import com.bulletphysics.collision.dispatch.CollisionConfiguration; //导入依赖的package包/类
/**
 * Set up the physics engine for the scene.
 */
public void setUp() {
    // Create a DBVT broadphase to broadly check collisions using the AABB technique which ensures good performance
    BroadphaseInterface broadphase = new DbvtBroadphase();

    // Set up a collision configuration and dispatcher
    CollisionConfiguration collisionConfig = new DefaultCollisionConfiguration();
    CollisionDispatcher dispatcher = new CollisionDispatcher(collisionConfig);

    // Configure a constraint solver
    ConstraintSolver solver = new SequentialImpulseConstraintSolver();

    // Create and configure the Bullet physics dynamic world
    this.bulletDynamicsWorld = new DiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfig);
    this.bulletDynamicsWorld.setGravity(new Vector3f(0, -9.81f, 0));
}
 

import com.bulletphysics.collision.dispatch.CollisionConfiguration; //导入依赖的package包/类
public DiscreteDynamicsWorld (Dispatcher dispatcher, BroadphaseInterface pairCache, ConstraintSolver constraintSolver,
	CollisionConfiguration collisionConfiguration) {
	super(dispatcher, pairCache, collisionConfiguration);
	this.constraintSolver = constraintSolver;

	if (this.constraintSolver == null) {
		this.constraintSolver = new SequentialImpulseConstraintSolver();
		ownsConstraintSolver = true;
	} else {
		ownsConstraintSolver = false;
	}

	{
		islandManager = new SimulationIslandManager();
	}

	ownsIslandManager = true;
}
 

import com.bulletphysics.collision.dispatch.CollisionConfiguration; //导入依赖的package包/类
public DiscreteDynamicsWorld(Dispatcher dispatcher, BroadphaseInterface pairCache, ConstraintSolver constraintSolver, CollisionConfiguration collisionConfiguration) {
	super(dispatcher, pairCache, collisionConfiguration);
	this.constraintSolver = constraintSolver;

	if (this.constraintSolver == null) {
		this.constraintSolver = new SequentialImpulseConstraintSolver();
		ownsConstraintSolver = true;
	}
	else {
		ownsConstraintSolver = false;
	}

	{
		islandManager = new SimulationIslandManager();
	}

	ownsIslandManager = true;
}
 

import com.bulletphysics.collision.dispatch.CollisionConfiguration; //导入依赖的package包/类
public Screen() {
    /*
     Set the color to black
     */
    glClearColor(0, 0, 0, 1);
    BroadphaseInterface broadphase = new DbvtBroadphase();
    CollisionConfiguration collisionConfiguration = new DefaultCollisionConfiguration();
    CollisionDispatcher dispatcher = new CollisionDispatcher(collisionConfiguration);
    ConstraintSolver solver = new SequentialImpulseConstraintSolver();
    physicsWorld = new DiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
    physicsWorld.setGravity(new Vector3f(0, -10 /* m/s2 */, 0));
    
    /*
     initialize the entities list
     */
    entities = new LinkedList<>();

    camera = new Camera(1280, 720, 67f, 0.1f, 1000000000000f);

    //call the create method
    create();
}
 

import com.bulletphysics.collision.dispatch.CollisionConfiguration; //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.dispatch.CollisionConfiguration; //导入依赖的package包/类
public PhysicsWorldJbullet(){
	BroadphaseInterface broadphase=new DbvtBroadphase();
	CollisionConfiguration collisionConfiguration=new DefaultCollisionConfiguration();
	CollisionDispatcher dispatcher=new CollisionDispatcher(collisionConfiguration);
	ConstraintSolver constraintSolver=new SequentialImpulseConstraintSolver();
	
	bulletWorld=new DiscreteDynamicsWorld(dispatcher, broadphase, constraintSolver, collisionConfiguration);
	setGravity(0, -9.81F, 0);
}
 

import com.bulletphysics.collision.dispatch.CollisionConfiguration; //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.dispatch.CollisionConfiguration; //导入依赖的package包/类
public SimpleDynamicsWorld(Dispatcher dispatcher, BroadphaseInterface pairCache, ConstraintSolver constraintSolver, CollisionConfiguration collisionConfiguration) {
	super(dispatcher, pairCache, collisionConfiguration);
	this.constraintSolver = constraintSolver;
	this.ownsConstraintSolver = false;
}
 

import com.bulletphysics.collision.dispatch.CollisionConfiguration; //导入依赖的package包/类
public DynamicsWorld(Dispatcher dispatcher, BroadphaseInterface broadphasePairCache, CollisionConfiguration collisionConfiguration) {
	super(dispatcher, broadphasePairCache, collisionConfiguration);
}