I have a problem getting ray testing working in bullet physics.
The raytest only works for objects which have an identity transform. If there is any translation, then the ray test is calculated wrong. This is the code:
[code]
btTransform trans;
trans.setIdentity();
trans.setFromOpenGLMatrix(matrix.m);
btDefaultMotionState* motionState = new btDefaultMotionState(trans);
btRigidBody::btRigidBodyConstructionInfo rbInfo(
0, motionState, m_pVertexBuffer->GetBulletShape(), btVector3(0,0,0));
btRigidBody* body = new btRigidBody(rbInfo);
g_physics.GetWorld()->addRigidBody(body);
....
g_physics.GetWorld()->updateAabbs();
g_physics.GetWorld()->computeOverlappingPairs();
btVector3 btStart(x1, y1, z1);
btVector3 btEnd(x2, y2, z2);
btCollisionWorld::ClosestRayResultCallback ray(btStart, btEnd);
// Perform raycast
g_physics.GetWorld()->rayTest(btStart, btEnd, ray);
if (ray.hasHit())
{
btEnd = ray.m_hitPointWorld;
}
[/code]
Now, my game is using the z-axis as up, but that shouldn't be a problem as the ray is also entered as z up.
Related
Hello I'm trying to make a billiards game using libgdx. I'm using 3d models for the balls and an Orthographic Camera to view them. I am having trouble getting them to roll correctly after rolling on a different axis. Here is a clip of what they look like when they're rolling.
As you can see they appear to be rotating as if they were on their starting axis. Is there any way to rotate it so that it looks like it's actually rolling. I am also not very familiar with transformation matrices or quaternions so im not too sure where to go.
Edit: Updated for clarity
Here is the code I use to update the rotation
public boolean update() {
if (!visible) {
return false;
}
Vector2 vBall = ballBody.getLinearVelocity();
float vAngle = ballBody.getAngularVelocity();
isMoving = true;
float x = ballBody.getPosition().x * SCALE;
float y = ballBody.getPosition().y * SCALE;
Vector2 axisInPlane = new Vector2(y - center.y, x - center.x).rotateRad(Math.PI/2f);
Vector3 axis3D = new Vector3(axisInPlane.x,axisInPlane.y,0f);
ball3D.transform.rotate(axis, (float) Math.toDegrees(dist / RADIUS_PX));
ball3D.transform.setTranslation(mapX(x), mapY(y), 0);
Just to be sure, center is an arbitrary fixed point where there is no rotation and all rotations are derived from this distance/angle as the ball has no slippage.
So you can directly get the axis with
Vector2 axisInPlane = new Vector2(y - center.y, x - center.x).rotateRad(Math.PI/2f);
Vector3 axis3D = new Vector3(axisInPlane.x,axisInPlane.y,0f);
Also Math.toDegree takes radians as an argument, not a float, so dist/RADIUS_PX will be off, you have to supply as a fraction of 2PI (360 degs in radians). Also this should be the circumference of the ball not the radius. I don't know what class ball3D is but I would check that ball3D.transform.rotate does take degrees as an argument and if it does replace that line with
float rotateRadians =(float) Math.toDegrees((dist/CIRCUMFERENCE_PX)*Math.PI*2f);
ball3D.transform.rotate(axis, rotateRadians );
I am developing a 2D 8 pool game using LibGDX,I am a newbie so I don't know how to solve this , I used ShapeRenderer of type line to draw a line between the white ball and the mouse pointer if mouse is pressed,but for some reason it doesn't work.
In Render()
if(cueball.CheckBallMovement()) {//if cueball stopped moving
if(Gdx.input.isButtonPressed(Input.Buttons.LEFT)){
Vector3 vv=new Vector3(Gdx.input.getX(),Gdx.input.getY(),0);//translate mouse coordinates world coordinates
camera.unproject(vv);
sr.setProjectionMatrix(camera.combined);
sr.begin(ShapeType.Line);
sr.setColor(1, 0, 0, 1);
sr.line(cueball.Ball.getWorldCenter().x, cueball.Ball.getWorldCenter().y,
vv.x,vv.y);
sr.end();
System.out.println("ss");`
It prints out the "ss" but doesn't render the line.I don't know if this helps, but here are my camera ratios In create()
world = new World(new Vector2(0,0),true); // x= 0 and y =0 means no gravity
debugRenderer = new Box2DDebugRenderer();
camera =new OrthographicCamera(VirtualWidth/20,VirtualHeight/20);
Point 1, say it is (0, 0) and I have another point that should turn around at a distance of 10f. Then I'll adding degrees angle to make it rotate. I be wanting to know how to calculate that point that this turning around each other ..
I will use the raycasting, I need to rotate the ray (clockwise) to detect collisions
So you say you have point1 and point2, both separated by a distance of 10f where point2 will be rotating around point1, and you want to know if between this separation an object at some point is intersecting them, something like the following image:
There are tutorials to get the maths for rotate a point arount another one in internet, like this one, and since you can't specify an origin for a Vector2, a translated version of the code proposed in the previews link to java should be something similar to:
public Vector2 rotatePoint(Vector2 center, Vector2 point, float angle) {
angle = angle * MathUtils.degreesToRadians; // Convert to radians
float rotatedX = MathUtils.cos(angle) * (point.x - center.x)
- MathUtils.sin(angle) * (point.y - center.y) + center.x;
float rotatedY = MathUtils.sin(angle) * (point.x - center.x)
+ MathUtils.cos(angle) * (point.y - center.y) + center.y;
// rotated new position:
return new Vector2(rotatedX, rotatedY);
}
As for the rest of the code (the intersection between objects), I guess you are looking for the RayCastCallback interface:
// initial position
Vector2 point1 = new Vector(0, 0);
// Max lenght of view
Vector2 point2 = new Vector(0, 10);
// Position of collision if occur
final Vector2 collisionPoint = new Vector();
#Override
public void render(float delta) {
//...
point2 = rotatePoint(point1, point2, 10); // rotate 10º
// to detect if object at position point1 is seeing something
world.rayCast(new RayCastCallback(){
#Override
public float reportRayFixture(Fixture fixture, Vector2 point,
Vector2 normal, float fraction) {
// what do the object saw? -> fixture
// where do the object saw it? -> point
collisionPoint.set(point);
return 0; // <- return 0 to stop raycasting
}
}, point1, point2);
//... rotation and other stuffs...
}
The return parameter of reportRayFixture have this documentation:
Called for each fixture found in the query. You control how the ray cast proceeds by returning a float: return -1: ignore this fixture and continue return 0: terminate the ray cast return fraction: clip the ray to this point return 1: don't clip the ray and continue. The Vector2 instances passed to the callback will be reused for future calls so make a copy of them!
** Emphasis added.
Basically it says that you can check for all the intersections one by one, but if you care only for the first one, return 0 immediately. This is useful when you want to know if an object is being blocked by another one. In this case, I return 0 and copy the value of point to collisionPoint to let you do whatever you want to do with this value.
A very nice example can be found in this video.
Hope you find this useful.
You should consider using Intersector class to check if the line from your actor intersects with the body shape.
To calculate end of "sight" line use Vector2 that you will be rotating according to your actor rotation (which is actually answer for your question)
It should looks like:
Vector2 sightVector = new Vector2(10f, 0); //the 10f is actually your sight max distance
sightVector.rotate(actor.getRotation());
...
#Override
pblic void render(float delta) //it can be also act of the actor
{
sightVector.rotate(actor.getRotation());
Vector2 endOfLine = new Vector2(actor.getX() + sightVector.x, actor.getY() + sightVector.y); //here you are calculating the end of line
Polygon bodyShape = getBodyShape( theBody ); //you should create a method that will return your body shape
if( Intersector.intersectLinePolygon(new Vector2(actor.getX(), actor.getY()), endOfLine, bodyShape) )
{
//do something
}
...
}
Intersector has method to check intersection with circles etc also so your body Shape doesn't need to be polygon
I have information on paths I would like to draw. The information consists of a sequence of straight sections and curves. For straight sections, I have only the length. For curves, I have the radius, direction and angle. Basically, I have a turtle that can move straight or move in a circular arc from the current position (after which moving straight will be in a different direction).
I would like some way to draw these paths with the following conditions:
Minimal (preferably no) trigonometry.
Ability to center on a canvas and scale to fit any arbitrary size.
From what I can tell, GDI+ gives me number 2, Cairo gives me number 1, but neither one makes it particularly easy to get both. I'm open to suggestions of how to make GDI+ or Cairo (preferably pycairo) work, and I'm also open to any other library (preferably C# or Python).
I'm even open to abstract mathematical explanations of how this would be done that I can convert into code.
For 2D motion, the state is [x, y, a]. Where the angle a is relative to the positive x-axis. Assuming initial state of [0, 0, 0]. 2 routines are needed to update the state according to each type of motion. Each path yields a new state, so the coordinates can be used to configure the canvas accordingly. The routines should be something like:
//by the definition of the state
State followLine(State s, double d) {
State s = new State();
s.x = s0.x + d * cos(s0.a);
s.y = s0.y + d * sin(s0.a);
s.a = s0.a;
return s;
}
State followCircle(State s0, double radius, double arcAngle, boolean clockwise) {
State s1 = new State(s0);
//look at the end point on the arc
if(clockwise) {
s1.a = s0.a - arcAngle / 2;
} else {
s1.a = s0.a + arcAngle / 2;
}
//move to the end point of the arc
State s = followLine(s1, 2 * radius * sin(arcAngle/ 2));
//fix new angle
if(clockwise) {
s.a = s0.a - arcAngle;
} else {
s.a = s0.a + arcAngle;
}
return s;
}
I want to draw a 3D ball or sphere in HTML 5.0 canvas. I want to understand the Algorithm about how to draw a 3D sphere. Who can share this with me?
You will need to model a sphere, and have it be varying colors so that as it rotates you can see that it is not only a sphere, but being rendered.
Otherwise, a sphere in space, with not point of reference around it looks like a circle, if it is all one solid color.
To start with you will want to try drawing a circle with rectangles, as that is the main primitive you have.
Once you understand how to do that, or create a new primitive, such as a triangle, using the Path method, and create a circle, then you are ready to move it to 3D.
3D is just a trick, as you will take your model, probably generated by an equation, and then flatten it, as you determine which parts will be seen, and then display it.
But, you will want to change the color of the triangles based on how far they are from a source of light, as well as based on the angle of that part to the light source.
This is where you can start to do optimizations, as, if you do this pixel by pixel then you are raytracing. If you have larger blocks, and a point source of light, and the object is rotating but not moving around then you can recalculate how the color changes for each triangle, then it is just a matter of changing colors to simulate rotating.
The algorithm will depend on what simplifications you want to make, so as you gain experience come back and ask, showing what you have done so far.
Here is an example of doing it, and below I copied the 3D sphere part, but please look at the entire article.
function Sphere3D(radius) {
this.point = new Array();
this.color = "rgb(100,0,255)"
this.radius = (typeof(radius) == "undefined") ? 20.0 : radius;
this.radius = (typeof(radius) != "number") ? 20.0 : radius;
this.numberOfVertexes = 0;
// Loop from 0 to 360 degrees with a pitch of 10 degrees ...
for(alpha = 0; alpha <= 6.28; alpha += 0.17) {
p = this.point[this.numberOfVertexes] = new Point3D();
p.x = Math.cos(alpha) * this.radius;
p.y = 0;
p.z = Math.sin(alpha) * this.radius;
this.numberOfVertexes++;
}
// Loop from 0 to 90 degrees with a pitch of 10 degrees ...
// (direction = 1)
// Loop from 0 to 90 degrees with a pitch of 10 degrees ...
// (direction = -1)
for(var direction = 1; direction >= -1; direction -= 2) {
for(var beta = 0.17; beta < 1.445; beta += 0.17) {
var radius = Math.cos(beta) * this.radius;
var fixedY = Math.sin(beta) * this.radius * direction;
for(var alpha = 0; alpha < 6.28; alpha += 0.17) {
p = this.point[this.numberOfVertexes] = new Point3D();
p.x = Math.cos(alpha) * radius;
p.y = fixedY;
p.z = Math.sin(alpha) * radius;
this.numberOfVertexes++;
}
}
}
}
u can try with three.js library , which abstracts a lot of code from core webgl programming. Include three.js library in your html from three.js lib.
u can use canvas renderer for safari browser , webgl works for chrome
please find the JS FIDDLE FOR SPHERE
var camera, scene, material, mesh, geometry, renderer
function drawSphere() {
init();
animate();
}
function init() {
// camera
scene = new THREE.Scene()
camera = new THREE.PerspectiveCamera(50, window.innerWidth / innerHeight, 1, 1000);
camera.position.z = 300;
scene.add(camera);
// sphere object
var radius = 50,
segments = 10,
rings = 10;
geometry = new THREE.SphereGeometry(radius, segments, rings);
material = new THREE.MeshNormalMaterial({
color: 0x002288
});
mesh = new THREE.Mesh(geometry, material);
//scene
;
scene.add(mesh);
// renderer
renderer = new THREE.WebGLRenderer();
renderer.setSize(window.innerWidth, window.innerHeight);
document.body.appendChild(renderer.domElement);
}
function animate() {
requestAnimationFrame(animate);
render();
}
function render() {
mesh.rotation.x += .01;
mesh.rotation.y += .02;
renderer.render(scene, camera);
}
// fn callin
drawSphere();
Update: This code is quite old and limited. There are libraries for doing 3D spheres now: http://techslides.com/d3-globe-with-canvas-webgl-and-three-js/
Over ten years ago I wrote a Java applet to render a textured sphere by actually doing the math to work out where the surface of the sphere was in the scene (not using triangles).
I've rewritten it in JavaScript for canvas and I've got a demo rendering the earth as a sphere:
(source: haslers.info)
I get around 22 fps on my machine. Which is about as fast as the Java version it was based on renders at, if not a little faster!
Now it's a long time since I wrote the Java code - and it was quite obtuse - so I don't really remember exactly how it works, I've just ported it JavaScript. However this is from a slow version of the code and I'm not sure if the faster version was due to optimisations in the Java methods I used to manipulate pixels or from speedups in the math it does to work out which pixel to render from the texture. I was also corresponding at the time with someone who had a similar applet that was much faster than mine but again I don't know if any of the speed improvements they had would be possible in JavaScript as it may have relied on Java libraries. (I never saw their code so I don't know how they did it.)
So it may be possible to improve on the speed. But this works well as a proof of concept.
I'll have a go at converting my faster version some time to see if I can get any speed improvements into the JavaScript version.
Well, an image of a sphere will always have a circular shape on your screen, so the only thing that matters is the shading. This will be determined by where you place your light source.
As for algorithms, ray tracing is the simplest, but also the slowest by far — so you probably wouldn't want to use it to do anything very complicated in a <CANVAS> (especially given the lack of graphics acceleration available in that environment), but it might be fast enough if you just wanted to do a single sphere.