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https://github.com/bulletphysics/bullet3
synced 2024-12-14 05:40:05 +00:00
Merge branch 'master' of https://github.com/erwincoumans/bullet3
This commit is contained in:
erwin coumans
commit
aae9e509a9
@ -192,6 +192,10 @@ ENDIF()
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OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON)
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OPTION(BUILD_PYBULLET "Set when you want to build pybullet (experimental Python bindings for Bullet)" OFF)
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IF(BUILD_PYBULLET)
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FIND_PACKAGE(PythonLibs 2.7 REQUIRED)
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SET(BUILD_SHARED_LIBS ON CACHE BOOL "Shared Libs" FORCE)
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ENDIF(BUILD_PYBULLET)
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IF(BUILD_BULLET3)
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IF(APPLE)
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@ -83,8 +83,10 @@ static ExampleEntry gDefaultExamples[]=
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ExampleEntry(0,"API"),
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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(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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@ -44,20 +44,24 @@ int main(int argc, char** argv)
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///-----initialization_end-----
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///create a few basic rigid bodies
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
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//keep track of the shapes, we release memory at exit.
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//make sure to re-use collision shapes among rigid bodies whenever possible!
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btAlignedObjectArray<btCollisionShape*> collisionShapes;
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collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-56,0));
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///create a few basic rigid bodies
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//the ground is a cube of side 100 at position y = -56.
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//the sphere will hit it at y = -6, with center at -5
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{
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
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collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-56,0));
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btScalar mass(0.);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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@ -113,7 +117,7 @@ int main(int argc, char** argv)
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///-----stepsimulation_start-----
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for (i=0;i<100;i++)
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for (i=0;i<150;i++)
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{
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dynamicsWorld->stepSimulation(1.f/60.f,10);
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@ -178,9 +182,5 @@ int main(int argc, char** argv)
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//next line is optional: it will be cleared by the destructor when the array goes out of scope
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collisionShapes.clear();
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///-----cleanup_end-----
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printf("Press a key to exit\n");
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getchar();
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}
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@ -1076,6 +1076,20 @@ b3KeyboardCallback X11OpenGLWindow::getKeyboardCallback()
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return m_data->m_keyboardCallback;
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}
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int X11OpenGLWindow::getWidth() const
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{
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if (m_data)
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return m_data->m_glWidth;
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return 0;
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}
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int X11OpenGLWindow::getHeight() const
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{
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if (m_data)
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return m_data->m_glHeight;
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return 0;
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}
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#include <stdio.h>
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int X11OpenGLWindow::fileOpenDialog(char* filename, int maxNameLength)
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@ -54,7 +54,7 @@ public:
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virtual void setResizeCallback(b3ResizeCallback resizeCallback);
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virtual void setWheelCallback(b3WheelCallback wheelCallback);
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virtual void setKeyboardCallback( b3KeyboardCallback keyboardCallback);
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virtual b3MouseMoveCallback getMouseMoveCallback();
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virtual b3MouseButtonCallback getMouseButtonCallback();
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virtual b3ResizeCallback getResizeCallback();
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@ -65,9 +65,14 @@ public:
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virtual void setWindowTitle(const char* title);
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virtual int getWidth() const;
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virtual int getHeight() const;
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int fileOpenDialog(char* filename, int maxNameLength);
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};
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#endif
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@ -4,7 +4,7 @@ INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/src
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${BULLET_PHYSICS_SOURCE_DIR}/examples
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${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
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/usr/include/python2.7
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${PYTHON_INCLUDE_DIRS}
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)
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SET(pybullet_SRCS
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@ -18,7 +18,7 @@ ADD_LIBRARY(pybullet ${pybullet_SRCS})
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SET_TARGET_PROPERTIES(pybullet PROPERTIES VERSION ${BULLET_VERSION})
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SET_TARGET_PROPERTIES(pybullet PROPERTIES SOVERSION ${BULLET_VERSION})
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TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen Bullet3Common Python)
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TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen Bullet3Common ${PYTHON_LIBRARIES})
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ENDIF (BUILD_SHARED_LIBS)
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@ -790,23 +790,50 @@ void btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,
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}
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}
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} else {
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///@todo : use AABB tree or other BVH acceleration structure!
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if (collisionShape->isCompound())
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{
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BT_PROFILE("convexSweepCompound");
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const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
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int i=0;
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for (i=0;i<compoundShape->getNumChildShapes();i++)
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struct btCompoundLeafCallback : btDbvt::ICollide
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{
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btTransform childTrans = compoundShape->getChildTransform(i);
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const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
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btTransform childWorldTrans = colObjWorldTransform * childTrans;
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struct LocalInfoAdder : public ConvexResultCallback {
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ConvexResultCallback* m_userCallback;
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btCompoundLeafCallback(
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const btCollisionObjectWrapper* colObjWrap,
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const btConvexShape* castShape,
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const btTransform& convexFromTrans,
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const btTransform& convexToTrans,
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btScalar allowedPenetration,
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const btCompoundShape* compoundShape,
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const btTransform& colObjWorldTransform,
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ConvexResultCallback& resultCallback)
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:
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m_colObjWrap(colObjWrap),
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m_castShape(castShape),
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m_convexFromTrans(convexFromTrans),
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m_convexToTrans(convexToTrans),
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m_allowedPenetration(allowedPenetration),
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m_compoundShape(compoundShape),
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m_colObjWorldTransform(colObjWorldTransform),
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m_resultCallback(resultCallback) {
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}
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const btCollisionObjectWrapper* m_colObjWrap;
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const btConvexShape* m_castShape;
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const btTransform& m_convexFromTrans;
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const btTransform& m_convexToTrans;
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btScalar m_allowedPenetration;
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const btCompoundShape* m_compoundShape;
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const btTransform& m_colObjWorldTransform;
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ConvexResultCallback& m_resultCallback;
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public:
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void ProcessChild(int index, const btTransform& childTrans, const btCollisionShape* childCollisionShape)
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{
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btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
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struct LocalInfoAdder : public ConvexResultCallback {
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ConvexResultCallback* m_userCallback;
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int m_i;
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LocalInfoAdder (int i, ConvexResultCallback *user)
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LocalInfoAdder(int i, ConvexResultCallback *user)
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: m_userCallback(user), m_i(i)
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{
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m_closestHitFraction = m_userCallback->m_closestHitFraction;
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@ -815,27 +842,66 @@ void btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,
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{
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return m_userCallback->needsCollision(p);
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}
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virtual btScalar addSingleResult (btCollisionWorld::LocalConvexResult& r, bool b)
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{
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btCollisionWorld::LocalShapeInfo shapeInfo;
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shapeInfo.m_shapePart = -1;
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shapeInfo.m_triangleIndex = m_i;
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if (r.m_localShapeInfo == NULL)
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r.m_localShapeInfo = &shapeInfo;
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const btScalar result = m_userCallback->addSingleResult(r, b);
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m_closestHitFraction = m_userCallback->m_closestHitFraction;
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return result;
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}
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};
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virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& r, bool b)
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{
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btCollisionWorld::LocalShapeInfo shapeInfo;
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shapeInfo.m_shapePart = -1;
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shapeInfo.m_triangleIndex = m_i;
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if (r.m_localShapeInfo == NULL)
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r.m_localShapeInfo = &shapeInfo;
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const btScalar result = m_userCallback->addSingleResult(r, b);
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m_closestHitFraction = m_userCallback->m_closestHitFraction;
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return result;
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LocalInfoAdder my_cb(i, &resultCallback);
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btCollisionObjectWrapper tmpObj(colObjWrap,childCollisionShape,colObjWrap->getCollisionObject(),childWorldTrans,-1,i);
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}
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};
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objectQuerySingleInternal(castShape, convexFromTrans,convexToTrans,
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&tmpObj,my_cb, allowedPenetration);
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LocalInfoAdder my_cb(index, &m_resultCallback);
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btCollisionObjectWrapper tmpObj(m_colObjWrap, childCollisionShape, m_colObjWrap->getCollisionObject(), childWorldTrans, -1, index);
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objectQuerySingleInternal(m_castShape, m_convexFromTrans, m_convexToTrans, &tmpObj, my_cb, m_allowedPenetration);
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}
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void Process(const btDbvtNode* leaf)
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{
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// Processing leaf node
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int index = leaf->dataAsInt;
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btTransform childTrans = m_compoundShape->getChildTransform(index);
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const btCollisionShape* childCollisionShape = m_compoundShape->getChildShape(index);
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ProcessChild(index, childTrans, childCollisionShape);
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}
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};
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BT_PROFILE("convexSweepCompound");
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const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
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btVector3 fromLocalAabbMin, fromLocalAabbMax;
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btVector3 toLocalAabbMin, toLocalAabbMax;
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castShape->getAabb(colObjWorldTransform.inverse() * convexFromTrans, fromLocalAabbMin, fromLocalAabbMax);
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castShape->getAabb(colObjWorldTransform.inverse() * convexToTrans, toLocalAabbMin, toLocalAabbMax);
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fromLocalAabbMin.setMin(toLocalAabbMin);
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fromLocalAabbMax.setMax(toLocalAabbMax);
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btCompoundLeafCallback callback(colObjWrap, castShape, convexFromTrans, convexToTrans,
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allowedPenetration, compoundShape, colObjWorldTransform, resultCallback);
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const btDbvt* tree = compoundShape->getDynamicAabbTree();
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if (tree) {
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const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds = btDbvtVolume::FromMM(fromLocalAabbMin, fromLocalAabbMax);
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tree->collideTV(tree->m_root, bounds, callback);
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} else {
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int i;
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for (i=0;i<compoundShape->getNumChildShapes();i++)
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{
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const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
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btTransform childTrans = compoundShape->getChildTransform(i);
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callback.ProcessChild(i, childTrans, childCollisionShape);
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}
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}
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}
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}
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@ -22,6 +22,8 @@ subject to the following restrictions:
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#include "LinearMath/btQuaternion.h"
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#include "LinearMath/btSerializer.h"
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#include "btConvexPolyhedron.h"
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#include "LinearMath/btConvexHullComputer.h"
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btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexAabbCachingShape ()
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{
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@ -121,10 +123,17 @@ btVector3 btConvexHullShape::localGetSupportingVertex(const btVector3& vec)const
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}
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void btConvexHullShape::optimizeConvexHull()
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{
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btConvexHullComputer conv;
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conv.compute(&m_unscaledPoints[0].getX(), sizeof(btVector3),m_unscaledPoints.size(),0.f,0.f);
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int numVerts = conv.vertices.size();
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m_unscaledPoints.resize(0);
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for (int i=0;i<numVerts;i++)
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{
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m_unscaledPoints.push_back(conv.vertices[i]);
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}
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}
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@ -55,9 +55,8 @@ public:
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return getUnscaledPoints();
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}
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void optimizeConvexHull();
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SIMD_FORCE_INLINE btVector3 getScaledPoint(int i) const
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{
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return m_unscaledPoints[i] * m_localScaling;
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