mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-07 08:10:08 +00:00
200 lines
6.2 KiB
C++
200 lines
6.2 KiB
C++
int NUM_OBJECTS_X = 35;
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int NUM_OBJECTS_Y = 35;
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int NUM_OBJECTS_Z = 35;
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float X_GAP = 2.3f;
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float Y_GAP = 2.f;
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float Z_GAP = 2.3f;
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bool keepStaticObjects = false;
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#include <stdio.h>
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#include "OpenGLInclude.h"
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#include "renderscene.h"
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#include "GLInstancingRenderer.h"
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//#include "LinearMath/btQuickprof.h"
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#include "BulletCommon/btQuaternion.h"
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#include "BulletCommon/btMatrix3x3.h"
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//#include "../opencl/gpu_rigidbody_pipeline/btConvexUtility.h"
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#include "ShapeData.h"
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///work-in-progress
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///This ReadBulletSample is kept as simple as possible without dependencies to the Bullet SDK.
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///It can be used to load .bullet data for other physics SDKs
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///For a more complete example how to load and convert Bullet data using the Bullet SDK check out
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///the Bullet/Demos/SerializeDemo and Bullet/Serialize/BulletWorldImporter
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//using namespace Bullet;
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struct GraphicsVertex
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{
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float xyzw[4];
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float normal[3];
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float uv[2];
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};
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struct GraphicsShape
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{
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const float* m_vertices;
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int m_numvertices;
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const int* m_indices;
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int m_numIndices;
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float m_scaling[4];
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};
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struct InstanceGroup
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{
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// Bullet::btCollisionShapeData* m_shape;
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int m_collisionShapeIndex;
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// btAlignedObjectArray<bParse::bStructHandle*> m_rigidBodies;
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};
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#define MY_UNITSPHERE_POINTS 42
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static btVector3 sUnitSpherePoints[MY_UNITSPHERE_POINTS] =
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{
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btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
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btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
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btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
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btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
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btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
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btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
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btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
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btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
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btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
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btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
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btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
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btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
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btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
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btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
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btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
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btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
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btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
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btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
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btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
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btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
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btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
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btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
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btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
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btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
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btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
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btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
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btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
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btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
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btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
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btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
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btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
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btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
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btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
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btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
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btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
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btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
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btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
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btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
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btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
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btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
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btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
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btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
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};
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void createSceneProgrammatically(GLInstancingRenderer& renderer)
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{
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int strideInBytes = sizeof(float)*9;
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bool noHeightField = false;
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int barrelShapeIndex = -1;
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int cubeShapeIndex = -1;
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int tetraShapeIndex = -1;
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float position[4]={0,0,0,0};
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btQuaternion born(btVector3(1,0,0),SIMD_PI*0.25*0.5);
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float orn[4] = {0,0,0,1};
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// float rotOrn[4] = {born.getX(),born.getY(),born.getZ(),born.getW()};//
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float rotOrn[4] ={0,0,0,1};
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float color[4] = {1,1,1,1};
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int index=0;
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float cubeScaling[4] = {1,1,1,1};
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{
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int numVertices = sizeof(cube_vertices)/strideInBytes;
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int numIndices = sizeof(cube_indices)/sizeof(int);
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cubeShapeIndex = renderer.registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
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}
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if (1)
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for (int i=0;i<NUM_OBJECTS_X;i++)
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{
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for (int j=0;j<NUM_OBJECTS_Y;j++)
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{
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int k=0;
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for (;k<NUM_OBJECTS_Z;k++)
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{
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float mass = 1.f;//j? 1.f : 0.f;
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position[0]=(i*X_GAP-NUM_OBJECTS_X/2)+(j&1);
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position[1]=1+(j*Y_GAP);//-NUM_OBJECTS_Y/2);
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position[2]=(k*Z_GAP-NUM_OBJECTS_Z/2)+(j&1);
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position[3] = 0.f;
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renderer.registerGraphicsInstance(cubeShapeIndex,position,rotOrn,color,cubeScaling);
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index++;
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}
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}
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}
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{
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{
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int numVertices = sizeof(tetra_vertices)/strideInBytes;
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int numIndices = sizeof(tetra_indices)/sizeof(int);
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tetraShapeIndex = renderer.registerShape(&tetra_vertices[0],numVertices,tetra_indices,numIndices);
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}
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{
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float groundScaling[4] = {2.5,2,2.5,1};
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for (int i=0;i<50;i++)
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for (int j=0;j<50;j++)
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if (1)
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{
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void* ptr = (void*) index;
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float posnew[4];
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posnew[0] = i*5.0-120;
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posnew[1] = 0;
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posnew[2] = j*5.0-120;
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posnew[3] = 1.f;
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color[0] = 1.f;
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color[1] = 0.f;
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color[2] = 0.f;
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renderer.registerGraphicsInstance(tetraShapeIndex,posnew,orn,color,groundScaling);
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}
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}
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}
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}
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