Java MotionState类代码示例

import com.bulletphysics.linearmath.MotionState; //导入依赖的package包/类
protected void mkStaticGroundPlane(DynamicsWorld world) {
    // floor
    float mass = 0;
    CollisionShape shape = new BoxShape(new Vector3f(L, 10, W));

    Transform t = new Transform();
    t.setIdentity();
    t.origin.set(new Vector3f(p.x,p.y-10,p.z));

    MotionState motionState = new DefaultMotionState(t);
    RigidBodyConstructionInfo info = new RigidBodyConstructionInfo(mass, motionState, shape);
    RigidBody body = new RigidBody(info);
    body.setFriction(1f);
    body.setRestitution(.5f);
    world.addRigidBody(body);
}
 

import com.bulletphysics.linearmath.MotionState; //导入依赖的package包/类
protected void initializePhysics(DynamicsWorld world){
    t = new Transform();
    t.setIdentity();
    t.origin.set(new Vector3f(p.x,p.y,p.z));
    Vector3f inertia = new Vector3f(0,0,0);
    shape.calculateLocalInertia(p.mass,inertia);
    shape.setLocalScaling(new Vector3f(p.size, p.size, p.size));

    MotionState motionState = new DefaultMotionState(t);
    RigidBodyConstructionInfo info = new RigidBodyConstructionInfo(p.mass,motionState,shape,inertia);
    body = new RigidBody(info);
    body.setFriction(friction);
    body.setDamping(linDamping, angDamping);
    body.setAngularFactor(angularFactor);
    body.setRestitution(restitution);
    Scene.world.addRigidBody(body);
}
 

import com.bulletphysics.linearmath.MotionState; //导入依赖的package包/类
public RigidBodyConstructionInfo(float mass, MotionState motionState, CollisionShape collisionShape, Vector3 localInertia) {
	this.mass = mass;
	this.motionState = motionState;
	this.collisionShape = collisionShape;
	this.localInertia.set(localInertia);
	
	startWorldTransform.setIdentity();
}
 

import com.bulletphysics.linearmath.MotionState; //导入依赖的package包/类
public RigidBodyConstructionInfo(float mass, MotionState motionState, CollisionShape collisionShape, Vector3f localInertia) {
	this.mass = mass;
	this.motionState = motionState;
	this.collisionShape = collisionShape;
	this.localInertia.set(localInertia);
	
	startWorldTransform.setIdentity();
}
 

import com.bulletphysics.linearmath.MotionState; //导入依赖的package包/类
/**
 * This method creates one individual physical domino.
 */
public RigidBody makeBrick(int i, float mass, Vector3f inertia,
        Vector3f loc, float angle) {
    brickOrigTransform[i] = new Transform(new Matrix4f(new Quat4f(0f, 0f,
            0f, 1f), new Vector3f(loc), 1f));
    MotionState brickMotion = new DefaultMotionState(brickOrigTransform[i]);
    RigidBodyConstructionInfo brickRigidBodyCI = new RigidBodyConstructionInfo(
            mass, brickMotion, brickShape, inertia);
    brick[i] = new RigidBody(brickRigidBodyCI);
    world.addRigidBody(brick[i]);
    return brick[i];
}
 

import com.bulletphysics.linearmath.MotionState; //导入依赖的package包/类
public RigidBody (float mass, MotionState motionState, CollisionShape collisionShape) {
	this(mass, motionState, collisionShape, new Vector3(0f, 0f, 0f));
}
 

import com.bulletphysics.linearmath.MotionState; //导入依赖的package包/类
public MotionState getMotionState () {
	return optionalMotionState;
}
 

import com.bulletphysics.linearmath.MotionState; //导入依赖的package包/类
public void setMotionState (MotionState motionState) {
	this.optionalMotionState = motionState;
	if (optionalMotionState != null) {
		motionState.getWorldTransform(worldTransform);
	}
}
 

import com.bulletphysics.linearmath.MotionState; //导入依赖的package包/类
public RigidBody(float mass, MotionState motionState, CollisionShape collisionShape) {
	this(mass, motionState, collisionShape, new Vector3f(0f, 0f, 0f));
}
 

import com.bulletphysics.linearmath.MotionState; //导入依赖的package包/类
public MotionState getMotionState() {
	return optionalMotionState;
}
 

import com.bulletphysics.linearmath.MotionState; //导入依赖的package包/类
public void setMotionState(MotionState motionState) {
	this.optionalMotionState = motionState;
	if (optionalMotionState != null) {
		motionState.getWorldTransform(worldTransform);
	}
}
 

import com.bulletphysics.linearmath.MotionState; //导入依赖的package包/类
public Ground(Screen screen) {
    float size = 100000;
    ObjLoader loader = new ObjLoader();
    //loader.load("res/snow/snow_terrain.obj");
    Model groundModel = new Model();
    groundModel.useShader(ShaderProgram.textureShader);
    Mesh groundMesh = new Mesh();
    groundMesh.setTexture(new Texture("res/snow/CanadianArctic.jpg",GL11.GL_REPEAT));
    groundMesh.create(
            new float[]{
                -size, 0, -size, // down left
                -size, 0, size, // up left
                size, 0, -size, // down right
                size, 0, -size, // down right
                size, 0, size, // up right
                -size, 0, size // up left
            },
            null, null,
            new float[]{
                0, 0,// down left
                0, size/50,// up left
                size/50, 0,// down right
                size/50, 0,// down right
                size/50, size/50,// up right
                0, size/50,// up left
            },
            null
    );
    

    groundModel.addMesh(groundMesh);
    
    MotionState state2 = new DefaultMotionState(new Transform(MatrixConverter.convert(groundModel.getModel())));
    CollisionShape shape2 = new StaticPlaneShape(new Vector3f(0, 1, 0),1f);
    RigidBodyConstructionInfo info2 = new RigidBodyConstructionInfo(0f, state2, shape2);
    RigidBody body2 = new RigidBody(info2);
    body2.setFriction(0.3f);
    
    groundModel.body = body2;
    
    screen.addEntity(groundModel);

}
 

import com.bulletphysics.linearmath.MotionState; //导入依赖的package包/类
public void setMotionState(MotionState motionState) {
	this.optionalMotionState = motionState;
	if (optionalMotionState != null) {
                   motionState.getWorldTransform(worldTransform);
	}
}
 

import com.bulletphysics.linearmath.MotionState; //导入依赖的package包/类
public static MotionState createMotionState(Vector3f position, Quaternion rotation) {
	return new DefaultMotionState(createTransform(position,rotation));
}
 

import com.bulletphysics.linearmath.MotionState; //导入依赖的package包/类
public static RigidBodyConstructionInfo createDefaultRBCI(CollisionShape shape, float mass, Vector3f position, Quaternion rotation) {
	javax.vecmath.Vector3f inertia = new javax.vecmath.Vector3f(0,0,0);
       shape.calculateLocalInertia(mass, inertia);
       MotionState motionState = createMotionState(position,rotation);
       return new RigidBodyConstructionInfo(mass, motionState, shape, inertia);
}