mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-10 17:30:12 +00:00
ForkLift demo added
This commit is contained in:
rponom
parent
65f8a7e70e
commit
02112b0687
@ -13,13 +13,48 @@ subject to the following restrictions:
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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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/// September 2006: ForkLiftDemo is work in progress, this file is mostly just a placeholder
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/// This ForkLiftDemo file is very early in development, please check it later
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/// September 2006: VehicleDemo is work in progress, this file is mostly just a placeholder
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/// This VehicleDemo file is very early in development, please check it later
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/// One todo is a basic engine model:
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/// A function that maps user input (throttle) into torque/force applied on the wheels
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/// with gears etc.
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#include "btBulletDynamicsCommon.h"
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#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
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#ifndef M_PI
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#define M_PI 3.14159265358979323846
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#endif
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#ifndef M_PI_2
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#define M_PI_2 1.57079632679489661923
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#endif
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#ifndef M_PI_4
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#define M_PI_4 0.785398163397448309616
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#endif
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#define LIFT_EPS 0.0000001f
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//
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// By default, Bullet Vehicle uses Y as up axis.
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// You can override the up axis, for example Z-axis up. Enable this define to see how to:
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//#define FORCE_ZAXIS_UP 1
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//
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#ifdef FORCE_ZAXIS_UP
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int rightIndex = 0;
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int upIndex = 2;
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int forwardIndex = 1;
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btVector3 wheelDirectionCS0(0,0,-1);
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btVector3 wheelAxleCS(1,0,0);
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#else
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int rightIndex = 0;
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int upIndex = 1;
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int forwardIndex = 2;
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btVector3 wheelDirectionCS0(0,-1,0);
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btVector3 wheelAxleCS(-1,0,0);
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#endif
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#include "GLDebugDrawer.h"
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#include <stdio.h> //printf debugging
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@ -27,26 +62,32 @@ subject to the following restrictions:
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#include "GlutStuff.h"
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#include "ForkLiftDemo.h"
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#include "BMF_Api.h"
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const int maxProxies = 32766;
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const int maxOverlap = 65535;
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///btRaycastVehicle is the interface for the constraint that implements the raycast vehicle
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///notice that for higher-quality slow-moving vehicles, another approach might be better
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///implementing explicit hinged-wheel constraints with cylinder collision, rather then raycasts
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float gEngineForce = 0.f;
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float maxEngineForce = 100.f;
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float gBreakingForce = 0.f;
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float maxEngineForce = 1000.f;//this should be engine/velocity dependent
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float maxBreakingForce = 100.f;
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float gVehicleSteering = 0.f;
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float steeringIncrement = 0.1f;
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float steeringIncrement = 0.04f;
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float steeringClamp = 0.3f;
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float wheelRadius = 0.5f;
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float wheelWidth = 0.2f;
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float wheelFriction = 100.f;
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float suspensionStiffness = 10.f;
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float suspensionDamping = 1.3f;
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float suspensionCompression = 2.4f;
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float rollInfluence = 0.1f;
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btVector3 wheelDirectionCS0(0,-1,0);
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btVector3 wheelAxleCS(1,0,0);
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float wheelWidth = 0.4f;
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float wheelFriction = 1000;//1e30f;
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float suspensionStiffness = 20.f;
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float suspensionDamping = 2.3f;
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float suspensionCompression = 4.4f;
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float rollInfluence = 0.1f;//1.0f;
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btScalar suspensionRestLength(0.6);
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#define CUBE_HALF_EXTENTS 1
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@ -57,37 +98,104 @@ btScalar suspensionRestLength(0.6);
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GLDebugDrawer debugDrawer;
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int main(int argc,char** argv)
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{
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ForkLiftDemo* vehicleDemo = new ForkLiftDemo;
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vehicleDemo->setupPhysics();
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return glutmain(argc, argv,640,480,"Bullet Vehicle Demo. http://www.continuousphysics.com/Bullet/phpBB2/", vehicleDemo);
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}
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ForkLiftDemo::ForkLiftDemo()
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:
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m_carChassis(0),
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m_liftBody(0),
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m_forkBody(0),
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m_loadBody(0),
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m_cameraHeight(4.f),
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m_minCameraDistance(3.f),
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m_maxCameraDistance(10.f)
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m_maxCameraDistance(10.f),
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m_indexVertexArrays(0),
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m_vertices(0)
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{
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m_vehicle = 0;
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m_cameraPosition = btVector3(30,30,30);
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m_useDefaultCamera = false;
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}
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void ForkLiftDemo::setupPhysics()
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void ForkLiftDemo::termPhysics()
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{
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//cleanup in the reverse order of creation/initialization
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//remove the rigidbodies from the dynamics world and delete them
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int i;
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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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delete m_indexVertexArrays;
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delete m_vertices;
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//delete dynamics world
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delete m_dynamicsWorld;
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delete m_vehicleRayCaster;
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delete m_vehicle;
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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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ForkLiftDemo::~ForkLiftDemo()
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{
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termPhysics();
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}
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void ForkLiftDemo::initPhysics()
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{
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#ifdef FORCE_ZAXIS_UP
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m_cameraUp = btVector3(0,0,1);
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m_forwardAxis = 1;
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#endif
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btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
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m_dynamicsWorld = new btDiscreteDynamicsWorld();
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m_collisionShapes.push_back(groundShape);
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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btVector3 worldMin(-1000,-1000,-1000);
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btVector3 worldMax(1000,1000,1000);
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m_overlappingPairCache = new btAxisSweep3(worldMin,worldMax);
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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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#ifdef FORCE_ZAXIS_UP
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m_dynamicsWorld->setGravity(btVector3(0,0,-10));
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#endif
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//m_dynamicsWorld->setGravity(btVector3(0,0,0));
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btTransform tr;
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tr.setIdentity();
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//either use heightfield or triangle mesh
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#define USE_TRIMESH_GROUND 1
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#ifdef USE_TRIMESH_GROUND
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int i;
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@ -98,13 +206,13 @@ const float TRIANGLE_SIZE=20.f;
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int vertStride = sizeof(btVector3);
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int indexStride = 3*sizeof(int);
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const int NUM_VERTS_X = 50;
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const int NUM_VERTS_Y = 50;
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const int NUM_VERTS_X = 20;
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const int NUM_VERTS_Y = 20;
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const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
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const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
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btVector3* gVertices = new btVector3[totalVerts];
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m_vertices = new btVector3[totalVerts];
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int* gIndices = new int[totalTriangles*3];
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@ -113,7 +221,23 @@ const float TRIANGLE_SIZE=20.f;
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{
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for (int j=0;j<NUM_VERTS_Y;j++)
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{
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gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,2.f*sinf((float)i)*cosf((float)j),(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
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float wl = .2f;
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//height set to zero, but can also use curved landscape, just uncomment out the code
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float height = 0.f;//20.f*sinf(float(i)*wl)*cosf(float(j)*wl);
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#ifdef FORCE_ZAXIS_UP
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m_vertices[i+j*NUM_VERTS_X].setValue(
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(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
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(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE,
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height
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);
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#else
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m_vertices[i+j*NUM_VERTS_X].setValue(
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(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
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height,
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(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
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#endif
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}
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}
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@ -132,45 +256,253 @@ const float TRIANGLE_SIZE=20.f;
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}
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}
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btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
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m_indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
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gIndices,
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indexStride,
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totalVerts,(float*) &gVertices[0].x(),vertStride);
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totalVerts,(btScalar*) &m_vertices[0].x(),vertStride);
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groundShape = new btBvhTriangleMeshShape(indexVertexArrays);
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bool useQuantizedAabbCompression = true;
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groundShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression);
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tr.setOrigin(btVector3(0,-4.5f,0));
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#else
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//testing btHeightfieldTerrainShape
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int width=128;
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int length=128;
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unsigned char* heightfieldData = new unsigned char[width*length];
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{
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for (int i=0;i<width*length;i++)
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{
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heightfieldData[i]=0;
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}
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}
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char* filename="heightfield128x128.raw";
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FILE* heightfieldFile = fopen(filename,"r");
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if (!heightfieldFile)
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{
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filename="../../heightfield128x128.raw";
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heightfieldFile = fopen(filename,"r");
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}
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if (heightfieldFile)
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{
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int numBytes =fread(heightfieldData,1,width*length,heightfieldFile);
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//btAssert(numBytes);
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if (!numBytes)
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{
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printf("couldn't read heightfield at %s\n",filename);
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}
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fclose (heightfieldFile);
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}
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btScalar maxHeight = 20000.f;
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bool useFloatDatam=false;
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bool flipQuadEdges=false;
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btHeightfieldTerrainShape* heightFieldShape = new btHeightfieldTerrainShape(width,length,heightfieldData,maxHeight,upIndex,useFloatDatam,flipQuadEdges);;
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groundShape = heightFieldShape;
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heightFieldShape->setUseDiamondSubdivision(true);
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btVector3 localScaling(20,20,20);
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localScaling[upIndex]=1.f;
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groundShape->setLocalScaling(localScaling);
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tr.setOrigin(btVector3(0,-64.5f,0));
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#endif //
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(btVector3(0,-4.5f,0));
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m_collisionShapes.push_back(groundShape);
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//create ground object
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localCreateRigidBody(0,tr,groundShape);
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#ifdef FORCE_ZAXIS_UP
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// indexRightAxis = 0;
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// indexUpAxis = 2;
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// indexForwardAxis = 1;
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btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,2.f, 0.5f));
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btCompoundShape* compound = new btCompoundShape();
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btTransform localTrans;
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localTrans.setIdentity();
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//localTrans effectively shifts the center of mass with respect to the chassis
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localTrans.setOrigin(btVector3(0,0,1));
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#else
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btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,0.5f,2.f));
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m_collisionShapes.push_back(chassisShape);
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btCompoundShape* compound = new btCompoundShape();
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m_collisionShapes.push_back(compound);
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btTransform localTrans;
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localTrans.setIdentity();
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//localTrans effectively shifts the center of mass with respect to the chassis
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localTrans.setOrigin(btVector3(0,1,0));
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#endif
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compound->addChildShape(localTrans,chassisShape);
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{
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btCollisionShape* suppShape = new btBoxShape(btVector3(0.5f,0.1f,0.5f));
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m_collisionShapes.push_back(chassisShape);
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btTransform suppLocalTrans;
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suppLocalTrans.setIdentity();
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//localTrans effectively shifts the center of mass with respect to the chassis
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suppLocalTrans.setOrigin(btVector3(0,1.0,2.5));
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compound->addChildShape(suppLocalTrans, suppShape);
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}
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tr.setOrigin(btVector3(0,0.f,0));
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m_carChassis = localCreateRigidBody(800,tr,chassisShape);
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m_carChassis = localCreateRigidBody(800,tr,compound);//chassisShape);
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//m_carChassis->setDamping(0.2,0.2);
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{
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btCollisionShape* liftShape = new btBoxShape(btVector3(0.5f,2.0f,0.05f));
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m_collisionShapes.push_back(liftShape);
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btTransform liftTrans;
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m_liftStartPos = btVector3(0.0f, 2.5f, 3.05f);
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liftTrans.setIdentity();
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liftTrans.setOrigin(m_liftStartPos);
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m_liftBody = localCreateRigidBody(10,liftTrans, liftShape);
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btTransform localA, localB;
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localA.setIdentity();
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localB.setIdentity();
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localA.getBasis().setEulerZYX(0, M_PI_2, 0);
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localA.setOrigin(btVector3(0.0, 1.0, 3.05));
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localB.getBasis().setEulerZYX(0, M_PI_2, 0);
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localB.setOrigin(btVector3(0.0, -1.5, -0.05));
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m_liftHinge = new btHingeConstraint(*m_carChassis,*m_liftBody, localA, localB);
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m_liftHinge->setLimit(-LIFT_EPS, LIFT_EPS);
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m_dynamicsWorld->addConstraint(m_liftHinge, true);
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btCollisionShape* forkShapeA = new btBoxShape(btVector3(1.0f,0.1f,0.1f));
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m_collisionShapes.push_back(forkShapeA);
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btCompoundShape* forkCompound = new btCompoundShape();
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m_collisionShapes.push_back(forkCompound);
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btTransform forkLocalTrans;
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forkLocalTrans.setIdentity();
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forkCompound->addChildShape(forkLocalTrans, forkShapeA);
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btCollisionShape* forkShapeB = new btBoxShape(btVector3(0.1f,0.02f,0.6f));
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m_collisionShapes.push_back(forkShapeB);
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forkLocalTrans.setIdentity();
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forkLocalTrans.setOrigin(btVector3(-0.9f, -0.08f, 0.7f));
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forkCompound->addChildShape(forkLocalTrans, forkShapeB);
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btCollisionShape* forkShapeC = new btBoxShape(btVector3(0.1f,0.02f,0.6f));
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m_collisionShapes.push_back(forkShapeC);
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forkLocalTrans.setIdentity();
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forkLocalTrans.setOrigin(btVector3(0.9f, -0.08f, 0.7f));
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forkCompound->addChildShape(forkLocalTrans, forkShapeC);
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btTransform forkTrans;
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m_forkStartPos = btVector3(0.0f, 0.6f, 3.2f);
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forkTrans.setIdentity();
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forkTrans.setOrigin(m_forkStartPos);
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m_forkBody = localCreateRigidBody(5, forkTrans, forkCompound);
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localA.setIdentity();
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localB.setIdentity();
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localA.getBasis().setEulerZYX(0, 0, M_PI_2);
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localA.setOrigin(btVector3(0.0f, -1.9f, 0.05f));
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localB.getBasis().setEulerZYX(0, 0, M_PI_2);
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localB.setOrigin(btVector3(0.0, 0.0, -0.1));
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m_forkSlider = new btSliderConstraint(*m_liftBody, *m_forkBody, localA, localB, true);
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m_forkSlider->setLowerLinLimit(0.1f);
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m_forkSlider->setUpperLinLimit(0.1f);
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m_forkSlider->setLowerAngLimit(-LIFT_EPS);
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m_forkSlider->setUpperAngLimit(LIFT_EPS);
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m_dynamicsWorld->addConstraint(m_forkSlider, true);
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btCompoundShape* loadCompound = new btCompoundShape();
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m_collisionShapes.push_back(loadCompound);
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btCollisionShape* loadShapeA = new btBoxShape(btVector3(2.0f,0.5f,0.5f));
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m_collisionShapes.push_back(loadShapeA);
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btTransform loadTrans;
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loadTrans.setIdentity();
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loadCompound->addChildShape(loadTrans, loadShapeA);
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btCollisionShape* loadShapeB = new btBoxShape(btVector3(0.1f,1.0f,1.0f));
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m_collisionShapes.push_back(loadShapeB);
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loadTrans.setIdentity();
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loadTrans.setOrigin(btVector3(2.1f, 0.0f, 0.0f));
|
||||
loadCompound->addChildShape(loadTrans, loadShapeB);
|
||||
btCollisionShape* loadShapeC = new btBoxShape(btVector3(0.1f,1.0f,1.0f));
|
||||
m_collisionShapes.push_back(loadShapeC);
|
||||
loadTrans.setIdentity();
|
||||
loadTrans.setOrigin(btVector3(-2.1f, 0.0f, 0.0f));
|
||||
loadCompound->addChildShape(loadTrans, loadShapeC);
|
||||
loadTrans.setIdentity();
|
||||
m_loadStartPos = btVector3(0.0f, -3.5f, 7.0f);
|
||||
loadTrans.setOrigin(m_loadStartPos);
|
||||
m_loadBody = localCreateRigidBody(4, loadTrans, loadCompound);
|
||||
}
|
||||
|
||||
|
||||
|
||||
clientResetScene();
|
||||
|
||||
/// create vehicle
|
||||
{
|
||||
|
||||
///never deactivate the vehicle
|
||||
m_carChassis->SetActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),0,2*CUBE_HALF_EXTENTS-wheelRadius);
|
||||
// m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
|
||||
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),0,2*CUBE_HALF_EXTENTS-wheelRadius);
|
||||
// m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
|
||||
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),0,-2*CUBE_HALF_EXTENTS+wheelRadius);
|
||||
// m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
|
||||
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),0,-2*CUBE_HALF_EXTENTS+wheelRadius);
|
||||
// m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
|
||||
m_vehicleRayCaster = new btDefaultVehicleRaycaster(m_dynamicsWorld);
|
||||
m_vehicle = new btRaycastVehicle(m_tuning,m_carChassis,m_vehicleRayCaster);
|
||||
|
||||
///never deactivate the vehicle
|
||||
m_carChassis->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
m_dynamicsWorld->addVehicle(m_vehicle);
|
||||
|
||||
float connectionHeight = 1.2f;
|
||||
|
||||
|
||||
bool isFrontWheel=true;
|
||||
|
||||
//choose coordinate system
|
||||
m_vehicle->setCoordinateSystem(rightIndex,upIndex,forwardIndex);
|
||||
|
||||
#ifdef FORCE_ZAXIS_UP
|
||||
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),2*CUBE_HALF_EXTENTS-wheelRadius, connectionHeight);
|
||||
#else
|
||||
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
|
||||
#endif
|
||||
|
||||
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
|
||||
#ifdef FORCE_ZAXIS_UP
|
||||
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),2*CUBE_HALF_EXTENTS-wheelRadius, connectionHeight);
|
||||
#else
|
||||
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
|
||||
#endif
|
||||
|
||||
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
|
||||
#ifdef FORCE_ZAXIS_UP
|
||||
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),-2*CUBE_HALF_EXTENTS+wheelRadius, connectionHeight);
|
||||
#else
|
||||
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
|
||||
#endif //FORCE_ZAXIS_UP
|
||||
isFrontWheel = false;
|
||||
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
|
||||
#ifdef FORCE_ZAXIS_UP
|
||||
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),-2*CUBE_HALF_EXTENTS+wheelRadius, connectionHeight);
|
||||
#else
|
||||
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
|
||||
#endif
|
||||
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
|
||||
|
||||
for (int i=0;i<m_vehicle->getNumWheels();i++)
|
||||
{
|
||||
btWheelInfo& wheel = m_vehicle->getWheelInfo(i);
|
||||
wheel.m_suspensionStiffness = suspensionStiffness;
|
||||
wheel.m_wheelsDampingRelaxation = suspensionDamping;
|
||||
wheel.m_wheelsDampingCompression = suspensionCompression;
|
||||
wheel.m_frictionSlip = wheelFriction;
|
||||
wheel.m_rollInfluence = rollInfluence;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -185,12 +517,55 @@ void ForkLiftDemo::renderme()
|
||||
|
||||
updateCamera();
|
||||
|
||||
debugDrawer.setDebugMode(getDebugMode());
|
||||
float m[16];
|
||||
btScalar m[16];
|
||||
int i;
|
||||
|
||||
DemoApplication::renderme();
|
||||
btCylinderShapeX wheelShape(btVector3(wheelWidth,wheelRadius,wheelRadius));
|
||||
btVector3 wheelColor(1,0,0);
|
||||
|
||||
btVector3 worldBoundsMin,worldBoundsMax;
|
||||
getDynamicsWorld()->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
|
||||
|
||||
|
||||
|
||||
for (i=0;i<m_vehicle->getNumWheels();i++)
|
||||
{
|
||||
//synchronize the wheels with the (interpolated) chassis worldtransform
|
||||
m_vehicle->updateWheelTransform(i,true);
|
||||
//draw wheels (cylinders)
|
||||
m_vehicle->getWheelInfo(i).m_worldTransform.getOpenGLMatrix(m);
|
||||
m_shapeDrawer.drawOpenGL(m,&wheelShape,wheelColor,getDebugMode(),worldBoundsMin,worldBoundsMax);
|
||||
}
|
||||
|
||||
if((getDebugMode() & btIDebugDraw::DBG_NoHelpText)==0)
|
||||
{
|
||||
setOrthographicProjection();
|
||||
glDisable(GL_LIGHTING);
|
||||
glColor3f(0, 0, 0);
|
||||
char buf[124];
|
||||
glRasterPos3f(400, 20, 0);
|
||||
sprintf(buf,"PgUp - rotate lift up");
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
glRasterPos3f(400, 40, 0);
|
||||
sprintf(buf,"PgUp - rotate lift down");
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
glRasterPos3f(400, 60, 0);
|
||||
sprintf(buf,"Home - move fork up");
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
glRasterPos3f(400, 80, 0);
|
||||
sprintf(buf,"End - move fork down");
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
glRasterPos3f(400, 100, 0);
|
||||
sprintf(buf,"Insert - move vehicle back");
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
glRasterPos3f(400, 120, 0);
|
||||
sprintf(buf,"F5 - toggle camera mode");
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
|
||||
resetPerspectiveProjection();
|
||||
glEnable(GL_LIGHTING);
|
||||
}
|
||||
DemoApplication::renderme();
|
||||
}
|
||||
|
||||
void ForkLiftDemo::clientMoveAndDisplay()
|
||||
@ -198,17 +573,38 @@ void ForkLiftDemo::clientMoveAndDisplay()
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
float dt = m_clock.getTimeMilliseconds() * 0.001f;
|
||||
m_clock.reset();
|
||||
|
||||
|
||||
{
|
||||
int wheelIndex = 2;
|
||||
m_vehicle->applyEngineForce(gEngineForce,wheelIndex);
|
||||
m_vehicle->setBrake(gBreakingForce,wheelIndex);
|
||||
wheelIndex = 3;
|
||||
m_vehicle->applyEngineForce(gEngineForce,wheelIndex);
|
||||
m_vehicle->setBrake(gBreakingForce,wheelIndex);
|
||||
|
||||
|
||||
wheelIndex = 0;
|
||||
m_vehicle->setSteeringValue(gVehicleSteering,wheelIndex);
|
||||
wheelIndex = 1;
|
||||
m_vehicle->setSteeringValue(gVehicleSteering,wheelIndex);
|
||||
|
||||
}
|
||||
|
||||
|
||||
float dt = getDeltaTimeMicroseconds() * 0.000001f;
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
//during idle mode, just run 1 simulation step maximum
|
||||
int maxSimSubSteps = m_idle ? 1 : 1;
|
||||
int maxSimSubSteps = m_idle ? 1 : 2;
|
||||
if (m_idle)
|
||||
dt = 1.0/420.f;
|
||||
|
||||
int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
|
||||
|
||||
|
||||
//#define VERBOSE_FEEDBACK
|
||||
#ifdef VERBOSE_FEEDBACK
|
||||
if (!numSimSteps)
|
||||
printf("Interpolated transforms\n");
|
||||
else
|
||||
@ -222,10 +618,14 @@ void ForkLiftDemo::clientMoveAndDisplay()
|
||||
printf("Simulated (%i) steps\n",numSimSteps);
|
||||
}
|
||||
}
|
||||
#endif //VERBOSE_FEEDBACK
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#ifdef USE_QUICKPROF
|
||||
@ -235,6 +635,10 @@ void ForkLiftDemo::clientMoveAndDisplay()
|
||||
|
||||
renderme();
|
||||
|
||||
//optional but useful: debug drawing
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
#ifdef USE_QUICKPROF
|
||||
btProfiler::endBlock("render");
|
||||
#endif
|
||||
@ -249,18 +653,13 @@ void ForkLiftDemo::clientMoveAndDisplay()
|
||||
|
||||
void ForkLiftDemo::displayCallback(void)
|
||||
{
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
|
||||
|
||||
m_dynamicsWorld->updateAabbs();
|
||||
//draw contactpoints
|
||||
//m_physicsEnvironmentPtr->CallbackTriggers();
|
||||
|
||||
|
||||
renderme();
|
||||
|
||||
//optional but useful: debug drawing
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
@ -268,14 +667,92 @@ void ForkLiftDemo::displayCallback(void)
|
||||
|
||||
|
||||
|
||||
void ForkLiftDemo::clientResetScene()
|
||||
{
|
||||
gVehicleSteering = 0.f;
|
||||
m_carChassis->setCenterOfMassTransform(btTransform::getIdentity());
|
||||
m_carChassis->setLinearVelocity(btVector3(0,0,0));
|
||||
m_carChassis->setAngularVelocity(btVector3(0,0,0));
|
||||
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(m_carChassis->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
|
||||
if (m_vehicle)
|
||||
{
|
||||
m_vehicle->resetSuspension();
|
||||
for (int i=0;i<m_vehicle->getNumWheels();i++)
|
||||
{
|
||||
//synchronize the wheels with the (interpolated) chassis worldtransform
|
||||
m_vehicle->updateWheelTransform(i,true);
|
||||
}
|
||||
}
|
||||
btTransform liftTrans;
|
||||
liftTrans.setIdentity();
|
||||
liftTrans.setOrigin(m_liftStartPos);
|
||||
m_liftBody->setCenterOfMassTransform(liftTrans);
|
||||
m_liftBody->setLinearVelocity(btVector3(0,0,0));
|
||||
m_liftBody->setAngularVelocity(btVector3(0,0,0));
|
||||
|
||||
btTransform forkTrans;
|
||||
forkTrans.setIdentity();
|
||||
forkTrans.setOrigin(m_forkStartPos);
|
||||
m_forkBody->setCenterOfMassTransform(forkTrans);
|
||||
m_forkBody->setLinearVelocity(btVector3(0,0,0));
|
||||
m_forkBody->setAngularVelocity(btVector3(0,0,0));
|
||||
|
||||
m_liftHinge->setLimit(-LIFT_EPS, LIFT_EPS);
|
||||
m_liftHinge->enableAngularMotor(false, 0, 0);
|
||||
|
||||
m_forkSlider->setLowerLinLimit(0.1f);
|
||||
m_forkSlider->setUpperLinLimit(0.1f);
|
||||
m_forkSlider->setPoweredLinMotor(false);
|
||||
|
||||
btTransform loadTrans;
|
||||
loadTrans.setIdentity();
|
||||
loadTrans.setOrigin(m_loadStartPos);
|
||||
m_loadBody->setCenterOfMassTransform(loadTrans);
|
||||
m_loadBody->setLinearVelocity(btVector3(0,0,0));
|
||||
m_loadBody->setAngularVelocity(btVector3(0,0,0));
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void ForkLiftDemo::specialKeyboardUp(int key, int x, int y)
|
||||
{
|
||||
switch (key)
|
||||
{
|
||||
case GLUT_KEY_UP :
|
||||
{
|
||||
gEngineForce = 0.f;
|
||||
break;
|
||||
}
|
||||
case GLUT_KEY_DOWN :
|
||||
{
|
||||
gBreakingForce = 0.f;
|
||||
break;
|
||||
}
|
||||
case GLUT_KEY_PAGE_UP:
|
||||
lockLiftHinge();
|
||||
break;
|
||||
case GLUT_KEY_PAGE_DOWN:
|
||||
lockLiftHinge();
|
||||
break;
|
||||
case GLUT_KEY_HOME:
|
||||
lockForkSlider();
|
||||
break;
|
||||
case GLUT_KEY_END:
|
||||
lockForkSlider();
|
||||
break;
|
||||
default:
|
||||
DemoApplication::specialKeyboardUp(key,x,y);
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void ForkLiftDemo::specialKeyboard(int key, int x, int y)
|
||||
{
|
||||
|
||||
printf("key = %i x=%i y=%i\n",key,x,y);
|
||||
// printf("key = %i x=%i y=%i\n",key,x,y);
|
||||
|
||||
switch (key)
|
||||
{
|
||||
@ -297,14 +774,47 @@ void ForkLiftDemo::specialKeyboard(int key, int x, int y)
|
||||
}
|
||||
case GLUT_KEY_UP :
|
||||
{
|
||||
gEngineForce = -maxEngineForce;
|
||||
gEngineForce = maxEngineForce;
|
||||
gBreakingForce = 0.f;
|
||||
break;
|
||||
}
|
||||
case GLUT_KEY_DOWN :
|
||||
{
|
||||
gEngineForce = maxEngineForce;
|
||||
gBreakingForce = maxBreakingForce;
|
||||
gEngineForce = 0.f;
|
||||
break;
|
||||
}
|
||||
case GLUT_KEY_INSERT :
|
||||
{
|
||||
gEngineForce = -maxEngineForce;
|
||||
gBreakingForce = 0.f;
|
||||
break;
|
||||
}
|
||||
case GLUT_KEY_PAGE_UP:
|
||||
m_liftHinge->setLimit(-M_PI/16.0f, M_PI/8.0f);
|
||||
m_liftHinge->enableAngularMotor(true, 0.1, 10.0);
|
||||
break;
|
||||
case GLUT_KEY_PAGE_DOWN:
|
||||
m_liftHinge->setLimit(-M_PI/16.0f, M_PI/8.0f);
|
||||
m_liftHinge->enableAngularMotor(true, -0.1, 10.0);
|
||||
break;
|
||||
case GLUT_KEY_HOME:
|
||||
m_forkSlider->setLowerLinLimit(0.1f);
|
||||
m_forkSlider->setUpperLinLimit(3.9f);
|
||||
m_forkSlider->setPoweredLinMotor(true);
|
||||
m_forkSlider->setMaxLinMotorForce(10.0);
|
||||
m_forkSlider->setTargetLinMotorVelocity(1.0);
|
||||
break;
|
||||
case GLUT_KEY_END:
|
||||
m_forkSlider->setLowerLinLimit(0.1f);
|
||||
m_forkSlider->setUpperLinLimit(3.9f);
|
||||
m_forkSlider->setPoweredLinMotor(true);
|
||||
m_forkSlider->setMaxLinMotorForce(10.0);
|
||||
m_forkSlider->setTargetLinMotorVelocity(-1.0);
|
||||
break;
|
||||
case GLUT_KEY_F5:
|
||||
m_useDefaultCamera = !m_useDefaultCamera;
|
||||
break;
|
||||
default:
|
||||
DemoApplication::specialKeyboard(key,x,y);
|
||||
break;
|
||||
@ -315,10 +825,15 @@ void ForkLiftDemo::specialKeyboard(int key, int x, int y)
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void ForkLiftDemo::updateCamera()
|
||||
{
|
||||
|
||||
//#define DISABLE_CAMERA 1
|
||||
if(m_useDefaultCamera)
|
||||
{
|
||||
DemoApplication::updateCamera();
|
||||
return;
|
||||
}
|
||||
|
||||
glMatrixMode(GL_PROJECTION);
|
||||
glLoadIdentity();
|
||||
@ -330,7 +845,11 @@ void ForkLiftDemo::updateCamera()
|
||||
m_cameraTargetPosition = chassisWorldTrans.getOrigin();
|
||||
|
||||
//interpolate the camera height
|
||||
#ifdef FORCE_ZAXIS_UP
|
||||
m_cameraPosition[2] = (15.0*m_cameraPosition[2] + m_cameraTargetPosition[2] + m_cameraHeight)/16.0;
|
||||
#else
|
||||
m_cameraPosition[1] = (15.0*m_cameraPosition[1] + m_cameraTargetPosition[1] + m_cameraHeight)/16.0;
|
||||
#endif
|
||||
|
||||
btVector3 camToObject = m_cameraTargetPosition - m_cameraPosition;
|
||||
|
||||
@ -350,11 +869,58 @@ void ForkLiftDemo::updateCamera()
|
||||
//update OpenGL camera settings
|
||||
glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 10000.0);
|
||||
|
||||
glMatrixMode(GL_MODELVIEW);
|
||||
glLoadIdentity();
|
||||
|
||||
gluLookAt(m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2],
|
||||
m_cameraTargetPosition[0],m_cameraTargetPosition[1], m_cameraTargetPosition[2],
|
||||
m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
|
||||
glMatrixMode(GL_MODELVIEW);
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
void ForkLiftDemo::lockLiftHinge(void)
|
||||
{
|
||||
btScalar hingeAngle = m_liftHinge->getHingeAngle();
|
||||
btScalar lowLim = m_liftHinge->getLowerLimit();
|
||||
btScalar hiLim = m_liftHinge->getUpperLimit();
|
||||
m_liftHinge->enableAngularMotor(false, 0, 0);
|
||||
if(hingeAngle < lowLim)
|
||||
{
|
||||
m_liftHinge->setLimit(lowLim, lowLim + LIFT_EPS);
|
||||
}
|
||||
else if(hingeAngle > hiLim)
|
||||
{
|
||||
m_liftHinge->setLimit(hiLim - LIFT_EPS, hiLim);
|
||||
}
|
||||
else
|
||||
{
|
||||
m_liftHinge->setLimit(hingeAngle - LIFT_EPS, hingeAngle + LIFT_EPS);
|
||||
}
|
||||
return;
|
||||
} // ForkLiftDemo::lockLiftHinge()
|
||||
|
||||
void ForkLiftDemo::lockForkSlider(void)
|
||||
{
|
||||
btScalar linDepth = m_forkSlider->getLinearPos();
|
||||
btScalar lowLim = m_forkSlider->getLowerLinLimit();
|
||||
btScalar hiLim = m_forkSlider->getUpperLinLimit();
|
||||
m_forkSlider->setPoweredLinMotor(false);
|
||||
if(linDepth <= lowLim)
|
||||
{
|
||||
m_forkSlider->setLowerLinLimit(lowLim);
|
||||
m_forkSlider->setUpperLinLimit(lowLim);
|
||||
}
|
||||
else if(linDepth > hiLim)
|
||||
{
|
||||
m_forkSlider->setLowerLinLimit(hiLim);
|
||||
m_forkSlider->setUpperLinLimit(hiLim);
|
||||
}
|
||||
else
|
||||
{
|
||||
m_forkSlider->setLowerLinLimit(linDepth);
|
||||
m_forkSlider->setUpperLinLimit(linDepth);
|
||||
}
|
||||
return;
|
||||
} // ForkLiftDemo::lockForkSlider()
|
||||
|
||||
@ -17,17 +17,59 @@ subject to the following restrictions:
|
||||
|
||||
class btVehicleTuning;
|
||||
struct btVehicleRaycaster;
|
||||
class btCollisionShape;
|
||||
|
||||
#include "BulletDynamics/Vehicle/btRaycastVehicle.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
|
||||
|
||||
#include "DemoApplication.h"
|
||||
|
||||
///ForkLiftDemo shows how to setup and use the built-in raycast vehicle
|
||||
///VehicleDemo shows how to setup and use the built-in raycast vehicle
|
||||
class ForkLiftDemo : public DemoApplication
|
||||
{
|
||||
public:
|
||||
|
||||
btRigidBody* m_carChassis;
|
||||
|
||||
//----------------------------
|
||||
btRigidBody* m_liftBody;
|
||||
btVector3 m_liftStartPos;
|
||||
btHingeConstraint* m_liftHinge;
|
||||
|
||||
btRigidBody* m_forkBody;
|
||||
btVector3 m_forkStartPos;
|
||||
btSliderConstraint* m_forkSlider;
|
||||
|
||||
btRigidBody* m_loadBody;
|
||||
btVector3 m_loadStartPos;
|
||||
|
||||
void lockLiftHinge(void);
|
||||
void lockForkSlider(void);
|
||||
|
||||
bool m_useDefaultCamera;
|
||||
//----------------------------
|
||||
|
||||
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
class btBroadphaseInterface* m_overlappingPairCache;
|
||||
|
||||
class btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
class btConstraintSolver* m_constraintSolver;
|
||||
|
||||
class btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
class btTriangleIndexVertexArray* m_indexVertexArrays;
|
||||
|
||||
btVector3* m_vertices;
|
||||
|
||||
|
||||
btRaycastVehicle::btVehicleTuning m_tuning;
|
||||
btVehicleRaycaster* m_vehicleRayCaster;
|
||||
btRaycastVehicle* m_vehicle;
|
||||
|
||||
float m_cameraHeight;
|
||||
|
||||
float m_minCameraDistance;
|
||||
@ -36,8 +78,11 @@ class ForkLiftDemo : public DemoApplication
|
||||
|
||||
ForkLiftDemo();
|
||||
|
||||
virtual ~ForkLiftDemo();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void clientResetScene();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
@ -46,11 +91,22 @@ class ForkLiftDemo : public DemoApplication
|
||||
|
||||
virtual void specialKeyboard(int key, int x, int y);
|
||||
|
||||
virtual void specialKeyboardUp(int key, int x, int y);
|
||||
|
||||
void renderme();
|
||||
|
||||
void setupPhysics();
|
||||
void initPhysics();
|
||||
void termPhysics();
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
ForkLiftDemo* demo = new ForkLiftDemo();
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
};
|
||||
|
||||
#endif //FORKLIFT_DEMO_H
|
||||
#endif // FORKLIFT_DEMO_H
|
||||
|
||||
|
||||
|
||||
15
Demos/ForkLiftDemo/main.cpp
Normal file
15
Demos/ForkLiftDemo/main.cpp
Normal file
@ -0,0 +1,15 @@
|
||||
|
||||
#include "ForkLiftDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
|
||||
ForkLiftDemo* pForkLiftDemo = new ForkLiftDemo;
|
||||
|
||||
pForkLiftDemo->initPhysics();
|
||||
|
||||
return glutmain(argc, argv,640,480,"Bullet ForkLift Demo. http://www.continuousphysics.com/Bullet/phpBB2/", pForkLiftDemo);
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user