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* Add presets for Bullet Physics SDK 3.21 (pull #1153)
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| name: bullet | ||
| on: | ||
| push: | ||
| paths: | ||
| - bullet/** | ||
| pull_request: | ||
| paths: | ||
| - bullet/** | ||
| workflow_dispatch: | ||
| env: | ||
| CI_DEPLOY_MODULE: ${{ github.workflow }} | ||
| CI_DEPLOY_PLATFORM: ${{ github.job }} | ||
| CI_DEPLOY_SETTINGS: ${{ secrets.CI_DEPLOY_SETTINGS }} | ||
| CI_DEPLOY_USERNAME: ${{ secrets.CI_DEPLOY_USERNAME }} | ||
| CI_DEPLOY_PASSWORD: ${{ secrets.CI_DEPLOY_PASSWORD }} | ||
| STAGING_REPOSITORY: ${{ secrets.STAGING_REPOSITORY }} | ||
| jobs: | ||
| android-arm: | ||
| runs-on: ubuntu-18.04 | ||
| container: centos:7 | ||
| steps: | ||
| - uses: bytedeco/javacpp-presets/.github/actions/deploy-centos@actions | ||
| android-arm64: | ||
| runs-on: ubuntu-18.04 | ||
| container: centos:7 | ||
| steps: | ||
| - uses: bytedeco/javacpp-presets/.github/actions/deploy-centos@actions | ||
| android-x86: | ||
| runs-on: ubuntu-18.04 | ||
| container: centos:7 | ||
| steps: | ||
| - uses: bytedeco/javacpp-presets/.github/actions/deploy-centos@actions | ||
| android-x86_64: | ||
| runs-on: ubuntu-18.04 | ||
| container: centos:7 | ||
| steps: | ||
| - uses: bytedeco/javacpp-presets/.github/actions/deploy-centos@actions | ||
| linux-x86: | ||
| runs-on: ubuntu-18.04 | ||
| container: centos:7 | ||
| steps: | ||
| - uses: bytedeco/javacpp-presets/.github/actions/deploy-centos@actions | ||
| linux-x86_64: | ||
| runs-on: ubuntu-18.04 | ||
| container: centos:7 | ||
| steps: | ||
| - uses: bytedeco/javacpp-presets/.github/actions/deploy-centos@actions | ||
| macosx-x86_64: | ||
| runs-on: macos-10.15 | ||
| steps: | ||
| - uses: bytedeco/javacpp-presets/.github/actions/deploy-macosx@actions | ||
| windows-x86: | ||
| runs-on: windows-2019 | ||
| steps: | ||
| - uses: bytedeco/javacpp-presets/.github/actions/deploy-windows@actions | ||
| windows-x86_64: | ||
| runs-on: windows-2019 | ||
| steps: | ||
| - uses: bytedeco/javacpp-presets/.github/actions/deploy-windows@actions | ||
| redeploy: | ||
| needs: [android-arm, android-arm64, android-x86, android-x86_64, linux-x86, linux-x86_64, macosx-x86_64, windows-x86, windows-x86_64] | ||
| runs-on: ubuntu-18.04 | ||
| steps: | ||
| - uses: bytedeco/javacpp-presets/.github/actions/redeploy@actions |
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| The files in this repository are licensed under the zlib license, except for the files under 'Extras' and examples/ThirdPartyLibs. | ||
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| Bullet Continuous Collision Detection and Physics Library | ||
| http://bulletphysics.org | ||
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| This software is provided 'as-is', without any express or implied warranty. | ||
| In no event will the authors be held liable for any damages arising from the use of this software. | ||
| Permission is granted to anyone to use this software for any purpose, | ||
| including commercial applications, and to alter it and redistribute it freely, | ||
| subject to the following restrictions: | ||
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| 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. | ||
| 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. | ||
| 3. This notice may not be removed or altered from any source distribution. |
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| JavaCPP Presets for Bullet Physics SDK | ||
| ====================================== | ||
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| [](https://gitter.im/bytedeco/javacpp) [](https://maven-badges.herokuapp.com/maven-central/org.bytedeco/bullet) [](http://bytedeco.org/builds/) | ||
| <sup>Build status for all platforms:</sup> [](https://github.com/bytedeco/javacpp-presets/actions?query=workflow%3Abullet) <sup>Commercial support:</sup> [](https://xscode.com/bytedeco/javacpp-presets) | ||
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| Introduction | ||
| ------------ | ||
| This directory contains the JavaCPP Presets module for: | ||
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| * Bullet Physics SDK 3.21 https://github.com/bulletphysics/bullet3 | ||
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| Please refer to the parent README.md file for more detailed information about the JavaCPP Presets. | ||
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| Documentation | ||
| ------------- | ||
| Java API documentation is available here: | ||
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| * http://bytedeco.org/javacpp-presets/bullet/apidocs/ | ||
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| ### Special Mappings | ||
| Mappings of `btAlignedObjectArray`'s instances for privitime types: | ||
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| | C++ | Java | | ||
| |--------------------------------------|-----------------| | ||
| | `btAlignedObjectArray<bool>` | `btBoolArray` | | ||
| | `btAlignedObjectArray<char>` | `btCharArray` | | ||
| | `btAlignedObjectArray<int>` | `btIntArray` | | ||
| | `btAlignedObjectArray<unsigned int>` | `btUIntArray` | | ||
| | `btAlignedObjectArray<btScalar>` | `btScalarArray` | | ||
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| Name of a Java class, corresponding to an instance of `btAlignedObjectArray` | ||
| for a composite type, is constructed by adding `Array` suffix to the name of | ||
| the composite type, e.g. `btAlignedObjectArray<btQuaternion>` maps to | ||
| `btQuaternionArray`. | ||
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| Sample Usage | ||
| ------------ | ||
| Here is a simple example of Bullet Physics SDK ported to Java and based on code found from: | ||
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| * https://github.com/bulletphysics/bullet3/tree/3.21/examples/ | ||
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| We can use [Maven 3](http://maven.apache.org/) to download and install automatically all the class files as well as the native binaries. To run this sample code, after creating the `pom.xml` and `SimpleBox.java` source files below, simply execute on the command line: | ||
| ```bash | ||
| $ mvn compile exec:java | ||
| ``` | ||
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| ### The `pom.xml` build file | ||
| ```xml | ||
| <project> | ||
| <modelVersion>4.0.0</modelVersion> | ||
| <groupId>org.bytedeco.bullet</groupId> | ||
| <artifactId>samples</artifactId> | ||
| <version>1.5.8-SNAPSHOT</version> | ||
| <properties> | ||
| <exec.mainClass>SimpleBox</exec.mainClass> | ||
| </properties> | ||
| <dependencies> | ||
| <dependency> | ||
| <groupId>org.bytedeco</groupId> | ||
| <artifactId>bullet-platform</artifactId> | ||
| <version>3.21-1.5.8-SNAPSHOT</version> | ||
| </dependency> | ||
| </dependencies> | ||
| <build> | ||
| <sourceDirectory>.</sourceDirectory> | ||
| </build> | ||
| </project> | ||
| ``` | ||
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| ### The `SimpleBox.java` source file | ||
| ```java | ||
| import org.bytedeco.javacpp.*; | ||
| import org.bytedeco.bullet.BulletCollision.*; | ||
| import org.bytedeco.bullet.BulletDynamics.*; | ||
| import org.bytedeco.bullet.LinearMath.*; | ||
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| public class SimpleBox { | ||
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| private static btDefaultCollisionConfiguration m_collisionConfiguration; | ||
| private static btCollisionDispatcher m_dispatcher; | ||
| private static btBroadphaseInterface m_broadphase; | ||
| private static btConstraintSolver m_solver; | ||
| private static btDiscreteDynamicsWorld m_dynamicsWorld; | ||
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| public static void main(String[] args) | ||
| { | ||
| createEmptyDynamicsWorld(); | ||
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| btBoxShape groundShape = new btBoxShape(new btVector3(50, 50, 50)); | ||
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| btTransform groundTransform = new btTransform(); | ||
| groundTransform.setIdentity(); | ||
| groundTransform.setOrigin(new btVector3(0, -50, 0)); | ||
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| createRigidBody(0, groundTransform, groundShape); | ||
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| btBoxShape colShape = new btBoxShape(new btVector3(1, 1, 1)); | ||
| float mass = 1.0f; | ||
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| colShape.calculateLocalInertia(mass, new btVector3(0, 0, 0)); | ||
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| btTransform startTransform = new btTransform(); | ||
| startTransform.setIdentity(); | ||
| startTransform.setOrigin(new btVector3(0, 3, 0)); | ||
| btRigidBody box = createRigidBody(mass, startTransform, colShape); | ||
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| for (int i = 0; i < 10; ++ i) | ||
| { | ||
| m_dynamicsWorld.stepSimulation(0.1f, 10, 0.01f); | ||
| btVector3 position = box.getWorldTransform().getOrigin(); | ||
| System.out.println(position.y()); | ||
| } | ||
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| System.out.println( | ||
| "\n" + | ||
| "This sample simulates falling of a rigid box, followed by \n" + | ||
| "an inelastic collision with a ground plane.\n" + | ||
| "The numbers show height of the box at each simulation step. \n" + | ||
| "It should start around 3.0 and end up around 1.0.\n"); | ||
| } | ||
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| private static void createEmptyDynamicsWorld() | ||
| { | ||
| m_collisionConfiguration = new btDefaultCollisionConfiguration(); | ||
| m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); | ||
| m_broadphase = new btDbvtBroadphase(); | ||
| m_solver = new btSequentialImpulseConstraintSolver(); | ||
| m_dynamicsWorld = new btDiscreteDynamicsWorld( | ||
| m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration); | ||
| m_dynamicsWorld.setGravity(new btVector3(0, -10, 0)); | ||
| } | ||
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| private static btRigidBody createRigidBody( | ||
| float mass, | ||
| btTransform startTransform, | ||
| btCollisionShape shape) | ||
| { | ||
| boolean isDynamic = (mass != 0.f); | ||
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| btVector3 localInertia = new btVector3(0, 0, 0); | ||
| if (isDynamic) | ||
| shape.calculateLocalInertia(mass, localInertia); | ||
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| btDefaultMotionState motionState = new btDefaultMotionState( | ||
| startTransform, btTransform.getIdentity()); | ||
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| btRigidBody.btRigidBodyConstructionInfo cInfo = | ||
| new btRigidBody.btRigidBodyConstructionInfo( | ||
| mass, motionState, shape, localInertia); | ||
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| btRigidBody body = new btRigidBody(cInfo); | ||
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| body.setUserIndex(-1); | ||
| m_dynamicsWorld.addRigidBody(body); | ||
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| return body; | ||
| } | ||
| } | ||
| ``` | ||
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| See the [samples](samples) subdirectory for more. |
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