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https://github.com/bulletphysics/bullet3
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clean up examples
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parent
54303e02b1
commit
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examples
src
BulletDynamics/Featherstone
BulletSoftBody
@ -16,9 +16,9 @@ subject to the following restrictions:
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#include "BasicExample.h"
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#include "btBulletDynamicsCommon.h"
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#define ARRAY_SIZE_Y 1
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#define ARRAY_SIZE_X 1
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#define ARRAY_SIZE_Z 1
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#define ARRAY_SIZE_Y 5
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#define ARRAY_SIZE_X 5
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#define ARRAY_SIZE_Z 5
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btAlignedObjectArray.h"
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@ -122,12 +122,6 @@ static ExampleEntry gDefaultExamples[] =
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ExampleEntry(1, "Basic Example", "Create some rigid bodies using box collision shapes. This is a good example to familiarize with the basic initialization of Bullet. The Basic Example can also be compiled without graphical user interface, as a console application. Press W for wireframe, A to show AABBs, I to suspend/restart physics simulation. Press D to toggle auto-deactivation of the simulation. ", BasicExampleCreateFunc),
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ExampleEntry(1, "Rolling Friction", "Damping is often not good enough to keep rounded objects from rolling down a sloped surface. Instead, you can set the rolling friction of a rigid body. Generally it is best to leave the rolling friction to zero, to avoid artifacts.", RollingFrictionCreateFunc),
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ExampleEntry(0, "Deformable-RigidBody Contact", "Deformable test", DeformableCreateFunc),
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ExampleEntry(0, "Grasp Deformable Cube", "Grasping test", PinchCreateFunc),
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ExampleEntry(0, "Volumetric Deformable Objects", "Volumetric Deformable test", VolumetricDeformableCreateFunc),
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ExampleEntry(0, "Deformable-MultiBody Contact", "MultiBody and Deformable contact", DeformableContactCreateFunc),
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ExampleEntry(0, "MultiBody Baseline", "MultiBody Baseline", MultiBodyBaselineCreateFunc),
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ExampleEntry(1, "Constraints", "Show the use of the various constraints in Bullet. Press the L key to visualize the constraint limits. Press the C key to visualize the constraint frames.",
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AllConstraintCreateFunc),
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@ -201,6 +195,13 @@ static ExampleEntry gDefaultExamples[] =
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ExampleEntry(1, "Spheres & Plane C-API (Bullet2)", "Collision C-API using Bullet 2.x backend", CollisionTutorialBullet2CreateFunc, TUT_SPHERE_PLANE_BULLET2),
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//ExampleEntry(1, "Spheres & Plane C-API (Bullet3)", "Collision C-API using Bullet 3.x backend", CollisionTutorialBullet2CreateFunc,TUT_SPHERE_PLANE_RTB3),
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ExampleEntry(0, "Deformabe Body"),
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ExampleEntry(1, "Deformable-RigidBody Contact", "Deformable test", DeformableCreateFunc),
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ExampleEntry(1, "Grasp Deformable Cube", "Grasping test", PinchCreateFunc),
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ExampleEntry(1, "Volumetric Deformable Objects", "Volumetric Deformable test", VolumetricDeformableCreateFunc),
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ExampleEntry(1, "Deformable-MultiBody Contact", "MultiBody and Deformable contact", DeformableContactCreateFunc),
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// ExampleEntry(1, "MultiBody Baseline", "MultiBody Baseline", MultiBodyBaselineCreateFunc),
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#ifdef INCLUDE_CLOTH_DEMOS
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ExampleEntry(0, "Soft Body"),
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ExampleEntry(1, "Cloth", "Simulate a patch of cloth.", SoftDemoCreateFunc, 0),
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@ -27,7 +27,6 @@
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#include "btMultiBodyJointFeedback.h"
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#include "LinearMath/btTransformUtil.h"
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#include "LinearMath/btSerializer.h"
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#include <iostream>
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//#include "Bullet3Common/b3Logging.h"
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// #define INCLUDE_GYRO_TERM
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@ -8,7 +8,7 @@
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#ifndef BT_DEFORMABLE_BODY_SOLVERS_H
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#define BT_DEFORMABLE_BODY_SOLVERS_H
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#include <iostream>
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#include "btSoftBodySolvers.h"
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#include "btDeformableBackwardEulerObjective.h"
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#include "btDeformableRigidDynamicsWorld.h"
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@ -11,7 +11,6 @@
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#include "btSoftBody.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
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#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
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#include <iostream>
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class btDeformableContactProjection : public btCGProjection
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{
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public:
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@ -28,7 +28,6 @@ subject to the following restrictions:
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#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
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#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
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#include <string.h> //for memset
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#include <iostream>
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static void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol,
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btMultiBodyJacobianData& jacobianData,
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const btVector3& contact_point,
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