import com.bulletphysics.collision.broadphase.AxisSweep3; //导入依赖的package包/类
public static void initialize() {
	destroy();
	logger.info("Physics System initilize");

	worldBounds = fromString(EngineCore.getProperty("physics.world_bounds", "-10000,-10000,-10000,10000,10000,10000"));
	maxWorldObjectCount = EngineCore.getProperty("physics.max_world_object_count", 4096);

	collisionConfiguration = new DefaultCollisionConfiguration();
	dispatcher = new CollisionDispatcher(collisionConfiguration);
	constraintSolver = new SequentialImpulseConstraintSolver();
	
	//BroadphaseInterface broadphase = new DbvtBroadphase();
	BroadphaseInterface broadphase = new AxisSweep3(worldBounds.getMin().toVecmathVec3f(), worldBounds.getMax().toVecmathVec3f(), maxWorldObjectCount);

	seed = ((SequentialImpulseConstraintSolver)constraintSolver).getRandSeed();
	world = new DiscreteDynamicsWorld(dispatcher, broadphase, constraintSolver, collisionConfiguration);
	
	world.getBroadphase().getOverlappingPairCache().setInternalGhostPairCallback(new GhostPairCallback());
	
	world.setGravity(new javax.vecmath.Vector3f(0,-9.82f,0.0f));
}
 

import com.bulletphysics.collision.broadphase.AxisSweep3; //导入依赖的package包/类
protected void initializePhysics(){
    // JBullet Stuff
    DefaultCollisionConfiguration collisionConfiguration = new DefaultCollisionConfiguration();
    CollisionDispatcher dispatcher = new CollisionDispatcher(
            collisionConfiguration);
    float bound = 800;
    Vector3f worldAabbMin = new Vector3f(-bound, -bound, -bound);
    Vector3f worldAabbMax = new Vector3f(bound, bound, bound);
    int maxProxies = 5000;
    AxisSweep3 overlappingPairCache =
            new AxisSweep3(worldAabbMin, worldAabbMax, maxProxies);
    BroadphaseInterface broadphase = new DbvtBroadphase();
    SequentialImpulseConstraintSolver solver = new SequentialImpulseConstraintSolver();
    world = new DiscreteDynamicsWorld(
            dispatcher,overlappingPairCache, solver,
            collisionConfiguration);
    world.setGravity(new Vector3f(0, -9.8f, 0));
}
 

import com.bulletphysics.collision.broadphase.AxisSweep3; //导入依赖的package包/类
/**
 * Initializes the JBullet physics engine. {@link #onResume()}, {@link #onPause()} and
 * {@link #onDestroy()} have to be called from the corresponding life cycle methods. By default
 * this is all handled by {@link de.fabmax.lightgl.GfxEngine} if physics simulation was enabled
 * on engine creation.
 *
 * @see de.fabmax.lightgl.GfxEngine#GfxEngine(android.content.Context, boolean)
 * @see de.fabmax.lightgl.GfxEngine#getPhysicsEngine()
 */
public PhysicsEngine() {
    // init collision stuff
    CollisionConfiguration collisionConfiguration = new DefaultCollisionConfiguration();
    CollisionDispatcher dispatcher = new CollisionDispatcher(collisionConfiguration);

    // maximum size of the collision world.
    Vector3f worldAabbMin = new Vector3f(-100, -100, -100);
    Vector3f worldAabbMax = new Vector3f(100, 100, 100);
    BroadphaseInterface broadphase = new AxisSweep3(worldAabbMin, worldAabbMax);

    SequentialImpulseConstraintSolver solver = new SequentialImpulseConstraintSolver();

    mWorld = new DiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
    mWorld.setGravity(new Vector3f(0, -G, 0));
}
 

import com.bulletphysics.collision.broadphase.AxisSweep3; //导入依赖的package包/类
public void initPhysics() {
	// Setup the basic world
	DefaultCollisionConfiguration collision_config = new DefaultCollisionConfiguration();

	CollisionDispatcher dispatcher = new CollisionDispatcher(collision_config);

	Vector3f worldAabbMin = new Vector3f(-10000, -10000, -10000);
	Vector3f worldAabbMax = new Vector3f(10000, 10000, 10000);
	BroadphaseInterface overlappingPairCache = new AxisSweep3(worldAabbMin, worldAabbMax);
	//BroadphaseInterface overlappingPairCache = new SimpleBroadphase();

	//#ifdef USE_ODE_QUICKSTEP
	//btConstraintSolver* constraintSolver = new OdeConstraintSolver();
	//#else
	ConstraintSolver constraintSolver = new SequentialImpulseConstraintSolver();
	//#endif

	dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, constraintSolver, collision_config);

	dynamicsWorld.setGravity(new Vector3f(0f, -30f, 0f));

	dynamicsWorld.setDebugDrawer(new GLDebugDrawer(gl));

	// Setup a big ground box
	{
		CollisionShape groundShape = new BoxShape(new Vector3f(200f, 10f, 200f));
		Transform groundTransform = new Transform();
		groundTransform.setIdentity();
		groundTransform.origin.set(0f, -15f, 0f);
		localCreateRigidBody(0f, groundTransform, groundShape);
	}

	// Spawn one ragdoll
	spawnRagdoll();

	clientResetScene();
}
 

import com.bulletphysics.collision.broadphase.AxisSweep3; //导入依赖的package包/类
public void initPhysics() {
	// Setup the basic world
	time = 0.0f;
	cyclePeriod = 2000.0f; // in milliseconds
	muscleStrength = 0.05f;

	setCameraDistance(5.0f);
	
	DefaultCollisionConfiguration collision_config = new DefaultCollisionConfiguration();

	CollisionDispatcher dispatcher = new CollisionDispatcher(collision_config);

	Vector3f worldAabbMin = new Vector3f(-10000,-10000,-10000);
	Vector3f worldAabbMax = new Vector3f(10000,10000,10000);
	BroadphaseInterface overlappingPairCache = new AxisSweep3(worldAabbMin, worldAabbMax);
	//BroadphaseInterface overlappingPairCache = new SimpleBroadphase();

	ConstraintSolver constraintSolver = new SequentialImpulseConstraintSolver();

	dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, constraintSolver, collision_config);

	// Setup a big ground box
	{
		CollisionShape groundShape = new BoxShape(new Vector3f(200f, 10f, 200f));
		// TODO
		//m_collisionShapes.push_back(groundShape);
		Transform groundTransform = new Transform();
		groundTransform.setIdentity();
		groundTransform.origin.set(0f, -10f, 0f);
		localCreateRigidBody(0f, groundTransform, groundShape);
	}

	// Spawn one TestRig
	Vector3f startOffset = new Vector3f(1.0f, 0.5f, 0.0f);
	spawnTestRig(startOffset, false);
	startOffset.set(-2.0f, 0.5f, 0.0f);
	spawnTestRig(startOffset, true);

	clientResetScene();
}
 

import com.bulletphysics.collision.broadphase.AxisSweep3; //导入依赖的package包/类
public void initPhysics() throws Exception {
	cameraUp.set(0f, 0f, 1f);
	forwardAxis = 1;

	setCameraDistance(22f);

	// Setup a Physics Simulation Environment

	collisionConfiguration = new DefaultCollisionConfiguration();
	// btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
	dispatcher = new CollisionDispatcher(collisionConfiguration);
	Vector3f worldMin = new Vector3f(-1000f,-1000f,-1000f);
	Vector3f worldMax = new Vector3f(1000f,1000f,1000f);
	broadphase = new AxisSweep3(worldMin, worldMax);
	//broadphase = new SimpleBroadphase();
	//btOverlappingPairCache* broadphase = new btSimpleBroadphase();
	solver = new SequentialImpulseConstraintSolver();
	//ConstraintSolver* solver = new OdeConstraintSolver;
	dynamicsWorld = new DiscreteDynamicsWorld(dispatcher,broadphase,solver,collisionConfiguration);

	Vector3f gravity = new Vector3f();
	gravity.negate(cameraUp);
	gravity.scale(10f);
	dynamicsWorld.setGravity(gravity);

	new BspToBulletConverter().convertBsp(getClass().getResourceAsStream("exported.bsp.txt"));
	
	clientResetScene();
}
 

import com.bulletphysics.collision.broadphase.AxisSweep3; //导入依赖的package包/类
public void initPhysics() throws Exception {
	CollisionShape groundShape = new BoxShape(new Vector3f(50, 3, 50));
	collisionShapes.add(groundShape);

	collisionConfiguration = new DefaultCollisionConfiguration();
	dispatcher = new CollisionDispatcher(collisionConfiguration);
	Vector3f worldMin = new Vector3f(-1000f,-1000f,-1000f);
	Vector3f worldMax = new Vector3f(1000f,1000f,1000f);
	AxisSweep3 sweepBP = new AxisSweep3(worldMin, worldMax);
	overlappingPairCache = sweepBP;

	constraintSolver = new SequentialImpulseConstraintSolver();
	dynamicsWorld = new DiscreteDynamicsWorld(dispatcher,overlappingPairCache,constraintSolver,collisionConfiguration);

	Transform startTransform = new Transform();
	startTransform.setIdentity();
	startTransform.origin.set(0.0f, 4.0f, 0.0f);

	ghostObject = new PairCachingGhostObject();
	ghostObject.setWorldTransform(startTransform);
	sweepBP.getOverlappingPairCache().setInternalGhostPairCallback(new GhostPairCallback());
	float characterHeight = 1.75f * characterScale;
	float characterWidth = 1.75f * characterScale;
	ConvexShape capsule = new CapsuleShape(characterWidth, characterHeight);
	ghostObject.setCollisionShape(capsule);
	ghostObject.setCollisionFlags(CollisionFlags.CHARACTER_OBJECT);

	float stepHeight = 0.35f * characterScale;
	character = new KinematicCharacterController(ghostObject, capsule, stepHeight);

	new BspToBulletConverter().convertBsp(getClass().getResourceAsStream("/com/bulletphysics/demos/bsp/exported.bsp.txt"));

	dynamicsWorld.addCollisionObject(ghostObject, CollisionFilterGroups.CHARACTER_FILTER, (short)(CollisionFilterGroups.STATIC_FILTER | CollisionFilterGroups.DEFAULT_FILTER));

	dynamicsWorld.addAction(character);
	
	clientResetScene();

	setCameraDistance(56f);
}
 

import com.bulletphysics.collision.broadphase.AxisSweep3; //导入依赖的package包/类
public PhysicsWorldJBullet(boolean gravity){
  	
// collision configuration contains default setup for memory, collision
// setup. Advanced users can create their own configuration.
CollisionConfiguration collisionConfiguration = new DefaultCollisionConfiguration();

// use the default collision dispatcher. For parallel processing you
// can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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(-10000, -10000, -10000);
Vector3f worldAabbMax = new Vector3f(10000, 10000, 10000);
int maxProxies = 1024;
AxisSweep3 overlappingPairCache = new AxisSweep3(worldAabbMin, worldAabbMax, maxProxies);


SequentialImpulseConstraintSolver solver = new SequentialImpulseConstraintSolver();


dynamicsWorld = new DiscreteDynamicsWorld(
		dispatcher, overlappingPairCache, solver,
		collisionConfiguration);
if(gravity == true){
	dynamicsWorld.setGravity(new Vector3f(0.0f,0.0f,-9.81f));
}
else{
dynamicsWorld.setGravity(new Vector3f(0.0f,0.0f,0.0f));
}
  }
 

import com.bulletphysics.collision.broadphase.AxisSweep3; //导入依赖的package包/类
public void init()
{
	collisionConfiguration = new DefaultCollisionConfiguration();
	dispatcher = new CollisionDispatcher(collisionConfiguration);
	Vector3f worldAabbMin = new Vector3f(-1000000, -1000000, -1000000);
	Vector3f worldAabbMax = new Vector3f(1000000, 1000000, 1000000);
	AxisSweep3 overlappingPairCache = new AxisSweep3(worldAabbMin, worldAabbMax);
	SequentialImpulseConstraintSolver solver = new SequentialImpulseConstraintSolver();

	world = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, solver, collisionConfiguration);
	world.setGravity(toBullet(Vector3.get(0, -9.81f, 0)));
}