mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 06:00:12 +00:00
139 lines
3.7 KiB
C++
139 lines
3.7 KiB
C++
#include "GyroscopicSetup.h"
|
|
|
|
|
|
|
|
#include "../CommonInterfaces/CommonRigidBodyBase.h"
|
|
|
|
|
|
struct GyroscopicSetup : public CommonRigidBodyBase
|
|
{
|
|
|
|
GyroscopicSetup(struct GUIHelperInterface* helper);
|
|
|
|
virtual ~GyroscopicSetup()
|
|
{
|
|
}
|
|
virtual void initPhysics();
|
|
|
|
|
|
virtual void physicsDebugDraw(int debugFlags);
|
|
|
|
void resetCamera()
|
|
{
|
|
float dist = 20;
|
|
float pitch = -16;
|
|
float yaw = 180;
|
|
float targetPos[3]={-2.4,0.4,-0.24};
|
|
m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
|
|
}
|
|
|
|
};
|
|
|
|
|
|
static int gyroflags[4] = {
|
|
0,//none, no gyroscopic term
|
|
BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT,
|
|
BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD,
|
|
BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY
|
|
};
|
|
|
|
static const char* gyroNames[4] = {
|
|
"No Gyroscopic",
|
|
"Explicit",
|
|
"Implicit (World)",
|
|
"Implicit (Body)"
|
|
};
|
|
|
|
|
|
GyroscopicSetup::GyroscopicSetup(struct GUIHelperInterface* helper)
|
|
:CommonRigidBodyBase(helper)
|
|
{
|
|
|
|
}
|
|
|
|
void GyroscopicSetup::initPhysics()
|
|
{
|
|
m_guiHelper->setUpAxis(1);
|
|
createEmptyDynamicsWorld();
|
|
m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
|
|
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
|
|
|
|
|
btVector3 positions[4] = {
|
|
btVector3( -10, 8,4),
|
|
btVector3( -5, 8,4),
|
|
btVector3( 0, 8,4),
|
|
btVector3( 5, 8,4),
|
|
};
|
|
|
|
|
|
for (int i = 0; i<4; i++)
|
|
{
|
|
btCylinderShapeZ* pin = new btCylinderShapeZ(btVector3(0.1,0.1, 0.2));
|
|
btBoxShape* box = new btBoxShape(btVector3(1,0.1,0.1));
|
|
box->setMargin(0.01);
|
|
pin->setMargin(0.01);
|
|
btCompoundShape* compound = new btCompoundShape();
|
|
compound->addChildShape(btTransform::getIdentity(), pin);
|
|
btTransform offsetBox(btMatrix3x3::getIdentity(),btVector3(0,0,0.2));
|
|
compound->addChildShape(offsetBox, box);
|
|
btScalar masses[2] = {0.3,0.1};
|
|
btVector3 localInertia;
|
|
btTransform principal;
|
|
compound->calculatePrincipalAxisTransform(masses,principal,localInertia);
|
|
|
|
btRigidBody* body = new btRigidBody(1, 0, compound, localInertia);
|
|
btTransform tr;
|
|
tr.setIdentity();
|
|
tr.setOrigin(positions[i]);
|
|
body->setCenterOfMassTransform(tr);
|
|
body->setAngularVelocity(btVector3(0, 0.1, 10));//51));
|
|
//body->setLinearVelocity(btVector3(3, 0, 0));
|
|
body->setFriction(btSqrt(1));
|
|
m_dynamicsWorld->addRigidBody(body);
|
|
body->setFlags(gyroflags[i]);
|
|
m_dynamicsWorld->getSolverInfo().m_maxGyroscopicForce = 10.f;
|
|
body->setDamping(0.0000f, 0.000f);
|
|
|
|
|
|
}
|
|
|
|
{
|
|
//btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(0.5)));
|
|
btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0, 1, 0), 0);
|
|
|
|
m_collisionShapes.push_back(groundShape);
|
|
btTransform groundTransform;
|
|
groundTransform.setIdentity();
|
|
groundTransform.setOrigin(btVector3(0, 0, 0));
|
|
btRigidBody* groundBody;
|
|
groundBody = createRigidBody(0, groundTransform, groundShape);
|
|
groundBody->setFriction(btSqrt(2));
|
|
}
|
|
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
|
}
|
|
|
|
void GyroscopicSetup::physicsDebugDraw(int debugFlags)
|
|
{
|
|
CommonRigidBodyBase::physicsDebugDraw(debugFlags);
|
|
|
|
//render method names above objects
|
|
for (int i=0;i<m_dynamicsWorld->getNumCollisionObjects();i++)
|
|
{
|
|
btRigidBody* body = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[i]);
|
|
if (body && body->getInvMass()>0)
|
|
{
|
|
btTransform tr = body->getWorldTransform();
|
|
btVector3 pos = tr.getOrigin()+btVector3(0,0,2);
|
|
btScalar size=1;
|
|
m_guiHelper->drawText3D(gyroNames[i],pos.x(),pos.y(),pos.z(),size);
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
class CommonExampleInterface* GyroscopicCreateFunc(CommonExampleOptions& options)
|
|
{
|
|
return new GyroscopicSetup(options.m_guiHelper);
|
|
}
|