Simplest JBullet HelloWorld

[DranoMax]

Hello everyone.  I hate to ask, but I am in desperate need of a JBullet Tutorial.  I've been reading through everything available online for two weeks now and have yet to figure out how to get this to work.  If there is anyone out there, a saint, even, please could you give an example of how to draw a cube to a JFrame that has all the physics capabilities.  I learn best by looking at code and if I can just have this, I'd be able to go from there. 

So please, if anyone can help, I'd greatly greatly appreciate it!

[lhkbob]

Visit http://jbullet.advel.cz/ and download and unzip the latest version, then open "src/com/bulletphysics/demos/basic/BasicDemo.java".  This is a very simple demo of code.  There are many other examples included in the demos package, although some are certainly more advanced.

[DranoMax]

Thank you for the reply, but I have used this one.  The problem is that it is much too abstracted across several classes to be useful.  Plus, I cannot make changes to the BasicDemo source because of how the program requests for an already compiled version of it.  I've done a lot of work with pov-ray, isn't there a way to contain all of the code in just one or two classes?

Games published by our own members! Check 'em out!

[lhkbob]

One or two ridiculously large classes.  Combining creating windows, 3D rendering and physics requires lots of classes to be useful.  It is considered good practice to separate concerns into different classes (like window management, rendering, and physics).  It might make it more difficult to learn right away but it is a skill you will have to learn at some point.

If the BasicDemo is too much for you, don't try to understand everything and just use its code for rendering and creating windows.  Or move to a simpler project until you're more comfortable working with large code bases.

[tom]

I agree with DranoMax. The example code sucks. In many ways.

I´ve got a stripped example at work. Can´t find a copy on the net, so if I remember I´ll post it on monday. It uses Java3D, but that should not matter much.

[tom]

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import com.bulletphysics.collision.broadphase.AxisSweep3; import com.bulletphysics.collision.broadphase.BroadphaseInterface; import com.bulletphysics.collision.dispatch.CollisionDispatcher; import com.bulletphysics.collision.dispatch.CollisionObject; import com.bulletphysics.collision.dispatch.DefaultCollisionConfiguration; import com.bulletphysics.collision.shapes.BoxShape; import com.bulletphysics.collision.shapes.CollisionShape; import com.bulletphysics.collision.shapes.StaticPlaneShape; import com.bulletphysics.dynamics.DiscreteDynamicsWorld; import com.bulletphysics.dynamics.DynamicsWorld; import com.bulletphysics.dynamics.RigidBody; import com.bulletphysics.dynamics.RigidBodyConstructionInfo; import com.bulletphysics.dynamics.constraintsolver.ConstraintSolver; import com.bulletphysics.dynamics.constraintsolver.SequentialImpulseConstraintSolver; import com.bulletphysics.linearmath.MotionState; import javax.media.j3d.Appearance; import javax.media.j3d.BranchGroup; import javax.media.j3d.Canvas3D; import javax.media.j3d.Material; import javax.media.j3d.PointLight; import javax.media.j3d.Transform3D; import javax.media.j3d.TransformGroup; import com.sun.j3d.utils.geometry.Box; import com.sun.j3d.utils.universe.SimpleUniverse; import javax.vecmath.Color3f; import javax.vecmath.Point3d; import javax.vecmath.Point3f; import javax.vecmath.Vector3d; import javax.vecmath.Vector3f; import java.awt.BorderLayout; import java.awt.Color; import java.awt.event.KeyAdapter; import java.awt.event.KeyEvent; import javax.swing.JFrame; /**  * Demonstrates JBullet with Java3D. Shows a box falling on plane. Scene can be  * reset by pressing the R key.  */ public class BouncingBox implements FrameListener {     // contains all the physics objects and performs the simulation    protected DynamicsWorld dynamicsWorld = null;     // TransformGroups to the bouncing box and the non moving ground    private TransformGroup boxTG;     private TransformGroup groundTG;     // size of bouncing box    private static final float BOX_DIM = 0.3f;     /**      * Starts the application      */     public static void main(String[] args) throws Exception {         new BouncingBox();     }     /**      * Shows a JFrame containing a 3d canvas showing a box bouncing on a plane.      */     public BouncingBox() {         Canvas3D canvas3D = initJava3DAndCreateScene();         initPhysics();         // reset the physics scene when R key is pressed        canvas3D.addKeyListener(new KeyAdapter() {             @Override             public void keyPressed(KeyEvent keyEvent) {                 if (keyEvent.getKeyCode() == KeyEvent.VK_R) {                     resetScene();                 }             }         });         // show a JFrame containing the Canvas3D        JFrame frame = new JFrame();         frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);         frame.add(BorderLayout.CENTER, canvas3D);         frame.setSize(640, 480);         frame.setLocationRelativeTo(null);         frame.setVisible(true);     }     /**      * Initialises Java3D and does the following:      * - positions the view      * - creates a box and ground      * - creates a point light where the view is located      * - creates a behavior that invokes the nextFrame method every frame      * - adds the objects to the universe      * @return the Java3D canvas that can be added to a frame      */     private Canvas3D initJava3DAndCreateScene() {         // create canvas and universe        Canvas3D canvas3D = new Canvas3D(SimpleUniverse.getPreferredConfiguration());         SimpleUniverse simpleUniverse = new SimpleUniverse(canvas3D);         simpleUniverse.getViewer().getView().setFieldOfView(Math.toRadians(90));         // position view        TransformGroup viewTG = simpleUniverse.getViewingPlatform()                 .getMultiTransformGroup().getTransformGroup(0);         Transform3D viewT3D = new Transform3D();         Point3d viewPos = new Point3d(-5, 4, 1);         Point3d viewTarget = new Point3d(0, 1, 0);         Vector3d up = new Vector3d(0, 1, 0);         viewT3D.lookAt(viewPos, viewTarget, up);         viewT3D.invert();         viewTG.setTransform(viewT3D);         // use appearance with default white material        Appearance app = new Appearance();         app.setMaterial(new Material());         // create a box with BOX_DIM as half dimensions located above ground        Transform3D boxT3D = new Transform3D();         boxT3D.rotX((float) Math.toRadians(60));         boxT3D.setTranslation(new Vector3f(0.75f, 3, 0));         boxTG = new TransformGroup(boxT3D);         boxTG.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);         boxTG.addChild(new Box(BOX_DIM, BOX_DIM, BOX_DIM, app));         // create a large flat box to represent the ground plane        groundTG = new TransformGroup();         groundTG.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);         groundTG.addChild(new Box(4, .0001f, 4, app));         // create white point light at view position        Color3f white = new Color3f(Color.WHITE);         Point3f attenuation = new Point3f(1, 0, 0);         Point3f lightPos = new Point3f(viewPos);         PointLight pointLight = new PointLight(white, lightPos, attenuation);         pointLight.setInfluencingBounds(SGUtils.INFINITE_BOUNDING_SPHERE);         // create behavior that calls nextFrame before each frame        FrameBehavior frameBehavior = new FrameBehavior(this);         // add it all to the universe        BranchGroup root = new BranchGroup();         root.addChild(pointLight);         root.addChild(boxTG);         root.addChild(groundTG);         root.addChild(frameBehavior);         simpleUniverse.addBranchGraph(root);         return canvas3D;     }     /**      * Creates dynamicsWorld and adds RigidBodies      */     private void initPhysics() {         dynamicsWorld = createDynamicsWorld();         dynamicsWorld.setGravity(new Vector3f(0f, -10f, 0f));         dynamicsWorld.addRigidBody(createBoxBody());         dynamicsWorld.addRigidBody(createGroundBody());     }     /**      * Creates a dynamics world      */     private DynamicsWorld createDynamicsWorld() {         // collision configuration contains default setup for memory, collision setup        DefaultCollisionConfiguration collisionConfiguration                 = new DefaultCollisionConfiguration();         // calculates exact collision given a list possible colliding pairs        CollisionDispatcher dispatcher = new CollisionDispatcher(collisionConfiguration);         // the maximum size of the collision world. Make sure objects stay        // within these boundaries. Don't make the world AABB size too large, it        // will harm simulation quality and performance        Vector3f worldAabbMin = new Vector3f(-1000, -1000, -1000);         Vector3f worldAabbMax = new Vector3f( 1000,  1000,  1000);         // maximum number of objects        final int maxProxies = 1024;         // Broadphase computes an conservative approximate list of colliding pairs        BroadphaseInterface broadphase = new AxisSweep3(                 worldAabbMin, worldAabbMax, maxProxies);         // constraint (joint) solver        ConstraintSolver solver = new SequentialImpulseConstraintSolver();         // provides discrete rigid body simulation        return new DiscreteDynamicsWorld(                 dispatcher, broadphase, solver, collisionConfiguration);     }     /**      * Creates a rigid body representing a box      */     private RigidBody createBoxBody() {         // must be same as Java3D box        CollisionShape colShape = new BoxShape(new Vector3f(BOX_DIM, BOX_DIM, BOX_DIM));         // any positive non zero value would do        float mass = 1f;         return createRigidBody(colShape, mass, boxTG);     }     /**      * Creates a RigidBody representing the ground.      */     private RigidBody createGroundBody() {         // collision object is a horisantal plane located at y = 0        Vector3f normal = new Vector3f(0, 1, 0);         CollisionShape colShape = new StaticPlaneShape(normal, 0);         // 0 mass means body is static        float mass = 0f;         return createRigidBody(colShape, mass, groundTG);     }     /**      * Creates a RigidBody from the specified CollisionShape and mass.      * A TGMotionState is used to bind the rigid body to the specified TransformGroup.      */     private RigidBody createRigidBody(CollisionShape shape, float mass, TransformGroup tg) {         // calculates moment of inertia, the rotational "mass"        Vector3f localInertia = new Vector3f(0, 0, 0);         shape.calculateLocalInertia(mass, localInertia);         MotionState boxMotionState = new TGMotionState(tg);         // create and return        RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(                 mass, boxMotionState, shape, localInertia);         return new RigidBody(rbInfo);     }     /**      * Resets the scene to its start state      */     public void resetScene() {         // iterate rigid bodies        for (int i = 0; i < dynamicsWorld.getNumCollisionObjects(); i++) {             CollisionObject colObj = dynamicsWorld.getCollisionObjectArray().get(i);             RigidBody body = RigidBody.upcast(colObj);             if (body != null) {                 if (body.getMotionState() instanceof TGMotionState) {                     // reset body to its start position                    ((TGMotionState) body.getMotionState()).reset(body);                 }                 // removed cached contact points                dynamicsWorld.getBroadphase().getOverlappingPairCache().cleanProxyFromPairs(                         colObj.getBroadphaseHandle(), dynamicsWorld.getDispatcher());                 // stop the body from moving and spinning                if (!body.isStaticObject()) {                     body.setLinearVelocity(new Vector3f(0f, 0f, 0f));                     body.setAngularVelocity(new Vector3f(0f, 0f, 0f));                 }             }         }     }     /**      * Updates the simulation.      * @param frameTimeSec the duration of the last frame in seconds      */     @Override     public void nextFrame(float frameTimeSec) {         // will increment simulation in 1/60 second steps and interpolate        // between the two last steps to get smooth animation        dynamicsWorld.stepSimulation(frameTimeSec);     } }

[tom]

I guess the code for TGMotionState can be useful aswell:

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import com.bulletphysics.dynamics.RigidBody; import com.bulletphysics.linearmath.MotionState; import com.bulletphysics.linearmath.Transform; import javax.media.j3d.Transform3D; import javax.media.j3d.TransformGroup; /**  * Custom MotionState that gets the world transform from a TransformGroup  */ public class TGMotionState implements MotionState {     private Transform3D startTransform = new Transform3D();     private TransformGroup tg;     /**      * The current TransformGroup transform will be used when reset.      * @param tg the TransformGroup that is wrapped      */     public TGMotionState(TransformGroup tg) {         this.tg = tg;         tg.getTransform(startTransform);     }     /**      * Gets a reference to the wrapped TransformGroup.      * @return the transformGroup      */     public TransformGroup getTransformGroup() {         return tg;     }     /**      * Gives bullet the world transform of tg.      */     @Override     public Transform getWorldTransform(Transform out) {         Transform3D t3d = SGUtils.getWorldTransform(tg);         t3d.get(out.origin);         t3d.get(out.basis);         return out;     }     /**      * Sets the world transform of tg from the transform provided by bullet.      */     @Override     public void setWorldTransform(Transform worldTrans) {         Transform3D t3d = new Transform3D();         t3d.setTranslation(worldTrans.origin);         t3d.setRotationScale(worldTrans.basis);         SGUtils.setWorldTransform(tg, t3d);     }     /**      * Resets the wrapped TransformGroup and the specified body to where it      * was when this TGMotionState was created.      */     public void reset(RigidBody body) {         tg.setTransform(startTransform);         body.setWorldTransform(getWorldTransform(new Transform()));         body.setInterpolationWorldTransform(getWorldTransform(new Transform()));         body.activate();     } }