mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-11 01:40:10 +00:00
4fcea85c01
Note that double sided options are experimental, single sided is recommended, and backfacing is default
569 lines
15 KiB
C++
569 lines
15 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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//#define SHIFT_INDICES 1
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#define SWAP_WINDING 1
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//#define ROTATE_GROUND 1
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bool enable=true;
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#if defined (SHIFT_INDICES) && !defined (SWAP_WINDING)
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//#define TEST_INCONSISTENT_WINDING
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#endif
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#include "btBulletDynamicsCommon.h"
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#include "BulletCollision/CollisionDispatch/btInternalEdgeUtility.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include "InternalEdgeDemo.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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#include "BulletCollision/CollisionShapes/btTriangleShape.h"
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#include "GLDebugDrawer.h"
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GLDebugDrawer gDebugDrawer;
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static btVector3* gVertices=0;
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static int* gIndices=0;
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static btBvhTriangleMeshShape* trimeshShape =0;
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static btRigidBody* staticBody = 0;
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static float waveheight = 0.f;
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const float TRIANGLE_SIZE=20.f;
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///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
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inline btScalar calculateCombinedFriction(float friction0,float friction1)
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{
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return 0.f;
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btScalar friction = friction0 * friction1;
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const btScalar MAX_FRICTION = 10.f;
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if (friction < -MAX_FRICTION)
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friction = -MAX_FRICTION;
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if (friction > MAX_FRICTION)
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friction = MAX_FRICTION;
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return friction;
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}
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inline btScalar calculateCombinedRestitution(float restitution0,float restitution1)
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{
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return restitution0 * restitution1;
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}
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///////////////////////////////////////////////////////////////
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static bool CustomMaterialCombinerCallback(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1)
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{
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if (enable)
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{
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btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1);
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//btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_BACKFACE_MODE);
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//btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_DOUBLE_SIDED+BT_TRIANGLE_CONCAVE_DOUBLE_SIDED);
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}
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float friction0 = colObj0->getFriction();
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float friction1 = colObj1->getFriction();
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float restitution0 = colObj0->getRestitution();
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float restitution1 = colObj1->getRestitution();
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if (colObj0->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
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{
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friction0 = 1.0;//partId0,index0
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restitution0 = 0.f;
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}
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if (colObj1->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
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{
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if (index1&1)
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{
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friction1 = 1.0f;//partId1,index1
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} else
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{
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friction1 = 0.f;
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}
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restitution1 = 0.f;
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}
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cp.m_combinedFriction = calculateCombinedFriction(friction0,friction1);
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cp.m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
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//this return value is currently ignored, but to be on the safe side: return false if you don't calculate friction
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return true;
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}
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extern ContactAddedCallback gContactAddedCallback;
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const int NUM_VERTS_X = 2;
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const int NUM_VERTS_Y = 2;
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const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
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void InternalEdgeDemo::setVertexPositions(float waveheight, float offset)
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{
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int i;
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int j;
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for ( i=0;i<NUM_VERTS_X;i++)
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{
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for (j=0;j<NUM_VERTS_Y;j++)
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{
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gVertices[i+j*NUM_VERTS_X].setValue(
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(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
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//0.f,
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waveheight*sinf((float)i+offset)*cosf((float)j+offset),
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(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
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}
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}
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}
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void InternalEdgeDemo::keyboardCallback(unsigned char key, int x, int y)
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{
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if (key=='n')
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{
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enable = !enable;
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}
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if (key == 'g')
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{
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m_animatedMesh = !m_animatedMesh;
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if (m_animatedMesh)
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{
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staticBody->setCollisionFlags( staticBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
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staticBody->setActivationState(DISABLE_DEACTIVATION);
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} else
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{
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staticBody->setCollisionFlags( staticBody->getCollisionFlags() & ~btCollisionObject::CF_KINEMATIC_OBJECT);
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staticBody->forceActivationState(ACTIVE_TAG);
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}
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}
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DemoApplication::keyboardCallback(key,x,y);
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}
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void InternalEdgeDemo::initPhysics()
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{
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setTexturing(true);
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setShadows(false);//true);
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#define TRISIZE 10.f
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gContactAddedCallback = CustomMaterialCombinerCallback;
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#define USE_TRIMESH_SHAPE 1
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#ifdef USE_TRIMESH_SHAPE
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int vertStride = sizeof(btVector3);
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int indexStride = 3*sizeof(int);
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const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
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gVertices = new btVector3[totalVerts];
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gIndices = new int[totalTriangles*3];
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int i;
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setVertexPositions(waveheight,0.f);
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//gVertices[1].setY(21.1);
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//gVertices[1].setY(121.1);
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gVertices[1].setY(.1f);
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#ifdef ROTATE_GROUND
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//gVertices[1].setY(-1.1);
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#else
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//gVertices[1].setY(0.1);
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//gVertices[1].setY(-0.1);
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//gVertices[1].setY(-20.1);
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//gVertices[1].setY(-20);
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#endif
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int index=0;
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for ( i=0;i<NUM_VERTS_X-1;i++)
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{
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for (int j=0;j<NUM_VERTS_Y-1;j++)
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{
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#ifdef SWAP_WINDING
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#ifdef SHIFT_INDICES
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = j*NUM_VERTS_X+i+1;
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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#else
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = j*NUM_VERTS_X+i+1;
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = j*NUM_VERTS_X+i;
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#endif //SHIFT_INDICES
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#else //SWAP_WINDING
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#ifdef SHIFT_INDICES
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = j*NUM_VERTS_X+i+1;
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#ifdef TEST_INCONSISTENT_WINDING
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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#else //TEST_INCONSISTENT_WINDING
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gIndices[index++] = (j+1)*NUM_VERTS_X+i;
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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#endif //TEST_INCONSISTENT_WINDING
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#else //SHIFT_INDICES
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = j*NUM_VERTS_X+i+1;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i;
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#endif //SHIFT_INDICES
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#endif //SWAP_WINDING
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}
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}
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m_indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
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gIndices,
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indexStride,
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totalVerts,(btScalar*) &gVertices[0].x(),vertStride);
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bool useQuantizedAabbCompression = true;
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//comment out the next line to read the BVH from disk (first run the demo once to create the BVH)
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#define SERIALIZE_TO_DISK 1
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#ifdef SERIALIZE_TO_DISK
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btVector3 aabbMin(-1000,-1000,-1000),aabbMax(1000,1000,1000);
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trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,aabbMin,aabbMax);
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m_collisionShapes.push_back(trimeshShape);
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///we can serialize the BVH data
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void* buffer = 0;
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int numBytes = trimeshShape->getOptimizedBvh()->calculateSerializeBufferSize();
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buffer = btAlignedAlloc(numBytes,16);
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bool swapEndian = false;
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trimeshShape->getOptimizedBvh()->serialize(buffer,numBytes,swapEndian);
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FILE* file = fopen("bvh.bin","wb");
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fwrite(buffer,1,numBytes,file);
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fclose(file);
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btAlignedFree(buffer);
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#else
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trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,false);
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char* fileName = "bvh.bin";
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FILE* file = fopen(fileName,"rb");
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int size=0;
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btOptimizedBvh* bvh = 0;
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if (fseek(file, 0, SEEK_END) || (size = ftell(file)) == EOF || fseek(file, 0, SEEK_SET)) { /* File operations denied? ok, just close and return failure */
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printf("Error: cannot get filesize from %s\n", fileName);
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exit(0);
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} else
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{
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fseek(file, 0, SEEK_SET);
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int buffersize = size+btOptimizedBvh::getAlignmentSerializationPadding();
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void* buffer = btAlignedAlloc(buffersize,16);
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int read = fread(buffer,1,size,file);
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fclose(file);
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bool swapEndian = false;
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bvh = btOptimizedBvh::deSerializeInPlace(buffer,buffersize,swapEndian);
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}
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trimeshShape->setOptimizedBvh(bvh);
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#endif
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btCollisionShape* groundShape = trimeshShape;
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btTriangleInfoMap* triangleInfoMap = new btTriangleInfoMap();
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btGenerateInternalEdgeInfo(trimeshShape,triangleInfoMap);
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#else
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btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
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m_collisionShapes.push_back(groundShape);
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#endif //USE_TRIMESH_SHAPE
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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m_collisionConfiguration->setConvexConvexMultipointIterations(10,5);
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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btVector3 worldMin(-1000,-1000,-1000);
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btVector3 worldMax(1000,1000,1000);
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m_broadphase = new btAxisSweep3(worldMin,worldMax);
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m_solver = new btSequentialImpulseConstraintSolver();
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
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m_dynamicsWorld->getSolverInfo().m_splitImpulse = true;
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m_dynamicsWorld->getSolverInfo().m_splitImpulsePenetrationThreshold = 1e30f;
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m_dynamicsWorld->getSolverInfo().m_maxErrorReduction = 1e30f;
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m_dynamicsWorld->getSolverInfo().m_erp =1.f;
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m_dynamicsWorld->getSolverInfo().m_erp2 = 1.f;
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m_dynamicsWorld->setGravity(btVector3(0,-10,0));
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float mass = 0.f;
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,-2,0));
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btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
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//colShape->setMargin(0.f);
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colShape->setMargin(0.1f);
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m_collisionShapes.push_back(colShape);
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{
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for (int i=0;i<1;i++)
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{
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startTransform.setOrigin(btVector3(-10.f+i*3.f,1.f+btScalar(i)*0.1f,-1.3f));
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btRigidBody* body = localCreateRigidBody(100, startTransform,colShape);
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body->setActivationState(DISABLE_DEACTIVATION);
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body->setLinearVelocity(btVector3(0,0,-1));
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}
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}
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startTransform.setIdentity();
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#ifdef ROTATE_GROUND
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btQuaternion orn(btVector3(0,0,1),SIMD_PI);
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startTransform.setOrigin(btVector3(-20,0,0));
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startTransform.setRotation(orn);
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#endif //ROTATE_GROUND
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staticBody = localCreateRigidBody(mass, startTransform,groundShape);
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//staticBody->setContactProcessingThreshold(-0.031f);
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staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);//STATIC_OBJECT);
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//enable custom material callback
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staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
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getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
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#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
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btSetDebugDrawer(&gDebugDrawer);
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#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
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}
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void InternalEdgeDemo::clientResetScene()
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{
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DemoApplication::clientResetScene();
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for (int i=0;i<m_dynamicsWorld->getNumCollisionObjects();i++)
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{
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btCollisionObject* colobj = m_dynamicsWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(colobj);
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if (body && body->getInvMass() != 0.f)
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{
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body->setLinearVelocity(btVector3(0,0,-1));
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}
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}
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}
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void InternalEdgeDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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float dt = getDeltaTimeMicroseconds() * 0.000001f;
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if (m_animatedMesh)
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{
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static float offset=0.f;
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offset+=0.01f;
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// setVertexPositions(waveheight,offset);
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#if 0 ///not currently supported, we need to update the btInternalTriangleInfoMap
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int i;
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int j;
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btVector3 aabbMin(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
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btVector3 aabbMax(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
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for ( i=NUM_VERTS_X/2-3;i<NUM_VERTS_X/2+2;i++)
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{
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for (j=NUM_VERTS_X/2-3;j<NUM_VERTS_Y/2+2;j++)
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{
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aabbMax.setMax(gVertices[i+j*NUM_VERTS_X]);
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aabbMin.setMin(gVertices[i+j*NUM_VERTS_X]);
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gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
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0.f,
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//waveheight*sinf((float)i+offset)*cosf((float)j+offset),
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(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
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aabbMin.setMin(gVertices[i+j*NUM_VERTS_X]);
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aabbMax.setMax(gVertices[i+j*NUM_VERTS_X]);
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}
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}
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trimeshShape->partialRefitTree(aabbMin,aabbMax);
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#else
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btVector3 aabbMin,aabbMax;
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trimeshShape->getMeshInterface()->calculateAabbBruteForce(aabbMin,aabbMax);
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trimeshShape->refitTree(aabbMin,aabbMax);
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#endif
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//clear all contact points involving mesh proxy. Note: this is a slow/unoptimized operation.
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m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(staticBody->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
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}
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m_dynamicsWorld->stepSimulation(dt);
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///enable one of the following to debug (render debug lines each frame)
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//m_dynamicsWorld->stepSimulation(1./800.,0);
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//m_dynamicsWorld->stepSimulation(1./60.,100,1./800.);
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//m_dynamicsWorld->stepSimulation(1./60.,0);
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//optional but useful: debug drawing
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m_dynamicsWorld->debugDrawWorld();
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|
|
|
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renderme();
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|
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glFlush();
|
|
swapBuffers();
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void InternalEdgeDemo::displayCallback(void) {
|
|
|
|
clientMoveAndDisplay();
|
|
/*
|
|
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
|
|
|
renderme();
|
|
|
|
//optional but useful: debug drawing
|
|
if (m_dynamicsWorld)
|
|
m_dynamicsWorld->debugDrawWorld();
|
|
|
|
|
|
glFlush();
|
|
glutSwapBuffers();
|
|
*/
|
|
|
|
}
|
|
|
|
|
|
|
|
void InternalEdgeDemo::exitPhysics()
|
|
{
|
|
|
|
|
|
|
|
//cleanup in the reverse order of creation/initialization
|
|
|
|
//remove the rigidbodies from the dynamics world and delete them
|
|
int i;
|
|
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
|
|
{
|
|
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
|
btRigidBody* body = btRigidBody::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++)
|
|
{
|
|
btCollisionShape* shape = m_collisionShapes[j];
|
|
delete shape;
|
|
}
|
|
|
|
//delete dynamics world
|
|
delete m_dynamicsWorld;
|
|
|
|
if (m_indexVertexArrays)
|
|
delete m_indexVertexArrays;
|
|
|
|
//delete solver
|
|
delete m_solver;
|
|
|
|
//delete broadphase
|
|
delete m_broadphase;
|
|
|
|
//delete dispatcher
|
|
delete m_dispatcher;
|
|
|
|
delete m_collisionConfiguration;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|