Java3D collision detection (full test source)

Question

Hello!
I have struggled with this problem for a month now, so I really need some help.
I try to develop a game with collision detection with Java3D.
To narrow it down I had made two test-java-files for you.
File 1) Applet where I add all my objects (2 ColorCubes)
File 2) A KeyListener to stear one of the cubes. The key listener also checks for collisons.
All code is below, just compile and try.
The idea is that the cube that I can stear should stop outside the other cube from any
direction. But I can't detect that other cube at all.
So if any one could try the code and give me some hints or example I would be most
thankfull.
Best regards
Fredrik
import java.applet.*;
import java.awt.*;
import java.awt.Frame;
import java.awt.event.*;
import com.sun.j3d.utils.applet.MainFrame;
import com.sun.j3d.utils.universe.*;
import com.sun.j3d.utils.geometry.*;
import com.sun.j3d.utils.behaviors.keyboard.*;
import javax.media.j3d.*;
import javax.vecmath.*;
import javax.swing.*;
import java.util.*;
public class Test extends Applet
     BranchGroup branchGroup;
     ColorCube colorCube1 = new ColorCube(0.4); //The cube that you can navigate
     ColorCube colorCube2 = new ColorCube(0.4);
     TransformGroup transformGroup1;
     public void init()
          setLayout(new BorderLayout());
          GraphicsConfiguration config = SimpleUniverse.getPreferredConfiguration();
          Canvas3D canvas3D = new Canvas3D(config);
          add("Center", canvas3D);
          SimpleUniverse simpleUniverse = new SimpleUniverse(canvas3D);
          branchGroup = new BranchGroup();
          //Cube1
          transformGroup1 = new TransformGroup();
          Transform3D transform3D1 = new Transform3D();
          transform3D1.set(new Vector3f(0.0f, 0.0f, -20.0f));
          transformGroup1.setTransform(transform3D1);
          transformGroup1.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
          //for setShapeBounds
          transformGroup1.setCapability(TransformGroup.ALLOW_TRANSFORM_READ);
          colorCube1.setCapability(Node.ALLOW_BOUNDS_READ);
          transformGroup1.setPickable(false);
          transformGroup1.addChild(colorCube1);
          branchGroup.addChild(transformGroup1);
          canvas3D.addKeyListener( new TestListener(transformGroup1, this) );
          //Cube2
          TransformGroup transformGroup2 = new TransformGroup();
          Transform3D transform3D2 = new Transform3D();
          transform3D2.set(new Vector3f(0.0f, 2.0f, -20.0f));
          transformGroup2.setTransform(transform3D2);
          colorCube2.setPickable(true);
          transformGroup2.addChild(colorCube2);
          branchGroup.addChild(transformGroup2);
          branchGroup.compile();
          simpleUniverse.addBranchGraph(branchGroup);
     public static void main(String[] args)
          Frame frame = new MainFrame(new Test(), 600, 400);
}The KeyListener with Collision detection
import java.awt.event.*;
import javax.media.j3d.*;
import javax.vecmath.*;
import java.awt.Frame;
import com.sun.j3d.utils.applet.MainFrame;
import com.sun.j3d.utils.picking.*;
import com.sun.j3d.utils.geometry.*;
public class TestListener implements KeyListener
     final static float DISTANCE      = 0.1f;
     final static double TURNANGLE      = 0.1;
     float x = 0.0f;
     float y = 0.0f;
     float z = -20.0f;
     private double angle = 0.0;
     TransformGroup transformGroup;
     Transform3D positionTransform3D = new Transform3D();
     Transform3D angleTransform3D = new Transform3D();
     Test test;
     PickTool pickTool;
     Point3d point3d;
     Vector3d vector3d;
     Transform3D transform3D;
     public TestListener(TransformGroup tfg, Test t)
          test = t;
          transformGroup = tfg;
          pickTool = new PickTool(test.branchGroup);
          pickTool.setCapabilities(test.colorCube2, PickTool.INTERSECT_FULL);
            pickTool.setMode( PickTool.BOUNDS );
          positionTransform3D.set(new Vector3f(x, y, z));
     public void keyTyped(KeyEvent e)
     public void keyPressed(KeyEvent e)
          if( e.getKeyCode() == KeyEvent.VK_UP )
               if(isMovePossible(DISTANCE))
                    Transform3D temp = new Transform3D();
                 temp.set(new Vector3f(0, DISTANCE, 0));
                 positionTransform3D.mul(temp);
                 transformGroup.setTransform( positionTransform3D );
          else if( e.getKeyCode() == KeyEvent.VK_DOWN )
               if(isMovePossible(-DISTANCE))
                    Transform3D temp = new Transform3D();
                 temp.set(new Vector3f(0, -DISTANCE, 0));
                 positionTransform3D.mul(temp);
                 transformGroup.setTransform( positionTransform3D );
          else if( e.getKeyCode() == KeyEvent.VK_LEFT )
            angle = angle + TURNANGLE;
            angleTransform3D.rotZ(TURNANGLE);
            positionTransform3D.mul(angleTransform3D);
            transformGroup.setTransform( positionTransform3D );
          else if( e.getKeyCode() == KeyEvent.VK_RIGHT )
            angle = angle - TURNANGLE;
            angleTransform3D.rotZ(-TURNANGLE);
            positionTransform3D.mul(angleTransform3D);
            transformGroup.setTransform( positionTransform3D );
     public void keyReleased(KeyEvent e)
     public boolean isMovePossible(float distance)
          boolean retValue = true;
          PickBounds pickBounds = new PickBounds( test.colorCube1.getBounds() );
          pickTool.setShape( pickBounds, getCordinate(test.transformGroup1) );
          PickResult pickResult = pickTool.pickAny( );
          if ( pickResult != null )
               System.out.println("Boink");
               retValue = false;
          else
               retValue = true;
          return retValue;
     public static void main(String[] args)
          Frame frame = new MainFrame(new Test(), 600, 350);
    public Point3d getCordinate(TransformGroup transformGroup)
          Transform3D pointTransform3D = new Transform3D();
          transformGroup.getTransform( pointTransform3D );
          float[] cordinates = new float[16];
          pointTransform3D.get(cordinates);
          Point3d point = new Point3d(cordinates[3], cordinates[7], cordinates[11]);
          return point;
    public void printOutCordinates(TransformGroup transformGroup)
          Transform3D printOutTransform3D = new Transform3D();
          transformGroup.getTransform( printOutTransform3D );
          float[] cordinates = new float[16];
          printOutTransform3D.get(cordinates);
          for(int i = 0; i < cordinates.length; i++)
               System.out.println(i + ":" + cordinates);
          System.out.println();

Answer 1

First of all I would like to point out, that i've never actually used the PickTool, or in fact any element of the whole picking infrastructure from Java3D. Nevertheless I have done some collision detection in Java3D and it worked just fine. Unfortunatelly it required building the whole coldet ( collision detection ) algorythm from scratch :-)
If You want to collide only two bodies then You probably should consider creating a special Behaviour class that will react to the WakeupOnCollisionEntry and WakeupOnCollisionExit criterions. There is a good example of such a behaviour class in the Java3D demos, under TickTockCollision. However if there will be more bodies in Your scene and they will collide with each other in a random way, then You should rather consider building the whole coldet engine from scratch ( it's not very difficult, but it takes some time )
Either way, You could try to get a second opinion on the Java3D forum. People out there should have more experience with Java3D