mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-11 09:50:06 +00:00
138 lines
3.4 KiB
C++
138 lines
3.4 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 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 "CcdPhysicsEnvironment.h"
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#include "CcdPhysicsController.h"
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#include "MyMotionState.h"
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/GenIDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include "PHY_Pro.h"
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#include "BMF_Api.h"
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#include <stdio.h> //printf debugging
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#include "ConstraintDemo.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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const int numObjects = 3;
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#define CUBE_HALF_EXTENTS 1.f
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GLDebugDrawer debugDrawer;
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int main(int argc,char** argv)
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{
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ConstraintDemo* constraintDemo = new ConstraintDemo();
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constraintDemo->initPhysics();
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constraintDemo->setCameraDistance(46.f);
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return glutmain(argc, argv,640,480,"Constraint Demo. http://www.continuousphysics.com/Bullet/phpBB2/",constraintDemo);
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}
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void ConstraintDemo::initPhysics()
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{
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//ConstraintSolver* solver = new SequentialImpulseConstraintSolver;
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//ConstraintSolver* solver = new OdeConstraintSolver;
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CollisionDispatcher* dispatcher = new CollisionDispatcher();
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OverlappingPairCache* broadphase = new SimpleBroadphase();
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m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
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m_physicsEnvironmentPtr->setDeactivationTime(0.f);
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m_physicsEnvironmentPtr->setGravity(0,-10,0);
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CollisionShape* shape = new BoxShape(SimdVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
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SimdTransform trans;
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trans.setIdentity();
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trans.setOrigin(SimdVector3(0,20,0));
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bool isDynamic = false;
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float mass = 1.f;
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CcdPhysicsController* ctrl0 = LocalCreatePhysicsObject( isDynamic,mass,trans,shape);
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trans.setOrigin(SimdVector3(2*CUBE_HALF_EXTENTS,20,0));
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isDynamic = true;
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CcdPhysicsController* ctrl1 = LocalCreatePhysicsObject( isDynamic,mass,trans,shape);
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clientResetScene();
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{
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int constraintId;
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float pivotX=CUBE_HALF_EXTENTS,
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pivotY=-CUBE_HALF_EXTENTS,
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pivotZ=-CUBE_HALF_EXTENTS;
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float axisX=0,axisY=0,axisZ=1;
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constraintId =m_physicsEnvironmentPtr->createConstraint(
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ctrl0,
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ctrl1,
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PHY_POINT2POINT_CONSTRAINT,
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//PHY_GENERIC_6DOF_CONSTRAINT,//can leave any of the 6 degree of freedom 'free' or 'locked'
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//PHY_LINEHINGE_CONSTRAINT,
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pivotX,pivotY,pivotZ,
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axisX,axisY,axisZ
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);
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}
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}
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void ConstraintDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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float deltaTime = 1.f/60.f;
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m_physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
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renderme();
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glFlush();
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glutSwapBuffers();
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}
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void ConstraintDemo::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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renderme();
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glFlush();
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glutSwapBuffers();
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}
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