com.jme3.bullet

Class CollisionSpace

java.lang.Object

com.jme3.bullet.NativePhysicsObject

com.jme3.bullet.CollisionSpace

All Implemented Interfaces:

java.lang.Comparable<NativePhysicsObject>

Direct Known Subclasses:

PhysicsSpace

public class CollisionSpace
extends NativePhysicsObject

A Bullet-JME collision space with its own btCollisionWorld.

Field Summary

Fields

Modifier and Type	Field and Description
static java.util.logging.Logger	loggerC message logger for this class

Fields inherited from class com.jme3.bullet.NativePhysicsObject

loggerN

Constructor Summary

Constructors

Modifier	Constructor and Description
	CollisionSpace(Vector3f worldMin, Vector3f worldMax, PhysicsSpace.BroadphaseType broadphaseType) Instantiate a CollisionSpace.
protected	CollisionSpace(Vector3f worldMin, Vector3f worldMax, PhysicsSpace.BroadphaseType broadphaseType, int numSolvers) Used internally.
protected	CollisionSpace(Vector3f worldMin, Vector3f worldMax, PhysicsSpace.BroadphaseType broadphaseType, int numSolvers, CollisionConfiguration configuration) Used internally.

Method Summary

Modifier and Type	Method and Description
void	add(java.lang.Object object) Add the specified object to this space.
void	addCollisionObject(PhysicsCollisionObject pco) Add the specified collision object to this space.
int	contactTest(PhysicsCollisionObject pco, PhysicsCollisionListener listener) Perform a contact test.
boolean	contains(PhysicsCollisionObject pco) Test whether the specified collision object is added to this space.
int	countCollisionObjects() Count the collision objects in this space.
int	countSolvers() Count the solvers.
protected void	create() Must be invoked on the designated physics thread.
void	destroy() Remove all collision objects and physics joints.
PhysicsSpace.BroadphaseType	getBroadphaseType() Read the type of acceleration structure used for broadphase collision detection.
static CollisionSpace	getCollisionSpace() Access the CollisionSpace running on this thread.
CollisionConfiguration	getConfiguration() Access the tuning parameters.
java.util.Collection<PhysicsGhostObject>	getGhostObjectList() Enumerate ghost objects that have been added to this space and not yet removed.
java.util.Collection<PhysicsCollisionObject>	getPcoList() Enumerate collision objects that have been added to this space and not yet removed.
int	getRayTestFlags() Return the flags used in ray tests (native field: m_flags).
Vector3f	getWorldMax(Vector3f storeResult) Copy the maximum coordinate values for this space.
Vector3f	getWorldMin(Vector3f storeResult) Copy the minimum coordinate values for this space.
boolean	hasClosest(CollisionShape shape0, CollisionShape shape1) Test whether a nontrivial closest-points algorithm is registered for the specified collision shapes.
boolean	hasContact(CollisionShape shape0, CollisionShape shape1) Test whether a nontrivial contact-points algorithm is registered for the specified collision shapes.
protected void	initThread(long spaceId) Must be invoked on the designated physics thread.
boolean	isEmpty() Test whether this space is empty.
boolean	isForceUpdateAllAabbs() Test whether the bounding boxes of inactive collision objects should be recomputed during each update() (native field: m_forceUpdateAllAabbs).
boolean	isUsingDeterministicDispatch() Test whether the "deterministic overlapping pairs" option is enabled in the collision dispatcher (native field: m_deterministicOverlappingPairs).
long	jniEnvId() Return the address of the JNIEnv that this space uses for callbacks.
boolean	needsCollision(PhysicsCollisionObject pcoA, PhysicsCollisionObject pcoB) Callback to determine whether the specified objects should be allowed to collide.
int	pairTest(PhysicsCollisionObject pcoA, PhysicsCollisionObject pcoB, PhysicsCollisionListener listener) Perform a pair test.
java.util.List<PhysicsRayTestResult>	rayTest(Vector3f from, Vector3f to) Perform a ray-collision test (raycast) and sort the results by ascending hitFraction.
java.util.List<PhysicsRayTestResult>	rayTest(Vector3f from, Vector3f to, java.util.List<PhysicsRayTestResult> results) Perform a ray-collision test (raycast) and sort the results by ascending hitFraction.
java.util.List<PhysicsRayTestResult>	rayTestDp(Vec3d from, Vec3d to, java.util.List<PhysicsRayTestResult> results) Perform a ray-collision test (raycast) and sort the results by ascending hitFraction.
java.util.List<PhysicsRayTestResult>	rayTestRaw(Vector3f from, Vector3f to) Perform a ray-collision test (raycast) and return the results in arbitrary order.
java.util.List<PhysicsRayTestResult>	rayTestRaw(Vector3f from, Vector3f to, java.util.List<PhysicsRayTestResult> results) Perform a ray-collision test (raycast) and return the results in arbitrary order.
void	remove(java.lang.Object object) Remove the specified object from this space.
void	removeCollisionObject(PhysicsCollisionObject pco) Remove the specified collision object from this space.
void	setForceUpdateAllAabbs(boolean desiredSetting) Alter whether the bounding boxes of inactive collision objects should be recomputed during each update() (native field: m_forceUpdateAllAabbs).
void	setRayTestFlags(int flags) Alter the flags used in ray tests (native field: m_flags).
java.util.List<PhysicsSweepTestResult>	sweepTest(ConvexShape shape, Transform start, Transform end, java.util.List<PhysicsSweepTestResult> results, float allowedCcdPenetration) Perform a sweep-collision test and store the results in an existing list, in arbitrary order.
void	useDeterministicDispatch(boolean desiredSetting) Enable or disable the "deterministic overlapping pairs" option in the collision dispatcher (native field: m_deterministicOverlappingPairs).

Methods inherited from class com.jme3.bullet.NativePhysicsObject

compareTo, countTrackers, dumpTrackers, equals, freeUnusedObjects, hasAssignedNativeObject, hashCode, nativeId, reassignNativeId, setNativeId, setNativeIdNotTracked, toString, unassignNativeObject

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Field Detail

loggerC

public static final java.util.logging.Logger loggerC

message logger for this class

Constructor Detail

CollisionSpace

public CollisionSpace(Vector3f worldMin,
                      Vector3f worldMax,
                      PhysicsSpace.BroadphaseType broadphaseType)

Instantiate a CollisionSpace. Must be invoked on the designated physics thread.

Parameters:

worldMin - the desired minimum coordinate values (not null, unaffected, default=(-10k,-10k,-10k))

worldMax - the desired maximum coordinate values (not null, unaffected, default=(10k,10k,10k))

broadphaseType - which broadphase accelerator to use (not null)

CollisionSpace

protected CollisionSpace(Vector3f worldMin,
                         Vector3f worldMax,
                         PhysicsSpace.BroadphaseType broadphaseType,
                         int numSolvers)

Used internally.

Parameters:

worldMin - the desired minimum coordinate values (not null, unaffected, default=(-10k,-10k,-10k))

worldMax - the desired maximum coordinate values (not null, unaffected, default=(10k,10k,10k))

broadphaseType - which broadphase accelerator to use (not null)

numSolvers - the number of contact-and-constraint solvers in the thread-safe pool (≥1, ≤64, default=1)

CollisionSpace

protected CollisionSpace(Vector3f worldMin,
                         Vector3f worldMax,
                         PhysicsSpace.BroadphaseType broadphaseType,
                         int numSolvers,
                         CollisionConfiguration configuration)

Used internally.

Parameters:

worldMin - the desired minimum coordinate values (not null, unaffected, default=(-10k,-10k,-10k))

worldMax - the desired maximum coordinate values (not null, unaffected, default=(10k,10k,10k))

broadphaseType - which broadphase accelerator to use (not null)

numSolvers - the number of contact-and-constraint solvers in the thread-safe pool (≥1, ≤64, default=1)

configuration - the desired configuration (not null)

Method Detail

add

public void add(java.lang.Object object)

Add the specified object to this space.

Parameters:

object - the collision object to add (not null)

addCollisionObject

public void addCollisionObject(PhysicsCollisionObject pco)

Add the specified collision object to this space.

Parameters:

pco - the collision object to add (not null, modified)

contactTest

public int contactTest(PhysicsCollisionObject pco,
                       PhysicsCollisionListener listener)

Perform a contact test. This will not detect contacts with soft bodies.

Parameters:

pco - the collision object to test (not null, unaffected)

listener - the callback for reporting contacts (may be null)

Returns:

the number of times the listener was invoked, or would have been if it weren't null (≥0)

contains

public boolean contains(PhysicsCollisionObject pco)

Test whether the specified collision object is added to this space.

Parameters:

pco - the object to test (not null, unaffected)

Returns:

true if currently added, otherwise false

countCollisionObjects

public int countCollisionObjects()

Count the collision objects in this space.

Returns:

the count (≥0)

countSolvers

public int countSolvers()

Count the solvers.

Returns:

the count (≥1, ≤64)

destroy

public void destroy()

Remove all collision objects and physics joints.

getBroadphaseType

public PhysicsSpace.BroadphaseType getBroadphaseType()

Read the type of acceleration structure used for broadphase collision detection.

Returns:

an enum value (not null)

getCollisionSpace

public static CollisionSpace getCollisionSpace()

Access the CollisionSpace running on this thread. For parallel physics, this may be invoked from the OpenGL thread.

Returns:

the pre-existing CollisionSpace running on this thread

getConfiguration

public CollisionConfiguration getConfiguration()

Access the tuning parameters.

Returns:

the pre-existing instance (not null)

getGhostObjectList

public java.util.Collection<PhysicsGhostObject> getGhostObjectList()

Enumerate ghost objects that have been added to this space and not yet removed.

Returns:

a new unmodifiable collection of pre-existing instances (not null)

getPcoList

public java.util.Collection<PhysicsCollisionObject> getPcoList()

Enumerate collision objects that have been added to this space and not yet removed.

Returns:

a new modifiable collection of pre-existing instances (not null)

getRayTestFlags

public int getRayTestFlags()

Return the flags used in ray tests (native field: m_flags).

Returns:

which flags are used

See Also:

RayTestFlag

getWorldMax

public Vector3f getWorldMax(Vector3f storeResult)

Copy the maximum coordinate values for this space.

Parameters:

storeResult - storage for the result (modified if not null)

Returns:

the maximum coordinates (either storeResult or a new vector, not null)

getWorldMin

public Vector3f getWorldMin(Vector3f storeResult)

Copy the minimum coordinate values for this space.

Parameters:

storeResult - storage for the result (modified if not null)

Returns:

the minimum coordinates (either storeResult or a new vector, not null)

hasClosest

public boolean hasClosest(CollisionShape shape0,
                          CollisionShape shape1)

Test whether a nontrivial closest-points algorithm is registered for the specified collision shapes.

Parameters:

shape0 - the first shape to test (not null, unaffected)

shape1 - the 2nd shape to test (not null, unaffected)

Returns:

true if registered, otherwise false

hasContact

public boolean hasContact(CollisionShape shape0,
                          CollisionShape shape1)

Test whether a nontrivial contact-points algorithm is registered for the specified collision shapes.

Parameters:

shape0 - the first shape to test (not null, unaffected)

shape1 - the 2nd shape to test (not null, unaffected)

Returns:

true if registered, otherwise false

isEmpty

public boolean isEmpty()

Test whether this space is empty.

Returns:

true if empty, otherwise false

isForceUpdateAllAabbs

public boolean isForceUpdateAllAabbs()

Test whether the bounding boxes of inactive collision objects should be recomputed during each update() (native field: m_forceUpdateAllAabbs).

Returns:

true to recompute all AABBs, false to skip inactive objects

isUsingDeterministicDispatch

public boolean isUsingDeterministicDispatch()

Test whether the "deterministic overlapping pairs" option is enabled in the collision dispatcher (native field: m_deterministicOverlappingPairs).

Returns:

true if using sorted/deterministic order, otherwise false

jniEnvId

public long jniEnvId()

Return the address of the JNIEnv that this space uses for callbacks. For debugging and testing.

Returns:

the virtual address of the (native) object (not zero)

needsCollision

public boolean needsCollision(PhysicsCollisionObject pcoA,
                              PhysicsCollisionObject pcoB)

Callback to determine whether the specified objects should be allowed to collide. Invoked during broadphase, after axis-aligned bounding boxes, ignore lists, and collision groups have been checked. Override this method to implement dynamic collision filtering.

Parameters:

pcoA - the first collision object (not null)

pcoB - the 2nd collision object (not null)

Returns:

true to simulate collisions between pcoA and pcoB, false to ignore such collisions during this simulation step

pairTest

public int pairTest(PhysicsCollisionObject pcoA,
                    PhysicsCollisionObject pcoB,
                    PhysicsCollisionListener listener)

Perform a pair test. The collision objects need not be added to the space.

Parameters:

pcoA - the first collision object to test (not null, unaffected)

pcoB - the 2nd collision object to test (not null, unaffected)

listener - the callback for reporting contacts (may be null)

Returns:

the number of times the listener was invoked, or would have been if it weren't null (≥0)

rayTest

public java.util.List<PhysicsRayTestResult> rayTest(Vector3f from,
                                                    Vector3f to)

Perform a ray-collision test (raycast) and sort the results by ascending hitFraction.

Parameters:

from - the starting location (physics-space coordinates, not null, unaffected)

to - the ending location (in physics-space coordinates, not null, unaffected)

Returns:

a new list of sorted results (not null)

rayTest

public java.util.List<PhysicsRayTestResult> rayTest(Vector3f from,
                                                    Vector3f to,
                                                    java.util.List<PhysicsRayTestResult> results)

Perform a ray-collision test (raycast) and sort the results by ascending hitFraction.

Parameters:

from - the starting location (in physics-space coordinates, not null, unaffected)

to - the ending location (in physics-space coordinates, not null, unaffected)

results - the list to hold results (not null, modified)

Returns:

results (sorted)

rayTestDp

public java.util.List<PhysicsRayTestResult> rayTestDp(Vec3d from,
                                                      Vec3d to,
                                                      java.util.List<PhysicsRayTestResult> results)

Perform a ray-collision test (raycast) and sort the results by ascending hitFraction.

Parameters:

from - the starting location (in physics-space coordinates, not null, unaffected)

to - the ending location (in physics-space coordinates, not null, unaffected)

results - the list to hold results (not null, modified)

Returns:

results (sorted)

rayTestRaw

public java.util.List<PhysicsRayTestResult> rayTestRaw(Vector3f from,
                                                       Vector3f to)

Perform a ray-collision test (raycast) and return the results in arbitrary order.

Parameters:

from - the starting location (in physics-space coordinates, not null, unaffected)

to - the ending location (in physics-space coordinates, not null, unaffected)

Returns:

a new list of unsorted results (not null)

rayTestRaw

public java.util.List<PhysicsRayTestResult> rayTestRaw(Vector3f from,
                                                       Vector3f to,
                                                       java.util.List<PhysicsRayTestResult> results)

Perform a ray-collision test (raycast) and return the results in arbitrary order.

Parameters:

from - the starting location (in physics-space coordinates, not null, unaffected)

to - the ending location (in physics-space coordinates, not null, unaffected)

results - the list to hold results (not null, modified)

Returns:

results (unsorted)

remove

public void remove(java.lang.Object object)

Remove the specified object from this space.

Parameters:

object - the collision object to remove, or null

removeCollisionObject

public void removeCollisionObject(PhysicsCollisionObject pco)

Remove the specified collision object from this space.

Parameters:

pco - the collision object to remove (not null, modified)

setForceUpdateAllAabbs

public void setForceUpdateAllAabbs(boolean desiredSetting)

Alter whether the bounding boxes of inactive collision objects should be recomputed during each update() (native field: m_forceUpdateAllAabbs).

Parameters:

desiredSetting - true → recompute all AABBs, false → skip inactive objects (default=true)

setRayTestFlags

public void setRayTestFlags(int flags)

Alter the flags used in ray tests (native field: m_flags).

Parameters:

flags - the desired flags, ORed together (default=SubSimplexRaytest)

See Also:

RayTestFlag

sweepTest

public java.util.List<PhysicsSweepTestResult> sweepTest(ConvexShape shape,
                                                        Transform start,
                                                        Transform end,
                                                        java.util.List<PhysicsSweepTestResult> results,
                                                        float allowedCcdPenetration)

Perform a sweep-collision test and store the results in an existing list, in arbitrary order.

The starting and ending locations must be at least 0.4 physics-space units apart.

A sweep test will miss a collision if it starts inside an object and sweeps away from the object's center. Also, sweep tests do not detect soft bodies.

Parameters:

shape - the shape to sweep (not null, convex, unaffected)

start - the starting physics-space transform (not null, unaffected)

end - the ending physics-space transform (not null, unaffected)

results - the list to hold results (not null, modified)

allowedCcdPenetration - (in physics-space units)

Returns:

results

useDeterministicDispatch

public void useDeterministicDispatch(boolean desiredSetting)

Enable or disable the "deterministic overlapping pairs" option in the collision dispatcher (native field: m_deterministicOverlappingPairs).

Parameters:

desiredSetting - true → sorted/deterministic order, false → hashed/arbitrary order (default=false)

create

protected void create()

Must be invoked on the designated physics thread.

initThread

protected void initThread(long spaceId)

Must be invoked on the designated physics thread.

Parameters:

spaceId - the Bullet identifier for this space (non-zero)