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https://github.com/bulletphysics/bullet3
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add Vehicles/Hinge2Vehicle demo, based on the ForkLift demo, using btHinge2Constraint with rigid body wheels
change btHinge2Constraint to derive from new btGeneric6DofSpring2Constraint
This commit is contained in:
erwin coumans
parent
df86a69a71
commit
f4b0cc85cd
@ -1,3 +1,17 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2015 Google Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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@ -1,3 +1,18 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2015 Google Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BASIC_EXAMPLE_H
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#define BASIC_EXAMPLE_H
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876
examples/Constraints/ConstraintDemo.cpp
Normal file
876
examples/Constraints/ConstraintDemo.cpp
Normal file
@ -0,0 +1,876 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2015 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "ConstraintDemo.h"
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btIDebugDraw.h"
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#include <stdio.h> //printf debugging
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#include "../CommonInterfaces/CommonRigidBodyBase.h"
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///AllConstraintDemo shows how to create a constraint, like Hinge or btGenericD6constraint
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class AllConstraintDemo : public CommonRigidBodyBase
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{
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//keep track of variables to delete memory at the end
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void setupEmptyDynamicsWorld();
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public:
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AllConstraintDemo(struct GUIHelperInterface* helper);
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virtual ~AllConstraintDemo();
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void initPhysics();
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void exitPhysics();
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virtual void keyboardCallback(unsigned char key, int x, int y);
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// for cone-twist motor driving
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float m_Time;
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class btConeTwistConstraint* m_ctc;
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};
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const int numObjects = 3;
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#define ENABLE_ALL_DEMOS 1
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#define CUBE_HALF_EXTENTS 1.f
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#define SIMD_PI_2 ((SIMD_PI)*0.5f)
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#define SIMD_PI_4 ((SIMD_PI)*0.25f)
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btTransform sliderTransform;
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btVector3 lowerSliderLimit = btVector3(-10,0,0);
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btVector3 hiSliderLimit = btVector3(10,0,0);
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btRigidBody* d6body0 =0;
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btHingeConstraint* spDoorHinge = NULL;
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btHingeConstraint* spHingeDynAB = NULL;
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btGeneric6DofConstraint* spSlider6Dof = NULL;
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static bool s_bTestConeTwistMotor = false;
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void AllConstraintDemo::setupEmptyDynamicsWorld()
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{
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_broadphase = new btDbvtBroadphase();
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m_solver = new btSequentialImpulseConstraintSolver();
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
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}
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void AllConstraintDemo::initPhysics()
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{
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m_Time = 0;
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setupEmptyDynamicsWorld();
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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//btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(40.),btScalar(50.)));
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btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),40);
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m_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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btRigidBody* groundBody;
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groundBody= createRigidBody(0, groundTransform, groundShape);
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btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
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m_collisionShapes.push_back(shape);
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btTransform trans;
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trans.setIdentity();
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trans.setOrigin(btVector3(0,20,0));
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float mass = 1.f;
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#if ENABLE_ALL_DEMOS
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///gear constraint demo
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#define THETA SIMD_PI/4.f
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#define L_1 (2 - tan(THETA))
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#define L_2 (1 / cos(THETA))
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#define RATIO L_2 / L_1
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btRigidBody* bodyA=0;
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btRigidBody* bodyB=0;
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{
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btCollisionShape* cylA = new btCylinderShape(btVector3(0.2,0.25,0.2));
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btCollisionShape* cylB = new btCylinderShape(btVector3(L_1,0.025,L_1));
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btCompoundShape* cyl0 = new btCompoundShape();
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cyl0->addChildShape(btTransform::getIdentity(),cylA);
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cyl0->addChildShape(btTransform::getIdentity(),cylB);
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btScalar mass = 6.28;
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btVector3 localInertia;
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cyl0->calculateLocalInertia(mass,localInertia);
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btRigidBody::btRigidBodyConstructionInfo ci(mass,0,cyl0,localInertia);
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ci.m_startWorldTransform.setOrigin(btVector3(-8,1,-8));
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btRigidBody* body = new btRigidBody(ci);//1,0,cyl0,localInertia);
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m_dynamicsWorld->addRigidBody(body);
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body->setLinearFactor(btVector3(0,0,0));
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body->setAngularFactor(btVector3(0,1,0));
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bodyA = body;
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}
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{
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btCollisionShape* cylA = new btCylinderShape(btVector3(0.2,0.26,0.2));
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btCollisionShape* cylB = new btCylinderShape(btVector3(L_2,0.025,L_2));
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btCompoundShape* cyl0 = new btCompoundShape();
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cyl0->addChildShape(btTransform::getIdentity(),cylA);
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cyl0->addChildShape(btTransform::getIdentity(),cylB);
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btScalar mass = 6.28;
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btVector3 localInertia;
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cyl0->calculateLocalInertia(mass,localInertia);
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btRigidBody::btRigidBodyConstructionInfo ci(mass,0,cyl0,localInertia);
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ci.m_startWorldTransform.setOrigin(btVector3(-10,2,-8));
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btQuaternion orn(btVector3(0,0,1),-THETA);
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ci.m_startWorldTransform.setRotation(orn);
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btRigidBody* body = new btRigidBody(ci);//1,0,cyl0,localInertia);
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body->setLinearFactor(btVector3(0,0,0));
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btHingeConstraint* hinge = new btHingeConstraint(*body,btVector3(0,0,0),btVector3(0,1,0),true);
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m_dynamicsWorld->addConstraint(hinge);
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bodyB= body;
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body->setAngularVelocity(btVector3(0,3,0));
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m_dynamicsWorld->addRigidBody(body);
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}
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btVector3 axisA(0,1,0);
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btVector3 axisB(0,1,0);
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btQuaternion orn(btVector3(0,0,1),-THETA);
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btMatrix3x3 mat(orn);
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axisB = mat.getRow(1);
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btGearConstraint* gear = new btGearConstraint(*bodyA,*bodyB, axisA,axisB,RATIO);
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m_dynamicsWorld->addConstraint(gear,true);
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#endif
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#if ENABLE_ALL_DEMOS
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//point to point constraint with a breaking threshold
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{
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trans.setIdentity();
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trans.setOrigin(btVector3(1,30,-5));
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createRigidBody( mass,trans,shape);
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trans.setOrigin(btVector3(0,0,-5));
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btRigidBody* body0 = createRigidBody( mass,trans,shape);
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trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
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mass = 1.f;
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// btRigidBody* body1 = 0;//createRigidBody( mass,trans,shape);
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btVector3 pivotInA(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,0);
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btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,pivotInA);
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m_dynamicsWorld->addConstraint(p2p);
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p2p ->setBreakingImpulseThreshold(10.2);
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p2p->setDbgDrawSize(btScalar(5.f));
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}
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#endif
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#if ENABLE_ALL_DEMOS
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//point to point constraint (ball socket)
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{
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btRigidBody* body0 = createRigidBody( mass,trans,shape);
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trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
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mass = 1.f;
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// btRigidBody* body1 = 0;//createRigidBody( mass,trans,shape);
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// btRigidBody* body1 = createRigidBody( 0.0,trans,0);
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//body1->setActivationState(DISABLE_DEACTIVATION);
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//body1->setDamping(0.3,0.3);
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btVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS);
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btVector3 axisInA(0,0,1);
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// btVector3 pivotInB = body1 ? body1->getCenterOfMassTransform().inverse()(body0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
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// btVector3 axisInB = body1?
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// (body1->getCenterOfMassTransform().getBasis().inverse()*(body1->getCenterOfMassTransform().getBasis() * axisInA)) :
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body0->getCenterOfMassTransform().getBasis() * axisInA;
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#define P2P
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#ifdef P2P
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btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,pivotInA);
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//btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,*body1,pivotInA,pivotInB);
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//btTypedConstraint* hinge = new btHingeConstraint(*body0,*body1,pivotInA,pivotInB,axisInA,axisInB);
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m_dynamicsWorld->addConstraint(p2p);
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p2p->setDbgDrawSize(btScalar(5.f));
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#else
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btHingeConstraint* hinge = new btHingeConstraint(*body0,pivotInA,axisInA);
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//use zero targetVelocity and a small maxMotorImpulse to simulate joint friction
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//float targetVelocity = 0.f;
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//float maxMotorImpulse = 0.01;
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float targetVelocity = 1.f;
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float maxMotorImpulse = 1.0f;
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hinge->enableAngularMotor(true,targetVelocity,maxMotorImpulse);
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m_dynamicsWorld->addConstraint(hinge);
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hinge->setDbgDrawSize(btScalar(5.f));
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#endif //P2P
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}
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#endif
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#if ENABLE_ALL_DEMOS
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{
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btTransform trans;
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trans.setIdentity();
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btVector3 worldPos(-20,0,30);
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trans.setOrigin(worldPos);
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btTransform frameInA, frameInB;
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frameInA = btTransform::getIdentity();
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frameInB = btTransform::getIdentity();
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btRigidBody* pRbA1 = createRigidBody(mass, trans, shape);
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// btRigidBody* pRbA1 = createRigidBody(0.f, trans, shape);
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pRbA1->setActivationState(DISABLE_DEACTIVATION);
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// add dynamic rigid body B1
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worldPos.setValue(-30,0,30);
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trans.setOrigin(worldPos);
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btRigidBody* pRbB1 = createRigidBody(mass, trans, shape);
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// btRigidBody* pRbB1 = createRigidBody(0.f, trans, shape);
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pRbB1->setActivationState(DISABLE_DEACTIVATION);
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// create slider constraint between A1 and B1 and add it to world
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btSliderConstraint* spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true);
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// spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, false);
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spSlider1->setLowerLinLimit(-15.0F);
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spSlider1->setUpperLinLimit(-5.0F);
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// spSlider1->setLowerLinLimit(5.0F);
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// spSlider1->setUpperLinLimit(15.0F);
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// spSlider1->setLowerLinLimit(-10.0F);
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// spSlider1->setUpperLinLimit(-10.0F);
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spSlider1->setLowerAngLimit(-SIMD_PI / 3.0F);
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spSlider1->setUpperAngLimit( SIMD_PI / 3.0F);
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m_dynamicsWorld->addConstraint(spSlider1, true);
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spSlider1->setDbgDrawSize(btScalar(5.f));
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}
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#endif
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#if ENABLE_ALL_DEMOS
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//create a slider, using the generic D6 constraint
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{
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mass = 1.f;
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btVector3 sliderWorldPos(0,10,0);
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btVector3 sliderAxis(1,0,0);
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btScalar angle=0.f;//SIMD_RADS_PER_DEG * 10.f;
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btMatrix3x3 sliderOrientation(btQuaternion(sliderAxis ,angle));
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trans.setIdentity();
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trans.setOrigin(sliderWorldPos);
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//trans.setBasis(sliderOrientation);
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sliderTransform = trans;
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d6body0 = createRigidBody( mass,trans,shape);
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d6body0->setActivationState(DISABLE_DEACTIVATION);
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btRigidBody* fixedBody1 = createRigidBody(0,trans,0);
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m_dynamicsWorld->addRigidBody(fixedBody1);
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btTransform frameInA, frameInB;
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frameInA = btTransform::getIdentity();
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frameInB = btTransform::getIdentity();
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frameInA.setOrigin(btVector3(0., 5., 0.));
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frameInB.setOrigin(btVector3(0., 5., 0.));
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// bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits
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bool useLinearReferenceFrameA = true;//use fixed frame A for linear llimits
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spSlider6Dof = new btGeneric6DofConstraint(*fixedBody1, *d6body0,frameInA,frameInB,useLinearReferenceFrameA);
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spSlider6Dof->setLinearLowerLimit(lowerSliderLimit);
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spSlider6Dof->setLinearUpperLimit(hiSliderLimit);
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//range should be small, otherwise singularities will 'explode' the constraint
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// spSlider6Dof->setAngularLowerLimit(btVector3(-1.5,0,0));
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// spSlider6Dof->setAngularUpperLimit(btVector3(1.5,0,0));
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// spSlider6Dof->setAngularLowerLimit(btVector3(0,0,0));
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// spSlider6Dof->setAngularUpperLimit(btVector3(0,0,0));
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spSlider6Dof->setAngularLowerLimit(btVector3(-SIMD_PI,0,0));
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spSlider6Dof->setAngularUpperLimit(btVector3(1.5,0,0));
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spSlider6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true;
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spSlider6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = -5.0f;
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spSlider6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 0.1f;
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m_dynamicsWorld->addConstraint(spSlider6Dof);
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spSlider6Dof->setDbgDrawSize(btScalar(5.f));
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}
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#endif
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#if ENABLE_ALL_DEMOS
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{ // create a door using hinge constraint attached to the world
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btCollisionShape* pDoorShape = new btBoxShape(btVector3(2.0f, 5.0f, 0.2f));
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m_collisionShapes.push_back(pDoorShape);
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btTransform doorTrans;
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doorTrans.setIdentity();
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doorTrans.setOrigin(btVector3(-5.0f, -2.0f, 0.0f));
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btRigidBody* pDoorBody = createRigidBody( 1.0, doorTrans, pDoorShape);
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pDoorBody->setActivationState(DISABLE_DEACTIVATION);
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const btVector3 btPivotA(10.f + 2.1f, -2.0f, 0.0f ); // right next to the door slightly outside
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btVector3 btAxisA( 0.0f, 1.0f, 0.0f ); // pointing upwards, aka Y-axis
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spDoorHinge = new btHingeConstraint( *pDoorBody, btPivotA, btAxisA );
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// spDoorHinge->setLimit( 0.0f, SIMD_PI_2 );
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// test problem values
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// spDoorHinge->setLimit( -SIMD_PI, SIMD_PI*0.8f);
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// spDoorHinge->setLimit( 1.f, -1.f);
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// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI);
|
||||
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.3f, 0.0f);
|
||||
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.01f, 0.0f); // "sticky limits"
|
||||
spDoorHinge->setLimit( -SIMD_PI * 0.25f, SIMD_PI * 0.25f );
|
||||
// spDoorHinge->setLimit( 0.0f, 0.0f );
|
||||
m_dynamicsWorld->addConstraint(spDoorHinge);
|
||||
spDoorHinge->setDbgDrawSize(btScalar(5.f));
|
||||
|
||||
//doorTrans.setOrigin(btVector3(-5.0f, 2.0f, 0.0f));
|
||||
//btRigidBody* pDropBody = createRigidBody( 10.0, doorTrans, shape);
|
||||
}
|
||||
#endif
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{ // create a generic 6DOF constraint
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(10.), btScalar(6.), btScalar(0.)));
|
||||
tr.getBasis().setEulerZYX(0,0,0);
|
||||
// btRigidBody* pBodyA = createRigidBody( mass, tr, shape);
|
||||
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
|
||||
// btRigidBody* pBodyA = createRigidBody( 0.0, tr, 0);
|
||||
pBodyA->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(0.), btScalar(6.), btScalar(0.)));
|
||||
tr.getBasis().setEulerZYX(0,0,0);
|
||||
btRigidBody* pBodyB = createRigidBody(mass, tr, shape);
|
||||
// btRigidBody* pBodyB = createRigidBody(0.f, tr, shape);
|
||||
pBodyB->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
btTransform frameInA, frameInB;
|
||||
frameInA = btTransform::getIdentity();
|
||||
frameInA.setOrigin(btVector3(btScalar(-5.), btScalar(0.), btScalar(0.)));
|
||||
frameInB = btTransform::getIdentity();
|
||||
frameInB.setOrigin(btVector3(btScalar(5.), btScalar(0.), btScalar(0.)));
|
||||
|
||||
btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true);
|
||||
// btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false);
|
||||
pGen6DOF->setLinearLowerLimit(btVector3(-10., -2., -1.));
|
||||
pGen6DOF->setLinearUpperLimit(btVector3(10., 2., 1.));
|
||||
// pGen6DOF->setLinearLowerLimit(btVector3(-10., 0., 0.));
|
||||
// pGen6DOF->setLinearUpperLimit(btVector3(10., 0., 0.));
|
||||
// pGen6DOF->setLinearLowerLimit(btVector3(0., 0., 0.));
|
||||
// pGen6DOF->setLinearUpperLimit(btVector3(0., 0., 0.));
|
||||
|
||||
// pGen6DOF->getTranslationalLimitMotor()->m_enableMotor[0] = true;
|
||||
// pGen6DOF->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f;
|
||||
// pGen6DOF->getTranslationalLimitMotor()->m_maxMotorForce[0] = 0.1f;
|
||||
|
||||
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(0., SIMD_HALF_PI*0.9, 0.));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0., -SIMD_HALF_PI*0.9, 0.));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(0., 0., -SIMD_HALF_PI));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0., 0., SIMD_HALF_PI));
|
||||
|
||||
pGen6DOF->setAngularLowerLimit(btVector3(-SIMD_HALF_PI * 0.5f, -0.75, -SIMD_HALF_PI * 0.8f));
|
||||
pGen6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI * 0.5f, 0.75, SIMD_HALF_PI * 0.8f));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(0.f, -0.75, SIMD_HALF_PI * 0.8f));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0.f, 0.75, -SIMD_HALF_PI * 0.8f));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI * 0.8f, SIMD_HALF_PI * 1.98f));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI * 0.8f, -SIMD_HALF_PI * 1.98f));
|
||||
|
||||
|
||||
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,-0.5, -0.5));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0.5, 0.5));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,0., 0.));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0., 0.));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(0., -0.7,0.));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0., 0.7, 0.));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(-1., 0.,0.));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(1., 0., 0.));
|
||||
|
||||
m_dynamicsWorld->addConstraint(pGen6DOF, true);
|
||||
pGen6DOF->setDbgDrawSize(btScalar(5.f));
|
||||
}
|
||||
#endif
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{ // create a ConeTwist constraint
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-10.), btScalar(5.), btScalar(0.)));
|
||||
tr.getBasis().setEulerZYX(0,0,0);
|
||||
btRigidBody* pBodyA = createRigidBody( 1.0, tr, shape);
|
||||
// btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
|
||||
pBodyA->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-10.), btScalar(-5.), btScalar(0.)));
|
||||
tr.getBasis().setEulerZYX(0,0,0);
|
||||
btRigidBody* pBodyB = createRigidBody(0.0, tr, shape);
|
||||
// btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
|
||||
|
||||
btTransform frameInA, frameInB;
|
||||
frameInA = btTransform::getIdentity();
|
||||
frameInA.getBasis().setEulerZYX(0, 0, SIMD_PI_2);
|
||||
frameInA.setOrigin(btVector3(btScalar(0.), btScalar(-5.), btScalar(0.)));
|
||||
frameInB = btTransform::getIdentity();
|
||||
frameInB.getBasis().setEulerZYX(0,0, SIMD_PI_2);
|
||||
frameInB.setOrigin(btVector3(btScalar(0.), btScalar(5.), btScalar(0.)));
|
||||
|
||||
m_ctc = new btConeTwistConstraint(*pBodyA, *pBodyB, frameInA, frameInB);
|
||||
// m_ctc->setLimit(btScalar(SIMD_PI_4), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f);
|
||||
// m_ctc->setLimit(btScalar(SIMD_PI_4*0.6f), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f, 1.0f); // soft limit == hard limit
|
||||
m_ctc->setLimit(btScalar(SIMD_PI_4*0.6f), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f, 0.5f);
|
||||
m_dynamicsWorld->addConstraint(m_ctc, true);
|
||||
m_ctc->setDbgDrawSize(btScalar(5.f));
|
||||
// s_bTestConeTwistMotor = true; // use only with old solver for now
|
||||
s_bTestConeTwistMotor = false;
|
||||
}
|
||||
#endif
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{ // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
|
||||
btRigidBody* pBody = createRigidBody( 1.0, tr, shape);
|
||||
pBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
const btVector3 btPivotA( 10.0f, 0.0f, 0.0f );
|
||||
btVector3 btAxisA( 0.0f, 0.0f, 1.0f );
|
||||
|
||||
btHingeConstraint* pHinge = new btHingeConstraint( *pBody, btPivotA, btAxisA );
|
||||
// pHinge->enableAngularMotor(true, -1.0, 0.165); // use for the old solver
|
||||
pHinge->enableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver
|
||||
m_dynamicsWorld->addConstraint(pHinge);
|
||||
pHinge->setDbgDrawSize(btScalar(5.f));
|
||||
}
|
||||
#endif
|
||||
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{
|
||||
// create a universal joint using generic 6DOF constraint
|
||||
// create two rigid bodies
|
||||
// static bodyA (parent) on top:
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(20.), btScalar(4.), btScalar(0.)));
|
||||
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
|
||||
pBodyA->setActivationState(DISABLE_DEACTIVATION);
|
||||
// dynamic bodyB (child) below it :
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(20.), btScalar(0.), btScalar(0.)));
|
||||
btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
|
||||
pBodyB->setActivationState(DISABLE_DEACTIVATION);
|
||||
// add some (arbitrary) data to build constraint frames
|
||||
btVector3 parentAxis(1.f, 0.f, 0.f);
|
||||
btVector3 childAxis(0.f, 0.f, 1.f);
|
||||
btVector3 anchor(20.f, 2.f, 0.f);
|
||||
|
||||
btUniversalConstraint* pUniv = new btUniversalConstraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis);
|
||||
pUniv->setLowerLimit(-SIMD_HALF_PI * 0.5f, -SIMD_HALF_PI * 0.5f);
|
||||
pUniv->setUpperLimit(SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f);
|
||||
// add constraint to world
|
||||
m_dynamicsWorld->addConstraint(pUniv, true);
|
||||
// draw constraint frames and limits for debugging
|
||||
pUniv->setDbgDrawSize(btScalar(5.f));
|
||||
}
|
||||
#endif
|
||||
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{ // create a generic 6DOF constraint with springs
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-20.), btScalar(16.), btScalar(0.)));
|
||||
tr.getBasis().setEulerZYX(0,0,0);
|
||||
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
|
||||
pBodyA->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-10.), btScalar(16.), btScalar(0.)));
|
||||
tr.getBasis().setEulerZYX(0,0,0);
|
||||
btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
|
||||
pBodyB->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
btTransform frameInA, frameInB;
|
||||
frameInA = btTransform::getIdentity();
|
||||
frameInA.setOrigin(btVector3(btScalar(10.), btScalar(0.), btScalar(0.)));
|
||||
frameInB = btTransform::getIdentity();
|
||||
frameInB.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
|
||||
|
||||
btGeneric6DofSpringConstraint* pGen6DOFSpring = new btGeneric6DofSpringConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true);
|
||||
pGen6DOFSpring->setLinearUpperLimit(btVector3(5., 0., 0.));
|
||||
pGen6DOFSpring->setLinearLowerLimit(btVector3(-5., 0., 0.));
|
||||
|
||||
pGen6DOFSpring->setAngularLowerLimit(btVector3(0.f, 0.f, -1.5f));
|
||||
pGen6DOFSpring->setAngularUpperLimit(btVector3(0.f, 0.f, 1.5f));
|
||||
|
||||
m_dynamicsWorld->addConstraint(pGen6DOFSpring, true);
|
||||
pGen6DOFSpring->setDbgDrawSize(btScalar(5.f));
|
||||
|
||||
pGen6DOFSpring->enableSpring(0, true);
|
||||
pGen6DOFSpring->setStiffness(0, 39.478f);
|
||||
pGen6DOFSpring->setDamping(0, 0.5f);
|
||||
pGen6DOFSpring->enableSpring(5, true);
|
||||
pGen6DOFSpring->setStiffness(5, 39.478f);
|
||||
pGen6DOFSpring->setDamping(0, 0.3f);
|
||||
pGen6DOFSpring->setEquilibriumPoint();
|
||||
}
|
||||
#endif
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{
|
||||
// create a Hinge2 joint
|
||||
// create two rigid bodies
|
||||
// static bodyA (parent) on top:
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-20.), btScalar(4.), btScalar(0.)));
|
||||
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
|
||||
pBodyA->setActivationState(DISABLE_DEACTIVATION);
|
||||
// dynamic bodyB (child) below it :
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-20.), btScalar(0.), btScalar(0.)));
|
||||
btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
|
||||
pBodyB->setActivationState(DISABLE_DEACTIVATION);
|
||||
// add some data to build constraint frames
|
||||
btVector3 parentAxis(0.f, 1.f, 0.f);
|
||||
btVector3 childAxis(1.f, 0.f, 0.f);
|
||||
btVector3 anchor(-20.f, 0.f, 0.f);
|
||||
btHinge2Constraint* pHinge2 = new btHinge2Constraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis);
|
||||
pHinge2->setLowerLimit(-SIMD_HALF_PI * 0.5f);
|
||||
pHinge2->setUpperLimit( SIMD_HALF_PI * 0.5f);
|
||||
// add constraint to world
|
||||
m_dynamicsWorld->addConstraint(pHinge2, true);
|
||||
// draw constraint frames and limits for debugging
|
||||
pHinge2->setDbgDrawSize(btScalar(5.f));
|
||||
}
|
||||
#endif
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{
|
||||
// create a Hinge joint between two dynamic bodies
|
||||
// create two rigid bodies
|
||||
// static bodyA (parent) on top:
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-20.), btScalar(-2.), btScalar(0.)));
|
||||
btRigidBody* pBodyA = createRigidBody( 1.0f, tr, shape);
|
||||
pBodyA->setActivationState(DISABLE_DEACTIVATION);
|
||||
// dynamic bodyB:
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-30.), btScalar(-2.), btScalar(0.)));
|
||||
btRigidBody* pBodyB = createRigidBody(10.0, tr, shape);
|
||||
pBodyB->setActivationState(DISABLE_DEACTIVATION);
|
||||
// add some data to build constraint frames
|
||||
btVector3 axisA(0.f, 1.f, 0.f);
|
||||
btVector3 axisB(0.f, 1.f, 0.f);
|
||||
btVector3 pivotA(-5.f, 0.f, 0.f);
|
||||
btVector3 pivotB( 5.f, 0.f, 0.f);
|
||||
spHingeDynAB = new btHingeConstraint(*pBodyA, *pBodyB, pivotA, pivotB, axisA, axisB);
|
||||
spHingeDynAB->setLimit(-SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f);
|
||||
// add constraint to world
|
||||
m_dynamicsWorld->addConstraint(spHingeDynAB, true);
|
||||
// draw constraint frames and limits for debugging
|
||||
spHingeDynAB->setDbgDrawSize(btScalar(5.f));
|
||||
}
|
||||
#endif
|
||||
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{ // 6DOF connected to the world, with motor
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(10.), btScalar(-15.), btScalar(0.)));
|
||||
btRigidBody* pBody = createRigidBody( 1.0, tr, shape);
|
||||
pBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
btTransform frameB;
|
||||
frameB.setIdentity();
|
||||
btGeneric6DofConstraint* pGen6Dof = new btGeneric6DofConstraint( *pBody, frameB, false );
|
||||
m_dynamicsWorld->addConstraint(pGen6Dof);
|
||||
pGen6Dof->setDbgDrawSize(btScalar(5.f));
|
||||
|
||||
pGen6Dof->setAngularLowerLimit(btVector3(0,0,0));
|
||||
pGen6Dof->setAngularUpperLimit(btVector3(0,0,0));
|
||||
pGen6Dof->setLinearLowerLimit(btVector3(-10., 0, 0));
|
||||
pGen6Dof->setLinearUpperLimit(btVector3(10., 0, 0));
|
||||
|
||||
pGen6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true;
|
||||
pGen6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f;
|
||||
pGen6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 0.1f;
|
||||
}
|
||||
#endif
|
||||
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
|
||||
|
||||
}
|
||||
|
||||
void AllConstraintDemo::exitPhysics()
|
||||
{
|
||||
|
||||
int i;
|
||||
|
||||
//removed/delete constraints
|
||||
for (i=m_dynamicsWorld->getNumConstraints()-1; i>=0 ;i--)
|
||||
{
|
||||
btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
|
||||
m_dynamicsWorld->removeConstraint(constraint);
|
||||
delete constraint;
|
||||
}
|
||||
m_ctc = NULL;
|
||||
|
||||
//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;
|
||||
}
|
||||
|
||||
m_collisionShapes.clear();
|
||||
|
||||
//delete dynamics world
|
||||
delete m_dynamicsWorld;
|
||||
m_dynamicsWorld=0;
|
||||
|
||||
//delete solver
|
||||
delete m_solver;
|
||||
m_solver=0;
|
||||
|
||||
//delete broadphase
|
||||
delete m_broadphase;
|
||||
m_broadphase=0;
|
||||
|
||||
//delete dispatcher
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
|
||||
}
|
||||
|
||||
AllConstraintDemo::AllConstraintDemo(struct GUIHelperInterface* helper)
|
||||
:CommonRigidBodyBase(helper)
|
||||
{
|
||||
}
|
||||
|
||||
AllConstraintDemo::~AllConstraintDemo()
|
||||
{
|
||||
//cleanup in the reverse order of creation/initialization
|
||||
|
||||
btAssert(m_dynamicsWorld==0);
|
||||
|
||||
}
|
||||
|
||||
#if 0
|
||||
void AllConstraintDemo::clientMoveAndDisplay()
|
||||
{
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
float dt = float(getDeltaTimeMicroseconds()) * 0.000001f;
|
||||
//printf("dt = %f: ",dt);
|
||||
|
||||
// drive cone-twist motor
|
||||
m_Time += 0.03f;
|
||||
if (s_bTestConeTwistMotor)
|
||||
{ // this works only for obsolete constraint solver for now
|
||||
// build cone target
|
||||
btScalar t = 1.25f*m_Time;
|
||||
btVector3 axis(0,sin(t),cos(t));
|
||||
axis.normalize();
|
||||
btQuaternion q1(axis, 0.75f*SIMD_PI);
|
||||
|
||||
// build twist target
|
||||
//btQuaternion q2(0,0,0);
|
||||
//btQuaternion q2(btVehictor3(1,0,0), -0.3*sin(m_Time));
|
||||
btQuaternion q2(btVector3(1,0,0), -1.49f*btSin(1.5f*m_Time));
|
||||
|
||||
// compose cone + twist and set target
|
||||
q1 = q1 * q2;
|
||||
m_ctc->enableMotor(true);
|
||||
m_ctc->setMotorTargetInConstraintSpace(q1);
|
||||
}
|
||||
|
||||
{
|
||||
static bool once = true;
|
||||
if ( m_dynamicsWorld->getDebugDrawer() && once)
|
||||
{
|
||||
m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawConstraints+btIDebugDraw::DBG_DrawConstraintLimits);
|
||||
once=false;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
{
|
||||
//during idle mode, just run 1 simulation step maximum
|
||||
int maxSimSubSteps = m_idle ? 1 : 1;
|
||||
if (m_idle)
|
||||
dt = 1.0f/420.f;
|
||||
|
||||
int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
|
||||
|
||||
//optional but useful: debug drawing
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
bool verbose = false;
|
||||
if (verbose)
|
||||
{
|
||||
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);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
renderme();
|
||||
|
||||
// drawLimit();
|
||||
|
||||
glFlush();
|
||||
swapBuffers();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void AllConstraintDemo::displayCallback(void) {
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
// drawLimit();
|
||||
|
||||
renderme();
|
||||
|
||||
glFlush();
|
||||
swapBuffers();
|
||||
}
|
||||
#endif
|
||||
|
||||
void AllConstraintDemo::keyboardCallback(unsigned char key, int x, int y)
|
||||
{
|
||||
(void)x;
|
||||
(void)y;
|
||||
switch (key)
|
||||
{
|
||||
case 'O' :
|
||||
{
|
||||
bool offectOnOff;
|
||||
if(spDoorHinge)
|
||||
{
|
||||
offectOnOff = spDoorHinge->getUseFrameOffset();
|
||||
offectOnOff = !offectOnOff;
|
||||
spDoorHinge->setUseFrameOffset(offectOnOff);
|
||||
printf("DoorHinge %s frame offset\n", offectOnOff ? "uses" : "does not use");
|
||||
}
|
||||
if(spHingeDynAB)
|
||||
{
|
||||
offectOnOff = spHingeDynAB->getUseFrameOffset();
|
||||
offectOnOff = !offectOnOff;
|
||||
spHingeDynAB->setUseFrameOffset(offectOnOff);
|
||||
printf("HingeDynAB %s frame offset\n", offectOnOff ? "uses" : "does not use");
|
||||
}
|
||||
if(spSlider6Dof)
|
||||
{
|
||||
offectOnOff = spSlider6Dof->getUseFrameOffset();
|
||||
offectOnOff = !offectOnOff;
|
||||
spSlider6Dof->setUseFrameOffset(offectOnOff);
|
||||
printf("Slider6Dof %s frame offset\n", offectOnOff ? "uses" : "does not use");
|
||||
}
|
||||
}
|
||||
break;
|
||||
default :
|
||||
{
|
||||
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
class ExampleInterface* AllConstraintCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
|
||||
{
|
||||
return new AllConstraintDemo(helper);
|
||||
}
|
||||
22
examples/Constraints/ConstraintDemo.h
Normal file
22
examples/Constraints/ConstraintDemo.h
Normal file
@ -0,0 +1,22 @@
|
||||
/*
|
||||
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 ALL_CONSTRAINT_DEMO_H
|
||||
#define ALL_CONSTRAINT_DEMO_H
|
||||
|
||||
class ExampleInterface* AllConstraintCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
|
||||
|
||||
|
||||
#endif //ALL_CONSTRAINT_DEMO_H
|
||||
|
||||
@ -24,7 +24,8 @@
|
||||
#include "../MultiBody/MultiBodyCustomURDFDemo.h"
|
||||
#include "../VoronoiFracture/VoronoiFractureDemo.h"
|
||||
#include "../SoftDemo/SoftDemo.h"
|
||||
|
||||
#include "../Constraints/ConstraintDemo.h"
|
||||
#include "../Vehicles/Hinge2Vehicle.h"
|
||||
|
||||
struct ExampleEntry
|
||||
{
|
||||
@ -59,9 +60,11 @@ static ExampleEntry gDefaultExamples[]=
|
||||
ExampleEntry(1,"Constraints","Use of a btHingeConstraint. You can adjust the first slider to change the target velocity, and the second slider to adjust the maximum impulse applied to reach the target velocity. Note that the hinge angle can reach beyond -360 and 360 degrees.", ConstraintCreateFunc),
|
||||
ExampleEntry(1,"6DofSpring2","Show the use of the btGeneric6DofSpring2Constraint.",
|
||||
Dof6Spring2CreateFunc),
|
||||
ExampleEntry(1,"Voronoi Fracture", "Automatically create a compound rigid body using voronoi tesselation. Individual parts are modeled as rigid bodies using a btConvexHullShape.",
|
||||
VoronoiFractureCreateFunc),
|
||||
|
||||
ExampleEntry(1,"Constraints","Show the use of the various constraints in Bullet.",
|
||||
AllConstraintCreateFunc),
|
||||
|
||||
|
||||
ExampleEntry(0,"MultiBody"),
|
||||
ExampleEntry(1,"MultiDofCreateFunc","Create a basic btMultiBody.", MultiDofCreateFunc),
|
||||
ExampleEntry(1,"TestJointTorque","Apply a torque to a btMultiBody.", TestJointTorqueCreateFunc),
|
||||
@ -122,6 +125,8 @@ static ExampleEntry gDefaultExamples[]=
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
||||
ExampleEntry(0,"Importers"),
|
||||
ExampleEntry(1,"Wavefront Obj", "Import a Wavefront .obj file", ImportObjCreateFunc, 0),
|
||||
|
||||
@ -134,12 +139,18 @@ static ExampleEntry gDefaultExamples[]=
|
||||
ImportURDFCreateFunc, 1),
|
||||
|
||||
ExampleEntry(0,"Vehicles"),
|
||||
|
||||
ExampleEntry(1,"Hinge2 Vehicle", "A rigid body chassis with 4 rigid body wheels attached by a btHinge2Constraint",Hinge2VehicleCreateFunc),
|
||||
ExampleEntry(1,"ForkLift","Simulate a fork lift vehicle with a working fork lift that can be moved using the cursor keys. The wheels collision is simplified using ray tests."
|
||||
"There are currently some issues with the wheel rendering, the wheels rotate when picking up the object."
|
||||
"The demo implementation allows to choose various MLCP constraint solvers.",
|
||||
ForkLiftCreateFunc),
|
||||
|
||||
ExampleEntry(1,"Advanced"),
|
||||
|
||||
ExampleEntry(1,"Voronoi Fracture", "Automatically create a compound rigid body using voronoi tesselation. Individual parts are modeled as rigid bodies using a btConvexHullShape.",
|
||||
VoronoiFractureCreateFunc),
|
||||
|
||||
|
||||
ExampleEntry(0,"Rendering"),
|
||||
ExampleEntry(1,"Instanced Rendering", "Simple example of fast instanced rendering, only active when using OpenGL3+.",RenderInstancingCreateFunc),
|
||||
ExampleEntry(1,"CoordinateSystemDemo","Show the axis and positive rotation direction around the axis.", CoordinateSystemCreateFunc),
|
||||
|
||||
@ -31,6 +31,7 @@
|
||||
"../VoronoiFracture/*",
|
||||
"../SoftDemo/*",
|
||||
"../Constraints/*",
|
||||
"../Vehicles/*",
|
||||
"../MultiBody/MultiBodyCustomURDFDemo.cpp",
|
||||
"../MultiBody/MultiDofDemo.cpp",
|
||||
"../MultiBody/TestJointTorqueSetup.cpp",
|
||||
|
||||
52
examples/SimpleOpenGL3/CMakeLists.txt
Normal file
52
examples/SimpleOpenGL3/CMakeLists.txt
Normal file
@ -0,0 +1,52 @@
|
||||
|
||||
|
||||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/btgui
|
||||
)
|
||||
|
||||
|
||||
SET(AppSimpleOpenGL3_SRCS
|
||||
main.cpp
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
gwen OpenGLWindow Bullet3Common ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
SET(AppSimpleOpenGL3_SRCS ${AppSimpleOpenGL3_SRCS} ${AppSimpleOpenGL3_Common_SRCS})
|
||||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
|
||||
)
|
||||
ADD_DEFINITIONS(-DGLEW_STATIC)
|
||||
ELSE(WIN32)
|
||||
IF(APPLE)
|
||||
find_library(COCOA NAMES Cocoa)
|
||||
MESSAGE(${COCOA})
|
||||
link_libraries(${COCOA})
|
||||
ELSE(APPLE)
|
||||
|
||||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
|
||||
)
|
||||
ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
|
||||
ADD_DEFINITIONS("-DGLEW_STATIC")
|
||||
ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
|
||||
|
||||
LINK_LIBRARIES( X11 pthread dl Xext)
|
||||
ENDIF(APPLE)
|
||||
ENDIF(WIN32)
|
||||
|
||||
|
||||
ADD_EXECUTABLE(AppSimpleOpenGL3
|
||||
${AppSimpleOpenGL3_SRCS}
|
||||
)
|
||||
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppSimpleOpenGL3 PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppSimpleOpenGL3 PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppSimpleOpenGL3 PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
57
examples/SimpleOpenGL3/main.cpp
Normal file
57
examples/SimpleOpenGL3/main.cpp
Normal file
@ -0,0 +1,57 @@
|
||||
#include "OpenGLWindow/SimpleOpenGL3App.h"
|
||||
#include "Bullet3Common/b3Vector3.h"
|
||||
#include "Bullet3Common/b3CommandLineArgs.h"
|
||||
#include "assert.h"
|
||||
#include <stdio.h>
|
||||
#include "OpenGLWindow/OpenGLInclude.h"
|
||||
|
||||
char* gVideoFileName = 0;
|
||||
char* gPngFileName = 0;
|
||||
|
||||
int main(int argc, char* argv[])
|
||||
{
|
||||
b3CommandLineArgs myArgs(argc,argv);
|
||||
|
||||
|
||||
SimpleOpenGL3App* app = new SimpleOpenGL3App("SimpleOpenGL3App",1024,768);
|
||||
app->m_instancingRenderer->setCameraDistance(13);
|
||||
app->m_instancingRenderer->setCameraPitch(0);
|
||||
app->m_instancingRenderer->setCameraTargetPosition(b3MakeVector3(0,0,0));
|
||||
|
||||
assert(glGetError()==GL_NO_ERROR);
|
||||
|
||||
myArgs.GetCmdLineArgument("mp4_file",gVideoFileName);
|
||||
if (gVideoFileName)
|
||||
app->dumpFramesToVideo(gVideoFileName);
|
||||
|
||||
myArgs.GetCmdLineArgument("png_file",gPngFileName);
|
||||
char fileName[1024];
|
||||
|
||||
do
|
||||
{
|
||||
static int frameCount = 0;
|
||||
frameCount++;
|
||||
if (gPngFileName)
|
||||
{
|
||||
printf("gPngFileName=%s\n",gPngFileName);
|
||||
|
||||
sprintf(fileName,"%s%d.png",gPngFileName,frameCount++);
|
||||
app->dumpNextFrameToPng(fileName);
|
||||
}
|
||||
|
||||
assert(glGetError()==GL_NO_ERROR);
|
||||
app->m_instancingRenderer->init();
|
||||
app->m_instancingRenderer->updateCamera();
|
||||
|
||||
app->drawGrid();
|
||||
char bla[1024];
|
||||
sprintf(bla,"Simple test frame %d", frameCount);
|
||||
|
||||
app->drawText(bla,10,10);
|
||||
app->swapBuffer();
|
||||
} while (!app->m_window->requestedExit());
|
||||
|
||||
|
||||
delete app;
|
||||
return 0;
|
||||
}
|
||||
28
examples/SimpleOpenGL3/premake4.lua
Normal file
28
examples/SimpleOpenGL3/premake4.lua
Normal file
@ -0,0 +1,28 @@
|
||||
|
||||
project "App_SimpleOpenGL3"
|
||||
|
||||
language "C++"
|
||||
|
||||
kind "ConsoleApp"
|
||||
|
||||
includedirs {
|
||||
".",
|
||||
"../../src",
|
||||
".."
|
||||
}
|
||||
|
||||
|
||||
links{ "OpenGL_Window","Bullet3Common"}
|
||||
initOpenGL()
|
||||
initGlew()
|
||||
|
||||
files {
|
||||
"*.cpp",
|
||||
"*.h",
|
||||
}
|
||||
|
||||
if os.is("Linux") then initX11() end
|
||||
|
||||
if os.is("MacOSX") then
|
||||
links{"Cocoa.framework"}
|
||||
end
|
||||
1323
examples/Vehicles/Hinge2Vehicle.cpp
Normal file
1323
examples/Vehicles/Hinge2Vehicle.cpp
Normal file
File diff suppressed because it is too large
Load Diff
23
examples/Vehicles/Hinge2Vehicle.h
Normal file
23
examples/Vehicles/Hinge2Vehicle.h
Normal file
@ -0,0 +1,23 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2015 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 HINGE2_VEHICLE_H
|
||||
#define HINGE2_VEHICLE_H
|
||||
|
||||
class ExampleInterface* Hinge2VehicleCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
|
||||
|
||||
#endif // HINGE2_VEHICLE_H
|
||||
|
||||
|
||||
@ -25,7 +25,7 @@ subject to the following restrictions:
|
||||
// anchor, axis1 and axis2 are in world coordinate system
|
||||
// axis1 must be orthogonal to axis2
|
||||
btHinge2Constraint::btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2)
|
||||
: btGeneric6DofSpringConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
|
||||
: btGeneric6DofSpring2Constraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(),RO_XYZ),
|
||||
m_anchor(anchor),
|
||||
m_axis1(axis1),
|
||||
m_axis2(axis2)
|
||||
@ -59,7 +59,7 @@ btHinge2Constraint::btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVec
|
||||
setAngularUpperLimit(btVector3(-1.f, 0.f, SIMD_HALF_PI * 0.5f));
|
||||
// enable suspension
|
||||
enableSpring(2, true);
|
||||
setStiffness(2, SIMD_PI * SIMD_PI * 4.f); // period 1 sec for 1 kilogramm weel :-)
|
||||
setStiffness(2, SIMD_PI * SIMD_PI * 4.f);
|
||||
setDamping(2, 0.01f);
|
||||
setEquilibriumPoint();
|
||||
}
|
||||
|
||||
@ -20,7 +20,7 @@ subject to the following restrictions:
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "btTypedConstraint.h"
|
||||
#include "btGeneric6DofSpringConstraint.h"
|
||||
#include "btGeneric6DofSpring2Constraint.h"
|
||||
|
||||
|
||||
|
||||
@ -29,7 +29,7 @@ subject to the following restrictions:
|
||||
// 2 rotational degrees of freedom, similar to Euler rotations around Z (axis 1) and X (axis 2)
|
||||
// 1 translational (along axis Z) with suspension spring
|
||||
|
||||
ATTRIBUTE_ALIGNED16(class) btHinge2Constraint : public btGeneric6DofSpringConstraint
|
||||
ATTRIBUTE_ALIGNED16(class) btHinge2Constraint : public btGeneric6DofSpring2Constraint
|
||||
{
|
||||
protected:
|
||||
btVector3 m_anchor;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user