Java BulletGlobals类代码示例

import com.bulletphysics.BulletGlobals; //导入依赖的package包/类
@Override
public Vector3 localGetSupportingVertex(Vector3 vec, Vector3 out) {
	Vector3 supVertex = localGetSupportingVertexWithoutMargin(vec, out);

	if (getMargin() != 0f) {
	    Stack stack = Stack.enter();
		Vector3 vecnorm = stack.alloc(vec);
		if (vecnorm.len2() < (BulletGlobals.FLT_EPSILON * BulletGlobals.FLT_EPSILON)) {
			vecnorm.set(-1f, -1f, -1f);
		}
		vecnorm.nor();
		vecnorm.scl(getMargin());
		supVertex.add(vecnorm);
		stack.leave();
	}
	return out;
}
 

import com.bulletphysics.BulletGlobals; //导入依赖的package包/类
@Override
public Vector3 localGetSupportingVertex (Vector3 vec, Vector3 out) {
	Vector3 supVertex = localGetSupportingVertexWithoutMargin(vec, out);

	if (getMargin() != 0f) {
		Stack stack = Stack.enter();
		Vector3 vecnorm = stack.alloc(vec);
		if (vecnorm.len2() < (BulletGlobals.FLT_EPSILON * BulletGlobals.FLT_EPSILON)) {
			vecnorm.set(-1f, -1f, -1f);
		}
		vecnorm.nor();
		vecnorm.scl(getMargin());
		supVertex.add(vecnorm);
		stack.leave();
	}
	return out;
}
 

import com.bulletphysics.BulletGlobals; //导入依赖的package包/类
private Vector3 coneLocalSupport (Vector3 v, Vector3 out) {
	float halfHeight = height * 0.5f;

	if (VectorUtil.getCoord(v, coneIndices[1]) > v.len() * sinAngle) {
		VectorUtil.setCoord(out, coneIndices[0], 0f);
		VectorUtil.setCoord(out, coneIndices[1], halfHeight);
		VectorUtil.setCoord(out, coneIndices[2], 0f);
		return out;
	} else {
		float v0 = VectorUtil.getCoord(v, coneIndices[0]);
		float v2 = VectorUtil.getCoord(v, coneIndices[2]);
		float s = (float)Math.sqrt(v0 * v0 + v2 * v2);
		if (s > BulletGlobals.FLT_EPSILON) {
			float d = radius / s;
			VectorUtil.setCoord(out, coneIndices[0], VectorUtil.getCoord(v, coneIndices[0]) * d);
			VectorUtil.setCoord(out, coneIndices[1], -halfHeight);
			VectorUtil.setCoord(out, coneIndices[2], VectorUtil.getCoord(v, coneIndices[2]) * d);
			return out;
		} else {
			VectorUtil.setCoord(out, coneIndices[0], 0f);
			VectorUtil.setCoord(out, coneIndices[1], -halfHeight);
			VectorUtil.setCoord(out, coneIndices[2], 0f);
			return out;
		}
	}
}
 

import com.bulletphysics.BulletGlobals; //导入依赖的package包/类
@Override
public Vector3 localGetSupportingVertex (Vector3 vec, Vector3 out) {
	Vector3 supVertex = coneLocalSupport(vec, out);
	if (getMargin() != 0f) {
		Stack stack = Stack.enter();
		Vector3 vecnorm = stack.alloc(vec);
		if (vecnorm.len2() < (BulletGlobals.FLT_EPSILON * BulletGlobals.FLT_EPSILON)) {
			vecnorm.set(-1f, -1f, -1f);
		}
		vecnorm.nor();
		vecnorm.scl(getMargin());
		supVertex.add(vecnorm);
		stack.leave();
	}
	return supVertex;
}
 

import com.bulletphysics.BulletGlobals; //导入依赖的package包/类
@Override
	public void setLocalScaling (Vector3 scaling) {
		Stack stack = Stack.enter();
		Vector3 tmp = stack.allocVector3();
		tmp.set(getLocalScaling(stack.allocVector3())).sub(scaling);

		if (tmp.len2() > BulletGlobals.SIMD_EPSILON) {
			super.setLocalScaling(scaling);
			/*
			 * if (ownsBvh) { m_bvh->~btOptimizedBvh(); btAlignedFree(m_bvh); }
			 */
			// /m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this
// needs some more work
			bvh = new OptimizedBvh();
			// rebuild the bvh...
			bvh.build(meshInterface, useQuantizedAabbCompression, localAabbMin, localAabbMax);
			ownsBvh = true;
		}
		stack.leave();
	}
 

import com.bulletphysics.BulletGlobals; //导入依赖的package包/类
public void setOptimizedBvh (OptimizedBvh bvh, Vector3 scaling) {
	assert (this.bvh == null);
	assert (!ownsBvh);

	this.bvh = bvh;
	ownsBvh = false;

	Stack stack = Stack.enter();
	// update the scaling without rebuilding the bvh
	Vector3 tmp = stack.allocVector3();
	tmp.set(getLocalScaling(stack.allocVector3())).sub(scaling);

	if (tmp.len2() > BulletGlobals.SIMD_EPSILON) {
		super.setLocalScaling(scaling);
	}
	stack.leave();
}
 

import com.bulletphysics.BulletGlobals; //导入依赖的package包/类
@Override
public Vector3 localGetSupportingVertex (Vector3 vec, Vector3 out) {
	Vector3 supVertex = out;
	localGetSupportingVertexWithoutMargin(vec, supVertex);

	if (getMargin() != 0f) {
		Stack stack = Stack.enter();
		Vector3 vecnorm = stack.alloc(vec);
		if (vecnorm.len2() < (BulletGlobals.SIMD_EPSILON * BulletGlobals.SIMD_EPSILON)) {
			vecnorm.set(-1f, -1f, -1f);
		}
		vecnorm.nor();
		vecnorm.scl(getMargin());
		supVertex.add(vecnorm);
		stack.leave();
	}
	return out;
}
 

import com.bulletphysics.BulletGlobals; //导入依赖的package包/类
public static Quaternion shortestArcQuat (Vector3 v0, Vector3 v1, Quaternion out) {
	Stack stack = Stack.enter();
	Vector3 c = stack.allocVector3();
	c.set(v0).crs(v1);
	float d = v0.dot(v1);

	if (d < -1.0 + BulletGlobals.FLT_EPSILON) {
		// just pick any vector
		out.set(0.0f, 1.0f, 0.0f, 0.0f);
		stack.leave();
		return out;
	}

	float s = (float)Math.sqrt((1.0f + d) * 2.0f);
	float rs = 1.0f / s;

	out.set(c.x * rs, c.y * rs, c.z * rs, s * 0.5f);
	stack.leave();
	return out;
}
 

import com.bulletphysics.BulletGlobals; //导入依赖的package包/类
public boolean wantsSleeping () {
	if (getActivationState() == DISABLE_DEACTIVATION) {
		return false;
	}

	// disable deactivation
	if (BulletGlobals.isDeactivationDisabled() || (BulletGlobals.getDeactivationTime() == 0f)) {
		return false;
	}

	if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION)) {
		return true;
	}

	if (deactivationTime > BulletGlobals.getDeactivationTime()) {
		return true;
	}
	return false;
}
 

import com.bulletphysics.BulletGlobals; //导入依赖的package包/类
public SequentialImpulseConstraintSolver () {
	BulletGlobals.setContactDestroyedCallback(new ContactDestroyedCallback() {
		public boolean contactDestroyed (Object userPersistentData) {
			assert (userPersistentData != null);
			ConstraintPersistentData cpd = (ConstraintPersistentData)userPersistentData;
			// btAlignedFree(cpd);
			totalCpd--;
			// printf("totalCpd = %i. DELETED Ptr %x\n",totalCpd,userPersistentData);
			return true;
		}
	});

	// initialize default friction/contact funcs
	int i, j;
	for (i = 0; i < MAX_CONTACT_SOLVER_TYPES; i++) {
		for (j = 0; j < MAX_CONTACT_SOLVER_TYPES; j++) {
			contactDispatch[i][j] = ContactConstraint.resolveSingleCollision;
			frictionDispatch[i][j] = ContactConstraint.resolveSingleFriction;
		}
	}
}
 

import com.bulletphysics.BulletGlobals; //导入依赖的package包/类
public float getRelativeVelocity (Vector3 linvelA, Vector3 angvelA, Vector3 linvelB, Vector3 angvelB) {
	Stack stack = Stack.enter();
	Vector3 linrel = stack.allocVector3();
	linrel.set(linvelA).sub(linvelB);

	Vector3 angvela = stack.allocVector3();
	VectorUtil.mul(angvela, angvelA, aJ);

	Vector3 angvelb = stack.allocVector3();
	VectorUtil.mul(angvelb, angvelB, bJ);

	VectorUtil.mul(linrel, linrel, linearJointAxis);

	angvela.add(angvelb);
	angvela.add(linrel);

	float rel_vel2 = angvela.x + angvela.y + angvela.z;
	stack.leave();
	return rel_vel2 + BulletGlobals.FLT_EPSILON;
}
 

import com.bulletphysics.BulletGlobals; //导入依赖的package包/类
@Override
public void setLocalScaling(Vector3f scaling) {
	Vector3f tmp = Stack.alloc(Vector3f.class);
	tmp.sub(getLocalScaling(Stack.alloc(Vector3f.class)), scaling);

	if (tmp.lengthSquared() > BulletGlobals.SIMD_EPSILON) {
		super.setLocalScaling(scaling);
		/*
		if (ownsBvh)
		{
		m_bvh->~btOptimizedBvh();
		btAlignedFree(m_bvh);
		}
		*/
		///m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work
		bvh = new OptimizedBvh();
		// rebuild the bvh...
		bvh.build(meshInterface, useQuantizedAabbCompression, localAabbMin, localAabbMax);
		ownsBvh = true;
	}
}
 

import com.bulletphysics.BulletGlobals; //导入依赖的package包/类
public static Quat4f shortestArcQuat(Vector3f v0, Vector3f v1, Quat4f out) {
	Vector3f c = Stack.alloc(Vector3f.class);
	c.cross(v0, v1);
	float d = v0.dot(v1);

	if (d < -1.0 + BulletGlobals.FLT_EPSILON) {
		// just pick any vector
		out.set(0.0f, 1.0f, 0.0f, 0.0f);
		return out;
	}

	float s = (float) Math.sqrt((1.0f + d) * 2.0f);
	float rs = 1.0f / s;

	out.set(c.x * rs, c.y * rs, c.z * rs, s * 0.5f);
	return out;
}
 

import com.bulletphysics.BulletGlobals; //导入依赖的package包/类
public boolean wantsSleeping() {
	if (getActivationState() == DISABLE_DEACTIVATION) {
		return false;
	}

	// disable deactivation
	if (BulletGlobals.isDeactivationDisabled() || (BulletGlobals.getDeactivationTime() == 0f)) {
		return false;
	}

	if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION)) {
		return true;
	}

	if (deactivationTime > BulletGlobals.getDeactivationTime()) {
		return true;
	}
	return false;
}
 

import com.bulletphysics.BulletGlobals; //导入依赖的package包/类
public SequentialImpulseConstraintSolver() {
	BulletGlobals.setContactDestroyedCallback(new ContactDestroyedCallback() {
		public boolean contactDestroyed(Object userPersistentData) {
			assert (userPersistentData != null);
			ConstraintPersistentData cpd = (ConstraintPersistentData) userPersistentData;
			//btAlignedFree(cpd);
			totalCpd--;
			//printf("totalCpd = %i. DELETED Ptr %x\n",totalCpd,userPersistentData);
			return true;
		}
	});

	// initialize default friction/contact funcs
	int i, j;
	for (i = 0; i < MAX_CONTACT_SOLVER_TYPES; i++) {
		for (j = 0; j < MAX_CONTACT_SOLVER_TYPES; j++) {
			contactDispatch[i][j] = ContactConstraint.resolveSingleCollision;
			frictionDispatch[i][j] = ContactConstraint.resolveSingleFriction;
		}
	}
}