初次提交

第17章 游戏的心脏——物理引擎/Sample17_5/.classpath

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+<?xml version="1.0" encoding="UTF-8"?>
+<classpath>
+	<classpathentry kind="src" path="src"/>
+	<classpathentry kind="src" path="gen"/>
+	<classpathentry kind="con" path="com.android.ide.eclipse.adt.ANDROID_FRAMEWORK"/>
+	<classpathentry kind="lib" path="lib/jbullet.jar"/>
+	<classpathentry kind="lib" path="lib/vecmath.jar"/>
+	<classpathentry kind="output" path="bin"/>
+</classpath>

第17章 游戏的心脏——物理引擎/Sample17_5/.project

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+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>Sample17_5</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>com.android.ide.eclipse.adt.ResourceManagerBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>com.android.ide.eclipse.adt.PreCompilerBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.jdt.core.javabuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>com.android.ide.eclipse.adt.ApkBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>com.android.ide.eclipse.adt.AndroidNature</nature>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+	</natures>
+</projectDescription>

第17章 游戏的心脏——物理引擎/Sample17_5/AndroidManifest.xml

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+<?xml version="1.0" encoding="utf-8"?>
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+      package="com.bn.Sample17_5"
+      android:versionCode="1"
+      android:versionName="1.0">
+    <application android:icon="@drawable/icon" android:label="@string/app_name">
+        <activity android:name="com.bn.Sample17_5.Sample17_5_Activity"
+                  android:label="@string/app_name">
+            <intent-filter>
+                <action android:name="android.intent.action.MAIN" />
+                <category android:name="android.intent.category.LAUNCHER" />
+            </intent-filter>
+        </activity>
+
+    </application>
+    <uses-sdk android:minSdkVersion="8" />
+
+</manifest> 

第17章 游戏的心脏——物理引擎/Sample17_5/assets/frag.sh

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+precision mediump float;
+varying vec2 vTextureCoord;//接收从顶点着色器过来的参数
+uniform sampler2D sTexture;//纹理内容数据
+void main()                         
+{  
+  //给此片元颜色值 
+  gl_FragColor = texture2D(sTexture, vTextureCoord); 
+}       

第17章 游戏的心脏——物理引擎/Sample17_5/assets/vertex.sh

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+uniform mat4 uMVPMatrix; //总变换矩阵
+uniform mat4 uMMatrix; //变换矩阵
+uniform vec3 uCamera;	//摄像机位置
+attribute vec3 aPosition;  //顶点位置
+attribute vec2 aTexCoor;    //顶点纹理坐标
+varying vec2 vTextureCoord;
+void main()     
+{                            		
+   gl_Position = uMVPMatrix * vec4(aPosition,1); //根据总变换矩阵计算此次绘制此顶点位置
+      //将顶点的纹理坐标传给片元着色器
+   vTextureCoord=aTexCoor;  
+}                   

第17章 游戏的心脏——物理引擎/Sample17_5/default.properties

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+# This file is automatically generated by Android Tools.
+# Do not modify this file -- YOUR CHANGES WILL BE ERASED!
+# 
+# This file must be checked in Version Control Systems.
+# 
+# To customize properties used by the Ant build system use,
+# "build.properties", and override values to adapt the script to your
+# project structure.
+
+# Project target.
+target=android-8

第17章 游戏的心脏——物理引擎/Sample17_5/gen/com/bn/Sample17_5/R.java

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+/* AUTO-GENERATED FILE.  DO NOT MODIFY.
+ *
+ * This class was automatically generated by the
+ * aapt tool from the resource data it found.  It
+ * should not be modified by hand.
+ */
+
+package com.bn.Sample17_5;
+
+public final class R {
+    public static final class attr {
+    }
+    public static final class drawable {
+        public static final int floor=0x7f020000;
+        public static final int icon=0x7f020001;
+        public static final int wood_bin0=0x7f020002;
+        public static final int wood_bin1=0x7f020003;
+    }
+    public static final class layout {
+        public static final int main=0x7f030000;
+    }
+    public static final class string {
+        public static final int app_name=0x7f040001;
+        public static final int hello=0x7f040000;
+    }
+}

第17章 游戏的心脏——物理引擎/Sample17_5/hs_err_pid6676.log

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+#
+# An unexpected error has been detected by Java Runtime Environment:
+#
+#  Internal Error (434C41535326494C453041525345520E4350500B65), pid=6676, tid=5304
+#
+# Java VM: Java HotSpot(TM) Client VM (1.6.0_02-b06 mixed mode)
+# If you would like to submit a bug report, please visit:
+#   http://java.sun.com/webapps/bugreport/crash.jsp
+#
+
+---------------  T H R E A D  ---------------
+
+Current thread (0x003f6c00):  JavaThread "Unknown thread" [_thread_in_vm, id=5304]
+
+Stack: [0x008d0000,0x00920000)
+[error occurred during error reporting, step 110, id 0xc00000fd]
+
+Native frames: (J=compiled Java code, j=interpreted, Vv=VM code, C=native code)
+C  [javaw.exe+0xc4fc]
+C  [javaw.exe+0x81b5]
+C  [kernel32.dll+0xb729]
+
+
+---------------  P R O C E S S  ---------------
+
+Java Threads: ( => current thread )
+
+Other Threads:
+
+VM state:not at safepoint (not fully initilizated)
+
+VM Mutex/Monitor currently owned by a thread: None
+
+Heap
+ def new generation   total 960K, used 0K [0x029d0000, 0x02ad0000, 0x02eb0000)
+  eden space 896K,   0% used [0x029d0000, 0x029d0000, 0x02ab0000)
+  from space 64K,   0% used [0x02ab0000, 0x02ab0000, 0x02ac0000)
+  to   space 64K,   0% used [0x02ac0000, 0x02ac0000, 0x02ad0000)
+ tenured generation   total 4096K, used 0K [0x02eb0000, 0x032b0000, 0x069d0000)
+   the space 4096K,   0% used [0x02eb0000, 0x02eb0000, 0x02eb0200, 0x032b0000)
+ compacting perm gen  total 12288K, used 99K [0x069d0000, 0x075d0000, 0x0a9d0000)
+   the space 12288K,   0% used [0x069d0000, 0x069e8d40, 0x069e8e00, 0x075d0000)
+No shared spaces configured.
+
+Dynamic libraries:
+0x00400000 - 0x00423000 	D:\java\jdk1.6.0_02\bin\javaw.exe
+0x7c920000 - 0x7c9b6000 	C:\WINDOWS\system32\ntdll.dll
+0x7c800000 - 0x7c91e000 	C:\WINDOWS\system32\kernel32.dll
+0x77da0000 - 0x77e49000 	C:\WINDOWS\system32\ADVAPI32.dll
+0x77e50000 - 0x77ee3000 	C:\WINDOWS\system32\RPCRT4.dll
+0x77fc0000 - 0x77fd1000 	C:\WINDOWS\system32\Secur32.dll
+0x77d10000 - 0x77da0000 	C:\WINDOWS\system32\USER32.dll
+0x77ef0000 - 0x77f39000 	C:\WINDOWS\system32\GDI32.dll
+0x76300000 - 0x7631d000 	C:\WINDOWS\system32\IMM32.DLL
+0x62c20000 - 0x62c29000 	C:\WINDOWS\system32\LPK.DLL
+0x73fa0000 - 0x7400b000 	C:\WINDOWS\system32\USP10.dll
+0x7c340000 - 0x7c396000 	D:\java\jdk1.6.0_02\jre\bin\msvcr71.dll
+0x6d870000 - 0x6dab9000 	D:\java\jdk1.6.0_02\jre\bin\client\jvm.dll
+0x76b10000 - 0x76b3a000 	C:\WINDOWS\system32\WINMM.dll
+0x6d3c0000 - 0x6d3c8000 	D:\java\jdk1.6.0_02\jre\bin\hpi.dll
+0x76bc0000 - 0x76bcb000 	C:\WINDOWS\system32\PSAPI.DLL
+0x6d820000 - 0x6d82c000 	D:\java\jdk1.6.0_02\jre\bin\verify.dll
+0x6d460000 - 0x6d47f000 	D:\java\jdk1.6.0_02\jre\bin\java.dll
+0x6d860000 - 0x6d86f000 	D:\java\jdk1.6.0_02\jre\bin\zip.dll
+
+VM Arguments:
+jvm_args: -Dfile.encoding=GBK -Xbootclasspath:D:\android-sdk-windows\platforms\android-8\android.jar
+java_command: com.JointResearch_1.HelloWorld
+Launcher Type: SUN_STANDARD
+
+Environment Variables:
+JAVA_HOME=D:\java\jdk1.6.0_02
+CLASSPATH=.;D:\android-sdk-windows\tools;D:\java\jdk1.6.0_02\BIN;C:\oracle\product\10.2.0\db_1\jdbc\lib\ojdbc14.jar;C:\oracle\product\10.2.0\db_1\jdbc\lib\nls_charset12.jar;
+
+PATH=D:/java/jdk1.6.0_02/bin/../jre/bin/client;D:/java/jdk1.6.0_02/bin/../jre/bin;D:/java/jdk1.6.0_02/bin/../jre/lib/i386;D:\android-sdk-windows_2_2Update\android-sdk-windows\tools;D:\java\jdk1.6.0_02\bin;C:\WINDOWS\system32;C:\WINDOWS;C:\WINDOWS\System32\Wbem;C:\Program Files\ASUS Security Center\ASUS Security Protect Manager\bin;C:\Program Files\Common Files\Thunder Network\KanKan\Codecs;E:\powerBuilder\win32;E:\Shared\win32;E:\Shared\Sybase Central 4.1;E:\powerBuilder\sybase\PowerDynamo\win32;E:\powerBuilder\Shared\PowerBuilder;E:\powerBuilder\Shared\Web Targets;C:\Program Files\Microsoft SQL Server\80\Tools\BINN;d:\CTEX\UserData\miktex\bin;d:\CTEX\MiKTeX\miktex\bin;d:\CTEX\CTeX\ctex\bin;d:\CTEX\CTeX\cct\bin;d:\CTEX\CTeX\ty\bin;d:\CTEX\Ghostscript\gs9.00\bin;d:\CTEX\GSview\gsview;d:\CTEX\WinEdt;C:\Program Files\Common Files\Autodesk Shared\;C:\Program Files\backburner 2\;C:\Program Files\Autodesk\Backburner\;C:\Program Files\MySQL\MySQL Server 5.0\bin;C:\Program Files\Cesoft\Excel Server2010;C:\Program Files\Cesoft\Excel Server2010;F:\cpp\Tools\WinNT;F:\cpp\MSDev98\Bin;F:\cpp\Tools;F:\VC98\bin
+USERNAME=WADE
+OS=Windows_NT
+PROCESSOR_IDENTIFIER=x86 Family 6 Model 15 Stepping 13, GenuineIntel
+
+
+
+---------------  S Y S T E M  ---------------
+
+OS: Windows XP Build 2600 Service Pack 3
+
+CPU:total 2 (2 cores per cpu, 1 threads per core) family 6 model 15 stepping 13, cmov, cx8, fxsr, mmx, sse, sse2, sse3, ssse3
+
+Memory: 4k page, physical 2096304k(851556k free), swap 4038148k(2667328k free)
+
+vm_info: Java HotSpot(TM) Client VM (1.6.0_02-b06) for windows-x86, built on Jul 12 2007 01:16:14 by "java_re" with unknown MS VC++:1310
+

第17章 游戏的心脏——物理引擎/Sample17_5/res/layout/main.xml

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+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:orientation="vertical"
+    android:layout_width="fill_parent"
+    android:layout_height="fill_parent"
+    >
+<TextView  
+    android:layout_width="fill_parent" 
+    android:layout_height="wrap_content" 
+    android:text="@string/hello"
+    />
+</LinearLayout>

第17章 游戏的心脏——物理引擎/Sample17_5/res/values/strings.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+    <string name="hello">Hello World, MainActivity!</string>
+    <string name="app_name">Sample17_5</string>
+</resources>

第17章 游戏的心脏——物理引擎/Sample17_5/src/com/bn/Sample17_5/Constant.java

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+package com.bn.Sample17_5;
+public class Constant {
+
+	public static final float halfX=0.2f;//长方体的半高度
+	public static final float halfY=6f;//长方体的半宽度
+	public static final float halfZ=4f;//长方体的半长度
+	public static final float groundHeight=-2f;//长方体的半长度
+	
+	public static final float LEG_MASS=1f;//腿的质量
+	
+	public static float cx=15;//摄像机位置XYZ坐标
+	public static float cy=0;
+	public static float cz=0;
+	public static float yAngle=0;
+}

第17章 游戏的心脏——物理引擎/Sample17_5/src/com/bn/Sample17_5/Cuboid.java

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+package com.bn.Sample17_5;
+
+import javax.vecmath.Quat4f;
+import javax.vecmath.Vector3f;
+import com.bulletphysics.collision.shapes.CollisionShape;
+import com.bulletphysics.dynamics.DiscreteDynamicsWorld;
+import com.bulletphysics.dynamics.RigidBody;
+import com.bulletphysics.dynamics.RigidBodyConstructionInfo;
+import com.bulletphysics.linearmath.DefaultMotionState;
+import com.bulletphysics.linearmath.Transform;
+
+public class Cuboid {
+	
+	TexRect frontBackRect;//前后的长方形
+	TexRect topBottomRect;//上下的长方形
+	TexRect leftRightRect;//左右的长方形
+	float halfX;
+	float halfY;
+	float halfZ;
+	
+	RigidBody body;
+	
+	public Cuboid
+		(
+			DiscreteDynamicsWorld dynamicsWorld,CollisionShape boxShape,
+			float mass,
+			float cx,float cy,float cz,
+			MySurfaceView mv,
+			float halfX,	//x
+			float halfY,	//y
+			float halfZ	//z
+		){
+		this.halfX=halfX;
+		this.halfY = halfY;
+		this.halfZ = halfZ;
+		frontBackRect = new TexRect(mv,1,halfX,halfY);
+		topBottomRect = new TexRect(mv,1,halfX,halfZ);
+		leftRightRect = new TexRect(mv,1,halfZ,halfY);
+		boolean isDynamic = (mass!=0);
+		Vector3f localInertia = new Vector3f(0,0,0);
+		if(isDynamic){
+			boxShape.calculateLocalInertia(mass, localInertia);
+		}
+		Transform transform = new Transform();
+		transform.setIdentity();
+		transform.origin.set(new Vector3f(cx,cy,cz));
+		DefaultMotionState myMotionState = new DefaultMotionState(transform);
+		RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo
+		(
+				mass, myMotionState, boxShape, localInertia
+		);
+		body = new RigidBody(rbInfo);
+		body.setRestitution(0.6f);
+		body.setFriction(0.8f);
+		dynamicsWorld.addRigidBody(body);
+	}
+  
+	public void drawSelf(int texId){
+		
+		MatrixState.pushMatrix();
+		Transform trans = body.getMotionState().getWorldTransform(new Transform());
+		MatrixState.translate(trans.origin.x,trans.origin.y, trans.origin.z);
+		Quat4f ro=trans.getRotation(new Quat4f());
+		if(ro.x!=0||ro.y!=0||ro.z!=0)
+		{
+			float[] fa=SYSUtil.fromSYStoAXYZ(ro);
+			MatrixState.rotate(fa[0], fa[1], fa[2], fa[3]);
+		}
+		
+		//绘制上面
+		MatrixState.pushMatrix();
+	    MatrixState.translate(0, halfY, 0);
+	    MatrixState.rotate(-90, 1, 0, 0);
+	    topBottomRect.drawSelf(texId);
+		MatrixState.popMatrix();
+		
+		//绘制下面
+		MatrixState.pushMatrix();
+	    MatrixState.translate(0, -halfY, 0);
+	    MatrixState.rotate(90, 1, 0, 0);
+	    topBottomRect.drawSelf(texId);
+		MatrixState.popMatrix();
+		
+		//绘制左面
+		MatrixState.pushMatrix();
+	    MatrixState.translate(-halfX, 0, 0);
+	    MatrixState.rotate(-90, 0, 1, 0);
+	    leftRightRect.drawSelf(texId);
+		MatrixState.popMatrix();
+		
+		//绘制右面
+		MatrixState.pushMatrix();
+	    MatrixState.translate(halfX, 0, 0);
+	    MatrixState.rotate(90, 0, 1, 0);
+	    leftRightRect.drawSelf(texId);
+		MatrixState.popMatrix();
+		 
+		//绘制前面
+		MatrixState.pushMatrix();
+		MatrixState.translate(0, 0, halfZ);
+		frontBackRect.drawSelf(texId);
+		MatrixState.popMatrix();
+		
+		//绘制后面
+		MatrixState.pushMatrix();
+		MatrixState.translate(0, 0, -halfZ);
+		MatrixState.rotate(180, 0, 1, 0);
+		frontBackRect.drawSelf(texId);
+		MatrixState.popMatrix();
+		
+		MatrixState.popMatrix();
+	}
+}

第17章 游戏的心脏——物理引擎/Sample17_5/src/com/bn/Sample17_5/MatrixState.java

@@ -0,0 +1,162 @@
+package com.bn.Sample17_5;
+
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.nio.FloatBuffer;
+import java.util.Stack;
+
+import android.opengl.Matrix;
+
+//存储系统矩阵状态的类
+public class MatrixState 
+{
+	private static float[] mProjMatrix = new float[16];//4x4矩阵 投影用
+    private static float[] mVMatrix = new float[16];//摄像机位置朝向9参数矩阵
+    static float[] mMVPMatrix;//最后起作用的总变换矩阵
+    public static float[] lightLocationRed=new float[]{0,0,0};//红色定位光光源位置
+    public static float[] lightLocationGreenBlue=new float[]{0,0,0};//天蓝色定位光光源位置
+    public static FloatBuffer cameraFB;
+    public static FloatBuffer lightPositionFBRed;
+    public static FloatBuffer lightPositionFBGreenBlue;
+    
+    //设置摄像机
+    public static void setCamera
+    (
+    		float cx,	//摄像机位置x
+    		float cy,   //摄像机位置y
+    		float cz,   //摄像机位置z
+    		float tx,   //摄像机目标点x
+    		float ty,   //摄像机目标点y
+    		float tz,   //摄像机目标点z
+    		float upx,  //摄像机UP向量X分量
+    		float upy,  //摄像机UP向量Y分量
+    		float upz   //摄像机UP向量Z分量		
+    )
+    {
+    	Matrix.setLookAtM
+        (
+        		mVMatrix, 
+        		0, 
+        		cx,
+        		cy,
+        		cz,
+        		tx,
+        		ty,
+        		tz,
+        		upx,
+        		upy,
+        		upz
+        );
+    	
+    	float[] cameraLocation=new float[3];//摄像机位置
+    	cameraLocation[0]=cx;
+    	cameraLocation[1]=cy;
+    	cameraLocation[2]=cz;
+    	
+    	ByteBuffer llbb = ByteBuffer.allocateDirect(3*4);
+        llbb.order(ByteOrder.nativeOrder());//设置字节顺序
+        cameraFB=llbb.asFloatBuffer();
+        cameraFB.put(cameraLocation);
+        cameraFB.position(0);  
+    }
+    
+    //设置透视投影参数
+    public static void setProjectFrustum
+    (
+    	float left,		//near面的left
+    	float right,    //near面的right
+    	float bottom,   //near面的bottom
+    	float top,      //near面的top
+    	float near,		//near面距离
+    	float far       //far面距离
+    )
+    {
+    	Matrix.frustumM(mProjMatrix, 0, left, right, bottom, top, near, far);    	
+    }
+    
+    //设置正交投影参数
+    public static void setProjectOrtho
+    (
+    	float left,		//near面的left
+    	float right,    //near面的right
+    	float bottom,   //near面的bottom
+    	float top,      //near面的top
+    	float near,		//near面距离
+    	float far       //far面距离
+    )
+    {    	
+    	Matrix.orthoM(mProjMatrix, 0, left, right, bottom, top, near, far);
+    }   
+   
+    //获取具体物体的总变换矩阵
+    public static float[] getFinalMatrix()
+    {
+    	float[] mMVPMatrix=new float[16];
+    	Matrix.multiplyMM(mMVPMatrix, 0, mVMatrix, 0, currMatrix, 0);
+        Matrix.multiplyMM(mMVPMatrix, 0, mProjMatrix, 0, mMVPMatrix, 0);        
+        return mMVPMatrix;
+    }
+    
+    //设置红色灯光位置的方法
+    public static void setLightLocationRed(float x,float y,float z)
+    {
+    	lightLocationRed[0]=x;
+    	lightLocationRed[1]=y;
+    	lightLocationRed[2]=z;
+    	ByteBuffer llbb = ByteBuffer.allocateDirect(3*4);
+        llbb.order(ByteOrder.nativeOrder());//设置字节顺序
+        lightPositionFBRed=llbb.asFloatBuffer();
+        lightPositionFBRed.put(lightLocationRed);
+        lightPositionFBRed.position(0);
+    }
+    
+    //设置天蓝色灯光位置的方法
+    public static void setLightLocationGreenBlue(float x,float y,float z)
+    {
+    	lightLocationGreenBlue[0]=x;
+    	lightLocationGreenBlue[1]=y;
+    	lightLocationGreenBlue[2]=z;
+    	ByteBuffer llbb = ByteBuffer.allocateDirect(3*4);
+        llbb.order(ByteOrder.nativeOrder());//设置字节顺序
+        lightPositionFBGreenBlue=llbb.asFloatBuffer();
+        lightPositionFBGreenBlue.put(lightLocationGreenBlue);
+        lightPositionFBGreenBlue.position(0);
+    }
+    
+    public static Stack<float[]> mStack=new Stack<float[]>();//保护变换矩阵的栈
+    static float[] currMatrix;//当前变换矩阵
+ 
+    public static void setInitStack()//获取不变换初始矩阵
+    {
+    	currMatrix=new float[16];
+    	Matrix.setRotateM(currMatrix, 0, 0, 1, 0, 0);
+    }
+    
+    public static void pushMatrix()//保护变换矩阵
+    {
+    	mStack.push(currMatrix.clone());
+    }
+    
+    public static void popMatrix()//恢复变换矩阵
+    {
+    	currMatrix=mStack.pop();
+    }
+    
+    public static void translate(float x,float y,float z)//设置沿xyz轴移动
+    {
+    	Matrix.translateM(currMatrix, 0, x, y, z);
+    }
+    
+    public static void rotate(float angle,float x,float y,float z)//设置绕xyz轴移动
+    {
+    	Matrix.rotateM(currMatrix,0,angle,x,y,z);
+    }
+    
+    //插入自带矩阵
+    public static void matrix(float[] self)
+    {
+    	float[] result=new float[16];
+    	Matrix.multiplyMM(result,0,currMatrix,0,self,0);
+    	currMatrix=result;
+    }
+}

第17章 游戏的心脏——物理引擎/Sample17_5/src/com/bn/Sample17_5/MySurfaceView.java

@@ -0,0 +1,237 @@
+package com.bn.Sample17_5;
+
+import java.io.IOException;
+import java.io.InputStream;
+import javax.microedition.khronos.egl.EGLConfig;
+import javax.microedition.khronos.opengles.GL10;
+import javax.vecmath.Vector3f;
+import android.content.Context;
+import android.graphics.Bitmap;
+import android.graphics.BitmapFactory;
+import android.opengl.GLES20;
+import android.opengl.GLSurfaceView;
+import android.opengl.GLUtils;
+import android.view.MotionEvent;
+import com.bn.Sample17_5.R;
+import com.bulletphysics.BulletGlobals;
+import com.bulletphysics.collision.broadphase.AxisSweep3;
+import com.bulletphysics.collision.dispatch.CollisionConfiguration;
+import com.bulletphysics.collision.dispatch.CollisionDispatcher;
+import com.bulletphysics.collision.dispatch.DefaultCollisionConfiguration;
+import com.bulletphysics.collision.shapes.BoxShape;
+import com.bulletphysics.collision.shapes.CollisionShape;
+import com.bulletphysics.dynamics.DiscreteDynamicsWorld;
+import com.bulletphysics.dynamics.RigidBody;
+import com.bulletphysics.dynamics.constraintsolver.HingeConstraint;
+import com.bulletphysics.dynamics.constraintsolver.SequentialImpulseConstraintSolver;
+import com.bulletphysics.linearmath.Clock;
+import com.bulletphysics.linearmath.MatrixUtil;
+import com.bulletphysics.linearmath.Transform;
+import static com.bn.Sample17_5.Constant.*;
+
+public class MySurfaceView extends GLSurfaceView {
+	
+	DiscreteDynamicsWorld dynamicsWorld;//物理世界
+	CollisionShape boxShape;//盒子碰撞形状
+	HingeConstraint constraint;//铰链关节
+	private	float time;//时间量
+	private float cyclePeriod; //周期
+	private float muscleStrength;//关节力
+	Clock clock = new Clock();//时钟	
+	private float mPreviousY;//上次的触控位置Y坐标
+    private float mPreviousX;//上次的触控位置X坐标
+    boolean flag=true;//循环控制标志
+    MyRenderer renderer; //渲染器
+    
+	public MySurfaceView(Context context) {
+		super(context);
+		this.setEGLContextClientVersion(2);		
+		renderer = new MyRenderer();//创建渲染器
+		this.setRenderer(renderer);//设置渲染器
+		this.setRenderMode(GLSurfaceView.RENDERMODE_CONTINUOUSLY);//设置渲染模式
+		initWorld();
+		time = 0.0f;
+		cyclePeriod = 3000.0f; //设置周期
+		muscleStrength = 5f;//设置关节力
+	}
+	 @Override 
+	    public boolean onTouchEvent(MotionEvent e) {
+	        float y = e.getY();
+	        float x = e.getX();
+	        switch (e.getAction()) {
+	        case MotionEvent.ACTION_MOVE:
+	            float dy = y - mPreviousY;//计算触控笔Y位移
+	            float dx = x - mPreviousX;//计算触控笔X位移 	            
+	            if(Math.abs(dx)>10)
+	            {
+	            	yAngle += dx /100;//设置纹理圆球绕y轴旋转的角度
+	 	            cx=(float) (Math.cos(yAngle)*15);
+	 	            cz=(float) (Math.sin(yAngle)*15);
+	            }
+	            if(Math.abs(dy)>10)
+	            {
+	            	cy=cy+dy/10;
+		            if(cy>15)
+		            {
+		            	cy=15;
+		            }
+		            else if(cy<-15)
+		            {
+		            	cy=-15;
+		            }
+	            }	            
+	            break;
+	        }
+	        mPreviousY = y;//记录触控笔位置
+	        mPreviousX = x;//记录触控笔位置
+	        return true; 
+	    }
+	public void initWorld(){//初始化物理世界
+		CollisionConfiguration collisionConfiguration = new DefaultCollisionConfiguration();
+		CollisionDispatcher dispatcher = new CollisionDispatcher(collisionConfiguration);
+		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);
+		dynamicsWorld.setGravity(new Vector3f(0, -10, 0));
+		boxShape=new BoxShape(new Vector3f(halfX,halfY,halfZ));
+	}
+	private class MyRenderer implements GLSurfaceView.Renderer{
+		Cuboid door1; //门1
+		Cuboid door2;	//门2
+		int activeTexId;//门的纹理id
+		@Override
+		public void onDrawFrame(GL10 gl) {
+		
+			GLES20.glClear(GLES20.GL_DEPTH_BUFFER_BIT|GLES20.GL_COLOR_BUFFER_BIT);//清空缓存
+			float ms = getDeltaTimeMicroseconds();//获取两帧的时间间隔
+			time+=ms;//时间递增
+			float preAngle = constraint.getHingeAngle();//获取关节上一时刻的角度
+			//求得公式1中需要的x
+			float x=(((int)(time / 1000) % (int)(cyclePeriod)) / cyclePeriod)*BulletGlobals.SIMD_2_PI;
+			//根据公式1求出y
+			float y= 0.5f * (1.0f + (float)Math.sin(x));
+			//计算出当前旋转角度
+			float currAngle = constraint.getLowerLimit() + y * (constraint.getUpperLimit() - constraint.getLowerLimit());
+			float angleDelta = currAngle - preAngle;	//计算角度差
+			float desiredAngularVel = 1000000.f * angleDelta/ms;//计算此帧的角速度
+			constraint.enableAngularMotor(true, desiredAngularVel, muscleStrength);//设置马达
+			//调用此方法产生摄像机9参数位置矩阵
+            MatrixState.setCamera(cx,cy,cz,0,0,0,0f,1.0f,0.0f);    
+			MatrixState.pushMatrix();//保护现场
+			door1.drawSelf(activeTexId);//绘制门1
+			door2.drawSelf(activeTexId);//绘制门2
+			MatrixState.popMatrix();//恢复现场
+		}   
+
+		@Override
+		public void onSurfaceChanged(GL10 gl, int width, int height) {
+			 //设置视窗大小及位置 
+        	GLES20.glViewport(0, 0, width, height); 
+        	//计算GLSurfaceView的宽高比
+            float ratio= (float) width / height;
+            //调用此方法计算产生透视投影矩阵
+            MatrixState.setProjectFrustum(-ratio, ratio, -1, 1, 1.5f, 100);            
+		}
+
+		@Override
+		public void onSurfaceCreated(GL10 gl, EGLConfig config) {
+			//设置屏幕背景色RGBA
+            GLES20.glClearColor(0.0f,0.0f,0.0f, 1.0f);
+            GLES20.glEnable(GLES20.GL_DEPTH_TEST);
+            MatrixState.setInitStack();
+            activeTexId = initTexture(R.drawable.wood_bin1);
+            door1 = new Cuboid(dynamicsWorld, boxShape, 0, 0, 0, 4, MySurfaceView.this,halfX,halfY,halfZ);
+            door2 = new Cuboid(dynamicsWorld, boxShape, 1, 0, 0, -4, MySurfaceView.this,halfX,halfY,halfZ);
+            addHingeConstraint(door1.body,door2.body);
+            new Thread()
+            {
+            	public void run()
+            	{
+            		while(flag)
+            		{            			
+            			try 
+            			{
+            				//模拟
+                			dynamicsWorld.stepSimulation(1f/60.f, 5);
+							Thread.sleep(20);
+						} catch (Exception e) 
+						{
+							e.printStackTrace();
+						}
+            		}
+            	}
+            }.start();
+		}
+	}
+	
+	public void addHingeConstraint(RigidBody rbA,RigidBody rbB){//添加铰链约束
+		Transform transA = new Transform();//创建变换
+		transA.setIdentity();//初始化变换
+		MatrixUtil.setEulerZYX(transA.basis, BulletGlobals.SIMD_HALF_PI,0,0 );//约束旋转
+		transA.origin.set(new Vector3f(0,0,-halfZ));//约束的位置
+		Transform transB = new Transform();//创建变换		
+		transB.setIdentity();//初始化变换
+		MatrixUtil.setEulerZYX(transB.basis, BulletGlobals.SIMD_HALF_PI,0,0 );//约束旋转
+		transB.origin.set(new Vector3f(0,0,halfZ));
+		constraint = new HingeConstraint(rbA,rbB,transA,transB);//创建约束
+		constraint.setLimit(-BulletGlobals.SIMD_HALF_PI/2, BulletGlobals.SIMD_HALF_PI/2);//设置约束转动的范围
+		dynamicsWorld.addConstraint(constraint, true);//将约束添加到物理世界
+	}
+	public int initTexture(int drawableId)//textureId
+	{
+		//生成纹理ID
+		int[] textures = new int[1];
+		GLES20.glGenTextures
+		(
+				1,          //产生的纹理id的数量
+				textures,   //纹理id的数组
+				0           //偏移量
+		);    
+		int textureId=textures[0];    
+		GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, textureId);
+		GLES20.glTexParameterf(GLES20.GL_TEXTURE_2D, GLES20.GL_TEXTURE_MIN_FILTER,GLES20.GL_NEAREST);
+		GLES20.glTexParameterf(GLES20.GL_TEXTURE_2D,GLES20.GL_TEXTURE_MAG_FILTER,GLES20.GL_LINEAR);
+		GLES20.glTexParameterf(GLES20.GL_TEXTURE_2D, GLES20.GL_TEXTURE_WRAP_S,GLES20.GL_CLAMP_TO_EDGE);
+		GLES20.glTexParameterf(GLES20.GL_TEXTURE_2D, GLES20.GL_TEXTURE_WRAP_T,GLES20.GL_CLAMP_TO_EDGE);
+        
+        //通过输入流加载图片===============begin===================
+        InputStream is = this.getResources().openRawResource(drawableId);
+        Bitmap bitmapTmp;
+        try 
+        {
+        	bitmapTmp = BitmapFactory.decodeStream(is);
+        } 
+        finally 
+        {
+            try 
+            {
+                is.close();
+            } 
+            catch(IOException e) 
+            {
+                e.printStackTrace();
+            }
+        }
+        //通过输入流加载图片===============end=====================  
+        
+        //实际加载纹理
+        GLUtils.texImage2D
+        (
+        		GLES20.GL_TEXTURE_2D,   //纹理类型，在OpenGL ES中必须为GL10.GL_TEXTURE_2D
+        		0, 					  //纹理的层次，0表示基本图像层，可以理解为直接贴图
+        		bitmapTmp, 			  //纹理图像
+        		0					  //纹理边框尺寸
+        );
+        bitmapTmp.recycle(); 		  //纹理加载成功后释放图片
+        
+        return textureId;
+	}
+	public float getDeltaTimeMicroseconds() {
+		float dt = clock.getTimeMicroseconds();//获取从时钟创建或上次时间重置到现在的毫秒数
+		clock.reset();//时钟重置
+		return dt;
+	}
+}

第17章 游戏的心脏——物理引擎/Sample17_5/src/com/bn/Sample17_5/SYSUtil.java

@@ -0,0 +1,17 @@
+package com.bn.Sample17_5;
+
+import javax.vecmath.Quat4f;
+
+public class SYSUtil 
+{
+	//将四元数转换为角度及转轴向量
+	public static float[] fromSYStoAXYZ(Quat4f q4)
+	{	
+		double sitaHalf=Math.acos(q4.w);
+		float nx=(float) (q4.x/Math.sin(sitaHalf));
+		float ny=(float) (q4.y/Math.sin(sitaHalf));
+		float nz=(float) (q4.z/Math.sin(sitaHalf));
+		
+		return new float[]{(float) Math.toDegrees(sitaHalf*2),nx,ny,nz};
+	}
+}

第17章 游戏的心脏——物理引擎/Sample17_5/src/com/bn/Sample17_5/Sample17_5_Activity.java

@@ -0,0 +1,39 @@
+package com.bn.Sample17_5;
+
+
+import android.app.Activity;
+import android.content.pm.ActivityInfo;
+import android.os.Bundle;
+import android.view.Window;
+import android.view.WindowManager;
+
+public class Sample17_5_Activity extends Activity {
+	
+	MySurfaceView surfaceView;
+	
+    @Override
+    public void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        this.requestWindowFeature(Window.FEATURE_NO_TITLE);//È¥µô±êÌâ
+        getWindow().setFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN, 
+        		WindowManager.LayoutParams.FLAG_FULLSCREEN);//È¥µô±êÍ·
+        this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_LANDSCAPE);//Ç¿ÖƺáÆÁ
+        
+        surfaceView = new MySurfaceView(this);
+        setContentView(surfaceView);
+    }
+    
+    @Override
+	protected void onPause() {
+		super.onPause();
+		surfaceView.onPause();
+		surfaceView.flag=false;
+	}
+
+	@Override
+	protected void onResume() {
+		super.onResume();
+		surfaceView.onResume();
+		surfaceView.flag=true;
+	}
+}

第17章 游戏的心脏——物理引擎/Sample17_5/src/com/bn/Sample17_5/ShaderUtil.java

@@ -0,0 +1,121 @@
+package com.bn.Sample17_5;
+
+import java.io.ByteArrayOutputStream;
+import java.io.InputStream;
+
+import android.content.res.Resources;
+import android.opengl.GLES20;
+import android.util.Log;
+
+//加载顶点Shader与片元Shader的工具类
+public class ShaderUtil 
+{
+   //加载制定shader的方法
+   public static int loadShader
+   (
+		 int shaderType, //shader的类型  GLES20.GL_VERTEX_SHADER   GLES20.GL_FRAGMENT_SHADER
+		 String source   //shader的脚本字符串
+   ) 
+   {
+	    //创建一个新shader
+        int shader = GLES20.glCreateShader(shaderType);
+        //若创建成功则加载shader
+        if (shader != 0) 
+        {
+        	//加载shader的源代码
+            GLES20.glShaderSource(shader, source);
+            //编译shader
+            GLES20.glCompileShader(shader);
+            //存放编译成功shader数量的数组
+            int[] compiled = new int[1];
+            //获取Shader的编译情况
+            GLES20.glGetShaderiv(shader, GLES20.GL_COMPILE_STATUS, compiled, 0);
+            if (compiled[0] == 0) 
+            {//若编译失败则显示错误日志并删除此shader
+                Log.e("ES20_ERROR", "Could not compile shader " + shaderType + ":");
+                Log.e("ES20_ERROR", GLES20.glGetShaderInfoLog(shader));
+                GLES20.glDeleteShader(shader);
+                shader = 0;      
+            }  
+        }
+        return shader;
+    }
+   //创建shader程序的方法
+   public static int createProgram(String vertexSource, String fragmentSource) 
+   {
+	    //加载顶点着色器
+        int vertexShader = loadShader(GLES20.GL_VERTEX_SHADER, vertexSource);
+        if (vertexShader == 0) 
+        {
+            return 0;
+        }
+        //加载片元着色器
+        int pixelShader = loadShader(GLES20.GL_FRAGMENT_SHADER, fragmentSource);
+        if (pixelShader == 0) 
+        {
+            return 0;
+        }
+        //创建程序
+        int program = GLES20.glCreateProgram();
+        //若程序创建成功则向程序中加入顶点着色器与片元着色器
+        if (program != 0) 
+        {
+        	//向程序中加入顶点着色器
+            GLES20.glAttachShader(program, vertexShader);
+            checkGlError("glAttachShader");
+            //向程序中加入片元着色器
+            GLES20.glAttachShader(program, pixelShader);
+            checkGlError("glAttachShader");
+            //链接程序
+            GLES20.glLinkProgram(program);
+            //存放链接成功program数量的数组
+            int[] linkStatus = new int[1];
+            //获取program的链接情况
+            GLES20.glGetProgramiv(program, GLES20.GL_LINK_STATUS, linkStatus, 0);
+            //若链接失败则报错并删除程序
+            if (linkStatus[0] != GLES20.GL_TRUE) 
+            {
+                Log.e("ES20_ERROR", "Could not link program: ");
+                Log.e("ES20_ERROR", GLES20.glGetProgramInfoLog(program));
+                GLES20.glDeleteProgram(program);
+                program = 0;
+            }
+        }
+        return program;
+    }
+   //检查每一步操作是否有错误的方法 
+   public static void checkGlError(String op) 
+   {
+        int error;
+        while ((error = GLES20.glGetError()) != GLES20.GL_NO_ERROR) 
+        {
+            Log.e("ES20_ERROR", op + ": glError " + error);
+            throw new RuntimeException(op + ": glError " + error);
+        }
+   }
+   //从sh脚本中加载shader内容的方法
+   public static String loadFromAssetsFile(String fname,Resources r)
+   {
+   	String result=null;    	
+   	try
+   	{
+   		InputStream in=r.getAssets().open(fname);
+			int ch=0;
+		    ByteArrayOutputStream baos = new ByteArrayOutputStream();
+		    while((ch=in.read())!=-1)
+		    {
+		      	baos.write(ch);
+		    }      
+		    byte[] buff=baos.toByteArray();
+		    baos.close();
+		    in.close();
+   		result=new String(buff,"UTF-8"); 
+   		result=result.replaceAll("\\r\\n","\n");
+   	}
+   	catch(Exception e)
+   	{
+   		e.printStackTrace();
+   	}    	
+   	return result;
+   }
+}

第17章 游戏的心脏——物理引擎/Sample17_5/src/com/bn/Sample17_5/TexRect.java

@@ -0,0 +1,140 @@
+package com.bn.Sample17_5;
+
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.nio.FloatBuffer;
+
+import android.opengl.GLES20;
+
+//表示纹理矩形的类（含法线贴图）
+public class TexRect  
+{	
+	int mProgram;//自定义渲染管线程序id 
+    int muMVPMatrixHandle;//总变换矩阵引用id   
+    int muMMatrixHandle;//位置、旋转变换矩阵
+    int maCameraHandle; //摄像机位置属性引用id  
+    int maPositionHandle; //顶点位置属性引用id  
+    int maTexCoorHandle; //顶点纹理坐标属性引用id  
+    
+    int uTexHandle;//外观纹理属性引用id  
+    
+    String mVertexShader;//顶点着色器    	 
+    String mFragmentShader;//片元着色器
+	
+	FloatBuffer   mVertexBuffer;//顶点坐标数据缓冲
+	FloatBuffer   mTextureBuffer;//顶点纹理坐标数据缓冲
+    int vCount=0;   
+    
+    public TexRect(MySurfaceView mv,float size,float width,float height)
+    {    	
+    	//初始化顶点坐标与着色数据
+    	initVertexData(size,width,height);
+    	//初始化shader        
+    	intShader(mv);
+    } 
+    
+    //初始化顶点坐标与纹理数据的方法
+    public void initVertexData(float UNIT_SIZE,float width,float height)
+    {
+    	//顶点坐标数据的初始化================begin============================
+        vCount=6;
+        float vertices[]=new float[]
+        {
+        	-width*UNIT_SIZE,height*UNIT_SIZE,0,
+        	-width*UNIT_SIZE,-height*UNIT_SIZE,0,
+        	width*UNIT_SIZE,height*UNIT_SIZE,0,
+        	
+        	-width*UNIT_SIZE,-height*UNIT_SIZE,0,
+        	width*UNIT_SIZE,-height*UNIT_SIZE,0,
+        	width*UNIT_SIZE,height*UNIT_SIZE,0
+        };
+		
+        //创建顶点坐标数据缓冲
+        //vertices.length*4是因为一个整数四个字节
+        ByteBuffer vbb = ByteBuffer.allocateDirect(vertices.length*4);
+        vbb.order(ByteOrder.nativeOrder());//设置字节顺序
+        mVertexBuffer = vbb.asFloatBuffer();//转换为int型缓冲
+        mVertexBuffer.put(vertices);//向缓冲区中放入顶点坐标数据
+        mVertexBuffer.position(0);//设置缓冲区起始位置
+        //特别提示：由于不同平台字节顺序不同数据单元不是字节的一定要经过ByteBuffer
+        //转换，关键是要通过ByteOrder设置nativeOrder()，否则有可能会出问题
+        //顶点坐标数据的初始化================end============================
+        
+        //顶点纹理数据的初始化================begin============================
+        float textures[]=new float[]
+        {
+        	0,0,0,1,1,0,
+        	0,1,1,1,1,0
+        };
+
+        
+        //创建顶点纹理数据缓冲
+        ByteBuffer tbb = ByteBuffer.allocateDirect(textures.length*4);
+        tbb.order(ByteOrder.nativeOrder());//设置字节顺序
+        mTextureBuffer= tbb.asFloatBuffer();//转换为Float型缓冲
+        mTextureBuffer.put(textures);//向缓冲区中放入顶点着色数据
+        mTextureBuffer.position(0);//设置缓冲区起始位置
+        //特别提示：由于不同平台字节顺序不同数据单元不是字节的一定要经过ByteBuffer
+        //转换，关键是要通过ByteOrder设置nativeOrder()，否则有可能会出问题
+        //顶点纹理数据的初始化================end============================
+    }  
+      
+    //初始化shader
+    public void intShader(MySurfaceView mv)
+    {
+    	//加载顶点着色器的脚本内容       
+        mVertexShader=ShaderUtil.loadFromAssetsFile("vertex.sh", mv.getResources());
+        ShaderUtil.checkGlError("==ss==");   
+        //加载片元着色器的脚本内容
+        mFragmentShader=ShaderUtil.loadFromAssetsFile("frag.sh", mv.getResources());  
+        //基于顶点着色器与片元着色器创建程序
+        ShaderUtil.checkGlError("==ss==");      
+        mProgram = ShaderUtil.createProgram(mVertexShader, mFragmentShader);
+        //获取程序中顶点位置属性引用id  
+        maPositionHandle = GLES20.glGetAttribLocation(mProgram, "aPosition");
+        //获取程序中顶点经纬度属性引用id   
+        maTexCoorHandle=GLES20.glGetAttribLocation(mProgram, "aTexCoor");  
+        //获取程序中总变换矩阵引用id 
+        muMVPMatrixHandle = GLES20.glGetUniformLocation(mProgram, "uMVPMatrix");   
+        //获取位置、旋转变换矩阵引用id
+    }
+    
+    public void drawSelf(int texId) 
+    {        
+    	 //制定使用某套shader程序
+    	 GLES20.glUseProgram(mProgram);
+         //将最终变换矩阵传入shader程序
+         GLES20.glUniformMatrix4fv(muMVPMatrixHandle, 1, false, MatrixState.getFinalMatrix(), 0);  
+         
+         //为画笔指定顶点位置数据    
+         GLES20.glVertexAttribPointer        
+         (
+         		maPositionHandle,   
+         		3, 
+         		GLES20.GL_FLOAT, 
+         		false,
+                3*4, 
+                mVertexBuffer   
+         );       
+         //为画笔指定顶点纹理坐标数据
+         GLES20.glVertexAttribPointer  
+         (  
+        		maTexCoorHandle,  
+         		2, 
+         		GLES20.GL_FLOAT, 
+         		false,
+                2*4,   
+                mTextureBuffer
+         );   
+         //允许顶点位置数据数组
+         GLES20.glEnableVertexAttribArray(maPositionHandle);  
+         GLES20.glEnableVertexAttribArray(maTexCoorHandle);  
+         //绑定纹理
+         GLES20.glActiveTexture(GLES20.GL_TEXTURE0);
+         GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, texId);    
+         GLES20.glUniform1i(uTexHandle, 0);
+           
+         //绘制三角形
+         GLES20.glDrawArrays(GLES20.GL_TRIANGLES, 0, vCount); 
+    }
+}