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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();
}
}
}
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