Java ConstraintSolver类代码示例

import com.bulletphysics.dynamics.constraintsolver.ConstraintSolver; //导入依赖的package包/类
/**
 * Set up the physics engine for the scene.
 */
public void setUp() {
    // Create a DBVT broadphase to broadly check collisions using the AABB technique which ensures good performance
    BroadphaseInterface broadphase = new DbvtBroadphase();

    // Set up a collision configuration and dispatcher
    CollisionConfiguration collisionConfig = new DefaultCollisionConfiguration();
    CollisionDispatcher dispatcher = new CollisionDispatcher(collisionConfig);

    // Configure a constraint solver
    ConstraintSolver solver = new SequentialImpulseConstraintSolver();

    // Create and configure the Bullet physics dynamic world
    this.bulletDynamicsWorld = new DiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfig);
    this.bulletDynamicsWorld.setGravity(new Vector3f(0, -9.81f, 0));
}
 

import com.bulletphysics.dynamics.constraintsolver.ConstraintSolver; //导入依赖的package包/类
public DiscreteDynamicsWorld (Dispatcher dispatcher, BroadphaseInterface pairCache, ConstraintSolver constraintSolver,
	CollisionConfiguration collisionConfiguration) {
	super(dispatcher, pairCache, collisionConfiguration);
	this.constraintSolver = constraintSolver;

	if (this.constraintSolver == null) {
		this.constraintSolver = new SequentialImpulseConstraintSolver();
		ownsConstraintSolver = true;
	} else {
		ownsConstraintSolver = false;
	}

	{
		islandManager = new SimulationIslandManager();
	}

	ownsIslandManager = true;
}
 

import com.bulletphysics.dynamics.constraintsolver.ConstraintSolver; //导入依赖的package包/类
public DiscreteDynamicsWorld(Dispatcher dispatcher, BroadphaseInterface pairCache, ConstraintSolver constraintSolver, CollisionConfiguration collisionConfiguration) {
	super(dispatcher, pairCache, collisionConfiguration);
	this.constraintSolver = constraintSolver;

	if (this.constraintSolver == null) {
		this.constraintSolver = new SequentialImpulseConstraintSolver();
		ownsConstraintSolver = true;
	}
	else {
		ownsConstraintSolver = false;
	}

	{
		islandManager = new SimulationIslandManager();
	}

	ownsIslandManager = true;
}
 

import com.bulletphysics.dynamics.constraintsolver.ConstraintSolver; //导入依赖的package包/类
public Screen() {
    /*
     Set the color to black
     */
    glClearColor(0, 0, 0, 1);
    BroadphaseInterface broadphase = new DbvtBroadphase();
    CollisionConfiguration collisionConfiguration = new DefaultCollisionConfiguration();
    CollisionDispatcher dispatcher = new CollisionDispatcher(collisionConfiguration);
    ConstraintSolver solver = new SequentialImpulseConstraintSolver();
    physicsWorld = new DiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
    physicsWorld.setGravity(new Vector3f(0, -10 /* m/s2 */, 0));
    
    /*
     initialize the entities list
     */
    entities = new LinkedList<>();

    camera = new Camera(1280, 720, 67f, 0.1f, 1000000000000f);

    //call the create method
    create();
}
 

import com.bulletphysics.dynamics.constraintsolver.ConstraintSolver; //导入依赖的package包/类
public PhysicsWorldJbullet(){
	BroadphaseInterface broadphase=new DbvtBroadphase();
	CollisionConfiguration collisionConfiguration=new DefaultCollisionConfiguration();
	CollisionDispatcher dispatcher=new CollisionDispatcher(collisionConfiguration);
	ConstraintSolver constraintSolver=new SequentialImpulseConstraintSolver();
	
	bulletWorld=new DiscreteDynamicsWorld(dispatcher, broadphase, constraintSolver, collisionConfiguration);
	setGravity(0, -9.81F, 0);
}
 

import com.bulletphysics.dynamics.constraintsolver.ConstraintSolver; //导入依赖的package包/类
public void init (ContactSolverInfo solverInfo, ConstraintSolver solver,
	ObjectArrayList<TypedConstraint> sortedConstraints, int numConstraints, IDebugDraw debugDrawer, Dispatcher dispatcher) {
	this.solverInfo = solverInfo;
	this.solver = solver;
	this.sortedConstraints = sortedConstraints;
	this.numConstraints = numConstraints;
	this.debugDrawer = debugDrawer;
	this.dispatcher = dispatcher;
}
 

import com.bulletphysics.dynamics.constraintsolver.ConstraintSolver; //导入依赖的package包/类
@Override
public void setConstraintSolver (ConstraintSolver solver) {
	if (ownsConstraintSolver) {
		// btAlignedFree( m_constraintSolver);
	}
	ownsConstraintSolver = false;
	constraintSolver = solver;
}
 

import com.bulletphysics.dynamics.constraintsolver.ConstraintSolver; //导入依赖的package包/类
@Override
public void setConstraintSolver(ConstraintSolver solver) {
	if (ownsConstraintSolver) {
		//btAlignedFree(m_constraintSolver);
	}

	ownsConstraintSolver = false;
	constraintSolver = solver;
}
 

import com.bulletphysics.dynamics.constraintsolver.ConstraintSolver; //导入依赖的package包/类
public void init(ContactSolverInfo solverInfo, ConstraintSolver solver, ObjectArrayList<TypedConstraint> sortedConstraints, int numConstraints, IDebugDraw debugDrawer, Dispatcher dispatcher) {
	this.solverInfo = solverInfo;
	this.solver = solver;
	this.sortedConstraints = sortedConstraints;
	this.numConstraints = numConstraints;
	this.debugDrawer = debugDrawer;
	this.dispatcher = dispatcher;
}
 

import com.bulletphysics.dynamics.constraintsolver.ConstraintSolver; //导入依赖的package包/类
@Override
public void setConstraintSolver(ConstraintSolver solver) {
	if (ownsConstraintSolver) {
		//btAlignedFree( m_constraintSolver);
	}
	ownsConstraintSolver = false;
	constraintSolver = solver;
}
 

import com.bulletphysics.dynamics.constraintsolver.ConstraintSolver; //导入依赖的package包/类
public void initPhysics() {
	// Setup the basic world
	DefaultCollisionConfiguration collision_config = new DefaultCollisionConfiguration();

	CollisionDispatcher dispatcher = new CollisionDispatcher(collision_config);

	Vector3f worldAabbMin = new Vector3f(-10000, -10000, -10000);
	Vector3f worldAabbMax = new Vector3f(10000, 10000, 10000);
	BroadphaseInterface overlappingPairCache = new AxisSweep3(worldAabbMin, worldAabbMax);
	//BroadphaseInterface overlappingPairCache = new SimpleBroadphase();

	//#ifdef USE_ODE_QUICKSTEP
	//btConstraintSolver* constraintSolver = new OdeConstraintSolver();
	//#else
	ConstraintSolver constraintSolver = new SequentialImpulseConstraintSolver();
	//#endif

	dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, constraintSolver, collision_config);

	dynamicsWorld.setGravity(new Vector3f(0f, -30f, 0f));

	dynamicsWorld.setDebugDrawer(new GLDebugDrawer(gl));

	// Setup a big ground box
	{
		CollisionShape groundShape = new BoxShape(new Vector3f(200f, 10f, 200f));
		Transform groundTransform = new Transform();
		groundTransform.setIdentity();
		groundTransform.origin.set(0f, -15f, 0f);
		localCreateRigidBody(0f, groundTransform, groundShape);
	}

	// Spawn one ragdoll
	spawnRagdoll();

	clientResetScene();
}
 

import com.bulletphysics.dynamics.constraintsolver.ConstraintSolver; //导入依赖的package包/类
public void initPhysics() {
	// Setup the basic world
	time = 0.0f;
	cyclePeriod = 2000.0f; // in milliseconds
	muscleStrength = 0.05f;

	setCameraDistance(5.0f);
	
	DefaultCollisionConfiguration collision_config = new DefaultCollisionConfiguration();

	CollisionDispatcher dispatcher = new CollisionDispatcher(collision_config);

	Vector3f worldAabbMin = new Vector3f(-10000,-10000,-10000);
	Vector3f worldAabbMax = new Vector3f(10000,10000,10000);
	BroadphaseInterface overlappingPairCache = new AxisSweep3(worldAabbMin, worldAabbMax);
	//BroadphaseInterface overlappingPairCache = new SimpleBroadphase();

	ConstraintSolver constraintSolver = new SequentialImpulseConstraintSolver();

	dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, constraintSolver, collision_config);

	// Setup a big ground box
	{
		CollisionShape groundShape = new BoxShape(new Vector3f(200f, 10f, 200f));
		// TODO
		//m_collisionShapes.push_back(groundShape);
		Transform groundTransform = new Transform();
		groundTransform.setIdentity();
		groundTransform.origin.set(0f, -10f, 0f);
		localCreateRigidBody(0f, groundTransform, groundShape);
	}

	// Spawn one TestRig
	Vector3f startOffset = new Vector3f(1.0f, 0.5f, 0.0f);
	spawnTestRig(startOffset, false);
	startOffset.set(-2.0f, 0.5f, 0.0f);
	spawnTestRig(startOffset, true);

	clientResetScene();
}
 

import com.bulletphysics.dynamics.constraintsolver.ConstraintSolver; //导入依赖的package包/类
public void init(ContactSolverInfo solverInfo, ConstraintSolver solver, List<TypedConstraint> sortedConstraints, int numConstraints, IDebugDraw debugDrawer, Dispatcher dispatcher) {
	this.solverInfo = solverInfo;
	this.solver = solver;
	this.sortedConstraints = sortedConstraints;
	this.numConstraints = numConstraints;
	this.debugDrawer = debugDrawer;
	this.dispatcher = dispatcher;
}
 

import com.bulletphysics.dynamics.constraintsolver.ConstraintSolver; //导入依赖的package包/类
public void initPhysics() {
	// Setup the basic world
	DefaultCollisionConfiguration collision_config = new DefaultCollisionConfiguration();

	CollisionDispatcher dispatcher = new CollisionDispatcher(collision_config);

	Vector3f worldAabbMin = new Vector3f(-10000, -10000, -10000);
	Vector3f worldAabbMax = new Vector3f(10000, 10000, 10000);
	//BroadphaseInterface overlappingPairCache = new AxisSweep3(worldAabbMin, worldAabbMax);
	//BroadphaseInterface overlappingPairCache = new SimpleBroadphase();
	BroadphaseInterface overlappingPairCache = new DbvtBroadphase();

	//#ifdef USE_ODE_QUICKSTEP
	//btConstraintSolver* constraintSolver = new OdeConstraintSolver();
	//#else
	ConstraintSolver constraintSolver = new SequentialImpulseConstraintSolver();
	//#endif

	dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, constraintSolver, collision_config);

	dynamicsWorld.setGravity(new Vector3f(0f, -30f, 0f));

	dynamicsWorld.setDebugDrawer(new GLDebugDrawer(gl));

	// Setup a big ground box
	{
		CollisionShape groundShape = new BoxShape(new Vector3f(200f, 10f, 200f));
		Transform groundTransform = new Transform();
		groundTransform.setIdentity();
		groundTransform.origin.set(0f, -15f, 0f);
		localCreateRigidBody(0f, groundTransform, groundShape);
	}

	// Spawn one ragdoll
	spawnRagdoll();

	clientResetScene();
}
 

import com.bulletphysics.dynamics.constraintsolver.ConstraintSolver; //导入依赖的package包/类
@Override
public ConstraintSolver getConstraintSolver () {
	return constraintSolver;
}