com.jme3.bullet.collision.shapes

Class CompoundCollisionShape

java.lang.Object

com.jme3.bullet.NativePhysicsObject

com.jme3.bullet.collision.shapes.CollisionShape

com.jme3.bullet.collision.shapes.CompoundCollisionShape

All Implemented Interfaces:

java.lang.Comparable<NativePhysicsObject>

public class CompoundCollisionShape
extends CollisionShape

A collision shape formed by combining child shapes, based on Bullet's btCompoundShape.

Field Summary

Fields

Modifier and Type	Field and Description
static java.util.logging.Logger	logger2 message logger for this class

Fields inherited from class com.jme3.bullet.collision.shapes.CollisionShape

enableContactFilter, logger, margin, scale

Fields inherited from class com.jme3.bullet.NativePhysicsObject

loggerN

Constructor Summary

Constructors

Constructor and Description
CompoundCollisionShape() Instantiate an empty compound shape (with an initial capacity of 6, dynamic AABB, and no children).
CompoundCollisionShape(int initialCapacity) Instantiate an empty compound shape with the specified initial capacity (and dynamic AABB and no children).

Method Summary

Modifier and Type	Method and Description
void	addChildShape(CollisionShape childShape) Add a child shape without transforming its coordinates.
void	addChildShape(CollisionShape childShape, float offsetX, float offsetY, float offsetZ) Add a child shape with the specified local translation.
void	addChildShape(CollisionShape shape, Transform transform) Add a child shape with the specified local transform.
void	addChildShape(CollisionShape childShape, Vector3f offset) Add a child shape with the specified local translation.
void	addChildShape(CollisionShape childShape, Vector3f offset, Matrix3f rotation) Add a child shape with the specified local translation and orientation.
boolean	canScale(Vector3f scale) Test whether the specified scale factors can be applied to this shape.
boolean	canSplit() Test whether this shape can be split by an arbitrary plane.
boolean[][]	connectivityMatrix(CollisionSpace space) Generate a connectivity matrix for the children.
void	correctAxes(Transform paTransform) Apply the inverse of the specified Transform to each child shape.
int	countChildren() Count the child shapes.
int	countGroups(CollisionSpace space, int[] storeMap) Enumerate disconnected groups of connected children.
int	findIndex(CollisionShape childShape) Find the first child with the specified shape.
ChildCollisionShape[]	listChildren() Enumerate the child shapes.
float	maxRadius() Estimate how far the shape extends from its origin.
Transform	principalAxes(java.nio.FloatBuffer masses, Transform storeTransform, Vector3f storeInertia) Calculates the coordinate transform to be applied to a rigid body in order for this shape to be centered on its center of mass and its principal axes to coincide with its local axes.
protected void	recalculateAabb() Recalculate this shape's bounding box if necessary.
void	removeChildShape(CollisionShape childShape) Remove a child CollisionShape from this shape.
void	rotate(Matrix3f rotation) Apply the specified rotation (in the parent's coordinate system) to each child.
float	scaledVolume() Estimate the volume of this shape, including scale and margin.
void	setChildTransform(CollisionShape childShape, Transform transform) Alter the local transform of the specified child CollisionShape.
void	setScale(Vector3f scale) Alter the scale of this shape and its children.
CompoundCollisionShape[]	split(Triangle parentTriangle) Divide this shape into 2 compound shapes.
CollisionShape	toSplittableShape() Approximate this shape with a splittable shape.
void	translate(Vector3f amount) Apply the specified translation (in the parent's coordinate system) to each child.

Methods inherited from class com.jme3.bullet.collision.shapes.CollisionShape

aabbCenter, boundingBox, boundingBox, getDefaultMargin, getMargin, getScale, getScaleDp, getShapeType, getShapeType, isConcave, isContactFilterEnabled, isConvex, isInfinite, isNonMoving, isPolyhedral, nativeMargin, setContactFilterEnabled, setDefaultMargin, setMargin, setNativeId, setScale, setUserIndex, setUserIndex2, toString, updateScale, userIndex, userIndex2

Methods inherited from class com.jme3.bullet.NativePhysicsObject

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

Methods inherited from class java.lang.Object

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

Field Detail

logger2

public static final java.util.logging.Logger logger2

message logger for this class

Constructor Detail

CompoundCollisionShape

public CompoundCollisionShape()

Instantiate an empty compound shape (with an initial capacity of 6, dynamic AABB, and no children).

CompoundCollisionShape

public CompoundCollisionShape(int initialCapacity)

Instantiate an empty compound shape with the specified initial capacity (and dynamic AABB and no children).

Parameters:

initialCapacity - the number of children to allocate (>0, default=6)

Method Detail

addChildShape

public void addChildShape(CollisionShape childShape)

Add a child shape without transforming its coordinates.

Parameters:

childShape - the child shape to add (not null, not a compound shape, alias created)

addChildShape

public void addChildShape(CollisionShape childShape,
                          Vector3f offset)

Add a child shape with the specified local translation.

Parameters:

childShape - the child shape to add (not null, not a compound shape, alias created)

offset - the local coordinates of the child shape's origin (not null, unaffected)

addChildShape

public void addChildShape(CollisionShape childShape,
                          float offsetX,
                          float offsetY,
                          float offsetZ)

Add a child shape with the specified local translation.

Parameters:

childShape - the child shape to add (not null, not a compound shape, alias created)

offsetX - the local X coordinate of the child shape's origin

offsetY - the local Y coordinate of the child shape's origin

offsetZ - the local Z coordinate of the child shape's origin

addChildShape

public void addChildShape(CollisionShape childShape,
                          Vector3f offset,
                          Matrix3f rotation)

Add a child shape with the specified local translation and orientation.

Parameters:

childShape - the child shape to add (not null, not a compound shape, alias created)

offset - the local coordinates of the child shape's origin (not null, unaffected)

rotation - the local orientation of the child shape (not null, unaffected)

addChildShape

public void addChildShape(CollisionShape shape,
                          Transform transform)

Add a child shape with the specified local transform. The transform's scale is ignored.

Parameters:

shape - the child shape to add (not null, not a compound shape, alias created)

transform - the local transform of the child shape (not null, unaffected)

connectivityMatrix

public boolean[][] connectivityMatrix(CollisionSpace space)

Generate a connectivity matrix for the children.

Parameters:

space - the space to use for tests, or null to create a new space

Returns:

an N-by-N matrix where e(i,j) is true if and only if the ith child intersects with the jth child

correctAxes

public void correctAxes(Transform paTransform)

Apply the inverse of the specified Transform to each child shape.

Parameters:

paTransform - the Transform to un-apply, typically one obtained using principalAxes(java.nio.FloatBuffer, com.jme3.math.Transform, com.jme3.math.Vector3f) (not null, unaffected, scale=1)

countChildren

public int countChildren()

Count the child shapes.

Returns:

the count (≥0)

countGroups

public int countGroups(CollisionSpace space,
                       int[] storeMap)

Enumerate disconnected groups of connected children.

A graph-coloring algorithm is applied to the connectivity matrix. Each node in the graph represents a child, and each color represents a group of connected children.

Parameters:

space - the space to use for tests, or null to create a new space

storeMap - storage for the mapping from children to groups (not null, length = number of children, modified)

Returns:

the number of groups found (≥0, ≤number of children)

findIndex

public int findIndex(CollisionShape childShape)

Find the first child with the specified shape.

Parameters:

childShape - the shape to search for (unaffected)

Returns:

the index of the child if found, otherwise -1

listChildren

public ChildCollisionShape[] listChildren()

Enumerate the child shapes.

Returns:

a new array of pre-existing child shapes (not null)

principalAxes

public Transform principalAxes(java.nio.FloatBuffer masses,
                               Transform storeTransform,
                               Vector3f storeInertia)

Calculates the coordinate transform to be applied to a rigid body in order for this shape to be centered on its center of mass and its principal axes to coincide with its local axes. Apply the inverse of this transform to each child shape using correctAxes(com.jme3.math.Transform). The resulting moment of inertia is also calculated.

Parameters:

masses - the relative mass for each child shape (not null, direct, all elements >0)

storeTransform - storage for the transform (modified if not null)

storeInertia - storage for the moment of inertia (not null, modified)

Returns:

a coordinate transform to apply to the collision object (either storeTransform or a new instance, not null, scale=1)

removeChildShape

public void removeChildShape(CollisionShape childShape)

Remove a child CollisionShape from this shape.

Parameters:

childShape - the collision shape to remove (not null)

rotate

public void rotate(Matrix3f rotation)

Apply the specified rotation (in the parent's coordinate system) to each child.

Parameters:

rotation - the rotation to apply (not null, unaffected)

setChildTransform

public void setChildTransform(CollisionShape childShape,
                              Transform transform)

Alter the local transform of the specified child CollisionShape. The transform's scale is ignored. Assumes that no 2 children refer to the same shape!

Parameters:

childShape - the child's CollisionShape (not null, unaffected)

transform - the desired Transform (not null, unaffected)

split

public CompoundCollisionShape[] split(Triangle parentTriangle)

Divide this shape into 2 compound shapes. Each of this shape's children must be based on a splittable shape.

Parameters:

parentTriangle - a triangle that defines the splitting plane (in the parent's shape coordinates, not null, unaffected)

Returns:

a pair of shapes, not centered, the first element on the plane's minus side and the 2nd element on its plus side; either element may be null, indicating an empty shape

translate

public void translate(Vector3f amount)

Apply the specified translation (in the parent's coordinate system) to each child.

Parameters:

amount - the translation to apply (not null, unaffected)

canScale

public boolean canScale(Vector3f scale)

Test whether the specified scale factors can be applied to this shape.

Overrides:

canScale in class CollisionShape

Parameters:

scale - the desired scale factor for each local axis (may be null, unaffected)

Returns:

true if applicable, otherwise false

canSplit

public boolean canSplit()

Test whether this shape can be split by an arbitrary plane.

Overrides:

canSplit in class CollisionShape

Returns:

true if splittable, false otherwise

maxRadius

public float maxRadius()

Estimate how far the shape extends from its origin.

Overrides:

maxRadius in class CollisionShape

Returns:

a distance estimate (in physics-space units, ≥0)

recalculateAabb

protected void recalculateAabb()

Recalculate this shape's bounding box if necessary.

Overrides:

recalculateAabb in class CollisionShape

scaledVolume

public float scaledVolume()

Estimate the volume of this shape, including scale and margin.

Overrides:

scaledVolume in class CollisionShape

Returns:

the volume (in physics-space units cubed, ≥0)

setScale

public void setScale(Vector3f scale)

Alter the scale of this shape and its children. CAUTION: Not all shapes can be scaled arbitrarily.

Note that if shapes are shared (between collision objects and/or compound shapes) changes can have unintended consequences.

Overrides:

setScale in class CollisionShape

Parameters:

scale - the desired scale factor for each local axis (not null, no negative component, unaffected, default=(1,1,1))

toSplittableShape

public CollisionShape toSplittableShape()

Approximate this shape with a splittable shape.

Overrides:

toSplittableShape in class CollisionShape

Returns:

a splittable shape (either this shape or a new one)