Examples with Vector3f javax.vecmath.Vector3f used on opensource projects

Example 91 with Vector3f

use of javax.vecmath.Vector3f in project bdx by GoranM.

the class WheelInfo method updateWheel.

public void updateWheel(RigidBody chassis, RaycastInfo raycastInfo) {
    if (raycastInfo.isInContact) {
        Stack stack = Stack.enter();
        float project = raycastInfo.contactNormalWS.dot(raycastInfo.wheelDirectionWS);
        Vector3f chassis_velocity_at_contactPoint = stack.allocVector3f();
        Vector3f relpos = stack.allocVector3f();
        relpos.sub(raycastInfo.contactPointWS, chassis.getCenterOfMassPosition(stack.allocVector3f()));
        chassis.getVelocityInLocalPoint(relpos, chassis_velocity_at_contactPoint);
        float projVel = raycastInfo.contactNormalWS.dot(chassis_velocity_at_contactPoint);
        if (project >= -0.1f) {
            suspensionRelativeVelocity = 0f;
            clippedInvContactDotSuspension = 1f / 0.1f;
        } else {
            float inv = -1f / project;
            suspensionRelativeVelocity = projVel * inv;
            clippedInvContactDotSuspension = inv;
        }
        stack.leave();
    } else {
        // Not in contact : position wheel in a nice (rest length) position
        raycastInfo.suspensionLength = getSuspensionRestLength();
        suspensionRelativeVelocity = 0f;
        raycastInfo.contactNormalWS.negate(raycastInfo.wheelDirectionWS);
        clippedInvContactDotSuspension = 1f;
    }
}

Example 92 with Vector3f

use of javax.vecmath.Vector3f in project bdx by GoranM.

the class GImpactCollisionAlgorithm method gimpact_vs_concave.

public void gimpact_vs_concave(CollisionObject body0, CollisionObject body1, GImpactShapeInterface shape0, ConcaveShape shape1, boolean swapped) {
    // create the callback
    GImpactTriangleCallback tricallback = new GImpactTriangleCallback();
    tricallback.algorithm = this;
    tricallback.body0 = body0;
    tricallback.body1 = body1;
    tricallback.gimpactshape0 = shape0;
    tricallback.swapped = swapped;
    tricallback.margin = shape1.getMargin();
    // getting the trimesh AABB
    Stack stack = Stack.enter();
    Transform gimpactInConcaveSpace = stack.allocTransform();
    body1.getWorldTransform(gimpactInConcaveSpace);
    gimpactInConcaveSpace.inverse();
    gimpactInConcaveSpace.mul(body0.getWorldTransform(stack.allocTransform()));
    Vector3f minAABB = stack.allocVector3f(), maxAABB = stack.allocVector3f();
    shape0.getAabb(gimpactInConcaveSpace, minAABB, maxAABB);
    shape1.processAllTriangles(tricallback, minAABB, maxAABB);
    stack.leave();
}

Example 93 with Vector3f

use of javax.vecmath.Vector3f in project bdx by GoranM.

the class GImpactCollisionAlgorithm method gimpacttrimeshpart_vs_plane_collision.

protected void gimpacttrimeshpart_vs_plane_collision(CollisionObject body0, CollisionObject body1, GImpactMeshShapePart shape0, StaticPlaneShape shape1, boolean swapped) {
    Stack stack = Stack.enter();
    Transform orgtrans0 = body0.getWorldTransform(stack.allocTransform());
    Transform orgtrans1 = body1.getWorldTransform(stack.allocTransform());
    StaticPlaneShape planeshape = shape1;
    Vector4f plane = stack.allocVector4f();
    PlaneShape.get_plane_equation_transformed(planeshape, orgtrans1, plane);
    // test box against plane
    AABB tribox = stack.allocAABB();
    shape0.getAabb(orgtrans0, tribox.min, tribox.max);
    tribox.increment_margin(planeshape.getMargin());
    if (tribox.plane_classify(plane) != PlaneIntersectionType.COLLIDE_PLANE) {
        return;
    }
    shape0.lockChildShapes();
    float margin = shape0.getMargin() + planeshape.getMargin();
    Vector3f vertex = stack.allocVector3f();
    Vector3f tmp = stack.allocVector3f();
    int vi = shape0.getVertexCount();
    while ((vi--) != 0) {
        shape0.getVertex(vi, vertex);
        orgtrans0.transform(vertex);
        float distance = VectorUtil.dot3(vertex, plane) - plane.w - margin;
        if (//add contact
        distance < 0f) {
            if (swapped) {
                tmp.set(-plane.x, -plane.y, -plane.z);
                addContactPoint(body1, body0, vertex, tmp, distance);
            } else {
                tmp.set(plane.x, plane.y, plane.z);
                addContactPoint(body0, body1, vertex, tmp, distance);
            }
        }
    }
    shape0.unlockChildShapes();
    stack.leave();
}

Example 94 with Vector3f

use of javax.vecmath.Vector3f in project bdx by GoranM.

the class GImpactMeshShapePart method calculateLocalInertia.

@Override
public void calculateLocalInertia(float mass, Vector3f inertia) {
    lockChildShapes();
    //#define CALC_EXACT_INERTIA 1
    //#ifdef CALC_EXACT_INERTIA
    inertia.set(0f, 0f, 0f);
    int i = getVertexCount();
    float pointmass = mass / (float) i;
    Stack stack = Stack.enter();
    Vector3f pointintertia = stack.allocVector3f();
    while ((i--) != 0) {
        getVertex(i, pointintertia);
        GImpactMassUtil.get_point_inertia(pointintertia, pointmass, pointintertia);
        inertia.add(pointintertia);
    }
    //#else
    //
    //// Calc box inertia
    //
    //float lx= localAABB.max.x - localAABB.min.x;
    //float ly= localAABB.max.y - localAABB.min.y;
    //float lz= localAABB.max.z - localAABB.min.z;
    //float x2 = lx*lx;
    //float y2 = ly*ly;
    //float z2 = lz*lz;
    //float scaledmass = mass * 0.08333333f;
    //
    //inertia.set(y2+z2,x2+z2,x2+y2);
    //inertia.scale(scaledmass);
    //
    //#endif
    unlockChildShapes();
    stack.leave();
}

Example 95 with Vector3f

use of javax.vecmath.Vector3f in project bdx by GoranM.

the class GeometryOperations method edge_plane.

/**
	 * Calc a plane from a triangle edge an a normal.
	 */
public static void edge_plane(Vector3f e1, Vector3f e2, Vector3f normal, Vector4f plane) {
    Stack stack = Stack.enter();
    Vector3f planenormal = stack.allocVector3f();
    planenormal.sub(e2, e1);
    planenormal.cross(planenormal, normal);
    planenormal.normalize();
    plane.set(planenormal);
    plane.w = e2.dot(planenormal);
    stack.leave();
}