mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-11 01:40:10 +00:00
4894f24c9a
Added new cluster collision methods for soft bodies, thanks to Nathanael Presson. Enable/disable textures/shadows for specific demos.
124 lines
3.0 KiB
C++
124 lines
3.0 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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/*
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SimplexDemo demonstrated the working of the subdistance algorithm as used in GJK.
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It draws the simplex, and calculates the closest vector from simplex to the origin
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*/
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#include "GL_Simplex1to4.h"
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#include "LinearMath/btQuaternion.h"
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#include "LinearMath/btTransform.h"
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#include "GL_ShapeDrawer.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "SimplexDemo.h"
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#include "GlutStuff.h"
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btVoronoiSimplexSolver simplexSolver;
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float yaw=0.f,pitch=0.f,roll=0.f;
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const int maxNumObjects = 4;
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const int numObjects = 1;
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int screenWidth = 640;
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int screenHeight = 480;
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/// simplex contains the vertices, and some extra code to draw and debug
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GL_Simplex1to4 simplex;
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btPolyhedralConvexShape* shapePtr[maxNumObjects];
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///
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///
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///
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int main(int argc,char** argv)
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{
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SimplexDemo* demo = new SimplexDemo();
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demo->initPhysics();
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return glutmain(argc, argv,screenWidth,screenHeight,"SimplexDemo",demo);
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}
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//to be implemented by the demo
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void SimplexDemo::clientMoveAndDisplay()
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{
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displayCallback();
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}
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void SimplexDemo::displayCallback()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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glDisable(GL_LIGHTING);
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GL_ShapeDrawer::drawCoordSystem();
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btScalar m[16];
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int i;
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btVector3 worldBoundsMin(-1000,-1000,-1000);
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btVector3 worldBoundsMax(1000,1000,1000);
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for (i=0;i<numObjects;i++)
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{
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btTransform transA;
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transA.setIdentity();
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btVector3 dpos(0.f,5.f,0.f);
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transA.setOrigin( dpos );
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btQuaternion orn;
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orn.setEuler(yaw,pitch,roll);
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transA.setRotation(orn);
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transA.getOpenGLMatrix( m );
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/// draw the simplex
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m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
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/// calculate closest point from simplex to the origin, and draw this vector
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simplex.calcClosest(m);
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}
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pitch += 0.005f;
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yaw += 0.01f;
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glFlush();
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glutSwapBuffers();
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}
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void SimplexDemo::initPhysics()
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{
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simplex.setSimplexSolver(&simplexSolver);
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simplex.addVertex(btPoint3(-2,0,-2));
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simplex.addVertex(btPoint3(2,0,-2));
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simplex.addVertex(btPoint3(0,0,2));
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simplex.addVertex(btPoint3(0,2,0));
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shapePtr[0] = &simplex;
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btTransform tr;
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tr.setIdentity();
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}
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