| /* |
| * Copyright (c) 2009-2010 jMonkeyEngine |
| * All rights reserved. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions are |
| * met: |
| * |
| * * Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * |
| * * Redistributions in binary form must reproduce the above copyright |
| * notice, this list of conditions and the following disclaimer in the |
| * documentation and/or other materials provided with the distribution. |
| * |
| * * Neither the name of 'jMonkeyEngine' nor the names of its contributors |
| * may be used to endorse or promote products derived from this software |
| * without specific prior written permission. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED |
| * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR |
| * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR |
| * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, |
| * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, |
| * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR |
| * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF |
| * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING |
| * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS |
| * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| */ |
| package com.jme3.bullet; |
| |
| import com.bulletphysics.BulletGlobals; |
| import com.bulletphysics.ContactAddedCallback; |
| import com.bulletphysics.ContactDestroyedCallback; |
| import com.bulletphysics.ContactProcessedCallback; |
| import com.bulletphysics.collision.broadphase.*; |
| import com.bulletphysics.collision.dispatch.CollisionWorld.LocalConvexResult; |
| import com.bulletphysics.collision.dispatch.CollisionWorld.LocalRayResult; |
| import com.bulletphysics.collision.dispatch.*; |
| import com.bulletphysics.collision.narrowphase.ManifoldPoint; |
| import com.bulletphysics.collision.shapes.ConvexShape; |
| import com.bulletphysics.dynamics.DiscreteDynamicsWorld; |
| import com.bulletphysics.dynamics.DynamicsWorld; |
| import com.bulletphysics.dynamics.InternalTickCallback; |
| import com.bulletphysics.dynamics.RigidBody; |
| import com.bulletphysics.dynamics.constraintsolver.ConstraintSolver; |
| import com.bulletphysics.dynamics.constraintsolver.SequentialImpulseConstraintSolver; |
| import com.bulletphysics.extras.gimpact.GImpactCollisionAlgorithm; |
| import com.jme3.app.AppTask; |
| import com.jme3.asset.AssetManager; |
| import com.jme3.bullet.collision.*; |
| import com.jme3.bullet.collision.shapes.CollisionShape; |
| import com.jme3.bullet.control.PhysicsControl; |
| import com.jme3.bullet.control.RigidBodyControl; |
| import com.jme3.bullet.joints.PhysicsJoint; |
| import com.jme3.bullet.objects.PhysicsCharacter; |
| import com.jme3.bullet.objects.PhysicsGhostObject; |
| import com.jme3.bullet.objects.PhysicsRigidBody; |
| import com.jme3.bullet.objects.PhysicsVehicle; |
| import com.jme3.bullet.util.Converter; |
| import com.jme3.math.Transform; |
| import com.jme3.math.Vector3f; |
| import com.jme3.scene.Node; |
| import com.jme3.scene.Spatial; |
| import java.util.Iterator; |
| import java.util.LinkedList; |
| import java.util.List; |
| import java.util.Map; |
| import java.util.concurrent.Callable; |
| import java.util.concurrent.ConcurrentHashMap; |
| import java.util.concurrent.ConcurrentLinkedQueue; |
| import java.util.concurrent.Future; |
| import java.util.logging.Level; |
| import java.util.logging.Logger; |
| |
| /** |
| * <p>PhysicsSpace - The central jbullet-jme physics space</p> |
| * @author normenhansen |
| */ |
| public class PhysicsSpace { |
| |
| public static final int AXIS_X = 0; |
| public static final int AXIS_Y = 1; |
| public static final int AXIS_Z = 2; |
| private static ThreadLocal<ConcurrentLinkedQueue<AppTask<?>>> pQueueTL = |
| new ThreadLocal<ConcurrentLinkedQueue<AppTask<?>>>() { |
| |
| @Override |
| protected ConcurrentLinkedQueue<AppTask<?>> initialValue() { |
| return new ConcurrentLinkedQueue<AppTask<?>>(); |
| } |
| }; |
| private ConcurrentLinkedQueue<AppTask<?>> pQueue = new ConcurrentLinkedQueue<AppTask<?>>(); |
| private static ThreadLocal<PhysicsSpace> physicsSpaceTL = new ThreadLocal<PhysicsSpace>(); |
| private DiscreteDynamicsWorld dynamicsWorld = null; |
| private BroadphaseInterface broadphase; |
| private BroadphaseType broadphaseType = BroadphaseType.DBVT; |
| private CollisionDispatcher dispatcher; |
| private ConstraintSolver solver; |
| private DefaultCollisionConfiguration collisionConfiguration; |
| // private Map<GhostObject, PhysicsGhostObject> physicsGhostNodes = new ConcurrentHashMap<GhostObject, PhysicsGhostObject>(); |
| private Map<RigidBody, PhysicsRigidBody> physicsNodes = new ConcurrentHashMap<RigidBody, PhysicsRigidBody>(); |
| private List<PhysicsJoint> physicsJoints = new LinkedList<PhysicsJoint>(); |
| private List<PhysicsCollisionListener> collisionListeners = new LinkedList<PhysicsCollisionListener>(); |
| private List<PhysicsCollisionEvent> collisionEvents = new LinkedList<PhysicsCollisionEvent>(); |
| private Map<Integer, PhysicsCollisionGroupListener> collisionGroupListeners = new ConcurrentHashMap<Integer, PhysicsCollisionGroupListener>(); |
| private ConcurrentLinkedQueue<PhysicsTickListener> tickListeners = new ConcurrentLinkedQueue<PhysicsTickListener>(); |
| private PhysicsCollisionEventFactory eventFactory = new PhysicsCollisionEventFactory(); |
| private Vector3f worldMin = new Vector3f(-10000f, -10000f, -10000f); |
| private Vector3f worldMax = new Vector3f(10000f, 10000f, 10000f); |
| private float accuracy = 1f / 60f; |
| private int maxSubSteps = 4; |
| private javax.vecmath.Vector3f rayVec1 = new javax.vecmath.Vector3f(); |
| private javax.vecmath.Vector3f rayVec2 = new javax.vecmath.Vector3f(); |
| private com.bulletphysics.linearmath.Transform sweepTrans1 = new com.bulletphysics.linearmath.Transform(new javax.vecmath.Matrix3f()); |
| private com.bulletphysics.linearmath.Transform sweepTrans2 = new com.bulletphysics.linearmath.Transform(new javax.vecmath.Matrix3f()); |
| private AssetManager debugManager; |
| |
| /** |
| * Get the current PhysicsSpace <b>running on this thread</b><br/> |
| * For parallel physics, this can also be called from the OpenGL thread to receive the PhysicsSpace |
| * @return the PhysicsSpace running on this thread |
| */ |
| public static PhysicsSpace getPhysicsSpace() { |
| return physicsSpaceTL.get(); |
| } |
| |
| /** |
| * Used internally |
| * @param space |
| */ |
| public static void setLocalThreadPhysicsSpace(PhysicsSpace space) { |
| physicsSpaceTL.set(space); |
| } |
| |
| public PhysicsSpace() { |
| this(new Vector3f(-10000f, -10000f, -10000f), new Vector3f(10000f, 10000f, 10000f), BroadphaseType.DBVT); |
| } |
| |
| public PhysicsSpace(BroadphaseType broadphaseType) { |
| this(new Vector3f(-10000f, -10000f, -10000f), new Vector3f(10000f, 10000f, 10000f), broadphaseType); |
| } |
| |
| public PhysicsSpace(Vector3f worldMin, Vector3f worldMax) { |
| this(worldMin, worldMax, BroadphaseType.AXIS_SWEEP_3); |
| } |
| |
| public PhysicsSpace(Vector3f worldMin, Vector3f worldMax, BroadphaseType broadphaseType) { |
| this.worldMin.set(worldMin); |
| this.worldMax.set(worldMax); |
| this.broadphaseType = broadphaseType; |
| create(); |
| } |
| |
| /** |
| * Has to be called from the (designated) physics thread |
| */ |
| public void create() { |
| pQueueTL.set(pQueue); |
| |
| collisionConfiguration = new DefaultCollisionConfiguration(); |
| dispatcher = new CollisionDispatcher(collisionConfiguration); |
| switch (broadphaseType) { |
| case SIMPLE: |
| broadphase = new SimpleBroadphase(); |
| break; |
| case AXIS_SWEEP_3: |
| broadphase = new AxisSweep3(Converter.convert(worldMin), Converter.convert(worldMax)); |
| break; |
| case AXIS_SWEEP_3_32: |
| broadphase = new AxisSweep3_32(Converter.convert(worldMin), Converter.convert(worldMax)); |
| break; |
| case DBVT: |
| broadphase = new DbvtBroadphase(); |
| break; |
| } |
| |
| solver = new SequentialImpulseConstraintSolver(); |
| |
| dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration); |
| dynamicsWorld.setGravity(new javax.vecmath.Vector3f(0, -9.81f, 0)); |
| |
| broadphase.getOverlappingPairCache().setInternalGhostPairCallback(new GhostPairCallback()); |
| GImpactCollisionAlgorithm.registerAlgorithm(dispatcher); |
| |
| physicsSpaceTL.set(this); |
| //register filter callback for tick / collision |
| setTickCallback(); |
| setContactCallbacks(); |
| //register filter callback for collision groups |
| setOverlapFilterCallback(); |
| } |
| |
| private void setOverlapFilterCallback() { |
| OverlapFilterCallback callback = new OverlapFilterCallback() { |
| |
| public boolean needBroadphaseCollision(BroadphaseProxy bp, BroadphaseProxy bp1) { |
| boolean collides = (bp.collisionFilterGroup & bp1.collisionFilterMask) != 0; |
| if (collides) { |
| collides = (bp1.collisionFilterGroup & bp.collisionFilterMask) != 0; |
| } |
| if (collides) { |
| assert (bp.clientObject instanceof com.bulletphysics.collision.dispatch.CollisionObject && bp.clientObject instanceof com.bulletphysics.collision.dispatch.CollisionObject); |
| com.bulletphysics.collision.dispatch.CollisionObject colOb = (com.bulletphysics.collision.dispatch.CollisionObject) bp.clientObject; |
| com.bulletphysics.collision.dispatch.CollisionObject colOb1 = (com.bulletphysics.collision.dispatch.CollisionObject) bp1.clientObject; |
| assert (colOb.getUserPointer() != null && colOb1.getUserPointer() != null); |
| PhysicsCollisionObject collisionObject = (PhysicsCollisionObject) colOb.getUserPointer(); |
| PhysicsCollisionObject collisionObject1 = (PhysicsCollisionObject) colOb1.getUserPointer(); |
| if ((collisionObject.getCollideWithGroups() & collisionObject1.getCollisionGroup()) > 0 |
| || (collisionObject1.getCollideWithGroups() & collisionObject.getCollisionGroup()) > 0) { |
| PhysicsCollisionGroupListener listener = collisionGroupListeners.get(collisionObject.getCollisionGroup()); |
| PhysicsCollisionGroupListener listener1 = collisionGroupListeners.get(collisionObject1.getCollisionGroup()); |
| if (listener != null) { |
| return listener.collide(collisionObject, collisionObject1); |
| } else if (listener1 != null) { |
| return listener1.collide(collisionObject, collisionObject1); |
| } |
| return true; |
| } else { |
| return false; |
| } |
| } |
| return collides; |
| } |
| }; |
| dynamicsWorld.getPairCache().setOverlapFilterCallback(callback); |
| } |
| |
| private void setTickCallback() { |
| final PhysicsSpace space = this; |
| InternalTickCallback callback2 = new InternalTickCallback() { |
| |
| @Override |
| public void internalTick(DynamicsWorld dw, float f) { |
| //execute task list |
| AppTask task = pQueue.poll(); |
| task = pQueue.poll(); |
| while (task != null) { |
| while (task.isCancelled()) { |
| task = pQueue.poll(); |
| } |
| try { |
| task.invoke(); |
| } catch (Exception ex) { |
| Logger.getLogger(PhysicsSpace.class.getName()).log(Level.SEVERE, null, ex); |
| } |
| task = pQueue.poll(); |
| } |
| for (Iterator<PhysicsTickListener> it = tickListeners.iterator(); it.hasNext();) { |
| PhysicsTickListener physicsTickCallback = it.next(); |
| physicsTickCallback.prePhysicsTick(space, f); |
| } |
| } |
| }; |
| dynamicsWorld.setPreTickCallback(callback2); |
| InternalTickCallback callback = new InternalTickCallback() { |
| |
| @Override |
| public void internalTick(DynamicsWorld dw, float f) { |
| for (Iterator<PhysicsTickListener> it = tickListeners.iterator(); it.hasNext();) { |
| PhysicsTickListener physicsTickCallback = it.next(); |
| physicsTickCallback.physicsTick(space, f); |
| } |
| } |
| }; |
| dynamicsWorld.setInternalTickCallback(callback, this); |
| } |
| |
| private void setContactCallbacks() { |
| BulletGlobals.setContactAddedCallback(new ContactAddedCallback() { |
| |
| public boolean contactAdded(ManifoldPoint cp, com.bulletphysics.collision.dispatch.CollisionObject colObj0, |
| int partId0, int index0, com.bulletphysics.collision.dispatch.CollisionObject colObj1, int partId1, |
| int index1) { |
| System.out.println("contact added"); |
| return true; |
| } |
| }); |
| |
| BulletGlobals.setContactProcessedCallback(new ContactProcessedCallback() { |
| |
| public boolean contactProcessed(ManifoldPoint cp, Object body0, Object body1) { |
| if (body0 instanceof CollisionObject && body1 instanceof CollisionObject) { |
| PhysicsCollisionObject node = null, node1 = null; |
| CollisionObject rBody0 = (CollisionObject) body0; |
| CollisionObject rBody1 = (CollisionObject) body1; |
| node = (PhysicsCollisionObject) rBody0.getUserPointer(); |
| node1 = (PhysicsCollisionObject) rBody1.getUserPointer(); |
| collisionEvents.add(eventFactory.getEvent(PhysicsCollisionEvent.TYPE_PROCESSED, node, node1, cp)); |
| } |
| return true; |
| } |
| }); |
| |
| BulletGlobals.setContactDestroyedCallback(new ContactDestroyedCallback() { |
| |
| public boolean contactDestroyed(Object userPersistentData) { |
| System.out.println("contact destroyed"); |
| return true; |
| } |
| }); |
| } |
| |
| /** |
| * updates the physics space |
| * @param time the current time value |
| */ |
| public void update(float time) { |
| update(time, maxSubSteps); |
| } |
| |
| /** |
| * updates the physics space, uses maxSteps<br> |
| * @param time the current time value |
| * @param maxSteps |
| */ |
| public void update(float time, int maxSteps) { |
| if (getDynamicsWorld() == null) { |
| return; |
| } |
| //step simulation |
| dynamicsWorld.stepSimulation(time, maxSteps, accuracy); |
| } |
| |
| public void distributeEvents() { |
| //add collision callbacks |
| synchronized (collisionEvents) { |
| for (Iterator<PhysicsCollisionEvent> it = collisionEvents.iterator(); it.hasNext();) { |
| PhysicsCollisionEvent physicsCollisionEvent = it.next(); |
| for (PhysicsCollisionListener listener : collisionListeners) { |
| listener.collision(physicsCollisionEvent); |
| } |
| //recycle events |
| eventFactory.recycle(physicsCollisionEvent); |
| it.remove(); |
| } |
| } |
| } |
| |
| public static <V> Future<V> enqueueOnThisThread(Callable<V> callable) { |
| AppTask<V> task = new AppTask<V>(callable); |
| System.out.println("created apptask"); |
| pQueueTL.get().add(task); |
| return task; |
| } |
| |
| /** |
| * calls the callable on the next physics tick (ensuring e.g. force applying) |
| * @param <V> |
| * @param callable |
| * @return |
| */ |
| public <V> Future<V> enqueue(Callable<V> callable) { |
| AppTask<V> task = new AppTask<V>(callable); |
| pQueue.add(task); |
| return task; |
| } |
| |
| /** |
| * adds an object to the physics space |
| * @param obj the PhysicsControl or Spatial with PhysicsControl to add |
| */ |
| public void add(Object obj) { |
| if (obj instanceof PhysicsControl) { |
| ((PhysicsControl) obj).setPhysicsSpace(this); |
| } else if (obj instanceof Spatial) { |
| Spatial node = (Spatial) obj; |
| PhysicsControl control = node.getControl(PhysicsControl.class); |
| control.setPhysicsSpace(this); |
| } else if (obj instanceof PhysicsCollisionObject) { |
| addCollisionObject((PhysicsCollisionObject) obj); |
| } else if (obj instanceof PhysicsJoint) { |
| addJoint((PhysicsJoint) obj); |
| } else { |
| throw (new UnsupportedOperationException("Cannot add this kind of object to the physics space.")); |
| } |
| } |
| |
| public void addCollisionObject(PhysicsCollisionObject obj) { |
| if (obj instanceof PhysicsGhostObject) { |
| addGhostObject((PhysicsGhostObject) obj); |
| } else if (obj instanceof PhysicsRigidBody) { |
| addRigidBody((PhysicsRigidBody) obj); |
| } else if (obj instanceof PhysicsVehicle) { |
| addRigidBody((PhysicsVehicle) obj); |
| } else if (obj instanceof PhysicsCharacter) { |
| addCharacter((PhysicsCharacter) obj); |
| } |
| } |
| |
| /** |
| * removes an object from the physics space |
| * @param obj the PhysicsControl or Spatial with PhysicsControl to remove |
| */ |
| public void remove(Object obj) { |
| if (obj instanceof PhysicsControl) { |
| ((PhysicsControl) obj).setPhysicsSpace(null); |
| } else if (obj instanceof Spatial) { |
| Spatial node = (Spatial) obj; |
| PhysicsControl control = node.getControl(PhysicsControl.class); |
| control.setPhysicsSpace(null); |
| } else if (obj instanceof PhysicsCollisionObject) { |
| removeCollisionObject((PhysicsCollisionObject) obj); |
| } else if (obj instanceof PhysicsJoint) { |
| removeJoint((PhysicsJoint) obj); |
| } else { |
| throw (new UnsupportedOperationException("Cannot remove this kind of object from the physics space.")); |
| } |
| } |
| |
| public void removeCollisionObject(PhysicsCollisionObject obj) { |
| if (obj instanceof PhysicsGhostObject) { |
| removeGhostObject((PhysicsGhostObject) obj); |
| } else if (obj instanceof PhysicsRigidBody) { |
| removeRigidBody((PhysicsRigidBody) obj); |
| } else if (obj instanceof PhysicsCharacter) { |
| removeCharacter((PhysicsCharacter) obj); |
| } |
| } |
| |
| /** |
| * adds all physics controls and joints in the given spatial node to the physics space |
| * (e.g. after loading from disk) - recursive if node |
| * @param spatial the rootnode containing the physics objects |
| */ |
| public void addAll(Spatial spatial) { |
| if (spatial.getControl(RigidBodyControl.class) != null) { |
| RigidBodyControl physicsNode = spatial.getControl(RigidBodyControl.class); |
| if (!physicsNodes.containsValue(physicsNode)) { |
| physicsNode.setPhysicsSpace(this); |
| } |
| //add joints |
| List<PhysicsJoint> joints = physicsNode.getJoints(); |
| for (Iterator<PhysicsJoint> it1 = joints.iterator(); it1.hasNext();) { |
| PhysicsJoint physicsJoint = it1.next(); |
| //add connected physicsnodes if they are not already added |
| if (!physicsNodes.containsValue(physicsJoint.getBodyA())) { |
| if (physicsJoint.getBodyA() instanceof PhysicsControl) { |
| add(physicsJoint.getBodyA()); |
| } else { |
| addRigidBody(physicsJoint.getBodyA()); |
| } |
| } |
| if (!physicsNodes.containsValue(physicsJoint.getBodyB())) { |
| if (physicsJoint.getBodyA() instanceof PhysicsControl) { |
| add(physicsJoint.getBodyB()); |
| } else { |
| addRigidBody(physicsJoint.getBodyB()); |
| } |
| } |
| if (!physicsJoints.contains(physicsJoint)) { |
| addJoint(physicsJoint); |
| } |
| } |
| } else if (spatial.getControl(PhysicsControl.class) != null) { |
| spatial.getControl(PhysicsControl.class).setPhysicsSpace(this); |
| } |
| //recursion |
| if (spatial instanceof Node) { |
| List<Spatial> children = ((Node) spatial).getChildren(); |
| for (Iterator<Spatial> it = children.iterator(); it.hasNext();) { |
| Spatial spat = it.next(); |
| addAll(spat); |
| } |
| } |
| } |
| |
| /** |
| * Removes all physics controls and joints in the given spatial from the physics space |
| * (e.g. before saving to disk) - recursive if node |
| * @param spatial the rootnode containing the physics objects |
| */ |
| public void removeAll(Spatial spatial) { |
| if (spatial.getControl(RigidBodyControl.class) != null) { |
| RigidBodyControl physicsNode = spatial.getControl(RigidBodyControl.class); |
| if (physicsNodes.containsValue(physicsNode)) { |
| physicsNode.setPhysicsSpace(null); |
| } |
| //remove joints |
| List<PhysicsJoint> joints = physicsNode.getJoints(); |
| for (Iterator<PhysicsJoint> it1 = joints.iterator(); it1.hasNext();) { |
| PhysicsJoint physicsJoint = it1.next(); |
| //add connected physicsnodes if they are not already added |
| if (physicsNodes.containsValue(physicsJoint.getBodyA())) { |
| if (physicsJoint.getBodyA() instanceof PhysicsControl) { |
| remove(physicsJoint.getBodyA()); |
| } else { |
| removeRigidBody(physicsJoint.getBodyA()); |
| } |
| } |
| if (physicsNodes.containsValue(physicsJoint.getBodyB())) { |
| if (physicsJoint.getBodyA() instanceof PhysicsControl) { |
| remove(physicsJoint.getBodyB()); |
| } else { |
| removeRigidBody(physicsJoint.getBodyB()); |
| } |
| } |
| if (physicsJoints.contains(physicsJoint)) { |
| removeJoint(physicsJoint); |
| } |
| } |
| } else if (spatial.getControl(PhysicsControl.class) != null) { |
| spatial.getControl(PhysicsControl.class).setPhysicsSpace(null); |
| } |
| //recursion |
| if (spatial instanceof Node) { |
| List<Spatial> children = ((Node) spatial).getChildren(); |
| for (Iterator<Spatial> it = children.iterator(); it.hasNext();) { |
| Spatial spat = it.next(); |
| removeAll(spat); |
| } |
| } |
| } |
| |
| private void addGhostObject(PhysicsGhostObject node) { |
| Logger.getLogger(PhysicsSpace.class.getName()).log(Level.INFO, "Adding ghost object {0} to physics space.", node.getObjectId()); |
| dynamicsWorld.addCollisionObject(node.getObjectId()); |
| } |
| |
| private void removeGhostObject(PhysicsGhostObject node) { |
| Logger.getLogger(PhysicsSpace.class.getName()).log(Level.INFO, "Removing ghost object {0} from physics space.", node.getObjectId()); |
| dynamicsWorld.removeCollisionObject(node.getObjectId()); |
| } |
| |
| private void addCharacter(PhysicsCharacter node) { |
| Logger.getLogger(PhysicsSpace.class.getName()).log(Level.INFO, "Adding character {0} to physics space.", node.getObjectId()); |
| // dynamicsWorld.addCollisionObject(node.getObjectId()); |
| dynamicsWorld.addCollisionObject(node.getObjectId(), CollisionFilterGroups.CHARACTER_FILTER, (short) (CollisionFilterGroups.STATIC_FILTER | CollisionFilterGroups.DEFAULT_FILTER)); |
| dynamicsWorld.addAction(node.getControllerId()); |
| } |
| |
| private void removeCharacter(PhysicsCharacter node) { |
| Logger.getLogger(PhysicsSpace.class.getName()).log(Level.INFO, "Removing character {0} from physics space.", node.getObjectId()); |
| dynamicsWorld.removeAction(node.getControllerId()); |
| dynamicsWorld.removeCollisionObject(node.getObjectId()); |
| } |
| |
| private void addRigidBody(PhysicsRigidBody node) { |
| physicsNodes.put(node.getObjectId(), node); |
| |
| //Workaround |
| //It seems that adding a Kinematic RigidBody to the dynamicWorld prevent it from being non kinematic again afterward. |
| //so we add it non kinematic, then set it kinematic again. |
| boolean kinematic = false; |
| if (node.isKinematic()) { |
| kinematic = true; |
| node.setKinematic(false); |
| } |
| dynamicsWorld.addRigidBody(node.getObjectId()); |
| if (kinematic) { |
| node.setKinematic(true); |
| } |
| |
| Logger.getLogger(PhysicsSpace.class.getName()).log(Level.INFO, "Adding RigidBody {0} to physics space.", node.getObjectId()); |
| if (node instanceof PhysicsVehicle) { |
| Logger.getLogger(PhysicsSpace.class.getName()).log(Level.INFO, "Adding vehicle constraint {0} to physics space.", ((PhysicsVehicle) node).getVehicleId()); |
| ((PhysicsVehicle) node).createVehicle(this); |
| dynamicsWorld.addVehicle(((PhysicsVehicle) node).getVehicleId()); |
| } |
| } |
| |
| private void removeRigidBody(PhysicsRigidBody node) { |
| if (node instanceof PhysicsVehicle) { |
| Logger.getLogger(PhysicsSpace.class.getName()).log(Level.INFO, "Removing vehicle constraint {0} from physics space.", ((PhysicsVehicle) node).getVehicleId()); |
| dynamicsWorld.removeVehicle(((PhysicsVehicle) node).getVehicleId()); |
| } |
| Logger.getLogger(PhysicsSpace.class.getName()).log(Level.INFO, "Removing RigidBody {0} from physics space.", node.getObjectId()); |
| physicsNodes.remove(node.getObjectId()); |
| dynamicsWorld.removeRigidBody(node.getObjectId()); |
| } |
| |
| private void addJoint(PhysicsJoint joint) { |
| Logger.getLogger(PhysicsSpace.class.getName()).log(Level.INFO, "Adding Joint {0} to physics space.", joint.getObjectId()); |
| physicsJoints.add(joint); |
| dynamicsWorld.addConstraint(joint.getObjectId(), !joint.isCollisionBetweenLinkedBodys()); |
| } |
| |
| private void removeJoint(PhysicsJoint joint) { |
| Logger.getLogger(PhysicsSpace.class.getName()).log(Level.INFO, "Removing Joint {0} from physics space.", joint.getObjectId()); |
| physicsJoints.remove(joint); |
| dynamicsWorld.removeConstraint(joint.getObjectId()); |
| } |
| |
| /** |
| * Sets the gravity of the PhysicsSpace, set before adding physics objects! |
| * @param gravity |
| */ |
| public void setGravity(Vector3f gravity) { |
| dynamicsWorld.setGravity(Converter.convert(gravity)); |
| } |
| |
| /** |
| * applies gravity value to all objects |
| */ |
| public void applyGravity() { |
| dynamicsWorld.applyGravity(); |
| } |
| |
| /** |
| * clears forces of all objects |
| */ |
| public void clearForces() { |
| dynamicsWorld.clearForces(); |
| } |
| |
| /** |
| * Adds the specified listener to the physics tick listeners. |
| * The listeners are called on each physics step, which is not necessarily |
| * each frame but is determined by the accuracy of the physics space. |
| * @param listener |
| */ |
| public void addTickListener(PhysicsTickListener listener) { |
| tickListeners.add(listener); |
| } |
| |
| public void removeTickListener(PhysicsTickListener listener) { |
| tickListeners.remove(listener); |
| } |
| |
| /** |
| * Adds a CollisionListener that will be informed about collision events |
| * @param listener the CollisionListener to add |
| */ |
| public void addCollisionListener(PhysicsCollisionListener listener) { |
| collisionListeners.add(listener); |
| } |
| |
| /** |
| * Removes a CollisionListener from the list |
| * @param listener the CollisionListener to remove |
| */ |
| public void removeCollisionListener(PhysicsCollisionListener listener) { |
| collisionListeners.remove(listener); |
| } |
| |
| /** |
| * Adds a listener for a specific collision group, such a listener can disable collisions when they happen.<br> |
| * There can be only one listener per collision group. |
| * @param listener |
| * @param collisionGroup |
| */ |
| public void addCollisionGroupListener(PhysicsCollisionGroupListener listener, int collisionGroup) { |
| collisionGroupListeners.put(collisionGroup, listener); |
| } |
| |
| public void removeCollisionGroupListener(int collisionGroup) { |
| collisionGroupListeners.remove(collisionGroup); |
| } |
| |
| /** |
| * Performs a ray collision test and returns the results as a list of PhysicsRayTestResults |
| */ |
| public List<PhysicsRayTestResult> rayTest(Vector3f from, Vector3f to) { |
| List<PhysicsRayTestResult> results = new LinkedList<PhysicsRayTestResult>(); |
| dynamicsWorld.rayTest(Converter.convert(from, rayVec1), Converter.convert(to, rayVec2), new InternalRayListener(results)); |
| return results; |
| } |
| |
| /** |
| * Performs a ray collision test and returns the results as a list of PhysicsRayTestResults |
| */ |
| public List<PhysicsRayTestResult> rayTest(Vector3f from, Vector3f to, List<PhysicsRayTestResult> results) { |
| results.clear(); |
| dynamicsWorld.rayTest(Converter.convert(from, rayVec1), Converter.convert(to, rayVec2), new InternalRayListener(results)); |
| return results; |
| } |
| |
| private class InternalRayListener extends CollisionWorld.RayResultCallback { |
| |
| private List<PhysicsRayTestResult> results; |
| |
| public InternalRayListener(List<PhysicsRayTestResult> results) { |
| this.results = results; |
| } |
| |
| @Override |
| public float addSingleResult(LocalRayResult lrr, boolean bln) { |
| PhysicsCollisionObject obj = (PhysicsCollisionObject) lrr.collisionObject.getUserPointer(); |
| results.add(new PhysicsRayTestResult(obj, Converter.convert(lrr.hitNormalLocal), lrr.hitFraction, bln)); |
| return lrr.hitFraction; |
| } |
| } |
| |
| /** |
| * Performs a sweep collision test and returns the results as a list of PhysicsSweepTestResults<br/> |
| * You have to use different Transforms for start and end (at least distance > 0.4f). |
| * SweepTest will not see a collision if it starts INSIDE an object and is moving AWAY from its center. |
| */ |
| public List<PhysicsSweepTestResult> sweepTest(CollisionShape shape, Transform start, Transform end) { |
| List<PhysicsSweepTestResult> results = new LinkedList<PhysicsSweepTestResult>(); |
| if (!(shape.getCShape() instanceof ConvexShape)) { |
| Logger.getLogger(PhysicsSpace.class.getName()).log(Level.WARNING, "Trying to sweep test with incompatible mesh shape!"); |
| return results; |
| } |
| dynamicsWorld.convexSweepTest((ConvexShape) shape.getCShape(), Converter.convert(start, sweepTrans1), Converter.convert(end, sweepTrans2), new InternalSweepListener(results)); |
| return results; |
| |
| } |
| |
| /** |
| * Performs a sweep collision test and returns the results as a list of PhysicsSweepTestResults<br/> |
| * You have to use different Transforms for start and end (at least distance > 0.4f). |
| * SweepTest will not see a collision if it starts INSIDE an object and is moving AWAY from its center. |
| */ |
| public List<PhysicsSweepTestResult> sweepTest(CollisionShape shape, Transform start, Transform end, List<PhysicsSweepTestResult> results) { |
| results.clear(); |
| if (!(shape.getCShape() instanceof ConvexShape)) { |
| Logger.getLogger(PhysicsSpace.class.getName()).log(Level.WARNING, "Trying to sweep test with incompatible mesh shape!"); |
| return results; |
| } |
| dynamicsWorld.convexSweepTest((ConvexShape) shape.getCShape(), Converter.convert(start, sweepTrans1), Converter.convert(end, sweepTrans2), new InternalSweepListener(results)); |
| return results; |
| } |
| |
| private class InternalSweepListener extends CollisionWorld.ConvexResultCallback { |
| |
| private List<PhysicsSweepTestResult> results; |
| |
| public InternalSweepListener(List<PhysicsSweepTestResult> results) { |
| this.results = results; |
| } |
| |
| @Override |
| public float addSingleResult(LocalConvexResult lcr, boolean bln) { |
| PhysicsCollisionObject obj = (PhysicsCollisionObject) lcr.hitCollisionObject.getUserPointer(); |
| results.add(new PhysicsSweepTestResult(obj, Converter.convert(lcr.hitNormalLocal), lcr.hitFraction, bln)); |
| return lcr.hitFraction; |
| } |
| } |
| |
| /** |
| * destroys the current PhysicsSpace so that a new one can be created |
| */ |
| public void destroy() { |
| physicsNodes.clear(); |
| physicsJoints.clear(); |
| |
| dynamicsWorld.destroy(); |
| dynamicsWorld = null; |
| } |
| |
| /** |
| * used internally |
| * @return the dynamicsWorld |
| */ |
| public DynamicsWorld getDynamicsWorld() { |
| return dynamicsWorld; |
| } |
| |
| public BroadphaseType getBroadphaseType() { |
| return broadphaseType; |
| } |
| |
| public void setBroadphaseType(BroadphaseType broadphaseType) { |
| this.broadphaseType = broadphaseType; |
| } |
| |
| /** |
| * Sets the maximum amount of extra steps that will be used to step the physics |
| * when the fps is below the physics fps. Doing this maintains determinism in physics. |
| * For example a maximum number of 2 can compensate for framerates as low as 30fps |
| * when the physics has the default accuracy of 60 fps. Note that setting this |
| * value too high can make the physics drive down its own fps in case its overloaded. |
| * @param steps The maximum number of extra steps, default is 4. |
| */ |
| public void setMaxSubSteps(int steps) { |
| maxSubSteps = steps; |
| } |
| |
| /** |
| * get the current accuracy of the physics computation |
| * @return the current accuracy |
| */ |
| public float getAccuracy() { |
| return accuracy; |
| } |
| |
| /** |
| * sets the accuracy of the physics computation, default=1/60s<br> |
| * @param accuracy |
| */ |
| public void setAccuracy(float accuracy) { |
| this.accuracy = accuracy; |
| } |
| |
| public Vector3f getWorldMin() { |
| return worldMin; |
| } |
| |
| /** |
| * only applies for AXIS_SWEEP broadphase |
| * @param worldMin |
| */ |
| public void setWorldMin(Vector3f worldMin) { |
| this.worldMin.set(worldMin); |
| } |
| |
| public Vector3f getWorldMax() { |
| return worldMax; |
| } |
| |
| /** |
| * only applies for AXIS_SWEEP broadphase |
| * @param worldMax |
| */ |
| public void setWorldMax(Vector3f worldMax) { |
| this.worldMax.set(worldMax); |
| } |
| |
| /** |
| * Enable debug display for physics |
| * @param manager AssetManager to use to create debug materials |
| */ |
| public void enableDebug(AssetManager manager) { |
| debugManager = manager; |
| } |
| |
| /** |
| * Disable debug display |
| */ |
| public void disableDebug() { |
| debugManager = null; |
| } |
| |
| public AssetManager getDebugManager() { |
| return debugManager; |
| } |
| |
| /** |
| * interface with Broadphase types |
| */ |
| public enum BroadphaseType { |
| |
| /** |
| * basic Broadphase |
| */ |
| SIMPLE, |
| /** |
| * better Broadphase, needs worldBounds , max Object number = 16384 |
| */ |
| AXIS_SWEEP_3, |
| /** |
| * better Broadphase, needs worldBounds , max Object number = 65536 |
| */ |
| AXIS_SWEEP_3_32, |
| /** |
| * Broadphase allowing quicker adding/removing of physics objects |
| */ |
| DBVT; |
| } |
| } |
