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-rw-r--r--src/alden/CollisionDetectorDemo.java237
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+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();
+ }
+ }
+}
generated by cgit v1.2.3 (git 2.39.1) at 2025-05-15 18:25:21 +0000