Real-Time Physics Simulation Forum

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import com.threed.jpct.*;
import com.threed.jpct.util.Light;
import sregame.hgkad.physics.*;

import java.util.Vector;
import java.util.List;
import java.util.ArrayList;
import javax.vecmath.Vector3f;
import javax.swing.*;
import java.awt.*;
import javax.vecmath.Matrix3f;
import javax.vecmath.Matrix4f;

import com.bulletphysics.BulletGlobals;
import com.bulletphysics.collision.broadphase.AxisSweep3;
import com.bulletphysics.collision.dispatch.CollisionObject;
import com.bulletphysics.collision.dispatch.CollisionWorld;
import com.bulletphysics.collision.shapes.BoxShape;
import com.bulletphysics.dynamics.DynamicsWorld;
import com.bulletphysics.dynamics.constraintsolver.Point2PointConstraint;
import com.bulletphysics.dynamics.constraintsolver.TypedConstraint;

import com.bulletphysics.linearmath.*;

import com.bulletphysics.collision.broadphase.BroadphaseInterface;
import com.bulletphysics.collision.broadphase.SimpleBroadphase;
import com.bulletphysics.collision.dispatch.CollisionDispatcher;
import com.bulletphysics.collision.dispatch.DefaultCollisionConfiguration;
import com.bulletphysics.collision.shapes.BoxShape;
import com.bulletphysics.collision.shapes.CollisionShape;
import com.bulletphysics.collision.shapes.StaticPlaneShape;
import com.bulletphysics.dynamics.DiscreteDynamicsWorld;
import com.bulletphysics.dynamics.RigidBody;
import com.bulletphysics.dynamics.RigidBodyConstructionInfo;
import com.bulletphysics.dynamics.constraintsolver.ConstraintSolver;
import com.bulletphysics.dynamics.constraintsolver.SequentialImpulseConstraintSolver;

public class BulletTest {

	private World world;
	private FrameBuffer buffer;
	private Object3D box;
	private JFrame frame;
  
  public DiscreteDynamicsWorld dynamicWorld;
  public int maxSubSteps;
  public float timeStep, fixedTimeStep;
  protected Clock clock = new Clock(); 
	private List<CollisionShape> collisionShapes = new ArrayList<CollisionShape>();
	private BroadphaseInterface overlappingPairCache;
	private CollisionDispatcher dispatcher;
	private ConstraintSolver solver;
	private DefaultCollisionConfiguration collisionConfiguration;
  
  private Vector<RigidBody> boxList;
	
	public static void main(String[] args) throws Exception {
		new BulletTest().loop();
	}

	public BulletTest() throws Exception {
	  boxList = new Vector();
		frame=new JFrame("Bullet Test");
		frame.setSize(800, 600);
		frame.setVisible(true);
		frame.setDefaultCloseOperation(JFrame.HIDE_ON_CLOSE);
	  
		world = new World();
		world.setAmbientLight(120, 120, 120);

		TextureManager.getInstance().addTexture("box", new Texture("box.jpg"));

		box = Primitives.getBox(1f, 1f);
		box.setTexture("box");
		box.setEnvmapped(Object3D.ENVMAP_ENABLED);
		box.build();
		world.addObject(box);

		world.getCamera().setPosition(150, -50, -5);
		world.getCamera().lookAt(box.getTransformedCenter());
		
		Light light = new Light(world); 
		light.setPosition(new SimpleVector(-200, -50 , 80));
		light.setIntensity(150,140,150);
		
		collisionConfiguration = new DefaultCollisionConfiguration();
		dispatcher = new CollisionDispatcher(collisionConfiguration);
		Vector3f worldAabbMin = new Vector3f(-10000,-10000,-10000);
		Vector3f worldAabbMax = new Vector3f(10000,10000,10000);
		AxisSweep3 overlappingPairCache = new AxisSweep3(worldAabbMin, worldAabbMax);
		SequentialImpulseConstraintSolver solver = new SequentialImpulseConstraintSolver();
		
		dynamicWorld = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, solver, collisionConfiguration);
		dynamicWorld.setGravity(new Vector3f(0,-10,0));
		
		CollisionShape groundShape = new BoxShape(new Vector3f(50.f, 50.f, 50.f));
		Transform groundTransform = new Transform();
		groundTransform.setIdentity();
		groundTransform.origin.set(new Vector3f(0.f, -56.f, 0.f));
		float mass = 0f;
		Vector3f localInertia = new Vector3f(0, 0, 0);
	  DefaultMotionState myMotionState = new DefaultMotionState(groundTransform);
		RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(
					mass, myMotionState, groundShape, localInertia);
			RigidBody body = new RigidBody(rbInfo);

			// add the body to the dynamics world
			dynamicWorld.addRigidBody(body);
			
			initTestObects();
	}

	private void loop() throws Exception {
		buffer = new FrameBuffer(800, 600, FrameBuffer.SAMPLINGMODE_NORMAL);
		Canvas canvas=buffer.enableGLCanvasRenderer();
		buffer.disableRenderer(IRenderer.RENDERER_SOFTWARE);
		frame.add(canvas);
		RigidBody body;
		Object3D gfx;
		DefaultMotionState dms;
		SimpleVector pos;
		Matrix4f rotMatrix = new Matrix4f();
		while (frame.isShowing()) {		  
		  float ms = clock.getTimeMicroseconds();
		  clock.reset();
		  dynamicWorld.stepSimulation(ms / 1000000f);
		  
		  for(int i = 0; i < boxList.size(); i++){
		    body = boxList.get(i);
		    gfx = (Object3D)body.getUserPointer();
		    dms = (DefaultMotionState)body.getMotionState();
		    dms.graphicsWorldTrans.getMatrix(rotMatrix);
		    //System.out.println(dms.graphicsWorldTrans.basis.toString());
		    System.out.println(rotMatrix.toString());
		    pos = gfx.getTransformedCenter();
		    gfx.translate(
		      dms.graphicsWorldTrans.origin.x - pos.x,
		      (-dms.graphicsWorldTrans.origin.y) - pos.y,
		      (-dms.graphicsWorldTrans.origin.z) - pos.z );
		    
		  }
		  
			box.rotateY(0.01f);
			buffer.clear(java.awt.Color.BLUE);
			world.renderScene(buffer);
			world.draw(buffer);
			buffer.update();
			buffer.displayGLOnly();
			canvas.repaint();
			Thread.sleep(10);
		}
		buffer.disableRenderer(IRenderer.RENDERER_OPENGL);
		buffer.dispose();
		frame.dispose();
		System.exit(0);
	}
	
	
	public void initTestObects(){
	  Transform transform;
	  Object3D boxgfx;
	  Vector3f size = new Vector3f(2,2,2);
	  BoxShape shape = new BoxShape(size);
	  //JPCTBulletMotionState ms;
	  MotionState ms;
	  Vector3f localInertia = new Vector3f(0,0,0);
	  RigidBodyConstructionInfo rbInfo;
	  RigidBody body;
	  
	  for(int i = 1; i < 30; i++){
      boxgfx = Primitives.getCube(2);
	    boxgfx.setTexture("box");
	    boxgfx.setEnvmapped(Object3D.ENVMAP_ENABLED);
	    boxgfx.build();
	    world.addObject(boxgfx);
	    
	    transform = new Transform();
	    transform.setIdentity();
	    transform.origin.set(0, (i * 4), i*2);
	    
	    ms = new DefaultMotionState(transform);
	    //ms = new JPCTBulletMotionState(transform);
	    //ms.setObject(boxgfx);
	    
	    rbInfo = new RigidBodyConstructionInfo(500, ms, shape, localInertia);
	    body = new RigidBody(rbInfo);
	    body.setRestitution(0.1f);
	    body.setFriction(0.01f);
	    body.setDamping(0.0f, 0.0f);
	    
	    body.setUserPointer(boxgfx);
	    boxList.add(body);
	    
	    dynamicWorld.addRigidBody(body);
	  } // end for loop

	}
}