bullet3/examples/BasicDemo/BasicExample.cpp

#include "BasicExample.h"

#include "btBulletDynamicsCommon.h"
#define ARRAY_SIZE_Y 5
#define ARRAY_SIZE_X 5
#define ARRAY_SIZE_Z 5

#include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedObjectArray.h"

#include "../CommonInterfaces/CommonRigidBodyBase.h"


struct BasicExample : public CommonRigidBodyBase
{
	BasicExample(struct GUIHelperInterface* helper)
		:CommonRigidBodyBase(helper)
	{
	}
	virtual ~BasicExample(){}
	virtual void initPhysics();
	virtual void renderScene();
};

void BasicExample::initPhysics()
{
	m_guiHelper->setUpAxis(1);

	createEmptyDynamicsWorld();
	
	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);

	if (m_dynamicsWorld->getDebugDrawer())
		m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);

	///create a few basic rigid bodies
	btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
	m_guiHelper->createCollisionShapeGraphicsObject(groundShape);

	//groundShape->initializePolyhedralFeatures();
//	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
	
	m_collisionShapes.push_back(groundShape);

	btTransform groundTransform;
	groundTransform.setIdentity();
	groundTransform.setOrigin(btVector3(0,-50,0));

	{
		btScalar mass(0.);
		btRigidBody* body = createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
		m_guiHelper->createRigidBodyGraphicsObject(body, btVector3(0, 1, 0));
	}


	{
		//create a few dynamic rigidbodies
		// Re-using the same collision is better for memory usage and performance

		btBoxShape* colShape = createBoxShape(btVector3(1,1,1));
		m_guiHelper->createCollisionShapeGraphicsObject(colShape);

		//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
		m_collisionShapes.push_back(colShape);

		/// Create Dynamic Objects
		btTransform startTransform;
		startTransform.setIdentity();

		btScalar	mass(1.f);

		//rigidbody is dynamic if and only if mass is non zero, otherwise static
		bool isDynamic = (mass != 0.f);

		btVector3 localInertia(0,0,0);
		if (isDynamic)
			colShape->calculateLocalInertia(mass,localInertia);


		for (int k=0;k<ARRAY_SIZE_Y;k++)
		{
			for (int i=0;i<ARRAY_SIZE_X;i++)
			{
				for(int j = 0;j<ARRAY_SIZE_Z;j++)
				{
					startTransform.setOrigin(btVector3(
										btScalar(2.0*i),
										btScalar(20+2.0*k),
										btScalar(2.0*j)));

			
					btRigidBody* body = createRigidBody(mass,startTransform,colShape);
					m_guiHelper->createRigidBodyGraphicsObject(body, btVector3(1, 1, 0));

				}
			}
		}
	}


}


void BasicExample::renderScene()
{
	CommonRigidBodyBase::renderScene();
	
}





ExampleInterface*    BasicExampleCreateFunc(PhysicsInterface* pint, GUIHelperInterface* helper, int option)
{
	return new BasicExample(helper);
}