mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-09 09:00:08 +00:00
241 lines
5.7 KiB
C++
241 lines
5.7 KiB
C++
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include "GLDebugFont.h"
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#include <stdio.h> //printf debugging
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#include "GyroscopicDemo.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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#include "GLDebugDrawer.h"
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static GLDebugDrawer gDebugDrawer;
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void GyroscopicDemo::setupEmptyDynamicsWorld()
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{
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_overlappingPairCache = new btDbvtBroadphase();
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m_constraintSolver = new btSequentialImpulseConstraintSolver();
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
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}
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void GyroscopicDemo::clientResetScene()
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{
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exitPhysics();
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initPhysics();
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}
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void GyroscopicDemo::initPhysics()
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{
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m_azi=90;
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m_ele = 20;
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setTexturing(true);
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setShadows(true);
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setCameraUp(btVector3(0,0,1));
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setCameraForwardAxis(1);
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m_sundirection.setValue(0,-1,-1);
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setCameraDistance(7.f);
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setupEmptyDynamicsWorld();
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m_dynamicsWorld->setGravity(btVector3(0,0,-9.8));
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m_dynamicsWorld->setDebugDrawer(&gDebugDrawer);
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//btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(0.5)));
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btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,0,1),0);
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,0,0));
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btRigidBody* groundBody;
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groundBody= localCreateRigidBody(0, groundTransform, groundShape);
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groundBody->setFriction(btSqrt(2));
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btVector3 positions[2] = {
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btVector3(0.8,-2,2),
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btVector3(0.8,2,2)
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};
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bool gyro[2] = {
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true,
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false
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};
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for (int i=0;i<2;i++)
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{
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btCylinderShapeZ* top = new btCylinderShapeZ(btVector3(1,1,0.125));
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btCapsuleShapeZ* pin = new btCapsuleShapeZ(0.05,1.5);
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top->setMargin(0.01);
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pin->setMargin(0.01);
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btCompoundShape* compound = new btCompoundShape();
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compound->addChildShape(btTransform::getIdentity(),top);
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compound->addChildShape(btTransform::getIdentity(),pin);
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btVector3 localInertia;
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top->calculateLocalInertia(1,localInertia);
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btRigidBody* body = new btRigidBody(1,0,compound,localInertia);
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(positions[i]);
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body->setCenterOfMassTransform(tr);
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body->setAngularVelocity(btVector3(0,0,15));
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body->setLinearVelocity(btVector3(0,.2,0));
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body->setFriction(btSqrt(1));
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m_dynamicsWorld->addRigidBody(body);
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if (gyro[i])
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{
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body->setFlags(BT_ENABLE_GYROPSCOPIC_FORCE);
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} else
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{
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body->setFlags(0);
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}
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body->setDamping(0.00001f,0.0001f);
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}
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}
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void GyroscopicDemo::exitPhysics()
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{
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int i;
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//removed/delete constraints
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for (i=m_dynamicsWorld->getNumConstraints()-1; i>=0 ;i--)
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{
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btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
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m_dynamicsWorld->removeConstraint(constraint);
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delete constraint;
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}
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//remove the rigidbodies from the dynamics world and delete them
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for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
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{
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btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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{
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delete body->getMotionState();
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}
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m_dynamicsWorld->removeCollisionObject( obj );
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delete obj;
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}
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//delete collision shapes
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for (int j=0;j<m_collisionShapes.size();j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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m_collisionShapes.clear();
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//delete dynamics world
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delete m_dynamicsWorld;
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//delete solver
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delete m_constraintSolver;
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//delete broadphase
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delete m_overlappingPairCache;
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//delete dispatcher
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delete m_dispatcher;
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delete m_collisionConfiguration;
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}
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GyroscopicDemo::GyroscopicDemo()
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{
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}
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GyroscopicDemo::~GyroscopicDemo()
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{
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//cleanup in the reverse order of creation/initialization
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exitPhysics();
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}
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void GyroscopicDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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float dt = float(getDeltaTimeMicroseconds()) * 0.000001f;
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//printf("dt = %f: ",dt);
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{
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static bool once = true;
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if ( m_dynamicsWorld->getDebugDrawer() && once)
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{
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m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawConstraints+btIDebugDraw::DBG_DrawConstraintLimits);
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once=false;
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}
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}
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{
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//during idle mode, just run 1 simulation step maximum
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int numSimSteps = m_dynamicsWorld->stepSimulation(dt,100,1./1000.f);
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//optional but useful: debug drawing
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m_dynamicsWorld->debugDrawWorld();
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}
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renderme();
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glFlush();
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swapBuffers();
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}
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void GyroscopicDemo::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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if (m_dynamicsWorld)
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m_dynamicsWorld->debugDrawWorld();
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renderme();
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glFlush();
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swapBuffers();
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}
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