mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 05:40:05 +00:00
612 lines
18 KiB
C++
612 lines
18 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 "b3CpuDynamicsWorld.h"
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#include "b3GpuDynamicsWorld.h"
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#define SCALING 1.
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#define START_POS_X -5
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#define START_POS_Y 10
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#define START_POS_Z -3
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#include "LinearMath/b3Vector3.h"
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#include "GpuDemo.h"
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//#include "GlutStuff.h"
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///b3BulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
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//#include "b3BulletDynamicsCommon.h"
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#include "BulletCollision/CollisionShapes/b3TriangleMesh.h"
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#include "BulletCollision/CollisionShapes/b3BvhTriangleMeshShape.h"
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#include "BulletCollision/CollisionShapes/b3SphereShape.h"
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#include "BulletCollision/CollisionShapes/b3ConvexHullShape.h"
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#include "BulletCollision/CollisionShapes/b3BoxShape.h"
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#include "BulletCollision/CollisionShapes/b3CompoundShape.h"
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#include "BulletCollision/CollisionShapes/b3StaticPlaneShape.h"
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#include "BulletDynamics/Dynamics/b3RigidBody.h"
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#include "LinearMath/b3DefaultMotionState.h"
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#include "LinearMath/b3Quickprof.h"
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#include <stdio.h> //printf debugging
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void GpuDemo::clientMoveAndDisplay()
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{
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// glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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//simple dynamics world doesn't handle fixed-time-stepping
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float dt = getDeltaTimeInSeconds();
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///step the simulation
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if (m_dynamicsWorld)
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{
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static bool once = true;
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if (once)
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{
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once=false;
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b3DefaultSerializer* serializer = new b3DefaultSerializer();
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m_dynamicsWorld->serialize(serializer);
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FILE* file = fopen("testFile.bullet","wb");
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fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1, file);
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fclose(file);
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}
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m_dynamicsWorld->stepSimulation(dt);
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static int count=0;
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count++;
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if (count==25)
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{
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//b3ProfileManager::dumpAll();
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}
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}
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// renderme();
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//swapBuffers();
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}
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b3AlignedObjectArray<b3Vector3> vertices;
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void EmptyDemo::setupScene(const ConstructionInfo& ci)
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{
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//empty test
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}
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void SpheresDemo::setupScene(const ConstructionInfo& ci)
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{
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if (1)
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{
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b3SphereShape* sphere = new b3SphereShape(1);
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m_collisionShapes.push_back(sphere);
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/// Create Dynamic Objects
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b3Transform startTransform;
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startTransform.setIdentity();
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float start_x = START_POS_X - ci.gapX*ci.arraySizeX/2;
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float start_y = START_POS_Y;
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float start_z = START_POS_Z - ci.gapZ*ci.arraySizeZ/2;
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for (int k=0;k<ci.arraySizeY;k++)
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{
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int sizeX = ci.arraySizeX;
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int startX = -sizeX/2;
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float gapX = ci.gapX;
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for (int i=0;i<sizeX;i++)
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{
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int sizeZ = ci.arraySizeZ;
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int startZ = -sizeX/2;
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float gapZ =ci.gapZ;
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for(int j = 0;j<sizeZ;j++)
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{
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//b3CollisionShape* shape = k==0? boxShape : colShape;
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b3CollisionShape* shape = sphere;
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b3Scalar mass = 1;
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if (!ci.m_useConcaveMesh && k==0)
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mass = k==0? 0.f : 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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b3Vector3 localInertia(0,0,0);
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if (isDynamic)
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shape->calculateLocalInertia(mass,localInertia);
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startTransform.setOrigin(SCALING*b3Vector3(
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b3Scalar(gapX*i + start_x),
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b3Scalar(ci.gapY*k + start_y),
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b3Scalar(gapZ*j + start_z)));
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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b3DefaultMotionState* myMotionState = new b3DefaultMotionState(startTransform);
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b3RigidBody::b3RigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
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b3RigidBody* body = new b3RigidBody(rbInfo);
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m_dynamicsWorld->addRigidBody(body);
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}
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}
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}
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}
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{
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b3Vector3 planeNormal(0,1,0);
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b3Scalar planeConstant=0;
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b3CollisionShape* shape = new b3StaticPlaneShape(planeNormal,planeConstant);
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//b3BoxShape* plane = new b3BoxShape(b3Vector3(100,1,100));
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//plane->initializePolyhedralFeatures();
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//b3SphereShape* shape = new b3SphereShape(1000);
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b3Scalar mass(0.);
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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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b3Vector3 localInertia(0,0,0);
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b3Transform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setRotation(b3Quaternion(b3Vector3(1,0,0),0.3));
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groundTransform.setOrigin(b3Vector3(0,0,0));
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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b3DefaultMotionState* myMotionState = new b3DefaultMotionState(groundTransform);
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b3RigidBody::b3RigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
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b3RigidBody* body = new b3RigidBody(rbInfo);
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//add the body to the dynamics world
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m_dynamicsWorld->addRigidBody(body);
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}
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}
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void GpuCompoundDemo::setupScene(const ConstructionInfo& ci)
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{
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b3CollisionShape* groundShape =0;
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// b3CollisionShape* groundShape = new b3StaticPlaneShape(b3Vector3(0,1,0),50);
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if (ci.m_useConcaveMesh)
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{
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b3TriangleMesh* meshInterface = new b3TriangleMesh();
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b3AlignedObjectArray<b3Vector3> concaveVertices;
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concaveVertices.push_back(b3Vector3(0,-20,0));
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concaveVertices.push_back(b3Vector3(80,10,80));
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concaveVertices.push_back(b3Vector3(80,10,-80));
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concaveVertices.push_back(b3Vector3(-80,10,-80));
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concaveVertices.push_back(b3Vector3(-80,10,80));
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meshInterface->addTriangle(concaveVertices[0],concaveVertices[1],concaveVertices[2],true);
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meshInterface->addTriangle(concaveVertices[0],concaveVertices[2],concaveVertices[3],true);
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meshInterface->addTriangle(concaveVertices[0],concaveVertices[3],concaveVertices[4],true);
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meshInterface->addTriangle(concaveVertices[0],concaveVertices[4],concaveVertices[1],true);
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#if 0
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groundShape = new b3BvhTriangleMeshShape(meshInterface,true);//b3StaticPlaneShape(b3Vector3(0,1,0),50);
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#else
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b3BoxShape* shape =new b3BoxShape(b3Vector3(b3Scalar(250.),b3Scalar(10.),b3Scalar(250.)));
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shape->initializePolyhedralFeatures();
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groundShape = shape;
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#endif
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} else
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{
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groundShape = new b3BoxShape(b3Vector3(b3Scalar(250.),b3Scalar(50.),b3Scalar(250.)));
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}
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m_collisionShapes.push_back(groundShape);
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b3Transform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(b3Vector3(0,0,0));
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//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
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if (ci.m_useConcaveMesh)
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{
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b3Scalar mass(0.);
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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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b3Vector3 localInertia(0,0,0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass,localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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b3DefaultMotionState* myMotionState = new b3DefaultMotionState(groundTransform);
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b3RigidBody::b3RigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
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b3RigidBody* body = new b3RigidBody(rbInfo);
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//add the body to the dynamics world
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m_dynamicsWorld->addRigidBody(body);
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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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//vertices.push_back(b3Vector3(0,1,0));
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vertices.push_back(b3Vector3(1,1,1));
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vertices.push_back(b3Vector3(1,1,-1));
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vertices.push_back(b3Vector3(-1,1,-1));
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vertices.push_back(b3Vector3(-1,1,1));
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vertices.push_back(b3Vector3(1,-1,1));
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vertices.push_back(b3Vector3(1,-1,-1));
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vertices.push_back(b3Vector3(-1,-1,-1));
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vertices.push_back(b3Vector3(-1,-1,1));
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#if 0
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b3PolyhedralConvexShape* colShape = new b3ConvexHullShape(&vertices[0].getX(),vertices.size());
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colShape->initializePolyhedralFeatures();
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#else
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b3CompoundShape* compoundShape = 0;
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{
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b3PolyhedralConvexShape* colShape = new b3ConvexHullShape(&vertices[0].getX(),vertices.size());
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colShape->initializePolyhedralFeatures();
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compoundShape = new b3CompoundShape();
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b3Transform tr;
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tr.setIdentity();
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tr.setOrigin(b3Vector3(0,-1,0));
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compoundShape->addChildShape(tr,colShape);
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tr.setOrigin(b3Vector3(0,0,2));
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compoundShape->addChildShape(tr,colShape);
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tr.setOrigin(b3Vector3(2,0,0));
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compoundShape->addChildShape(tr,colShape);
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}
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b3CollisionShape* colShape = compoundShape;
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#endif
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b3PolyhedralConvexShape* boxShape = new b3BoxShape(b3Vector3(SCALING*1,SCALING*1,SCALING*1));
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boxShape->initializePolyhedralFeatures();
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//b3CollisionShape* colShape = new b3SphereShape(b3Scalar(1.));
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m_collisionShapes.push_back(colShape);
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m_collisionShapes.push_back(boxShape);
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/// Create Dynamic Objects
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b3Transform startTransform;
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startTransform.setIdentity();
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float start_x = START_POS_X - ci.arraySizeX/2;
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float start_y = START_POS_Y;
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float start_z = START_POS_Z - ci.arraySizeZ/2;
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for (int k=0;k<ci.arraySizeY;k++)
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{
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int sizeX = ci.arraySizeX;
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if (!ci.m_useConcaveMesh && k==0)
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sizeX = 50;
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int startX = !ci.m_useConcaveMesh&&k==0? -20 : 0;
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float gapX = !ci.m_useConcaveMesh&&k==0? 3.05 : ci.gapX;
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for (int i=0;i<sizeX;i++)
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{
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int sizeZ = !ci.m_useConcaveMesh&&k==0? 50 : ci.arraySizeZ;
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int startZ = (!ci.m_useConcaveMesh)&&k==0? -20 : 0;
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float gapZ = !ci.m_useConcaveMesh&&k==0? 3.05 : ci.gapZ;
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for(int j = 0;j<sizeZ;j++)
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{
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//b3CollisionShape* shape = k==0? boxShape : colShape;
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b3CollisionShape* shape = colShape;
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b3Scalar mass = 1;
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if (!ci.m_useConcaveMesh && k==0)
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mass = k==0? 0.f : 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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b3Vector3 localInertia(0,0,0);
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if (isDynamic)
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shape->calculateLocalInertia(mass,localInertia);
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startTransform.setOrigin(SCALING*b3Vector3(
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b3Scalar(startX+gapX*i + start_x),
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b3Scalar(20+ci.gapY*k + start_y),
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b3Scalar(startZ+gapZ*j + start_z)));
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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b3DefaultMotionState* myMotionState = new b3DefaultMotionState(startTransform);
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b3RigidBody::b3RigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
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b3RigidBody* body = new b3RigidBody(rbInfo);
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m_dynamicsWorld->addRigidBody(body);
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}
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}
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}
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}
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}
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void GpuBoxDemo::setupScene(const ConstructionInfo& ci)
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{
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b3CollisionShape* groundShape =0;
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// b3CollisionShape* groundShape = new b3StaticPlaneShape(b3Vector3(0,1,0),50);
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if (ci.m_useConcaveMesh)
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{
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b3TriangleMesh* meshInterface = new b3TriangleMesh();
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b3AlignedObjectArray<b3Vector3> concaveVertices;
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concaveVertices.push_back(b3Vector3(0,-20,0));
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concaveVertices.push_back(b3Vector3(80,10,80));
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concaveVertices.push_back(b3Vector3(80,10,-80));
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concaveVertices.push_back(b3Vector3(-80,10,-80));
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concaveVertices.push_back(b3Vector3(-80,10,80));
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meshInterface->addTriangle(concaveVertices[0],concaveVertices[1],concaveVertices[2],true);
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meshInterface->addTriangle(concaveVertices[0],concaveVertices[2],concaveVertices[3],true);
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meshInterface->addTriangle(concaveVertices[0],concaveVertices[3],concaveVertices[4],true);
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meshInterface->addTriangle(concaveVertices[0],concaveVertices[4],concaveVertices[1],true);
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#if 0
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groundShape = new b3BvhTriangleMeshShape(meshInterface,true);//b3StaticPlaneShape(b3Vector3(0,1,0),50);
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#else
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b3BoxShape* shape =new b3BoxShape(b3Vector3(b3Scalar(250.),b3Scalar(10.),b3Scalar(250.)));
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shape->initializePolyhedralFeatures();
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groundShape = shape;
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#endif
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} else
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{
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groundShape = new b3BoxShape(b3Vector3(b3Scalar(250.),b3Scalar(50.),b3Scalar(250.)));
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}
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m_collisionShapes.push_back(groundShape);
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b3Transform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(b3Vector3(0,0,0));
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//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
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if (ci.m_useConcaveMesh)
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{
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b3Scalar mass(0.);
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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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b3Vector3 localInertia(0,0,0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass,localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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b3DefaultMotionState* myMotionState = new b3DefaultMotionState(groundTransform);
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b3RigidBody::b3RigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
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b3RigidBody* body = new b3RigidBody(rbInfo);
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//add the body to the dynamics world
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m_dynamicsWorld->addRigidBody(body);
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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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//vertices.push_back(b3Vector3(0,1,0));
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vertices.push_back(b3Vector3(1,1,1));
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vertices.push_back(b3Vector3(1,1,-1));
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vertices.push_back(b3Vector3(-1,1,-1));
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vertices.push_back(b3Vector3(-1,1,1));
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vertices.push_back(b3Vector3(1,-1,1));
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vertices.push_back(b3Vector3(1,-1,-1));
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vertices.push_back(b3Vector3(-1,-1,-1));
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vertices.push_back(b3Vector3(-1,-1,1));
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#if 1
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b3PolyhedralConvexShape* colShape = new b3ConvexHullShape(&vertices[0].getX(),vertices.size());
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colShape->initializePolyhedralFeatures();
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#else
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b3CompoundShape* compoundShape = 0;
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{
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b3PolyhedralConvexShape* colShape = new b3ConvexHullShape(&vertices[0].getX(),vertices.size());
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colShape->initializePolyhedralFeatures();
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compoundShape = new b3CompoundShape();
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b3Transform tr;
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tr.setIdentity();
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tr.setOrigin(b3Vector3(0,-1,0));
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compoundShape->addChildShape(tr,colShape);
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tr.setOrigin(b3Vector3(0,0,2));
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compoundShape->addChildShape(tr,colShape);
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tr.setOrigin(b3Vector3(2,0,0));
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compoundShape->addChildShape(tr,colShape);
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}
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b3CollisionShape* colShape = compoundShape;
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#endif
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b3PolyhedralConvexShape* boxShape = new b3BoxShape(b3Vector3(SCALING*1,SCALING*1,SCALING*1));
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boxShape->initializePolyhedralFeatures();
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//b3CollisionShape* colShape = new b3SphereShape(b3Scalar(1.));
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m_collisionShapes.push_back(colShape);
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m_collisionShapes.push_back(boxShape);
|
|
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/// Create Dynamic Objects
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b3Transform startTransform;
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startTransform.setIdentity();
|
|
|
|
|
|
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float start_x = START_POS_X - ci.arraySizeX/2;
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|
float start_y = START_POS_Y;
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|
float start_z = START_POS_Z - ci.arraySizeZ/2;
|
|
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|
for (int k=0;k<ci.arraySizeY;k++)
|
|
{
|
|
int sizeX = ci.arraySizeX;
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|
if (!ci.m_useConcaveMesh && k==0)
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|
sizeX = 50;
|
|
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int startX = !ci.m_useConcaveMesh&&k==0? -20 : 0;
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|
float gapX = !ci.m_useConcaveMesh&&k==0? 3.05 : ci.gapX;
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|
for (int i=0;i<sizeX;i++)
|
|
{
|
|
int sizeZ = !ci.m_useConcaveMesh&&k==0? 50 : ci.arraySizeZ;
|
|
int startZ = (!ci.m_useConcaveMesh)&&k==0? -20 : 0;
|
|
float gapZ = !ci.m_useConcaveMesh&&k==0? 3.05 : ci.gapZ;
|
|
for(int j = 0;j<sizeZ;j++)
|
|
{
|
|
//b3CollisionShape* shape = k==0? boxShape : colShape;
|
|
|
|
b3CollisionShape* shape = colShape;
|
|
|
|
|
|
b3Scalar mass = 1;
|
|
if (!ci.m_useConcaveMesh && k==0)
|
|
mass = k==0? 0.f : 1.f;
|
|
|
|
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
|
bool isDynamic = (mass != 0.f);
|
|
|
|
b3Vector3 localInertia(0,0,0);
|
|
if (isDynamic)
|
|
shape->calculateLocalInertia(mass,localInertia);
|
|
|
|
startTransform.setOrigin(SCALING*b3Vector3(
|
|
b3Scalar(startX+gapX*i + start_x),
|
|
b3Scalar(ci.gapY*(k+0.5) + start_y),
|
|
b3Scalar(startZ+gapZ*j + start_z)));
|
|
|
|
|
|
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
|
b3DefaultMotionState* myMotionState = new b3DefaultMotionState(startTransform);
|
|
b3RigidBody::b3RigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
|
|
b3RigidBody* body = new b3RigidBody(rbInfo);
|
|
|
|
|
|
m_dynamicsWorld->addRigidBody(body);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void GpuDemo::initPhysics(const ConstructionInfo& ci)
|
|
{
|
|
|
|
// setTexturing(true);
|
|
//setShadows(false);
|
|
|
|
// setCameraDistance(b3Scalar(SCALING*250.));
|
|
|
|
///collision configuration contains default setup for memory, collision setup
|
|
if (ci.useOpenCL)
|
|
{
|
|
m_dynamicsWorld = new b3GpuDynamicsWorld(ci.preferredOpenCLPlatformIndex,ci.preferredOpenCLDeviceIndex);
|
|
} else
|
|
{
|
|
m_dynamicsWorld = new b3CpuDynamicsWorld();
|
|
}
|
|
|
|
|
|
m_dynamicsWorld->setGravity(b3Vector3(0,-10,0));
|
|
|
|
///create a few basic rigid bodies
|
|
|
|
setupScene(ci);
|
|
|
|
|
|
}
|
|
|
|
/*void GpuDemo::clientResetScene()
|
|
{
|
|
exitPhysics();
|
|
initPhysics();
|
|
}
|
|
*/
|
|
|
|
|
|
void GpuDemo::exitPhysics()
|
|
{
|
|
|
|
//cleanup in the reverse order of creation/initialization
|
|
|
|
//remove the rigidbodies from the dynamics world and delete them
|
|
int i;
|
|
if (m_dynamicsWorld)
|
|
{
|
|
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
|
|
{
|
|
b3CollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
|
b3RigidBody* body = b3RigidBody::upcast(obj);
|
|
if (body && body->getMotionState())
|
|
{
|
|
delete body->getMotionState();
|
|
}
|
|
m_dynamicsWorld->removeCollisionObject( obj );
|
|
delete obj;
|
|
}
|
|
}
|
|
|
|
//delete collision shapes
|
|
for (int j=0;j<m_collisionShapes.size();j++)
|
|
{
|
|
b3CollisionShape* shape = m_collisionShapes[j];
|
|
delete shape;
|
|
}
|
|
m_collisionShapes.clear();
|
|
|
|
delete m_dynamicsWorld;
|
|
m_dynamicsWorld=0;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|