Examples of RigidBody

aspect.physics.RigidBody
This is currently just an extension of Motion that includes force and mass. It is not a full implementation of rigid body physics. @author MillerV
com.bulletphysics.dynamics.RigidBody
RigidBody is the main class for rigid body objects. It is derived from {@link CollisionObject}, so it keeps reference to {@link CollisionShape}.
It is recommended for performance and memory use to share {@link CollisionShape}objects whenever possible.
There are 3 types of rigid bodies:
1. Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics.
2. Fixed objects with zero mass. They are not moving (basically collision objects).
3. Kinematic objects, which are objects without mass, but the user can move them. There is on-way interaction, and Bullet calculates a velocity based on the timestep and previous and current world transform.
Bullet automatically deactivates dynamic rigid bodies, when the velocity is below a threshold for a given time.
Deactivated (sleeping) rigid bodies don't take any processing time, except a minor broadphase collision detection impact (to allow active objects to activate/wake up sleeping objects). @author jezek2
net.nakou.indie.jsige.entity.RigidBody
@author Nakou
org.terasology.physics.engine.RigidBody
A rigid body is a physics object whose movement and location is controlled by the physics engine. Rigid bodies move under gravity and bounce off each other and the world.
After being removed from the physics engine this object is no longer valid and should not be used anymore.
TODO: add the methods to apply forces @author Xanhou

Examples of com.bulletphysics.dynamics.RigidBody

      dynamicsWorld.debugDrawWorld();
    }


    for (int i=2; i>=0; i--) {
      CollisionObject obj = dynamicsWorld.getCollisionObjectArray().getQuick(i);
      RigidBody body = RigidBody.upcast(obj);
      drawFrame(body.getWorldTransform(new Transform()));
    }
    
    renderme();


    //glFlush();

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Examples of com.bulletphysics.dynamics.RigidBody

    startTransform.origin.set(0f, 25f, -200f);
    staticScenario.addChildShape(startTransform, staticboxShape5);


    startTransform.origin.set(0f, 0f, 0f);


    RigidBody staticBody = localCreateRigidBody(mass, startTransform, staticScenario);


    staticBody.setCollisionFlags(staticBody.getCollisionFlags() | CollisionFlags.STATIC_OBJECT);


    // enable custom material callback
    //staticBody.setCollisionFlags(staticBody.getCollisionFlags() | CollisionFlags.CUSTOM_MATERIAL_CALLBACK);


    // static plane
    Vector3f normal = new Vector3f(0.4f, 1.5f, -0.4f);
    normal.normalize();
    CollisionShape staticplaneShape6 = new StaticPlaneShape(normal, 0f); // A plane


    startTransform.origin.set(0f, 0f, 0f);


    RigidBody staticBody2 = localCreateRigidBody(mass, startTransform, staticplaneShape6);


    staticBody2.setCollisionFlags(staticBody2.getCollisionFlags() | CollisionFlags.STATIC_OBJECT);


    for (int i=0; i<9; i++) {
      CollisionShape boxShape = new BoxShape(new Vector3f(1f, 1f, 1f));
      startTransform.origin.set(2f * i - 5f, 2f, -3f);
      localCreateRigidBody(1, startTransform, boxShape);

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Examples of com.bulletphysics.dynamics.RigidBody

      Transform startTransform = new Transform();
      startTransform.setIdentity();
      Vector3f camPos = getCameraPosition();
      startTransform.origin.set(camPos);


      RigidBody body = localCreateRigidBody(mass, startTransform, trimeshShape);


      Vector3f linVel = new Vector3f(destination.x - camPos.x, destination.y - camPos.y, destination.z - camPos.z);
      linVel.normalize();
      linVel.scale(ShootBoxInitialSpeed * 0.25f);


      Transform tr = new Transform();
      tr.origin.set(camPos);
      tr.setRotation(new Quat4f(0f, 0f, 0f, 1f));
      body.setWorldTransform(tr);


      body.setLinearVelocity(linVel);
      body.setAngularVelocity(new Vector3f(0f, 0f, 0f));
    }
  }

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Examples of com.bulletphysics.dynamics.RigidBody

      shape.calculateLocalInertia(mass, localInertia);
    }


    DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
    RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
    RigidBody body = new RigidBody(rbInfo);


    ownerWorld.addRigidBody(body);


    return body;
  }

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Examples of com.bulletphysics.dynamics.RigidBody

        int numObj = getDynamicsWorld().getNumCollisionObjects();
        if (numObj != 0) {
          CollisionObject obj = getDynamicsWorld().getCollisionObjectArray().getQuick(numObj - 1);


          getDynamicsWorld().removeCollisionObject(obj);
          RigidBody body = RigidBody.upcast(obj);
          if (body != null && body.getMotionState() != null) {
            //delete body->getMotionState();
          }
          //delete obj;
        }
        break;

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Examples of com.bulletphysics.dynamics.RigidBody

        //#else
        shootBoxShape = new BoxShape(new Vector3f(1f, 1f, 1f));
        //#endif//
      }


      RigidBody body = this.localCreateRigidBody(mass, startTransform, shootBoxShape);


      Vector3f linVel = new Vector3f(destination.x - camPos.x, destination.y - camPos.y, destination.z - camPos.z);
      linVel.normalize();
      linVel.scale(ShootBoxInitialSpeed);


      Transform worldTrans = body.getWorldTransform(new Transform());
      worldTrans.origin.set(camPos);
      worldTrans.setRotation(new Quat4f(0f, 0f, 0f, 1f));
      body.setWorldTransform(worldTrans);
      
      body.setLinearVelocity(linVel);
      body.setAngularVelocity(new Vector3f(0f, 0f, 0f));


      body.setCcdMotionThreshold(1f);
      body.setCcdSweptSphereRadius(0.2f);
    }
  }

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Examples of com.bulletphysics.dynamics.RigidBody

          // apply an impulse
          if (dynamicsWorld != null) {
            CollisionWorld.ClosestRayResultCallback rayCallback = new CollisionWorld.ClosestRayResultCallback(cameraPosition, rayTo);
            dynamicsWorld.rayTest(cameraPosition, rayTo, rayCallback);
            if (rayCallback.hasHit()) {
              RigidBody body = RigidBody.upcast(rayCallback.collisionObject);
              if (body != null) {
                body.setActivationState(CollisionObject.ACTIVE_TAG);
                Vector3f impulse = new Vector3f(rayTo);
                impulse.normalize();
                float impulseStrength = 10f;
                impulse.scale(impulseStrength);
                Vector3f relPos = new Vector3f();
                relPos.sub(rayCallback.hitPointWorld, body.getCenterOfMassPosition(new Vector3f()));
                body.applyImpulse(impulse, relPos);
              }
            }
          }
        }
        else {
        }
        break;
      }
      case 0: {
        if (state == 0) {
          // add a point to point constraint for picking
          if (dynamicsWorld != null) {
            CollisionWorld.ClosestRayResultCallback rayCallback = new CollisionWorld.ClosestRayResultCallback(cameraPosition, rayTo);
            dynamicsWorld.rayTest(cameraPosition, rayTo, rayCallback);
            if (rayCallback.hasHit()) {
              RigidBody body = RigidBody.upcast(rayCallback.collisionObject);
              if (body != null) {
                // other exclusions?
                if (!(body.isStaticObject() || body.isKinematicObject())) {
                  pickedBody = body;
                  pickedBody.setActivationState(CollisionObject.DISABLE_DEACTIVATION);


                  Vector3f pickPos = new Vector3f(rayCallback.hitPointWorld);


                  Transform tmpTrans = body.getCenterOfMassTransform(new Transform());
                  tmpTrans.inverse();
                  Vector3f localPivot = new Vector3f(pickPos);
                  tmpTrans.transform(localPivot);


                  Point2PointConstraint p2p = new Point2PointConstraint(body, localPivot);

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Examples of com.bulletphysics.dynamics.RigidBody

    //#ifdef USE_MOTIONSTATE
    DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
    
    RigidBodyConstructionInfo cInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
    
    RigidBody body = new RigidBody(cInfo);
    //#else
    //btRigidBody* body = new btRigidBody(mass,0,shape,localInertia);  
    //body->setWorldTransform(startTransform);
    //#endif//

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Examples of com.bulletphysics.dynamics.RigidBody

    if (dynamicsWorld != null) {
      int numObjects = dynamicsWorld.getNumCollisionObjects();
      wireColor.set(1f, 0f, 0f);
      for (int i = 0; i < numObjects; i++) {
        CollisionObject colObj = dynamicsWorld.getCollisionObjectArray().getQuick(i);
        RigidBody body = RigidBody.upcast(colObj);


        if (body != null && body.getMotionState() != null) {
          DefaultMotionState myMotionState = (DefaultMotionState) body.getMotionState();
          m.set(myMotionState.graphicsWorldTrans);
        }
        else {
          colObj.getWorldTransform(m);
        }

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Examples of com.bulletphysics.dynamics.RigidBody

      numObjects = dynamicsWorld.getNumCollisionObjects();
    }


    for (int i = 0; i < numObjects; i++) {
      CollisionObject colObj = dynamicsWorld.getCollisionObjectArray().getQuick(i);
      RigidBody body = RigidBody.upcast(colObj);
      if (body != null) {
        if (body.getMotionState() != null) {
          DefaultMotionState myMotionState = (DefaultMotionState) body.getMotionState();
          myMotionState.graphicsWorldTrans.set(myMotionState.startWorldTrans);
          colObj.setWorldTransform(myMotionState.graphicsWorldTrans);
          colObj.setInterpolationWorldTransform(myMotionState.startWorldTrans);
          colObj.activate();
        }
        // removed cached contact points
        dynamicsWorld.getBroadphase().getOverlappingPairCache().cleanProxyFromPairs(colObj.getBroadphaseHandle(), getDynamicsWorld().getDispatcher());


        body = RigidBody.upcast(colObj);
        if (body != null && !body.isStaticObject()) {
          RigidBody.upcast(colObj).setLinearVelocity(new Vector3f(0f, 0f, 0f));
          RigidBody.upcast(colObj).setAngularVelocity(new Vector3f(0f, 0f, 0f));
        }
      }

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