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https://github.com/bulletphysics/bullet3
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ab8f16961e
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
136 lines
4.4 KiB
C++
136 lines
4.4 KiB
C++
/*
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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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#include "Bridge.h"
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "../CommonInterfaces/CommonRigidBodyBase.h"
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const int TOTAL_PLANKS = 10;
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struct BridgeExample : public CommonRigidBodyBase
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{
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BridgeExample(struct GUIHelperInterface* helper)
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: CommonRigidBodyBase(helper)
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{
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}
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virtual ~BridgeExample() {}
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virtual void initPhysics();
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virtual void renderScene();
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void resetCamera()
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{
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float dist = 41;
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float pitch = -35;
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float yaw = 52;
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float targetPos[3] = {0, 0.46, 0};
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m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
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}
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};
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void BridgeExample::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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createEmptyDynamicsWorld();
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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if (m_dynamicsWorld->getDebugDrawer())
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m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawContactPoints);
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///create a few basic rigid bodies
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btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.), btScalar(50.), btScalar(50.)));
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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, -50, 0));
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{
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btScalar mass(0.);
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createRigidBody(mass, groundTransform, groundShape, btVector4(0, 0, 1, 1));
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}
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//create two fixed boxes to hold the planks
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{
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//create a few dynamic rigidbodies
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// Re-using the same collision is better for memory usage and performance
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btScalar plankWidth = 0.4;
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btScalar plankHeight = 0.2;
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btScalar plankBreadth = 1;
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btScalar plankOffset = plankWidth; //distance between two planks
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btScalar bridgeWidth = plankWidth * TOTAL_PLANKS + plankOffset * (TOTAL_PLANKS - 1);
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btScalar bridgeHeight = 5;
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btScalar halfBridgeWidth = bridgeWidth * 0.5f;
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btBoxShape* colShape = createBoxShape(btVector3(plankWidth, plankHeight, plankBreadth));
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m_collisionShapes.push_back(colShape);
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/// Create Dynamic Objects
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btTransform startTransform;
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startTransform.setIdentity();
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btScalar mass(1.f);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0, 0, 0);
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if (isDynamic)
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colShape->calculateLocalInertia(mass, localInertia);
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//create a set of boxes to represent bridge
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btAlignedObjectArray<btRigidBody*> boxes;
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int lastBoxIndex = TOTAL_PLANKS - 1;
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for (int i = 0; i < TOTAL_PLANKS; ++i)
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{
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float t = float(i) / lastBoxIndex;
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t = -(t * 2 - 1.0f) * halfBridgeWidth;
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startTransform.setOrigin(btVector3(
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btScalar(t),
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bridgeHeight,
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btScalar(0)));
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boxes.push_back(createRigidBody((i == 0 || i == lastBoxIndex) ? 0 : mass, startTransform, colShape));
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}
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//add N-1 spring constraints
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for (int i = 0; i < TOTAL_PLANKS - 1; ++i)
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{
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btRigidBody* b1 = boxes[i];
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btRigidBody* b2 = boxes[i + 1];
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btPoint2PointConstraint* leftSpring = new btPoint2PointConstraint(*b1, *b2, btVector3(-0.5, 0, -0.5), btVector3(0.5, 0, -0.5));
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m_dynamicsWorld->addConstraint(leftSpring);
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btPoint2PointConstraint* rightSpring = new btPoint2PointConstraint(*b1, *b2, btVector3(-0.5, 0, 0.5), btVector3(0.5, 0, 0.5));
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m_dynamicsWorld->addConstraint(rightSpring);
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}
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}
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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}
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void BridgeExample::renderScene()
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{
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CommonRigidBodyBase::renderScene();
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}
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CommonExampleInterface* ET_BridgeCreateFunc(CommonExampleOptions& options)
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{
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return new BridgeExample(options.m_guiHelper);
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}
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