openGL es2.0 创建物理世界_颜色立方体刚体_颜色平面刚体以及四元数转换

Dear 丶 2022-08-07 00:18 127阅读 0赞

一、初始化物理世界：

public void initWorld(){
    		CollisionConfiguration collisionConfiguration=new DefaultCollisionConfiguration();
    		CollisionDispatcher dispatcher=new CollisionDispatcher(collisionConfiguration);
    		Vector3f worldAabbMin=new Vector3f(-10000, -10000, -10000);
    		Vector3f worldAabbMax=new Vector3f(10000, 10000, 10000);
    		int maxProxies=1024;
    		AxisSweep3 overlappingPairCache=new AxisSweep3(worldAabbMin, worldAabbMax, maxProxies);
    		SequentialImpulseConstraintSolver solver=new SequentialImpulseConstraintSolver();
    		dynamicsWorld=new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, solver, collisionConfiguration);
    		dynamicsWorld.setGravity(new Vector3f(0, -2f, 0));
    		boxShape=new BoxShape(new Vector3f(CUBE_HALFSIZE, CUBE_HALFSIZE, CUBE_HALFSIZE));
    		plainShape=new StaticPlaneShape(new Vector3f(0, 1, 0), 0f);
    		dw_CubeColor=new DW_CubeColor(CUBE_HALFSIZE, 1, 0, 2, 0, boxShape, dynamicsWorld, ShaderManager.getOnlyColorShaderProgram());
    		dw_RectColor=new DW_RectColor(5, 0f, plainShape, dynamicsWorld, ShaderManager.getOnlyColorShaderProgram());		
    	}

二、创建刚体立方体代码：

package com.gzdxid.physicalworld;
    
    import javax.vecmath.Quat4f;
    import javax.vecmath.Vector3f;
    
    import android.opengl.GLES20;
    
    import com.bulletphysics.collision.shapes.CollisionShape;
    import com.bulletphysics.dynamics.DiscreteDynamicsWorld;
    import com.bulletphysics.dynamics.RigidBody;
    import com.bulletphysics.linearmath.DefaultMotionState;
    import com.bulletphysics.linearmath.Transform;
    import com.gzdxid.utils.DrawRectColor;
    import com.gzdxid.utils.MatrixState;
    import com.gzdxid.utils.QuatUtil;
    
    //Draw World Object
    public class DW_CubeColor {
    
    	private DrawRectColor drawRectColor;
    	private RigidBody rigidBody;
    	private float Offset;
    
    	public DW_CubeColor(float halfSize, float mass, float sx, float sy, float sz, CollisionShape collisionShape, DiscreteDynamicsWorld dynamicsWorlds, int mProgram) {
    		initRect(halfSize, mProgram);
    		initPropertity(mass, sx, sy, sz, collisionShape, dynamicsWorlds);
    	}
    
    	private void initRect(float halfSize, int mProgram) {
    		Offset = halfSize/2;
    		drawRectColor = new DrawRectColor(halfSize, halfSize, mProgram);
    	}
    
    	private void initPropertity(float mass, float sx, float sy, float sz, CollisionShape collisionShape, DiscreteDynamicsWorld dynamicsWorlds) {
    		// TODO Auto-generated method stub
    		boolean isDynamic = (mass != 0);
    		Vector3f localInertia = new Vector3f(0, 0, 0);
    		if (isDynamic) {
    			collisionShape.calculateLocalInertia(mass, localInertia);
    		}
    		Transform starTransform = new Transform();
    		starTransform.setIdentity();
    		starTransform.origin.set(new Vector3f(sx, sy, sz));
    		DefaultMotionState myMotionState = new DefaultMotionState(starTransform);
    		rigidBody = new RigidBody(mass, myMotionState, collisionShape, localInertia);
    		dynamicsWorlds.addRigidBody(rigidBody);
    		rigidBody.setRestitution(0.6f);
    		rigidBody.setFriction(0.8f);
    	}
    
    	public void drawSelf(float r, float g, float b, float a) {
    		MatrixState.pushMatrix();
    		MatrixState.rotate(-180, 1, 0, 0);
    		MatrixState.translate(0, 0, 0);
    		Transform transform = rigidBody.getMotionState().getWorldTransform(new Transform());
    		MatrixState.translate(transform.origin.x, transform.origin.y, transform.origin.z);
    		Quat4f rotateQuat4f = transform.getRotation(new Quat4f());
    		if (rotateQuat4f.x != 0 || rotateQuat4f.y != 0 || rotateQuat4f.z != 0) {
    			float[] fa = QuatUtil.fromQUATtoAXYZ(rotateQuat4f);
    			MatrixState.rotate(fa[0], fa[1], fa[2], fa[3]);
    		}
    		drawCube(r, g, b, a);
    		MatrixState.popMatrix();
    	}
    
    	private void drawCube(float r, float g, float b, float a) {
    		GLES20.glEnable(GLES20.GL_CULL_FACE);
    		GLES20.glEnable(GLES20.GL_DEPTH_TEST);
    		MatrixState.pushMatrix();// 保护现场
    		MatrixState.translate(0, Offset, 0);// 执行平移
    		MatrixState.rotate(-90, 1, 0, 0);// 执行旋转
    		drawRectColor.drawSelf(r, g, b, a);// 绘制上面
    		MatrixState.popMatrix();// 恢复现场
    		MatrixState.pushMatrix();// 保护现场
    		MatrixState.translate(0, -Offset, 0);// 执行平移
    		MatrixState.rotate(90, 1, 0, 0);// 执行旋转
    		drawRectColor.drawSelf(r, g, b, a);// 绘制下面
    		MatrixState.popMatrix();// 恢复现场
    		MatrixState.pushMatrix();// 保护现场
    		MatrixState.translate(-Offset, 0, 0);// 执行平移
    		MatrixState.rotate(-90, 0, 1, 0);// 执行旋转
    		drawRectColor.drawSelf(r, g, b, a);// 绘制左面
    		MatrixState.popMatrix();// 恢复现场
    		MatrixState.pushMatrix();// 保护现场
    		MatrixState.translate(Offset, 0, 0);// 执行平移
    		MatrixState.rotate(90, 0, 1, 0);// 执行旋转
    		drawRectColor.drawSelf(r, g, b, a);// 绘制右面
    		MatrixState.popMatrix();// 恢复现场
    		MatrixState.pushMatrix();// 保护现场
    		MatrixState.translate(0, 0, Offset);// 执行平移
    		drawRectColor.drawSelf(r, g, b, a);// 绘制前面
    		MatrixState.popMatrix();// 恢复现场
    		MatrixState.pushMatrix();// 保护现场
    		MatrixState.translate(0, 0, -Offset);// 执行平移
    		MatrixState.rotate(180, 0, 1, 0);// 执行旋转
    		drawRectColor.drawSelf(r, g, b, a);// 绘制后面
    		MatrixState.popMatrix();// 恢复现场
    		GLES20.glDisable(GLES20.GL_CULL_FACE);
    		GLES20.glDisable(GLES20.GL_DEPTH_TEST);
    	}
    
    }

三、创建刚体平面：

package com.gzdxid.physicalworld;
    
    import javax.vecmath.Vector3f;
    
    import com.bulletphysics.collision.shapes.CollisionShape;
    import com.bulletphysics.dynamics.DiscreteDynamicsWorld;
    import com.bulletphysics.dynamics.RigidBody;
    import com.bulletphysics.linearmath.DefaultMotionState;
    import com.bulletphysics.linearmath.Transform;
    import com.gzdxid.utils.DrawRectColor;
    
    public class DW_RectColor {
    
    	private DrawRectColor drawRectColor;
    	
    	public DW_RectColor(float size,float yOffset,CollisionShape collisionShape,
    			DiscreteDynamicsWorld dynamicsWorld,int mProgram) {
    		initRect(size,mProgram);
    		initPropertity( collisionShape, dynamicsWorld);
    	}
    	
    	private void initRect(float size, int mProgram) {
    		// TODO Auto-generated method stub
    		drawRectColor=new DrawRectColor(size/2, size/2, mProgram);
    	}
    	
    	private void initPropertity(CollisionShape collisionShape, DiscreteDynamicsWorld dynamicsWorld) {
    		// TODO Auto-generated method stub
    		Transform groundTransform=new Transform();
    		groundTransform.setIdentity();
    		groundTransform.origin.set(new Vector3f(0, -0.8f, 0));
    		Vector3f localInertia=new Vector3f(0, 0, 0);
    		DefaultMotionState motionState=new DefaultMotionState(groundTransform);
    		RigidBody groundBody=new RigidBody(0, motionState, collisionShape, localInertia);
    		groundBody.setRestitution(0.4f);
    		groundBody.setFriction(0.8f);
    		dynamicsWorld.addRigidBody(groundBody);
    	}
    
    	public void drawSelf(float r,float g,float b,float a){
    		drawRectColor.drawSelf(r, g, b, a);
    	}
    }

四、四元数转换：

package com.gzdxid.utils;
    
    import javax.vecmath.Quat4f;
    
    public class QuatUtil {
    
    	//将四元数转换为角度及转轴向量
    		public static float[] fromQUATtoAXYZ(Quat4f q4)
    		{	
    			double sitaHalf=Math.acos(q4.w);
    			float nx=(float) (q4.x/Math.sin(sitaHalf));
    			float ny=(float) (q4.y/Math.sin(sitaHalf));
    			float nz=(float) (q4.z/Math.sin(sitaHalf));
    			
    			return new float[]{(float) Math.toDegrees(sitaHalf*2),nx,ny,nz};
    		}
    }

五、调用的包：

jbullet.jar和 vecmath.jar。网上可以下载的到