java - jBullet 例子

Question

我正在尝试学习如何在我正在处理的项目中使用 jBullet，我已经查看了源提供的演示，但我只是无法弄清楚这些演示如何显示对象。谁有好的资源可以指点我或提供一个在屏幕上显示一个或两个对象的基本示例？

在此先感谢您，很抱歉，我没有任何代码可以展示，如果需要，我可以快速编写一些代码，但我只是在寻找前进的方向。

谢谢，

我正在使用的立方体的代码，所以我试图向它添加碰撞，但我不确定如何使用 jbullet:

    public void  Draw() {
    // center point posX, posY, posZ
    float radius = size / 2;

    //top
    glPushMatrix();
    glBegin(GL_QUADS);
        {
            glColor3f(1.0f,0.0f,0.0f); // red
            glVertex3f(posX + radius, posY + radius, posZ - radius);
            glVertex3f(posX - radius, posY + radius, posZ - radius);
            glVertex3f(posX - radius, posY + radius, posZ + radius);
            glVertex3f(posX + radius, posY + radius, posZ + radius);
        }
    glEnd();
    glPopMatrix();

    //bottom
    glPushMatrix();
    glBegin(GL_QUADS);
        {
            glColor3f(1.0f,1.0f,0.0f); // ?? color
            glVertex3f(posX + radius, posY - radius, posZ + radius);
            glVertex3f(posX - radius, posY - radius, posZ + radius);
            glVertex3f(posX - radius, posY - radius, posZ - radius);
            glVertex3f(posX + radius, posY - radius, posZ - radius);
        }
    glEnd();
    glPopMatrix();

    //right side
    glPushMatrix();
    glBegin(GL_QUADS);
        {
            glColor3f(1.0f,0.0f,1.0f); // ?? color
            glVertex3f(posX + radius, posY + radius, posZ + radius);
            glVertex3f(posX + radius, posY - radius, posZ + radius);
            glVertex3f(posX + radius, posY - radius, posZ - radius);
            glVertex3f(posX + radius, posY + radius, posZ - radius);
        }
    glEnd();
    glPopMatrix();

    //left side
    glPushMatrix();
    glBegin(GL_QUADS);
        {
            glColor3f(0.0f,1.0f,1.0f); // ?? color
            glVertex3f(posX - radius, posY + radius, posZ - radius);
            glVertex3f(posX - radius, posY - radius, posZ - radius);
            glVertex3f(posX - radius, posY - radius, posZ + radius);
            glVertex3f(posX - radius, posY + radius, posZ + radius);
        }
    glEnd();
    glPopMatrix();

    //front side 
    glPushMatrix();
    glBegin(GL_QUADS);
        {
            glColor3f(0.0f,0.0f,1.0f); //blue 
            glVertex3f(posX + radius, posY + radius, posZ + radius);
            glVertex3f(posX - radius, posY + radius, posZ + radius);
            glVertex3f(posX - radius, posY - radius, posZ + radius);
            glVertex3f(posX + radius, posY - radius, posZ + radius);
        }
    glEnd();
    glPopMatrix();

    //back side
    glPushMatrix();
    glBegin(GL_QUADS);
        {
            glColor3f(0.0f,1.0f,0.0f); // green
            glVertex3f(posX + radius, posY - radius, posZ - radius);
            glVertex3f(posX - radius, posY - radius, posZ - radius);
            glVertex3f(posX - radius, posY + radius, posZ - radius);
            glVertex3f(posX + radius, posY + radius, posZ - radius);
        }
    glEnd();
    glPopMatrix();
}

这是我从 hello world 测试代码转换而来的代码，大家看这是否正确？ :

public static void HelloWorld() {

    BroadphaseInterface broadphase = new DbvtBroadphase();
    DefaultCollisionConfiguration collisionConfiguration = new DefaultCollisionConfiguration();
    CollisionDispatcher dispatcher = new CollisionDispatcher(collisionConfiguration);

    SequentialImpulseConstraintSolver solver = new SequentialImpulseConstraintSolver();

    DiscreteDynamicsWorld dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);

    // set the gravity of our world
    dynamicsWorld.setGravity(new Vector3f(0, -10, 0));

    // setup our collision shapes
    CollisionShape groundShape = new StaticPlaneShape(new Vector3f(0, 1, 0), 1);
    CollisionShape fallShape = new SphereShape(1);

    // setup the motion state
    DefaultMotionState groundMotionState = new DefaultMotionState(new Transform(new Matrix4f(new Quat4f(0, 0, 0, 1), new Vector3f(0, -1, 0), 1.0f))); 

    RigidBodyConstructionInfo groundRigidBodyCI = new RigidBodyConstructionInfo(0, groundMotionState, groundShape, new Vector3f(0,0,0)); 
    RigidBody groundRigidBody = new RigidBody(groundRigidBodyCI); 

    dynamicsWorld.addRigidBody(groundRigidBody); // add our ground to the dynamic world.. 

    // setup the motion state for the ball
    DefaultMotionState fallMotionState = new DefaultMotionState(new Transform(new Matrix4f(new Quat4f(0, 0, 0, 1), new Vector3f(0, 50, 0), 1.0f)));

    //This we're going to give mass so it responds to gravity 
    int mass = 1;

    Vector3f fallInertia = new Vector3f(0,0,0); 
    fallShape.calculateLocalInertia(mass,fallInertia); 

    RigidBodyConstructionInfo fallRigidBodyCI = new RigidBodyConstructionInfo(mass,fallMotionState,fallShape,fallInertia); 
    RigidBody fallRigidBody = new RigidBody(fallRigidBodyCI); 

    //now we add it to our physics simulation 
    dynamicsWorld.addRigidBody(fallRigidBody); 

    for (int i=0 ; i<300 ; i++) { 
        dynamicsWorld.stepSimulation(1/60.f, 10); 

        Transform trans = new Transform();
        fallRigidBody.getMotionState().getWorldTransform(trans); 


        System.out.println("sphere height: " + trans.origin.y);
    }

}

Answer 1

jBullet HelloWorld 示例代码:

public static void HelloWorld() {

BroadphaseInterface broadphase = new DbvtBroadphase();
DefaultCollisionConfiguration collisionConfiguration = new DefaultCollisionConfiguration();
CollisionDispatcher dispatcher = new CollisionDispatcher(collisionConfiguration);

SequentialImpulseConstraintSolver solver = new SequentialImpulseConstraintSolver();

DiscreteDynamicsWorld dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);

// set the gravity of our world
dynamicsWorld.setGravity(new Vector3f(0, -10, 0));

// setup our collision shapes
CollisionShape groundShape = new StaticPlaneShape(new Vector3f(0, 1, 0), 1);
CollisionShape fallShape = new SphereShape(1);

// setup the motion state
DefaultMotionState groundMotionState = new DefaultMotionState(new Transform(new Matrix4f(new Quat4f(0, 0, 0, 1), new Vector3f(0, -1, 0), 1.0f))); 

RigidBodyConstructionInfo groundRigidBodyCI = new RigidBodyConstructionInfo(0, groundMotionState, groundShape, new Vector3f(0,0,0)); 
RigidBody groundRigidBody = new RigidBody(groundRigidBodyCI); 

dynamicsWorld.addRigidBody(groundRigidBody); // add our ground to the dynamic world.. 

// setup the motion state for the ball
DefaultMotionState fallMotionState = new DefaultMotionState(new Transform(new Matrix4f(new Quat4f(0, 0, 0, 1), new Vector3f(0, 50, 0), 1.0f)));

//This we're going to give mass so it responds to gravity 
int mass = 1;

Vector3f fallInertia = new Vector3f(0,0,0); 
fallShape.calculateLocalInertia(mass,fallInertia); 

RigidBodyConstructionInfo fallRigidBodyCI = new RigidBodyConstructionInfo(mass,fallMotionState,fallShape,fallInertia); 
RigidBody fallRigidBody = new RigidBody(fallRigidBodyCI); 

//now we add it to our physics simulation 
dynamicsWorld.addRigidBody(fallRigidBody); 

for (int i=0 ; i<300 ; i++) { 
    dynamicsWorld.stepSimulation(1/60.f, 10); 

    Transform trans = new Transform();
    fallRigidBody.getMotionState().getWorldTransform(trans); 


    System.out.println("sphere height: " + trans.origin.y);
}