mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 14:10:11 +00:00
c0c4c8ba3f
remove btMultiSapBroadphase.* make collisionFilterGroup/collisionFilterMark int (instead of short int)
392 lines
11 KiB
C++
392 lines
11 KiB
C++
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#include "CollisionTutorialBullet2.h"
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#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
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#include "../CommonInterfaces/CommonRenderInterface.h"
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#include "../CommonInterfaces/CommonExampleInterface.h"
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#include "LinearMath/btTransform.h"
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "../RenderingExamples/TimeSeriesCanvas.h"
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#include "stb_image/stb_image.h"
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#include "Bullet3Common/b3Quaternion.h"
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#include "Bullet3Common/b3Matrix3x3.h"
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#include "../CommonInterfaces/CommonParameterInterface.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "CollisionSdkC_Api.h"
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#include "LinearMath/btQuickprof.h"
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///Not Invented Here link reminder http://www.joelonsoftware.com/articles/fog0000000007.html
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///todo: use the 'userData' to prevent this use of global variables
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static int gTotalPoints = 0;
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const int sPointCapacity = 10000;
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const int sNumCompounds = 10;
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const int sNumSpheres = 10;
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lwContactPoint pointsOut[sPointCapacity];
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int numNearCallbacks = 0;
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static btVector4 sColors[4] =
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{
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btVector4(1,0.7,0.7,1),
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btVector4(1,1,0.7,1),
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btVector4(0.7,1,0.7,1),
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btVector4(0.7,1,1,1),
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};
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void myNearCallback(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, void* userData, plCollisionObjectHandle objA, plCollisionObjectHandle objB)
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{
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numNearCallbacks++;
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int remainingCapacity = sPointCapacity-gTotalPoints;
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btAssert(remainingCapacity>0);
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if (remainingCapacity>0)
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{
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lwContactPoint* pointPtr = &pointsOut[gTotalPoints];
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int numNewPoints = plCollide(sdkHandle, worldHandle, objA,objB,pointPtr,remainingCapacity);
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btAssert(numNewPoints <= remainingCapacity);
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gTotalPoints+=numNewPoints;
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}
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}
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class CollisionTutorialBullet2 : public CommonExampleInterface
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{
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CommonGraphicsApp* m_app;
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GUIHelperInterface* m_guiHelper;
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int m_tutorialIndex;
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TimeSeriesCanvas* m_timeSeriesCanvas0;
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plCollisionSdkHandle m_collisionSdkHandle;
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plCollisionWorldHandle m_collisionWorldHandle;
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// int m_stage;
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// int m_counter;
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public:
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CollisionTutorialBullet2(GUIHelperInterface* guiHelper, int tutorialIndex)
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:m_app(guiHelper->getAppInterface()),
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m_guiHelper(guiHelper),
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m_tutorialIndex(tutorialIndex),
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m_timeSeriesCanvas0(0),
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m_collisionSdkHandle(0),
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m_collisionWorldHandle(0)
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// m_stage(0),
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// m_counter(0)
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{
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gTotalPoints = 0;
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m_app->setUpAxis(1);
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m_app->m_renderer->enableBlend(true);
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switch (m_tutorialIndex)
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{
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case TUT_SPHERE_PLANE_RTB3:
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case TUT_SPHERE_PLANE_BULLET2:
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{
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if (m_tutorialIndex==TUT_SPHERE_PLANE_BULLET2)
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{
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m_collisionSdkHandle = plCreateBullet2CollisionSdk();
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} else
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{
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#ifndef DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
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m_collisionSdkHandle = plCreateRealTimeBullet3CollisionSdk();
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#endif //DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
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}
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if (m_collisionSdkHandle)
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{
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int maxNumObjsCapacity=1024;
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int maxNumShapesCapacity=1024;
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int maxNumPairsCapacity=16384;
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btAlignedObjectArray<plCollisionObjectHandle> colliders;
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m_collisionWorldHandle = plCreateCollisionWorld(m_collisionSdkHandle,maxNumObjsCapacity,maxNumShapesCapacity,maxNumPairsCapacity);
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//create objects, do query etc
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{
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float radius = 1.f;
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void* userPointer = 0;
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{
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for (int j=0;j<sNumCompounds;j++)
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{
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plCollisionShapeHandle compoundShape = plCreateCompoundShape(m_collisionSdkHandle,m_collisionWorldHandle);
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for (int i=0;i<sNumSpheres;i++)
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{
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btVector3 childPos(i*1.5,0,0);
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btQuaternion childOrn(0,0,0,1);
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btVector3 scaling(radius,radius,radius);
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plCollisionShapeHandle childShape = plCreateSphereShape(m_collisionSdkHandle, m_collisionWorldHandle,radius);
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plAddChildShape(m_collisionSdkHandle,m_collisionWorldHandle,compoundShape, childShape,childPos,childOrn);
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//m_guiHelper->createCollisionObjectGraphicsObject(colObj,color);
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}
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if (m_tutorialIndex==TUT_SPHERE_PLANE_BULLET2)
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{
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btCollisionShape* colShape = (btCollisionShape*) compoundShape;
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m_guiHelper->createCollisionShapeGraphicsObject(colShape);
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} else
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{
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}
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{
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btVector3 pos(j*sNumSpheres*1.5,-2.4,0);
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btQuaternion orn(0,0,0,1);
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plCollisionObjectHandle colObjHandle = plCreateCollisionObject(m_collisionSdkHandle,m_collisionWorldHandle,userPointer, -1,compoundShape,pos,orn);
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if (m_tutorialIndex==TUT_SPHERE_PLANE_BULLET2)
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{
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btCollisionObject* colObj = (btCollisionObject*) colObjHandle;
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btVector4 color=sColors[j&3];
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m_guiHelper->createCollisionObjectGraphicsObject(colObj,color);
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colliders.push_back(colObjHandle);
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plAddCollisionObject(m_collisionSdkHandle, m_collisionWorldHandle,colObjHandle);
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}
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}
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}
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}
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}
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{
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plCollisionShapeHandle colShape = plCreatePlaneShape(m_collisionSdkHandle, m_collisionWorldHandle,0,1,0,-3.5);
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btVector3 pos(0,0,0);
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btQuaternion orn(0,0,0,1);
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void* userPointer = 0;
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plCollisionObjectHandle colObj = plCreateCollisionObject(m_collisionSdkHandle,m_collisionWorldHandle,userPointer, 0,colShape,pos,orn);
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colliders.push_back(colObj);
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plAddCollisionObject(m_collisionSdkHandle, m_collisionWorldHandle,colObj);
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}
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int numContacts = plCollide(m_collisionSdkHandle,m_collisionWorldHandle,colliders[0],colliders[1],pointsOut,sPointCapacity);
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printf("numContacts = %d\n", numContacts);
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void* myUserPtr = 0;
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plWorldCollide(m_collisionSdkHandle,m_collisionWorldHandle,myNearCallback, myUserPtr);
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printf("total points=%d\n",gTotalPoints);
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//plRemoveCollisionObject(m_collisionSdkHandle,m_collisionWorldHandle,colObj);
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//plDeleteCollisionObject(m_collisionSdkHandle,colObj);
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//plDeleteShape(m_collisionSdkHandle,colShape);
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}
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/*
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m_timeSeriesCanvas0 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,512,256,"Constant Velocity");
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m_timeSeriesCanvas0 ->setupTimeSeries(2,60, 0);
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m_timeSeriesCanvas0->addDataSource("X position (m)", 255,0,0);
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m_timeSeriesCanvas0->addDataSource("X velocity (m/s)", 0,0,255);
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m_timeSeriesCanvas0->addDataSource("dX/dt (m/s)", 0,0,0);
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*/
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break;
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}
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default:
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{
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m_timeSeriesCanvas0 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,512,256,"Unknown");
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m_timeSeriesCanvas0 ->setupTimeSeries(1,60, 0);
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}
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};
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{
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int boxId = m_app->registerCubeShape(100,0.01,100);
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b3Vector3 pos = b3MakeVector3(0,-3.5,0);
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b3Quaternion orn(0,0,0,1);
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b3Vector4 color = b3MakeVector4(1,1,1,1);
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b3Vector3 scaling = b3MakeVector3(1,1,1);
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m_app->m_renderer->registerGraphicsInstance(boxId,pos,orn,color,scaling);
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}
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{
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int textureIndex = -1;
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if (1)
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{
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int width,height,n;
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const char* filename = "data/cube.png";
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const unsigned char* image=0;
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const char* prefix[]={"./","../","../../","../../../","../../../../"};
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int numprefix = sizeof(prefix)/sizeof(const char*);
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for (int i=0;!image && i<numprefix;i++)
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{
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char relativeFileName[1024];
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sprintf(relativeFileName,"%s%s",prefix[i],filename);
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image = stbi_load(relativeFileName, &width, &height, &n, 3);
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}
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b3Assert(image);
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if (image)
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{
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textureIndex = m_app->m_renderer->registerTexture(image,width,height);
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}
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}
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}
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m_app->m_renderer->writeTransforms();
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}
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virtual ~CollisionTutorialBullet2()
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{
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delete m_timeSeriesCanvas0;
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plDeleteCollisionWorld(m_collisionSdkHandle,m_collisionWorldHandle);
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plDeleteCollisionSdk(m_collisionSdkHandle);
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m_timeSeriesCanvas0 = 0;
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m_app->m_renderer->enableBlend(false);
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}
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virtual void initPhysics()
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{
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}
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virtual void exitPhysics()
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{
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}
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virtual void stepSimulation(float deltaTime)
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{
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#ifndef BT_NO_PROFILE
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CProfileManager::Reset();
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#endif
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void* myUserPtr = 0;
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gTotalPoints = 0;
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numNearCallbacks = 0;
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{
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BT_PROFILE("plWorldCollide");
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if (m_collisionSdkHandle && m_collisionWorldHandle)
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{
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plWorldCollide(m_collisionSdkHandle,m_collisionWorldHandle,myNearCallback, myUserPtr);
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}
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}
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#if 0
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switch (m_tutorialIndex)
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{
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case TUT_SPHERE_SPHERE:
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{
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if (m_timeSeriesCanvas0)
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{
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float xPos = 0.f;
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float xVel = 1.f;
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m_timeSeriesCanvas0->insertDataAtCurrentTime(xPos,0,true);
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m_timeSeriesCanvas0->insertDataAtCurrentTime(xVel,1,true);
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}
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break;
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}
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default:
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{
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}
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};
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#endif
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if (m_timeSeriesCanvas0)
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m_timeSeriesCanvas0->nextTick();
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// m_app->m_renderer->writeSingleInstanceTransformToCPU(m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation, m_bodies[i]->m_graphicsIndex);
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m_app->m_renderer->writeTransforms();
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#ifndef BT_NO_PROFILE
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CProfileManager::Increment_Frame_Counter();
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#endif
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}
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virtual void renderScene()
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{
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if (m_app && m_app->m_renderer)
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{
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m_app->m_renderer->renderScene();
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m_app->m_renderer->clearZBuffer();
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m_app->drawText3D("X",1,0,0,1);
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m_app->drawText3D("Y",0,1,0,1);
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m_app->drawText3D("Z",0,0,1,1);
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for (int i=0;i<gTotalPoints;i++)
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{
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const lwContactPoint& contact = pointsOut[i];
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btVector3 color(1,1,0);
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btScalar lineWidth=3;
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if (contact.m_distance<0)
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{
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color.setValue(1,0,0);
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}
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m_app->m_renderer->drawLine(contact.m_ptOnAWorld,contact.m_ptOnBWorld,color,lineWidth);
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}
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}
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}
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virtual void physicsDebugDraw(int debugDrawFlags)
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{
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}
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virtual bool mouseMoveCallback(float x,float y)
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{
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return false;
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}
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virtual bool mouseButtonCallback(int button, int state, float x, float y)
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{
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return false;
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}
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virtual bool keyboardCallback(int key, int state)
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{
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return false;
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}
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virtual void resetCamera()
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{
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float dist = 10.5;
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float pitch = 136;
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float yaw = 32;
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float targetPos[3]={0,0,0};
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if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
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{
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m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
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m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
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m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
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m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]);
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}
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}
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};
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class CommonExampleInterface* CollisionTutorialBullet2CreateFunc(struct CommonExampleOptions& options)
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{
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return new CollisionTutorialBullet2(options.m_guiHelper, options.m_option);
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}
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