mirror of
https://github.com/bulletphysics/bullet3
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335 lines
9.4 KiB
C++
335 lines
9.4 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 "RaytestDemo.h"
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///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
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#include "btBulletDynamicsCommon.h"
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#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
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#include "BulletCollision/Gimpact/btGImpactShape.h"
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#include <stdio.h> //printf debugging
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#include "LinearMath/btAlignedObjectArray.h"
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///RaytestDemo shows how to use the btCollisionWorld::rayTest feature
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#include "../CommonInterfaces/CommonRigidBodyBase.h"
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class RaytestDemo : public CommonRigidBodyBase
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{
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public:
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RaytestDemo(struct GUIHelperInterface* helper)
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:CommonRigidBodyBase(helper)
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{
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}
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virtual ~RaytestDemo()
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{
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}
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virtual void initPhysics();
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virtual void exitPhysics();
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void castRays();
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virtual void stepSimulation(float deltaTime);
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virtual void resetCamera()
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{
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float dist = 18;
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float pitch = 129;
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float yaw = 30;
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float targetPos[3]={-4.6,-4.7,-5.75};
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m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
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}
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};
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void RaytestDemo::castRays()
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{
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static float up = 0.f;
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static float dir = 1.f;
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//add some simple animation
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//if (!m_idle)
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{
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up+=0.01*dir;
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if (btFabs(up)>2)
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{
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dir*=-1.f;
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}
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btTransform tr = m_dynamicsWorld->getCollisionObjectArray()[1]->getWorldTransform();
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static float angle = 0.f;
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angle+=0.01f;
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tr.setRotation(btQuaternion(btVector3(0,1,0),angle));
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m_dynamicsWorld->getCollisionObjectArray()[1]->setWorldTransform(tr);
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}
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///step the simulation
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if (m_dynamicsWorld)
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{
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m_dynamicsWorld->updateAabbs();
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m_dynamicsWorld->computeOverlappingPairs();
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btVector3 red(1,0,0);
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btVector3 blue(0,0,1);
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///all hits
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{
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btVector3 from(-30,1+up,0);
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btVector3 to(30,1,0);
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m_dynamicsWorld->getDebugDrawer()->drawLine(from,to,btVector4(0,0,0,1));
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btCollisionWorld::AllHitsRayResultCallback allResults(from,to);
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allResults.m_flags |= btTriangleRaycastCallback::kF_KeepUnflippedNormal;
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//kF_UseGjkConvexRaytest flag is now enabled by default, use the faster but more approximate algorithm
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//allResults.m_flags |= btTriangleRaycastCallback::kF_UseSubSimplexConvexCastRaytest;
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allResults.m_flags |= btTriangleRaycastCallback::kF_UseSubSimplexConvexCastRaytest;
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m_dynamicsWorld->rayTest(from,to,allResults);
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for (int i=0;i<allResults.m_hitFractions.size();i++)
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{
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btVector3 p = from.lerp(to,allResults.m_hitFractions[i]);
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m_dynamicsWorld->getDebugDrawer()->drawSphere(p,0.1,red);
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m_dynamicsWorld->getDebugDrawer()->drawLine(p,p+allResults.m_hitNormalWorld[i],red);
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}
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}
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///first hit
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{
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btVector3 from(-30,1.2,0);
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btVector3 to(30,1.2,0);
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m_dynamicsWorld->getDebugDrawer()->drawLine(from,to,btVector4(0,0,1,1));
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btCollisionWorld::ClosestRayResultCallback closestResults(from,to);
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closestResults.m_flags |= btTriangleRaycastCallback::kF_FilterBackfaces;
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m_dynamicsWorld->rayTest(from,to,closestResults);
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if (closestResults.hasHit())
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{
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btVector3 p = from.lerp(to,closestResults.m_closestHitFraction);
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m_dynamicsWorld->getDebugDrawer()->drawSphere(p,0.1,blue);
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m_dynamicsWorld->getDebugDrawer()->drawLine(p,p+closestResults.m_hitNormalWorld,blue);
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}
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}
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}
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}
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void RaytestDemo::stepSimulation(float deltaTime)
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{
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castRays();
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CommonRigidBodyBase::stepSimulation(deltaTime);
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}
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void RaytestDemo::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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///collision configuration contains default setup for memory, collision setup
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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//m_collisionConfiguration->setConvexConvexMultipointIterations();
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_broadphase = new btDbvtBroadphase();
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///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
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btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
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m_solver = sol;
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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m_dynamicsWorld->setGravity(btVector3(0,-10,0));
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///create a few basic rigid bodies
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
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// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),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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//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
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{
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btScalar 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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btVector3 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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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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body->setRollingFriction(1);
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body->setFriction(1);
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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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btVector3 convexPoints[]={ btVector3(-1,-1,-1),btVector3(-1,-1,1),btVector3(-1,1,1),btVector3(-1,1,-1),
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btVector3(2,0,0)};
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btVector3 quad[] = {
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btVector3(0,1,-1),
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btVector3(0,1,1),
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btVector3(0,-1,1),
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btVector3(0,-1,-1)};
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btTriangleMesh* mesh = new btTriangleMesh();
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mesh->addTriangle(quad[0],quad[1],quad[2],true);
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mesh->addTriangle(quad[0],quad[2],quad[3],true);
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btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(mesh,true,true);
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//btGImpactMeshShape * trimesh = new btGImpactMeshShape(mesh);
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//trimesh->updateBound();
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#define NUM_SHAPES 6
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btCollisionShape* colShapes[NUM_SHAPES] = {
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trimesh,
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new btConvexHullShape(&convexPoints[0].getX(),sizeof(convexPoints)/sizeof(btVector3),sizeof(btVector3)),
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new btSphereShape(1),
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new btCapsuleShape(0.2,1),
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new btCylinderShape(btVector3(0.2,1,0.2)),
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new btBoxShape(btVector3(1,1,1))
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};
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for (int i=0;i<NUM_SHAPES;i++)
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m_collisionShapes.push_back(colShapes[i]);
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for (int i=0;i<6;i++)
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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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/// Create Dynamic Objects
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3((i-3)*5,1,0));
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btScalar mass(1.f);
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if (!i)
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mass=0.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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btVector3 localInertia(0,0,0);
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btCollisionShape* colShape = colShapes[i%NUM_SHAPES];
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if (isDynamic)
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colShape->calculateLocalInertia(mass,localInertia);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,0,colShape,localInertia);
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rbInfo.m_startWorldTransform = startTransform;
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btRigidBody* body = new btRigidBody(rbInfo);
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body->setRollingFriction(0.03);
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body->setFriction(1);
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body->setAnisotropicFriction(colShape->getAnisotropicRollingFrictionDirection(),btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
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m_dynamicsWorld->addRigidBody(body);
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}
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}
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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}
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void RaytestDemo::exitPhysics()
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{
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//cleanup in the reverse order of creation/initialization
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//remove the rigidbodies from the dynamics world and delete them
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int i;
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for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
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{
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btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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{
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delete body->getMotionState();
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}
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m_dynamicsWorld->removeCollisionObject( obj );
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delete obj;
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}
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//delete collision shapes
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for (int j=0;j<m_collisionShapes.size();j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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m_collisionShapes.clear();
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delete m_dynamicsWorld;
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m_dynamicsWorld = 0;
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delete m_solver;
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m_solver = 0;
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delete m_broadphase;
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m_broadphase = 0;
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delete m_dispatcher;
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m_dispatcher = 0;
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delete m_collisionConfiguration;
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m_collisionConfiguration = 0;
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}
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class CommonExampleInterface* RaytestCreateFunc(struct CommonExampleOptions& options)
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{
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return new RaytestDemo(options.m_guiHelper);
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}
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