mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 22:00:05 +00:00
dba239fe8d
A fileIO plugin can override custom file IO operations. As a small test, load files from a zipfile in memory. Default fileIO implementation is in examples/Utils/b3BulletDefaultFileIO.h Affects URDF, SDF, MJCF, Wavefront OBJ, STL, DAE, images.
271 lines
9.2 KiB
C++
271 lines
9.2 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
///create 125 (5x5x5) dynamic object
|
|
#define ARRAY_SIZE_X 5
|
|
#define ARRAY_SIZE_Y 5
|
|
#define ARRAY_SIZE_Z 5
|
|
|
|
//maximum number of objects (and allow user to shoot additional boxes)
|
|
#define MAX_PROXIES (ARRAY_SIZE_X * ARRAY_SIZE_Y * ARRAY_SIZE_Z + 1024)
|
|
|
|
///scaling of the objects (0.1 = 20 centimeter boxes )
|
|
#define SCALING 1.
|
|
#define START_POS_X -5
|
|
#define START_POS_Y -5
|
|
#define START_POS_Z -3
|
|
|
|
#include "RollingFrictionDemo.h"
|
|
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
|
|
#include "btBulletDynamicsCommon.h"
|
|
#include <stdio.h> //printf debugging
|
|
|
|
#include "../CommonInterfaces/CommonRigidBodyBase.h"
|
|
#include "../Utils/b3ResourcePath.h"
|
|
|
|
///The RollingFrictionDemo shows the use of rolling friction.
|
|
///Spheres will come to a rest on a sloped plane using a constraint. Damping cannot achieve the same.
|
|
///Generally it is best to leave the rolling friction coefficient zero (or close to zero).
|
|
class RollingFrictionDemo : public CommonRigidBodyBase
|
|
{
|
|
public:
|
|
RollingFrictionDemo(struct GUIHelperInterface* helper)
|
|
: CommonRigidBodyBase(helper)
|
|
{
|
|
}
|
|
virtual ~RollingFrictionDemo()
|
|
{
|
|
}
|
|
void initPhysics();
|
|
|
|
void exitPhysics();
|
|
|
|
void resetCamera()
|
|
{
|
|
float dist = 35;
|
|
float pitch = -14;
|
|
float yaw = 0;
|
|
float targetPos[3] = {0, 0, 0};
|
|
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
|
|
}
|
|
};
|
|
|
|
void RollingFrictionDemo::initPhysics()
|
|
{
|
|
m_guiHelper->setUpAxis(2);
|
|
|
|
///collision configuration contains default setup for memory, collision setup
|
|
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
|
//m_collisionConfiguration->setConvexConvexMultipointIterations();
|
|
|
|
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
|
|
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
|
|
|
m_broadphase = new btDbvtBroadphase();
|
|
|
|
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
|
|
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
|
|
m_solver = sol;
|
|
|
|
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
|
|
// m_dynamicsWorld->getSolverInfo().m_singleAxisRollingFrictionThreshold = 0.f;//faster but lower quality
|
|
m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
|
|
|
|
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
|
|
|
{
|
|
///create a few basic rigid bodies
|
|
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(10.), btScalar(5.), btScalar(25.)));
|
|
|
|
m_collisionShapes.push_back(groundShape);
|
|
|
|
btTransform groundTransform;
|
|
groundTransform.setIdentity();
|
|
groundTransform.setOrigin(btVector3(0, 0, -28));
|
|
groundTransform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI * 0.03));
|
|
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
|
|
btScalar mass(0.);
|
|
|
|
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
|
bool isDynamic = (mass != 0.f);
|
|
|
|
btVector3 localInertia(0, 0, 0);
|
|
if (isDynamic)
|
|
groundShape->calculateLocalInertia(mass, localInertia);
|
|
|
|
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
|
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
|
|
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
|
|
btRigidBody* body = new btRigidBody(rbInfo);
|
|
body->setFriction(.5);
|
|
|
|
//add the body to the dynamics world
|
|
m_dynamicsWorld->addRigidBody(body);
|
|
}
|
|
|
|
{
|
|
///create a few basic rigid bodies
|
|
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(100.), btScalar(100.), btScalar(50.)));
|
|
|
|
m_collisionShapes.push_back(groundShape);
|
|
|
|
btTransform groundTransform;
|
|
groundTransform.setIdentity();
|
|
groundTransform.setOrigin(btVector3(0, 0, -54));
|
|
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
|
|
btScalar mass(0.);
|
|
|
|
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
|
bool isDynamic = (mass != 0.f);
|
|
|
|
btVector3 localInertia(0, 0, 0);
|
|
if (isDynamic)
|
|
groundShape->calculateLocalInertia(mass, localInertia);
|
|
|
|
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
|
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
|
|
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
|
|
btRigidBody* body = new btRigidBody(rbInfo);
|
|
body->setFriction(.1);
|
|
//add the body to the dynamics world
|
|
m_dynamicsWorld->addRigidBody(body);
|
|
}
|
|
|
|
{
|
|
//create a few dynamic rigidbodies
|
|
// Re-using the same collision is better for memory usage and performance
|
|
#define NUM_SHAPES 10
|
|
btCollisionShape* colShapes[NUM_SHAPES] = {
|
|
new btSphereShape(btScalar(0.5)),
|
|
new btCapsuleShape(0.25, 0.5),
|
|
new btCapsuleShapeX(0.25, 0.5),
|
|
new btCapsuleShapeZ(0.25, 0.5),
|
|
new btConeShape(0.25, 0.5),
|
|
new btConeShapeX(0.25, 0.5),
|
|
new btConeShapeZ(0.25, 0.5),
|
|
new btCylinderShape(btVector3(0.25, 0.5, 0.25)),
|
|
new btCylinderShapeX(btVector3(0.5, 0.25, 0.25)),
|
|
new btCylinderShapeZ(btVector3(0.25, 0.25, 0.5)),
|
|
};
|
|
for (int i = 0; i < NUM_SHAPES; i++)
|
|
m_collisionShapes.push_back(colShapes[i]);
|
|
|
|
/// Create Dynamic Objects
|
|
btTransform startTransform;
|
|
startTransform.setIdentity();
|
|
|
|
btScalar mass(1.f);
|
|
|
|
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
|
|
|
float start_x = START_POS_X - ARRAY_SIZE_X / 2;
|
|
float start_y = START_POS_Y;
|
|
float start_z = START_POS_Z - ARRAY_SIZE_Z / 2;
|
|
|
|
{
|
|
int shapeIndex = 0;
|
|
for (int k = 0; k < ARRAY_SIZE_Y; k++)
|
|
{
|
|
for (int i = 0; i < ARRAY_SIZE_X; i++)
|
|
{
|
|
for (int j = 0; j < ARRAY_SIZE_Z; j++)
|
|
{
|
|
startTransform.setOrigin(SCALING * btVector3(
|
|
btScalar(2.0 * i + start_x),
|
|
btScalar(2.0 * j + start_z),
|
|
btScalar(20 + 2.0 * k + start_y)));
|
|
|
|
shapeIndex++;
|
|
btCollisionShape* colShape = colShapes[shapeIndex % NUM_SHAPES];
|
|
bool isDynamic = (mass != 0.f);
|
|
btVector3 localInertia(0, 0, 0);
|
|
|
|
if (isDynamic)
|
|
colShape->calculateLocalInertia(mass, localInertia);
|
|
|
|
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
|
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
|
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, colShape, localInertia);
|
|
btRigidBody* body = new btRigidBody(rbInfo);
|
|
body->setFriction(1.f);
|
|
body->setRollingFriction(.1);
|
|
body->setSpinningFriction(0.1);
|
|
body->setAnisotropicFriction(colShape->getAnisotropicRollingFrictionDirection(), btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
|
|
|
|
m_dynamicsWorld->addRigidBody(body);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
|
|
|
if (0)
|
|
{
|
|
btSerializer* s = new btDefaultSerializer;
|
|
m_dynamicsWorld->serialize(s);
|
|
char resourcePath[1024];
|
|
if (b3ResourcePath::findResourcePath("slope.bullet", resourcePath, 1024,0))
|
|
{
|
|
FILE* f = fopen(resourcePath, "wb");
|
|
fwrite(s->getBufferPointer(), s->getCurrentBufferSize(), 1, f);
|
|
fclose(f);
|
|
}
|
|
}
|
|
}
|
|
|
|
void RollingFrictionDemo::exitPhysics()
|
|
{
|
|
//cleanup in the reverse order of creation/initialization
|
|
|
|
//remove the rigidbodies from the dynamics world and delete them
|
|
int i;
|
|
for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
|
|
{
|
|
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
|
btRigidBody* body = btRigidBody::upcast(obj);
|
|
if (body && body->getMotionState())
|
|
{
|
|
delete body->getMotionState();
|
|
}
|
|
m_dynamicsWorld->removeCollisionObject(obj);
|
|
delete obj;
|
|
}
|
|
|
|
//delete collision shapes
|
|
for (int j = 0; j < m_collisionShapes.size(); j++)
|
|
{
|
|
btCollisionShape* shape = m_collisionShapes[j];
|
|
delete shape;
|
|
}
|
|
m_collisionShapes.clear();
|
|
|
|
delete m_dynamicsWorld;
|
|
|
|
delete m_solver;
|
|
|
|
delete m_broadphase;
|
|
|
|
delete m_dispatcher;
|
|
|
|
delete m_collisionConfiguration;
|
|
}
|
|
|
|
class CommonExampleInterface* RollingFrictionCreateFunc(struct CommonExampleOptions& options)
|
|
{
|
|
return new RollingFrictionDemo(options.m_guiHelper);
|
|
}
|