mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 05:40:05 +00:00
5151519b94
Summary of changes: 1) Changed include paths to be relative to the current sources (affected files: LoadMeshFromObj.cpp, Wavefront2GLInstanceGraphicsShape.h/cpp) 2) Added new tutorials in the ExtendedTutorials folder 3) Modified the main_opengl_single_example.cpp file to enable picking support in standalone demos
138 lines
3.9 KiB
C++
138 lines
3.9 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 "Chain.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_BOXES = 10;
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struct ChainExample : public CommonRigidBodyBase
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{
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ChainExample(struct GUIHelperInterface* helper)
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:CommonRigidBodyBase(helper)
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{
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}
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virtual ~ChainExample(){}
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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 = 52;
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float yaw = 35;
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float targetPos[3]={0,0.46,0};
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m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
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}
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};
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void ChainExample::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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{
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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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btBoxShape* colShape = createBoxShape(btVector3(1,1,0.25));
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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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btAlignedObjectArray<btRigidBody*> boxes;
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int lastBoxIndex = TOTAL_BOXES-1;
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for(int i=0;i<TOTAL_BOXES;++i) {
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startTransform.setOrigin(btVector3(
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btScalar(0),
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btScalar(5+i*2),
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btScalar(0)
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)
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);
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boxes.push_back(createRigidBody((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_BOXES-1;++i) {
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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(-0.5,1,0), btVector3(-0.5,-1,0));
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m_dynamicsWorld->addConstraint(leftSpring);
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btPoint2PointConstraint* rightSpring = new btPoint2PointConstraint(*b1, *b2, btVector3(0.5,1,0), btVector3(0.5,-1,0));
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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 ChainExample::renderScene()
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{
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CommonRigidBodyBase::renderScene();
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}
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CommonExampleInterface* ET_ChainCreateFunc(CommonExampleOptions& options)
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{
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return new ChainExample(options.m_guiHelper);
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}
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