mirror of
https://github.com/bulletphysics/bullet3
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ab8f16961e
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
126 lines
4.2 KiB
C++
126 lines
4.2 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2015 Google Inc. http://bulletphysics.org
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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 "CompoundBoxes.h"
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "../CommonInterfaces/CommonRigidBodyBase.h"
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struct CompoundBoxesExample : public CommonRigidBodyBase
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{
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CompoundBoxesExample(struct GUIHelperInterface* helper)
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: CommonRigidBodyBase(helper)
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{
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}
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virtual ~CompoundBoxesExample() {}
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virtual void initPhysics();
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virtual void renderScene();
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void resetCamera()
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{
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float dist = 41;
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float pitch = -35;
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float yaw = 52;
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float targetPos[3] = {0, 0.46, 0};
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m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
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}
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};
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void CompoundBoxesExample::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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createEmptyDynamicsWorld();
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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if (m_dynamicsWorld->getDebugDrawer())
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m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawContactPoints);
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///create a few basic rigid bodies
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btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.), btScalar(50.), btScalar(50.)));
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0, -50, 0));
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{
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btScalar mass(0.);
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createRigidBody(mass, groundTransform, groundShape, btVector4(0, 0, 1, 1));
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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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btBoxShape* cube = createBoxShape(btVector3(0.5, 0.5, 0.5));
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m_collisionShapes.push_back(cube);
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// create a new compound shape for making an L-beam from `cube`s
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btCompoundShape* compoundShape = new btCompoundShape();
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btTransform transform;
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// add cubes in an L-beam fashion to the compound shape
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transform.setIdentity();
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transform.setOrigin(btVector3(0, 0, 0));
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compoundShape->addChildShape(transform, cube);
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transform.setIdentity();
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transform.setOrigin(btVector3(0, -1, 0));
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compoundShape->addChildShape(transform, cube);
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transform.setIdentity();
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transform.setOrigin(btVector3(0, 0, 1));
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compoundShape->addChildShape(transform, cube);
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btScalar masses[3] = {1, 1, 1};
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btTransform principal;
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btVector3 inertia;
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compoundShape->calculatePrincipalAxisTransform(masses, principal, inertia);
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// new compund shape to store
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btCompoundShape* compound2 = new btCompoundShape();
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m_collisionShapes.push_back(compound2);
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#if 0
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// less efficient way to add the entire compund shape
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// to a new compund shape as a child
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compound2->addChildShape(principal.inverse(), compoundShape);
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#else
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// recompute the shift to make sure the compound shape is re-aligned
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for (int i = 0; i < compoundShape->getNumChildShapes(); i++)
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compound2->addChildShape(compoundShape->getChildTransform(i) * principal.inverse(),
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compoundShape->getChildShape(i));
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#endif
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delete compoundShape;
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transform.setIdentity();
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transform.setOrigin(btVector3(0, 10, 0));
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createRigidBody(1.0, transform, compound2);
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}
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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}
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void CompoundBoxesExample::renderScene()
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{
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CommonRigidBodyBase::renderScene();
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}
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CommonExampleInterface* ET_CompoundBoxesCreateFunc(CommonExampleOptions& options)
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{
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return new CompoundBoxesExample(options.m_guiHelper);
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}
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