diff options
25 files changed, 1852 insertions, 460 deletions
diff --git a/src/alden/CollidableObject.java b/src/alden/CollidableObject.java new file mode 100644 index 0000000..d207f8f --- /dev/null +++ b/src/alden/CollidableObject.java @@ -0,0 +1,236 @@ +package alden;
+import java.util.*;
+import javax.media.j3d.*;
+import javax.vecmath.*;
+
+@SuppressWarnings("restriction")
+public abstract class CollidableObject {
+ protected float inverseMass;
+ // The center of mass in the local coordinate system
+ protected Vector3f centerOfMass;
+ protected Vector3f position, previousPosition;
+ protected Vector3f velocity, previousVelocity;
+ protected Vector3f forceAccumulator;
+ protected Quat4f orientation;
+ protected Vector3f angularVelocity;
+ protected Vector3f torqueAccumulator;
+ protected Matrix3f inverseInertiaTensor;
+ protected float coefficientOfRestitution;
+ protected float penetrationCorrection;
+ protected float dynamicFriction;
+ protected BranchGroup BG;
+ protected TransformGroup TG;
+ protected Node node;
+ private ArrayList<Vector3f> vertexCache;
+ private ArrayList<CollisionDetector.Triangle> triangleCache;
+ private Bounds boundsCache;
+ // The inverse inertia tensor in world coordinates
+ private Matrix3f inverseInertiaTensorCache;
+
+ public CollidableObject() {
+ this(1);
+ }
+
+ public CollidableObject(float mass) {
+ if (mass <= 0)
+ throw new IllegalArgumentException();
+ inverseMass = 1 / mass;
+ centerOfMass = new Vector3f();
+ position = new Vector3f();
+ previousPosition = new Vector3f();
+ velocity = new Vector3f();
+ previousVelocity = new Vector3f();
+ forceAccumulator = new Vector3f();
+ orientation = new Quat4f(0, 0, 0, 1);
+ angularVelocity = new Vector3f();
+ torqueAccumulator = new Vector3f();
+ inverseInertiaTensor = new Matrix3f();
+ coefficientOfRestitution = 0.65f;
+ penetrationCorrection = 1.05f;
+ dynamicFriction = 0.02f;
+ TG = new TransformGroup();
+ TG.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
+ BG = new BranchGroup();
+ BG.setCapability(BranchGroup.ALLOW_DETACH);
+ BG.addChild(TG);
+ }
+
+ protected void setShape(Node node) {
+ this.node = node;
+ TG.addChild(node);
+// TG.addChild(CollisionDetector.createShape(CollisionDetector.triangularize(shapeNode)));
+ }
+
+ public Group getGroup() {
+ return BG;
+ }
+
+ public void detach() {
+ BG.detach();
+ }
+
+ public void updateState(float duration) {
+ previousPosition.set(position);
+ previousVelocity.set(velocity);
+ // The force vector now becomes the acceleration vector.
+ forceAccumulator.scale(inverseMass);
+ position.scaleAdd(duration, velocity, position);
+ position.scaleAdd(duration * duration / 2, forceAccumulator, position);
+ velocity.scaleAdd(duration, forceAccumulator, velocity);
+ // The force vector is cleared.
+ forceAccumulator.set(0, 0, 0);
+ angularVelocity.scaleAdd(duration, torqueAccumulator, angularVelocity);
+ torqueAccumulator.set(0, 0, 0);
+ UnQuat4f tmp = new UnQuat4f(angularVelocity.x, angularVelocity.y, angularVelocity.z, 0);
+ tmp.scale(duration / 2);
+ tmp.mul(orientation);
+ orientation.add(tmp);
+ orientation.normalize();
+ }
+
+ protected void updateTransformGroup() {
+ Transform3D tmp = new Transform3D();
+ tmp.setRotation(orientation);
+ tmp.setTranslation(position);
+ TG.setTransform(tmp);
+ clearCaches();
+ }
+
+ protected ArrayList<Vector3f> getVertices() {
+ if (vertexCache == null)
+ vertexCache = CollisionDetector.extractVertices(node);
+ return vertexCache;
+ }
+
+ protected ArrayList<CollisionDetector.Triangle> getCollisionTriangles() {
+ if (triangleCache == null)
+ triangleCache = CollisionDetector.triangularize(node);
+ return triangleCache;
+ }
+
+ protected Bounds getBounds() {
+ if (boundsCache == null) {
+ boundsCache = node.getBounds();
+ Transform3D tmp = new Transform3D();
+ node.getLocalToVworld(tmp);
+ boundsCache.transform(tmp);
+ }
+ return boundsCache;
+ }
+
+ protected Matrix3f getInverseInertiaTensor() {
+ if (inverseInertiaTensorCache == null) {
+ inverseInertiaTensorCache = new Matrix3f();
+ inverseInertiaTensorCache.set(orientation);
+ inverseInertiaTensorCache.invert();
+ inverseInertiaTensorCache.mul(inverseInertiaTensor);
+ }
+ return inverseInertiaTensorCache;
+ }
+
+ protected void clearCaches() {
+ vertexCache = null;
+ triangleCache = null;
+ boundsCache = null;
+ inverseInertiaTensorCache = null;
+ }
+
+ public void resolveCollisions(CollidableObject other) {
+ ArrayList<CollisionInfo> collisions = CollisionDetector.calculateCollisions(this, other);
+ if (collisions.isEmpty())
+ return;
+
+ CollisionInfo finalCollision = null;
+ float max = Float.NEGATIVE_INFINITY;
+ int count = 0;
+ for (CollisionInfo collision : collisions) {
+// float speed = collision.contactNormal.dot(previousVelocity) - collision.contactNormal.dot(other.previousVelocity);
+ Vector3f thisRelativeContactPosition = new Vector3f();
+ thisRelativeContactPosition.scaleAdd(-1, position, collision.contactPoint);
+ thisRelativeContactPosition.scaleAdd(-1, centerOfMass, thisRelativeContactPosition);
+ Vector3f thisContactVelocity = new Vector3f();
+ thisContactVelocity.cross(angularVelocity, thisRelativeContactPosition);
+ thisContactVelocity.add(previousVelocity);
+ Vector3f otherRelativeContactPosition = new Vector3f();
+ otherRelativeContactPosition.scaleAdd(-1, other.position, collision.contactPoint);
+ otherRelativeContactPosition.scaleAdd(-1, other.centerOfMass, otherRelativeContactPosition);
+ Vector3f otherContactVelocity = new Vector3f();
+ otherContactVelocity.cross(other.angularVelocity, otherRelativeContactPosition);
+ otherContactVelocity.add(other.previousVelocity);
+ float speed = collision.contactNormal.dot(thisContactVelocity) - collision.contactNormal.dot(otherContactVelocity);
+ if (speed > 0)
+ if (speed > max + CollisionDetector.EPSILON) {
+ finalCollision = collision;
+ max = speed;
+ count = 1;
+ } else if (speed >= max - CollisionDetector.EPSILON) {
+ finalCollision.contactPoint.add(collision.contactPoint);
+ finalCollision.penetration += collision.penetration;
+ count++;
+ }
+ }
+ if (finalCollision != null) {
+ finalCollision.contactPoint.scale(1f / count);
+ finalCollision.penetration /= count;
+ resolveCollision(other, finalCollision);
+ updateTransformGroup();
+ other.updateTransformGroup();
+ }
+ }
+
+ public void resolveCollision(CollidableObject other, CollisionInfo ci) {
+ if (ci.penetration <= 0)
+ return;
+
+ Vector3f thisRelativeContactPosition = new Vector3f();
+ thisRelativeContactPosition.scaleAdd(-1, position, ci.contactPoint);
+ thisRelativeContactPosition.scaleAdd(-1, centerOfMass, thisRelativeContactPosition);
+ Vector3f thisContactVelocity = new Vector3f();
+ thisContactVelocity.cross(angularVelocity, thisRelativeContactPosition);
+ thisContactVelocity.add(previousVelocity);
+
+ Vector3f otherRelativeContactPosition = new Vector3f();
+ otherRelativeContactPosition.scaleAdd(-1, other.position, ci.contactPoint);
+ otherRelativeContactPosition.scaleAdd(-1, other.centerOfMass, otherRelativeContactPosition);
+ Vector3f otherContactVelocity = new Vector3f();
+ otherContactVelocity.cross(other.angularVelocity, otherRelativeContactPosition);
+ otherContactVelocity.add(other.previousVelocity);
+
+ float initialClosingSpeed = ci.contactNormal.dot(thisContactVelocity) - ci.contactNormal.dot(otherContactVelocity);
+ float finalClosingSpeed = -initialClosingSpeed * coefficientOfRestitution;
+ float deltaClosingSpeed = finalClosingSpeed - initialClosingSpeed;
+ float totalInverseMass = inverseMass + other.inverseMass;
+ if (totalInverseMass == 0)
+ return;
+
+ Vector3f thisAngularVelocityUnit = new Vector3f();
+ thisAngularVelocityUnit.cross(thisRelativeContactPosition, ci.contactNormal);
+ getInverseInertiaTensor().transform(thisAngularVelocityUnit);
+ thisAngularVelocityUnit.cross(thisAngularVelocityUnit, thisRelativeContactPosition);
+ totalInverseMass += thisAngularVelocityUnit.dot(ci.contactNormal);
+
+ Vector3f otherAngularVelocityUnit = new Vector3f();
+ otherAngularVelocityUnit.cross(otherRelativeContactPosition, ci.contactNormal);
+ other.getInverseInertiaTensor().transform(otherAngularVelocityUnit);
+ otherAngularVelocityUnit.cross(otherAngularVelocityUnit, otherRelativeContactPosition);
+ totalInverseMass += otherAngularVelocityUnit.dot(ci.contactNormal);
+
+ Vector3f impulse = new Vector3f(ci.contactNormal);
+ impulse.scale(deltaClosingSpeed / totalInverseMass);
+ velocity.scaleAdd(inverseMass, impulse, velocity);
+ Vector3f tmp = new Vector3f();
+ tmp.cross(thisRelativeContactPosition, impulse);
+ tmp.scale(thisAngularVelocityUnit.dot(ci.contactNormal));
+ getInverseInertiaTensor().transform(tmp);
+ angularVelocity.add(tmp);
+ position.scaleAdd(-ci.penetration * penetrationCorrection * inverseMass / (inverseMass + other.inverseMass), ci.contactNormal, position);
+
+ impulse.negate();
+ other.velocity.scaleAdd(other.inverseMass, impulse, other.velocity);
+ tmp.cross(otherRelativeContactPosition, impulse);
+ tmp.scale(otherAngularVelocityUnit.dot(ci.contactNormal));
+ other.getInverseInertiaTensor().transform(tmp);
+ other.angularVelocity.add(tmp);
+ other.position.scaleAdd(ci.penetration * penetrationCorrection * other.inverseMass / (inverseMass + other.inverseMass), ci.contactNormal, other.position);
+ }
+}
diff --git a/src/alden/CollisionDetector.java b/src/alden/CollisionDetector.java new file mode 100644 index 0000000..f05e9b8 --- /dev/null +++ b/src/alden/CollisionDetector.java @@ -0,0 +1,514 @@ +package alden;
+import com.sun.j3d.utils.geometry.*;
+import java.util.*;
+
+import javax.media.j3d.*;
+import javax.vecmath.*;
+
+@SuppressWarnings("restriction")
+public class CollisionDetector {
+ public static final float EPSILON = 0.0001f;
+ private static final ArrayList<CollisionInfo> EMPTY_COLLISION_LIST = new ArrayList<CollisionInfo>();
+
+ public static class Triangle {
+ private Vector3f a;
+ private Vector3f b;
+ private Vector3f c;
+ private Vector3f normal;
+ private float intercept;
+
+ private static class Line {
+ public Vector3f point;
+ public Vector3f direction;
+
+ public Line() {
+ point = new Vector3f();
+ direction = new Vector3f();
+ }
+ }
+
+ private static class TPair {
+ public float t0;
+ public float t1;
+ }
+
+ public Triangle(Tuple3f a, Tuple3f b, Tuple3f c) {
+ this.a = new Vector3f(a);
+ this.b = new Vector3f(b);
+ this.c = new Vector3f(c);
+ Vector3f tmp = new Vector3f();
+ tmp.scaleAdd(-1, a, c);
+ Vector3f tmp2 = new Vector3f();
+ tmp2.scaleAdd(-1, b, c);
+ normal = new Vector3f();
+ normal.cross(tmp, tmp2);
+ if (normal.lengthSquared() == 0)
+ throw new IllegalArgumentException("Degenerate triangle");
+ normal.normalize();
+ intercept = normal.dot(this.a);
+ }
+
+ // Inspired by Tomas Moller's "A Fast Triangle-Triangle Intersection Test"
+ public CollisionInfo getIntersection(Triangle other) {
+ float d_0_0 = other.normal.dot(a) - other.intercept;
+ float d_0_1 = other.normal.dot(b) - other.intercept;
+ float d_0_2 = other.normal.dot(c) - other.intercept;
+ if (Math.abs(d_0_0) < EPSILON)
+ d_0_0 = 0;
+ if (Math.abs(d_0_1) < EPSILON)
+ d_0_1 = 0;
+ if (Math.abs(d_0_2) < EPSILON)
+ d_0_2 = 0;
+ if (d_0_0 != 0 && d_0_1 != 0 && d_0_2 != 0 && Math.signum(d_0_0) == Math.signum(d_0_1) && Math.signum(d_0_1) == Math.signum(d_0_2))
+ return null;
+
+ float d_1_0 = normal.dot(other.a) - intercept;
+ float d_1_1 = normal.dot(other.b) - intercept;
+ float d_1_2 = normal.dot(other.c) - intercept;
+ if (Math.abs(d_1_0) < EPSILON)
+ d_1_0 = 0;
+ if (Math.abs(d_1_1) < EPSILON)
+ d_1_1 = 0;
+ if (Math.abs(d_1_2) < EPSILON)
+ d_1_2 = 0;
+ if (d_1_0 != 0 && d_1_1 != 0 && d_1_2 != 0 && Math.signum(d_1_0) == Math.signum(d_1_1) && Math.signum(d_1_1) == Math.signum(d_1_2))
+ return null;
+
+ // Coplanar, assume no collision
+ if (d_0_0 == 0 && d_0_1 == 0 && d_0_2 == 0)
+ return null;
+
+ Line line = calculateLineOfIntersection(other);
+ TPair r0 = calculateRegionOfIntersection(line, d_0_0, d_0_1, d_0_2);
+ TPair r1 = other.calculateRegionOfIntersection(line, d_1_0, d_1_1, d_1_2);
+
+ if (r0.t1 < r1.t0 || r0.t0 > r1.t1)
+ return null;
+
+ Vector3f contactPoint = new Vector3f();
+ if (r0.t0 >= r1.t0 && r0.t1 <= r1.t1)
+ contactPoint.scaleAdd((r0.t0 + r0.t1) / 2, line.direction, line.point);
+ else if (r0.t0 <= r1.t0 && r0.t1 >= r1.t1)
+ contactPoint.scaleAdd((r1.t0 + r1.t1) / 2, line.direction, line.point);
+ else if (r0.t0 < r1.t0)
+ contactPoint.scaleAdd((r0.t1 + r1.t0) / 2, line.direction, line.point);
+ else
+ contactPoint.scaleAdd((r0.t0 + r1.t1) / 2, line.direction, line.point);
+
+ assert(Math.abs(normal.dot(contactPoint) - intercept) < 0.01);
+ assert(Math.abs(other.normal.dot(contactPoint) - other.intercept) < 0.01);
+
+ float penetration = Float.NEGATIVE_INFINITY;
+ boolean useThisNormal = false;
+ if (d_0_0 <= 0 && d_0_0 >= penetration)
+ penetration = d_0_0;
+ if (d_0_1 <= 0 && d_0_1 >= penetration)
+ penetration = d_0_1;
+ if (d_0_2 <= 0 && d_0_2 >= penetration)
+ penetration = d_0_2;
+ if (d_1_0 <= 0 && d_1_0 >= penetration) {
+ penetration = d_1_0;
+ useThisNormal = true;
+ }
+ if (d_1_1 <= 0 && d_1_1 >= penetration) {
+ penetration = d_1_1;
+ useThisNormal = true;
+ }
+ if (d_1_2 <= 0 && d_1_2 >= penetration) {
+ penetration = d_1_2;
+ useThisNormal = true;
+ }
+ Vector3f contactNormal;
+ if (useThisNormal)
+ contactNormal = new Vector3f(normal);
+ else {
+ contactNormal = new Vector3f(other.normal);
+ contactNormal.negate();
+ }
+
+ return new CollisionInfo(contactPoint, contactNormal, -penetration);
+ }
+
+ private Line calculateLineOfIntersection(Triangle other) {
+ Line line = new Line();
+ line.direction.cross(normal, other.normal);
+ if (Math.abs(line.direction.x) < EPSILON)
+ line.direction.x = 0;
+ if (Math.abs(line.direction.y) < EPSILON)
+ line.direction.y = 0;
+ if (Math.abs(line.direction.z) < EPSILON)
+ line.direction.z = 0;
+ line.direction.normalize();
+
+ if (line.direction.x != 0) { // x <- 0
+ if (normal.y != 0) {
+ line.point.z = (other.normal.y / normal.y * intercept - other.intercept) / (other.normal.y / normal.y * normal.z - other.normal.z);
+ line.point.y = (intercept - normal.z * line.point.z) / normal.y;
+ } else { // normal.z != 0
+ line.point.y = (other.normal.z / normal.z * intercept - other.intercept) / (other.normal.z / normal.z * normal.y - other.normal.y);
+ line.point.z = (intercept - normal.y * line.point.y) / normal.z;
+ }
+ } else if (line.direction.y != 0) { // y <- 0
+ if (normal.x != 0) {
+ line.point.z = (other.normal.x / normal.x * intercept - other.intercept) / (other.normal.x / normal.x * normal.z - other.normal.z);
+ line.point.x = (intercept - normal.z * line.point.z) / normal.x;
+ } else { // normal.z != 0
+ line.point.x = (other.normal.z / normal.z * intercept - other.intercept) / (other.normal.z / normal.z * normal.x - other.normal.x);
+ line.point.z = (intercept - normal.x * line.point.x) / normal.z;
+ }
+ } else { // z <- 0
+ if (normal.x != 0) {
+ line.point.y = (other.normal.x / normal.x * intercept - other.intercept) / (other.normal.x / normal.x * normal.y - other.normal.y);
+ line.point.x = (intercept - normal.y * line.point.y) / normal.x;
+ } else { // normal.y != 0
+ line.point.x = (other.normal.y / normal.y * intercept - other.intercept) / (other.normal.y / normal.y * normal.x - other.normal.x);
+ line.point.y = (intercept - normal.x * line.point.x) / normal.y;
+ }
+ }
+
+ assert(Math.abs(normal.dot(line.point) - intercept) < 0.01);
+ assert(Math.abs(other.normal.dot(line.point) - other.intercept) < 0.01);
+
+ return line;
+ }
+
+ private TPair calculateRegionOfIntersection(Line line, float d0, float d1, float d2) {
+ Vector3f v0, v1, v2;
+ if (Math.signum(d0) != 0 && Math.signum(d0) != Math.signum(d1) && Math.signum(d0) != Math.signum(d2)) {
+ v0 = b; v1 = a; v2 = c;
+ float tmp = d0; d0 = d1; d1 = tmp;
+ } else if (Math.signum(d1) != 0 && Math.signum(d0) != Math.signum(d1) && Math.signum(d1) != Math.signum(d2)) {
+ v0 = a; v1 = b; v2 = c;
+ } else if (Math.signum(d2) != 0 && Math.signum(d0) != Math.signum(d2) && Math.signum(d1) != Math.signum(d2)) {
+ v0 = a; v1 = c; v2 = b;
+ float tmp = d1; d1 = d2; d2 = tmp;
+ } else if (Math.signum(d0) == 0) {
+ v0 = b; v1 = a; v2 = c;
+ float tmp = d0; d0 = d1; d1 = tmp;
+ } else if (Math.signum(d1) == 0) {
+ v0 = a; v1 = b; v2 = c;
+ } else {
+ v0 = a; v1 = c; v2 = b;
+ float tmp = d1; d1 = d2; d2 = tmp;
+ }
+
+ Vector3f tmp = new Vector3f();
+ tmp.scaleAdd(-1, line.point, v0);
+ float p0 = line.direction.dot(tmp);
+ tmp.scaleAdd(-1, line.point, v1);
+ float p1 = line.direction.dot(tmp);
+ tmp.scaleAdd(-1, line.point, v2);
+ float p2 = line.direction.dot(tmp);
+
+ TPair region = new TPair();
+ region.t0 = p0 + (p1 - p0) * d0 / (d0 - d1);
+ region.t1 = p2 + (p1 - p2) * d2 / (d2 - d1);
+ if (region.t1 < region.t0) {
+ float tmp2 = region.t0;
+ region.t0 = region.t1;
+ region.t1 = tmp2;
+ }
+ return region;
+ }
+
+ public boolean isAdjacent(Triangle other) {
+ if (a.equals(other.a)) {
+ if (b.equals(other.b) || b.equals(other.c) || c.equals(other.b) || c.equals(other.c))
+ return true;
+ } else if (a.equals(other.b)) {
+ if (b.equals(other.a) || b.equals(other.c) || c.equals(other.a) || c.equals(other.c))
+ return true;
+ } else if (a.equals(other.c)) {
+ if (b.equals(other.a) || b.equals(other.b) || c.equals(other.a) || c.equals(other.b))
+ return true;
+ } else if ((b.equals(other.b) || b.equals(other.c)) && (c.equals(other.b) || c.equals(other.c)))
+ return true;
+ return false;
+ }
+ }
+
+ public static ArrayList<CollisionInfo> calculateCollisions(CollidableObject a, CollidableObject b) {
+ if (a == b)
+ return EMPTY_COLLISION_LIST;
+ if (a instanceof HalfSpace) {
+ if (b instanceof HalfSpace)
+ return EMPTY_COLLISION_LIST;
+ if (b instanceof Sphere)
+ return calculateCollisions((HalfSpace)a, (Sphere)b);
+ return calculateCollisions((HalfSpace)a, b.getVertices());
+ }
+ if (!a.getBounds().intersect(b.getBounds()))
+ return EMPTY_COLLISION_LIST;
+ if (a instanceof Sphere && b instanceof Sphere)
+ return calculateCollisions((Sphere)a, (Sphere)b);
+ return CollisionDetector.calculateCollisions(a.getCollisionTriangles(), b.getCollisionTriangles());
+ }
+
+ private static ArrayList<CollisionInfo> calculateCollisions(HalfSpace a, Sphere b) {
+ float penetration = b.radius - (a.normal.dot(b.position) - a.intercept);
+ if (penetration >= 0) {
+ Vector3f contactPoint = new Vector3f();
+ contactPoint.scaleAdd(-(b.radius - penetration), a.normal, b.position);
+ assert(Math.abs(a.normal.dot(contactPoint) - a.intercept) < 0.01);
+ ArrayList<CollisionInfo> collisions = new ArrayList<CollisionInfo>();
+ collisions.add(new CollisionInfo(contactPoint, a.normal, penetration));
+ return collisions;
+ }
+ return EMPTY_COLLISION_LIST;
+ }
+
+ private static ArrayList<CollisionInfo> calculateCollisions(HalfSpace a, ArrayList<Vector3f> setB) {
+ ArrayList<CollisionInfo> collisions = new ArrayList<CollisionInfo>();
+ for (Vector3f vertex : setB) {
+ float penetration = a.intercept - a.normal.dot(vertex);
+ if (penetration >= 0) {
+ Vector3f contactPoint = new Vector3f();
+ contactPoint.scaleAdd(penetration, a.normal, vertex);
+ assert(Math.abs(a.normal.dot(contactPoint) - a.intercept) < 0.01);
+ collisions.add(new CollisionInfo(contactPoint, a.normal, penetration));
+ }
+ }
+ return collisions;
+ }
+
+ private static ArrayList<CollisionInfo> calculateCollisions(Sphere a, Sphere b) {
+ Vector3f delta = new Vector3f();
+ delta.scaleAdd(-1, a.position, b.position);
+ float penetration = delta.length() - a.radius - b.radius;
+ if (penetration > 0)
+ return EMPTY_COLLISION_LIST;
+
+ ArrayList<CollisionInfo> collisions = new ArrayList<CollisionInfo>();
+ delta.normalize();
+ Vector3f contactPoint = new Vector3f();
+ contactPoint.scaleAdd(a.radius + 0.5f * penetration, delta, a.position);
+ collisions.add(new CollisionInfo(contactPoint, delta, -penetration));
+ return collisions;
+ }
+
+ private static ArrayList<CollisionInfo> calculateCollisions(ArrayList<Triangle> setA, ArrayList<Triangle> setB) {
+ ArrayList<CollisionInfo> collisions = new ArrayList<CollisionInfo>();
+ for (int i = 0; i < setA.size(); i++)
+ for (int j = 0; j < setB.size(); j++) {
+ CollisionInfo collision = setA.get(i).getIntersection(setB.get(j));
+ if (collision != null)
+ collisions.add(collision);
+ }
+ return collisions;
+ }
+
+ public static ArrayList<Vector3f> extractVertices(Node node) {
+ ArrayList<Vector3f> vertices = new ArrayList<Vector3f>();
+ extractVertices(node, vertices);
+ return vertices;
+ }
+
+ private static void extractVertices(Node node, ArrayList<Vector3f> vertices) {
+ if (node instanceof Primitive) {
+ Primitive prim = (Primitive)node;
+ int index = 0;
+ Shape3D shape;
+ Transform3D L2V = new Transform3D();
+ while ((shape = prim.getShape(index++)) != null) {
+ shape.getLocalToVworld(L2V);
+ for (int i = 0; i < shape.numGeometries(); i++)
+ extractVertices(shape.getGeometry(i), L2V, vertices);
+ }
+ } else if (node instanceof Shape3D) {
+ Shape3D shape = (Shape3D)node;
+ Transform3D L2V = new Transform3D();
+ shape.getLocalToVworld(L2V);
+ for (int i = 0; i < shape.numGeometries(); i++)
+ extractVertices(shape.getGeometry(i), L2V, vertices);
+ } else if (node instanceof Group) {
+ Group group = (Group)node;
+ for (int i = 0; i < group.numChildren(); i++)
+ extractVertices(group.getChild(i), vertices);
+ } else
+ throw new IllegalArgumentException("Illegal node type for vertex extraction");
+ }
+
+ private static void extractVertices(Geometry geometry, Transform3D transform, ArrayList<Vector3f> vertices) {
+ if (geometry instanceof GeometryArray) {
+ GeometryArray trueGeometry = (GeometryArray)geometry;
+ vertices.ensureCapacity(vertices.size() + trueGeometry.getValidVertexCount());
+ Point3f vertex = new Point3f();
+ for (int i = 0; i < trueGeometry.getValidVertexCount(); i++) {
+ trueGeometry.getCoordinate(i, vertex);
+ transform.transform(vertex);
+ vertices.add(new Vector3f(vertex));
+ }
+ } else
+ throw new IllegalArgumentException("Illegal geometry type for vertex extraction");
+ }
+
+ public static ArrayList<Triangle> triangularize(Node node) {
+ ArrayList<Triangle> triangles = new ArrayList<Triangle>();
+ triangularize(node, triangles);
+ return triangles;
+ }
+
+ private static void triangularize(Node node, ArrayList<Triangle> triangles) {
+ if (node instanceof Primitive) {
+ Primitive prim = (Primitive)node;
+ triangles.ensureCapacity(prim.getNumTriangles());
+ int index = 0;
+ Shape3D shape;
+ Transform3D L2V = new Transform3D();
+ while ((shape = prim.getShape(index++)) != null) {
+ shape.getLocalToVworld(L2V);
+ for (int i = 0; i < shape.numGeometries(); i++)
+ triangularize(shape.getGeometry(i), L2V, triangles);
+ }
+ } else if (node instanceof Shape3D) {
+ Shape3D shape = (Shape3D)node;
+ Transform3D L2V = new Transform3D();
+ shape.getLocalToVworld(L2V);
+ for (int i = 0; i < shape.numGeometries(); i++)
+ triangularize(shape.getGeometry(i), L2V, triangles);
+ } else if (node instanceof Group) {
+ Group group = (Group)node;
+ for (int i = 0; i < group.numChildren(); i++)
+ triangularize(group.getChild(i), triangles);
+ } else
+ throw new IllegalArgumentException("Illegal node type for triangularization");
+ }
+
+ private static void triangularize(Geometry geometry, Transform3D transform, ArrayList<Triangle> triangles) {
+ if (geometry instanceof TriangleArray) {
+ TriangleArray trueGeometry = (TriangleArray)geometry;
+ Point3f vertices[] = new Point3f[trueGeometry.getValidVertexCount()];
+ for (int i = 0; i < vertices.length; i++) {
+ vertices[i] = new Point3f();
+ trueGeometry.getCoordinate(i, vertices[i]);
+ transform.transform(vertices[i]);
+ }
+ for (int i = 0; i < vertices.length; i += 3)
+ try {
+ triangles.add(new Triangle(vertices[i], vertices[i+1], vertices[i+2]));
+ } catch (IllegalArgumentException e) {
+ }
+ } else if (geometry instanceof TriangleStripArray) {
+ TriangleStripArray trueGeometry = (TriangleStripArray)geometry;
+ int stripVertexCounts[] = new int[trueGeometry.getNumStrips()];
+ trueGeometry.getStripVertexCounts(stripVertexCounts);
+ Point3f vertices[] = new Point3f[trueGeometry.getValidVertexCount()];
+ for (int i = 0; i < vertices.length; i++) {
+ vertices[i] = new Point3f();
+ trueGeometry.getCoordinate(i, vertices[i]);
+ transform.transform(vertices[i]);
+ }
+ int base = 0;
+ for (int i = 0; i < stripVertexCounts.length; i++) {
+ boolean reverse = false;
+ for (int j = 2; j < stripVertexCounts[i]; j++) {
+ try {
+ if (reverse)
+ triangles.add(new Triangle(vertices[base+j-2], vertices[base+j], vertices[base+j-1]));
+ else
+ triangles.add(new Triangle(vertices[base+j-2], vertices[base+j-1], vertices[base+j]));
+ } catch (IllegalArgumentException e) {
+ }
+ reverse = !reverse;
+ }
+ base += stripVertexCounts[i];
+ }
+ } else if (geometry instanceof TriangleFanArray) {
+ TriangleFanArray trueGeometry = (TriangleFanArray)geometry;
+ int stripVertexCounts[] = new int[trueGeometry.getNumStrips()];
+ trueGeometry.getStripVertexCounts(stripVertexCounts);
+ Point3f vertices[] = new Point3f[trueGeometry.getValidVertexCount()];
+ for (int i = 0; i < vertices.length; i++) {
+ vertices[i] = new Point3f();
+ trueGeometry.getCoordinate(i, vertices[i]);
+ transform.transform(vertices[i]);
+ }
+ int base = 0;
+ for (int i = 0; i < stripVertexCounts.length; i++) {
+ for (int j = 2; j < stripVertexCounts[i]; j++)
+ try {
+ triangles.add(new Triangle(vertices[base], vertices[base+j-1], vertices[base+j]));
+ } catch (IllegalArgumentException e) {
+ }
+ base += stripVertexCounts[i];
+ }
+ } else if (geometry instanceof IndexedTriangleArray) {
+ IndexedTriangleArray trueGeometry = (IndexedTriangleArray)geometry;
+ Point3f vertices[] = new Point3f[trueGeometry.getValidVertexCount()];
+ for (int i = 0; i < vertices.length; i++) {
+ vertices[i] = new Point3f();
+ trueGeometry.getCoordinate(i, vertices[i]);
+ transform.transform(vertices[i]);
+ }
+ int indices[] = new int[trueGeometry.getValidIndexCount()];
+ trueGeometry.getCoordinateIndices(0, indices);
+ for (int i = 0; i < indices.length; i += 3)
+ try {
+ triangles.add(new Triangle(vertices[indices[i]], vertices[indices[i+1]], vertices[indices[i+2]]));
+ } catch (IllegalArgumentException e) {
+ }
+ } else if (geometry instanceof IndexedTriangleStripArray) {
+ IndexedTriangleStripArray trueGeometry = (IndexedTriangleStripArray)geometry;
+ int stripIndexCounts[] = new int[trueGeometry.getNumStrips()];
+ trueGeometry.getStripIndexCounts(stripIndexCounts);
+ Point3f vertices[] = new Point3f[trueGeometry.getValidVertexCount()];
+ for (int i = 0; i < vertices.length; i++) {
+ vertices[i] = new Point3f();
+ trueGeometry.getCoordinate(i, vertices[i]);
+ transform.transform(vertices[i]);
+ }
+ int indices[] = new int[trueGeometry.getValidIndexCount()];
+ trueGeometry.getCoordinateIndices(0, indices);
+ int base = 0;
+ for (int i = 0; i < stripIndexCounts.length; i++) {
+ boolean reverse = false;
+ for (int j = 2; j < stripIndexCounts[i]; j++) {
+ try {
+ if (reverse)
+ triangles.add(new Triangle(vertices[indices[base+j-2]], vertices[indices[base+j]], vertices[indices[base+j-1]]));
+ else
+ triangles.add(new Triangle(vertices[indices[base+j-2]], vertices[indices[base+j-1]], vertices[indices[base+j]]));
+ } catch (IllegalArgumentException e) {
+ }
+ reverse = !reverse;
+ }
+ base += stripIndexCounts[i];
+ }
+ } else if (geometry instanceof IndexedTriangleFanArray) {
+ IndexedTriangleFanArray trueGeometry = (IndexedTriangleFanArray)geometry;
+ int stripIndexCounts[] = new int[trueGeometry.getNumStrips()];
+ trueGeometry.getStripIndexCounts(stripIndexCounts);
+ Point3f vertices[] = new Point3f[trueGeometry.getValidVertexCount()];
+ for (int i = 0; i < vertices.length; i++) {
+ vertices[i] = new Point3f();
+ trueGeometry.getCoordinate(i, vertices[i]);
+ transform.transform(vertices[i]);
+ }
+ int indices[] = new int[trueGeometry.getValidIndexCount()];
+ trueGeometry.getCoordinateIndices(0, indices);
+ int base = 0;
+ for (int i = 0; i < stripIndexCounts.length; i++) {
+ for (int j = 2; j < stripIndexCounts[i]; j++)
+ try {
+ triangles.add(new Triangle(vertices[indices[base]], vertices[indices[base+j-1]], vertices[indices[base+j]]));
+ } catch (IllegalArgumentException e) {
+ }
+ base += stripIndexCounts[i];
+ }
+ } else
+ throw new IllegalArgumentException("Illegal geometry type for triangularization");
+ }
+
+ public static Shape3D createShape(ArrayList<Triangle> triangles) {
+ TriangleArray geometry = new TriangleArray(3 * triangles.size(), TriangleArray.COORDINATES);
+ for (int i = 0; i < triangles.size(); i++) {
+ geometry.setCoordinate(3 * i, new Point3f(triangles.get(i).a));
+ geometry.setCoordinate(3 * i + 1, new Point3f(triangles.get(i).b));
+ geometry.setCoordinate(3 * i + 2, new Point3f(triangles.get(i).c));
+ }
+ Appearance appearance = new Appearance();
+ PolygonAttributes polyAttr = new PolygonAttributes(PolygonAttributes.POLYGON_LINE, PolygonAttributes.CULL_NONE, 0);
+ appearance.setPolygonAttributes(polyAttr);
+ return new Shape3D(geometry, appearance);
+ }
+}
diff --git a/src/alden/CollisionDetectorDemo.java b/src/alden/CollisionDetectorDemo.java new file mode 100644 index 0000000..b2268a4 --- /dev/null +++ b/src/alden/CollisionDetectorDemo.java @@ -0,0 +1,237 @@ +package alden;
+import com.sun.j3d.utils.geometry.*;
+import com.sun.j3d.utils.geometry.Box;
+import com.sun.j3d.utils.picking.*;
+import com.sun.j3d.utils.picking.behaviors.*;
+import com.sun.j3d.utils.universe.*;
+import java.awt.*;
+import java.awt.event.*;
+import java.util.*;
+import java.util.List;
+import javax.media.j3d.*;
+import javax.swing.*;
+import javax.swing.Timer;
+import javax.vecmath.*;
+
+@SuppressWarnings("restriction")
+public class CollisionDetectorDemo {
+ private JFrame appFrame;
+ private Canvas3D canvas3D;
+ private BranchGroup scene;
+ private BoundingLeaf originLeaf;
+ // Bounding box defining the periphery of the virtual world.
+ private BoundingBox virtualWorldBounds;
+ // Data needed for adjusting the camera position.
+ private TransformGroup cameraTG;
+ private double cameraXRotation, cameraYRotation, cameraDistance;
+ private MouseEvent lastDragEvent;
+ // A list of all the objects in the world
+ private List<CollidableObject> objects;
+ // A list of all the visual collision points
+ private List<BranchGroup> collisionPoints;
+ // Number of state updates per second
+ private final int UPDATE_RATE = 30;
+
+ public static void main(String[] args) {
+ SwingUtilities.invokeLater(new Runnable() {
+ public void run() {
+ new CollisionDetectorDemo().createAndShowGUI();
+ }
+ });
+ }
+
+ private CollisionDetectorDemo() {
+ final double UNIT = 1f;
+ virtualWorldBounds = new BoundingBox(new Point3d(-UNIT/2, -UNIT/2, -UNIT/2), new Point3d(UNIT/2, UNIT/2, UNIT/2));
+ cameraDistance = 3 * UNIT;
+ objects = new ArrayList<CollidableObject>();
+ collisionPoints = new ArrayList<BranchGroup>();
+ }
+
+ private void createAndShowGUI() {
+ GraphicsConfiguration config = SimpleUniverse.getPreferredConfiguration();
+ canvas3D = new Canvas3D(config);
+ SimpleUniverse universe = new SimpleUniverse(canvas3D);
+ cameraTG = universe.getViewingPlatform().getViewPlatformTransform();
+ updateCamera();
+ universe.getViewer().getView().setSceneAntialiasingEnable(true);
+
+ scene = new BranchGroup();
+ scene.setCapability(BranchGroup.ALLOW_CHILDREN_EXTEND);
+ scene.setCapability(BranchGroup.ALLOW_CHILDREN_WRITE);
+ originLeaf = new BoundingLeaf(new BoundingSphere());
+ scene.addChild(originLeaf);
+ scene.addChild(createVirtualWorldBoundsShape());
+ addObjects();
+ scene.compile();
+ universe.addBranchGraph(scene);
+
+ appFrame = new JFrame("Collision Detector Demo");
+ appFrame.setDefaultCloseOperation(WindowConstants.EXIT_ON_CLOSE);
+ appFrame.add(canvas3D);
+ appFrame.pack();
+ if (Toolkit.getDefaultToolkit().isFrameStateSupported(JFrame.MAXIMIZED_BOTH))
+ appFrame.setExtendedState(appFrame.getExtendedState() | JFrame.MAXIMIZED_BOTH);
+
+ canvas3D.addMouseMotionListener(new MouseMotionAdapter() {
+ public void mouseDragged(MouseEvent e) {
+ if ((e.getModifiersEx() & MouseEvent.BUTTON1_DOWN_MASK) == 0)
+ return;
+ if (lastDragEvent != null) {
+ cameraXRotation += Math.toRadians(e.getY() - lastDragEvent.getY()) / 3;
+ if (cameraXRotation > Math.PI / 2)
+ cameraXRotation = Math.PI / 2;
+ else if (cameraXRotation < -Math.PI / 2)
+ cameraXRotation = -Math.PI / 2;
+ cameraYRotation += Math.toRadians(e.getX() - lastDragEvent.getX()) / 3;
+ updateCamera();
+ }
+ lastDragEvent = e;
+ }
+ public void mouseMoved(MouseEvent e) {
+ lastDragEvent = null;
+ }});
+ canvas3D.addMouseWheelListener(new MouseWheelListener() {
+ public void mouseWheelMoved(MouseWheelEvent e) {
+ if (e.getWheelRotation() > 0)
+ cameraDistance *= 1.05;
+ else if (e.getWheelRotation() < 0)
+ cameraDistance *= 0.95;
+ updateCamera();
+ }
+ });
+ new Timer(1000 / UPDATE_RATE, new ActionListener() {
+ public void actionPerformed(ActionEvent e) {
+ canvas3D.stopRenderer();
+ tick();
+ canvas3D.startRenderer();
+ }
+ }).start();
+
+ appFrame.setVisible(true);
+ }
+
+ private Node createVirtualWorldBoundsShape() {
+ Point3d lower = new Point3d();
+ Point3d upper = new Point3d();
+ virtualWorldBounds.getLower(lower);
+ virtualWorldBounds.getUpper(upper);
+
+ double coordinates[] = {lower.x, lower.y, lower.z, upper.x, lower.y, lower.z,
+ upper.x, lower.y, upper.z, lower.x, lower.y, upper.z,
+ lower.x, upper.y, lower.z, upper.x, upper.y, lower.z,
+ upper.x, upper.y, upper.z, lower.x, upper.y, upper.z};
+ int coordinateIndices[] = {0, 1, 1, 2, 2, 3, 3, 0,
+ 4, 5, 5, 6, 6, 7, 7, 4,
+ 0, 4, 1, 5, 2, 6, 3, 7};
+
+ IndexedLineArray geometry = new IndexedLineArray(coordinates.length / 3, IndexedLineArray.COORDINATES, coordinateIndices.length);
+ geometry.setCoordinates(0, coordinates);
+ geometry.setCoordinateIndices(0, coordinateIndices);
+
+ return new Shape3D(geometry);
+ }
+
+ private void addObjects() {
+ BranchGroup pickables = new BranchGroup();
+ pickables.addChild(new PickTranslateBehavior(pickables, canvas3D, virtualWorldBounds, PickTool.GEOMETRY));
+ pickables.addChild(new PickZoomBehavior(pickables, canvas3D, virtualWorldBounds, PickTool.GEOMETRY));
+ scene.addChild(pickables);
+
+ Appearance appearance = new Appearance();
+ appearance.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.NICEST, 0.2f));
+ appearance.setColoringAttributes(new ColoringAttributes(1, 0.7f, 0.7f, ColoringAttributes.FASTEST));
+ Primitive prim = new com.sun.j3d.utils.geometry.Sphere(0.2f, 0, 15, appearance);
+ objects.add(new GenericCollidableObject(prim, new Vector3f(0, 0, 0.3f), originLeaf));
+
+ appearance = new Appearance();
+ appearance.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.NICEST, 0.2f));
+ appearance.setColoringAttributes(new ColoringAttributes(0.7f, 1, 0.7f, ColoringAttributes.FASTEST));
+ prim = new Box(0.2f, 0.15f, 0.1f, 0, appearance);
+ objects.add(new GenericCollidableObject(prim, new Vector3f(0.3f, 0, 0), originLeaf));
+
+ appearance = new Appearance();
+ appearance.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.NICEST, 0.2f));
+ appearance.setColoringAttributes(new ColoringAttributes(0.7f, 0.7f, 1, ColoringAttributes.FASTEST));
+ prim = new Cylinder(0.2f, 0.4f, 0, 15, 1, appearance);
+ objects.add(new GenericCollidableObject(prim, new Vector3f(0, 0, -0.3f), originLeaf));
+
+ appearance = new Appearance();
+ appearance.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.NICEST, 0.2f));
+ appearance.setColoringAttributes(new ColoringAttributes(1, 1, 0.7f, ColoringAttributes.FASTEST));
+ prim = new com.sun.j3d.utils.geometry.Cone(0.15f, 0.3f, 0, 15, 1, appearance);
+ objects.add(new GenericCollidableObject(prim, new Vector3f(-0.3f, 0, 0), originLeaf));
+
+ for (CollidableObject object : objects)
+ pickables.addChild(object.getGroup());
+ }
+
+ private void tick() {
+ for (BranchGroup BG : collisionPoints)
+ BG.detach();
+ collisionPoints.clear();
+
+ for (int i = 0; i < objects.size() - 1; i++)
+ for (int j = i + 1; j < objects.size(); j++) {
+ ArrayList<CollisionInfo> collisions = CollisionDetector.calculateCollisions(objects.get(i), objects.get(j));
+ Appearance appearance = new Appearance();
+ ColoringAttributes cAttr = new ColoringAttributes(new Color3f(1, 0, 0), ColoringAttributes.FASTEST);
+ appearance.setColoringAttributes(cAttr);
+ for (CollisionInfo ci : collisions) {
+ Transform3D tmp = new Transform3D();
+ tmp.setTranslation(ci.contactPoint);
+ TransformGroup TG = new TransformGroup(tmp);
+ TG.addChild(new com.sun.j3d.utils.geometry.Sphere(0.002f, 0, 8, appearance));
+ BranchGroup BG = new BranchGroup();
+ BG.setCapability(BranchGroup.ALLOW_DETACH);
+ BG.addChild(TG);
+ collisionPoints.add(BG);
+ scene.addChild(BG);
+ }
+ }
+ }
+
+ private void updateCamera() {
+ Transform3D camera3D = new Transform3D();
+ camera3D.setTranslation(new Vector3f(0f, 0f, -(float)cameraDistance));
+ Transform3D tmp = new Transform3D();
+ tmp.rotX(cameraXRotation);
+ camera3D.mul(tmp);
+ tmp.rotY(cameraYRotation);
+ camera3D.mul(tmp);
+ camera3D.invert();
+ cameraTG.setTransform(camera3D);
+ }
+
+ private static class CollisionUpdateBehavior extends Behavior {
+ private GenericCollidableObject gco;
+ private TransformGroup TG;
+
+ public CollisionUpdateBehavior(GenericCollidableObject gco, TransformGroup TG, BoundingLeaf boundingLeaf) {
+ this.gco = gco;
+ this.TG = TG;
+ setSchedulingBoundingLeaf(boundingLeaf);
+ }
+
+ public void initialize() {
+ wakeupOn(new WakeupOnTransformChange(TG));
+ }
+
+ public void processStimulus(Enumeration e) {
+ gco.clearCaches();
+ wakeupOn(new WakeupOnTransformChange(TG));
+ }
+ }
+
+ private static class GenericCollidableObject extends CollidableObject {
+ public GenericCollidableObject(Node shapeNode, Vector3f position, BoundingLeaf boundingLeaf) {
+ setShape(shapeNode);
+ this.position.set(position);
+ TG.setCapability(TransformGroup.ALLOW_TRANSFORM_READ);
+ TG.setCapability(TransformGroup.ENABLE_PICK_REPORTING);
+ TG.addChild(CollisionDetector.createShape(CollisionDetector.triangularize(shapeNode)));
+ BG.addChild(new CollisionUpdateBehavior(this, TG, boundingLeaf));
+ updateTransformGroup();
+ }
+ }
+}
diff --git a/src/alden/CollisionInfo.java b/src/alden/CollisionInfo.java new file mode 100644 index 0000000..9cefcd0 --- /dev/null +++ b/src/alden/CollisionInfo.java @@ -0,0 +1,15 @@ +package alden;
+import javax.vecmath.*;
+
+@SuppressWarnings("restriction")
+public class CollisionInfo {
+ public Vector3f contactPoint;
+ public Vector3f contactNormal;
+ public float penetration;
+
+ public CollisionInfo(Vector3f contactPoint, Vector3f contactNormal, float penetration) {
+ this.contactPoint = contactPoint;
+ this.contactNormal = contactNormal;
+ this.penetration = penetration;
+ }
+}
\ No newline at end of file diff --git a/src/alden/HalfSpace.java b/src/alden/HalfSpace.java new file mode 100644 index 0000000..efab5ea --- /dev/null +++ b/src/alden/HalfSpace.java @@ -0,0 +1,28 @@ +package alden;
+import javax.media.j3d.*;
+import javax.vecmath.*;
+
+@SuppressWarnings("restriction")
+public class HalfSpace extends CollidableObject {
+ protected Vector3f normal;
+ // Right-hand side of the plane equation: Ax + By + Cz = D
+ protected float intercept;
+
+ public HalfSpace(Vector3f position, Vector3f normal) {
+ super(Float.POSITIVE_INFINITY);
+ this.position.set(position);
+ this.normal = new Vector3f(normal);
+ this.normal.normalize();
+ intercept = this.normal.dot(position);
+ }
+
+/* public CollisionInfo calculateCollision(Particle particle) {
+ if (Math.signum(normal.dot(particle.getPosition()) - intercept) == Math.signum(normal.dot(particle.getPreviousPosition()) - intercept))
+ return null;
+
+ Vector3f projection = new Vector3f();
+ projection.scaleAdd(-1, position, particle.getPosition());
+ float penetration = -projection.dot(normal);
+ return new CollisionInfo(normal, penetration);
+ }*/
+}
diff --git a/src/alden/Sphere.java b/src/alden/Sphere.java new file mode 100644 index 0000000..df063a3 --- /dev/null +++ b/src/alden/Sphere.java @@ -0,0 +1,34 @@ +package alden;
+import javax.media.j3d.*;
+import javax.vecmath.*;
+
+@SuppressWarnings("restriction")
+public class Sphere extends CollidableObject {
+ protected float radius;
+
+ public Sphere(float radius, Vector3f position) {
+ this(1, radius, position);
+ }
+
+ public Sphere(float mass, float radius, Vector3f position) {
+ super(mass);
+ setShape(createShape(radius, 22));
+ this.radius = radius;
+ this.position.set(position);
+ if (inverseMass != 0) {
+ inverseInertiaTensor.m00 = 2f / 5 / inverseMass * radius * radius;
+ inverseInertiaTensor.m11 = inverseInertiaTensor.m00;
+ inverseInertiaTensor.m22 = inverseInertiaTensor.m00;
+ inverseInertiaTensor.invert();
+ }
+ updateTransformGroup();
+ }
+
+ protected Node createShape(float radius, int divisions) {
+ Appearance appearance = new Appearance();
+ Material material = new Material();
+ material.setDiffuseColor(0.7f, 0.7f, 1);
+ appearance.setMaterial(material);
+ return new com.sun.j3d.utils.geometry.Sphere(radius, com.sun.j3d.utils.geometry.Sphere.GENERATE_NORMALS, divisions, appearance);
+ }
+}
diff --git a/src/alden/UnQuat4f.java b/src/alden/UnQuat4f.java new file mode 100644 index 0000000..59295a9 --- /dev/null +++ b/src/alden/UnQuat4f.java @@ -0,0 +1,658 @@ +package alden;
+import javax.vecmath.*;
+
+/**
+ * A 4 element unit quaternion represented by single precision floating
+ * point x,y,z,w coordinates.
+ *
+ */
+@SuppressWarnings("restriction")
+public class UnQuat4f extends Tuple4f implements java.io.Serializable {
+
+ // Combatible with 1.1
+ static final long serialVersionUID = 2675933778405442383L;
+
+ final static double EPS = 0.000001;
+ final static double EPS2 = 1.0e-30;
+ final static double PIO2 = 1.57079632679;
+
+ /**
+ * Constructs and initializes a Quat4f from the specified xyzw coordinates.
+ * @param x the x coordinate
+ * @param y the y coordinate
+ * @param z the z coordinate
+ * @param w the w scalar component
+ */
+ public UnQuat4f(float x, float y, float z, float w)
+ {
+ this.x = x;
+ this.y = y;
+ this.z = z;
+ this.w = w;
+
+ }
+
+ /**
+ * Constructs and initializes a Quat4f from the array of length 4.
+ * @param q the array of length 4 containing xyzw in order
+ */
+ public UnQuat4f(float[] q)
+ {
+ x = q[0];
+ y = q[1];
+ z = q[2];
+ w = q[3];
+
+ }
+
+
+ /**
+ * Constructs and initializes a Quat4f from the specified Quat4f.
+ * @param q1 the Quat4f containing the initialization x y z w data
+ */
+ public UnQuat4f(UnQuat4f q1)
+ {
+ super(q1);
+ }
+
+
+ /**
+ * Constructs and initializes a Quat4f from the specified Tuple4f.
+ * @param t1 the Tuple4f containing the initialization x y z w data
+ */
+ public UnQuat4f(Tuple4f t1)
+ {
+ x = t1.x;
+ y = t1.y;
+ z = t1.z;
+ w = t1.w;
+
+ }
+
+
+ /**
+ * Constructs and initializes a Quat4f from the specified Tuple4d.
+ * @param t1 the Tuple4d containing the initialization x y z w data
+ */
+ public UnQuat4f(Tuple4d t1)
+ {
+ x = (float)(t1.x);
+ y = (float)(t1.y);
+ z = (float)(t1.z);
+ w = (float)(t1.w);
+ }
+
+
+ /**
+ * Constructs and initializes a Quat4f to (0.0,0.0,0.0,0.0).
+ */
+ public UnQuat4f()
+ {
+ super();
+ }
+
+
+ /**
+ * Sets the value of this quaternion to the conjugate of quaternion q1.
+ * @param q1 the source vector
+ */
+ public final void conjugate(UnQuat4f q1)
+ {
+ this.x = -q1.x;
+ this.y = -q1.y;
+ this.z = -q1.z;
+ this.w = q1.w;
+ }
+
+ /**
+ * Sets the value of this quaternion to the conjugate of itself.
+ */
+ public final void conjugate()
+ {
+ this.x = -this.x;
+ this.y = -this.y;
+ this.z = -this.z;
+ }
+
+
+ /**
+ * Sets the value of this quaternion to the quaternion product of
+ * quaternions q1 and q2 (this = q1 * q2).
+ * Note that this is safe for aliasing (e.g. this can be q1 or q2).
+ * @param q1 the first quaternion
+ * @param q2 the second quaternion
+ */
+ public final void mul(UnQuat4f q1, UnQuat4f q2)
+ {
+ if (this != q1 && this != q2) {
+ this.w = q1.w*q2.w - q1.x*q2.x - q1.y*q2.y - q1.z*q2.z;
+ this.x = q1.w*q2.x + q2.w*q1.x + q1.y*q2.z - q1.z*q2.y;
+ this.y = q1.w*q2.y + q2.w*q1.y - q1.x*q2.z + q1.z*q2.x;
+ this.z = q1.w*q2.z + q2.w*q1.z + q1.x*q2.y - q1.y*q2.x;
+ } else {
+ float x, y, w;
+
+ w = q1.w*q2.w - q1.x*q2.x - q1.y*q2.y - q1.z*q2.z;
+ x = q1.w*q2.x + q2.w*q1.x + q1.y*q2.z - q1.z*q2.y;
+ y = q1.w*q2.y + q2.w*q1.y - q1.x*q2.z + q1.z*q2.x;
+ this.z = q1.w*q2.z + q2.w*q1.z + q1.x*q2.y - q1.y*q2.x;
+ this.w = w;
+ this.x = x;
+ this.y = y;
+ }
+ }
+
+
+ /**
+ * Sets the value of this quaternion to the quaternion product of
+ * itself and q1 (this = this * q1).
+ * @param q1 the other quaternion
+ */
+ public final void mul(UnQuat4f q1)
+ {
+ float x, y, w;
+
+ w = this.w*q1.w - this.x*q1.x - this.y*q1.y - this.z*q1.z;
+ x = this.w*q1.x + q1.w*this.x + this.y*q1.z - this.z*q1.y;
+ y = this.w*q1.y + q1.w*this.y - this.x*q1.z + this.z*q1.x;
+ this.z = this.w*q1.z + q1.w*this.z + this.x*q1.y - this.y*q1.x;
+ this.w = w;
+ this.x = x;
+ this.y = y;
+ }
+
+ /**
+ * Sets the value of this quaternion to the quaternion product of
+ * itself and q1 (this = this * q1).
+ * @param q1 the other quaternion
+ */
+ public final void mul(Quat4f q1)
+ {
+ float x, y, w;
+
+ w = this.w*q1.w - this.x*q1.x - this.y*q1.y - this.z*q1.z;
+ x = this.w*q1.x + q1.w*this.x + this.y*q1.z - this.z*q1.y;
+ y = this.w*q1.y + q1.w*this.y - this.x*q1.z + this.z*q1.x;
+ this.z = this.w*q1.z + q1.w*this.z + this.x*q1.y - this.y*q1.x;
+ this.w = w;
+ this.x = x;
+ this.y = y;
+ }
+
+ /**
+ * Multiplies quaternion q1 by the inverse of quaternion q2 and places
+ * the value into this quaternion. The value of both argument quaternions
+ * is preservered (this = q1 * q2^-1).
+ * @param q1 the first quaternion
+ * @param q2 the second quaternion
+ */
+ public final void mulInverse(UnQuat4f q1, UnQuat4f q2)
+ {
+ UnQuat4f tempQuat = new UnQuat4f(q2);
+
+ tempQuat.inverse();
+ this.mul(q1, tempQuat);
+ }
+
+
+
+ /**
+ * Multiplies this quaternion by the inverse of quaternion q1 and places
+ * the value into this quaternion. The value of the argument quaternion
+ * is preserved (this = this * q^-1).
+ * @param q1 the other quaternion
+ */
+ public final void mulInverse(UnQuat4f q1)
+ {
+ UnQuat4f tempQuat = new UnQuat4f(q1);
+
+ tempQuat.inverse();
+ this.mul(tempQuat);
+ }
+
+
+
+ /**
+ * Sets the value of this quaternion to quaternion inverse of quaternion q1.
+ * @param q1 the quaternion to be inverted
+ */
+ public final void inverse(UnQuat4f q1)
+ {
+ this.w = q1.w;
+ this.x = -q1.x;
+ this.y = -q1.y;
+ this.z = -q1.z;
+ }
+
+
+ /**
+ * Sets the value of this quaternion to the quaternion inverse of itself.
+ */
+ public final void inverse()
+ {
+ this.w *= 1;
+ this.x *= -1;
+ this.y *= -1;
+ this.z *= -1;
+ }
+
+
+ /**
+ * Sets the value of this quaternion to the normalized value
+ * of quaternion q1.
+ * @param q1 the quaternion to be normalized.
+ */
+ public final void normalize(UnQuat4f q1)
+ {
+ float norm;
+
+ norm = (q1.x*q1.x + q1.y*q1.y + q1.z*q1.z + q1.w*q1.w);
+
+ if (norm > 0.0f) {
+ norm = 1.0f/(float)Math.sqrt(norm);
+ this.x = norm*q1.x;
+ this.y = norm*q1.y;
+ this.z = norm*q1.z;
+ this.w = norm*q1.w;
+ } else {
+ this.x = (float) 0.0;
+ this.y = (float) 0.0;
+ this.z = (float) 0.0;
+ this.w = (float) 0.0;
+ }
+ }
+
+
+ /**
+ * Normalizes the value of this quaternion in place.
+ */
+ public final void normalize()
+ {
+ float norm;
+
+ norm = (this.x*this.x + this.y*this.y + this.z*this.z + this.w*this.w);
+
+ if (norm > 0.0f) {
+ norm = 1.0f / (float)Math.sqrt(norm);
+ this.x *= norm;
+ this.y *= norm;
+ this.z *= norm;
+ this.w *= norm;
+ } else {
+ this.x = (float) 0.0;
+ this.y = (float) 0.0;
+ this.z = (float) 0.0;
+ this.w = (float) 0.0;
+ }
+ }
+
+
+ /**
+ * Sets the value of this quaternion to the rotational component of
+ * the passed matrix.
+ * @param m1 the Matrix4f
+ */
+ public final void set(Matrix4f m1)
+ {
+ float ww = 0.25f*(m1.m00 + m1.m11 + m1.m22 + m1.m33);
+
+ if (ww >= 0) {
+ if (ww >= EPS2) {
+ this.w = (float) Math.sqrt((double)ww);
+ ww = 0.25f/this.w;
+ this.x = (m1.m21 - m1.m12)*ww;
+ this.y = (m1.m02 - m1.m20)*ww;
+ this.z = (m1.m10 - m1.m01)*ww;
+ return;
+ }
+ } else {
+ this.w = 0;
+ this.x = 0;
+ this.y = 0;
+ this.z = 1;
+ return;
+ }
+
+ this.w = 0;
+ ww = -0.5f*(m1.m11 + m1.m22);
+
+ if (ww >= 0) {
+ if (ww >= EPS2) {
+ this.x = (float) Math.sqrt((double) ww);
+ ww = 1.0f/(2.0f*this.x);
+ this.y = m1.m10*ww;
+ this.z = m1.m20*ww;
+ return;
+ }
+ } else {
+ this.x = 0;
+ this.y = 0;
+ this.z = 1;
+ return;
+ }
+
+ this.x = 0;
+ ww = 0.5f*(1.0f - m1.m22);
+
+ if (ww >= EPS2) {
+ this.y = (float) Math.sqrt((double) ww);
+ this.z = m1.m21/(2.0f*this.y);
+ return;
+ }
+
+ this.y = 0;
+ this.z = 1;
+ }
+
+
+ /**
+ * Sets the value of this quaternion to the rotational component of
+ * the passed matrix.
+ * @param m1 the Matrix4d
+ */
+ public final void set(Matrix4d m1)
+ {
+ double ww = 0.25*(m1.m00 + m1.m11 + m1.m22 + m1.m33);
+
+ if (ww >= 0) {
+ if (ww >= EPS2) {
+ this.w = (float) Math.sqrt(ww);
+ ww = 0.25/this.w;
+ this.x = (float) ((m1.m21 - m1.m12)*ww);
+ this.y = (float) ((m1.m02 - m1.m20)*ww);
+ this.z = (float) ((m1.m10 - m1.m01)*ww);
+ return;
+ }
+ } else {
+ this.w = 0;
+ this.x = 0;
+ this.y = 0;
+ this.z = 1;
+ return;
+ }
+
+ this.w = 0;
+ ww = -0.5*(m1.m11 + m1.m22);
+ if (ww >= 0) {
+ if (ww >= EPS2) {
+ this.x = (float) Math.sqrt(ww);
+ ww = 0.5/this.x;
+ this.y = (float)(m1.m10*ww);
+ this.z = (float)(m1.m20*ww);
+ return;
+ }
+ } else {
+ this.x = 0;
+ this.y = 0;
+ this.z = 1;
+ return;
+ }
+
+ this.x = 0;
+ ww = 0.5*(1.0 - m1.m22);
+ if (ww >= EPS2) {
+ this.y = (float) Math.sqrt(ww);
+ this.z = (float) (m1.m21/(2.0*(double)(this.y)));
+ return;
+ }
+
+ this.y = 0;
+ this.z = 1;
+ }
+
+
+ /**
+ * Sets the value of this quaternion to the rotational component of
+ * the passed matrix.
+ * @param m1 the Matrix3f
+ */
+ public final void set(Matrix3f m1)
+ {
+ float ww = 0.25f*(m1.m00 + m1.m11 + m1.m22 + 1.0f);
+
+ if (ww >= 0) {
+ if (ww >= EPS2) {
+ this.w = (float) Math.sqrt((double) ww);
+ ww = 0.25f/this.w;
+ this.x = (m1.m21 - m1.m12)*ww;
+ this.y = (m1.m02 - m1.m20)*ww;
+ this.z = (m1.m10 - m1.m01)*ww;
+ return;
+ }
+ } else {
+ this.w = 0;
+ this.x = 0;
+ this.y = 0;
+ this.z = 1;
+ return;
+ }
+
+ this.w = 0;
+ ww = -0.5f*(m1.m11 + m1.m22);
+ if (ww >= 0) {
+ if (ww >= EPS2) {
+ this.x = (float) Math.sqrt((double) ww);
+ ww = 0.5f/this.x;
+ this.y = m1.m10*ww;
+ this.z = m1.m20*ww;
+ return;
+ }
+ } else {
+ this.x = 0;
+ this.y = 0;
+ this.z = 1;
+ return;
+ }
+
+ this.x = 0;
+ ww = 0.5f*(1.0f - m1.m22);
+ if (ww >= EPS2) {
+ this.y = (float) Math.sqrt((double) ww);
+ this.z = m1.m21/(2.0f*this.y);
+ return;
+ }
+
+ this.y = 0;
+ this.z = 1;
+ }
+
+
+ /**
+ * Sets the value of this quaternion to the rotational component of
+ * the passed matrix.
+ * @param m1 the Matrix3d
+ */
+ public final void set(Matrix3d m1)
+ {
+ double ww = 0.25*(m1.m00 + m1.m11 + m1.m22 + 1.0f);
+
+ if (ww >= 0) {
+ if (ww >= EPS2) {
+ this.w = (float) Math.sqrt(ww);
+ ww = 0.25/this.w;
+ this.x = (float) ((m1.m21 - m1.m12)*ww);
+ this.y = (float) ((m1.m02 - m1.m20)*ww);
+ this.z = (float) ((m1.m10 - m1.m01)*ww);
+ return;
+ }
+ } else {
+ this.w = 0;
+ this.x = 0;
+ this.y = 0;
+ this.z = 1;
+ return;
+ }
+
+ this.w = 0;
+ ww = -0.5*(m1.m11 + m1.m22);
+ if (ww >= 0) {
+ if (ww >= EPS2) {
+ this.x = (float) Math.sqrt(ww);
+ ww = 0.5/this.x;
+ this.y = (float) (m1.m10*ww);
+ this.z = (float) (m1.m20*ww);
+ return;
+ }
+ } else {
+ this.x = 0;
+ this.y = 0;
+ this.z = 1;
+ return;
+ }
+
+ this.x = 0;
+ ww = 0.5*(1.0 - m1.m22);
+ if (ww >= EPS2) {
+ this.y = (float) Math.sqrt(ww);
+ this.z = (float) (m1.m21/(2.0*(double)(this.y)));
+ return;
+ }
+
+ this.y = 0;
+ this.z = 1;
+ }
+
+
+ /**
+ * Sets the value of this quaternion to the equivalent rotation
+ * of the AxisAngle argument.
+ * @param a the AxisAngle to be emulated
+ */
+ public final void set(AxisAngle4f a)
+ {
+ float mag,amag;
+ // Quat = cos(theta/2) + sin(theta/2)(roation_axis)
+ amag = (float)Math.sqrt( a.x*a.x + a.y*a.y + a.z*a.z);
+ if (amag < EPS ) {
+ w = 0.0f;
+ x = 0.0f;
+ y = 0.0f;
+ z = 0.0f;
+ } else {
+ amag = 1.0f/amag;
+ mag = (float)Math.sin(a.angle/2.0);
+ w = (float)Math.cos(a.angle/2.0);
+ x = a.x*amag*mag;
+ y = a.y*amag*mag;
+ z = a.z*amag*mag;
+ }
+ }
+
+
+ /**
+ * Sets the value of this quaternion to the equivalent rotation
+ * of the AxisAngle argument.
+ * @param a the AxisAngle to be emulated
+ */
+ public final void set(AxisAngle4d a)
+ {
+ float mag,amag;
+ // Quat = cos(theta/2) + sin(theta/2)(roation_axis)
+
+ amag = (float)(1.0/Math.sqrt( a.x*a.x + a.y*a.y + a.z*a.z));
+
+ if (amag < EPS ) {
+ w = 0.0f;
+ x = 0.0f;
+ y = 0.0f;
+ z = 0.0f;
+ } else {
+ amag = 1.0f/amag;
+ mag = (float)Math.sin(a.angle/2.0);
+ w = (float)Math.cos(a.angle/2.0);
+ x = (float)a.x*amag*mag;
+ y = (float)a.y*amag*mag;
+ z = (float)a.z*amag*mag;
+ }
+
+ }
+
+
+ /**
+ * Performs a great circle interpolation between this quaternion
+ * and the quaternion parameter and places the result into this
+ * quaternion.
+ * @param q1 the other quaternion
+ * @param alpha the alpha interpolation parameter
+ */
+ public final void interpolate(UnQuat4f q1, float alpha) {
+ // From "Advanced Animation and Rendering Techniques"
+ // by Watt and Watt pg. 364, function as implemented appeared to be
+ // incorrect. Fails to choose the same quaternion for the double
+ // covering. Resulting in change of direction for rotations.
+ // Fixed function to negate the first quaternion in the case that the
+ // dot product of q1 and this is negative. Second case was not needed.
+
+ double dot,s1,s2,om,sinom;
+
+ dot = x*q1.x + y*q1.y + z*q1.z + w*q1.w;
+
+ if ( dot < 0 ) {
+ // negate quaternion
+ q1.x = -q1.x; q1.y = -q1.y; q1.z = -q1.z; q1.w = -q1.w;
+ dot = -dot;
+ }
+
+ if ( (1.0 - dot) > EPS ) {
+ om = Math.acos(dot);
+ sinom = Math.sin(om);
+ s1 = Math.sin((1.0-alpha)*om)/sinom;
+ s2 = Math.sin( alpha*om)/sinom;
+ } else{
+ s1 = 1.0 - alpha;
+ s2 = alpha;
+ }
+
+ w = (float)(s1*w + s2*q1.w);
+ x = (float)(s1*x + s2*q1.x);
+ y = (float)(s1*y + s2*q1.y);
+ z = (float)(s1*z + s2*q1.z);
+ }
+
+
+
+ /**
+ * Performs a great circle interpolation between quaternion q1
+ * and quaternion q2 and places the result into this quaternion.
+ * @param q1 the first quaternion
+ * @param q2 the second quaternion
+ * @param alpha the alpha interpolation parameter
+ */
+ public final void interpolate(UnQuat4f q1, UnQuat4f q2, float alpha) {
+ // From "Advanced Animation and Rendering Techniques"
+ // by Watt and Watt pg. 364, function as implemented appeared to be
+ // incorrect. Fails to choose the same quaternion for the double
+ // covering. Resulting in change of direction for rotations.
+ // Fixed function to negate the first quaternion in the case that the
+ // dot product of q1 and this is negative. Second case was not needed.
+
+ double dot,s1,s2,om,sinom;
+
+ dot = q2.x*q1.x + q2.y*q1.y + q2.z*q1.z + q2.w*q1.w;
+
+ if ( dot < 0 ) {
+ // negate quaternion
+ q1.x = -q1.x; q1.y = -q1.y; q1.z = -q1.z; q1.w = -q1.w;
+ dot = -dot;
+ }
+
+ if ( (1.0 - dot) > EPS ) {
+ om = Math.acos(dot);
+ sinom = Math.sin(om);
+ s1 = Math.sin((1.0-alpha)*om)/sinom;
+ s2 = Math.sin( alpha*om)/sinom;
+ } else{
+ s1 = 1.0 - alpha;
+ s2 = alpha;
+ }
+ w = (float)(s1*q1.w + s2*q2.w);
+ x = (float)(s1*q1.x + s2*q2.x);
+ y = (float)(s1*q1.y + s2*q2.y);
+ z = (float)(s1*q1.z + s2*q2.z);
+ }
+
+}
+
+
+
+
diff --git a/src/tesseract/TesseractUI.java b/src/tesseract/TesseractUI.java index 8eadcc7..952a14b 100644 --- a/src/tesseract/TesseractUI.java +++ b/src/tesseract/TesseractUI.java @@ -24,11 +24,14 @@ import javax.swing.Timer; import javax.vecmath.Point3d; import javax.vecmath.Vector3f; +import tesseract.forces.Gravity; import tesseract.menuitems.EllipsoidMenuItem; import tesseract.menuitems.IcosahedronMenuItem; import tesseract.menuitems.ParticleEmitterMenuItem; import tesseract.menuitems.ParticleMenuItem; import tesseract.menuitems.PlanarPolygonMenuItem; +import tesseract.objects.Particle; +import tesseract.objects.emitters.ParticleEmitter; import com.sun.j3d.utils.universe.SimpleUniverse; @@ -120,9 +123,9 @@ public class TesseractUI extends JFrame { // THIS IS WHERE OBJECTS ARE FORCED INTO EXISTANCE // TODO: REMOVE TEST CODE - //myWorld.addObject(new Particle(new Vector3f(0, 0, 0), null)); - //myWorld.addForce(new Gravity()); - //myWorld.addObject(new ParticleEmitter(new Vector3f(0, 0.49f, 0), 0.5f, null)); + myWorld.addObject(new Particle(new Vector3f(0, 0, 0), null)); + myWorld.addForce(new Gravity()); + myWorld.addObject(new ParticleEmitter(new Vector3f(0, 0.49f, 0), 0.5f, null)); //myWorld.addObject(new PlanarPolygon(new Vector3f(0, 0.49f, 0), 0.25f)); //myWorld.addObject(new Icosahedron(new Vector3f(), 1, 0.00001f)); } diff --git a/src/tesseract/World.java b/src/tesseract/World.java index f11f48e..7bfe0a6 100644 --- a/src/tesseract/World.java +++ b/src/tesseract/World.java @@ -19,9 +19,6 @@ import javax.vecmath.Point3d; import javax.vecmath.Vector3f; import tesseract.forces.Force; -import tesseract.objects.Collidable; -import tesseract.objects.CollisionInfo; -import tesseract.objects.Forceable; import tesseract.objects.PhysicalObject; import com.sun.j3d.utils.picking.PickTool; @@ -59,11 +56,6 @@ public class World { */ private List<Force> myForces; - /** - * Objects that can be collided into, a subset of myObjects. - */ - private List<Collidable> myCollidables; - //private List<ParticleEmitter> emitters; //private boolean enableEmitters; @@ -92,7 +84,6 @@ public class World { myForces = new LinkedList<Force>(); myObjects = new LinkedList<PhysicalObject>(); - myCollidables = new LinkedList<Collidable>(); // TODO: Should this go here? myScene = new BranchGroup(); @@ -175,40 +166,35 @@ public class World { while (itr.hasNext()) { PhysicalObject obj = itr.next(); - - // If the object is affected by forces... - if (obj instanceof Forceable) { - // Apply all forces. - for (Force force : myForces) { - force.applyForceTo((Forceable) obj); - } + + // Apply forces + for (Force force : myForces) { + force.applyForceTo(obj); } // Update the object's state. - List<PhysicalObject> newChildren - = obj.updateState(1f / UPDATE_RATE); + obj.updateState(1f / UPDATE_RATE); + // Spawn new objects? + List<PhysicalObject> newChildren = obj.spawnChildren(1f / UPDATE_RATE); if (newChildren != null) { children.addAll(newChildren); } - - // Check for collisions - for (Collidable collidable : myCollidables) { - if (collidable.hasCollision(obj)) { - // Resolve the collision - CollisionInfo ci = collidable.calculateCollision(obj); - collidable.resolveCollision(obj, ci); - } - } // If it leaves the bounds of the world, DESTROY IT - if (!obj.isExisting() + /*if (!obj.isExisting() || !myVirtualWorldBounds.intersect( new Point3d(obj.getPosition())) ) { obj.detach(); itr.remove(); - } + }*/ + } + + // Collision Detection + for (int i = 0; i < myObjects.size() - 1; i++) { + for (int j = i + 1; j < myObjects.size(); j++) + myObjects.get(i).resolveCollisions(myObjects.get(j)); } // Add new children to thr world. @@ -255,10 +241,6 @@ public class World { public void addObject(final PhysicalObject obj) { myPickableObjects.addChild(obj.getGroup()); myObjects.add(obj); - - if (obj instanceof Collidable) { - myCollidables.add((Collidable) obj); - } } /** diff --git a/src/tesseract/forces/Force.java b/src/tesseract/forces/Force.java index 60498a1..23a1195 100644 --- a/src/tesseract/forces/Force.java +++ b/src/tesseract/forces/Force.java @@ -2,7 +2,7 @@ package tesseract.forces; import javax.vecmath.Vector3f; -import tesseract.objects.Forceable; +import tesseract.objects.PhysicalObject; /** * Abstract Force class. @@ -16,14 +16,14 @@ public abstract class Force { * @param obj The given object. * @return A vector describing the force. */ - protected abstract Vector3f calculateForce(final Forceable obj); + protected abstract Vector3f calculateForce(final PhysicalObject obj); /** * Apply this force to the given object. * * @param obj The given object. */ - public void applyForceTo(final Forceable obj) { + public void applyForceTo(final PhysicalObject obj) { obj.addForce(calculateForce(obj)); } } diff --git a/src/tesseract/forces/Gravity.java b/src/tesseract/forces/Gravity.java index 79e7f6a..3cbf33e 100644 --- a/src/tesseract/forces/Gravity.java +++ b/src/tesseract/forces/Gravity.java @@ -2,7 +2,7 @@ package tesseract.forces; import javax.vecmath.Vector3f; -import tesseract.objects.Forceable; +import tesseract.objects.PhysicalObject; /** * Generic downward force class (aka Gravity). @@ -42,7 +42,7 @@ public class Gravity extends Force { * @param obj The object the force is calculated for. * @return A vector describing the force */ - protected Vector3f calculateForce(final Forceable obj) { + protected Vector3f calculateForce(final PhysicalObject obj) { return new Vector3f(0, -myGravity, 0); } diff --git a/src/tesseract/objects/ChainLink.java b/src/tesseract/objects/ChainLink.java index 35b77ec..a68b2e2 100644 --- a/src/tesseract/objects/ChainLink.java +++ b/src/tesseract/objects/ChainLink.java @@ -11,6 +11,7 @@ import javax.media.j3d.Material; import javax.media.j3d.PointArray;
import javax.media.j3d.Shape3D;
import javax.media.j3d.Transform3D;
+import javax.media.j3d.TransformGroup;
import javax.vecmath.Matrix3f;
import javax.vecmath.Point3f;
import javax.vecmath.Vector3f;
@@ -24,17 +25,10 @@ import com.sun.j3d.utils.geometry.NormalGenerator; * @author Phillip Cardon
* @version 0.1a
*/
-public class ChainLink extends ForceableObject {
+public class ChainLink extends PhysicalObject {
//CONSTANTS
private static final int MAX_ANGLE = 120;
- //FIELDS
- private Shape3D myShape;
-
- private float myScale;
-
- //CONSTRUCTORS
-
/**
* @param position starting position.
@@ -50,7 +44,8 @@ public class ChainLink extends ForceableObject { final int sliceDivisions, final float arcRadius,
final int arcDivisions) {
super(position, mass);
- myScale = scale;
+
+ setShape(buildChainLink(scale, sliceRadius, sliceDivisions, arcRadius, arcDivisions));
}
@@ -61,7 +56,8 @@ public class ChainLink extends ForceableObject { * @param arcRadius Radius of donut circle
* @param arcDivisions resolution of slices on donut.
*/
- public void buildToroid(final float sliceRadius, final int sliceDivisions,
+ public TransformGroup buildChainLink(final float scale,
+ final float sliceRadius, final int sliceDivisions,
final float arcRadius, final int arcDivisions) {
Point3f[][] coordinates = new Point3f[arcDivisions][sliceDivisions];
final float arcAngle = (float) (Math.PI * 2.0);
@@ -86,7 +82,7 @@ public class ChainLink extends ForceableObject { for (int i = 0; i < sliceDivisions; i++) {
coordinates[j][i] = new Point3f(coordinates[j - 1][i]);
trans3D.transform(coordinates[j][i]);
- coordinates[j][i].scale((float) myScale);
+ coordinates[j][i].scale((float) scale);
}
}
@@ -132,11 +128,16 @@ public class ChainLink extends ForceableObject { mat.setDiffuseColor(1, 0, 0);
app.setMaterial(mat);
shape.setAppearance(app);
- getTransformGroup().addChild(myShape);
+
+
Transform3D tmp2 = new Transform3D();
tmp.set(new Matrix3f(1.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 1.5f));
- getTransformGroup().setTransform(tmp2);
- getTransformGroup().addChild(shape);
+
+ TransformGroup tg = new TransformGroup();
+ tg.setTransform(tmp2);
+ tg.addChild(shape);
+
+ return tg;
}
//public Group getGroup(){
diff --git a/src/tesseract/objects/Collidable.java b/src/tesseract/objects/Collidable.java deleted file mode 100644 index 48bf40b..0000000 --- a/src/tesseract/objects/Collidable.java +++ /dev/null @@ -1,10 +0,0 @@ -package tesseract.objects; - -public interface Collidable extends Physical { - - boolean hasCollision(final Physical obj); - - CollisionInfo calculateCollision(final Physical obj); - - void resolveCollision(final Physical obj, final CollisionInfo collision); -} diff --git a/src/tesseract/objects/CollidableObject.java b/src/tesseract/objects/CollidableObject.java deleted file mode 100644 index 96248ac..0000000 --- a/src/tesseract/objects/CollidableObject.java +++ /dev/null @@ -1,26 +0,0 @@ -package tesseract.objects; - -import javax.vecmath.Vector3f; - -public abstract class CollidableObject extends PhysicalObject implements Collidable { - - public CollidableObject(Vector3f position) { - super(position); - } - - public CollisionInfo calculateCollision(Physical obj) { - // TODO Auto-generated method stub - return null; - } - - public boolean hasCollision(Physical obj) { - // TODO Auto-generated method stub - return false; - } - - public void resolveCollision(Physical obj, CollisionInfo collision) { - // TODO Auto-generated method stub - - } - -} diff --git a/src/tesseract/objects/CollisionInfo.java b/src/tesseract/objects/CollisionInfo.java deleted file mode 100644 index 3a151e0..0000000 --- a/src/tesseract/objects/CollisionInfo.java +++ /dev/null @@ -1,5 +0,0 @@ -package tesseract.objects; - -public class CollisionInfo { - -} diff --git a/src/tesseract/objects/Ellipsoid.java b/src/tesseract/objects/Ellipsoid.java index f7c9175..da6dd79 100644 --- a/src/tesseract/objects/Ellipsoid.java +++ b/src/tesseract/objects/Ellipsoid.java @@ -24,7 +24,7 @@ import com.sun.j3d.utils.geometry.Sphere; * @author Steve Bradshaw
* @version 1 Feb 2011
*/
-public class Ellipsoid extends ForceableObject {
+public class Ellipsoid extends PhysicalObject {
/**
* Default mass.
@@ -53,7 +53,7 @@ public class Ellipsoid extends ForceableObject { final Appearance appearance, final float b, final float c) {
super(position, mass);
- createShape(radius, primflags, appearance, divisions, b, c);
+ setShape(createShape(radius, primflags, appearance, divisions, b, c));
}
/**
@@ -65,14 +65,14 @@ public class Ellipsoid extends ForceableObject { public Ellipsoid(final Vector3f position, final float radius) {
super(position, DEFAULT_MASS);
- createDefaultEllipsoid(radius);
+ setShape(createDefaultEllipsoid(radius));
}
/**
* This creates a default Ellipsoid for the 2 argument constructor.
* @param radius the siz of the ellipsoid
*/
- private void createDefaultEllipsoid(final float radius) {
+ private TransformGroup createDefaultEllipsoid(final float radius) {
Sphere sphere = new Sphere(radius,
new Sphere().getPrimitiveFlags()
@@ -82,7 +82,7 @@ public class Ellipsoid extends ForceableObject { tmp.set(new Matrix3f(1.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 1.5f));
TransformGroup tg = new TransformGroup(tmp);
tg.addChild(sphere);
- getTransformGroup().addChild(tg);
+ return tg;
}
/**
@@ -95,7 +95,7 @@ public class Ellipsoid extends ForceableObject { * @param b a float for the y axis transform
* @param c a float for the z axis transfrom
*/
- private void createShape(final float radius, final int primflags,
+ private TransformGroup createShape(final float radius, final int primflags,
final Appearance appearance, final int divisions, final float b,
final float c) {
@@ -104,6 +104,7 @@ public class Ellipsoid extends ForceableObject { tmp.set(new Matrix3f(1.0f, 0.0f, 0.0f, 0.0f, b, 0.0f, 0.0f, 0.0f, c));
TransformGroup tg = new TransformGroup(tmp);
tg.addChild(sphere);
- getTransformGroup().addChild(tg);
+
+ return tg;
}
}
diff --git a/src/tesseract/objects/Forceable.java b/src/tesseract/objects/Forceable.java deleted file mode 100644 index bbbbc9f..0000000 --- a/src/tesseract/objects/Forceable.java +++ /dev/null @@ -1,26 +0,0 @@ -package tesseract.objects; - -import javax.vecmath.Vector3f; - -/** - * Objects that can have forces applied to them implement this interface. - * - * @author Jesse Morgan - */ -public interface Forceable extends Physical { - /** - * Apply a new force to this object. - * @param force The force to apply. - */ - void addForce(final Vector3f force); - - /** - * @return The inverse mass of the object. - */ - float getInverseMass(); - - /** - * @return Get the velocity of the object. - */ - Vector3f getVelocity(); -} diff --git a/src/tesseract/objects/ForceableObject.java b/src/tesseract/objects/ForceableObject.java deleted file mode 100644 index b918452..0000000 --- a/src/tesseract/objects/ForceableObject.java +++ /dev/null @@ -1,90 +0,0 @@ -package tesseract.objects; - -import java.util.List; - -import javax.vecmath.Vector3f; - -/** - * This class is the an abstract parent class for forceable objects. - * - * @author Jesse Morgan - */ -public abstract class ForceableObject - extends PhysicalObject implements Forceable { - /** - * The inverse of the object's mass. - */ - protected float myInverseMass; - - /** - * Object's velocity. - */ - private Vector3f myVelocity; - - /** - * Sum of all the forces affecting this object. - */ - private Vector3f myForces; - - /** - * Construct a new ForceableObject. - * - * @param position Initial Position. - * @param mass Initial Mass. - */ - public ForceableObject(final Vector3f position, final float mass) { - super(position); - - myInverseMass = 1 / mass; - myVelocity = new Vector3f(0, 0, 0); - myForces = new Vector3f(0, 0, 0); - } - - /** - * @return The inverse mass of the object. - */ - public float getInverseMass() { - return myInverseMass; - } - - /** - * @return Get the velocity of the object. - */ - public Vector3f getVelocity() { - return myVelocity; - } - - /** - * Apply a new force to this object. - * @param force The force to apply. - */ - public void addForce(final Vector3f force) { - myForces.add(force); - } - - /** - * Update the state of the forceable object. - * - * @param duration The length of time that has passed. - * @return A list of new objects to add to the world. - */ - public List<PhysicalObject> updateState(final float duration) { - List<PhysicalObject> children = super.updateState(duration); - - // The force vector now becomes the acceleration vector. - myForces.scale(myInverseMass); - myPosition.scaleAdd(duration, myVelocity, myPosition); - myPosition.scaleAdd(duration * duration / 2, myForces, myPosition); - myVelocity.scaleAdd(duration, myForces, myVelocity); - - // The force vector is cleared. - myForces.x = 0; - myForces.y = 0; - myForces.z = 0; - - updateTransformGroup(); - - return children; - } - -} diff --git a/src/tesseract/objects/Icosahedron.java b/src/tesseract/objects/Icosahedron.java index a29e407..5a10ff8 100644 --- a/src/tesseract/objects/Icosahedron.java +++ b/src/tesseract/objects/Icosahedron.java @@ -24,7 +24,7 @@ import com.sun.j3d.utils.geometry.NormalGenerator; * @author Phillip Cardon
* @version 0.9a
*/
-public class Icosahedron extends ForceableObject {
+public class Icosahedron extends PhysicalObject {
//CONSTANTS
/**
* Angle to stop checking normals.
@@ -46,16 +46,6 @@ public class Icosahedron extends ForceableObject { */
private static final float GOLDEN_RATIO = (float) ((1.0 + Math.sqrt(5.0))
/ 2.0);
- //FIELDS
- /**
- * Shape object.
- */
- private Shape3D myShape;
-
- /**
- * Object scale.
- */
- private float myScale;
//CONSTRUCTORS
@@ -67,25 +57,26 @@ public class Icosahedron extends ForceableObject { */
public Icosahedron(final Vector3f position, final float mass,
final float scale) {
- this(position, mass);
- myScale = scale;
+
+ super(position, mass);
+
+ setShape(buildIcosahedron(scale));
}
+
/**
* Create new Icosahedron.
* @param position Initial Position.
* @param mass object mass.
*/
public Icosahedron(final Vector3f position, final float mass) {
- super(position, mass);
- myScale = DEFAULT_SCALE;
- buildIcosahedron();
+ this(position, mass, DEFAULT_SCALE);
+
}
/**
* Builds Icosahedron.
*/
- public void buildIcosahedron() {
- // TODO Auto-generated method stub
+ public Shape3D buildIcosahedron(final float scale) {
Point3f[] coordinates = new Point3f[NUM_VERTEX];
float phi = GOLDEN_RATIO;
@@ -107,9 +98,8 @@ public class Icosahedron extends ForceableObject { coordinates[i++] = new Point3f(-1 * phi, 0, -1f);
// Scaling
-
for (int it = 0; it < coordinates.length; it++) {
- coordinates[it].scale((float) myScale);
+ coordinates[it].scale(scale);
}
GeometryArray die = new TriangleArray(((NUM_VERTEX / 2) - 1)
@@ -203,19 +193,15 @@ public class Icosahedron extends ForceableObject { GeometryInfo geo = new GeometryInfo(die);
norms.generateNormals(geo);
- myShape = new Shape3D(geo.getGeometryArray());
+ Shape3D shape = new Shape3D(geo.getGeometryArray());
Appearance meshApp = new Appearance();
Material surface = new Material();
surface.setDiffuseColor(.9f, .05f, .05f);
meshApp.setMaterial(surface);
meshApp.setColoringAttributes(new ColoringAttributes(.9f,
.05f, .05f, ColoringAttributes.NICEST));
- myShape.setAppearance(meshApp);
- //myTG.addChild(myShape);
- getTransformGroup().addChild(myShape);
+ shape.setAppearance(meshApp);
+
+ return shape;
}
-
- //public Group getGroup(){
- // return (Group) myTG.cloneTree();
- //}
}
diff --git a/src/tesseract/objects/Particle.java b/src/tesseract/objects/Particle.java index b2f66e4..a5b6029 100644 --- a/src/tesseract/objects/Particle.java +++ b/src/tesseract/objects/Particle.java @@ -15,7 +15,7 @@ import com.sun.j3d.utils.geometry.Sphere; * * @author Jesse Morgan */ -public class Particle extends ForceableObject { +public class Particle extends PhysicalObject { /** * Rendered radius of particle. */ @@ -42,7 +42,7 @@ public class Particle extends ForceableObject { final Color3f color) { super(position, mass); - getTransformGroup().addChild(createShape(color)); + setShape(createShape(color)); } /** @@ -74,7 +74,7 @@ public class Particle extends ForceableObject { cAttr = new ColoringAttributes(color, ColoringAttributes.FASTEST); Appearance appearance = new Appearance(); appearance.setColoringAttributes(cAttr); - return new Sphere(RADIUS, Sphere.ENABLE_GEOMETRY_PICKING, + return new Sphere(RADIUS, Sphere.ENABLE_GEOMETRY_PICKING | Sphere.GEOMETRY_NOT_SHARED, DIVISIONS, appearance); } } diff --git a/src/tesseract/objects/Physical.java b/src/tesseract/objects/Physical.java deleted file mode 100644 index 40d50ee..0000000 --- a/src/tesseract/objects/Physical.java +++ /dev/null @@ -1,23 +0,0 @@ -package tesseract.objects; - -import javax.vecmath.Vector3f; - -/** - * This interface is applied to any object that has a position in the world. - * - * @author Jesse Morgan - */ -public interface Physical { - - /** - * @return The position of the object in the world. - */ - Vector3f getPosition(); - - /** - * Set the object's position. - * - * @param position The new position. - */ - void setPosition(Vector3f position); -} diff --git a/src/tesseract/objects/PhysicalObject.java b/src/tesseract/objects/PhysicalObject.java index 23da734..2634ca2 100644 --- a/src/tesseract/objects/PhysicalObject.java +++ b/src/tesseract/objects/PhysicalObject.java @@ -1,19 +1,18 @@ package tesseract.objects; -import java.util.Enumeration; +import java.util.ArrayList; import java.util.List; -import javax.media.j3d.Behavior; -import javax.media.j3d.BoundingBox; -import javax.media.j3d.BoundingLeaf; -import javax.media.j3d.BranchGroup; -import javax.media.j3d.Transform3D; -import javax.media.j3d.TransformGroup; -import javax.media.j3d.WakeupOnTransformChange; -import javax.vecmath.Point3d; -import javax.vecmath.Point3f; +import javax.media.j3d.GeometryArray; +import javax.media.j3d.Node; +import javax.media.j3d.Shape3D; import javax.vecmath.Vector3f; +import alden.CollidableObject; +import alden.CollisionInfo; + +import com.sun.j3d.utils.geometry.Primitive; + /** * This class is the parent of all objects in the world. * @@ -22,162 +21,54 @@ import javax.vecmath.Vector3f; * * @author Jesse Morgan */ -public abstract class PhysicalObject extends TransformGroup implements Physical { - /** - * The object's current position. - */ - protected Vector3f myPosition; - - /** - * BranchGroup of the object. - */ - private BranchGroup myBranchGroup; - - /** - * TransformGroup for the object. - */ - private TransformGroup myTransformGroup; - - /** - * Does the object still exist in the world. - */ - protected boolean myExistance; - - /** - * - */ - private int skipTGUpdates; - - /** - * Constructor for a PhysicalObject. - * - * @param position Initial position. - */ - - public PhysicalObject(final Vector3f position) { - skipTGUpdates = 0; - myPosition = new Vector3f(position); - - myExistance = true; - - myTransformGroup = this; //new TransformGroup(); - myTransformGroup.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE); - myTransformGroup.setCapability(TransformGroup.ALLOW_TRANSFORM_READ); - myTransformGroup.setCapability(TransformGroup.ENABLE_PICK_REPORTING); - - - myBranchGroup = new BranchGroup(); - myBranchGroup.setCapability(BranchGroup.ALLOW_DETACH); - myBranchGroup.addChild(myTransformGroup); - //myBranchGroup.addChild(new TGUpdateBehavior(null)); - - updateTransformGroup(); +public class PhysicalObject extends CollidableObject { + public PhysicalObject(final Vector3f thePosition, final float mass) { + super(mass); + this.position.set(thePosition); } - public void setTransform(Transform3D t1) { - super.setTransform(t1); - - Point3f pos = new Point3f(myPosition); - t1.transform(pos); - myPosition = new Vector3f(pos); - } - - /** - * @return The object's position. - */ - public Vector3f getPosition() { - return myPosition; - } - - /** - * Update the object's position. - * - * @param position The new position. - */ - public void setPosition(final Vector3f position) { - myPosition = new Vector3f(position); - updateTransformGroup(); - } - - /** - * @return The transform group of the object. - */ - protected TransformGroup getTransformGroup() { - return myTransformGroup; + public List<PhysicalObject> spawnChildren(final float duration) { + return null; } - - /** - * @return Get the BranchGroup. - */ - public BranchGroup getGroup() { - return myBranchGroup; + public void addForce(final Vector3f force) { + this.forceAccumulator.add(force); } - /** - * Remove the object from the world. - */ - public void detach() { - myBranchGroup.detach(); - myExistance = false; + public void updateState(final float duration) { + super.updateState(duration); + this.updateTransformGroup(); } - /** - * Does this object still exist. - * @return true if it exists. - */ - public boolean isExisting() { - return myExistance; - } + public void setShape(final Node node) { + node.setCapability(javax.media.j3d.Node.ALLOW_BOUNDS_READ); + node.setCapability(javax.media.j3d.Node.ALLOW_LOCAL_TO_VWORLD_READ); - /** - * Update the TransformGroup to the new position. - */ - protected void updateTransformGroup() { - Transform3D tmp = new Transform3D(); - tmp.setTranslation(myPosition); - - skipTGUpdates++; - super.setTransform(tmp); - } - - /** - * Update the state of the object. - * @param duration How much time has passed. - * @return New objects to add to the world. - */ - public List<PhysicalObject> updateState(final float duration) { - return null; - } - - private class TGUpdateBehavior extends Behavior { - public TGUpdateBehavior(final BoundingLeaf boundingLeaf) { - //setSchedulingBoundingLeaf(boundingLeaf); - setSchedulingBounds(new BoundingBox(new Point3d(-0.5, -0.5, -0.5), - new Point3d(0.5, 0.5, 0.5))); - } + if (node instanceof Primitive) { + Primitive prim = (Primitive) node; + int index = 0; + Shape3D shape; + while ((shape = prim.getShape(index++)) != null) { + shape.setCapability(Shape3D.ALLOW_GEOMETRY_READ); + shape.setCapability(Node.ALLOW_LOCAL_TO_VWORLD_READ); + shape.setCapability(Node.ALLOW_LOCAL_TO_VWORLD_READ); - public void initialize() { - wakeupOn(new WakeupOnTransformChange(getTransformGroup())); - } + for (int i = 0; i < shape.numGeometries(); i++) { + shape.getGeometry(i).setCapability( + GeometryArray.ALLOW_COUNT_READ); + shape.getGeometry(i).setCapability( + GeometryArray.ALLOW_COORDINATE_READ); + } - public void processStimulus(final Enumeration e) { - if (skipTGUpdates == 0) { - System.out.println(myPosition); - - Transform3D t3d = new Transform3D(); - getTransformGroup().getTransform(t3d); - - Point3f pos = new Point3f(myPosition); - t3d.transform(pos); - System.out.println(pos); - myPosition = new Vector3f(pos); - } else { - skipTGUpdates--; - System.out.println("Skip"); } - - wakeupOn(new WakeupOnTransformChange(getTransformGroup())); } + + super.setShape(node); } -} + + public void resolveCollisions(final PhysicalObject other) { + if (this.node != null && other.node != null) { + super.resolveCollisions(other); + } + }
+}
\ No newline at end of file diff --git a/src/tesseract/objects/PlanarPolygon.java b/src/tesseract/objects/PlanarPolygon.java index b914fa2..f073f98 100644 --- a/src/tesseract/objects/PlanarPolygon.java +++ b/src/tesseract/objects/PlanarPolygon.java @@ -35,7 +35,7 @@ import com.sun.j3d.utils.image.TextureLoader; * @author Steve Bradshaw
* @version 8 Feb 2011
*/
-public class PlanarPolygon extends ForceableObject {
+public class PlanarPolygon extends PhysicalObject {
/**
* Default mass.
@@ -63,8 +63,7 @@ public class PlanarPolygon extends ForceableObject { final float radius, final int divisions) {
super(position, mass);
- //getTransformGroup().addChild(createShape(radius, divisions));
- createShape(radius, divisions);
+ setShape(createShape(radius, divisions));
}
/**
@@ -74,9 +73,7 @@ public class PlanarPolygon extends ForceableObject { * @param radius a float for the size of the base sphere.
*/
public PlanarPolygon(final Vector3f position, final float radius) {
- super(position, DEFAULT_MASS);
-
- createShape(radius, DEFAULT_DIVISIONS);
+ this(position, DEFAULT_MASS, radius, DEFAULT_DIVISIONS);
}
/**
@@ -100,7 +97,7 @@ public class PlanarPolygon extends ForceableObject { * @param divisions an int for the number of divisons
* @param appearance an Appearance object
*/
- private void createShape(final float radius, final int divisions) {
+ private Shape3D createShape(final float radius, final int divisions) {
TriangleFanArray geometry = new TriangleFanArray(divisions,
TriangleFanArray.COORDINATES | TriangleFanArray.TEXTURE_COORDINATE_2, new int[] {divisions});
for (int i = 0; i < divisions; i++) {
@@ -132,8 +129,8 @@ public class PlanarPolygon extends ForceableObject { appearance.setPolygonAttributes(polyAttr);
geometry.setCapability(Geometry.ALLOW_INTERSECT);
Shape3D polygon = new Shape3D(geometry, appearance);
- getTransformGroup().addChild(polygon);
- //return getTransformGroup();
+
+ return polygon;
}
/*private void createShape(final float radius, final int primflags,
diff --git a/src/tesseract/objects/Toroid.java b/src/tesseract/objects/Toroid.java index 1961818..e7524b8 100644 --- a/src/tesseract/objects/Toroid.java +++ b/src/tesseract/objects/Toroid.java @@ -22,17 +22,7 @@ import com.sun.j3d.utils.geometry.NormalGenerator; * @author Phillip Cardon
* @version 0.9a
*/
-public class Toroid extends ForceableObject {
- //CONSTANTS
- private static final int MAX_ANGLE = 120;
- //FIELDS
- private Shape3D myShape;
-
- private float myScale;
-
- //CONSTRUCTORS
-
-
+public class Toroid extends PhysicalObject {
/**
* @param position starting position.
* @param mass of object.
@@ -46,7 +36,8 @@ public class Toroid extends ForceableObject { final float sliceRadius, final int sliceDivisions,
final float arcRadius, final int arcDivisions) {
super(position, mass);
- myScale = scale;
+
+ setShape(buildToroid(scale, sliceRadius, sliceDivisions, arcRadius, arcDivisions));
}
@@ -57,7 +48,7 @@ public class Toroid extends ForceableObject { * @param arcRadius Radius of donut circle
* @param arcDivisions resolution of slices on donut.
*/
- public void buildToroid(final float sliceRadius, final int sliceDivisions,
+ public Shape3D buildToroid(final float scale, final float sliceRadius, final int sliceDivisions,
final float arcRadius, final int arcDivisions) {
Point3f[][] coordinates = new Point3f[arcDivisions][sliceDivisions];
final float arcAngle = (float) (Math.PI * 2.0);
@@ -82,7 +73,7 @@ public class Toroid extends ForceableObject { for (int i = 0; i < sliceDivisions; i++) {
coordinates[j][i] = new Point3f(coordinates[j - 1][i]);
trans3D.transform(coordinates[j][i]);
- coordinates[j][i].scale((float) myScale);
+ coordinates[j][i].scale(scale);
}
}
@@ -128,10 +119,7 @@ public class Toroid extends ForceableObject { mat.setDiffuseColor(1, 0, 0);
app.setMaterial(mat);
shape.setAppearance(app);
- getTransformGroup().addChild(myShape);
- }
- //public Group getGroup(){
- // return (Group) myTG.cloneTree();
- //}
+ return shape;
+ }
}
diff --git a/src/tesseract/objects/emitters/ParticleEmitter.java b/src/tesseract/objects/emitters/ParticleEmitter.java index de5a556..5aa391a 100644 --- a/src/tesseract/objects/emitters/ParticleEmitter.java +++ b/src/tesseract/objects/emitters/ParticleEmitter.java @@ -3,6 +3,7 @@ package tesseract.objects.emitters; import java.util.LinkedList; import java.util.List; +import javax.media.j3d.Node; import javax.vecmath.Color3f; import javax.vecmath.Vector3f; @@ -41,7 +42,7 @@ public class ParticleEmitter extends PhysicalObject { public ParticleEmitter(final Vector3f position, final float frequency, final Color3f color) { - super(position); + super(position, Float.POSITIVE_INFINITY); myCount = 0; myFrequency = frequency; @@ -54,8 +55,8 @@ public class ParticleEmitter extends PhysicalObject { * @param duration The length of time that has passed. * @return A list of new objects to add to the world. */ - public List<PhysicalObject> updateState(final float duration) { - List<PhysicalObject> children = super.updateState(duration); + public List<PhysicalObject> spawnChildren(final float duration) { + List<PhysicalObject> children = super.spawnChildren(duration); if (children == null) { children = new LinkedList<PhysicalObject>(); @@ -63,7 +64,7 @@ public class ParticleEmitter extends PhysicalObject { myCount += duration; if (myCount >= myFrequency) { - children.add(new Particle(getPosition(), myColor)); + children.add(new Particle(this.position, myColor)); myCount = 0; } |