/*
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* To change this template, choose Tools | Templates
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* and open the template in the editor.
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*/
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import com.bulletphysics.BulletGlobals;
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import com.bulletphysics.BulletStats;
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import com.bulletphysics.collision.dispatch.CollisionObject;
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import com.bulletphysics.util.ObjectArrayList;
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import com.bulletphysics.collision.broadphase.BroadphaseInterface;
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import com.bulletphysics.collision.broadphase.BroadphaseNativeType;
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import com.bulletphysics.collision.broadphase.DbvtBroadphase;
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import com.bulletphysics.collision.dispatch.CollisionDispatcher;
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import com.bulletphysics.collision.dispatch.DefaultCollisionConfiguration;
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import com.bulletphysics.collision.shapes.BoxShape;
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import com.bulletphysics.collision.shapes.SphereShape;
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import com.bulletphysics.collision.shapes.CollisionShape;
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import com.bulletphysics.collision.shapes.CompoundShape;
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import com.bulletphysics.collision.shapes.StaticPlaneShape;
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import com.bulletphysics.collision.shapes.CylinderShape;
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import com.bulletphysics.collision.shapes.ConvexShape;
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import com.bulletphysics.collision.shapes.ShapeHull;
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import com.bulletphysics.collision.shapes.PolyhedralConvexShape;
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import com.bulletphysics.collision.shapes.ConcaveShape;
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import com.bulletphysics.collision.shapes.TriangleCallback;
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import com.bulletphysics.collision.shapes.InternalTriangleIndexCallback;
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//import com.bulletphysics.demos.opengl.DemoApplication;
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//import com.bulletphysics.demos.opengl.GLDebugDrawer;
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//import com.bulletphysics.demos.opengl.IGL;
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//import com.bulletphysics.demos.opengl.LWJGL;
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import javax.media.opengl.GL;
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import javax.media.opengl.glu.GLU;
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import com.bulletphysics.dynamics.RigidBody;
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import com.bulletphysics.dynamics.RigidBodyConstructionInfo;
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import com.bulletphysics.dynamics.DynamicsWorld;
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import com.bulletphysics.dynamics.DiscreteDynamicsWorld;
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import com.bulletphysics.dynamics.constraintsolver.ConstraintSolver;
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import com.bulletphysics.dynamics.constraintsolver.SequentialImpulseConstraintSolver;
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import com.bulletphysics.linearmath.DefaultMotionState;
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import com.bulletphysics.linearmath.DebugDrawModes;
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import com.bulletphysics.linearmath.Transform;
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import com.bulletphysics.linearmath.TransformUtil;
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import com.bulletphysics.linearmath.VectorUtil;
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import com.bulletphysics.linearmath.Clock;
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import com.bulletphysics.util.ObjectPool;
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import com.bulletphysics.util.IntArrayList;
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import javax.vecmath.Vector3f;
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import javax.vecmath.Color3f;
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//import org.lwjgl.LWJGLException;
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//import static com.bulletphysics.demos.opengl.IGL.*;
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import com.bulletphysics.linearmath.MiscUtil;
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//import com.bulletphysics.dynamics.constraintsolver.TypedConstraint;
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import com.bulletphysics.dynamics.constraintsolver.Generic6DofConstraint;
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import java.util.Map;
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import java.util.HashMap;
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/**
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*
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* @author nbriere
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*/
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public class PhysicsNode extends Composite // Object3D
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{
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static final long serialVersionUID = 7284096213977007708L;
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transient
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DynamicsWorld transientDynamicsWorld = null;
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float gravity;
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float floor;
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float wind;
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float friction; // global plane
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PhysicsNode()
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{
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super("Physics");
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live = true;
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gravity = 1;
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wind = 1;
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}
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void Reset()
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{
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initPhysics();
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}
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DynamicsWorld GetDynamics()
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{
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if (transientDynamicsWorld == null)
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initPhysics();
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return transientDynamicsWorld;
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}
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static protected Clock clock = new Clock();
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static public float getDeltaTimeMicroseconds()
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{
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//#ifdef USE_BT_CLOCK
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float dt = clock.getTimeMicroseconds();
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clock.reset();
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return dt;
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//#else
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//return btScalar(16666.);
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//#endif
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}
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float totalms = 0;
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void drawSelf(iCameraPane display, Object3D /*Composite*/ root, boolean selected, boolean blocked)
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{
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if (Globals.isLIVE() && live && (Globals.DrawMode() == iCameraPane.SHADOW || !Globals.RENDERSHADOW || !Globals.COMPUTESHADOWWHENLIVE)) // SHADOW
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{
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Globals.lighttouched = true;
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float ms = getDeltaTimeMicroseconds();
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float minFPS = 1000000f / 60f;
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if (ms > minFPS)
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{
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ms = minFPS;
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}
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if (CameraPane.AntialiasingEnabled())
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ms /= CameraPane.ACSIZE;
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totalms += ms;
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if (totalms > 2000000)
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{
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// spawnRagdoll(true);
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totalms = 0;
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}
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// assert (dynamicsWorld != null);
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//
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// if (transientDynamicsWorld == null)
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//// staticdynamicsWorld = dynamicsWorld;
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// initPhysics();
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//
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// assert(dynamicsWorld == staticdynamicsWorld);
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if (groundTransform != null) // marche pas
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groundTransform.origin.set(0f, -floor - 10, 0f);
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GetDynamics().stepSimulation(ms / 1000000.f);
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}
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super.drawSelf(display, root, selected, blocked);
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}
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void Step()
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{
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float ms = getDeltaTimeMicroseconds();
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float minFPS = 1000000f / 60f;
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if (ms > minFPS)
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{
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ms = minFPS;
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}
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// if (transientDynamicsWorld == null)
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// initPhysics();
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groundTransform.origin.set(0f, -floor - 10, 0f);
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GetDynamics().stepSimulation(ms / 1000000.f);
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}
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transient Transform groundTransform;
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public void initPhysics()
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{
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//if (dynamicsWorld != null) // && staticdynamicsWorld == null)
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// staticdynamicsWorld = dynamicsWorld;
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// Setup the basic world
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//if (staticdynamicsWorld == null)
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//if (transientDynamicsWorld == null) // && ragdolls.size() == 0)
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{
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DefaultCollisionConfiguration collision_config = new DefaultCollisionConfiguration();
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CollisionDispatcher dispatcher = new CollisionDispatcher(collision_config);
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Vector3f worldAabbMin = new Vector3f(-10000, -10000, -10000);
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Vector3f worldAabbMax = new Vector3f(10000, 10000, 10000);
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//BroadphaseInterface overlappingPairCache = new AxisSweep3(worldAabbMin, worldAabbMax);
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//BroadphaseInterface overlappingPairCache = new SimpleBroadphase();
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BroadphaseInterface overlappingPairCache = new DbvtBroadphase();
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//#ifdef USE_ODE_QUICKSTEP
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//btConstraintSolver* constraintSolver = new OdeConstraintSolver();
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//#else
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ConstraintSolver constraintSolver = new SequentialImpulseConstraintSolver();
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//#endif
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if (transientDynamicsWorld != null)
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ResetDynamics(transientDynamicsWorld);
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transientDynamicsWorld = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, constraintSolver, collision_config);
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//staticdynamicsWorld = dynamicsWorld;
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// dynamicsWorld.setDebugDrawer(new GLDebugDrawer(gl));
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float boxsize = 100;
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// Setup a big ground box
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// {
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CollisionShape groundShape = new BoxShape(new Vector3f(boxsize, 10f, boxsize));
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Transform transform = new Transform();
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transform.setIdentity();
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transform.origin.set(0f, -floor - 10, 0f);
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localCreateRigidBody(0f, transform, groundShape);
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groundTransform = transform;
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groundShape = new BoxShape(new Vector3f(boxsize, boxsize, boxsize));
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transform = new Transform();
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transform.setIdentity();
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transform.origin.set(0f, boxsize/2, -boxsize-1);
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localCreateRigidBody(0f, transform, groundShape);
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groundShape = new BoxShape(new Vector3f(boxsize, boxsize, boxsize));
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transform = new Transform();
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transform.setIdentity();
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transform.origin.set(-boxsize-1, boxsize/2, 0f);
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localCreateRigidBody(0f, transform, groundShape);
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groundShape = new BoxShape(new Vector3f(boxsize, boxsize, boxsize));
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transform = new Transform();
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transform.setIdentity();
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transform.origin.set(boxsize+1, boxsize/2, 0f);
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localCreateRigidBody(0f, transform, groundShape);
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groundShape = new BoxShape(new Vector3f(boxsize, boxsize, boxsize));
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transform = new Transform();
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transform.setIdentity();
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transform.origin.set(0f, boxsize/2, boxsize+1);
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localCreateRigidBody(0f, transform, groundShape);
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transientDynamicsWorld.setGravity(new Vector3f(0.075f, -gravity, wind));
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SetDynamics(transientDynamicsWorld);
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}
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// else
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{
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// if (transientDynamicsWorld == null)
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// {
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// staticdynamicsWorld = ragdolls.get(0).ownerWorld;
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// clientResetScene();
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// }
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// else
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// {
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// if (ragdolls.size() > 0)
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// assert(staticdynamicsWorld == ragdolls.get(0).ownerWorld);
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// }
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}
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//dynamicsWorld = staticdynamicsWorld;
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// Spawn one ragdoll
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// spawnRagdoll();
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//
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// myoffset = dynamicsWorld.getNumCollisionObjects() - 1;
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//
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// if (myoffset == 0)
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// clientResetScene();
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}
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public RigidBody localCreateRigidBody(float mass, Transform startTransform, CollisionShape shape)
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{
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// rigidbody is dynamic if and only if mass is non zero, otherwise static
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boolean isDynamic = (mass != 0f);
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Vector3f localInertia = new Vector3f(0f, 0f, 0f);
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if (isDynamic)
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{
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shape.calculateLocalInertia(mass, localInertia);
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}
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// using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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//#define USE_MOTIONSTATE 1
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//#ifdef USE_MOTIONSTATE
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DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
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float friction = 1f;
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RigidBodyConstructionInfo cInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia, friction);
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RigidBody body = new RigidBody(cInfo);
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//#else
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//btRigidBody* body = new btRigidBody(mass,0,shape,localInertia);
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//body->setWorldTransform(startTransform);
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//#endif//
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transientDynamicsWorld.addRigidBody(body);
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return body;
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}
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public void clientResetScene()
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{
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System.exit(0);
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//#ifdef SHOW_NUM_DEEP_PENETRATIONS
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BulletStats.gNumDeepPenetrationChecks = 0;
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BulletStats.gNumGjkChecks = 0;
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//#endif //SHOW_NUM_DEEP_PENETRATIONS
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int numObjects = 0;
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if (transientDynamicsWorld != null)
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{
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transientDynamicsWorld.stepSimulation(1f / 60f, 0);
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numObjects = transientDynamicsWorld.getNumCollisionObjects();
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}
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for (int i = 0; i < numObjects; i++)
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{
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// if (i > 0)
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// System.exit(0);
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CollisionObject colObj = transientDynamicsWorld.getCollisionObjectArray().getQuick(i);
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RigidBody body = RigidBody.upcast(colObj);
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if (body != null)
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{
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DefaultMotionState myMotionState = (DefaultMotionState) body.getMotionState();
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if (//false)
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myMotionState != null)
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{
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myMotionState.graphicsWorldTrans.set(myMotionState.startWorldTrans);
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colObj.setWorldTransform(myMotionState.graphicsWorldTrans);
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colObj.setInterpolationWorldTransform(myMotionState.startWorldTrans);
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colObj.activate();
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}
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// removed cached contact points
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transientDynamicsWorld.getBroadphase().getOverlappingPairCache().cleanProxyFromPairs(colObj.getBroadphaseHandle(), transientDynamicsWorld.getDispatcher());
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// ??? body = RigidBody.upcast(colObj);
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if (body != null && !body.isStaticObject())
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{
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RigidBody.upcast(colObj).setLinearVelocity(new Vector3f(0f, 0f, 0f));
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RigidBody.upcast(colObj).setAngularVelocity(new Vector3f(0f, 0f, 0f));
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}
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// if (body.getUserPointer() != null)
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// ((RagDoll)body.getUserPointer()).init(transientDynamicsWorld, new Vector3f(0f, 0f, 0f), 0.45f, true);
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}
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/*
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//quickly search some issue at a certain simulation frame, pressing space to reset
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int fixed=18;
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for (int i=0;i<fixed;i++)
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{
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getDynamicsWorld()->stepSimulation(1./60.f,1);
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}
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*/
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}
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}
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void createEditWindow(GroupEditor callee, boolean newWindow)
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{
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//editWindow = (new SphereEditor(this, deepCopy(), callee)).GetEditor();
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if (newWindow)
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{
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objectUI = new PhysicsEditor(this, deepCopy(), callee);
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} else
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{
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objectUI = new PhysicsEditor(this, callee);
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}
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editWindow = objectUI.GetEditor();
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}
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}
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