {
            if (name.equals("toggle") && isPressed) {
                Vector3f v = new Vector3f();
                v.set(model.getLocalTranslation());
                v.y = 0;
                model.setLocalTranslation(v);
                Quaternion q = new Quaternion();
                float[] angles = new float[3];
                model.getLocalRotation().toAngles(angles);
                q.fromAngleAxis(angles[1], Vector3f.UNIT_Y);
                model.setLocalRotation(q);
                if (angles[0] < 0) {
                    animChannel.setAnim("StandUpBack");
                    ragdoll.blendToKinematicMode(0.5f);
                } else {
                    animChannel.setAnim("StandUpFront");
                    ragdoll.blendToKinematicMode(0.5f);
                }
            }
            if (name.equals("bullet+") && isPressed) {
                bulletSize += 0.1f;
            }
            if (name.equals("bullet-") && isPressed) {
                bulletSize -= 0.1f;
            }
            if (name.equals("stop") && isPressed) {
                ragdoll.setEnabled(!ragdoll.isEnabled());
                ragdoll.setRagdollMode();
            }
            if (name.equals("shoot") && !isPressed) {
                Geometry bulletg = new Geometry("bullet", bullet);
                bulletg.setMaterial(matBullet);
                bulletg.setLocalTranslation(cam.getLocation());
                bulletg.setLocalScale(bulletSize);
                bulletCollisionShape = new SphereCollisionShape(bulletSize);
                RigidBodyControl bulletNode = new RigidBodyControl(bulletCollisionShape, bulletSize * 10);
                bulletNode.setCcdMotionThreshold(0.001f);
                bulletNode.setLinearVelocity(cam.getDirection().mult(80));
                bulletg.addControl(bulletNode);
                rootNode.attachChild(bulletg);
                getPhysicsSpace().add(bulletNode);
            }
            if (name.equals("boom") && !isPressed) {
                Geometry bulletg = new Geometry("bullet", bullet);
                bulletg.setMaterial(matBullet);
                bulletg.setLocalTranslation(cam.getLocation());
                bulletg.setLocalScale(bulletSize);
                bulletCollisionShape = new SphereCollisionShape(bulletSize);
                BombControl bulletNode = new BombControl(assetManager, bulletCollisionShape, 1);
                bulletNode.setForceFactor(8);
                bulletNode.setExplosionRadius(20);
                bulletNode.setCcdMotionThreshold(0.001f);
                bulletNode.setLinearVelocity(cam.getDirection().mult(180));
                bulletg.addControl(bulletNode);
                rootNode.attachChild(bulletg);
                getPhysicsSpace().add(bulletNode);
            }
        }
    }, "toggle", "shoot", "stop", "bullet+", "bullet-", "boom");
    inputManager.addMapping("toggle", new KeyTrigger(KeyInput.KEY_SPACE));
    inputManager.addMapping("shoot", new MouseButtonTrigger(MouseInput.BUTTON_LEFT));
    inputManager.addMapping("boom", new MouseButtonTrigger(MouseInput.BUTTON_RIGHT));
    inputManager.addMapping("stop", new KeyTrigger(KeyInput.KEY_H));
    inputManager.addMapping("bullet-", new KeyTrigger(KeyInput.KEY_COMMA));
    inputManager.addMapping("bullet+", new KeyTrigger(KeyInput.KEY_PERIOD));
}

Example 35 with Sphere

use of com.jme3.scene.shape.Sphere in project jmonkeyengine by jMonkeyEngine.

the class TestBrickTower method simpleInitApp.

@Override
public void simpleInitApp() {
    bulletAppState = new BulletAppState();
    bulletAppState.setThreadingType(BulletAppState.ThreadingType.PARALLEL);
    //   bulletAppState.setEnabled(false);
    stateManager.attach(bulletAppState);
    bullet = new Sphere(32, 32, 0.4f, true, false);
    bullet.setTextureMode(TextureMode.Projected);
    bulletCollisionShape = new SphereCollisionShape(0.4f);
    brick = new Box(brickWidth, brickHeight, brickDepth);
    brick.scaleTextureCoordinates(new Vector2f(1f, .5f));
    //bulletAppState.getPhysicsSpace().enableDebug(assetManager);
    initMaterial();
    initTower();
    initFloor();
    initCrossHairs();
    this.cam.setLocation(new Vector3f(0, 25f, 8f));
    cam.lookAt(Vector3f.ZERO, new Vector3f(0, 1, 0));
    cam.setFrustumFar(80);
    inputManager.addMapping("shoot", new MouseButtonTrigger(MouseInput.BUTTON_LEFT));
    inputManager.addListener(actionListener, "shoot");
    rootNode.setShadowMode(ShadowMode.Off);
    bsr = new PssmShadowRenderer(assetManager, 1024, 2);
    bsr.setDirection(new Vector3f(-1, -1, -1).normalizeLocal());
    bsr.setLambda(0.55f);
    bsr.setShadowIntensity(0.6f);
    bsr.setCompareMode(CompareMode.Hardware);
    bsr.setFilterMode(FilterMode.PCF4);
    viewPort.addProcessor(bsr);
}