Examples with CylinderShape spacegraph.space3d.phys.shape.CylinderShape used on opensource projects

Example 1 with CylinderShape

use of spacegraph.space3d.phys.shape.CylinderShape 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);
}