Simulation!

Dynamical Simulation! Physics Engines! JBullet! Physics in jMonkeyEngine! !

Dynamical Simulation !
! The simulation of systems of objects that are free to move according to Newtons laws of dynamics! ! Particle! ! Rigid body!

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Particle !
! Has a mass!
! Measure of bodys resistance to motion or a change in its motion!

! Has position, velocity and acceleration! ! No dimension! ! Linear motion!

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Rigid Body !
! Solid body of nite size! ! Deformation is neglected! ! Position, velocity and acceleration is handled same way as for particles!
! At the bodys center of mass!

! Center of mass!
! The point in a body around which the mass of the body is evenly distributed!
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Rigid Body !
! ! ! ! Has an orientation! Has angular velocity and acceleration! Torque causes rotational acceleration! Moment of inertia!
! A measure of an objects resistance to change in its rotation rate! ! Think of it as rotational mass!

!
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Procedure!
! Calculate bodys mass properties! ! Gather all forces and torques (moments) acting on body! ! Solve the equations of motion for linear and angular acceleration! ! Integrate with respect to time to nd linear and angular velocity! ! Integrate with respect to time to nd linear and angular displacement!
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Procedure Example!
! Integrate using Eulers method! ! Calculate acceleration given forces and mass" F = ma" a = F/m! ! Calculate new velocity" v2 = v1 + at! ! Calculate new position" s2 = s1 + vt ! ! Can use duration of the last frame as time!
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Collision Detection!
! Collision detection determine whether two or more objects have collided! ! May need to calculate!
! Time of Impact! ! Closest Points! ! Penetration Depth!

! Mesh vs mesh not easy to implement robustly! ! Moving collision objects are often represented by convex shapes instead of triangle meshes" -box, sphere, capsule, cylinder, cone, convex hull! ! Improves performance and quality!
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Collision Detection!
! Detect collisions after they happen when objects are intersecting!
! The collision response has to x the intersecting objects!

! Find when objects collide and stops right before they intersect!
! Is more difcult to determine when objects collide than if they collide!
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Collision Response!
! Collision response determines the motion of the objects after they have collided! ! Penalty methods!
! Inserts temporary springs between objects at point of contact!

! Analytical methods uses classical (Newtonian) impact principles!

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Collision Response!
! An elastic collision loses no kinetic energy!
! Billiard balls!

! In an inelastic collision the kinetic energy is used to deform the object or is converted to other type of energy!
! Velocity is reduced in the direction perpendicular to the surface!

! Friction !
! Changes the linear velocity in the tangential direction ! ! Produce torque that changes the angular velocity!
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Physics Engine !
! Performs the simulation for you! ! Has its own data structure that is separate from the rendering! ! Have to set up the objects and add it to the engine!
! Collision shape! ! Start position! ! Mass properties!

! Apply forces to the objects when simulation is running! ! Changing the position or velocity directly may break the simulation!
! Becomes unstable ! ! Blows up!

! Every frame the object transformations are copied from the physics engine to the scene graph!

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Physics Engine !
! Constraints (joints) may be added! ! Connects two bodies by constraining translation or rotation in some way! ! A hinge can be used to connect a door to a frame! ! Point to point constraint can be used to connect the bones in a human body !
! Ragdoll!

! Constraints may have limits!

! Dene how much the door can be opened!

! Motors used to apply forces to constraints!

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Closed Source Physics Engines !

! NVIDEA PhysX!
! Binary is free to use! ! Supported by GeForce GPUs! ! Used in lots of commercial games!

! Havok Physics!
! Another popular physics engine used in lots of commercial games! ! Binary is free for non commercial use!

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TRB Oct 2013 !

Open Source Physics Engine !

! Open Dynamics Engine (ODE)!
! BSD license!

! Bullet!
! zlib license! ! Used by Blender 3D and commercial games!

! JBullet!
! A partial Java port of Bullet!

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TRB Oct 2013 !

JBullet!
! Supported shapes!
! static plane! ! Box! ! Sphere! ! Capsule! ! Cylinder! ! Cone! ! convex hull! ! compound shape! ! static and moving triangle mesh! ! uniform scaling shape !
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JBullet !
! Supported joints!
! Point to Point!
! Ball socket join! ! Limits translation so local" pivots match in world space!

Cone Twist!
! Point to Point with cone " and twist axis limits!

! Generic 6-DOF!
! Can congure linear and angular motion axis! ! Each axis can be locked, free or unlimited!

! Raycast Vehicle!
! Entire vehicle is a single rigidbody !
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JBullet !
! Supported joints!
! Hinge!
! Can only rotate " around one axis" !

! Slider!
! Rotate around one " axis and translate " along this axis!
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JBullet !
! DynamicsWorld!
! Holds all the objects! ! Performs the simulation!
! You must call stepSimulation every frame!

! Constructed from!
! BroadphaseInterface! ! Dispatcher (narrow phase)! ! ConstraintSolver! ! CollisionConguration!
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JBullet !
! BroadphaseInterface!
! Finds overlapping pairs of AABB! ! AxisSweep3 is a sweep and prune algorithm! ! SimpleBroadphase is brute force O(n^2)!

! Dispatcher!
! calculates exact collision given a list of possible colliding pairs!

! ConstraintSolver!
! Solves contacts and joints!
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JBullet !
! MotionState!
! Way to get world transform of simulated objects! ! Simulation happens at center of mass! ! Have to adjust model if it doesnt match! ! DefaultMotionState!
! Common implementation that supports center of mass offset!
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JBullet !
! General Tips!
! Keep size of moving collision objects between 10 cm and 5 meters! ! Avoid large mass ratios!

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Physics in jMonkeyEngine 3 !
! Has built-in support for jBullet! ! First you need a BulletAppState!
public void simpleInitApp() { bulletAppState = new BulletAppState(); stateManager.attach(bulletAppState); }

! It synchronizes the scenegraph with the physics engine! ! Use it to gain access to PhysicsSpace!
! Available after BulletAppState is added to StateManager!

! PhysicsSpace contains all the physics object!

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Physics in jMonkeyEngine 3 !
! For each physical spatial!
! Create a CollisionShape! ! Create the PhysicsControl from the CollisionShape and a mass value! ! Add the PhysicsControl to its Spatial! ! Add the PhysicsControl to the PhysicsSpace! ! Attach the Spatial to the rootNode (as usual)!
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Physics in jMonkeyEngine 3 !
! CollisionShape is the (simplied) shape used by physics engine! ! CollisionShapeFactory has methods to create shape from jME subgraph!
! Creates a CompoundCollisionShape with a child for each geometry in the subgraph! ! createBoxShape(Spatial) uses BoxCollisionShape! ! createMeshShape(Spatial) uses MeshCollisionShape! ! createDynamicsMeshShape(Spatial) uses HullCollisionShape!

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Physics in jMonkeyEngine 3 !
! PhysicsControl connects a Spatial to a physics object!
! RigidBodyControl!
! Dynamic, kinematic and static objects! ! Set mass to 0 to make it static!

! GhostControl!
! Collision and intersection detection!

! CharacterControl! ! VehicleControl and PhysicsVehicleWheel! ! RagDollControll!

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Physics in jMonkeyEngine 3!
! Examples!
! ! ! ! ! ! ! ! Box falls and bounces on a static ground box! Ground box is replaced by model of a control room! Adds a sphere that can be controlled by the keyboard! Detect collisions between the box and sphere! Move the sphere with the mouse! Connect sphere and box using Point2PointJoint! Connect sphere and box using HingeJoint! Move a character around the room!

! Compare shapes created by CollisionShapeFactory!

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