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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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[![Gitter](https://badges.gitter.im/bytedeco/javacpp.svg)](https://gitter.im/bytedeco/javacpp) [![Maven Central](https://maven-badges.herokuapp.com/maven-central/org.bytedeco/bullet/badge.svg)](https://maven-badges.herokuapp.com/maven-central/org.bytedeco/bullet) [![Sonatype Nexus (Snapshots)](https://img.shields.io/nexus/s/https/oss.sonatype.org/org.bytedeco/bullet.svg)](http://bytedeco.org/builds/) | ||
<sup>Build status for all platforms:</sup> [![bullet](https://github.com/bytedeco/javacpp-presets/workflows/bullet/badge.svg)](https://github.com/bytedeco/javacpp-presets/actions?query=workflow%3Abullet) <sup>Commercial support:</sup> [![xscode](https://img.shields.io/badge/Available%20on-xs%3Acode-blue?style=?style=plastic&logo=appveyor&logo=data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAEAAAABACAMAAACdt4HsAAAAGXRFWHRTb2Z0d2FyZQBBZG9iZSBJbWFnZVJlYWR5ccllPAAAAAZQTFRF////////VXz1bAAAAAJ0Uk5T/wDltzBKAAAAlUlEQVR42uzXSwqAMAwE0Mn9L+3Ggtgkk35QwcnSJo9S+yGwM9DCooCbgn4YrJ4CIPUcQF7/XSBbx2TEz4sAZ2q1RAECBAiYBlCtvwN+KiYAlG7UDGj59MViT9hOwEqAhYCtAsUZvL6I6W8c2wcbd+LIWSCHSTeSAAECngN4xxIDSK9f4B9t377Wd7H5Nt7/Xz8eAgwAvesLRjYYPuUAAAAASUVORK5CYII=)](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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