mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-18 21:10:05 +00:00
added cylinder support in ColladaDemo, rendering of Cylinder, updated .dae files.
This commit is contained in:
ejcoumans
parent
bff230b23c
commit
b4df21acb5
@ -66,6 +66,17 @@ public:
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return CYLINDER_SHAPE_PROXYTYPE;
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}
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virtual int GetUpAxis() const
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{
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return 1;
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}
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//debugging
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virtual char* GetName()const
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{
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return "CylinderY";
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}
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};
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@ -77,6 +88,16 @@ public:
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virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
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virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
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virtual int GetUpAxis() const
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{
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return 0;
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}
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//debugging
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virtual char* GetName()const
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{
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return "CylinderX";
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}
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};
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class CylinderShapeZ : public CylinderShape
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@ -87,6 +108,16 @@ public:
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virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
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virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
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virtual int GetUpAxis() const
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{
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return 2;
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}
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//debugging
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virtual char* GetName()const
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{
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return "CylinderZ";
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}
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};
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@ -19,6 +19,7 @@ subject to the following restrictions:
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//#include "GL_LineSegmentShape.h"
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#include "CollisionShapes/BoxShape.h"
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#include "CollisionShapes/SphereShape.h"
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#include "CollisionShapes/CylinderShape.h"
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#include "CollisionShapes/ConeShape.h"
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#include "CollisionShapes/ConvexHullShape.h"
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@ -45,7 +46,7 @@ extern int gForwardAxis;
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#include "GLDebugDrawer.h"
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//either FCollada or Collada-dom
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//either FCollada or COLLADA_DOM
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#define USE_FCOLLADA 1
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#ifdef USE_FCOLLADA
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@ -681,6 +682,9 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
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FCDPASCylinder* cylinder = (FCDPASCylinder*)analGeom;
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printf("Cylinder\n");
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//Blender exports Z cylinders
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//collisionShape = new CylinderShapeZ(SimdVector3(cylinder->radius,cylinder->radius,cylinder->height));
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collisionShape = new CylinderShape(SimdVector3(cylinder->radius,cylinder->height,cylinder->radius));
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break;
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@ -718,7 +722,15 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
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//FIXME: only using the first radius of the cylinder
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FCDPASTaperedCylinder* tcylinder = (FCDPASTaperedCylinder*)analGeom;
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printf("TaperedCylinder\n");
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printf("TaperedCylinder, creating a cone for now\n");
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if (!tcylinder->height)
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{
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printf("tapered_cylinder with height 0.0\n");
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tcylinder->height = 1.f;
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}
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//either use radius1 or radius2 for now
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collisionShape = new ConeShape(tcylinder->radius,tcylinder->height);
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break;
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}
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@ -1131,6 +1143,8 @@ void renderme()
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float yIncr = -2.f;
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SimdVector3 offset(xOffset,0,0);
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SimdVector3 up = gCameraUp;
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char buf[124];
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glColor3f(0, 0, 0);
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@ -1163,39 +1177,54 @@ void renderme()
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sprintf(buf,"mouse to interact");
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
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yStart += yIncr;
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glRasterPos3f(xOffset,yStart,0);
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SimdVector3 textPos = offset + up*yStart;
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glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());
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sprintf(buf,"space to reset");
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
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yStart += yIncr;
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glRasterPos3f(xOffset,yStart,0);
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textPos = offset + up*yStart;
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glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());
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sprintf(buf,"cursor keys and z,x to navigate");
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
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yStart += yIncr;
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glRasterPos3f(xOffset,yStart,0);
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textPos = offset + up*yStart ;
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glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());
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sprintf(buf,"i to toggle simulation, s single step");
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
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yStart += yIncr;
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glRasterPos3f(xOffset,yStart,0);
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textPos = offset + up*yStart ;
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glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());
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sprintf(buf,"q to quit");
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
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yStart += yIncr;
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glRasterPos3f(xOffset,yStart,0);
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textPos = offset + up*yStart ;
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glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());
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sprintf(buf,"d to toggle deactivation");
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
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yStart += yIncr;
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glRasterPos3f(xOffset,yStart,0);
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textPos = offset + up*yStart ;
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glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());
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sprintf(buf,"a to draw temporal AABBs");
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
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yStart += yIncr;
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glRasterPos3f(xOffset,yStart,0);
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textPos = offset + up*yStart ;
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glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());
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sprintf(buf,"h to toggle help text");
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
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yStart += yIncr;
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@ -1204,22 +1233,31 @@ void renderme()
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bool useCCD = (getDebugMode() & IDebugDraw::DBG_EnableCCD);
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glRasterPos3f(xOffset,yStart,0);
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textPos = offset + up*yStart ;
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glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());
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sprintf(buf,"m Bullet GJK = %i",!isSatEnabled);
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
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yStart += yIncr;
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glRasterPos3f(xOffset,yStart,0);
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textPos = offset + up*yStart ;
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glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());
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sprintf(buf,"n Bullet LCP = %i",useBulletLCP);
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
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yStart += yIncr;
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glRasterPos3f(xOffset,yStart,0);
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textPos = offset + up*yStart ;
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glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());
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sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
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yStart += yIncr;
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glRasterPos3f(xOffset,yStart,0);
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textPos = offset + up*yStart ;
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glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());
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sprintf(buf,"+- shooting speed = %10.2f",bulletSpeed);
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
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yStart += yIncr;
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@ -1232,8 +1270,6 @@ void clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
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renderme();
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@ -145,6 +145,8 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
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const ConeShape* coneShape = static_cast<const ConeShape*>(shape);
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float radius = coneShape->GetRadius();//+coneShape->GetMargin();
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float height = coneShape->GetHeight();//+coneShape->GetMargin();
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//glRotatef(-90.0, 1.0, 0.0, 0.0);
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glTranslatef(0.0, 0.0, -0.5*height);
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glutSolidCone(radius,height,10,10);
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useWireframeFallback = false;
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break;
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@ -159,6 +161,45 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
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case CONVEX_SHAPE_PROXYTYPE:
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case CYLINDER_SHAPE_PROXYTYPE:
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{
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const CylinderShape* cylinder = static_cast<const CylinderShape*>(shape);
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int upAxis = cylinder->GetUpAxis();
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GLUquadricObj *quadObj = gluNewQuadric();
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glPushMatrix();
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switch (upAxis)
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{
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case 0:
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glRotatef(-90.0, 0.0, 1.0, 0.0);
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glTranslatef(0.0, 0.0, -1.0);
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break;
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case 1:
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glRotatef(-90.0, 1.0, 0.0, 0.0);
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glTranslatef(0.0, 0.0, -1.0);
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break;
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case 2:
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glTranslatef(0.0, 0.0, -1.0);
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break;
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default:
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{
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assert(0);
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}
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}
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//The gluCylinder subroutine draws a cylinder that is oriented along the z axis.
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//The base of the cylinder is placed at z = 0; the top of the cylinder is placed at z=height.
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//Like a sphere, the cylinder is subdivided around the z axis into slices and along the z axis into stacks.
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gluQuadricDrawStyle(quadObj, (GLenum)GLU_FILL);
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gluQuadricNormals(quadObj, (GLenum)GLU_SMOOTH);
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float radius = cylinder->GetHalfExtents().getX();
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float height = 2.f*cylinder->GetHalfExtents().getY();
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gluCylinder(quadObj, radius, radius, height, 15, 10);
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glPopMatrix();
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glEndList();
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break;
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}
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default:
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12586
friction.dae
12586
friction.dae
File diff suppressed because one or more lines are too long
218
jenga.dae
218
jenga.dae
@ -3,13 +3,13 @@
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<asset>
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<contributor>
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<author>Illusoft Collada 1.4.0 plugin for Blender - http://colladablender.illusoft.com</author>
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<authoring_tool>Blender v:241 - Illusoft Collada Exporter v:0.2.45</authoring_tool>
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<authoring_tool>Blender v:241 - Illusoft Collada Exporter v:0.2.56</authoring_tool>
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<comments></comments>
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<copyright></copyright>
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<source_data>file://c:/blender/physics_demos-2.42-preview24/jenga_physics_test.blend</source_data>
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</contributor>
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<created>2006-06-02T17:45:13.891000</created>
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<modified>2006-06-02T17:45:13.891000</modified>
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<created>2006-06-06T14:18:41.437000</created>
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<modified>2006-06-06T14:18:41.452000</modified>
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<unit meter="0.01" name="centimeter"/>
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<up_axis>Z_UP</up_axis>
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</asset>
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@ -29,7 +29,7 @@
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<library_effects>
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<effect id="Material-fx" name="Material-fx">
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<profile_COMMON>
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<technique>
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<technique sid="">
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<phong>
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<emission>
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<color>0.0 0.0 0.0 1.0</color>
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@ -3604,7 +3604,8 @@
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<translate>15.50131 29.68761 4.99616</translate>
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<rotate>0.0 0.0 1.0 0.0</rotate>
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<rotate>0.0 1.0 0.0 0.0</rotate>
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<rotate>1.0 0.0 0.0 -36.81686</rotate>
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<rotate>1.0 0.0 0.0 -36.81686</rotate>
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<rotate>1.0 0.0 0.0 90.0</rotate>
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<instance_geometry url="#Cylinder_004-Geometry"/>
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</node>
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<node id="Cylinder_003" name="Cylinder_003">
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@ -3612,6 +3613,7 @@
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<rotate>0.0 0.0 1.0 -38.06934</rotate>
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<rotate>0.0 1.0 0.0 0.0</rotate>
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<rotate>1.0 0.0 0.0 0.0</rotate>
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<rotate>1.0 0.0 0.0 90.0</rotate>
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<instance_geometry url="#Cylinder_003-Geometry"/>
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</node>
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<node id="Cylinder_002" name="Cylinder_002">
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@ -3619,6 +3621,7 @@
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<rotate>0.0 0.0 1.0 -38.06934</rotate>
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<rotate>0.0 1.0 0.0 0.0</rotate>
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<rotate>1.0 0.0 0.0 0.0</rotate>
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<rotate>1.0 0.0 0.0 90.0</rotate>
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<instance_geometry url="#Cylinder_002-Geometry"/>
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</node>
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<node id="Cylinder_001" name="Cylinder_001">
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@ -3626,6 +3629,7 @@
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<rotate>0.0 0.0 1.0 -38.06934</rotate>
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<rotate>0.0 1.0 0.0 0.0</rotate>
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<rotate>1.0 0.0 0.0 0.0</rotate>
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<rotate>1.0 0.0 0.0 90.0</rotate>
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<instance_geometry url="#Cylinder_001-Geometry"/>
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</node>
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<node id="Cylinder" name="Cylinder">
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@ -3633,6 +3637,7 @@
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<rotate>0.0 0.0 1.0 -23.42368</rotate>
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<rotate>0.0 1.0 0.0 -47.70962</rotate>
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<rotate>1.0 0.0 0.0 14.68375</rotate>
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<rotate>1.0 0.0 0.0 90.0</rotate>
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<instance_geometry url="#Cylinder-Geometry"/>
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</node>
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<node id="Cube_067" name="Cube_067">
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@ -4261,6 +4266,13 @@
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<static_friction>0</static_friction>
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</technique_common>
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</physics_material>
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<physics_material id="Cone_003-PhysicsMaterial" name="Cone_003-PhysicsMaterial">
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<technique_common>
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<dynamic_friction>0</dynamic_friction>
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<restitution>0</restitution>
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<static_friction>0</static_friction>
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</technique_common>
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</physics_material>
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<physics_material id="Cube_071-PhysicsMaterial" name="Cube_071-PhysicsMaterial">
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<technique_common>
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<dynamic_friction>0</dynamic_friction>
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@ -4296,6 +4308,55 @@
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<static_friction>0</static_friction>
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</technique_common>
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</physics_material>
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<physics_material id="Cone_001-PhysicsMaterial" name="Cone_001-PhysicsMaterial">
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<technique_common>
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<dynamic_friction>0</dynamic_friction>
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<restitution>0</restitution>
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<static_friction>0</static_friction>
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</technique_common>
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</physics_material>
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<physics_material id="Cone-PhysicsMaterial" name="Cone-PhysicsMaterial">
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<technique_common>
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<dynamic_friction>0</dynamic_friction>
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<restitution>0</restitution>
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<static_friction>0</static_friction>
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</technique_common>
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</physics_material>
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<physics_material id="Cylinder_004-PhysicsMaterial" name="Cylinder_004-PhysicsMaterial">
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<technique_common>
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<dynamic_friction>0</dynamic_friction>
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<restitution>0</restitution>
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<static_friction>0</static_friction>
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</technique_common>
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</physics_material>
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<physics_material id="Cylinder_003-PhysicsMaterial" name="Cylinder_003-PhysicsMaterial">
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<technique_common>
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<dynamic_friction>0</dynamic_friction>
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<restitution>0</restitution>
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<static_friction>0</static_friction>
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</technique_common>
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</physics_material>
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<physics_material id="Cylinder_002-PhysicsMaterial" name="Cylinder_002-PhysicsMaterial">
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<technique_common>
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<dynamic_friction>0</dynamic_friction>
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<restitution>0</restitution>
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<static_friction>0</static_friction>
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</technique_common>
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</physics_material>
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<physics_material id="Cylinder_001-PhysicsMaterial" name="Cylinder_001-PhysicsMaterial">
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<technique_common>
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<dynamic_friction>0</dynamic_friction>
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<restitution>0</restitution>
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<static_friction>0</static_friction>
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</technique_common>
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</physics_material>
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<physics_material id="Cylinder-PhysicsMaterial" name="Cylinder-PhysicsMaterial">
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<technique_common>
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<dynamic_friction>0</dynamic_friction>
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<restitution>0</restitution>
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<static_friction>0</static_friction>
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</technique_common>
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</physics_material>
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<physics_material id="Cube_067-PhysicsMaterial" name="Cube_067-PhysicsMaterial">
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<technique_common>
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<dynamic_friction>0</dynamic_friction>
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@ -4732,6 +4793,22 @@
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</technique_common>
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</rigid_body>
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</physics_model>
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<physics_model id="Cone_003-PhysicsModel" name="Cone_003-PhysicsModel">
|
||||
<rigid_body name="Cone_003-RigidBody">
|
||||
<technique_common>
|
||||
<instance_physics_material url="#Cone_003-PhysicsMaterial"/>
|
||||
<shape>
|
||||
<tapered_cylinder>
|
||||
<radius1>1.0</radius1>
|
||||
<radius2>0</radius2>
|
||||
<height>1.0</height>
|
||||
</tapered_cylinder>
|
||||
</shape>
|
||||
<dynamic>true</dynamic>
|
||||
<mass>1.0</mass>
|
||||
</technique_common>
|
||||
</rigid_body>
|
||||
</physics_model>
|
||||
<physics_model id="Cube_071-PhysicsModel" name="Cube_071-PhysicsModel">
|
||||
<rigid_body name="Cube_071-RigidBody">
|
||||
<technique_common>
|
||||
@ -4796,6 +4873,113 @@
|
||||
</technique_common>
|
||||
</rigid_body>
|
||||
</physics_model>
|
||||
<physics_model id="Cone_001-PhysicsModel" name="Cone_001-PhysicsModel">
|
||||
<rigid_body name="Cone_001-RigidBody">
|
||||
<technique_common>
|
||||
<instance_physics_material url="#Cone_001-PhysicsMaterial"/>
|
||||
<shape>
|
||||
<tapered_cylinder>
|
||||
<radius1>1.0</radius1>
|
||||
<radius2>0</radius2>
|
||||
<height>0.42013</height>
|
||||
</tapered_cylinder>
|
||||
</shape>
|
||||
<dynamic>true</dynamic>
|
||||
<mass>1.0</mass>
|
||||
</technique_common>
|
||||
</rigid_body>
|
||||
</physics_model>
|
||||
<physics_model id="Cone-PhysicsModel" name="Cone-PhysicsModel">
|
||||
<rigid_body name="Cone-RigidBody">
|
||||
<technique_common>
|
||||
<instance_physics_material url="#Cone-PhysicsMaterial"/>
|
||||
<shape>
|
||||
<tapered_cylinder>
|
||||
<radius1>1.0</radius1>
|
||||
<radius2>0</radius2>
|
||||
<height>1.0</height>
|
||||
</tapered_cylinder>
|
||||
</shape>
|
||||
<dynamic>true</dynamic>
|
||||
<mass>1.0</mass>
|
||||
</technique_common>
|
||||
</rigid_body>
|
||||
</physics_model>
|
||||
<physics_model id="Cylinder_004-PhysicsModel" name="Cylinder_004-PhysicsModel">
|
||||
<rigid_body name="Cylinder_004-RigidBody">
|
||||
<technique_common>
|
||||
<instance_physics_material url="#Cylinder_004-PhysicsMaterial"/>
|
||||
<shape>
|
||||
<cylinder>
|
||||
<radius>1.0</radius>
|
||||
<height>1.0</height>
|
||||
</cylinder>
|
||||
</shape>
|
||||
<dynamic>true</dynamic>
|
||||
<mass>1.0</mass>
|
||||
</technique_common>
|
||||
</rigid_body>
|
||||
</physics_model>
|
||||
<physics_model id="Cylinder_003-PhysicsModel" name="Cylinder_003-PhysicsModel">
|
||||
<rigid_body name="Cylinder_003-RigidBody">
|
||||
<technique_common>
|
||||
<instance_physics_material url="#Cylinder_003-PhysicsMaterial"/>
|
||||
<shape>
|
||||
<cylinder>
|
||||
<radius>1. 1.00</radius>
|
||||
<height>1.0</height>
|
||||
</cylinder>
|
||||
</shape>
|
||||
<dynamic>true</dynamic>
|
||||
<mass>1.0</mass>
|
||||
</technique_common>
|
||||
</rigid_body>
|
||||
</physics_model>
|
||||
<physics_model id="Cylinder_002-PhysicsModel" name="Cylinder_002-PhysicsModel">
|
||||
<rigid_body name="Cylinder_002-RigidBody">
|
||||
<technique_common>
|
||||
<instance_physics_material url="#Cylinder_002-PhysicsMaterial"/>
|
||||
<shape>
|
||||
<cylinder>
|
||||
<radius>1. 1.00</radius>
|
||||
<height>1.0</height>
|
||||
</cylinder>
|
||||
</shape>
|
||||
<dynamic>true</dynamic>
|
||||
<mass>1.0</mass>
|
||||
</technique_common>
|
||||
</rigid_body>
|
||||
</physics_model>
|
||||
<physics_model id="Cylinder_001-PhysicsModel" name="Cylinder_001-PhysicsModel">
|
||||
<rigid_body name="Cylinder_001-RigidBody">
|
||||
<technique_common>
|
||||
<instance_physics_material url="#Cylinder_001-PhysicsMaterial"/>
|
||||
<shape>
|
||||
<cylinder>
|
||||
<radius>1. 1.00</radius>
|
||||
<height>1.0</height>
|
||||
</cylinder>
|
||||
</shape>
|
||||
<dynamic>true</dynamic>
|
||||
<mass>1.0</mass>
|
||||
</technique_common>
|
||||
</rigid_body>
|
||||
</physics_model>
|
||||
<physics_model id="Cylinder-PhysicsModel" name="Cylinder-PhysicsModel">
|
||||
<rigid_body name="Cylinder-RigidBody">
|
||||
<technique_common>
|
||||
<instance_physics_material url="#Cylinder-PhysicsMaterial"/>
|
||||
<shape>
|
||||
<cylinder>
|
||||
<radius>1.0 1.0</radius>
|
||||
<height>1.0</height>
|
||||
</cylinder>
|
||||
</shape>
|
||||
<dynamic>true</dynamic>
|
||||
<mass>1.0</mass>
|
||||
</technique_common>
|
||||
</rigid_body>
|
||||
</physics_model>
|
||||
<physics_model id="Cube_067-PhysicsModel" name="Cube_067-PhysicsModel">
|
||||
<rigid_body name="Cube_067-RigidBody">
|
||||
<technique_common>
|
||||
@ -5617,6 +5801,9 @@
|
||||
<instance_physics_model url="#Font-PhysicsModel">
|
||||
<instance_rigid_body target="#Font"/>
|
||||
</instance_physics_model>
|
||||
<instance_physics_model url="#Cone_003-PhysicsModel">
|
||||
<instance_rigid_body target="#Cone_003"/>
|
||||
</instance_physics_model>
|
||||
<instance_physics_model url="#Cube_071-PhysicsModel">
|
||||
<instance_rigid_body target="#Cube_071"/>
|
||||
</instance_physics_model>
|
||||
@ -5632,6 +5819,27 @@
|
||||
<instance_physics_model url="#Cube_068-PhysicsModel">
|
||||
<instance_rigid_body target="#Cube_068"/>
|
||||
</instance_physics_model>
|
||||
<instance_physics_model url="#Cone_001-PhysicsModel">
|
||||
<instance_rigid_body target="#Cone_001"/>
|
||||
</instance_physics_model>
|
||||
<instance_physics_model url="#Cone-PhysicsModel">
|
||||
<instance_rigid_body target="#Cone"/>
|
||||
</instance_physics_model>
|
||||
<instance_physics_model url="#Cylinder_004-PhysicsModel">
|
||||
<instance_rigid_body target="#Cylinder_004"/>
|
||||
</instance_physics_model>
|
||||
<instance_physics_model url="#Cylinder_003-PhysicsModel">
|
||||
<instance_rigid_body target="#Cylinder_003"/>
|
||||
</instance_physics_model>
|
||||
<instance_physics_model url="#Cylinder_002-PhysicsModel">
|
||||
<instance_rigid_body target="#Cylinder_002"/>
|
||||
</instance_physics_model>
|
||||
<instance_physics_model url="#Cylinder_001-PhysicsModel">
|
||||
<instance_rigid_body target="#Cylinder_001"/>
|
||||
</instance_physics_model>
|
||||
<instance_physics_model url="#Cylinder-PhysicsModel">
|
||||
<instance_rigid_body target="#Cylinder"/>
|
||||
</instance_physics_model>
|
||||
<instance_physics_model url="#Cube_067-PhysicsModel">
|
||||
<instance_rigid_body target="#Cube_067"/>
|
||||
</instance_physics_model>
|
||||
|
||||
Loading…
Reference in New Issue
Block a user