/*******************************************************************************
* Copyright 2011 See AUTHORS file.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
******************************************************************************/
package com.badlogic.gdx.tests.bullet;
import com.badlogic.gdx.Gdx;
import com.badlogic.gdx.graphics.Color;
import com.badlogic.gdx.graphics.GL20;
import com.badlogic.gdx.graphics.Mesh;
import com.badlogic.gdx.graphics.Texture;
import com.badlogic.gdx.graphics.VertexAttribute;
import com.badlogic.gdx.graphics.VertexAttributes.Usage;
import com.badlogic.gdx.graphics.g3d.Material;
import com.badlogic.gdx.graphics.g3d.Model;
import com.badlogic.gdx.graphics.g3d.ModelInstance;
import com.badlogic.gdx.graphics.g3d.attributes.ColorAttribute;
import com.badlogic.gdx.graphics.g3d.attributes.FloatAttribute;
import com.badlogic.gdx.graphics.g3d.attributes.IntAttribute;
import com.badlogic.gdx.graphics.g3d.attributes.TextureAttribute;
import com.badlogic.gdx.graphics.g3d.model.MeshPart;
import com.badlogic.gdx.graphics.g3d.utils.ModelBuilder;
import com.badlogic.gdx.graphics.glutils.ShaderProgram;
import com.badlogic.gdx.math.Matrix4;
import com.badlogic.gdx.math.Vector3;
import com.badlogic.gdx.physics.bullet.collision.btAxisSweep3;
import com.badlogic.gdx.physics.bullet.collision.btCollisionDispatcher;
import com.badlogic.gdx.physics.bullet.collision.btDefaultCollisionConfiguration;
import com.badlogic.gdx.physics.bullet.dynamics.btSequentialImpulseConstraintSolver;
import com.badlogic.gdx.physics.bullet.softbody.btSoftBody;
import com.badlogic.gdx.physics.bullet.softbody.btSoftBodyHelpers;
import com.badlogic.gdx.physics.bullet.softbody.btSoftBodyRigidBodyCollisionConfiguration;
import com.badlogic.gdx.physics.bullet.softbody.btSoftBodyWorldInfo;
import com.badlogic.gdx.physics.bullet.softbody.btSoftRigidDynamicsWorld;
/** @author xoppa */
public class SoftBodyTest extends BaseBulletTest {
btSoftBodyWorldInfo worldInfo;
btSoftBody softBody;
Texture texture;
Mesh mesh;
Model model;
ModelInstance instance;
Matrix4 tmpM = new Matrix4();
@Override
public BulletWorld createWorld () {
btDefaultCollisionConfiguration collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
btCollisionDispatcher dispatcher = new btCollisionDispatcher(collisionConfiguration);
btAxisSweep3 broadphase = new btAxisSweep3(tmpV1.set(-1000, -1000, -1000), tmpV2.set(1000, 1000, 1000), 1024);
btSequentialImpulseConstraintSolver solver = new btSequentialImpulseConstraintSolver();
btSoftRigidDynamicsWorld dynamicsWorld = new btSoftRigidDynamicsWorld(dispatcher, broadphase, solver,
collisionConfiguration);
worldInfo = new btSoftBodyWorldInfo();
worldInfo.setBroadphase(broadphase);
worldInfo.setDispatcher(dispatcher);
worldInfo.getSparsesdf().Initialize();
return new BulletWorld(collisionConfiguration, dispatcher, broadphase, solver, dynamicsWorld);
}
@Override
public void create () {
super.create();
world.add("ground", 0f, 0f, 0f).setColor(0.25f + 0.5f * (float)Math.random(), 0.25f + 0.5f * (float)Math.random(),
0.25f + 0.5f * (float)Math.random(), 1f);
float x0 = -2f, y0 = 6f, z0 = -2f;
float x1 = 8f, y1 = 6f, z1 = 8f;
Vector3 patch00 = new Vector3(x0, y0, z0);
Vector3 patch10 = new Vector3(x1, y1, z0);
Vector3 patch01 = new Vector3(x0, y0, z1);
Vector3 patch11 = new Vector3(x1, y1, z1);
softBody = btSoftBodyHelpers.CreatePatch(worldInfo, patch00, patch10, patch01, patch11, 15, 15, 15, false);
softBody.takeOwnership();
softBody.setTotalMass(100f);
((btSoftRigidDynamicsWorld)(world.collisionWorld)).addSoftBody(softBody);
final int vertCount = softBody.getNodeCount();
final int faceCount = softBody.getFaceCount();
mesh = new Mesh(false, vertCount, faceCount * 3, new VertexAttribute(Usage.Position, 3, ShaderProgram.POSITION_ATTRIBUTE),
new VertexAttribute(Usage.Normal, 3, ShaderProgram.NORMAL_ATTRIBUTE), new VertexAttribute(Usage.TextureCoordinates, 2,
ShaderProgram.TEXCOORD_ATTRIBUTE + "0"));
final int vertSize = mesh.getVertexSize() / 4;
mesh.getVerticesBuffer().position(0);
mesh.getVerticesBuffer().limit(vertCount * vertSize);
mesh.getIndicesBuffer().position(0);
mesh.getIndicesBuffer().limit(faceCount * 3);
softBody.getVertices(mesh.getVerticesBuffer(), vertCount, mesh.getVertexSize(), 0);
softBody.getIndices(mesh.getIndicesBuffer(), faceCount);
final float[] verts = new float[vertCount * vertSize];
final int uvOffset = mesh.getVertexAttribute(Usage.TextureCoordinates).offset / 4;
final int normalOffset = mesh.getVertexAttribute(Usage.Normal).offset / 4;
mesh.getVertices(verts);
for (int i = 0; i < vertCount; i++) {
verts[i * vertSize + normalOffset] = 0f;
verts[i * vertSize + normalOffset + 1] = 1f;
verts[i * vertSize + normalOffset + 2] = 0f;
verts[i * vertSize + uvOffset] = (verts[i * vertSize] - x0) / (x1 - x0);
verts[i * vertSize + uvOffset + 1] = (verts[i * vertSize + 2] - z0) / (z1 - z0);
}
mesh.setVertices(verts);
texture = new Texture(Gdx.files.internal("data/badlogic.jpg"));
ModelBuilder builder = new ModelBuilder();
builder.begin();
builder.part(
new MeshPart("", mesh, 0, mesh.getNumIndices(), GL20.GL_TRIANGLES),
new Material(TextureAttribute.createDiffuse(texture), ColorAttribute.createSpecular(Color.WHITE), FloatAttribute
.createShininess(64f), IntAttribute.createCullFace(0)));
model = builder.end();
instance = new ModelInstance(model);
world.add(new BulletEntity(instance, null));
}
@Override
public void dispose () {
((btSoftRigidDynamicsWorld)(world.collisionWorld)).removeSoftBody(softBody);
softBody.dispose();
softBody = null;
super.dispose();
worldInfo.dispose();
worldInfo = null;
instance = null;
model.dispose();
model = null;
mesh = null;
texture.dispose();
texture = null;
}
@Override
protected void renderWorld () {
softBody.getVertices(mesh.getVerticesBuffer(), softBody.getNodeCount(), mesh.getVertexSize(), 0);
softBody.getWorldTransform(instance.transform);
super.renderWorld();
// modelBatch.begin(camera);
// world.render(modelBatch, lights);
// modelBatch.render(instance, lights);
// modelBatch.end();
}
@Override
public boolean tap (float x, float y, int count, int button) {
shoot(x, y, 20f);
return true;
}
}