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Merge pull request #363 from erwincoumans/master

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replace btgui/Demos/Demos3 with 'examples' and move all demos in 'ExampleBrowser'
This commit is contained in:
erwincoumans 2015-05-01 08:19:48 -07:00
commit 4f9b9b05ad
1179 changed files with 33008 additions and 193206 deletions
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39
AUTHORS.txt Normal file
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@ -0,0 +1,39 @@
Bullet Physics is created by Erwin Coumans with contributions from the following authors / copyright holders:
AMD
Apple
Steve Baker
Gino van den Bergen
Nicola Candussi
Erin Catto
Lawrence Chai
Erwin Coumans
Christer Ericson
Disney Animation
Google
Dirk Gregorius
Marcus Hennix
MBSim Development Team
Takahiro Harada
Simon Hobbs
John Hsu
Ole Kniemeyer
Jay Lee
Francisco Leon
Vsevolod Klementjev
Phil Knight
John McCutchan
Steven Peters
Roman Ponomarev
Nathanael Presson
Gabor PUHR
Arthur Shek
Russel Smith
Sony
Jakub Stephien
Marten Svanfeldt
Pierre Terdiman
Steven Thompson
Tamas Umenhoffer
If your name is missing, please send an email to erwin.coumans@gmail.com or file an issue at http://github.com/bulletphysics/bullet3

43
CMakeLists.txt
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@ -126,7 +126,7 @@ ENDIF(INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES)
ENDIF (WIN32)
OPTION(BUILD_CPU_DEMOS "Build original Bullet CPU demos" ON)
OPTION(BUILD_CPU_DEMOS "Build original Bullet CPU examples" ON)
@ -189,45 +189,9 @@ ENDIF (OPENGL_FOUND)
OPTION(BUILD_BULLET2_DEMOS "Set when you want to build the Bullet 2 demos" ON)
IF(BUILD_BULLET2_DEMOS)
IF (USE_GLUT)
IF (MSVC)
SET(GLUT_FOUND TRUE)
ADD_DEFINITIONS(-DBT_USE_FREEGLUT)
IF (CMAKE_CL_64)
message("Win64 using static freeglut in Demos/Glut/glut64.lib")
SET(GLUT_glut_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Demos/Glut/glut64.lib glu32.lib gdi32.lib winmm.lib user32.lib)
ELSE(CMAKE_CL_64)
message("Win32 using static freeglut in Demos/Glut/glut32.lib")
SET(GLUT_glut_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Demos/Glut/glut32.lib glu32.lib gdi32.lib winmm.lib user32.lib)
ENDIF (CMAKE_CL_64)
SET(GLUT_INCLUDE_DIR ${BULLET_PHYSICS_SOURCE_DIR}/Demos/Glut )
ELSE()
FIND_PACKAGE(GLUT)
IF (GLUT_FOUND)
MESSAGE("GLUT FOUND")
MESSAGE(${GLUT_glut_LIBRARY})
ELSE (GLUT_FOUND)
# IF (MINGW)
# MESSAGE ("GLUT NOT FOUND not found, trying to use MINGW glut32")
# SET(GLUT_glut_LIBRARY glut32)
# #TODO add better GLUT detection for MinGW
# SET(GLUT_FOUND TRUE)
# ELSE (MINGW)
MESSAGE("GLUT NOT FOUND")
# ENDIF (MINGW)
ENDIF (GLUT_FOUND)
ENDIF (MSVC)
IF(NOT WIN32 AND NOT APPLE AND NOT CMAKE_CROSSCOMPILING)
# This is added for linux. This should always work if everything is installed and working fine.
SET(GLUT_INCLUDE_DIR /usr/include /usr/local/include)
ENDIF()
ENDIF(USE_GLUT)
IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/Demos AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/Demos)
SUBDIRS(Demos)
IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/examples AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/examples)
SUBDIRS(examples)
ENDIF()
ENDIF(BUILD_BULLET2_DEMOS)
@ -257,7 +221,6 @@ ENDIF(BUILD_BULLET3)
IF(BUILD_OPENGL3_DEMOS)
IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/Demos3 AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/Demos3)
SUBDIRS(Demos3)
SUBDIRS(btgui)
ENDIF()
ENDIF(BUILD_OPENGL3_DEMOS)

87
Demos/AllBulletDemos/CMakeLists.txt
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@ -1,87 +0,0 @@
# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# You shouldn't have to modify anything below this line
########################################################
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/Extras
${BULLET_PHYSICS_SOURCE_DIR}/Extras/GIMPACTUtils
${BULLET_PHYSICS_SOURCE_DIR}/Extras/HACD
${BULLET_PHYSICS_SOURCE_DIR}/Extras/ConvexDecomposition
${BULLET_PHYSICS_SOURCE_DIR}/Extras/LibXML
${BULLET_PHYSICS_SOURCE_DIR}/Extras/LibXML/include
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletFileLoader
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletWorldImporter
${VECTOR_MATH_INCLUDE}
)
LINK_LIBRARIES(
GLUI GIMPACTUtils HACD ConvexDecomposition OpenGLSupport BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletFileLoader LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
SET(AllBulletDemos_SRCS
Main.cpp
DemoEntries.cpp
../CcdPhysicsDemo/CcdPhysicsDemo.cpp
../BasicDemo/BasicDemo.cpp
../BspDemo/BspDemo.cpp
../BspDemo/BspConverter.cpp
../BspDemo/BspLoader.cpp
../DynamicControlDemo/MotorDemo.cpp
../ConcaveDemo/ConcavePhysicsDemo.cpp
../ConcaveRaycastDemo/ConcaveRaycastDemo.cpp
../ConcaveConvexcastDemo/ConcaveConvexcastDemo.cpp
../ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
../SliderConstraintDemo/SliderConstraintDemo.cpp
../RagdollDemo/RagdollDemo.cpp
../GimpactTestDemo/GimpactTestDemo.cpp
../Raytracer/Raytracer.cpp
../GjkConvexCastDemo/LinearConvexCastDemo.cpp
../ForkLiftDemo/ForkLiftDemo.cpp
../SoftDemo/SoftDemo.cpp
../ConstraintDemo/ConstraintDemo.cpp
../Benchmarks/BenchmarkDemo.cpp
../Box2dDemo/Box2dDemo.cpp
)
IF (WIN32)
ADD_EXECUTABLE(AppAllBulletDemos
${AllBulletDemos_SRCS}
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ELSE()
ADD_EXECUTABLE(AppAllBulletDemos
${AllBulletDemos_SRCS}
)
ENDIF()
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
ADD_CUSTOM_COMMAND(
TARGET AppAllBulletDemos
POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/SerializeDemo/testFile.bullet ${CMAKE_CURRENT_BINARY_DIR}/testFile.bullet
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/file.obj ${CMAKE_CURRENT_BINARY_DIR}
)
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(AppAllBulletDemos PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(AppAllBulletDemos PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(AppAllBulletDemos PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

178
Demos/AllBulletDemos/DemoEntries.cpp
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@ -1,178 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "DemoEntries.h"
#include "../CcdPhysicsDemo/CcdPhysicsDemo.h"
#include "../BspDemo/BspDemo.h"
#include "../BasicDemo/BasicDemo.h"
#include "../ConcaveDemo/ConcaveDemo.h"
#include "../ConcaveRaycastDemo/ConcaveRaycastDemo.h"
#include "../ConcaveConvexcastDemo/ConcaveConvexcastDemo.h"
#include "../ConvexDecompositionDemo/ConvexDecompositionDemo.h"
#include "../DynamicControlDemo/MotorDemo.h"
#include "../SliderConstraintDemo/SliderConstraintDemo.h"
#include "../RagdollDemo/RagdollDemo.h"
#include "../GimpactTestDemo/GimpactTestDemo.h"
#include "../Raytracer/Raytracer.h"
#include "../GjkConvexCastDemo/LinearConvexCastDemo.h"
#include "../ForkLiftDemo/ForkLiftDemo.h"
#include "../ConstraintDemo/ConstraintDemo.h"
//#include "../Benchmarks/BenchmarkDemo.h"
#include "../SoftDemo/SoftDemo.h"
//#include "../Box2dDemo/Box2dDemo.h"
#include "GLDebugFont.h"
#include "GlutStuff.h"//OpenGL stuff
extern int gNumAlignedAllocs;
extern int gNumAlignedFree;
extern int gTotalBytesAlignedAllocs;
class btEmptyDebugDemo : public GlutDemoApplication
{
public:
btEmptyDebugDemo()
{
}
virtual void clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float xOffset = 10.f;
float yStart = 20.f;
float yIncr = 20.f;
char buf[124];
glColor3f(0, 0, 0);
setOrthographicProjection();
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gNumAlignedAllocs= %d",gNumAlignedAllocs);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gNumAlignedFree= %d",gNumAlignedFree);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"# alloc-free = %d",gNumAlignedAllocs-gNumAlignedFree);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gTotalBytesAlignedAllocs = %d",gTotalBytesAlignedAllocs);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
#endif //BT_DEBUG_MEMORY_ALLOCATIONS
glFlush();
glutSwapBuffers();
}
virtual void initPhysics() {}
static DemoApplication* Create()
{
btEmptyDebugDemo* demo = new btEmptyDebugDemo();
demo->myinit();
return demo;
}
};
btDemoEntry g_demoEntries[] =
{
// {"Box2dDemo",Box2dDemo::Create},
{"ForkLift Demo",ForkLiftDemo::Create},
{"Dynamic Control Demo",MotorDemo::Create},
{"ConstraintDemo",ConstraintDemo::Create},
{"Ragdoll Demo",RagdollDemo::Create},
{"Basic Demo", BasicDemo::Create},
{"CcdPhysicsDemo", CcdPhysicsDemo::Create},
{"Convex Decomposition",ConvexDecompositionDemo::Create},
{"Concave Moving", GimpactConcaveDemo::Create},
{"ConcaveDemo",ConcaveDemo::Create},
{"Concave Convexcast Demo",ConcaveConvexcastDemo::Create},
{"SoftBody Cluster Collide1",SoftDemo19::Create},
{"SoftBody Ropes Attach",SoftDemo4::Create},
{"SoftBody Cloth Attach",SoftDemo5::Create},
{"SoftBody Cloth",SoftDemo0::Create},
// {"SoftBody Volume",SoftDemo2::Create},
{"SoftBody Pressure",SoftDemo1::Create},
{"SoftBody Cluster Car",SoftDemo24::Create},
{"SoftBody Cluster Robot",SoftDemo25::Create},
// {"SoftBody Ropes",SoftDemo3::Create},
{"SoftBody Sticks",SoftDemo6::Create},
{"SoftBody Collide",SoftDemo7::Create},
{"SoftBody Collide2",SoftDemo8::Create},
// {"SoftBody Collide3",SoftDemo9::Create},
// {"SoftBody Impact",SoftDemo10::Create},
{"SoftBody Aero",SoftDemo11::Create},
{"SoftBody Friction",SoftDemo12::Create},
// {"SoftBody Torus",SoftDemo13::Create},
// {"SoftBody Torus Match",SoftDemo14::Create},
// {"SoftBody Bunny",SoftDemo15::Create},
// {"SoftBody Bunny Match",SoftDemo16::Create},
{"SoftBody Init Cutting",SoftDemo17::Create},
// {"SoftBody Cluster Deform",SoftDemo18::Create},
// {"SoftBody Cluster Collide2",SoftDemo20::Create},
// {"SoftBody Cluster Socket",SoftDemo21::Create},
{"SoftBody Cluster Hinge",SoftDemo22::Create},
{"SoftBody Cluster Combine",SoftDemo23::Create},
// {"SoftBody Cluster Stack Soft",SoftDemo26::Create},
{"SoftBody Cluster Stack Mixed",SoftDemo27::Create},
{"SoftBody TetGen Tetrahedral Cube",SoftDemo28::Create},
{"SoftBody TetGen Tetrahedral Bunny",SoftDemo29::Create},
// {"SliderConstraint",SliderConstraintDemo::Create},
// {"ConcaveRaycastDemo",ConcaveRaycastDemo::Create},
//{"BspDemo", BspDemo::Create},
// {"Raytracer Test",Raytracer::Create},
// {"GjkConvexCast",LinearConvexCastDemo::Create},
// {"Benchmark 3000 FALL",BenchmarkDemo1::Create},
// {"Benchmark 1000 STACK",BenchmarkDemo2::Create},
// {"Benchmark 136 RAGDOLLS",BenchmarkDemo3::Create},
// {"Benchmark 1000 CONVEX",BenchmarkDemo4::Create},
// {"Benchmark Mesh-Prim",BenchmarkDemo5::Create},
// {"Benchmark Mesh-Convex",BenchmarkDemo6::Create},
// {"Benchmark Raycast",BenchmarkDemo7::Create},
{"MemoryLeak Checker",btEmptyDebugDemo::Create},
{0, 0}
};

574
Demos/AllBulletDemos/Main.cpp
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@ -1,574 +0,0 @@
/*
* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
* 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.
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
#include <stdio.h>
#include "glui/GL/glui.h"
#include "LinearMath/btScalar.h"
#include "LinearMath/btMinMax.h"
#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
#include "DemoApplication.h"
#include "DemoEntries.h"
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
#include "BulletSoftBody/btSoftRigidDynamicsWorld.h"
#include "BulletSoftBody/btSoftBodyHelpers.h"
#include "GLDebugDrawer.h"
static GLDebugDrawer dDebugDraw2;
#include "LinearMath/btQuickprof.h"
namespace
{
int testIndex=1;
int testSelection=0;
btDemoEntry* entry;
DemoApplication* demo;
int iterationCount;
int width;
int height;
int framePeriod;//todo: test if this value should be 0
int mainWindow;
GLUI *glui;
//float hz;
float viewZoom=20.f;
float viewX;
float viewY;
int tx, ty, tw, th;
int gDrawAabb;
int gWireFrame;
int gDrawNormals;
int gHelpText;
int gDebugConstraints;
int gDebugContacts;
int gDrawTextures=1;
int gDrawShadows=0;
int gDrawClusters=0;
int gDebugNoDeactivation;
int gUseWarmstarting;
int gRandomizeConstraints;
int gUseSplitImpulse;
float gErp;
float gSlop;
float gErp2;
float gWarmStartingParameter;
}
void setDefaultSettings()
{
viewX = 0.0f;
viewY = 0.0f;
framePeriod = 6;//16;//16;//todo: test if this value should be 0
width = 1280;
height = 768;//480;
iterationCount = 10;
gDrawAabb=0;
gDrawNormals=0;
gWireFrame=0;
gDebugContacts=0;
//enable constraint debug visualization for first demo, only if user hasn't overridden the setting
if (testSelection>1)
{
gDebugConstraints=0;
} else
{
gDebugConstraints=1;
}
gHelpText = 0;
gDrawTextures=1;
gDrawShadows=0;
gDrawClusters=0;
gDebugNoDeactivation = 0;
gUseSplitImpulse = 1;
gUseWarmstarting = 1;
gRandomizeConstraints = 0;
gErp = 0.2f;
gSlop=0.0f;
gErp2 = 0.81f;
gWarmStartingParameter = 0.85f;
}
void setDefaultSettingsAndSync()
{
setDefaultSettings();
glui->sync_live();
}
void TogglePause()
{
if (demo)
demo->toggleIdle();
}
void ResetScene()
{
if (demo)
demo->clientResetScene();
}
void NextScene()
{
testSelection++;
if (testSelection>1)
{
gDebugConstraints=0;
} else
{
gDebugConstraints=1;
}
if(testSelection>28)
testSelection=0;
if (glui)
glui->sync_live();
}
void SingleSimulationStep()
{
if (demo)
demo->clientMoveAndDisplay();
}
void Resize(int w, int h)
{
width = w;
height = h;
GLUI_Master.get_viewport_area( &tx, &ty, &tw, &th );
glViewport( tx, ty, tw, th );
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
if (demo)
demo->reshape(tw, th);
}
DemoApplication* CreatDemo(btDemoEntry* entry)
{
DemoApplication* demo = entry->createFcn();
btAssert(demo);
if (demo->getDynamicsWorld())
{
demo->getDynamicsWorld()->setDebugDrawer(&dDebugDraw2);
gDrawTextures = demo->getTexturing();
gDrawShadows = demo->getShadows();
if (glui)
glui->sync_live();
}
#ifndef BT_NO_PROFILE
CProfileManager::Reset();
#endif //BT_NO_PROFILE
return demo;
}
/*b2Vec2 ConvertScreenToWorld(int x, int y)
{
b2Vec2 p;
float ratio = float(tw) / float(th);
float u = x / float(tw);
float v = (th - y) / float(th);
p.x = viewZoom * (viewX - ratio) * (1.0f - u) + viewZoom * (ratio + viewX) * u;
p.y = viewZoom * (viewY - 0.1f) * (1.0f - v) + viewZoom * (viewY + 1.9f) * v;
return p;
}
*/
// This is used to control the frame rate (60Hz).
void Timer(int)
{
glutSetWindow(mainWindow);
glutPostRedisplay();
glutTimerFunc(framePeriod, Timer, 0);
}
void SimulationLoop()
{
Resize(width, height);
if (gDrawAabb)
{
demo->setDebugMode(demo->getDebugMode() |btIDebugDraw::DBG_DrawAabb);
} else
{
demo->setDebugMode(demo->getDebugMode() & (~btIDebugDraw::DBG_DrawAabb));
}
if (gWireFrame)
{
demo->setDebugMode(demo->getDebugMode() |btIDebugDraw::DBG_DrawWireframe);
} else
{
demo->setDebugMode(demo->getDebugMode() & (~btIDebugDraw::DBG_DrawWireframe));
}
if (gDrawNormals)
{
demo->setDebugMode(demo->getDebugMode() |btIDebugDraw::DBG_DrawNormals);
} else
{
demo->setDebugMode(demo->getDebugMode() & (~btIDebugDraw::DBG_DrawNormals));
}
if (gHelpText)
{
demo->setDebugMode(demo->getDebugMode() & (~btIDebugDraw::DBG_NoHelpText));
} else
{
demo->setDebugMode(demo->getDebugMode() |btIDebugDraw::DBG_NoHelpText);
}
if (gDebugConstraints)
{
demo->setDebugMode(demo->getDebugMode() |btIDebugDraw::DBG_DrawConstraints+btIDebugDraw::DBG_DrawConstraintLimits);
} else
{
demo->setDebugMode(demo->getDebugMode() & (~btIDebugDraw::DBG_DrawConstraints+btIDebugDraw::DBG_DrawConstraintLimits));
}
if (gDebugContacts)
{
demo->setDebugMode(demo->getDebugMode() |btIDebugDraw::DBG_DrawContactPoints);
} else
{
demo->setDebugMode(demo->getDebugMode() & (~btIDebugDraw::DBG_DrawContactPoints));
}
demo->setTexturing(0!=gDrawTextures);
demo->setShadows(0!=gDrawShadows);
demo->setDrawClusters(0!=gDrawClusters);
if (gDebugNoDeactivation)
{
demo->setDebugMode(demo->getDebugMode() |btIDebugDraw::DBG_NoDeactivation);
} else
{
demo->setDebugMode(demo->getDebugMode() & (~btIDebugDraw::DBG_NoDeactivation));
}
if (demo->getDynamicsWorld() && demo->getDynamicsWorld()->getWorldType() == BT_DISCRETE_DYNAMICS_WORLD)
{
btDiscreteDynamicsWorld* discreteWorld = (btDiscreteDynamicsWorld*) demo->getDynamicsWorld();
discreteWorld->getSolverInfo().m_numIterations = iterationCount;
discreteWorld->getSolverInfo().m_erp = gErp;
discreteWorld->getSolverInfo().m_erp2 = gErp2;
discreteWorld->getSolverInfo().m_linearSlop = gSlop;
discreteWorld->getSolverInfo().m_warmstartingFactor = gWarmStartingParameter;
discreteWorld->getSolverInfo().m_splitImpulse = gUseSplitImpulse;
// btSequentialImpulseConstraintSolver* solver = ((btSequentialImpulseConstraintSolver*) discreteWorld->getConstraintSolver());
if (gUseWarmstarting)
{
discreteWorld->getSolverInfo().m_solverMode |= SOLVER_USE_WARMSTARTING;
} else
{
discreteWorld->getSolverInfo().m_solverMode &= (~SOLVER_USE_WARMSTARTING);
}
if (gRandomizeConstraints)
{
discreteWorld->getSolverInfo().m_solverMode |= SOLVER_RANDMIZE_ORDER;
} else
{
discreteWorld->getSolverInfo().m_solverMode &= (~SOLVER_RANDMIZE_ORDER);
}
}
if (!demo->isIdle())
{
demo->clientMoveAndDisplay();
}
else
{
demo->displayCallback();
}
if (demo->getDynamicsWorld() && demo->getDynamicsWorld()->getWorldType()==BT_SOFT_RIGID_DYNAMICS_WORLD)
{
btSoftRigidDynamicsWorld* softWorld = (btSoftRigidDynamicsWorld*)demo->getDynamicsWorld();
for ( int i=0;i<softWorld->getSoftBodyArray().size();i++)
{
btSoftBody* psb=(btSoftBody*)softWorld->getSoftBodyArray()[i];
if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
{
btSoftBodyHelpers::DrawFrame(psb,softWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb,softWorld->getDebugDrawer(),softWorld->getDrawFlags());
}
}
}
if (testSelection != testIndex)
{
if (testSelection>1)
{
gDebugConstraints=0;
} else
{
gDebugConstraints=1;
}
testIndex = testSelection;
delete demo;
entry = g_demoEntries + testIndex;
demo = CreatDemo(entry);
viewZoom = 20.0f;
viewX = 0.0f;
viewY = 0.0f;
Resize(width, height);
}
}
void RestartScene()
{
delete demo;
entry = g_demoEntries + testIndex;
demo = CreatDemo(entry);
viewZoom = 20.0f;
viewX = 0.0f;
viewY = 0.0f;
Resize(width, height);
}
void Keyboard(unsigned char key, int x, int y)
{
switch (key)
{
case 27:
exit(0);
break;
// Press 'r' to reset.
case 'r':
delete demo;
demo = CreatDemo(entry);
Resize(width,height);
break;
default:
if (demo)
{
demo->keyboardCallback(key,x,y);
}
}
}
void KeyboardSpecialUp(int key, int x, int y)
{
if (demo)
{
demo->specialKeyboardUp(key,x,y);
}
}
void GlutIdleFunc()
{
int current_window, new_window=-1;
current_window = glutGetWindow();
if (GLUI_Master.gluis.first_child() != NULL )
{
new_window = ((GLUI_Main*)GLUI_Master.gluis.first_child())->getMainWindowId();
}
if ( (new_window > 0) && (new_window != current_window ))
{
//--- Window is changed only if its not already the current window ---
glutSetWindow( new_window );
}
if (demo)
demo->moveAndDisplay();
glutSetWindow( current_window );
}
void KeyboardSpecial(int key, int x, int y)
{
if (demo)
{
demo->specialKeyboard(key,x,y);
}
}
void Mouse(int button, int state, int x, int y)
{
if (demo)
demo->mouseFunc(button,state,x,y);
}
void MouseMotion(int x, int y)
{
demo->mouseMotionFunc(x,y);
}
#ifdef BT_USE_FREEGLUT
#include "GL/freeglut_ext.h"
#endif
int main(int argc, char** argv)
{
//#define CHECK_FPU_EXCEPTIONS 1
#ifdef CHECK_FPU_EXCEPTIONS
int cw = _control87(0, 0);
// Set the exception masks off, turn exceptions on
cw &= ~(EM_ZERODIVIDE | EM_INVALID);
printf("control87 = %#x\n", cw);
// Set the control word
_control87(cw, MCW_EM);
#endif //CHECK_FPU_EXCEPTIONS
setDefaultSettings();
int bulletVersion = btGetVersion();
printf("Bullet version %d\n",bulletVersion);
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE |GLUT_DEPTH | GLUT_STENCIL);
glutInitWindowSize(width, height);
mainWindow = glutCreateWindow("http://bulletphysics.com");
#ifdef BT_USE_FREEGLUT
glutSetOption (GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_GLUTMAINLOOP_RETURNS);
#endif
entry = g_demoEntries + testIndex;
demo = CreatDemo(entry);
glutDisplayFunc(SimulationLoop);
GLUI_Master.set_glutReshapeFunc(Resize);
GLUI_Master.set_glutKeyboardFunc(Keyboard);
GLUI_Master.set_glutSpecialFunc(KeyboardSpecial);
GLUI_Master.set_glutIdleFunc(GlutIdleFunc);
GLUI_Master.set_glutSpecialUpFunc(KeyboardSpecialUp);
GLUI_Master.set_glutMouseFunc(Mouse);
glutMotionFunc(MouseMotion);
glui = GLUI_Master.create_glui_subwindow( mainWindow,
GLUI_SUBWINDOW_RIGHT );
glui->add_statictext("Tests");
GLUI_Listbox* testList =
glui->add_listbox("", &testSelection);
glui->add_button("Next Scene", 0,(GLUI_Update_CB)NextScene);
glui->add_separator();
GLUI_Spinner* iterationSpinner =
glui->add_spinner("Iterations", GLUI_SPINNER_INT, &iterationCount);
iterationSpinner->set_int_limits(1, 250);
/* GLUI_Spinner* hertzSpinner =
glui->add_spinner("Hertz", GLUI_SPINNER_FLOAT, &hz);
hertzSpinner->set_float_limits(5.0f, 200.0f);
*/
glui->add_checkbox("DisableDeactivation", &gDebugNoDeactivation);
glui->add_checkbox("Split Impulse", &gUseSplitImpulse);
GLUI_Spinner* spinner = 0;
spinner = glui->add_spinner("ERP", GLUI_SPINNER_FLOAT, &gErp);
// spinner->set_float_limits(0.f,1.f);
// spinner = glui->add_spinner("ERP2", GLUI_SPINNER_FLOAT, &gErp2);
spinner->set_float_limits(0.f,1.f);
spinner = glui->add_spinner("Slop", GLUI_SPINNER_FLOAT, &gSlop);
spinner->set_float_limits(0.f,1.f);
// spinner = glui->add_spinner("WSP", GLUI_SPINNER_FLOAT,&gWarmStartingParameter);
// spinner->set_float_limits (0.f,1.0);
glui->add_checkbox("Warmstarting", &gUseWarmstarting);
glui->add_checkbox("Randomize Constraints", &gRandomizeConstraints);
glui->add_button("Reset Defaults", 0,(GLUI_Update_CB)setDefaultSettingsAndSync);
glui->add_separator();
GLUI_Panel* drawPanel = glui->add_panel("Debug Draw");
glui->add_checkbox_to_panel(drawPanel, "Help", &gHelpText);
glui->add_checkbox_to_panel(drawPanel, "AABBs", &gDrawAabb);
glui->add_checkbox_to_panel(drawPanel, "Wireframe", &gWireFrame);
glui->add_checkbox_to_panel(drawPanel, "Normals", &gDrawNormals);
glui->add_checkbox_to_panel(drawPanel, "Contacts", &gDebugContacts);
glui->add_checkbox_to_panel(drawPanel, "Constraints", &gDebugConstraints);
glui->add_checkbox_to_panel(drawPanel, "Textures", &gDrawTextures);
glui->add_checkbox_to_panel(drawPanel, "Shadows", &gDrawShadows);
glui->add_checkbox_to_panel(drawPanel, "Clusters", &gDrawClusters);
int testCount = 0;
btDemoEntry* e = g_demoEntries;
while (e->createFcn)
{
testList->add_item(testCount, e->name);
++testCount;
++e;
}
glui->add_separator();
glui->add_button("Toggle Pause", 0,(GLUI_Update_CB)TogglePause);
glui->add_button("Single Step", 0,(GLUI_Update_CB)SingleSimulationStep);
glui->add_button("Reset Scene", 0,(GLUI_Update_CB)ResetScene);
glui->add_button("Restart Scene", 0,(GLUI_Update_CB)RestartScene);
glui->add_separator();
// glui->add_button("Exit", 0,(GLUI_Update_CB)exit);
glui->set_main_gfx_window( mainWindow );
// Use a timer to control the frame rate.
glutTimerFunc(framePeriod, Timer, 0);
glutMainLoop();
return 0;
}

34
Demos/AllBulletDemos/Makefile.am
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@ -1,34 +0,0 @@
noinst_PROGRAMS=AllBulletDemo
AllBulletDemo_SOURCES=\
../SoftDemo/SoftDemo.cpp \
../ConstraintDemo/ConstraintDemo.cpp \
../ForkLiftDemo/ForkLiftDemo.cpp \
../RagdollDemo/RagdollDemo.cpp \
../BasicDemo/BasicDemo.cpp \
../CcdPhysicsDemo/CcdPhysicsDemo.cpp \
../SliderConstraintDemo/SliderConstraintDemo.cpp \
../ConcaveRaycastDemo/ConcaveRaycastDemo.cpp \
../Raytracer/Raytracer.cpp \
../BspDemo/BspDemo.cpp \
../BspDemo/BspLoader.cpp \
../BspDemo/BspConverter.cpp \
../ConcaveConvexcastDemo/ConcaveConvexcastDemo.cpp \
../ConvexDecompositionDemo/ConvexDecompositionDemo.cpp \
../GimpactTestDemo/GimpactTestDemo.cpp \
../GjkConvexCastDemo/LinearConvexCastDemo.cpp \
../ConcaveDemo/ConcavePhysicsDemo.cpp \
../DynamicControlDemo/MotorDemo.cpp \
DemoEntries.cpp \
DemoEntries.h\
Main.cpp
AllBulletDemo_CXXFLAGS=\
-I@top_builddir@/src \
-I@top_builddir@/Extras/GIMPACTUtils \
-I@top_builddir@/Extras/ConvexDecomposition \
-I@top_builddir@/Extras/HACD \
-I@top_builddir@/Extras \
-I@top_builddir@/Demos/OpenGL \
-I@top_builddir@/Demos/SoftDemo \
$(CXXFLAGS)
AllBulletDemo_LDADD=-L../OpenGL -lbulletopenglsupport -L../../src -L../../Extras -lgimpactutils -lconvexdecomposition -lHACD -lBulletSoftBody -lBulletDynamics -lBulletCollision -lLinearMath -lglui @opengl_LIBS@

147
Demos/BasicDemo/BasicDemo.cpp
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@ -1,147 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///create 125 (5x5x5) dynamic object
#define ARRAY_SIZE_X 5
#define ARRAY_SIZE_Y 5
#define ARRAY_SIZE_Z 5
//maximum number of objects (and allow user to shoot additional boxes)
#define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024)
///scaling of the objects (0.1 = 20 centimeter boxes )
#define SCALING 1.
#define START_POS_X -5
#define START_POS_Y -5
#define START_POS_Z -3
#include "BasicDemo.h"
#include "GlutStuff.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
#include <stdio.h> //printf debugging
#include "GLDebugDrawer.h"
#include "LinearMath/btAabbUtil2.h"
static GLDebugDrawer gDebugDraw;
///The MyOverlapCallback is used to show how to collect object that overlap with a given bounding box defined by aabbMin and aabbMax.
///See m_physicsSetup.m_dynamicsWorld->getBroadphase()->aabbTest.
struct MyOverlapCallback : public btBroadphaseAabbCallback
{
btVector3 m_queryAabbMin;
btVector3 m_queryAabbMax;
int m_numOverlap;
MyOverlapCallback(const btVector3& aabbMin, const btVector3& aabbMax ) : m_queryAabbMin(aabbMin),m_queryAabbMax(aabbMax),m_numOverlap(0) {}
virtual bool process(const btBroadphaseProxy* proxy)
{
btVector3 proxyAabbMin,proxyAabbMax;
btCollisionObject* colObj0 = (btCollisionObject*)proxy->m_clientObject;
colObj0->getCollisionShape()->getAabb(colObj0->getWorldTransform(),proxyAabbMin,proxyAabbMax);
if (TestAabbAgainstAabb2(proxyAabbMin,proxyAabbMax,m_queryAabbMin,m_queryAabbMax))
{
m_numOverlap++;
}
return true;
}
};
void BasicDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//simple dynamics world doesn't handle fixed-time-stepping
float ms = getDeltaTimeMicroseconds();
m_physicsSetup.stepSimulation(ms/1000000.f);
m_physicsSetup.m_dynamicsWorld->debugDrawWorld();
/*
///step the simulation
if (m_physicsSetup.m_dynamicsWorld)
{
m_physicsSetup.m_dynamicsWorld->stepSimulation(ms / 1000000.f);
//optional but useful: debug drawing
m_physicsSetup.m_dynamicsWorld->debugDrawWorld();
btVector3 aabbMin(1,1,1);
btVector3 aabbMax(2,2,2);
MyOverlapCallback aabbOverlap(aabbMin,aabbMax);
m_physicsSetup.m_dynamicsWorld->getBroadphase()->aabbTest(aabbMin,aabbMax,aabbOverlap);
//if (aabbOverlap.m_numOverlap)
// printf("#aabb overlap = %d\n", aabbOverlap.m_numOverlap);
}
*/
renderme();
glFlush();
swapBuffers();
}
void BasicDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
renderme();
//optional but useful: debug drawing to detect problems
if (m_physicsSetup.m_dynamicsWorld)
m_physicsSetup.m_dynamicsWorld->debugDrawWorld();
glFlush();
swapBuffers();
}
void BasicDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(SCALING*50.));
GraphicsPhysicsBridge gfxBridge;
m_physicsSetup.initPhysics(gfxBridge);
m_dynamicsWorld = m_physicsSetup.m_dynamicsWorld;
m_dynamicsWorld->setDebugDrawer(&gDebugDraw);
}
void BasicDemo::clientResetScene()
{
exitPhysics();
initPhysics();
}
void BasicDemo::exitPhysics()
{
m_physicsSetup.exitPhysics();
}

67
Demos/BasicDemo/BasicDemo.h
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@ -1,67 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BASIC_DEMO_H
#define BASIC_DEMO_H
#ifdef _WINDOWS
#include "Win32DemoApplication.h"
#define PlatformDemoApplication Win32DemoApplication
#else
#include "GlutDemoApplication.h"
#define PlatformDemoApplication GlutDemoApplication
#endif
#include "LinearMath/btAlignedObjectArray.h"
#include "BasicDemoPhysicsSetup.h"
///BasicDemo is good starting point for learning the code base and porting.
class BasicDemo : public PlatformDemoApplication
{
BasicDemoPhysicsSetup m_physicsSetup;
public:
BasicDemo()
{
}
virtual ~BasicDemo()
{
exitPhysics();
}
void initPhysics();
void exitPhysics();
virtual void clientMoveAndDisplay();
virtual void displayCallback();
virtual void clientResetScene();
static DemoApplication* Create()
{
BasicDemo* demo = new BasicDemo;
demo->myinit();
demo->initPhysics();
return demo;
}
};
#endif //BASIC_DEMO_H

91
Demos/BasicDemo/BasicDemoPhysicsSetup.cpp
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@ -1,91 +0,0 @@
#include "BasicDemoPhysicsSetup.h"
#include "btBulletDynamicsCommon.h"
#define ARRAY_SIZE_Y 5
#define ARRAY_SIZE_X 5
#define ARRAY_SIZE_Z 5
void BasicDemoPhysicsSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
{
createEmptyDynamicsWorld();
gfxBridge.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.)));
gfxBridge.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));
gfxBridge.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));
gfxBridge.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);
gfxBridge.createRigidBodyGraphicsObject(body, btVector3(1, 1, 0));
}
}
}
}
}

28
Demos/BasicDemo/BasicDemoPhysicsSetup.h
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@ -1,28 +0,0 @@
#ifndef BASIC_DEMO_PHYSICS_SETUP_H
#define BASIC_DEMO_PHYSICS_SETUP_H
class btRigidBody;
class btCollisionShape;
class btBroadphaseInterface;
class btConstraintSolver;
class btCollisionDispatcher;
class btDefaultCollisionConfiguration;
class btDiscreteDynamicsWorld;
class btTransform;
class btVector3;
class btBoxShape;
#include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "Bullet3AppSupport/CommonRigidBodySetup.h"
struct BasicDemoPhysicsSetup : public CommonRigidBodySetup
{
virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge);
};
#endif //BASIC_DEMO_PHYSICS_SETUP_H

71
Demos/BasicDemo/CMakeLists.txt
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@ -1,71 +0,0 @@
# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# This is the variable for Windows. I use this to define the root of my directory structure.
SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
# You shouldn't have to modify anything below this line
########################################################
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src ../OpenGL ../../btgui
${GLUT_INCLUDE_DIR}
)
IF (USE_GLUT)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
IF (WIN32)
ADD_EXECUTABLE(AppBasicDemo
main.cpp
BasicDemo.cpp
BasicDemo.h
BasicDemoPhysicsSetup.cpp
BasicDemoPhysicsSetup.h
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ELSE()
ADD_EXECUTABLE(AppBasicDemo
main.cpp
BasicDemo.cpp
BasicDemo.h
BasicDemoPhysicsSetup.cpp
BasicDemoPhysicsSetup.h
)
ENDIF()
ELSE (USE_GLUT)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppBasicDemo
WIN32
../OpenGL/Win32AppMain.cpp
Win32BasicDemo.cpp
BasicDemo.cpp
BasicDemo.h
BasicDemoPhysicsSetup.cpp
BasicDemoPhysicsSetup.h
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ENDIF (USE_GLUT)
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(AppBasicDemo PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(AppBasicDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(AppBasicDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

5
Demos/BasicDemo/Makefile.am
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@ -1,5 +0,0 @@
noinst_PROGRAMS=BasicDemo
BasicDemo_SOURCES=BasicDemo.cpp BasicDemo.h main.cpp
BasicDemo_CXXFLAGS=-I@top_builddir@/src -I@top_builddir@/Demos/OpenGL $(CXXFLAGS)
BasicDemo_LDADD=-L../OpenGL -lbulletopenglsupport -L../../src -lBulletDynamics -lBulletCollision -lLinearMath @opengl_LIBS@

39
Demos/BasicDemo/main.cpp
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@ -1,39 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "BasicDemo.h"
#include "GlutStuff.h"
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btHashMap.h"
int main(int argc,char** argv)
{
BasicDemo ccdDemo;
ccdDemo.initPhysics();
#ifdef CHECK_MEMORY_LEAKS
ccdDemo.exitPhysics();
#else
return glutmain(argc, argv,1024,600,"Bullet Physics Demo. http://bulletphysics.org",&ccdDemo);
#endif
//default glut doesn't return from mainloop
return 0;
}

269
Demos/Benchmarks/BenchmarkDemo.h
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@ -1,269 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BENCHMARK_DEMO_H
#define BENCHMARK_DEMO_H
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btTransform.h"
class btDynamicsWorld;
#define NUMRAYS 500
class btRigidBody;
class btBroadphaseInterface;
class btCollisionShape;
class btOverlappingPairCache;
class btCollisionDispatcher;
class btConstraintSolver;
struct btCollisionAlgorithmCreateFunc;
class btDefaultCollisionConfiguration;
#ifndef USE_GRAPHICAL_BENCHMARK
///empty placeholder
class DemoApplication
{
protected:
btDynamicsWorld* m_dynamicsWorld;
btScalar m_defaultContactProcessingThreshold;
public:
DemoApplication()
:m_defaultContactProcessingThreshold(BT_LARGE_FLOAT)
{
}
virtual void myinit() {}
virtual btDynamicsWorld* getDynamicsWorld()
{
return m_dynamicsWorld;
}
btScalar getDeltaTimeMicroseconds()
{
return 1.f;
}
void renderme() {}
void setCameraDistance(btScalar dist){}
void clientResetScene(){}
btRigidBody* localCreateRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape);
};
///BenchmarkDemo is provides several performance tests
#define PlatformDemoApplication DemoApplication
#else //USE_GRAPHICAL_BENCHMARK
#ifdef _WINDOWS
#include "Win32DemoApplication.h"
#define PlatformDemoApplication Win32DemoApplication
#else
#include "GlutDemoApplication.h"
#define PlatformDemoApplication GlutDemoApplication
#endif
#endif //USE_GRAPHICAL_BENCHMARK
class BenchmarkDemo : public PlatformDemoApplication
{
//keep the collision shapes, for deletion/cleanup
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
btAlignedObjectArray<class RagDoll*> m_ragdolls;
btBroadphaseInterface* m_overlappingPairCache;
btCollisionDispatcher* m_dispatcher;
btConstraintSolver* m_solver;
btDefaultCollisionConfiguration* m_collisionConfiguration;
int m_benchmark;
void createTest1();
void createTest2();
void createTest3();
void createTest4();
void createTest5();
void createTest6();
void createTest7();
void createWall(const btVector3& offsetPosition,int stackSize,const btVector3& boxSize);
void createPyramid(const btVector3& offsetPosition,int stackSize,const btVector3& boxSize);
void createTowerCircle(const btVector3& offsetPosition,int stackSize,int rotSize,const btVector3& boxSize);
void createLargeMeshBody();
class SpuBatchRaycaster* m_batchRaycaster;
class btThreadSupportInterface* m_batchRaycasterThreadSupport;
void castRays();
void initRays();
public:
BenchmarkDemo(int benchmark)
:m_benchmark(benchmark),
m_overlappingPairCache(0),
m_dispatcher(0),
m_solver(0),
m_collisionConfiguration(0)
{
}
virtual ~BenchmarkDemo()
{
exitPhysics();
}
void initPhysics();
void exitPhysics();
virtual void clientMoveAndDisplay();
virtual void displayCallback();
};
class BenchmarkDemo1 : public BenchmarkDemo
{
public:
BenchmarkDemo1()
:BenchmarkDemo(1)
{
}
static DemoApplication* Create()
{
BenchmarkDemo1* demo = new BenchmarkDemo1;
demo->myinit();
demo->initPhysics();
return demo;
}
};
class BenchmarkDemo2 : public BenchmarkDemo
{
public:
BenchmarkDemo2()
:BenchmarkDemo(2)
{
}
static DemoApplication* Create()
{
BenchmarkDemo2* demo = new BenchmarkDemo2;
demo->myinit();
demo->initPhysics();
return demo;
}
};
class BenchmarkDemo3 : public BenchmarkDemo
{
public:
BenchmarkDemo3()
:BenchmarkDemo(3)
{
}
static DemoApplication* Create()
{
BenchmarkDemo3* demo = new BenchmarkDemo3;
demo->myinit();
demo->initPhysics();
return demo;
}
};
class BenchmarkDemo4 : public BenchmarkDemo
{
public:
BenchmarkDemo4()
:BenchmarkDemo(4)
{
}
static DemoApplication* Create()
{
BenchmarkDemo4* demo = new BenchmarkDemo4;
demo->myinit();
demo->initPhysics();
return demo;
}
};
class BenchmarkDemo5 : public BenchmarkDemo
{
public:
BenchmarkDemo5()
:BenchmarkDemo(5)
{
}
static DemoApplication* Create()
{
BenchmarkDemo5* demo = new BenchmarkDemo5;
demo->myinit();
demo->initPhysics();
return demo;
}
};
class BenchmarkDemo6 : public BenchmarkDemo
{
public:
BenchmarkDemo6()
:BenchmarkDemo(6)
{
}
static DemoApplication* Create()
{
BenchmarkDemo6* demo = new BenchmarkDemo6;
demo->myinit();
demo->initPhysics();
return demo;
}
};
class BenchmarkDemo7 : public BenchmarkDemo
{
public:
BenchmarkDemo7()
:BenchmarkDemo(7)
{
}
static DemoApplication* Create()
{
BenchmarkDemo7* demo = new BenchmarkDemo7;
demo->myinit();
demo->initPhysics();
return demo;
}
};
#endif //BENCHMARK_DEMO_H

93
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@ -1,93 +0,0 @@
# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# You shouldn't have to modify anything below this line
########################################################
IF (USE_GRAPHICAL_BENCHMARK)
IF (USE_GLUT)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${GLUT_INCLUDE_DIR}
)
IF (USE_MULTITHREADED_BENCHMARK)
INCLUDE_DIRECTORIES( ${VECTOR_MATH_INCLUDE} )
LINK_LIBRARIES( OpenGLSupport BulletMultiThreaded BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
ELSE()
LINK_LIBRARIES( OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
ENDIF(USE_MULTITHREADED_BENCHMARK)
IF (WIN32)
ADD_EXECUTABLE(AppBenchmarks
main.cpp
BenchmarkDemo.cpp
BenchmarkDemo.h
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ELSE()
ADD_EXECUTABLE(AppBenchmarks
main.cpp
BenchmarkDemo.cpp
BenchmarkDemo.h
)
ENDIF ()
IF (WIN32)
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(AppBenchmarks PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(AppBenchmarks PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(AppBenchmarks PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
ENDIF(WIN32)
ELSE (USE_GLUT)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
)
IF (USE_MULTITHREADED_BENCHMARK)
INCLUDE_DIRECTORIES( ${VECTOR_MATH_INCLUDE} )
LINK_LIBRARIES(
OpenGLSupport BulletMultiThreaded BulletDynamics BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ELSE()
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ENDIF()
ADD_EXECUTABLE(AppBenchmarks
WIN32
../OpenGL/Win32AppMain.cpp
BenchmarkDemo.cpp
BenchmarkDemo.h
Win32BenchmarkDemo.cpp
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ENDIF (USE_GLUT)
ELSE (USE_GRAPHICAL_BENCHMARK)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
)
IF (USE_MULTITHREADED_BENCHMARK)
LINK_LIBRARIES( BulletMultiThreaded BulletDynamics BulletCollision LinearMath )
ELSE()
LINK_LIBRARIES( BulletDynamics BulletCollision LinearMath )
ENDIF()
ADD_EXECUTABLE(AppBenchmarks
main.cpp
BenchmarkDemo.cpp
)
ENDIF (USE_GRAPHICAL_BENCHMARK)

89
Demos/Benchmarks/main.cpp
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@ -1,89 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "BenchmarkDemo.h"
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btHashMap.h"
#include <stdio.h>
#ifdef USE_GRAPHICAL_BENCHMARK
#include "GlutStuff.h"
#include "GLDebugDrawer.h"
GLDebugDrawer gDebugDrawer;
#define benchmarkDemo benchmarkDemo2
#endif //USE_GRAPHICAL_BENCHMARK
#define NUM_DEMOS 7
#define NUM_TESTS 200
extern bool gDisableDeactivation;
int main(int argc,char** argv)
{
gDisableDeactivation = true;
BenchmarkDemo1 benchmarkDemo1;
BenchmarkDemo2 benchmarkDemo2;
BenchmarkDemo3 benchmarkDemo3;
BenchmarkDemo4 benchmarkDemo4;
BenchmarkDemo5 benchmarkDemo5;
BenchmarkDemo6 benchmarkDemo6;
BenchmarkDemo7 benchmarkDemo7;
BenchmarkDemo* demoArray[NUM_DEMOS] = {&benchmarkDemo1,&benchmarkDemo2,&benchmarkDemo3,&benchmarkDemo4,&benchmarkDemo5,&benchmarkDemo6,&benchmarkDemo7};
const char* demoNames[NUM_DEMOS] = {"3000 fall", "1000 stack", "136 ragdolls","1000 convex", "prim-trimesh", "convex-trimesh","raytests"};
float totalTime[NUM_DEMOS] = {0.f,0.f,0.f,0.f,0.f,0.f,0.f};
#ifdef USE_GRAPHICAL_BENCHMARK
benchmarkDemo.initPhysics();
benchmarkDemo.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
benchmarkDemo.setDebugMode(benchmarkDemo.getDebugMode() | btIDebugDraw::DBG_NoDeactivation);
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",&benchmarkDemo);
#else //USE_GRAPHICAL_BENCHMARK
int d;
for (d=0;d<NUM_DEMOS;d++)
{
demoArray[d]->initPhysics();
for (int i=0;i<NUM_TESTS;i++)
{
demoArray[d]->clientMoveAndDisplay();
float frameTime = CProfileManager::Get_Time_Since_Reset();
if ((i % 25)==0)
{
printf("BenchmarkDemo: %s, Frame %d, Duration (ms): %f\n",demoNames[d],i,frameTime);
}
totalTime[d] += frameTime;
if (i==NUM_TESTS-1)
CProfileManager::dumpAll();
}
demoArray[d]->exitPhysics();
}
for (d=0;d<NUM_DEMOS;d++)
{
printf("\nResults for %s: %f",demoNames[d],totalTime[d]*(1.f/NUM_TESTS));
}
#endif //USE_GRAPHICAL_BENCHMARK
return 0;
}

89
Demos/Box2dDemo/Box2dDemo.h
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@ -1,89 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BOX2D_DEMO_H
#define BOX2D_DEMO_H
#ifdef _WINDOWS
#include "Win32DemoApplication.h"
#define PlatformDemoApplication Win32DemoApplication
#else
#include "GlutDemoApplication.h"
#define PlatformDemoApplication GlutDemoApplication
#endif
#include "LinearMath/btAlignedObjectArray.h"
class btBroadphaseInterface;
class btCollisionShape;
class btOverlappingPairCache;
class btCollisionDispatcher;
class btConstraintSolver;
struct btCollisionAlgorithmCreateFunc;
class btDefaultCollisionConfiguration;
class GL_DialogDynamicsWorld;
///Box2dDemo is good starting point for learning the code base and porting.
class Box2dDemo : public PlatformDemoApplication
{
//keep the collision shapes, for deletion/cleanup
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btConstraintSolver* m_solver;
btDefaultCollisionConfiguration* m_collisionConfiguration;
GL_DialogDynamicsWorld* m_dialogDynamicsWorld;
public:
Box2dDemo() : m_dialogDynamicsWorld(0)
{
}
virtual ~Box2dDemo()
{
exitPhysics();
}
virtual void reshape(int w, int h);
void initPhysics();
void exitPhysics();
virtual void clientMoveAndDisplay();
virtual void displayCallback();
static DemoApplication* Create()
{
Box2dDemo* demo = new Box2dDemo;
demo->myinit();
demo->initPhysics();
return demo;
}
virtual void mouseFunc(int button, int state, int x, int y);
virtual void mouseMotionFunc(int x,int y);
};
#endif //BOX2D_DEMO_H

59
Demos/Box2dDemo/CMakeLists.txt
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@ -1,59 +0,0 @@
# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# This is the variable for Windows. I use this to define the root of my directory structure.
SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
# You shouldn't have to modify anything below this line
########################################################
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
)
IF (USE_GLUT)
INCLUDE_DIRECTORIES( ${GLUT_INCLUDE_DIR} )
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
IF (WIN32)
ADD_EXECUTABLE(AppBox2dDemo
main.cpp
Box2dDemo.cpp
Box2dDemo.h
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ELSE()
ADD_EXECUTABLE(AppBox2dDemo
main.cpp
Box2dDemo.cpp
Box2dDemo.h
)
ENDIF()
ELSE (USE_GLUT)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppBox2dDemo
WIN32
../OpenGL/Win32AppMain.cpp
Win32Box2dDemo.cpp
Box2dDemo.cpp
Box2dDemo.h
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ENDIF (USE_GLUT)
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(AppBox2dDemo PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(AppBox2dDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(AppBox2dDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

25
Demos/Box2dDemo/Win32Box2dDemo.cpp
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@ -1,25 +0,0 @@
#ifdef _WINDOWS
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "Box2dDemo.h"
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
DemoApplication* createDemo()
{
return new Box2dDemo();
}
#endif

61
Demos/Box2dDemo/main.cpp
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@ -1,61 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "Box2dDemo.h"
#include "GlutStuff.h"
#include "GLDebugDrawer.h"
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btHashMap.h"
class OurValue
{
int m_uid;
public:
OurValue(const btVector3& initialPos)
:m_position(initialPos)
{
static int gUid=0;
m_uid=gUid;
gUid++;
}
btVector3 m_position;
int getUid() const
{
return m_uid;
}
};
int main(int argc,char** argv)
{
GLDebugDrawer gDebugDrawer;
Box2dDemo ccdDemo;
ccdDemo.initPhysics();
ccdDemo.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
#ifdef CHECK_MEMORY_LEAKS
ccdDemo.exitPhysics();
#else
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",&ccdDemo);
#endif
//default glut doesn't return from mainloop
return 0;
}

71
Demos/BspDemo/BspDemo.h
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@ -1,71 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BSP_DEMO_H
#define BSP_DEMO_H
#include "GlutDemoApplication.h"
#include "LinearMath/btAlignedObjectArray.h"
class btBroadphaseInterface;
class btCollisionShape;
class btOverlappingPairCache;
class btCollisionDispatcher;
class btConstraintSolver;
struct btCollisionAlgorithmCreateFunc;
class btDefaultCollisionConfiguration;
///BspDemo shows the convex collision detection, by converting a Quake BSP file into convex objects and allowing interaction with boxes.
class BspDemo : public GlutDemoApplication
{
public:
//keep the collision shapes, for deletion/cleanup
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btConstraintSolver* m_solver;
btDefaultCollisionConfiguration* m_collisionConfiguration;
virtual ~BspDemo();
virtual void initPhysics();
void initPhysics(const char* bspfilename);
virtual void clientMoveAndDisplay();
virtual void displayCallback();
static DemoApplication* Create()
{
BspDemo* demo = new BspDemo;
demo->myinit();
demo->initPhysics("BspDemo.bsp");
return demo;
}
};
#endif //BSP_DEMO_H

46
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@ -1,46 +0,0 @@
# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# You shouldn't have to modify anything below this line
########################################################
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${GLUT_INCLUDE_DIR}
)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppBspPhysicsDemo
main.cpp
BspDemo.cpp
BspLoader.cpp
BspConverter.cpp
)
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
ADD_CUSTOM_COMMAND(
TARGET AppBspPhysicsDemo
POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/BspDemo/BspDemo.bsp ${CMAKE_CURRENT_BINARY_DIR}
)
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(AppBspPhysicsDemo PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(AppBspPhysicsDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(AppBspPhysicsDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

59
Demos/BspDemo/main.cpp
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@ -1,59 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "BspDemo.h"
#include "GlutStuff.h"
#include "GLDebugDrawer.h"
#include "btBulletDynamicsCommon.h"
char* makeExeToBspFilename(const char* lpCmdLine);
char* getLastFileName();
int main(int argc,char** argv)
{
BspDemo* bspDemo = new BspDemo();
const char* bspfilename = "BspDemo.bsp";
printf("argc=%i\n",argc);
{
for (int i=0;i<argc;i++)
{
printf("argv[%i]=%s\n",i,argv[i]);
}
bspfilename = makeExeToBspFilename(argv[0]);
printf("new name=%s\n",bspfilename);
}
if (argc>1)
{
bspfilename = argv[1];
}
GLDebugDrawer gDebugDrawer;
// Enrico: TODO: Should change parameter type of initPhysics() to std::string or at least const char *
bspDemo->initPhysics((char*)bspfilename);
bspDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
return glutmain(argc, argv,640,480,"Bullet Quake BSP Physics Viewer http://bulletphysics.org",bspDemo);
}

996
Demos/BulletDinoDemo/BulletDino.c
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@ -1,996 +0,0 @@
/* This demo has been modified to use the Bullet C-API.
The C-API is minimal, and will develop based on developer feedback.
The C++ API is recommended, and compatible with the C-API.
*/
/* Copyright (c) Mark J. Kilgard, 1994, 1997. */
/* This program is freely distributable without licensing fees
and is provided without guarantee or warrantee expressed or
implied. This program is -not- in the public domain. */
/* Example for PC game developers to show how to *combine* texturing,
reflections, and projected shadows all in real-time with OpenGL.
Robust reflections use stenciling. Robust projected shadows
use both stenciling and polygon offset. PC game programmers
should realize that neither stenciling nor polygon offset are
supported by Direct3D, so these real-time rendering algorithms
are only really viable with OpenGL.
The program has modes for disabling the stenciling and polygon
offset uses. It is worth running this example with these features
toggled off so you can see the sort of artifacts that result.
Notice that the floor texturing, reflections, and shadowing
all co-exist properly. */
/* When you run this program: Left mouse button controls the
view. Middle mouse button controls light position (left &
right rotates light around dino; up & down moves light
position up and down). Right mouse button pops up menu. */
/* Check out the comments in the "redraw" routine to see how the
reflection blending and surface stenciling is done. You can
also see in "redraw" how the projected shadows are rendered,
including the use of stenciling and polygon offset. */
/* This program is derived from glutdino.c */
/* Compile: cc -o dinoshade dinoshade.c -lglut -lGLU -lGL -lXmu -lXext -lX11 -lm */
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h> /* for cos(), sin(), and sqrt() */
#ifdef WIN32//for glut.h
#include <windows.h>
#endif
#ifndef WIN32
#ifndef CALLBACK
#define CALLBACK
#endif
#endif
//think different
#if defined(__APPLE__) && !defined (VMDMESA)
#include <OpenGL/gl.h>
#include <OpenGL/glu.h>
#include <GLUT/glut.h>
#define GLVOIDPTR GLvoid(*)()
#else
#include <GL/glut.h>
#include <GL/glext.h>
#define GLVOIDPTR void(CALLBACK*)()
#endif
/* Some <math.h> files do not define M_PI... */
#ifndef M_PI
#define M_PI 3.14159265
#endif
//#include "../../include/Bullet-C-Api.h"
#include "Bullet-C-Api.h"
plPhysicsSdkHandle physicsSdk=0;
plDynamicsWorldHandle dynamicsWorld=0;
plRigidBodyHandle floorRigidBody;
plRigidBodyHandle dinoRigidBody;
/* Variable controlling various rendering modes. */
static int stencilReflection = 1, stencilShadow = 1, offsetShadow = 1;
static int renderShadow = 1, renderDinosaur = 1, renderReflection = 1;
static int linearFiltering = 0, useMipmaps = 0, useTexture = 1;
static int reportSpeed = 0;
static int animation = 1;
static GLboolean lightSwitch = GL_TRUE;
static int directionalLight = 1;
static int forceExtension = 0;
/* Time varying or user-controled variables. */
static float jump = 0.0;
static float lightAngle = 0.0, lightHeight = 20;
GLfloat angle = -150; /* in degrees */
GLfloat angle2 = 30; /* in degrees */
int moving, startx, starty;
int lightMoving = 0, lightStartX, lightStartY;
enum {
MISSING, EXTENSION, ONE_DOT_ONE
};
int polygonOffsetVersion;
static GLdouble bodyWidth = 3.0;
/* *INDENT-OFF* */
static GLfloat body[][2] = { {0, 3}, {1, 1}, {5, 1}, {8, 4}, {10, 4}, {11, 5},
{11, 11.5}, {13, 12}, {13, 13}, {10, 13.5}, {13, 14}, {13, 15}, {11, 16},
{8, 16}, {7, 15}, {7, 13}, {8, 12}, {7, 11}, {6, 6}, {4, 3}, {3, 2},
{1, 2} };
static GLfloat arm[][2] = { {8, 10}, {9, 9}, {10, 9}, {13, 8}, {14, 9}, {16, 9},
{15, 9.5}, {16, 10}, {15, 10}, {15.5, 11}, {14.5, 10}, {14, 11}, {14, 10},
{13, 9}, {11, 11}, {9, 11} };
static GLfloat leg[][2] = { {8, 6}, {8, 4}, {9, 3}, {9, 2}, {8, 1}, {8, 0.5}, {9, 0},
{12, 0}, {10, 1}, {10, 2}, {12, 4}, {11, 6}, {10, 7}, {9, 7} };
static GLfloat eye[][2] = { {8.75, 15}, {9, 14.7}, {9.6, 14.7}, {10.1, 15},
{9.6, 15.25}, {9, 15.25} };
static GLfloat lightPosition[4];
static GLfloat lightColor[] = {0.8, 1.0, 0.8, 1.0}; /* green-tinted */
static GLfloat skinColor[] = {0.1, 1.0, 0.1, 1.0}, eyeColor[] = {1.0, 0.2, 0.2, 1.0};
/* *INDENT-ON* */
/* Nice floor texture tiling pattern. */
static char *circles[] = {
"....xxxx........",
"..xxxxxxxx......",
".xxxxxxxxxx.....",
".xxx....xxx.....",
"xxx......xxx....",
"xxx......xxx....",
"xxx......xxx....",
"xxx......xxx....",
".xxx....xxx.....",
".xxxxxxxxxx.....",
"..xxxxxxxx......",
"....xxxx........",
"................",
"................",
"................",
"................",
};
static void
makeFloorTexture(void)
{
GLubyte floorTexture[16][16][3];
GLubyte *loc;
int s, t;
loc=0;
/* Setup RGB image for the texture. */
loc = (GLubyte*) floorTexture;
for (t = 0; t < 16; t++) {
for (s = 0; s < 16; s++) {
if (circles[t][s] == 'x') {
/* Nice green. */
loc[0] = 0x1f;
loc[1] = 0x8f;
loc[2] = 0x1f;
} else {
/* Light gray. */
loc[0] = 0xaa;
loc[1] = 0xaa;
loc[2] = 0xaa;
}
loc += 3;
}
}
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
if (useMipmaps) {
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER,
GL_LINEAR_MIPMAP_LINEAR);
gluBuild2DMipmaps(GL_TEXTURE_2D, 3, 16, 16,
GL_RGB, GL_UNSIGNED_BYTE, floorTexture);
} else {
if (linearFiltering) {
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
} else {
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
}
glTexImage2D(GL_TEXTURE_2D, 0, 3, 16, 16, 0,
GL_RGB, GL_UNSIGNED_BYTE, floorTexture);
}
}
enum {
X, Y, Z, W
};
enum {
A, B, C, D
};
/* Create a matrix that will project the desired shadow. */
void
shadowMatrix(GLfloat shadowMat[4][4],
GLfloat groundplane[4],
GLfloat lightpos[4])
{
GLfloat dot;
/* Find dot product between light position vector and ground plane normal. */
dot = groundplane[X] * lightpos[X] +
groundplane[Y] * lightpos[Y] +
groundplane[Z] * lightpos[Z] +
groundplane[W] * lightpos[W];
shadowMat[0][0] = dot - lightpos[X] * groundplane[X];
shadowMat[1][0] = 0.f - lightpos[X] * groundplane[Y];
shadowMat[2][0] = 0.f - lightpos[X] * groundplane[Z];
shadowMat[3][0] = 0.f - lightpos[X] * groundplane[W];
shadowMat[X][1] = 0.f - lightpos[Y] * groundplane[X];
shadowMat[1][1] = dot - lightpos[Y] * groundplane[Y];
shadowMat[2][1] = 0.f - lightpos[Y] * groundplane[Z];
shadowMat[3][1] = 0.f - lightpos[Y] * groundplane[W];
shadowMat[X][2] = 0.f - lightpos[Z] * groundplane[X];
shadowMat[1][2] = 0.f - lightpos[Z] * groundplane[Y];
shadowMat[2][2] = dot - lightpos[Z] * groundplane[Z];
shadowMat[3][2] = 0.f - lightpos[Z] * groundplane[W];
shadowMat[X][3] = 0.f - lightpos[W] * groundplane[X];
shadowMat[1][3] = 0.f - lightpos[W] * groundplane[Y];
shadowMat[2][3] = 0.f - lightpos[W] * groundplane[Z];
shadowMat[3][3] = dot - lightpos[W] * groundplane[W];
}
/* Find the plane equation given 3 points. */
void
findPlane(GLfloat plane[4],
GLfloat v0[3], GLfloat v1[3], GLfloat v2[3])
{
GLfloat vec0[3], vec1[3];
/* Need 2 vectors to find cross product. */
vec0[X] = v1[X] - v0[X];
vec0[Y] = v1[Y] - v0[Y];
vec0[Z] = v1[Z] - v0[Z];
vec1[X] = v2[X] - v0[X];
vec1[Y] = v2[Y] - v0[Y];
vec1[Z] = v2[Z] - v0[Z];
/* find cross product to get A, B, and C of plane equation */
plane[A] = vec0[Y] * vec1[Z] - vec0[Z] * vec1[Y];
plane[B] = -(vec0[X] * vec1[Z] - vec0[Z] * vec1[X]);
plane[C] = vec0[X] * vec1[Y] - vec0[Y] * vec1[X];
plane[D] = -(plane[A] * v0[X] + plane[B] * v0[Y] + plane[C] * v0[Z]);
}
void
extrudeSolidFromPolygon(GLfloat data[][2], unsigned int dataSize,
GLdouble thickness, GLuint side, GLuint edge, GLuint whole)
{
static GLUtriangulatorObj *tobj = NULL;
GLdouble vertex[3], dx, dy, len;
int i;
int count = dataSize / (2 * sizeof(GLfloat));
if (tobj == NULL) {
tobj = gluNewTess(); /* create and initialize a GLU
polygon * * tesselation object */
gluTessCallback(tobj, (GLenum)GLU_BEGIN, (GLVOIDPTR)glBegin);
gluTessCallback(tobj, (GLenum)GLU_VERTEX, (GLVOIDPTR)glVertex2fv); /* semi-tricky */
gluTessCallback(tobj, (GLenum)GLU_END, (GLVOIDPTR)glEnd);
}
glNewList(side, GL_COMPILE);
glShadeModel(GL_SMOOTH); /* smooth minimizes seeing
tessellation */
gluBeginPolygon(tobj);
for (i = 0; i < count; i++) {
vertex[0] = data[i][0];
vertex[1] = data[i][1];
vertex[2] = 0;
gluTessVertex(tobj, vertex, data[i]);
}
gluEndPolygon(tobj);
glEndList();
glNewList(edge, GL_COMPILE);
glShadeModel(GL_FLAT); /* flat shade keeps angular hands
from being "smoothed" */
glBegin(GL_QUAD_STRIP);
for (i = 0; i <= count; i++) {
/* mod function handles closing the edge */
glVertex3f(data[i % count][0], data[i % count][1], 0.0);
glVertex3f(data[i % count][0], data[i % count][1], thickness);
/* Calculate a unit normal by dividing by Euclidean
distance. We * could be lazy and use
glEnable(GL_NORMALIZE) so we could pass in * arbitrary
normals for a very slight performance hit. */
dx = data[(i + 1) % count][1] - data[i % count][1];
dy = data[i % count][0] - data[(i + 1) % count][0];
len = sqrt(dx * dx + dy * dy);
glNormal3f(dx / len, dy / len, 0.0);
}
glEnd();
glEndList();
glNewList(whole, GL_COMPILE);
glFrontFace(GL_CW);
glCallList(edge);
glNormal3f(0.0, 0.0, -1.0); /* constant normal for side */
glCallList(side);
glPushMatrix();
glTranslatef(0.0, 0.0, thickness);
glFrontFace(GL_CCW);
glNormal3f(0.0, 0.0, 1.0); /* opposite normal for other side */
glCallList(side);
glPopMatrix();
glEndList();
}
/* Enumerants for refering to display lists. */
typedef enum {
RESERVED, BODY_SIDE, BODY_EDGE, BODY_WHOLE, ARM_SIDE, ARM_EDGE, ARM_WHOLE,
LEG_SIDE, LEG_EDGE, LEG_WHOLE, EYE_SIDE, EYE_EDGE, EYE_WHOLE
} displayLists;
static void
makeDinosaur(void)
{
extrudeSolidFromPolygon(body, sizeof(body), bodyWidth,
BODY_SIDE, BODY_EDGE, BODY_WHOLE);
extrudeSolidFromPolygon(arm, sizeof(arm), bodyWidth / 4,
ARM_SIDE, ARM_EDGE, ARM_WHOLE);
extrudeSolidFromPolygon(leg, sizeof(leg), bodyWidth / 2,
LEG_SIDE, LEG_EDGE, LEG_WHOLE);
extrudeSolidFromPolygon(eye, sizeof(eye), bodyWidth + 0.2,
EYE_SIDE, EYE_EDGE, EYE_WHOLE);
}
static void
drawDinosaur(void)
{
plReal matrix[16];
glPushMatrix();
/* Translate the dinosaur to be at (0,8,0). */
plGetOpenGLMatrix(dinoRigidBody,matrix);
// plGetPosition(dinoRigidBody,dinoWorldPos);
// glTranslatef(-8, 0, -bodyWidth / 2);
//glTranslatef(0.0, jump, 0.0);
// glTranslatef(dinoWorldPos[0],dinoWorldPos[1],dinoWorldPos[2]);
#ifdef BT_USE_DOUBLE_PRECISION
glMultMatrixd(matrix);
#else
glMultMatrixf(matrix);
#endif
// glutSolidCube(15);
glTranslatef(-8.5, -8.5, 0);
glMaterialfv(GL_FRONT, GL_DIFFUSE, skinColor);
glCallList(BODY_WHOLE);
glTranslatef(0.0, 0.0, bodyWidth);
glCallList(ARM_WHOLE);
glCallList(LEG_WHOLE);
glTranslatef(0.0, 0.0, -bodyWidth - bodyWidth / 4);
glCallList(ARM_WHOLE);
glTranslatef(0.0, 0.0, -bodyWidth / 4);
glCallList(LEG_WHOLE);
glTranslatef(0.0, 0.0, bodyWidth / 2 - 0.1);
glMaterialfv(GL_FRONT, GL_DIFFUSE, eyeColor);
glCallList(EYE_WHOLE);
glPopMatrix();
}
static GLfloat floorVertices[4][3] = {
{ -20.0, 0.0, 20.0 },
{ 20.0, 0.0, 20.0 },
{ 20.0, 0.0, -20.0 },
{ -20.0, 0.0, -20.0 },
};
/* Draw a floor (possibly textured). */
static void
drawFloor(void)
{
glDisable(GL_LIGHTING);
if (useTexture) {
glEnable(GL_TEXTURE_2D);
}
glBegin(GL_QUADS);
glTexCoord2f(0.0, 0.0);
glVertex3fv(floorVertices[0]);
glTexCoord2f(0.0, 16.0);
glVertex3fv(floorVertices[1]);
glTexCoord2f(16.0, 16.0);
glVertex3fv(floorVertices[2]);
glTexCoord2f(16.0, 0.0);
glVertex3fv(floorVertices[3]);
glEnd();
if (useTexture) {
glDisable(GL_TEXTURE_2D);
}
glEnable(GL_LIGHTING);
}
static GLfloat floorPlane[4];
static GLfloat floorShadow[4][4];
static void
redraw(void)
{
int start = 0, end = 0 ;
if (reportSpeed) {
start = glutGet(GLUT_ELAPSED_TIME);
}
/* Clear; default stencil clears to zero. */
if ((stencilReflection && renderReflection) || (stencilShadow && renderShadow)) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
} else {
/* Avoid clearing stencil when not using it. */
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
}
/* Reposition the light source. */
lightPosition[0] = 12*cos(lightAngle);
lightPosition[1] = lightHeight;
lightPosition[2] = 12*sin(lightAngle);
if (directionalLight) {
lightPosition[3] = 0.0;
} else {
lightPosition[3] = 1.0;
}
shadowMatrix(floorShadow, floorPlane, lightPosition);
glPushMatrix();
/* Perform scene rotations based on user mouse input. */
glRotatef(angle2, 1.0, 0.0, 0.0);
glRotatef(angle, 0.0, 1.0, 0.0);
/* Tell GL new light source position. */
glLightfv(GL_LIGHT0, GL_POSITION, lightPosition);
if (renderReflection) {
if (stencilReflection) {
/* We can eliminate the visual "artifact" of seeing the "flipped"
dinosaur underneath the floor by using stencil. The idea is
draw the floor without color or depth update but so that
a stencil value of one is where the floor will be. Later when
rendering the dinosaur reflection, we will only update pixels
with a stencil value of 1 to make sure the reflection only
lives on the floor, not below the floor. */
/* Don't update color or depth. */
glDisable(GL_DEPTH_TEST);
glColorMask(GL_FALSE, GL_FALSE, GL_FALSE, GL_FALSE);
/* Draw 1 into the stencil buffer. */
glEnable(GL_STENCIL_TEST);
glStencilOp(GL_REPLACE, GL_REPLACE, GL_REPLACE);
glStencilFunc(GL_ALWAYS, 1, 0xffffffff);
/* Now render floor; floor pixels just get their stencil set to 1. */
drawFloor();
/* Re-enable update of color and depth. */
glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
glEnable(GL_DEPTH_TEST);
/* Now, only render where stencil is set to 1. */
glStencilFunc(GL_EQUAL, 1, 0xffffffff); /* draw if ==1 */
glStencilOp(GL_KEEP, GL_KEEP, GL_KEEP);
}
glPushMatrix();
/* The critical reflection step: Reflect dinosaur through the floor
(the Y=0 plane) to make a relection. */
glScalef(1.0, -1.0, 1.0);
/* Reflect the light position. */
glLightfv(GL_LIGHT0, GL_POSITION, lightPosition);
/* To avoid our normals getting reversed and hence botched lighting
on the reflection, turn on normalize. */
glEnable(GL_NORMALIZE);
glCullFace(GL_FRONT);
/* Draw the reflected dinosaur. */
drawDinosaur();
/* Disable noramlize again and re-enable back face culling. */
glDisable(GL_NORMALIZE);
glCullFace(GL_BACK);
glPopMatrix();
/* Switch back to the unreflected light position. */
glLightfv(GL_LIGHT0, GL_POSITION, lightPosition);
if (stencilReflection) {
glDisable(GL_STENCIL_TEST);
}
}
/* Back face culling will get used to only draw either the top or the
bottom floor. This let's us get a floor with two distinct
appearances. The top floor surface is reflective and kind of red.
The bottom floor surface is not reflective and blue. */
/* Draw "bottom" of floor in blue. */
glFrontFace(GL_CW); /* Switch face orientation. */
glColor4f(0.1, 0.1, 0.7, 1.0);
drawFloor();
glFrontFace(GL_CCW);
if (renderShadow) {
if (stencilShadow) {
/* Draw the floor with stencil value 3. This helps us only
draw the shadow once per floor pixel (and only on the
floor pixels). */
glEnable(GL_STENCIL_TEST);
glStencilFunc(GL_ALWAYS, 3, 0xffffffff);
glStencilOp(GL_KEEP, GL_KEEP, GL_REPLACE);
}
}
/* Draw "top" of floor. Use blending to blend in reflection. */
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glColor4f(0.7, 0.0, 0.0, 0.3);
glColor4f(1.0, 1.0, 1.0, 0.3);
drawFloor();
glDisable(GL_BLEND);
if (renderDinosaur) {
/* Draw "actual" dinosaur, not its reflection. */
drawDinosaur();
}
if (renderShadow) {
/* Render the projected shadow. */
if (stencilShadow) {
/* Now, only render where stencil is set above 2 (ie, 3 where
the top floor is). Update stencil with 2 where the shadow
gets drawn so we don't redraw (and accidently reblend) the
shadow). */
glStencilFunc(GL_LESS, 2, 0xffffffff); /* draw if ==1 */
glStencilOp(GL_REPLACE, GL_REPLACE, GL_REPLACE);
}
/* To eliminate depth buffer artifacts, we use polygon offset
to raise the depth of the projected shadow slightly so
that it does not depth buffer alias with the floor. */
if (offsetShadow) {
switch (polygonOffsetVersion) {
case EXTENSION:
#ifdef GL_VERSION_1_1
case ONE_DOT_ONE:
glEnable(GL_POLYGON_OFFSET_FILL);
break;
#endif
case MISSING:
/* Oh well. */
break;
}
}
/* Render 50% black shadow color on top of whatever the
floor appareance is. */
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glDisable(GL_LIGHTING); /* Force the 50% black. */
glColor4f(0.0, 0.0, 0.0, 0.5);
glPushMatrix();
/* Project the shadow. */
glMultMatrixf((GLfloat *) floorShadow);
drawDinosaur();
glPopMatrix();
glDisable(GL_BLEND);
glEnable(GL_LIGHTING);
if (offsetShadow) {
switch (polygonOffsetVersion) {
#ifdef GL_VERSION_1_1
case ONE_DOT_ONE:
glDisable(GL_POLYGON_OFFSET_FILL);
break;
#endif
case MISSING:
/* Oh well. */
break;
}
}
if (stencilShadow) {
glDisable(GL_STENCIL_TEST);
}
}
glPushMatrix();
glDisable(GL_LIGHTING);
glColor3f(1.0, 1.0, 0.0);
if (directionalLight) {
/* Draw an arrowhead. */
glDisable(GL_CULL_FACE);
glTranslatef(lightPosition[0], lightPosition[1], lightPosition[2]);
glRotatef(lightAngle * -180.0 / M_PI, 0, 1, 0);
glRotatef(atan(lightHeight/12) * 180.0 / M_PI, 0, 0, 1);
glBegin(GL_TRIANGLE_FAN);
glVertex3f(0, 0, 0);
glVertex3f(2, 1, 1);
glVertex3f(2, -1, 1);
glVertex3f(2, -1, -1);
glVertex3f(2, 1, -1);
glVertex3f(2, 1, 1);
glEnd();
/* Draw a white line from light direction. */
glColor3f(1.0, 1.0, 1.0);
glBegin(GL_LINES);
glVertex3f(0, 0, 0);
glVertex3f(5, 0, 0);
glEnd();
glEnable(GL_CULL_FACE);
} else {
/* Draw a yellow ball at the light source. */
glTranslatef(lightPosition[0], lightPosition[1], lightPosition[2]);
glutSolidSphere(1.0, 5, 5);
}
glEnable(GL_LIGHTING);
glPopMatrix();
glPopMatrix();
if (reportSpeed) {
glFinish();
end = glutGet(GLUT_ELAPSED_TIME);
printf("Speed %.3g frames/sec (%d ms)\n", 1000.0/(end-start), end-start);
}
glutSwapBuffers();
}
/* ARGSUSED2 */
static void
mouse(int button, int state, int x, int y)
{
if (button == GLUT_LEFT_BUTTON) {
if (state == GLUT_DOWN) {
moving = 1;
startx = x;
starty = y;
}
if (state == GLUT_UP) {
moving = 0;
}
}
if (button == GLUT_MIDDLE_BUTTON) {
if (state == GLUT_DOWN) {
lightMoving = 1;
lightStartX = x;
lightStartY = y;
}
if (state == GLUT_UP) {
lightMoving = 0;
}
}
}
/* ARGSUSED1 */
static void
motion(int x, int y)
{
if (moving) {
angle = angle + (x - startx);
angle2 = angle2 + (y - starty);
startx = x;
starty = y;
glutPostRedisplay();
}
if (0){//lightMoving) {
lightAngle += (x - lightStartX)/40.0;
lightHeight += (lightStartY - y)/20.0;
lightStartX = x;
lightStartY = y;
glutPostRedisplay();
}
}
/* Advance time varying state when idle callback registered. */
static void
idle(void)
{
static float time = 0.0;
static float prevtime = 0.0;
float dtime;
prevtime = time;
time = glutGet(GLUT_ELAPSED_TIME) / 500.0;
dtime = time - prevtime;
jump = 4.0 * fabs(sin(time)*0.5);
if (!lightMoving) {
lightAngle = time;
}
if (dynamicsWorld)
plStepSimulation(dynamicsWorld,dtime);
glutPostRedisplay();
}
enum {
M_NONE, M_MOTION, M_LIGHT, M_TEXTURE, M_SHADOWS, M_REFLECTION, M_DINOSAUR,
M_STENCIL_REFLECTION, M_STENCIL_SHADOW, M_OFFSET_SHADOW,
M_POSITIONAL, M_DIRECTIONAL, M_PERFORMANCE
};
static void
controlLights(int value)
{
switch (value) {
case M_NONE:
return;
case M_MOTION:
animation = 1 - animation;
if (animation) {
glutIdleFunc(idle);
} else {
glutIdleFunc(NULL);
}
break;
case M_LIGHT:
lightSwitch = !lightSwitch;
if (lightSwitch) {
glEnable(GL_LIGHT0);
} else {
glDisable(GL_LIGHT0);
}
break;
case M_TEXTURE:
useTexture = !useTexture;
break;
case M_SHADOWS:
renderShadow = 1 - renderShadow;
break;
case M_REFLECTION:
renderReflection = 1 - renderReflection;
break;
case M_DINOSAUR:
renderDinosaur = 1 - renderDinosaur;
break;
case M_STENCIL_REFLECTION:
stencilReflection = 1 - stencilReflection;
break;
case M_STENCIL_SHADOW:
stencilShadow = 1 - stencilShadow;
break;
case M_OFFSET_SHADOW:
offsetShadow = 1 - offsetShadow;
break;
case M_POSITIONAL:
directionalLight = 0;
break;
case M_DIRECTIONAL:
directionalLight = 1;
break;
case M_PERFORMANCE:
reportSpeed = 1 - reportSpeed;
break;
}
glutPostRedisplay();
}
/* When not visible, stop animating. Restart when visible again. */
static void
visible(int vis)
{
if (vis == GLUT_VISIBLE) {
if (animation)
glutIdleFunc(idle);
} else {
if (!animation)
glutIdleFunc(NULL);
}
}
/* Press any key to redraw; good when motion stopped and
performance reporting on. */
/* ARGSUSED */
static void
key(unsigned char c, int x, int y)
{
if (c == 27) {
exit(0); /* IRIS GLism, Escape quits. */
}
glutPostRedisplay();
}
/* Press any key to redraw; good when motion stopped and
performance reporting on. */
/* ARGSUSED */
static void
special(int k, int x, int y)
{
glutPostRedisplay();
}
static int
supportsOneDotOne(void)
{
const char *version;
int major, minor;
version = (char *) glGetString(GL_VERSION);
if (sscanf(version, "%d.%d", &major, &minor) == 2)
return ((major > 1) || (major >= 1 && minor >= 1));
return 0; /* OpenGL version string malformed! */
}
int
main(int argc, char **argv)
{
int i;
plCollisionShapeHandle floorShape;
plCollisionShapeHandle dinoShape,dinoChildShape;
plVector3 floorPos,childPos;
plVector3 dinoPos;
plQuaternion childOrn,dinoOrient;
void* user_data=NULL;
physicsSdk = plNewBulletSdk();
dynamicsWorld = plCreateDynamicsWorld(physicsSdk);
//create ground plane
floorShape = plNewConvexHullShape();
for (i=0;i<4;i++)
{
// floorVertices
plAddVertex(floorShape,floorVertices[i][0],floorVertices[i][1],floorVertices[i][2]);
}
floorShape = plNewBoxShape(120,0,120);
floorRigidBody = plCreateRigidBody(user_data,0.f,floorShape);
floorPos[0] = 0;
floorPos[1] = 0;
floorPos[2] = 0;
plSetPosition(floorRigidBody,floorPos);
plAddRigidBody(dynamicsWorld,floorRigidBody);
//create dino rigidbody
dinoChildShape = plNewBoxShape(8.5,8.5,8.5);
dinoShape = plNewCompoundShape();
childPos[0] = 0;
childPos[1] = 0;
childPos[2] = 0;
childOrn[0] = 0;
childOrn[1] = 0;
childOrn[2] = 0;
childOrn[3] = 1;
plAddChildShape(dinoShape,dinoChildShape,childPos,childOrn);
dinoPos[0] = -10; dinoPos[1] = 28; dinoPos[2] = 0;
dinoRigidBody = plCreateRigidBody(0,1.0,dinoShape);
plSetPosition(dinoRigidBody,dinoPos);
plSetEuler(0,0,3.15*0.20,dinoOrient);
plSetOrientation(dinoRigidBody,dinoOrient);
plAddRigidBody(dynamicsWorld,dinoRigidBody);
printf("BulletDino\n");
glutInit(&argc, argv);
for (i=1; i<argc; i++) {
if (!strcmp("-linear", argv[i])) {
linearFiltering = 1;
} else if (!strcmp("-mipmap", argv[i])) {
useMipmaps = 1;
} else if (!strcmp("-ext", argv[i])) {
forceExtension = 1;
}
}
glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH | GLUT_STENCIL | GLUT_MULTISAMPLE);
#if 0
/* In GLUT 4.0, you'll be able to do this an be sure to
get 2 bits of stencil if the machine has it for you. */
glutInitDisplayString("samples stencil>=2 rgb double depth");
#endif
glutCreateWindow("Shadowy Leapin' Lizards");
if (glutGet(GLUT_WINDOW_STENCIL_SIZE) <= 1) {
printf("dinoshade: Sorry, I need at least 2 bits of stencil.\n");
exit(1);
}
/* Register GLUT callbacks. */
glutDisplayFunc(redraw);
glutMouseFunc(mouse);
glutMotionFunc(motion);
glutVisibilityFunc(visible);
glutKeyboardFunc(key);
glutSpecialFunc(special);
glutCreateMenu(controlLights);
glutAddMenuEntry("Toggle motion", M_MOTION);
glutAddMenuEntry("-----------------------", M_NONE);
glutAddMenuEntry("Toggle light", M_LIGHT);
glutAddMenuEntry("Toggle texture", M_TEXTURE);
glutAddMenuEntry("Toggle shadows", M_SHADOWS);
glutAddMenuEntry("Toggle reflection", M_REFLECTION);
glutAddMenuEntry("Toggle dinosaur", M_DINOSAUR);
glutAddMenuEntry("-----------------------", M_NONE);
glutAddMenuEntry("Toggle reflection stenciling", M_STENCIL_REFLECTION);
glutAddMenuEntry("Toggle shadow stenciling", M_STENCIL_SHADOW);
glutAddMenuEntry("Toggle shadow offset", M_OFFSET_SHADOW);
glutAddMenuEntry("----------------------", M_NONE);
glutAddMenuEntry("Positional light", M_POSITIONAL);
glutAddMenuEntry("Directional light", M_DIRECTIONAL);
glutAddMenuEntry("-----------------------", M_NONE);
glutAddMenuEntry("Toggle performance", M_PERFORMANCE);
glutAttachMenu(GLUT_RIGHT_BUTTON);
makeDinosaur();
#ifdef GL_VERSION_1_1
if (supportsOneDotOne() && !forceExtension) {
polygonOffsetVersion = ONE_DOT_ONE;
glPolygonOffset(-2.0, -1.0);
} else
#endif
{
{
polygonOffsetVersion = MISSING;
printf("\ndinoshine: Missing polygon offset.\n");
printf(" Expect shadow depth aliasing artifacts.\n\n");
}
}
glEnable(GL_CULL_FACE);
glEnable(GL_DEPTH_TEST);
glEnable(GL_TEXTURE_2D);
glLineWidth(3.0);
glMatrixMode(GL_PROJECTION);
gluPerspective( /* field of view in degree */ 40.0,
/* aspect ratio */ 1.0,
/* Z near */ 20.0, /* Z far */ 100.0);
glMatrixMode(GL_MODELVIEW);
gluLookAt(0.0, 8.0, 60.0, /* eye is at (0,0,30) */
0.0, 8.0, 0.0, /* center is at (0,0,0) */
0.0, 1.0, 0.); /* up is in postivie Y direction */
glLightModeli(GL_LIGHT_MODEL_LOCAL_VIEWER, 1);
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightColor);
glLightf(GL_LIGHT0, GL_CONSTANT_ATTENUATION, 0.1);
glLightf(GL_LIGHT0, GL_LINEAR_ATTENUATION, 0.05);
glEnable(GL_LIGHT0);
glEnable(GL_LIGHTING);
makeFloorTexture();
/* Setup floor plane for projected shadow calculations. */
findPlane(floorPlane, floorVertices[1], floorVertices[2], floorVertices[3]);
glutMainLoop();
plDeleteDynamicsWorld(dynamicsWorld);
plDeletePhysicsSdk(physicsSdk);
return 0; /* ANSI C requires main to return int. */
}

62
Demos/BulletDinoDemo/CMakeLists.txt
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@ -1,62 +0,0 @@
# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# This is the variable for Windows. I use this to define the root of my directory structure.
SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
# You shouldn't have to modify anything below this line
########################################################
# This is the shortcut to finding GLU, GLUT and OpenGL if they are properly installed on your system
# This should be the case.
INCLUDE (${CMAKE_ROOT}/Modules/FindGLU.cmake)
INCLUDE (${CMAKE_ROOT}/Modules/FindGLUT.cmake)
INCLUDE (${CMAKE_ROOT}/Modules/FindOpenGL.cmake)
IF (WIN32)
# This is the Windows code for which Opengl, and Glut are not properly installed
# since I can't install them I must cheat and copy libraries around
INCLUDE_DIRECTORIES(${GLUT_ROOT})
# LINK_DIRECTORIES(${GLUT_ROOT}\\lib)
IF (${GLUT_glut_LIBRARY} MATCHES "GLUT_glut_LIBRARY-NOTFOUND")
SET(GLUT_glut_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Glut/glut32.lib)
# LINK_LIBRARIES(${GLUT_ROOT}\\lib\\glut32 ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
# TARGET_LINK_LIBRARIES(table ${GLUT_ROOT}\\lib\\glut32)
#
# ADD_CUSTOM_COMMAND(TARGET table POST_BUILD COMMAND copy ${GLUT_ROOT}\\lib\\glut32.dll ${GLUT_ROOT}\\bin\\vs2005\\Debug
# COMMAND copy ${GLUT_ROOT}\\lib\\glut32.dll ${GLUT_ROOT}\\bin\\vs2003\\Debug
# COMMAND copy ${GLUT_ROOT}\\lib\\glut32.dll ${GLUT_ROOT}\\bin\\vs6\\Debug)
ELSE (${GLUT_glut_LIBRARY} MATCHES "GLUT_glut_LIBRARY-NOTFOUND")
# LINK_LIBRARIES(${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
# TARGET_LINK_LIBRARIES(table ${GLUT_glut_LIBRARY})
ENDIF(${GLUT_glut_LIBRARY} MATCHES "GLUT_glut_LIBRARY-NOTFOUND")
# TARGET_LINK_LIBRARIES(table ${OPENGL_gl_LIBRARY})
# TARGET_LINK_LIBRARIES(table ${OPENGL_glu_LIBRARY})
ELSE (WIN32)
# This is the lines for linux. This should always work if everything is installed and working fine.
# SET(CMAKE_BUILD_TYPE Debug)
# SET(CMAKE_CXX_FLAGS_DEBUG "-g")
INCLUDE_DIRECTORIES(/usr/include /usr/local/include ${GLUT_INCLUDE_DIR})
# TARGET_LINK_LIBRARIES(table ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
# TARGET_LINK_LIBRARIES(checker ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
ENDIF (WIN32)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY}
)
ADD_EXECUTABLE(BulletDino
BulletDino.c
)

198
Demos/BulletXmlImportDemo/BulletXmlImportDemo.cpp
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@ -1,198 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2010 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "BulletXmlImportDemo.h"
#include "GlutStuff.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btSerializer.h"
#include "btBulletFile.h"
#include "btBulletWorldImporter.h"
#include "btBulletXmlWorldImporter.h"
#include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h"
#include <stdio.h> //printf debugging
#include "GLDebugDrawer.h"
GLDebugDrawer gDebugDrawer;
void BulletXmlImportDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
setupEmptyDynamicsWorld();
m_dynamicsWorld->setDebugDrawer(&gDebugDrawer);
btBulletXmlWorldImporter* importer = new btBulletXmlWorldImporter(m_dynamicsWorld);
static const char* filename = "bullet_basic.xml";
const char* prefix[]={"./","../","../../","../../../","../../../../", "BulletXmlImportDemo/", "Demos/BulletXmlImportDemo/",
"../Demos/BulletXmlImportDemo/","../../Demos/BulletXmlImportDemo/"};
int numPrefixes = sizeof(prefix)/sizeof(const char*);
char relativeFileName[1024];
bool fileFound = false;
for (int i=0;i<numPrefixes;i++)
{
sprintf(relativeFileName,"%s%s",prefix[i],filename);
FILE* f = fopen(relativeFileName,"r");
if (f)
{
fclose(f);
fileFound = true;
break;
}
}
importer->loadFile(relativeFileName);
// importer->loadFile("bulletser.xml");
// importer->loadFile("bullet_constraints.xml");
}
void BulletXmlImportDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//simple dynamics world doesn't handle fixed-time-stepping
float ms = getDeltaTimeMicroseconds();
///step the simulation
if (m_dynamicsWorld)
{
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
m_dynamicsWorld->debugDrawWorld();
}
renderme();
glFlush();
swapBuffers();
}
void BulletXmlImportDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
renderme();
//optional but useful: debug drawing to detect problems
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
glFlush();
swapBuffers();
}
void BulletXmlImportDemo::setupEmptyDynamicsWorld()
{
m_collisionConfiguration = new btDefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btGImpactCollisionAlgorithm::registerAlgorithm(m_dispatcher);
m_broadphase = new btDbvtBroadphase();
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
m_solver = sol;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
//btGImpactCollisionAlgorithm::registerAlgorithm((btCollisionDispatcher*)m_dynamicsWorld->getDispatcher());
}
BulletXmlImportDemo::~BulletXmlImportDemo()
{
exitPhysics();
}
void BulletXmlImportDemo::clientResetScene()
{
exitPhysics();
initPhysics();
}
void BulletXmlImportDemo::exitPhysics()
{
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
int i;
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState())
{
delete body->getMotionState();
}
m_dynamicsWorld->removeCollisionObject( obj );
delete obj;
}
//delete collision shapes
for (int j=0;j<m_collisionShapes.size();j++)
{
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
}
m_collisionShapes.clear();
delete m_dynamicsWorld;
delete m_solver;
delete m_broadphase;
delete m_dispatcher;
delete m_collisionConfiguration;
}

85
Demos/BulletXmlImportDemo/BulletXmlImportDemo.h
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@ -1,85 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2010 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef SERIALIZE_DEMO_H
#define SERIALIZE_DEMO_H
#ifdef _WINDOWS
#include "Win32DemoApplication.h"
#define PlatformDemoApplication Win32DemoApplication
#else
#include "GlutDemoApplication.h"
#define PlatformDemoApplication GlutDemoApplication
#endif
#include "LinearMath/btAlignedObjectArray.h"
class btBroadphaseInterface;
class btCollisionShape;
class btOverlappingPairCache;
class btCollisionDispatcher;
class btConstraintSolver;
struct btCollisionAlgorithmCreateFunc;
class btDefaultCollisionConfiguration;
///BulletXmlImportDemo shows how to use save and load XML Bullet physics files (work-in-progress)
class BulletXmlImportDemo : public PlatformDemoApplication
{
//keep the collision shapes, for deletion/cleanup
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btConstraintSolver* m_solver;
btDefaultCollisionConfiguration* m_collisionConfiguration;
public:
BulletXmlImportDemo()
{
//m_idle=true;
setCameraDistance(btScalar(30.));
}
virtual ~BulletXmlImportDemo();
virtual void clientResetScene();
void initPhysics();
void setupEmptyDynamicsWorld();
void exitPhysics();
virtual void clientMoveAndDisplay();
virtual void displayCallback();
static DemoApplication* Create()
{
BulletXmlImportDemo* demo = new BulletXmlImportDemo;
demo->myinit();
demo->initPhysics();
return demo;
}
};
#endif //SERIALIZE_DEMO_H

78
Demos/BulletXmlImportDemo/CMakeLists.txt
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@ -1,78 +0,0 @@
# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# This is the variable for Windows. I use this to define the root of my directory structure.
SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
# You shouldn't have to modify anything below this line
########################################################
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletFileLoader
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletWorldImporter
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletXmlWorldImporter
${GLUT_INCLUDE_DIR}
)
ADD_DEFINITIONS(-DDESERIALIZE_SOFT_BODIES)
IF (USE_GLUT)
LINK_LIBRARIES(
OpenGLSupport BulletXmlWorldImporter BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletFileLoader LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
IF (WIN32)
ADD_EXECUTABLE(AppBulletXmlImportDemo
main.cpp
BulletXmlImportDemo.cpp
BulletXmlImportDemo.h
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ELSE()
ADD_EXECUTABLE(AppBulletXmlImportDemo
main.cpp
BulletXmlImportDemo.cpp
BulletXmlImportDemo.h
)
ENDIF()
ELSE (USE_GLUT)
LINK_LIBRARIES(
OpenGLSupport BulletXmlWorldImporter BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletFileLoader LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppBulletXmlImportDemo
WIN32
../OpenGL/Win32AppMain.cpp
Win32BulletXmlImportDemo.cpp
BulletXmlImportDemo.cpp
BulletXmlImportDemo.h
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ENDIF (USE_GLUT)
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES AND NOT INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
ADD_CUSTOM_COMMAND(
TARGET AppBulletXmlImportDemo
POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/BulletXmlImportDemo/bullet_basic.xml ${CMAKE_CURRENT_BINARY_DIR}/bullet_basic.xml
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/BulletXmlImportDemo/bullet_basic.xml ${CMAKE_CURRENT_BINARY_DIR}/Debug/bullet_basic.xml
)
ENDIF ()
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(AppBulletXmlImportDemo PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(AppBulletXmlImportDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(AppBulletXmlImportDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

25
Demos/BulletXmlImportDemo/Win32BulletXmlImportDemo.cpp
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@ -1,25 +0,0 @@
#ifdef _WINDOWS
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2010 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "BulletXmlImportDemo.h"
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
DemoApplication* createDemo()
{
return new BulletXmlImportDemo();
}
#endif

668
Demos/BulletXmlImportDemo/bullet_basic.xml
View File

@ -1,668 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<bullet_physics version=281 itemcount = 9>
<btDynamicsWorldFloatData pointer=2>
<m_solverInfo type="btContactSolverInfoFloatData">
<m_tau type="float"> 0.600000 </m_tau>
<m_damping type="float"> 1.000000 </m_damping>
<m_friction type="float"> 0.300000 </m_friction>
<m_timeStep type="float"> 0.016667 </m_timeStep>
<m_restitution type="float"> 0.000000 </m_restitution>
<m_maxErrorReduction type="float"> 20.000000 </m_maxErrorReduction>
<m_sor type="float"> 1.000000 </m_sor>
<m_erp type="float"> 0.200000 </m_erp>
<m_erp2 type="float"> 0.800000 </m_erp2>
<m_globalCfm type="float"> 0.000000 </m_globalCfm>
<m_splitImpulsePenetrationThreshold type="float"> -0.040000 </m_splitImpulsePenetrationThreshold>
<m_splitImpulseTurnErp type="float"> 0.100000 </m_splitImpulseTurnErp>
<m_linearSlop type="float"> 0.000000 </m_linearSlop>
<m_warmstartingFactor type="float"> 0.850000 </m_warmstartingFactor>
<m_maxGyroscopicForce type="float"> 100.000000 </m_maxGyroscopicForce>
<m_singleAxisRollingFrictionThreshold type="float"> 1000000015047466200000000000000.000000 </m_singleAxisRollingFrictionThreshold>
<m_numIterations type="int"> 10 </m_numIterations>
<m_solverMode type="int"> 260 </m_solverMode>
<m_restingContactRestitutionThreshold type="int"> 2 </m_restingContactRestitutionThreshold>
<m_minimumSolverBatchSize type="int"> 128 </m_minimumSolverBatchSize>
<m_splitImpulse type="int"> 1 </m_splitImpulse>
<m_padding type="char" count=4> 0 0 0 0 </m_padding>
</m_solverInfo>
<m_gravity type="btVector3FloatData">
<m_floats type="float" count=4> 0.000000 -10.000000 0.000000 0.000000 </m_floats>
</m_gravity>
</btDynamicsWorldFloatData>
<btRigidBodyFloatData pointer=4>
<m_collisionObjectData type="btCollisionObjectFloatData">
<m_broadphaseHandle type="pointer"> 0 </m_broadphaseHandle>
<m_collisionShape type="pointer"> 3 </m_collisionShape>
<m_rootCollisionShape type="pointer"> 0 </m_rootCollisionShape>
<m_name type="pointer"> 0 </m_name>
<m_worldTransform type="btTransformFloatData">
<m_basis type="btMatrix3x3FloatData">
<m_el type="btVector3FloatData" count=3>
<m_floats type="float" count=4> 1.000000 0.000000 0.000000 0.000000 </m_floats>
<m_floats type="float" count=4> 0.000000 1.000000 0.000000 0.000000 </m_floats>
<m_floats type="float" count=4> 0.000000 0.000000 1.000000 0.000000 </m_floats>
</m_el>
</m_basis>
<m_origin type="btVector3FloatData">
<m_floats type="float" count=4> 0.000000 -50.000000 0.000000 0.000000 </m_floats>
</m_origin>
</m_worldTransform>
<m_interpolationWorldTransform type="btTransformFloatData">
<m_basis type="btMatrix3x3FloatData">
<m_el type="btVector3FloatData" count=3>
<m_floats type="float" count=4> 1.000000 0.000000 0.000000 0.000000 </m_floats>
<m_floats type="float" count=4> 0.000000 1.000000 0.000000 0.000000 </m_floats>
<m_floats type="float" count=4> 0.000000 0.000000 1.000000 0.000000 </m_floats>
</m_el>
</m_basis>
<m_origin type="btVector3FloatData">
<m_floats type="float" count=4> 0.000000 0.000000 0.000000 0.000000 </m_floats>
</m_origin>
</m_interpolationWorldTransform>
<m_interpolationLinearVelocity type="btVector3FloatData">
<m_floats type="float" count=4> 0.000000 0.000000 0.000000 0.000000 </m_floats>
</m_interpolationLinearVelocity>
<m_interpolationAngularVelocity type="btVector3FloatData">
<m_floats type="float" count=4> 0.000000 0.000000 0.000000 0.000000 </m_floats>
</m_interpolationAngularVelocity>
<m_anisotropicFriction type="btVector3FloatData">
<m_floats type="float" count=4> 1.000000 1.000000 1.000000 0.000000 </m_floats>
</m_anisotropicFriction>
<m_contactProcessingThreshold type="float"> 999999984306749440.000000 </m_contactProcessingThreshold>
<m_deactivationTime type="float"> 0.000000 </m_deactivationTime>
<m_friction type="float"> 0.500000 </m_friction>
<m_rollingFriction type="float"> -431602080.000000 </m_rollingFriction>
<m_restitution type="float"> 0.000000 </m_restitution>
<m_hitFraction type="float"> 1.000000 </m_hitFraction>
<m_ccdSweptSphereRadius type="float"> 0.000000 </m_ccdSweptSphereRadius>
<m_ccdMotionThreshold type="float"> 0.000000 </m_ccdMotionThreshold>
<m_hasAnisotropicFriction type="int"> 0 </m_hasAnisotropicFriction>
<m_collisionFlags type="int"> 1 </m_collisionFlags>
<m_islandTag1 type="int"> -1 </m_islandTag1>
<m_companionId type="int"> -2 </m_companionId>
<m_activationState1 type="int"> 2 </m_activationState1>
<m_internalType type="int"> 2 </m_internalType>
<m_checkCollideWith type="int"> 0 </m_checkCollideWith>
<m_padding type="char" count=4> -51 -51 -51 -51 </m_padding>
</m_collisionObjectData>
<m_invInertiaTensorWorld type="btMatrix3x3FloatData">
<m_el type="btVector3FloatData" count=3>
<m_floats type="float" count=4> 0.000000 0.000000 0.000000 0.000000 </m_floats>
<m_floats type="float" count=4> 0.000000 0.000000 0.000000 0.000000 </m_floats>
<m_floats type="float" count=4> 0.000000 0.000000 0.000000 0.000000 </m_floats>
</m_el>
</m_invInertiaTensorWorld>
<m_linearVelocity type="btVector3FloatData">
<m_floats type="float" count=4> 0.000000 0.000000 0.000000 0.000000 </m_floats>
</m_linearVelocity>
<m_angularVelocity type="btVector3FloatData">
<m_floats type="float" count=4> 0.000000 0.000000 0.000000 0.000000 </m_floats>
</m_angularVelocity>
<m_angularFactor type="btVector3FloatData">
<m_floats type="float" count=4> 1.000000 1.000000 1.000000 0.000000 </m_floats>
</m_angularFactor>
<m_linearFactor type="btVector3FloatData">
<m_floats type="float" count=4> 1.000000 1.000000 1.000000 0.000000 </m_floats>
</m_linearFactor>
<m_gravity type="btVector3FloatData">
<m_floats type="float" count=4> 0.000000 0.000000 0.000000 0.000000 </m_floats>
</m_gravity>
<m_gravity_acceleration type="btVector3FloatData">
<m_floats type="float" count=4> 0.000000 0.000000 0.000000 0.000000 </m_floats>
</m_gravity_acceleration>
<m_invInertiaLocal type="btVector3FloatData">
<m_floats type="float" count=4> 0.000000 0.000000 0.000000 0.000000 </m_floats>
</m_invInertiaLocal>
<m_totalForce type="btVector3FloatData">
<m_floats type="float" count=4> 0.000000 0.000000 0.000000 0.000000 </m_floats>
</m_totalForce>
<m_totalTorque type="btVector3FloatData">
<m_floats type="float" count=4> 0.000000 0.000000 0.000000 0.000000 </m_floats>
</m_totalTorque>
<m_inverseMass type="float"> 0.000000 </m_inverseMass>
<m_linearDamping type="float"> 0.000000 </m_linearDamping>
<m_angularDamping type="float"> 0.000000 </m_angularDamping>
<m_additionalDampingFactor type="float"> 0.005000 </m_additionalDampingFactor>
<m_additionalLinearDampingThresholdSqr type="float"> 0.010000 </m_additionalLinearDampingThresholdSqr>
<m_additionalAngularDampingThresholdSqr type="float"> 0.010000 </m_additionalAngularDampingThresholdSqr>
<m_additionalAngularDampingFactor type="float"> 0.010000 </m_additionalAngularDampingFactor>
<m_linearSleepingThreshold type="float"> 0.800000 </m_linearSleepingThreshold>
<m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
<m_additionalDamping type="int"> 0 </m_additionalDamping>
</btRigidBodyFloatData>
<btRigidBodyFloatData pointer=6>
<m_collisionObjectData type="btCollisionObjectFloatData">
<m_broadphaseHandle type="pointer"> 0 </m_broadphaseHandle>
<m_collisionShape type="pointer"> 5 </m_collisionShape>
<m_rootCollisionShape type="pointer"> 0 </m_rootCollisionShape>
<m_name type="pointer"> 0 </m_name>
<m_worldTransform type="btTransformFloatData">
<m_basis type="btMatrix3x3FloatData">
<m_el type="btVector3FloatData" count=3>
<m_floats type="float" count=4> 1.000000 0.000000 0.000000 0.000000 </m_floats>
<m_floats type="float" count=4> 0.000000 1.000000 0.000000 0.000000 </m_floats>
<m_floats type="float" count=4> 0.000000 0.000000 1.000000 0.000000 </m_floats>
</m_el>
</m_basis>
<m_origin type="btVector3FloatData">
<m_floats type="float" count=4> -5.000000 14.166666 -3.000000 0.000000 </m_floats>
</m_origin>
</m_worldTransform>
<m_interpolationWorldTransform type="btTransformFloatData">
<m_basis type="btMatrix3x3FloatData">
<m_el type="btVector3FloatData" count=3>
<m_floats type="float" count=4> 1.000000 0.000000 0.000000 0.000000 </m_floats>
<m_floats type="float" count=4> 0.000000 1.000000 0.000000 0.000000 </m_floats>
<m_floats type="float" count=4> 0.000000 0.000000 1.000000 0.000000 </m_floats>
</m_el>
</m_basis>
<m_origin type="btVector3FloatData">
<m_floats type="float" count=4> -5.000000 14.166666 -3.000000 0.000000 </m_floats>
</m_origin>
</m_interpolationWorldTransform>
<m_interpolationLinearVelocity type="btVector3FloatData">
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<m_interpolationWorldTransform type="btTransformFloatData">
<m_basis type="btMatrix3x3FloatData">
<m_el type="btVector3FloatData" count=3>
<m_floats type="float" count=4> 1.000000 0.000000 0.000000 0.000000 </m_floats>
<m_floats type="float" count=4> 0.000000 1.000000 0.000000 0.000000 </m_floats>
<m_floats type="float" count=4> 0.000000 0.000000 1.000000 0.000000 </m_floats>
</m_el>
</m_basis>
<m_origin type="btVector3FloatData">
<m_floats type="float" count=4> -5.000000 22.166668 -3.000000 0.000000 </m_floats>
</m_origin>
</m_interpolationWorldTransform>
<m_interpolationLinearVelocity type="btVector3FloatData">
<m_floats type="float" count=4> 0.000000 -4.000000 0.000000 0.000000 </m_floats>
</m_interpolationLinearVelocity>
<m_interpolationAngularVelocity type="btVector3FloatData">
<m_floats type="float" count=4> 0.000000 0.000000 0.000000 0.000000 </m_floats>
</m_interpolationAngularVelocity>
<m_anisotropicFriction type="btVector3FloatData">
<m_floats type="float" count=4> 1.000000 1.000000 1.000000 0.000000 </m_floats>
</m_anisotropicFriction>
<m_contactProcessingThreshold type="float"> 999999984306749440.000000 </m_contactProcessingThreshold>
<m_deactivationTime type="float"> 0.000000 </m_deactivationTime>
<m_friction type="float"> 0.500000 </m_friction>
<m_rollingFriction type="float"> -431602080.000000 </m_rollingFriction>
<m_restitution type="float"> 0.000000 </m_restitution>
<m_hitFraction type="float"> 1.000000 </m_hitFraction>
<m_ccdSweptSphereRadius type="float"> 0.000000 </m_ccdSweptSphereRadius>
<m_ccdMotionThreshold type="float"> 0.000000 </m_ccdMotionThreshold>
<m_hasAnisotropicFriction type="int"> 0 </m_hasAnisotropicFriction>
<m_collisionFlags type="int"> 0 </m_collisionFlags>
<m_islandTag1 type="int"> 4 </m_islandTag1>
<m_companionId type="int"> -1 </m_companionId>
<m_activationState1 type="int"> 1 </m_activationState1>
<m_internalType type="int"> 2 </m_internalType>
<m_checkCollideWith type="int"> 0 </m_checkCollideWith>
<m_padding type="char" count=4> -51 -51 -51 -51 </m_padding>
</m_collisionObjectData>
<m_invInertiaTensorWorld type="btMatrix3x3FloatData">
<m_el type="btVector3FloatData" count=3>
<m_floats type="float" count=4> 1.500000 0.000000 0.000000 0.000000 </m_floats>
<m_floats type="float" count=4> 0.000000 1.500000 0.000000 0.000000 </m_floats>
<m_floats type="float" count=4> 0.000000 0.000000 1.500000 0.000000 </m_floats>
</m_el>
</m_invInertiaTensorWorld>
<m_linearVelocity type="btVector3FloatData">
<m_floats type="float" count=4> 0.000000 -4.000000 0.000000 0.000000 </m_floats>
</m_linearVelocity>
<m_angularVelocity type="btVector3FloatData">
<m_floats type="float" count=4> 0.000000 0.000000 0.000000 0.000000 </m_floats>
</m_angularVelocity>
<m_angularFactor type="btVector3FloatData">
<m_floats type="float" count=4> 1.000000 1.000000 1.000000 0.000000 </m_floats>
</m_angularFactor>
<m_linearFactor type="btVector3FloatData">
<m_floats type="float" count=4> 1.000000 1.000000 1.000000 0.000000 </m_floats>
</m_linearFactor>
<m_gravity type="btVector3FloatData">
<m_floats type="float" count=4> 0.000000 -10.000000 0.000000 0.000000 </m_floats>
</m_gravity>
<m_gravity_acceleration type="btVector3FloatData">
<m_floats type="float" count=4> 0.000000 -10.000000 0.000000 0.000000 </m_floats>
</m_gravity_acceleration>
<m_invInertiaLocal type="btVector3FloatData">
<m_floats type="float" count=4> 1.500000 1.500000 1.500000 0.000000 </m_floats>
</m_invInertiaLocal>
<m_totalForce type="btVector3FloatData">
<m_floats type="float" count=4> 0.000000 0.000000 0.000000 0.000000 </m_floats>
</m_totalForce>
<m_totalTorque type="btVector3FloatData">
<m_floats type="float" count=4> 0.000000 0.000000 0.000000 0.000000 </m_floats>
</m_totalTorque>
<m_inverseMass type="float"> 1.000000 </m_inverseMass>
<m_linearDamping type="float"> 0.000000 </m_linearDamping>
<m_angularDamping type="float"> 0.000000 </m_angularDamping>
<m_additionalDampingFactor type="float"> 0.005000 </m_additionalDampingFactor>
<m_additionalLinearDampingThresholdSqr type="float"> 0.010000 </m_additionalLinearDampingThresholdSqr>
<m_additionalAngularDampingThresholdSqr type="float"> 0.010000 </m_additionalAngularDampingThresholdSqr>
<m_additionalAngularDampingFactor type="float"> 0.010000 </m_additionalAngularDampingFactor>
<m_linearSleepingThreshold type="float"> 0.800000 </m_linearSleepingThreshold>
<m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
<m_additionalDamping type="int"> 0 </m_additionalDamping>
</btRigidBodyFloatData>
<btConvexInternalShapeData pointer=3>
<m_collisionShapeData type="btCollisionShapeData">
<m_name type="pointer"> 0 </m_name>
<m_shapeType type="int"> 0 </m_shapeType>
<m_padding type="char" count=4> -51 -51 -51 -51 </m_padding>
</m_collisionShapeData>
<m_localScaling type="btVector3FloatData">
<m_floats type="float" count=4> 1.000000 1.000000 1.000000 0.000000 </m_floats>
</m_localScaling>
<m_implicitShapeDimensions type="btVector3FloatData">
<m_floats type="float" count=4> 49.959999 49.959999 49.959999 0.000000 </m_floats>
</m_implicitShapeDimensions>
<m_collisionMargin type="float"> 0.040000 </m_collisionMargin>
<m_padding type="int"> -842150451 </m_padding>
</btConvexInternalShapeData>
<btConvexInternalShapeData pointer=5>
<m_collisionShapeData type="btCollisionShapeData">
<m_name type="pointer"> 0 </m_name>
<m_shapeType type="int"> 0 </m_shapeType>
<m_padding type="char" count=4> -51 -51 -51 -51 </m_padding>
</m_collisionShapeData>
<m_localScaling type="btVector3FloatData">
<m_floats type="float" count=4> 1.000000 1.000000 1.000000 0.000000 </m_floats>
</m_localScaling>
<m_implicitShapeDimensions type="btVector3FloatData">
<m_floats type="float" count=4> 0.960000 0.960000 0.960000 0.000000 </m_floats>
</m_implicitShapeDimensions>
<m_collisionMargin type="float"> 0.040000 </m_collisionMargin>
<m_padding type="int"> -842150451 </m_padding>
</btConvexInternalShapeData>
</bullet_physics>

24344
Demos/BulletXmlImportDemo/bulletser.xml
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107
Demos/BulletXmlImportDemo/main.cpp
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@ -1,107 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "BulletXmlImportDemo.h"
#include "GlutStuff.h"
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btHashMap.h"
#ifdef USE_AMD_OPENCL
#include "btOpenCLUtils.h"
#include <LinearMath/btScalar.h>
cl_context g_cxMainContext;
cl_device_id g_cdDevice;
cl_command_queue g_cqCommandQue;
// Returns true if OpenCL is initialized properly, false otherwise.
bool initCL( void* glCtx, void* glDC )
{
const char* vendorSDK = btOpenCLUtils::getSdkVendorName();
printf("This program was compiled using the %s OpenCL SDK\n",vendorSDK);
int ciErrNum = 0;
#ifdef BT_USE_CLEW
ciErrNum = clewInit( "OpenCL.dll" );
if ( ciErrNum != CLEW_SUCCESS ) {
return false;
}
#endif
#if defined(CL_PLATFORM_MINI_CL)
cl_device_type deviceType = CL_DEVICE_TYPE_CPU;
#elif defined(CL_PLATFORM_AMD)
cl_device_type deviceType = CL_DEVICE_TYPE_GPU;
#elif defined(CL_PLATFORM_NVIDIA)
cl_device_type deviceType = CL_DEVICE_TYPE_GPU;
#else
cl_device_type deviceType = CL_DEVICE_TYPE_CPU;
#endif
g_cxMainContext = btOpenCLUtils::createContextFromType(deviceType, &ciErrNum, glCtx, glDC);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
int numDev = btOpenCLUtils::getNumDevices(g_cxMainContext);
if (!numDev)
return false;
g_cdDevice = btOpenCLUtils::getDevice(g_cxMainContext,0);
btOpenCLDeviceInfo clInfo;
btOpenCLUtils::getDeviceInfo(g_cdDevice,clInfo);
btOpenCLUtils::printDeviceInfo(g_cdDevice);
// create a command-queue
g_cqCommandQue = clCreateCommandQueue(g_cxMainContext, g_cdDevice, 0, &ciErrNum);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
return true;
}
#endif //#ifdef USE_AMD_OPENCL
int main(int argc,char** argv)
{
#ifdef USE_AMD_OPENCL
bool initialized = initCL(0,0);
btAssert(initialized);
#endif //USE_AMD_OPENCL
BulletXmlImportDemo serializeDemo;
serializeDemo.initPhysics();
#ifdef CHECK_MEMORY_LEAKS
serializeDemo.exitPhysics();
#else
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.org",&serializeDemo);
#endif
//default glut doesn't return from mainloop
return 0;
}

59
Demos/CMakeLists.txt
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@ -1,59 +0,0 @@
SUBDIRS( HelloWorld )
IF (USE_GLUT)
IF (GLUT_FOUND)
IF(BUILD_CPU_DEMOS)
IF(BUILD_EXTRAS)
SUBDIRS( BulletXmlImportDemo ConcaveDemo ConvexDecompositionDemo SerializeDemo )
ENDIF()
SET(SharedDemoSubdirs
OpenGL
CcdPhysicsDemo ConstraintDemo SliderConstraintDemo GenericJointDemo Raytracer
RagdollDemo ForkLiftDemo BasicDemo FeatherstoneMultiBodyDemo RollingFrictionDemo RaytestDemo VoronoiFractureDemo
GyroscopicDemo FractureDemo Box2dDemo BspDemo MovingConcaveDemo VehicleDemo
UserCollisionAlgorithm CharacterDemo SoftDemo
CollisionInterfaceDemo ConcaveConvexcastDemo SimplexDemo DynamicControlDemo
ConvexHullDistance
DoublePrecisionDemo CollisionDemo
ContinuousConvexCollision ConcaveRaycastDemo GjkConvexCastDemo
MultiMaterialDemo InternalEdgeDemo
)
ELSE()
SET(SharedDemoSubdirs OpenGL )
ENDIF(BUILD_CPU_DEMOS)
SUBDIRS(
${SharedDemoSubdirs}
Benchmarks
)
ENDIF(GLUT_FOUND)
ELSE (USE_GLUT)
IF (WIN32)
SUBDIRS(
OpenGL
BasicDemo
RaytestDemo
FractureDemo
Benchmarks
Box2dDemo
CollisionInterfaceDemo
ConcaveDemo
ConstraintDemo
RollingFrictionDemo
ConvexDecompositionDemo
InternalEdgeDemo
GyroscopicDemo
FeatherstoneMultiBodyDemo
GenericJointDemo
SerializeDemo
SoftDemo
VoronoiFractureDemo
)
ENDIF(WIN32)
ENDIF (USE_GLUT)

48
Demos/CcdPhysicsDemo/CMakeLists.txt
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@ -1,48 +0,0 @@
# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# You shouldn't have to modify anything below this line
########################################################
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
../../btgui
${GLUT_INCLUDE_DIR}
)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
IF (WIN32)
ADD_EXECUTABLE(AppCcdPhysicsDemo
main.cpp
CcdPhysicsDemo.cpp
CcdPhysicsSetup.h
CcdPhysicsSetup.cpp
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ELSE()
ADD_EXECUTABLE(AppCcdPhysicsDemo
main.cpp
CcdPhysicsDemo.cpp
CcdPhysicsSetup.h
CcdPhysicsSetup.cpp
)
ENDIF()
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(AppCcdPhysicsDemo PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(AppCcdPhysicsDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(AppCcdPhysicsDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

275
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@ -1,275 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#define CUBE_HALF_EXTENTS 1
#define EXTRA_HEIGHT 1.f
#include "CcdPhysicsDemo.h"
#include "GlutStuff.h"
#include "GLDebugFont.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
#include <stdio.h> //printf debugging
#include "GLDebugDrawer.h"
#if 0
extern btAlignedObjectArray<btVector3> debugContacts;
extern btAlignedObjectArray<btVector3> debugNormals;
#endif
static GLDebugDrawer sDebugDrawer;
CcdPhysicsDemo::CcdPhysicsDemo()
:m_ccdMode(USE_CCD)
{
setDebugMode(btIDebugDraw::DBG_DrawText+btIDebugDraw::DBG_NoHelpText);
setCameraDistance(btScalar(40.));
}
void CcdPhysicsDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//simple dynamics world doesn't handle fixed-time-stepping
//float ms = getDeltaTimeMicroseconds();
///step the simulation
if (m_dynamicsWorld)
{
m_dynamicsWorld->stepSimulation(1./60.,0);//ms / 1000000.f);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
}
renderme();
displayText();
#if 0
for (int i=0;i<debugContacts.size();i++)
{
getDynamicsWorld()->getDebugDrawer()->drawContactPoint(debugContacts[i],debugNormals[i],0,0,btVector3(1,0,0));
}
#endif
glFlush();
swapBuffers();
}
void CcdPhysicsDemo::displayText()
{
int lineWidth=440;
int xStart = m_glutScreenWidth - lineWidth;
int yStart = 20;
if((getDebugMode() & btIDebugDraw::DBG_DrawText)!=0)
{
setOrthographicProjection();
glDisable(GL_LIGHTING);
glColor3f(0, 0, 0);
char buf[124];
glRasterPos3f(xStart, yStart, 0);
switch (m_ccdMode)
{
case USE_CCD:
{
sprintf(buf,"Predictive contacts and motion clamping");
break;
}
case USE_NO_CCD:
{
sprintf(buf,"CCD handling disabled");
break;
}
default:
{
sprintf(buf,"unknown CCD setting");
};
};
GLDebugDrawString(xStart,20,buf);
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"Press 'p' to change CCD mode");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"Press '.' or right mouse to shoot bullets");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"space to restart, h(elp), t(ext), w(ire)");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
resetPerspectiveProjection();
glEnable(GL_LIGHTING);
}
}
void CcdPhysicsDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
renderme();
displayText();
//optional but useful: debug drawing to detect problems
if (m_dynamicsWorld)
{
m_dynamicsWorld->debugDrawWorld();
}
#if 0
for (int i=0;i<debugContacts.size();i++)
{
getDynamicsWorld()->getDebugDrawer()->drawContactPoint(debugContacts[i],debugNormals[i],0,0,btVector3(1,0,0));
}
#endif
glFlush();
swapBuffers();
}
void CcdPhysicsDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
m_ShootBoxInitialSpeed = 4000.f;
m_defaultContactProcessingThreshold = 0.f;
GraphicsPhysicsBridge bridge;
m_physicsSetup.initPhysics(bridge);
m_dynamicsWorld = m_physicsSetup.m_dynamicsWorld;
m_dynamicsWorld->getSolverInfo().m_solverMode |=SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_RANDMIZE_ORDER;
m_dynamicsWorld ->setDebugDrawer(&sDebugDrawer);
//m_dynamicsWorld->getSolverInfo().m_splitImpulse=false;
if (m_ccdMode==USE_CCD)
{
m_dynamicsWorld->getDispatchInfo().m_useContinuous=true;
} else
{
m_dynamicsWorld->getDispatchInfo().m_useContinuous=false;
}
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
}
void CcdPhysicsDemo::clientResetScene()
{
exitPhysics();
initPhysics();
}
void CcdPhysicsDemo::keyboardCallback(unsigned char key, int x, int y)
{
if (key=='p')
{
switch (m_ccdMode)
{
case USE_CCD:
{
m_ccdMode = USE_NO_CCD;
break;
}
case USE_NO_CCD:
default:
{
m_ccdMode = USE_CCD;
}
};
clientResetScene();
} else
{
DemoApplication::keyboardCallback(key,x,y);
}
}
void CcdPhysicsDemo::shootBox(const btVector3& destination)
{
if (m_dynamicsWorld)
{
float mass = 1.f;
btTransform startTransform;
startTransform.setIdentity();
btVector3 camPos = getCameraPosition();
startTransform.setOrigin(camPos);
setShootBoxShape ();
btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_shootBoxShape);
body->setLinearFactor(btVector3(1,1,1));
//body->setRestitution(1);
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
linVel.normalize();
linVel*=m_ShootBoxInitialSpeed;
body->getWorldTransform().setOrigin(camPos);
body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
body->setLinearVelocity(linVel);
body->setAngularVelocity(btVector3(0,0,0));
body->setContactProcessingThreshold(1e30);
///when using m_ccdMode, disable regular CCD
if (m_ccdMode==USE_CCD)
{
body->setCcdMotionThreshold(CUBE_HALF_EXTENTS);
body->setCcdSweptSphereRadius(0.4f);
}
}
}
void CcdPhysicsDemo::exitPhysics()
{
m_physicsSetup.exitPhysics();
}

88
Demos/CcdPhysicsDemo/CcdPhysicsDemo.h
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@ -1,88 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_CCD_PHYSICS_DEMO_H
#define BT_CCD_PHYSICS_DEMO_H
#ifdef _WINDOWS
#include "Win32DemoApplication.h"
#define PlatformDemoApplication Win32DemoApplication
#else
#include "GlutDemoApplication.h"
#define PlatformDemoApplication GlutDemoApplication
#endif
#include "LinearMath/btAlignedObjectArray.h"
class btBroadphaseInterface;
class btCollisionShape;
class btOverlappingPairCache;
class btCollisionDispatcher;
class btConstraintSolver;
struct btCollisionAlgorithmCreateFunc;
class btDefaultCollisionConfiguration;
#include "CcdPhysicsSetup.h"
///CcdPhysicsDemo is good starting point for learning the code base and porting.
class CcdPhysicsDemo : public PlatformDemoApplication
{
CcdPhysicsSetup m_physicsSetup;
enum
{
USE_CCD=1,
USE_NO_CCD
};
int m_ccdMode;
public:
CcdPhysicsDemo();
virtual ~CcdPhysicsDemo()
{
exitPhysics();
}
void initPhysics();
void exitPhysics();
virtual void clientMoveAndDisplay();
void displayText();
virtual void keyboardCallback(unsigned char key, int x, int y);
virtual void displayCallback();
virtual void shootBox(const btVector3& destination);
virtual void clientResetScene();
static DemoApplication* Create()
{
CcdPhysicsDemo* demo = new CcdPhysicsDemo;
demo->myinit();
demo->initPhysics();
return demo;
}
};
#endif //BT_CCD_PHYSICS_DEMO_H

179
Demos/CcdPhysicsDemo/CcdPhysicsSetup.cpp
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#include "CcdPhysicsSetup.h"
#include "btBulletDynamicsCommon.h"
#define CUBE_HALF_EXTENTS 1.f
#define EXTRA_HEIGHT 1.f
void KinematicObjectSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
{
createEmptyDynamicsWorld();
{
btBoxShape* box = new btBoxShape(btVector3(btScalar(10.), btScalar(1.), btScalar(10.)));
gfxBridge.createCollisionShapeGraphicsObject(box);
btTransform startTrans;
startTrans.setIdentity();
startTrans.setOrigin(btVector3(0, -1, 0));
btRigidBody* body = createRigidBody(0, startTrans, box);
body->setMotionState(0);
body->setFriction(1);
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
body->setActivationState(DISABLE_DEACTIVATION);
gfxBridge.createRigidBodyGraphicsObject(body, btVector3(0,1,0));
}
{
btBoxShape* box = new btBoxShape(btVector3(btScalar(1.), btScalar(1.), btScalar(1.)));
gfxBridge.createCollisionShapeGraphicsObject(box);
btTransform startTrans;
startTrans.setIdentity();
startTrans.setOrigin(btVector3(0, 1, 0));
btRigidBody* body = createRigidBody(1, startTrans, box);
body->setFriction(1);
body->setActivationState(DISABLE_DEACTIVATION);
gfxBridge.createRigidBodyGraphicsObject(body, btVector3(1, 1, 0));
}
}
void KinematicObjectSetup::stepSimulation(float deltaTime)
{
if (m_dynamicsWorld)
{
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[0];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
btMotionState* ms = body->getMotionState();
btTransform startTrans;
startTrans.setIdentity();
static float time = 0.f;
time += 0.01f;
static float xPos = 0.f;
xPos = sinf(time)*10.f;
startTrans.setOrigin(btVector3(xPos, -1, 0));
if (ms)
{
ms->setWorldTransform(startTrans);
}
else
{
body->setWorldTransform(startTrans);
}
}
m_dynamicsWorld->stepSimulation(deltaTime);
}
}
void CcdPhysicsSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
{
createEmptyDynamicsWorld();
///create a few basic rigid bodies
btBoxShape* box = new btBoxShape(btVector3(btScalar(110.), btScalar(1.), btScalar(110.)));
gfxBridge.createCollisionShapeGraphicsObject(box);
// box->initializePolyhedralFeatures();
btCollisionShape* groundShape = box;
m_collisionShapes.push_back(groundShape);
//m_collisionShapes.push_back(new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
m_collisionShapes.push_back(new btBoxShape(btVector3(CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS)));
btTransform groundTransform;
groundTransform.setIdentity();
//groundTransform.setOrigin(btVector3(5,5,5));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
{
btScalar mass(0.);
//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)
groundShape->calculateLocalInertia(mass, localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
gfxBridge.createRigidBodyGraphicsObject(body, btVector3(0, 1, 0));
body->setFriction(0.5);
//body->setRollingFriction(0.3);
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
{
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
btCollisionShape* colShape = new btBoxShape(btVector3(1, 1, 1));
gfxBridge.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);
int gNumObjects = 120;//120;
int i;
for (i = 0; i<gNumObjects; i++)
{
btCollisionShape* shape = colShape;// m_collisionShapes[1];
btTransform trans;
trans.setIdentity();
//stack them
int colsize = 10;
int row = (i*CUBE_HALF_EXTENTS * 2) / (colsize * 2 * CUBE_HALF_EXTENTS);
int row2 = row;
int col = (i) % (colsize)-colsize / 2;
if (col>3)
{
col = 11;
row2 |= 1;
}
btVector3 pos(col * 2 * CUBE_HALF_EXTENTS + (row2 % 2)*CUBE_HALF_EXTENTS,
row * 2 * CUBE_HALF_EXTENTS + CUBE_HALF_EXTENTS + EXTRA_HEIGHT, 0);
trans.setOrigin(pos);
float mass = 1.f;
btRigidBody* body = createRigidBody(mass, trans, shape);
gfxBridge.createRigidBodyGraphicsObject(body, btVector3(1, 1, 0));
body->setAnisotropicFriction(shape->getAnisotropicRollingFrictionDirection(), btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
body->setFriction(0.5);
//body->setRollingFriction(.3);
///when using m_ccdMode
//if (m_ccdMode == USE_CCD)
{
body->setCcdMotionThreshold(CUBE_HALF_EXTENTS);
body->setCcdSweptSphereRadius(0.9*CUBE_HALF_EXTENTS);
}
}
}
}

23
Demos/CcdPhysicsDemo/CcdPhysicsSetup.h
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@ -1,23 +0,0 @@
#ifndef CCD_PHYSICS_SETUP_H
#define CCD_PHYSICS_SETUP_H
#include "Bullet3AppSupport/CommonRigidBodySetup.h"
struct CcdPhysicsSetup : public CommonRigidBodySetup
{
virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge);
};
struct KinematicObjectSetup : public CommonRigidBodySetup
{
virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge);
virtual void stepSimulation(float deltaTime);
};
#endif //CCD_PHYSICS_SETUP_H

5
Demos/CcdPhysicsDemo/Makefile.am
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@ -1,5 +0,0 @@
noinst_PROGRAMS=CcdPhysicsDemo
CcdPhysicsDemo_SOURCES=CcdPhysicsDemo.cpp CcdPhysicsDemo.h main.cpp
CcdPhysicsDemo_CXXFLAGS=-I@top_builddir@/src -I@top_builddir@/Demos/OpenGL $(CXXFLAGS)
CcdPhysicsDemo_LDADD=-L../OpenGL -lbulletopenglsupport -L../../src -lBulletDynamics -lBulletCollision -lLinearMath @opengl_LIBS@

49
Demos/CcdPhysicsDemo/main.cpp
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@ -1,49 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "CcdPhysicsDemo.h"
#include "GlutStuff.h"
#include "GLDebugDrawer.h"
#include "btBulletDynamicsCommon.h"
#ifdef __DEBUG_FPU_ISSUES
#define _GNU_SOURCE
#include <fenv.h>
#endif
GLDebugDrawer gDebugDrawer;
int main(int argc,char** argv)
{
CcdPhysicsDemo* ccdDemo = new CcdPhysicsDemo();
#ifdef __DEBUG_FPU_ISSUES
// feenableexcept (FE_DIVBYZERO);
// feenableexcept (FE_INEXACT);
// feenableexcept (FE_INVALID);
// feenableexcept (FE_OVERFLOW|FE_DIVBYZERO|FE_UNDERFLOW);
// feenableexcept (FE_UNDERFLOW);
#endif
ccdDemo->initPhysics();
ccdDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",ccdDemo);
delete ccdDemo;
return 0;
}

277
Demos/CellSpuDemo/BasicDemo2.cpp
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@ -1,277 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
//#define USE_GROUND_BOX 1
#define PRINT_CONTACT_STATISTICS 1
#define USE_PARALLEL_DISPATCHER 1
//#define USE_SIMPLE_DYNAMICS_WORLD 1
int gNumObjects = 5;
#define HALF_EXTENTS btScalar(1.)
#include "btBulletDynamicsCommon.h"
#include "BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h"
#include "LinearMath/btIDebugDraw.h"
#include <stdio.h> //printf debugging
btScalar deltaTime = btScalar(1./60.);
btScalar gCollisionMargin = btScalar(0.05);
#include "BasicDemo2.h"
#ifdef USE_PARALLEL_DISPATCHER
#include "BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
#include "BulletMultiThreaded/Win32ThreadSupport.h"
#include "BulletMultiThreaded/SpuLibspe2Support.h"
#include "BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
#endif//USE_PARALLEL_DISPATCHER
#include <LinearMath/btAlignedObjectArray.h>
////////////////////////////////////
int main(int argc,char** argv)
{
BasicDemo ccdDemo;
ccdDemo.initPhysics();
int i;
for (i=0;i<5;i++)
ccdDemo.clientMoveAndDisplay();
ccdDemo.exitPhysics();
return 0;
}
extern int gNumManifold;
void BasicDemo::clientMoveAndDisplay()
{
//simple dynamics world doesn't handle fixed-time-stepping
float ms = m_clock.getTimeMicroseconds();
m_clock.reset();
float minFPS = 1000000.f/60.f;
if (ms > minFPS)
ms = minFPS;
if (m_dynamicsWorld)
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
//some additional debugging info
#ifdef PRINT_CONTACT_STATISTICS
printf("num contact manifolds: %i\n",gNumManifold);
int numManifolds = m_dynamicsWorld->getDispatcher()->getNumManifolds();
for (int i=0;i<numManifolds;i++)
{
btPersistentManifold* contactManifold = m_dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
int numContacts = contactManifold->getNumContacts();
for (int j=0;j<numContacts;j++)
{
btManifoldPoint& pt = contactManifold->getContactPoint(j);
btVector3 ptA = pt.getPositionWorldOnA();
btVector3 ptB = pt.getPositionWorldOnB();
printf("contact manifold[%d],pointA[%d]=(%f,%f,%f)\n",i,j,ptA[0],ptA[1],ptA[2]);
}
}
#endif //PRINT_CONTACT_STATISTICS
}
void BasicDemo::initPhysics()
{
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
#ifdef USE_PARALLEL_DISPATCHER
int maxNumOutstandingTasks = 1;//number of maximum outstanding tasks
#ifdef USE_WIN32_THREADING
Win32ThreadSupport* threadSupport = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
"collision",
processCollisionTask,
createCollisionLocalStoreMemory,
maxNumOutstandingTasks));
#else
spe_program_handle_t * program_handle;
#ifndef USE_CESOF
char* spuFileName = "../../../src/BulletMultiThreaded/out/spuCollision.elf";
program_handle = spe_image_open (spuFileName);
if (program_handle == NULL)
{
printf( "SPU OPEN IMAGE ERROR:%s\n",spuFileName);
exit(0);
}
else
{
printf( "IMAGE OPENED:%s\n",spuFileName);
}
#else
extern spe_program_handle_t spu_program;
program_handle = &spu_program;
#endif
SpuLibspe2Support* threadSupport = new SpuLibspe2Support( program_handle, maxNumOutstandingTasks);
#endif // WIN32
m_dispatcher = new SpuGatheringCollisionDispatcher(threadSupport,maxNumOutstandingTasks,collisionConfiguration);
#else
m_dispatcher = new btCollisionDispatcher(collisionConfiguration);
#endif //USE_PARALLEL_DISPATCHER
m_collisionConfiguration = new btDefaultCollisionConfiguration();
#define USE_SWEEP_AND_PRUNE 1
#ifdef USE_SWEEP_AND_PRUNE
#define maxProxies 8192
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
m_overlappingPairCache = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
//m_overlappingPairCache = new btMultiSapBroadphase();
#else
m_overlappingPairCache = new btSimpleBroadphase;
#endif //USE_SWEEP_AND_PRUNE
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
m_solver = sol;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver,m_collisionConfiguration);
m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
///create a few basic rigid bodies
//static ground
#ifdef USE_GROUND_BOX
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
#else
btCollisionShape* groundShape = new btSphereShape(btScalar(50.));
#endif//USE_GROUND_BOX
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,0));
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
//create a few dynamic sphere rigidbodies (re-using the same sphere shape)
//btCollisionShape* sphereShape = new btBoxShape(btVector3(1,1,1));
btCollisionShape* sphereShape = new btSphereShape(btScalar(1.));
m_collisionShapes.push_back(sphereShape);
int i;
for (i=0;i<gNumObjects;i++)
{
sphereShape->setMargin(gCollisionMargin);
btTransform trans;
trans.setIdentity();
//stack them
int colsize = 2;
int row = (int)((i*HALF_EXTENTS*2)/(colsize*2*HALF_EXTENTS));
int row2 = row;
int col = (i)%(colsize)-colsize/2;
btVector3 pos(col*2*HALF_EXTENTS + (row2%2)*HALF_EXTENTS,
row*2*HALF_EXTENTS+HALF_EXTENTS,0);
trans.setOrigin(pos);
//btRigidBody* body = localCreateRigidBody(btScalar(1.),trans,sphereShape);
localCreateRigidBody(btScalar(1.),trans,sphereShape);
}
//clientResetScene();
}
btRigidBody* BasicDemo::localCreateRigidBody(btScalar mass,const btTransform& startTrans,btCollisionShape* colShape)
{
btVector3 inertia(0,0,0);
if (mass)
colShape->calculateLocalInertia(mass,inertia);
btRigidBody::btRigidBodyConstructionInfo rbci(mass,0,colShape,inertia);
rbci.m_startWorldTransform = startTrans;
btRigidBody* body = new btRigidBody(rbci);
m_dynamicsWorld->addRigidBody(body);
return body;
}
void BasicDemo::exitPhysics()
{
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
int i;
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
m_dynamicsWorld->removeCollisionObject( obj );
delete obj;
}
//delete collision shapes
for (int j=0;j<m_collisionShapes.size();j++)
{
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
}
//delete dynamics world
delete m_dynamicsWorld;
//delete solver
delete m_solver;
//delete broadphase
delete m_overlappingPairCache;
//delete dispatcher
delete m_dispatcher;
delete m_collisionConfiguration;
}

62
Demos/CellSpuDemo/BasicDemo2.h
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BASIC_DEMO_H
#define BASIC_DEMO_H
#include "LinearMath/btQuickprof.h"
class btDiscreteDynamicsworld;
class btCollisionShape;
class btOverlappingPairCache;
class btCollisionDispatcher;
class btConstraintSolver;
struct btCollisionAlgorithmCreateFunc;
///BasicDemo is good starting point for learning the code base and porting.
class BasicDemo
{
btClock m_clock;
//keep the collision shapes, for deletion/cleanup
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
btBroadphaseInterface* m_overlappingPairCache;
btCollisionDispatcher* m_dispatcher;
btDefaultCollisionConfiguration* m_collisionConfiguration;
btConstraintSolver* m_solver;
btDiscreteDynamicsWorld* m_dynamicsWorld;
btCollisionAlgorithmCreateFunc* m_sphereSphereCF;
btCollisionAlgorithmCreateFunc* m_sphereBoxCF;
btCollisionAlgorithmCreateFunc* m_boxSphereCF;
btRigidBody* localCreateRigidBody(btScalar mass,const btTransform& startTrans,btCollisionShape* colShape);
public:
void initPhysics();
void exitPhysics();
virtual void clientMoveAndDisplay();
};
#endif //BASIC_DEMO_H

59
Demos/CharacterDemo/CMakeLists.txt
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@ -1,59 +0,0 @@
# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# You shouldn't have to modify anything below this line
########################################################
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${GLUT_INCLUDE_DIR}
)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
SET(CharacterDemo_SRCS
DynamicCharacterController.cpp
DynamicCharacterController.h
CharacterDemo.cpp
CharacterDemo.h
../BspDemo/BspConverter.cpp
../BspDemo/BspConverter.h
../BspDemo/BspLoader.cpp
../BspDemo/BspLoader.h
main.cpp
)
IF (WIN32)
ADD_EXECUTABLE(AppCharacterDemo
${CharacterDemo_SRCS}
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ELSE()
ADD_EXECUTABLE(AppCharacterDemo
${CharacterDemo_SRCS}
)
ENDIF()
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
ADD_CUSTOM_COMMAND(
TARGET AppCharacterDemo
POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/BspDemo/BspDemo.bsp ${CMAKE_CURRENT_BINARY_DIR}
)
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(AppCharacterDemo PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(AppCharacterDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(AppCharacterDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

526
Demos/CharacterDemo/CharacterDemo.cpp
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btBulletDynamicsCommon.h"
#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
#include "BulletCollision/CollisionDispatch/btGhostObject.h"
#include "GLDebugDrawer.h"
#include <stdio.h> //printf debugging
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
#include "CharacterDemo.h"
#ifdef DYNAMIC_CHARACTER_CONTROLLER
#include "DynamicCharacterController.h"
#else
#include "BulletDynamics/Character/btKinematicCharacterController.h"
#endif
const int maxProxies = 32766;
const int maxOverlap = 65535;
static int gForward = 0;
static int gBackward = 0;
static int gLeft = 0;
static int gRight = 0;
static int gJump = 0;
CharacterDemo::CharacterDemo()
:
m_indexVertexArrays(0),
m_vertices(0),
m_cameraHeight(4.f),
m_minCameraDistance(3.f),
m_maxCameraDistance(10.f)
{
m_character = 0;
m_cameraPosition = btVector3(30,30,30);
}
void CharacterDemo::initPhysics()
{
btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
m_collisionShapes.push_back(groundShape);
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
btAxisSweep3* sweepBP = new btAxisSweep3(worldMin,worldMax);
m_overlappingPairCache = sweepBP;
m_constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
m_dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration=0.0001f;
#ifdef DYNAMIC_CHARACTER_CONTROLLER
m_character = new DynamicCharacterController ();
#else
btTransform startTransform;
startTransform.setIdentity ();
//startTransform.setOrigin (btVector3(0.0, 4.0, 0.0));
startTransform.setOrigin (btVector3(10.210098,-1.6433364,16.453260));
m_ghostObject = new btPairCachingGhostObject();
m_ghostObject->setWorldTransform(startTransform);
sweepBP->getOverlappingPairCache()->setInternalGhostPairCallback(new btGhostPairCallback());
btScalar characterHeight=1.75;
btScalar characterWidth =1.75;
btConvexShape* capsule = new btCapsuleShape(characterWidth,characterHeight);
m_ghostObject->setCollisionShape (capsule);
m_ghostObject->setCollisionFlags (btCollisionObject::CF_CHARACTER_OBJECT);
btScalar stepHeight = btScalar(0.35);
m_character = new btKinematicCharacterController (m_ghostObject,capsule,stepHeight);
#endif
////////////////
/// Create some basic environment from a Quake level
//m_dynamicsWorld->setGravity(btVector3(0,0,0));
btTransform tr;
tr.setIdentity();
const char* filename = "BspDemo.bsp";
const char* prefix[]={"./","../","../../","../../../","../../../../", "BspDemo/", "Demos/BspDemo/",
"../Demos/BspDemo/","../../Demos/BspDemo/"};
int numPrefixes = sizeof(prefix)/sizeof(const char*);
char relativeFileName[1024];
FILE* file=0;
for (int i=0;i<numPrefixes;i++)
{
sprintf(relativeFileName,"%s%s",prefix[i],filename);
file = fopen(relativeFileName,"r");
if (file)
break;
}
void* memoryBuffer = 0;
if (file)
{
BspLoader bspLoader;
int size=0;
if (fseek(file, 0, SEEK_END) || (size = ftell(file)) == EOF || fseek(file, 0, SEEK_SET)) { /* File operations denied? ok, just close and return failure */
printf("Error: cannot get filesize from %s\n", filename);
} else
{
//how to detect file size?
memoryBuffer = malloc(size+1);
fread(memoryBuffer,1,size,file);
bspLoader.loadBSPFile( memoryBuffer);
BspToBulletConverter bsp2bullet(this);
float bspScaling = 0.1f;
bsp2bullet.convertBsp(bspLoader,bspScaling);
}
fclose(file);
}
///only collide with static for now (no interaction with dynamic objects)
m_dynamicsWorld->addCollisionObject(m_ghostObject,btBroadphaseProxy::CharacterFilter, btBroadphaseProxy::StaticFilter|btBroadphaseProxy::DefaultFilter);
m_dynamicsWorld->addAction(m_character);
///////////////
clientResetScene();
setCameraDistance(56.f);
}
//to be implemented by the demo
void CharacterDemo::renderme()
{
updateCamera();
DemoApplication::renderme();
}
void CharacterDemo::debugDrawContacts()
{
// printf("numPairs = %d\n",m_customPairCallback->getOverlappingPairArray().size());
{
btManifoldArray manifoldArray;
btBroadphasePairArray& pairArray = m_ghostObject->getOverlappingPairCache()->getOverlappingPairArray();
int numPairs = pairArray.size();
for (int i=0;i<numPairs;i++)
{
manifoldArray.clear();
const btBroadphasePair& pair = pairArray[i];
btBroadphasePair* collisionPair = m_overlappingPairCache->getOverlappingPairCache()->findPair(pair.m_pProxy0,pair.m_pProxy1);
if (!collisionPair)
continue;
if (collisionPair->m_algorithm)
collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
for (int j=0;j<manifoldArray.size();j++)
{
btPersistentManifold* manifold = manifoldArray[j];
for (int p=0;p<manifold->getNumContacts();p++)
{
const btManifoldPoint&pt = manifold->getContactPoint(p);
btVector3 color(255,255,255);
m_dynamicsWorld->getDebugDrawer()->drawContactPoint(pt.getPositionWorldOnB(),pt.m_normalWorldOnB,pt.getDistance(),pt.getLifeTime(),color);
}
}
}
}
}
void CharacterDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float dt = getDeltaTimeMicroseconds() * 0.000001f;
/* Character stuff &*/
if (m_character)
{
}
debugDrawContacts();
if (m_dynamicsWorld)
{
//during idle mode, just run 1 simulation step maximum
int maxSimSubSteps = m_idle ? 1 : 2;
if (m_idle)
dt = 1.0/420.f;
///set walkDirection for our character
btTransform xform;
xform = m_ghostObject->getWorldTransform ();
btVector3 forwardDir = xform.getBasis()[2];
// printf("forwardDir=%f,%f,%f\n",forwardDir[0],forwardDir[1],forwardDir[2]);
btVector3 upDir = xform.getBasis()[1];
btVector3 strafeDir = xform.getBasis()[0];
forwardDir.normalize ();
upDir.normalize ();
strafeDir.normalize ();
btVector3 walkDirection = btVector3(0.0, 0.0, 0.0);
btScalar walkVelocity = btScalar(1.1) * 4.0; // 4 km/h -> 1.1 m/s
btScalar walkSpeed = walkVelocity * dt;
//rotate view
if (gLeft)
{
btMatrix3x3 orn = m_ghostObject->getWorldTransform().getBasis();
orn *= btMatrix3x3(btQuaternion(btVector3(0,1,0),0.01));
m_ghostObject->getWorldTransform ().setBasis(orn);
}
if (gRight)
{
btMatrix3x3 orn = m_ghostObject->getWorldTransform().getBasis();
orn *= btMatrix3x3(btQuaternion(btVector3(0,1,0),-0.01));
m_ghostObject->getWorldTransform ().setBasis(orn);
}
if (gForward)
walkDirection += forwardDir;
if (gBackward)
walkDirection -= forwardDir;
m_character->setWalkDirection(walkDirection*walkSpeed);
int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
//optional but useful: debug drawing
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
//#define VERBOSE_FEEDBACK
#ifdef VERBOSE_FEEDBACK
if (!numSimSteps)
printf("Interpolated transforms\n");
else
{
if (numSimSteps > maxSimSubSteps)
{
//detect dropping frames
printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
} else
{
printf("Simulated (%i) steps\n",numSimSteps);
}
}
#endif //VERBOSE_FEEDBACK
}
#ifdef USE_QUICKPROF
btProfiler::beginBlock("render");
#endif //USE_QUICKPROF
renderme();
#ifdef USE_QUICKPROF
btProfiler::endBlock("render");
#endif
glFlush();
glutSwapBuffers();
}
void CharacterDemo::displayCallback(void)
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
renderme();
//optional but useful: debug drawing
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
debugDrawContacts();
glFlush();
glutSwapBuffers();
}
void CharacterDemo::clientResetScene()
{
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(m_ghostObject->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
m_character->reset (m_dynamicsWorld);
///WTF
m_character->warp (btVector3(10.210001,-2.0306311,16.576973));
}
void CharacterDemo::specialKeyboardUp(int key, int x, int y)
{
switch (key)
{
case GLUT_KEY_UP:
{
gForward = 0;
}
break;
case GLUT_KEY_DOWN:
{
gBackward = 0;
}
break;
case GLUT_KEY_LEFT:
{
gLeft = 0;
}
break;
case GLUT_KEY_RIGHT:
{
gRight = 0;
}
break;
default:
DemoApplication::specialKeyboardUp(key,x,y);
break;
}
}
void CharacterDemo::specialKeyboard(int key, int x, int y)
{
// printf("key = %i x=%i y=%i\n",key,x,y);
switch (key)
{
case GLUT_KEY_UP:
{
gForward = 1;
}
break;
case GLUT_KEY_DOWN:
{
gBackward = 1;
}
break;
case GLUT_KEY_LEFT:
{
gLeft = 1;
}
break;
case GLUT_KEY_RIGHT:
{
gRight = 1;
}
break;
case GLUT_KEY_F1:
{
if (m_character && m_character->canJump())
gJump = 1;
}
break;
default:
DemoApplication::specialKeyboard(key,x,y);
break;
}
// glutPostRedisplay();
}
void CharacterDemo::updateCamera()
{
//#define DISABLE_CAMERA 1
#ifdef DISABLE_CAMERA
DemoApplication::updateCamera();
return;
#endif //DISABLE_CAMERA
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
btTransform characterWorldTrans;
//look at the vehicle
characterWorldTrans = m_ghostObject->getWorldTransform();
btVector3 up = characterWorldTrans.getBasis()[1];
btVector3 backward = -characterWorldTrans.getBasis()[2];
up.normalize ();
backward.normalize ();
m_cameraTargetPosition = characterWorldTrans.getOrigin();
m_cameraPosition = m_cameraTargetPosition + up * 10.0 + backward * 12.0;
//use the convex sweep test to find a safe position for the camera (not blocked by static geometry)
btSphereShape cameraSphere(0.2f);
btTransform cameraFrom,cameraTo;
cameraFrom.setIdentity();
cameraFrom.setOrigin(characterWorldTrans.getOrigin());
cameraTo.setIdentity();
cameraTo.setOrigin(m_cameraPosition);
btCollisionWorld::ClosestConvexResultCallback cb( characterWorldTrans.getOrigin(), cameraTo.getOrigin() );
cb.m_collisionFilterMask = btBroadphaseProxy::StaticFilter;
m_dynamicsWorld->convexSweepTest(&cameraSphere,cameraFrom,cameraTo,cb);
if (cb.hasHit())
{
btScalar minFraction = cb.m_closestHitFraction;//btMax(btScalar(0.3),cb.m_closestHitFraction);
m_cameraPosition.setInterpolate3(cameraFrom.getOrigin(),cameraTo.getOrigin(),minFraction);
}
//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());
}
CharacterDemo::~CharacterDemo()
{
//cleanup in the reverse order of creation/initialization
if (m_character)
{
m_dynamicsWorld->removeCollisionObject(m_ghostObject);
}
//remove the rigidbodies from the dynamics world and delete them
int i;
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState())
{
delete body->getMotionState();
}
m_dynamicsWorld->removeCollisionObject( obj );
delete obj;
}
//delete collision shapes
for (int j=0;j<m_collisionShapes.size();j++)
{
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
}
delete m_indexVertexArrays;
delete m_vertices;
//delete dynamics world
delete m_dynamicsWorld;
//delete solver
delete m_constraintSolver;
//delete broadphase
delete m_overlappingPairCache;
//delete dispatcher
delete m_dispatcher;
delete m_collisionConfiguration;
}

153
Demos/CharacterDemo/CharacterDemo.h
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CHARACTER_DEMO_H
#define CHARACTER_DEMO_H
///DYNAMIC_CHARACTER_CONTROLLER is not fully implemented yet at the moment
//#define DYNAMIC_CHARACTER_CONTROLLER 1
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
class btCharacterControllerInterface;
class btDynamicCharacterController;
class btKinematicCharacterController;
class btCollisionShape;
#include "GlutDemoApplication.h"
///CharacterDemo shows how to setup and use the built-in raycast vehicle
class CharacterDemo : public GlutDemoApplication
{
public:
#ifdef DYNAMIC_CHARACTER_CONTROLLER
btCharacterControllerInterface* m_character;
#else
btKinematicCharacterController* m_character;
class btPairCachingGhostObject* m_ghostObject;
#endif
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;
void debugDrawContacts();
float m_cameraHeight;
float m_minCameraDistance;
float m_maxCameraDistance;
CharacterDemo();
virtual ~CharacterDemo();
virtual void clientMoveAndDisplay();
virtual void clientResetScene();
virtual void displayCallback();
///a very basic camera following the character
virtual void updateCamera();
virtual void specialKeyboard(int key, int x, int y);
virtual void specialKeyboardUp(int key, int x, int y);
void renderme();
void initPhysics();
static DemoApplication* Create()
{
CharacterDemo* demo = new CharacterDemo();
demo->myinit();
demo->initPhysics();
return demo;
}
};
#define QUAKE_BSP_IMPORTING 1
#ifdef QUAKE_BSP_IMPORTING
#include "../BspDemo/BspLoader.h"
#include "../BspDemo/BspConverter.h"
class BspToBulletConverter : public BspConverter
{
CharacterDemo* m_demoApp;
public:
BspToBulletConverter(CharacterDemo* demoApp)
:m_demoApp(demoApp)
{
}
virtual void addConvexVerticesCollider(btAlignedObjectArray<btVector3>& vertices, bool isEntity, const btVector3& entityTargetLocation)
{
///perhaps we can do something special with entities (isEntity)
///like adding a collision Triggering (as example)
if (vertices.size() > 0)
{
float mass = 0.f;
btTransform startTransform;
//can use a shift
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,-10.0f,0.0f));
//this create an internal copy of the vertices
for (int i = 0; i < vertices.size(); i++)
{
vertices[i] *= btScalar(0.5);
float t = vertices[i].getZ() * btScalar(0.75);
vertices[i].setZ(-vertices[i].getY());
vertices[i].setY(t);
}
btCollisionShape* shape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
m_demoApp->m_collisionShapes.push_back(shape);
//btRigidBody* body = m_demoApp->localCreateRigidBody(mass, startTransform,shape);
m_demoApp->localCreateRigidBody(mass, startTransform,shape);
}
}
};
#endif //QUAKE_BSP_IMPORTING
#endif //CHARACTER_DEMO_H

204
Demos/CharacterDemo/DynamicCharacterController.cpp
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#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
#include "LinearMath/btDefaultMotionState.h"
#include "DynamicCharacterController.h"
DynamicCharacterController::DynamicCharacterController ()
{
m_rayLambda[0] = 1.0;
m_rayLambda[1] = 1.0;
m_halfHeight = 1.0;
m_turnAngle = 0.0;
m_maxLinearVelocity = 10.0;
m_walkVelocity = 8.0; // meters/sec
m_turnVelocity = 1.0; // radians/sec
m_shape = NULL;
m_rigidBody = NULL;
}
DynamicCharacterController::~DynamicCharacterController ()
{
}
void DynamicCharacterController::setup (btScalar height, btScalar width, btScalar stepHeight)
{
btVector3 spherePositions[2];
btScalar sphereRadii[2];
sphereRadii[0] = width;
sphereRadii[1] = width;
spherePositions[0] = btVector3 (0.0, (height/btScalar(2.0) - width), 0.0);
spherePositions[1] = btVector3 (0.0, (-height/btScalar(2.0) + width), 0.0);
m_halfHeight = height/btScalar(2.0);
m_shape = new btMultiSphereShape (&spherePositions[0], &sphereRadii[0], 2);
btTransform startTransform;
startTransform.setIdentity ();
startTransform.setOrigin (btVector3(0.0, 2.0, 0.0));
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo cInfo(1.0, myMotionState, m_shape);
m_rigidBody = new btRigidBody(cInfo);
// kinematic vs. static doesn't work
//m_rigidBody->setCollisionFlags( m_rigidBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
m_rigidBody->setSleepingThresholds (0.0, 0.0);
m_rigidBody->setAngularFactor (0.0);
}
void DynamicCharacterController::destroy ()
{
if (m_shape)
{
delete m_shape;
}
if (m_rigidBody)
{
delete m_rigidBody;
m_rigidBody = 0;
}
}
btCollisionObject* DynamicCharacterController::getCollisionObject ()
{
return m_rigidBody;
}
void DynamicCharacterController::preStep (const btCollisionWorld* collisionWorld)
{
btTransform xform;
m_rigidBody->getMotionState()->getWorldTransform (xform);
btVector3 down = -xform.getBasis()[1];
btVector3 forward = xform.getBasis()[2];
down.normalize ();
forward.normalize();
m_raySource[0] = xform.getOrigin();
m_raySource[1] = xform.getOrigin();
m_rayTarget[0] = m_raySource[0] + down * m_halfHeight * btScalar(1.1);
m_rayTarget[1] = m_raySource[1] + forward * m_halfHeight * btScalar(1.1);
class ClosestNotMe : public btCollisionWorld::ClosestRayResultCallback
{
public:
ClosestNotMe (btRigidBody* me) : btCollisionWorld::ClosestRayResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
{
m_me = me;
}
virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,bool normalInWorldSpace)
{
if (rayResult.m_collisionObject == m_me)
return 1.0;
return ClosestRayResultCallback::addSingleResult (rayResult, normalInWorldSpace
);
}
protected:
btRigidBody* m_me;
};
ClosestNotMe rayCallback(m_rigidBody);
int i = 0;
for (i = 0; i < 2; i++)
{
rayCallback.m_closestHitFraction = 1.0;
collisionWorld->rayTest (m_raySource[i], m_rayTarget[i], rayCallback);
if (rayCallback.hasHit())
{
m_rayLambda[i] = rayCallback.m_closestHitFraction;
} else {
m_rayLambda[i] = 1.0;
}
}
}
void DynamicCharacterController::playerStep (const btCollisionWorld* dynaWorld,btScalar dt,
int forward,
int backward,
int left,
int right,
int jump)
{
btTransform xform;
m_rigidBody->getMotionState()->getWorldTransform (xform);
/* Handle turning */
if (left)
m_turnAngle -= dt * m_turnVelocity;
if (right)
m_turnAngle += dt * m_turnVelocity;
xform.setRotation (btQuaternion (btVector3(0.0, 1.0, 0.0), m_turnAngle));
btVector3 linearVelocity = m_rigidBody->getLinearVelocity();
btScalar speed = m_rigidBody->getLinearVelocity().length();
btVector3 forwardDir = xform.getBasis()[2];
forwardDir.normalize ();
btVector3 walkDirection = btVector3(0.0, 0.0, 0.0);
btScalar walkSpeed = m_walkVelocity * dt;
if (forward)
walkDirection += forwardDir;
if (backward)
walkDirection -= forwardDir;
if (!forward && !backward && onGround())
{
/* Dampen when on the ground and not being moved by the player */
linearVelocity *= btScalar(0.2);
m_rigidBody->setLinearVelocity (linearVelocity);
} else {
if (speed < m_maxLinearVelocity)
{
btVector3 velocity = linearVelocity + walkDirection * walkSpeed;
m_rigidBody->setLinearVelocity (velocity);
}
}
m_rigidBody->getMotionState()->setWorldTransform (xform);
m_rigidBody->setCenterOfMassTransform (xform);
}
bool DynamicCharacterController::canJump () const
{
return onGround();
}
void DynamicCharacterController::jump ()
{
if (!canJump())
return;
btTransform xform;
m_rigidBody->getMotionState()->getWorldTransform (xform);
btVector3 up = xform.getBasis()[1];
up.normalize ();
btScalar magnitude = (btScalar(1.0)/m_rigidBody->getInvMass()) * btScalar(8.0);
m_rigidBody->applyCentralImpulse (up * magnitude);
}
bool DynamicCharacterController::onGround () const
{
return m_rayLambda[0] < btScalar(1.0);
}
void DynamicCharacterController::reset ()
{
}
void DynamicCharacterController::warp (const btVector3& origin)
{
}
void DynamicCharacterController::registerPairCacheAndDispatcher (btOverlappingPairCache* pairCache, btCollisionDispatcher* dispatcher)
{
}

55
Demos/CharacterDemo/DynamicCharacterController.h
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@ -1,55 +0,0 @@
#ifndef CHARACTER_CONTROLLER_H
#define CHARACTER_CONTROLLER_H
#include "LinearMath/btVector3.h"
#include "BulletDynamics/Character/btCharacterControllerInterface.h"
class btCollisionShape;
class btRigidBody;
class btCollisionWorld;
///DynamicCharacterController is obsolete/unsupported at the moment
class DynamicCharacterController : public btCharacterControllerInterface
{
protected:
btScalar m_halfHeight;
btCollisionShape* m_shape;
btRigidBody* m_rigidBody;
btVector3 m_raySource[2];
btVector3 m_rayTarget[2];
btScalar m_rayLambda[2];
btVector3 m_rayNormal[2];
btScalar m_turnAngle;
btScalar m_maxLinearVelocity;
btScalar m_walkVelocity;
btScalar m_turnVelocity;
public:
DynamicCharacterController ();
~DynamicCharacterController ();
void setup (btScalar height = 2.0, btScalar width = 0.25, btScalar stepHeight = 0.25);
void destroy ();
virtual void reset ();
virtual void warp (const btVector3& origin);
virtual void registerPairCacheAndDispatcher (btOverlappingPairCache* pairCache, btCollisionDispatcher* dispatcher);
btCollisionObject* getCollisionObject ();
void preStep (const btCollisionWorld* collisionWorld);
void playerStep (const btCollisionWorld* collisionWorld,btScalar dt,
int forward,
int backward,
int left,
int right,
int jump);
bool canJump () const;
void jump ();
bool onGround () const;
};
#endif

19
Demos/CharacterDemo/main.cpp
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#include "CharacterDemo.h"
#include "GlutStuff.h"
#include "GLDebugDrawer.h"
#include "btBulletDynamicsCommon.h"
GLDebugDrawer gDebugDrawer;
int main(int argc,char** argv)
{
CharacterDemo* characterDemo = new CharacterDemo;
characterDemo->initPhysics();
characterDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
return glutmain(argc, argv,640,480,"Bullet Character Demo. http://www.continuousphysics.com/Bullet/phpBB2/", characterDemo);
}

39
Demos/CollisionDemo/CMakeLists.txt
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@ -1,39 +0,0 @@
# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# You shouldn't have to modify anything below this line
########################################################
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${GLUT_INCLUDE_DIR}
)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
IF (WIN32)
ADD_EXECUTABLE(AppCollisionDemo
CollisionDemo.cpp
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ELSE()
ADD_EXECUTABLE(AppCollisionDemo
CollisionDemo.cpp
)
ENDIF()
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(AppCollisionDemo PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(AppCollisionDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(AppCollisionDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

380
Demos/CollisionDemo/CollisionDemo.cpp
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///
/// Collision Demo shows a degenerate case, where the Simplex solver has to deal with near-affine dependent cases
/// See the define CATCH_DEGENERATE_TETRAHEDRON in Bullet's btVoronoiSimplexSolver.cpp
///
//#define CHECK_GENSHER_TRIANGLE_CASE 1
///This low-level internal demo does intentionally NOT use the btBulletCollisionCommon.h header
///It needs internal access
#include "GL_Simplex1to4.h"
#include "LinearMath/btQuaternion.h"
#include "LinearMath/btTransform.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btPointCollector.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "LinearMath/btTransformUtil.h"
#include "CollisionDemo.h"
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
#include "LinearMath/btIDebugDraw.h"
#include "../OpenGL/GLDebugDrawer.h"
GLDebugDrawer debugDrawer;
float yaw=0.f,pitch=0.f,roll=0.f;
const int maxNumObjects = 4;
const int numObjects = 2;
GL_Simplex1to4 simplex;
btPolyhedralConvexShape* shapePtr[maxNumObjects];
btTransform tr[numObjects];
int screenWidth = 640;
int screenHeight = 480;
void DrawRasterizerLine(float const* , float const*, int)
{
}
int main(int argc,char** argv)
{
CollisionDemo* colDemo = new CollisionDemo();
#ifdef CHECK_GENSHER_TRIANGLE_CASE
colDemo->setCameraDistance(8.f);
#else
colDemo->setCameraDistance(4.f);
#endif //
colDemo->initPhysics();
return glutmain(argc, argv,screenWidth,screenHeight,"Collision Demo",colDemo);
}
void CollisionDemo::initPhysics()
{
setTexturing(false);
setShadows(false);
//m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
#ifdef CHECK_GENSHER_TRIANGLE_CASE
m_azi = 140.f;
#else
m_azi = 250.f;
#endif
m_ele = 25.f;
m_azi = 0;
m_ele = 0;
m_cameraTargetPosition.setValue(8.12,0.39,0);
tr[0].setIdentity();
tr[0].setOrigin(btVector3(10,0,0));
tr[1].setIdentity();
tr[1].setOrigin(btVector3(0,0,0));
#ifdef CHECK_GENSHER_TRIANGLE_CASE
tr[0].setIdentity();
tr[1].setIdentity();
#endif //CHECK_GENSHER_TRIANGLE_CASE
btVector3 boxHalfExtentsA(1,1,1);//1.0000004768371582f,1.0000004768371582f,1.0000001192092896f);
btVector3 boxHalfExtentsB(4,4,4);//3.2836332321166992f,3.2836332321166992f,3.2836320400238037f);
#ifndef CHECK_GENSHER_TRIANGLE_CASE
btBoxShape* boxA = new btBoxShape(boxHalfExtentsA);
btBoxShape* boxB = new btBoxShape(boxHalfExtentsB);
#endif
#ifdef CHECK_GENSHER_TRIANGLE_CASE
shapePtr[0] = trishapeA;
shapePtr[1] = trishapeB;
#else
shapePtr[0] = boxA;
shapePtr[1] = boxB;
#endif
}
void CollisionDemo::clientMoveAndDisplay()
{
displayCallback();
}
static btVoronoiSimplexSolver sGjkSimplexSolver;
btSimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
static btScalar gContactBreakingThreshold=.02f;
int myiter = 1;
int mystate = 2;
int checkPerturbation = 1;
int numPerturbationIterations = 20;
void CollisionDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDisable(GL_LIGHTING);
btVoronoiSimplexSolver sGjkSimplexSolver;
btGjkEpaPenetrationDepthSolver epaSolver;
btPointCollector gjkOutput;
btVector3 worldBoundsMin(-1000,-1000,-1000);
btVector3 worldBoundsMax(1000,1000,1000);
{
btGjkPairDetector convexConvex(shapePtr[0],shapePtr[1],&sGjkSimplexSolver,&epaSolver);
btGjkPairDetector::ClosestPointInput input;
input.m_transformA = tr[0];
input.m_transformB = tr[1];
convexConvex.getClosestPoints(input, gjkOutput, 0);
}
ATTRIBUTE_ALIGNED16(btScalar) m[16];
int i;
//m_ele = 21.2;
//m_azi = -56.6;
for (i=0;i<numObjects;i++)
{
tr[i].getOpenGLMatrix( m );
//m_shapeDrawer->drawOpenGL(m,shapePtr[i],btVector3(119./255.,147./255.,60./255.),btIDebugDraw::DBG_FastWireframe,worldBoundsMin,worldBoundsMax);
m_shapeDrawer->drawOpenGL(m,shapePtr[i],btVector3(0.6,0.6,0.6),btIDebugDraw::DBG_FastWireframe,worldBoundsMin,worldBoundsMax);
}
if (gjkOutput.m_hasResult)
{
printf("original distance: %10.4f\n", gjkOutput.m_distance);
btVector3 endPt = gjkOutput.m_pointInWorld +
gjkOutput.m_normalOnBInWorld*gjkOutput.m_distance;
debugDrawer.drawLine(gjkOutput.m_pointInWorld,endPt,btVector3(0,0,0));
debugDrawer.drawSphere(gjkOutput.m_pointInWorld,0.05,btVector3(0,0,0));
debugDrawer.drawSphere(endPt,0.05,btVector3(0,0,0));
bool perturbeA = false;//true;
const btScalar angleLimit = 0.125f * SIMD_PI;
btScalar perturbeAngle;
btScalar radiusA = shapePtr[0]->getAngularMotionDisc();
btScalar radiusB = shapePtr[1]->getAngularMotionDisc();
if (radiusA < radiusB)
{
perturbeAngle = gContactBreakingThreshold /radiusA;
perturbeA = true;
} else
{
perturbeAngle = gContactBreakingThreshold / radiusB;
perturbeA = false;
}
if ( perturbeAngle > angleLimit )
perturbeAngle = angleLimit;
perturbeAngle*=5;
btVector3 v0,v1;
btPlaneSpace1(gjkOutput.m_normalOnBInWorld,v0,v1);
glLineWidth(5);
int i;
i=0;
if (myiter>=numPerturbationIterations)
myiter=0;
if (mystate<2)
{
i= myiter;
}
for ( ;i<numPerturbationIterations;i++)
{
btGjkPairDetector::ClosestPointInput input;
input.m_transformA = tr[0];
input.m_transformB = tr[1];
sGjkSimplexSolver.reset();
btQuaternion perturbeRot(v0,perturbeAngle);
btScalar iterationAngle = i*(SIMD_2_PI/btScalar(numPerturbationIterations));
btQuaternion rotq(gjkOutput.m_normalOnBInWorld,iterationAngle);
if (perturbeA)
{
input.m_transformA.setBasis( btMatrix3x3(rotq*perturbeRot*rotq.inverse())*tr[0].getBasis());
} else
{
input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*tr[1].getBasis());
}
debugDrawer.drawTransform(input.m_transformA,1.0);
btGjkPairDetector convexConvex(shapePtr[0],shapePtr[1],&sGjkSimplexSolver,&epaSolver);
input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
gjkOutput.m_distance = BT_LARGE_FLOAT;
convexConvex.getClosestPoints(input, gjkOutput, 0);
if (mystate!=2 || i==myiter)
{
ATTRIBUTE_ALIGNED16(btScalar) m[16];
input.m_transformA.getOpenGLMatrix( m );
//m_shapeDrawer->drawOpenGL(m,shapePtr[0],btVector3(108./255.,131./255.,158./255),btIDebugDraw::DBG_FastWireframe,worldBoundsMin,worldBoundsMax);
m_shapeDrawer->drawOpenGL(m,shapePtr[0],btVector3(0.3,0.3,1),btIDebugDraw::DBG_FastWireframe,worldBoundsMin,worldBoundsMax);
}
if (1)//gjkOutput.m_hasResult)
{
printf("perturbed distance: %10.4f\n", gjkOutput.m_distance);
btVector3 startPt,endPt;
btScalar depth = 0;
if (perturbeA)
{
btVector3 endPtOrg = gjkOutput.m_pointInWorld + gjkOutput.m_normalOnBInWorld*gjkOutput.m_distance;
endPt = (tr[0]*input.m_transformA.inverse())(endPtOrg);
depth = (endPt - gjkOutput.m_pointInWorld).dot(gjkOutput.m_normalOnBInWorld);
startPt = endPt-gjkOutput.m_normalOnBInWorld*depth;
} else
{
endPt = gjkOutput.m_pointInWorld + gjkOutput.m_normalOnBInWorld*gjkOutput.m_distance;
startPt = (tr[1]*input.m_transformB.inverse())(gjkOutput.m_pointInWorld);
depth = (endPt - startPt).dot(gjkOutput.m_normalOnBInWorld);
}
printf("corrected distance: %10.4f\n", depth);
debugDrawer.drawLine(startPt,endPt,btVector3(1,0,0));
debugDrawer.drawSphere(startPt,0.05,btVector3(0,1,0));
debugDrawer.drawSphere(endPt,0.05,btVector3(0,0,1));
}
if (mystate<2)
break;
if (mystate==2 && i>myiter)
break;
}
}
static int looper = 0;
if (looper++>10)
{
looper =0;
checkPerturbation++;
if (checkPerturbation>numPerturbationIterations)
checkPerturbation=0;
}
GL_ShapeDrawer::drawCoordSystem();
if (mystate==1 || mystate==2)
{
static int count = 10;
count--;
if (count<0)
{
count=10;
myiter++;
}
}
btQuaternion orn;
orn.setEuler(yaw,pitch,roll);
//let it rotate
//tr[0].setRotation(orn);
pitch += 0.005f;
yaw += 0.01f;
glFlush();
glutSwapBuffers();
}
void CollisionDemo::specialKeyboard(int key, int x, int y)
{
switch (key)
{
case GLUT_KEY_DOWN:
case GLUT_KEY_UP:
{
break;
}
default:
DemoApplication::specialKeyboard(key,x,y);
break;
}
}
void CollisionDemo::specialKeyboardUp(int key, int x, int y)
{
switch (key)
{
case GLUT_KEY_UP :
{
myiter++;
break;
}
case GLUT_KEY_DOWN:
{
mystate++;
if (mystate>1)
myiter=0;
if (mystate>=4)
mystate = 0;
break;
}
default:
DemoApplication::specialKeyboardUp(key,x,y);
break;
}
}

38
Demos/CollisionDemo/CollisionDemo.h
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@ -1,38 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COLLISION_DEMO_H
#define COLLISION_DEMO_H
#include "GlutDemoApplication.h"
///CollisionDemo shows the low-level direct access to GJK
class CollisionDemo : public GlutDemoApplication
{
public:
void initPhysics();
virtual void clientMoveAndDisplay();
virtual void displayCallback();
virtual void specialKeyboardUp(int key, int x, int y);
virtual void specialKeyboard(int key, int x, int y);
};
#endif //COLLISION_DEMO_H

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Demos/CollisionInterfaceDemo/CMakeLists.txt
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@ -1,63 +0,0 @@
# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# You shouldn't have to modify anything below this line
########################################################
IF (USE_GLUT)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${GLUT_INCLUDE_DIR}
)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
IF (WIN32)
ADD_EXECUTABLE(AppCollisionInterfaceDemo
CollisionInterfaceDemo.cpp
CollisionInterfaceDemo.h
main.cpp
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ELSE()
ADD_EXECUTABLE(AppCollisionInterfaceDemo
CollisionInterfaceDemo.cpp
CollisionInterfaceDemo.h
main.cpp
)
ENDIF()
ELSE (USE_GLUT)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppCollisionInterfaceDemo
WIN32
CollisionInterfaceDemo.cpp
CollisionInterfaceDemo.h
Win32CollisionInterfaceDemo.cpp
../OpenGL/Win32AppMain.cpp
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ENDIF (USE_GLUT)
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(AppCollisionInterfaceDemo PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(AppCollisionInterfaceDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(AppCollisionInterfaceDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

292
Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
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@ -1,292 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///
/// CollisionInterfaceDemo shows high level usage of the Collision Detection.
///
#define TEST_NOT_ADDING_OBJECTS_TO_WORLD
#include "GL_Simplex1to4.h"
//include common Bullet Collision Detection headerfiles
#include "btBulletCollisionCommon.h"
#include "LinearMath/btIDebugDraw.h"
#include "GL_ShapeDrawer.h"
#include "CollisionInterfaceDemo.h"
#include "GlutStuff.h"
#include "GLDebugDrawer.h"
btScalar yaw=0.f,pitch=0.f,roll=0.f;
const int maxNumObjects = 4;
const int numObjects = 2;
GL_Simplex1to4 simplex;
btCollisionObject objects[maxNumObjects];
btCollisionWorld* collisionWorld = 0;
GLDebugDrawer debugDrawer;
void CollisionInterfaceDemo::initPhysics()
{
m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
btMatrix3x3 basisA;
basisA.setIdentity();
btMatrix3x3 basisB;
basisB.setIdentity();
objects[0].getWorldTransform().setBasis(basisA);
objects[1].getWorldTransform().setBasis(basisB);
btBoxShape* boxA = new btBoxShape(btVector3(1,1,1));
boxA->setMargin(0.f);
btBoxShape* boxB = new btBoxShape(btVector3(0.5,0.5,0.5));
boxB->setMargin(0.f);
//ConvexHullShape hullA(points0,3);
//hullA.setLocalScaling(btVector3(3,3,3));
//ConvexHullShape hullB(points1,4);
//hullB.setLocalScaling(btVector3(4,4,4));
objects[0].setCollisionShape(boxA);//&hullA;
objects[1].setCollisionShape(boxB);//&hullB;
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
btVector3 worldAabbMin(-1000,-1000,-1000);
btVector3 worldAabbMax(1000,1000,1000);
btAxisSweep3* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
//SimpleBroadphase is a brute force alternative, performing N^2 aabb overlap tests
//SimpleBroadphase* broadphase = new btSimpleBroadphase;
collisionWorld = new btCollisionWorld(dispatcher,broadphase,collisionConfiguration);
collisionWorld->setDebugDrawer(&debugDrawer);
#ifdef TEST_NOT_ADDING_OBJECTS_TO_WORLD
// collisionWorld->addCollisionObject(&objects[0]);
collisionWorld->addCollisionObject(&objects[1]);
#endif //TEST_NOT_ADDING_OBJECTS_TO_WORLD
}
//to be implemented by the demo
void CollisionInterfaceDemo::clientMoveAndDisplay()
{
displayCallback();
}
static btVoronoiSimplexSolver sGjkSimplexSolver;
btSimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
struct btDrawingResult : public btCollisionWorld::ContactResultCallback
{
virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
{
glBegin(GL_LINES);
glColor3f(0, 0, 0);
btVector3 ptA = cp.getPositionWorldOnA();
btVector3 ptB = cp.getPositionWorldOnB();
glVertex3d(ptA.x(),ptA.y(),ptA.z());
glVertex3d(ptB.x(),ptB.y(),ptB.z());
glEnd();
return 0;
}
};
void CollisionInterfaceDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDisable(GL_LIGHTING);
btScalar m[16];
btVector3 worldBoundsMin,worldBoundsMax;
collisionWorld->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
int i;
for (i=0;i<numObjects;i++)
{
objects[i].getWorldTransform().getOpenGLMatrix( m );
m_shapeDrawer->drawOpenGL(m,objects[i].getCollisionShape(),btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
}
collisionWorld->getDispatchInfo().m_debugDraw = &debugDrawer;
if (collisionWorld)
collisionWorld->performDiscreteCollisionDetection();
#ifndef TEST_NOT_ADDING_OBJECTS_TO_WORLD
collisionWorld->debugDrawWorld();
///one way to draw all the contact points is iterating over contact manifolds in the dispatcher:
int numManifolds = collisionWorld->getDispatcher()->getNumManifolds();
for (i=0;i<numManifolds;i++)
{
btPersistentManifold* contactManifold = collisionWorld->getDispatcher()->getManifoldByIndexInternal(i);
btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
int numContacts = contactManifold->getNumContacts();
for (int j=0;j<numContacts;j++)
{
btManifoldPoint& pt = contactManifold->getContactPoint(j);
glBegin(GL_LINES);
glColor3f(0, 0, 0);
btVector3 ptA = pt.getPositionWorldOnA();
btVector3 ptB = pt.getPositionWorldOnB();
glVertex3d(ptA.x(),ptA.y(),ptA.z());
glVertex3d(ptB.x(),ptB.y(),ptB.z());
glEnd();
}
//you can un-comment out this line, and then all points are removed
//contactManifold->clearManifold();
}
#else
glDisable(GL_TEXTURE_2D);
for (i=0;i<numObjects;i++)
{
collisionWorld->debugDrawObject(objects[i].getWorldTransform(),objects[i].getCollisionShape(), btVector3(1,1,0));
}
btDrawingResult renderCallback;
//collisionWorld->contactPairTest(&objects[0],&objects[1], renderCallback);
collisionWorld->contactTest(&objects[0],renderCallback);
#if 0
//another way is to directly query the dispatcher for both objects. The objects don't need to be inserted into the world
btCollisionAlgorithm* algo = collisionWorld->getDispatcher()->findAlgorithm(&objects[0],&objects[1]);
btManifoldResult contactPointResult(&objects[0],&objects[1]);
algo->processCollision(&objects[0],&objects[1],collisionWorld->getDispatchInfo(),&contactPointResult);
btManifoldArray manifoldArray;
algo->getAllContactManifolds(manifoldArray);
int numManifolds = manifoldArray.size();
for (i=0;i<numManifolds;i++)
{
btPersistentManifold* contactManifold = manifoldArray[i];
btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
// btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
glDisable(GL_DEPTH_TEST);
int numContacts = contactManifold->getNumContacts();
bool swap = obA == &objects[0];
for (int j=0;j<numContacts;j++)
{
btManifoldPoint& pt = contactManifold->getContactPoint(j);
glBegin(GL_LINES);
glColor3f(0, 0, 0);
btVector3 ptA = swap ?pt.getPositionWorldOnA():pt.getPositionWorldOnB();
btVector3 ptB = swap ? pt.getPositionWorldOnB():pt.getPositionWorldOnA();
glVertex3d(ptA.x(),ptA.y(),ptA.z());
glVertex3d(ptB.x(),ptB.y(),ptB.z());
glEnd();
}
//you can un-comment out this line, and then all points are removed
//contactManifold->clearManifold();
}
#endif
#endif
//GL_ShapeDrawer::drawCoordSystem();
// btQuaternion qA = objects[0].getWorldTransform().getRotation();
// btQuaternion qB = objects[1].getWorldTransform().getRotation();
if (!m_idle)
{
btScalar timeInSeconds = getDeltaTimeMicroseconds()/1000.f;
btQuaternion orn;
objects[0].getWorldTransform().getBasis().getEulerYPR(yaw,pitch,roll);
pitch += 0.00005f*timeInSeconds;
yaw += 0.0001f*timeInSeconds;
objects[0].getWorldTransform().getBasis().setEulerYPR(yaw,pitch,roll);
orn.setEuler(yaw,pitch,roll);
objects[1].getWorldTransform().setOrigin(objects[1].getWorldTransform().getOrigin()+btVector3(0,-0.00001*timeInSeconds,0));
//objects[0].getWorldTransform().setRotation(orn);
}
glFlush();
swapBuffers();
}
void CollisionInterfaceDemo::clientResetScene()
{
objects[0].getWorldTransform().setOrigin(btVector3(0.0f,3.f,0.f));
btQuaternion rotA(0.739f,-0.204f,0.587f,0.257f);
rotA.normalize();
objects[0].getWorldTransform().setRotation(rotA);
objects[1].getWorldTransform().setOrigin(btVector3(0.0f,4.248f,0.f));
}

42
Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.h
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@ -1,42 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COLLISION_INTERFACE_DEMO_H
#define COLLISION_INTERFACE_DEMO_H
#ifdef _WINDOWS
#include "Win32DemoApplication.h"
#define PlatformDemoApplication Win32DemoApplication
#else
#include "GlutDemoApplication.h"
#define PlatformDemoApplication GlutDemoApplication
#endif
///CollisionInterfaceDemo shows how to use the collision detection without dynamics (btCollisionWorld/CollisionObject)
class CollisionInterfaceDemo : public PlatformDemoApplication
{
public:
void initPhysics();
virtual void clientMoveAndDisplay();
virtual void displayCallback();
virtual void clientResetScene();
};
#endif //COLLISION_INTERFACE_DEMO_H

25
Demos/CollisionInterfaceDemo/Win32CollisionInterfaceDemo.cpp
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@ -1,25 +0,0 @@
#ifdef _WINDOWS
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "CollisionInterfaceDemo.h"
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
DemoApplication* createDemo()
{
return new CollisionInterfaceDemo();
}
#endif

19
Demos/CollisionInterfaceDemo/main.cpp
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@ -1,19 +0,0 @@
#include "CollisionInterfaceDemo.h"
#include "GlutStuff.h"
#include "btBulletDynamicsCommon.h"
int screenWidth = 640;
int screenHeight = 480;
int main(int argc,char** argv)
{
CollisionInterfaceDemo* collisionInterfaceDemo = new CollisionInterfaceDemo();
collisionInterfaceDemo->initPhysics();
collisionInterfaceDemo->clientResetScene();
return glutmain(argc, argv,screenWidth,screenHeight,"Collision Interface Demo",collisionInterfaceDemo);
}

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Demos/ConcaveConvexcastDemo/CMakeLists.txt
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# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# You shouldn't have to modify anything below this line
########################################################
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${GLUT_INCLUDE_DIR}
)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppConcaveConvexCastDemo
ConcaveConvexcastDemo.cpp
main.cpp
)
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(AppConcaveConvexCastDemo PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(AppConcaveConvexCastDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(AppConcaveConvexCastDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

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Demos/ConcaveConvexcastDemo/ConcaveConvexcastDemo.cpp
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "GLDebugDrawer.h"
#include "ConcaveConvexcastDemo.h"
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
#define NUM_DYNAMIC_BOXES_X 30
#define NUM_DYNAMIC_BOXES_Y 30
static btVector3* gVertices=0;
static int* gIndices=0;
static btBvhTriangleMeshShape* trimeshShape =0;
static btRigidBody* staticBody = 0;
static float waveheight = 5.f;
const float TRIANGLE_SIZE=8.f;
/* Scrolls back and forth over terrain */
#define NUMRAYS_IN_BAR 100
class btConvexcastBatch
{
public:
btVector3 source[NUMRAYS_IN_BAR];
btVector3 dest[NUMRAYS_IN_BAR];
btVector3 direction[NUMRAYS_IN_BAR];
btVector3 hit_com[NUMRAYS_IN_BAR];
btVector3 hit_surface[NUMRAYS_IN_BAR];
btScalar hit_fraction[NUMRAYS_IN_BAR];
btVector3 normal[NUMRAYS_IN_BAR];
int frame_counter;
int ms;
int sum_ms;
int sum_ms_samples;
int min_ms;
int max_ms;
#ifdef USE_BT_CLOCK
btClock frame_timer;
#endif //USE_BT_CLOCK
btScalar dx;
btScalar min_x;
btScalar max_x;
btScalar min_y;
btScalar max_y;
btScalar sign;
btVector3 boxShapeHalfExtents;
btBoxShape boxShape;
btConvexcastBatch () : boxShape(btVector3(0.0, 0.0, 0.0))
{
ms = 0;
max_ms = 0;
min_ms = 9999.0;
sum_ms_samples = 0;
sum_ms = 0;
}
btConvexcastBatch (bool unused, btScalar ray_length, btScalar min_z, btScalar max_z, btScalar min_y , btScalar max_y ) : boxShape(btVector3(0.0, 0.0, 0.0))
{
boxShapeHalfExtents = btVector3(1.0, 1.0, 1.0);
boxShape = btBoxShape(boxShapeHalfExtents);
frame_counter = 0;
ms = 0;
max_ms = 0;
min_ms = 9999.0;
sum_ms_samples = 0;
sum_ms = 0;
dx = 10.0;
min_x = -40;
max_x = 20;
this->min_y = min_y;
this->max_y = max_y;
sign = 1.0;
// btScalar dalpha = 2*SIMD_2_PI/NUMRAYS_IN_BAR;
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
{
btScalar z = (max_z-min_z)/NUMRAYS_IN_BAR * i + min_z;
source[i] = btVector3(min_x, max_y, z);
dest[i] = btVector3(min_x + ray_length, min_y, z);
normal[i] = btVector3(1.0, 0.0, 0.0);
}
}
btConvexcastBatch (btScalar ray_length, btScalar z, btScalar min_y = -1000, btScalar max_y = 10) : boxShape(btVector3(0.0, 0.0, 0.0))
{
boxShapeHalfExtents = btVector3(1.0, 1.0, 1.0);
boxShape = btBoxShape(boxShapeHalfExtents);
frame_counter = 0;
ms = 0;
max_ms = 0;
min_ms = 9999.0;
sum_ms_samples = 0;
sum_ms = 0;
dx = 10.0;
min_x = -40;
max_x = 20;
this->min_y = min_y;
this->max_y = max_y;
sign = 1.0;
btScalar dalpha = btScalar(2)*SIMD_2_PI/btScalar(NUMRAYS_IN_BAR);
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
{
btScalar alpha = dalpha * btScalar(i);
// rotate around by alpha degrees y
btTransform tr(btQuaternion(btVector3(0.0, 1.0, 0.0), alpha));
direction[i] = btVector3(1.0, 0.0, 0.0);
direction[i] = tr * direction[i];
source[i] = btVector3(min_x, max_y, z);
dest[i] = source[i] + direction[i] * ray_length;
dest[i][1] = min_y;
normal[i] = btVector3(1.0, 0.0, 0.0);
}
}
void move (btScalar dt)
{
if (dt > (1.0/60.0))
dt = 1.0/60.0;
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
{
source[i][0] += dx * dt * sign;
dest[i][0] += dx * dt * sign;
}
if (source[0][0] < min_x)
sign = 1.0;
else if (source[0][0] > max_x)
sign = -1.0;
}
void cast (btCollisionWorld* cw)
{
#ifdef USE_BT_CLOCK
frame_timer.reset ();
#endif //USE_BT_CLOCK
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
{
btCollisionWorld::ClosestConvexResultCallback cb(source[i], dest[i]);
btQuaternion qFrom;
btQuaternion qTo;
qFrom.setRotation (btVector3(1.0, 0.0, 0.0), 0.0);
qTo.setRotation (btVector3(1.0, 0.0, 0.0), 0.7);
btTransform from(qFrom, source[i]);
btTransform to(qTo, dest[i]);
cw->convexSweepTest (&boxShape, from, to, cb);
if (cb.hasHit ())
{
hit_surface[i] = cb.m_hitPointWorld;
hit_com[i].setInterpolate3(source[i], dest[i], cb.m_closestHitFraction);
hit_fraction[i] = cb.m_closestHitFraction;
normal[i] = cb.m_hitNormalWorld;
normal[i].normalize ();
} else {
hit_com[i] = dest[i];
hit_surface[i] = dest[i];
hit_fraction[i] = 1.0f;
normal[i] = btVector3(1.0, 0.0, 0.0);
}
}
#ifdef USE_BT_CLOCK
ms += frame_timer.getTimeMilliseconds ();
#endif //USE_BT_CLOCK
frame_counter++;
if (frame_counter > 50)
{
min_ms = ms < min_ms ? ms : min_ms;
max_ms = ms > max_ms ? ms : max_ms;
sum_ms += ms;
sum_ms_samples++;
btScalar mean_ms = (btScalar)sum_ms/(btScalar)sum_ms_samples;
printf("%d rays in %d ms %d %d %f\n", NUMRAYS_IN_BAR * frame_counter, ms, min_ms, max_ms, mean_ms);
ms = 0;
frame_counter = 0;
}
}
void drawCube (const btTransform& T)
{
ATTRIBUTE_ALIGNED16(btScalar) m[16];
T.getOpenGLMatrix (&m[0]);
glPushMatrix ();
#ifdef BT_USE_DOUBLE_PRECISION
glMultMatrixd (&m[0]);
glScaled (2.0 * boxShapeHalfExtents[0], 2.0 * boxShapeHalfExtents[1], 2.0 * boxShapeHalfExtents[2]);
#else
glMultMatrixf (&m[0]);
glScalef (2.0 * boxShapeHalfExtents[0], 2.0 * boxShapeHalfExtents[1], 2.0 * boxShapeHalfExtents[2]);
#endif //BT_USE_DOUBLE_PRECISION
glutSolidCube (1.0);
glPopMatrix ();
}
void draw ()
{
glDisable (GL_LIGHTING);
glColor3f (0.0, 1.0, 0.0);
glBegin (GL_LINES);
int i;
for (i = 0; i < NUMRAYS_IN_BAR; i++)
{
glVertex3f (source[i][0], source[i][1], source[i][2]);
glVertex3f (hit_com[i][0], hit_com[i][1], hit_com[i][2]);
}
glColor3f (1.0, 1.0, 1.0);
glBegin (GL_LINES);
btScalar normal_scale = 10.0; // easier to see if this is big
for (i = 0; i < NUMRAYS_IN_BAR; i++)
{
glVertex3f (hit_surface[i][0], hit_surface[i][1], hit_surface[i][2]);
glVertex3f (hit_surface[i][0] + normal_scale * normal[i][0], hit_surface[i][1] + normal_scale * normal[i][1], hit_surface[i][2] + normal_scale * normal[i][2]);
}
glEnd ();
glColor3f (0.0, 1.0, 1.0);
btQuaternion qFrom;
btQuaternion qTo;
qFrom.setRotation (btVector3(1.0, 0.0, 0.0), 0.0);
qTo.setRotation (btVector3(1.0, 0.0, 0.0), 0.7);
for ( i = 0; i < NUMRAYS_IN_BAR; i++)
{
btTransform from(qFrom, source[i]);
btTransform to(qTo, dest[i]);
btVector3 linVel, angVel;
btTransformUtil::calculateVelocity (from, to, 1.0, linVel, angVel);
btTransform T;
btTransformUtil::integrateTransform (from, linVel, angVel, hit_fraction[i], T);
drawCube (T);
}
glEnable (GL_LIGHTING);
}
};
static btConvexcastBatch convexcastBatch;
const int NUM_VERTS_X = 30;
const int NUM_VERTS_Y = 30;
const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
void ConcaveConvexcastDemo::setVertexPositions(float waveheight, float offset)
{
int i;
int j;
for ( i=0;i<NUM_VERTS_X;i++)
{
for (j=0;j<NUM_VERTS_Y;j++)
{
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
//0.f,
waveheight*sinf((float)i+offset)*cosf((float)j+offset),
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
}
}
}
void ConcaveConvexcastDemo::keyboardCallback(unsigned char key, int x, int y)
{
if (key == 'g')
{
m_animatedMesh = !m_animatedMesh;
if (m_animatedMesh)
{
staticBody->setCollisionFlags( staticBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
staticBody->setActivationState(DISABLE_DEACTIVATION);
} else
{
staticBody->setCollisionFlags( staticBody->getCollisionFlags() & ~btCollisionObject::CF_KINEMATIC_OBJECT);
staticBody->forceActivationState(ACTIVE_TAG);
}
}
DemoApplication::keyboardCallback(key,x,y);
}
void ConcaveConvexcastDemo::initPhysics()
{
#define TRISIZE 10.f
setCameraDistance(100.f);
int vertStride = sizeof(btVector3);
int indexStride = 3*sizeof(int);
const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
gVertices = new btVector3[totalVerts];
gIndices = new int[totalTriangles*3];
int i;
setVertexPositions(waveheight,0.f);
int index=0;
for ( i=0;i<NUM_VERTS_X-1;i++)
{
for (int j=0;j<NUM_VERTS_Y-1;j++)
{
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = j*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
}
}
m_indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts,(btScalar*) &gVertices[0].x(),vertStride);
bool useQuantizedAabbCompression = true;
trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression);
m_collisionShapes.push_back(trimeshShape);
btCollisionShape* groundShape = trimeshShape;
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
m_broadphase = new btAxisSweep3(worldMin,worldMax);
m_solver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
float mass = 0.f;
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,-2,0));
btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
m_collisionShapes.push_back(colShape);
{
for (int j=0;j<NUM_DYNAMIC_BOXES_X;j++)
for (int i=0;i<NUM_DYNAMIC_BOXES_Y;i++)
{
//btCollisionShape* colShape = new btCapsuleShape(0.5,2.0);//boxShape = new btSphereShape(1.f);
startTransform.setOrigin(btVector3(5*(i-NUM_DYNAMIC_BOXES_X/2),10,5*(j-NUM_DYNAMIC_BOXES_Y/2)));
localCreateRigidBody(1, startTransform,colShape);
}
}
startTransform.setIdentity();
//startTransform = btTransform(btQuaternion (btVector3(1,1,1), 1.5));
staticBody = localCreateRigidBody(mass, startTransform,groundShape);
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT);
//enable custom material callback
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
convexcastBatch = btConvexcastBatch (40.0, 0.0, -10.0,80.0);
//convexcastBatch = btConvexcastBatch (true, 40.0, -50.0, 50.0);
}
void ConcaveConvexcastDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float dt = getDeltaTimeMicroseconds() * 0.000001f;
if (m_animatedMesh)
{
static float offset=0.f;
offset+=0.01f;
int i;
int j;
btVector3 aabbMin(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
btVector3 aabbMax(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
for ( i=NUM_VERTS_X/2-3;i<NUM_VERTS_X/2+2;i++)
{
for (j=NUM_VERTS_X/2-3;j<NUM_VERTS_Y/2+2;j++)
{
aabbMax.setMax(gVertices[i+j*NUM_VERTS_X]);
aabbMin.setMin(gVertices[i+j*NUM_VERTS_X]);
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
//0.f,
waveheight*sinf((float)i+offset)*cosf((float)j+offset),
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
aabbMin.setMin(gVertices[i+j*NUM_VERTS_X]);
aabbMax.setMax(gVertices[i+j*NUM_VERTS_X]);
}
}
trimeshShape->partialRefitTree(aabbMin,aabbMax);
//clear all contact points involving mesh proxy. Note: this is a slow/unoptimized operation.
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(staticBody->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
}
m_dynamicsWorld->stepSimulation(dt);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
convexcastBatch.move (dt);
convexcastBatch.cast (m_dynamicsWorld);
renderme();
convexcastBatch.draw ();
glFlush();
glutSwapBuffers();
}
void ConcaveConvexcastDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
renderme();
convexcastBatch.draw ();
glFlush();
glutSwapBuffers();
}
void ConcaveConvexcastDemo::exitPhysics()
{
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
int i;
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState())
{
delete body->getMotionState();
}
m_dynamicsWorld->removeCollisionObject( obj );
delete obj;
}
//delete collision shapes
for (int j=0;j<m_collisionShapes.size();j++)
{
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
}
//delete dynamics world
delete m_dynamicsWorld;
if (m_indexVertexArrays)
delete m_indexVertexArrays;
//delete solver
delete m_solver;
//delete broadphase
delete m_broadphase;
//delete dispatcher
delete m_dispatcher;
delete m_collisionConfiguration;
}

84
Demos/ConcaveConvexcastDemo/ConcaveConvexcastDemo.h
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@ -1,84 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONCAVE_CONVEXCAST_DEMO_H
#define CONCAVE_CONVEXCAST_DEMO_H
#include "GlutDemoApplication.h"
#include "LinearMath/btAlignedObjectArray.h"
class btBroadphaseInterface;
class btCollisionShape;
class btOverlappingPairCache;
class btCollisionDispatcher;
class btConstraintSolver;
struct btCollisionAlgorithmCreateFunc;
class btDefaultCollisionConfiguration;
class btTriangleIndexVertexArray;
///ConcaveRaycaseDemo shows usage of static concave triangle meshes
///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
class ConcaveConvexcastDemo : public GlutDemoApplication
{
//keep the collision shapes, for deletion/cleanup
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
btTriangleIndexVertexArray* m_indexVertexArrays;
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btConstraintSolver* m_solver;
btDefaultCollisionConfiguration* m_collisionConfiguration;
bool m_animatedMesh;
public:
ConcaveConvexcastDemo() : m_animatedMesh(true)
{
}
void initPhysics();
void exitPhysics();
virtual ~ConcaveConvexcastDemo()
{
exitPhysics();
}
virtual void clientMoveAndDisplay();
virtual void displayCallback();
//to show refit works
void setVertexPositions(float waveheight, float offset);
virtual void keyboardCallback(unsigned char key, int x, int y);
static DemoApplication* Create()
{
ConcaveConvexcastDemo* demo = new ConcaveConvexcastDemo();
demo->myinit();
demo->initPhysics();
return demo;
};
};
#endif //CONCAVE_CONVEXCAST_DEMO_H

15
Demos/ConcaveConvexcastDemo/main.cpp
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@ -1,15 +0,0 @@
#include "ConcaveConvexcastDemo.h"
#include "GlutStuff.h"
int main(int argc,char** argv)
{
ConcaveConvexcastDemo* concaveConvexcastDemo = new ConcaveConvexcastDemo();
concaveConvexcastDemo->initPhysics();
concaveConvexcastDemo->setCameraDistance(30.f);
return glutmain(argc, argv,640,480,"Concave Convexcast Demo",concaveConvexcastDemo);
}

67
Demos/ConcaveDemo/CMakeLists.txt
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# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# You shouldn't have to modify anything below this line
########################################################
IF (USE_GLUT)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletFileLoader
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletWorldImporter
${GLUT_INCLUDE_DIR}
)
LINK_LIBRARIES(
OpenGLSupport BulletWorldImporter BulletDynamics BulletCollision BulletFileLoader LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
IF (WIN32)
ADD_EXECUTABLE(AppConcaveDemo
ConcavePhysicsDemo.cpp
main.cpp
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ELSE()
ADD_EXECUTABLE(AppConcaveDemo
ConcavePhysicsDemo.cpp
main.cpp
)
ENDIF()
ELSE (USE_GLUT)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletFileLoader
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletWorldImporter
)
LINK_LIBRARIES(
OpenGLSupport BulletWorldImporter BulletDynamics BulletCollision BulletFileLoader LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppConcaveDemo
WIN32
../OpenGL/Win32AppMain.cpp
ConcavePhysicsDemo.cpp
ConcaveDemo.h
Win32ConcaveDemo.cpp
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ENDIF (USE_GLUT)
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(AppConcaveDemo PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(AppConcaveDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(AppConcaveDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

91
Demos/ConcaveDemo/ConcaveDemo.h
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONCAVE_DEMO_H
#define CONCAVE_DEMO_H
#ifdef _WINDOWS
#include "Win32DemoApplication.h"
#define PlatformDemoApplication Win32DemoApplication
#else
#include "GlutDemoApplication.h"
#define PlatformDemoApplication GlutDemoApplication
#endif
#include "LinearMath/btAlignedObjectArray.h"
class btBroadphaseInterface;
class btCollisionShape;
class btOverlappingPairCache;
class btCollisionDispatcher;
class btConstraintSolver;
struct btCollisionAlgorithmCreateFunc;
class btDefaultCollisionConfiguration;
class btTriangleIndexVertexArray;
///ConcaveDemo shows usage of static concave triangle meshes
///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
class ConcaveDemo : public PlatformDemoApplication
{
//keep the collision shapes, for deletion/cleanup
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
btTriangleIndexVertexArray* m_indexVertexArrays;
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btConstraintSolver* m_solver;
btDefaultCollisionConfiguration* m_collisionConfiguration;
bool m_animatedMesh;
public:
ConcaveDemo() : m_animatedMesh(true)
{
}
void initPhysics();
void exitPhysics();
virtual ~ConcaveDemo()
{
exitPhysics();
}
virtual void clientMoveAndDisplay();
virtual void displayCallback();
//to show refit works
void setVertexPositions(float waveheight, float offset);
virtual void keyboardCallback(unsigned char key, int x, int y);
static DemoApplication* Create()
{
ConcaveDemo* demo = new ConcaveDemo();
demo->myinit();
demo->initPhysics();
return demo;
};
};
#endif //CONCAVE_DEMO_H

474
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
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@ -1,474 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
#include "ConcaveDemo.h"
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
#define SERIALIZE_TO_DISK 1
#ifndef SERIALIZE_TO_DISK
#include "btBulletWorldImporter.h"
#endif //SERIALIZE_TO_DISK
//by default, the sample only (de)serializes the BVH to disk.
//If you enable the SERIALIZE_SHAPE define then it will serialize the entire collision shape
//then the animation will not play, because it is using the deserialized vertices
//#define SERIALIZE_SHAPE
//#define USE_PARALLEL_DISPATCHER 1
#ifdef USE_PARALLEL_DISPATCHER
#include "../../Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
#include "../../Extras/BulletMultiThreaded/Win32ThreadSupport.h"
#include "../../Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
#endif//USE_PARALLEL_DISPATCHER
static btVector3* gVertices=0;
static int* gIndices=0;
static btBvhTriangleMeshShape* trimeshShape =0;
static btRigidBody* staticBody = 0;
static float waveheight = 5.f;
const float TRIANGLE_SIZE=8.f;
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
inline btScalar calculateCombinedFriction(float friction0,float friction1)
{
btScalar friction = friction0 * friction1;
const btScalar MAX_FRICTION = 10.f;
if (friction < -MAX_FRICTION)
friction = -MAX_FRICTION;
if (friction > MAX_FRICTION)
friction = MAX_FRICTION;
return friction;
}
inline btScalar calculateCombinedRestitution(float restitution0,float restitution1)
{
return restitution0 * restitution1;
}
static bool CustomMaterialCombinerCallback(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
{
float friction0 = colObj0Wrap->getCollisionObject()->getFriction();
float friction1 = colObj1Wrap->getCollisionObject()->getFriction();
float restitution0 = colObj0Wrap->getCollisionObject()->getRestitution();
float restitution1 = colObj1Wrap->getCollisionObject()->getRestitution();
if (colObj0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
{
friction0 = 1.0;//partId0,index0
restitution0 = 0.f;
}
if (colObj1Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
{
if (index1&1)
{
friction1 = 1.0f;//partId1,index1
} else
{
friction1 = 0.f;
}
restitution1 = 0.f;
}
cp.m_combinedFriction = calculateCombinedFriction(friction0,friction1);
cp.m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
//this return value is currently ignored, but to be on the safe side: return false if you don't calculate friction
return true;
}
extern ContactAddedCallback gContactAddedCallback;
const int NUM_VERTS_X = 30;
const int NUM_VERTS_Y = 30;
const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
void ConcaveDemo::setVertexPositions(float waveheight, float offset)
{
int i;
int j;
for ( i=0;i<NUM_VERTS_X;i++)
{
for (j=0;j<NUM_VERTS_Y;j++)
{
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
//0.f,
waveheight*sinf((float)i+offset)*cosf((float)j+offset),
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
}
}
}
void ConcaveDemo::keyboardCallback(unsigned char key, int x, int y)
{
if (key == 'g')
{
m_animatedMesh = !m_animatedMesh;
if (m_animatedMesh)
{
staticBody->setCollisionFlags( staticBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
staticBody->setActivationState(DISABLE_DEACTIVATION);
} else
{
staticBody->setCollisionFlags( staticBody->getCollisionFlags() & ~btCollisionObject::CF_KINEMATIC_OBJECT);
staticBody->forceActivationState(ACTIVE_TAG);
}
}
DemoApplication::keyboardCallback(key,x,y);
}
void ConcaveDemo::initPhysics()
{
setTexturing(true);
setShadows(false);//true);
#define TRISIZE 10.f
gContactAddedCallback = CustomMaterialCombinerCallback;
#define USE_TRIMESH_SHAPE 1
#ifdef USE_TRIMESH_SHAPE
int vertStride = sizeof(btVector3);
int indexStride = 3*sizeof(int);
const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
gVertices = new btVector3[totalVerts];
gIndices = new int[totalTriangles*3];
int i;
setVertexPositions(waveheight,0.f);
int index=0;
for ( i=0;i<NUM_VERTS_X-1;i++)
{
for (int j=0;j<NUM_VERTS_Y-1;j++)
{
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = j*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
}
}
m_indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts,(btScalar*) &gVertices[0].x(),vertStride);
bool useQuantizedAabbCompression = true;
//comment out the next line to read the BVH from disk (first run the demo once to create the BVH)
#ifdef SERIALIZE_TO_DISK
btVector3 aabbMin(-1000,-1000,-1000),aabbMax(1000,1000,1000);
trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,aabbMin,aabbMax);
m_collisionShapes.push_back(trimeshShape);
int maxSerializeBufferSize = 1024*1024*5;
btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
//serializer->setSerializationFlags(BT_SERIALIZE_NO_BVH);// or BT_SERIALIZE_NO_TRIANGLEINFOMAP
serializer->startSerialization();
//registering a name is optional, it allows you to retrieve the shape by name
//serializer->registerNameForPointer(trimeshShape,"mymesh");
#ifdef SERIALIZE_SHAPE
trimeshShape->serializeSingleShape(serializer);
#else
trimeshShape->serializeSingleBvh(serializer);
#endif
serializer->finishSerialization();
FILE* f2 = fopen("myShape.bullet","wb");
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
fclose(f2);
#else
btBulletWorldImporter import(0);//don't store info into the world
if (import.loadFile("myShape.bullet"))
{
int numBvh = import.getNumBvhs();
if (numBvh)
{
btOptimizedBvh* bvh = import.getBvhByIndex(0);
btVector3 aabbMin(-1000,-1000,-1000),aabbMax(1000,1000,1000);
trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,aabbMin,aabbMax,false);
trimeshShape->setOptimizedBvh(bvh);
//trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,aabbMin,aabbMax);
//trimeshShape->setOptimizedBvh(bvh);
}
int numShape = import.getNumCollisionShapes();
if (numShape)
{
trimeshShape = (btBvhTriangleMeshShape*)import.getCollisionShapeByIndex(0);
//if you know the name, you can also try to get the shape by name:
const char* meshName = import.getNameForPointer(trimeshShape);
if (meshName)
trimeshShape = (btBvhTriangleMeshShape*)import.getCollisionShapeByName(meshName);
}
}
#endif
btCollisionShape* groundShape = trimeshShape;
#else
btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
m_collisionShapes.push_back(groundShape);
#endif //USE_TRIMESH_SHAPE
m_collisionConfiguration = new btDefaultCollisionConfiguration();
#ifdef USE_PARALLEL_DISPATCHER
#ifdef USE_WIN32_THREADING
int maxNumOutstandingTasks = 4;//number of maximum outstanding tasks
Win32ThreadSupport* threadSupport = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
"collision",
processCollisionTask,
createCollisionLocalStoreMemory,
maxNumOutstandingTasks));
#else
///@todo show other platform threading
///Playstation 3 SPU (SPURS) version is available through PS3 Devnet
///Libspe2 SPU support will be available soon
///pthreads version
///you can hook it up to your custom task scheduler by deriving from btThreadSupportInterface
#endif
m_dispatcher = new SpuGatheringCollisionDispatcher(threadSupport,maxNumOutstandingTasks,m_collisionConfiguration);
#else
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
#endif//USE_PARALLEL_DISPATCHER
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
m_broadphase = new btAxisSweep3(worldMin,worldMax);
m_solver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
#ifdef USE_PARALLEL_DISPATCHER
m_dynamicsWorld->getDispatchInfo().m_enableSPU=true;
#endif //USE_PARALLEL_DISPATCHER
float mass = 0.f;
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,-2,0));
#ifdef USE_BOX_SHAPE
btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
#else
btCompoundShape* colShape = new btCompoundShape;
btCollisionShape* cylinderShape = new btCylinderShapeX(btVector3(4,1,1));
btCollisionShape* boxShape = new btBoxShape(btVector3(4,1,1));
btTransform localTransform;
localTransform.setIdentity();
colShape->addChildShape(localTransform,boxShape);
btQuaternion orn(SIMD_HALF_PI,0,0);
localTransform.setRotation(orn);
colShape->addChildShape(localTransform,cylinderShape);
#endif //USE_BOX_SHAPE
m_collisionShapes.push_back(colShape);
{
for (int i=0;i<10;i++)
{
startTransform.setOrigin(btVector3(2,10+i*2,1));
localCreateRigidBody(1, startTransform,colShape);
}
}
startTransform.setIdentity();
staticBody = localCreateRigidBody(mass, startTransform,groundShape);
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);//STATIC_OBJECT);
//enable custom material callback
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
}
void ConcaveDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float dt = getDeltaTimeMicroseconds() * 0.000001f;
if (m_animatedMesh)
{
static float offset=0.f;
offset+=dt;
// setVertexPositions(waveheight,offset);
int i;
int j;
btVector3 aabbMin(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
btVector3 aabbMax(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
for ( i=NUM_VERTS_X/2-3;i<NUM_VERTS_X/2+2;i++)
{
for (j=NUM_VERTS_X/2-3;j<NUM_VERTS_Y/2+2;j++)
{
aabbMax.setMax(gVertices[i+j*NUM_VERTS_X]);
aabbMin.setMin(gVertices[i+j*NUM_VERTS_X]);
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
//0.f,
waveheight*sinf((float)i+offset)*cosf((float)j+offset),
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
aabbMin.setMin(gVertices[i+j*NUM_VERTS_X]);
aabbMax.setMax(gVertices[i+j*NUM_VERTS_X]);
}
}
trimeshShape->partialRefitTree(aabbMin,aabbMax);
//clear all contact points involving mesh proxy. Note: this is a slow/unoptimized operation.
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(staticBody->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
}
m_dynamicsWorld->stepSimulation(dt);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
renderme();
glFlush();
swapBuffers();
}
void ConcaveDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
renderme();
//optional but useful: debug drawing
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
glFlush();
swapBuffers();
}
void ConcaveDemo::exitPhysics()
{
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
int i;
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState())
{
delete body->getMotionState();
}
m_dynamicsWorld->removeCollisionObject( obj );
delete obj;
}
//delete collision shapes
for (int j=0;j<m_collisionShapes.size();j++)
{
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
}
//delete dynamics world
delete m_dynamicsWorld;
if (m_indexVertexArrays)
delete m_indexVertexArrays;
//delete solver
delete m_solver;
//delete broadphase
delete m_broadphase;
//delete dispatcher
delete m_dispatcher;
delete m_collisionConfiguration;
}

3
Demos/ConcaveDemo/Jamfile
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@ -1,3 +0,0 @@
SubDir TOP Demos ConcaveDemo ;
BulletDemo ConcaveDemo : [ Wildcard *.h *.cpp ] ;

25
Demos/ConcaveDemo/Win32ConcaveDemo.cpp
View File

@ -1,25 +0,0 @@
#ifdef _WINDOWS
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "ConcaveDemo.h"
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
DemoApplication* createDemo()
{
return new ConcaveDemo();
}
#endif

19
Demos/ConcaveDemo/main.cpp
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@ -1,19 +0,0 @@
#include "ConcaveDemo.h"
#include "GlutStuff.h"
#include "GLDebugDrawer.h"
#include "btBulletDynamicsCommon.h"
GLDebugDrawer gDebugDrawer;
int main(int argc,char** argv)
{
ConcaveDemo* concaveDemo = new ConcaveDemo();
concaveDemo->initPhysics();
concaveDemo->setCameraDistance(30.f);
concaveDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
return glutmain(argc, argv,640,480,"Static Concave Mesh Demo",concaveDemo);
}

42
Demos/ConcaveRaycastDemo/CMakeLists.txt
View File

@ -1,42 +0,0 @@
# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# You shouldn't have to modify anything below this line
########################################################
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${GLUT_INCLUDE_DIR}
)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
IF (WIN32)
ADD_EXECUTABLE(AppConcaveRayCastDemo
ConcaveRaycastDemo.cpp
main.cpp
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ELSE()
ADD_EXECUTABLE(AppConcaveRayCastDemo
ConcaveRaycastDemo.cpp
main.cpp
)
ENDIF()
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(AppConcaveRayCastDemo PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(AppConcaveRayCastDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(AppConcaveRayCastDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

490
Demos/ConcaveRaycastDemo/ConcaveRaycastDemo.cpp
View File

@ -1,490 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
#include "ConcaveRaycastDemo.h"
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
static GLDebugDrawer sDebugDraw;
static btVector3* gVertices=0;
static int* gIndices=0;
static btBvhTriangleMeshShape* trimeshShape =0;
static btRigidBody* staticBody = 0;
static float waveheight = 5.f;
const float TRIANGLE_SIZE=8.f;
/* Scrolls back and forth over terrain */
#define NUMRAYS_IN_BAR 100
class btRaycastBar
{
public:
btVector3 source[NUMRAYS_IN_BAR];
btVector3 dest[NUMRAYS_IN_BAR];
btVector3 direction[NUMRAYS_IN_BAR];
btVector3 hit[NUMRAYS_IN_BAR];
btVector3 normal[NUMRAYS_IN_BAR];
int frame_counter;
int ms;
int sum_ms;
int sum_ms_samples;
int min_ms;
int max_ms;
#ifdef USE_BT_CLOCK
btClock frame_timer;
#endif //USE_BT_CLOCK
btScalar dx;
btScalar min_x;
btScalar max_x;
btScalar min_y;
btScalar max_y;
btScalar sign;
btRaycastBar ()
{
ms = 0;
max_ms = 0;
min_ms = 9999.0;
sum_ms_samples = 0;
sum_ms = 0;
}
btRaycastBar (bool unused, btScalar ray_length, btScalar min_z, btScalar max_z, btScalar min_y = -10, btScalar max_y = 10)
{
frame_counter = 0;
ms = 0;
max_ms = 0;
min_ms = 9999.0;
sum_ms_samples = 0;
sum_ms = 0;
dx = 10.0;
min_x = -40;
max_x = 20;
this->min_y = min_y;
this->max_y = max_y;
sign = 1.0;
// btScalar dalpha = 2*SIMD_2_PI/NUMRAYS_IN_BAR;
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
{
btScalar z = (max_z-min_z)/btScalar(NUMRAYS_IN_BAR) * btScalar(i) + min_z;
source[i] = btVector3(min_x, max_y, z);
dest[i] = btVector3(min_x + ray_length, min_y, z);
normal[i] = btVector3(1.0, 0.0, 0.0);
}
}
btRaycastBar (btScalar ray_length, btScalar z, btScalar min_y = -1000, btScalar max_y = 10)
{
frame_counter = 0;
ms = 0;
max_ms = 0;
min_ms = 9999.0;
sum_ms_samples = 0;
sum_ms = 0;
dx = 10.0;
min_x = -40;
max_x = 20;
this->min_y = min_y;
this->max_y = max_y;
sign = 1.0;
btScalar dalpha = 2*SIMD_2_PI/NUMRAYS_IN_BAR;
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
{
btScalar alpha = dalpha * i;
// rotate around by alpha degrees y
btTransform tr (btQuaternion (btVector3(0.0, 1.0, 0.0), alpha));
direction[i] = btVector3(1.0, 0.0, 0.0);
direction[i] = tr* direction[i];
direction[i] = direction[i] * ray_length;
source[i] = btVector3(min_x, max_y, z);
dest[i] = source[i] + direction[i];
dest[i][1] = min_y;
normal[i] = btVector3(1.0, 0.0, 0.0);
}
}
void move (btScalar dt)
{
if (dt > (1.0/60.0))
dt = 1.0/60.0;
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
{
source[i][0] += dx * dt * sign;
dest[i][0] += dx * dt * sign;
}
if (source[0][0] < min_x)
sign = 1.0;
else if (source[0][0] > max_x)
sign = -1.0;
}
void cast (btCollisionWorld* cw)
{
#ifdef USE_BT_CLOCK
frame_timer.reset ();
#endif //USE_BT_CLOCK
#ifdef BATCH_RAYCASTER
if (!gBatchRaycaster)
return;
gBatchRaycaster->clearRays ();
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
{
gBatchRaycaster->addRay (source[i], dest[i]);
}
gBatchRaycaster->performBatchRaycast ();
for (int i = 0; i < gBatchRaycaster->getNumRays (); i++)
{
const SpuRaycastTaskWorkUnitOut& out = (*gBatchRaycaster)[i];
hit[i].setInterpolate3(source[i],dest[i],out.hitFraction);
normal[i] = out.hitNormal;
normal[i].normalize ();
}
#else
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
{
btCollisionWorld::ClosestRayResultCallback cb(source[i], dest[i]);
cw->rayTest (source[i], dest[i], cb);
if (cb.hasHit ())
{
hit[i] = cb.m_hitPointWorld;
normal[i] = cb.m_hitNormalWorld;
normal[i].normalize ();
} else {
hit[i] = dest[i];
normal[i] = btVector3(1.0, 0.0, 0.0);
}
}
#ifdef USE_BT_CLOCK
ms += frame_timer.getTimeMilliseconds ();
#endif //USE_BT_CLOCK
frame_counter++;
if (frame_counter > 50)
{
min_ms = ms < min_ms ? ms : min_ms;
max_ms = ms > max_ms ? ms : max_ms;
sum_ms += ms;
sum_ms_samples++;
btScalar mean_ms = (btScalar)sum_ms/(btScalar)sum_ms_samples;
printf("%d rays in %d ms %d %d %f\n", NUMRAYS_IN_BAR * frame_counter, ms, min_ms, max_ms, mean_ms);
ms = 0;
frame_counter = 0;
}
#endif
}
void draw ()
{
glDisable (GL_LIGHTING);
glColor3f (0.0, 1.0, 0.0);
glBegin (GL_LINES);
int i;
for (i = 0; i < NUMRAYS_IN_BAR; i++)
{
glVertex3f (source[i][0], source[i][1], source[i][2]);
glVertex3f (hit[i][0], hit[i][1], hit[i][2]);
}
glEnd ();
glColor3f (1.0, 1.0, 1.0);
glBegin (GL_LINES);
for (i = 0; i < NUMRAYS_IN_BAR; i++)
{
glVertex3f (hit[i][0], hit[i][1], hit[i][2]);
glVertex3f (hit[i][0] + normal[i][0], hit[i][1] + normal[i][1], hit[i][2] + normal[i][2]);
}
glEnd ();
glColor3f (0.0, 1.0, 1.0);
glBegin (GL_POINTS);
for ( i = 0; i < NUMRAYS_IN_BAR; i++)
{
glVertex3f (hit[i][0], hit[i][1], hit[i][2]);
}
glEnd ();
glEnable (GL_LIGHTING);
}
};
static btRaycastBar raycastBar;
const int NUM_VERTS_X = 30;
const int NUM_VERTS_Y = 30;
const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
void ConcaveRaycastDemo::setVertexPositions(float waveheight, float offset)
{
int i;
int j;
for ( i=0;i<NUM_VERTS_X;i++)
{
for (j=0;j<NUM_VERTS_Y;j++)
{
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
//0.f,
waveheight*sinf((float)i+offset)*cosf((float)j+offset),
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
}
}
}
void ConcaveRaycastDemo::keyboardCallback(unsigned char key, int x, int y)
{
if (key == 'g')
{
m_animatedMesh = !m_animatedMesh;
if (m_animatedMesh)
{
staticBody->setCollisionFlags( staticBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
staticBody->setActivationState(DISABLE_DEACTIVATION);
} else
{
staticBody->setCollisionFlags( staticBody->getCollisionFlags() & ~btCollisionObject::CF_KINEMATIC_OBJECT);
staticBody->forceActivationState(ACTIVE_TAG);
}
}
DemoApplication::keyboardCallback(key,x,y);
}
void ConcaveRaycastDemo::initPhysics()
{
#define TRISIZE 10.f
int vertStride = sizeof(btVector3);
int indexStride = 3*sizeof(int);
const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
gVertices = new btVector3[totalVerts];
gIndices = new int[totalTriangles*3];
int i;
setVertexPositions(waveheight,0.f);
int index=0;
for ( i=0;i<NUM_VERTS_X-1;i++)
{
for (int j=0;j<NUM_VERTS_Y-1;j++)
{
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = j*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
}
}
m_indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts,(btScalar*) &gVertices[0].x(),vertStride);
bool useQuantizedAabbCompression = true;
trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression);
m_collisionShapes.push_back(trimeshShape);
btCollisionShape* groundShape = trimeshShape;
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
m_broadphase = new btAxisSweep3(worldMin,worldMax);
m_solver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld->getSolverInfo().m_splitImpulse=true;
m_dynamicsWorld->setDebugDrawer(&sDebugDraw);
float mass = 0.f;
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,-2,0));
btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
m_collisionShapes.push_back(colShape);
{
for (int i=0;i<10;i++)
{
//btCollisionShape* colShape = new btCapsuleShape(0.5,2.0);//boxShape = new btSphereShape(1.f);
startTransform.setOrigin(btVector3(2*i,10,1));
localCreateRigidBody(1, startTransform,colShape);
}
}
startTransform.setIdentity();
staticBody = localCreateRigidBody(mass, startTransform,groundShape);
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT);
#ifdef BATCH_RAYCASTER
int maxNumOutstandingTasks = 4;
#ifdef USE_WIN32_THREADING
Win32ThreadSupport::Win32ThreadConstructionInfo tci("batch raycast",
processRaycastTask,
createRaycastLocalStoreMemory,
maxNumOutstandingTasks);
m_threadSupportRaycast = new Win32ThreadSupport(tci);
printf("m_threadSupportRaycast = %p\n", m_threadSupportRaycast);
#endif
gBatchRaycaster = new SpuBatchRaycaster (m_threadSupportRaycast, maxNumOutstandingTasks, m_dynamicsWorld->getCollisionObjectArray(), m_dynamicsWorld->getNumCollisionObjects());
#endif
raycastBar = btRaycastBar (4000.0, 0.0);
//raycastBar = btRaycastBar (true, 40.0, -50.0, 50.0);
}
void ConcaveRaycastDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float dt = getDeltaTimeMicroseconds() * 0.000001f;
if (m_animatedMesh)
{
static float offset=0.f;
offset+=0.01f;
setVertexPositions(waveheight,offset);
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
trimeshShape->refitTree(worldMin,worldMax);
//clear all contact points involving mesh proxy. Note: this is a slow/unoptimized operation.
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(staticBody->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
}
m_dynamicsWorld->stepSimulation(1./60.,0);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
raycastBar.move (dt);
raycastBar.cast (m_dynamicsWorld);
renderme();
raycastBar.draw ();
glFlush();
glutSwapBuffers();
}
void ConcaveRaycastDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//optional but useful: debug drawing
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
renderme();
raycastBar.draw ();
glFlush();
glutSwapBuffers();
}
void ConcaveRaycastDemo::exitPhysics()
{
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
int i;
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState())
{
delete body->getMotionState();
}
m_dynamicsWorld->removeCollisionObject( obj );
delete obj;
}
//delete collision shapes
for (int j=0;j<m_collisionShapes.size();j++)
{
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
}
//delete dynamics world
delete m_dynamicsWorld;
if (m_indexVertexArrays)
delete m_indexVertexArrays;
//delete solver
delete m_solver;
//delete broadphase
delete m_broadphase;
//delete dispatcher
delete m_dispatcher;
delete m_collisionConfiguration;
delete[] gVertices;
}

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Demos/ConcaveRaycastDemo/ConcaveRaycastDemo.h
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONCAVE_RAYCAST_DEMO_H
#define CONCAVE_RAYCAST_DEMO_H
#include "GlutDemoApplication.h"
#include "LinearMath/btAlignedObjectArray.h"
class btBroadphaseInterface;
class btCollisionShape;
class btOverlappingPairCache;
class btCollisionDispatcher;
class btConstraintSolver;
struct btCollisionAlgorithmCreateFunc;
class btDefaultCollisionConfiguration;
class btTriangleIndexVertexArray;
///ConcaveRaycastDemo shows usage of static concave triangle meshes
class ConcaveRaycastDemo : public GlutDemoApplication
{
//keep the collision shapes, for deletion/cleanup
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
btTriangleIndexVertexArray* m_indexVertexArrays;
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btConstraintSolver* m_solver;
class btThreadSupportInterface* m_threadSupportRaycast;
btDefaultCollisionConfiguration* m_collisionConfiguration;
bool m_animatedMesh;
public:
ConcaveRaycastDemo() : m_animatedMesh(false)
{
}
void initPhysics();
void exitPhysics();
virtual ~ConcaveRaycastDemo()
{
exitPhysics();
}
virtual void clientMoveAndDisplay();
virtual void displayCallback();
//to show refit works
void setVertexPositions(float waveheight, float offset);
virtual void keyboardCallback(unsigned char key, int x, int y);
static DemoApplication* Create()
{
ConcaveRaycastDemo* demo = new ConcaveRaycastDemo();
demo->myinit();
demo->initPhysics();
return demo;
};
};
#endif //CONCAVE_RAYCAST_DEMO_H

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Demos/ConcaveRaycastDemo/main.cpp
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#include "ConcaveRaycastDemo.h"
#include "GlutStuff.h"
int main(int argc,char** argv)
{
ConcaveRaycastDemo* concaveRaycastDemo = new ConcaveRaycastDemo();
concaveRaycastDemo->initPhysics();
concaveRaycastDemo->setCameraDistance(30.f);
return glutmain(argc, argv,640,480,"Concave Raycast Demo",concaveRaycastDemo);
}

52
Demos/ConstraintDemo/CMakeLists.txt
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# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# You shouldn't have to modify anything below this line
########################################################
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${GLUT_INCLUDE_DIR}
)
IF (USE_GLUT)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY}
${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppConstraintDemo
ConstraintDemo.cpp
ConstraintDemo.h
main.cpp
)
ELSE (USE_GLUT)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppConstraintDemo
WIN32
../OpenGL/Win32AppMain.cpp
Win32ConstraintDemo.cpp
ConstraintDemo.cpp
ConstraintDemo.h
)
ENDIF (USE_GLUT)
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(AppConstraintDemo PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(AppConstraintDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(AppConstraintDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

75
Demos/ConstraintDemo/ConstraintDemo.h
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONSTRAINT_DEMO_H
#define CONSTRAINT_DEMO_H
#ifdef _WINDOWS
#include "Win32DemoApplication.h"
#define PlatformDemoApplication Win32DemoApplication
#else
#include "GlutDemoApplication.h"
#define PlatformDemoApplication GlutDemoApplication
#endif
///ConstraintDemo shows how to create a constraint, like Hinge or btGenericD6constraint
class ConstraintDemo : public PlatformDemoApplication
{
//keep track of variables to delete memory at the end
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
class btBroadphaseInterface* m_overlappingPairCache;
class btCollisionDispatcher* m_dispatcher;
class btConstraintSolver* m_constraintSolver;
class btDefaultCollisionConfiguration* m_collisionConfiguration;
void setupEmptyDynamicsWorld();
void clientResetScene();
public:
virtual ~ConstraintDemo();
void initPhysics();
void exitPhysics();
virtual void clientMoveAndDisplay();
virtual void displayCallback();
static DemoApplication* Create()
{
ConstraintDemo* demo = new ConstraintDemo();
demo->myinit();
demo->initPhysics();
return demo;
}
virtual void keyboardCallback(unsigned char key, int x, int y);
// for cone-twist motor driving
float m_Time;
class btConeTwistConstraint* m_ctc;
};
#endif //CONSTRAINT_DEMO_H

25
Demos/ConstraintDemo/Win32ConstraintDemo.cpp
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#ifdef _WINDOWS
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "ConstraintDemo.h"
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
DemoApplication* createDemo()
{
return new ConstraintDemo();
}
#endif

20
Demos/ConstraintDemo/main.cpp
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#include "ConstraintDemo.h"
#include "GlutStuff.h"
#include "GLDebugDrawer.h"
#include "btBulletDynamicsCommon.h"
int main(int argc,char** argv)
{
ConstraintDemo* constraintDemo = new ConstraintDemo();
constraintDemo->initPhysics();
constraintDemo->setDebugMode(btIDebugDraw::DBG_DrawConstraints+btIDebugDraw::DBG_DrawConstraintLimits);
return glutmain(argc, argv,640,480,"Constraint Demo. http://www.continuousphysics.com/Bullet/phpBB2/",constraintDemo);
}

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Demos/ContinuousConvexCollision/CMakeLists.txt
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# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# You shouldn't have to modify anything below this line
########################################################
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${GLUT_INCLUDE_DIR}
)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppContinuousConvexCollisionDemo
ContinuousConvexCollisionDemo.cpp
)
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(AppContinuousConvexCollisionDemo PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(AppContinuousConvexCollisionDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(AppContinuousConvexCollisionDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

36
Demos/ContinuousConvexCollision/ContinuousConvexCollision.h
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONTINUOUS_CONVEX_COLLISION_DEMO_H
#define CONTINUOUS_CONVEX_COLLISION_DEMO_H
///ContinuousConvexCollisionDemo shows the working of the continuous collision detection, including linear and angular motion
#include "GlutDemoApplication.h"
class btContinuousConvexCollisionDemo : public GlutDemoApplication
{
public:
void initPhysics();
virtual void clientMoveAndDisplay();
virtual void displayCallback();
};
#endif //CONTINUOUS_CONVEX_COLLISION_DEMO_H

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Demos/ContinuousConvexCollision/ContinuousConvexCollisionDemo.cpp
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/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
/*
Continuous Convex Collision Demo demonstrates an efficient continuous collision detection algorithm.
Both linear and angular velocities are supported. Convex Objects are sampled using Supporting Vertex.
Motion using Exponential Map.
Future ideas: Comparison with Screwing Motion.
Also comparision with Algebraic CCD and Interval Arithmetic methods (Stephane Redon)
*/
///This low level demo need internal access, and intentionally doesn't include the btBulletCollisionCommon.h headerfile
#include "LinearMath/btQuaternion.h"
#include "LinearMath/btTransform.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
#include "LinearMath/btTransformUtil.h"
#include "DebugCastResult.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#include "GL_ShapeDrawer.h"
#include "ContinuousConvexCollision.h"
#include "GlutStuff.h"
float yaw=0.f,pitch=0.f,roll=0.f;
const int maxNumObjects = 4;
const int numObjects = 2;
btVector3 angVels[numObjects];
btVector3 linVels[numObjects];
btPolyhedralConvexShape* shapePtr[maxNumObjects];
btTransform fromTrans[maxNumObjects];
btTransform toTrans[maxNumObjects];
int screenWidth = 640;
int screenHeight = 480;
int main(int argc,char** argv)
{
btContinuousConvexCollisionDemo* ccdDemo = new btContinuousConvexCollisionDemo();
ccdDemo->setCameraDistance(40.f);
ccdDemo->initPhysics();
return glutmain(argc, argv,screenWidth,screenHeight,"Continuous Convex Collision Demo",ccdDemo);
}
void btContinuousConvexCollisionDemo::initPhysics()
{
fromTrans[0].setOrigin(btVector3(0,10,20));
toTrans[0].setOrigin(btVector3(0,10,-20));
fromTrans[1].setOrigin(btVector3(-2,7,0));
toTrans[1].setOrigin(btVector3(-2,10,0));
btMatrix3x3 identBasis;
identBasis.setIdentity();
btMatrix3x3 basisA;
basisA.setIdentity();
basisA.setEulerZYX(0.f,-SIMD_HALF_PI,0.f);
fromTrans[0].setBasis(identBasis);
toTrans[0].setBasis(basisA);
fromTrans[1].setBasis(identBasis);
toTrans[1].setBasis(identBasis);
toTrans[1].setBasis(identBasis);
btVector3 boxHalfExtentsA(10,1,1);
btVector3 boxHalfExtentsB(1.1f,1.1f,1.1f);
btBoxShape* boxA = new btBoxShape(boxHalfExtentsA);
// btBU_Simplex1to4* boxA = new btBU_Simplex1to4(btVector3(-2,0,-2),btVector3(2,0,-2),btVector3(0,0,2),btVector3(0,2,0));
// btBU_Simplex1to4* boxA = new btBU_Simplex1to4(btVector3(-12,0,0),btVector3(12,0,0));
btBoxShape* boxB = new btBoxShape(boxHalfExtentsB);
shapePtr[0] = boxA;
shapePtr[1] = boxB;
shapePtr[0]->setMargin(0.01f);
shapePtr[1]->setMargin(0.01f);
for (int i=0;i<numObjects;i++)
{
btTransformUtil::calculateVelocity(fromTrans[i],toTrans[i],1.f,linVels[i],angVels[i]);
}
}
//to be implemented by the demo
void btContinuousConvexCollisionDemo::clientMoveAndDisplay()
{
displayCallback();
}
static btVoronoiSimplexSolver sVoronoiSimplexSolver;
btSimplexSolverInterface& gGjkSimplexSolver = sVoronoiSimplexSolver;
bool drawLine= false;
int minlines = 0;
int maxlines = 512;
void btContinuousConvexCollisionDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDisable(GL_LIGHTING);
//GL_ShapeDrawer::drawCoordSystem();
btScalar m[16];
int i;
btVector3 worldBoundsMin(-1000,-1000,-1000);
btVector3 worldBoundsMax(1000,1000,1000);
/*for (i=0;i<numObjects;i++)
{
fromTrans[i].getOpenGLMatrix( m );
m_shapeDrawer.drawOpenGL(m,shapePtr[i]);
}
*/
if (getDebugMode()==btIDebugDraw::DBG_DrawAabb)
{
i=0;//for (i=1;i<numObjects;i++)
{
//for each object, subdivide the from/to transform in 10 equal steps
int numSubSteps = 10;
for (int s=0;s<10;s++)
{
btScalar subStep = s * 1.f/(float)numSubSteps;
btTransform interpolatedTrans;
btTransformUtil::integrateTransform(fromTrans[i],linVels[i],angVels[i],subStep,interpolatedTrans);
//fromTrans[i].getOpenGLMatrix(m);
//m_shapeDrawer.drawOpenGL(m,shapePtr[i]);
//toTrans[i].getOpenGLMatrix(m);
//m_shapeDrawer.drawOpenGL(m,shapePtr[i]);
interpolatedTrans.getOpenGLMatrix( m );
m_shapeDrawer->drawOpenGL(m,shapePtr[i],btVector3(1,0,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
}
}
}
btMatrix3x3 mat;
mat.setEulerZYX(yaw,pitch,roll);
btQuaternion orn;
mat.getRotation(orn);
orn.setEuler(yaw,pitch,roll);
fromTrans[1].setRotation(orn);
toTrans[1].setRotation(orn);
if (m_stepping || m_singleStep)
{
m_singleStep = false;
pitch += 0.005f;
// yaw += 0.01f;
}
// btVector3 fromA(-25,11,0);
// btVector3 toA(-15,11,0);
// btQuaternion ornFromA(0.f,0.f,0.f,1.f);
// btQuaternion ornToA(0.f,0.f,0.f,1.f);
// btTransform rayFromWorld(ornFromA,fromA);
// btTransform rayToWorld(ornToA,toA);
btTransform rayFromWorld = fromTrans[0];
btTransform rayToWorld = toTrans[0];
if (drawLine)
{
glBegin(GL_LINES);
glColor3f(0, 0, 1);
glVertex3d(rayFromWorld.getOrigin().x(), rayFromWorld.getOrigin().y(),rayFromWorld.getOrigin().z());
glVertex3d(rayToWorld.getOrigin().x(),rayToWorld.getOrigin().y(),rayToWorld.getOrigin().z());
glEnd();
}
//now perform a raycast on the shapes, in local (shape) space
gGjkSimplexSolver.reset();
//choose one of the following lines
for (i=0;i<numObjects;i++)
{
fromTrans[i].getOpenGLMatrix(m);
m_shapeDrawer->drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
}
btDebugCastResult rayResult1(fromTrans[0],shapePtr[0],linVels[0],angVels[0],m_shapeDrawer);
for (i=1;i<numObjects;i++)
{
btConvexCast::CastResult rayResult2;
btConvexCast::CastResult* rayResultPtr;
if (btIDebugDraw::DBG_DrawAabb)
{
rayResultPtr = &rayResult1;
} else
{
rayResultPtr = &rayResult2;
}
//GjkConvexCast convexCaster(&gGjkSimplexSolver);
//SubsimplexConvexCast convexCaster(&gGjkSimplexSolver);
//optional
btConvexPenetrationDepthSolver* penetrationDepthSolver = 0;
btContinuousConvexCollision convexCaster(shapePtr[0],shapePtr[i],&gGjkSimplexSolver,penetrationDepthSolver );
gGjkSimplexSolver.reset();
if (convexCaster.calcTimeOfImpact(fromTrans[0],toTrans[0],fromTrans[i] ,toTrans[i] ,*rayResultPtr))
{
glDisable(GL_DEPTH_TEST);
btTransform hitTrans;
btTransformUtil::integrateTransform(fromTrans[0],linVels[0],angVels[0],rayResultPtr->m_fraction,hitTrans);
hitTrans.getOpenGLMatrix(m);
m_shapeDrawer->drawOpenGL(m,shapePtr[0],btVector3(0,1,0),getDebugMode(),worldBoundsMin,worldBoundsMax);
btTransformUtil::integrateTransform(fromTrans[i],linVels[i],angVels[i],rayResultPtr->m_fraction,hitTrans);
hitTrans.getOpenGLMatrix(m);
m_shapeDrawer->drawOpenGL(m,shapePtr[i],btVector3(0,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
}
}
swapBuffers();
}

69
Demos/ConvexDecompositionDemo/CMakeLists.txt
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@ -1,69 +0,0 @@
# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# This is the variable for Windows. I use this to define the root of my directory structure.
SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
# You shouldn't have to modify anything below this line
########################################################
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${BULLET_PHYSICS_SOURCE_DIR}/Extras/HACD
${BULLET_PHYSICS_SOURCE_DIR}/Extras/ConvexDecomposition
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletFileLoader
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletWorldImporter
${GLUT_INCLUDE_DIR}
)
IF (USE_GLUT)
LINK_LIBRARIES(
OpenGLSupport BulletWorldImporter BulletDynamics BulletCollision LinearMath BulletFileLoader HACD ConvexDecomposition ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppConvexDecompositionDemo
main.cpp
ConvexDecompositionDemo.cpp
ConvexDecompositionDemo.h
)
ELSE (USE_GLUT)
LINK_LIBRARIES(
OpenGLSupport BulletWorldImporter BulletDynamics BulletCollision LinearMath BulletFileLoader HACD ConvexDecomposition ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppConvexDecompositionDemo
WIN32
../OpenGL/Win32AppMain.cpp
ConvexDecompositionDemo.cpp
ConvexDecompositionDemo.h
Win32ConvexDecompositionDemo.cpp
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ENDIF (USE_GLUT)
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
ADD_CUSTOM_COMMAND(
TARGET AppConvexDecompositionDemo
POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/SerializeDemo/testFile.bullet ${CMAKE_CURRENT_BINARY_DIR}/testFile.bullet
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/ConvexDecompositionDemo/file.obj ${CMAKE_CURRENT_BINARY_DIR}
)
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(AppConvexDecompositionDemo PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(AppConvexDecompositionDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(AppConvexDecompositionDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

778
Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
View File

@ -1,778 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "hacdCircularList.h"
#include "hacdVector.h"
#include "hacdICHull.h"
#include "hacdGraph.h"
#include "hacdHACD.h"
#include "cd_wavefront.h"
#include "ConvexBuilder.h"
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btIDebugDraw.h"
#include "LinearMath/btGeometryUtil.h"
#include "BulletCollision/CollisionShapes/btShapeHull.h"
#include "GLDebugDrawer.h"
GLDebugDrawer gDebugDrawer;
//#define TEST_SERIALIZATION
//#define NO_OBJ_TO_BULLET
#ifdef TEST_SERIALIZATION
#include "LinearMath/btSerializer.h"
#include "btBulletFile.h"
#include "btBulletWorldImporter.h"
#endif
//#define USE_PARALLEL_DISPATCHER 1
#ifdef USE_PARALLEL_DISPATCHER
#include "../../Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
#include "../../Extras/BulletMultiThreaded/Win32ThreadSupport.h"
#include "../../Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
#endif//USE_PARALLEL_DISPATCHER
#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"//for the callback
bool MyCompoundChildShapeCallback(const btCollisionShape* pShape0, const btCollisionShape* pShape1)
{
return true;
}
#include "GLDebugFont.h"
#include <stdio.h> //printf debugging
#include "ConvexDecompositionDemo.h"
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
btVector3 centroid=btVector3(0,0,0);
btVector3 convexDecompositionObjectOffset(10,0,0);
#define CUBE_HALF_EXTENTS 4
////////////////////////////////////
unsigned int tcount = 0;
//sEnableSAT creates the data structures required for performing SAT tests between convex polyhedra, as alternative to GJK
bool sEnableSAT = false;
void ConvexDecompositionDemo::initPhysics()
{
initPhysics("file.obj");
}
///MyContactCallback is just an example to show how to get access to the child shape that collided
bool MyContactCallback (
btManifoldPoint& cp,
const btCollisionObjectWrapper* colObj0Wrap,
int partId0,
int index0,
const btCollisionObjectWrapper* colObj1Wrap,
int partId1,
int index1)
{
if (colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType()==COMPOUND_SHAPE_PROXYTYPE)
{
btCompoundShape* compound = (btCompoundShape*)colObj0Wrap->getCollisionObject()->getCollisionShape();
btCollisionShape* childShape;
childShape = compound->getChildShape(index0);
}
if (colObj1Wrap->getCollisionObject()->getCollisionShape()->getShapeType()==COMPOUND_SHAPE_PROXYTYPE)
{
btCompoundShape* compound = (btCompoundShape*)colObj1Wrap->getCollisionObject()->getCollisionShape();
btCollisionShape* childShape;
childShape = compound->getChildShape(index1);
}
return true;
}
void ConvexDecompositionDemo::setupEmptyDynamicsWorld()
{
m_collisionConfiguration = new btDefaultCollisionConfiguration();
#ifdef USE_PARALLEL_DISPATCHER
#ifdef USE_WIN32_THREADING
int maxNumOutstandingTasks = 4;//number of maximum outstanding tasks
Win32ThreadSupport* threadSupport = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
"collision",
processCollisionTask,
createCollisionLocalStoreMemory,
maxNumOutstandingTasks));
#else
///@todo other platform threading
///Playstation 3 SPU (SPURS) version is available through PS3 Devnet
///Libspe2 SPU support will be available soon
///pthreads version
///you can hook it up to your custom task scheduler by deriving from btThreadSupportInterface
#endif
m_dispatcher = new SpuGatheringCollisionDispatcher(threadSupport,maxNumOutstandingTasks,m_collisionConfiguration);
#else
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
#endif//USE_PARALLEL_DISPATCHER
gCompoundChildShapePairCallback = MyCompoundChildShapeCallback;
convexDecompositionObjectOffset.setValue(10,0,0);
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
//m_broadphase = new btSimpleBroadphase();
m_solver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
#ifdef USE_PARALLEL_DISPATCHER
m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
#endif //USE_PARALLEL_DISPATCHER
}
void ConvexDecompositionDemo::initPhysics(const char* filename)
{
gContactAddedCallback = &MyContactCallback;
setupEmptyDynamicsWorld();
getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
setTexturing(true);
setShadows(true);
setCameraDistance(26.f);
#ifndef NO_OBJ_TO_BULLET
ConvexDecomposition::WavefrontObj wo;
tcount = 0;
const char* prefix[]={"./","../","../../","../../../","../../../../", "ConvexDecompositionDemo/", "Demos/ConvexDecompositionDemo/",
"../Demos/ConvexDecompositionDemo/","../../Demos/ConvexDecompositionDemo/"};
int numPrefixes = sizeof(prefix)/sizeof(const char*);
char relativeFileName[1024];
for (int i=0;i<numPrefixes;i++)
{
sprintf(relativeFileName,"%s%s",prefix[i],filename);
tcount = wo.loadObj(relativeFileName);
if (tcount)
break;
}
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,-4.5,0));
btCollisionShape* boxShape = new btBoxShape(btVector3(30,2,30));
m_collisionShapes.push_back(boxShape);
localCreateRigidBody(0.f,startTransform,boxShape);
class MyConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
{
ConvexDecompositionDemo* m_convexDemo;
public:
btAlignedObjectArray<btConvexHullShape*> m_convexShapes;
btAlignedObjectArray<btVector3> m_convexCentroids;
MyConvexDecomposition (FILE* outputFile,ConvexDecompositionDemo* demo)
:m_convexDemo(demo),
mBaseCount(0),
mHullCount(0),
mOutputFile(outputFile)
{
}
virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
{
btTriangleMesh* trimesh = new btTriangleMesh();
m_convexDemo->m_trimeshes.push_back(trimesh);
btVector3 localScaling(6.f,6.f,6.f);
//export data to .obj
printf("ConvexResult. ");
if (mOutputFile)
{
fprintf(mOutputFile,"## Hull Piece %d with %d vertices and %d triangles.\r\n", mHullCount, result.mHullVcount, result.mHullTcount );
fprintf(mOutputFile,"usemtl Material%i\r\n",mBaseCount);
fprintf(mOutputFile,"o Object%i\r\n",mBaseCount);
for (unsigned int i=0; i<result.mHullVcount; i++)
{
const float *p = &result.mHullVertices[i*3];
fprintf(mOutputFile,"v %0.9f %0.9f %0.9f\r\n", p[0], p[1], p[2] );
}
//calc centroid, to shift vertices around center of mass
centroid.setValue(0,0,0);
btAlignedObjectArray<btVector3> vertices;
if ( 1 )
{
//const unsigned int *src = result.mHullIndices;
for (unsigned int i=0; i<result.mHullVcount; i++)
{
btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
vertex *= localScaling;
centroid += vertex;
}
}
centroid *= 1.f/(float(result.mHullVcount) );
if ( 1 )
{
//const unsigned int *src = result.mHullIndices;
for (unsigned int i=0; i<result.mHullVcount; i++)
{
btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
vertex *= localScaling;
vertex -= centroid ;
vertices.push_back(vertex);
}
}
if ( 1 )
{
const unsigned int *src = result.mHullIndices;
for (unsigned int i=0; i<result.mHullTcount; i++)
{
unsigned int index0 = *src++;
unsigned int index1 = *src++;
unsigned int index2 = *src++;
btVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
btVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
btVector3 vertex2(result.mHullVertices[index2*3], result.mHullVertices[index2*3+1],result.mHullVertices[index2*3+2]);
vertex0 *= localScaling;
vertex1 *= localScaling;
vertex2 *= localScaling;
vertex0 -= centroid;
vertex1 -= centroid;
vertex2 -= centroid;
trimesh->addTriangle(vertex0,vertex1,vertex2);
index0+=mBaseCount;
index1+=mBaseCount;
index2+=mBaseCount;
fprintf(mOutputFile,"f %d %d %d\r\n", index0+1, index1+1, index2+1 );
}
}
// float mass = 1.f;
//this is a tools issue: due to collision margin, convex objects overlap, compensate for it here:
//#define SHRINK_OBJECT_INWARDS 1
#ifdef SHRINK_OBJECT_INWARDS
float collisionMargin = 0.01f;
btAlignedObjectArray<btVector3> planeEquations;
btGeometryUtil::getPlaneEquationsFromVertices(vertices,planeEquations);
btAlignedObjectArray<btVector3> shiftedPlaneEquations;
for (int p=0;p<planeEquations.size();p++)
{
btVector3 plane = planeEquations[p];
plane[3] += collisionMargin;
shiftedPlaneEquations.push_back(plane);
}
btAlignedObjectArray<btVector3> shiftedVertices;
btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,shiftedVertices);
btConvexHullShape* convexShape = new btConvexHullShape(&(shiftedVertices[0].getX()),shiftedVertices.size());
#else //SHRINK_OBJECT_INWARDS
btConvexHullShape* convexShape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
#endif
if (sEnableSAT)
convexShape->initializePolyhedralFeatures();
convexShape->setMargin(0.01f);
m_convexShapes.push_back(convexShape);
m_convexCentroids.push_back(centroid);
m_convexDemo->m_collisionShapes.push_back(convexShape);
mBaseCount+=result.mHullVcount; // advance the 'base index' counter.
}
}
int mBaseCount;
int mHullCount;
FILE* mOutputFile;
};
if (tcount)
{
btTriangleMesh* trimesh = new btTriangleMesh();
m_trimeshes.push_back(trimesh);
btVector3 localScaling(6.f,6.f,6.f);
int i;
for ( i=0;i<wo.mTriCount;i++)
{
int index0 = wo.mIndices[i*3];
int index1 = wo.mIndices[i*3+1];
int index2 = wo.mIndices[i*3+2];
btVector3 vertex0(wo.mVertices[index0*3], wo.mVertices[index0*3+1],wo.mVertices[index0*3+2]);
btVector3 vertex1(wo.mVertices[index1*3], wo.mVertices[index1*3+1],wo.mVertices[index1*3+2]);
btVector3 vertex2(wo.mVertices[index2*3], wo.mVertices[index2*3+1],wo.mVertices[index2*3+2]);
vertex0 *= localScaling;
vertex1 *= localScaling;
vertex2 *= localScaling;
trimesh->addTriangle(vertex0,vertex1,vertex2);
}
btConvexShape* tmpConvexShape = new btConvexTriangleMeshShape(trimesh);
printf("old numTriangles= %d\n",wo.mTriCount);
printf("old numIndices = %d\n",wo.mTriCount*3);
printf("old numVertices = %d\n",wo.mVertexCount);
printf("reducing vertices by creating a convex hull\n");
//create a hull approximation
btShapeHull* hull = new btShapeHull(tmpConvexShape);
btScalar margin = tmpConvexShape->getMargin();
hull->buildHull(margin);
tmpConvexShape->setUserPointer(hull);
printf("new numTriangles = %d\n", hull->numTriangles ());
printf("new numIndices = %d\n", hull->numIndices ());
printf("new numVertices = %d\n", hull->numVertices ());
btConvexHullShape* convexShape = new btConvexHullShape();
bool updateLocalAabb = false;
for (i=0;i<hull->numVertices();i++)
{
convexShape->addPoint(hull->getVertexPointer()[i],updateLocalAabb);
}
convexShape->recalcLocalAabb();
if (sEnableSAT)
convexShape->initializePolyhedralFeatures();
delete tmpConvexShape;
delete hull;
m_collisionShapes.push_back(convexShape);
float mass = 1.f;
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,2,14));
localCreateRigidBody(mass, startTransform,convexShape);
bool useQuantization = true;
btCollisionShape* concaveShape = new btBvhTriangleMeshShape(trimesh,useQuantization);
startTransform.setOrigin(convexDecompositionObjectOffset);
localCreateRigidBody(0.f,startTransform,concaveShape);
m_collisionShapes.push_back (concaveShape);
}
if (tcount)
{
//-----------------------------------
// Bullet Convex Decomposition
//-----------------------------------
char outputFileName[512];
strcpy(outputFileName,filename);
char *dot = strstr(outputFileName,".");
if ( dot )
*dot = 0;
strcat(outputFileName,"_convex.obj");
FILE* outputFile = fopen(outputFileName,"wb");
unsigned int depth = 5;
float cpercent = 5;
float ppercent = 15;
unsigned int maxv = 16;
float skinWidth = 0.0;
printf("WavefrontObj num triangles read %i\n",tcount);
ConvexDecomposition::DecompDesc desc;
desc.mVcount = wo.mVertexCount;
desc.mVertices = wo.mVertices;
desc.mTcount = wo.mTriCount;
desc.mIndices = (unsigned int *)wo.mIndices;
desc.mDepth = depth;
desc.mCpercent = cpercent;
desc.mPpercent = ppercent;
desc.mMaxVertices = maxv;
desc.mSkinWidth = skinWidth;
MyConvexDecomposition convexDecomposition(outputFile,this);
desc.mCallback = &convexDecomposition;
//-----------------------------------------------
// HACD
//-----------------------------------------------
std::vector< HACD::Vec3<HACD::Real> > points;
std::vector< HACD::Vec3<long> > triangles;
for(int i=0; i<wo.mVertexCount; i++ )
{
int index = i*3;
HACD::Vec3<HACD::Real> vertex(wo.mVertices[index], wo.mVertices[index+1],wo.mVertices[index+2]);
points.push_back(vertex);
}
for(int i=0;i<wo.mTriCount;i++)
{
int index = i*3;
HACD::Vec3<long> triangle(wo.mIndices[index], wo.mIndices[index+1], wo.mIndices[index+2]);
triangles.push_back(triangle);
}
HACD::HACD myHACD;
myHACD.SetPoints(&points[0]);
myHACD.SetNPoints(points.size());
myHACD.SetTriangles(&triangles[0]);
myHACD.SetNTriangles(triangles.size());
myHACD.SetCompacityWeight(0.1);
myHACD.SetVolumeWeight(0.0);
// HACD parameters
// Recommended parameters: 2 100 0 0 0 0
size_t nClusters = 2;
double concavity = 100;
bool invert = false;
bool addExtraDistPoints = false;
bool addNeighboursDistPoints = false;
bool addFacesPoints = false;
myHACD.SetNClusters(nClusters); // minimum number of clusters
myHACD.SetNVerticesPerCH(100); // max of 100 vertices per convex-hull
myHACD.SetConcavity(concavity); // maximum concavity
myHACD.SetAddExtraDistPoints(addExtraDistPoints);
myHACD.SetAddNeighboursDistPoints(addNeighboursDistPoints);
myHACD.SetAddFacesPoints(addFacesPoints);
myHACD.Compute();
nClusters = myHACD.GetNClusters();
myHACD.Save("output.wrl", false);
//convexDecomposition.performConvexDecomposition(desc);
// ConvexBuilder cb(desc.mCallback);
// cb.process(desc);
//now create some bodies
if (1)
{
btCompoundShape* compound = new btCompoundShape();
m_collisionShapes.push_back (compound);
btTransform trans;
trans.setIdentity();
for (int c=0;c<nClusters;c++)
{
//generate convex result
size_t nPoints = myHACD.GetNPointsCH(c);
size_t nTriangles = myHACD.GetNTrianglesCH(c);
float* vertices = new float[nPoints*3];
unsigned int* triangles = new unsigned int[nTriangles*3];
HACD::Vec3<HACD::Real> * pointsCH = new HACD::Vec3<HACD::Real>[nPoints];
HACD::Vec3<long> * trianglesCH = new HACD::Vec3<long>[nTriangles];
myHACD.GetCH(c, pointsCH, trianglesCH);
// points
for(size_t v = 0; v < nPoints; v++)
{
vertices[3*v] = pointsCH[v].X();
vertices[3*v+1] = pointsCH[v].Y();
vertices[3*v+2] = pointsCH[v].Z();
}
// triangles
for(size_t f = 0; f < nTriangles; f++)
{
triangles[3*f] = trianglesCH[f].X();
triangles[3*f+1] = trianglesCH[f].Y();
triangles[3*f+2] = trianglesCH[f].Z();
}
delete [] pointsCH;
delete [] trianglesCH;
ConvexResult r(nPoints, vertices, nTriangles, triangles);
convexDecomposition.ConvexDecompResult(r);
}
for (int i=0;i<convexDecomposition.m_convexShapes.size();i++)
{
btVector3 centroid = convexDecomposition.m_convexCentroids[i];
trans.setOrigin(centroid);
btConvexHullShape* convexShape = convexDecomposition.m_convexShapes[i];
compound->addChildShape(trans,convexShape);
btRigidBody* body;
body = localCreateRigidBody( 1.0, trans,convexShape);
}
/* for (int i=0;i<convexDecomposition.m_convexShapes.size();i++)
{
btVector3 centroid = convexDecomposition.m_convexCentroids[i];
trans.setOrigin(centroid);
btConvexHullShape* convexShape = convexDecomposition.m_convexShapes[i];
compound->addChildShape(trans,convexShape);
btRigidBody* body;
body = localCreateRigidBody( 1.0, trans,convexShape);
}*/
#if 1
btScalar mass=10.f;
trans.setOrigin(-convexDecompositionObjectOffset);
btRigidBody* body = localCreateRigidBody( mass, trans,compound);
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
convexDecompositionObjectOffset.setZ(6);
trans.setOrigin(-convexDecompositionObjectOffset);
body = localCreateRigidBody( mass, trans,compound);
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
convexDecompositionObjectOffset.setZ(-6);
trans.setOrigin(-convexDecompositionObjectOffset);
body = localCreateRigidBody( mass, trans,compound);
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
#endif
}
if (outputFile)
fclose(outputFile);
}
#ifdef TEST_SERIALIZATION
//test serializing this
int maxSerializeBufferSize = 1024*1024*5;
btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
m_dynamicsWorld->serialize(serializer);
FILE* f2 = fopen("testFile.bullet","wb");
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
fclose(f2);
exitPhysics();
//now try again from the loaded file
setupEmptyDynamicsWorld();
#endif //TEST_SERIALIZATION
#endif //NO_OBJ_TO_BULLET
#ifdef TEST_SERIALIZATION
btBulletWorldImporter* fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
//fileLoader->setVerboseMode(true);
fileLoader->loadFile("testFile.bullet");
//fileLoader->loadFile("testFile64Double.bullet");
//fileLoader->loadFile("testFile64Single.bullet");
//fileLoader->loadFile("testFile32Single.bullet");
#endif //TEST_SERIALIZATION
}
void ConvexDecompositionDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float dt = getDeltaTimeMicroseconds() * 0.000001f;
m_dynamicsWorld->stepSimulation(dt);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
renderme();
glFlush();
swapBuffers();
}
void ConvexDecompositionDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
renderme();
glFlush();
swapBuffers();
}
void ConvexDecompositionDemo::exitPhysics()
{
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
int i;
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState())
{
delete body->getMotionState();
}
m_dynamicsWorld->removeCollisionObject( obj );
delete obj;
}
//delete collision shapes
for (i=0;i<m_collisionShapes.size();i++)
{
btCollisionShape* shape = m_collisionShapes[i];
delete shape;
}
m_collisionShapes.clear();
for (i=0;i<m_trimeshes.size();i++)
{
btTriangleMesh* mesh = m_trimeshes[i];
delete mesh;
}
m_trimeshes.clear();
//delete dynamics world
delete m_dynamicsWorld;
//delete solver
delete m_solver;
//delete broadphase
delete m_broadphase;
//delete dispatcher
delete m_dispatcher;
delete m_collisionConfiguration;
}
void ConvexDecompositionDemo::clientResetScene()
{
exitPhysics();
initPhysics("file.obj");
}
void ConvexDecompositionDemo::keyboardCallback(unsigned char key, int x, int y)
{
if (key=='S')
{
sEnableSAT= !sEnableSAT;
if (sEnableSAT)
{
printf("SAT enabled after the next restart of the demo\n");
} else
{
printf("SAT disabled after the next restart of the demo\n");
}
} else
{
PlatformDemoApplication::keyboardCallback(key,x,y);
}
}

93
Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.h
View File

@ -1,93 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONVEX_DECOMPOSITION_DEMO_H
#define CONVEX_DECOMPOSITION_DEMO_H
#ifdef _WINDOWS
#include "Win32DemoApplication.h"
#define PlatformDemoApplication Win32DemoApplication
#else
#include "GlutDemoApplication.h"
#define PlatformDemoApplication GlutDemoApplication
#endif
#include "LinearMath/btAlignedObjectArray.h"
class btBroadphaseInterface;
class btCollisionShape;
class btOverlappingPairCache;
class btCollisionDispatcher;
class btConstraintSolver;
struct btCollisionAlgorithmCreateFunc;
class btDefaultCollisionConfiguration;
class btTriangleMesh;
///ConvexDecompositionDemo shows automatic convex decomposition of a concave mesh
ATTRIBUTE_ALIGNED16(class) ConvexDecompositionDemo : public PlatformDemoApplication
{
void setupEmptyDynamicsWorld();
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
//keep the collision shapes, for deletion/cleanup
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
btAlignedObjectArray<btTriangleMesh*> m_trimeshes;
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btConstraintSolver* m_solver;
btDefaultCollisionConfiguration* m_collisionConfiguration;
virtual void initPhysics();
void initPhysics(const char* filename);
void exitPhysics();
virtual void clientResetScene();
virtual ~ConvexDecompositionDemo()
{
exitPhysics();
}
virtual void clientMoveAndDisplay();
virtual void displayCallback();
virtual void keyboardCallback(unsigned char key, int x, int y);
static DemoApplication* Create()
{
ConvexDecompositionDemo* demo = new ConvexDecompositionDemo();
demo->myinit();
demo->initPhysics("file.obj");
return demo;
}
};
#endif //CONVEX_DECOMPOSITION_DEMO_H

25
Demos/ConvexDecompositionDemo/Win32ConvexDecompositionDemo.cpp
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#ifdef _WINDOWS
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2010 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "ConvexDecompositionDemo.h"
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
DemoApplication* createDemo()
{
return new ConvexDecompositionDemo();
}
#endif

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Demos/ConvexDecompositionDemo/file.obj
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27
Demos/ConvexDecompositionDemo/main.cpp
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#include "ConvexDecompositionDemo.h"
#include "GlutStuff.h"
#include "GLDebugDrawer.h"
#include "btBulletDynamicsCommon.h"
int main(int argc,char** argv)
{
const char* filename = "file.obj";
ConvexDecompositionDemo* convexDecompDemo = new ConvexDecompositionDemo();
convexDecompDemo->initPhysics(filename);
glutmain(argc, argv,640,480,"Bullet Physics Demo. http://www.continuousphysics.com/Bullet/phpBB2/",convexDecompDemo);
delete convexDecompDemo;
return 0;
}

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65
Demos/ConvexHullDistance/CMakeLists.txt
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# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# This is the variable for Windows. I use this to define the root of my directory structure.
SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
# You shouldn't have to modify anything below this line
########################################################
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${GLUT_INCLUDE_DIR}
)
IF (USE_GLUT)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
IF (WIN32)
ADD_EXECUTABLE(AppConvexHullDistanceDemo
ConvexHullDistanceDemo.cpp
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ELSE()
ADD_EXECUTABLE(AppConvexHullDistanceDemo
ConvexHullDistanceDemo.cpp
)
ENDIF()
ELSE (USE_GLUT)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppConvexHullDistanceDemo
WIN32
../OpenGL/Win32AppMain.cpp
ConvexHullDistanceDemo.cpp
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ENDIF (USE_GLUT)
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(AppConvexHullDistanceDemo PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(AppConvexHullDistanceDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(AppConvexHullDistanceDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

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Demos/ConvexHullDistance/ConvexHullDistanceDemo.cpp
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///
/// Convex Hull Distance Demo shows distance calculation between two convex hulls of points.
/// GJK with the btVoronoiSimplexSolver is used.
///
#include "GL_Simplex1to4.h"
#include "LinearMath/btQuaternion.h"
#include "LinearMath/btTransform.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btPointCollector.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#include "LinearMath/btIDebugDraw.h"
#include "LinearMath/btConvexHullComputer.h"
#define TaruVtxCount 43
static btScalar TaruVtx[] = {
1.08664f,-1.99237f,0.0f,
0.768369f,-1.99237f,-0.768369f,
1.28852f,1.34412e-007f,-1.28852f,
1.82224f,1.90735e-007f,0.0f,
0.0f,-1.99237f,-1.08664f,
0.0f,0.0f,-1.82224f,
0.0f,-1.99237f,-1.08664f,
-0.768369f,-1.99237f,-0.768369f,
-1.28852f,1.34412e-007f,-1.28852f,
0.0f,0.0f,-1.82224f,
-1.08664f,-1.99237f,1.82086e-007f,
-1.82224f,1.90735e-007f,1.59305e-007f,
-0.768369f,-1.99237f,0.76837f,
-1.28852f,2.47058e-007f,1.28852f,
1.42495e-007f,-1.99237f,1.08664f,
2.38958e-007f,2.70388e-007f,1.82224f,
0.768369f,-1.99237f,0.768369f,
1.28852f,2.47058e-007f,1.28852f,
0.768369f,1.99237f,-0.768369f,
1.08664f,1.99237f,0.0f,
0.0f,1.99237f,-1.08664f,
-0.768369f,1.99237f,-0.768369f,
0.0f,1.99237f,-1.08664f,
-1.08664f,1.99237f,0.0f,
-0.768369f,1.99237f,0.768369f,
1.42495e-007f,1.99237f,1.08664f,
0.768369f,1.99237f,0.768369f,
1.42495e-007f,-1.99237f,1.08664f,
-0.768369f,-1.99237f,0.76837f,
-1.08664f,-1.99237f,1.82086e-007f,
-0.768369f,-1.99237f,-0.768369f,
0.0f,-1.99237f,-1.08664f,
0.768369f,-1.99237f,-0.768369f,
1.08664f,-1.99237f,0.0f,
0.768369f,-1.99237f,0.768369f,
0.768369f,1.99237f,-0.768369f,
0.0f,1.99237f,-1.08664f,
-0.768369f,1.99237f,-0.768369f,
-1.08664f,1.99237f,0.0f,
-0.768369f,1.99237f,0.768369f,
1.42495e-007f,1.99237f,1.08664f,
0.768369f,1.99237f,0.768369f,
1.08664f,1.99237f,0.0f,
};
#define USE_GJK
#ifndef USE_GJK
#include "btBulletCollisionCommon.h"
#endif //USE_GJK
#include "GL_ShapeDrawer.h"
#ifdef WIN32 //needed for glut.h
#include <windows.h>
#endif
//think different
#if defined(__APPLE__) && !defined (VMDMESA)
#include <OpenGL/gl.h>
#include <OpenGL/glu.h>
#include <GLUT/glut.h>
#else
#include <GL/glut.h>
#endif
#include "GlutStuff.h"
float yaw=0.f,pitch=0.f,roll=0.f;
const int maxNumObjects = 4;
const int numObjects = 2;
GL_Simplex1to4 simplex;
btConvexShape* shapePtr[maxNumObjects];
btTransform tr[numObjects];
int screenWidth = 640.f;
int screenHeight = 480.f;
void clientResetScene()
{
tr[0].setOrigin(btVector3(0.0f,3.f,7.f));
tr[1].setOrigin(btVector3(0.0f,9.f,2.f));
}
int debugMode = btIDebugDraw::DBG_DrawWireframe;
GL_ShapeDrawer shapeDrawer;
int m_glutScreenWidth=0;
int m_glutScreenHeight=0;
float m_frustumZNear = 1.f;
float m_frustumZFar = 10000.f;
bool m_ortho = false;
int myglutmain(int argc, char **argv,int width,int height,const char* title);
void updateCamera() {
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
btScalar rele = 0;
btScalar razi = 0;
btVector3 m_cameraUp(0,1,0);
btScalar m_cameraDistance = 10.f;
btVector3 m_cameraPosition;
btVector3 m_cameraTargetPosition = (tr[0].getOrigin()+tr[1].getOrigin())*0.5;
btQuaternion rot(m_cameraUp,razi);
int m_forwardAxis = 2;
btVector3 eyePos(0,0,0);
eyePos[m_forwardAxis] = -m_cameraDistance;
btVector3 forward(eyePos[0],eyePos[1],eyePos[2]);
if (forward.length2() < SIMD_EPSILON)
{
forward.setValue(1.f,0.f,0.f);
}
btVector3 right = m_cameraUp.cross(forward);
btQuaternion roll(right,-rele);
eyePos = btMatrix3x3(rot) * btMatrix3x3(roll) * eyePos;
m_cameraPosition[0] = eyePos.getX();
m_cameraPosition[1] = eyePos.getY();
m_cameraPosition[2] = eyePos.getZ();
m_cameraPosition += m_cameraTargetPosition;
if (m_glutScreenWidth == 0 && m_glutScreenHeight == 0)
return;
btScalar aspect;
btVector3 extents;
if (m_glutScreenWidth > m_glutScreenHeight)
{
aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight;
extents.setValue(aspect * 1.0f, 1.0f,0);
} else
{
aspect = m_glutScreenHeight / (btScalar)m_glutScreenWidth;
extents.setValue(1.0f, aspect*1.f,0);
}
if (m_ortho)
{
// reset matrix
glLoadIdentity();
extents *= m_cameraDistance;
btVector3 lower = m_cameraTargetPosition - extents;
btVector3 upper = m_cameraTargetPosition + extents;
//gluOrtho2D(lower.x, upper.x, lower.y, upper.y);
glOrtho(lower.getX(), upper.getX(), lower.getY(), upper.getY(),-1000,1000);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
//glTranslatef(100,210,0);
} else
{
if (m_glutScreenWidth > m_glutScreenHeight)
{
// glFrustum (-aspect, aspect, -1.0, 1.0, 1.0, 10000.0);
glFrustum (-aspect * m_frustumZNear, aspect * m_frustumZNear, -m_frustumZNear, m_frustumZNear, m_frustumZNear, m_frustumZFar);
} else
{
// glFrustum (-1.0, 1.0, -aspect, aspect, 1.0, 10000.0);
glFrustum (-aspect * m_frustumZNear, aspect * m_frustumZNear, -m_frustumZNear, m_frustumZNear, m_frustumZNear, m_frustumZFar);
}
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());
}
}
int main(int argc,char** argv)
{
clientResetScene();
btMatrix3x3 basisA;
basisA.setIdentity();
btMatrix3x3 basisB;
basisB.setIdentity();
tr[0].setBasis(basisA);
tr[1].setBasis(basisB);
btVector3 points0[3]={btVector3(1,0,0),btVector3(0,1,0),btVector3(0,0,1)};
//btVector3 points1[5]={btVector3(1,0,0),btVector3(0,1,0),btVector3(0,0,1),btVector3(0,0,-1),btVector3(-1,-1,0)};
btConvexHullShape hullA(&points0[0].getX(),3);
btConvexHullShape hullB(TaruVtx,TaruVtxCount,3*sizeof(btScalar));
shapePtr[0] = &hullA;
shapePtr[1] = &hullB;
btTransform tr;
tr.setIdentity();
return myglutmain(argc, argv,screenWidth,screenHeight,"Convex Hull Distance Demo");
}
static btVoronoiSimplexSolver sGjkSimplexSolver;
btSimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
#include <stdio.h>
void clientDisplay(void) {
updateCamera();
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDisable(GL_LIGHTING);
//GL_ShapeDrawer::drawCoordSystem();
ATTRIBUTE_ALIGNED16(btScalar) m[16];
int i;
#ifdef USE_GJK
btGjkEpaPenetrationDepthSolver epa;
btGjkPairDetector convexConvex(shapePtr[0],shapePtr[1],&sGjkSimplexSolver,&epa);
btVector3 seperatingAxis(0.00000000f,0.059727669f,0.29259586f);
convexConvex.setCachedSeperatingAxis(seperatingAxis);
btPointCollector gjkOutput;
btGjkPairDetector::ClosestPointInput input;
input.m_transformA = tr[0];
input.m_transformB = tr[1];
convexConvex.getClosestPoints(input ,gjkOutput,0);
if (gjkOutput.m_hasResult)
{
btVector3 endPt = gjkOutput.m_pointInWorld +
gjkOutput.m_normalOnBInWorld*gjkOutput.m_distance;
glBegin(GL_LINES);
glColor3f(1, 0, 0);
glVertex3d(gjkOutput.m_pointInWorld.x(), gjkOutput.m_pointInWorld.y(),gjkOutput.m_pointInWorld.z());
glVertex3d(endPt.x(),endPt.y(),endPt.z());
glEnd();
}
#else //USE_GJK
struct MyContactResultCallback : public btCollisionWorld::ContactResultCallback
{
virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
{
glBegin(GL_LINES);
glColor3f(1, 0, 0);
glVertex3d(cp.m_positionWorldOnA.getX(),cp.m_positionWorldOnA.getY(),cp.m_positionWorldOnA.getZ());
glVertex3d(cp.m_positionWorldOnB.getX(),cp.m_positionWorldOnB.getY(),cp.m_positionWorldOnB.getZ());
glEnd();
return 1.f;
}
};
btDefaultCollisionConfiguration collisionConfiguration;
btCollisionDispatcher dispatcher(&collisionConfiguration);
btDbvtBroadphase pairCache;
btCollisionWorld world (&dispatcher,&pairCache,&collisionConfiguration);
gContactBreakingThreshold=1e10f;
MyContactResultCallback result;
btCollisionObject obA;
obA.setCollisionShape(shapePtr[0]);
obA.setWorldTransform(tr[0]);
btCollisionObject obB;
obB.setCollisionShape(shapePtr[1]);
obB.setWorldTransform(tr[1]);
world.contactPairTest(&obA,&obB,result);
#endif//USE_GJK
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
for (i=0;i<numObjects;i++)
{
tr[i].getOpenGLMatrix( m );
if (debugMode)
{
/// for polyhedral shapes
if (shapePtr[i]->isPolyhedral())
{
if (!shapePtr[i]->getUserPointer())
{
btConvexHullComputer* convexUtil = new btConvexHullComputer();
shapePtr[i]->setUserPointer(convexUtil);
btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shapePtr[i];
btAlignedObjectArray<btVector3> vertices;
vertices.resize(polyshape->getNumVertices());
for (int i=0;i<polyshape->getNumVertices();i++)
{
polyshape->getVertex(i,vertices[i]);
}
bool useDoublePrecision = false;
convexUtil->compute(&vertices[0].getX(),sizeof(btVector3), polyshape->getNumVertices(),0,0);
}
if (shapePtr[i]->getUserPointer())
{
btConvexHullComputer* convexUtil = (btConvexHullComputer*)shapePtr[i]->getUserPointer();
//printf("num faces = %d\n",convexUtil->faces.size());
for (int j=0;j<convexUtil->faces.size();j++)
{
int face = convexUtil->faces[j];
//printf("face=%d\n",face);
const btConvexHullComputer::Edge* firstEdge = &convexUtil->edges[face];
const btConvexHullComputer::Edge* edge = firstEdge;
do
{
int src = edge->getSourceVertex();
int targ = edge->getTargetVertex();
//printf("src=%d target = %d\n", src,targ);
btVector3 wa = tr[i] * convexUtil->vertices[src];
btVector3 wb = tr[i] * convexUtil->vertices[targ];
glBegin(GL_LINES);
glColor3f(1, 1, 1);
glVertex3f(wa.getX(),wa.getY(),wa.getZ());
glVertex3f(wb.getX(),wb.getY(),wb.getZ());
glEnd();
edge = edge->getNextEdgeOfFace();
} while (edge!=firstEdge);
}
}
}
} else
{
shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,1,1),debugMode, worldMin, worldMax);
}
}
simplex.setSimplexSolver(&sGjkSimplexSolver);
btVector3 ybuf[4],pbuf[4],qbuf[4];
int numpoints = sGjkSimplexSolver.getSimplex(pbuf,qbuf,ybuf);
simplex.reset();
for (i=0;i<numpoints;i++)
simplex.addVertex(ybuf[i]);
btTransform ident;
ident.setIdentity();
ident.getOpenGLMatrix(m);
shapeDrawer.drawOpenGL(m,&simplex,btVector3(1,1,1),debugMode, worldMin,worldMax);
btQuaternion orn;
orn.setEuler(yaw,pitch,roll);
tr[0].setRotation(orn);
tr[1].setRotation(orn);
pitch += 0.005f;
yaw += 0.01f;
glFlush();
glutSwapBuffers();
}
void clientMoveAndDisplay()
{
clientDisplay();
}
static void glutReshapeCallback(int w, int h)
{
m_glutScreenWidth=w;
m_glutScreenHeight=h;
}
int myglutmain(int argc, char **argv,int width,int height,const char* title) {
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH | GLUT_STENCIL);
glutInitWindowPosition(0, 0);
glutInitWindowSize(width, height);
glutCreateWindow(title);
#ifdef BT_USE_FREEGLUT
glutSetOption (GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_GLUTMAINLOOP_RETURNS);
#endif
glutIdleFunc( clientDisplay );
glutDisplayFunc( clientDisplay );
glutReshapeFunc(glutReshapeCallback);
//enable vsync to avoid tearing on Apple (todo: for Windows)
#if defined(__APPLE__) && !defined (VMDMESA)
int swap_interval = 1;
CGLContextObj cgl_context = CGLGetCurrentContext();
CGLSetParameter(cgl_context, kCGLCPSwapInterval, &swap_interval);
#endif
GLfloat light_ambient[] = { btScalar(0.2), btScalar(0.2), btScalar(0.2), btScalar(1.0) };
GLfloat light_diffuse[] = { btScalar(1.0), btScalar(1.0), btScalar(1.0), btScalar(1.0) };
GLfloat light_specular[] = { btScalar(1.0), btScalar(1.0), btScalar(1.0), btScalar(1.0 )};
/* light_position is NOT default value */
GLfloat light_position0[] = { btScalar(1.0), btScalar(10.0), btScalar(1.0), btScalar(0.0 )};
GLfloat light_position1[] = { btScalar(-1.0), btScalar(-10.0), btScalar(-1.0), btScalar(0.0) };
glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);
glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
glLightfv(GL_LIGHT1, GL_AMBIENT, light_ambient);
glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse);
glLightfv(GL_LIGHT1, GL_SPECULAR, light_specular);
glLightfv(GL_LIGHT1, GL_POSITION, light_position1);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_LIGHT1);
glShadeModel(GL_SMOOTH);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LESS);
glClearColor(btScalar(0.7),btScalar(0.7),btScalar(0.7),btScalar(0));
glutMainLoop();
return 0;
}

34
Demos/DoublePrecisionDemo/CMakeLists.txt
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@ -1,34 +0,0 @@
# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# You shouldn't have to modify anything below this line
########################################################
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${GLUT_INCLUDE_DIR}
)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppDoublePrecisionDemo
DoublePrecisionDemo.cpp
)
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(AppDoublePrecisionDemo PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(AppDoublePrecisionDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(AppDoublePrecisionDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

280
Demos/DoublePrecisionDemo/DoublePrecisionDemo.cpp
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///
/// DoublePrecisionDemo shows high level usage of the Collision Detection.
///
#include "GL_Simplex1to4.h"
//include common Bullet Collision Detection headerfiles
#include "btBulletCollisionCommon.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugFont.h"
#include "GL_ShapeDrawer.h"
#include "DoublePrecisionDemo.h"
#include "GlutStuff.h"
#include "GLDebugDrawer.h"
btScalar yaw=btScalar(0.);
btScalar pitch=btScalar(0.);
btScalar roll=btScalar(0.);
const int maxNumObjects = 4;
const int numObjects = 2;
GL_Simplex1to4 simplex;
btCollisionObject objects[maxNumObjects];
btCollisionWorld* collisionWorld = 0;
// so pixel ratio is 1:1
int screenWidth = 640;
int screenHeight = 640;
GLDebugDrawer debugDrawer;
const btScalar LARGE_DISTANCE_FROM_ORIGIN = btScalar(999999.0);
const btScalar VERY_SMALL_INCREMENT = btScalar(0.000009);
int main(int argc,char** argv)
{
DoublePrecisionDemo* doublePrecisionDemo = new DoublePrecisionDemo();
doublePrecisionDemo->initPhysics();
doublePrecisionDemo->setCameraDistance(btScalar(2.0));
doublePrecisionDemo->clientResetScene();
return glutmain(argc, argv,screenWidth,screenHeight,"Double Precision Demo",doublePrecisionDemo);
}
void DoublePrecisionDemo::initPhysics()
{
m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
btMatrix3x3 basisA;
basisA.setIdentity();
btMatrix3x3 basisB;
basisB.setIdentity();
objects[0].getWorldTransform().setBasis(basisA);
objects[1].getWorldTransform().setBasis(basisB);
btBoxShape* boxA = new btBoxShape(btVector3(0.5,0.5,0.5));
btBoxShape* boxB = new btBoxShape(btVector3(0.5,0.5,0.5));
objects[0].setCollisionShape(boxA);//&hullA;
objects[1].setCollisionShape(boxB);//&hullB;
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
btVector3 worldAabbMin(80000,80000,80000);
btVector3 worldAabbMax(120000,120000,120000);
btAxisSweep3* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
collisionWorld = new btCollisionWorld(dispatcher,broadphase,collisionConfiguration);
collisionWorld->addCollisionObject(&objects[0]);
collisionWorld->addCollisionObject(&objects[1]);
}
//to be implemented by the demo
void DoublePrecisionDemo::clientMoveAndDisplay()
{
displayCallback();
}
static btVoronoiSimplexSolver sGjkSimplexSolver;
btSimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
void DoublePrecisionDemo::displayCallback(void)
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDisable(GL_LIGHTING);
collisionWorld->getDispatchInfo().m_debugDraw = &debugDrawer;
if (collisionWorld)
collisionWorld->performDiscreteCollisionDetection();
int i;
btVector3 worldBoundsMin,worldBoundsMax;
collisionWorld->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
///one way to draw all the contact points is iterating over contact manifolds / points:
int numManifolds = collisionWorld->getDispatcher()->getNumManifolds();
for (i=0;i<numManifolds;i++)
{
btPersistentManifold* contactManifold = collisionWorld->getDispatcher()->getManifoldByIndexInternal(i);
const btCollisionObject* obA = static_cast<const btCollisionObject*>(contactManifold->getBody0());
const btCollisionObject* obB = static_cast<const btCollisionObject*>(contactManifold->getBody1());
contactManifold->refreshContactPoints(obA->getWorldTransform(),obB->getWorldTransform());
int numContacts = contactManifold->getNumContacts();
for (int j=0;j<numContacts;j++)
{
btManifoldPoint& pt = contactManifold->getContactPoint(j);
glBegin(GL_LINES);
glColor3f(1, 1, 1);
btVector3 ptA = pt.getPositionWorldOnA() - m_cameraPosition;
btVector3 ptB = pt.getPositionWorldOnB() - m_cameraPosition;
glVertex3d(ptA.x(),ptA.y(),ptA.z());
glVertex3d(ptB.x(),ptB.y(),ptB.z());
glEnd();
}
//you can un-comment out this line, and then all points are removed
//contactManifold->clearManifold();
}
btScalar m[16];
btTransform temp;
btVector3 color;
//int i;
for (i=0;i<numObjects;i++)
{
if (i % 2)
{
color = btVector3(1,0,0);
}
else
{
color = btVector3(0,0,1);
}
temp = objects[i].getWorldTransform();
temp.setOrigin(temp.getOrigin() - m_cameraPosition);
temp.getOpenGLMatrix( m );
m_shapeDrawer->drawOpenGL(m,objects[i].getCollisionShape(),color,getDebugMode(),worldBoundsMin,worldBoundsMax);
}
objects[1].getWorldTransform().setOrigin(objects[1].getWorldTransform().getOrigin()+btVector3(-VERY_SMALL_INCREMENT,-VERY_SMALL_INCREMENT,0));
objects[0].getWorldTransform().setOrigin(objects[0].getWorldTransform().getOrigin()+btVector3(VERY_SMALL_INCREMENT,VERY_SMALL_INCREMENT,0));
float yStart = 20.f;
float yIncr = 20.f;
char buf[124];
glColor3f(0, 0, 0);
setOrthographicProjection();
glRasterPos3f(10.0f,yStart,0);
#ifdef BT_USE_DOUBLE_PRECISION
GLDebugDrawString(10.f,yStart,"Double Precision Mode");
#else
GLDebugDrawString(10.f,yStart,"Single Precision Mode");
#endif
yStart += yIncr;
glRasterPos3f(10.0f,yStart,0);
sprintf(buf,"Movement distance in x and y axis = %lf", VERY_SMALL_INCREMENT);
GLDebugDrawString(10.f,yStart,buf);
yStart += yIncr;
glRasterPos3f(10.0f,yStart,0);
btScalar xValue = objects[0].getWorldTransform().getOrigin().x();
btScalar yValue = objects[0].getWorldTransform().getOrigin().y();
btScalar zValue = objects[0].getWorldTransform().getOrigin().z();
sprintf(buf,"Cube 0 location = ( %lf, %lf, %lf )", xValue, yValue, zValue);
GLDebugDrawString(10.f,yStart,buf);
yStart += yIncr;
xValue = objects[1].getWorldTransform().getOrigin().x();
yValue = objects[1].getWorldTransform().getOrigin().y();
zValue = objects[1].getWorldTransform().getOrigin().z();
glRasterPos3f(10.0f,yStart,0);
sprintf(buf,"Cube 1 location = ( %lf, %lf, %lf )", xValue, yValue, zValue);
GLDebugDrawString(10.f,yStart,buf);
yStart += yIncr;
glRasterPos3f(10.0f,yStart,0);
GLDebugDrawString(10.f,yStart,"w=toggle wireframe/solid");
resetPerspectiveProjection();
glFlush();
glutSwapBuffers();
}
void DoublePrecisionDemo::clientResetScene()
{
objects[0].getWorldTransform().setOrigin(btVector3(LARGE_DISTANCE_FROM_ORIGIN,LARGE_DISTANCE_FROM_ORIGIN,LARGE_DISTANCE_FROM_ORIGIN));
objects[1].getWorldTransform().setOrigin(btVector3(LARGE_DISTANCE_FROM_ORIGIN-VERY_SMALL_INCREMENT,LARGE_DISTANCE_FROM_ORIGIN-VERY_SMALL_INCREMENT,LARGE_DISTANCE_FROM_ORIGIN));
}
void DoublePrecisionDemo::updateCamera()
{
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
// look at the stationary cube
m_cameraTargetPosition = objects[0].getWorldTransform().getOrigin();
m_cameraPosition = m_cameraTargetPosition;
m_cameraPosition[2] = m_cameraTargetPosition[2] - m_cameraDistance;
//update OpenGL camera settings
glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 10000.0);
// To not loose precision in the rendering process, we shift the object to the origin
gluLookAt(0.0, 0.0, 0.0,
m_cameraTargetPosition[0]-m_cameraPosition[0],m_cameraTargetPosition[1]-m_cameraPosition[1], m_cameraTargetPosition[2]-m_cameraPosition[2],
m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
glMatrixMode(GL_MODELVIEW);
}
void DoublePrecisionDemo::keyboardCallback(unsigned char key, int x, int y)
{
if (key == 'w')
{
if (m_debugMode & btIDebugDraw::DBG_DrawWireframe)
{
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawWireframe);
m_debugMode |= btIDebugDraw::DBG_DrawAabb;
}
else
{
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawAabb);
m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
}
return;
}
DemoApplication::keyboardCallback(key, x, y);
}

41
Demos/DoublePrecisionDemo/DoublePrecisionDemo.h
View File

@ -1,41 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COLLISION_INTERFACE_DEMO_H
#define COLLISION_INTERFACE_DEMO_H
#include "GlutDemoApplication.h"
///DoublePrecisionDemo shows how to use the collision detection without dynamics (btCollisionWorld/CollisionObject)
class DoublePrecisionDemo : public GlutDemoApplication
{
public:
void initPhysics();
virtual void clientMoveAndDisplay();
virtual void displayCallback();
virtual void clientResetScene();
virtual void updateCamera();
virtual void keyboardCallback(unsigned char key, int x, int y);
};
#endif //COLLISION_INTERFACE_DEMO_H

34
Demos/DynamicControlDemo/CMakeLists.txt
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@ -1,34 +0,0 @@
# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# You shouldn't have to modify anything below this line
########################################################
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${GLUT_INCLUDE_DIR}
)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppMotorDemo
MotorDemo.cpp
main.cpp
)
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(AppMotorDemo PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(AppMotorDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(AppMotorDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

468
Demos/DynamicControlDemo/MotorDemo.cpp
View File

@ -1,468 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library Copyright (c) 2007 Erwin Coumans
Motor Demo
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btBulletDynamicsCommon.h"
#include "GlutStuff.h"
#include "GL_ShapeDrawer.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
#include "MotorDemo.h"
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
#ifndef M_PI_2
#define M_PI_2 1.57079632679489661923
#endif
#ifndef M_PI_4
#define M_PI_4 0.785398163397448309616
#endif
#ifndef M_PI_8
#define M_PI_8 0.5 * M_PI_4
#endif
// LOCAL FUNCTIONS
void vertex(btVector3 &v)
{
glVertex3d(v.getX(), v.getY(), v.getZ());
}
void drawFrame(btTransform &tr)
{
const float fSize = 1.f;
glBegin(GL_LINES);
// x
glColor3f(255.f,0,0);
btVector3 vX = tr*btVector3(fSize,0,0);
vertex(tr.getOrigin()); vertex(vX);
// y
glColor3f(0,255.f,0);
btVector3 vY = tr*btVector3(0,fSize,0);
vertex(tr.getOrigin()); vertex(vY);
// z
glColor3f(0,0,255.f);
btVector3 vZ = tr*btVector3(0,0,fSize);
vertex(tr.getOrigin()); vertex(vZ);
glEnd();
}
// /LOCAL FUNCTIONS
#define NUM_LEGS 6
#define BODYPART_COUNT 2 * NUM_LEGS + 1
#define JOINT_COUNT BODYPART_COUNT - 1
class TestRig
{
btDynamicsWorld* m_ownerWorld;
btCollisionShape* m_shapes[BODYPART_COUNT];
btRigidBody* m_bodies[BODYPART_COUNT];
btTypedConstraint* m_joints[JOINT_COUNT];
btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
{
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
shape->calculateLocalInertia(mass,localInertia);
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
m_ownerWorld->addRigidBody(body);
return body;
}
public:
TestRig (btDynamicsWorld* ownerWorld, const btVector3& positionOffset, bool bFixed)
: m_ownerWorld (ownerWorld)
{
btVector3 vUp(0, 1, 0);
//
// Setup geometry
//
float fBodySize = 0.25f;
float fLegLength = 0.45f;
float fForeLegLength = 0.75f;
m_shapes[0] = new btCapsuleShape(btScalar(fBodySize), btScalar(0.10));
int i;
for ( i=0; i<NUM_LEGS; i++)
{
m_shapes[1 + 2*i] = new btCapsuleShape(btScalar(0.10), btScalar(fLegLength));
m_shapes[2 + 2*i] = new btCapsuleShape(btScalar(0.08), btScalar(fForeLegLength));
}
//
// Setup rigid bodies
//
float fHeight = 0.5;
btTransform offset; offset.setIdentity();
offset.setOrigin(positionOffset);
// root
btVector3 vRoot = btVector3(btScalar(0.), btScalar(fHeight), btScalar(0.));
btTransform transform;
transform.setIdentity();
transform.setOrigin(vRoot);
if (bFixed)
{
m_bodies[0] = localCreateRigidBody(btScalar(0.), offset*transform, m_shapes[0]);
} else
{
m_bodies[0] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[0]);
}
// legs
for ( i=0; i<NUM_LEGS; i++)
{
float fAngle = 2 * M_PI * i / NUM_LEGS;
float fSin = sin(fAngle);
float fCos = cos(fAngle);
transform.setIdentity();
btVector3 vBoneOrigin = btVector3(btScalar(fCos*(fBodySize+0.5*fLegLength)), btScalar(fHeight), btScalar(fSin*(fBodySize+0.5*fLegLength)));
transform.setOrigin(vBoneOrigin);
// thigh
btVector3 vToBone = (vBoneOrigin - vRoot).normalize();
btVector3 vAxis = vToBone.cross(vUp);
transform.setRotation(btQuaternion(vAxis, M_PI_2));
m_bodies[1+2*i] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[1+2*i]);
// shin
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(fCos*(fBodySize+fLegLength)), btScalar(fHeight-0.5*fForeLegLength), btScalar(fSin*(fBodySize+fLegLength))));
m_bodies[2+2*i] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[2+2*i]);
}
// Setup some damping on the m_bodies
for (i = 0; i < BODYPART_COUNT; ++i)
{
m_bodies[i]->setDamping(0.05, 0.85);
m_bodies[i]->setDeactivationTime(0.8);
//m_bodies[i]->setSleepingThresholds(1.6, 2.5);
m_bodies[i]->setSleepingThresholds(0.5f, 0.5f);
}
//
// Setup the constraints
//
btHingeConstraint* hingeC;
//btConeTwistConstraint* coneC;
btTransform localA, localB, localC;
for ( i=0; i<NUM_LEGS; i++)
{
float fAngle = 2 * M_PI * i / NUM_LEGS;
float fSin = sin(fAngle);
float fCos = cos(fAngle);
// hip joints
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,-fAngle,0); localA.setOrigin(btVector3(btScalar(fCos*fBodySize), btScalar(0.), btScalar(fSin*fBodySize)));
localB = m_bodies[1+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA;
hingeC = new btHingeConstraint(*m_bodies[0], *m_bodies[1+2*i], localA, localB);
hingeC->setLimit(btScalar(-0.75 * M_PI_4), btScalar(M_PI_8));
//hingeC->setLimit(btScalar(-0.1), btScalar(0.1));
m_joints[2*i] = hingeC;
m_ownerWorld->addConstraint(m_joints[2*i], true);
// knee joints
localA.setIdentity(); localB.setIdentity(); localC.setIdentity();
localA.getBasis().setEulerZYX(0,-fAngle,0); localA.setOrigin(btVector3(btScalar(fCos*(fBodySize+fLegLength)), btScalar(0.), btScalar(fSin*(fBodySize+fLegLength))));
localB = m_bodies[1+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA;
localC = m_bodies[2+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA;
hingeC = new btHingeConstraint(*m_bodies[1+2*i], *m_bodies[2+2*i], localB, localC);
//hingeC->setLimit(btScalar(-0.01), btScalar(0.01));
hingeC->setLimit(btScalar(-M_PI_8), btScalar(0.2));
m_joints[1+2*i] = hingeC;
m_ownerWorld->addConstraint(m_joints[1+2*i], true);
}
}
virtual ~TestRig ()
{
int i;
// Remove all constraints
for ( i = 0; i < JOINT_COUNT; ++i)
{
m_ownerWorld->removeConstraint(m_joints[i]);
delete m_joints[i]; m_joints[i] = 0;
}
// Remove all bodies and shapes
for ( i = 0; i < BODYPART_COUNT; ++i)
{
m_ownerWorld->removeRigidBody(m_bodies[i]);
delete m_bodies[i]->getMotionState();
delete m_bodies[i]; m_bodies[i] = 0;
delete m_shapes[i]; m_shapes[i] = 0;
}
}
btTypedConstraint** GetJoints() {return &m_joints[0];}
};
void motorPreTickCallback (btDynamicsWorld *world, btScalar timeStep)
{
MotorDemo* motorDemo = (MotorDemo*)world->getWorldUserInfo();
motorDemo->setMotorTargets(timeStep);
}
void MotorDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
// Setup the basic world
m_Time = 0;
m_fCyclePeriod = 2000.f; // in milliseconds
// m_fMuscleStrength = 0.05f;
// new SIMD solver for joints clips accumulated impulse, so the new limits for the motor
// should be (numberOfsolverIterations * oldLimits)
// currently solver uses 10 iterations, so:
m_fMuscleStrength = 0.5f;
setCameraDistance(btScalar(5.));
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);
m_solver = new btSequentialImpulseConstraintSolver;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld->setInternalTickCallback(motorPreTickCallback,this,true);
// Setup a big ground box
{
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-10,0));
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
}
// Spawn one ragdoll
btVector3 startOffset(1,0.5,0);
spawnTestRig(startOffset, false);
startOffset.setValue(-2,0.5,0);
spawnTestRig(startOffset, true);
clientResetScene();
}
void MotorDemo::spawnTestRig(const btVector3& startOffset, bool bFixed)
{
TestRig* rig = new TestRig(m_dynamicsWorld, startOffset, bFixed);
m_rigs.push_back(rig);
}
void PreStep()
{
}
void MotorDemo::setMotorTargets(btScalar deltaTime)
{
float ms = deltaTime*1000000.;
float minFPS = 1000000.f/60.f;
if (ms > minFPS)
ms = minFPS;
m_Time += ms;
//
// set per-frame sinusoidal position targets using angular motor (hacky?)
//
for (int r=0; r<m_rigs.size(); r++)
{
for (int i=0; i<2*NUM_LEGS; i++)
{
btHingeConstraint* hingeC = static_cast<btHingeConstraint*>(m_rigs[r]->GetJoints()[i]);
btScalar fCurAngle = hingeC->getHingeAngle();
btScalar fTargetPercent = (int(m_Time / 1000) % int(m_fCyclePeriod)) / m_fCyclePeriod;
btScalar fTargetAngle = 0.5 * (1 + sin(2 * M_PI * fTargetPercent));
btScalar fTargetLimitAngle = hingeC->getLowerLimit() + fTargetAngle * (hingeC->getUpperLimit() - hingeC->getLowerLimit());
btScalar fAngleError = fTargetLimitAngle - fCurAngle;
btScalar fDesiredAngularVel = 1000000.f * fAngleError/ms;
hingeC->enableAngularMotor(true, fDesiredAngularVel, m_fMuscleStrength);
}
}
}
void MotorDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//simple dynamics world doesn't handle fixed-time-stepping
float deltaTime = getDeltaTimeMicroseconds()/1000000.f;
if (m_dynamicsWorld)
{
m_dynamicsWorld->stepSimulation(deltaTime);
m_dynamicsWorld->debugDrawWorld();
}
renderme();
for (int i=2; i>=0 ;i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
drawFrame(body->getWorldTransform());
}
glFlush();
glutSwapBuffers();
}
void MotorDemo::displayCallback()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
renderme();
glFlush();
glutSwapBuffers();
}
void MotorDemo::keyboardCallback(unsigned char key, int x, int y)
{
switch (key)
{
case '+': case '=':
m_fCyclePeriod /= 1.1f;
if (m_fCyclePeriod < 1.f)
m_fCyclePeriod = 1.f;
break;
case '-': case '_':
m_fCyclePeriod *= 1.1f;
break;
case '[':
m_fMuscleStrength /= 1.1f;
break;
case ']':
m_fMuscleStrength *= 1.1f;
break;
default:
DemoApplication::keyboardCallback(key, x, y);
}
}
void MotorDemo::exitPhysics()
{
int i;
for (i=0;i<m_rigs.size();i++)
{
TestRig* rig = m_rigs[i];
delete rig;
}
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState())
{
delete body->getMotionState();
}
m_dynamicsWorld->removeCollisionObject( obj );
delete obj;
}
//delete collision shapes
for (int j=0;j<m_collisionShapes.size();j++)
{
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
}
//delete dynamics world
delete m_dynamicsWorld;
//delete solver
delete m_solver;
//delete broadphase
delete m_broadphase;
//delete dispatcher
delete m_dispatcher;
delete m_collisionConfiguration;
}

80
Demos/DynamicControlDemo/MotorDemo.h
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@ -1,80 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library Copyright (c) 2007 Erwin Coumans
Motor Demo
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef MOTORDEMO_H
#define MOTORDEMO_H
#include "GlutDemoApplication.h"
#include "LinearMath/btAlignedObjectArray.h"
class btBroadphaseInterface;
class btCollisionShape;
class btOverlappingPairCache;
class btCollisionDispatcher;
class btConstraintSolver;
struct btCollisionAlgorithmCreateFunc;
class btDefaultCollisionConfiguration;
class MotorDemo : public GlutDemoApplication
{
float m_Time;
float m_fCyclePeriod; // in milliseconds
float m_fMuscleStrength;
btAlignedObjectArray<class TestRig*> m_rigs;
//keep the collision shapes, for deletion/cleanup
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btConstraintSolver* m_solver;
btDefaultCollisionConfiguration* m_collisionConfiguration;
public:
void initPhysics();
void exitPhysics();
virtual ~MotorDemo()
{
exitPhysics();
}
void spawnTestRig(const btVector3& startOffset, bool bFixed);
virtual void clientMoveAndDisplay();
virtual void displayCallback();
virtual void keyboardCallback(unsigned char key, int x, int y);
static DemoApplication* Create()
{
MotorDemo* demo = new MotorDemo();
demo->myinit();
demo->initPhysics();
return demo;
}
void setMotorTargets(btScalar deltaTime);
};
#endif

855
Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp
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@ -1,855 +0,0 @@
///contribution by Pierre Terdiman to check penetration depth solvers
///see http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=638
#ifdef WIN32//for glut.h
#include <windows.h>
#endif
//think different
#if defined(__APPLE__) && !defined (VMDMESA)
#include <OpenGL/gl.h>
#include <OpenGL/glu.h>
#include <GLUT/glut.h>
#else
#include <GL/glut.h>
#endif
#include <stdlib.h>
#include <stdio.h>
#include <math.h>
#define VERBOSE_TEXT_ONSCREEN 1
#ifdef VERBOSE_TEXT_ONSCREEN
#include "GLDebugFont.h"
#endif
#include "btBulletCollisionCommon.h"
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
//We can use the Bullet EPA or sampling penetration depth solver, but comparison might be useful
//#define COMPARE_WITH_SOLID35_AND_OTHER_EPA 1
#ifdef COMPARE_WITH_SOLID35_AND_OTHER_EPA
#include "../Extras/ExtraSolid35/Solid3EpaPenetrationDepth.h"
#include "../Extras/ExtraSolid35/Solid3JohnsonSimplexSolver.h"
#include "../Extras/EPA/EpaPenetrationDepthSolver.h"
#endif //COMPARE_WITH_SOLID35_AND_OTHER_EPA
#define USE_ORIGINAL 1
#ifndef USE_ORIGINAL
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
#endif //USE_ORIGINAL
static bool gRefMode = false;
static int gMethod = 0;
static int gLastUsedMethod = -1;
static int gNumGjkIterations = -1;
static int gLastDegenerateSimplex = -1;
static const float gDisp = 0.01f;
static const float gCamSpeed = 0.1f;
static btVector3 Eye(3.0616338f, 1.1985892f, 2.5769043f);
static btVector3 Dir(-0.66853905,-0.14004262,-0.73037237);
static btVector3 N;
static int mx = 0;
static int my = 0;
static int glutScreenHeight = 512;
static int glutScreenWidth = 512;
static void DrawLine(const btVector3& p0, const btVector3& p1, const btVector3& color, float line_width)
{
glDisable(GL_LIGHTING);
glLineWidth(line_width);
glColor4f(color.x(), color.y(), color.z(), 1.0f);
btVector3 tmp[] = {p0, p1};
glEnableClientState(GL_VERTEX_ARRAY);
#ifndef BT_USE_DOUBLE_PRECISION
glVertexPointer(3, GL_FLOAT, sizeof(btVector3), &tmp[0].x());
#else
glVertexPointer(3, GL_DOUBLE, sizeof(btVector3), &tmp[0].x());
#endif
glDrawArrays(GL_LINES, 0, 2);
glDisableClientState(GL_VERTEX_ARRAY);
glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
glEnable(GL_LIGHTING);
}
void DrawTriangle(const btVector3& p0, const btVector3& p1, const btVector3& p2, const btVector3& color)
{
// glDisable(GL_LIGHTING);
glColor4f(color.x(), color.y(), color.z(), 1.0f);
btVector3 tmp[] = {p0, p1, p2};
glEnableClientState(GL_VERTEX_ARRAY);
#ifndef BT_USE_DOUBLE_PRECISION
glVertexPointer(3, GL_FLOAT, sizeof(btVector3), &tmp[0].x());
#else
glVertexPointer(3, GL_DOUBLE, sizeof(btVector3), &tmp[0].x());
#endif
glDrawArrays(GL_TRIANGLES, 0, 3);
glDisableClientState(GL_VERTEX_ARRAY);
// glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
// glEnable(GL_LIGHTING);
}
class MyPoly
{
public:
MyPoly() : mNbVerts(0), mIndices(NULL) {}
~MyPoly() { delete[]mIndices; }
short mNbVerts;
char* mIndices;
float mPlane[4];
};
class MyConvex
{
public:
MyConvex();
~MyConvex();
bool LoadFromFile(const char* filename);
void Render(bool only_wireframe, const btVector3& wire_color) const;
void Project(const btVector3& dir, float& min, float& max) const;
int mNbVerts;
btVector3* mVerts;
int mNbPolys;
MyPoly* mPolys;
btTransform mTransform;
};
MyConvex::MyConvex() :
mNbVerts (0),
mVerts (NULL),
mNbPolys (0),
mPolys (NULL)
{
mTransform.setIdentity();
}
MyConvex::~MyConvex()
{
delete[]mPolys;
delete[]mVerts;
}
bool MyConvex::LoadFromFile(const char* filename)
{
FILE* fp = fopen(filename, "rb");
if(!fp) return false;
fread(&mNbVerts, sizeof(int), 1, fp);
int i;
mVerts = new btVector3[mNbVerts];
for( i=0;i<mNbVerts;i++)
{
float vals[3];
fread(vals, sizeof(float)*3, 1, fp);
mVerts[i].setX(vals[0]);
mVerts[i].setY(vals[1]);
mVerts[i].setZ(vals[2]);
}
fread(&mNbPolys, sizeof(int), 1, fp);
mPolys = new MyPoly[mNbPolys];
for(i=0;i<mNbPolys;i++)
{
fread(&mPolys[i].mNbVerts, sizeof(short), 1, fp);
mPolys[i].mIndices = new char[mPolys[i].mNbVerts];
fread(mPolys[i].mIndices, mPolys[i].mNbVerts, 1, fp);
fread(mPolys[i].mPlane, sizeof(float)*4, 1, fp);
}
fclose(fp);
return true;
}
//See http://www.lighthouse3d.com/opengl/glut/index.php?bmpfontortho
static void setOrthographicProjection()
{
// switch to projection mode
glMatrixMode(GL_PROJECTION);
// save previous matrix which contains the
//settings for the perspective projection
glPushMatrix();
// reset matrix
glLoadIdentity();
// set a 2D orthographic projection
gluOrtho2D(0, glutScreenWidth, 0, glutScreenHeight);
// invert the y axis, down is positive
glScalef(1, -1, 1);
// mover the origin from the bottom left corner
// to the upper left corner
glTranslatef(0, -glutScreenHeight, 0);
glMatrixMode(GL_MODELVIEW);
}
static void resetPerspectiveProjection()
{
glMatrixMode(GL_PROJECTION);
glPopMatrix();
glMatrixMode(GL_MODELVIEW);
}
void MyConvex::Render(bool only_wireframe, const btVector3& wire_color) const
{
const float Scale = 1.0f;
glPushMatrix();
ATTRIBUTE_ALIGNED16(btScalar) glmat[16]; //4x4 column major matrix for OpenGL.
mTransform.getOpenGLMatrix(glmat);
#ifndef BT_USE_DOUBLE_PRECISION
glMultMatrixf(&(glmat[0]));
#else
glMultMatrixd(&(glmat[0]));
#endif
if(!only_wireframe)
{
btVector3 color(0.0f, 0.5f, 1.0f);
for(int i=0;i<mNbPolys;i++)
{
glNormal3f(mPolys[i].mPlane[0], mPolys[i].mPlane[1], mPolys[i].mPlane[2]);
int NbTris = mPolys[i].mNbVerts-2;
const btVector3& p0 = mVerts[mPolys[i].mIndices[0]]*Scale;
for(int j=1;j<=NbTris;j++)
{
int k = (j+1)%mPolys[i].mNbVerts;
const btVector3& p1 = mVerts[mPolys[i].mIndices[j]]*Scale;
const btVector3& p2 = mVerts[mPolys[i].mIndices[k]]*Scale;
DrawTriangle(p0, p1, p2, color);
}
}
}
{
btVector3 color;
if(only_wireframe)
color = wire_color;
else
color = btVector3(0.0f, 0.0f, 0.0f);
for(int i=0;i<mNbPolys;i++)
{
for(int j=0;j<mPolys[i].mNbVerts;j++)
{
int k = (j+1)%mPolys[i].mNbVerts;
DrawLine(mVerts[mPolys[i].mIndices[j]]*Scale, mVerts[mPolys[i].mIndices[k]]*Scale, color, 1.0f);
}
}
}
glPopMatrix();
}
void MyConvex::Project(const btVector3& dir, float& min, float& max) const
{
min = FLT_MAX;
max = -FLT_MAX;
for(int i=0;i<mNbVerts;i++)
{
btVector3 pt = mTransform * mVerts[i];
float dp = pt.dot(dir);
if(dp < min) min = dp;
if(dp > max) max = dp;
}
if(min>max)
{
float tmp = min;
min = max;
max = tmp;
}
}
static btVector3 gNormal;
static btVector3 gPoint;
static float gDepth;
struct MyResult : public btDiscreteCollisionDetectorInterface::Result
{
virtual void setShapeIdentifiersA(int partId0, int index0)
{
}
virtual void setShapeIdentifiersB(int partId1, int index1)
{
}
virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
{
gNormal = normalOnBInWorld;
gPoint = pointInWorld;
gDepth = depth;
}
};
static bool TestEPA(const MyConvex& hull0, const MyConvex& hull1)
{
static btSimplexSolverInterface simplexSolver;
#ifdef COMPARE_WITH_SOLID35_AND_OTHER_EPA
// static Solid3JohnsonSimplexSolver simplexSolver2;
#endif //COMPARE_WITH_SOLID35_AND_OTHER_EPA
simplexSolver.reset();
btConvexHullShape convexA((btScalar*)hull0.mVerts, hull0.mNbVerts, sizeof(btVector3));
btConvexHullShape convexB((btScalar*)hull1.mVerts, hull1.mNbVerts, sizeof(btVector3));
static btGjkEpaPenetrationDepthSolver Solver0;
static btMinkowskiPenetrationDepthSolver Solver1;
#ifdef COMPARE_WITH_SOLID35_AND_OTHER_EPA
static Solid3EpaPenetrationDepth Solver2;
static EpaPenetrationDepthSolver Solver3;
#endif
btConvexPenetrationDepthSolver* Solver = NULL ;
if(gMethod==0)
Solver = &Solver0;
else if(gMethod==1)
Solver = &Solver1;
#ifdef COMPARE_WITH_SOLID35_AND_OTHER_EPA
else if(gMethod==2)
Solver = &Solver2;
else
Solver = &Solver3;
#endif //COMPARE_WITH_SOLID35_AND_OTHER_EPA
#ifdef USE_ORIGINAL
btGjkPairDetector GJK(&convexA, &convexB, &simplexSolver, Solver);
GJK.m_catchDegeneracies = 1;
convexA.setMargin(0.01f);
convexB.setMargin(0.01f);
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_transformA = hull0.mTransform;
input.m_transformB = hull1.mTransform;
MyResult output;
GJK.getClosestPoints(input, output, 0);
gLastUsedMethod = GJK.m_lastUsedMethod;
gNumGjkIterations = GJK.m_curIter;
gLastDegenerateSimplex= GJK.m_degenerateSimplex;
#else
MyResult output;
btVector3 witnesses[2];
btVector3 normal;
btScalar depth;
btGjkEpaSolver::sResults results;
btScalar radialMargin = 0.01f;
btGjkEpaSolver::Collide(&convexA,hull0.mTransform,
&convexB,hull1.mTransform,
radialMargin,
results);
if (results.depth>0)
{
output.addContactPoint(results.normal,results.witnesses[1],-results.depth);
}
#endif
return true;
}
static bool TestSepAxis(const btVector3& sep_axis, const MyConvex& hull0, const MyConvex& hull1, float& depth)
{
float Min0,Max0;
float Min1,Max1;
hull0.Project(sep_axis, Min0, Max0);
hull1.Project(sep_axis, Min1, Max1);
if(Max0<Min1 || Max1<Min0)
return false;
float d0 = Max0 - Min1;
btAssert(d0>=0.0f);
float d1 = Max1 - Min0;
btAssert(d1>=0.0f);
depth = d0<d1 ? d0:d1;
return true;
}
inline bool IsAlmostZero(const btVector3& v)
{
if(fabsf(v.x())>1e-6 || fabsf(v.y())>1e-6 || fabsf(v.z())>1e-6) return false;
return true;
}
static bool ReferenceCode(const MyConvex& hull0, const MyConvex& hull1, float& dmin, btVector3& sep)
{
dmin = FLT_MAX;
int i;
// Test normals from hull0
for( i=0;i<hull0.mNbPolys;i++)
{
btVector3 Normal(hull0.mPolys[i].mPlane[0], hull0.mPolys[i].mPlane[1], hull0.mPolys[i].mPlane[2]);
// btVector3 WorldNormal = hull0.mTransform * Normal;
btVector3 WorldNormal = hull0.mTransform.getBasis() * Normal;
float d;
if(!TestSepAxis(WorldNormal, hull0, hull1, d))
return false;
if(d<dmin)
{
dmin = d;
sep = WorldNormal;
}
}
// Test normals from hull1
for( i=0;i<hull1.mNbPolys;i++)
{
btVector3 Normal(hull1.mPolys[i].mPlane[0], hull1.mPolys[i].mPlane[1], hull1.mPolys[i].mPlane[2]);
// btVector3 WorldNormal = hull1.mTransform * Normal;
btVector3 WorldNormal = hull1.mTransform.getBasis() * Normal;
float d;
if(!TestSepAxis(WorldNormal, hull0, hull1, d))
return false;
if(d<dmin)
{
dmin = d;
sep = WorldNormal;
}
}
// Test edges
for(int j=0;j<hull0.mNbPolys;j++)
{
const MyPoly& poly0 = hull0.mPolys[j];
for(int i=0;i<hull1.mNbPolys;i++)
{
const MyPoly& poly1 = hull1.mPolys[i];
for(int e0=0;e0<poly0.mNbVerts;e0++)
{
const btVector3& a = hull0.mVerts[poly0.mIndices[e0]];
const btVector3& b = hull0.mVerts[poly0.mIndices[(e0+1)%poly0.mNbVerts]];
btVector3 edge0 = a - b;
btVector3 WorldEdge0 = hull0.mTransform.getBasis() * edge0;
for(int e1=0;e1<poly1.mNbVerts;e1++)
{
const btVector3& c = hull1.mVerts[poly1.mIndices[e1]];
const btVector3& d = hull1.mVerts[poly1.mIndices[(e1+1)%poly1.mNbVerts]];
btVector3 edge1 = c - d;
btVector3 WorldEdge1 = hull1.mTransform.getBasis() * edge1;
btVector3 Cross = WorldEdge0.cross(WorldEdge1);
if(!IsAlmostZero(Cross))
{
Cross = Cross.normalize();
float d;
if(!TestSepAxis(Cross, hull0, hull1, d))
return false;
if(d<dmin)
{
dmin = d;
sep = Cross;
}
}
}
}
}
}
btVector3 DeltaC = (hull1.mTransform * hull1.mTransform.getOrigin()) - (hull0.mTransform * hull0.mTransform.getOrigin());
if((DeltaC.dot(sep))>0.0f) sep = -sep;
return true;
}
static MyConvex gConvex0;
static MyConvex gConvex1;
static void KeyboardCallback(unsigned char key, int x, int y)
{
switch (key)
{
case 27: exit(0); break;
case 'R':
case 'r':
gRefMode = !gRefMode;
break;
case ' ':
gMethod++;
#ifdef COMPARE_WITH_SOLID35_AND_OTHER_EPA
if(gMethod==4) gMethod=0;
#else
if(gMethod==2) gMethod=0;
#endif
break;
case '4':
gConvex0.mTransform.setOrigin(gConvex0.mTransform.getOrigin() + btVector3(-gDisp,0,0));
break;
case '7':
gConvex0.mTransform.setRotation(gConvex0.mTransform.getRotation()*btQuaternion(btVector3(1,0,0),0.01));
break;
case '9':
gConvex0.mTransform.setRotation(gConvex0.mTransform.getRotation()*btQuaternion(btVector3(1,0,0),-0.01));
break;
case '1':
gConvex0.mTransform.setRotation(gConvex0.mTransform.getRotation()*btQuaternion(btVector3(0,1,0),0.01));
break;
case '3':
gConvex0.mTransform.setRotation(gConvex0.mTransform.getRotation()*btQuaternion(btVector3(0,1,0),-0.01));
break;
case '5':
gConvex0.mTransform.setRotation(gConvex0.mTransform.getRotation()*btQuaternion(btVector3(0,0,1),0.01));
break;
case '6':
gConvex0.mTransform.setOrigin(gConvex0.mTransform.getOrigin() + btVector3(gDisp,0,0));
break;
case '8':
gConvex0.mTransform.setOrigin(gConvex0.mTransform.getOrigin() + btVector3(0,gDisp,0));
break;
case '2':
gConvex0.mTransform.setOrigin(gConvex0.mTransform.getOrigin() + btVector3(0,-gDisp,0));
break;
case 101: Eye += Dir * gCamSpeed; break;
case 103: Eye -= Dir * gCamSpeed; break;
case 100: Eye -= N * gCamSpeed; break;
case 102: Eye += N * gCamSpeed; break;
}
}
static void ArrowKeyCallback(int key, int x, int y)
{
KeyboardCallback(key,x,y);
}
static void MouseCallback(int button, int state, int x, int y)
{
mx = x;
my = y;
}
static const float NxPiF32 = 3.141592653589793f;
float degToRad(float a)
{
return (float)0.01745329251994329547 * a;
}
class NxQuat
{
public:
NxQuat(){}
NxQuat(const float angle, const btVector3 & axis)
{
x = axis.x();
y = axis.y();
z = axis.z();
const float i_length = 1.0f / sqrtf( x*x + y*y + z*z );
x = x * i_length;
y = y * i_length;
z = z * i_length;
float Half = degToRad(angle * 0.5f);
w = cosf(Half);
const float sin_theta_over_two = sinf(Half );
x = x * sin_theta_over_two;
y = y * sin_theta_over_two;
z = z * sin_theta_over_two;
}
void multiply(const NxQuat& left, const btVector3& right)
{
float a,b,c,d;
a = - left.x*right.x() - left.y*right.y() - left.z *right.z();
b = left.w*right.x() + left.y*right.z() - right.y()*left.z;
c = left.w*right.y() + left.z*right.x() - right.z()*left.x;
d = left.w*right.z() + left.x*right.y() - right.x()*left.y;
w = a;
x = b;
y = c;
z = d;
}
void rotate(btVector3 & v) const
{
NxQuat myInverse;
myInverse.x = -x;
myInverse.y = -y;
myInverse.z = -z;
myInverse.w = w;
NxQuat left;
left.multiply(*this,v);
float vx = left.w*myInverse.x + myInverse.w*left.x + left.y*myInverse.z - myInverse.y*left.z;
float vy = left.w*myInverse.y + myInverse.w*left.y + left.z*myInverse.x - myInverse.z*left.x;
float vz = left.w*myInverse.z + myInverse.w*left.z + left.x*myInverse.y - myInverse.x*left.y;
v.setValue(vx, vy, vz);
}
float x,y,z,w;
};
static void MotionCallback(int x, int y)
{
int dx = mx - x;
int dy = my - y;
Dir = Dir.normalize();
N = Dir.cross(btVector3(0,1,0));
NxQuat qx(NxPiF32 * dx * 20/ 180.0f, btVector3(0,1,0));
qx.rotate(Dir);
NxQuat qy(NxPiF32 * dy * 20/ 180.0f, N);
qy.rotate(Dir);
mx = x;
my = y;
}
static void RenderCallback()
{
// Clear buffers
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Setup camera
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(60.0f, ((float)glutGet(GLUT_WINDOW_WIDTH))/((float)glutGet(GLUT_WINDOW_HEIGHT)), 1.0f, 10000.0f);
gluLookAt(Eye.x(), Eye.y(), Eye.z(), Eye.x() + Dir.x(), Eye.y() + Dir.y(), Eye.z() + Dir.z(), 0.0f, 1.0f, 0.0f);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glEnable(GL_LIGHTING);
//clear previous frames result
gNormal.setValue(10,0,0);
gPoint.setValue(0,0,0);
gDepth = 999.999;
gLastUsedMethod = -1;
gNumGjkIterations = -1;
TestEPA(gConvex0, gConvex1);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
btVector3 RefSep(btScalar(0.), btScalar(0.), btScalar(0.));
float RefDMin=0.f;
bool RefResult = false;
if(gRefMode)
RefResult = ReferenceCode(gConvex0, gConvex1, RefDMin, RefSep);
// DrawLine(gPoint, gPoint + gNormal*20.0f, btVector3(1,0,0), 2.0f);
// printf("%f: %f %f %f\n", gDepth, gNormal.x(), gNormal.y(), gNormal.z());
#ifdef VERBOSE_TEXT_ONSCREEN
glColor3f(255.f, 255.f, 255.f);
setOrthographicProjection();
float xOffset = 10.f;
float yStart = 20.f;
float yIncr = 20.f;
char buf[124];
sprintf(buf,"gDepth=%f: gNormal=(%f %f %f)\n", gDepth, gNormal.x(), gNormal.y(), gNormal.z());
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"num GJK iterations =%d\n", gNumGjkIterations);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"gLastUsedMethod=%d\n", gLastUsedMethod);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
if (gLastUsedMethod >= 3)
{
switch ( gMethod)
{
case 0:
sprintf(buf,"Bullet GjkEpa Penetration depth solver (zlib free\n" );
break;
case 1:
sprintf(buf,"Bullet Minkowski sampling Penetration depth solver\n" );
break;
case 2:
sprintf(buf,"Solid35 EPA Penetration depth solver\n" );
break;
case 3:
sprintf(buf,"EPA Penetration depth solver (Experimental/WorkInProgress, zlib free\n" );
break;
default:
sprintf(buf,"Unknown Penetration Depth\n" );
}
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
} else
{
sprintf(buf,"Hybrid GJK method %d\n", gLastUsedMethod);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
}
if (gLastDegenerateSimplex)
{
sprintf(buf,"DegenerateSimplex %d\n", gLastDegenerateSimplex);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
}
resetPerspectiveProjection();
#endif //VERBOSE_TEXT_ONSCREEN
btVector3 color(0,0,0);
gConvex0.Render(false, color);
gConvex1.Render(false, color);
if(gDepth<0.0f)
{
btTransform Saved = gConvex0.mTransform;
gConvex0.mTransform.setOrigin(gConvex0.mTransform.getOrigin() - btVector3(gNormal*gDepth));
gConvex0.Render(true, btVector3(1.0f, 0.5f, 0.0f));
gConvex0.mTransform = Saved;
}
else
{
DrawLine(gPoint, gPoint + gNormal, btVector3(0,1,0), 2.0f);
}
if(RefResult & gRefMode)
{
btTransform Saved = gConvex0.mTransform;
gConvex0.mTransform.setOrigin(gConvex0.mTransform.getOrigin() + btVector3(RefSep*RefDMin));
gConvex0.Render(true, btVector3(0.0f, 0.5f, 1.0f));
gConvex0.mTransform = Saved;
}
glutSwapBuffers();
}
static void ReshapeCallback(int width, int height)
{
glViewport(0, 0, width, height);
}
static void IdleCallback()
{
glutPostRedisplay();
}
int main(int argc, char** argv)
{
// Initialize Glut
glutInit(&argc, argv);
glutInitWindowSize(glutScreenWidth, glutScreenHeight);
glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH);
int mainHandle = glutCreateWindow("TestBullet");
glutSetWindow(mainHandle);
glutDisplayFunc(RenderCallback);
glutReshapeFunc(ReshapeCallback);
glutIdleFunc(IdleCallback);
glutKeyboardFunc(KeyboardCallback);
glutSpecialFunc(ArrowKeyCallback);
glutMouseFunc(MouseCallback);
glutMotionFunc(MotionCallback);
MotionCallback(0,0);
// Setup default render states
glClearColor(0.3f, 0.4f, 0.5f, 1.0);
glEnable(GL_DEPTH_TEST);
glEnable(GL_COLOR_MATERIAL);
glEnable(GL_CULL_FACE);
// Setup lighting
glEnable(GL_LIGHTING);
float AmbientColor[] = { 0.0f, 0.1f, 0.2f, 0.0f }; glLightfv(GL_LIGHT0, GL_AMBIENT, AmbientColor);
float DiffuseColor[] = { 1.0f, 1.0f, 1.0f, 0.0f }; glLightfv(GL_LIGHT0, GL_DIFFUSE, DiffuseColor);
float SpecularColor[] = { 0.0f, 0.0f, 0.0f, 0.0f }; glLightfv(GL_LIGHT0, GL_SPECULAR, SpecularColor);
float Position[] = { -10.0f, 1000.0f, -4.0f, 1.0f }; glLightfv(GL_LIGHT0, GL_POSITION, Position);
glEnable(GL_LIGHT0);
//
bool Status = gConvex0.LoadFromFile("convex0.bin");
if(!Status)
{
Status = gConvex0.LoadFromFile("../../convex0.bin");
if(!Status)
{
printf("Failed to load object!\n");
exit(0);
}
}
Status = gConvex1.LoadFromFile("convex0.bin");
if(!Status)
{
Status = gConvex1.LoadFromFile("../../convex0.bin");
if(!Status)
{
printf("Failed to load object!\n");
exit(0);
}
}
// gConvex0.mTransform.setOrigin(btVector3(1.0f, 1.0f, 0.0f));
gConvex0.mTransform.setOrigin(btVector3(0.20000069f, 0.95000005f, 0.0f));
// Run
glutMainLoop();
return 0;
}

70
Demos/FeatherstoneMultiBodyDemo/CMakeLists.txt
View File

@ -1,70 +0,0 @@
# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# This is the variable for Windows. I use this to define the root of my directory structure.
SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
# You shouldn't have to modify anything below this line
########################################################
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${GLUT_INCLUDE_DIR}
)
IF (USE_GLUT)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
IF (WIN32)
ADD_EXECUTABLE(AppFeatherstoneMultiBodyDemo
main.cpp
FeatherstoneMultiBodyDemo.cpp
FeatherstoneMultiBodyDemo.h
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ELSE()
ADD_EXECUTABLE(AppFeatherstoneMultiBodyDemo
main.cpp
FeatherstoneMultiBodyDemo.cpp
FeatherstoneMultiBodyDemo.h
)
ENDIF()
ELSE (USE_GLUT)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppFeatherstoneMultiBodyDemo
WIN32
../OpenGL/Win32AppMain.cpp
Win32FeatherstoneMultiBodyDemo.cpp
FeatherstoneMultiBodyDemo.cpp
FeatherstoneMultiBodyDemo.h
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ENDIF (USE_GLUT)
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(AppBasicDemo PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(AppBasicDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(AppBasicDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

575
Demos/FeatherstoneMultiBodyDemo/FeatherstoneMultiBodyDemo.cpp
View File

@ -1,575 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///experimental support for Featherstone multi body (articulated hierarchies)
///create 125 (5x5x5) dynamic object
#define ARRAY_SIZE_X 5
#define ARRAY_SIZE_Y 5
#define ARRAY_SIZE_Z 5
float friction = 1.;
//maximum number of objects (and allow user to shoot additional boxes)
#define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024)
#define START_POS_X -5
//#define START_POS_Y 12
#define START_POS_Y 2
#define START_POS_Z -3
#include "FeatherstoneMultiBodyDemo.h"
#include "BulletDynamics/Featherstone/btMultiBody.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyLink.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
#include "GlutStuff.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
#include <stdio.h> //printf debugging
#include "GLDebugDrawer.h"
#include "LinearMath/btAabbUtil2.h"
static GLDebugDrawer gDebugDraw;
//btVector3 scaling(0.1,0.1,0.1);
float scaling = 0.4f;
void FeatherstoneMultiBodyDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//simple dynamics world doesn't handle fixed-time-stepping
float ms = getDeltaTimeMicroseconds();
///step the simulation
if (m_dynamicsWorld)
{
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
btVector3 aabbMin(1,1,1);
btVector3 aabbMax(2,2,2);
}
renderme();
glFlush();
swapBuffers();
}
void FeatherstoneMultiBodyDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
renderme();
//optional but useful: debug drawing to detect problems
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
glFlush();
swapBuffers();
}
void FeatherstoneMultiBodyDemo::initPhysics()
{
//m_idle=true;
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(100.*scaling));
this->m_azi = 130;
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new btDefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_broadphase = new btDbvtBroadphase();
//Use the btMultiBodyConstraintSolver for Featherstone btMultiBody support
btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver;
m_solver = sol;
//use btMultiBodyDynamicsWorld for Featherstone btMultiBody support
btMultiBodyDynamicsWorld* world = new btMultiBodyDynamicsWorld(m_dispatcher,m_broadphase,sol,m_collisionConfiguration);
m_dynamicsWorld = world;
m_dynamicsWorld->setDebugDrawer(&gDebugDraw);
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
///create a few basic rigid bodies
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
//groundShape->initializePolyhedralFeatures();
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,00));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
if (1)
{
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
btBoxShape* colShape = new btBoxShape(btVector3(1,1,1));
//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);
float start_x = START_POS_X - ARRAY_SIZE_X/2;
float start_y = START_POS_Y;
float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
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(3.0*i + start_x),
btScalar(3.0*k + start_y),
btScalar(3.0*j + start_z)));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
m_dynamicsWorld->addRigidBody(body);//,1,1+2);
}
}
}
}
btMultiBodySettings settings;
settings.m_numLinks = 2;
settings.m_basePosition = btVector3 (60,29.5,-2)*scaling;
settings.m_isFixedBase = false;
settings.m_disableParentCollision = true;//the self-collision has conflicting/non-resolvable contact normals
settings.m_usePrismatic = true;
settings.m_canSleep = true;
settings.m_createConstraints = true;
//btMultiBody* createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition,bool isFixedBase, bool usePrismatic, bool canSleep, bool createConstraints);
btMultiBody* mbA = createFeatherstoneMultiBody(world, settings);
settings.m_numLinks = 10;
settings.m_basePosition = btVector3 (0,29.5,-settings.m_numLinks*4.f);
settings.m_isFixedBase = true;
settings.m_usePrismatic = false;
btMultiBody* mbB = createFeatherstoneMultiBody(world, settings);
settings.m_basePosition = btVector3 (-20*scaling,29.5*scaling,-settings.m_numLinks*4.f*scaling);
settings.m_isFixedBase = false;
btMultiBody* mbC = createFeatherstoneMultiBody(world, settings);
settings.m_basePosition = btVector3 (-20,9.5,-settings.m_numLinks*4.f);
settings.m_isFixedBase = true;
settings.m_usePrismatic = true;
settings.m_disableParentCollision = true;
btMultiBody* mbPrim= createFeatherstoneMultiBody(world, settings);
//btMultiBody* mbB = createFeatherstoneMultiBody(world, 15, btVector3 (0,29.5,-2), false,true,true);
#if 0
if (0)//!useGroundShape && i==4)
{
//attach two multibody using a point2point constraint
//btVector3 pivotInAworld(0,20,46);
btVector3 pivotInAworld(-0.3,29,-3.5);
int linkA = -1;
int linkB = -1;
btVector3 pivotInAlocal = mbA->worldPosToLocal(linkA, pivotInAworld);
btVector3 pivotInBlocal = mbB->worldPosToLocal(linkB, pivotInAworld);
btMultiBodyPoint2Point* p2p = new btMultiBodyPoint2Point(mbA,linkA,mbB,linkB,pivotInAlocal,pivotInBlocal);
world->addMultiBodyConstraint(p2p);
}
#endif
bool testRemoveLinks = false;
if (testRemoveLinks)
{
while (mbA->getNumLinks())
{
btCollisionObject* col = mbA->getLink(mbA->getNumLinks()-1).m_collider;
m_dynamicsWorld->removeCollisionObject(col);
delete col;
mbA->setNumLinks(mbA->getNumLinks()-1);
}
}
if (1)//useGroundShape
{
btScalar mass(0.);
//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)
groundShape->calculateLocalInertia(mass,localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body,1,1+2);//,1,1+2);
}
}
btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, const btMultiBodySettings& settings)
{
int n_links = settings.m_numLinks;
float mass = 13.5*scaling;
btVector3 inertia = btVector3 (91,344,253)*scaling*scaling;
bool multiDof = false;
btMultiBody * bod = new btMultiBody(n_links, mass, inertia, settings.m_isFixedBase, settings.m_canSleep,multiDof);
// bod->setHasSelfCollision(false);
//btQuaternion orn(btVector3(0,0,1),-0.25*SIMD_HALF_PI);//0,0,0,1);
btQuaternion orn(0,0,0,1);
bod->setBasePos(settings.m_basePosition);
bod->setWorldToBaseRot(orn);
btVector3 vel(0,0,0);
bod->setBaseVel(vel);
{
btVector3 joint_axis_hinge(1,0,0);
btVector3 joint_axis_prismatic(0,0,1);
btQuaternion parent_to_child = orn.inverse();
btVector3 joint_axis_child_prismatic = quatRotate(parent_to_child ,joint_axis_prismatic);
btVector3 joint_axis_child_hinge = quatRotate(parent_to_child , joint_axis_hinge);
int this_link_num = -1;
int link_num_counter = 0;
btVector3 pos = btVector3 (0,0,9.0500002)*scaling;
btVector3 joint_axis_position = btVector3 (0,0,4.5250001)*scaling;
for (int i=0;i<n_links;i++)
{
float initial_joint_angle=0.3;
if (i>0)
initial_joint_angle = -0.06f;
const int child_link_num = link_num_counter++;
if (settings.m_usePrismatic)// && i==(n_links-1))
{
bod->setupPrismatic(child_link_num, mass, inertia, this_link_num,
parent_to_child, joint_axis_child_prismatic, quatRotate(parent_to_child , pos),btVector3(0,0,0),settings.m_disableParentCollision);
} else
{
bod->setupRevolute(child_link_num, mass, inertia, this_link_num,parent_to_child, joint_axis_child_hinge,
joint_axis_position,quatRotate(parent_to_child , (pos - joint_axis_position)),settings.m_disableParentCollision);
}
bod->setJointPos(child_link_num, initial_joint_angle);
this_link_num = i;
if (0)//!useGroundShape && i==4)
{
btVector3 pivotInAworld(0,20,46);
btVector3 pivotInAlocal = bod->worldPosToLocal(i, pivotInAworld);
btVector3 pivotInBworld = pivotInAworld;
btMultiBodyPoint2Point* p2p = new btMultiBodyPoint2Point(bod,i,&btTypedConstraint::getFixedBody(),pivotInAlocal,pivotInBworld);
world->addMultiBodyConstraint(p2p);
}
//add some constraint limit
if (settings.m_usePrismatic)
{
// btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(bod,n_links-1,2,3);
if (settings.m_createConstraints)
{
btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(bod,i,-1,1);
world->addMultiBodyConstraint(con);
}
} else
{
if (settings.m_createConstraints)
{
if (1)
{
btMultiBodyJointMotor* con = new btMultiBodyJointMotor(bod,i,0,0,500000);
world->addMultiBodyConstraint(con);
}
btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(bod,i,-1,1);
world->addMultiBodyConstraint(con);
}
}
}
}
//add a collider for the base
{
btAlignedObjectArray<btQuaternion> world_to_local;
world_to_local.resize(n_links+1);
btAlignedObjectArray<btVector3> local_origin;
local_origin.resize(n_links+1);
world_to_local[0] = bod->getWorldToBaseRot();
local_origin[0] = bod->getBasePos();
//float halfExtents[3]={7.5,0.05,4.5};
float halfExtents[3]={7.5,0.45,4.5};
{
float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
if (1)
{
btCollisionShape* box = new btBoxShape(btVector3(halfExtents[0],halfExtents[1],halfExtents[2])*scaling);
btMultiBodyLinkCollider* col= new btMultiBodyLinkCollider(bod,-1);
col->setCollisionShape(box);
btTransform tr;
tr.setIdentity();
tr.setOrigin(local_origin[0]);
tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
col->setWorldTransform(tr);
world->addCollisionObject(col, 2,1+2);
col->setFriction(friction);
bod->setBaseCollider(col);
}
}
for (int i=0;i<bod->getNumLinks();i++)
{
const int parent = bod->getParent(i);
world_to_local[i+1] = bod->getParentToLocalRot(i) * world_to_local[parent+1];
local_origin[i+1] = local_origin[parent+1] + (quatRotate(world_to_local[i+1].inverse() , bod->getRVector(i)));
}
for (int i=0;i<bod->getNumLinks();i++)
{
btVector3 posr = local_origin[i+1];
float pos[4]={posr.x(),posr.y(),posr.z(),1};
float quat[4]={-world_to_local[i+1].x(),-world_to_local[i+1].y(),-world_to_local[i+1].z(),world_to_local[i+1].w()};
btCollisionShape* box = new btBoxShape(btVector3(halfExtents[0],halfExtents[1],halfExtents[2])*scaling);
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(bod,i);
col->setCollisionShape(box);
btTransform tr;
tr.setIdentity();
tr.setOrigin(posr);
tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
col->setWorldTransform(tr);
col->setFriction(friction);
world->addCollisionObject(col,2,1+2);
bod->getLink(i).m_collider=col;
//app->drawBox(halfExtents, pos,quat);
}
}
world->addMultiBody(bod);
return bod;
}
extern btScalar gOldPickingDist;
void FeatherstoneMultiBodyDemo::mouseMotionFunc(int x,int y)
{
if (m_pickingMultiBodyPoint2Point)
{
//keep it at the same picking distance
btVector3 newRayTo = getRayTo(x,y);
btVector3 rayFrom;
btVector3 oldPivotInB = m_pickingMultiBodyPoint2Point->getPivotInB();
btVector3 newPivotB;
if (m_ortho)
{
newPivotB = oldPivotInB;
newPivotB.setX(newRayTo.getX());
newPivotB.setY(newRayTo.getY());
} else
{
rayFrom = m_cameraPosition;
btVector3 dir = newRayTo-rayFrom;
dir.normalize();
dir *= gOldPickingDist;
newPivotB = rayFrom + dir;
}
m_pickingMultiBodyPoint2Point->setPivotInB(newPivotB);
}
DemoApplication::mouseMotionFunc(x,y);
}
void FeatherstoneMultiBodyDemo::removePickingConstraint()
{
if (m_pickingMultiBodyPoint2Point)
{
m_pickingMultiBodyPoint2Point->getMultiBodyA()->setCanSleep(true);
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_dynamicsWorld;
world->removeMultiBodyConstraint(m_pickingMultiBodyPoint2Point);
delete m_pickingMultiBodyPoint2Point;
m_pickingMultiBodyPoint2Point = 0;
}
DemoApplication::removePickingConstraint();
}
void FeatherstoneMultiBodyDemo::pickObject(const btVector3& pickPos, const class btCollisionObject* hitObj)
{
btVector3 pivotInA(0,0,0);
btMultiBodyLinkCollider* multiCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(hitObj);
if (multiCol && multiCol->m_multiBody)
{
multiCol->m_multiBody->setCanSleep(false);
btVector3 pivotInA = multiCol->m_multiBody->worldPosToLocal(multiCol->m_link, pickPos);
btMultiBodyPoint2Point* p2p = new btMultiBodyPoint2Point(multiCol->m_multiBody,multiCol->m_link,0,pivotInA,pickPos);
//if you add too much energy to the system, causing high angular velocities, simulation 'explodes'
//see also http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=4&t=949
//so we try to avoid it by clamping the maximum impulse (force) that the mouse pick can apply
//it is not satisfying, hopefully we find a better solution (higher order integrator, using joint friction using a zero-velocity target motor with limited force etc?)
p2p->setMaxAppliedImpulse(200*scaling);
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_dynamicsWorld;
world->addMultiBodyConstraint(p2p);
m_pickingMultiBodyPoint2Point =p2p;
} else
{
DemoApplication::pickObject(pickPos,hitObj);
}
}
void FeatherstoneMultiBodyDemo::clientResetScene()
{
exitPhysics();
initPhysics();
}
void FeatherstoneMultiBodyDemo::exitPhysics()
{
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
int i;
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState())
{
delete body->getMotionState();
}
m_dynamicsWorld->removeCollisionObject( obj );
delete obj;
}
//delete collision shapes
for (int j=0;j<m_collisionShapes.size();j++)
{
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
}
m_collisionShapes.clear();
delete m_dynamicsWorld;
delete m_solver;
delete m_broadphase;
delete m_dispatcher;
delete m_collisionConfiguration;
}

115
Demos/FeatherstoneMultiBodyDemo/FeatherstoneMultiBodyDemo.h
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@ -1,115 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///experimental support for Featherstone multi body (articulated hierarchies)
#ifndef FEATHERSTONE_MULTIBODY_DEMO_H
#define FEATHERSTONE_MULTIBODY_DEMO_H
#ifdef _WINDOWS
#include "Win32DemoApplication.h"
#define PlatformDemoApplication Win32DemoApplication
#else
#include "GlutDemoApplication.h"
#define PlatformDemoApplication GlutDemoApplication
#endif
#include "LinearMath/btAlignedObjectArray.h"
class btMultiBody;
class btBroadphaseInterface;
class btCollisionShape;
class btOverlappingPairCache;
class btCollisionDispatcher;
class btConstraintSolver;
struct btCollisionAlgorithmCreateFunc;
class btDefaultCollisionConfiguration;
///FeatherstoneMultiBodyDemo is good starting point for learning the code base and porting.
struct btMultiBodySettings
{
btMultiBodySettings()
{
m_numLinks = 0;
m_basePosition.setZero();
m_isFixedBase = true;
m_usePrismatic = false;
m_canSleep = true;
m_createConstraints = false;
m_disableParentCollision = false;
}
int m_numLinks;
btVector3 m_basePosition;
bool m_isFixedBase;
bool m_usePrismatic;
bool m_canSleep;
bool m_createConstraints;
bool m_disableParentCollision;
};
class FeatherstoneMultiBodyDemo : public PlatformDemoApplication
{
//keep the collision shapes, for deletion/cleanup
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btConstraintSolver* m_solver;
btDefaultCollisionConfiguration* m_collisionConfiguration;
virtual void mouseMotionFunc(int x,int y);
virtual void removePickingConstraint();
virtual void pickObject(const btVector3& pickPos, const class btCollisionObject* hitObj);
class btMultiBodyPoint2Point* m_pickingMultiBodyPoint2Point;
btMultiBody* createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, const btMultiBodySettings& settings);
public:
FeatherstoneMultiBodyDemo()
:m_pickingMultiBodyPoint2Point(0)
{
}
virtual ~FeatherstoneMultiBodyDemo()
{
exitPhysics();
}
void initPhysics();
void exitPhysics();
virtual void clientMoveAndDisplay();
virtual void displayCallback();
virtual void clientResetScene();
static DemoApplication* Create()
{
FeatherstoneMultiBodyDemo* demo = new FeatherstoneMultiBodyDemo;
demo->myinit();
demo->initPhysics();
return demo;
}
};
#endif //FEATHERSTONE_MULTIBODY_DEMO_H

5
Demos/FeatherstoneMultiBodyDemo/Makefile.am
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@ -1,5 +0,0 @@
noinst_PROGRAMS=FeatherstoneMultiBodyDemo
FeatherstoneMultiBodyDemo_SOURCES=FeatherstoneMultiBodyDemo.cpp FeatherstoneMultiBodyDemo.h main.cpp
FeatherstoneMultiBodyDemo_CXXFLAGS=-I@top_builddir@/src -I@top_builddir@/Demos/OpenGL $(CXXFLAGS)
FeatherstoneMultiBodyDemo_LDADD=-L../OpenGL -lbulletopenglsupport -L../../src -lBulletDynamics -lBulletCollision -lLinearMath @opengl_LIBS@

28
Demos/FeatherstoneMultiBodyDemo/Win32FeatherstoneMultiBodyDemo.cpp
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@ -1,28 +0,0 @@
#ifdef _WINDOWS
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///experimental support for Featherstone multi body (articulated hierarchies)
#include "FeatherstoneMultiBodyDemo.h"
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
DemoApplication* createDemo()
{
return new FeatherstoneMultiBodyDemo();
}
#endif

42
Demos/FeatherstoneMultiBodyDemo/main.cpp
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@ -1,42 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///experimental support for Featherstone multi body (articulated hierarchies)
#include "FeatherstoneMultiBodyDemo.h"
#include "GlutStuff.h"
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btHashMap.h"
int main(int argc,char** argv)
{
FeatherstoneMultiBodyDemo demo;
demo.initPhysics();
#ifdef CHECK_MEMORY_LEAKS
ccdDemo.exitPhysics();
#else
return glutmain(argc, argv,1024,600,"Bullet Physics Demo. http://bulletphysics.org",&demo);
#endif
//default glut doesn't return from mainloop
return 0;
}

44
Demos/ForkLiftDemo/CMakeLists.txt
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@ -1,44 +0,0 @@
# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# This is the variable for Windows. I use this to define the root of my directory structure.
SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
# You shouldn't have to modify anything below this line
########################################################
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${GLUT_INCLUDE_DIR}
)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
IF (WIN32)
ADD_EXECUTABLE(AppForkLiftDemo
ForkLiftDemo.cpp
main.cpp
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ELSE()
ADD_EXECUTABLE(AppForkLiftDemo
ForkLiftDemo.cpp
main.cpp
)
ENDIF()
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(AppForkLiftDemo PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(AppForkLiftDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(AppForkLiftDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

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