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-rw-r--r--src/alden/CollisionDetectorDemo.java237
-rw-r--r--src/alden/HalfSpace.java4
-rw-r--r--src/alden/Sphere.java1
3 files changed, 3 insertions, 239 deletions
diff --git a/src/alden/CollisionDetectorDemo.java b/src/alden/CollisionDetectorDemo.java
deleted file mode 100644
index b2268a4..0000000
--- a/src/alden/CollisionDetectorDemo.java
+++ /dev/null
@@ -1,237 +0,0 @@
-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/HalfSpace.java b/src/alden/HalfSpace.java
index efab5ea..6e414fb 100644
--- a/src/alden/HalfSpace.java
+++ b/src/alden/HalfSpace.java
@@ -1,6 +1,6 @@
package alden;
-import javax.media.j3d.*;
-import javax.vecmath.*;
+
+import javax.vecmath.Vector3f;
@SuppressWarnings("restriction")
public class HalfSpace extends CollidableObject {
diff --git a/src/alden/Sphere.java b/src/alden/Sphere.java
index df063a3..ddbaff4 100644
--- a/src/alden/Sphere.java
+++ b/src/alden/Sphere.java
@@ -1,4 +1,5 @@
package alden;
+
import javax.media.j3d.*;
import javax.vecmath.*;
generated by cgit v1.2.3 (git 2.39.1) at 2025-05-15 21:42:12 +0000