com.bonzaiengine.physics

Class PhysicWorld

java.lang.Object

com.bonzaiengine.physics.PhysicWorld

All Implemented Interfaces:

INative

public final class PhysicWorld
extends java.lang.Object
implements INative

Field Summary

Fields

Modifier and Type	Field and Description
protected static boolean	LOG

Constructor Summary

Constructors

Constructor and Description
PhysicWorld()

Method Summary

Modifier and Type	Method and Description
boolean	addAction(IAction action)
boolean	addCollisionObject(CollisionObject collisionObject)
boolean	addConstraint(Constraint constraint)
boolean	addController(IController controller)
static void	assertIndex(int index, int length)
static void	assertNotNull(long objectId)
static void	assertNotNull(java.lang.Object object)
static void	assertRange(float value, float min, float max)
static void	assertRange(int value, int min, int max)
protected static void	assertResult(java.lang.Object object)
TestResult	closestConvexSweepTest(CollisionShape collisionShape, Transform convexFromWorld, Transform convexToWorld) From Bullet convexTest performs a swept convex cast on all objects in the PhysicWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
TestResult	closestRayTest(Vec3 rayFromWorld, Vec3 rayToWorld)
void	contactPairTest(CollisionObject collisionObjectA, CollisionObject collisionObjectB, IContactPointCallback callback) From Bullet contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected.
void	contactPoints(IContactPointCallback callback)
void	contactTest(CollisionObject collisionObject, IContactPointCallback callback) From Bullet contactTest performs a discrete collision test between colObj against all objects in the PhysicWorld, and calls the resultCallback.
static ConvexDecomposition	convexDecomposition(GeometryData geometry, ConvexDecomposition.HACD params) Convex decomposition using HACD algorithm
static ConvexDecomposition	convexDecomposition(GeometryData geometry, ConvexDecomposition.VHACD params) Convex decomposition using VHACD algorithm for manifold closed meshes
void	convexSweepTest(CollisionShape collisionShape, Transform convexFromWorld, Transform convexToWorld, ITestResultCallback callback) From Bullet convexTest performs a swept convex cast on all objects in the PhysicWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
CollisionShape	createBoxCollisionShape(Vec3 boxSize)
CollisionShape	createBvhTriangleCollisionShape(GeometryData geometry)
CollisionShape	createCapsuleCollisionShape(float height, float radius)
CollisionShape	createCompoundShape()
CollisionShape	createConvexHullCollisionShape(Vec3Array vertices)
CollisionShape	createCylinderCollisionShape(float height, float radius)
GhostObject	createGhostObject(CollisionShape shape)
CollisionShape	createPlaneCollisionShape(Plane plane)
RigidBody	createRigidBody(CollisionShape shape, Transform t, float mass)
RigidBody	createRigidBody(CollisionShape shape, Transform t, float mass, boolean inertia)
SoftBody	createSoftBody(AsyncModel asyncModel, Transform modelTransform, OnLoadListener<SoftBody> onLoadInit) Restriction on Model used with physic: Transform: Model/Mesh transform is not usable Hierarchy: child mesh and model is ignored by physic
SoftBody	createSoftBody(Model model)
CollisionShape	createSphereCollisionShape(float radius)
void	destroy() Destroy this PhysicWorld
void	destroyCollisionObject(CollisionObject collisionObject)
protected static java.nio.ByteBuffer	faceBuffer(Faces faces)
protected void	finalize()
protected Constraint[]	getConstraints(RigidBody rigidBody)
protected long	getDynamicsWorldId()
int	getPhysicFixedFps()
SoftBodyWorldInfo	getSoftBodyWorldInfo()
static boolean	isAvailable()
static GeometryData	meshDecimator(GeometryData geometry, int numTrianglesDecimatedMesh)
static Vec3Array	optimizeConvexHull(Vec3Array points, boolean decimation)
void	rayTest(Vec3 rayFromWorld, Vec3 rayToWorld, ITestResultCallback callback) From Bullet: rayTest performs a raycast on all objects in the PhysicWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
boolean	removeAction(IAction action)
boolean	removeCollisionObject(CollisionObject collisionObject)
boolean	removeConstraint(Constraint constraint)
void	removeConstraints(CollisionObject collisionObject)
boolean	removeController(IController controller)
void	setPhysicFixedFps(int physicFps)
void	setStepListener(IStepListener stepListener)
void	update(long timePassedMS) Update this PhysicWorld
void	updateBoxCollisionShape(CollisionShape boxShape, Vec3 boxSize)
void	updateCapsuleCollisionShape(CollisionShape capsuleShape, float height, float radius)
void	updateChilds(CollisionShape compoundShape, ConvexDecomposition convexDecomposition)
void	updateChildTransform(CollisionShape compoundShape, int index, Transform src)
void	updateCylinderCollisionShape(CollisionShape cylinderShape, float height, float radius)
void	updateSphereCollisionShape(CollisionShape sphereShape, float radius)
protected static java.nio.ByteBuffer	vertex3Buffer(Vec3Array vec3Array)

Methods inherited from class java.lang.Object

clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

LOG

protected static final boolean LOG

See Also:

Constant Field Values

Constructor Detail

PhysicWorld

public PhysicWorld()

Method Detail

isAvailable

public static final boolean isAvailable()

Returns:

true if the Bullet physic library is available (native libraries loaded)

setStepListener

public final void setStepListener(IStepListener stepListener)

destroy

public final void destroy()

Destroy this PhysicWorld

Specified by:

destroy in interface INative

finalize

protected void finalize()
                 throws java.lang.Throwable

Overrides:

finalize in class java.lang.Object

Throws:

java.lang.Throwable

getDynamicsWorldId

protected final long getDynamicsWorldId()

getSoftBodyWorldInfo

public final SoftBodyWorldInfo getSoftBodyWorldInfo()

createBoxCollisionShape

public final CollisionShape createBoxCollisionShape(Vec3 boxSize)

createSphereCollisionShape

public final CollisionShape createSphereCollisionShape(float radius)

createCylinderCollisionShape

public final CollisionShape createCylinderCollisionShape(float height,
                                                         float radius)

createCapsuleCollisionShape

public final CollisionShape createCapsuleCollisionShape(float height,
                                                        float radius)

createConvexHullCollisionShape

public final CollisionShape createConvexHullCollisionShape(Vec3Array vertices)

Parameters:

vertices -

Returns:

See Also:

optimizeConvexHull(Vec3Array, boolean)

createBvhTriangleCollisionShape

public final CollisionShape createBvhTriangleCollisionShape(GeometryData geometry)

createPlaneCollisionShape

public final CollisionShape createPlaneCollisionShape(Plane plane)

createCompoundShape

public final CollisionShape createCompoundShape()

updateBoxCollisionShape

public final void updateBoxCollisionShape(CollisionShape boxShape,
                                          Vec3 boxSize)

updateSphereCollisionShape

public final void updateSphereCollisionShape(CollisionShape sphereShape,
                                             float radius)

updateCylinderCollisionShape

public final void updateCylinderCollisionShape(CollisionShape cylinderShape,
                                               float height,
                                               float radius)

updateCapsuleCollisionShape

public final void updateCapsuleCollisionShape(CollisionShape capsuleShape,
                                              float height,
                                              float radius)

updateChildTransform

public final void updateChildTransform(CollisionShape compoundShape,
                                       int index,
                                       Transform src)

updateChilds

public final void updateChilds(CollisionShape compoundShape,
                               ConvexDecomposition convexDecomposition)

createRigidBody

public final RigidBody createRigidBody(CollisionShape shape,
                                       Transform t,
                                       float mass)

Parameters:

shape - a CollisionShape

t - start transform, required (not null)

mass - mass of the rigid body: 0 for static, non 0 for dynamic (body with inertia)

See Also:

addCollisionObject(CollisionObject), destroyCollisionObject(CollisionObject)

createRigidBody

public final RigidBody createRigidBody(CollisionShape shape,
                                       Transform t,
                                       float mass,
                                       boolean inertia)

createSoftBody

public SoftBody createSoftBody(AsyncModel asyncModel,
                               Transform modelTransform,
                               OnLoadListener<SoftBody> onLoadInit)

Restriction on Model used with physic:

• Transform: Model/Mesh transform is not usable
• Hierarchy: child mesh and model is ignored by physic

Parameters:

asyncModel - an AsyncModel to apply physic on

modelTransform - SoftBody's model instance Transform, optional

onLoadInit - listener called when the SoftBody physic geometry is initialized, optional

Returns:

SoftBody

createSoftBody

public SoftBody createSoftBody(Model model)

See Also:

createSoftBody(AsyncModel, Transform, OnLoadListener)

createGhostObject

public final GhostObject createGhostObject(CollisionShape shape)

Parameters:

shape - a CollisionShape

t - start transform, required (not null)

See Also:

addCollisionObject(CollisionObject), destroyCollisionObject(CollisionObject)

addCollisionObject

public final boolean addCollisionObject(CollisionObject collisionObject)

Parameters:

collisionObject - CollisionObject to add

Returns:

true if added, false if already in this PhysicWorld

See Also:

removeCollisionObject(CollisionObject)

removeCollisionObject

public final boolean removeCollisionObject(CollisionObject collisionObject)

Parameters:

collisionObject - CollisionObject to remove

Returns:

true if removed

Throws:

java.lang.IllegalStateException - if collisionObject is a RigidBody with Constraint

destroyCollisionObject

public final void destroyCollisionObject(CollisionObject collisionObject)

Parameters:

collisionObject - CollisionObject to (removed and) destroy

addAction

public final boolean addAction(IAction action)
                        throws java.lang.IllegalArgumentException

Parameters:

action - IAction to add

Returns:

true if added, false if already in this PhysicWorld

Throws:

java.lang.IllegalArgumentException

removeAction

public final boolean removeAction(IAction action)

addConstraint

public final boolean addConstraint(Constraint constraint)

Parameters:

constraint - Constraint to add

Returns:

true if added, false if already in this PhysicWorld

Throws:

java.lang.IllegalStateException - if a RigidBody of the Constraint was not added

removeConstraint

public final boolean removeConstraint(Constraint constraint)

removeConstraints

public final void removeConstraints(CollisionObject collisionObject)

getConstraints

protected final Constraint[] getConstraints(RigidBody rigidBody)

addController

public final boolean addController(IController controller)

Parameters:

controller - IController to add

Returns:

true if added, false if already in this PhysicWorld

removeController

public final boolean removeController(IController controller)

getPhysicFixedFps

public final int getPhysicFixedFps()

Returns:

physic fixed fps. Default value: 60

setPhysicFixedFps

public final void setPhysicFixedFps(int physicFps)

update

public final void update(long timePassedMS)

Update this PhysicWorld

Parameters:

timePassedMS - time passed in milli-seconds

rayTest

public final void rayTest(Vec3 rayFromWorld,
                          Vec3 rayToWorld,
                          ITestResultCallback callback)

From Bullet:
rayTest performs a raycast on all objects in the PhysicWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.

Parameters:

dst - destination to store ray test result

rayFromWorld -

rayToWorld -

closestRayTest

public final TestResult closestRayTest(Vec3 rayFromWorld,
                                       Vec3 rayToWorld)

Returns:

the closest result

See Also:

#nConvexSweepTest(Array, ConvexShape, Transform, Transform)

convexSweepTest

public final void convexSweepTest(CollisionShape collisionShape,
                                  Transform convexFromWorld,
                                  Transform convexToWorld,
                                  ITestResultCallback callback)

From Bullet
convexTest performs a swept convex cast on all objects in the PhysicWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.

closestConvexSweepTest

public final TestResult closestConvexSweepTest(CollisionShape collisionShape,
                                               Transform convexFromWorld,
                                               Transform convexToWorld)

From Bullet
convexTest performs a swept convex cast on all objects in the PhysicWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.

Returns:

the closest result

See Also:

#nConvexSweepTest(Array, ConvexShape, Transform, Transform)

contactTest

public final void contactTest(CollisionObject collisionObject,
                              IContactPointCallback callback)

From Bullet
contactTest performs a discrete collision test between colObj against all objects in the PhysicWorld, and calls the resultCallback. it reports one or more contact points for every overlapping object (including the one with deepest penetration)

Parameters:

collisionObject -

callback -

contactPairTest

public final void contactPairTest(CollisionObject collisionObjectA,
                                  CollisionObject collisionObjectB,
                                  IContactPointCallback callback)

From Bullet
contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected. it reports one or more contact points (including the one with deepest penetration)

Parameters:

collisionObjectA -

collisionObjectB -

callback -

contactPoints

public final void contactPoints(IContactPointCallback callback)

optimizeConvexHull

public static final Vec3Array optimizeConvexHull(Vec3Array points,
                                                 boolean decimation)

Parameters:

points - src set of points

decimation - true to apply an additional hull decimation

Returns:

optimized points or

meshDecimator

public static final GeometryData meshDecimator(GeometryData geometry,
                                               int numTrianglesDecimatedMesh)

convexDecomposition

public static final ConvexDecomposition convexDecomposition(GeometryData geometry,
                                                            ConvexDecomposition.HACD params)

Convex decomposition using HACD algorithm

Parameters:

geometry - a GeometryData to decompose

params - parameters of the convex decomposition

Returns:

convex decomposition, or null if errors

convexDecomposition

public static final ConvexDecomposition convexDecomposition(GeometryData geometry,
                                                            ConvexDecomposition.VHACD params)

Convex decomposition using VHACD algorithm for manifold closed meshes

Parameters:

geometry - a GeometryData to decompose

params - parameters of the convex decomposition

Returns:

convex decomposition, or null if errors

faceBuffer

protected static final java.nio.ByteBuffer faceBuffer(Faces faces)

vertex3Buffer

protected static final java.nio.ByteBuffer vertex3Buffer(Vec3Array vec3Array)

assertNotNull

public static final void assertNotNull(long objectId)

assertNotNull

public static final void assertNotNull(java.lang.Object object)

assertIndex

public static final void assertIndex(int index,
                                     int length)

assertRange

public static final void assertRange(int value,
                                     int min,
                                     int max)

assertRange

public static final void assertRange(float value,
                                     float min,
                                     float max)

assertResult

protected static final void assertResult(java.lang.Object object)
                                  throws java.lang.RuntimeException

Throws:

java.lang.RuntimeException