Examples with Body3D spacegraph.space3d.phys.Body3D used on opensource projects

Example 6 with Body3D

use of spacegraph.space3d.phys.Body3D in project narchy by automenta.

the class ForceDirected method repel.

private static void repel(Collidable x, Collidable y, float speed, float maxDist) {
    SimpleSpatial xp = ((SimpleSpatial) x.data());
    if (xp == null)
        return;
    SimpleSpatial yp = ((SimpleSpatial) y.data());
    if (yp == null)
        return;
    v3 delta = v();
    delta.sub(xp.transform(), yp.transform());
    float len = delta.normalize();
    len -= (xp.radius() + yp.radius());
    if (len < 0)
        len = 0;
    else if (len >= maxDist)
        return;
    float s = speed / (1 + (len * len));
    v3 v = v(delta.x * s, delta.y * s, delta.z * s);
    ((Body3D) x).velAdd(v);
    v.negate();
    ((Body3D) y).velAdd(v);
}

Example 7 with Body3D

use of spacegraph.space3d.phys.Body3D in project narchy by automenta.

the class ForceDirected method attract.

protected static void attract(Collidable x, Collidable y, float speed, float idealDist) {
    SimpleSpatial xp = ((SimpleSpatial) x.data());
    SimpleSpatial yp = ((SimpleSpatial) y.data());
    v3 delta = v();
    delta.sub(yp.transform(), xp.transform());
    float lenSq = delta.lengthSquared();
    if (!Float.isFinite(lenSq))
        return;
    if (lenSq < idealDist * idealDist)
        return;
    delta.normalize();
    // constant speed
    // delta.scale( speed );
    // speed proportional to length
    float len = (float) Math.sqrt(lenSq);
    delta.scale(Math.min(len, len * speed));
    ((Body3D) x).velAdd(delta);
    // delta2.scale(-(speed * (yp.mass() /* + yp.mass()*/) ) * len  );
    delta.scale(-1);
    ((Body3D) y).velAdd(delta);
}

Example 8 with Body3D

use of spacegraph.space3d.phys.Body3D in project narchy by automenta.

the class ConceptWidget method newBody.

@Override
public Body3D newBody(boolean collidesWithOthersLikeThis) {
    Body3D x = super.newBody(collidesWithOthersLikeThis);
    final float initDistanceEpsilon = 50f;
    // place in a random direction
    x.transform.set(r(initDistanceEpsilon), r(initDistanceEpsilon), r(initDistanceEpsilon));
    // impulse in a random direction
    final float initImpulseEpsilon = 0.25f;
    x.impulse(v(r(initImpulseEpsilon), r(initImpulseEpsilon), r(initImpulseEpsilon)));
    return x;
}

Example 9 with Body3D

use of spacegraph.space3d.phys.Body3D in project narchy by automenta.

the class RoverMaze1 method main.

public static void main(String[] args) {
    Rover r = new Rover(new NARS().get()) {

        @Override
        protected void create(Dynamics3D world) {
            SimpleSpatial torso;
            add(torso = new SimpleSpatial("torso") {

                @Override
                protected CollisionShape newShape() {
                    // return new CylinderShape(v(1f, 0.1f, 1f));
                    return new BoxShape(v(1.6f, 0.1f, 1f));
                }

                @Override
                public float mass() {
                    return 40f;
                }
            });
            SimpleSpatial neck;
            add(neck = new SimpleSpatial("neck") {

                @Override
                protected CollisionShape newShape() {
                    // return new TetrahedronShapeEx(v(0,10,0), v(10,0,0), v(10,10,0), v(0,0,10));
                    return new CylinderShape(v(0.25f, 0.75f, 0.25f));
                }

                @Override
                protected Body3D create(Dynamics3D world) {
                    torso.body.clearForces();
                    Body3D n = super.create(world);
                    HingeConstraint p = new HingeConstraint(torso.body, body, v(0, 0.2f, 0), v(0, -1f, 0), v(1, 0, 0), v(1, 0, 0));
                    p.setLimit(-1.0f, 1.0f);
                    add(p);
                    return n;
                }

                @Override
                public float mass() {
                    return 10f;
                }
            });
            neck.shapeColor[0] = 1f;
            neck.shapeColor[1] = 0.1f;
            neck.shapeColor[2] = 0.5f;
            neck.shapeColor[3] = 1f;
            RetinaGrid rg = new RetinaGrid("cam1", v(), v(0, 0, 1), v(0.1f, 0, 0), v(0, 0.1f, 0), 6, 6, 4f) {

                @Override
                protected Body3D create(Dynamics3D world) {
                    Body3D l = super.create(world);
                    // move(0,-1,0);
                    // body.clearForces();
                    l.clearForces();
                    HingeConstraint p = new HingeConstraint(neck.body, body, v(0, 0.6f, 0), v(0, -0.6f, 0), v(0, 1, 0), v(0, 1, 0));
                    p.setLimit(-0.75f, 0.75f);
                    // Point2PointConstraint p = new Point2PointConstraint(body, torso.body, v(2, 0, 0), v(-2, 0, 0));
                    // p.impulseClamp = 0.01f;
                    // //p.damping = 0.5f;
                    // p.tau = 0.01f;
                    add(p);
                    return l;
                }
            };
            add(rg);
        }
    };
// new SpaceGraph<>(
// new Maze("x", 20, 20),
// r
// );//.setGravity(v(0, 0, -5)).show(1000, 1000);
}

Example 10 with Body3D

use of spacegraph.space3d.phys.Body3D in project narchy by automenta.

the class OrbMouse method mousePick.

@Nullable
ClosestRay mousePick(int x, int y) {
    // float top = 1f;
    // float bottom = -1f;
    // float nearPlane = 1f;
    float tanFov = (space.top - space.bottom) * 0.5f / space.zNear;
    float fov = 2f * (float) Math.atan(tanFov);
    v3 rayFrom = new v3(space.camPos);
    v3 rayForward = new v3(space.camFwd);
    rayForward.scale(space.zFar);
    // v3 rightOffset = new v3();
    v3 vertical = new v3(space.camUp);
    v3 hor = new v3();
    // TODO: check: hor = rayForward.cross(vertical);
    hor.cross(rayForward, vertical);
    hor.normalize();
    // TODO: check: vertical = hor.cross(rayForward);
    vertical.cross(hor, rayForward);
    vertical.normalize();
    float tanfov = (float) Math.tan(0.5f * fov);
    float ww = space.getWidth();
    float hh = space.getHeight();
    float aspect = hh / ww;
    hor.scale(2f * space.zFar * tanfov);
    vertical.scale(2f * space.zFar * tanfov);
    if (aspect < 1f) {
        hor.scale(1f / aspect);
    } else {
        vertical.scale(aspect);
    }
    v3 rayToCenter = new v3();
    rayToCenter.add(rayFrom, rayForward);
    v3 dHor = new v3(hor);
    dHor.scale(1f / ww);
    v3 dVert = new v3(vertical);
    dVert.scale(1f / hh);
    v3 tmp1 = new v3();
    v3 tmp2 = new v3();
    tmp1.scale(0.5f, hor);
    tmp2.scale(0.5f, vertical);
    v3 rayTo = new v3();
    rayTo.sub(rayToCenter, tmp1);
    rayTo.add(tmp2);
    tmp1.scale(x, dHor);
    tmp2.scale(y, dVert);
    rayTo.add(tmp1);
    rayTo.sub(tmp2);
    ClosestRay r = new ClosestRay(space.camPos, rayTo);
    space.dyn.rayTest(space.camPos, rayTo, r, simplexSolver);
    if (rayCallback.hasHit()) {
        Body3D body = Body3D.ifDynamic(rayCallback.collidable);
        if (body != null && (!(body.isStaticObject() || body.isKinematicObject()))) {
            pickedBody = body;
            hitPoint = r.hitPointWorld;
        }
    }
    return r;
}