Update to "Rename the Constraint class into Joint and do not perform collision detection between two sleeping bodies"

DanielChappuis/reactphysics3d@d4c7eee1755c1604
b4bc52bf9afb872226fb99ed

Author: DDoS

src/main/java/org/spout/physics/body/Body.java

@@ -33,6 +33,7 @@ public class Body {
     protected final int mID;
     protected boolean mIsAlreadyInIsland;
     protected boolean mIsAllowedToSleep;
+    protected boolean mIsActive;
     protected boolean mIsSleeping;
     protected float mSleepTime;
 
@@ -45,6 +46,7 @@ public Body(int id) {
         mID = id;
         mIsAlreadyInIsland = false;
         mIsAllowedToSleep = true;
+        mIsActive = true;
         mIsSleeping = false;
         mSleepTime = 0;
     }
@@ -97,6 +99,24 @@ public void setIsAllowedToSleep(boolean isAllowedToSleep) {
         }
     }
 
+    /**
+     * Returns true if the body is active, false if not.
+     *
+     * @return Whether or not the body is active
+     */
+    public boolean isActive() {
+        return mIsActive;
+    }
+
+    /**
+     * Sets the activity for this body. True for active, false for inactive.
+     *
+     * @param mIsActive True if this body is active, false if not
+     */
+    public void setActive(boolean mIsActive) {
+        this.mIsActive = mIsActive;
+    }
+
     /**
      * Returns whether or not the body is sleeping.
      *

src/main/java/org/spout/physics/body/CollisionBody.java

@@ -39,7 +39,6 @@ public class CollisionBody extends Body {
     protected final Transform mTransform;
     protected final Transform mOldTransform;
     protected float mInterpolationFactor;
-    protected boolean mIsActive;
     protected boolean mIsMotionEnabled;
     protected boolean mIsCollisionEnabled;
     protected final AABB mAabb = new AABB();
@@ -60,7 +59,6 @@ public CollisionBody(Transform transform, CollisionShape collisionShape, int id)
         }
         mCollisionShape = collisionShape;
         mTransform = transform;
-        mIsActive = true;
         mHasMoved = false;
         mIsMotionEnabled = true;
         mIsCollisionEnabled = true;
@@ -106,24 +104,6 @@ public void setCollisionShape(CollisionShape mCollisionShape) {
         this.mCollisionShape = mCollisionShape;
     }
 
-    /**
-     * Returns true if the body is active, false if not.
-     *
-     * @return Whether or not the body is active
-     */
-    public boolean isActive() {
-        return mIsActive;
-    }
-
-    /**
-     * Sets the activity for this body. True for active, false for inactive.
-     *
-     * @param mIsActive True if this body is active, false if not
-     */
-    public void setActive(boolean mIsActive) {
-        this.mIsActive = mIsActive;
-    }
-
     /**
      * Returns an interpolated body from the old to the current transform, based on this body's interpolation factor.
      *

src/main/java/org/spout/physics/body/RigidBody.java

@@ -27,8 +27,8 @@
 package org.spout.physics.body;
 
 import org.spout.physics.collision.shape.CollisionShape;
-import org.spout.physics.constraint.Constraint;
-import org.spout.physics.constraint.Constraint.JointListElement;
+import org.spout.physics.constraint.Joint;
+import org.spout.physics.constraint.Joint.JointListElement;
 import org.spout.physics.engine.Material;
 import org.spout.physics.math.Matrix3x3;
 import org.spout.physics.math.Transform;
@@ -168,42 +168,6 @@ public void setAngularVelocity(Vector3 angularVelocity) {
         mAngularVelocity.set(angularVelocity);
     }
 
-    /**
-     * Gets the current external force on the body.
-     *
-     * @return The current external force
-     */
-    public Vector3 getExternalForce() {
-        return mExternalForce;
-    }
-
-    /**
-     * Sets the current external force on the body.
-     *
-     * @param force The external force to set
-     */
-    public void setExternalForce(Vector3 force) {
-        mExternalForce.set(force);
-    }
-
-    /**
-     * Gets the current external torque on the body.
-     *
-     * @return The current external torque
-     */
-    public Vector3 getExternalTorque() {
-        return mExternalTorque;
-    }
-
-    /**
-     * Sets the current external torque on the body.
-     *
-     * @param torque The external torque to set
-     */
-    public void setExternalTorque(Vector3 torque) {
-        mExternalTorque.set(torque);
-    }
-
     /**
      * Gets the local inertia tensor of the body (in body coordinates).
      *
@@ -325,7 +289,7 @@ public void setJointsList(JointListElement jointsList) {
      *
      * @param joint The joint to remove
      */
-    public void removeJointFromJointsList(Constraint joint) {
+    public void removeJointFromJointsList(Joint joint) {
         if (joint == null) {
             throw new IllegalArgumentException("Joint cannot be null");
         }
@@ -358,4 +322,79 @@ public void setIsSleeping(boolean isSleeping) {
         }
         super.setIsSleeping(isSleeping);
     }
+
+    /**
+     * Applies an external force to the body at its gravity center. If the body is sleeping, calling this method will wake it up. Note that the force will be added to the sum of the applied forces and
+     * that this sum will be reset to zero at the end of each call of the {@link org.spout.physics.engine.DynamicsWorld#update()} method.
+     *
+     * @param force The force to apply
+     */
+    public void applyForceToCenter(Vector3 force) {
+        if (!mIsMotionEnabled) {
+            return;
+        }
+        if (mIsSleeping) {
+            setIsSleeping(false);
+        }
+        mExternalForce.add(force);
+    }
+
+    /**
+     * Applies an external force to the body at a given point (in world-coordinates). If the point is not at the center of gravity of the body, it will also generate some torque and therefore, change
+     * the angular velocity of the body. If the body is sleeping, calling this method will wake it up. Note that the force will be added to the sum of the applied forces and that this sum will be
+     * reset to zero at the end of each call of the {@link org.spout.physics.engine.DynamicsWorld#update()} method.
+     *
+     * @param force The force to apply
+     * @param point The point to apply the force to
+     */
+    public void applyForce(Vector3 force, Vector3 point) {
+        if (!mIsMotionEnabled) {
+            return;
+        }
+        if (mIsSleeping) {
+            setIsSleeping(false);
+        }
+        mExternalForce.add(force);
+        mExternalTorque.add(Vector3.subtract(point, mTransform.getPosition()).cross(force));
+    }
+
+    /**
+     * Applies an external torque to the body. If the body is sleeping, calling this method will wake it up. Note that the force will be added to the sum of the applied torques and that this sum will
+     * be reset to zero at the end of each call of the {@link org.spout.physics.engine.DynamicsWorld#update()} method.
+     *
+     * @param torque The torque to apply
+     */
+    public void applyTorque(Vector3 torque) {
+
+        // If it is a static body, do not apply any force
+        if (!mIsMotionEnabled) {
+            return;
+        }
+
+        // Awake the body if it was sleeping
+        if (mIsSleeping) {
+            setIsSleeping(false);
+        }
+
+        // Add the torque
+        mExternalTorque.add(torque);
+    }
+
+    /**
+     * Returns the total external force.
+     *
+     * @return The external force
+     */
+    public Vector3 getExternalForce() {
+        return mExternalForce;
+    }
+
+    /**
+     * Returns the total external torque.
+     *
+     * @return The external torque
+     */
+    public Vector3 getExternalTorque() {
+        return mExternalTorque;
+    }
 }

src/main/java/org/spout/physics/collision/CollisionDetection.java

@@ -184,6 +184,9 @@ private void computeNarrowPhase() {
             if (mNoCollisionPairs.contains(pair.getBodiesIndexPair())) {
                 continue;
             }
+            if (body1.isSleeping() && body2.isSleeping()) {
+                continue;
+            }
             final NarrowPhaseAlgorithm narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(body1.getCollisionShape(), body2.getCollisionShape());
             narrowPhaseAlgorithm.setCurrentOverlappingPair(pair);
             if (narrowPhaseAlgorithm.testCollision(body1.getCollisionShape(), body1.getTransform(), body2.getCollisionShape(), body2.getTransform(), contactInfo)) {

src/main/java/org/spout/physics/constraint/BallAndSocketJoint.java

@@ -37,7 +37,7 @@
 /**
  * This class represents a ball-and-socket joint that allows arbitrary rotation between two bodies.
  */
-public class BallAndSocketJoint extends Constraint {
+public class BallAndSocketJoint extends Joint {
     private static final float BETA = 0.2f;
     private final Vector3 mLocalAnchorPointBody1;
     private final Vector3 mLocalAnchorPointBody2;
@@ -216,7 +216,7 @@ public void solvePositionConstraint(ConstraintSolverData constraintSolverData) {
     /**
      * This structure is used to gather the information needed to create a ball-and-socket joint. This structure will be used to create the actual ball-and-socket joint.
      */
-    public static class BallAndSocketJointInfo extends ConstraintInfo {
+    public static class BallAndSocketJointInfo extends JointInfo {
         private final Vector3 anchorPointWorldSpace = new Vector3();
 
         /**
@@ -227,7 +227,7 @@ public static class BallAndSocketJointInfo extends ConstraintInfo {
          * @param initAnchorPointWorldSpace The anchor point in world space
          */
         public BallAndSocketJointInfo(RigidBody rigidBody1, RigidBody rigidBody2, Vector3 initAnchorPointWorldSpace) {
-            super(rigidBody1, rigidBody2, ConstraintType.BALLSOCKETJOINT);
+            super(rigidBody1, rigidBody2, JointType.BALLSOCKETJOINT);
             anchorPointWorldSpace.set(initAnchorPointWorldSpace);
         }
 

src/main/java/org/spout/physics/constraint/ConstraintSolver.java

@@ -132,7 +132,7 @@ public void initializeForIsland(float dt, Island island) {
         mTimeStep = dt;
         mConstraintSolverData.setTimeStep(mTimeStep);
         mConstraintSolverData.setWarmStartingActive(mIsWarmStartingActive);
-        final Constraint[] joints = island.getJoints();
+        final Joint[] joints = island.getJoints();
         for (int i = 0; i < island.getNbJoints(); i++) {
             joints[i].initBeforeSolve(mConstraintSolverData);
             if (mIsWarmStartingActive) {
@@ -153,7 +153,7 @@ public void solveVelocityConstraints(Island island) {
         if (island.getNbJoints() <= 0) {
             throw new IllegalArgumentException("The number of joints in the island must be greater than zero");
         }
-        final Constraint[] joints = island.getJoints();
+        final Joint[] joints = island.getJoints();
         for (int i = 0; i < island.getNbJoints(); i++) {
             joints[i].solveVelocityConstraint(mConstraintSolverData);
         }
@@ -172,7 +172,7 @@ public void solvePositionConstraints(Island island) {
         //if (island.getNbJoints() <= 0) {
         //    throw new IllegalArgumentException("The number of joints in the island must be greater than zero");
         //}
-        final Constraint[] joints = island.getJoints();
+        final Joint[] joints = island.getJoints();
         for (int i = 0; i < island.getNbJoints(); i++) {
             joints[i].solvePositionConstraint(mConstraintSolverData);
         }