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/*
* Copyright (c) 2009-2018 jMonkeyEngine
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*
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package com.jme3.bullet;
import com.jme3.app.Application;
import com.jme3.app.state.AppState;
import com.jme3.app.state.AppStateManager;
import com.jme3.bullet.PhysicsSpace.BroadphaseType;
import com.jme3.bullet.debug.BulletDebugAppState;
import com.jme3.math.Vector3f;
import com.jme3.renderer.RenderManager;
import java.util.concurrent.*;
import java.util.logging.Level;
import java.util.logging.Logger;
/**
* An app state to manage a single Bullet physics space.
*
* This class is shared between JBullet and Native Bullet.
*
* @author normenhansen
*/
public class BulletAppState implements AppState, PhysicsTickListener {
/**
* true if-and-only-if the physics simulation is running (started but not
* yet stopped)
*/
protected boolean initialized = false;
protected Application app;
/**
* manager that manages this state, set during attach
*/
protected AppStateManager stateManager;
/**
* executor service for physics tasks, or null if parallel simulation is not
* running
*/
protected ScheduledThreadPoolExecutor executor;
/**
* physics space managed by this state, or null if no simulation running
*/
protected PhysicsSpace pSpace;
/**
* threading mode to use (not null)
*/
protected ThreadingType threadingType = ThreadingType.SEQUENTIAL;
/**
* broadphase collision-detection algorithm for the physics space to use
* (not null)
*/
protected BroadphaseType broadphaseType = BroadphaseType.DBVT;
/**
* minimum coordinate values for the physics space when using AXIS_SWEEP
* broadphase algorithms (not null)
*/
protected Vector3f worldMin = new Vector3f(-10000f, -10000f, -10000f);
/**
* maximum coordinate values for the physics space when using AXIS_SWEEP
* broadphase algorithms (not null)
*/
protected Vector3f worldMax = new Vector3f(10000f, 10000f, 10000f);
/**
* simulation speed multiplier (default=1, paused=0)
*/
protected float speed = 1;
/**
* true if-and-only-if this state is enabled
*/
protected boolean active = true;
/**
* true if-and-only-if debug visualization is enabled
*/
protected boolean debugEnabled = false;
/**
* app state to manage the debug visualization, or null if none
*/
protected BulletDebugAppState debugAppState;
/**
* time interval between frames (in seconds) from the most recent update
*/
protected float tpf;
/**
* current physics task, or null if none
*/
protected Future physicsFuture;
/**
* Instantiate an app state to manage a new PhysicsSpace with DBVT collision
* detection.
*
* Use getStateManager().addState(bulletAppState) to start physics.
*/
public BulletAppState() {
}
/**
* Instantiate an app state to manage a new PhysicsSpace.
*
* Use getStateManager().addState(bulletAppState) to start physics.
*
* @param broadphaseType which broadphase collision-detection algorithm to
* use (not null)
*/
public BulletAppState(BroadphaseType broadphaseType) {
this(new Vector3f(-10000f, -10000f, -10000f), new Vector3f(10000f, 10000f, 10000f), broadphaseType);
}
/**
* Instantiate an app state to manage a new PhysicsSpace with AXIS_SWEEP_3
* collision detection.
*
* Use getStateManager().addState(bulletAppState) to start physics.
*
* @param worldMin the desired minimum coordinate values (not null,
* unaffected, default=-10k,-10k,-10k)
* @param worldMax the desired maximum coordinate values (not null,
* unaffected, default=10k,10k,10k)
*/
public BulletAppState(Vector3f worldMin, Vector3f worldMax) {
this(worldMin, worldMax, BroadphaseType.AXIS_SWEEP_3);
}
/**
* Instantiate an app state to manage a new PhysicsSpace.
*
* Use getStateManager().addState(bulletAppState) to enable physics.
*
* @param worldMin the desired minimum coordinate values (not null,
* unaffected, default=-10k,-10k,-10k)
* @param worldMax the desired maximum coordinate values (not null,
* unaffected, default=10k,10k,10k)
* @param broadphaseType which broadphase collision-detection algorithm to
* use (not null)
*/
public BulletAppState(Vector3f worldMin, Vector3f worldMax, BroadphaseType broadphaseType) {
this.worldMin.set(worldMin);
this.worldMax.set(worldMax);
this.broadphaseType = broadphaseType;
}
/**
* Allocate the physics space and start physics for ThreadingType.PARALLEL.
*
* @return true if successful, otherwise false
*/
private boolean startPhysicsOnExecutor() {
if (executor != null) {
executor.shutdown();
}
executor = new ScheduledThreadPoolExecutor(1);
final BulletAppState app = this;
Callable call = new Callable() {
public Boolean call() throws Exception {
detachedPhysicsLastUpdate = System.currentTimeMillis();
pSpace = new PhysicsSpace(worldMin, worldMax, broadphaseType);
pSpace.addTickListener(app);
return true;
}
};
try {
return executor.submit(call).get();
} catch (InterruptedException ex) {
Logger.getLogger(BulletAppState.class.getName()).log(Level.SEVERE, null, ex);
return false;
} catch (ExecutionException ex) {
Logger.getLogger(BulletAppState.class.getName()).log(Level.SEVERE, null, ex);
return false;
}
}
private Callable parallelPhysicsUpdate = new Callable() {
public Boolean call() throws Exception {
pSpace.update(tpf * getSpeed());
return true;
}
};
long detachedPhysicsLastUpdate = 0;
private Callable detachedPhysicsUpdate = new Callable() {
public Boolean call() throws Exception {
pSpace.update(getPhysicsSpace().getAccuracy() * getSpeed());
pSpace.distributeEvents();
long update = System.currentTimeMillis() - detachedPhysicsLastUpdate;
detachedPhysicsLastUpdate = System.currentTimeMillis();
executor.schedule(detachedPhysicsUpdate, Math.round(getPhysicsSpace().getAccuracy() * 1000000.0f) - (update * 1000), TimeUnit.MICROSECONDS);
return true;
}
};
/**
* Access the PhysicsSpace managed by this state. Normally there is none
* until the state is attached.
*
* @return the pre-existing instance, or null if no simulation running
*/
public PhysicsSpace getPhysicsSpace() {
return pSpace;
}
/**
* Allocate a physics space and start physics.
*
* Physics starts automatically after the state is attached. To start it
* sooner, invoke this method.
*/
public void startPhysics() {
if (initialized) {
return;
}
switch (threadingType) {
case PARALLEL:
boolean success = startPhysicsOnExecutor();
assert success;
assert pSpace != null;
break;
case SEQUENTIAL:
pSpace = new PhysicsSpace(worldMin, worldMax, broadphaseType);
pSpace.addTickListener(this);
break;
default:
throw new IllegalStateException(threadingType.toString());
}
initialized = true;
}
/**
* Stop physics after this state is detached.
*/
public void stopPhysics() {
if(!initialized){
return;
}
if (executor != null) {
executor.shutdown();
executor = null;
}
pSpace.removeTickListener(this);
pSpace.destroy();
initialized = false;
}
/**
* Initialize this state prior to its 1st update. Should be invoked only by
* a subclass or by the AppStateManager.
*
* @param stateManager the manager for this state (not null)
* @param app the application which owns this state (not null)
*/
public void initialize(AppStateManager stateManager, Application app) {
this.app = app;
this.stateManager = stateManager;
startPhysics();
}
/**
* Test whether the physics simulation is running (started but not yet
* stopped).
*
* @return true if running, otherwise false
*/
public boolean isInitialized() {
return initialized;
}
/**
* Enable or disable this state.
*
* @param enabled true → enable, false → disable
*/
public void setEnabled(boolean enabled) {
this.active = enabled;
}
/**
* Test whether this state is enabled.
*
* @return true if enabled, otherwise false
*/
public boolean isEnabled() {
return active;
}
/**
* Alter whether debug visualization is enabled.
*
* @param debugEnabled true → enable, false → disable
*/
public void setDebugEnabled(boolean debugEnabled) {
this.debugEnabled = debugEnabled;
}
/**
* Test whether debug visualization is enabled.
*
* @return true if enabled, otherwise false
*/
public boolean isDebugEnabled() {
return debugEnabled;
}
/**
* Transition this state from detached to initializing. Should be invoked
* only by a subclass or by the AppStateManager.
*
* @param stateManager (not null)
*/
public void stateAttached(AppStateManager stateManager) {
if (!initialized) {
startPhysics();
}
if (threadingType == ThreadingType.PARALLEL) {
PhysicsSpace.setLocalThreadPhysicsSpace(pSpace);
}
if (debugEnabled) {
debugAppState = new BulletDebugAppState(pSpace);
stateManager.attach(debugAppState);
}
}
/**
* Transition this state from running to terminating. Should be invoked only
* by a subclass or by the AppStateManager.
*
* @param stateManager (not null)
*/
public void stateDetached(AppStateManager stateManager) {
}
/**
* Update this state prior to rendering. Should be invoked only by a
* subclass or by the AppStateManager. Invoked once per frame, provided the
* state is attached and enabled.
*
* @param tpf the time interval between frames (in seconds, ≥0)
*/
public void update(float tpf) {
if (debugEnabled && debugAppState == null && pSpace != null) {
debugAppState = new BulletDebugAppState(pSpace);
stateManager.attach(debugAppState);
} else if (!debugEnabled && debugAppState != null) {
stateManager.detach(debugAppState);
debugAppState = null;
}
if (!active) {
return;
}
pSpace.distributeEvents();
this.tpf = tpf;
}
/**
* Render this state. Should be invoked only by a subclass or by the
* AppStateManager. Invoked once per frame, provided the state is attached
* and enabled.
*
* @param rm the render manager (not null)
*/
public void render(RenderManager rm) {
if (!active) {
return;
}
if (threadingType == ThreadingType.PARALLEL) {
physicsFuture = executor.submit(parallelPhysicsUpdate);
} else if (threadingType == ThreadingType.SEQUENTIAL) {
pSpace.update(active ? tpf * speed : 0);
} else {
}
}
/**
* Update this state after all rendering commands are flushed. Should be
* invoked only by a subclass or by the AppStateManager. Invoked once per
* frame, provided the state is attached and enabled.
*/
public void postRender() {
if (physicsFuture != null) {
try {
physicsFuture.get();
physicsFuture = null;
} catch (InterruptedException ex) {
Logger.getLogger(BulletAppState.class.getName()).log(Level.SEVERE, null, ex);
} catch (ExecutionException ex) {
Logger.getLogger(BulletAppState.class.getName()).log(Level.SEVERE, null, ex);
}
}
}
/**
* Transition this state from terminating to detached. Should be invoked
* only by a subclass or by the AppStateManager. Invoked once for each time
* {@link #initialize(com.jme3.app.state.AppStateManager, com.jme3.app.Application)}
* is invoked.
*/
public void cleanup() {
if (debugAppState != null) {
stateManager.detach(debugAppState);
debugAppState = null;
}
stopPhysics();
}
/**
* Read which type of threading this app state uses.
*
* @return the threadingType (not null)
*/
public ThreadingType getThreadingType() {
return threadingType;
}
/**
* Alter which type of threading this app state uses. Not allowed after
* attaching the app state.
*
* @param threadingType the desired type (not null, default=SEQUENTIAL)
*/
public void setThreadingType(ThreadingType threadingType) {
this.threadingType = threadingType;
}
/**
* Alter the broadphase type the physics space will use. Not allowed after
* attaching the app state.
*
* @param broadphaseType an enum value (not null, default=DBVT)
*/
public void setBroadphaseType(BroadphaseType broadphaseType) {
this.broadphaseType = broadphaseType;
}
/**
* Alter the coordinate range. Not allowed after attaching the app state.
*
* @param worldMin the desired minimum coordinate values when using
* AXIS_SWEEP broadphase algorithms (not null, alias created,
* default=-10k,-10k,-10k)
*/
public void setWorldMin(Vector3f worldMin) {
this.worldMin = worldMin;
}
/**
* Alter the coordinate range. Not allowed after attaching the app state.
*
* @param worldMax the desired maximum coordinate values when using
* AXIS_SWEEP broadphase algorithms (not null, alias created,
* default=10k,10k,10k)
*/
public void setWorldMax(Vector3f worldMax) {
this.worldMax = worldMax;
}
/**
* Read the simulation speed.
*
* @return speed (≥0, default=1)
*/
public float getSpeed() {
return speed;
}
/**
* Alter the simulation speed.
*
* @param speed the desired speed (≥0, default=1)
*/
public void setSpeed(float speed) {
this.speed = speed;
}
/**
* Callback from Bullet, invoked just before the physics is stepped. A good
* time to clear/apply forces.
*
* @param space the space that is about to be stepped (not null)
* @param f the time per physics step (in seconds, ≥0)
*/
public void prePhysicsTick(PhysicsSpace space, float f) {
}
/**
* Callback from Bullet, invoked just after the physics is stepped. A good
* time to clear/apply forces.
*
* @param space the space that is about to be stepped (not null)
* @param f the time per physics step (in seconds, ≥0)
*/
public void physicsTick(PhysicsSpace space, float f) {
}
/**
* Enumerate threading modes.
*/
public enum ThreadingType {
/**
* Default mode: user update, physics update, and rendering happen
* sequentially. (single threaded)
*/
SEQUENTIAL,
/**
* Parallel threaded mode: physics update and rendering are executed in
* parallel, update order is maintained.
*/
PARALLEL,
}
}